CN110165089A - A kind of glass substrate stripping system of flexible OLED panel - Google Patents
A kind of glass substrate stripping system of flexible OLED panel Download PDFInfo
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Abstract
Description
技术领域technical field
本发明属于柔性OLED面板生产设备领域,更具体的说涉及一种柔性OLED面板的玻璃基板剥离系统。The invention belongs to the field of flexible OLED panel production equipment, and more specifically relates to a glass substrate stripping system for a flexible OLED panel.
背景技术Background technique
现代电子科技发展迅速,特别是显示屏技术,从已经成熟的LCD到现在应用越来越广泛的OLED,目前已经发展到了柔性可弯曲的OLED显示面板。柔性OLED显示面板的制备与普通OLED显示面板大有不同,制作的难度较高,工序也与普通OLED显示面板大有不同。Modern electronic technology is developing rapidly, especially the display technology, from the mature LCD to the more and more widely used OLED, and now it has developed into a flexible and bendable OLED display panel. The preparation of flexible OLED display panels is very different from ordinary OLED display panels, and the difficulty of production is relatively high, and the process is also very different from ordinary OLED display panels.
从结构上看,柔性OLED跟普通OLED最明显的不同就是,柔性OLED面板将底部的玻璃基板去除了。但是目前的柔性的OLED面板在制作时还是采用底部铺设玻璃基板,然后再上面制作各OLED的结构层。From a structural point of view, the most obvious difference between flexible OLED and ordinary OLED is that the flexible OLED panel removes the glass substrate at the bottom. However, the current flexible OLED panel is still made by laying a glass substrate on the bottom, and then making the structural layers of each OLED on the top.
所以目前在柔性OLED显示屏制作中,把底部的玻璃基板去除是一项必备的流程操作。Therefore, in the production of flexible OLED displays, removing the glass substrate at the bottom is an essential process operation.
柔性OLED显示面板的制作都是先在一大块玻璃基板上进行多片柔性OLED显示面板一起制作,这时候一般称做母片,制作完成后需要切成单片,然后做后面制程。在切单片的时候,目前有2种方式:1是先把母片的整片玻璃基板移除换大块PET保护膜贴上,再进行切割成单片柔性OLED显示面板;2是直接将母片的OLED显示面板带玻璃基板一起切割成单片的;然后再去除玻璃基板。In the production of flexible OLED display panels, multiple flexible OLED display panels are produced together on a large glass substrate. At this time, it is generally called a mother sheet. When cutting a single piece, there are currently two ways: 1. First remove the entire glass substrate of the master piece and replace it with a large PET protective film, and then cut it into a single piece of flexible OLED display panel; 2. Directly The mother OLED display panel is cut into a single piece together with the glass substrate; then the glass substrate is removed.
本技术方案针对的是第2种方式,针对单片的带玻璃基板的柔性OLED显示面板进行玻璃基板剥离操作。先切单片再去玻璃基板,这种方式有一定的优势,切完的单片可以先测试,良品的情况下再去做玻璃剥离等后道工序,在产品良品率低的情况下能够减少很多后续成本。This technical solution is aimed at the second method, and the glass substrate peeling operation is performed on a single piece of flexible OLED display panel with a glass substrate. First cut the single piece and then remove the glass substrate. This method has certain advantages. The cut single piece can be tested first. A lot of follow-up costs.
目前市场上在玻璃基板的剥离方法基本都是采用激光剥离的方法,通过激光照射将玻璃与PI层的接触面的PI分子打断,然后就可以将玻璃基板和OLED显示面板分离。但是目前市场对玻璃基板的玻璃都是单工序的人工操作,除了激光器扫描是自动完成,其余需要人工摆放,玻璃基板去除等操作,效率较低。At present, the peeling method of the glass substrate in the market basically adopts the method of laser peeling, and the PI molecules on the contact surface between the glass and the PI layer are interrupted by laser irradiation, and then the glass substrate and the OLED display panel can be separated. However, the current market for the glass of the glass substrate is a single-process manual operation. Except for the automatic completion of laser scanning, the rest requires manual placement, removal of the glass substrate and other operations, which is inefficient.
另外,因为OLED面板相对比较脆弱,而且制造成本比较高,在玻璃基板去除之后,还需要贴上一层PET支撑膜。但在运输到贴支撑膜过程中非常容易被损坏,造成不必要的损失,目前还没有一体化玻璃剥离然后贴支撑膜的设备。In addition, because the OLED panel is relatively fragile and the manufacturing cost is relatively high, after the glass substrate is removed, a PET support film needs to be attached. However, it is very easy to be damaged during transportation to the process of attaching the support film, causing unnecessary losses. At present, there is no integrated equipment for peeling off the glass and then attaching the support film.
发明内容Contents of the invention
针对现有技术的不足,本发明提供了一种可以实现柔性OLED显示面板去除玻璃基板和贴PET支撑膜全自动化操作,每个工位可以连续工作,效率高,操作简单,成品率高。Aiming at the deficiencies of the prior art, the present invention provides a fully automatic operation for removing the glass substrate and pasting the PET support film of the flexible OLED display panel. Each station can work continuously, with high efficiency, simple operation and high yield.
