CN203535331U - Substrate transferring manipulator and substrate transferring system - Google Patents

Substrate transferring manipulator and substrate transferring system Download PDF

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Publication number
CN203535331U
CN203535331U CN201320599166.0U CN201320599166U CN203535331U CN 203535331 U CN203535331 U CN 203535331U CN 201320599166 U CN201320599166 U CN 201320599166U CN 203535331 U CN203535331 U CN 203535331U
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China
Prior art keywords
manipulator
arm
vacuum
sway brace
mechanical arm
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CN201320599166.0U
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Chinese (zh)
Inventor
井杨坤
顾二兴
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BOE Technology Group Co Ltd
Hefei BOE Optoelectronics Technology Co Ltd
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BOE Technology Group Co Ltd
Hefei BOE Optoelectronics Technology Co Ltd
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Priority to CN201320599166.0U priority Critical patent/CN203535331U/en
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Abstract

The utility model relates to the field of LCD manufacturing, in particular to a substrate transferring manipulator and a substrate transferring system for a vacuum box coupling module. The substrate transferring manipulator comprises a manipulator upper arm, a manipulator lower arm, a supporting arm and a base. The manipulator upper arm and the manipulator lower arm are both arranged on the supporting arm and are used for taking and placing of substrates, and the supporting arm is arranged on the base. An overturning mechanism is arranged between the manipulator upper arm and the supporting arm, and the manipulator upper arm overturns through the overturning mechanism. The substrates on an upper base station are acquired, meanwhile, the substrates on a lower base station are acquired, and the movement trail of the manipulator is changed, so that the movement distance is shortened, time consumption for acquiring the substrates is reduced, and production efficiency is improved. The structure of the substrate transferring system of the vacuum coupling box module is simplified, maintaining is more convenient, and carrying movements are fewer.

