KR102206345B1 - Articulated robot type protective film peeling apparatus - Google Patents

Abstract

An articulated robotic protective film peeling device is disclosed. An articulated robotic protective film peeling device according to an embodiment of the present invention includes a robotic support body supported on an installation surface, and an articulated robot body having an articulated arm connected to the robotic support body and having at least three different axes. ; And a robotic peeling head connected to the distal end of the articulated arm, comprising an adhesive rotary roller for film peeling that is adhered to the surface of the protective film to peel the protective film from at least one of the panel and the functional film. do.

Description

Articulated robot type protective film peeling apparatus

The present invention relates to an articulated robotic protective film peeling device, and more particularly, because it has a compact and efficient structure, it is possible to reduce the foot print, as well as speed control, position control, curve motion control, etc. The control of the peeling error (Error) and film stripping can be remarkably reduced, and the application of additional equipment for secondary peeling or collection of the peeled protective film is not necessary or can be simplified than before. It relates to a joint robotic protective film peeling device.

With the rapid development of the electronic display industry among the semiconductor industries in recent years, the flat panel display (FPD) also continues to develop. Flat panel displays include LCD (liquid crystal display), PDP (Plasma Display Panel), OLED (Organic Light Emitting Diodes), and the like.

Among flat panel displays, in particular, OLED is divided into passive type PMOLED and active type AMOLED according to the driving method.

AMOLED is a self-luminous display, which has the advantage of faster response speed than conventional displays, natural color sense and low power consumption. In addition, when AMOLED is applied to a flexible panel that can be easily bent and thin rather than a glass panel, the technology of a flexible display can be implemented.

In the manufacture of such OLEDs, various types of functional films, for example, functional films such as polarizer films may be used. A functional film such as a polarizing film is attached to a panel, which is an object, and serves to polarize light.

Meanwhile, in the past, as a technology for attaching a functional film such as a polarizing film to a panel as an object, a roll to stage method with a set table or a drum to stage with a drum Stage) method was common.

In the former roll-to-stage method, a panel, which is an object, is placed on a set table and a functional film is attached to the panel while the attach roller rotates. This method is due to the overhang of the film. There is a problem in that there is a limit to the implementation of the high degree of attachment due to the error.

For reference, due to its characteristics, the roll-to-stage method is highly susceptible to sagging without properly adsorbing the functional film to the attach roller part, which inevitably leads to misalignment with the panel, resulting in errors in attachment. Occurs, which is called an overhang phenomenon.

In contrast, the latter drum-to-stage method adsorbs the functional film on the surface of the drum and attaches the functional film to the panel according to the rotational motion of the drum.When the functional film and the panel are first contacted, one side of the panel has a large compression area. Damage due to contact with the pad may be caused, and there is another problem in that there is a limitation in changing various panel sizes due to the limitation of the vacuum area of the drum.

As described above, until now, the roll-to-stage method and the drum-to-stage method have been mainstream as methods of attaching a functional film to a panel, but each method has several problems as described above. The method is being proposed as an alternative, and several companies are currently developing it.

In this method, a functional film such as a polarizing film is previously adhered to a pressure-sensitive adhesive sheet having a weak viscosity, and then a functional film is placed on the panel, and then the pressure-sensitive adhesive sheet is pressed so that the functional film is attached to the panel. After the functional film is attached to the panel, the adhesive sheet is peeled off the functional film.

In order to attach the functional film in this manner, the protective film that is adhered to the surface of the panel or the functional film and protects the surface of the panel or the functional film must be peeled in advance.

As a device that peels a protective film from the surface of a panel or a functional film, the application of a uniaxial orthogonal robot can be considered. That is, several single-axis orthogonal robots can be combined in the X-axis, Y-axis, and Z-axis to be applied to peel the protective film from the surface of a panel or functional film, and it may be common to apply such a method.

However, in the case of applying a device for peeling the protective film from the surface of a panel or functional film after combining several single-axis orthogonal robots into the X-axis, Y-axis, and Z-axis, the following problems may occur.

First, since several single-axis orthogonal robots must be used in combination with the X-axis, Y-axis, and Z-axis, a large installation space is required, which inevitably increases the foot print.

Second, when the protective film is peeled off, the X-axis, Y-axis, and Z-axis drive of several single-axis orthogonal robots must be operated with so-called interpolation control technology. In this case, controls such as smooth speed control, position control, and curve motion control are required. It is difficult, and there is a problem that a peeling error occurs frequently. In particular, when peeling the protective film from a flexible panel, there is a problem in that a film stripping phenomenon occurs due to the characteristics of the panel, causing more and more peeling errors. For reference, the film stripping phenomenon means that the solid metal film of several microns deposited on the OLED device is peeled off when the protective film is peeled off, thereby damaging the product.

Third, even if several single-axis orthogonal robots are used in combination with the X-axis, Y-axis and Z-axis, there is a problem that additional equipment for transferring or loading the peeled protective film to the film collection position is required.

Considering these problems, an articulated robotic protective film peeling device can be considered. In this case, when the articulated robot hand shakes, excessive force is pressed against the protective film and the flexible panel. Since the flexible panel can be lifted together, a peeling error may occur, this should be considered.

In addition, there is a problem in that it is difficult to standardize attachment according to individual differences because the adhesive tape is manually attached to the current peeling roller, and thus improvement is needed.

Korean Patent Publication No. 10-2013-0084111 (2010.01.09.)

Therefore, the technical problem to be achieved by the present invention is that it has a compact and efficient structure, so that the foot print can be reduced, as well as control such as speed control, position control, and curve motion control, etc. It is to provide an articulated robotic protective film peeling device that can significantly reduce the incidence rate and film stripping phenomenon, and does not require the application of additional equipment for secondary peeling or collection of the peeled protective film, or that can be simplified than before. .

According to an aspect of the present invention, there is provided an articulated robot body including a robot support body supported on an installation surface, and an articulated arm connected to the robot support body and having at least three different axes; And an adhesive rotary roller for peeling a film adhered to the surface of the protective film in order to peel the protective film from at least one of the panel and the functional film, and a robot peeling head connected to the distal end of the articulated arm. An articulated robotic protective film peeling device, characterized in that it includes, may be provided.

The robot peeling head includes a roller support body rotatably supporting the adhesive rotary roller for peeling the film; And it may further include a peeling head body to which the roller support body is relatively movably coupled.

The robot peeling head is disposed between the roller support body and the peeling head body so that the adhesive rotary roller for film peeling contacts the protective film with a predetermined force and applied to the adhesive rotary roller for film peeling. It may further include a buffer unit that provides a buffer to the force.

The buffer unit may include a tensile elastic spring having one end coupled to the roller support body and the other end coupled to the peeling head body.

The peeling head body may include a roller lowering limiting stopper that restricts the lowering of the roller support body.

The robot peeling head may further include a rolling ball disposed between the roller support body and the peeling head body such that rolling friction occurs when the roller support body moves relative to the peeling head body.

The robot peeling head is disposed adjacent to the adhesive rotary roller for film peeling, and a film clamp clamping the protective film together with the adhesive rotary roller for film peeling; And it may further include a clamp actuator for driving the film clamp to approach or spaced apart the adhesive rotary roller for film peeling.

The film clamp may include a film clamp body connected to the clamp actuator; And a contact provided integrally with the film clamp body, but when the film clamp body approaches the adhesive rotary roller for film peeling, it contacts the protective film to clamp the protective film together with the adhesive rotary roller for film peeling. It may include a clamping part.