为实现上述目的,本发明提供了如下技术方案:一种柔性OLED面板的玻璃基板剥离系统,包括一用以运输OLED面板的循环输送机构,所述循环输送机构上设置有若干固定OLED面板的定位治具,所述循环输送机构经过的区域依次设置有放料装置、激光剥离装置、玻璃移出装置、支撑膜贴合装置、翻面装置和检测装置。In order to achieve the above object, the present invention provides the following technical solutions: a glass substrate peeling system for flexible OLED panels, including a circular conveying mechanism for transporting OLED panels, and the circular conveying mechanism is provided with a plurality of fixed OLED panel positioning As for the jig, the area passed by the circular conveying mechanism is sequentially provided with a material discharging device, a laser peeling device, a glass removing device, a supporting film laminating device, a flipping device and a detection device.
进一步的所述循环输送机构包括转盘,若干个定位治具圆周均匀分布于转盘上,放料装置、激光剥离装置、玻璃移出装置、支撑膜贴合装置、翻面装置和检测装置沿圆周均匀分布于转盘外侧。Further, the circular conveying mechanism includes a turntable, and several positioning fixtures are evenly distributed on the turntable, and the discharging device, laser stripping device, glass removal device, supporting film bonding device, flipping device and detection device are evenly distributed along the circumference on the outside of the turntable.
进一步的所述定位治具上设置有至少两个不平行的靠边挡条,定位治具上对应靠边挡条相对方向设置有推动机构,靠边挡条与推动机构形成容纳区,所述定位治具对应容纳区处设置有若干个负压吸孔,所述负压吸孔连接有真空发生器。Further, the positioning jig is provided with at least two non-parallel side rails, and the positioning jig is provided with a push mechanism corresponding to the opposite direction of the side rails, and the side rails and the pushing mechanism form an accommodation area, and the positioning jig A number of negative pressure suction holes are provided corresponding to the accommodation area, and the negative pressure suction holes are connected with a vacuum generator.
进一步的所述放料装置包括进料台和第一直线取放机械手,所述第一直线取放机械手由进料台延伸至循环输送机构。Further, the discharging device includes a feeding table and a first linear pick-and-place robot arm, and the first linear pick-and-place robot arm extends from the feeding table to the circular conveying mechanism.
进一步的所述激光剥离装置包括激光器。Further, the laser lift-off device includes a laser.
进一步的所述玻璃移出装置包括玻璃收集装置和第二直线取放机械手,所述第二直线取放机械手由玻璃收集装置延伸至循环输送机构。Further, the glass removal device includes a glass collection device and a second linear pick-and-place robot arm, and the second linear pick-and-place robot arm extends from the glass collection device to the circular conveying mechanism.
进一步的所述支撑膜贴合装置包括支撑膜导入机构和第三直线取放机械手,支撑膜导入机构上设置有支撑膜治具,第三直线取放机械手由支撑膜导入机构延伸至循环输送机构。Further, the support film bonding device includes a support film introduction mechanism and a third linear pick-and-place manipulator, the support film introduction mechanism is provided with a support film jig, and the third linear pick-and-place manipulator is extended from the support film introduction mechanism to the circulation conveying mechanism .
进一步的所述支撑膜治具结构与定位治具结构相同。Further, the structure of the supporting film jig is the same as that of the positioning jig.
进一步的所述翻面装置包括抓取机械手和放置机械手。Further, the flipping device includes a grabbing robot and a placing robot.
进一步的所述检测装置旁设置有出料台,所述检测装置包括伸缩导电探针,伸缩导电探针连接电源,所述检测装置与出料台之间设置有第四直线取放机械手。Further, a discharge table is provided beside the detection device, the detection device includes a telescopic conductive probe, and the telescopic conductive probe is connected to a power supply, and a fourth linear pick-and-place manipulator is provided between the detection device and the discharge table.
与现有技术相比,本发明的有益效果是:Compared with prior art, the beneficial effect of the present invention is:
1、通过本装置,可以实现柔性OLED显示面板去除玻璃基板、贴PET支撑膜及最终检测的全自动化操作,每个工位可以连续工作,效率高,操作简单,成品率高;1. Through this device, the fully automatic operation of removing the glass substrate, attaching the PET support film and final inspection of the flexible OLED display panel can be realized. Each station can work continuously, with high efficiency, simple operation and high yield;
2、通过定位治具靠边定位结构,结构简单定位准确;2. The structure is positioned by the side of the positioning fixture, and the structure is simple and the positioning is accurate;
3、转盘式的工作台,装载OLED显示面板后,连通定位治具一起转动,只需一次定位,大大提高了效率和精度。3. The turntable-type workbench, after loading the OLED display panel, is connected with the positioning jig to rotate together, only one positioning is required, which greatly improves the efficiency and accuracy.
