CN112592037A

CN112592037A - Glass and mould transfer system

Info

Publication number: CN112592037A
Application number: CN202010909211.2A
Authority: CN
Inventors: 郑荣和; 李衍衡; 郑东衍
Original assignee: Pickaxe Technology Co Ltd
Current assignee: Pickaxe Technology Co Ltd
Priority date: 2019-10-01
Filing date: 2020-09-02
Publication date: 2021-04-02
Anticipated expiration: 2040-09-02
Also published as: KR102218690B9; CN112592037B; KR102218690B1

Abstract

The invention discloses a glass and mould transferring system, which comprises: a plurality of robots which take out and clean a plate-shaped glass semi-finished product from a first cassette, place the plate-shaped glass semi-finished product in a lower mold and an upper mold, and put the plate-shaped glass semi-finished product into a glass molding machine, and load a molded three-dimensional glass finished product on a second cassette by separating the lower mold and the upper mold taken out of the glass molding machine, and restore the lower mold and the upper mold taken out of the glass molding machine to a predetermined position so as to reuse the plate-shaped glass semi-finished product in the putting; and a single mold cleaning machine for sequentially cleaning the lower mold and the upper mold while the lower mold and the upper mold are restored to the predetermined positions, wherein some of the plurality of robots are configured to sequentially transfer the lower mold and the upper mold to the mold cleaning machine.

Description

Glass and mould transfer system

Technical Field

The present invention relates to a system connected to a glass forming machine that receives a flat glass sheet, forms the glass sheet into a three-dimensional shape, and then takes out the glass sheet and a mold to transfer the glass sheet and the mold.

Background

The three-dimensional glass is glass having a curved surface portion, and is recently mainly used for portable terminals such as smartphones and smartwatches.

Glass having a three-dimensional shape can be produced by a grinding method or a press molding method, but the grinding method has a problem that it is not suitable for mass production and has a lower quality than the press molding method. Therefore, in recent years, press molding methods have been widely used in which a flat plate-shaped (two-dimensional) glass blank is loaded into a mold, and the three-dimensional glass blank is molded by sequentially subjecting the mold to a high-temperature heating step, a molding step, and a cooling step.

For example, in prior registered patent No. 10-1775333 (registered on 31/08/2017) of the present applicant, there is disclosed a glass molding machine which takes out a flat plate-like glass after it is molded into a three-dimensional shape.

In order to automatically realize the process of feeding a flat plate-shaped glass semi-finished product into a glass forming machine and taking out a formed three-dimensional glass finished product, a system for transferring glass and a mold is connected to the glass forming machine.

For example, in the applicant's prior registered patent No. 10-1914436 (registered by 29/10/2018), a system for transferring glass and molds connected to a glass molding machine is disclosed.

A glass forming machine, a glass and mould transfer system connected with the glass forming machine, and a glass forming system for producing glass with three-dimensional shape. In order to arrange as many glass forming systems as possible in a limited space, it is necessary to reduce the size of the glass and mold transfer system.

However, in the conventional glass and mold transfer system, a plurality of robots and related devices are individually provided to perform a specific function, which causes an increase in the size of the glass and mold transfer system. Therefore, to reduce the size of the glass and mold transfer system, it is necessary to reduce the number of robots and associated equipment.

Meanwhile, in the glass and mold transfer system, the speed at which the glass and mold are transferred affects the overall cycle time of the automated process for forming the flat glass semi-finished product into a three-dimensional shaped glass finished product. Therefore, there is a need for research into a method of rapidly transferring glass and molds in a more efficient movement path, and a transfer system for implementing the same.

If new ways of moving the glass and the mold can be developed through such studies, the glass production method of the three-dimensional shape will be redefined.

Disclosure of Invention

The invention provides a transfer system capable of further simplifying the conventional glass and mold transfer process, and a glass and mold transfer process. Meanwhile, the present invention is for providing a glass production method of a three-dimensional shape which is further simplified using the above-mentioned processes.

Specifically, a first object of the present invention is to provide a glass and mold transfer system capable of reducing the size of the entire facility by integrating a plurality of robots and some of the related devices, each of which is provided separately to perform a specific function.

A second object of the present invention is to provide a glass and mold transfer system, a glass and mold transfer process, and a glass production method using the three-dimensional shape of the above process, which can simultaneously perform at least a part of the processes of processing a glass semi-finished product, a glass finished product, a lower mold, and an upper mold while minimizing delay.

To achieve the first object of the present invention, the present invention discloses a glass and mold transfer system, comprising: a first robot which takes out the glass semi-finished product from the first cassette and puts it into a glass cleaning machine, and places the glass semi-finished product, which has been aligned and cleaned in the glass cleaning machine, on the lower mold located at a first position; a second robot that grips the lower mold taken out of the glass molding machine at a second position and moves to the first position; and a third robot that grips and lifts the upper mold at the second position, and that is loaded on the second chuck by sucking the glass product, and that moves the upper mold to the first position.

The glass and mold transfer system includes a single mold cleaning machine that sequentially cleans the lower mold and the upper mold while the lower mold and the upper mold are moved to the first position.

The first and second robots are configured to sequentially transfer the lower mold and the upper mold to the mold cleaning machine, respectively.

Above-mentioned glass cleaning machine includes: a glass cleaning machine main body which is provided with an opening part opened to the upper side and is connected with a dust collecting device which collects dust or foreign matters falling to the inside; a cover configured to open and close the opening; a glass aligning unit for aligning the glass semi-finished product stored in the glass cleaning machine main body; and an ion blower which is provided inside the glass washer body and ejects ionized air to the opening.

Meanwhile, in order to achieve the first object of the present invention, the present invention discloses a glass and mold transfer system comprising: a plurality of robots that take out and clean a plate-shaped glass semi-finished product from a first cassette, place the plate-shaped glass semi-finished product in a lower mold and an upper mold, and put the plate-shaped glass semi-finished product into a glass molding machine, and load a molded three-dimensional glass finished product on a second cassette by separating the lower mold and the upper mold taken out of the glass molding machine, and restore the lower mold and the upper mold taken out of the glass molding machine to predetermined positions so as to reuse the plate-shaped glass semi-finished product in the putting; and a single mold cleaning machine for sequentially cleaning the lower mold and the upper mold while the lower mold and the upper mold are returned to the preset positions, wherein some of the plurality of robots are configured to sequentially transfer the lower mold and the upper mold to the mold cleaning machine.

In order to achieve the second object of the present invention, the step of taking out the glass semi-finished product from the first cassette and putting it into the glass washer is performed during the step of taking out the glass finished product from the glass forming machine and separating the lower mold and the upper mold from each other.

