EP0906619A1 - Device for conveying substrates - Google Patents
Device for conveying substratesInfo
- Publication number
- EP0906619A1 EP0906619A1 EP98914868A EP98914868A EP0906619A1 EP 0906619 A1 EP0906619 A1 EP 0906619A1 EP 98914868 A EP98914868 A EP 98914868A EP 98914868 A EP98914868 A EP 98914868A EP 0906619 A1 EP0906619 A1 EP 0906619A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- station
- stations
- substrates
- gripper arms
- gripper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B7/00—Recording or reproducing by optical means, e.g. recording using a thermal beam of optical radiation by modifying optical properties or the physical structure, reproducing using an optical beam at lower power by sensing optical properties; Record carriers therefor
- G11B7/24—Record carriers characterised by shape, structure or physical properties, or by the selection of the material
- G11B7/26—Apparatus or processes specially adapted for the manufacture of record carriers
Definitions
- the invention relates to a device for the transport of circular disk-shaped substrates, for example digital video discs, from exit stations designed as carousel transport devices via a plurality of process stations to end stations, the process stations processing, ⁇ . B. coating, painting, gluing, drying, cooling, checking and sorting and collecting the substrates and where gripper arms grippers or siphons allow the further transport of the substrates from station to station.
- a device for automatic casting, coating, painting, testing and sorting workpieces - in particular circular disk-shaped, flat substrates made of plastic, such as optical or magneto-optical data memories - with at least one of the substrates from a manufacturing station , for example an injection molding machine, to the processing stations transporting transport device and each with a storage station for separate storage of finished and found to be faultless and faulty workpieces, which is characterized by a substrate transport device with a back and forth along a straight line Transport carriage with three transport arms with substrate holders arranged on both sides of the carriage, one on one side of the transport carriage.
- the transport carriage when moving in one direction with its first arm, a first substrate in a single transport step from the transfer station to the delivery station for insertion or Removal station of the vacuum coating device is transported and at the same time with the transport arm moves a second substrate from the coating station to a painting station and also a third substrate from the painting station to the turntable, which rotates step by step and in the same cycle, and the transport carriage in its subsequent
- This known device has the disadvantage that its working speed or its working cycles is determined by the slowest working processing station - the painting device - so that the performance of the entire device remains limited.
- DOS 44 08 5357 Also known is a device of this type (DOS 44 08 537) in which at least one carousel provided with substrate holders has both a first two-armed manipulator, the arms of which each have a gripper, and a second two-armed manipulator, the two arms of which each have several grippers , cooperates, wherein the second manipulator from the second carousel in a period simultaneously lifts several substrates and feeds them to the corresponding second process station, which is designed to process several substrates at the same time, while the first manipulator lifts one substrate from the second carousel in several swiveling movements of its two gripper arms and the first process station, which is used to process each is formed, feeds, or transported back from this process station to the second carousel.
- the present invention is based on the object of designing a device of the type in question in such a way that two pairs of substrates can be processed simultaneously, in particular glued, with only one drive with gripper arms, with the least possible control effort.
- the movements of the gripper arms should rule out a collision with one another.
- this object is achieved by a motor-gear unit with a pivoting device and two lifting devices which can be controlled separately from one another and which cooperates with manipulators or gripper arms, the gear unit forming a conveying station having gripper arms at the same distance from a plurality of stations, for example the supply station Painting stations, the return station and the test station is arranged, and wherein the two lifting devices of the motor-gear unit simultaneously with their gripper arms perform the same and / or different lifting movements (vertical movements) and these overlaying or following pivoting movements.
- the two gripper arms are each provided with at least two grippers, the one gripper arm being coupled to the rotary / lifting shaft of the motor-gear unit and the other gripper arm additionally being coupled to a lifting drive which in turn is supported on the rotating / lifting shaft and by means of which the gripper arm can be moved vertically relative to the gear head of the rotary / lifting shaft. Further details and features of the invention are characterized in the claims.
- FIG. 2 shows the two gripper arms of the device according to FIG. 1 in a top view and in an enlarged view;
- Fig. 3 shows the rotary-stroke drive in side view
- Fig. 4 shows the rotary-stroke drive according to Fig. 3 in plan view, partly in section along the lines D-E.
- the device essentially consists of a machine frame 2 with a total of six carousel stations 3 to 7 and 9 arranged on this frame, the two painting stations 10, 11, the drying station 12, the conveyor station 8, the control cabinet 13 and the test station 39.
- the transport arm 18, which is designed in the form of a circular disk sector, is lowered (FIG. 2), then raised and, after pivoting, lowered again and raised again.
- the transport arm 18 swings back into the exit station in the direction of the arrow B in order to be lowered again and to take over two further substrates from the carousel stations 3 or 4. Simultaneously with this pivoting movement in the direction of arrow B, the second gripper arm 19 with the grippers 24, 25 is in the position above the two painting stations 10, 11 or the substrates processed (painted) by them and with the grippers 22, 23 in the position above the UV drying lamp 12 has been moved.
