CN209427109U - Glass substrate constant-pressure packing device - Google Patents
Glass substrate constant-pressure packing device Download PDFInfo
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- CN209427109U CN209427109U CN201821859826.3U CN201821859826U CN209427109U CN 209427109 U CN209427109 U CN 209427109U CN 201821859826 U CN201821859826 U CN 201821859826U CN 209427109 U CN209427109 U CN 209427109U
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- glass substrate
- pressure
- packing device
- mechanical arm
- constant
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Abstract
The utility model relates to glass substrate manufacturing fields, disclose a kind of glass substrate constant-pressure packing device.The glass substrate constant-pressure packing device includes the robot (1) for being provided with mechanical arm (2), it is provided with adsorption structure on the mechanical arm and surveys laminated structure, the adsorption structure can adsorb glass substrate, the survey laminated structure includes pressure sensor (7), sensor support bar (8) and signal wire (9), the sensor support bar is arranged on the mechanical arm, and one end is provided with the pressure sensor, the other end is connected with the signal wire.During packing every sheet glass substrate, by surveying laminated structure, when measuring the pressure of each glass substrate and reaching preset value, the glass of absorption is placed into A type frame by mechanical arm, so that each glass substrate pressure is identical, it can guarantee gap uniformity between every sheet glass substrate, gap size is suitable.
Description
Technical field
The utility model relates to glass substrate manufacturing fields, and in particular to the excellent glass base of the packaging quality of glass substrate
Plate constant-pressure packing device.
Background technique
Today's society, glass have been spread in the life of the people, can see glass product, glass everywhere
Cup, windowpane, glass door, the screen protection glass on computer monitor and glass architecture etc..
Finished glass is with robotic manipulator by the way that feeding spaced papers and glass substrate are successively alternately loaded into A type frame
It is upper to complete its packaging.As shown in Figure 1, apparatus for packing glass base plates in the prior art includes robot 1, mechanical arm 2, sucker
3, connector 4, tracheae 5 and suction cup support bar 6.In packaging, robot is first in unloading position by will become vacuum ring in sucker
Border, which reaches, is sucked glass substrate condition, then calculates " loaded " position automatically and is automatically moved to A type frame current production theory
Behind position, disconnects vacuum and put down glass substrate.Wherein, robot is automatic according to the quantity for having loaded glass substrate in A type frame
The theoretic throat for having loaded product is calculated, to determine the position that robotic manipulator should reach when next sheet glass substrate packaging
It sets, wherein the calculation formula of current production theory position are as follows: current production theory position=(monolithic glass substrate
Theoretic throat+individual feeding spaced papers theoretic throat) × current glass substrate shipped quantity.
In this process, the distance between each sheet glass substrate is fixed value, the stepping-in amount being arranged by robot
To determine.But it due to reaction force of glass substrate itself warpage, difference A type frame difference and feeding spaced papers deformation etc., inhales
Disk support rod intrusion is different, and the packaging power for causing every sheet glass substrate suffered when packing is different.Such load mode meeting
Glass substrate is caused to occur loading tension or loose, quadrangle thickness difference PPK fluctuates larger situation, wraps in later period transportational process
It fills loose substrate and left and right offset easily occurs, influence product quality.
Therefore, need to can guarantee the identical packing device of every sheet glass substrate stress at present when a kind of loading, so that packaging
Gap is uniform between glass substrate afterwards, size is suitable.
Utility model content
The purpose of this utility model is to provide can guarantee every sheet glass substrate stress identical packaging dress when a kind of loading
It sets, so that gap is uniform between glass substrate after packaging, size is suitable.
To achieve the goals above, on the one hand the utility model provides a kind of glass substrate constant-pressure packing device, described
Apparatus for packing glass base plates includes the robot for being provided with mechanical arm, and adsorption structure is provided on the mechanical arm and surveys pressure
Structure, the adsorption structure can adsorb glass substrate, the survey laminated structure include pressure sensor, sensor support bar and
Signal wire, the sensor support bar is arranged on the mechanical arm, and one end is provided with the pressure sensor, the other end
It is connected with the signal wire.
Preferably, the pressure sensor is contact number load cell.
Preferably, the constant-pressure is 2.8-3.2N.