The contact clamping unit may include a pair of film clamping fingers which are formed to protrude from the film clamp body toward the adhesive rotary roller for film peeling, but are spaced apart from each other.

A curved portion having the same curvature as that of the outer peripheral surface of the adhesive rotary roller for film peeling may be formed at the end of the film clamp finger.

The robot peeling head may further include an adsorption unit provided spaced apart from the adhesive rotary roller for film peeling and having a plurality of adsorption pads for adsorbing the panel or the functional film in a vacuum.

The articulated arm may be a 6-axis articulated arm having 6 different axes.

The adhesive rotary roller for peeling the film, a rotary roller body; And an adhesive coating layer coated on the surface of the rotating roller body.

The robot peeling head may further include a film detection sensor disposed adjacent to the adhesive rotary roller for film peeling, and detecting whether the protective film is clamped by the film clamp.

According to the present invention, since it has a compact and efficient structure, it is possible to reduce the foot print, as well as control such as speed control, position control, and curve motion control, and thus the incidence of peeling errors and film stripping can be reduced. It can be significantly reduced, and the application of a separate additional equipment for secondary peeling or collection of the peeled protective film is not required or may be simplified than the conventional one.

In addition, a buffer unit that is disposed between the roller support body and the peeling head body so that the adhesive rotary roller for film peeling comes into contact with the protective film with a predetermined force to provide buffer against the force applied to the adhesive rotary roller for film peeling is provided. By further including it, it is possible to reduce the vibration and position deviation than before.

In addition, since the adhesive rotary roller for film peeling includes a rotary roller body and an adhesive coating layer coated on the surface of the rotary roller body, deviations in thickness and position of the release film can be eliminated.

1 is a structural diagram of a functional film attachment system in which an articulated robotic protective film peeling device according to an embodiment of the present invention is used.
FIG. 2 is a schematic diagram of FIG. 1 but showing a distribution line.
3 is a block diagram of an articulated robotic protective film peeling device according to an embodiment of the present invention.
4 is an enlarged perspective view of a robot peeling head of the multi-joint robotic protective film peeling device of FIG. 3.
5 is a view illustrating FIG. 4 from a different angle.
6 is an enlarged view of a main part of FIG. 5.
7 is a cross-sectional view of a main part for explaining a coupling relationship between a separation head body and a roller support body.
8 is a plan view of a main part for explaining a coupling relationship between a separation head body and a roller support body.
9 to 12 are views showing step by step a process of peeling the protective film.
13 is a perspective view of a functional film attachment device applied to the system of FIG. 1.
14 is a side view of FIG. 13.
15 is a partial cross-sectional view taken along line AA of FIG. 14.
16 is a perspective view of an adhesive sheet and first and second sheet clamps.
17 is a schematic cross-sectional view taken along line BB of FIG. 16.
18 to 21 are diagrams showing step by step a process of attaching a functional film to a panel.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the implementation of the present invention, reference should be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by describing a preferred embodiment of the present invention with reference to the accompanying drawings. The same reference numerals in each drawing indicate the same member.

Prior to the description compared to the drawings, the functional film to be described below refers to at least one selected from LCD (Liquid Crystal Display), PDP (Plasma Display Panel), and OLED (Organic Light Emitting Diodes) in order to transmit and polarize light under optimal conditions. Various types of optical films (or sheets) that can be applied to a flat panel display, such as EMI film, prism film, protective film, diffusion film, reflective film, DBEF, PVA, TAC, OCA (optical transparent adhesive film) , Release film, compensation film, anti-reflection film, polarizer film, etc., and the panel is any selected from LCD (Liquid Crystal Display), PDP (Plasma Display Panel), and OLED (Organic Light Emitting Diodes) panel. It can be a flat panel display panel, a touch panel (TSP), a window, and the like.

1 is a structural diagram of a functional film attachment system in which an articulated robotic protective film peeling device according to an embodiment of the present invention is used, and FIG. 2 schematically shows FIG. 1 but is a view showing a distribution line, and FIG. 3 Is a configuration diagram of an articulated robotic protective film peeling apparatus according to an embodiment of the present invention, and FIG. 4 is an enlarged perspective view of a robotic peeling head of the multi-jointed robotic protective film peeling apparatus of FIG. 3. FIG. 4 is a view showing a different angle, FIG. 6 is an enlarged view of the main part of FIG. 5, FIG. 7 is a cross-sectional view of the main part for explaining the coupling relationship between the peeling head body and the roller support body, and FIG. 8 is It is a plan view of main parts for explaining the coupling relationship of the support body, FIGS. 9 to 12 are diagrams showing stepwise a process in which the protective film is peeled, and FIG. 13 is a perspective view of a functional film attaching device applied to the system of FIG. 1 , FIG. 14 is a side view of FIG. 13, FIG. 15 is a partial cross-sectional view of FIG. 14 taken along line AA, FIG. 16 is a perspective view of an adhesive sheet and first and second sheet clamps, and FIG. 17 is a line BB of FIG. It is a schematic cross-sectional view according to this, and FIGS. 18 to 21 are diagrams showing stepwise a process of attaching a functional film to a panel.

In the functional film attaching system 10 in which the articulated robotic protective film peeling device 200 according to an embodiment of the present invention is used, two first functional film attaching devices 100 are provided and disposed on the same line. Each of the two first attachment positions, and two second functional film attaching devices 500 are also provided, and are respectively arranged at two second attachment positions arranged on the same line, but the same configuration is shown in the drawings for convenience of explanation. The same reference numerals are given and description will be made based on one.

1 to 21, the functional film attachment system 10 in which the multi-joint robotic protective film peeling device 200 according to the present embodiment is used is an individual functional film as a single functional film attachment system 10 It relates to a functional film attachment system 10 capable of performing both a process of attaching (Film) and a process of attaching a plurality of functional films, and may have a layout having a structure as shown in FIGS. 1 and 2, for example. Of course, the scope of the present invention is not limited to the shape of the drawings in that the system layout of FIGS. 1 and 2 can be variously changed within the scope of the present invention.

Referring first to Figures 1 and 2, the functional film attachment system 10 in which the articulated robotic protective film peeling device 200 according to the present embodiment is used is, a first functional film attaching device 100, and The 1 panel movement path line 600, the second panel movement path line 700, the film movement path line 900, the film mounting panel movement path line 800, and. It includes a second functional film attachment device 500, a common panel unloading line 950, and a multi-joint robotic protective film peeling device 200.

The first panel movement path line 600 is a distribution line through which the first panel is moved. The first panel is supplied to the first attachment position along the first panel movement path line 600. The first attachment position is a position to attach the functional film to the first panel.

The film movement path line 900 is a distribution line through which a functional film is moved. The functional film is supplied to the first attachment location or the second attachment location through the film movement path line 900.

The film movement path line 900 includes a first film movement path line 910 through which the functional film is moved to a first attachment position, and a second film movement path line 920 through which the functional film is moved to a second attachment position. Include.

In more detail, the functional film attachment system 10 in which the articulated robotic protective film peeling device 200 according to the present embodiment is used is first attached to the first panel and then the second panel A process of attaching, for example, attaching an OCA (optical transparent adhesive film) to a touch panel (TSP), and then attaching an OLED panel to it, may be performed, and then functionally on the second panel as needed. It is a composite system capable of performing a process of attaching a film, for example, a process of attaching a polarizing film to an OLED panel.

Therefore, in the process of attaching the touch panel (TSP) + OCA (optical transparent adhesive film) + OLED panel, the functional film (OCA) is moved to the first attachment position through the first film movement path line 910, and the polarizing film + During the OLED panel attachment process, the functional film (polarization film) may be moved to the second attachment position through the second film movement path line 920.