Further, the step of transferring the lower mold to the mold cleaning machine is performed during a period of performing the step of cleaning the glass semi-finished product by the glass cleaning machine and simultaneously performing the step of attaching the glass finished product to the second chuck by suction. In the process, the lower die can be cleaned through the die cleaning machine.

And a step of transferring the upper mold to the mold cleaning machine while the step of attaching the cleaned glass intermediate product to the cleaned lower mold by suction is performed. In the process, the upper die can be cleaned through the die cleaning machine.

In addition, in order to achieve the second object of the present invention, the present invention discloses a method for producing a three-dimensional shaped glass, comprising: taking out the plate-type glass semi-finished product from the first clamping seat, cleaning the plate-type glass semi-finished product by using a glass cleaning machine, and putting the plate-type glass semi-finished product into a glass forming machine; taking out the formed three-dimensional glass product from the glass forming machine and loading the glass product on a second clamping seat; and a step of transferring the lower mold and the upper mold taken out of the glass molding machine to be reused in the charging step; in the step of transferring for the reuse, the lower mold and the upper mold are moved to be separated from each other, and are sequentially cleaned by a single mold cleaning machine in the process of the movement.

The effects of the present invention obtained by the above-described solution are as follows:

first, since the glass preform is processed by the first robot, the lower mold is processed by the second robot, and the glass preform and the upper mold are processed by the third robot, the number of robots separately provided to perform a specific function can be reduced compared to the conventional one.

Further, since the lower die and the upper die are sequentially cleaned by the single die cleaning machine in the process of sequentially transferring the lower die and the upper die to the preset positions, the number of devices can be reduced compared to the case where the lower die cleaning unit and the upper die cleaning unit are separately provided in the related art.

Meanwhile, since it is formed that not only the cleaning of the glass semi-finished product but also the alignment is performed in the glass cleaning machine, the number of equipment can be reduced compared to the related art in which the cleaning unit of the glass semi-finished product and the position adjusting unit of the glass semi-finished product are separately provided.

Thus, according to the present invention, the glass and mold transfer process and the transfer system for realizing the process can be further simplified. By simplifying the process and shortening the transfer route, the accuracy of the process can be improved, the input-output ratio can be improved, and the failure rate of the entire facility can be reduced by simplifying the facility.

Second, since the first robot is configured to perform the process of taking out the glass semi-finished product and putting it into the glass washer while the process of taking out the glass finished product from the glass forming machine and separating the lower mold and the upper mold from each other by the second robot and the third robot is performed, the speed of the process can be increased. It should be noted that the meaning of "performing a process" described above and to be described later is not limited to the case where the process is necessarily completed, but includes the case where a part of the process is performed.

Further, since the second robot is configured to perform the step of transferring the lower mold to the mold cleaning machine while the step of cleaning the glass semi-finished product by the glass cleaning machine, sucking the glass finished product by the third robot, and loading the glass finished product on the second cassette is performed, the speed of the step can be increased.

At the same time, the third robot is configured to perform the step of transferring the upper mold to the mold cleaning machine while the first robot sucks the glass semi-finished product to set the glass semi-finished product on the lower mold in a state where the lower mold is transferred by the second robot and returned to the preset position, so that the speed of the step can be increased.

As described above, at least a part of the processes for processing the glass semi-finished product, the glass finished product, the lower mold, and the upper mold are simultaneously performed in a state where the delay is minimized, so that the production speed of the glass having a three-dimensional shape can be increased.

Drawings

Fig. 1 and 2 are a perspective view and a plan view showing a state in which a glass and mold transfer system according to an embodiment of the present invention is butted against a glass molding machine.

Fig. 3 is a plan view of the glass and mold transfer system shown in fig. 2, separated therefrom.

Fig. 4 is an exploded perspective view showing an example of a mold used in the glass and mold transfer system shown in fig. 3.

Fig. 5 is a conceptual diagram illustrating an example of the mold inserting unit shown in fig. 3.

Fig. 6 is a conceptual diagram illustrating an example of the mold ejection unit shown in fig. 3.

Fig. 7 is a conceptual diagram showing an example of the first robot shown in fig. 3.

Fig. 8 is a conceptual diagram illustrating an example of the second robot shown in fig. 3.

Fig. 9 is a conceptual diagram illustrating an example of the third robot shown in fig. 3.

Fig. 10 is a conceptual diagram showing an example of the glass washer shown in fig. 3.

Fig. 11 is a conceptual diagram showing an internal configuration of the glass washer shown in fig. 10.

Fig. 12 is a conceptual diagram showing an example of the mold cleaning machine shown in fig. 3.

Fig. 13 is a conceptual diagram illustrating the first card holder shown in fig. 3.

Fig. 14 is a conceptual diagram illustrating the second cartridge shown in fig. 3.

Fig. 15 is a conceptual diagram illustrating the mold loading unit shown in fig. 3.

Fig. 16 is a conceptual diagram illustrating a process of transferring a glass semi-finished product, a glass finished product, a lower mold, and an upper mold by the glass and mold transfer system shown in fig. 3.

Detailed Description

Next, a glass and mold transfer system and a method for producing a three-dimensional glass will be described in further detail with reference to the drawings.

In describing the embodiments disclosed herein, when it is judged that the detailed description of the related well-known technology may obscure the gist of the embodiments disclosed herein, a detailed description thereof will be omitted.

The drawings are only for the purpose of assisting understanding of the embodiments disclosed in the present specification and are not intended to limit the technical ideas disclosed in the present specification by the drawings, and should be understood to include all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

In the following description, the singular expressions include the plural expressions unless the context clearly dictates otherwise.

In the present application, it should be understood that terms such as "including" or "having" are intended to indicate the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Fig. 1 and 2 are a perspective view and a plan view showing a state in which a glass and mold transfer system 100 according to an embodiment of the present invention is butted against a glass molding machine 200.

As shown in fig. 1 and 2, the glass forming machine 200 is a device that forms and discharges a glass that is put into a predetermined shape. Glass as a molding object is put into the glass molding machine 200 in a state of being accommodated inside the mold M, and is discharged from the glass molding machine 200 after passing through a molding process.

For example, if a flat plate-shaped (two-dimensional shape) glass preform G1 is placed inside a mold M and the mold M is put into a glass molding machine 200, the mold M including a three-dimensional shaped glass preform G2 is discharged from the glass molding machine 200 after passing through a high-temperature heating step, a molding step, and a cooling step.

In order to continuously perform the above steps, a glass and mold transfer system 100 is connected to the glass molding machine 200.

That is, the glass and mold transfer system 100 is configured to load a glass into the glass molding machine 200 after the glass is placed in the mold M, and to load the molded glass after the mold M is removed from the glass molding machine 200, and to transfer the mold M so as to reuse the mold M in the loading.