Description

Substrate transfer robots and substrate transmission system
Technical field
The utility model relates to liquid crystal display and manufactures field, specifically a kind of for vacuum to the substrate transfer robots of cartridge module and substrate transmission system.
Background technology
Liquid crystal display is as a kind of important flat pannel display mode, and there has been development at full speed nearly more than ten years.The advantages such as that liquid crystal is shown with is light, thin, low energy consumption, are widely used in the modernization information equipments such as TV, computing machine, mobile phone, digital camera.
Liquid crystal panel generally consists of the liquid crystal layer in the middle of array base palte, color membrane substrates and two substrates.In the manufacturing process of liquid crystal panel, first, by upstream equipment, by certain technological process, make array base palte and color membrane substrates.After these two substrate manufactures are good, be placed on respectively on the assigned address of upstream equipment, for example, array base palte can be placed on the upper base station of upstream equipment, color membrane substrates is placed on the lower base station of upstream equipment, certainly, as an alternative, also can as required color membrane substrates be placed on the upper base station of upstream equipment, array base palte be placed on the lower base station of upstream equipment.Wherein, upper base station is positioned at the top of lower base station.Then, by the grabbing device on upstream device, obtain respectively array base palte and color membrane substrates, and two substrates that get are sent into designated equipment and carry out follow-up technological process.In prior art, adopt substrate transfer robots to obtain two substrates.Wherein, manipulator upper arm base station from upstream equipment obtains the array base palte that was coated with glue; Lower base station is provided with turning device, and this turning device first overturns, and array base palte is arranged down, and then the adsorbent equipment of manipulator upper arm first carries out contraposition processing with the gluing array base palte having overturn, then this array base palte is adsorbed, and takes out.Then, this mechanical arm underarm obtains the color membrane substrates of dispenser method from upper base station, and color membrane substrates is attracted to the lower surface of mechanical arm last arm.Get the mechanical arm after sheet, described manipulator upper arm is delivered to VAS(vacuum to cartridge module by the array base palte that was coated with glue) upside feed platform, mechanical arm underarm is delivered to VAS downside feed platform by the color membrane substrates of dispenser method simultaneously.
In prior art, the sheet operating process of getting that the transfer robots upper arm of upstream equipment obtains substrate is: upstream manipulator upper arm is written into, contraposition; On lower base station, turner overturns, and mechanical arm underarm is got sheet.In getting sheet process, the time that turner upset need to be carried out is average 58s.Transfer robots underarm will carry out contraposition again with turner, then descends base station upset, and mechanical arm stretches in turner again, gets sheet, and then turner is removed vacuum, and mechanical arm is inhaled vacuum, then just completes and gets sheet, and mechanical arm rotation, carries out VAS feed.Because turner upset expends time in longly, cannot meet current tack time(construction period, produce a liquid crystal panel required time) requirement, and need to carry out morely to bit manipulation, and cause feed speed slower, production efficiency is lower.
In order to overcome the above problems, the utility model has been done useful improvement.
Utility model content
(1) technical matters that will solve
The purpose of this utility model provide a kind of for vacuum to the substrate transfer robots of cartridge module and substrate transmission system, can improve feed speed, thereby improve the production efficiency of liquid crystal panel.
(2) technical scheme
The utility model is achieved through the following technical solutions:
A substrate transfer robots for vacuum to cartridge module, comprises manipulator upper arm, mechanical arm underarm, sway brace and base; Described manipulator upper arm and mechanical arm underarm are separately positioned on described sway brace and for picking and placeing substrate; Described sway brace is arranged on described base; Between described manipulator upper arm and described sway brace, be provided with switching mechanism, described manipulator upper arm overturns by described switching mechanism.
Wherein, described switching mechanism comprises horizontally disposed vertical turning axle; Described manipulator upper arm is connected by described vertical turning axle with sway brace, and this vertical turning axle can drive described manipulator upper arm upset.
Further, between described mechanical arm underarm and described sway brace, be provided with horizontal rotary mechanism, described mechanical arm underarm can horizontally rotate around described sway brace by described horizontal rotary mechanism.
Preferably, described horizontal rotary mechanism is provided with axle sleeve, and described mechanical arm underarm can horizontally rotate around described sway brace with described axle sleeve.
Wherein, described sway brace is provided with elevating mechanism; Described manipulator upper arm and described mechanical arm underarm can carry out descending operation by described elevating mechanism.
Further, described elevating mechanism comprises outside sleeve and be arranged at the slide bar in described sleeve, and described manipulator upper arm and described mechanical arm underarm are arranged on described slide bar.
Wherein, described base is provided with horizontal slip mechanism; Described base can drive described manipulator upper arm, mechanical arm underarm and sway brace in described horizontal slip mechanism along linear slide.
In addition, the utility model also provides the substrate transmission system of a kind of vacuum to cartridge module, comprises any one substrate transfer robots as above.
Particularly, also comprise two buffering film feeding apparatus, described buffering film feeding apparatus is separately positioned on the upper base station and lower base station of upstream equipment.
Further, described buffering film feeding apparatus comprises feed framework, in described feed framework, is provided with multilager base plate storage configuration.
(3) beneficial effect
Compare with product with prior art, the utility model has the following advantages:
1, the utility model, by obtaining the substrate on upper base station, obtains the substrate on lower base station simultaneously, by changing the movement locus of mechanical arm, thereby has shortened motion distance, reduced obtain substrate time loss, improved production efficiency.
2, the utility model passes through to simplify the structure of vacuum to the substrate transmission system of cartridge module, more convenient maintenance, and also conveyance action is still less.
Accompanying drawing explanation
Fig. 1 is the structural representation one of transfer robots of the present utility model;
Fig. 2 is mechanical arm feed process schematic diagram of the present utility model;
