CN217894381U

CN217894381U - Arm and panel check out test set with aligning gear

Info

Publication number: CN217894381U
Application number: CN202220430517.4U
Authority: CN
Inventors: 郭显椿
Original assignee: Wuhan Jingce Electronic Group Co Ltd; Suzhou Hirose Opto Co Ltd
Current assignee: Wuhan Jingce Electronic Group Co Ltd; Suzhou Hirose Opto Co Ltd
Priority date: 2022-03-01
Filing date: 2022-03-01
Publication date: 2022-11-25
Anticipated expiration: 2032-03-01

Abstract

The utility model discloses an arm and panel check out test set with correctional mechanism, the arm is installed on the panel plummer, mend the mechanism including Y axle transport subassembly, Z axle transport subassembly and at least one triaxial, the triaxial is mended the mechanism and is installed on Z axle transport subassembly, and the triaxial is mended the mechanism and is included that the Y axle mends the mechanism, mend the X axle that the mechanism links to each other with the Y axle and mend the mechanism with the theta axle and mend the mechanism, and the Y axle is mended the mechanism and mended the mechanism with the X axle and mend the direction of mending perpendicular mutually and all parallel with panel plummer place plane, and the theta axle is mended the mechanism and is driven the panel and rotate in the plane that is on a parallel with panel plummer place, and mended the mechanism including directly driving the DD motor and installing is directly driven to the theta axle the Y axle is mended the mechanism below. The utility model discloses a drive motor that correction mechanism's arm adopted DD to directly drive the motor and mended the mechanism as the theta axle, has reduced the triaxial and has mended the size of mending the mechanism to make the arm more be applicable to the automation of small-size panel and mend.

Description

Arm and panel check out test set with aligning gear

Technical Field

The utility model belongs to hard and flexible panel screen detection area, concretely relates to arm and panel check out test set with aligning gear.

Background

Liquid Crystal Display (LCD) is widely applied to the fields of televisions, computer display screens, mobile phone display screens, industrial display screens and the like. In the LCD panel industry, before the panel leaves factory, product detection is usually performed on the brightness, and the like of the liquid crystal panel, and these detections are performed in a panel lighting state. Therefore, before product inspection, crimping and lighting the panel are key steps. The alignment or alignment difficulty is large when the crimping is lightened due to the limitation of the size of the liquid crystal panel, so that the accurate alignment crimping is realized through an X, Y and theta triaxial correction mechanism in the prior art.

The automatic mechanical arm of mending of installation on current panel crimping check out test set includes that two triaxial that set up side by side mend the mechanism, the triaxial is mended the mechanism and is included that the X axle mends the mechanism, the Y axle mends the mechanism, the theta axle mends the mechanism and connects the panel of mending the mechanism below in the theta axle and snatchs the mechanism, the theta axle mends the mechanism and includes theta axle driving motor, the space that theta axle driving motor occupy is great, leads to the triaxial to mend the size of mechanism great, consequently can't satisfy the demand that two small-size LCD panels mended automatically simultaneously.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned deficiencies of the prior art, the object of the present invention is to: the utility model provides a panel check out test set of arm and including above-mentioned arm with aligning gear, its three-axis revises the size of mechanism less to can realize revising the automation of small-size panel.

In order to realize the above-mentioned utility model purpose, the utility model provides an arm with correction mechanism, the arm is installed on the panel plummer, mend the mechanism including Y axle transport subassembly, Z axle transport subassembly and at least one triaxial, the triaxial mend the mechanism and include that the Y axle mends the mechanism, with the mechanism is mended to X axle that Y axle mended the mechanism and links to each other and mend mechanism and theta axle and mend the mechanism. The correcting directions of the Y-axis correcting mechanism and the X-axis correcting mechanism are mutually vertical and are parallel to the plane of the panel bearing table, and the theta-axis correcting mechanism drives the panel to rotate in the plane parallel to the plane of the panel bearing table. The theta axis correction mechanism comprises a DD direct drive motor, and the DD direct drive motor is installed below the Y axis correction mechanism. The DD direct drive motor is of a flat structure, occupies a small space, and can reduce the size of the three-axis correction mechanism, so that the mechanical arm with the correction mechanism is suitable for automatic correction of small-size panels. Wherein the small-sized panel is a 1-3 inch liquid crystal panel.

The utility model provides an including the panel check out test set of above-mentioned arm that has correction mechanism, panel check out test set still includes the panel plummer, gets material department, visual detection subassembly, pressure head subassembly and industrial computer, the visual detection subassembly includes accurate counterpoint camera.

