阅读说明：本技术 一种玻璃基板包装系统及包装方法 (Glass substrate packaging system and packaging method ) 是由 李青 李赫然 苏记华 王文龙 孟伟华 申昊 张松昊 辛富兵 于 2021-08-31 设计创作，主要内容包括：本发明涉及一种玻璃基板包装系统,包括：玻璃基板、第一机器人、自动出纸台设备、第二机器人和装载平托架,其中玻璃基板被定位在型材框架上,第一机器人抓取玻璃基板,自动出纸台设备将间隔纸铺放在自动出纸台设备的玻璃包装台上,第一机器人将抓取的玻璃基板放置在间隔纸上,第二机器人从玻璃包装台上抓取玻璃基板和间隔纸,装载平托架被水平地放置并且装载平托架的表面是水平的,第二机器人将抓取的玻璃基板和间隔纸平放在装载平托架的表面上。本发明系统中的各个设备能够在配套设置的电气控制系统下实现统一协调运作,本发明能够实现超薄玻璃的叠加水平包装,本发明包装效率高,极大地提升了包装节拍和品质。(The present invention relates to a glass substrate packaging system, comprising: the glass substrate, the first robot, the automatic paper discharging platform device, the second robot and the loading flat bracket, wherein the glass substrate is positioned on the section bar frame, the first robot grabs the glass substrate, the automatic paper discharging platform device lays the partition paper on the glass packaging platform of the automatic paper discharging platform device, the first robot places the grabbed glass substrate on the partition paper, the second robot grabs the glass substrate and the partition paper from the glass packaging platform, the loading flat bracket is horizontally placed, the surface of the loading flat bracket is horizontal, and the second robot flatly places the grabbed glass substrate and the partition paper on the surface of the loading flat bracket. The device can realize unified and coordinated operation of all the devices in the system under the matched electric control system, can realize the overlapping horizontal packaging of the ultrathin glass, has high packaging efficiency, and greatly improves the packaging rhythm and quality.)

1. A glass substrate packaging system, comprising:

a glass substrate conveyed on a profile frame;

a first robot that grips the glass substrate from the profile frame;

the automatic paper discharging table device is used for laying spacing paper on a glass packaging table of the automatic paper discharging table device, and the first robot is used for placing the grabbed glass substrate on the spacing paper;

a second robot that grips the glass substrate and the spacer paper from the glass packing stage; and

a loading flat tray which is placed horizontally and a surface of which is horizontal, the second robot laying the gripped glass substrate and the spacer paper on the surface of the loading flat tray.

2. The glass substrate packaging system of claim 1, wherein a conveyor is disposed on the profile frame and a plurality of drive wheels are disposed on both sides of the profile frame, the conveyor conveying the glass substrate on the profile frame via the drive wheels;

and in the conveying direction of the glass substrate, the front part and the rear part of the profile frame are respectively provided with a positioning rod device, each positioning rod device comprises an air cylinder and a positioning rod connected with the air cylinder, and the positioning rod devices at the front part and the rear part of the profile frame respectively actuate the respective air cylinders to drive the respective positioning rods to be lifted firstly and then respectively approach to the front side and the rear side of the glass substrate in the conveying direction to be clamped so as to position the conveyed glass substrate.

3. The glass substrate packaging system of claim 1, wherein the first robot is positioned on a first slide, a cross frame and a plurality of first supports extending from different positions of the cross frame in parallel are arranged on an arm of the first robot, a plurality of spaced first suction cup devices are arranged on each first support, each first suction cup device comprises two first suction cup columns with equal height and arranged in parallel, the upper ends of the first suction cup columns are fixedly connected to the first supports through mounting frames, and the lower ends of the first suction cup columns are connected with first suction cups.

4. The glass substrate packaging system according to claim 3, wherein a first vacuum air path and a first electromagnetic valve are further arranged on the arm of the first robot, the first vacuum air path is connected with the first suction cup device, and the first vacuum air path is controlled to be on or off by the first electromagnetic valve.

