KR20110093096A - Robot hand for carrying display panel boxes - Google Patents

Robot hand for carrying display panel boxes Download PDF

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Publication number
KR20110093096A
KR20110093096A KR1020100012923A KR20100012923A KR20110093096A KR 20110093096 A KR20110093096 A KR 20110093096A KR 1020100012923 A KR1020100012923 A KR 1020100012923A KR 20100012923 A KR20100012923 A KR 20100012923A KR 20110093096 A KR20110093096 A KR 20110093096A
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KR
South Korea
Prior art keywords
display panel
finger
panel box
unit
longitudinal
Prior art date
Application number
KR1020100012923A
Other languages
Korean (ko)
Inventor
박남수
Original Assignee
(주)와이티에스
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Publication date
Application filed by (주)와이티에스 filed Critical (주)와이티에스
Priority to KR1020100012923A priority Critical patent/KR20110093096A/en
Publication of KR20110093096A publication Critical patent/KR20110093096A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/063—Transporting devices for sheet glass
    • B65G49/066—Transporting devices for sheet glass being suspended; Suspending devices, e.g. clamps, supporting tongs
    • G—PHYSICS
    • G02—OPTICS
    • G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
    • G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
    • G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour 
    • G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour  based on liquid crystals, e.g. single liquid crystal display cells
    • G02F1/1303—Apparatus specially adapted to the manufacture of LCDs
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/6773—Conveying cassettes, containers or carriers

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Nonlinear Science (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: A robot hand for transferring a display panel box is provided to form fingers which grab the upper and lower surfaces and both sides of the display panel box, thereby stably and accurately transferring the display panel box. CONSTITUTION: A pusher unit(170) pressurizes a display panel box which is located on the top thereof while the pusher unit supports the lower part of a display panel box(300). The pusher unit vertically moves a pusher(172) by operating a pusher cylinder to stabilize the display panel box when a horizontal transfer unit and a finger vertical direction transfer unit operate. The pusher cylinder is installed on both sides of a base plate(110).

Description

Robot hand for carrying display panel boxes

The present invention relates to a display panel box carrying robot hand, and more particularly, to a display panel produced so that the production of the display panel or the display panel being produced in a horizontal form can be carried more stable and easy to carry the display panel box It relates to a box transport robot hand.

A general display panel refers to a plate-shaped part constituting screens of various electronic devices including televisions, computer monitors, and electronic displays, and includes liquid crystal display (LCD), plasma display panel (PDP), and OLED ( Organic Light Emitting Diode) may be a representative example.

Although display panels vary depending on the type, they are manufactured through various production automation processes, and each process is generally performed in a separate production line or factory. Therefore, display panel boxes are used in production plants of display panels for the progress of each production automation process or for the delivery of logistics. In this case, the display panel box is configured such that a plurality of display panels can be stacked with a sheet of paper interposed therebetween, rather than being configured to have one display panel therein.

Meanwhile, the conventional display panel box is configured such that the display panel is stacked in a vertical form. However, in recent years, the display panel box is configured such that the display panel is stacked in a horizontal form.

1 and 2 are views for explaining the general structure of a conventional display panel box-handling robot and display panel box-handling robot hand.

As shown in FIG. 1, the robot 10 for carrying the display panel box 30 includes a robot body 12, a robot head 14, a robot arm 16, a robot hand 20, and the like. This is done. In particular, since the robot hand 20 of the robot 10 applied to the transport of the display panel box 30 is configured according to the characteristics of the display panel box 30, the robot hand 20 forms a structure different from that of a general industrial robot.

The robot hand 20 for transporting the conventional display panel box 30 has been configured to be gripped using surface pressure provided from both side sides of the display panel box 30 as shown in the drawing. . That is, the pair of side holding units 22 are configured such that the distance between them can be narrowed or widened with the display panel box 30 interposed therebetween. Meanwhile, when both sides of the display panel box 30 are gripped by the side holding unit 22, a predetermined pressure is detected after sensing the position of the display panel box 30 so that the movement of the display panel box 30 does not occur. The upper pushing unit 24 which presses the upper end of a display panel box is comprised. The side gripping unit 22 and the upper pushing unit 24 constituting the conventional display panel box-handling robot hand 20 are configured to be linearly moved in the vertical direction, the left and right or the front and rear directions, respectively.

However, in the recent display panel production line, the vertically stacked display panel box in which the display panel is stacked in the vertical form is replaced by the horizontally stacked display panel box in which the display panel is stacked in the horizontal form. There is a need to develop a display panel box carrying robot hand for carrying a display panel box that is not only suitable for carrying a box but also for a more stable and easy display panel box.

Accordingly, the present invention has been made in view of the conventional circumstances as described above, so that the production of the display panel or the display panel being produced in the horizontal form of the display panel box can be more stable and easy to carry. It is an object to provide a display panel box carrying robot hand.

Another object of the present invention is to provide a display panel box robot hand for carrying and loading display panel boxes manufactured in various sizes and shapes.

The present invention configured for achieving the above object is as follows.

The present invention is directed such that both sides of the four sides of the display panel box are gripped by four fingers positioned on the vertices of the four sides for transporting the produced display panel or the display panel boxes in which the produced display panel is stacked in a horizontal form. A display panel box carrying robot hand comprising: a base plate coupled to a lower end of a robot arm of a robot; A horizontal finger transversal unit installed at a lower side of the base plate such that the horizontal gap of the fingers is narrowed or widened while being linearly moved in the horizontal direction of the base plate, the lateral guide unit including an LM guide, a servo motor, a horizontal feed screw and a horizontal feed guide; A pair of moving plates which are installed at both lower sides of the finger transverse transfer unit and installed to narrow or widen the distance between each other when the finger transverse transfer unit is driven; Finger longitudinal transfer unit which is installed on the lower side of each moving plate so that the longitudinal gap of the finger is narrowed or widened while moving in the longitudinal direction of the base plate, and includes an LM guide, a servo motor, a longitudinal feed screw and a longitudinal feed guide. ; With the upper end of each finger fixedly coupled to the lower part of the longitudinal transfer guide, the inner side of each finger surrounds both sides of the display panel box by the operation of the finger transverse transfer unit and the longitudinal finger transfer unit. A finger unit installed to support a lower portion of a display panel box of a lowermost layer as a gripper installed at a lower portion of the lower surface layer; A clamp unit installed such that the clamp is lowered by the lowering operation of the clamp lifting cylinder installed at one side of each finger such that the lower part of the display panel box is clamped in a state where the bottom of the display panel box is held by the gripper; And the bottom of the display panel box is supported by grippers and clamps, and the upper part of the display panel box is pressed downwardly on both sides of the base plate to stabilize the display panel box when the transverse transfer unit and the finger longitudinal transfer unit are operated. A pusher unit installed to move the pusher up and down by the operation of the pusher cylinder; The configuration is made, including.

In the robot panel for transporting the display panel box according to the present invention, the LM guides of the horizontal transverse finger unit are fixed to the lower portion of the base plate in a horizontal direction at a predetermined distance back and forth at a lower portion of the base plate, and the horizontal transverse direction of the transverse finger transverse unit is installed. The screw is fixedly installed on both ends of each LM guide in a state in which both ends are suspended through a bearing unit, and the transverse guide of the finger transverse transfer unit is adapted to the operation of the servo motor of the transverse finger unit. By the guide of the transverse feed screw is configured to be a linear movement.

In the display panel box-carrying robot hand according to the present invention, an LM guide block is installed below the LM guide of the finger transverse transfer unit so that the moving plate can be moved by an exact value in the horizontal direction.

In the display panel box carrying robot hand according to the present invention, the LM guide of the longitudinal finger transfer unit is fixedly installed in a pair in the longitudinal direction at a predetermined distance from the lower side of the movable plate in a pair, and the longitudinal direction of the finger longitudinal transfer unit The feed screw is fixedly installed on the lower side of the moving plate in a state of being suspended back and forth through the bearing unit, and the longitudinal feed guide of the finger longitudinal feed unit guides the longitudinal feed screw by the operation of the servo motor of the finger longitudinal feed unit. It is configured to receive a linear movement.

In the display panel box carrying robot hand according to the present invention, a pair of spur gears, which are installed while being suspended through a bearing unit in the lower part of the base plate, so that the power of the servo motor of the finger longitudinal transfer unit is transmitted to the longitudinal transfer screw, And a bevel gear installed to extend power from the center of each spur gear toward the longitudinal feed screw and the power of the shaft to the longitudinal feed screw.

In the display panel box carrying robot hand according to the present invention, an LM guide block is installed below the LM guide of the finger longitudinal transfer unit so that the fingers can be moved in the longitudinal direction by an accurate value.

In the display panel box carrying robot hand according to the present invention, the gripper of the finger unit and the clamp of the clamp unit are installed on the other side of each finger, but are mounted to support the lower portion of the display panel box in the same direction with respect to the display panel box.

In the display panel box carrying robot hand according to the present invention, the clamp is configured to support the lower part of the display panel box at a lower position than the position at which the gripper of the finger unit bears the lower part of the display panel box.

In the display panel box carrying robot hand according to the present invention, the clamp of the clamp unit is concealably installed under the clamp rotating cylinder by the clamp rotating cylinder.

In the display panel box carrying robot hand according to the present invention, a gripper of the finger unit is provided with a sensor for sensing an object located below the finger unit.

In the display panel box carrying robot hand according to the present invention, a sensor for detecting an object located between the finger and the finger is installed on each finger side of the finger unit.

In the display panel box carrying robot hand according to the present invention, a sensor for measuring the surface pressure of the display panel box is installed on the lower side of each finger of the finger unit.

According to the robot hand for carrying a display panel box according to the present invention, in the process in which the display panel box in which the display panels are stacked in a horizontal form is loaded, transported, and displaced by the robot, the fingers are used as well as both sides of the display panel box as well as the display panel box. By holding the lower and upper surface of the has a more stable and accurate transfer can be made.

According to the robot hand for display panel box transport according to the present invention, there is an effect that can be compatible with the display panel box manufactured in various sizes and shapes.

1 and 2 are views for explaining the structure of a conventional display panel box transport robot hand.
3 is a view showing a display panel box carrying robot hand is installed on a robot according to an embodiment of the present invention.
4 is a front view of a robot panel for display panel box transport according to an embodiment of the present invention.
5 is a side view of a display panel box carrying robot hand according to an embodiment of the present invention.
6 is a plan view of a robot panel for display panel box transport according to an embodiment of the present invention.
7 is a bottom view of a robot panel for display panel box transport according to an embodiment of the present invention.
8 is a cross-sectional view taken along the line AA of FIG. 6.
9 to 13 are views for explaining the operating state of the display panel box transport robot hand according to an embodiment of the present invention.

Hereinafter, the configuration and operation of the display panel box transport robot hand according to an embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

Reference numeral 100 shown in the drawings indicates a robot panel for transporting a display panel box according to an exemplary embodiment of the present invention. For convenience of description, it may be abbreviated as a robot hand in some cases. On the other hand, some reference numerals associated with the robot may be referred to as reference numerals used in the description of the background art.

The display panel box transport robot hand 100 according to an embodiment of the present invention is installed on the robot arm 16 of the robot 10 as shown in the drawings, and loads and transports the display panel box 300 containing the display panel. And displacement can be made. The display panel box 300 which is transported by the display panel box transport robot hand 100 according to an embodiment of the present invention is configured such that a produced display panel or a display panel being produced can be stacked in a horizontal form.

As described above, the display panel box 300 is formed in a quadrangular shape on a plane. Among the four surfaces of the display panel box 300, two sides of the display panel box 300 which are horizontal or vertical are located on the corners of the four corners. The robot hand 100 is configured to be gripped with four fingers.

The display panel box transport robot hand 100 according to an embodiment of the present invention is a linear movement in the horizontal direction of the base plate 110, the base plate 110 is coupled to the lower end of the robot arm 16 of the robot 10 While the horizontal gap of the finger 152 is narrowed or widened so that the horizontal transverse finger unit 120, which is installed on the lower side of the base plate 110, the horizontal finger transverse direction unit 120 is installed on the lower both sides When the transfer unit 120 is driven, the vertical gap of the finger 152 is narrowed while linearly moving in a longitudinal direction of the pair of moving plates 130 and the base plate 110 which are installed to narrow or widen each other's shoulders. In the state that the upper end of the finger longitudinal transfer unit 140, the upper end of each finger 152 is installed fixed to the lower portion of the longitudinal transfer unit 140, which is installed below each moving plate 130 to be widened By the operation of the finger transverse transfer unit 120 and the finger longitudinal transfer unit 140, the inner surface of each finger 152 surrounds both sides of the display panel box 300 at the bottom of each finger 152. The finger panel 150 installed to support the lower portion of the lowermost display panel box 300 with the gripper 154 installed, and the display panel box 300 with the gripper 154 supported by the bottom of the display panel box 300. Clamp unit 160 installed to raise again after the clamp 162 is lowered by the operation of the clamp lifting cylinder 164 installed on one side of each finger 152 so that the lower portion of the clamp (clamping) and While the lower part of the display panel box 300 is supported by the gripper 154 and the clamp 162, the upper part of the display panel box 300 of the uppermost layer is pressed to the horizontal conveying unit 120 and the finger longitudinal conveying unit ( The pusher unit 170 installed to move the pusher 172 up and down by the operation of the pusher cylinder 174 installed downward on both sides of the base plate 110 so that the display panel box 300 is stabilized during operation of the 140. The configuration is made, including.

In the display panel box-carrying robot hand 100 according to an embodiment of the present invention, the above-described finger horizontal transfer unit 120 includes a pair of LM guides 121, a servo motor 122, and a horizontal transfer screw 123. And a transverse conveyance guide 124.

The LM guide 121 of the above-described finger horizontal transfer unit 120 is installed in a pair of fixed lengthwise in the horizontal direction at a predetermined interval back and forth at the bottom of the base plate 110, wherein the base plate 110 and the LM guide ( A horizontal frame 125 long in the horizontal direction may be interposed between the 121.

In addition, the transverse feed screw 123 of the finger transverse feed unit 120 has both ends suspended through the bearing unit 127 with respect to the subplate 126 connecting between both sides of each LM guide 121. It is fixedly installed. Therefore, when the rotational power is transmitted from the servo motor 122, the horizontal feed screw 123 rotates in place with the bearing units 127 installed at both ends, and thus is installed on the horizontal feed screw 123. The transverse conveyance guide 124 is moved.

That is, the transverse conveying guide 124 of the finger transverse conveying unit 120 guides the transverse conveying screw 123 to be rotated by the operation of the servo motor 122 of the finger transverse conveying unit 120. It is configured to receive a linear movement.

Below the LM guide 121 of the finger transverse direction transfer unit 120 according to an embodiment of the present invention LM guide block 128 to control the movement of the movement plate 130 can be moved by the exact value in the horizontal direction This is installed.

In addition, the finger longitudinal conveying unit 140 according to an embodiment of the present invention includes a pair of LM guides 141, a servo motor 142, a longitudinal conveying screw 143, and a longitudinal conveying guide 144. The configuration is made.

The LM guide 141 of the above-described finger longitudinal conveying unit 140 is a pair is fixedly installed in the longitudinal direction at a predetermined interval to the left and right at the lower portion of the moving plate 130, the moving plate 130 and the LM guide A vertical frame 145 long in the vertical direction may be interposed between the 141s.

On the other hand, the longitudinal conveying screw 143 of the finger longitudinal conveying unit 140 is fixed to the lower side of the moving plate 130 through the bearing unit 146 in a long suspended state back and forth, the finger longitudinal conveying unit 140 The longitudinal conveyance guide 144 of) is configured to be linearly moved under the guidance of the longitudinal conveying screw 143 by the operation of the servo motor 142 of the finger longitudinal conveying unit 140.

In particular, the power of the servo motor 142 of the finger longitudinal transfer unit 140 is installed while hanging through the bearing unit 147 in the lower portion of the base plate 110 in order to be transmitted to the longitudinal transfer screw 143. The pair of spur gears 148a, the shaft 148b extending from the center of each spur gear 148a toward the longitudinal feed screw 143, and the rotational power of the shaft 148b are longitudinal feed screws 143 The power transmission means 148 may be configured to include a bevel gear 148c installed to be transmitted to.

In addition, in the display panel box transport robot hand 100 according to an embodiment of the present invention, the fingers 152 may be moved vertically by the correct value in the vertical direction below the LM guide 141 of the finger longitudinal transfer unit 140. An LM guide block 149 is installed to allow control.

In the display panel box transport robot hand 100 according to an embodiment of the present invention, the gripper 154 of the finger unit 150 and the clamp 162 of the clamp unit 160 are installed on the other side of each finger 152. The display panel box 300 is installed to support the lower portion of the display panel box 300 in the same direction.

In this case, the clamp 162 is configured to support the lower portion of the display panel box 300 at a lower position than the position at which the gripper 154 of the finger unit 150 supports the lower portion of the display panel box 300. That is, the gripper 154 is positioned in the groove 310 formed on the side of the display panel box 300 while the clamp 162 is positioned below the display panel box 300 spaced apart from the groove 310 by a predetermined distance. Becomes

In particular, the clamp 162 of the clamp unit 160 in the display panel box transport robot hand 100 according to an embodiment of the present invention is the clamp rotation cylinder 166 by the clamp rotation cylinder 166 as shown in the figure It is configured to be immersed into the lower side or appearing outside.

On the other hand, the display panel box carrying robot hand 100 according to an embodiment of the present invention is configured to be applied to the display panel box 300 manufactured in various sizes and shapes. Accordingly, sensors are installed at specific positions of the fingers 152 so that the display panel boxes 300 can be moved with respect to the corresponding display panel box 300 with the correct force.

For example, one side of the gripper 154 of the finger unit 150 is mounted with a sensor such as an ultrasonic sensor 180 for detecting an object such as a display panel box 300 positioned below the finger unit 150. do.

On the side of each finger 152 of the finger unit 150, a sensor such as a light transmitting sensor 182 for detecting an object such as a display panel box 300 positioned between the finger 152 and the finger 152. Is installed installed.

On the other hand, a sensor such as a surface pressure sensor 184 for measuring the surface pressure of the display panel box 300 is mounted on the lower side of each finger 152 of the finger unit 150.

For reference, in the drawings for explaining the structure of the display panel box transport robot hand 100 according to an embodiment of the present invention, such as various lines for providing the wire or hydraulic or pneumatic to be installed for the operation of each component Note that the city is omitted.

Hereinafter, a process of operating the display panel box carrying robot hand 100 configured as described above will be briefly described with reference to the accompanying drawings.

First, the display panel box 300, which is carried by the display panel box transport robot hand 100 according to an embodiment of the present invention, has a structure in which the display panels can be stacked in multiple layers in a horizontal form with an interlayer between them. . On the other hand, the groove 310 having a predetermined depth and size is formed on both sides of the display panel box 300 in the horizontal direction and both sides in the vertical direction.

The display panel box carrying robot hand 100 configured according to the embodiment of the present invention is operated while being coupled to the robot arm 16 of the robot 10. Accordingly, the finger lateral transfer unit 120 and the finger longitudinal transfer unit 140 may operate in accordance with the specifications of the display panel box 300 to be transported while the robot arm 16 is operated. Meanwhile, the fingers 152 are close to both sides of the display panel box 300 by the operation of the robot arm 16, the finger lateral transfer unit 120, and the finger longitudinal transfer unit 140 as described above. Will be in.

Meanwhile, the inner side of each finger 152 is in contact with both sides of the display panel box 300 by the operation of the finger horizontal transfer unit 120 or the finger longitudinal transfer unit 140. The gripper 154 provided on the lower portion is fitted into the groove 310 formed in the display panel box 300 as shown in FIG. 9.

As described above, the clamper 162 is operated by the operation of the clamp cylinder 164 of the clamp unit 160 in a state in which the gripper 154 installed in each finger unit 150 is fitted into the groove 310 of the display panel box 300. ) And the clamp rotating cylinder 166 is moved downward as shown in FIG.

By the operation of the clamp rotating cylinder 166 described above, while the clamp 162 is rotated within a predetermined angle range, as shown in FIG. 11, the clamp 162 is unfolded toward the lower portion of the display panel box 300. As shown in FIG. 12, as the clamp 162 moves upward by the operation of the clamp lift cylinder 164, the lower surface of the display panel box 300 is more stably supported by the clamp 162.

Meanwhile, as described above, the lower portion of the display panel box 300 is stably supported by the gripper 154 and the clamp 162 so that the pusher unit 170 is operated and the display panel box 300 is positioned on the top floor. The upper surface of is pressed by the pusher 172 as shown in FIG. Therefore, the display panel boxes 300 are transported in a more stable state.

In particular, the robot hand 100 for transporting a display panel box according to an exemplary embodiment of the present invention may be compatible with display panel boxes 300 having different specifications.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea of the present invention.

100. Robot Hand 110. Base Plate
120. Finger transverse feed unit 123. Transverse feed screw
124. Transverse Guide 130. Moving Plate
140. Finger Longitudinal Feeding Unit 143. Finger Longitudinal Feeding Screw
144. Finger Longitudinal Feed Guide 150. Finger Unit
152. Fingers 154. Grippers
160. Clamp Unit 162. Clamp
164. Clamp lifting cylinder 166. Clamp rotating cylinder
170. Pusher Unit 172. Pusher
300. Display panel box 310. Home

Claims (12)

Both of the two sides of the display panel box are configured to be gripped by four fingers positioned on the vertices for transporting the produced display panel or the display panel being produced in the horizontal form. In the display panel box carrying robot hand,
A base plate coupled to the lower end of the robot arm of the robot;
The horizontal transverse direction of the base plate is installed in the lower side of the base plate to narrow or widen the horizontal gap of the finger, the horizontal transverse finger including a LM guide, servo motor, transverse feed screw and transverse feed guide unit;
A pair of moving plates installed on both lower sides of the finger transverse transfer unit and installed to narrow or widen the gap between the fingers when the finger transverse transfer unit is driven;
Installed in the lower side of each moving plate so that the longitudinal gap of the finger is narrowed or widened while being linearly moved in the longitudinal direction of the base plate, and including a LM guide, a servo motor, a longitudinal feed screw and a longitudinal feed guide. Transfer unit;
The inner surface of each finger surrounds both sides of the display panel box by the operation of the finger transverse transfer unit and the finger longitudinal transfer unit with the upper end of each finger fixedly coupled to the lower portion of the longitudinal transfer guide. A finger unit installed to support a lower portion of the lowermost display panel box as a gripper installed at a lower end of each finger;
The clamp unit is installed so that the lower part of the display panel box is clamped by the gripper so that the lower part of the display panel box is clamped, and then the clamp unit is lifted again after the clamp is lowered by the operation of the clamp lift cylinder installed on one side of each finger. ; And
When the lower part of the display panel box is supported by the grippers and clamps, the upper part of the display panel box is pressed to stabilize the display panel box when the horizontal conveying unit and the finger longitudinal conveying unit are operated. A pusher unit installed to move the pusher up and down by the operation of the pusher cylinder installed downward on both sides; Display panel box carrying robot hand, characterized in that configured to include. According to claim 1, The LM guide of the finger transverse transfer unit is installed in a pair fixed in the horizontal direction at a predetermined interval back and forth at the bottom of the base plate in a pair, the transverse feed screw of the finger transverse transfer unit Both ends of each of the LM guides are fixedly installed in a state in which both ends are suspended through a bearing unit, and the transverse guide of the finger transverse transfer unit is operated by the servo motor of the transverse finger transfer unit. The display panel box carrying robot hand, characterized in that configured to be moved linearly by the guide of the transverse feed screw. The display panel box transport robot hand according to claim 2, wherein an LM guide block is installed below the LM guide of the finger transverse transfer unit so that the moving plate can be moved in the horizontal direction by an accurate value. According to claim 1, The LM guide of the longitudinal longitudinal transfer unit of the finger is installed in a longitudinally fixed length at a predetermined interval on the lower side of the moving plate in a pair, the longitudinal conveying screw of the finger longitudinal transfer unit Is fixedly installed in a state suspended from the front and rear through the bearing unit on the lower side of the moving plate, the longitudinal conveyance guide of the finger longitudinal conveying unit is operated by the servo motor of the finger longitudinal conveying unit by the longitudinal conveying screw Robotic hand for display panel box carrying, characterized in that the configuration is configured to move linearly under the guidance of. 5. The pair of spur gears according to claim 4, wherein the pair of spur gears are mounted to the lower portion of the base plate through a bearing unit so that the power of the servo motor of the finger longitudinal feed unit is transmitted to the longitudinal feed screw. And a bevel gear installed to transfer the power of the shaft to the longitudinal feed screw, the shaft extending from the center of the spur gear toward the longitudinal feed screw. The display panel box transport robot hand according to claim 5, wherein an LM guide block is installed below the LM guide of the finger longitudinal transfer unit to control the fingers to be moved in the longitudinal direction by an accurate value. The display panel box according to claim 1, wherein the gripper of the finger unit and the clamp of the clamp unit are installed on the other side of each finger and are supported to support the lower part of the display panel box in the same direction with respect to the display panel box. Carrying robot hand. The robot hand of claim 7, wherein the clamp is configured to support the lower portion of the display panel box at a lower position than the position at which the gripper of the finger unit supports the lower portion of the display panel box. The robot hand of claim 8, wherein the clamp of the clamp unit is concealably installed below the clamp rotating cylinder by a clamp rotating cylinder. The robot hand of claim 1, wherein a sensor for detecting an object located below the finger unit is installed on one side of the gripper of the finger unit. The display panel box transport robot hand according to claim 1, wherein a sensor for detecting an object located between the finger and the finger is installed on each finger side of the finger unit. The robot hand for display panel box transportation according to claim 1, wherein a sensor for measuring surface pressure with respect to the display panel box is installed on the lower surface of each finger of the finger unit.
KR1020100012923A 2010-02-11 2010-02-11 Robot hand for carrying display panel boxes KR20110093096A (en)

