KR102334055B1 - Loading and unloading robot hand for panel - Google Patents

Abstract

A panel transfer robot hand is disclosed. A panel transfer robot hand according to an embodiment of the present invention includes a plate-shaped plate extending from one side of an arm; an electrostatic circuit laminated on the plate; and electrodes provided to face each other with a gap on the plate.

Description

Panel transfer robot hand {LOADING AND UNLOADING ROBOT HAND FOR PANEL}

The present invention relates to a panel transfer robot hand, and more particularly, to a panel transfer robot hand capable of stably transferring and loading a panel on which a liquid-curable adhesive layer is laminated.

A display device includes a liquid crystal display (LCD), an organic light emitting diode display (OLED), and a plasma display panel (PDP) according to a light emitting method.

The display device is composed of different functional panels, and each panel is bonded to each other with an adhesive layer interposed therebetween. Depending on the type of adhesive layer, there are a film adhesive layer and a liquid curing adhesive layer in which a liquid adhesive is applied and cured.

In order to manufacture a display device, numerous processes are performed, and in order to perform each process, it is necessary to transfer a panel between each process device.

In the prior art method, when the panel is loaded, it is supported and fixed by vacuum suction or a gripper.

In the case of the vacuum adsorption method, one side of the panel is adsorbed and supported and fixed by a suction pad having a plurality of suction holes formed therein. The vacuum adsorption method is used in various fields because of its simple use and simple configuration. However, there was a problem in that marks or stains were generated on the panel due to the temperature deviation between the adsorption holes and the flattening inhibition due to the difference in adsorption force when the panel was transferred and loaded before curing after the liquid curable adhesive layer was applied.

In addition, in the case of a panel coated with a liquid-curable adhesive layer, there was a problem in that the gripper could not physically fix the panel up and down when the panel was transported before the adhesive layer was cured.

Korean Registration Publication No. 10-1375651 (Announcement date: 2014.03.19.)

One technical problem to be solved by the present invention relates to a panel transfer robot hand capable of stably transferring a panel from forming a liquid-curable adhesive layer on a panel to bonding with another panel.

In order to solve the above technical problem, the present invention provides a panel transfer robot hand.

A panel transfer robot hand according to an embodiment of the present invention includes a plate-shaped plate extending from one side of an arm; an electrostatic circuit provided on the plate; and electrodes provided to face each other with a gap on the plate.

According to an embodiment, the plate may further include a plate inclination adjustment unit provided under the plate and capable of adjusting the inclination of the plate in any one direction.

According to an embodiment, the plate inclination adjusting unit may include: a shaft connected to a support frame fixedly connected to the arm and rotatable by a rotational driving force of a motor; and a plate inclination adjustment frame connected to the shaft and linked to the rotation of the shaft to adjust the up-down of the end of the plate in the up-down direction.

According to an embodiment, the electrode may be formed to protrude from both ends of the plate.

According to an embodiment, the plate may have a thickness of 1 mm to 10 mm.

According to an embodiment, the plate may be inclined upward toward the arm.

According to an embodiment, the electrostatic circuit may have a central region and an edge portion along a periphery of an opening through which one end is formed.

According to an embodiment of the present invention, the panel transfer and loading robot hand using electrostatic force has the advantage of stably supporting and fixing the panel with a uniform electrostatic force over the entire area.

According to an embodiment of the present invention, since the plate has a thin thickness of 1 mm to 10 mm, the panel is floated to a minimum height in the process area, and the insertion space of the panel transfer robot hand in the process area is reduced, so that the entire process There is an advantage that the volume of the equipment can be minimized.

According to another embodiment of the present invention, since the panel input portion has a low thickness and the panel slides into the panel seating surface when the panel P is loaded, the panel P can be loaded more smoothly.

1A to 1D are views illustrating a process in which a liquid curable adhesive layer is laminated on a panel according to an embodiment of the present invention.
2A and 2B are views showing a panel loading robot hand and a panel mounted thereon according to an embodiment of the present invention.
3A and 3B are views illustrating a panel transfer robot hand including an electrostatic circuit according to another embodiment of the present invention.
4A and 4B are views illustrating a panel transfer robot hand including a plate and an electrostatic circuit according to another embodiment of the present invention.
5A to 5F are diagrams illustrating the transfer of a panel using a panel transfer robot hand according to an embodiment of the present invention.
6A and 6B are views illustrating a panel transfer robot hand according to another embodiment of the present invention.
7A and 7B are views illustrating a panel transfer robot hand according to another embodiment of the present invention.
8 is a view showing a panel transfer robot hand according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical spirit of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, the shape and size are exaggerated for effective description of technical content.

