1269772 九、發明說明： 【發明所屬之技術領域】 本發明係提供一種移載機，尤指一種承載破璃基板的 移載機。 【先前技術】 由於液晶顯示面板具有外型輕薄、耗電量少以及無輻射 _ 污染等特性，因此被廣泛地應用在筆記型電腦、個人數位 助理等攜帶式資訊產品上，甚至已有逐漸取代傳統桌上型 私脳之cRT監視器的趨勢。在液晶顯示面板中，玻璃基板 (glass substrate)係為構成液晶顯示面板的關鍵元件，除了攸 •關液晶顯示面板的成本外，對於液晶顯示面板的良率更有 • 舉足輕重的影響。近年來，玻璃基板也隨著液晶顯示面板 尺寸以及產能需求的增加而增大。以目前第五代的液晶顯 示面板來說，其玻璃基板已經到達13〇〇釐米乘以15〇〇釐 ⑩米的尺寸，而第六代更達到1500釐米乘以1850釐米的尺 - 寸0 隨著玻璃基板大型化後，增加了許多較關鍵性的製程， 而在繁複的製程中，供放置玻璃基板的架子，或稱載具， 在每道製程間玻璃基板的運送扮演了一個基本的角色。而 在現今液晶顯示面板的製作過程中，一般係利用標準式卡 匣（normal cassette)或鋼索式卡匡（wire cassette)等兩種不同 5 1269772 的載具來存放玻璃基板。請參照第1圖，第1圖為習知一 標準式卡匣之示意圖。如第1圖所示，標準式卡匣具有一 箱匣12與複數個載板14。其中，各載板14上又設置有複 數個垂直的頂針16，用來支撐一玻璃基板18。因此在存取 玻璃基板18時，機械手臂牙叉20可直接插入頂針16間的 間隙並將玻璃基板18快速取出。一般而言，標準式卡匣的 優點是可存取任意一玻璃基板18,然而在存取玻璃基板ι8 時，玻璃基板18與相對應之載板14間的距離需大於機械 手臂牙叉20之寬度，以使機械手臂牙叉20可插入來存取 特定之玻璃基板18 ’進而限制了卡1£可存取玻璃基板μ ' 的空間及數量。 *1269772 IX. Description of the Invention: [Technical Field of the Invention] The present invention provides a transfer machine, and more particularly to a transfer machine that carries a glass substrate. [Prior Art] Since the liquid crystal display panel has characteristics such as thinness, low power consumption, and no radiation-contamination, it is widely used in portable information products such as notebook computers and personal digital assistants, and has even been gradually replaced. The trend of traditional desktop private cRT monitors. In the liquid crystal display panel, a glass substrate is a key component of the liquid crystal display panel, and in addition to the cost of the liquid crystal display panel, the yield of the liquid crystal display panel is more important. In recent years, glass substrates have also increased with the increase in the size and capacity requirements of liquid crystal display panels. In the current fifth-generation liquid crystal display panel, the glass substrate has reached a size of 13 cm by 15 cm to 10 m, while the sixth generation has reached a size of 1500 cm by 1850 cm. After the large size of the glass substrate, many more critical processes have been added. In the complicated process, the shelf for placing the glass substrate, or the carrier, plays a basic role in the transportation of the glass substrate between each process. . In the current manufacturing process of liquid crystal display panels, two different types of carriers, such as a standard cassette or a wire cassette, are used to store the glass substrate. Please refer to Fig. 1, which is a schematic diagram of a conventional standard cassette. As shown in Fig. 1, the standard cassette has a box 12 and a plurality of carriers 14. Each of the carrier plates 14 is further provided with a plurality of vertical thimbles 16 for supporting a glass substrate 18. Therefore, when accessing the glass substrate 18, the mechanical arm yoke 20 can be directly inserted into the gap between the thimbles 16 and the glass substrate 18 can be quickly taken out. In general, the standard cassette has the advantage that any glass substrate 18 can be accessed. However, when accessing the glass substrate ι8, the distance between the glass substrate 18 and the corresponding carrier 14 needs to be greater than that of the mechanical arm. The width is such that the robotic arm fork 20 can be inserted to access a particular glass substrate 18' thereby limiting the amount and amount of card 1 accessible glass substrate μ'. *