- the gripper arm 18 is lowered by a second lifting drive 37 before the gripper arm 19 is lowered and thus also before the lowering of the gripper arm 19 Gripper arm 19 with its four grippers moved in the opposite direction to the lowering movement upwards.
- the lift-swivel gear 26 shown in FIG. 3 is provided with a lift drive 37, via which the two gripper arms 18, 19 are moved.
- the gear 26 has a motor 27 which drives the spindle 28 so that the spindle nut 29 is moved up or down in the direction of the arrow C depending on the direction of rotation, this lifting movement being transmitted to the gear head 30 with the two gripper arms 18, 19 supported thereon becomes.
- a second motor 31 drives the toothed belt pulley 35 seated on the rotary / lifting shaft 34 with the aid of a belt pulley 33 with toothed belt 32, so that a rotary movement can take place as a function of the movement of the motor shaft 36.
- the gear head 30 is provided with a pneumatic cylinder or lifting drive 37, by means of which the gripper arm 18 moves slightly by a distance a.
- the gripper arm 19 bar is again lowered by the amount a, so that when the gripper arms 18 and 19 are lowered, all the grippers are again ready to receive the various substrates.
- the gripper arm After pressing the respective upper substrate of the two pairs of substrates, the gripper arm first moves back into an upper position, whereupon the previously pressed substrate pairs are rotated again by the substrate receivers of the painting stations 10, 11, so that excess adhesive (paint) is thrown off .
- the two pairs of substrates are conveyed further by the gripper arm 19 in the opposite direction of the arrow B and placed on the carousel 9, which they move successively under the UV drying lamp of the dryer 12 and finally back into the area of the gripper arm 19 or the suction lifters 22, 23 emotional.
- the gripper arm 19 then passes the finished substrates back to the carousel 7, from which they reach the carousels 5 and 6, where they are stacked in a sorted manner.
- Machine frame carousel station input station carousel station, input station carousel station carousel station, supply station conveyor station carousel station, return station painting station painting station UV dryer control cabinet transport arm transport arm, ... substrate pickup, ... substrate pickup gripper arm gripper arm suction lifter suction lifter suction lifter suction lifter suction lifter suction lifter suction lifter lift swivel gear, motor
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Coating Apparatus (AREA)
- Manufacturing Optical Record Carriers (AREA)
Abstract
The invention relates to a device for conveying circular disc shaped substrates e.g. digital video discs from output stations (3,4) via various process stations (10,11,12) to end stations (5,6) wherein the process stations are responsible for processing said substrates i.e. coating, control, sorting and collection, and gripper arms (14,15 or 18,19 or 38) comprising grippers or suction lifters (20-25) enable the substrates to be re-conveyed from one station to the other. The inventive device is fitted with one motor-gearbox unit (26) comprising a swivelling unit (31-36) and two separately controllable lifter devices (27,29 or 30,37) which interacts with the gripper arms (18,19). The gear mechanism (26) forming the conveyor station (8) is arranged at an equal distance to several stations e.g. the disposal station (7), the paint station (10,11), the return station (9) and the control station (39). Both lifter devices (27,29 or 30,37) of the motor unit (26) simultaneously carry out identical and/or different lifting movements (vertical movements) or overlapping movements or swivelling movements thereafter.
Description
Vorrichtung für den Transport von Substraten Device for the transport of substrates
Die Erfindung betrifft eine Vorrichtung für den Transport von kreisscheibenförmigen Substraten, beispielsweise von digital Video discs, von als Karusselltransporteinrichtungen ausgebildeten Ausgangsstationen über mehrere Prozeßstationen zu Endstationen, wobei die Prozeßstationen das Bearbeiten, ∑. B. Beschichten, Lackieren, Verkleben, Trocknen, Abkühlen, Kontrollieren und Sortieren und Sammeln der Substrate bewirken und wobei Greiferarme Greifern oder Saughebern den Weitertransport der Substrate von Station zu Station ermöglichen.The invention relates to a device for the transport of circular disk-shaped substrates, for example digital video discs, from exit stations designed as carousel transport devices via a plurality of process stations to end stations, the process stations processing, ∑. B. coating, painting, gluing, drying, cooling, checking and sorting and collecting the substrates and where gripper arms grippers or siphons allow the further transport of the substrates from station to station.