The present invention is intended to provide a glass and mold transfer system 100 and a glass and mold M transfer process, which can further simplify the conventional glass and mold M transfer process, and will be described in detail below.

For reference, the directions shown in fig. 5 to 15 described later and the directions referred to in the description of the respective drawings are based on fig. 3. It is therefore apparent that the arrangement and movement principles of the various structures shown in fig. 5-15, and the principles of the glass and mold transfer system 100, can be readily understood if reference is made to fig. 3.

Fig. 3 is a plan view of the glass and mold transfer system 100 shown in fig. 2, and fig. 4 is an exploded perspective view of an example of a mold M used in the glass and mold transfer system 100 shown in fig. 3.

First, as shown in fig. 3, the glass and mold transfer system 100 includes a mold input unit 110, a mold discharge unit 120, a first cassette 181, a second cassette 182, a first robot 130, a second robot 140, a third robot 150, a glass washer 160, and a mold washer 170.

The mold loading unit 110 is a device for loading a mold M containing glass therein into the glass molding machine 200, and is connected to an inlet of the glass molding machine 200. Since the glass is glass before being molded by the glass molding machine 200, it can be understood as a glass semi-finished product G1.

The mold ejection unit 120 is a device that takes out the mold M ejected from the glass molding machine 200, and is connected to an outlet of the glass molding machine 200. Here, since the glass located inside the mold M is glass whose molding is completed by the glass molding machine 200, it can be understood as a glass product G2.

The first cassette 181 is a device for loading glass semi-finished products G1, and the second cassette 182 is a device for loading glass finished products G2. That is, the glass semi-finished product G1 taken out of the first cassette 181 is put into the glass forming machine 200, and the glass finished product G2 discharged from the glass forming machine 200 is loaded on the second cassette 182.

The glass semi-finished product G1 is processed by the first robot 130, the lower mold M1 is processed by the second robot 140, and the glass finished product G2 and the upper mold M2 are processed by the third robot 150. The specific functions of each

robot

130, 140, 150 will be described below.

The glass washer 160 is a device formed in such a manner as to align and wash the glass semi-finished product G1, and is formed such that the glass semi-finished product G1 taken out of the first cassette 181 passes through the glass washer 160 before being set in the mold M.

The mold cleaning machine 170 is a device configured to clean the mold M discharged from the glass molding machine 200, and is configured such that the mold M passes through the mold cleaning machine 170 while being transferred to be loaded into the glass molding machine 200 again after the glass product G2 is taken out.

As shown in fig. 4, the mold M used in the glass and mold transfer system 100 shown in fig. 3 may be generally divided into two portions.

For example, the mold M may include a lower mold M1 for seating glass, and an upper mold M2 combined with the lower mold M1 in a manner of covering glass.

As shown, the lower mold M1 and the upper mold M2 may be respectively formed as a single mold M.

In addition, at least one of the lower mold M1 or the upper mold M2 may also be separated into a plurality of parts. For example, the lower mold M1 may include a bottom mold forming the bottom of the mold section, and a guide mold forming a side portion of the mold section and guiding the insertion of the upper mold M2. The bottom die and the guide die can be coupled to each other by a fastening member.

For reference, a mold for glass molding of the above-described structure is disclosed in the prior registered patent No. 10-1433072 (registered on 18 th 08/2014) of the present applicant.

Fig. 5 is a conceptual diagram illustrating an example of the mold inserting unit 110 shown in fig. 3.

As shown in fig. 5, the mold loading unit 110 is configured to horizontally transfer the mold M containing the glass therein and load the mold M into the glass molding machine 200. In order to realize the above transfer, a mode of pushing the mold M or a mode of moving a structure in which the mold M is placed may be adopted.

The mold loading unit 110 may include a plurality of

mold loading units

111 and 112 for transferring the mold M in different directions. In the present drawing, there is shown a mold input unit 110 in which a first mold input portion 111 that transfers a mold M in a first direction in such a manner as to push the mold M and a second mold input portion 112 that transfers the mold M in a second direction perpendicular to the first direction in such a manner as to move a structure in which the mold M is placed are combined.

Specifically, the first mold input portion 111 includes a guide member 111a, a guide rail 111b, a moving member 111c, and a pushing member 111 d.

The guide member 111a is disposed at a position spaced apart from the table 101 to the upper side, and is elongated in a first direction (Y-axis direction in the drawing) to enable the set mold M to slidably move.

The guide member 111a is provided with protruding portions 111a 'on both sides thereof, and the protruding portions 111 a' extend in the first direction. By disposing the mold M between the two protrusions 111a ', the movement in the first direction is guided, and the separation to the outside of the protrusions 111 a' is prevented.

The guide rail 111b is arranged parallel to the guide member 111a, and is elongated in the first direction. The guide rail 111b may be disposed below the guide member 111a, and may be provided on the table 101, for example.

The moving member 111c is slidably provided on the guide rail 111 b. The moving member 111c is formed to be movable along a first direction which is an extending direction of the guide rail 111 b.

The moving member 111c may include a portion that is extended toward the guide member 111 a. In the present drawing, it is shown that a part of the moving member 111c is formed in such a manner as to be elongated in a second direction (Z-axis direction in the drawing) perpendicular to the first direction.

The pushing member 111d moves together with the moving member 111c by being provided on the moving member 111 c. The pushing member 111d is formed in such a manner as to perform a sliding movement in the first direction on the upper side of the guide member 111a, and is formed to push out the side surface of the mold M in the first direction when the mold M is set on the guide member 111 a.

In the present drawing, it is shown that the pushing member 111d is formed to be elongated in a third direction (X-axis direction in the drawing) perpendicular to both the first direction and the second direction so as to be movable in the first direction in a state of being overlapped with the guide member 111 a.

For reference, the pushing member 111d is moved in the first direction from the rear of the rotating unit 143, thereby pushing out the mold M seated on the seating portion 143a of the rotating unit 143 located at the first position P1. In other words, the pushing member 111d is formed to move onto the guide member 111a by pushing out the mold M set on the setting portion 143 a. Therefore, before the pushing member 111d pushes out the mold, the mold M is located on the seating portion 143a of the rotating unit 143 disposed at the first position P1 between the pushing member 111d and the guide member 111 a.

The second mold input portion 112 includes a guide rail 112a, a moving member 112b, a pushing piston 112c, and a pushing member 112 e.

The guide rail 112a is elongated in the third direction. The guide rail 112a may be disposed at a position spaced apart from the upper side of the table 101. In the present drawing, the guide rail 112a is shown at a height between the guide member 111a and the guide rail 111b of the first mold input portion 111.

The moving member 112b is slidably provided on the guide rail 112 a. The moving member 112b is formed so as to be movable along a third direction which is an extension direction of the guide rail 112 a.

