CN202330960U

CN202330960U - Manipulator equipment

Info

Publication number: CN202330960U
Application number: CN 201120455008
Authority: CN
Inventors: 刘亮; 杨国波
Original assignee: BOE Technology Group Co Ltd; Chengdu BOE Optoelectronics Technology Co Ltd
Current assignee: BOE Technology Group Co Ltd; Chengdu BOE Optoelectronics Technology Co Ltd
Priority date: 2011-11-16
Filing date: 2011-11-16
Publication date: 2012-07-11
Anticipated expiration: 2021-11-16

Abstract

The utility model provides manipulator equipment which relates to the field of manufacturing of liquid crystal displays and is used for finishing actions of a base plate feeding-in and the base plate taking-out once. The manipulator equipment comprises an upper bracket arm, a lower bracket arm, first absorption equipment, second absorption equipment, a support pillar and a driving device, wherein the upper bracket arm is arranged right above the lower bracket arm and is corresponding to the lower bracket arm; the first absorption equipment is arranged on the lower surface of the upper bracket arm; the second absorption equipment is arranged on the upper surface of the lower bracket arm; the support pillar is arranged on the upper surface of the lower bracket arm; and the driving device is connected with the upper and lower bracket arms.

Description

A kind of robotic device

Technical field

The utility model relates to liquid crystal panel and makes the field, relates in particular to a kind of robotic device.

Background technology

In the manufacture process of liquid crystal panel, color membrane substrates (upper substrate) and array base palte (infrabasal plate) be to adopt vacuum abutted equipment will be coated with the upper substrate and the infrabasal plate of envelope frame glue to the box process, under vacuum condition, carry out contraposition and fit.The substrate fetching process is in the applying chamber, and at first the mechanical arm lower arms base station that makes progress is sent into upper substrate to be fitted, after this arm equipment withdraws from equipment; Get into the applying chamber once more, the substrate that finishes of having fitted on the base station under taking out, substrate; Then; Mechanical arm last arm access arrangement chamber, base station is sent into infrabasal plate to be fitted downwards, and the chamber of fitting at last carries out vacuum abutted process.

State in realization and send in upper substrate to be fitted and the process of taking out the substrate that finishes of having fitted; The inventor finds this mechanical arm lower arms execution said process; Need be introduced into the applying chamber and place upper substrate; Get into the applying chamber after waiting to withdraw from once more and take out the substrate of having fitted and having finished, flow process is complicated and use duration, directly influences whole piece and produces the line production capacity.And in the volume production process, usually can fail to cause liquid crystal in envelope frame glue, to form puncture in applying metacoxal plate taking-up in time carrying out ultraviolet curing envelope frame glue, influence product quality because of mechanical arm.

The utility model content

The utility model provides a kind of robotic device, sends into substrate and the action of taking out the substrate that finishes of having fitted in order to once to accomplish, and has saved the time, has improved product line production capacity.

For achieving the above object, the embodiment of the utility model adopts following technical scheme:

On the one hand, a kind of robotic device is provided, this equipment comprises:

Pop-up arm and following holder arm, said pop-up arm are positioned at directly over the said arm of holder down, and holder arm under corresponding said;

First adsorbent equipment is installed in the lower surface of said pop-up arm;

Second adsorbent equipment is installed in the said upper surface that holds in the palm arm down;

Support column is installed in the said upper surface that holds in the palm arm down;

Drive unit, said drive unit are with said pop-up arm, ask arm to be connected down.

A kind of robotic device that the utility model provides comprises the pop-up arm and holds in the palm arm down, holds in the palm directly over the arm under the pop-up arm is positioned at; And corresponding holder arm down, at pop-up arm lower surface first adsorbent equipment is installed, at the upper surface that holds in the palm arm down second adsorbent equipment and support column are installed; Like this, the pop-up arm of robotic device can get into the applying chamber simultaneously with following holder arm under the ordering about of drive unit, treat that the pop-up arm is placed on base station with upper substrate; After asking arm to take off the substrate that finishes of fitting down from following base station; Withdraw from the applying chamber, send into upper substrate and take out the substrate of having fitted and having finished, improved product line production capacity thereby once accomplish; And the substrate that this equipment in time finishes applying takes out and carries out ultraviolet curing envelope frame glue, has guaranteed product quality.

Description of drawings

In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiment of the utility model, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.