The arm includes that two set up side by side the mechanism is mended to the triaxial, can accomplish two LCD panel's material loading simultaneously and position are mended and correct to improve the work efficiency of arm with correctional agency.

Y axle transport subassembly includes Y to transport slip table and Y to transport slip table actuating mechanism, Z axle transport unit mount in Y is to on the transport slip table, Z axle transport subassembly includes Z to transport slip table and Z to transport slip table actuating mechanism, the triaxial revises the mechanism and installs on the Z axle transport subassembly, the arm passes through Y axle transport subassembly with Z axle transport subassembly will the small-size panel send to pressure head subassembly below.

The Y-axis correction mechanism comprises a Y-axis driving motor, a Y-axis slide rail, a Y-axis correction slide table and a Y-axis correction mechanism fixing plate, the Y-axis slide rail is installed above the Y-axis correction slide table, and the Y-axis driving motor fixing plate is installed below the Y-axis correction slide table. The Y-axis driving motor is a direct-current servo motor, the Y-axis slide rail is preferably a linear slide rail, and the linear slide rail can greatly reduce the abrasion of the contact surface of the running rail compared with the traditional slide rail, can maintain high positioning precision and walking precision for a long time, and can more accurately control Y-direction displacement.

The DD direct drive motor is detachably and fixedly connected below the theta axis drive motor fixing plate. The direct-drive installation mode of the DD direct-drive motor reduces the intermediate transmission link, can eliminate the gap error, and enables the theta axis correction mechanism to have higher stability and controllability.

X axle revises the mechanism and includes that X axle driving motor, X axle slide rail and X are to revising the slip table, the X axle slide rail is installed Y axle revises on the mechanism fixed plate, the X is to revising the slip table to install on the X axle slide rail. The X-axis driving motor is a direct current motor.

The theta axis correction mechanism is also connected with a panel grabbing mechanism below, the panel grabbing mechanism comprises a suction nozzle, a fine adjustment screw hole is formed in the suction nozzle, and the suction nozzle is adjusted in the Z axis direction in a matched mode through the fine adjustment screw. So that the two suction nozzles are positioned at the same horizontal position.

The panel grabbing mechanism further comprises a linear bearing connected with the suction nozzle, the first end of the linear bearing is connected with the Y-axis correction mechanism, and the second end of the linear bearing is connected with the theta-axis correction mechanism. The linear bearing can play a role in buffering in the processes of feeding and crimping of the suction nozzle, so that the displacement of the suction nozzle in the Z direction can be controlled more accurately.

The panel bearing platform is characterized in that a guide rod penetrates through the inside of the linear bearing, a guide rod mounting hole used for mounting the guide rod is formed in the suction nozzle, the guide rod plays a role in transmission, and the suction nozzle is driven to drive the panel to rotate in a plane parallel to the plane where the panel bearing platform is located in cooperation with a theta-axis driving mechanism.

Still be equipped with on the suction nozzle with control gas circuit intercommunication air pipe connector mounting hole, panel adsorb the piece, be equipped with a plurality of vacuum holes on the panel adsorbs the piece. The mechanical arm further comprises a vacuum regulating valve, and the vacuum regulating valve is connected with the control gas circuit and used for regulating vacuum pressure. The control gas circuit is provided with a control valve, and the gas circuits in different areas are controlled to be opened or closed through the switch of the control valve, so that the suction nozzle can adsorb liquid crystal panels with different sizes of 1-3 inches, and a plurality of products can be adsorbed by one suction nozzle.

Compared with the prior art, the utility model discloses following beneficial effect has at least:

the utility model discloses a directly drive the motor with the DD and install the mechanism below is mended to the Y axle, and the mechanism is mended to current triaxial of contrast, and the DD directly drives the motor and accounts for the space littleer, has reduced two triaxial and has mended the size and the interval of mechanism, makes the utility model discloses an arm with correction mechanism can realize the automation of two small-size panels and mend. Meanwhile, the direct drive installation mode of the DD direct drive motor reduces the intermediate transmission links, can eliminate the gap error, and enables the theta axis correction mechanism to have higher stability and controllability. Further revise the mechanism through two triaxial that set up side by side, can accomplish the material loading of two LCD panels simultaneously and mend with the position and revise, in order to improve the work efficiency of the arm that has correctional agency.

