CN114194101A

CN114194101A - Centering device and load equipment

Info

Publication number: CN114194101A
Application number: CN202111552708.4A
Authority: CN
Inventors: 何威
Original assignee: Shenzhen China Star Optoelectronics Semiconductor Display Technology Co Ltd
Current assignee: Shenzhen China Star Optoelectronics Semiconductor Display Technology Co Ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-03-18

Abstract

The invention provides a centering device and load equipment. The centering device comprises a moving base, a pressure sensing unit and a gravity unit. The moving base includes: the device comprises a first substrate fixed on a bearing table-board and a second substrate which can be arranged on one surface of the first substrate far away from the bearing table-board in a sliding mode. The pressure sensing unit is arranged on the movable base. One end of the gravitation unit is connected with the second substrate, and the other end of the gravitation unit is fixed on the bearing table board.

Description

Centering device and load equipment

Technical Field

The invention relates to the field of logistics equipment, in particular to a centering device and loading equipment.

Background

In general, substrates such as liquid crystal display devices (LCDs), organic electroluminescent display devices (OLEDs), and wafers are required to be mass-produced, and before the next process, the substrates are required to be temporarily loaded in a loading cassette for storage or transportation.

After the transfer, the cassette on which the substrate is loaded needs to be accurately positioned at a designated position so that the robot can load the loaded substrate and accurately transfer the loaded substrate to a device performing a next process. Therefore, in order for the robot to accurately take out the products loaded in the loading tray, the position needs to be determined by the centering device.

The traditional centering device needs 4 telescopic air cylinders arranged on a load platform, and when a loading box is placed on the load platform, the 4 air cylinders extend out to correct the position of the load platform. The cylinder is required to provide a kinetic energy function, such as electric energy and compressed air, separately to drive the cartridge. Therefore, the cylinder type centering device cannot be used in a place where there is no kinetic energy supply device, and the maintenance cost thereof is high.

Disclosure of Invention

The invention aims to provide a centering device and load equipment, and aims to solve the technical problem that the use cost of the centering device in the prior art is high.

To achieve the above object, the present invention provides a centering device including a moving base, a pressure sensing unit, and a gravitational unit. The moving base includes a first base and a second base. The first substrate is fixed on a bearing table-board. The second substrate is slidably disposed on a surface of the first substrate away from the carrying platform. The pressure sensing unit is arranged on the movable base. One end of the gravitation unit is connected with the second substrate, and the other end of the gravitation unit is fixed on the bearing table board.

Further, the moving base further includes a third base. The third substrate is slidably disposed on a surface of the second substrate away from the first substrate. The second substrate moves back and forth along a first direction, and the third substrate slides back and forth along a second direction, wherein the first direction is perpendicular to the second direction.

Further, the moving base further comprises a first guide rail and a second guide rail. The first guide rail is arranged between the first substrate and the second substrate. The second guide rail is arranged between the second substrate and the third substrate.

Further, the pressure sensing unit includes a bracket and a deflecting portion. The support is arranged on one surface of the movable base far away from the bearing table board. The deflection part is rotatably mounted on the bracket.

Further the deflection section includes a rotating shaft, a bracket, and a roller section. The rotating shaft is arranged on the bracket. The bracket is arranged on the rotating shaft. The bracket has a first support structure and a second support structure connected to each other, the second support structure having a height less than the height of the first support structure. The roller part is arranged at one end of the first supporting structure and one end of the second supporting structure far away from the rotating shaft.

Further, the roller part includes a guide roller and a support roller. The leading wheel is located first bearing structure keeps away from one of pivot is served, the supporting wheel is located first bearing structure keeps away from one of pivot is served.

Further, the gravitational unit includes a first traction portion and a first elastic portion. One end of the first traction part is connected with the second substrate. One end of the first elastic part is fixed on the bearing table board, and the other end of the first elastic part is connected with one end, far away from the second substrate, of the first traction part.

Further, the attraction unit further includes a first traction portion and a second elastic portion. The second traction part is fixed on the second substrate. One end of the second elastic part is connected with the second traction part, and the other end of the second elastic part is connected with the third substrate.

The centering device further comprises a cushion pad which is arranged on the movable base and corresponds to the deflection part.

The invention also provides load equipment which is provided with a bearing table board, and the centering device is arranged on the bearing table board.