Bekannt ist eine Vorrichtung (DOS 41 27 341) zum selbsttätigen Gießen, Beschichten, Lackieren, Prüfen und Sortieren von Werkstücken - insbesondere von kreisscheibenförmigen, flachen Substraten aus Kunststoff, wie beispielsweise optischen oder magneto-optischen Datenspeichern - mit mindestens einer die Substrate von einer Herstellstation, beispielsweise einer Spritzgießmaschine, zu den Bearbeitungsstationen weiterbefördernden Transporteinrichtung und mit jeweils einer Ablagestation zur getrennten Ablage von fertig bearbeiteten und als einwandfrei befundenen und von mit Fehlern behafteten Werkstük- ken, die gekennzeichnet ist durch eine Substrattransporteinrichtung mit einem längs einer geraden Linie hin und her bewegbaren Transportschlitten mit jeweils drei beiderseits des Schlittens angeordneten Transportarmen mit Substrat- haltern, einer auf der einen Seite des Transportschlittens vor-
gesehenen Vakuumbeschichtungsvorrichtung und einer auf der anderen Seite des Transportschlittens angeordneten Ablageeinrichtung mit mindestens je einer Ablage für gut befundene und für auszusondernde Substrate und einer Vorrichtung zur Qualitätsprüfung und mit einer in der Bewegungsrichtung des Transportschlittens der Spritzgießmaschine gegenüberliegend angeordneten Karussell-Transporteinrichtung oder einem Drehtisch mit verschiedenen, an seinen Umfang angeordneten Lackier-, Trocknungs-, Bedruckungs-, Bildkontroll- und Zentriereinrichtungen, wobei der Drehtisch die Substrate in einer Vielzahl von Transportschritten - vorzugsweise in neunzehn Transportschritten - auf einer Kreisbahn um volle 360 Grad um die vertikale Rotationsachse des Drehtisches bewegt und wobei der Transportschlitten bei seiner Bewegung in der einen Richtung mit seinem ersten Arm ein erstes Substrat in einem einzigen Transportschritt von der Übernahmestation der Abgabestation zur Einbzw. Ausschleusstation der Vakuumbeschichtungsvorrichtung transportiert und ebenso gleichzeitig mit dem Transportarm ein zweites Substrat von der Beschichtungsstation zu einer Lackierstation und ebenso ein drittes Substrat von der Lackierstation zum Drehtisch bewegt, der sich schrittweise und im gleichen Takt dreht, und wobei der Transportschlitten bei seiner anschließenden Bewegung in entgegengesetzter Richtung ein fertig bearbeitetes Werkstück zur Prüfvorrichtung und ein bereits geprüftes Werkstück von hier aus zur zweiten Ablage transportiert.Known is a device (DOS 41 27 341) for automatic casting, coating, painting, testing and sorting workpieces - in particular circular disk-shaped, flat substrates made of plastic, such as optical or magneto-optical data memories - with at least one of the substrates from a manufacturing station , for example an injection molding machine, to the processing stations transporting transport device and each with a storage station for separate storage of finished and found to be faultless and faulty workpieces, which is characterized by a substrate transport device with a back and forth along a straight line Transport carriage with three transport arms with substrate holders arranged on both sides of the carriage, one on one side of the transport carriage. seen vacuum coating device and a storage device arranged on the other side of the transport carriage, each with at least one storage for substrates that are found to be good and to be discarded, and a device for quality inspection and with a carousel transport device or a rotary table with opposite, in the direction of movement of the transport carriage of the injection molding machine Paint, drying, printing, image control and centering devices arranged on its circumference, the rotary table moving the substrates in a plurality of transport steps - preferably in nineteen transport steps - on a circular path by a full 360 degrees around the vertical axis of rotation of the turntable and wherein the transport carriage, when moving in one direction with its first arm, a first substrate in a single transport step from the transfer station to the delivery station for insertion or Removal station of the vacuum coating device is transported and at the same time with the transport arm moves a second substrate from the coating station to a painting station and also a third substrate from the painting station to the turntable, which rotates step by step and in the same cycle, and the transport carriage in its subsequent movement in opposite directions Directed a finished workpiece to the testing device and an already tested workpiece from here to the second storage.
Diese bekannte Vorrichtung hat den Nachteil, daß ihre Arbeitsgeschwindigkeit bzw. ihre Arbeitszyklen von der am langsamsten arbeitenden Bearbeitungsstation - der Lackiereinrichtung - bestimmt wird, so daß die Leistung der gesamten Vorrichtung begrenzt bleibt.This known device has the disadvantage that its working speed or its working cycles is determined by the slowest working processing station - the painting device - so that the performance of the entire device remains limited.
Bekannt ist weiterhin eine Vorrichtung dieser Art (DOS 44 08 537) bei der mindestens ein mit Substrathaltern versehenes Karussell sowohl mit einem ersten zweiarmigen Manipulator, dessen Arme jeweils einen Greifer aufweisen, als auch mit einem zweiten zweiarmigen Manipulator, dessen beide Arme jeweils mehrere Greifer aufweisen, zusammenwirkt, wobei der zweite Manipulator vom zweiten Karussell in einem Zeitabschnitt
gleichzeitig mehrere Substrate abhebt und der korrespondierenden zweiten Prozeßstation zuführt, die zur gleichzeitigen Bearbeitung mehrerer Substrate ausgebildet ist, während der erste Manipulator in demselben Zeitabschnitt vom zweiten Karussell in mehreren Schwenkbewegungen seiner beiden Greiferarme jeweils ein Substrat abhebt und der ersten Prozeßstation, die zur Bearbeitung von jeweils einem Substrat ausgebildet ist, zuführt, bzw. von dieser Prozeßstation aus auf das zweite Karussell zurücktransportiert .Also known is a device of this type (DOS 44 08 537) in which at least one carousel provided with substrate holders has both a first two-armed manipulator, the arms of which each have a gripper, and a second two-armed manipulator, the two arms of which each have several grippers , cooperates, wherein the second manipulator from the second carousel in a period simultaneously lifts several substrates and feeds them to the corresponding second process station, which is designed to process several substrates at the same time, while the first manipulator lifts one substrate from the second carousel in several swiveling movements of its two gripper arms and the first process station, which is used to process each is formed, feeds, or transported back from this process station to the second carousel.