I :請參照第2圖，第2圖為習知一鋼索式卡匣之示意圖。 如第2圖所示，鋼索式卡匣包含有一箱匣22與複數條鋼索 24。其中，鋼索式卡匣主要係利用複數條皮帶輸送帶28深 # 入鋼索式卡匣的方式來循序存取各玻璃基板26。相較於伊、 準式卡匣，鋼索式卡匣的優點是承載各玻璃基板26之相對 應鋼索24間的空隙可容許較小的距離，進而能有效縮小箱 匣22的體積，並提声箱匣22可存取玻璃基板26的數量。 然而’由於鋼索式卡匣的設計是利用複數條皮帶輸送帶Μ 深入鋼索式卡匣的方式來循序存取各玻璃基板26，因此僅 .能由下而上依序存取玻璃基板26，而無法如第1圖戶斤述之 ‘ 標準式卡匣般利用機械手臂牙叉20快速深入頂針16的間 6 1269772 隙中來存取特定之玻璃基板18。 因此，如何有效改善習知存取玻璃基板時需較大的存取 空間或只能依序存取的問題即為現今一重要課題。 【發明内容】 本發明之主要目的在於提供一種移載機，來解決上述習 知之問題。 * 根據本發明之申請專利範圍，係揭露一種移載機，其包 ' 含有複數個堆疊設置之托盤與一升降機構。其中，該等托 - 盤包含一待取托盤；該升降機構包含有至少一第一升降手 .臂與至少一第二升降手臂，且該第一升降手臂係用以將位 於該待取托盤上方之該等托盤升高至一第一高度，而該第 二升降手臂係用以將該待取托盤升高至一第二高度。 由於本發明之移載機係先利用一第一機械手臂將待取 * 托盤上方的托盤升高至一第一高度，利用一第二機械手臂 ' 將一待取托盤升高至一第二高度，然後再利用一旋轉手臂 將承載於待取托盤内的玻璃基板升高，因此可藉由機械手 臂將托盤與托盤間分離的方式有效節省收納玻璃基板的空 間，並同時提供足夠的空間讓機械手臂牙叉可自由存取玻 璃基板。 7 1269772 【實施方式】 *請參照第3圖至第6圖，第3圖至第6圖為本發明較佳 錢施例利用一移載機移取玻璃基板之示意圖。 如第3圖所示，本發明之移載機3〇包含複數個堆疊設 置的托盤34與一升降機構36。其中，複數個托盤34中包 含一待取托盤38，各托盤34内均可用來承載著一玻璃基 _ 板48，且升降機構36包含有至少一第一升降手臂4〇與炱 少一第二升降手臂42於托盤34之兩侧，托盤34每一側之 第一升降手臂40與第二升降手臂42之數目亦可為2至4 • 支，視移載機30、作業空間或使用者需求而定，本發明旅 _ 不侷限。此外，各牦盤34的底部均具有至少一開口（未繪 ' 不）’且各托盤34的兩側皆分別具有至少一突出的托緣 46 ’使第-升降手臂4〇與第二升降手f 42得以藉由兩側 之托緣46來將托盤34頂起。同時，升降機構36另包含一 •驅動裝置（圖未示），用以驅動升降機構％的各升降手臂 40、42。 如第4圖所示，當欲取出待取托盤％ 板則，首先利用第，手於待== 方的稷數她盤34升高至一第一高度。然後如第5圖所 * 不，利用第二升降手臂42將待取托盤38升高至一第二高 •度。其中，第一高度與第二高度係差距約50亳米至侧毫 8 1269772 米’且第一高度係大於第二高度。 如第6圖所示，複數個頂針50,例如樹脂頂針或金屬頂 針等，垂直設置於旋轉手臂44上，接著以迴旋的方式水平 移動升降機構36之旋轉手臂44，使頂針50對準待取托盤 38底部的開口。然後升高旋轉手臂44,並利用頂針5〇將 承載於待取托盤38内的玻璃基板48升高至一第三高度， 鲁而使第二局度係介於第一南度與第二南度之間。然後將一 存取玻璃基板48的機械手臂牙叉52插入頂針50間的間 隙’將待取托盤38上被升高的玻璃基板48從移載機3〇中 抽取出來。 • 值得注意的是，本發明係先利用一第一機械手臂將一待 取托盤上的托盤升高至一第一高度，並利用一第二機械手 臂將一待取托盤升高至一第二高度，最後再利用一旋轉手 • 臂將承載於待取托盤内的玻璃基板托高。換句話說，本發 明可於存取玻璃基板時配合移載機的升降機構將托盤與托 盤之間分離，再把托盤上的玻璃基板頂高。同時，由於取 放空間變大，抽取玻璃基板的機械手臂牙叉便可安全的執 行玻璃基板的存取，進而有效降低收納玻璃基板的空間。 • 請參照第7圖與第8圖，第7圖為本發明較佳實施例之 • 移载機於旋轉手臂旋轉前之示意圖，而第8圖為本發明較 1269772 佳實施例之移載機於旋轉手臂旋轉後之示意圖。如第7圖 與第8圖所示，本發明之移載機3()包含複數個堆疊設置的 托盤34(圖中僅顯示兩托盤)與一升降機構36。其中，複數 個托盤34中包含一待取托盤邛，而升降機構36則包含有 至少一第一升降手臂4〇與至少一第二升降手臂42，且第 一升降手臂40係用以將位於待取托盤38上方之托盤34升 局至一第一高度，而第二升降手臂42係用以將待取托盤 38升高至一第二高度。 同時’各托盤34的兩侧分別具有至少一突出的托緣 46 ’且第一升降手臂40與第二升降手臂42係藉由托緣46 來將托盤34頂起。此外，移載機30另包含一旋轉手臂44， 以及複數個頂針50垂直設置於旋轉手臂44上。因此在第 二升降手臂42將待取托盤38頂起後，旋轉手臂44可由原 先的收取狀態（如第7圖所示），以迴旋的方式水平移動至 待取托盤38的下方，使頂針50對準待取托盤38底部的開 口 ’如第8圖所示。然後升高旋轉手臂44，並利用頂針5〇 將承載於待取托盤38内的玻璃基板（圖未示）升高，使一存 取玻璃基板48的機械手臂牙叉（圖未示）可插入頂針50間 的間隙’將待取托盤38上被升高的玻璃基板從移載機3〇 中抽取出來。 因此’相較於習知存放玻璃基板的移載機，本發明之移 1269772 載機係先利用一第一升降手臂將待取托盤上方的托盤升高 至一第一高度，利用一第二升降手臂將一待取托盤升高至 一第二高度，然後再利用一旋轉手臂將承載於待取托盤内 的玻璃基板升高，因此可藉由托盤與托盤間分離的方式有 效節省收納玻璃基板的空間，並同時提供足夠的空間讓機 械手臂牙叉自由存取玻璃基板。由於本發明之移載機的收 納空間極小，因此可機動性的配合存放位置來展開内部空 間’又可於搭配玻璃基板的升降機構時有效的降低基板的 變形量’進而增加機械手臂牙又在存取玻璃基板時的速度 與效率。 以上所述僅為本發明之較佳實施例，凡依本發明申請 專引範圍所做之均等變化與修飾，皆應屬本發明之涵蓋範圍。 【圖式簡單說明】 =1圖為習知標準式卡匣之示意圖。 =2圖為習知鋼索式卡匣之示意圖。 圖至第6圖為本發明較佳實施例利用一移載機移取玻 1离基板之示意圖。 7 、 圖為本發明較佳實施例之移載機於旋轉手臂旋轉前之 示意圖。 第 8 ' 圖為本發0辕佳實施狀移«於_手臂旋轉後之 $意圖。 