附图说明Description of drawings
图1为本发明柔性OLED面板的玻璃基板剥离系统的流程示意图;Fig. 1 is the schematic flow chart of the glass substrate stripping system of the flexible OLED panel of the present invention;
图2为本发明中激光剥离装置的结构示意图;Fig. 2 is the structural representation of laser stripping device among the present invention;
图3为本发明中玻璃移出装置的结构示意图;Fig. 3 is the structural representation of glass removing device among the present invention;
图4为本发明中支撑膜贴合装置的结构示意图;Fig. 4 is a schematic structural view of a supporting film laminating device in the present invention;
图5为本发明中翻面装置的结构示意图;Fig. 5 is the structural representation of turning over device among the present invention;
图6为本发明中检测装置的结构示意图;Fig. 6 is the structural representation of detection device among the present invention;
图7为本发明中支撑膜导入机构的结构示意图一;Fig. 7 is a structural schematic diagram 1 of the supporting film introducing mechanism in the present invention;
图8为本发明中支撑膜导入机构的结构示意图二;Fig. 8 is a structural schematic diagram II of the supporting film introducing mechanism in the present invention;
图9为本发明中取放支撑膜的吸盘结构示意图;Fig. 9 is a schematic structural view of a sucker for taking and placing a supporting film in the present invention;
图10为本发明中定位治具的剖面结构示意图;Fig. 10 is a schematic cross-sectional structure diagram of a positioning jig in the present invention;
图11为本发明中定位治具第一种实施方式的俯视图;Fig. 11 is a top view of the first embodiment of the positioning jig in the present invention;
图12为本发明中定位治具第二种实施方式的俯视图。Fig. 12 is a top view of the second embodiment of the positioning jig in the present invention.
附图标记:1、进料台;11、进料轨道;12、托盘;2、第一直线取放机械手;21、机械手;22、直线轨道;3、转盘;4、激光剥离装置;41、激光器;5、定位治具;51、负压吸孔;52、靠边挡条;53、推板;54、缓冲垫;55、定位滚轮;6、玻璃移出装置;61、第二直线取放机械手;62、玻璃收集装置;63、吸盘;7、支撑膜贴合装置;71、第三直线取放机械手;72、导入导轨;73、支撑膜治具;74、离型膜收集筐;75、弹簧;8、翻面装置;81、抓取机械手;82、放置机械手;9、检测装置;91、第四直线取放机械手;92、伸缩导电探针;93、出料台;100、OLED面板;700、支撑膜。Reference signs: 1. Feeding platform; 11. Feeding track; 12. Tray; 2. The first straight-line pick-and-place robot; 21. Robot; 22. Linear track; 3. Turntable; 4. Laser stripping device; 41 , laser; 5, positioning fixture; 51, negative pressure suction hole; 52, side bar; 53, push plate; 54, buffer pad; 55, positioning roller; 6, glass removal device; 61, the second line pick and place Manipulator; 62. Glass collection device; 63. Suction cup; 7. Supporting film bonding device; 71. The third straight line pick-and-place manipulator; 72. Guide rail; 73. Supporting film fixture; 74. Release film collection basket; 75 , spring; 8, turning device; 81, grasping manipulator; 82, placing manipulator; 9, detection device; 91, the fourth straight line pick and place manipulator; 92, telescopic conductive probe; 93, discharge table; 100, OLED panel; 700, support membrane.
具体实施方式Detailed ways
参照图1至图12对本发明OLED面板的玻璃基板剥离系统的实施例做进一步说明。The embodiment of the glass substrate stripping system for OLED panel of the present invention will be further described with reference to FIG. 1 to FIG. 12 .
一种柔性OLED面板的玻璃基板剥离系统,包括一用以运输OLED面板100的循环输送机构,所述循环输送机构上设置有若干固定OLED面板100的定位治具5,所述循环输送机构经过的区域依次设置有放料装置、激光剥离装置4、玻璃移出装置6、支撑膜贴合装置7、翻面装置8和检测装置9。A glass substrate stripping system for a flexible OLED panel, comprising a circular conveying mechanism for transporting the OLED panel 100, the circular conveying mechanism is provided with a plurality of positioning jigs 5 for fixing the OLED panel 100, and the circular conveying mechanism passes through The area is provided with a discharge device, a laser peeling device 4, a glass removal device 6, a supporting film laminating device 7, a turning device 8 and a detection device 9 in sequence.