Der vorliegenden Erfindung liegt nun die Aufgabe zugrunde, eine Vorrichtung der infrage stehenden Art so auszubilden, daß mit nur einem Antrieb mit Greiferarmen zwei Substratpaare gleichzeitig bearbeitet, insbesondere verklebt werden können, und zwar bei möglichst geringem Steuerungsaufwand. Außerdem sollen die Bewegungen der Greiferarme eine Kollision untereinander ausschließen.The present invention is based on the object of designing a device of the type in question in such a way that two pairs of substrates can be processed simultaneously, in particular glued, with only one drive with gripper arms, with the least possible control effort. In addition, the movements of the gripper arms should rule out a collision with one another.
Gemäß der vorliegenden Erfindung wird diese Aufgabe gelöst durch eine Motor-Getriebeeinheit mit einer Schwenkeinrichtung und zwei getrennt voneinander ansteuerbaren Hubeinrichtungen, die mit Manipulatoren oder Greiferarmen zusammenwirkt, wobei das eine Förderstation bildende Getriebe mit Greiferarmen in gleichem Abstand von mehreren Stationen, beispielsweise der Bereitstellstation, den Lackierstationen, der Rückförderstation und der PrüfStation angeordnet ist, und wobei die beiden Hubeinrichtungen der Motor-Getriebeeinheit gleichzeitig mit ihren Greiferarmen gleiche und/oder unterschiedliche Hubbewegungen (Vertikalbewegungen) und diese überlagernde oder sich an diese anschließende Schwenkbewegungen ausführen.According to the present invention, this object is achieved by a motor-gear unit with a pivoting device and two lifting devices which can be controlled separately from one another and which cooperates with manipulators or gripper arms, the gear unit forming a conveying station having gripper arms at the same distance from a plurality of stations, for example the supply station Painting stations, the return station and the test station is arranged, and wherein the two lifting devices of the motor-gear unit simultaneously with their gripper arms perform the same and / or different lifting movements (vertical movements) and these overlaying or following pivoting movements.
Vorzugsweise sind die beiden Greiferarme jeweils mit mindestens zwei Greifern versehen, wobei der eine Greiferarm mit der Dreh- Hub-Welle der Motor-Getriebeeinheit und der andere Greiferarm zusätzlich mit einem Hubantrieb gekoppelt ist, der seinerseits an der Dreh-Hub-Welle abgestützt ist und über den der Greiferarm gegenüber dem Getriebekopf der Dreh-Hub-Welle vertikal bewegbar ist.
Weitere Einzelheiten und Merkmale der Erfindung sind in den Patentansprüchen gekennzeichnet.Preferably, the two gripper arms are each provided with at least two grippers, the one gripper arm being coupled to the rotary / lifting shaft of the motor-gear unit and the other gripper arm additionally being coupled to a lifting drive which in turn is supported on the rotating / lifting shaft and by means of which the gripper arm can be moved vertically relative to the gear head of the rotary / lifting shaft. Further details and features of the invention are characterized in the claims.
Die Erfindung läßt die verschiedensten Ausführungsmöglichkeiten zu; eine davon ist in den anhängenden Zeichnungen rein schematisch näher dargestellt, und zwar zeigen:The invention allows for a wide variety of designs; one of them is shown purely schematically in more detail in the attached drawings, namely:
Fig. 1 die Vorrichtung in der Draufsicht,1 shows the device in plan view,
Fig. 2 die beiden Greiferarme der Vorrichtung nach Fig. 1 in der Draufsicht und in vergrößerter Darstellung;FIG. 2 shows the two gripper arms of the device according to FIG. 1 in a top view and in an enlarged view;
Fig. 3 den Dreh-Hub-Antrieb in der Seitenansicht undFig. 3 shows the rotary-stroke drive in side view
Fig. 4 den Dreh-Hub-Anrrieb gemäß Fig. 3 in der Draufsicht, teilweise im Schnitt nach den Linien D-E.Fig. 4 shows the rotary-stroke drive according to Fig. 3 in plan view, partly in section along the lines D-E.
Wie Fig. 1 zeigt, besteht die Vorrichtung im wesentlichen aus einem Maschinengestell 2 mit insgesamt sechs auf diesem Gestell angeordneten Karussellstationen 3 bis 7 und 9, den beiden Lak- kierstationen 10,11, der Trocknungsstation 12, der Förderstation 8, dem Schaltschrank 13 und der PrüfStation 39.As shown in FIG. 1, the device essentially consists of a machine frame 2 with a total of six carousel stations 3 to 7 and 9 arranged on this frame, the two painting stations 10, 11, the drying station 12, the conveyor station 8, the control cabinet 13 and the test station 39.