5. The glass substrate packaging system of claim 1, wherein the automatic paper-out table apparatus is located intermediate the first robot and the second robot, the automatic paper-out table apparatus further comprising a paper-out bin and an actuator that causes the spacer paper to come out of the paper-out bin and automatically lays the spacer paper on the glass packaging table.

6. The glass substrate packaging system of claim 1, wherein a position sensor is disposed on the glass packaging stage for detecting a position of the spacer paper to place the spacer paper in position on the glass packaging stage.

7. The glass substrate packaging system of claim 1, wherein the second robot is located on a second slide, a second support, and a second suction cup device and a third suction cup device which are arranged on the second support are arranged on an arm of the second robot, the second suction cup device comprises two second suction cup columns which are equal in height and are arranged in parallel, the upper ends of the second suction cup columns are fixedly connected to the second support through a mounting frame, the lower ends of the second suction cup columns are connected with second suction cups, and the second suction cup columns and the second suction cups are used for sucking the glass substrates; the third sucking disc device includes parallel arrangement's second sucking disc post and third sucking disc post, the third sucking disc post is compared the second sucking disc post height glass substrate thickness, the upper end of third sucking disc post is in through mounting bracket fixed connection on the second support, the lower extreme of third sucking disc post is connected with the third sucking disc, the third sucking disc post with the third sucking disc is used for adsorbing the partition paper.

8. The glass substrate packaging system of claim 7, wherein a second vacuum gas circuit and a second solenoid valve are further disposed on an arm of the second robot, the second vacuum gas circuit is connected with the second suction cup device and the third suction cup device, and the second vacuum gas circuit is controlled to be on or off by the second solenoid valve.

9. The glass substrate packaging system of claim 1, wherein the load flat carrier comprises at least two load flat carriers.

10. A method of packaging a glass substrate using the glass substrate packaging system of any of claims 1-9, the method comprising the steps of:

conveying the glass substrate on a profile frame;

grabbing the glass substrate from the profile frame by the first robot;

laying spacing paper on a glass packaging table of the automatic paper output table device by using the automatic paper output table device;

placing the grabbed glass substrate on the spacer paper by using the first robot;

grabbing the glass substrate and the spacer paper from the glass packaging table by the second robot;

horizontally placing the grabbed glass substrate and the spacing paper on the loading flat bracket by using the second robot;

and repeating the steps to finish the glass substrate stacking and horizontal packaging on the loading flat bracket.

Technical Field

The present invention relates to the field of glass substrate and ultra-thin flexible glass manufacturing production packaging, and more particularly, to a glass substrate packaging system and method.

Background

In the process of processing a glass substrate such as a TFT-LCD (thin film transistor liquid crystal display), a cover glass, etc., a glass having a thickness of 0.7mm, 0.5mm, 0.4mm is generally produced. Because the glass substrate is a high-precision transparent electronic component, the thickness of the glass substrate can directly influence the image effect of the display and even influence the final quality of the whole product to a great extent, the display industry puts high requirements on the thickness of the glass substrate, the market of the glass substrate is rapidly changed to thinning products, and ultrathin glass with the thickness of 0.2mm, 0.15mm, 0.1mm and the like needs to be produced. The post-processing finished product package uses an automatic production line for continuously processing finished glass products, the packaging mode is that glass is placed on an A-shaped frame inclined at 80 degrees in an inclined mode, and is covered with a layer of partition paper for packaging, specifically, the packaging mode adopts a laminated mode of the partition paper-the glass-the partition paper, but ultrathin glass products with the thickness of 0.2mm and below cannot be normally inclined on the A-shaped frame at 80 degrees. Therefore, the production line must be redesigned, the traditional inclined A-shaped frame is abandoned, the horizontal bracket is changed, and the equipment in the inspection packaging area is controlled by the matched electric system to realize the unified coordination operation and carry out the packaging mode of the flush-mounting and stacking type, thereby meeting the packaging requirements of high-end products.

Accordingly, it is desirable to have a system and method that achieves stacked horizontal packaging of glass substrates.

Disclosure of Invention

In view of the deficiencies of the prior art, it is an object of the present invention to provide a desirable glass substrate packaging system and method thereof.