That is, in this embodiment, the first panel is a touch panel (TSP), the second panel is an OLED panel, and the functional film moving along the first film movement path line 910 is an OCA (optical transparent adhesive film), The functional film that moves along the second film movement path line 920 is a polarizing film. However, the scope of the present invention is not limited thereto and may be modified in various forms.

The second panel movement path line 700 is a distribution line through which the second panel is moved. The second panel is supplied to the second attachment position along the second panel movement path line 700. The second attachment position is a position to attach the first panel to which the functional film is attached, supplied along the film attachment panel movement path line 800, to the second panel supplied along the second panel movement path line 700 However, sometimes, it may be a position to attach the functional film supplied along the second film movement path line 920 to the second panel.

The film attachment panel movement path line 800 is a distribution line for transferring the first panel from the first attachment location to the second attachment location. At this time, the functional film is attached to the first panel by the first functional film attaching device 100. That is, in order to attach the first panel to which the functional film is attached from the first functional film attachment device 100 to the second panel supplied along the second panel movement path line 700, from the first attachment position to the second attachment position. The distribution line for transferring the first panel to which the functional film is attached is the film-attached panel movement path line 800. In this embodiment, it is a distribution line that transfers the touch panel (TSP) to which the OCA is attached to the second attachment position.

On the other hand, the common panel unloading line 950 is supplied along the distribution line for unloading the second panel to which the first panel is attached from the second functional film attachment device 500 or sometimes along the second film movement path line 920 The functional film may be a distribution line for unloading the second panel attached by the second functional film attachment device 500. That is, in the present embodiment, touch panel (TSP) + OCA (optical transparent adhesive film) + OLED panel attaching process, touch panel (TSP) + OCA (optical transparent adhesive film) + OLED panel is unloaded and polarized. In the film + OLED panel attachment process, it is a distribution line that unloads the polarizing film + OLED panel.

As such, it is possible to perform both the process of attaching individual functional films and the process of attaching a plurality of functional films with one functional film attachment system 10, and thus, an expensive facility according to the exclusive facility configuration of each individual process. The investment cost can be reduced than the conventional one, the operating manpower can be reduced than the conventional one, and space can be secured by reducing the foot print of a large area according to the configuration of dedicated facilities of each individual process.

The first functional film attaching device 100 is disposed at the first attachment position to attach the functional film to the first panel.

The second functional film attachment device 500 is disposed at a second attachment position to supply the first panel to which the functional film is attached from the first functional film attachment device 100 along the second panel movement path line 700. Attached to the second panel, or sometimes a functional film supplied along the second film movement path line 920 is attached to the second panel.

The articulated robotic protective film peeling device 200 is provided on at least one of the first panel movement path line 600, the second panel movement path line 700, and the film movement path line 900. In this embodiment, the articulated robotic protective film peeling device 200 is provided on each of the first panel movement path line 600, the second panel movement path line 700, and the film movement path line 900, It serves to peel the protective film from the surface of the second panel and the functional film.

In the present embodiment, the articulated robotic protective film peeling device 200 provided on the second film movement path line 920 to peel the protective film from the surface of the functional film, the first panel, which is transported along the moving path of the film attachment panel The protective film on the surface of the attached functional film is also peeled off. However, the scope of the present invention is not limited thereto and may be provided separately.

Meanwhile, in the present embodiment, the first panel and the second panel may be moved by the panel sliders 191 and 193. And the functional film may be moved by the film slider 195.

The panel sliders 191 and 193 include a first panel slider 191 for moving the first panel and a second panel slider 193 for moving the second panel. The first panel slider 191 serves to move the first panel to the first attachment position, and the second panel slider 193 serves to move the second panel to the second attachment position.

The film slider 195 serves to move the functional film to a first attachment position or a second attachment position.

These panel sliders 191 and 193 and the film slider 195 may have the same configuration, and move through the corresponding movement path line through a separate power device to move the first panel, the second panel and the functional film to a desired position. Can supply.

Slider alignment units 192 and 194 are coupled to the panel sliders 191 and 193, respectively. The slider alignment units 192 and 194 align the positions of the panel sliders 191 and 193 in the X-axis, Y-axis, and θ-axis to align the relative position between the panel and the functional film. In other words, it serves to align the relative position of the panel with the functional film based on the functional film.

Although the slider alignment units 192 and 194 are schematically illustrated in the drawing, the slider alignment units 192 and 194 can be applied by a combination of a cylinder, a motor, and a ball screw, and align the positions of the panel sliders 191 and 193. By doing so, the relative position between the panel and the functional film can be aligned. Of course, the film slider 195 may also be provided with the same type of alignment part, but it is not considered to be used in this embodiment.

A movement trajectory when the functional film moves to the first attachment position along the first film movement path line 910 will be described. That is, in the case of performing a process of attaching a functional film, that is, OCA (optical transparent adhesive film) to the first panel, that is, the touch panel (TSP), and then attaching the second panel, that is, the OLED panel, to the first panel in this embodiment, Will be explained.

In this case, the first functional film attaching device 100 attaches the functional film to the first panel, and the film attaching panel movement path line 800 moves the first panel to which the functional film is attached to the second attachment position, and the second The functional film attaching device 500 attaches the first panel to which the functional film is attached to the second panel.

The first panel may be finally supplied to the first functional film attaching device 100 of ④ while moving in the order of ① to ③ of FIG. 2. At this time, the first panel reaches position ① and the protective film adhered to the surface is peeled off, reaches position ② and plasma ion treatment, and then reaches position ③ and aligns with the alignment camera 400. An align mark is taken. The photographed alignment mark image information is transmitted to the controller.

In addition, the functional film is moved along the first film movement path line 910 at the loading place and is finally supplied to the first functional film attaching device 100 of ④. At this time, the functional film reaches position ⑤, the edge is photographed by the alignment camera 400, and the captured edge image information is also transmitted to the controller (not shown), and reaches position ⑥ and adheres to the surface. The protected film is peeled off. At this time, after the functional film is first moved and supplied to the first functional film attaching device 100, it is first adhered to the adhesive sheet 110 as shown in FIG. 19, and then adhered by the multi-joint robotic protective film peeling device 200. The protective film is peeled off and waits in that state. That is, in this embodiment, the position ⑥ and the position ④ are the same. However, the scope of the present invention is not limited thereto, and positions ⑥ and ④ may be configured differently.

Subsequently, the panel is moved by the first panel slider 191 and supplied to the first functional film attaching device 100, and thereafter, a process of attaching the functional film to the first panel as shown in FIGS. 20 and 21 proceeds, Attachment is completed.

In this case, while the first panel is moved to the first functional film attaching device 100, an alignment operation for the first panel may be performed. That is, since the functional film has reached the first functional film attaching device 100 in advance and is waiting, the slider alignment unit 192 determines the position of the first panel based on the edge information of the functional film in the X-axis, Y-axis, and θ. After aligning with the axis to match the relative position, the first panel is allowed to reach the first functional film attaching device 100. In this way, when the relative position of the first panel is aligned while the first panel is moving to the first functional film attachment device 100, the tact time is reduced because it is not necessary to allocate a separate time for alignment. It helps a lot in shortening it.

Subsequently, the first panel to which the functional film is attached is moved along the film attachment panel movement path line 800, reaches the position ⑦, is photographed by the alignment camera 400, and the captured image information is also a controller (not shown). And the protective film adhered to the surface of the functional film attached to the first panel after reaching position ⑧ is peeled off. At this time, the first panel to which the functional film is attached is first moved and supplied to the second functional film attaching device 500, and then first adhered to the adhesive sheet 110 as shown in FIG. 19, followed by an articulated robotic protective film peeling device ( The protective film adhered by 200) is peeled off and waits in that state. That is, in this embodiment, the position ⑧ and position ⑨ are the same. However, the scope of the present invention is not limited thereto, and positions ⑧ and ⑨ may be configured differently. At this time, the first panel is directly adhered to the adhesive sheet 110 so that the functional film can contact the second panel, and the functional film is disposed facing the second panel.

Subsequently, the second panel is moved by the second panel slider 193 and supplied to the second functional film attaching device 500 to reach the position ⑨, after which the functional film is attached as shown in FIGS. 20 and 21. A process in which the first panel is attached to the second panel is in progress, and the attached product is unloaded along the common panel unloading line 950 (see FIGS. 1 and 2 ).

Next, a movement trajectory when the functional film moves to the second attachment position along the second film movement path line 920 will be described. That is, in the present embodiment, a movement trajectory when a process of attaching a functional film, that is, a polarizing film, to a second panel, that is, an OLED panel, is performed will be described. In this case, the second functional film attaching device 500 attaches the functional film to the second panel, and the common panel unloading line 950 unloads the second panel to which the functional film is attached.

The second panel may be supplied to the second functional film attaching device 500 by reaching the position ⑨ while sequentially moving to ⑩, ⑪, and ⑫ of FIG. 2. At this time, the second panel reaches position ⑩ and the protective film adhered to the surface is peeled off, reaches position ⑪ and plasma ion treatment, and then reaches position ⑫ and aligned by the alignment camera 400. An align mark is taken. The photographed alignment mark image information is transmitted to the controller.

And the functional film is finally supplied to the second functional film attaching device 500 of number ⑨ while moving along the second film movement path line 920 at the loading position. At this time, the functional film reaches position ⑦, the edge is photographed by the alignment camera 400, and the captured edge image information is also transmitted to the controller (not shown), and reaches position ⑧ and adheres to the surface. The protected film is peeled off. At this time, after the functional film is first moved and supplied to the second functional film attaching device 500, it is first adhered to the adhesive sheet 110 as shown in FIG. 19 and then adhered by the multi-joint robotic protective film peeling device 200. The protective film is peeled off and waits in that state. That is, in this embodiment, the position ⑧ and position ⑨ are the same. However, the scope of the present invention is not limited thereto, and positions ⑧ and ⑨ may be configured differently.

Subsequently, the second panel is moved by the second panel slider 193 and supplied to the second functional film attaching device 500, and thereafter, the process of attaching the functional film to the second panel as shown in FIGS. 20 and 21 proceeds. And the attachment is complete.

In this case, of course, while the second panel is being moved to the second functional film attaching device 500, the alignment of the second panel may be performed.

As described above, in this embodiment, the articulated robotic protective film peeling device 200 is individually provided on the corresponding movement path line, and peeling (removing) the protective film of the first panel or the second panel or the functional film at the corresponding position. ) However, this articulated robotic protective film peeling device 200 will be described in detail.

In this embodiment, the structure and function of the multi-joint robotic protective film peeling device 200 provided individually on the corresponding movement path line are the same. However, the scope of the present invention is not limited thereto, and may be configured differently if necessary.

The articulated robotic protective film peeling apparatus 200 includes an articulated robotic body 210 and a robotic peeling head 240 as shown in detail in FIG. 3.

The articulated robot body 210 includes a robot support body 220 supported on an installation surface, and an articulated arm 230 connected to the robot support body 220 and having at least three different axes.

In the present embodiment, the multi-joint arm 230 is a six-axis multi-joint arm 230 having six different axes. That is, in this embodiment, the protective film is peeled off the surface of the panel or the functional film by different six-axis motions of the articulated arms 230.

When such an articulated robotic protective film peeling device 200 is applied, it has a compact and efficient structure, unlike the conventional method in which several single-axis orthogonal robots have been used in combination with the X-axis, Y-axis, and Z-axis. ), as well as speed control, position control, and curve movement control, etc., are easy to control, so that the occurrence rate of peeling errors and film detachment can be remarkably reduced. Secondary peeling or collection of the peeled protective film Additional additional equipment for the application is not required or can be simplified than before. For reference, in the present embodiment, the six-axis articulated arm 230 is applied, but if it is three or more axes, it can be appropriately deformed as needed.

Meanwhile, the robot separation head 240 is connected to the distal end of the articulated arm 230. The robot peeling head 240 includes an adhesive rotary roller 241 for film peeling, a roller support body 248, a peeling head main body 247, a buffer unit 243, a rolling ball 249, and , A film clamp 242, a clamp actuator 244, and an adsorption unit 246.

The adhesive rotary roller 241 for film peeling is adhered to the surface of the protective film in order to peel the protective film from at least one of the first panel, the second panel, and the functional film.

The adhesive rotary roller 241 for film peeling is a roller provided on one side of the robot peeling head 240 and serves to partially peel the first end of the protective film from the panel (or functional film) as shown in FIGS. 9 to 10. Since the adhesive material is applied to the surface of the adhesive rotary roller 241 for film peeling, when the adhesive rotary roller 241 for film peeling comes into contact with the end of the protective film and rotated, the protective film as shown in FIGS. 9 to 10 A part of the film may be peeled off by being attached to the adhesive rotary roller 241 for peeling the film while being slightly dried.

The adhesive rotary roller 241 for film peeling includes a rotary roller body 241a and an adhesive coating layer 241b coated on the surface of the rotary roller body 241a. In this embodiment, the adhesive tape is not attached to the adhesive rotary roller, but by providing the adhesive coating layer 241b, it is possible to remove the deviation in thickness and position of the peeling film.

On the other hand, the roller support body 248 rotatably supports the adhesive rotary roller 241 for film peeling. This roller support body 248 is coupled to the peeling head body 247 in a relative movable manner. With this structure, when the adhesive rotary roller 241 for film peeling is in contact with the end of the protective film, vibration occurs or when excessive force is applied, the force applied to the adhesive rotary roller 241 for film peeling is buffered and the roller Although the support body 248 is weak to the peeling head body 247, it can be moved upwards by relative movement.

A buffer unit 243 is provided between the roller support body 248 and the peeling head body 247 for buffering the roller support body 248 and the peeling head body 247. This buffer unit 243 provides a buffer to the force applied to the adhesive rotary roller 241 for film peeling, so that the contact is made with a constant force. In the present embodiment, the buffer unit 243 includes an elastic tension spring 243 having one end coupled to the roller support body 248 and the other end coupled to the peeling head body 247, which is usually shaken or the thickness of the protective film Since the movement of the adhesive rotary roller 241 for film peeling due to the deviation is in the unit of several tens of microns, there is little change in the force of the elastic tension spring, so it can be said to be in contact with a constant force.

In more detail, in the case of vertical shaking of the multi-joint arm 230, a detachment error may occur. This buffer unit 243 acts as a buffer even when the micro-position and pressure changes due to such shaking. The adhesive rotary roller 241 for film peeling is brought into contact with the protective film so as to reduce the peeling error caused by the above. In addition, the thickness of the protective film contacted by the adhesive rotary roller for film peeling 241 may have a different position for each protective film, and in this case, a peeling error may also occur, even in the thickness deviation or position deviation of the protective film. As the buffer unit 243 acts as a buffer, the adhesive rotary roller 241 for film peeling is brought into contact with the protective film so as to reduce peeling errors due to variation in thickness or position of the protective film than in the prior art.