Drawings

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

Fig. 1 is a schematic structural diagram of a robot arm with a straightening mechanism according to an embodiment of the present invention;

fig. 2 is a schematic view of a structure of a triaxial correction mechanism according to an embodiment of the present invention at a certain angle;

fig. 3 is a schematic structural view of another angle of the triaxial correction mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic view of an angle of the nozzle according to an embodiment of the present invention;

fig. 5 is a schematic view of another angle of the nozzle according to an embodiment of the present invention.

Reference numerals are as follows: 100. a Y-axis handling assembly; 101. a Y-direction carrying sliding table; 102. a Y-direction conveying sliding table driving mechanism; 200. a Z-axis handling assembly; 201. a Z-direction carrying sliding table; 202. a Z-direction conveying sliding table driving mechanism; 300. a three-axis compensation mechanism; 301. a Y-axis correction mechanism; 302. an X-axis correction mechanism; 303. a theta axis correcting mechanism; 304. a suction nozzle; 305. fixing plate of Y-axis correction mechanism; 306. a theta axis drive motor fixing plate; 307. a linear bearing; 308. a guide rod; 309. a vacuum regulating valve; 3011. a Y-axis drive motor; 3012. a Y-axis slide rail; 3013. a Y-direction correction sliding table; 3021. an X-axis drive motor; 3022. an X-axis slide rail; 3023. an X-direction correction sliding table; 3031. a DD direct drive motor; 3041. fine adjustment of screw holes; 3042. a guide bar mounting hole; 3043. A gas pipe joint mounting hole; 3044. a panel adsorption member; 3045. and (4) vacuum holes.

Detailed Description

The technical solutions in the specific embodiments of the present invention will be described below clearly and completely, and it should be understood that the described embodiments are only preferred embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The panel detection equipment (not shown in the figure) in the embodiment comprises the mechanical arm with the correction mechanism, a material taking position, a visual detection assembly, a pressure head assembly and an industrial personal computer, wherein the visual detection assembly comprises a precise alignment camera.

Referring to fig. 1, the robot with the aligning mechanism in this embodiment is mounted on a panel carrier (not shown), and includes a Y-axis carrier assembly 100, a Z-axis carrier assembly 200, and two three-axis aligning mechanisms 300 arranged side by side. The Y-axis carrying assembly 100 comprises a Y-direction carrying sliding table 101 and a Y-direction carrying sliding table driving mechanism 102, the Z-axis carrying assembly 200 is installed on the Y-direction carrying sliding table 101, the Z-axis carrying assembly 200 comprises a Z-direction carrying sliding table 201 and a Z-direction carrying sliding table driving mechanism 202, and two three-axis correcting mechanisms 300 arranged side by side are installed on the Z-direction carrying sliding table 201. The robot arm delivers the smaller panels under the ram assembly via the Y-axis handling assembly 100 and the Z-axis handling assembly 200. Two can be accomplished simultaneously through two triaxial correction mechanism 300 that set up side by side the material loading of small-size panel, positional correction counterpoint, in order to improve the work efficiency of arm. In the present embodiment, the small-sized panel is a liquid crystal panel having a size of 1 to 3 inches.

As shown in fig. 2 and 3, the three-axis correction mechanism 300 includes a Y-axis correction mechanism 301, an X-axis correction mechanism 302, and a θ -axis correction mechanism 303, the X-axis correction mechanism 302 is connected to the Y-axis correction mechanism 301, the θ -axis correction mechanism 303 is connected to the Y-axis correction mechanism 301, the correction directions of the Y-axis correction mechanism 301 and the X-axis correction mechanism 302 are perpendicular to each other and are parallel to the plane of the panel carrier, the θ -axis correction mechanism 303 drives the panel to rotate parallel to the plane of the panel carrier, the θ -axis correction mechanism 303 includes a DD direct drive motor 3031, i.e., a DD motor, and the DD direct drive motor 3031 is installed below the Y-axis correction mechanism 301. The DD direct drive motor 3031 is of a flat structure, occupies a small space, and the size and the distance of the two three-axis correction mechanisms 300 are reduced, so that two small-size panels can be conveniently loaded and aligned at the same time.

The Y-axis correction mechanism 301 includes a Y-axis drive motor 3011, a Y-axis slide 3012, a Y-axis correction slide 3013, and a Y-axis correction mechanism fixing plate 305, the Y-axis slide 3012 is mounted above the Y-axis correction slide 3013, and the θ -axis drive motor fixing plate 306 is mounted below the Y-axis correction slide 3013. Wherein, Y axle driving motor 3011 is direct current servo motor, and Y axle slide rail 3012 is the linear slideway, and the linear slideway compares traditional slide rail, can reduce the wearing and tearing of orbit contact surface by a wide margin, can maintain high positioning accuracy, walking precision for a long time, can control Y more accurately to the displacement.