Preferably, the constant-pressure is 3N.
Preferably, the survey laminated structure is at least four, wherein four survey laminated structures are set to the mechanical arm
Four angles on.
Preferably, the adsorption structure includes sucker, tracheae and suction cup support bar, and the glass support bar is set to institute
It states on mechanical arm, one end of the glass support bar is provided with the sucker, and connector is provided on the other end, and the tracheae is logical
It crosses the connector and the suction cup support bar is connected to the sucker.
Preferably, the mechanical arm includes multiple parallel and spaced apart mounting plate, is provided on the mounting plate more
A adsorption structure, multiple adsorption structures on each mounting plate share a tracheae.
Preferably, the material of the sucker is rubber.
Preferably, the diameter of the sucker is 9-11mm.
Preferably, the diameter of the sucker is 10mm.
Through the above technical solutions, by surveying laminated structure, measuring each glass during packing every sheet glass substrate
When the pressure of substrate reaches preset value, the glass of absorption is placed into A type frame by mechanical arm, so that suffered by each glass substrate
Pressure is identical, it is ensured that gap uniformity between each glass substrate, gap size is suitable, avoids gap inconsistent and stitches
Quadrangle thickness deviation and left and right drift condition caused by gap is excessive.
Detailed description of the invention
Fig. 1 is the top view for showing the structure of robotic manipulator in the prior art；
Fig. 2 is the main view for showing the structure of robotic manipulator in the prior art；
Fig. 3 is the top view of the structure of robotic manipulator provided by the utility model；
Fig. 4 is the main view of the structure of robotic manipulator provided by the utility model.
Description of symbols
1 robot, 2 mechanical arm
3 sucker, 4 connector
5 tracheae, 6 suction cup support bar
7 pressure sensor, 8 sensor support bar
9 signal wires
Specific embodiment
The endpoint of disclosed range and any value are not limited to the accurate range or value herein, these ranges or
Value should be understood as comprising the value close to these ranges or value.For numberical range, between the endpoint value of each range, respectively
It can be combined with each other between the endpoint value of a range and individual point value, and individually between point value and obtain one or more
New numberical range, these numberical ranges should be considered as specific open herein.
Hereinafter, will be explained in glass substrate constant-pressure packing device provided by the utility model referring to attached drawing.
As shown in Figure 3 and Figure 4, glass substrate constant-pressure packing device provided by the utility model includes being provided with manipulator
The robot 1 of arm 2 is provided with adsorption structure on mechanical arm 2 and surveys laminated structure.
Adsorption structure can apply glass substrate or desorb power, can adsorb glass in moving glass substrate
Substrate can release the adsorption capacity for glass substrate, thus by glass substrate after mechanical arm 2 reaches predeterminated position
It is placed on predeterminated position.
As the preferred embodiment of adsorption structure, as shown in Figure 3 and Figure 4, adsorption structure include sucker 3, tracheae 5 and
Suction cup support bar 6, glass support bar 6 are set on mechanical arm 2, and one end of glass support bar 6 is provided with sucker 3, the other end
On be provided with connector 4, tracheae 5 is connected to by connector 4 and suction cup support bar 6 with sucker 3.
As the part directly contacted with glass substrate, material is preferably used to glass substrate undamaged material sucker 3
Material, preferably, in the utility model, material selection as sucker 3 rubber, but the utility model is not limited to
This, also can be used other resin materials.
In addition, sucker 3 and the contact area of glass substrate are the smaller the better, damage of such sucker to the surface of glass substrate
Degree is lower, but the size of sucker 3 should can stablize the size of absorption glass substrate.Thus, it is preferable that sucker 3 it is straight
Diameter is within the scope of 9-11mm, more preferably 10mm.It, may be because of sucker and glass substrate when the diameter of sucker 3 is greater than 11mm
Between contact area increase and be unfavorable for guaranteeing the quality of glass substrate, may be because when the diameter of sucker 3 is less than 9mm
The contact area of sucker and glass substrate is too small and can not stablize absorption glass substrate.But the size of sucker according to actual needs into
Row design, the utility model are without being limited thereto.