And the peeling head body 247 includes a roller lowering limiting stopper portion 247a that limits the lowering of the roller support body 248, and one end of the roller lowering limiting stopper portion 243 as described above is the roller support body ( 248 and the other end is coupled to the peeling head body 247, whereby the roller lowering stopper portion 243 elastically presses the adhesive rotary roller 241 for film peeling toward the protective film side, but the roller lowering is restricted stopper portion The descent is restricted to (247a) and remains in contact.

In this state, when the adhesive rotary roller 241 for film peeling comes into contact with the protective film, the force is transmitted to the adhesive rotary roller 241 for film peeling, and the stopper part 243 that restricts the lowering of the roller even if excessive force is applied. After overcoming the elastic force of the roller support body 248 moves in units of tens of microns, it contacts the protective film with a predetermined force.

Meanwhile, a rolling ball 249 is disposed between the roller support body 248 and the peeling head body 247 so that rolling friction occurs when the roller support body 248 moves relative to the peeling head body 247. Accordingly, friction is minimized when the roller support body 248 moves relative to the peeling head body 247.

On the other hand, the robot peeling head 240 is provided with a film clamp 242 and a clamp actuator 244 to interact with the adhesive rotary roller 241 for film peeling.

The film clamp 242 is disposed adjacent to the adhesive rotary roller 241 for film peeling in the robot peeling head 240, and serves to clamp the protective film together with the adhesive rotary roller 241 for film peeling.

The film clamp 242 is provided integrally with the film clamp body 242a connected to the clamp actuator 244 and the film clamp body 242a, but the film clamp body 242a is an adhesive rotary roller 241 for film peeling. ) And a contact clamping portion (242b) for clamping the protective film together with the adhesive rotary roller 241 for peeling the film by contacting the protective film when approached.

In this embodiment, the contact clamping part 242b includes a pair of film clamping fingers 242b which are formed to protrude from the film clamp body toward the adhesive rotary roller 241 for film peeling, and are spaced apart from each other.

Further, at the end of the film clamping finger 242b, a curved portion 242c having the same curvature as that of the outer circumferential curved surface of the adhesive rotary roller 241 for film peeling is formed. Accordingly, the peeled protective film can be clamped without error between the adhesive rotary roller 241 for film peeling and the curved portion 242c of the film clamping finger 242b.

The clamp actuator 244 serves to drive the film clamp 242 to or away from the adhesive rotary roller 241 for film peeling. The clamp actuator 244 may be of a motor or cylinder structure.

Accordingly, in FIG. 9, a part of the protective film as shown in FIG. 10 is slightly curled and adhered to the adhesive rotary roller 241 for film peeling and peeled off, and then the clamp actuator 244 is operated as shown in FIG. 11 to the curved portion of the film clamp 242 (242c) is pressed in contact with the outer surface of the adhesive rotary roller 241 for film peeling. Then, the partially peeled protective film may be clamped between the adhesive rotary roller 241 for film peeling and the curved portion 242c of the film clamp 242, and in this state, the multi-joint robotic protective film peeling device as shown in FIG. By operating 200, the protective film may be completely peeled off the panel or the functional film.

The robot peeling head 240 is provided with a film detection sensor 245 that detects whether the protective film is clamped by the film clamp 242. After the film detection sensor 245 detects that there is a protective film, the articulated robotic protective film peeling device 200 is operated as shown in FIG. 12 to completely peel the protective film from the first panel or the second panel (or functional film). I can make it. Therefore, even though the protective film is not clamped between the adhesive rotary roller 241 for film peeling and the film clamp 242, it is possible to prevent the occurrence of an error in which the multi-joint robotic protective film peeling device 200 operates as shown in FIG. 12. have.

In addition to such configurations, that is, configurations for peeling and clamping the protective film, the robot peeling head 240 is further equipped with an adsorption unit 246. The adsorption unit 246 is provided on one side of the robot peeling head 240 and includes a plurality of adsorption pads 246a for adsorbing the panel or the functional film with a vacuum. The adsorption unit 246 may serve to move a position by adsorbing a panel, a functional film, or other subsidiary materials.

On the other hand, the functional film attachment system 10 in which the multi-joint robotic protective film peeling device 200 according to the present embodiment is used further includes an adhesion improving device 300. The adhesion enhancing device 300 is disposed adjacent to the articulated robotic protective film peeling device 200 in FIGS. 1 and 2 along the first panel movement path line 600 and the second panel movement path line 700, and , It serves to spray plasma ions toward the peeling surface of the panel from which the protective film is peeled off.

In other words, the adhesion improving device 300 is disposed on the first panel movement path line 600 and the second panel movement path line 700 in a post-process of the articulated robotic protective film peeling device 200, and the protective film Plasma ions are sprayed toward the surface of the exfoliated panel to improve adhesion to the functional film. Since the surface to which the functional film is to be attached is subjected to plasma ion treatment, the functional film can be better attached.

In addition, the functional film attachment system 10 in which the articulated robotic protective film peeling device 200 according to the present embodiment is used further includes an alignment camera 400.

As shown in FIGS. 1 and 2, the alignment camera 400 aligns the relative positions of the first panel and the second panel with respect to the functional film or the first panel and the second panel to which the functional film is attached. It serves to photograph an alignment image of the first panel, the second panel, the functional film, and the first panel to which the functional film is attached to align the relative position of the unit. In this embodiment, the alignment camera 400 is provided to be fixedly positioned on a corresponding movement path line.

Meanwhile, the first functional film attaching device 100 and the second functional film attaching device 500 may have different structures and functions, but in this embodiment, the first functional film attaching device 100 and the second functional film attaching device Since all of the structures and functions of the 500 are the same, the first functional film attaching apparatus 100 will be described in detail.

As shown in detail in FIGS. 13 to 21, the first functional film attachment device 100 is provided on the device body 120 and the device body 120, but the functional film on the panel using the adhesive sheet 110 It may include a functional film attachment portion 150 to attach.

In addition, the first functional film attaching device 100 according to an embodiment of the present invention may further include a sheet mounting portion 130 for mounting the adhesive sheet 110 on the device body 120. The first panel slider 191 may be provided separately from the device body 120 and may form a place where the functional film is attached to the first panel.

The device main body 120 forms the exterior structure of the first functional film attaching device 100 according to the present embodiment. Structures such as an adhesive sheet 110, a sheet mounting portion 130, and a functional film attachment portion 150 are mounted on the device main body 120 for each position.

A body driving unit 121 is provided on one side of the device body 120. The main body driving unit 121 serves to drive the entire device main body 120 up and down. Since the device main body 120 is spaced apart from the top of the panel sliders 191 and 193, the main body driving unit 121 may be provided to adjust the spacing thereof.

Meanwhile, in the case of the present embodiment, the functional film is not attached to the first panel as it is, but the functional film is attached to the first panel using the adhesive sheet 110. Therefore, prior to the description of the functional film attachment portion 150, the structure and function of the adhesive sheet 110 will be first described.

The pressure-sensitive adhesive sheet 110 applied to the present embodiment is a medium used to attach a functional film to the first panel. That is, in the case of this embodiment, the functional film is not attached to the first panel as it is, but after the functional film is first adhered to the pressure-sensitive adhesive sheet 110 as shown in FIGS. 18 to 21, the functional film and the first panel are aligned with each other. , By pressing the pressure-sensitive adhesive sheet 110, the functional film can be attached to the first panel.