In order to solve the technical problems, the invention adopts the following technical scheme:

according to an aspect of the present invention, there is provided a glass substrate packaging system comprising:

a glass substrate conveyed on the profile frame;

a first robot that grabs the glass substrate from the profile frame;

the automatic paper discharging table device is used for laying the spacing paper on a glass packaging table of the automatic paper discharging table device, and the first robot is used for placing the grabbed glass substrate on the spacing paper;

a second robot that grips the glass substrate and the spacer paper from the glass packing stage; and

a loading flat tray which is horizontally placed and a surface of which is horizontal, the second robot laying the grasped glass substrate and the spacer paper on the surface of the loading flat tray.

In one embodiment of the invention, the profile frame is provided with a conveyor belt, and two sides of the profile frame are provided with a plurality of driving wheels, and the conveyor belt conveys the glass substrate on the profile frame through the driving wheels;

and in the conveying direction of the glass substrate, the front part and the rear part of the profile frame are respectively provided with a positioning rod device, each positioning rod device comprises an air cylinder and a positioning rod connected with the air cylinder, and the front part and the rear part of the profile frame respectively actuate the respective air cylinder to drive the respective positioning rod to be lifted firstly and then respectively approach to the front side and the rear side of the glass substrate in the conveying direction to be clamped so as to position the conveyed glass substrate.

In one embodiment of the invention, the first robot is positioned on the first slideway, a cross frame and a plurality of first supports extending out of the cross frame in parallel are arranged on an arm of the first robot, a plurality of first suction cup devices are arranged on each first support at intervals, each first suction cup device comprises two first suction cup columns which are equal in height and arranged in parallel, the upper ends of the first suction cup columns are fixedly connected to the first supports through mounting frames, and the lower ends of the first suction cup columns are connected with first suction cups.

In an embodiment of the invention, the arm of the first robot is further provided with a first vacuum air path and a first electromagnetic valve, the first vacuum air path is connected with the first sucking disc device, and the first vacuum air path is controlled to be on or off by the first electromagnetic valve.

In one embodiment of the invention, the automatic paper outlet table device is positioned between the first robot and the second robot, and the automatic paper outlet table device further comprises a paper outlet bin and an actuator, wherein the actuator enables the spacer paper to be discharged from the paper outlet bin and automatically lays the spacer paper on the glass packaging table.

In one embodiment of the invention, a position sensor is provided on the glass-packing stage for detecting the position of the spacer paper so that the spacer paper is placed in position on the glass-packing stage.

In one embodiment of the invention, a second robot is positioned on a second slideway, a second support, a second sucker device and a third sucker device which are arranged on the second support are arranged on an arm of the second robot, wherein the second sucker device comprises two second sucker columns which are equal in height and arranged in parallel, the upper ends of the second sucker columns are fixedly connected to the second support through a mounting frame, the lower ends of the second sucker columns are connected with second suckers, and the second sucker columns and the second suckers are used for sucking glass substrates; the third sucking disc device comprises a second sucking disc column and a third sucking disc column which are arranged in parallel, the third sucking disc column is thicker than the second sucking disc column by the glass substrate, the upper end of the third sucking disc column is fixedly connected onto the second support through a mounting frame, the lower end of the third sucking disc column is connected with a third sucking disc, and the third sucking disc column and the third sucking disc are used for adsorbing spacing paper.

In an embodiment of the invention, the arm of the second robot is further provided with a second vacuum air path and a second electromagnetic valve, the second vacuum air path is connected with the second suction cup device and the third suction cup device, and the second vacuum air path is controlled to be on or off by the second electromagnetic valve.

In one embodiment of the invention, the loading plate carrier comprises at least two loading plate carriers.

According to another aspect of the present invention, there is provided a method for packaging a glass substrate by using the above glass substrate packaging system, the method comprising the steps of:

conveying the glass substrate on the profile frame;

grabbing the glass substrate from the profile frame through a first robot;

laying the spacing paper on a glass packaging table of the automatic paper outlet table device by using the automatic paper outlet table device;

placing the grabbed glass substrate on a piece of spacer paper by using a first robot;

grabbing the glass substrate and the spacer paper from the glass packaging table through a second robot;

horizontally placing the grabbed glass substrate and the spacing paper on a loading flat bracket by using a second robot;

and repeating the steps to complete the glass substrate stacking and horizontal packaging on the loading flat bracket.