Das insgesamt acht Substrataufnahmen aufweisende Karussell 7 wird im Maschinentakt in Pfeilrichtung A jeweils um einen Drehwinkel von 45° weitergeschaltet, wobei jeweils zweimal nacheinander ein Substrat von der einen und danach zweimal von der anderen Eingabestation 3 bzw. 4 vom zugeordneten Transportarm 14 bzw. 15 auf der jeweils benachbarten Substrataufnahme 16,17,... des Karussells 7 abgelegt wird. Nach einem weiteren Schwenk des Karussells 7 um einen Drehwinkel .von 90°, d. h. nach zweimaligem Weiterschalten des Karussells 7, gelangen jeweils zwei zuvor aufgenommene Substrate in den Bereich der mit zwei Greiferarmen 18,19 versehenen Förderstation 8, deren einer Greiferarm 18 daraufhin mit seinen beiden Saughebern 20,21 in einer abgesenkten Stellung beide Substrate gleichzeitig aufnimmt und diese dann beide in einer Schwenkbewegung entgegen der Pfeilrichtung B um einen Drehwinkel von 120° in den Bereich der beiden Lackierstationen 10,11 bringt und die Substrate dort ablegt, wobei zur besseren Erklärung des Vorgangs angenommen wird, daß
sich auf den Lackiertellern der beiden Lackierstationen 10,11 bereits jeweils ein gerade zuvor lackiertes Substrat befindet.The carousel 7, which has a total of eight substrate receptacles, is advanced in the machine cycle in the direction of arrow A by an angle of 45 °, with a substrate from the one and then twice from the other input station 3 or 4 from the associated transport arm 14 or 15 being opened twice in succession the respectively adjacent substrate holder 16, 17, ... of the carousel 7 is deposited. After the carousel 7 has been pivoted further by an angle of rotation of 90 °, that is to say after the carousel 7 has been indexed twice, two previously received substrates each reach the area of the conveyor station 8 provided with two gripper arms 18, 19, one of which gripper arm 18 thereupon with its two suction lifters 20, 21 in a lowered position, both the substrates simultaneously and then both bring them in a pivoting movement counter to the direction of arrow B by an angle of rotation of 120 ° into the area of the two painting stations 10, 11 and place the substrates there, with a better explanation the operation is believed to be there is already a previously painted substrate on the painting plates of the two painting stations 10, 11.
Für diesen Transport der Substrate von der Karussellstation 7 zu den Lackierstationen 10,11 wird der kreisscheibensektorför- ig ausgebildete Transportarm 18 abgesenkt (Fig. 2), dann angehoben und nach dem Schwenk abermals abgesenkt und wieder angehoben.For this transport of the substrates from the carousel station 7 to the painting stations 10, 11, the transport arm 18, which is designed in the form of a circular disk sector, is lowered (FIG. 2), then raised and, after pivoting, lowered again and raised again.
Nach dem Ablegen der beiden Substrate auf den Lackierstationen 10,11 schwenkt der Transportarm 18 in die Ausgangsstation in Pfeilrichtung B zurück, um abermals abgesenkt zu werden und um damit zwei weitere Substrate von den Karussellstationen 3 oder 4 zu übernehmen. Gleichzeitig mit dieser Schwenkbewegung in Pfeilrichtung B ist der zweite Greiferarm 19 mit den Greifern 24,25 in die Position oberhalb der beiden Lackierstationen 10,11 bzw. den von diesen bearbeiteten (lackierten) Substraten und mit den Greifern 22,23 in die Position oberhalb der UV- Trockenlampe 12 bewegt worden. Um beim Absenken der Greiferarme 18 und 19 ein Kollidieren der Greifer 22 bis 25 mit den parallel dazu arbeitenden Lackierstationen und der UV-Trockenlampe auszuschließen, wird vor dem Absenken des Greiferarmes 18 und damit auch vor dem Absenken des Greiferarmes 19 durch einen zweiten Hubantrieb 37 der Greiferarm 19 mit seinen vier Greifern in entgegengesetzter Richtung zur Absenkbewegung nach oben bewegt. Um diese Hub-Differenz a zwischen dem Greiferarm 18 und dem Greiferarm 19 zu ermöglichen, ist das in Fig. 3 dargestellte Hub-Schwenk-Getriebe 26 mit einem Hubtrieb 37 versehen, über das die beiden Greiferarme 18,19 bewegt werden. Das Getriebe 26 weist einen Motor 27 auf, der die Spindel 28 antreibt, so daß die Spindelmutter 29 je nach Drehxichtung in Pfeilrichtung C auf- oder abbewegt wird, wobei diese Hubbewegung auf den Getriebekopf 30 mit den an diesem abgestützten beiden Greiferarmen 18,19 übertragen wird. Ein zweiter Motor 31 treibt mit Hilfe einer Riemenscheibe 33 mit Zahnriemen 32 die auf der Dreh- Hub-Welle 34 sitzende Zahnriemenscheibe 35 an, so daß eine Drehbewegung in Abhängigkeit der Bewegung der Motorwelle 36 erfolgen kann. Der Getriebekopf 30 ist mit einem Pneumatikzylinder oder Hubtrieb 37 versehen, über den der Greiferarm 18 um einen Weg a geringfügig . gegenüber dem Greiferarm 19 verschieb-