In the case of attaching the functional film to the first panel through the adhesive sheet 110 as described above, the roll-to-stage method using the conventional set table or the drum-to-stage method using the drum Unlike the (Drum to Stage) method, it has the advantage of excellent adhesion efficiency and quality.

However, in the case of applying the adhesive sheet 110, in the case of simply applying an engineering plastic-based adhesive sheet, air pocket sheet, porous sheet, etc., high elongation ) It is impossible to respond to the product with the degree of attachment, the lifespan is short, and the downtime increases due to the high running cost and frequent replacement cycles.

Thus, in this embodiment, this problem is solved by presenting the adhesive sheet 110 having an innovative structure as follows. The adhesive sheet 110 applied to the first functional film attaching device 100 according to the present embodiment is an adhesive layer 111, a reinforcing layer 114, and disposed therebetween, as shown in FIGS. 16 and 17 It may include a cushion layer 112 and an adhesive layer 113. As shown in FIG. 17, the adhesive layer 111, the cushion layer 112, the adhesive layer 113, and the reinforcing layer 114 may be sequentially arranged.

The adhesive layer 111 is a portion adhered to the functional film to be attached to the panel through an adhesive force based on van der Waals force.

For reference, the Van der Waals force refers to the force acting between electrically neutral molecules that do not have negative electrons. In particular, it refers to the attractive force acting at a relatively long distance. The van der Waals force is a result of the dispersing force, and the forces acting between rare gas atoms and the factors that form molecular crystals of hydrocarbons such as benzene can be explained by the van der Waals force. In addition, the van der Waals force refers to an intrinsic force required to explain the phenomena such as agglomeration and adhesion of liquids and physical adsorption as in this embodiment.

In summary, Van der Waals force is an extremely weak electrostatic attraction that acts only at very close distances between electrically neutral molecules, and collectively refers to the electrical forces acting between covalently bonded molecules.

In particular, physical adhesion is possible without separate power through the power of ions. Since the adhesion layer 111 is produced based on this van der Waals force, the functional film can be easily adhered and also peeled off. have. That is, since weak viscosity is formed on the adhesive layer 111, the functional film can be adhered to the adhesive layer 111, and after the functional film is attached to the panel, the functional film is easily peeled off, that is, detached from the adhesive layer 111 Can be.

On the other hand, in applying such an adhesive layer 111, if only the adhesive layer 111 is applied as a sheet, the desired process can be performed well at the beginning, but the adhesive layer 111 may increase due to high adhesion pressure during repeated use. However, when the adhesive layer 111 is increased, it is inevitable to respond to products with a high degree of adhesion.

Accordingly, a reinforcing layer 114 is provided on the pressure-sensitive adhesive sheet 110 applied to the first functional film attaching device 100 according to the present embodiment so that this phenomenon does not occur. The reinforcing layer 114 is connected to the adhesive layer 111 and serves to reinforce the adhesive layer 111 so that the elongation of the adhesive layer 111 is not increased. In this embodiment, the reinforcing layer 114 is applied as a stainless steel thin plate, and is reinforced while supporting the adhesive layer 111 in a larger area than the adhesive layer 111 as shown in FIG. 16. Since the reinforcing layer 114 is applied as a stainless steel thin plate, it is advantageous to meet the elongation.

In this way, when the reinforcing layer 114 is further applied and applied as the pressure-sensitive adhesive sheet 110, the elongation can be reduced as close as possible to almost zero, so that a product with a high degree of adhesion can be responded, and durability is improved. As a result, the life span can be prolonged, reducing the running cost, as well as a long replacement cycle, which can significantly reduce the down time.

The cushion layer 112 is a layer interposed between the adhesive layer 111 and the adhesive layer 113. The cushion layer 112 serves to provide a cushioning force when the functional film is attached to the panel. Therefore, while pressing the adhesive sheet 110 with the attachment roller 151 to be described later, damage to the panel while the functional film is attached to the panel can be prevented.

The adhesive layer 113 serves to bond the cushion layer 112 and the reinforcing layer 114. In fact, since the adhesive layer 111 has a weak viscosity and can adhere well to the cushion layer 112, the adhesive layer 113 only needs to be interposed in the cushion layer 112 and the reinforcing layer 114. Of course, if necessary, the adhesive layer 113 may also be re-replaced between the adhesive layer 111 and the cushion layer 112, but it should be said that these matters also fall within the scope of the present invention.

As described above, the adhesive sheet 110 applied to this embodiment may include an adhesive layer 111, a reinforcing layer 114, and a cushion layer 112 and an adhesive layer 113 disposed therebetween, wherein the adhesive layer The thickness of 113 and the cushion layer 112 and the thickness of the reinforcing layer 114 may be the same, and the thickness of the adhesive layer 111 may be two or more times greater than the thickness of the reinforcing layer 114. For example, if the thickness of the adhesive layer 111 is 300 μm, the thickness of the reinforcing layer 114 may be 50 μm, and the sum of the thickness of the cushion layer 112 and the thickness of the reinforcing layer 114 may be 50 μm. . This is because a portion to which the functional film is substantially adhered is the adhesive layer 111, so that a thick one is advantageous, and the reinforcing layer 114 can be flexible only if it is thin. However, the scope of the present invention is not limited to its numerical value.

As described above, it is preferable that the pressure-sensitive adhesive sheet 110 based on the van der Waals force is applied to the first functional film attaching device 100 according to the present embodiment, but this is not necessarily the case. That is, even if a pressure-sensitive adhesive sheet (not shown) coated with a common adhesive material is used, there is no relationship. Therefore, the scope of the present invention is not limited to these matters.

Meanwhile, first and second sheet clamps 116 and 117 supporting both ends of the adhesive sheet 110 are provided at both ends of the adhesive sheet 110 so that the adhesive sheet 110 can be mounted at the corresponding position of the device body 120 Are combined. In addition, the adhesive sheet 110 may be mounted on the sheet mounting unit 130 through the first and second sheet clamps 116 and 117.

The sheet mounting unit 130 is a configuration provided on one side of the device body 120 and forms a place where the adhesive sheet 110 is mounted. As described above, the first and second sheet clamps 116 and 117 are coupled to both ends of the pressure-sensitive adhesive sheet 110, and the first and second sheet clamps 116 and 117 are mounted on the sheet mounting unit 130 in such a manner that the pressure-sensitive adhesive sheet ( 110) can be installed.

The seat mounting portion 130 is provided on one side of the device body 120, a first clamp mounting support 131 for supporting the first seat clamp 116 to be mounted, and the other side of the device body 120, , It may include a second clamp mounting support 132 for supporting the second seat clamp 117 to be mounted.

As such, the first sheet clamp 116 supporting one end of the adhesive sheet 110 is mounted on the first clamp mounting support 131, and the second sheet clamp 117 supporting the other end of the adhesive sheet 110 The adhesive sheet 110 may be installed in the form of being mounted on the second clamp mounting support 132, and the adhesive that hangs between the first clamp mounting support 131 and the second clamp mounting support 132 A plurality of sheet idle rollers 134 are provided to guide the sheet 110.

The plurality of sheet idle rollers 134 are disposed between the first clamp mounting support 131 and the second clamp mounting support 132 and serve to guide the adhesive sheet 110. In this embodiment, a plurality of sheet idle rollers 134 are disposed rotatably on each side of the first clamp mounting support 131 and the second clamp mounting support 132, and all are applied as non-powered free rotating rollers. do.

