TWM586205U - End material cutting device of substrate of special shape - Google Patents

Abstract

An end material dividing device for a special-shaped substrate includes a moving body 6 that moves forward and backward in a forward-backward direction; a table 7 that rotates on the moving body 6 and sucks and holds a substrate A with a special-shaped cutting line B drawn thereon; and a double-arm robotic arm 9 9 and 9 protrude from the front of the table 7 to the left and right; the chuck 11 is used to clamp the two sides of the end material C of the substrate A at the front end of the robot arm; the center gripper F for clamping the end material C is arranged on the sliding base 21 and up and down The gripping front end faces forward, the sliding base 21 is set at the lower end of the lifting body and moves forward and backward in the forward and backward direction, and the lifting system is raised and lowered directly above the robot arm 9; twisting the swinging means K to cause the center jaw F to swing in the up and down direction; the cutout portion 30. It is set from the edge surface of the table 7 to the inner direction, and is inserted into the chuck 11 and the center jaw F; and the inclined surface 29 is inclined downward from the top of the table 7 toward the edge. When the special-shaped substrate is divided, twisting and division are performed on the portion gripped by the gripper claws, so that there is no defect of cracking at the dividing edge.

Description

End material dividing device for special-shaped substrate

This case relates to a cutting device for an end material of a profiled substrate used in, for example, a display panel for a vehicle.

As is known, in addition to liquid crystal substrates, display substrates such as display panels for automobiles also use organic EL substrates. After the substrate is drawn with a special-shaped cutting line, the end material of the peripheral portion of the cutting line is divided (removed with division), thereby obtaining Special-shaped substrate (for example, the above-mentioned end material dividing method is referred to Patent Documents 1 and 2).

[Prior technical literature]
[Patent Literature]
Patent Document 1: Japanese Patent No. 3759450.
Patent Document 2: Japanese Patent No. 4907104.

[Questions to be solved by this creation]
Furthermore, according to the division method of Patent Document 1, as the cylinder is extended, the division member such as a bar or a roller is lowered to the division portion (on the scribe line), and division force (pressurization or impact force) is applied to the division member to perform division.

Further, according to the division method of Patent Document 2, the division is performed while crimping the bar material on the scribe line of the division portion in the same manner as the method of Patent Document 1.

If the above method is used, the stress caused by the pressing force or impact force of the divided member such as a bar or a roller will be forcibly divided. Therefore, a beautiful divided surface cannot be obtained, and the divided surface will be scratched or cracked due to abrasion. Causes of defective products. That is, a notch is generated on the product side.

The main reason is the effect of impact stress.

Therefore, the method of this case is to clamp the position near the cutting line of the end material portion by the gripper claws, and apply twist and division to the clamping portion, thereby avoiding the aforementioned various disadvantages.

[Technical means to solve the problem]
In order to solve the above problems, the composition of this case includes:
The moving body is moved and guided by the forward and backward direction guiding means, and moved forward and backward by the moving means;
The table with suction holding means is set on the upper side of the moving body, and is rotated on the plane by the rotating means, and the mounted rectangular substrate is held on it. The rectangular substrate has been scribed, and the scribing is on the The edge part is marked with a special-shaped cutting line, and the corners of the end material outside the aforementioned special-shaped cutting line are drawn with the aforementioned half-cut line for dividing the end material;
The double-wrist robotic arm protrudes from the central part of the front of the table to the left and right of the front;
The chuck is arranged at the front end of the two robot arms and clamps both sides of the end material of the substrate;
The lifting body is raised and lowered directly above the robot arm by means of lifting;
The sliding base is provided on the support member, and is slid in the front-back direction by the guide means, and is moved by the forward and backward movement means, and the support member is provided at the lower end of the lifting body;
The center clamping claw for clamping the end material of the substrate is arranged on the sliding base, and the front end of the upper and lower clamping faces forward;
The twisting and shaking means is to make the aforementioned center jaw shake in the up-down direction;
The cutouts are provided at both ends of the long edge of the table and the middle portion of the table and at the center of the short edge of the table, and are inserted into the chuck and the center jaw from each edge surface inward; It is arranged from the upper edge of the table to the divided scribe edge of the substrate in the inner direction, and is inclined downward from the upper surface of the table toward the edge.