工作过程为:The working process is:
1、通过放料装置将OLED面板100放置在定位治具5上,且使得玻璃基板一侧朝向上方,通过循环输送机构移动,使定位治具5移动至激光剥离装置4处;1. Place the OLED panel 100 on the positioning jig 5 through the discharging device, and make one side of the glass substrate face upward, and move the positioning jig 5 to the laser stripping device 4 by moving the circular conveying mechanism;
2、此时激光剥离装置4对OLED面板100进行照射,使玻璃基板与OLED面板100脱离;2. At this time, the laser stripping device 4 irradiates the OLED panel 100 to separate the glass substrate from the OLED panel 100;
3、循环输送机构继续移动使OLED面板100至玻璃移出装置6处,通过玻璃移出装置6将脱离的玻璃基板移出,在定位治具5上仅剩下柔性OLED面板100;3. The circular conveying mechanism continues to move to bring the OLED panel 100 to the glass removal device 6, and remove the detached glass substrate through the glass removal device 6, leaving only the flexible OLED panel 100 on the positioning jig 5;
4、循环输送机构移动使柔性OLED面板100至支撑膜贴合装置7处,支撑膜贴合装置7将PET支撑膜700贴合在柔性OLED面板100上(即原本为玻璃基板处);4. The circular conveying mechanism moves to bring the flexible OLED panel 100 to the support film bonding device 7, and the support film bonding device 7 bonds the PET support film 700 on the flexible OLED panel 100 (that is, the original glass substrate);
5、循环输送机构移动使贴合PET支撑膜的柔性OLED面板100移动至翻面装置8处,通过翻面装置8将柔性OLED面板100进行翻面,即使得PET支撑膜一面朝向下方;5. The circulation conveying mechanism moves to move the flexible OLED panel 100 attached to the PET support film to the turning device 8, and the flexible OLED panel 100 is turned over by the turning device 8, so that the side of the PET support film faces downward;
6、循环输送机构移动使翻面后的OLED面板100移动至检测装置9处,利用检测装置9对OLED面板100良品或次品情况检测;6. The circulation conveying mechanism moves to move the flipped OLED panel 100 to the detection device 9, and the detection device 9 is used to detect the good or defective OLED panel 100;
7、检测完成后将OLED面板100取出,并重复上述过程。7. After the detection is completed, the OLED panel 100 is taken out, and the above process is repeated.
本实施例优选的所述循环输送机构包括转盘3,若干个定位治具5圆周均匀分布于转盘3上,放料装置、激光剥离装置4、玻璃移出装置6、支撑膜贴合装置7、翻面装置8和检测装置9沿圆周均匀分布于转盘3外侧。The preferred circulating conveying mechanism in this embodiment includes a turntable 3, a plurality of positioning fixtures 5 are evenly distributed on the turntable 3, a discharge device, a laser stripping device 4, a glass removal device 6, a supporting film laminating device 7, a turntable The surface device 8 and the detection device 9 are evenly distributed outside the turntable 3 along the circumference.
其中在本实施例中定位治具5设置的个数优选为6个,定位治具5的数量是根据本方案需要几个制程匹配的。In this embodiment, the number of positioning jigs 5 is preferably 6, and the number of positioning jigs 5 is matched according to several manufacturing processes required by this solution.
如图1所示,为方便描述,本实施例中将循环输送机构上的定位治具5有六个,六个定位治具5所在位置分别命名为一号工位、二号工位、三号工位、四号工位、五号工位和六号工位。As shown in Figure 1, for the convenience of description, there are six positioning jigs 5 on the circulation conveying mechanism in this embodiment, and the positions of the six positioning jigs 5 are respectively named No. 1 station, No. 2 station, and No. 3 station. Station No. 4, Station No. 5 and Station No. 6.
其中转盘3连接一驱动机构,如步进电机或其他驱动机构,使得转盘3能够间歇性转动,转盘3沿顺时针方向转动,OLED面板100放置在一号工位的定位治具5上,通过转盘3转动至二号工位,那么此时会有另一定位治具5到达放料装置处,在二号工位激光器41对OLED面板100照射时,放料装置将另一OLED面板100送入定位治具5上,完毕后,转盘3继续转动,所有定位治具5顺次移动至下一工位并同时进行工作,形成连续不断的对OLED面板100处理操作;而且只需在一号工位处对OLED面板100进行一次定位,后续的处理操作随着转盘3的转动已自动与各处理装置对齐,无需再次定位,加工效率更高。Wherein the turntable 3 is connected with a driving mechanism, such as a stepping motor or other driving mechanism, so that the turntable 3 can rotate intermittently, and the turntable 3 rotates in a clockwise direction, and the OLED panel 100 is placed on the positioning fixture 5 of the No. 1 station. When the turntable 3 rotates to the No. 2 station, another positioning jig 5 will arrive at the discharge device at this time. When the laser 41 of the No. 2 station irradiates the OLED panel 100, the discharge device will send another OLED panel 100 After that, the turntable 3 continues to rotate, and all the positioning fixtures 5 move to the next station in sequence and work at the same time, forming a continuous processing operation on the OLED panel 100; The OLED panel 100 is positioned once at the station, and the subsequent processing operations are automatically aligned with each processing device as the turntable 3 rotates, without re-positioning, and the processing efficiency is higher.
本实施例优选的所述定位治具5上设置有至少两个不平行的靠边挡条52,定位治具5上对应靠边挡条52相对方向设置有推动机构,靠边挡条52与推动机构形成容纳区,所述定位治具5对应容纳区处设置有若干个负压吸孔51,所述负压吸孔51连接有真空发生器。The preferred positioning jig 5 of the present embodiment is provided with at least two non-parallel backing bars 52, and a push mechanism is arranged on the positioning jig 5 corresponding to the side bar 52 in the opposite direction, and the side bar 52 and the pushing mechanism form In the accommodation area, the positioning jig 5 is provided with several negative pressure suction holes 51 corresponding to the accommodation area, and the negative pressure suction holes 51 are connected with a vacuum generator.
如图10所示,OLED面板100放置于定位治具5上,通过真空发生器产生负压,负压吸孔51将OLED面板100吸附固定在定位治具5表面,以使得OLED面板100在各个工位时均能够保持在原位,且在玻璃基板清除时,支撑膜贴合时OLED面板100保持不动,位置精确;在需要松开OLED面板100时,如在翻面装置8处,此时切断此工位处的负压,释放OLED面板100,使其能够被抓取和移动,本实施例优选的每个定位治具5的负压吸孔51均单独具有一支路气管,所有的气管支路连接一总路气管或直接连接真空发生器,每条支路气管上设置一换向阀,换向阀可将支路气管与总路气管或真空发生器连通;换向阀还可在换向后与总路气管或真空发生器断开并与外界连通,使其内部无负压,通过此设置便可单独精准控制每个工位处对OLED面板100吸附或释放。As shown in FIG. 10, the OLED panel 100 is placed on the positioning jig 5, and a negative pressure is generated by a vacuum generator. The negative pressure suction hole 51 adsorbs and fixes the OLED panel 100 on the surface of the positioning jig 5, so that the OLED panel 100 is placed on each It can be kept in the original position during the station, and when the glass substrate is removed, the OLED panel 100 remains motionless when the supporting film is attached, and the position is accurate; when the OLED panel 100 needs to be released, such as at the turning device 8, this cut off the negative pressure at this station, release the OLED panel 100, so that it can be grasped and moved, the negative pressure suction hole 51 of each positioning fixture 5 preferred in this embodiment has a separate air pipe, all The branches of the trachea are connected to a main trachea or directly connected to the vacuum generator, and each branch trachea is provided with a reversing valve, which can connect the branch trachea to the main trachea or the vacuum generator; the reversing valve also After reversing, it can be disconnected from the main air pipe or vacuum generator and communicated with the outside world, so that there is no negative pressure inside. Through this setting, the adsorption or release of the OLED panel 100 at each station can be individually and precisely controlled.
如图11 和图12,其中定位治具5上具有两个靠边挡条52,根据OLED面板100的边缘形状以确定两个靠边挡条52之间的夹角即可,通常为L型布置,且优选的两个靠边挡条52相互不接触,以留出供OLED面板100的顶角伸入空间,在对OLED面板100定位时,放料装置将OLED面板100放入容纳区内,通过推动机构推动OLED面板100的边缘,使得OLED面板100贴紧两个靠边挡条52,此时OLED面板100完成位置确定,负压吸孔51再通过负压将OLED面板100牢牢吸附在定位治具5表面,完成OLED面板100的固定。As shown in Fig. 11 and Fig. 12, there are two side bars 52 on the positioning jig 5, and the angle between the two side bars 52 can be determined according to the edge shape of the OLED panel 100, usually in an L-shaped arrangement, And preferably, the two edge bars 52 do not touch each other, so as to leave a space for the top corner of the OLED panel 100 to extend into. When the OLED panel 100 is positioned, the discharge device puts the OLED panel 100 into the accommodation area, and pushes the OLED panel 100 into the accommodation area. The mechanism pushes the edge of the OLED panel 100, so that the OLED panel 100 is close to the two side bars 52. At this time, the position of the OLED panel 100 is determined, and the negative pressure suction hole 51 firmly absorbs the OLED panel 100 to the positioning fixture through negative pressure. 5 surface, the fixing of the OLED panel 100 is completed.
如图11所示,其中推动机构为推板53,推板53连接气缸、液压缸或直线电机进行移动,且优选的在OLED面板100较长边一侧设置至少两个推板53,以防止OLED面板100发生倾斜偏移无法准确定位,OLED面板100放入容纳区后,通过推板53的移动即可使OLED面板100边缘与靠边挡条52贴紧完成定位,优选的在推板53的表面设置缓冲垫54,缓冲垫54材质可采用硅胶。As shown in Figure 11, wherein the pushing mechanism is a push plate 53, and the push plate 53 is connected to an air cylinder, a hydraulic cylinder or a linear motor to move, and preferably at least two push plates 53 are arranged on one side of the longer side of the OLED panel 100 to prevent The OLED panel 100 is tilted and shifted and cannot be positioned accurately. After the OLED panel 100 is placed in the accommodation area, the edge of the OLED panel 100 can be closely attached to the edge bar 52 by moving the push plate 53 to complete the positioning. A buffer pad 54 is arranged on the surface, and the material of the buffer pad 54 can be silica gel.
如图12所示,其中推动机构还可为定位滚轮55,同样的定位滚轮55连接相应的驱动机构,气缸、液压缸或直线电机,同时定位滚轮55可进行自由转动,即定位滚轮55与驱动机构端部通过轴转动连接,在推动OLED面板100时,定位滚轮55与OLED面板100的边缘接触,同时OLED面板100边向靠边挡条52移动,边进行姿态摆正,此时定位滚轮55与OLED面板100边缘滚动摩擦,减小与OLED面板100的磨损,当然定位滚轮55表面依然可再设置缓冲垫54做进一步保护。As shown in Figure 12, wherein the pushing mechanism can also be a positioning roller 55, the same positioning roller 55 is connected to a corresponding driving mechanism, an air cylinder, a hydraulic cylinder or a linear motor, and the positioning roller 55 can rotate freely at the same time, that is, the positioning roller 55 and the drive The ends of the mechanism are connected through shaft rotation. When the OLED panel 100 is pushed, the positioning roller 55 contacts the edge of the OLED panel 100. At the same time, the OLED panel 100 moves toward the side bar 52 to correct its posture. At this time, the positioning roller 55 and the The edge rolling friction of the OLED panel 100 reduces the wear and tear on the OLED panel 100 . Of course, the surface of the positioning roller 55 can still be provided with a buffer pad 54 for further protection.
本实施例优选的所述放料装置包括进料台1和第一直线取放机械手2,所述第一直线取放机械手2由进料台1延伸至循环输送机构。The preferred discharging device in this embodiment includes a feeding table 1 and a first linear pick-and-place robot 2, and the first linear pick-and-place robot 2 extends from the feeding table 1 to the circular conveying mechanism.
其中第一直线取放机械手2包括一直线轨道22,机械手21可在直线轨道22上移动,即直线轨道22横跨进料台1和转盘3,能够使机械手到达一号工位,此机械手优选的为万向机械手,且其抓取方式为吸盘63式,吸盘63式的万向机械手为现有技术,申请人在此不做赘述,在本实施例中所提到的第二直线取放机械手61、第三直线取放机械手71、第四直线取放机械手91、抓取机械手81和放置机械手82均可为此结构。Wherein the first linear pick-and-place manipulator 2 comprises a straight track 22, and the manipulator 21 can move on the straight track 22, that is, the straight track 22 straddles the feeding platform 1 and the turntable 3, so that the manipulator can reach the No. 1 station. It is preferably a universal manipulator, and its grabbing method is a suction cup 63 type. The universal manipulator of the suction cup 63 formula is a prior art, and the applicant does not repeat it here. The second straight line mentioned in this embodiment takes Putting manipulator 61, the 3rd linear pick-and-place manipulator 71, the 4th straight line pick-and-place manipulator 91, grasping manipulator 81 and placement manipulator 82 all can be this structure.
在进料台1上放置好待处理的OLED面板100,机械手直接抓取OLED面板100,而后通过直线轨道22移动至一号工位上方将OLED面板100放置在此时的定位治具5上进行定位工序,而机械手回到进料台1的上方等待抓取下一OLED面板100;其中进料台1上可设置一进料轨道11,在其上方设置多个托盘12,OLED面板100置于托盘12上,每次托盘12均移动至固定位置,机械手在回到进料台1上方时,直接向下抓取即可抓到(吸附)OLED面板100,此处允许有微小偏差,并不影响机械手抓取OLED面板100,也不会影响机械手将其准确放入一号工位的容纳区内,此时机械手只需在直线回到来回移动即可,提高放料效率。The OLED panel 100 to be processed is placed on the feeding table 1, and the manipulator directly grabs the OLED panel 100, and then moves to the top of the No. 1 station through the linear track 22, and places the OLED panel 100 on the positioning fixture 5 at this time. Positioning process, and the manipulator returns to the top of the feeding table 1 and waits to grab the next OLED panel 100; wherein a feeding track 11 can be set on the feeding table 1, and a plurality of trays 12 are arranged above it, and the OLED panel 100 is placed on the On the tray 12, each time the tray 12 is moved to a fixed position, when the manipulator returns to the top of the feeding table 1, it can grab (adsorb) the OLED panel 100 directly downwards. A slight deviation is allowed here and is not Affecting the manipulator to grab the OLED panel 100 will not affect the manipulator to accurately put it into the accommodation area of the No. 1 station. At this time, the manipulator only needs to move back and forth in a straight line to improve the discharging efficiency.
如图2所示,本实施例优选的所述激光剥离装置4包括激光器41,其中激光器41通过反射镜将激光调整角度,射入激光镜头对玻璃进行扫描,利用激光照射OLED面板100的玻璃基板使玻璃基板分离为现有技术,其具体原理申请人在此不做赘述,由于OLED面板100在一号工位已完成定位,在转动至二号工位时,每个到达此处的OLED面板100位置相同,因此只需对激光扫描路径进行初始设定即可,激光剥离装置4无需每次单独与OLED面板100重新定位。As shown in Figure 2, the preferred laser stripping device 4 in this embodiment includes a laser 41, wherein the laser 41 adjusts the angle of the laser light through a reflector, injects the laser lens into the glass to scan the glass, and irradiates the glass substrate of the OLED panel 100 with the laser light Separating the glass substrate is a prior art, and the applicant does not repeat the specific principle here. Since the OLED panel 100 has been positioned at the No. 1 station, when it turns to the No. 2 station, each OLED panel that arrives 100 are in the same position, so it is only necessary to initially set the laser scanning path, and the laser lift-off device 4 does not need to be repositioned separately with the OLED panel 100 each time.
如图3所示,所述玻璃移出装置6包括玻璃收集装置62和第二直线取放机械手61,所述第二直线取放机械手61由玻璃收集装置62延伸至循环输送机构。As shown in FIG. 3 , the glass removal device 6 includes a glass collection device 62 and a second linear pick-and-place robot arm 61 , and the second linear pick-and-place robot arm 61 extends from the glass collection device 62 to the circular conveying mechanism.
在二号工位经激光器41照射后的OLED面板100,其玻璃基板已经与柔性OLED面板100相互分离,此时在三号工位利用机械手将玻璃基板吸起并通过直线轨道22运送至玻璃收集装置62内即可,其中收集装置为收集桶或收集箱均可,作为废料收集装置。After the OLED panel 100 is irradiated by the laser 41 at the second station, its glass substrate has been separated from the flexible OLED panel 100. At this time, the glass substrate is picked up by the robot at the third station and transported to the glass collector through the linear track 22. It can be in the device 62, wherein the collection device can be a collection barrel or a collection box, as a waste collection device.
如图4、图7和图8所示,本实施例优选的所述支撑膜贴合装置7包括支撑膜导入机构和第三直线取放机械手71,支撑膜导入机构上设置有支撑膜治具73,第三直线取放机械手71由支撑膜导入机构延伸至循环输送机构。As shown in Fig. 4, Fig. 7 and Fig. 8, the preferred supporting film bonding device 7 of this embodiment includes a supporting film introducing mechanism and a third linear pick-and-place manipulator 71, and a supporting film fixture is arranged on the supporting film introducing mechanism 73. The third linear pick-and-place manipulator 71 extends from the supporting film introduction mechanism to the circulation conveying mechanism.
其中支撑膜治具73与定位治具5结构相同。Wherein the supporting film jig 73 has the same structure as the positioning jig 5 .
本申请中支撑膜导入机构可具有一导入导轨72,其中支撑膜治具73可具有多个,支撑膜置于支撑膜治具73上,多个支撑膜治具73在导入导轨上移动,支撑膜治具73携支撑膜移动至机械手下方;In the present application, the support film introduction mechanism can have an introduction guide rail 72, wherein there can be multiple support film fixtures 73, the support film is placed on the support film fixture 73, and the multiple support film fixtures 73 move on the guide rail, supporting The film fixture 73 moves the supporting film to the bottom of the manipulator;
为降低设备成本,支撑膜治具73可仅设置一个,支撑膜导入机构的支撑膜治具73旁放置多个支撑膜,通过机械手将支撑膜移动至支撑膜治具73上进行定位操作,而后机械手将支撑膜吸起,而原本与支撑膜贴合的离型膜则被吸附在支撑膜治具73表面,随着机械手移动至四号工位上方,每个到达四号工位的柔性OLED面板100位置均相同,因此机械手按照预设位置移动并将支撑膜放下即可使支撑膜与柔性OLED面板100恰好贴合;In order to reduce the equipment cost, only one support film fixture 73 can be provided, and a plurality of support films are placed beside the support film fixture 73 of the support film introduction mechanism, and the support film is moved to the support film fixture 73 by the manipulator for positioning operation, and then The manipulator sucks up the support film, and the release film that was originally attached to the support film is adsorbed on the surface of the support film fixture 73. As the manipulator moves to the top of the No. 4 station, each flexible OLED that reaches the No. 4 station The positions of the panels 100 are all the same, so the manipulator moves according to the preset position and puts down the support film so that the support film and the flexible OLED panel 100 can fit together;
优选的在支撑膜治具73旁设置离型膜收集筐74,用于收集遗留在支撑膜治具73上的离型膜;如图7所示,可额外设置一直线取放机械手A用于抓取离型膜至收集筐内;如图8所示,移开离型膜还可以是采用一带旋转臂的直线取放机械手B,此带旋转臂的直线取放机械手首先将支撑膜由支撑膜导入机构移动至支撑膜治具73上,待第三直线取放机械手71将支撑膜取走后,此带旋转臂的直线取放机械手再将离型膜移动至离型膜收集筐74内即可,为避免各机械手相互影响,可将各个机械手设置于不同高度。Preferably, a release film collection basket 74 is set beside the support film fixture 73 for collecting the release film left on the support film fixture 73; as shown in Figure 7, a linear pick-and-place robot A can be additionally set for Grab the release film into the collection basket; as shown in Figure 8, removing the release film can also be a linear pick-and-place manipulator B with a rotating arm. This linear pick-and-place manipulator with a rotating arm first pulls the support film The film introduction mechanism moves to the support film jig 73, and after the third linear pick-and-place manipulator 71 removes the support film, the linear pick-and-place manipulator with a rotating arm moves the release film to the release film collection basket 74 That is, in order to avoid mutual influence of each manipulator, each manipulator can be arranged at different heights.
