CN106348016A - Tablet pick-and-place robot - Google Patents
Tablet pick-and-place robot Download PDFInfo
- Publication number
- CN106348016A CN106348016A CN201610898365.XA CN201610898365A CN106348016A CN 106348016 A CN106348016 A CN 106348016A CN 201610898365 A CN201610898365 A CN 201610898365A CN 106348016 A CN106348016 A CN 106348016A
- Authority
- CN
- China
- Prior art keywords
- arm
- auxiliary supports
- robotic arm
- flat board
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/063—Transporting devices for sheet glass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
Abstract
The invention discloses a tablet pick-and-place robot, comprising a robotic arm, a plurality of vacuum chucks and an auxiliary supporting element, wherein the vacuum chucks are arranged at one side of the robotic arm; the auxiliary supporting element is connected with the robotic arm; the auxiliary supporting element is used for supporting a tablet; a distance from a contact point between the auxiliary supporting element and the tablet to the robotic arm is smaller than that between the adsorption surface of the vacuum chucks and the robotic arm. By the way, the tablet pick-and-place robot has the advantages that the secondary contact between the tablet and supporting pins can be prevented when the vacuum chucks break the vacuum adsorption, and the back face of the tablet is prevented from being scratched.
Description
Technical field
The present invention relates to liquid crystal indicator production technical field, more particularly to a kind of flat board picks and places robot.
Background technology
Generally flat board (as glass substrate), wherein robot are picked and placeed using robot in liquid crystal indicator production line at present
The mode supporting flat board has two kinds: sucker vac sorb and pin (nail) support.Fig. 1 is to be inhaled using sucker vacuum in prior art
The top view of attached robot.As shown in figure 1, the robot 10 using sucker vac sorb of the prior art includes: at least
Two robotic arms 101 and the multiple vacuum cups 102 being arranged at robotic arm 101 side.When robot 10 pipettes flat board, vacuum
Sucker 102 contacts the flat board back side, using air pump pumping so that vacuum cup 102 is inhaled vacuum and flat board is sucked fixation, prevents from putting down
Plate comes off in moving process；When flat board is placed by robot 10, air pump is blown so that vacuum cup 102 vacuum breaker, and flat board takes off
Place from vacuum cup 102.
But, the slab-thickness on liquid crystal indicator production line is relatively thin, easily produces bending, when flat board coating photoresistance etc.
Take after material to robotic arm, flat board bends and leads to photoresistance to flow toward plate edge, causes thicknesses of layers uneven；And machine
Vacuum cup on device arm is plastic cement material, occurs flexible during suction/vacuum breaker, easily makes flat board and support nail (pin) produce 2
Secondary contact is thus the scratch flat board back side.
Content of the invention
The invention mainly solves the technical problem of provide a kind of flat board pick and place robot, can solve the problem that vacuum cup inhale/
During vacuum breaker, flat board is easily and support nail generation contacts for 2 times thus the problem at the scratch flat board back side.
For solving above-mentioned technical problem, one aspect of the present invention is: provide a kind of flat board to pick and place robot,
Including: robotic arm, multiple vacuum cup and auxiliary supports；Described vacuum cup is arranged at described robotic arm side, described
Auxiliary supports connect described robotic arm；Wherein, described auxiliary supports are used for supporting described flat board, and with the connecing of described flat board
The distance between contact and described robotic arm are less than the distance between the adsorption plane of described vacuum cup and described robotic arm.
Wherein, described auxiliary supports include transverse arm and vertical arm, and described transverse arm is from described robotic arm opposite side along described suction
The parallel plane in attached face is extended, and connects described vertical arm one end, and described vertical arm extends towards described adsorption plane, the other end
It is described contact point.
Wherein, described robot further includes to be arranged at the bolster of the contacting points position of described vertical arm.
Wherein, described robotic arm quantity is at least two, and setting arranged in parallel, and described auxiliary supports are located at outer most edge
The outside of described robotic arm.
Wherein, the contact point of described auxiliary supports is arranged adjacent to described vacuum cup.
Wherein, the material of described bolster is poly ether ether ketone plastic..
Wherein, the transverse arm of described auxiliary supports is relatively fixed with described robotic arm opposite side by bolt.
Wherein, the vertical arm of described auxiliary supports is threadeded with the transverse arm of described auxiliary supports.
Wherein, the transverse arm of described auxiliary supports extends from described robotic arm opposite side along the parallel plane of described adsorption plane
And the distance going out is less than 5 centimetres.
Wherein, described robotic arm, the transverse arm of described auxiliary supports and vertical arm are metal material.