The structural representation of a kind of robotic device that Fig. 1 provides for the utility model embodiment;

Fig. 2 sends into substrate and the schematic flow sheet that takes out substrate for the once completion that the utility model embodiment provides;

The upward view of the pop-up arm of a kind of robotic device that Fig. 3 provides for the utility model embodiment;

The vertical view of the following holder arm of a kind of robotic device that Fig. 4 provides for the utility model embodiment;

The upward view of the pop-up arm of the another kind of robotic device that Fig. 5 provides for the utility model embodiment;

The vertical view of the following holder arm of the another kind of robotic device that Fig. 6 provides for the utility model embodiment;

The structural representation of the another kind of robotic device that Fig. 7 provides for the utility model embodiment;

The another kind that Fig. 8 provides for the utility model embodiment is once accomplished and is sent into substrate and take out the flow path substrate synoptic diagram.

Embodiment

To combine the accompanying drawing among the utility model embodiment below, the technical scheme among the utility model embodiment is carried out clear, intactly description, obviously, described embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.

A kind of robotic device 10 that the utility model embodiment provides, as shown in Figure 1, comprising:

Pop-up arm 101 and following holder arm 102, pop-up arm 101 is positioned at down and holds in the palm directly over the arm 102, and holder arm 102 under corresponding; First adsorbent equipment 103 is installed in the lower surface of pop-up arm 101, in order to the absorption upper substrate; Second adsorbent equipment 104 is installed in down the upper surface that holds in the palm arm 102, in order to adsorb the substrate of fitting and finishing; Support column 105 is installed in down the upper surface that holds in the palm arm 102, in order to support the substrate that applying to be removed finishes; The drive unit (not shown) is with pop-up arm 101, ask arm 102 to be connected down.

So, shown in Fig. 2 (a), pop-up arm 101 is through the fixing upper substrate of first adsorbent equipment, 103 absorption, and vacuum abutted equipment is opened the applying chamber and the applying substrate that finishes is held up suitable height and position with brace table; Secondly, shown in Fig. 2 (b), under the driving of drive unit, after the entering applying chamber interior, shown in Fig. 2 (c), the vacuum cup of last base station drops to absorption position upper substrate absorption is stablized respectively for pop-up arm 101 and following holder arm 102; Afterwards; Shown in Fig. 2 (d); Pop-up arm 101 stops the absorption of upper substrate is fixed, and down second adsorbent equipment 104 on the holder arm 102 carries out the substrate that applying finishes is adsorbed fixing, and pop-up arm 101 upwards lifts fixed range together with holder arm 102 down; Then, shown in Fig. 2 (e), pop-up arm 101 withdraws from the applying chamber with following holder arm 102.Send into upper substrate and take out the substrate of having fitted and having finished thereby once accomplish.

A kind of robotic device that the utility model embodiment provides comprises the pop-up arm and holds in the palm arm down, holds in the palm directly over the arm under the pop-up arm is positioned at; And corresponding holder arm down, at pop-up arm lower surface first adsorbent equipment is installed, at the upper surface that holds in the palm arm down second adsorbent equipment and support column are installed; Like this, the pop-up arm of robotic device can get into the applying chamber simultaneously with following holder arm under the ordering about of drive unit, treat that the pop-up arm is placed on base station with upper substrate; After asking arm to take off the substrate that finishes of fitting down from following base station; Withdraw from the applying chamber, send into upper substrate and take out the substrate of having fitted and having finished, improved product line production capacity thereby once accomplish; And the substrate that this equipment in time finishes applying takes out and carries out ultraviolet curing envelope frame glue, has guaranteed product quality.

Optional, pop-up arm 101 comprises an arm limb respectively with holder arm 102 down, shown in Figure 3ly is the upward view of pop-up arm 101; This pop-up arm 101 has an arm limb 106, and wherein, first adsorbent equipment 103 is positioned at the lower surface of arm limb 106; And; Exemplary, the arm limb 106 among Fig. 3 is provided with ten first adsorbent equipments 103, but the number of first adsorbent equipment 103 is not limited to this in practical application.

Accordingly; Shown in Figure 4 for holding in the palm the vertical view of arm 102 down, this time holder arm 102 has an arm limb 107, wherein; Second adsorbent equipment 104, support column 105 are installed in the upper surface of arm limb 107; Exemplary, the arm limb 107 of the following holder arm 102 among Fig. 4 is provided with four second adsorbent equipments 104 and ten support columns 105, but second adsorbent equipment 104 is not limited to this with the number that supports 105 in practical application.

Optional, pop-up arm 101 comprises at least two arm limbs respectively with following holder arm 102.Concrete, be that example describes with pop-up arm 101.The upward view of pop-up arm 101; As shown in Figure 5, first adsorbent equipment 103 is positioned at the lower surface of pop-up arm 101 arm limbs 106, and; Exemplary; Pop-up arm 101 in Fig. 5 has four arm limbs 106, and each arm limb 106 is provided with six first adsorbent equipments 103, but the number of arm limb 106 and first adsorbent equipment 103 is not limited to this in practical application.