如图9所示,本实施例中第三直线取放机械手71的吸盘63式机械手具有多个吸盘63,多个吸盘63与机械手的主体之间具有若干组弹簧75,同时若干组弹簧75的长度呈阶梯状排布,使得一侧的吸盘63较另一侧高,且呈阶梯排布,当然此处也可采用相同长度弹簧75,但机械手自身稍微倾斜,只需达到吸盘63高度呈阶梯排布即可,当吸盘63下压时,所有吸盘63同时吸住支撑膜,拉起时处于较高位置的吸盘63一侧将首先拉起,使支撑膜的一侧先拉起,更容易的使支撑膜与离型膜分离;完全被拉起的支撑膜也处于倾斜状态,在与柔性OLED面板100贴合时,则是较低一端先与柔性OLED面板100接触先贴合,而后依次向另一侧延伸贴合,贴合平整无气泡产生。As shown in Figure 9, the sucker 63 type manipulator of the third linear pick-and-place manipulator 71 in the present embodiment has a plurality of suckers 63, and there are several groups of springs 75 between the plurality of suckers 63 and the main body of the manipulator, and several groups of springs 75 The length is arranged in steps, so that the suction cup 63 on one side is higher than the other side, and it is arranged in steps. Of course, the same length spring 75 can also be used here, but the manipulator itself is slightly inclined, and only needs to reach the height of the suction cup 63. Just arrange it. When the suction cups 63 are pressed down, all the suction cups 63 will suck the support film at the same time. When pulling up, the side of the suction cup 63 at a higher position will be pulled up first, so that the side of the support film will be pulled up first, which is easier The support film is separated from the release film; the fully pulled support film is also in a tilted state, and when it is attached to the flexible OLED panel 100, the lower end is first in contact with the flexible OLED panel 100 and then attached. Extend the fit to the other side, and the fit is smooth without air bubbles.
如图5所示本实施例优选的所述翻面装置8包括抓取机械手81和放置机械手82。As shown in FIG. 5 , the preferred flipping device 8 of this embodiment includes a grabbing robot 81 and a placing robot 82 .
此时两个机械手可置于同一直线轨道22上,当柔性OLED面板100移动至五号工位时,其中抓取机械手81将柔性OLED面板100抓起(吸附),并转动90°,使柔性OLED面板100朝向放置机械手82,放置机械手82吸附此柔性OLED面板100的另一面,抓取机械手81松开,放置机械手82转动90°将柔性OLED面板100放回五号工位的定位治具5上即完成翻转动作。At this time, the two manipulators can be placed on the same linear track 22. When the flexible OLED panel 100 moves to the No. The OLED panel 100 faces the placing manipulator 82, the placing manipulator 82 absorbs the other side of the flexible OLED panel 100, the grasping manipulator 81 is released, and the placing manipulator 82 rotates 90° to put the flexible OLED panel 100 back to the positioning jig 5 of the fifth station The flipping action is completed.
在本实施例中的放料装置也可采用与翻面装置8相同的机械手,由OLED面板100在生产时,其玻璃基本一侧朝向下方,此时可使本剥离系统直接与生产线连接,刚生产出的OLED面板100直接输送至放料装置处,由机械手抓取至一号工位上,并同时完成翻转动作,使玻璃基板朝向上方。The discharging device in this embodiment can also use the same manipulator as the flipping device 8. When the OLED panel 100 is in production, the glass side basically faces downward. At this time, the peeling system can be directly connected to the production line. The produced OLED panel 100 is directly transported to the discharge device, and is grabbed by the robot arm to the No. 1 station, and at the same time completes the turning action so that the glass substrate faces upward.
如图6所示,所述检测装置9旁设置有出料台93,所述检测装置9包括伸缩导电探针92,伸缩导电探针92连接电源,所述检测装置9与出料台93之间设置有第四直线取放机械手91。As shown in Figure 6, a discharge table 93 is arranged beside the detection device 9, and the detection device 9 includes a telescopic conductive probe 92, and the telescopic conductive probe 92 is connected to a power supply, and the connection between the detection device 9 and the discharge table 93 A fourth linear pick-and-place manipulator 91 is arranged between them.
其中伸缩导电探针92只需要导电探针连接伸缩机构即可,在经过五号工位翻转的柔性OLED面板100到达六号工位后,伸缩导电探针92伸出,并接触柔性OLED面板100的导线,显示面板点亮即表示产品合格,否则为次品,检测完成后伸缩导电探针92缩回,通过第四直线取放机械手91将其抓取至出料台93上,使此处的定位治具5空出,在其转动至一号工位时可顺利接收新的待处理OLED面板100,实现循环处理操作。Among them, the telescopic conductive probe 92 only needs to connect the conductive probe to the telescopic mechanism. After the flexible OLED panel 100 turned over by the fifth station reaches the sixth station, the telescopic conductive probe 92 is stretched out and contacts the flexible OLED panel 100. If the display panel lights up, it means that the product is qualified, otherwise it is a defective product. After the inspection is completed, the retractable conductive probe 92 is retracted, and it is grabbed by the fourth straight line pick-and-place manipulator 91 to the discharge table 93, so that The positioning jig 5 is vacant, and when it rotates to the No. 1 station, it can smoothly receive a new OLED panel 100 to be processed, so as to realize the cyclic processing operation.
以上所述仅是本发明的优选实施方式,本发明的保护范围并不仅局限于上述实施例,凡属于本发明思路下的技术方案均属于本发明的保护范围。应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理前提下的若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。The above descriptions are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention should also be regarded as the protection scope of the present invention.
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