Although the pressure-sensitive adhesive sheet 110 is guided by the action of the sheet idle rollers 134, the pressure-sensitive adhesive sheet 110 is pressed toward the panel when the functional film is attached. There is a fear that the initial tension will be distorted. Thus, the sheet tension holding unit 140 is provided.

The sheet tension holding unit 140 is provided on at least one of the first clamp mounting support 131 and the second clamp mounting support 132, and serves to maintain the tension of the adhesive sheet 110. In the present embodiment, the sheet tension holding portion 140 is provided on the side of the first clamp mounting support 131. However, this is only one example. That is, the sheet tension holding part 140 may be provided on the side of the second clamp mounting support 132, or may be provided on both the first clamp mounting support 131 and the second clamp mounting support 132. There will be.

The seat tension holding unit 140 includes a sliding rail 141 coupled to one side of the device body 120 and a rail block 143 engaged with the sliding rail 141, and a support for mounting a first clamp ( It may include a support support 142 coupled to the 131, and a tension cylinder 144 operated by being connected to the support support 142. Accordingly, since the tension cylinder 144 presses or pulls the support support 142 with a predetermined pressing force, the tension of the initially set value can be maintained as it is.

Meanwhile, the first functional film attaching device 100 according to the present embodiment is provided with a functional film attaching portion 150 as described above. The functional film attachment part 150 is provided on the device main body 120 adjacent to the sheet mounting part 130, and the functional film is adhered to the adhesive sheet 110 in an unfolded state, and then, using the adhesive sheet 110. It serves to attach the functional film to the first panel.

In other words, the functional film attachment part 150 first adheres the functional film to the adhesive sheet 110 as shown in FIGS. 18 to 21, and then aligns the relative position of the first panel with the functional film based on the functional film. Next, by pressing the pressure-sensitive adhesive sheet 110, the functional film can be attached to the first panel. After the functional film is attached to the first panel, the adhesive sheet 110 is peeled off, that is, separated from the functional film.

The functional film attachment part 150 that plays this role includes an attachment roller 151 connected to one body by a roller support module 155, a backup roller 152, and a sheet release roller 153, and a roller support module ( It may include a module up/down driving unit 160 for driving up/down 155 and a module driving unit 170 for driving the roller support module 155.

Attachment roller 151 is the adhesive sheet 110 so that the functional film is adhered to the adhesive layer 111 of the adhesive sheet 110 as shown in FIG. 18 to 19 or the functional film is attached to the first panel as shown in FIG. It is a roller that is pressed and moved on the top.

In other words, the attachment roller 151 presses the adhesive sheet 110 from one side to the other while rotating and moving in the reinforcing layer 114 on the adhesive sheet 110. Accordingly, a process of attaching the functional film to the adhesive layer 111 of the adhesive sheet 110 as shown in FIG. 18 in FIG. 19 may be performed, and a process of attaching the functional film to the panel as shown in FIG. 20 to FIG. 21 may be performed.

The backup roller 152 is circumscribed to the attachment roller 151 and is a roller supporting the rotation of the attachment roller 151. The backup roller 152 may have a larger diameter than the attachment roller 151, and due to the action of the backup roller 152, the attachment roller 151 is formed of the adhesive layer of the adhesive sheet 110 as shown in FIGS. 111), or the process of attaching the functional film to the panel as shown in FIGS. 20 to 21 can proceed well.

The sheet release roller 153 is a roller having a function of removing the adhesive sheet 110 from the functional film when the attachment of the functional film to the panel is completed as shown in FIG. 21. The sheet release roller 153 is disposed under the adhesive sheet 110 at a position higher than the attachment roller 151. In this way, since the sheet release roller 153 is disposed under the adhesive sheet 110, when the sheet release roller 153 is up (up), the adhesive sheet 110 may be peeled off, that is, detached from the functional film.

The attachment roller 151, the backup roller 152, and the sheet release roller 153 described above are supported in one body by the roller support module 155. Therefore, when the roller support module 155 is up (up), the attachment roller 151, the backup roller 152, and the sheet release roller 153 may also be up (up), and the roller support module 155 is down ( If down), the attachment roller 151, the backup roller 152, and the sheet release roller 153 may also be down together.

The module up/down driving unit 160 is provided in the device main body 120 and serves to up/down drive the roller support module 155. In this embodiment, the module up/down driving unit 160 includes a low friction cylinder 161. In addition, the low friction cylinder 161 is provided with a load cell 162 that senses a pressing force by which the attachment roller 151 is pressed against the adhesive sheet 110. By controlling the force of the low friction cylinder 161 by a controller (not shown) based on the information of the load cell 162, it is possible to press the pressure-sensitive adhesive sheet 110 with a constant pressure, and thereby, a functional film on the pressure-sensitive adhesive sheet 110 May be adhered or a functional film may be attached to the first panel.

The module driving unit 170 is provided on the device body 120 and is connected to the roller support module 155 and the module up/down driving unit 160, and the roller support module 155 is provided on the panel slider as shown in FIGS. 19 and 21. 191, 193) to drive the reciprocating drive.

As shown in Figure 15, the module driving unit 170 is a motor 171 that generates a driving force, a ball screw 172 that can be rotated in the forward and reverse direction by the motor 171, and the ball screw 172 in a screw manner. It may include a screw nut 173 coupled to the module up / down driving unit 160 at one side. Accordingly, when the motor 171 is driven and the ball screw 172 is rotated, the module up/down driving unit 160 as well as the roller support module 155 due to the action of the screw nut 173 moving on the ball screw 172 The whole may be reciprocally driven on the panel sliders 191 and 193. The controller (not shown) controls the operation of the module up/down driving unit 160 and the module driving unit 170 based on the process conditions for attaching the functional film to the adhesive sheet 110 or attaching the functional film to the panel. I can control it.

Hereinafter, the operation of the functional film attachment system 10 in which the multi-joint robotic protective film peeling device 200 according to the present embodiment is used will be described.

First, a process of attaching a functional film, that is, an OCA (optical transparent adhesive film), to a first panel, that is, a touch panel (TSP), and then a second panel, that is, an OLED panel, will be described.

The functional film loaded on the film slider 195 is finally supplied to the first functional film attachment device 100 of ④ while moving in the order of ⑤, ⑥, and ④ to the loading position of FIG. 2. At this time, the functional film reaches position ⑤ and an edge is photographed by the alignment camera 400. The captured image information is transmitted to a controller (not shown). And the protective film that reaches the position ⑥ and adhered to the surface is peeled off by the multi-joint robotic protective film peeling device 200.

The functional film from which the protective film has been peeled off is supplied to the first functional film attaching device 100 of ④ and then adhered to the adhesive sheet 110. Let's look at this. That is, when the functional film is loaded on the panel sliders 191 and 193 as shown in FIG. 18, the roller support module 155 is down by the module up/down driving unit 160. Subsequently, as shown in FIG. 19, the roller support module 155 is moved from one side to the other by the action of the module driving unit 170, so that the functional film is transferred to the adhesive layer 111 of the adhesive sheet 110 through adhesive force based on the van der Waals force. Sticks. After the functional film is adhered to the adhesive sheet 110, the roller support module 155 is up (up) by the module up/down driving unit 160.

As described above, while the functional film is adhered to the adhesive sheet 110, the first panel on the other hand is moved in the order of ① to ④ of FIG. 2 and is finally supplied to the first functional film attaching device 100 of ④.