The invention has the beneficial effects as follows: it is different from the situation of prior art, the present invention is by picking and placeing robot in flat board
Connect auxiliary supports on robotic arm, support flat board in vacuum cup suction/vacuum breaker so that flat board will not be produced with support nail
Secondary contact, it is to avoid the therefore scratch flat board back side；Additionally, after flat board coating completes the materials such as photoresistance, robot pipettes flat board
When, auxiliary supports can support plate edge, reduce and lead to photoresistance to cause toward edge flowing film layer thick due to plate bending
The uneven probability of degree.
Brief description
Fig. 1 is the top view of the robot adopting sucker vac sorb in prior art；
Fig. 2 is the top view that flat board provided in an embodiment of the present invention picks and places robot；
Fig. 3 is the side view that flat board provided in an embodiment of the present invention picks and places robot；
Fig. 4 is the structural representation of auxiliary supports provided in an embodiment of the present invention；
Fig. 5 is another structural representation of auxiliary supports provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 2, Fig. 2 is the top view that flat board provided in an embodiment of the present invention picks and places robot.As shown in Fig. 2 this
Invention flat board picks and places robot 20 and includes: robotic arm 201, multiple vacuum cup 202 and auxiliary supports 203.
Wherein, vacuum cup 202 is arranged at robotic arm 201 side, and auxiliary supports 203 connect robotic arm 201；Auxiliary
Support member 203 is used for supporting flat board, and the flat board contact point 2031 of auxiliary supports 203 is arranged adjacent to vacuum cup 202, and contact point
The distance between 2031 and robotic arm 201 are less than the distance between adsorption plane 2021 and robotic arm 201 of vacuum cup 202.
Specifically, robotic arm 201 quantity is at least two, and setting arranged in parallel, and auxiliary supports 203 are located at outer most edge
The outside of robotic arm 201.
Further regard to Fig. 2, in Fig. 2, robotic arm 201 quantity is 4, and arranged in parallel, is arranged in robot 20 main body,
Auxiliary supports 203 are connected to outside 2012a and 2012b of robotic arm 201a and 201b of outer most edge.
In the present embodiment, the quantity of robotic arm is 4, and in other embodiments, the quantity of robotic arm can be
2nd, 3 or 5 etc..
In conjunction with shown in Fig. 3, vacuum cup 202 is arranged at robotic arm 201 side 2011, and auxiliary supports 203 connect machine
Arm 201 opposite side 2012, wherein, original state, when that is, robot 20 does not pick and place flat board, auxiliary supports 203 are used for supporting flat
The contact point 2031 of plate and the distance between robotic arm 201 h1 be less than vacuum cup 202 adsorption plane 2021 and robotic arm 201 it
Between apart from h2.
Because vacuum cup 202 is plastic cement material, when robot 20 pipettes flat board from production equipment, vacuum cup
202 suction vacuum deform upon, and the adsorption plane 2021 of vacuum cup 202 and the distance between robotic arm 201 h2 can diminish, until etc.
When auxiliary supports 203 support the contact point 2031 of flat board with the distance between robotic arm 201 h1, auxiliary supports 203
Support flat board is so that flat board will not secondary with the support nail generation of the support flat board of production equipment contact, thus avoiding scratch flat board
The back side；Additionally, slab-thickness generally ratio is relatively thin, easily produce bending, and after vacuum cup 202 absorption flat board, Auxiliary support
Part 203 supports plate edge, reduces the probability of the material of coating on flat board to edge flowing, improves the uniform of thicknesses of layers
Property.
When flat board is placed in production equipment for robot 20, vacuum cup 202 vacuum breaker equally can produce deformation,
The adsorption plane 2021 of vacuum cup 202 and the distance between robotic arm 201 h2 can become big, and flat board can produce bending, may be with
The support nail of flat board is supported to produce secondary contact and the scratch back side in production equipment, and auxiliary supports 203 are in vacuum cup 202
Before vacuum breaker, first support flat board, make to be not directly contacted between the support nail of support flat board in flat board and production equipment, wait vacuum
After sucker 202 vacuum breaker, robot 20 flat board is placed in production equipment again, thus avoiding flat board scratch.
Refer to Fig. 4, Fig. 4 is the structural representation of auxiliary supports provided in an embodiment of the present invention.In conjunction with Fig. 3 and Fig. 4
Shown, auxiliary supports 203 are " l " type structures, and including transverse arm 401 and vertical arm 402, transverse arm 401 is from robotic arm 201 opposite side
2012 extend along the parallel plane of adsorption plane 2021, and connect vertical arm 402 one end, and vertical arm 402 is towards adsorption plane 2021
Extend, the other end is contact point 2031.
Wherein, auxiliary supports 203 further include to be arranged at the bolster 403 of the contacting points position of vertical arm 402.
Specifically, the material of bolster 403 is poly ether ether ketone plastic.Polyether-ether-ketone (peek) plastics have good toughness
And rigidity, it possesses the excellent fatigue durability to alternate stress matching in excellence or beauty with alloy material, and poly ether ether ketone plastic also has
Excellent sliding properties, are suitable for being strict with the occasion of low-friction coefficient and abrasion performance purposes, therefore adopt polyether-ether-ketone system
The bolster 403 made can bear the stress frequently picking and placeing flat board generation, and again will not scratch flat board.Additionally, polyether-ether-ketone
Plastics have superior dimensionally stable characteristic, the part changing to poly ether ether ketone plastic material of the environmental condition such as temperature, humidity
Size impact less, therefore adopts the bolster 403 that polyether-ether-ketone makes between the contact point 2031 of flat board and robotic arm 201
Distance change impact less.
Further regard to Fig. 4, bolt and robotic arm 201 opposite side 2012 are passed through in transverse arm 401 one end of auxiliary supports 203
It is relatively fixed, transverse arm 401 other end is fixedly connected with vertical arm 402.
Specifically, transverse arm 401 one end of auxiliary supports 203 is provided with through hole, and robotic arm 201 opposite side 2012 is provided with
Screwed hole, bolt passes through the through hole of transverse arm 401 one end and the screwed hole cooperation of robotic arm 201 opposite side 2012, by Auxiliary support
The transverse arm 401 of part 203 is fixed on robotic arm 201 opposite side 2012.Transverse arm 401 other end can be by mode and vertical arm such as welding
402 are fixedly connected.
As shown in figure 4, the transverse arm 403 of auxiliary supports 203 is parallel along adsorption plane 2021 from robotic arm 201 opposite side 2012
The distance extended of plane be less than 5 centimetres.
Specifically, because auxiliary supports 203 are that therefore transverse arm 403 is from robotic arm 201 opposite side for supporting flat board
2012 distances extended along the parallel plane of adsorption plane 2021 are unsuitable long, if apart from long vertical arm 402 top that makes
Flat board contact point 2031 exceeds plate edge, then cannot play the effect supporting flat board, and therefore present embodiment defines this distance
Less than 5 centimetres.Certainly, in other embodiment this distance can less than 6 centimetres or other, specifically regard panel size and determine,
It is not specifically limited herein.
In above-mentioned embodiment, robotic arm, the transverse arm of auxiliary supports and vertical arm are metal material, and in other enforcements
In mode, robotic arm, the transverse arm of auxiliary supports and vertical arm can be the other materials such as carbon fiber pipe or plastic pipe.
In addition, in above-mentioned embodiment, the transverse arm of auxiliary supports is fixedly connected using modes such as welding with vertical arm,
And in other embodiments, the transverse arm of auxiliary supports can be so that vertical arm be permissible in the way of using threadeding with vertical arm
Flexible, such that it is able to adjust the distance between flat board contact point and the robotic arm on vertical arm top.
Referring particularly to Fig. 5, Fig. 5 is another structural representation of auxiliary supports provided in an embodiment of the present invention.Fig. 5 and figure
4 structures are similar to, and here is omitted, and difference is the vertical arm 502 of auxiliary supports 203 and the horizontal stroke of auxiliary supports 203
Arm 501 is threaded.
Specifically, one end that vertical arm 502 is connected with transverse arm 501 is provided with external screw thread, and transverse arm 501 is connected with vertical arm 502
One end is provided with screwed hole, when needing to increase the distance between flat board contact point and the robotic arm on vertical arm 502 top, Ke Yiyan
The direction that screw thread screws out rotates the height that vertical arm 502 heightens vertical arm 502, but the flat board contact on vertical arm 502 top after increasing
Point and the distance between robotic arm equally can not be more than the distance between adsorption plane and robotic arm of vacuum cup；When need reduce
When the distance between the flat board contact point on vertical arm 502 top and robotic arm, threadingly can rotate vertical arm 502 and adjust in the direction of precession
The height of low vertical arm 502, but the distance between the flat board contact point on vertical arm 502 top and robotic arm after reducing cannot be below
The distance between adsorption plane after vacuum cup suction vacuum and robotic arm, otherwise cannot play the effect supporting flat board.
In above-mentioned embodiment, the vertical arm of auxiliary supports is threadeded with the transverse arm of auxiliary supports so that assisting
The vertical arm of support member can adjust height, thus when flat board picks and places the flat board quality difference that robot picks and places, can be by adjustment
The height of vertical arm is equally realized supporting the purpose of flat board.
The foregoing is only embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilization is originally
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (10)
1. a kind of flat board picks and places robot it is characterised in that including:
Robotic arm, multiple vacuum cup and auxiliary supports；
Described vacuum cup is arranged at described robotic arm side, and described auxiliary supports connect described robotic arm；
Wherein, described auxiliary supports are used for supporting described flat board, and and the contact point of described flat board and described robotic arm between
Distance be less than the distance between adsorption plane and described robotic arm of described vacuum cup.
2. robot according to claim 1 it is characterised in that
Described auxiliary supports include transverse arm and vertical arm, and described transverse arm is parallel along described adsorption plane from described robotic arm opposite side
Plane is extended, and connects described vertical arm one end, and described vertical arm extends towards described adsorption plane, the other end be described in connect
Contact.
3. robot according to claim 2 it is characterised in that
Further include to be arranged at the bolster of the contacting points position of described vertical arm.
4. the robot according to any one of claims 1 to 3 it is characterised in that
Described robotic arm quantity is at least two, and setting arranged in parallel, and described auxiliary supports are located at the described machine of outer most edge
The outside of arm.
5. the robot according to any one of claims 1 to 3 it is characterised in that
The contact point of described auxiliary supports is arranged adjacent to described vacuum cup.
6. robot according to claim 3 it is characterised in that
The material of described bolster is poly ether ether ketone plastic.
7. robot according to claim 2 it is characterised in that
The transverse arm of described auxiliary supports is relatively fixed with described robotic arm opposite side by bolt.
8. robot according to claim 2 it is characterised in that
The vertical arm of described auxiliary supports is threadeded with the transverse arm of described auxiliary supports.
9. robot according to claim 2 it is characterised in that
The transverse arm of described auxiliary supports from described robotic arm opposite side along the parallel plane of described adsorption plane extend away from
From less than 5 centimetres.
10. the robot according to any one of claims 1 to 3 it is characterised in that
Described robotic arm, the transverse arm of described auxiliary supports and vertical arm are metal material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610898365.XA CN106348016A (en) | 2016-10-14 | 2016-10-14 | Tablet pick-and-place robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610898365.XA CN106348016A (en) | 2016-10-14 | 2016-10-14 | Tablet pick-and-place robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106348016A true CN106348016A (en) | 2017-01-25 |
Family
ID=57866595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610898365.XA Pending CN106348016A (en) | 2016-10-14 | 2016-10-14 | Tablet pick-and-place robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106348016A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018171169A1 (en) * | 2017-03-23 | 2018-09-27 | 京东方科技集团股份有限公司 | Substrate loading and unloading system, substrate loading method and substrate unloading method |
| CN109407359A (en) * | 2018-10-29 | 2019-03-01 | 武汉华星光电技术有限公司 | Manipulator |
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| WO2004113205A1 (en) * | 2003-06-19 | 2004-12-29 | Rorze Corporation | Thin plate-supporting body |
| CN1895858A (en) * | 2005-07-15 | 2007-01-17 | 中华映管股份有限公司 | Manipulator and method for carrying plate therewith |
| CN102774652A (en) * | 2012-07-31 | 2012-11-14 | 深圳市华星光电技术有限公司 | Supporting arm of LCD (liquid crystal display) panel handling device |
| CN202781190U (en) * | 2012-08-31 | 2013-03-13 | 京东方科技集团股份有限公司 | Mechanical arm and machine device |
| CN203092546U (en) * | 2012-11-23 | 2013-07-31 | 京东方科技集团股份有限公司 | Arm of base plate carrying robot and base plate carrying robot |
| CN105110006A (en) * | 2015-09-10 | 2015-12-02 | 京东方科技集团股份有限公司 | Mechanical arm and substrate transfer method |
-
2016
- 2016-10-14 CN CN201610898365.XA patent/CN106348016A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004113205A1 (en) * | 2003-06-19 | 2004-12-29 | Rorze Corporation | Thin plate-supporting body |
| CN1895858A (en) * | 2005-07-15 | 2007-01-17 | 中华映管股份有限公司 | Manipulator and method for carrying plate therewith |
| CN102774652A (en) * | 2012-07-31 | 2012-11-14 | 深圳市华星光电技术有限公司 | Supporting arm of LCD (liquid crystal display) panel handling device |
| CN202781190U (en) * | 2012-08-31 | 2013-03-13 | 京东方科技集团股份有限公司 | Mechanical arm and machine device |
| CN203092546U (en) * | 2012-11-23 | 2013-07-31 | 京东方科技集团股份有限公司 | Arm of base plate carrying robot and base plate carrying robot |
| CN105110006A (en) * | 2015-09-10 | 2015-12-02 | 京东方科技集团股份有限公司 | Mechanical arm and substrate transfer method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018171169A1 (en) * | 2017-03-23 | 2018-09-27 | 京东方科技集团股份有限公司 | Substrate loading and unloading system, substrate loading method and substrate unloading method |
| CN109407359A (en) * | 2018-10-29 | 2019-03-01 | 武汉华星光电技术有限公司 | Manipulator |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170125 |