The suction cup support bar 6 for being used to support sucker 3 has certain decrement, to during the packaging process, guarantee adjacent
It is contacted between two glass substrates and has certain pressure.This decrement can be by elastic using having by suction cup support bar 6
Material or suction cup support bar 6 structure design to realize, the utility model is not particularly limited.
One end of tracheae 5 is connected to connector 4, and the other end is connected to vacuum source.When needing to adsorb glass substrate, by tracheae
5 vacuumize, and glass substrate can be attracted on sucker 3, when needing for glass substrate to be placed in wrapping position (A type frame), break
Vacuum source is opened to release sucker 3 to the adsorption capacity of glass substrate.
In the present invention, it is preferable that as shown in figure 3, mechanical arm 2 includes multiple parallel and spaced apart installation
Plate is provided with multiple adsorption structures on the mounting plate, and multiple adsorption structures on each mounting plate share a tracheae 5.It is this
Constitute compared with the composition that an adsorption structure is set, can dispersing needle to the adsorption capacity of glass substrate, can be improved absorption
Reliability.Certainly, the mounting plate of mechanical arm 2 can be the complete panel of connection, and the utility model is without being limited thereto.
In the following, nuclear structure-survey the pressure that will continue to introduce glass substrate constant-pressure packing device provided by the utility model
Structure.
As shown in Figure 3 and Figure 4, surveying laminated structure includes pressure sensor 7, sensor support bar 8 and signal wire 9, sensing
Device support rod 8 is arranged on mechanical arm 2, and one end is provided with pressure sensor 7, and the other end is connected with signal wire 9.
Pressure sensor 7 is used to detect pressure suffered by the glass substrate itself contacted.Survey the course of work of laminated structure
As follows: the pressure value detected by pressure sensor 7 is delivered to control unit (not shown) by signal wire 9, by comparing upper
Detection pressure value and pre-set preset pressure value are stated, when two pressure values are identical, mechanical arm 2 puts glass substrate
It is placed on wrapping position.Compared with the previous packing device by precalculating wrapping position, glass provided by the utility model
Glass substrate constant-pressure packing device can make just to be released and pack when pressure definite value suffered by each glass, therefore, energy
Enough avoid the problem that quadrangle thickness deviation and left and right offset caused by previous gap is inconsistent and gap is excessive.
In the present invention, above-mentioned constant-pressure is preferably 2.8-3.2N, more preferably 3N.When constant-pressure is greater than 3.2N
When, the pressure between two glass substrates is excessive, glass substrate may be caused to damage, when constant-pressure is less than 2.8N, and two
Pressure between a glass substrate is too small, glass substrate may be made loose and left and right offset, influence packaging quality, but this is practical
It is novel without being limited thereto, according to the material of glass substrate, thickness etc., constant-pressure can be set as other values.
In the present invention, contact number load cell is elected to be pressure sensor 7, but this is only a kind of preferred
Embodiment, the utility model are without being limited thereto.
In addition, in order to detect the compression degree at each position of glass substrate, it is preferable that it surveys laminated structure and is at least four,
Wherein four survey laminated structures are set on four angles of mechanical arm 2.
Hereinafter, by the operation for the glass substrate constant-pressure packing device for introducing preferred embodiment provided by the utility model
Process.
1) vacuum source is opened in control unit (not shown) control, adsorbs the mechanical arm 2 of robot 1 by adsorption structure
Glass substrate to be placed；
2) mechanical arm 2 is moved to unloading position, and upward one glass substrate placed is mobile；
3) pressure sensor 7 for surveying laminated structure detects the pressure between glass substrate to be placed and the glass substrate placed
Power, and the detection pressure value is transmitted to control unit by signal wire 9；
4) mechanical arm 2 that control unit controls robot 1 always is moved to the glass substrate placed always, until inspection
When measuring pressure value is preheating setting pressure (e.g., 3N), control cutting vacuum source makes mechanical arm 2 discharge glass substrate to be placed.
By glass substrate constant-pressure packing device provided by the utility model, placement packet is carried out in identical compression
Dress, can be such that pressure suffered by each glass substrate is equal, it is ensured that gap uniformity between each glass substrate, seam
Gap size is suitable, avoids quadrangle thickness deviation and left and right drift condition caused by gap is inconsistent and gap is excessive.
Preferred embodiments of the present invention are described in detail above, still, the utility model is not limited to this.At this
In the range of the technology design of utility model, a variety of simple variants can be carried out to the technical solution of the utility model, including each
Technical characteristic is combined with any other suitable method, these simple variants and combination equally should be considered as the utility model
Disclosure of that belongs to the protection scope of the utility model.
Claims (10)
1. a kind of glass substrate constant-pressure packing device, which is characterized in that the glass substrate constant-pressure packing device includes setting
It is equipped with the robot (1) of mechanical arm (2), adsorption structure is provided on the mechanical arm (2) and surveys laminated structure, the absorption
Structure can adsorb glass substrate, and the survey laminated structure includes pressure sensor (7), sensor support bar (8) and signal wire
(9), the sensor support bar (8) is arranged on the mechanical arm (2), and one end is provided with the pressure sensor (7),
The other end is connected with the signal wire (9).
2. glass substrate constant-pressure packing device according to claim 1, which is characterized in that the pressure sensor (7)
For contact number load cell.
3. glass substrate constant-pressure packing device according to claim 1, which is characterized in that the constant-pressure is 2.8-
3.2N。
4. glass substrate constant-pressure packing device according to claim 3, which is characterized in that the constant-pressure is 3N.
5. glass substrate constant-pressure packing device according to claim 1, which is characterized in that the survey laminated structure is at least
Four, wherein four survey laminated structures are set on four angles of the mechanical arm (2).
6. glass substrate constant-pressure packing device as claimed in any of claims 1 to 5, which is characterized in that described
Adsorption structure includes sucker (3), tracheae (5) and suction cup support bar (6), and the suction cup support bar (6) is set to the machinery
On arm (2), one end of the suction cup support bar (6) is provided with the sucker (3), is provided on the other end connector (4), described
Tracheae (5) is connected to by the connector (4) and the suction cup support bar (6) with the sucker (3).
7. glass substrate constant-pressure packing device according to claim 6, which is characterized in that mechanical arm (2) packet
Multiple parallel and spaced apart mounting plate is included, multiple adsorption structures, each mounting plate are provided on the mounting plate
On multiple adsorption structures share a tracheae (5).
8. glass substrate constant-pressure packing device according to claim 6, which is characterized in that the material of the sucker (3)
For rubber.
9. glass substrate constant-pressure packing device according to claim 6, which is characterized in that the diameter of the sucker (3)
For 9-11mm.
10. glass substrate constant-pressure packing device according to claim 9, which is characterized in that the diameter of the sucker (3)
For 10mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821859826.3U CN209427109U (en) | 2018-11-12 | 2018-11-12 | Glass substrate constant-pressure packing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821859826.3U CN209427109U (en) | 2018-11-12 | 2018-11-12 | Glass substrate constant-pressure packing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209427109U true CN209427109U (en) | 2019-09-24 |
Family
ID=67968412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821859826.3U Active CN209427109U (en) | 2018-11-12 | 2018-11-12 | Glass substrate constant-pressure packing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209427109U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086645A (en) * | 2021-04-26 | 2021-07-09 | 新疆兴霍光电科技有限公司 | Glass substrate grabbing process method and glass substrate grabbing system |
| CN113859969A (en) * | 2021-09-28 | 2021-12-31 | 北京七星华创集成电路装备有限公司 | Transmission mechanism |
-
2018
- 2018-11-12 CN CN201821859826.3U patent/CN209427109U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086645A (en) * | 2021-04-26 | 2021-07-09 | 新疆兴霍光电科技有限公司 | Glass substrate grabbing process method and glass substrate grabbing system |
| CN113086645B (en) * | 2021-04-26 | 2023-01-06 | 新疆兴霍光电科技有限公司 | Glass substrate grabbing process method and glass substrate grabbing system |
| CN113859969A (en) * | 2021-09-28 | 2021-12-31 | 北京七星华创集成电路装备有限公司 | Transmission mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Glass substrate constant-pressure packaging device Effective date of registration: 20200710 Granted publication date: 20190924 Pledgee: Beijing State Owned Financial Leasing Co., Ltd Pledgor: ZHENGZHOU XUFEI OPTOELECTRONIC TECHNOLOGY Co.,Ltd. Registration number: Y2020990000736 |