The DD direct drive motor 3031 and the theta axis drive motor fixing plate 306 are respectively provided with a flange hole, and the DD direct drive motor 3031 is fixed below the theta axis drive motor fixing plate 306 through nuts. In other embodiments of the present invention, the DD direct drive motor 3031 may also be fixed below the θ -axis drive motor fixing plate 306 in other detachable connection manners. The direct-drive mounting mode of the DD direct-drive motor 3031 reduces the intermediate transmission link, can eliminate the gap error, and the theta axis correction mechanism 303 has higher stability and controllability.

The X-axis correction mechanism 302 includes an X-axis driving motor 3021, an X-axis slide rail 3022, and an X-axis correction slide table 3023, the X-axis slide rail 3022 is mounted on the Y-axis correction mechanism fixing plate 305, the X-axis correction slide table 3023 is mounted on the X-axis slide rail 3022, and the X-axis driving motor 3021 is a dc motor.

The panel grabbing mechanism is further connected to the lower portion of the theta axis correction mechanism 303 and comprises a suction nozzle 304, a fine adjustment screw hole 3041 is formed in the suction nozzle 304, and the suction nozzle 304 is adjusted in the Z axis direction by matching with the fine adjustment screw, so that the two suction nozzles are located at the same horizontal position.

The panel grabbing mechanism further comprises a linear bearing 307 connected with the suction nozzle 304, wherein a first end of the linear bearing 307 is connected with the Y-axis correction mechanism 301, and a second end of the linear bearing 307 is connected with the theta-axis correction mechanism 303. The linear bearing 307 can play a role in buffering in the process of feeding and pressing the suction nozzle 304 against the panel, so that the displacement of the suction nozzle 304 in the Z direction can be controlled more accurately. The guide rod 308 penetrates the linear bearing 314, and a guide rod mounting hole 3042 for mounting the guide rod 308 is formed on the suction nozzle 304. The guide rod 308 plays a role in transmission, and is matched with a theta axis driving mechanism to drive the suction nozzle to drive the panel to rotate on a plane parallel to the panel bearing table.

The suction nozzle 304 is further provided with a mounting hole 3043 for a gas pipe connector communicating with a control gas circuit (not shown), and a panel adsorbing member 3044, and the panel adsorbing member 3044 is provided with a plurality of vacuum holes 3045. The mechanical arm further comprises a vacuum adjusting valve 309, and the vacuum adjusting valve 309 is connected with the control gas circuit and used for adjusting vacuum pressure. The control air path is provided with a control valve, and the opening and closing of the air paths in different areas are controlled by the control valve, so that the suction nozzle 304 can adsorb liquid crystal panels with different sizes of 1-3 inches, and one suction nozzle can adsorb multiple products.

The utility model discloses an arm and panel check out test set's with aligning gear working procedure as follows:

the method comprises the following steps: absorbing the panel: two small-sized panels are simultaneously sucked by a suction nozzle 304 connected with a control air passage.

Step two: carrying the panel: the small-sized panel sucked by the suction nozzle 304 is fed below the head assembly and within the visual inspection assembly field of view by the Y-axis carrier assembly 100 and the Z-axis carrier assembly 200.

Step three: generating a correction signal: the precise alignment camera arranged on the visual detection assembly is used for photographing the circuit boards on the adsorbed small-size liquid crystal board and the pressure head assembly, the detection signal is transmitted to the industrial personal computer, the industrial personal computer generates a position correction signal through the detection signal, the industrial personal computer obtains the correction signal through an image and an algorithm, and the coordinate value difference between the mark point on the small-size panel and the mark point of the FPC (flexible circuit board) on the pressure head assembly is calculated.

Step four: and (3) alignment correction: send and mend the back of signal, two triaxial that set up side by side through PLC control are mended mechanism 300 and are realized two X of small-size panel is to, Y to, theta to the automation is mended for circuit board counterpoint on small-size liquid crystal display panel and the pressure head subassembly specifically is the corresponding wire of circuit board that makes liquid crystal display panel and pressure head subassembly pressure head is counterpointed, aligns in the ascending parallel of vertical Z promptly.

Step five: and (3) pressure welding and lighting: the automatic mechanical arm of mending releases small-size panel, accomplishes the crimping with the pressure head subassembly and lights, mends the mechanical arm automatically and returns get material department.

Step six: and (3) detection: and after the small-size panel is lightened, carrying out picture detection or repair.