The first panel reaches position ① and the protective film adhered to the surface is peeled off in the process of Figs. 9 to 12 by the multi-joint robotic protective film peeling device 200, and reaches position ② to improve adhesion. After plasma ion treatment by 300, the position ③ is reached, and an alignment mark is photographed by the alignment camera 400. The captured image information is also transmitted to a controller (not shown).

And it is supplied to the first functional film attachment device 100 of ④. At this time, since the functional film is already adhered to the adhesive sheet 110 of the first functional film attaching device 100, alignment with the first panel is performed in order to align the relative position of the first panel based on the functional film. The work proceeds. As described above, the alignment operation on the first panel may be performed while the first panel is being moved to the first functional film attaching device 100.

When the aligned first panel reaches the attachment position, the roller support module 155 is down again by the module up/down driving unit 160. Subsequently, as shown in FIG. 20, the roller support module 155 is further down by the module up/down driving unit 160 so that the functional film contacts the first panel by the action of the attachment roller 151.

Then, as shown in FIG. 21, the roller support module 155 is moved from the other side to one side by the action of the module driving unit 170, so that the attachment roller 151 presses the adhesive sheet 110, so that the first panel is functional Allows the film to be attached. After the functional film is attached to the first panel, the roller support module 155 is again up (up) by the module up/down driving unit 160, and the adhesive sheet is separated from the functional film due to its action.

Subsequently, the first panel to which the functional film is attached is moved along the film attachment panel movement path line 800, reaches the position ⑦, is photographed by the alignment camera 400, and the captured image information is also a controller (not shown). Is sent to. After reaching the position ⑧, the protective film adhered to the surface of the functional film is peeled off. After the first panel to which the functional film is attached is supplied to the second functional film attaching device 500, it is first adhered to the pressure-sensitive adhesive sheet 110 and waits as shown in FIG. 19. Subsequently, the second panel is moved by the second panel slider 193 and supplied to the second functional film attaching device 500, after which the functional film is attached to the second panel as shown in FIGS. 20 and 21 as described above. The process of attaching the first panel that has been attached is in progress, and the attached product is unloaded along the common panel unloading line 950 (see FIGS. 1 and 2 ).

Next, a process of attaching a functional film, that is, a polarizing film, to the second panel, that is, the OLED panel will be described.

The functional film may be finally supplied to the second functional film attaching device 500 of No. ⑨ while moving along the second film movement path line 920 at the loading position. At this time, the functional film reaches position ⑦, the edge is photographed by the alignment camera 400, and the captured edge image information is also transmitted to the controller (not shown), and reaches position ⑧ and adheres to the surface. The protected film is peeled off.

And after the functional film is first moved by the film slider 195 and supplied to the second functional film attaching device 500, it is first adhered to the pressure-sensitive adhesive sheet 110 and waits as shown in FIG. 19, followed by the second panel slider ( The second panel is moved by 193 and supplied to the second functional film attaching device 500.

Subsequently, as described above in the second functional film attaching device 500, a process of attaching the functional film to the second panel as shown in FIGS. 20 and 21 proceeds, and the attaching operation is completed. The attached product is unloaded along the common panel unloading line 950 (see FIGS. 1 and 2 ).

In the above-described embodiment, the multi-joint robotic protective film peeling device 200 can perform both a process of attaching an individual functional film and a process of attaching a plurality of functional films with one functional film attachment system. Although it has been described above for use in the film attachment system, it may be applied when peeling the protective film to various systems.

As described above, the present invention is not limited to the described embodiments, and it is obvious to those of ordinary skill in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, it should be said that such modifications or variations belong to the claims of the present invention.

100: first functional film attachment device 110: adhesive sheet
120: device body 130: seat mounting portion
140: sheet tension maintenance unit 150: functional film attachment portion
160: module up/down driving unit 170: module driving unit
91: first panel slider 193: second panel slider
192, 194: slider alignment unit 195: film slider
200: articulated robotic protective film peeling device 210: articulated robot body
220: robot support body 230: multi-joint arm
240: robot peeling head 241: adhesive rotary roller for film peeling
242: film clamp 242c: curved portion
244: clamp actuator 245: film detection sensor
246: adsorption unit 246a: adsorption pad
300: adhesion improving device 400: alignment camera
500: second functional film attachment device 600: first panel movement path line
700: second panel movement path line 800: film attached panel movement path line
900: film moving path line 950: common panel unloading line

Claims (14)

An articulated robot body including a robot support body supported on an installation surface, and an articulated arm connected to the robot support body and having at least three different axes; And
In order to peel the protective film from the surface of at least one of the panel and the functional film, it includes a film peeling adhesive rotary roller attached to the surface of the protective film, and a robot peeling head connected to the distal end of the articulated arm And
The robot peeling head,
A roller support body rotatably supporting the adhesive rotary roller for peeling the film; And
The roller support body further comprises a separation head body to which the relative movement is possible,
The peeling head body,
Multi-joint robotic protective film peeling device comprising a stopper for limiting the lowering of the roller support body. delete The method of claim 1,
The robot peeling head,
It is disposed between the roller support body and the peeling head body so that the adhesive rotary roller for film peeling comes into contact with the protective film with a predetermined force to provide a buffer against the force applied to the adhesive rotary roller for film peeling. Articulated robotic protective film peeling device, characterized in that it further comprises a buffer unit. The method of claim 3,
The buffer unit, an articulated robotic protective film peeling apparatus comprising a tensile elastic spring having one end coupled to the roller support body and the other end coupled to the peeling head body. delete The method of claim 1,
The robot peeling head,
The multi-joint robotic protective film peeling apparatus further comprises a rolling ball disposed between the roller support body and the peeling head body so that rolling friction occurs when the roller support body moves relative to the peeling head body. The method of claim 1,
The robot peeling head,
A film clamp disposed adjacent to the adhesive rotary roller for film peeling and clamping the protective film together with the adhesive rotary roller for film peeling; And
An articulated robotic protective film peeling apparatus further comprising a clamp actuator for approaching or driving the film clamp to the adhesive rotary roller for film peeling apart. The method of claim 7,
The film clamp,
A film clamp body connected to the clamp actuator; And
Contact clamping provided integrally with the film clamp body, but when the film clamp body approaches the film peeling adhesive rotary roller, it contacts the protective film and clamps the protective film together with the adhesive rotary roller for film peeling Multi-joint robotic protective film peeling device comprising a part. The method of claim 8,
The contact clamping part,
An articulated robotic protective film peeling device comprising a pair of film clamping fingers which are protruded from the film clamp body toward the adhesive rotary roller for film peeling, and are spaced apart from each other. The method of claim 9,
An articulated robotic protective film peeling device, characterized in that a curved portion having the same curvature as that of an outer peripheral surface of the adhesive rotary roller for film peeling is formed at an end of the film clamp finger. The method of claim 1,
The robot peeling head,
The multi-joint robotic protective film peeling device, further comprising an adsorption unit provided spaced apart from the adhesive rotary roller for peeling the film and having a plurality of adsorption pads for adsorbing the panel or the functional film in a vacuum. The method of claim 1,
The multi-joint arm is a multi-joint robotic protective film peeling device, characterized in that the six-axis multi-joint arm having six different axes. The method of claim 1,
The adhesive rotary roller for peeling the film,
Rotary roller body; And
Multi-joint robotic protective film peeling apparatus comprising an adhesive coating layer coated on the surface of the rotating roller body. The method of claim 1,
The robot peeling head,
The multi-joint robotic protective film peeling device, further comprising a film detection sensor disposed adjacent to the adhesive rotary roller for film peeling, and detecting whether the protective film is clamped by the film clamp.

Images