The invention has the advantages that: according to the centering device and the loading equipment, the elastic part in the gravity unit is driven by the acting force of the loaded object to promote the gravity unit to generate the reaction force, the loaded object is pushed by the reaction force, the position of the object is corrected, electric energy and compressed air are not required to be provided to serve as kinetic energy to drive the centering device, and the use cost and the maintenance cost of the equipment are greatly reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a perspective view of a load apparatus in an embodiment of the present invention;

FIG. 2 is an enlarged schematic view of the loading device of block A of FIG. 1;

FIG. 3 is a top view of a load apparatus in an embodiment of the present invention;

FIG. 4 is a perspective view of a centering device in an embodiment of the present invention;

FIG. 5 is a perspective view of a motion base in an embodiment of the present invention;

FIG. 6 is a perspective view of a pressure sensing unit according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a bracket according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a first traction portion and a first elastic portion according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a second traction portion and a second elastic portion according to an embodiment of the present invention;

fig. 10 is a perspective view of a motion base and the gravitational unit in an embodiment of the present invention.

The components in the figures are represented as follows:

a load device 100; a load-bearing table 101;

a loading cassette 102; a centering device 103;

a mobile base 1; a first substrate 11;

a second substrate 12; a first groove 121;

a second groove 122; a third substrate 13;

a first guide rail 14; a second guide rail 15;

a first direction X; a second direction Y;

a pressure-sensitive unit 2; a bracket 21;

a deflection section 22; a bracket 221;

a first support structure 2211; a second support structure 2212;

a rotating shaft 222; the roller section 223;

a guide wheel 2231; support wheels 2232;

a bayonet 23; a gravitational unit 3;

a first traction portion 31; a first elastic portion 32;

a fixed block 33; a second traction portion 34;

a second elastic portion 35; a fixing piece 36;

a cushion pad 4; a floating platform 104.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, which are included to demonstrate that the invention can be practiced, and to provide those skilled in the art with a complete description of the invention so that the technical content thereof will be more clear and readily understood. The present invention may be embodied in many different forms of embodiments and should not be construed as limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

Furthermore, the following description of the various embodiments of the invention refers to the accompanying drawings that illustrate specific embodiments of the invention, by which the invention may be practiced. Directional phrases used in this disclosure, such as, for example, "upper," "lower," "front," "rear," "left," "right," "inner," "outer," "side," and the like, refer only to the orientation of the appended drawings and are, therefore, used herein for better and clearer illustration and understanding of the invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

When certain components are described as being "on" another component, the components can be directly on the other component; there may also be an intermediate member disposed on the intermediate member and the intermediate member disposed on the other member. When an element is referred to as being "mounted to" or "connected to" another element, they may be directly "mounted to" or "connected to" the other element or indirectly "mounted to" or "connected to" the other element through an intermediate element.

The embodiment of the invention provides a loading device 100, and the loading device 100 can be used for loading and moving articles. As shown in fig. 1, the load apparatus 100 includes a load table 101, a load cassette 102, centering devices 103, and a floating platform 104. The carried articles are placed in the loading tray 102. The loading cassette 102 is placed on the centering device 103 and the floating platform 104, and both the centering device 103 and the floating platform 104 are disposed on the carrying table 101.

As shown in fig. 3, the cassette 102 has a floating platform 104 at one pair of opposite corners and two centering devices 103 at the other pair of opposite corners. At a diagonal of the cassette 102, the centering devices 103 support one side of the cassette 102, i.e. at least one centering device 103 is provided at each side of the cassette 102. The centering devices 103 are respectively disposed at two opposite corners of the cassette 102 to push four sides of the cassette 102, thereby aligning the cassette 102 to a precise position.

The floating platform 104 may adjust as the cassette 102 moves, preventing the cassette 102 from rubbing against the load table 101. When the cassette 102 is in place, the floating platform 104 may be locked from movement, preventing displacement of the cassette 102 during transport.

As shown in fig. 4, the centering device 103 includes a moving base 1, a pressure sensing unit 2, and a gravitational unit 3.

As shown in fig. 5, the movable base 1 includes a first substrate 11, a second substrate 12 and a third substrate 13. The first base 11 is fixed on a carrying table 101, which is used to fix the position of the centering device 103 and prevent the centering device 103 from moving. The second substrate 12 is slidably disposed on a top surface of the first substrate 11 away from the carrying platform 101, and the second substrate 12 is linearly movable back and forth along a first direction X on an upper surface of the first substrate 11. The third substrate 13 is slidably disposed on a top surface of the second substrate 12 away from the first substrate 11, and the third substrate 13 is linearly movable back and forth on an upper surface of the second substrate 12 along a second direction Y. Wherein the first reverse direction is perpendicular to the second direction Y.

Specifically, the moving base 1 further includes two first guide rails 14 and two second guide rails 15.

The first guide rail 14 is installed between the first substrate 11 and the second substrate 12, and the two first guide rails 14 are respectively provided at both sides of the first substrate 11 and the second substrate 12. The first guide rail 14 is a linear guide rail, a fixed rail of which is installed on the top surface of the first substrate 11, and a moving slider of which is installed on the bottom surface of the second substrate 12 facing the first substrate 11, so that the second substrate 12 can linearly slide back and forth on the first substrate 11 in the first direction X.

The second guide rails 15 are installed between the second substrate 12 and the third substrate 13, and the two second guide rails 15 are respectively provided at both sides of the second substrate 12 and the third substrate 13. The second base is a linear guide fixedly defined on the top surface of the second substrate 12, and a moving slider is mounted on the bottom surface of the third substrate 13 facing the second substrate 12 so that the third substrate 13 can linearly slide back and forth on the second substrate 12 in the second direction Y.

As shown in fig. 4, the pressure sensing unit 2 is disposed on a surface of the moving base 1 away from the carrying platform 101, and includes a support 21 and a deflecting portion 22. The bracket 21 is disposed on a top surface of the third substrate 13 away from the second substrate 12, and the deflection unit 22 is rotatably mounted on the bracket 21. As shown in fig. 2, the pressure sensing unit 2 is used for supporting the loading box 102, the deflecting portion 22 has a bayonet 23, and an edge where a bottom surface and a side surface of the loading box 102 meet is located in the bayonet 23.

As shown in fig. 6, the deflecting unit 22 includes a bracket 221, a rotating shaft 222, and a roller unit 223.

The roller part 223 includes a guide wheel 2231 and a support wheel 2232, and the rotation axis 222 of the guide wheel and the support wheel 2232 is parallel to the rotation axis 222 of the rotation axis 222. The guide wheels 2231 and the support wheels 2232 are rotatably mounted on the bracket 221. The bracket 221 is fixed on the rotating shaft 222 and rotatably mounted on the bracket 21 through the rotating shaft 222. The distance between the guide wheels 2231 and the moving base is greater than the distance between the support wheels 2232 and the moving base, causing a height difference between the guide wheels 2231 and the support wheels 2232, thereby forming the bayonet 23 between the guide wheels 2231 and the support wheels 2232.

When the cassette 102 is placed on the centering device 103, the guide wheels 2231 contact the side surfaces of the cassette 102 to assist the slide of the cassette 102 into the slot 23, and prevent the deflecting unit 22 from abrading the cassette 102. When the bottom edge of the cassette 102 is positioned in the bayonet 23, the support wheels 2232 contact the bottom surface of the cassette 102, thereby supporting the cassette 102. Meanwhile, when the centering device 103 corrects the position of the cassette 102, the guide wheels 2231 and the support wheels 2232 have an auxiliary movement function, reduce the friction between the deflecting unit 22 and the cassette 102, and also have an anti-wear function. When the cassette 102 is properly positioned, as shown in fig. 2, the guide wheels 2231 abut against the sides of the cassette 102, preventing the cassette 102 from moving. Preferably, the surfaces of the guide wheels 2231 and the support wheels 2232 are coated with a flexible buffer material.

Specifically, as shown in fig. 7, the bracket 221 is provided with a first support structure 2211 and a second support structure 2212. The first support structure 2211 is connected to the second support structure. The first support structure 2211 is flush with the bottom end of the second support structure 2212, and the height of the first support structure 2211 is greater than the height of the second support structure 2212, thereby forming the bracket 221 into a '+' like structure. The guide wheel 2231 is disposed at an end of the first support structure 2211 far from the second support structure 2212, and the support wheel 2232 is disposed at an end of the second support structure 2212 far from the first support structure 2211, so that a height difference between the guide wheel 2231 and the support wheel 2232 is generated by a height difference between the first support structure 2211 and the second support structure, thereby forming the bayonet 23.