[Effects of this creation]
As described above, according to the end material dividing device of the shaped substrate of the present case, the substrate placed on the table is sucked and held by the sucking and holding means, and the end of the long edge of the holding substrate is clamped by the chuck of the double-wrist robot arm. After the edges of the two ends of the material are clamped by the central gripper, the central part of the long-edge end material is twisted and shaken by the robot arm, and the central gripper is twisted and shaken by means of shaking, so that the end material is lined. Partially divided, in addition, the table is rotated about 45 °, and the two ends of the short side facing diagonally forward and the other side facing diagonally backward are clamped by the claws of the double wrist robotic arms and divided In addition, the table is rotated by the rotating means so that the end of the short-side end material faces the front-rear direction, and the short-side end material on one side is twisted by the center gripper chair by shaking means, and divided, The position of the remaining short-side end material is changed by the rotation means, and the center gripper is twisted and shaken by the rocking means, and divided. While splitting the rest End of long side.

Therefore, it has the following special effects: both the chuck of the robotic arm and the center jaw can be used around the table, or they can be used separately. Of course, the position of the edge of the substrate can be changed as the table is rotated, which can be extremely efficient. Split the end stock.

Next, when the end material is divided by the chuck or the center jaw of the robotic arm, the downward rotation of the chuck or the center jaw in the downward inclined inclined surface provided on the table can be divided without twisting the end material. , Smoothly twist the split end material, will not form abrasions or breaks at the split edge, and will not produce a split surface that causes product defects.

Next, embodiments of the present invention will be described based on the drawings.
As shown in FIG. 1, in addition to the well-known veneer and liquid crystal substrate, each side end material divided substrate A of the embodiment of the present invention also uses an organic EL substrate. For example, there is a glass plate on the lower side and a plurality of layers are laminated on the lower glass plate. Film, and draw a uniform shaped cutting line B under the glass plate and above the multilayer film.

Also, as is known, a cutting line in the X direction and the Y direction is drawn on both sides of a large panel, and the cutting line is divided and divided into a plurality of pieces to obtain a rectangular substrate A.

Of course, at each corner of the cutting line B, a half cutting line B ′ is drawn from the cutting line B to the edge of the substrate A, and the half cutting line B ′ makes it easier to divide the end material C on each side.

As shown in FIGS. 2 and 3, a moving body 6 is provided. The moving body 6 is guided by the forward-backward direction guiding means D, and is moved forward and backward by the moving means E.

In the situation shown in the figure, the above-mentioned guiding means D is composed of two parallel rails 1 and a sliding member 2 provided below the moving body 6 and slidably engaging with the rail 1, but other guidances may be used. Way while moving in the front-back direction.

In the situation shown in the figure, the moving means E is composed of a male screw 4 and a female screw 5, which is installed between the rails 1 and is reversibly driven by the running motor 3. The female screw 5 is screwed on The male screw 4 is supported below the moving body 6 and the male screw 4 is operated to move the moving body 6 forward and backward by operating the motor 3, but is not limited thereto. For example, a linear motor may be used to move the moving body 6 forward and backward.

The moving body 6 is provided with a substrate A mounting table 7 which is rotated on a plane by a reversible operation of a motor as a rotation means N.

The table 7 is provided with suction holding means G, which sucks and holds (supply by a human hand or a conveyor) the substrate A on the table 7 with a flat area slightly larger than the area of the substrate A.

As shown in FIGS. 6 to 8, as the suction holding means G, the table 7 is formed into a hollow flat box, and the box is sucked through a suction hose (not shown), and numerous holes 8 are provided on the top wall of the box. , And suck and hold the substrate A on the box.

As shown in FIGS. 2 and 3, a multi-joint double-wrist robot arm 9, 9 is provided in front of the front edge of the table A, and the multi-joint double-wrist robot arm 9, 9 projects from the left and right forward. The above-mentioned robot arms 9 and 9 protrude forward from the wrists of the mounting base 10.

A chuck 11 is provided at the front end of the two robot arms 9, and the chuck 11 clamps the upper and lower surfaces of the end material C of the substrate A open and closed freely. The chuck 11 is configured by, for example, fixed claws on one of the upper and lower sides, and movable claws (both are well-known and are not shown) that are opened and closed by an action mechanism such as a cylinder on the other side.

Further, a support member 13 is provided above the robot arm 9, and the support member 13 is lifted and lowered by a lift means 12.

As the lifting means 12, a cylinder is used as shown in FIG. 3, and the lifting means 12 is shown in the figure, and the slider 16 on the upper end side of the lifting means 12 is engaged with the track 15 provided before and after the horizontal beam 14 is fixed, and Sliding in the front-back direction, and a male screw 18 is provided, which is parallel to the track 1 and operates by reversible operation of the motor 17. A female screw 19 is screwed into the male screw 18, and the female screw 19 is provided at At the upper end of the lifting means 12, the positions of the lifting means 12 and the support member 13 can be adjusted together in the front-rear direction.

This position adjustment is possible because a center jaw is provided on the support member 13 side, and the structure of the center jaw is described later.

In this way, even when changing the size between the long edges of the two opposite sides of the substrate A and changing the position of the long edges, the support member 13 and the long edge are changed to the same position, and the long edges can be surely gripped by the center gripper.

In addition, the support member 13 is provided with a sliding base 21 which is slidably guided in the front-rear direction by the guide means I, and is slid in the front-rear direction by the forward / backward movement means J.

In the case shown in the figure, the above-mentioned guide means I is constituted by, for example, a track provided on the support member 13 and a projection slidably engaged with the track, and in the case shown in the figure, the forward and backward movement means J uses, for example, a cylinder. The two ends of the cylinder are connected to the supporting member 13 and the sliding base 21, but it is not limited thereto.

Further, the sliding base 21 is provided with a center gripper F of the end material C, and the center gripper F is arranged on the upper and lower sides, and is opened and closed by the opening and closing means 31.

In the center jaw F described above, the lower center jaw F is fixed and the upper center jaw F is supported by the opening and closing means 31 of the cylinder to perform opening and closing.

In addition, after the end material C is clamped by the twisting and swinging means K, the center jaw F is shaken and twisted downward, and is broken.

For example, as shown in Figs. 10 and 11, the torsional rocking means K is composed of a protruding material 22, an arc-shaped guide surface 23, a sliding rocking body 25, an elongated hole 26, a latch 27, and a cylinder 28. The protruding material 22 is formed from The sliding base 21 projects downward, the arc-shaped guide surface 23 is set on the side of the table 7 of the protruding material 22 and is recessed, and the sliding rocker 25 is attached to the arc-shaped guide surface 23 and the arc-shaped projection surface 24. Overlapping, the long hole 26 is concentric with the arc-shaped protruding surface 24 at both ends of the upper and lower parts of the sliding rocker 25. The latch 27 penetrates the long hole 26 and supports the protruding material 22. The cylinder 28 The two ends are connected to a sliding base 21 and a sliding rocking body 25. The sliding base 21 is used to slide the sliding rocking body 25 in the vertical direction. Instead, slide and twist the end material C taken by the split clamp.

Of course, the twist division method of the end material C is not limited to the illustrated configuration, and may be performed in other ways as long as the purpose can be achieved.

Moreover, the support member 13 has a center jaw F, and is slid in the front-back direction by the forward-backward moving means J, and the support member 13 is raised and lowered by the lifting means 12, and the overall position can be changed, but it is not limited to this. The support member 13 may be hung by a single-arm robot.

A half-cut line B ′ is drawn on the substrate A from the upper edge of the table 7 inward (to the extent toward the dividing line). A half-cut line 29 is provided at the half-cut line B ′. The upper surface of the table 7 faces the edge, and the torsional shaking (reduced shaking) of the chuck 11 or the center jaw F can be performed more smoothly by the inclined surface portion 29.

In addition, a notch portion 30 may be provided at a position where the chuck 11 or the center jaw F clamps the end material C at the edge of the table 7, and the chuck 11 or In the gripping action of the center jaw F, it is possible to avoid conflicts when the chuck 11 or the center jaw F enters.

In the above-mentioned configuration, first, the substrate A supplied (by a human hand or a conveyor) is placed on the table 7, and the substrate A is held on the table 7 by the holding means G. At this time, the parallel long edges of the substrate A are positioned forward and backward (see FIG. 2).

After that, the end material C at both ends of the long edge on the front side of the substrate A is clamped by the chucks 11 of the double-arm robotic arms 9 and 9 to clamp the both ends of the long side, and the male screw 18 is operated by the motor 17. This advances the support member 13 and, while inserting the center portion of the long edge between the opened center jaws F (upper and lower spaces), the center jaw F is closed by the opening and closing means 31 and the center portion of the end material C is clamped.

Next, as shown in FIG. 4, with the lowering operation of the two robot arms 9, the end material C of the long edge is twisted and divided, and the divided end material C is dropped and dropped into the box 42 from the drop opening 41 to be recovered. The end material C is divided even in the half-cut line B '.

The above-mentioned center jaw F is also twisted by the twisting and shaking means K, and is twisted and divided. Therefore, the missing corner or the divided surface is unlikely to be broken and can be divided well.

In addition, the chuck 11 or the center jaw F of the robot arm 9 is brought into abutment on the table 7 by the inclined surface portion 29 without hindering the torsional division. That is, the inclined surface portion 29 is used to avoid conflicts. Figures 6 and 7 show.