1269772 【主要元件符號說明】 12 箱匣 14 載板 16 頂針 18 玻璃基板 20 機械手臂牙叉 22 箱匣 24 鋼索 26 玻璃基板 28 皮帶輸送帶 30 移載機 34 托盤 36 升降機構 38 待取托盤 40 第一升降手臂 42 第二升降手臂 44 旋轉手臂 46 托緣 48 玻璃基板 50 頂針 52 機械手臂牙叉 12I : Please refer to Figure 2, and Figure 2 is a schematic diagram of a conventional cable-type cassette. As shown in Fig. 2, the cable-type cassette includes a box 22 and a plurality of cables 24. Among them, the steel cable type card is mainly used to sequentially access the glass substrates 26 by means of a plurality of belt conveyor belts 28 deep into the cable type cassette. Compared with the Yi and quasi-type cassettes, the advantage of the cable-type cassette is that the gap between the corresponding cables 24 carrying the glass substrates 26 can tolerate a small distance, thereby effectively reducing the volume of the box 22 and raising the sound. The cassette 22 can access the number of glass substrates 26. However, since the design of the cable-type cassette is to sequentially access the glass substrates 26 by means of a plurality of belt conveyor belts and deeper cable-type cassettes, only the glass substrate 26 can be sequentially accessed from the bottom to the top. It is not possible to access the specific glass substrate 18 by using the mechanical arm yoke 20 to quickly penetrate into the gap 6 1269772 of the thimble 16 as in the standard 匣 of the first figure. Therefore, how to effectively improve the conventional access to the glass substrate requires a large access space or can only be accessed sequentially. This is an important issue today. SUMMARY OF THE INVENTION A primary object of the present invention is to provide a transfer machine that solves the above-mentioned problems. * According to the scope of the patent application of the present invention, there is disclosed a transfer machine comprising a plurality of stacked trays and a lifting mechanism. Wherein the tray comprises a tray to be taken; the lifting mechanism comprises at least one first lifting arm and at least one second lifting arm, and the first lifting arm is configured to be located above the tray to be taken The trays are raised to a first height, and the second lifting arm is used to raise the tray to be lifted to a second height. Since the transfer machine of the present invention first raises the tray above the tray to be raised to a first height by using a first robot arm, the second robot arm is used to raise a tray to be lifted to a second height. Then, using a rotating arm, the glass substrate carried in the tray to be taken is raised, so that the space between the tray and the tray can be effectively separated by the robot arm, and the space for accommodating the glass substrate is saved, and at the same time, sufficient space is provided for the machine. The arm fork has free access to the glass substrate. 7 1269772 [Embodiment] * Please refer to Figs. 3 to 6 , and Figs. 3 to 6 are schematic views showing a preferred embodiment of the present invention for removing a glass substrate by using a transfer machine. As shown in Fig. 3, the transfer machine 3 of the present invention comprises a plurality of stacked trays 34 and a lifting mechanism 36. Wherein, the plurality of trays 34 include a tray 38 to be taken, each of the trays 34 can be used to carry a glass base plate 48, and the lifting mechanism 36 includes at least one first lifting arm 4〇 and a second one. The lifting arm 42 is on both sides of the tray 34. The number of the first lifting arm 40 and the second lifting arm 42 on each side of the tray 34 may also be 2 to 4 • depending on the transfer machine 30, the working space or the user's demand. However, the invention of the brigade _ is not limited. In addition, the bottom of each of the trays 34 