The moving member 112b includes a placement surface on which the mold M can be placed. The seating surface is disposed so as to be flush with the guide member 111a, and the mold M passing through the guide member 111a can be set by sliding in the horizontal direction.

On one side of the moving member 112b, a mounting portion 112d having a hole opened in the third direction is provided. The pushing piston 112c is provided on the mounting portion 112d, and is formed so that a portion thereof is exposed through the hole and the length thereof can be changed.

The pushing member 112e is constituted in such a manner as to be capable of relative movement with respect to the mounting portion 112d by a change in length of the pushing piston 112c by being coupled at an end portion of the pushing piston 112 c. When the mold M is placed on the moving member 112b, it is formed in such a manner that if the length of the pushing piston 112c is extended, the pushing member 112e pushes out the mold M. Therefore, the mold M will be slidingly moved on the seating surface of the moving member 112 b. The above-described operation can be used when the mold M is finally put into the entrance of the glass forming machine 200.

The second mold input portion 112 may be provided with a mold detection sensor 112f for detecting whether or not the mold M is set on the moving member 112 b. As the mold detection sensor 112f, a proximity sensor, an illuminance sensor, or the like may be used. At this time, the mold detection sensor 112f is configured to be shielded by the mold M when the mold M is set on the moving member 112 b.

Fig. 6 is a conceptual diagram illustrating an example of the mold ejection unit 120 shown in fig. 3.

As shown in fig. 6, the mold ejection unit 120 is formed to transfer the mold M ejected from the glass molding machine 200 in the horizontal direction.

As described in the mold loading unit 110, the mold M may be pushed or moved to be transferred. In the present drawing, a single mold ejection portion that moves the mold M in the first direction (Y-axis direction in the drawing) in such a manner as to push the mold M is shown.

Of course, the mold ejecting unit 120 may include a plurality of mold ejecting units for transferring the mold M in different directions, as in the mold loading unit 110. Meanwhile, at this time, the plurality of mold ejection portions may be configured by combining a manner of pushing the mold M and a manner of moving a structure in which the mold M is placed.

In the drawing, the mold charging unit 110 includes a guide member 121a, a guide rail 121d, a moving member 121c, and a pushing member 121 b.

The guide member 121a is disposed at a position spaced apart upward from the table 101, and is elongated in the first direction so as to be able to slidably move the set mold M.

The guide member 121a includes protrusions 121a 'on both sides thereof, and the protrusions 121 a' extend in the first direction. By disposing the mold M between the two protrusions 121a ', the movement in the first direction is guided, and the separation to the outside of the protrusions 121 a' is prevented.

The guide rail 121d is arranged parallel to the guide member 121a, and is elongated in the first direction. The guide rail 121d may be provided on the table 101.

The moving member 121c is slidably provided on the guide rail 121 d. The moving member 121c is formed to be movable along a first direction which is an extending direction of the guide rail 121 d.

The moving member 121c may include a portion extending toward the guide member 121 a. In the present drawing, it is shown that a part of the moving member 121c is formed in such a manner as to be elongated in a second direction (Z-axis direction in the drawing) perpendicular to the first direction.

The pushing member 121b moves together with the moving member 121c by being coupled to the moving member 121 c. The pushing member 121b is provided at an upper side of the guide member 121a in such a manner as to slidably move in the first direction, and is configured to push out a side of the mold M in the first direction when the mold M is seated on the guide member 121 a.

In the present drawing, it is shown that the pushing member 121b is formed to extend in a third direction (X-axis direction in the drawing) perpendicular to both the first direction and the second direction so as to be movable in the first direction in a state of being overlapped with the guide member 121 a.

For reference, the pushing member 121b is formed to push out the mold M until the mold M is seated to the seating portion 143a of the rotating unit 143 located at the second position P2. The rotation unit 143 moves in the first direction from the rear. In other words, the pushing member 121b is formed to push out the mold M set on the guide member 121a and move to the setting portion 143 a.

Fig. 7 is a conceptual diagram illustrating an example of the first robot 130 shown in fig. 3.

As shown in fig. 7, the first robot 130 is formed to take out the glass semi-finished product G1 from the first cassette 181 and throw it into the glass washer 160, and to place the glass semi-finished product G1, which has been aligned and washed in the glass washer 160, on the lower mold M1 located at the first position P1.

The first robot 130 is formed to be movable along three axes, and is formed to be able to rotate a part about one axis.

Specifically, the first robot 130 includes a guide unit 131, a first moving unit 132, a second moving unit 133, a rotating unit 134, and a suction unit 135.

The guide unit 131 is formed to extend in a first direction (Y-axis direction in the figure). The guide unit 131 may be disposed at a position spaced apart from the table 101 to the upper side.

The first moving unit 132 is formed to be movable in the first direction by being coupled to the guide unit 131. The first moving unit 132 is formed to be elongated in a second direction (X-axis direction in the drawing) perpendicular to the first direction.

The second moving unit 133 includes a bracket 133a and a moving frame 133 b.

The bracket 133a is formed to be movable in the second direction by being coupled to the first moving unit 132.

The moving frame 133b is formed to be movable in a third direction (a Z-axis direction in the drawing) perpendicular to the first and second directions by being coupled to the bracket 133 a. The moving frame 133b is formed to be elongated in the third direction.

That is, the second moving unit 133 is formed to be movable in the second direction and the third direction.

The rotating unit 134 is rotatably provided on the second moving unit 133, specifically, the moving frame 133 b. In the present drawing, the rotation unit 134 is shown to be rotatable about an axis along the second direction.

The adsorption unit 135 is coupled to the rotation unit 134, so that it can be rotated together when the rotation unit 134 is rotated. The adsorption unit 135 is formed to adsorb the glass intermediate product G1. Whether or not the adsorption unit 135 adsorbs the glass semi-finished product G1 can be detected by a pressure load applied to a vacuum generator (not shown) connected to the adsorption unit 135.

Fig. 8 is a conceptual diagram illustrating an example of the second robot 140 illustrated in fig. 3.

As shown in fig. 8, the second robot 140 clamps the lower mold M1 taken out of the glass molding machine 200 at the second position P2 and moves to the first position P1.

The second robot 140 is formed to be movable along one axis, and is formed to be able to rotate a part about one axis.

Specifically, the second robot 140 includes a guide unit 141, a moving unit 142, and a rotating unit 143.

The guide unit 141 is formed to be elongated along a first direction (X-axis direction in the drawing). For reference, the first direction is a direction parallel to a virtual straight line connecting the first position P1 and the second position P2. The guide unit 141 may be disposed at a position spaced apart from the table 101 to the upper side.