By adopting the technical scheme, compared with the prior art, the invention has the following advantages:

the device can realize unified and coordinated operation under the matched electric control system, realizes the superposition horizontal packaging of the ultrathin glass, has high packaging efficiency, and greatly improves the packaging rhythm and quality.

Drawings

FIG. 1 shows a schematic view of a glass substrate packaging system provided by the present invention;

FIG. 2 is a schematic structural view of a first robot provided by the present invention when gripping a glass substrate;

fig. 3 is a schematic structural view illustrating a second robot provided in the present invention placing the gripped glass substrate and spacer paper on a loading flat tray.

List of reference numerals

10 section bar frame, 101 drive wheel, 102 drive belt, 103 positioning rod device, 104 glass substrate, 20 first robot, 201 first slide, 202 cross frame, 203 first support, 204 first suction cup device, 205 first suction cup column, 206 first suction cup, 30 automatic paper outlet table equipment, 301 paper outlet bin, 302 glass packaging table, 303 spacing paper, 40 second robot, 401 second slide, 402 second support, 403 second suction cup device, 404 third suction cup device, 405 second suction cup column, 406 second suction cup, 407 third suction cup column, 408 third suction cup, 409 mounting frame, 50 loading flat bracket and A conveying direction.

Detailed Description

It should be understood that the embodiments of the invention shown in the exemplary embodiments are illustrative only. Although only a few embodiments of the present invention have been described in detail above, those skilled in the art will readily appreciate that many modifications are possible without materially departing from the teachings of the present subject matter. Accordingly, all such modifications are intended to be included within the scope of this invention. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and parameters and the like of the following exemplary embodiments without departing from the spirit of the present invention.

Referring to fig. 1-3, the present invention provides a glass substrate packaging system comprising:

a glass substrate 104, the glass substrate 104 being conveyed on the profile frame 10;

a first robot 20, the first robot 20 grasping the glass substrate 104 from the profile frame 10;

an automatic paper discharge table apparatus 30, the automatic paper discharge table apparatus 30 laying a spacer paper 303 on a glass packing table 302 of the automatic paper discharge table apparatus 30, the first robot 20 placing the grasped glass substrate 104 on the spacer paper 303;

a second robot 40, the second robot 40 grasping the glass substrate 104 and the spacer paper 303 from the glass packing stage 302; and

a loading flat tray 50, the loading flat tray 50 being horizontally placed and the surface of the loading flat tray 50 being horizontal, the second robot 40 laying the gripped glass substrate 104 and the spacer paper 303 on the surface of the loading flat tray 50.

The present invention provides a glass substrate packaging system that after the glass substrate 104 is positioned on the profile frame 10, the automatic paper-out table device 30 firstly lays the spacing paper 303 on the glass packaging table 302 of the automatic paper-out table device 30, after the laying of the spacing paper 303 is finished, the first robot 20 will grab the glass substrate 104 on the profile frame 30 and place the glass substrate 104 on the spacer paper 303 prepared on the glass packing station 302, the second robot 40 may then grab the placed glass substrate 104 and spacer paper 303 and lay the glass substrate 104 and spacer paper 303 flat on the loading flat carriage 50, thereby finishing the flat placement of the glass substrate, and the superposition and horizontal packaging of the glass substrate can be realized by repeating the operations, therefore, the flat packaging function of the glass substrate is achieved, the packaging rhythm and quality are greatly improved, the operation is quick, simple and convenient, and the time and the cost are saved.

In the above-described structure, referring again to fig. 1 to 2, in order to facilitate the transfer of the glass substrate 104, the profile frame 10 is provided with the conveyor 102, and both sides of the profile frame 10 are provided with the plurality of driving wheels 101, and the conveyor 102 transfers the glass substrate 104 on the profile frame 10 by the driving wheels 101.

In the above-described structure, referring to fig. 1-2 again, in order to facilitate the first robot 20 to grasp the glass substrate 104 with high precision, avoid the influence of the transfer deviation, make the grasping position the same, in the conveying direction a of the glass substrate 104, the front part and the rear part of the profile frame 10 are respectively provided with a positioning rod device 103, each positioning rod device 103 comprises an air cylinder and a positioning rod connected with the air cylinder, the positioning rod devices 103 at the front part and the rear part of the profile frame 10 respectively actuate the respective air cylinders to drive the respective positioning rods to be lifted and then respectively approach to the front side and the rear side of the glass substrate 104 in the conveying direction a to be clamped, so as to position the conveyed glass substrate 104, the positioning rod device 103 can position the glass substrate 104 at the same position each time, so that the first robot 20 can grasp the glass substrate 104 at the same position with high accuracy.

In the above structure, referring again to fig. 2, in order to facilitate movement of the first robot 20, the first robot 20 is located on the first slideway 201. In order to better enable the first robot 20 to grasp the glass substrate 104, a cross frame 202 and a plurality of first supports 203 extending from different positions of the cross frame 202 in parallel are arranged on an arm of the first robot 20, a plurality of spaced first chuck devices 204 are arranged on each first support 203, each first chuck device 204 comprises two first chuck columns 205 with equal height and arranged in parallel, the upper ends of the first chuck columns 205 are fixedly connected to the first supports 203 through a mounting frame (not shown), and the lower ends of the first chuck columns 205 are connected with first chuck 206. When the first robot 20 is to grasp the glass substrate 104, the first suction cup device 204 of the first robot 20 may form a vacuum, whereby the glass substrate 104 may be sucked by the first suction cup 206 of the vacuum.

In the above-described structure, referring again to fig. 1, in order to more conveniently provide the spacer paper 303, the automatic paper discharge table apparatus of the present invention is located between the first robot 20 and the second robot 40, and further includes a paper discharge bin 301 and an actuator (not shown) that causes the spacer paper 303 to be discharged from the paper discharge bin 301 and automatically lays the spacer paper 303 on the glass packing table 302.

In the above structure, a position sensor (not shown) for detecting the position of the spacer paper 303 is provided on the glass packing table 302 so that the spacer paper 303 is put in place on the glass packing table 302.

In the above structure, referring again to fig. 1 and 3, in order to facilitate the movement of the second robot 40, the second robot 40 is located on the second slide 401. In order to enable the second robot 40 to better grasp the glass substrate 104 and the spacer paper 303, a second bracket 402, a second suction cup device 403 and a third suction cup device 404 which are arranged on the second bracket 402 are arranged on an arm of the second robot 40, wherein the second suction cup device 403 comprises two second suction cup columns 405 which are equal in height and arranged in parallel, the upper ends of the second suction cup columns 405 are fixedly connected to the second bracket 402 through a mounting bracket 409, the lower ends of the second suction cup columns 405 are connected with second suction cups 406, and the second suction cup columns 405 and the second suction cups 406 are used for sucking the glass substrate 104; the third suction cup device 404 includes a second suction cup column 405 and a third suction cup column 407 which are arranged in parallel, the third suction cup column 407 is thicker than the second suction cup column 405 by the thickness of the glass substrate, the upper end of the third suction cup column 407 is also fixedly connected to the second support 402 by a mounting bracket 409, the lower end of the third suction cup column 407 is connected to a third suction cup 408, and the third suction cup column 407 and the third suction cup 408 are used for sucking the spacer paper 303.

In the above structure, in order to realize the vacuum effect of each suction cup device so as to adsorb the glass substrate 104 and the spacer paper 303, the arm of the first robot 20 is provided with a first vacuum air path (not shown) and a first electromagnetic valve (not shown), the first vacuum air path is connected with the first suction cup device 204, and the on-off of the first vacuum air path is controlled by the first electromagnetic valve; a second vacuum air path (not shown) and a second electromagnetic valve (not shown) are arranged on the arm of the second robot 40, the second vacuum air path is connected with the second sucker device and the third sucker device, and the second vacuum air path is controlled to be on or off through the second electromagnetic valve.