In the description of the present application, unless otherwise specified and limited, the terms "mounted," "connected," and the like are to be construed broadly, and may be mechanical or electrical, or may be internal to two elements, or may be directly connected, "upper" and "lower" are merely used to indicate relative positional relationships, and when the absolute position of an object being described changes, the relative positional relationships may change.

It is right above the utility model provides a structure and the detection procedure of arm and panel check out test set with aligning gear have been elucidated, and the description of above embodiment is only used for helping understanding the utility model discloses a method and core thought. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the scope of the appended claims.

Claims

1. The mechanical arm with the correcting mechanism is installed on a panel bearing table and comprises a Y-axis carrying assembly (100), a Z-axis carrying assembly (200) and at least one three-axis correcting mechanism (300), and is characterized in that the three-axis correcting mechanism (300) is installed on the Z-axis carrying assembly (200), the three-axis correcting mechanism (300) comprises a Y-axis correcting mechanism (301), an X-axis correcting mechanism (302) and a theta-axis correcting mechanism (303), the correcting directions of the Y-axis correcting mechanism (301) and the X-axis correcting mechanism (302) are perpendicular to each other and are parallel to the plane where the panel bearing table is located, the theta-axis correcting mechanism (303) drives a panel to rotate in the plane where the panel bearing table is located, the theta-axis correcting mechanism (303) comprises a DD motor (3031), and the DD motor (3031) is installed below the Y-axis correcting mechanism (301).

2. The robotic arm with straightening mechanism according to claim 1, characterized in that it comprises two side-by-side triaxial correction mechanisms (300).

3. The mechanical arm with the correcting mechanism is characterized in that the Y-axis correcting mechanism (301) comprises a Y-axis driving motor (3011), a Y-axis sliding rail (3012), a Y-axis correcting sliding table (3013) and a Y-axis correcting mechanism fixing plate (305), the Y-axis sliding rail (3012) is installed above the Y-axis correcting sliding table (3013), a theta-axis driving motor fixing plate (306) is installed below the Y-axis correcting sliding table (3013), and the DD direct-drive motor (3031) is fixed below the theta-axis driving motor fixing plate (306).

4. The robot arm with correction mechanism according to claim 3, wherein the X-axis correction mechanism (302) includes an X-axis drive motor (3021), an X-axis slide rail (3022), and an X-axis correction slide table (3023), the X-axis slide rail (3022) is mounted on the Y-axis correction mechanism fixing plate (305), and the X-axis correction slide table (3023) is mounted on the X-axis slide rail (3022).

5. The mechanical arm with the straightening mechanism according to claim 1, wherein the Y-axis carrying assembly (100) comprises a Y-direction carrying sliding table (101) and a Y-direction carrying sliding table driving mechanism (102), the Z-axis carrying assembly (200) is installed on the Y-direction carrying sliding table (101), the Z-axis carrying assembly (200) comprises a Z-direction carrying sliding table (201) and a Z-direction carrying sliding table driving mechanism (202), and the three-axis correcting mechanism (300) is installed on the Z-direction carrying sliding table (201).

6. The mechanical arm with the straightening mechanism as claimed in claim 1, wherein a panel grabbing mechanism is further connected below the θ -axis straightening mechanism (303), the panel grabbing mechanism includes a suction nozzle (304), a fine adjustment screw hole (3041) is formed in the suction nozzle (304), and the suction nozzle (304) is adjusted in the Z-axis direction by matching with the fine adjustment screw.

7. The robotic arm with straightening mechanism according to claim 6, characterized in that the panel gripping mechanism further comprises a linear bearing (307) connected to the suction nozzle (304); the first end of the linear bearing (307) is connected with the Y-axis correction mechanism (301), and the second end is connected with the theta-axis correction mechanism (303).

8. The mechanical arm with the straightening mechanism as claimed in claim 7, wherein a guide rod (308) penetrates through the linear bearing (307), and a guide rod mounting hole (3042) for mounting the guide rod (308) is formed in the suction nozzle (304).

9. The mechanical arm with the straightening mechanism according to claim 8, wherein the suction nozzle (304) is provided with a gas pipe joint mounting hole (3043) communicated with a control gas path and a panel adsorbing member (3044), and the panel adsorbing member (3044) is provided with a plurality of vacuum holes (3045) communicated with the control gas path; the mechanical arm further comprises a vacuum adjusting valve (309), and the vacuum adjusting valve (309) is connected with the control gas circuit and used for adjusting vacuum pressure.

10. A panel inspection apparatus comprising a robotic arm with a leveling mechanism as claimed in any one of claims 1 to 9.