The moving unit 142 is formed to be movable in the first direction by being coupled to the guide unit 141. The moving unit 142 is formed to be elongated in a second direction (Y-axis direction in the drawing) perpendicular to the first direction.

The rotating unit 143 is rotatably coupled to the moving unit 142. In the drawing, the rotating unit 143 is shown to be rotatable by 180 degrees or more about an axis along the second direction.

The rotating unit 143 includes a seating portion 143a for seating the lower mold M1, and a clamping portion 143b for clamping the lower mold M1.

The rotating unit 143 is rotated such that the seating portion 143a faces upward at the first and second positions P1, P2 and faces downward between the first position P1 and the second position P2. That is, the rotation unit 143 is rotated 180 degrees to be inverted between the first position P1 and the second position P2, and then rotated 180 degrees to be restored to the original position. Therefore, the lower mold M1 is disposed on the same plane at the first position P1 and the second position P2.

Specifically, at the first position P1, the seating portion 143a is disposed toward the upper side, and thus can be formed to seat the lower mold M1. In the second position P2, the seating portion 143a is disposed toward the upper side, so that the glass semi-finished product G1 can be seated on the lower mold M1. Between the first position P1 and the second position P2, the placement portion 143a is disposed facing downward, and the placement portion 143a can be cleaned by the die cleaner 170.

Fig. 9 is a conceptual diagram illustrating an example of the third robot 150 illustrated in fig. 3.

As shown in fig. 9, the third robot 150 is formed to grip and lift the upper mold M2 at the second position P2, to adsorb the glass product G2 to be loaded on the second cassette 182, and to move the upper mold M2 to the first position P1.

The third robot 150 is formed to be movable along two axes.

The third robot 150 includes a guide unit 151, a moving unit 152, a gripping unit 153, and a take-out unit 154.

The guide unit 151 is formed to be elongated in a first direction (X-axis direction in the drawing). For reference, the first direction is a direction parallel to a virtual straight line connecting the first position P1 and the second position P2. The guide unit 151 may be disposed at a position spaced apart from the table 101 to the upper side.

The moving unit 152 includes a bracket 152a and a moving frame 152 b.

The tray 152a is coupled to the guide unit 151 so as to be movable in the first direction.

The moving frame 152b is coupled to the tray 152a and is formed to be movable in a second direction (a Z-axis direction in the drawing) perpendicular to the first direction. The moving frame 152b is formed to be elongated along the second direction.

That is, the moving unit 152 is formed to be movable in the first direction and the second direction.

The clamping unit 153 is formed to be coupled to the moving unit 152, specifically, the moving frame 152b, and clamps the upper mold M2.

The withdrawing unit 154 is formed in such a manner as to be relatively moved in the second direction with respect to the clamping unit 153 while being moved together with the clamping unit 153 by being coupled to the clamping unit 153 when the moving unit 152 is moved.

The taking-out unit 154 is formed to take out the glass product G2 set on the setting portion 143a of the rotating unit 143. As a method for taking out the glass product G2 by the taking-out unit 154, various methods such as adsorption, clamping, taking-out by gravity, and the like can be used.

In the present drawing, the take-out unit 154 is disposed on one side of the clamp unit 153, and is opposed to the glass product G2 in a state (moved in the first direction) in which the upper mold M2 is clamped and lifted up and then moved sideways (moved in the second direction). Then, the take-out unit 154 moves downward to adsorb the glass product G2.

The removing unit 154 is formed to grasp the removed glass product G2 and release the grasping state at a predetermined position of the second cassette 182.

Fig. 10 is a conceptual diagram illustrating an example of the glass washer 160 shown in fig. 3, and fig. 11 is a conceptual diagram illustrating an internal configuration of the glass washer 160 shown in fig. 10.

As shown in fig. 10 and 11, the glass washer 160 includes a glass washer body 161, a cover 162, a glass alignment unit 163, and an ion blower 164.

The glass washer body 161 has a space capable of accommodating the glass preform G1 therein, and has an opening 161a formed in an upper side thereof. The glass washer body 161 is connected to a dust collector 166 to collect dust and foreign matter falling into the glass washer body 161. In the present embodiment, a discharge port 161b is formed in one side surface of the glass washer body 161, and a dust collecting device 166 is connected to the discharge port 161 b.

The cover 162 is formed to open and close the opening 161a of the glass washer body 161. The cover 162 is configured to open the opening 161a only when the glass semi-finished product G1 is put into the glass washer body 161 or taken out from the glass washer body 161, and to cover the opening 161a otherwise.

In the drawing, a cover 162 is configured to open and close the opening 161a so as to slide on the upper surface of the glass washer body 161.

Therefore, a slide rail 165 is provided on the upper surface of the glass washer body 161. The slide rail 165 includes a guide member 165a and a connecting member 165 b.

The guide member 165a is formed to be elongated along the sliding direction of the cover 162. For example, the guide member 165a may be disposed parallel to one side of the opening 161 a.

The connecting member 165b is coupled to the guide member 165a so as to be movable in the extending direction of the guide member 165 a. Further, the cover 162 is coupled to the connecting member 165b, so that the cover 162 can be moved together when the connecting member 165b moves.

The glass alignment unit 163 is formed to align the glass semi-finished product G1 stored inside the glass washer body 161. The glass alignment unit 163 includes a support portion 163a, a first alignment portion 163 b', and a second alignment portion 163b ″.

The support 163a is provided so as to face the opening 161a inside the glass washer body 161, and is formed to support one surface of the set glass semi-finished product G1.

In the drawing, the glass washer body 161 is provided with at least three or more support rods at the bottom thereof to support one surface of the glass semi-finished product G1. When the support portion 163a is formed as a rounded support rod as described above, there is an advantage that the contact area can be reduced by bringing the support rod into point contact with one surface of the glass semi-finished product G1.

The glass washer 160 may include a fiber sensor (not shown) for detecting whether or not the glass semi-finished product G1 is set on the support 163 a. The second alignment portion 163b ″ described later moves when the seating of the glass semi-finished product G1 is detected by the above-described fiber sensor.

The first alignment portion 163 b' is provided in a state of being fixed to a position provided in advance, and is formed to support a side edge of the glass semi-finished product G1 placed on the support portion 163 a.

In the drawing, at least one first alignment portion 163b 'is provided at each of positions corresponding to the first and second sides so that the first alignment portion 163 b' supports the first side and the second side of the glass intermediate product G1, which intersect each other.

The second alignment portion 163b ″ is in contact with the other side of the glass preform G1, and is formed so as to be movable closer to the first alignment portion 163 b' via the glass preform G1.