Further, a surface of the first support structure 2211 facing the second support structure 2212 intersects with a surface of the second support structure 2212 away from the moving base 1 to form an included angle, which is an obtuse angle or a right angle. Preferably, the included angle is about 110 °.

As shown in fig. 4 and 6, the rotating shaft 222 is disposed on the bracket 21, a rotating central axis of the rotating shaft 222 is parallel to the top surface of the moving base 1, and the rotating central axis of the rotating shaft 222 is also perpendicular to the first direction X. The bracket 221 is suspended on the top end of the moving base 1 through the bracket 21 and the rotating shaft 222. The rotating shaft 222 is disposed on the bracket 221 and between the guide wheels 2231 and the support wheels 2232. The distance between the central axis of rotation of the shaft 222 and the top surface of the moving base 1 is smaller than the distance between the central axis of rotation of the shaft 222 and the second support structure 2212. Therefore, after the second support structure 2212 of the deflecting unit 22 is deflected downward, the bottom end of the second support unit can be supported on the top surface of the moving base 1, so that the deflecting unit 22 cannot be deflected further, thereby supporting the loading cassette 102.

As shown in fig. 8 and 9, the attraction unit 3 includes a first traction portion 31, a first elastic portion 32, a second traction portion 34, and a second elastic portion 35.

As shown in fig. 8 and 10, one end of the first drawing part 31 is connected to the second base 12 in the moving base 1, and the other end thereof is connected to the first elastic part 32. One end of the first elastic part 32 is connected with the first traction part 31, and the other end thereof is fixed on the bearing table-board through a fixing block 33.

As shown in fig. 2 and 4, when the loading cassette 102 is placed on the centering device 103, if the actual position of the loading cassette 102 is deviated from the preset position, the deviated side of the loading cassette 102 pushes the pressure sensing unit 2, the pressure sensing unit 2 drives the second substrate 12 to slide, and the first pulling portion 31 connected to the second substrate 12 compresses or stretches the first elastic portion 32 along with the sliding of the second substrate 12. Furthermore, according to the principle of spring rebound, the first elastic portion 32 generates a reaction force opposite to the moving direction of the second substrate 12 after being compressed or stretched, and the reaction force acts on the second substrate 12 through the first traction portion 31 to reset the second substrate 12, and further drives the loading cassette 102 on the deflection portion 22 to reset, so as to achieve the effect of correcting the position of the loading cassette 102.

As shown in fig. 9 and 10, one end of the second drawing part 34 is connected to the second base 12 in the moving base 1, and the other end thereof is connected to the second elastic part 35. In the embodiment of the present invention, two second elastic portions 35 are provided, the second elastic portion 35 and the second pulling portion 34 are commonly disposed on the same side of the moving base 1, and the two second elastic portions 35 are respectively located on two sides of the second pulling portion 34. The ends of the two second elastic portions 35 away from the second drawing portion 34 are fixed to the top surface of the third base 13 by a fixing piece 36.

As shown in fig. 4, the second drawing part 34 and the second elastic part 35 correct the position of the loading tray 102 in the same manner as the first drawing part 31 and the first elastic part 32, except that the direction of the reaction force of the first elastic part 32 and the second elastic part 35 is different due to the difference in the moving direction of the second base 12 and the third base 13. Specifically, the direction of the reaction force generated by the first traction portion 31 is parallel to the first direction X, and the direction of the reaction force generated by the second traction portion 34 is parallel to the second direction Y. Meanwhile, since the second substrate 12 does not move on the first substrate 11 in the second direction Y, the second drawing part 34 is fixed on the second substrate 12 and does not compress or stretch the second elastic part 35.

Based on the shape of the pressure-sensitive unit 2, the centering device 103 mainly corrects the displacement of the cassette 102 in the first direction X of the centering device 103. Therefore, in order to improve the correction force in the first direction X and save the production cost, the elastic force of the spring selected for the first elastic portion 32 is greater than the elastic force of the spring selected for the second elastic portion 35. Preferably, the elastic force of the first elastic portion 32 is about 1000N, and the elastic force of the second elastic portion 35 is about 10N.

