WO2011011955A1

WO2011011955A1 - Repeatedly and intelligently gripping and releasing device with multiple jaws

Info

Publication number: WO2011011955A1
Application number: PCT/CN2009/076064
Authority: WO
Inventors: 杨明生; 范继良; 王银果; 王曼媛; 王勇
Original assignee: 东莞宏威数码机械有限公司
Priority date: 2009-07-29
Filing date: 2009-12-25
Publication date: 2011-02-03
Also published as: CN101656223A; CN101656223B

Abstract

A repeatedly and intelligently gripping and releasing device with multiple jaws, includes multiple jaws (10), a jaw driving machine, a supporting panel (30), a supporting panel driving machine, a supporting panel sensor and a controlling system. The jaw includes a holding section (11), a jaw fixing section (12) and a torsion spring (13). The holding section and the jaw fixing section are connected to each other through a pivoted mechanism. The upper supporting point (131) of the torsion spring is against the holding section, and the lower supporting point (132) of the torsion spring is against the jaw fixing section. The jaw driving machine is connected to the holding section and drives the jaws to open or to close. The supporting panel holds a plate object (50). The supporting panel driving machine is connected to the supporting panel and drives the supporting panel to move. The supporting panel sensor detects holding information of the supporting panel. The controlling system has electrical connection with the jaw driving machine, the supporting panel driving machine and the supporting panel sensor. The controlling system deals with the detected holding information and controls the jaw driving machine and the supporting panel driving machine to work. The supporting panel driving machine and the torsion spring realize gripping and releasing the plate object repeatedly and intelligently.

Description

Multi-grip repeating intelligent grab release device

The invention relates to a grasping and releasing mechanism, in particular to a multi-handle repeating intelligent grasping and releasing device for repeatedly grasping and translating a plate-like object in the organic light emitting diode industry. Background technique

With the continuous development of the economy, the continuous advancement of science and technology, and the decreasing energy of the world, people pay more and more attention to energy conservation and utilization efficiency in production, which makes people and nature develop harmoniously to meet the requirements of China's new industrialization road.

For example, in the display industry of digital products, in order to save energy and reduce production costs, enterprises have increased investment in research and development and are constantly pursuing new products that are energy-saving. Among them, OLED display is a new product in digital products. OLED is an organic light-emitting diode (Organic Light-Emitting Diode). Because of its light weight, power saving and other characteristics, it has been widely used in the display of digital products. And it has a large market potential. At present, the application of OLED in the world is focused on flat panel displays, because OLED is the only technology that can be compared with TFT-LCD in application, and it is the only one that can be made in all display technologies. Dimensional, high-brightness, high-resolution soft-screen display technology can be made to the same thickness as paper; however, OLED display (organic-emitting display) is different from traditional TFT-LCD display (liquid crystal display). No need for backlighting, using a very thin coating of organic material and a glass substrate, these organic materials will illuminate when current is passed through, and the OLED display can be made lighter and thinner, with a larger viewing angle, and Significant energy savings; accordingly, all devices that make OLED displays must ensure the accuracy of the OLED display begging. The OLED display is a current-type semiconductor light-emitting device based on an organic material. The typical structure is to deposit a layer of tens of nanometers thick organic light-emitting material on the IT0 glass as a light-emitting layer, and a metal electrode with a low work function is arranged above the light-emitting layer. When a voltage is applied to the electrodes, the luminescent layer produces optical radiation.

The preparation process of the OLED display device includes: in the processes of substrate cleaning, photolithography, substrate processing, film formation, packaging, etc., it is often necessary to grasp or interpret the plate-like object such as the substrate, the substrate, the mask, etc. The release device includes a clamp, a clamp arm and a drive mechanism, and the drive mechanism drives the support arm to move and control When the clamp grasps an object, when the plate-like object is grasped by the grasping and releasing device, the driving mechanism controls the clamp to open, then drives the clamp arm to move to a designated position, and controls the clamp The clamp is closed to grasp the object; when the plate-like object is translated by the above-mentioned grasping and releasing device, the driving mechanism drives the clamp arm to move to a designated position and controls the clamp to open, and the plate-shaped body is translated Putting on the pallet, and then controlling the clamp to close, thereby completing the work of releasing the object; due to the structure of the traditional clamp, when the closing action is performed, the reaction is slow and the movement is slow, and the opened clamp cannot be closed in time. On the other hand, when the plate-like object needs to be grasped, the grasping and releasing device cannot control the clamp to open in time, and it is often necessary to manually determine whether there is a plate-like object at the designated position, thereby operating the grasping and releasing. The device opens the clamp and manually controls the entire working process, wasting manpower and time. In short, the traditional grasping and unloading mechanism is slow, unable to be timely, repetitive, and intelligent. Translation grab put to work.