Fig. 3 is buffering film feeding apparatus three-dimensional structure diagram of the present utility model.
In accompanying drawing, the component list of each label representative is as follows:
1, manipulator upper arm; 2, mechanical arm underarm; 3, sway brace; 4, base; 5, switching mechanism; 6, horizontal rotary mechanism; 7, slide bar; 8, outer sleeve; 9, sliding shoe; 10, chute; 20, gluing substrate; 30, drip crystal liquid substrate; 40, upside feed platform; 50, downside feed platform; 60, buffering film feeding apparatus; 61, feed framework.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is made a detailed explanation.
As shown in Figure 1, the present embodiment provide a kind of for vacuum the substrate transfer robots to cartridge module, comprise manipulator upper arm 1, mechanical arm underarm 2, sway brace 3 and base 4, described manipulator upper arm and mechanical arm underarm are separately positioned on described sway brace, and described sway brace is arranged on described base; Between described manipulator upper arm and described sway brace, be provided with switching mechanism 5, described manipulator upper arm overturns by described switching mechanism.Thereby, vacuum to the substrate transmittance process of cartridge module in, manipulator upper arm can overturn the gluing substrate that is placed on it surperficial, and the glue-coated surface of this gluing substrate is arranged down.
Wherein, described switching mechanism 5 comprises horizontally disposed vertical turning axle, and described manipulator upper arm 1 is connected by this vertical turning axle with sway brace 3, and this vertical turning axle can drive described manipulator upper arm 1 upset.Concrete, in switching mechanism 5, also can be provided with upset motor and speed reduction unit, upset motor is used for driving vertical turning axle, and speed reduction unit is for controlling the slewing rate of vertical turning axle.
Between described mechanical arm underarm 2 and described sway brace 3, be provided with horizontal rotary mechanism 6, described mechanical arm underarm 2 can horizontally rotate around described sway brace by described horizontal rotary mechanism.Concrete, on described horizontal rotary mechanism 6, can adopt the structure of axle sleeve, described mechanical arm underarm 2 can horizontally rotate around sway brace 3 with described axle sleeve.This axle sleeve can adopt linear motor to drive.
Further, described sway brace 3 is provided with elevating mechanism; Described sway brace can carry out descending operation by described elevating mechanism.On this sway brace, tube-in-tube structure can be set, outer sleeve 8 is set on base 4, inside establish slide bar 7 or leading screw, manipulator upper arm, underarm are all arranged on the upper position of described slide bar 7 or leading screw.Slide bar 7 externally moves up and down in sleeve 8.Described base 4 is provided with horizontal slip mechanism; Described base 4 can drive described manipulator upper arm 1, mechanical arm underarm 2 and sway brace 3 in described horizontal slip mechanism along traveling priority.Horizontal slip mechanism can adopt various ways, for example sliding groove structure.Base 4 is provided with chute 10 and sliding shoe 9, and sway brace 3 is fixed on sliding shoe 9.Sliding shoe 9 can adopt the mode of linear motor driven, in described chute 10 along traveling priority.
In addition, as shown in Figure 2, the present embodiment also provides the substrate transmission system of a kind of vacuum to cartridge module, comprises substrate transfer robots as above.Further, as shown in Figure 3, described substrate transmission system also comprises buffering film feeding apparatus 60, and described multilayer buffering film feeding apparatus is arranged on the upper and lower base station of upstream equipment.Described buffering film feeding apparatus comprises feed framework 61, the interior parallel multilager base plate storage configuration that is provided with of described feed framework 61.Described multilayer buffering film feeding apparatus 60 can be used for depositing a plurality of gluing substrates 20 or drips crystal liquid substrate 30.
The process that described vacuum is carried out substrate transmission to cartridge module is as follows:
(1) VAS upside feed platform 40 rises to high height, for example 280.00mm highly, and the Support Pad(on upside feed platform 40 is with the support sucker of vacuum cup) drop to again lower position, for example-100mm position, and now, the Lift Pin(support column of downside feed platform 50) rise to centre position, 145.00mm position for example, VAS is in preparing to be subject to sheet state.
(2) on the upper base station on upstream equipment and lower base station, be provided with multilayer buffering film feeding apparatus, be convenient to make manipulator arm to obtain substrate.
Substrate transfer robots moves to base station position upstream equipment from initial position.Described manipulator upper arm was coated with the array base palte of glue from upper base station position acquisition by sucker, manipulator upper arm absorption substrate, and then the switching mechanism by manipulator upper arm makes substrate overturn at vertical direction, thereby makes the coated face of gluing array base palte downward.Then manipulator upper arm is sent described substrate into VAS upside feed platform, then the Vacuum solutions of manipulator upper arm is removed, VAS its upper side Support Pad(supports sucker) regain, gluing array base palte is adsorbed onto PSC(Plate Silicone rubber Chuck, flat panel silicon rubber adsorbent equipment) on.
Meanwhile, take out the color membrane substrates that dripped liquid crystal from multilayer buffering film feeding apparatus mechanical arm lower arms base station position from upstream equipment, and the color membrane substrates that dripped liquid crystal is placed on to Lift Pin(support column), then mechanical arm underarm is regained;
In the process of regaining at the upper and lower arm of mechanical arm, the Lift Pin on the Support Pad on upside feed platform and downside feed platform returns to origin position simultaneously, and then equipment vacuum chamber is closed and pressed box.
The method and apparatus that obtains substrate in the present embodiment obtains the substrate of base station when obtaining the substrate of lower base station, by manipulator upper arm, switching mechanism being set, can in the process of transferring substrates, overturn, thereby shorten motion distance.
1,, in an exemplary test, prior art VAS mechanical arm is got sheet with the feed time:
2, under contrast, the theoretical time of transferring substrates in the present embodiment:
Get the sheet time: mechanical arm is got sheet time (actual measurement) 4.12s(and measured mean value many times)
Flip-flop transition: the reversal rate (Turn Speed) of upset motor: 200Deg/min, the angle 180Deg that need to overturn, (Turn Time)=flip angle flip-flop transition (Turn Angle)/reversal rate (Turn Speed)=45s
Mechanical arm send the sheet time and gets sheet time phase difference few
T.T. is generally: 4.12*2+45=53.24s
This time is that mechanical arm send the sheet time, because cancelled the switching mechanism of base station under upstream equipment, send like this speed of sheet just more to accelerate, and has improved production efficiency.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.

Claims (10)

1. the substrate transfer robots to cartridge module for vacuum, is characterized in that, comprises manipulator upper arm, mechanical arm underarm, sway brace and base; Described manipulator upper arm and mechanical arm underarm are separately positioned on described sway brace and for picking and placeing substrate; Described sway brace is arranged on described base; Between described manipulator upper arm and described sway brace, be provided with switching mechanism, described manipulator upper arm overturns by described switching mechanism.
According to claim 1 for vacuum the substrate transfer robots to cartridge module, it is characterized in that, described switching mechanism comprises horizontally disposed vertical turning axle; Described manipulator upper arm is connected by described vertical turning axle with sway brace, and this vertical turning axle can drive described manipulator upper arm upset.
According to claim 1 for vacuum the substrate transfer robots to cartridge module, it is characterized in that, between described mechanical arm underarm and described sway brace, be provided with horizontal rotary mechanism, described mechanical arm underarm can horizontally rotate around described sway brace by described horizontal rotary mechanism.
According to claim 3 for vacuum the substrate transfer robots to cartridge module, it is characterized in that, described horizontal rotary mechanism is provided with axle sleeve, described mechanical arm underarm can horizontally rotate around described sway brace with described axle sleeve.
According to claim 1 for vacuum the substrate transfer robots to cartridge module, it is characterized in that, described sway brace is provided with elevating mechanism; Described manipulator upper arm and described mechanical arm underarm can carry out descending operation by described elevating mechanism.
According to claim 5 for vacuum the substrate transfer robots to cartridge module, it is characterized in that, described elevating mechanism comprises outside sleeve and be arranged at the slide bar in described sleeve, and described manipulator upper arm and described mechanical arm underarm are arranged on described slide bar.
According to claim 1 for vacuum the substrate transfer robots to cartridge module, it is characterized in that, described base is provided with horizontal slip mechanism; Described base can drive described manipulator upper arm, mechanical arm underarm and sway brace in described horizontal slip mechanism along linear slide.
8. the substrate transmission system of vacuum to cartridge module, is characterized in that, comprises the substrate transfer robots as described in claim 1-7 any one.
9. the substrate transmission system of vacuum according to claim 8 to cartridge module, is characterized in that, also comprises two buffering film feeding apparatus, and described buffering film feeding apparatus is separately positioned on the upper base station and lower base station of upstream equipment.
10. the substrate transmission system of vacuum according to claim 9 to cartridge module, is characterized in that, described buffering film feeding apparatus comprises feed framework, in described feed framework, is provided with multilager base plate storage configuration.
CN201320599166.0U 2013-09-26 2013-09-26 Substrate transferring manipulator and substrate transferring system Active CN203535331U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104360507A (en) * 2014-11-17 2015-02-18 合肥京东方光电科技有限公司 Turning device, base plate box aligning system and base plate box aligning method
CN105158936A (en) * 2015-08-28 2015-12-16 深圳市华星光电技术有限公司 Mechanical arm assembly and method for conducting substrate combination by moving glass substrate
CN107036536A (en) * 2017-06-01 2017-08-11 中国航发湖南动力机械研究所 Support frame
CN108940896A (en) * 2018-05-31 2018-12-07 芜湖英特杰智能科技有限公司 A kind of chip detection cleaning plant

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104360507A (en) * 2014-11-17 2015-02-18 合肥京东方光电科技有限公司 Turning device, base plate box aligning system and base plate box aligning method
CN105158936A (en) * 2015-08-28 2015-12-16 深圳市华星光电技术有限公司 Mechanical arm assembly and method for conducting substrate combination by moving glass substrate
CN105158936B (en) * 2015-08-28 2019-05-03 深圳市华星光电技术有限公司 The method of robot assemblies and movable glass substrate to carry out substrate in combination
CN107036536A (en) * 2017-06-01 2017-08-11 中国航发湖南动力机械研究所 Support frame
CN107036536B (en) * 2017-06-01 2020-02-04 中国航发湖南动力机械研究所 Supporting frame
CN108940896A (en) * 2018-05-31 2018-12-07 芜湖英特杰智能科技有限公司 A kind of chip detection cleaning plant

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