Further, as shown in fig. 10, a first groove 121 and a second groove 122 are disposed on the second substrate 12. The first groove 121 and the second groove 122 are respectively disposed on two adjacent sides of the second substrate 12, and the first groove 121 is further located on one side of the second substrate 12 close to the first elastic portion 32. One end of the first drawing part 31 is fixed in the first groove 121, and one end of the second drawing part 34 is fixed in the second groove 122.

The centering device 103 further includes a cushion pad 4, as shown in fig. 1, the cushion pad 4 is disposed on the top surface of the moving base 1 and corresponds to the roller portion 223 of the pressure sensing unit 2. The cushion 4 can reduce pressure shock after the deflection unit 22 is pressed down by the cassette 102, and prevent the deflection unit 22 from rubbing against the moving base 1.

The load apparatus 100 further comprises a protective shield, one for each centring device 103. The protective cover is used to protect the centering device 103, which has an opening corresponding to the pressure sensing unit 2 of the centering device 103. The height of the centering device 103 is lower than that of the centering device 103, and the pressure sensing unit 2 is exposed outside the protective cover from the opening, so that the protective cover is prevented from influencing the operation of the centering device 103.

According to the centering device and the loading equipment provided by the embodiment of the invention, the loading box is automatically reset by utilizing the counterforce of the spring, electric energy and compressed air are not required to be provided as kinetic energy to push the loading box, and the use cost and the maintenance cost are greatly reduced.

In other embodiments of the present invention, the number of the first rail and the second rail is not limited, and only one first rail and one second rail may be used, or two or more first rails and second rails may be used. No matter how many, the installation structure and the moving direction of the first guide rail and the second guide rail are the same as those of the first guide rail and the second guide rail provided in the embodiment of the present invention, and therefore, redundant description is not repeated here. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.

Claims

1. A centering device, comprising:

a mobile base, comprising:

the first substrate is fixed on a bearing table-board;

the second substrate is arranged on one surface of the first substrate far away from the bearing table-board in a sliding manner;

the pressure sensing unit is arranged on the movable base;

and one end of the gravity unit is connected with the second substrate, and the other end of the gravity unit is fixed on the bearing table board.

2. The centering device of claim 1, wherein said motion base further comprises:

the third substrate is slidably arranged on one surface of the second substrate, which is far away from the first substrate;

the second substrate moves back and forth along a first direction, and the third substrate slides back and forth along a second direction, wherein the first direction is perpendicular to the second direction.

3. The centering device of claim 2, wherein said motion base further comprises:

a first guide rail disposed between the first substrate and the second substrate;

and the second guide rail is arranged between the second substrate and the third substrate.

4. The centering device of claim 1, wherein the pressure sensing unit comprises:

the support is arranged on one surface of the movable base, which is far away from the bearing table board;

and the deflection part is rotatably arranged on the bracket.

5. The centering device of claim 4, wherein the deflection portion comprises:

the rotating shaft is arranged on the bracket;

the bracket is arranged on the rotating shaft;

the bracket is provided with a first supporting structure and a second supporting structure which are connected with each other, and the height of the second supporting structure is smaller than that of the first supporting structure;

the roller part is arranged on one end of the rotating shaft, which is far away from the first supporting structure and the second supporting structure.

6. The centering device of claim 5, wherein the roller section comprises:

the guide wheel is arranged at one end of the first support structure far away from the rotating shaft;

and the supporting wheel is arranged at one end of the first supporting structure far away from the rotating shaft.

7. The centering device of claim 1, wherein the gravitational unit comprises:

a first drawing part having one end connected to the second base;

and one end of the first elastic part is fixed on the bearing table board, and the other end of the first elastic part is connected with one end of the first traction part, which is far away from the second substrate.

8. The centering device of claim 2, wherein the gravitational unit further comprises:

the second traction part is fixed on the second substrate;

and one end of the second elastic part is connected with the second traction part, and the other end of the second elastic part is connected with the third substrate.

9. The centering device of claim 4, further comprising:

and the buffer cushion is arranged on the moving base and corresponds to the deflection part.

10. A load carrying apparatus having a load carrying platform on which is located a centring device according to any one of claims 1 to 9.