In the drawing, at least one second alignment portion 163b ″ is provided at each of positions corresponding to the third and fourth sides so that the second alignment portion 163b ″ comes into contact with the third and fourth sides of the glass semi-finished product G1 opposite to the first and second sides.

To describe the process of aligning the glass semi-finished product G1 by the aligning unit 163 specifically, first, the second aligning part 163b ″ is moved to be close to the first aligning part 163 b' via the glass semi-finished product G1 in a state where the glass semi-finished product G1 is supported by the supporting part 163 a. In this process, the second alignment portions 163b ″ come into contact with the third and fourth sides of the glass semi-finished product G1, respectively. Thereafter, the second alignment portion 163b ″ is moved to be close to the first alignment portion 163b 'while pushing the glass semi-finished product G1, and when the glass semi-finished product G1 comes into contact with the first alignment portion 163 b', the movement of the second alignment portion 163b ″ is stopped.

The movement and stop of the second alignment portion 163b ″ can be controlled based on the detection value detected by the sensor.

For example, a pressure detection sensor (not shown) for detecting the applied pressure may be provided in the first alignment portion 163 b' or the second alignment portion 163b ″. When the alignment of the glass semi-finished product G1 is completed, the pressure applied to the first alignment portion 163 b' or the second alignment portion 163b ″ may exceed a predetermined pressure. The second alignment portion 163b ″ may be formed to stop moving when the pressure detected by the pressure detection sensor exceeds a predetermined pressure.

The ion blower 164 is formed to inject ionized air into the glass washer body 161. The dust of the glass intermediate product G1 can be removed by ejecting the ionized air, and the dust can be prevented from being adsorbed by removing the static electricity of the glass intermediate product G1.

In this figure, it is shown that an ion blower 164 is provided on at least one side surface of the glass washer body 161.

As described above, the glass washer 160 is formed to align and wash the glass semi-finished product G1. The alignment and the cleaning of the glass semi-finished product G1 may be performed simultaneously, or the alignment may be performed first and then the cleaning may be performed.

Fig. 12 is a conceptual diagram illustrating an example of the mold cleaning machine 170 shown in fig. 3.

As shown in fig. 12, the die cleaner 170 is configured to clean the die part of the lower die M1 and the die part of the upper die M2, respectively. The mold cleaner 170 is configured between a first position P1 and a second position P2. Specifically, the lower mold M1 is disposed on the same plane at the first position P1 and the second position P2, and the mold cleaning machine 170 is located below the plane between the first position P1 and the second position P2.

The mold cleaning machine 170 is formed to sequentially clean the lower mold M1 and the upper mold M2 in the process of returning the lower mold M1 and the upper mold M2 to the first position P1 by the second robot 140 and the third robot 150, respectively. Therefore, the lower mold M1 is transferred to the mold cleaning machine 170 by the second robot 140, and then the upper mold M2 is transferred to the mold cleaning machine 170 by the third robot 150.

The mold cleaning machine 170 includes a mold cleaning machine main body 171, an ionizer 172, and a blower (or brush) 173.

The mold cleaning machine main body 171 includes an opening 171a opened upward. The dust collecting device 174 is connected to the mold cleaning machine main body 171, and thereby dust or foreign matter falling into the interior of the mold cleaning machine main body 171 is collected. In the present embodiment, a dust collecting device 174 is shown attached to one side surface of the die cleaner body 171.

The ionizer 172 is provided inside the die cleaner main body 171 and is formed to emit ions toward the opening 171 a. In the present drawing, it is shown that the ionizers 172 are formed in a bar shape and are respectively disposed on both sides of the blower 173.

The ionizer 172 may also be formed in a nozzle type to spray ionized air.

The blower 173 is provided inside the mold cleaning machine main body 171 and is formed to blow air toward the mold sections of the lower mold M1 and the upper mold M2 located on the opening 171 a.

Further, a brush may be provided instead of the blower 173. The brush is formed so as to brush the mold portions of the lower mold M1 and the upper mold M2.

Fig. 13 is a conceptual diagram illustrating an example of the first cassette 181 shown in fig. 3.

As shown in fig. 13, the first cassette 181 is formed to load the glass semi-finished product G1. The first cassette 181 may be provided in plurality.

A slide rail (not shown) formed to extend in a first direction (Y-axis direction in the drawing) is provided on the table 101 of the glass and mold transfer system 100, and a slide portion 181a formed to be movable along the slide rail by being coupled to the slide rail is provided at a lower portion of the first cassette 181. By the above-described slide coupling structure, the replacement of the first cartridge 181 can be easily achieved.

A first cassette detection sensor (not shown) may be provided in a structure opposite to the first cassette 181 to detect whether the first cassette 181 is mounted at an accurate position. As the first card holder detection sensor, a proximity sensor, an illuminance sensor, or the like may be used. At this time, when the first cassette 181 is installed at an accurate position, the first cassette detection sensor is shielded by the mold M.

The first cartridge 181 has a clamping bar 181b formed with a plurality of protrusions 181 b' at a fixed distance apart along the first direction. The clamping strip 181b includes at least one or more clamping strips on both sides of the glass semi-finished product G1. The glass semi-finished product G1 is received at the recessed portion between the two protrusions 181 b', and is loaded in a vertically standing state and aligned along the first direction.

The first clamping seat 181 may have at least one supporting bar 181c, and the supporting bar 181c supports the lower side of the glass preform G1.

Since the glass preforms G1 are loaded in a vertically standing state as described above, the risk of breakage of the glass preforms G1 due to toppling over when the first cassette 181 is replaced can be reduced, and the problem of dust spreading over the glass preforms G1 can be solved, as compared with a configuration in which the glass preforms G1 are loaded in a horizontal manner.

Fig. 14 is a conceptual diagram illustrating the second card holder 182 shown in fig. 3.

As shown in fig. 14, a slide rail 102 formed to extend in a first direction (Y-axis direction in the figure) is provided on a table 101 of a glass and mold transfer system 100, and a slide portion 103 is provided on the slide rail 102, and the slide portion 103 is coupled to the slide rail 102 so as to be movable along the slide rail 102.

The slide part 103 includes a placement surface 103a for placing the second cassette 182 on which the glass product G2 is placed, and the placement surface 103a includes a fixing part 104 for fixing the second cassette 182. According to the above configuration, since the second cassette 182 can be taken out by releasing the fixation of the second cassette 182 by the fixing portion 104, the replacement of the second cassette 182 can be easily realized.

In the present embodiment, the fixing portion 104 formed of the toggle clamp is configured to press or release the front surface of the second holder 182 to fix or release the second holder 182 in a state where the rear surface of the second holder 182 is caught by the step of the slide portion 103.

A plurality of the second card holders 182 may be provided by a structure of the slide rail 102 to the slide part 103.