In addition, as shown in FIG. 4, except that the end materials C on the two short sides of the substrate A are divided by the chucks 11 of the two robot arms 9 and 9, the table 7 is rotated 90 ° by the rotation means N, and The center clamp claw F divides the one-sided short-side side end material C (also divides the half-cut line B ′) located at the front and back. After the table 7 is rotated by 90 °, the remaining one-side short-side end material C is divided.

Next, as shown in FIG. 5, the table 7 is rotated to face the mounting base 10, and then the remaining long-edge end material C is divided using the chuck 11 or the center jaw F of the two robot arms 9.

Using a take-out machine, the substrate A after dividing each side end material C is removed from the table 7. When the size of the substrate A is changed, the table 7 can be replaced in accordance with the size of the substrate A every time.

A‧‧‧ substrate

B‧‧‧ Special-shaped cutting line

B′‧‧‧ half-cut line

C‧‧‧End material

D‧‧‧Guiding means

E‧‧‧Movement

F‧‧‧Center Claw

G‧‧‧ Absorb and hold means

I‧‧‧ Guidance

J‧‧‧ Forward and backward moving means

K‧‧‧ reverse the shaking means

N‧‧‧ Rotation means

1‧‧‧ track

2‧‧‧ Slide

3‧‧‧ Motor

4‧‧‧male screw

5‧‧‧female screw

6‧‧‧ moving body

7‧‧‧ table

8‧‧‧ small hole

9‧‧‧ robotic arm

10‧‧‧Mount

11‧‧‧ chuck

12‧‧‧ Lifting means

13‧‧‧ supporting components

14‧‧‧ Liang

15‧‧‧ track

16‧‧‧ Slider

17‧‧‧ Motor

18‧‧‧Male Screw

19‧‧‧female screw

21‧‧‧ sliding base

22‧‧‧ protruding material

23‧‧‧arc guide surface

24‧‧‧ Projection

25‧‧‧ Sliding shaking body

26‧‧‧ long hole

27‧‧‧ Bolt

28‧‧‧ Cylinder

29‧‧‧ oblique face

30‧‧‧ Delinquent

31‧‧‧ opening and closing means

41‧‧‧ drop mouth

42‧‧‧ input box

FIG. 1 is a plan view of a substrate in which the end material of this case is divided.
FIG. 2 is a plan view showing an example of the present case for processing an end material.
Figure 3 is a side view of the same.
FIG. 4 is a plan view showing an example of division of the short-side end material of the substrate.
FIG. 5 is a plan view showing an example of division of the long-side end material of the substrate.
FIG. 6 is a side view showing part of the end material before being divided.
Fig. 7 is a side view showing part of the end material when it is divided.
FIG. 8 is a side view showing a partially omitted end material.
Fig. 9 is an enlarged side view showing a longitudinal section of a center jaw for dividing the end material.
Fig. 10 is an enlarged side view showing a portion where the center jaw is twisted.
Fig. 11 is an enlarged side view showing a part of the center jaw after being twisted.
Fig. 12 is a plan view showing the division of the long-side end material of the substrate.
FIG. 13 is a plan view showing the division of the two short-side end members of the substrate.
FIG. 14 is a plan view showing the division of the end materials of each side of the substrate.

Claims (1)

An end material dividing device for a special-shaped substrate includes:
The moving body is moved and guided by the forward and backward direction guiding means, and moved forward and backward by the moving means;
The table with suction holding means is set on the upper side of the moving body, and is rotated on the plane by the rotating means, and the mounted rectangular substrate is held thereon. The rectangular substrate has been scribed, and the scribe is Draw a special-shaped cutting line on the edge, and draw a half-cut line for dividing the end material at each corner of the end material outside the special-shaped cutting line;
The double-wrist robotic arm protrudes from the front central part of the table to the front left and right;
The chuck is arranged at the front end of the two robot arms and clamps both sides of the end material of the substrate;
The lifting body is raised and lowered directly above the robot arm by means of lifting;
The sliding base is arranged on the supporting member, and is slid in the front-back direction by the guide means, and is moved by the forward and backward moving means, and the supporting member is arranged on the lower end of the lifting body;
The center clamping claws for clamping the end material of the substrate are arranged on the sliding base, and the upper and lower clamping front ends face forward;
Twist the shaking means to make the center jaw shake in the up and down direction;
The cutouts are provided at the two ends of the long edge of the table and the middle part of the table and the center of the short edge of the table, and are inserted into the chuck and the center jaw from each edge surface inwardly; It is arranged from the upper edge of the table to the dividing scribe edge of the substrate in the inner direction, and is inclined downward from the upper surface of the table toward the edge.