Therefore, there is an urgent need for a retrievable and timely grasping and releasing device for grasping and releasing a plate-like object. Summary of the invention

The object of the present invention is to provide a grasping and releasing device capable of repeating, timely and intelligently completing the action of grasping and releasing the object of the plate.

In order to achieve the above object, the technical solution of the present invention is: a multi-grip repeating intelligent grasping and releasing device, which is suitable for grasping and translating a plate-like object, and the multi-grip repeating intelligent grasping and releasing device comprises: a plurality of grippers, a gripper drive mechanism, a pallet, a pallet drive mechanism, a pallet sensor, and a control system; the gripper includes a grip portion, a grip holder, a torsion spring, and the grip portion The grip holder is pivotally connected, the upper support point of the torsion spring is in contact with the grip portion, and the lower support point of the torsion spring is in contact with the grip holder; the gripper drive mechanism and the handle a gripping portion of the gripper, the gripper driving mechanism driving the gripper to open or close; the pallet carrying the plate-like object; the pallet driving mechanism being connected to the pallet, the tray a plate driving mechanism drives the pallet to move; the pallet sensor detects bearing information of the pallet; the control system is electrically connected to the gripper driving mechanism, the pallet driving mechanism and the pallet sensor respectively, control Bearer information processing system sensor detects the pallet and the pallet and the pallet means to control operation of the drive mechanism driving the gripper.

Preferably, the gripper further includes a torsion spring shaft, and the torsion spring shaft passes through the torsion spring, and the grip portion is pivotally connected to the grip holder with the torsion spring shaft as a rotation axis. Torsion spring The shaft is present as a support shaft of the torsion spring and is also present as a rotating shaft of the grip portion, so that the structure of the grip is simple and compact.

Preferably, the grip portion includes a grip portion main body, an upper portion of the grip portion extending inwardly along both ends of the grip portion main body, and a lower portion of the grip portion, the grip holder fixing portion including the left side portion and the right portion a side portion, a base connecting the left side portion and the right side portion; the torsion spring shaft sequentially passes through the left side portion, the grip body and the right side portion, and the grip portion main body is rotated by the torsion spring shaft a shaft is pivotally connected to the grip holder, and a spring contact area is formed between the upper portion of the grip portion and the base, and a gripping area is formed between the lower portion of the grip portion and the base, the torsion spring The upper support point is in contact with the upper portion of the grip portion, and the lower support point of the torsion spring is in contact with the base. In one aspect, the connection relationship between the structure of the grip holder and the grip portion is such that the gripper has a symmetrical structure, which makes the gripper more stable when gripping an object, on the other hand, The grip portion includes a grip body, an upper portion of the grip portion and a lower portion of the grip portion. When the gripper is opened, only the upper portion of the grip portion is touched, and when the grip is closed, the pressure of the upper portion of the grip portion is released. Yes, the gripper operation is simple and convenient.

Preferably, the lower portion of the grip portion has a protrusion extending toward the gripping region. When the gripper grips the plate-like object, the plate-like object is carried on the bump, and the bump enables the multi-grip to repeat the intelligent grasping and releasing device to carry the object more stably, and effectively The contact area of the plate-like object with the gripper is reduced, thereby preventing damage to the object when the object is gripped.

Preferably, the base is provided with a mounting hole at a position relative to the left side portion and the right side portion. The mounting holes are respectively located at positions corresponding to the left side portion and the right side portion, such that the mounting holes are symmetrically distributed on the grip holder, and the gripper can be smoothly fixed by the mounting holes. On the bracket that needs to be installed.

Preferably, the grip driving mechanism comprises a lower pressing top column and a cylinder motor, the lower pressing top column is connected to the cylinder motor at one end, and the other end is suspended directly above the upper portion of the grip portion. When the multi-grip repeating intelligent grasping and releasing device starts to grasp or release the plate-like object, the gripper driving mechanism touches the upper portion of the grip portion of the grip portion, and the grip portion is along The torsion spring shaft rotates, the lower portion of the grip portion rotates outward, and the gripping region is opened. When the gripper needs to be closed, the pressure of the upper portion of the grip portion is released by the spring. The lower portion of the grip portion rotates inward, and the gripper is closed.

Preferably, the plurality of grippers are located in the same plane and form a polygonal sheet clamping region. when When the multi-grip repeating intelligent grasping and releasing device starts to grasp the plate-like object, the plate-like object is clamped in the plate clamping region, because the plate clamping region is closed, so when When the plate-like object is conveyed/reversed at this time, the plate-like object can be stably carried on the lower portion of the grip portion of the gripper to prevent slippage, displacement, and the like.

Compared with the prior art, the multi-grip repeating intelligent grasping and releasing device of the present invention has a spring structure on the one hand, that is, a support point of the two ends of the torsion spring of the gripper, and an upper support point. Abutting against the grip portion, the lower support point is in contact with the grip holder, so that the gripper can be closed in time by the torsion spring after being opened; on the other hand, the multi-handle repeats The pallet of the intelligent grasping and releasing device is provided with a pallet sensor, and the pallet sensor can detect whether there is a plate-like object on the pallet at any time, thereby driving the gripper by controlling the gripper driving device. The automatic and timely opening, finally reaching the gripper in time, and intelligently controlling the purpose of the present invention for grasping and translating the plate object, saves manpower and time. In addition, due to the gripper having the spring mechanism and the pallet sensor disposed on the pallet, the pallet sensor automatically detects the pallet when the multi-hand grip repeats the intelligent grasping and releasing device to grasp the object. Whether there is a flat plate, if there is control of the driving mechanism, the top of the gripper applies downward pressure, the gripper opens, and the flat plate is lifted into the gripper's inner side, the gripper top pressure is released, and the gripper is in the Closed by the torsion spring, the plate-like object is placed on a plane composed of a plurality of grippers; when the present invention deciphers the plate-like object, the pallet rises to a position below the plate-like object, The gripper driving device drives the gripper to open in time and translates the plate-like object onto the pallet, the pressure of the upper portion of the grip portion is released, and the gripper acts at the torsion spring Closely closing; therefore, the gripper sensor controls the gripper to open, the torsion spring drives the gripper to close, and the multi-grip repeating intelligent gripping and decoding device of the invention can be timely, intelligent and repeated Complete crawl, put the translation work tabular object. DRAWINGS

1 is a schematic structural view of a multi-handle repeating intelligent grasping and releasing device according to the present invention.

2 is a schematic structural view of a gripper of the multi-grip repeating intelligent grasping and releasing device of the present invention.

FIG. 3 is another schematic structural view of the gripper of the multi-hand grasping intelligent grasping and releasing device of the present invention. 4 is another schematic structural view of the gripper of the multi-hand grasping intelligent grasping and releasing device of the present invention. Figure 5 is a cross-sectional view of the gripper of the multi-handle repeating intelligent grasping and releasing device of the present invention.

FIG. 6 is a schematic view of the multi-handle repeating intelligent grasping and releasing device of the present invention when the plate body is grasped. FIG. 7 is a schematic view of the multi-grip repeating intelligent grasping and releasing device of the present invention for grasping a plate-like object. FIG. 8 is a schematic view of the multi-grip repeating intelligent grasping and releasing device of the present invention after grasping the plate-like object. FIG. 9 is a schematic view of the multi-grip repeating intelligent grasping and releasing device of the present invention when the translation of the plate-like object is started. FIG. 10 is a schematic view of the multi-handle repeating intelligent grasping and releasing device for releasing a plate-like object according to the present invention. FIG. 11 is a schematic view of the multi-handle repeating intelligent grasping and releasing device of the present invention after the translation and release of the plate body. detailed description