In addition, in various embodiments of the present specification, terms such as first, second, third, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes a complementary embodiment thereof. In addition, in the present specification, 'and/or' is used to mean including at least one of the elements listed before and after.

In the specification, the singular expression includes the plural expression unless the context clearly dictates otherwise. In addition, terms such as "comprise" or "have" are intended to designate that a feature, number, step, element, or a combination thereof described in the specification is present, and one or more other features, numbers, steps, configuration It should not be construed as excluding the possibility of the presence or addition of elements or combinations thereof. Also, in the present specification, the term “connection” is used to include both indirectly connecting a plurality of components and directly connecting a plurality of components.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

1A to 1D are views illustrating a process in which a liquid curable adhesive layer (A) is laminated on a panel (P) according to an embodiment of the present invention, and FIGS. 2A and 2B are a panel according to an embodiment of the present invention; It is a view showing a transfer robot hand 10 and a panel P mounted thereon, and FIGS. 3A and 3B are a panel transfer robot hand 10 including an electrostatic circuit 300 according to another embodiment of the present invention. 4A and 4B are views showing the panel transfer robot hand 10 including the plate 200 and the electrostatic circuit 300 according to another embodiment of the present invention.

Hereinafter, each component constituting the panel transfer robot hand 10 according to an embodiment of the present invention will be described in detail.

The panel P may be any one of a display panel such as an LCD, an OLED, and a PDP panel, a touch panel, or a panel composed of a plurality of layers in which these are laminated and combined. In addition, the panel P may include a flexible panel made of a flexible material that can be bent, folded, or rolled, as well as a rigid panel.

1A to 1D , the liquid-curable adhesive layer (A) may be laminated on one surface of the panel (P). The liquid curable adhesive layer (A) may be laminated on the panel (P) by an inkjet printing method. As shown in FIG. 1A , a protection film (PF) may be attached to both surfaces of the panel P to protect the panel P, respectively. As shown in FIG. 1B , a liquid curable adhesive layer (A) may be jetted on the panel (P) from which the protective film (PF) has been removed by an inkjet printing method to be laminated.

The liquid-curable adhesive layer (A) may be any one or a mixture of acrylic, epoxy, silicone, and rubber-based resins, preferably UV-curable resins curable by UV light.

The panel transfer robot hand 10 may transfer the panel P to different process areas during the manufacturing process of the display device. The panel P may be floated by a pin-up or an air blower method in a chuck (not shown) provided in each process area. After the panel transfer robot hand 10 is moved to be interposed between the chuck (not shown) and the panel P, the panel P may be mounted on the panel transfer robot hand 10 .

As shown in FIGS. 1A to 4C , the panel transfer robot hand 10 adsorbs and fixes the panel P disposed on the plate 200 by the electrostatic force generated by applying a voltage to the electrode 400 . can The panel transfer robot hand 10 may include a plate 200 , an electrostatic circuit 300 , and an electrode 400 .

The panel transfer robot hand 10 may be a bipolar electrostatic chuck type.

As shown in FIGS. 2A to 3B , the plate 200 may be formed extending from one side of the arm. The plate 200 may have a fixed end on the arm side and a free end on the side of the panel input unit protruding from the fixed end.

The plate 200 may have a plate shape. The plate 200 may have a plate-shaped flat surface. The plate 200 may have a shape corresponding to the panel P. The plate 200 may have a rectangular shape.

The plate 200 may be an electrical insulator. Preferably, the plate 200 may be made of silicon, glass, quartz or ceramic.

The plate 200 may have a thin thickness. Preferably, the plate 200 may have a thickness of 1 mm to 10 mm. The thickness of the plate 200 can be changed in design according to the size of the panel P, and additional reinforcement is possible as the size of the panel P increases. The plate 200 may minimize the interference between the process regions by implementing the plate 200 as a thin film even if the panel P in the process region floats to a low height.

As shown in FIGS. 4A and 4B , the plate 200 may have an opening 210 formed through a central region and one end thereof. The shape of the opening 210 may have one end having a rectangular or semicircular curved shape. The plate 200 may have an edge portion along the circumference of the opening 210 .