The second card holder 182 has a clamping bar 182a formed with a plurality of protrusions 182 a' at a fixed distance apart along the first direction. The clamping bar 182a is provided with at least one on each side of the glass product G2. The glass product G2 is accommodated at the recessed portion between the two projections 182 a', and is loaded in a vertically standing state and aligned in the first direction.

The second cassette 182 may have at least one support bar 182b, and the support bar 182b supports the lower side of the glass product G2.

Fig. 15 is a conceptual diagram illustrating an example of the mold loading unit 190 shown in fig. 3.

As shown in fig. 15, the mold loading unit 190 is formed in such a manner as to load the lower mold M1 and the upper mold M2 as necessary. For example, the mold loading unit 190 is configured to load the mold M discharged from the glass molding machine 200 when the process is interrupted.

The mold loading unit 190 includes a guide unit 191, a transfer unit 192, and a guide bar 193. The mold loading unit 190 may be received in a receiving portion formed on the table 101. In the drawing, the mold loading unit 190 is shown to be disposed so as to overlap the second position P2, so that the mold loading unit 190 loads the mold M ejected from the glass molding machine 200.

The guide unit 191 is formed to be elongated in the vertical direction (Z-axis direction in the drawing) perpendicular to the table 101.

The transfer unit 192 is coupled to the guide unit 191 so as to be movable in the vertical direction. The transfer unit 192 is configured to be able to set the mold M, and is able to be located at the second position P2 when moved to the upper side. Therefore, the mold M ejected from the glass molding machine 200 can be placed on the transfer unit 192.

The transfer unit 192 may be formed to move downward at a predetermined pitch every time the mold M is loaded.

The guide bars 193 are formed outside the transfer unit 192 so as to be extended in the vertical direction at a plurality of positions. That is, the guide bars 193 are formed so as to prevent the separation of the molds M by being disposed at the outer side of the molds M loaded on the transfer unit 192.

Next, a glass and mold M transfer process using the glass and mold transfer system 100 will be specifically described.

Fig. 16 is a conceptual diagram illustrating a process of transferring a glass semi-finished product G1, a glass finished product G2, a lower mold M1, and an upper mold M2 by the glass and mold transfer system 100 shown in fig. 3. The above-described process corresponds to a part of the method for producing a glass having a three-dimensional shape.

Referring to fig. 16 together with fig. 3 to 15, the glass and mold M transfer step of the present invention is configured such that at least a part of the steps of processing the glass semi-finished product G1, the glass finished product G2, the lower mold M1, and the upper mold M2 can be simultaneously performed with the delay minimized. Thereby, the production speed of the glass having a three-dimensional shape can be increased.

First, while the process of taking out the glass product G2 from the glass molding machine 200 by the mold discharge unit 120 and separating the lower mold M1 and the upper mold M2 from each other by the second robot 140 and the third robot 150 is performed, the process of taking out the glass semi-product G1 by the first robot 130 and putting it into the glass cleaning machine 160 is performed.

It should be noted that the meaning of "performing a process" described above and to be described later is not limited to the case where the process is necessarily completed, but includes the case where a part of the process is performed.

Next, while the process of cleaning the glass semi-finished product G1 by the glass cleaning machine 160, adsorbing the glass finished product G2 by the third robot 150 and loading the glass finished product on the second cassette 182 is performed, the process of transferring the lower mold M1 to the mold cleaning machine 170 by the second robot 140 is performed.

Thereafter, while the process of placing the glass intermediate product G1 on the lower mold M1 by causing the first robot 130 to suck the glass intermediate product G1 is performed in a state where the lower mold M1 is transferred by the second robot 140 and returned to the preset position (i.e., the first position P1), the process of transferring the upper mold M2 to the mold cleaning machine 170 by the third robot 150 is performed.

Next, while the process in which the third robot 150 places the upper mold M2 so as to cover the lower mold M1 (i.e., moves to the first position P1) is being performed, the process in which the first robot 130 moves to a preset position (initial position) is performed.

Thereafter, while the step of inputting the glass semi-finished product G1 into the glass molding machine 200 by the mold input unit 110 is being performed, the step of moving the second robot 140 to a predetermined position (initial position) after the third robot 150 has moved to a predetermined position (initial position) is performed.

From the viewpoint of the processing of the glass semi-finished product G1 and the glass finished product G2 and the processing of the mold M, the above-mentioned processes can be arranged as follows:

the glass and mold M transfer step includes a step of taking out the plate-like glass semi-finished product G1 from the first cassette 181, washing the same with the glass washer 160, and then feeding the same to the glass forming machine 200; a step of loading the glass product G2, which has been molded into a three-dimensional shape, on the second cassette 182 by removing it from the glass molding machine 200; and a step of transferring the lower mold M1 and the upper mold M2 taken out of the glass molding machine 200 to be reused in the above-described charging step. By the above transfer, the lower mold M1 and the upper mold M2 are moved from the second position P2 to the first position P1.

The step of removing the second cartridge 182 to load the second cartridge includes: a first step of relatively moving either one of the lower mold M1 and the upper mold M2, and a second step of sucking the glass product G2 set on the lower mold M1 and feeding the glass product G to the second cassette 182.

In the first step, the upper mold M2 may be clamped and moved upward in a state where the lower mold M1 is fixed.

A blower 106 (see fig. 3) for blowing air into a gap between the lower mold M1 and the upper mold M2 may be provided at a position adjacent to the second position P2. The blower 106 ejects air when one of the lower mold M1 and the upper mold M2 moves relatively, so that the glass is separated when it adheres to the upper mold M2.

The blower 106 may be configured so that its position can be arbitrarily adjusted. For this purpose, the blower 106 may have a multi-joint structure that can be adjusted in shape in three dimensions.

The second step includes: a step of lowering the sucked glass product G2 to a predetermined position to be received in the second cassette 182; a step of releasing the adsorption of the glass product G2; and a step of horizontally moving the second chuck 182 at a predetermined pitch (movement in the Y-axis direction in fig. 14). Accordingly, the taking-out unit 154 of the third robot 150 only has to lower the glass product G2 to a specific position, and thus the structure of the third robot 150 can be simplified and the accuracy of the process can be improved.

During the execution of the above second step, the glass semi-finished product G1 is cleaned by the glass cleaner 160, and the lower mold M1 is cleaned by the mold cleaner 170.

In the step of transferring for reuse, the lower mold M1 and the upper mold M2 are moved apart from each other, and are sequentially cleaned by the single mold cleaning machine 170 in the process of the movement.

That is, the step of transferring for reuse includes: a step of cleaning the lower mold M1 using the mold cleaner 170, and a B step of cleaning the upper mold M2 using the mold cleaner 170.