bar ist, so daß ein Aufsetzen der Greiferbacken in die im Prozeß befindlichen Lackier- und UV-Stationen verhindert wird und eine beim Absetzen der jeweils zweiten Substrate auf die belackten Substrate in den beiden Lackierern 11,12 notwendige höhenregulierbare Bewegung unabhängig durchführbar ist. Während der Rückkehr der Greiferarme 18 und 19 in die Grundstellung wird der Greiferarm 19 wieder um den Betrag a abgesenkt, so daß beim Absenken der Greiferarme 18 und 19 alle Greifer wieder zur Aufnahme der verschiedenen Substrate bereit sind. Nach dem Anpressen des jeweils oberen Substrats der beiden Substratpaare bewegt sich der Greiferarm zunächst wieder in eine obere Position, woraufhin die vorher aufeinander gepreßten Substratpaare nochmals von den Substrataufnehmern der Lackierstationen 10,11 in Rotation versetzt werden, so daß überschüssiger Kleber (Lack) abgeschleudert wird. In der nächsten Phase werden die beiden Substratpaare vom Greiferarm 19 entgegen Pfeilrichtung B weitergefördert und auf dem Karussell 9 abgelegt, das sie nacheinander unter der UV-Trockenlampe des Trockners 12 hindurchbewegt und schließlich wieder in den Bereich des Greiferarms 19 bzw. der Saugheber 22,23 bewegt. Der Greiferarm 19 übergibt die fertigen Substrate nun wieder dem Karussell 7, von dem aus sie zu den Karussells 5 bzw. 6 gelangen, wo sie sortiert gestapelt werden.
After the two substrates have been deposited on the painting stations 10, 11, the transport arm 18 swings back into the exit station in the direction of the arrow B in order to be lowered again and to take over two further substrates from the carousel stations 3 or 4. Simultaneously with this pivoting movement in the direction of arrow B, the second gripper arm 19 with the grippers 24, 25 is in the position above the two painting stations 10, 11 or the substrates processed (painted) by them and with the grippers 22, 23 in the position above the UV drying lamp 12 has been moved. In order to prevent the grippers 22 to 25 from colliding with the painting stations and the UV drying lamp working in parallel when the gripper arms 18 and 19 are lowered, the gripper arm 18 is lowered by a second lifting drive 37 before the gripper arm 19 is lowered and thus also before the lowering of the gripper arm 19 Gripper arm 19 with its four grippers moved in the opposite direction to the lowering movement upwards. In order to enable this stroke difference a between the gripper arm 18 and the gripper arm 19, the lift-swivel gear 26 shown in FIG. 3 is provided with a lift drive 37, via which the two gripper arms 18, 19 are moved. The gear 26 has a motor 27 which drives the spindle 28 so that the spindle nut 29 is moved up or down in the direction of the arrow C depending on the direction of rotation, this lifting movement being transmitted to the gear head 30 with the two gripper arms 18, 19 supported thereon becomes. A second motor 31 drives the toothed belt pulley 35 seated on the rotary / lifting shaft 34 with the aid of a belt pulley 33 with toothed belt 32, so that a rotary movement can take place as a function of the movement of the motor shaft 36. The gear head 30 is provided with a pneumatic cylinder or lifting drive 37, by means of which the gripper arm 18 moves slightly by a distance a. relative to the gripper arm 19 bar, so that the gripper jaws are prevented from being placed in the painting and UV stations in the process and a height-adjustable movement which is necessary when the second substrates are deposited on the coated substrates in the two painters 11, 12 can be carried out independently. During the return of the gripper arms 18 and 19 to the basic position, the gripper arm 19 is again lowered by the amount a, so that when the gripper arms 18 and 19 are lowered, all the grippers are again ready to receive the various substrates. After pressing the respective upper substrate of the two pairs of substrates, the gripper arm first moves back into an upper position, whereupon the previously pressed substrate pairs are rotated again by the substrate receivers of the painting stations 10, 11, so that excess adhesive (paint) is thrown off . In the next phase, the two pairs of substrates are conveyed further by the gripper arm 19 in the opposite direction of the arrow B and placed on the carousel 9, which they move successively under the UV drying lamp of the dryer 12 and finally back into the area of the gripper arm 19 or the suction lifters 22, 23 emotional. The gripper arm 19 then passes the finished substrates back to the carousel 7, from which they reach the carousels 5 and 6, where they are stacked in a sorted manner.