The electrostatic circuit 300 may be provided on the plate 200 . The electrostatic circuit 300 may be mounted on the plate 200 or provided to be stacked on the plate 200 . According to an embodiment, as shown in FIGS. 2A to 4B , the electrostatic circuit 300 may be an electrostatic film laminated on the plate 200 .

When the electrostatic circuit 300 is mounted inside the plate 200 , a metal thin film is deposited on the plate 200 to design a circuit, and the electrode 400 may be connected.

When the electrostatic circuit 300 is laminated on the plate 200 with the electrostatic film, the electrostatic film may be bonded to the plate 200 and laminated by pressing.

As shown in FIGS. 3A and 3B , in the electrostatic circuit 300 , an opening 310 may be formed by penetrating a central region and one end. The shape of the opening 310 may have one end having a rectangular or semicircular curved shape. The electrostatic circuit 300 may have an edge portion along the circumference of the opening 310 .

The electrode 400 may be embedded in the plate 200 . The electrodes 400 may be provided on the plate 200 to face each other with a gap therebetween.

Even in a state in which the electrode 400 in the plate 200 is embedded, the panel seating surface on which the panel P is stacked may be planarized.

Hereinafter, a panel transfer method using the panel transfer and load robot hand 10 according to an embodiment of the present invention will be described.

5A to 5F are diagrams illustrating the transfer of a panel using a panel transfer robot hand according to an embodiment of the present invention.

By the panel transfer method, it is possible to transfer the panel (P) to which the liquid-curable adhesive layer (A) is applied. The panel transfer and loading method may include a pin-up step (S10), a panel transfer robot hand entry step (S20), a panel transfer robot hand seating step (S30), and a panel transfer robot hand transfer step (S40). .

As shown in FIG. 5B , in the pin-up step ( S10 ), the lift pins 30 move up and down between the support chucks 20 to separate the panel P from the support chucks 20 . In the pin-up step ( S10 ), the lift pin 30 may move up and down from the support chuck 20 to a certain height in order to avoid physical interference with the panel transfer robot hand 10 , which will be described later.

As shown in FIG. 5C , in the panel transfer robot hand entry step S20 , the panel transfer robot hand 10 may enter between the support chuck 20 and the panel P. In the panel transfer robot hand entry step (S20), the panel transfer robot hand 10 is connected to the support chuck 20 and the panel P so that the panel P and the panel transfer robot hand 10 face each other in the vertical direction. ) can be moved to be interposed between them.

As shown in FIG. 5D , in the panel transfer robot hand seating step S30 , the panel P may be seated in the panel mounting area of the panel transfer robot hand 10 .

As shown in FIGS. 5E and 5F , in the panel transfer robot transfer step S40, the panel P is seated on the panel transfer robot hand 10 to support and fix the panel P to another process area. can

Hereinafter, each component constituting the panel transfer robot hand 10 according to another embodiment of the present invention will be described in detail. A description of the content overlapping with the panel transfer robot hand 10 will be omitted.

6A and 6B are views showing a panel transfer robot hand 10 according to another embodiment of the present invention.

As shown in FIGS. 6A and 6B , the plate 200 may have different thicknesses for each position of the fixed end and the panel input unit. According to an exemplary embodiment, the plate 200 may have a panel seating surface inclined upward toward the arm, and the arm side may have a relatively greater thickness than the panel input part. Preferably, the plate 200 may have an inclination angle of 5 degrees to 20 degrees toward the arm side of the panel seating surface with respect to the horizontal plane. The inclination angle of the panel seating surface may be adjusted according to the size of the panel (P).

Since the panel seating surface of the plate 200 has an upward inclined surface in the dark direction with respect to the horizontal plane, the panel input portion may have a relatively low thickness. Since the panel input portion has a low thickness, the panel slides into the panel seating surface when the panel P is loaded, so that the panel P can be loaded more smoothly.

Hereinafter, each component constituting the panel transfer robot hand 10 according to another embodiment of the present invention will be described in detail. A description of the content overlapping with the panel transfer robot hand 10 will be omitted.

7A and 7B are views showing a panel transfer robot hand 10 according to another embodiment of the present invention.

As shown in FIGS. 7A and 7B , the panel transfer robot hand 10 includes a plate 200 , an electrostatic circuit 300 , and an electrode 400 , and may further include a plate inclination adjustment unit 500 . have.