The lower mold M1 is formed to be rotated by 180 degrees before the above-described a step and to be rotated again by 180 degrees after the above-described a step. The rotation direction after the step a may be opposite to the rotation direction before the step a.

The mold part of the lower mold M1 is cleaned in such a manner as to pass over the upper side of the mold cleaner 170 while the lower mold M1 is horizontally moved (moved in the X-axis direction in fig. 8) in a state of being rotated by 180 degrees before the above-described a step.

A foreign matter dust collection unit 105 may be provided between the second position P2 and the mold cleaning machine 170 to collect foreign matters falling from the mold part while the lower mold M1 is rotated before entering the mold cleaning machine 170.

The above-mentioned B step is carried out during the setting on the lower mold M1 at the first position P1 after the glass semi-finished product G1, which has been aligned and cleaned, is sucked to complete the cleaning.

The movement path of the upper mold M2 and the movement path of the lower mold M1 overlap in the vertical direction (Z-axis direction in fig. 3). However, the lower mold M1 and the upper mold M2 are formed to move with a time difference therebetween so as not to affect the moving path therebetween. Therefore, while the lower mold M1 and the upper mold M2 are sequentially transferred to return to the predetermined positions, the lower mold M1 and the upper mold M2 are sequentially cleaned by the single mold cleaner 170.

Claims

1. A glass and mold transfer system, comprising:

a plurality of robots which take out and clean a plate-shaped glass semi-finished product from a first cassette, place the plate-shaped glass semi-finished product in a lower mold and an upper mold, and put the plate-shaped glass semi-finished product into a glass molding machine, and load a molded three-dimensional glass finished product on a second cassette by separating the lower mold and the upper mold taken out of the glass molding machine, and restore the lower mold and the upper mold taken out of the glass molding machine to a predetermined position so as to reuse the plate-shaped glass semi-finished product in the putting; and

a single mold cleaning machine for sequentially cleaning the lower mold and the upper mold while the lower mold and the upper mold are restored to the predetermined positions,

some of the plurality of robots are configured to sequentially transfer the lower mold and the upper mold to the mold cleaning machine.

2. The glass and mold transfer system of claim 1, wherein,

the plurality of robots include:

a first robot which takes out the glass semi-finished product from the first cassette and puts it into a glass cleaning machine, and places the glass semi-finished product, which has been aligned and cleaned in the glass cleaning machine, on the lower mold located at a first position;

a second robot that grips the lower mold taken out of the glass molding machine at a second position and moves to the first position; and

and a third robot configured to grip and lift the upper mold at the second position, load the upper mold on the second chuck by sucking the glass product, and move the upper mold to the first position.

3. The glass and mold transfer system of claim 2, wherein,

the first robot is configured to take out a glass product from the glass forming machine and to take out a glass product and to put the glass product into the glass cleaning machine while the lower mold and the upper mold are separated from each other by the second robot and the third robot at the second position.

4. The glass and mold transfer system of claim 2, wherein,

above-mentioned glass cleaning machine includes:

a glass cleaning machine main body which is provided with an opening part opened to the upper side and is connected with a dust collecting device, wherein the dust collecting device collects dust or foreign matters falling to the inside;

a cover configured to open and close the opening;

a glass aligning unit for aligning the glass semi-finished product stored in the glass cleaning machine main body; and

and an ion blower which sprays ionized air into the glass cleaning machine main body.

5. The glass and mold transfer system of claim 4, wherein,

the glass aligning unit includes:

a support portion provided in the glass washer body so as to face the opening portion, and supporting one surface of the set glass semi-finished product;

a first alignment portion that is provided in a fixed state at a predetermined position and supports a side edge of the glass blank placed on the support portion; and

and a second alignment portion that is in contact with the other side of the glass intermediate product and is formed so as to be movable so as to be able to approach the first alignment portion with the glass intermediate product interposed therebetween.

6. The glass and mold transfer system of claim 3, wherein,

the second robot is configured to transfer the lower mold to the mold cleaning machine while the glass intermediate product is cleaned by the glass cleaning machine and the glass intermediate product is adsorbed by the third robot and loaded on the second chuck.

7. The glass and mold transfer system of claim 6, wherein,

the third robot is configured to transfer the upper mold to the mold cleaning machine while the first robot is set on the lower mold by sucking the glass semi-finished product in a state where the lower mold is located at the first position by the second robot.

8. The glass and mold transfer system of claim 2, wherein,

the lower mold is disposed on the same plane at the first position and the second position,

the mold cleaning machine is located below the plane between the first position and the second position.

9. The glass and mold transfer system of claim 8, wherein,

the second robot includes:

a guide unit disposed in parallel with a virtual straight line connecting the first position and the second position;

a moving unit coupled to the guide unit and movable along the guide unit; and

a rotating unit rotatably coupled to the moving unit and including a placement portion for placing the lower mold and a clamping portion for clamping the lower mold,

by controlling the rotation of the rotating unit, the mold portion of the lower mold is directed upward at the first position and the second position, and directed downward at a position overlapping the mold cleaning machine.

10. The glass and mold transfer system of claim 9, wherein,

by providing the foreign matter dust collecting unit between the second position and the die cleaner, the foreign matter falling from the die portion during rotation is collected before the lower die enters the die cleaner.

11. The glass and mold transfer system of claim 8, wherein,

the third robot includes:

a moving unit coupled to the guide unit so as to be movable along the guide unit, and formed so as to be relatively movable in a vertical direction perpendicular to the guide unit;

a clamping unit formed to clamp the upper mold by being coupled to the moving unit; and

and a take-out unit disposed at one side of the clamping unit so as to face the glass product in a state where the upper mold is moved in a lateral direction after being clamped and lifted, and formed to be capable of moving relative to the clamping unit in a vertical direction so as to take out the glass product.

12. The glass and mold transfer system of claim 1, wherein,

above-mentioned mould cleaning machine includes:

a mold cleaning machine main body which is provided with an opening part opened to the upper side and is connected with a dust collecting device for collecting dust or foreign matters falling to the inside;

an ionizer provided inside the die cleaner body and configured to discharge ions toward the opening; and

a blower that is provided inside the die cleaner body and blows air toward the die portions of the lower die and the upper die that are positioned in the opening portion; or a brush which brushes through the mold part.

13. A glass and mold transfer system, comprising:

a third robot that grips and lifts the upper mold at the second position, that is loaded on a second cassette by sucking the glass product, and that moves the upper mold to the first position;

the first robot takes out a glass product from the glass forming machine, and takes out a glass semi-product and puts it into the glass cleaning machine while the second robot and the third robot separate the lower mold and the upper mold from each other at the second position.

14. The glass and mold transfer system of claim 13, wherein:

15. The glass and mold transfer system of claim 14, wherein: