KR20120111625A - Robot hand for carrying glass - Google Patents

Abstract

PURPOSE: A robot hand for moving glass is provided to prevent impact possible to add on a glass board by touching to the glass board and to prevent the glass board to be slid. CONSTITUTION: A robot hand for moving glass comprises a hand unit(100) and pad unit(200). The hand unit has a plate shape and transfers glass by lifting. The pad unit is arranged in between the glass and hand unit, thereby joining to the hand unit. The pad unit comprises a synthetic resin and conductive inorganic filler. The pad unit is possible to be conductive.

Description

ROBOT HAND FOR CARRYING GLASS}

The present invention relates to a glass transport robot hand, and more particularly, to a glass transport robot hand for transporting a glass used for an LCD.

With the rapid development of the information and telecommunications field, the display industry as a transmission medium for transmitting a large amount of information to the receiver accurately and effectively is very important. As the utilization of display devices increases, they are being used for various purposes ranging from small home appliances to ultra-large billboards. The display industry has been continuously researched and developed in order to realize light and high quality images. The display device is equipped with a so-called panel as a means for forming an image. Panels are mainly made of glass substrates.

Conventional glass substrates include a cathode ray tube (CRT), a liquid crystal display (LCD), a plasma display panel (PDP), organic light emitting diodes (OLED), and the like.

CRT refers to cathode ray tube, also known as CRT. It refers to a device that converts an electric signal into an optical image by emitting an electron beam onto a fluorescent surface. This CRT has the disadvantage that its volume is large.

LCD is a device using a kind of optical switch that displays numbers or images by generating contrast by injecting liquid crystal, which is an intermediate material between solid and liquid, between two thin glass plates and changing the arrangement of liquid crystal molecules by the voltage difference between the upper and lower glass plates. All.

According to the driving method, the passive matrix method and the active matrix method are classified into TN (Twisted Nematic) and STN (Super-Twisted Nematic), and the active matrix method includes TFT (Thin Film Transistor).

Currently, LCDs are in the spotlight as one of the alternatives to CRTs.

PDP puts Ne + Ar, Ne + Xe, etc. gas between the front glass and the back glass and the glass enclosed by the partition therebetween, and applies a voltage through the anode and cathode electrodes to emit neon light to display the light. The electronic display device to be used is referred to.

PDP is not only high display quality due to large panel, but also fast response time, high reliability and long life.

OLED is also called organic diode, organic EL. It refers to a "self-emitting organic material" that emits light by using electroluminescence which emits light when a current flows through the fluorescent organic compound.

It can be driven at low voltage and can be made thin and thin. It has a wide viewing angle and fast response speed, so unlike ordinary LCD, the image quality does not change even when viewed from the side, and no afterimages are left on the screen. In addition, the small screen has an advantageous price competitiveness due to the image quality of LCD and simple manufacturing process. It is in the spotlight as the next generation display.

Among these kinds of glass substrates, the manufacturing process of TFT-LCD, which is widely used as a liquid crystal of a TV, a computer monitor, or a notebook computer, is briefly described as follows.

The TFT-LCD manufacturing process is largely divided into three parts: the TFT process, the cell process, and the module process.

The TFT process is very similar to the semiconductor fabrication process, and is a process of arranging thin film transistors on a glass substrate by repeating deposition, photolithography, and etching.

Unlike semiconductors in that glass substrates are used instead of wafers, semiconductor processes have a process temperature of about 1,000 degrees, while TFT processes use glass substrates, and therefore, process temperatures of 300 to 500 degrees are required. It's a trickier technique.

In the cell process, an alignment layer is formed on a TFT lower plate and an upper plate on which a color filter is formed, the alignment is performed to align the liquid crystals well on the alignment layer, and then the spacers are dispersed and sealed. It is a process of printing and bonding. After the bonding, the liquid crystal is injected into the interior using a capillary phenomenon, and then the LCD process is finished by sealing the injection hole.

The module process is the step of determining the product quality finally delivered to the user. The module is completed by attaching a polarizing plate to the completed panel, mounting a driver IC, and then assembling a printed circuit board (PCB) to finally assemble a backlight unit and an apparatus.

Like this, glass substrates are not only various but also released through a number of processes and steps as a finished product. That is, in general, in order to manufacture a glass substrate, a thin film deposition process for depositing a dielectric material or the like on a substrate as a thin film, a photolithography process for exposing or hiding selected areas of these thin films using a photosensitive material, and a selected area The etching process of removing the thin film and patterning as desired, and the washing process to remove the residues, should be repeated several times.

Therefore, each process is equipped with a chamber (Chamber) for performing the process, and also provided with a robot (Robot) for transferring the glass substrate to the chamber, which is called a glass substrate transfer robot. The glass substrate transfer robot grips the glass substrate and transfers the glass substrate to the chamber, takes out the glass substrate which has been processed in the chamber, and transfers the glass after one process to a position where the next process will proceed.

There may be various configurations of a general transfer robot, for example, having a robot hand, and the glass substrate mounted on the robot hand rotates with respect to a rotation axis of a swing arm connected to the robot hand at a current position. It is rotated to another position. Thereafter, the transfer robot moves horizontally along the guide rail so that the glass substrate may be transported to a predetermined position required for the process. As another example, a vertical articulated industrial robot equipped with a robot hand for conveying a glass substrate may be installed at a production site and used for loading and unloading a glass substrate.

However, a typical robot hand is a Raydent coating or fluorine coating on aluminum, the coating is peeled off due to frequent friction with the glass substrate. Therefore, after a period of use, the robot hand must be detached from the device, recoated or replaced with a new product, resulting in time and economic losses for frequent maintenance.

In particular, the coated robot hand is one of the main causes of LCD process defects because static electricity is generated when friction occurs with the robot hand during glass substrate transfer. In addition, since the robot hand is hard, it is easy to apply an impact to the glass substrate, and the glass substrate can be damaged because the glass substrate can slide from the robot hand.

An object of the present invention is to provide a glass transport robot hand which is excellent in wear resistance and can prevent damage to the robot hand.

In addition, another object of the present invention is to provide a glass transport robot hand capable of preventing the generation of static electricity.

In addition, another object of the present invention is to provide a glass transport robot hand which can prevent a shock that may be applied to the glass substrate by contact with the glass substrate.

In addition, another object of the present invention is to provide a glass transport robot hand which can prevent the sliding of the glass substrate.

According to an aspect of the present invention, there is provided a robot glass transporting glass hand comprising: a glass transporting robot hand for transporting a glass including a glass substrate, the glass hand having a plate shape and carrying the glass; And a pad part disposed between the glass and the hand part and coupled to the hand part, wherein the pad part includes a synthetic resin and a conductive inorganic filler (FILLER), and may have conductivity.

Preferably, the synthetic resin is MC NYLON, the conductive inorganic filler is a carbon fiber, the ratio of the MC NYLON to the carbon fiber may be 3.62: 1 to 4.24: 1.

Preferably, the pad part may further include polytetrafluoroethylene (PTFE), which is a wear resistant inorganic filler (FILLER), the synthetic resin is PA6 (Polyamide Nylon 6), and the conductive inorganic filler is carbon nanotube (CNT) The ratio of the PA6 to the carbon nanotubes may be 15.79: 1 to 17.22: 1.

Preferably, the pad part may further include glass fiber, which is a wear resistant inorganic filler (FILLER), the synthetic resin is PPS (Ployphenylene Sulfide), the conductive inorganic filler is carbon nanotubes (CNT) The ratio of the PPS to the carbon nanotubes may be 28.58: 1 to 33.24: 1.

Preferably, the pad portion may further include a dispersant and a binder.

Preferably, the hand portion may include aluminum, and the surface of the hand portion may be coated with either a Raydent coating or a fluorine coating.

Preferably, the hand part may include a carbon fiber reinforced plastic.

Preferably, a plurality of through holes are formed in the pad part, and the diameter of the through holes may be 1 mm to 2.5 mm.

Preferably, the pad portion, a plurality of grooves are formed recessed to face the glass, the diameter of the groove portion may be 1mm to 2.5mm.

The glass hand robot hand according to the present invention is in contact with the glass substrate through the pad portion, and thus has excellent wear resistance and can prevent damage to the robot hand, thereby reducing maintenance costs and time.

In addition, since the generation of static electricity can be prevented, there is an effect that can prevent the LCD failure.

In addition, since the pad portion is more elastic than the metal, the impact and the slip that can be applied to the glass substrate can be minimized.

1 is a perspective view of a glass transport robot hand according to an embodiment of the present invention,
Figure 2 is an exploded perspective view showing a glass hand robot for transport according to an embodiment of the present invention, and
3 is a perspective view of a pad portion of a glass transport robot hand according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

1 is a perspective view of a glass transport robot hand according to an embodiment of the present invention, FIG. 2 is an exploded perspective view of a glass transport robot hand according to an embodiment of the present invention, and FIG. 3 is according to an embodiment of the present invention. It is a perspective view of the pad part of a glass robotic hand.

The robot hand for carrying glass according to the embodiment of the present invention includes a hand part 100 and a pad part 200.

The hand part 100 has a thin and long plate-shaped rod in one direction. According to one embodiment of the present invention, two bars protrude from each other, but are not limited thereto. One or three or more bars protrude. It may be a shape.

In addition, according to an embodiment of the present invention, the hand part 100 may be made of aluminum, and the surface may be coated with a Radiant coating or a fluorine coating on aluminum. In addition, according to another embodiment of the present invention, the hand part 100 may be a carbon fiber reinforced plastic (CFRP) material.

The pad portion 200 having a plate shape is coupled to the upper end of the hand portion 100. According to an embodiment of the present disclosure, the pad portion 200 may include a synthetic resin and a conductive inorganic filler. The wear resistant inorganic filler may be further added according to the type of material. At this time, the synthetic resin may be an engineering plastic such as MC Nylon, PA6 (Polyamide Nylon 6), PPS (Ployphenylene Sulfide). In addition, the conductive inorganic filler may be carbon nanotube (CNT), carbon fiber, and the wear resistant inorganic filler may be polytetrafluoroethylin (PTFE), glass fiber, or the like. Accordingly, the pad part 200 may have conductivity and wear resistance, and both the surface resistance and the volume resistance may be 10 ⁵ kPa to 10 ⁹ kPa, and preferably 10 ⁶ kPa to 10 ⁷ kPa. There is an antistatic effect in the above numerical range, which is a generally known range.

MC NYLON (wt%) 83 80 79.3 79 78 77 76.8 76 73 CARBON FIBER (wt%) 15 18 18.7 19 20 21 21.2 22 25 Additive a (% by weight) One One One One One One One One One Additive b (% by weight) One One One One One One One One One Surface resistance (Ω.㎝) 10 ¹² 10 ¹² 10 ⁹ 10 ⁷ 10 ^6.5 10 ⁶ 10 ⁵ 10 ² 10 ²

Referring to Table 1, MC NYLON is used as the synthetic resin, and the conductive inorganic filler is MC NYLON 79.3 (wt%) vs. carbon fiber 18.7 (wt%) to MC NYLON 76.8 (wt%) when carbon fiber is added. An antistatic effect is exhibited in the carbon fiber 21.2 (weight%) range. That is, the ratio of MC NYLON to carbon fiber is preferably 3.62: 1 to 4.24: 1 for the purpose of antistatic.

PA6 (% by weight) 83.5 83.2 83.17 83.1 83 82.9 82.8 82.76 82.7 82.5 PTFE (% by weight) 10 10 10 10 10 10 10 10 10 10 CNT (% by weight) 4.5 4.8 4.83 4.9 5 5.1 5.2 5.24 5.3 5.5 Additive a (% by weight) One One One One One One One One One One Additive b (% by weight) One One One One One One One One One One Surface resistance (Ω.㎝) 10 ¹⁰ 10 ¹⁰ 10 ⁹ 10 ⁷ 10 ^6.6 10 ^6.3 10 ⁶ 10 ⁵ 10 ³ 10 ³

Referring to Table 2, PA6 (Polyamide Nylon 6) is used as the synthetic resin, the conductive inorganic filler is added carbon nanotubes (CNT), and the wear resistant inorganic filler is PA6 83.17 (weight) when the PTFE (Polytetrafluoroethylene) is added. %) Versus carbon nanotubes 4.83 (wt%) to PA6 82.76 (wt%) versus carbon nanotubes 5.24 (wt%). That is, in order to prevent the charge, the ratio of PA6 to carbon nanotubes is preferably 15.79: 1 to 17.22: 1.