As shown in FIG. 1 , the multi-grip repeating intelligent grasping and releasing device of the present invention is suitable for grasping and releasing the plate-like object 50, and the multi-grip repeating intelligent grasping and releasing device comprises: a plurality of grippers 10, grasping a hand drive mechanism, a pallet 30, a pallet drive mechanism (not shown), and a pallet sensor (not shown), and a control system (not shown); with reference to Figures 2-5, the grip The hand 10 includes a grip portion 11 , a grip holder 12 , and a torsion spring 13 . The grip portion 11 is pivotally connected to the grip holder 12 , and the upper support point 1 31 of the torsion spring 13 The grip portion 11 is in contact with each other, and the lower support point 1 32 of the torsion spring 13 is in contact with the grip holder 12; the gripper driving mechanism is connected to the grip portion 11 of the grip 10, The gripper drive mechanism drives the gripper 10 to open or close; the pallet 30 carries the plate-like object 50; the pallet drive mechanism is coupled to the pallet 30, and the pallet drive mechanism drives The pallet 30 moves; the pallet sensor detects the bearer information of the pallet 30; The system is electrically connected to the gripper drive mechanism, the pallet drive mechanism and the pallet sensor, respectively, the control system processes the load bearing information of the pallet 30 detected by the pallet sensor and controls the gripper drive mechanism and the support The action of the plate drive mechanism.

Preferably, the grip 10 further includes a torsion spring shaft 14 including a grip portion main body 112, a grip portion upper portion 111 extending inwardly along both ends of the grip portion main body 112, and a gripping portion a lower portion 11 3; the grip holder 12 includes a left side portion 122, a right side portion 123, and a base 121 connecting the left side portion and the right side portion; the torsion spring shaft 14 is sequentially fixed through the gripper a left side portion 122 of the seat 12, the grip portion main body 112, and a right side portion 123 of the grip holder base 12, the grip portion main body 112 pivotally connected to the gripping shaft 12 with the torsion spring shaft 14 as a rotating shaft a spring contact area is formed between the upper portion 111 of the grip portion and the base 121, and the lower portion 113 and the base 121 of the grip portion are formed. A gripping zone 15 is formed therebetween; the torsion spring 13 passes through the torsion spring shaft 14 , and the upper support point 1 31 of the torsion spring 13 opposes the gripping upper portion 111, the twist The lower support point 1 32 of the spring 13 is in interference with the base 121. When the gripper 10 is required to be opened, the grip portion 11 1 of the grip portion 11 is pressed, and the grip portion main body 112 drives the grip portion lower portion 11 3 to rotate outward along the torsion spring shaft 14 The gripping zone 15 is opened, that is, the gripper 10 is in an open state. When it is necessary to close the gripper 10, the pressure of the upper portion 1 11 of the grip portion is released, and the torsion spring 13 generates an upward force on the upper portion 11 1 of the grip portion with respect to the base 121, in the torsion spring 13 Under the action of the grip portion main body 112, the grip portion lower portion 11 3 rotates inward along the torsion spring shaft 14, the gripping region 15 is closed, and the gripper 10 is in a closed state.

Specifically, the grip portion lower portion 11 has a projection 114 extending toward the gripping region 15. When the multi-grip repeating intelligent grasping and releasing device starts to grasp the plate-like object, the plate-like object is carried on the bump 114, by effectively reducing the plate-like object 50 and the gripper 10 The contact area reduces damage to the object when the object is gripped, and makes the multi-grip repeating intelligent grasping and releasing device more stable. More specifically, the base 121 is provided with mounting holes 124 at positions below the left side portion 122 and the right side portion 123. The mounting holes 124 are respectively located at positions corresponding to the left side portion 122 and the right side portion 123, such that the mounting holes 124 are symmetrically distributed on the base 121, and the gripping holes can be adopted through the mounting holes 124. 10 is smoothly fixed to the bracket 40 to be mounted.

Preferably, the grip driving mechanism comprises a lower pressing top post 20 and a cylinder motor (not shown), the lower pressing top post 20-end is connected to the cylinder motor, and the other end is suspended from the upper part of the gripping portion. Directly above 111. When the gripper 10 needs to be opened, the cylinder motor acts to drive the lower pressing top post 20 to move downward and touch the upper portion 111 of the grip portion of the grip portion 11, the grip portion 1 1 along The torsion spring shaft 14 is rotated outwardly and opened. When the gripper 10 needs to be closed, the cylinder motor is reset and the lower pressing column 20 is reset, and the pressure of the upper portion 111 of the grip portion is released. Actuated by the torsion spring 13 , the grip portion lower portion 11 3 rotates inward, and the gripper 10 is closed.