has at least one opening (not drawn 'no') and each of the trays 34 has at least one protruding rim 46' on each side of the tray 34 to make the first lifting arm 4 〇 and the second lifting hand The f 42 is able to lift the tray 34 by the bracket edges 46 on both sides. At the same time, the lifting mechanism 36 further comprises a driving device (not shown) for driving the lifting arms 40, 42 of the lifting mechanism %. As shown in Fig. 4, when the tray % plate to be taken is to be taken out, first, the hand 34 is raised to a first height by the number of the hand to be == square. Then, as shown in Fig. 5, the second lifting arm 42 is used to raise the tray 38 to be picked up to a second height. Wherein, the first height is different from the second height by about 50 mm to the side of 8 1269772 meters and the first height is greater than the second height. As shown in FIG. 6, a plurality of thimbles 50, such as resin thimbles or metal thimbles, are vertically disposed on the rotating arm 44, and then the rotating arm 44 of the lifting mechanism 36 is horizontally moved in a convoluted manner to align the thimble 50 with the ejector pin 50. The opening at the bottom of the tray 38. Then, the rotating arm 44 is raised, and the glass substrate 48 carried in the tray 38 to be taken is raised to a third height by using the ejector pin 5, so that the second degree system is between the first south and the second south. Between degrees. Then, a mechanical arm fork 52 that accesses the glass substrate 48 is inserted into the gap between the ejector pins 50, and the raised glass substrate 48 on the tray 38 to be taken out is taken out from the transfer machine. • It is worth noting that the present invention first uses a first robotic arm to raise the tray on a tray to be lifted to a first height, and uses a second robotic arm to raise a tray to be picked up to a second Height, and finally use a rotating hand arm to support the glass substrate carried in the tray to be taken. In other words, the present invention can be used to separate the tray from the tray when the glass substrate is accessed, in conjunction with the lifting mechanism of the transfer machine, and then the glass substrate on the tray is raised. At the same time, since the access space is increased, the mechanical arm of the glass substrate can be used to securely access the glass substrate, thereby effectively reducing the space for accommodating the glass substrate. Please refer to FIG. 7 and FIG. 8 , FIG. 7 is a schematic diagram of the transfer machine before the rotating arm rotates according to a preferred embodiment of the present invention, and FIG. 8 is a transfer machine of the preferred embodiment of the present invention. Schematic diagram of the rotation of the rotating arm. As shown in Figs. 7 and 8, the transfer machine 3 () of the present invention comprises a plurality of stacked trays 34 (only two trays are shown) and a lifting mechanism 36. Wherein, the plurality of trays 34 include a tray tray to be taken, and the lifting mechanism 36 includes at least one first lifting arm 4〇 and at least one second lifting arm 42, and the first lifting arm 40 is used to be located The tray 34 above the tray 38 is raised to a first height, and the second lifting arm 