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KR101226147B1 (en) * 2012-06-15 2013-01-25 김용출 Transporting apparatus for collection box of automatic disposal system for waste fluorescent lamp
KR101708860B1 (en) * 2015-11-23 2017-03-15 우성오토콘(주) Transfer system and transfer method
KR101715155B1 (en) * 2015-11-20 2017-03-15 우성오토콘(주) Gripper apparatus for stack
CN108466280A (en) * 2018-06-11 2018-08-31 昆山宇辰光通自动化科技有限公司 Adjustable equipment clamping device
CN110315430A (en) * 2018-03-27 2019-10-11 发那科株式会社 Use the production method and production system of robot
KR102037472B1 (en) * 2019-03-14 2019-11-26 강윤지 Clamp Assembly
CN110571176A (en) * 2019-09-23 2019-12-13 山东九思新材料科技有限责任公司 Semiconductor cleaning handles box centre gripping frock
CN110696006A (en) * 2019-09-27 2020-01-17 深圳市立安科技有限公司 Stable form duplicator moves and carries manipulator
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KR20200071197A (en) 2018-12-10 2020-06-19 주식회사 엔알티 The loading device for a display panel box
KR20210042027A (en) * 2019-10-07 2021-04-16 베로 베리아 코포레이션 Robotic picking up device
CN113960819A (en) * 2021-09-01 2022-01-21 芜湖长信科技股份有限公司 Automatic splicing loading system for cleaning liquid crystal panel coating and use method thereof
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Publication number Priority date Publication date Assignee Title
KR101226147B1 (en) * 2012-06-15 2013-01-25 김용출 Transporting apparatus for collection box of automatic disposal system for waste fluorescent lamp
KR101715155B1 (en) * 2015-11-20 2017-03-15 우성오토콘(주) Gripper apparatus for stack
KR101708860B1 (en) * 2015-11-23 2017-03-15 우성오토콘(주) Transfer system and transfer method
CN110315430A (en) * 2018-03-27 2019-10-11 发那科株式会社 Use the production method and production system of robot
CN110315430B (en) * 2018-03-27 2021-07-06 发那科株式会社 Production method and production system using robot
CN108466280A (en) * 2018-06-11 2018-08-31 昆山宇辰光通自动化科技有限公司 Adjustable equipment clamping device
CN108466280B (en) * 2018-06-11 2024-01-26 昆山宇辰光通自动化科技有限公司 Adjustable equipment clamping device
KR20200071197A (en) 2018-12-10 2020-06-19 주식회사 엔알티 The loading device for a display panel box
KR102037472B1 (en) * 2019-03-14 2019-11-26 강윤지 Clamp Assembly
CN110571176B (en) * 2019-09-23 2023-09-01 山东九思新材料科技有限责任公司 Semiconductor cleaning treatment box clamping tool
CN110571176A (en) * 2019-09-23 2019-12-13 山东九思新材料科技有限责任公司 Semiconductor cleaning handles box centre gripping frock
CN110696006A (en) * 2019-09-27 2020-01-17 深圳市立安科技有限公司 Stable form duplicator moves and carries manipulator
KR20210042027A (en) * 2019-10-07 2021-04-16 베로 베리아 코포레이션 Robotic picking up device
CN110757749A (en) * 2019-10-29 2020-02-07 上海惠亚铝合金制品有限公司 Robot taking and placing device
CN113960819A (en) * 2021-09-01 2022-01-21 芜湖长信科技股份有限公司 Automatic splicing loading system for cleaning liquid crystal panel coating and use method thereof
CN113960819B (en) * 2021-09-01 2024-02-20 芜湖长信科技股份有限公司 Automatic splicing loading system for liquid crystal panel coating cleaning and use method thereof
KR102544648B1 (en) * 2022-01-20 2023-06-20 주식회사 일성에프에이 Multi-joint gripper

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