Preferably, a plurality of said grippers 10 are located on the same plane and form a closed polygonal sheet gripping zone 16. As shown in FIG. 1, in this embodiment, there are six grippers 10 and a closed rectangular plate clamping region 16 is formed, wherein the gripping regions 15 of the four grippers 10 are opposite each other and are distributed in a rectangular shape. On both sides of the long side of the plate holding area 16, the remaining gripping areas 15 of the two grippers 10 are opposite and distributed The sides of the wide sides of the rectangular plate clamping region 16; when the gripper 10 grips the plate-like object 50, the plate-like object 50 is grasped and fixed to the closed rectangular plate composed of the six grippers 10. In the nip region 16, the plate-like object 50 held in the plate nip 16 is conveyed/reversed to ensure that the plate-like object 50 is stably grasped at the gripper 10. Grab the area 15, without the phenomenon of slipping, shifting, etc. Of course, the number of the grippers 10 may also be four, five, seven, eight or the other, and the plate clamping area may be rectangular, square or other polygons (depending on the actual situation), as long as the composition is guaranteed. Each side of the closed panel holding area 16 has at least one gripper 10.

Referring to FIG. 6 to FIG. 8 , the working process of the multi-grip repeating intelligent grasping and releasing device for grasping the plate-like object 50 is described in detail. First, a plurality of the grippers 10 are fixed by the mounting holes 124. On the corresponding bracket 40, when it is required to grasp the plate-like object 50, the pallet sensor mounted on the pallet 30 detects whether there is a plate-like object on the pallet 30, and if so, the pallet sensor Transmitting a plate load signal to the control system, the control system issuing a grip open command to the grip drive device, and issuing a pallet up command to the pallet drive device; The grip portion upper portion 111 of the grip 10 applies a downward pressure in the direction of the arrow, and the grip portion lower portion 11 3 is rotated inwardly about the torsion spring shaft 14 , and the gripper 10 is opened (see FIG. 6 ). The pallet driving device drives the pallet 30 to rise in the direction of the arrow, and feeds the panel object 30 into the open gripping region 15 (as shown in FIG. 7); The hand drive mechanism issues a close command, The pressure of the upper portion 111 of the grip portion 10 of the gripper 10 is translated in the direction of the arrow, and the lower portion 11 3 of the grip portion is rotated outward by the torsion spring 13 The gripper 10 is closed, the plate-like object 50 is clamped in a plate clamping region 16 composed of a plurality of the grippers 10, and the control system issues a pallet lowering command to the pallet drive device. The pallet drive device drives the pallet 30 to descend in the direction of the arrow (as shown in FIG. 8).

Referring to FIG. 9 to FIG. 11 , the working process of the multi-handle repeating intelligent grasping and decoding device for releasing the plate-like object 50 is described in detail. When the plate-like object 50 needs to be translated, the control system is The pallet drive device issues a pallet up command, the pallet drive device drives the pallet 30 to rise in the direction of the arrow (as shown in FIG. 9), and when the pallet 30 rises near the plate-like object 50 Positioning, the control system issues a grip open command to the gripper driving device, and the lower pressing top post 20 applies downward pressure to the upper portion 1 11 of the gripping portion of the gripper 10 in the direction of the arrow, the gripping The lower part of the holding portion 11 3 is twisted The rotating spring shaft 14 is rotated inwardly from the center, the gripping zone 15 is opened and the plate-like object 50 is released onto the pallet 30 (as shown in FIG. 10); the control system drives the pallet The apparatus issues a pallet lowering command, the pallet 30 descending in the direction of the arrow under the action of the pallet driving device, the plate-like object 50 being carried on the pallet 30 and along with the pallet 30 Disengaging from the plate clamping region 16, the control system issues a grip closing command to the grip driving mechanism, and the lower pressing post 20 is translated in the direction of the arrow to apply to the upper portion 111 of the grip portion of the gripper 10. The lower portion of the grip portion 11 is rotated outwardly by the torsion spring 13 and the gripper 10 is closed (Fig. 11).