42 is used to raise the tray 38 to be lifted to a second height. At the same time, the two sides of each of the trays 34 have at least one protruding rim 46' and the first lifting arm 40 and the second lifting arm 42 are used to lift the tray 34 by the rim 46. In addition, the transfer machine 30 further includes a rotating arm 44, and a plurality of ejector pins 50 are vertically disposed on the rotating arm 44. Therefore, after the second lifting arm 42 lifts the tray 38 to be taken up, the rotating arm 44 can be horizontally moved to the lower side of the tray 38 to be taken in a manner of being originally charged (as shown in FIG. 7), so that the ejector pin 50 The opening aligned to the bottom of the tray 38 to be taken is as shown in Fig. 8. Then, the rotating arm 44 is raised, and the glass substrate (not shown) carried in the tray 38 to be taken is raised by the ejector pin 5, so that the mechanical arm of the access glass substrate 48 (not shown) can be inserted. The gap between the thimbles 50 extracts the raised glass substrate on the tray 38 to be removed from the transfer machine. Therefore, compared with the conventional transfer machine for storing the glass substrate, the mobile 1269772 carrier of the present invention first uses a first lifting arm to raise the tray above the tray to be taken to a first height, using a second lifting The arm raises the tray to be lifted to a second height, and then uses a rotating arm to raise the glass substrate carried in the tray to be taken, so that the glass substrate can be effectively saved by separating the tray from the tray. Space, and at the same time provide enough space for the robot arm fork to free access to the glass substrate. Since the storage space of the transfer machine of the present invention is extremely small, the movable space can be combined with the storage position to expand the internal space, and the deformation amount of the substrate can be effectively reduced when the lifting mechanism of the glass substrate is matched, thereby increasing the mechanical arm teeth. Speed and efficiency when accessing a glass substrate. The above are only the preferred embodiments of the present invention, and all changes and modifications made to the scope of the invention are intended to be within the scope of the present invention. [Simple description of the figure] =1 Figure is a schematic diagram of a conventional standard card. The =2 picture is a schematic diagram of a conventional steel cable clamp. Figure 6 to Figure 6 are schematic views showing the use of a transfer machine to remove a glass substrate from a substrate in accordance with a preferred embodiment of the present invention. 7 is a schematic view of the transfer machine of the preferred embodiment of the present invention before the rotating arm is rotated. The 8th figure is the best intention of the implementation of the shift. 1269772 [Description of main components] 12 Box 匣 14 Carrier plate 16 Thimble 18 Glass substrate 20 Robot arm fork 22 Box 匣 24 Cable 26 Glass substrate 28 Belt conveyor 30 Transfer machine 34 Pallet 36 Lifting mechanism 38 Waiting tray 40 One lifting arm 42 second lifting arm 44 rotating arm 46 supporting edge 48 glass substrate 50 thimble 52 mechanical arm fork 12