PPS (% by weight) 61.5 61.2 61.16 61.1 61 60.9 60.87 60.8 60.6 G / F (% by weight) 35 35 35 35 35 35 35 35 35 CNT (% by weight) 1.5 1.8 1.84 1.9 2 2.1 2.13 2.2 2.4 Additive a (% by weight) One One One One One One One One One Additive b (% by weight) One One One One One One One One One Surface resistance (Ω.㎝) 10 ¹⁴ 10 ¹⁰ 10 ⁹ 10 ⁷ 10 ^6.7 10 ⁶ 10 ⁵ 10 ³ 10 ²

Referring to Table 2, PPS (Ployphenylene Sulfide) is used as a synthetic resin, conductive inorganic filler is added carbon nanotubes (CNT), and wear-resistant inorganic filler is PPS 61.16 ( Weight percent) versus carbon nanotubes from 1.84 (wt%) to PPS 60.87 (wt%) versus carbon nanotubes 2.13 (wt%). That is, the ratio of PPS to carbon nanotubes is preferably 28.58: 1 to 33.24: 1 for antistatic.

A plurality of through holes 210 are formed in the pad part 200 to increase the adsorption force with the glass substrate. According to one embodiment of the present invention, the diameter of the through holes 210 is 1 mm to 2.5. It is preferable that it is mm. On the other hand, according to another embodiment of the present invention, the pad portion 200 may be formed with a plurality of grooves instead of the through hole 210, wherein the groove diameter may be 1mm to 2.5mm.

In general, the robot hand is coated on the robot hand, which is easy to peel off due to frequent friction with the glass substrate. There is a time loss and an economic loss.

In particular, the coated robot hand is one of the main causes of the LCD process failure because static electricity is generated when friction with the robot hand during glass substrate transfer occurs, causing LCD defects.

In addition, since the robot hand is hard, the glass substrate may be easily impacted, and the glass substrate may be slid from the robot hand, thereby damaging the glass substrate.

However, the glass hand robot hand according to the present invention, because the contact with the glass substrate through the pad unit 200, has excellent wear resistance, can prevent damage to the robot hand has the advantage of reducing the maintenance cost and time.

In addition, since the generation of static electricity can be prevented, there is an advantage that can prevent the LCD failure.

In addition, since the pad portion 200 is more elastic than the metal, there is an advantage of minimizing the impact and slip that can be applied to the glass substrate.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Various modifications and variations are possible within the scope of equivalents of the claims to be described.

100: hand portion 200: pad portion
210: through hole

Claims (9)

In the glass hand robot hand for transporting the glass including a glass substrate,
A hand portion having a plate shape and for conveying the glass; And
A pad part disposed between the glass and the hand part and coupled to the hand part
Including,
The pad part includes a synthetic resin and a conductive inorganic filler (FILLER), and the glass transport robot hand, characterized in that it may have conductivity.
The method of claim 1,
The synthetic resin is MC NYLON,
The conductive inorganic filler is carbon fiber,
And the ratio of the MC NYLON to the carbon fiber is 3.62: 1 to 4.24: 1.
The method of claim 1, wherein the pad unit,
Polytetrafluoroethylene (PTFE), an abrasion resistant inorganic filler (FILLER)
Further comprising:
The synthetic resin is PA6 (Polyamide Nylon 6),
The conductive inorganic filler is carbon nanotubes (CNT),
The ratio of the PA6 to the carbon nanotubes is 15.79: 1 to 17.22: 1 glass transport robot hand, characterized in that.
The method of claim 1, wherein the pad unit,
Glass Fiber as an Abrasion Resistant Inorganic Filler
Further comprising:
The synthetic resin is PPS (Ployphenylene Sulfide),
The conductive inorganic filler is carbon nanotubes (CNT),
The ratio of the PPS to the carbon nanotubes is 28.58: 1 to 33.24: 1 glass transport robot hand, characterized in that.
The pad unit according to any one of claims 1 to 4, wherein
Dispersants, and
Binder
Glass transport robot hand further comprises a.
The method of claim 5, wherein the hand portion,
Contains aluminum,
The surface of the hand portion is a glass transport robot hand, characterized in that any one of the coating (Raydent), or fluorine coating.
The method of claim 5, wherein the hand portion,
A glass transport robot hand comprising a carbon fiber reinforced plastic.
The method of claim 5,
A plurality of through holes are formed in the pad part, and the diameter of the through holes is 1 mm to 2.5 mm.
The method according to any one of claims 5 to 7,
A plurality of grooves are recessed in the pad part so as to face the glass, and the groove portion has a diameter of 1 mm to 2.5 mm.

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