In the above structure, in order to more accurately and cost-effectively realize vacuum adsorption, the vacuum values formed in the first vacuum gas path and the second vacuum gas path are in the range of 4-5kgf/cm²。

In the above structure, in order to facilitate the flat packing of the glass substrates, the loading flat tray 50 includes at least two loading flat trays 50.

In the above structure, the thickness of the glass substrate 104 may be 0.2mm or less.

By the invention, the final flat packing precision can be controlled to be within 0.2mm of the offset of the spacing paper 303, within 0.2mm of the offset of the glass substrate 104 and within 0.3mm of the offset of the spacing paper 303 and the glass substrate 104.

In addition, the invention also provides a method for packaging the glass substrate by using the glass substrate packaging system, which comprises the following steps: conveying the glass substrate on the profile frame; grabbing the glass substrate from the profile frame through a first robot; laying the spacing paper on a glass packaging table of the automatic paper outlet table device by using the automatic paper outlet table device; placing the grabbed glass substrate on a piece of spacer paper by using a first robot; grabbing the glass substrate and the spacer paper from the glass packaging table through a second robot; horizontally placing the grabbed glass substrate and the spacing paper on a loading flat bracket by using a second robot; and repeating the steps to complete the glass substrate stacking and horizontal packaging on the loading flat bracket.

The present invention will be described in further detail with reference to specific examples.

As shown in fig. 1, a glass substrate packaging system includes a glass substrate 104 and its conveying mechanism, a first robot 20 on a first slide 201, an automatic paper-out table apparatus 30 including a paper-out bin 301 and a glass packaging table 302, a first robot 40 on a second slide 401, and two loading flatbeds 50, the automatic paper-out table apparatus 30 being located between the first robot 20 and the second robot 40.

The first robot 20 picks up the glass substrate 104 from the profile frame 10 of the glass substrate transfer mechanism, the automatic paper-out table apparatus 30 places the spacer paper 303 in the paper-out bin 301 on the glass packaging table 302, the first robot 20 moves to the glass packaging table 302 on the first slide 201, the glass substrate 104 and the spacer paper 303 on the glass packing table 302 are grasped by turning to place the grasped glass substrate 104 on the spacer paper 303 on the glass packing table 302, the second robot 40 moves to the glass packing table 302 on the second slide 401, the second robot 40 then slides to the loading flat carriage 50 through the second slide 401, lays the gripped glass substrate 104 and spacer 303 flat on the corresponding loading flat carriage by turning, since the loading flat tray 50 is horizontally placed and the surface thereof is also horizontal, the present invention completes the horizontal packing of the glass substrate.

As shown in fig. 2, fig. 2 is a schematic view showing the structure of the second robot 20 gripping the transferred glass substrate 104 in detail. For the glass substrate 104 on the conveying mechanism, the conveying belt 102 is arranged on the profile frame 10 of the conveying mechanism, two rows of transmission wheels 101 are arranged on two sides of the profile frame 10, the conveying belt 102 conveys the glass substrate 104 to the first robot 20 through the transmission wheels 101 to be grabbed by the first robot 20, positioning rod devices 103 are respectively arranged in front of and behind the conveying mechanism in the conveying direction a of the glass substrate 104, each positioning rod device 103 comprises an air cylinder and a positioning rod connected with the air cylinder, the two positioning rod devices 103 can respectively actuate the respective air cylinder to drive the respective positioning rod to lift and then respectively approach to and clamp the front side and the rear side of the glass substrate 104 in the conveying direction a, and therefore the conveyed glass substrate 104 can be positioned for the first robot 20 to grab.