The multi-handle repeating intelligent grasping and releasing device comprises a plurality of grippers 10, a gripper driving mechanism, a pallet 30, a pallet driving mechanism, and a pallet sensor disposed on the pallet 30; The hand 10 includes a torsion spring 1 3 , the upper support point 1 31 of the torsion spring 13 is in contact with the grip portion 11 , and the lower support point is in contact with the grip holder 12 , so that the grip 10 is After being opened, it can be closed under the action of the torsion spring 13 , so that the multi-grip repeating intelligent grasping and decoding device of the present invention can repeatedly grasp and translate the plate-like object; on the other hand, the multi-hand grip The pallet 30 of the repeating intelligent grasping and releasing device is provided with a pallet sensor, and the pallet sensor can detect whether there is a plate-like object 50 on the pallet 30 at any time, thereby driving by controlling the gripper driving device. The gripper 10 is opened in time, and finally achieves the purpose of grasping the plate-like object 50 in a timely and automatic manner, saving manpower and time. In summary, by using the pallet sensor for detecting whether the pallet 30 has the plate-like object 50, the multi-grip repeating intelligent grasping and releasing device can automatically and timely control the gripper 10 to open. The torsion spring 13 can drive the gripper 10 to close in time, so that the multi-grip repeating intelligent grasping and decoding device of the present invention repeats the timely, intelligent completion of the capture and release of the plate-like object.

The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and the equivalent changes made by the scope of the present invention remain within the scope of the present invention.

Claims

Rights request

1. A multi-grip repeating intelligent grasping and releasing device, which is suitable for grasping and translating a plate-like object, wherein the multi-grip repeating intelligent grasping and releasing device comprises:

a plurality of grips, the gripper includes a grip portion, a grip holder, and a torsion spring, the grip portion is pivotally connected to the grip holder, the upper support point of the torsion spring and the grip Abutting, the lower support point of the torsion spring is in contact with the grip holder;

a grip driving mechanism, the grip driving mechanism is connected to the grip portion of the gripper, and the grip driving mechanism drives the gripper to open or close;

a pallet, the pallet carrying the board object;

a pallet drive mechanism, the pallet drive mechanism is coupled to the pallet, and the pallet drive mechanism drives the pallet to move;

a pallet sensor, wherein the pallet sensor detects bearing information of the pallet; and

a control system, wherein the control system is electrically connected to the gripper drive mechanism, the pallet drive mechanism and the pallet sensor, respectively, the control system processes the bearer information of the pallet detected by the pallet sensor and controls the gripper The action of the drive mechanism and the pallet drive mechanism.

2. The multi-hand grasping intelligent grasping and releasing device according to claim 1, wherein: the gripper further comprises a torsion spring shaft, the torsion spring shaft passing through the torsion spring, the gripping The portion is pivotally connected to the grip holder by using the torsion spring shaft as a rotation axis.

The multi-grip repeat intelligent grasping and releasing device according to claim 2, wherein: the grip portion comprises a grip portion main body and a grip extending inwardly along both ends of the grip portion main body a lower portion and a lower portion of the grip portion, the grip holder includes a left side portion, a right side portion, and a base connecting the left side portion and the right side portion; the torsion spring shaft sequentially passes through the left side portion, the gripper The main body and the right side portion, the grip body is pivotally connected to the grip fixing base by using the torsion spring shaft as a rotating shaft, and a spring contact area is formed between the upper portion of the grip portion and the base. Forming a gripping zone between the lower portion of the grip portion and the base, the twist The upper support point of the spring is in contact with the upper portion of the grip portion, and the lower support point of the torsion spring is in contact with the base.

4. The multi-hand grasping intelligent grasping and releasing device according to claim 3, wherein: the lower portion of the grip portion has a protrusion extending toward the gripping region.

5. The multi-grip repeat intelligent grasping and releasing device according to claim 3, wherein: the base is provided with a mounting hole at a position relative to the left side portion and the right side portion.

6. The multi-grip repeat intelligent grasping and releasing device according to claim 3, wherein: the grip driving mechanism comprises a lower pressing top column and a cylinder motor, and one end of the lower pressing top column is connected to the cylinder motor. The other end is suspended directly above the upper portion of the grip portion.

7. The multi-grip repeat intelligent grasping and releasing device according to claim 1, wherein: the grippers are located on the same plane and form a polygonal sheet clamping region.