BezugszeichenlisteReference list
Maschinengestell Karussellstation, Eingabestation Karussellstation, Eingabestation Karussellstation Karussellstation Karussellstation, Bereitstellstation Förderstation Karussellstation, Rückförderstation Lackierstation Lackierstation UV-Trockner Schaltschrank Transportarm Transportarm ,... Substrataufnahme ,... Substrataufnahme Greiferarm Greiferarm Saugheber Saugheber Saugheber Saugheber Saugheber Saugheber Hub-Schwenk-Getriebe, Motor-Machine frame carousel station, input station carousel station, input station carousel station carousel station, supply station conveyor station carousel station, return station painting station painting station UV dryer control cabinet transport arm transport arm, ... substrate pickup, ... substrate pickup gripper arm gripper arm suction lifter suction lifter suction lifter suction lifter suction lifter suction lifter lift swivel gear, motor
Getriebe-einheit Motor Spindel Spindelmutter Getriebekopf Motor Zahnriemen Riemenscheibe Dreh-Hub-Welle Zahnriemenscheibe Motorwelle
37 Pneumatikzylinder, HubtriebGear unit motor spindle spindle nut gear head motor toothed belt pulley rotary stroke shaft toothed belt pulley motor shaft 37 pneumatic cylinder, linear actuator
38 Transportarm38 transport arm
39 Prüfstation
39 test station
Claims
Vorrichtung für den Transport von kreisscheibenförmigen Substraten, beispielsweise von digital video discs, von als Karusselltransporteinrichtungen ausgebildeten Ausgangsstationen (3,4) über mehrere Prozeßstationen (10,11,12) zu Endstationen (5,6), wobei die Prozeßstationen das Bearbeiten, z. B. Beschichten, Kontrollieren, Sortieren und Sammeln der Substrate bewirken, und wobei Greiferarme (14,15 bzw. 18,19 bzw. 38) mit Greifern oder Saughebern (20 bis 25) den Weitertransport der Substrate von Station zu Station ermöglichen, gekennzeichnet durch eine Motor-Getriebeeinheit (26) mit einer Schwenkeinrichtung (31 bis 36) und zwei getrennt voneinander ansteuerbaren Hubeinrichtungen (27,29 bzw. 30,37), die mit Manipulatoren oder Greiferarmen (18,19) zusammenwirkt, wobei das eine Förderstation (8) bildende Getriebe (26) mit Greiferarmen in gleichem Abstand von mehreren Stationen, beispielsweise der Bereitstellstation (7), den Lackierstationen (10,11), der Rückförderstation (9) und der Prüfstation (39) angeordnet ist, und wobei die beiden Hubeinrichtungen (27,29 bzw. 30,37) der Motor- Getriebeeinheit (26) gleichzeitig mit ihren Greiferarmen (18,19) gleiche und/oder unterschiedliche Hubbewegungen (Vertikalbewegungen) und diese überlagernde oder sich an diese anschließende Schwenkbewegungen ausführen.Device for the transport of circular disk-shaped substrates, for example digital video discs, from exit stations (3, 4) designed as carousel transport devices, via a plurality of process stations (10, 11, 12) to end stations (5, 6), the process stations processing, e.g. B. coating, checking, sorting and collecting the substrates, and wherein gripper arms (14, 15 or 18, 19 or 38) with grippers or siphons (20 to 25) enable the further transport of the substrates from station to station, characterized by a motor-gear unit (26) with a swiveling device (31 to 36) and two separately controllable lifting devices (27, 29 or 30, 37) which cooperates with manipulators or gripper arms (18, 19), the one conveying station (8 ) forming gear (26) with gripper arms at the same distance from several stations, for example the supply station (7), the painting stations (10, 11), the return station (9) and the test station (39), and wherein the two lifting devices ( 27, 29 and 30, 37) of the motor-gear unit (26) with their gripper arms (18, 19) at the same time and / or different lifting movements (vertical movements) and these overlapping or adjoining them Carry out swiveling movements.
Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die beiden Greiferarme (18., 19) jeweils mit mindestens zwei Greifern (20,21 bzw. 22 bis 25) versehen sind, wobei der eine Greiferarm (18) mit der Dreh-Hub-Welle (34) der Motor-Getriebeeinheit (26) und der andere Greiferarm (19) zusätzlich mit einem Hubtrieb (37) gekoppelt ist, der seinerseits an der Dreh-Hub-Welle (34) abgestützt ist und über den der Greiferarm (19) gegenüber dem Getriebekopf (30) der Dreh-Hub-Welle (34) vertikal bewegbar ist.
Apparatus according to claim 1, characterized in that the two gripper arms (18, 19) are each provided with at least two grippers (20, 21 or 22 to 25), one gripper arm (18) having the rotary / lifting shaft (34) the motor-gear unit (26) and the other gripper arm (19) is additionally coupled to a lifting drive (37), which in turn is supported on the rotary / lifting shaft (34) and via which the gripper arm (19) is opposite the gear head (30) of the rotary / lifting shaft (34) is vertically movable.
3. Vorrichtung nach den Ansprüchen 1 und 2, dadurch gekennzeichnet, daß die beiden Greiferarme als kreissektorför- mige Plattenzuschnitte (18,19) ausgeformt sind, wobei im Bereich ihrer bogenförmigen radial äußeren Kanten zwei bzw. vier Greifer oder Saugköpfe (20 bis 25) in jeweils gleichem Abstand zur Schwenkachse (34) und in jeweils gleichem Abstand auf einem Kreisbogen (Ki) verteilt angeordnet sind.3. Device according to claims 1 and 2, characterized in that the two gripper arms are shaped as circular sector-shaped plate blanks (18, 19), with two or four grippers or suction heads (20 to 25) in the region of their arcuate radially outer edges. are arranged at the same distance from the swivel axis (34) and at the same distance on a circular arc (Ki).
4. Vorrichtung nach den Ansprüchen 1 bis 3, dadurch gekennzeichnet, daß zwei auf dem Kreisbogen (Ki) der Greiferarme (18,19) angeordnete Greifer oder Saugköpfe (20 bis 25) mit jeweils zwei auf dem Kreisbogen (K2) der Bereitstellstation (7) angeordneten Substrataufnahmen (16,17,...) in Deckung bringbar sind und ebenso mit dem Kreisbogen (K3) für die Substrataufnahmen der Rückförderstation.
4. Device according to claims 1 to 3, characterized in that two on the circular arc (Ki) of the gripper arms (18, 19) arranged grippers or suction heads (20 to 25), each with two on the circular arc (K 2 ) of the supply station ( 7) arranged substrate receptacles (16, 17, ...) can be brought into cover and also with the circular arc (K 3 ) for the substrate receptacles of the return station.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19709853 | 1997-03-11 | ||
| DE19709853 | 1997-03-11 | ||
| PCT/EP1998/001250 WO1998040884A1 (en) | 1997-03-11 | 1998-03-05 | Device for conveying substrates |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP0906619A1 true EP0906619A1 (en) | 1999-04-07 |
Family
ID=7822886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP98914868A Withdrawn EP0906619A1 (en) | 1997-03-11 | 1998-03-05 | Device for conveying substrates |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0906619A1 (en) |
| DE (1) | DE19729525A1 (en) |
| WO (1) | WO1998040884A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0908876A3 (en) | 1997-10-08 | 2002-02-13 | Leybold Systems GmbH | Process and apparatus for gluing a first flat disc-shaped synthetic substrate to a second similar substrate for forming a digital video disc |
| DE19900804C2 (en) | 1999-01-12 | 2000-10-19 | Siemens Ag | Conveyor system |
| DE19939716A1 (en) * | 1999-08-21 | 2001-02-22 | Leybold Systems Gmbh | Manufacturing device for data media disks has workpiece changer with movable flat plate with workpiece holders at distance of substrate holder with circular openings, disk support |
| DE10242752B4 (en) * | 2002-09-13 | 2005-01-13 | Schott Glas | Apparatus and method for automatically feeding a plurality of processing stations and coating equipment with such a device |
| DE102004055610B4 (en) * | 2004-11-18 | 2007-12-06 | SPN Schwaben Präzision Fritz Hopf GmbH | Device for driving a lifting movement and a pivoting movement exporting organ |
| DE102004055611B4 (en) * | 2004-11-18 | 2014-08-07 | SPN Schwaben Präzision Fritz Hopf GmbH | Device, in particular for driving a lifting movement and a pivoting movement exporting institution |
| DE102005011129A1 (en) * | 2005-03-10 | 2006-09-14 | Steag Hamatech Ag | Mechanism for manipulating DVD's comprises gripper arm mounted on unit which lifts and rotates them about axis at right angles to their surface, unit incorporating unit for turning disks over so that their underside is uppermost |
| DE202014105319U1 (en) * | 2014-11-05 | 2014-11-17 | Igus Gmbh | Rotary cylinder |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4310149C2 (en) * | 1993-03-29 | 1996-05-02 | Jenoptik Jena Gmbh | Device for handling disc-shaped objects in a handling level of a local clean room |
| DE4408537A1 (en) * | 1994-03-14 | 1995-09-21 | Leybold Ag | Device for the transport of substrates |
| DE19606764C1 (en) * | 1996-02-23 | 1997-04-03 | Singulus Technologies Gmbh | Substrate handling and transporting appts. |
| US5938891A (en) * | 1996-02-27 | 1999-08-17 | Origin Electric Company, Limited | Disk bonding system |
-
1997
- 1997-07-10 DE DE19729525A patent/DE19729525A1/en not_active Withdrawn
-
1998
- 1998-03-05 WO PCT/EP1998/001250 patent/WO1998040884A1/en not_active Application Discontinuation
- 1998-03-05 EP EP98914868A patent/EP0906619A1/en not_active Withdrawn
Non-Patent Citations (1)
| Title |
|---|
| See references of WO9840884A1 * |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1998040884A1 (en) | 1998-09-17 |
| DE19729525A1 (en) | 1998-09-17 |
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