The arm of the first robot 20 is provided with a cross frame 202 and three first supports 203 extending from different positions of the cross frame 202 in parallel, each first support 203 is provided with 4 first suction disc devices 204 at intervals, each first suction disc device 204 comprises two first suction disc columns 205 with equal height and arranged in parallel, the upper ends of the first suction disc columns 205 are fixedly connected to the first supports 203 through mounting frames, and the lower ends of the first suction disc columns 205 are connected with first suction discs 206. When the first robot 20 grasps the glass substrate 104, the first chuck device 204 of the first robot 20 may form a vacuum, whereby the glass substrate 104 may be sucked by a plurality of first suction cups 206 (e.g., 12 as shown in fig. 2) of the vacuum, thereby enabling the first robot 20 to grasp the glass substrate 104 positioned on the profile frame 10.

As shown in fig. 3, fig. 3 shows a schematic structural view in more detail when the second robot places the gripped glass substrate and the spacer paper on the loading flat tray. A second bracket 402, a second sucker device 403 and a third sucker device 404 which are arranged on the second bracket 402 are arranged on the arm of the second robot 40, the second sucker device 403 comprises two second sucker columns 405 which are equal in height and are arranged in parallel, the upper ends of the second sucker columns 405 are fixedly connected to the second bracket 402 through a mounting frame 409, the lower ends of the second sucker columns 405 are connected with second suckers 406, and the second sucker columns 405 and the second suckers 406 are used for sucking the glass substrate 104; the third suction cup means 404 includes a second suction cup column 405 and a third suction cup column 407 which are arranged in parallel, the third suction cup column 407 is thicker than the second suction cup column 405 by the thickness of the glass substrate, the upper end of the third suction cup column 407 is also fixedly connected to the second support 402 by a mounting bracket 409, the lower end of the third suction cup column 407 is connected to a third suction cup 408, the third suction cup column 407 and the third suction cup 408 are used for sucking the spacer paper 303, in this embodiment, the third suction cup device is generally located at an end of the second bracket 402, that is, the third suction cup device 404 is generally disposed at the glass substrate and the spacer paper not covered by the glass substrate, thus, when the second robot 40 grips, the second suction cup devices 403 and the third suction cup devices 404 are both vacuumed, and the glass substrate 104 may be sucked by the plurality of second suction cups 406 under vacuum, and the spacer paper 303 may be sucked by the plurality of third suction cups 408 under vacuum.

Therefore, when the glass substrate packaging system of the present invention is in operation, the glass substrate 104 is conveyed on the profile frame 10 by the conveyor belt 102 through the transmission wheels 101 arranged on both sides of the profile frame 10 on the profile mechanism, the front and rear positioning rod devices 103 are respectively arranged on the front and rear of the profile frame 10 in the conveying direction a, when the first robot 20 needs to grasp the glass substrate 104 to be packaged, the front and rear positioning rod devices 103 on the profile frame 10 position the conveyed glass substrate 104 on the profile frame 10, at this time, the first robot 20 can grasp the glass substrate 104 in preparation, the automatic paper output table device 30 places the partition paper 303 in the paper output bin 301 on the glass packaging table 302 through the arranged actuator, the first suction device 204 on the arm of the first robot 20 forms vacuum, the positioned glass substrate 104 is grasped by the first suction cup 206 forming vacuum, then the first robot 20 moves to the glass packaging table 302 prepared with the partition paper 303 through the first slide 201, the first robot 20 adjusts the direction to place the grabbed glass substrate 104 on the spacer paper 303 on the glass packing table 302, at this time, the second robot 40 moves to the glass packing table 302 through the second slide 401, the second suction device 403 and the third suction device 404 on the arm of the second robot 40 both form a vacuum, the glass substrate 104 is sucked and grabbed by the second suction cup 406 forming a vacuum, the spacer paper 303 is sucked and grabbed by the third suction cup 408 forming a vacuum, at this time, the second robot 40 moves the glass substrate 104 and the spacer paper 303 sucked and grabbed onto the loading flat tray 50 through the second slide 401 to place the glass substrate 104 and the spacer paper 303 flat on the loading flat tray 50. The above operation is repeated to every glass substrate to realize glass substrate stack horizontal packaging, thereby reach glass substrate's flat packing function, greatly promoted packing beat and quality.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; it is intended that the following claims be interpreted as including all such alterations, modifications, and equivalents as fall within the true spirit and scope of the invention.