The electrode 400 according to an embodiment may be formed to protrude from both ends of the plate 200 . Accordingly, the electrode 400 may function as a temporary wall to physically support both ends of the panel P.

The plate inclination adjustment unit 500 may adjust the inclination of the plate 200 by rotational driving of a motor. The plate inclination adjustment unit 500 may include a shaft 510 and a plate inclination adjustment frame 520 .

The shaft 510 may be connected to a support frame fixedly connected to the arm 100 . The shaft 510 may be rotatable by a rotational driving force of a motor.

The plate tilt adjustment frame 520 may be connected to the shaft 510 . The plate inclination adjustment frame 520 is interlocked with the rotation of the shaft 510 so that the end of the plate 200 can be adjusted up and down in the vertical direction.

The plate 200 is interlocked with the rotational movement of the plate inclination adjustment frame 520 to adjust the inclination of the panel seating surface, so that the panel P can be smoothly introduced into the panel seating surface.

Hereinafter, each component constituting the panel transfer robot hand 10 according to another embodiment of the present invention will be described in detail. A description of the content overlapping with the panel transfer robot hand 10 will be omitted.

8 is a view showing a panel transfer robot hand according to another embodiment of the present invention.

As shown in FIG. 8 , the panel transfer robot hand 10 includes a plate 200 , an electrostatic circuit 300 , and an electrode 400 , and may further include a plate inclination adjustment unit 500 .

The electrode 400 according to an embodiment may be formed to protrude from both ends of the plate 200 . Accordingly, the electrode 400 may function as a temporary wall to physically support both ends of the panel P. In addition, the electrode 400 is coupled to a plate inclination adjustment unit 500 to be described later and is rotatable.

The plate inclination adjustment unit 500 may adjust the inclination of the plate 200 by rotational driving of a motor. The plate inclination adjustment unit 500 may include a shaft 510 .

The shaft 510 may be connected to a support frame fixedly connected to the arm 100 . The shaft 510 may be rotatable by a rotational driving force of a motor.

Both ends of the electrode 400 may be connected to the shaft 510 . The electrode 400 is linked to the rotation of the shaft 510 so that the plate 200 can be adjusted up and down in both directions about the shaft 510 as an axis.

The plate 200 is interlocked with the rotational movement of the electrode 400 to adjust the inclination of the panel seating surface, so that the panel P can be smoothly introduced into the panel seating surface.

As mentioned above, although the present invention has been described in detail using preferred embodiments, the scope of the present invention is not limited to specific embodiments and should be construed according to the appended claims. In addition, those skilled in the art should understand that many modifications and variations are possible without departing from the scope of the present invention.

10: panel transfer robot hand
100: cancer
200: plate 210: opening
300: electrostatic circuit 310: opening
400: electrode
500: plate inclination adjustment unit 510: shaft
520: plate tilt adjustment frame
P: Panel A: Liquid-curable adhesive layer
PF: protective film
20: support chuck 30: lift pin

Claims (8)

a plate-shaped plate extending from one side of the arm and having a shape corresponding to the panel;
an electrostatic circuit provided on the plate;
electrodes provided to face each other with a gap on the plate; and
and a plate inclination adjustment unit provided under the plate and capable of adjusting the inclination of the plate in any one direction,
The plate has a panel seating surface having a size corresponding to the area of the panel, so that it is possible to stably support the panel on which the liquid-curable adhesive layer is formed,
The plate inclination adjustment unit,
It is connected to the support frame fixedly connected to the arm and includes a shaft rotatable by the rotational driving force of the motor,
The electrode is formed to protrude from both ends of the plate, is rotatably connected to the shaft, and is linked to the rotation of the shaft to enable up-down adjustment of the end of the plate in the vertical direction.
delete The method of claim 1,
The plate inclination adjustment unit,
a shaft connected to a support frame fixedly connected to the arm and rotatable by a rotational driving force of a motor; and
and a plate inclination control frame connected to the shaft and linked to the rotation of the shaft to adjust the up-down of the end of the plate in the up-down direction.
delete delete The method of claim 1,
The plate has a thickness of 1mm to 10mm, panel transfer robot hand.
The method of claim 1,
The plate is inclined upward toward the arm, a panel transfer robot hand.
The method of claim 1,
The electrostatic circuit has one end and an edge portion along the periphery of the opening formed through the central region, the panel transfer robot hand.

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