Accordingly, below holder arm 102 is described for example.Ask the vertical view of arm 102 as shown in Figure 6 down; Second adsorbent equipment 104, support column 105 are installed in down the upper surface of the arm limb 107 of holder arm 102; Exemplary; Following holder arm 102 in Fig. 6 has four arm limbs 107, and each arm limb 107 is provided with two second adsorbent equipments 104 and five support columns 105, but the number of arm limb 107 and first adsorbent equipment 103 is not limited to this in practical application.

Like this; In the use of robotic device; Send into the applying chamber after upper substrate stablize in the absorption of first adsorbent equipment 103, in chamber second adsorbent equipment 104 after adsorbing the substrate that finishes of having fitted with support column 105 actings in conjunction in substrate, this substrate fixed and reached balance.

Need to prove that the pop-up arm 101 in all structural representations that present embodiment provides is side view, expression among its arm limb figure with holder arm 102 down.

Certainly, in practical application, also can be that pop-up arm 101 withdraws from the applying chamber earlier, following holder arm 102 withdraws from the applying chamber again behind the fixing substrate that finishes of fitting of second adsorbent equipment, 104 absorption.

Further; First adsorbent equipment 103 that is installed on the arm limb 106 of pop-up arm 101 is specially vacuum cup with second adsorbent equipment 104 that is installed in down on the arm limb 107 that holds in the palm arm 102; And first adsorbent equipment, 103 in the vertical directions are scalable, and are easy to operate thereby the pop-up arm 101 of robotic device takes out in upstream equipment in the upper substrate.

Further, as shown in Figure 7, robotic device 10 also comprises: arm connecting portion 108 connects pop-up arm 101 respectively and holds in the palm arm 102 down; Drive unit is via arm connecting portion 108, with pop-up arm 101, ask arm 102 to be connected down.

Exemplary; As shown in Figure 8, this robotic device is once accomplished and is sent into upper substrate and be specially with the finish process of substrate of take out fitting, and vacuum abutted equipment is opened the applying chamber; After the substrate that applying finishes holds up suitable height and position with brace table, shown in Fig. 8 (a); 101 conveyances of pop-up arm upper substrate and are ask arm 102 under the driving of drive unit, to get into the applying chamber interior down, shown in Fig. 8 (b); The vacuum cup of treating base station drop to absorption position and with upper substrate absorption stable after, shown in Fig. 8 (c); The absorption of second adsorbent equipment 104 fit the substrate that finishes and with support column 105 actings in conjunction under make the substrate that finishes of fitting fix and reach after the balance; Arm connecting portion 108 makes pop-up arm 101 and asks arm 102 integral body upwards to rise fixed range down through drive unit; Substrate with asking arm 102 will descend the base station applying to finish at present lifts, shown in Fig. 8 (d); Then, drive unit drives arm connecting portion 108 makes pop-up arm 101 and following holder arm 102 integral body that are loaded with the substrate that finishes of fitting withdraw from chamber, shown in Fig. 8 (e).

So, this robotic device can once be accomplished equally and send into the upper substrate and the action of substrate of finishing of take out fitting, and has improved product line production capacity.And the substrate that this equipment in time finishes applying takes out and carries out ultraviolet curing envelope frame glue, has guaranteed product quality.And this arm is whole control, and it is convenient to drive, and when the light substrate of conveyance, more has superiority.

The above; Be merely the embodiment of the utility model; But the protection domain of the utility model is not limited thereto; Any technician who is familiar with the present technique field can expect changing or replacement in the technical scope that the utility model discloses easily, all should be encompassed within the protection domain of the utility model.Therefore, the protection domain of the utility model should be as the criterion with the protection domain of said claim.

Claims

1. a robotic device is characterized in that, said robotic device comprises:

First adsorbent equipment is installed in the lower surface of said pop-up arm;

2. robotic device according to claim 1 is characterized in that, said pop-up arm and the said arm of holder down comprise an arm limb respectively;

Said first adsorbent equipment is installed in the lower surface of the arm limb of said pop-up arm;

Said second adsorbent equipment, support column are installed in the upper surface of the arm limb of the said arm of holder down.

3. robotic device according to claim 1 is characterized in that, said pop-up arm and the said arm of holder down comprise at least two arm limbs respectively;

4. robotic device according to claim 1 is characterized in that, said first adsorbent equipment is a vacuum cup.

5. robotic device according to claim 1 is characterized in that, said second adsorbent equipment is a vacuum cup.

6. robotic device according to claim 1 is characterized in that, said first adsorbent equipment is the telescopic adsorbent equipment of in the vertical direction.

7. robotic device according to claim 1 and 2 is characterized in that, also comprises:

The arm connecting portion connects said pop-up arm and the said arm of holder down respectively;

Said drive unit is via said arm connecting portion, with said pop-up arm, ask arm to be connected down.