WO2018209613A1

WO2018209613A1 - Stress distribution determination method for substrate, and transport system

Info

Publication number: WO2018209613A1
Application number: PCT/CN2017/084767
Authority: WO
Inventors: 罗卫
Original assignee: 深圳市柔宇科技有限公司
Priority date: 2017-05-17
Filing date: 2017-05-17
Publication date: 2018-11-22
Also published as: CN108521778A; CN108521778B

Abstract

A stress distribution determination method for a substrate (60), applicable to a transport system (100). The transport system (100) comprises a transport device (10) and a measurement substrate (20). The measurement substrate (20) is configured to be transported on the transport device (10) in place of the substrate (60) to simulate stress distribution on the substrate (60). The measurement substrate (20) comprises a stress measurement module (22). The determination method comprises the steps of: (S2) while the measurement substrate (20) is being transported on the transport device (10), acquiring a first stress distribution condition of the measurement substrate (20) measured by the stress measurement module (22); and (S4) determining, according to the first stress distribution condition, a second stress distribution condition of the substrate (60). The present invention also relates to a transport system (100).

Description

Method for judging stress state of substrate and transportation system

Technical field

The invention relates to the field of substrate detection, and in particular to a method for judging the stress state of a substrate and a transportation system.

Background technique

In the related art, the glass substrate is generally transmitted and exchanged by a conveying device, and the glass substrate is easily damaged due to uneven force or excessive force during transfer and exchange, but the prior art cannot quickly and accurately determine The specific cause of damage to the glass substrate.

Summary of the invention

Embodiments of the present invention provide a method for judging a force state of a substrate and a transportation system.

The invention provides a method for judging a force state of a substrate, which is used in a transportation system, the transportation system includes a transportation device and a detection substrate, and the detection substrate is used for transporting on the transportation device instead of the substrate to simulate The stress state of the substrate, the detecting substrate comprises a pressure detecting module, and the determining method comprises the following steps:

Obtaining a first stress state of the detecting substrate detected by the pressure detecting module when the detecting substrate is transported on the transport device; and

Determining a second force condition of the substrate according to the first force condition.

The invention provides a transportation system for judging a stress state of a substrate, the transportation system comprising:

Transport device

Detecting a substrate for transporting on the transport device instead of the substrate to simulate a force condition of the substrate, the detecting substrate comprising a pressure detecting module;

a processing module, configured to acquire, when the detecting substrate is transported on the transport device, a first force condition of the detecting substrate detected by the pressure detecting module and according to the first force The condition determines the second force condition of the substrate.

The method for judging the stress state of the substrate according to the embodiment of the present invention and the transportation system use the detection substrate having the pressure detecting module to simulate the stress state of the substrate during transportation, thereby quickly and accurately determining the abnormal point where the substrate may be damaged.

The additional aspects and advantages of the embodiments of the present invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

1 is a schematic flow chart of a method for determining a force receiving condition of a substrate according to an embodiment of the present invention;

2 is a schematic block diagram of a transportation system according to an embodiment of the present invention;

3 is another schematic flow chart of a method for determining a force receiving condition of a substrate according to an embodiment of the present invention;

4 is a schematic diagram of a module for detecting a substrate according to an embodiment of the present invention;

FIG. 5 is still another schematic flowchart of a method for determining a force receiving condition of a substrate according to an embodiment of the present invention; FIG.

6 is another schematic diagram of a module of a transportation system according to an embodiment of the present invention;

Fig. 7 is a flow chart showing still another method for determining the state of stress of the substrate according to the embodiment of the present invention.

The main component symbol drawing description:

The transportation system 100, the transportation device 10, the detection substrate 20, the pressure detection module 22, the processor 24, the wireless transmission module 26, the processing module 30, the processing device 40, and the substrate 60.

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include one or more of the described features either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of the specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the present invention may be repeated with reference to the numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or arrangements discussed. Moreover, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.

Referring to FIG. 1 and FIG. 2 together, the method for judging the stress state of the substrate 60 according to the embodiment of the present invention can be applied to the transportation system 100. The transport system 100 includes a transport device 10 and a test substrate 20. The inspection substrate 20 is used to transport on the transport device 10 in place of the substrate 60 to simulate the force condition of the substrate 60. The inspection substrate 20 includes a pressure detection module 22. The method of judging includes the following steps:

S2: acquiring the first stress state of the detecting substrate 20 detected by the pressure detecting module 22 when the detecting substrate 20 is transported on the transport device 10; and

S4: Determine a second force condition of the substrate 60 according to the first force condition.

Referring again to FIG. 2, the transportation system 100 of the embodiment of the present invention can be used to determine the force condition of the substrate 60. The transport system 100 includes a transport device 10, a test substrate 20, and a processing module 30. The detecting substrate 20 is used for transporting on the transport device 10 instead of the substrate 60 to simulate the stress condition of the substrate 60, and the detecting substrate 20 includes the pressure detecting module 22. The processing module 30 is configured to acquire the first force receiving condition of the detecting substrate 20 detected by the pressure detecting module 22 when the detecting substrate 20 is transported on the transport device 10 and determine the second force receiving condition of the substrate 60 according to the first force receiving condition. .

That is to say, the determination method of the embodiment of the present invention can be implemented by the transportation system 100 of the embodiment of the present invention, wherein the steps S2 and S4 can be implemented by the processing module 30.

The method for determining the stress state of the substrate 60 according to the embodiment of the present invention and the transport system 100 simulate the stress state of the substrate 60 during transportation by using the detecting substrate 20 provided with the pressure detecting module 22, thereby quickly and accurately determining that the substrate 60 may be subjected to The abnormal point of damage.

Specifically, in order to save cost and speed up work efficiency, the substrate 60 is generally transported by a transport device 10, such as a transport robot, a transport vehicle, a conveyor belt, and the like. The substrate 60 is liable to be damaged due to uneven force or excessive force during transportation, but it is not possible to quickly determine which transport device 10 has a problem or which position of the transport device 10 has a problem. Therefore, the detection substrate 20 having the pressure detecting module 22 can be transported on the transport device 10 instead of the substrate 60, and the first force condition of the detecting substrate 20 during transportation can be acquired by the pressure detecting module 22, thereby according to the first force. The condition determines the second force condition of the substrate 60, which in turn can determine the location at which the substrate 60 may be damaged during transportation based on the second force condition. In one example, substrate 60 is a glass substrate.

It should be noted that the transport device 10 includes a grasping device or the like during the movement of the substrate 60, and no limitation is imposed herein. Additionally, the transport device 10 can be one or more.

In one embodiment, the shape, size, and weight of the detection substrate 20 are the same as the shape, size, and weight of the substrate 60, respectively.

In this way, the first stress state of the detecting substrate 20 can be made substantially the same as the second stress state of the substrate 60, from And reduce the workload of judging the second stress condition.

It can be understood that the shape and size of the detecting substrate 20 are the same as the shape and size of the substrate 60, which can ensure that the first stress condition detected by the pressure detecting module 22 on the detecting substrate 20 and the second force receiving condition of the substrate 60 are one-to-one correspondence. The relationship that the detecting substrate 20 can correspondingly acquire the stress state of the substrate 60. In addition, the shape and size of the detection substrate 20 are the same as the shape and size of the substrate 60, so that the detection substrate 20 can be adapted to the environment of the substrate 60 during transportation, such as the placement area of the transportation device 10 for transporting the substrate 60 is exactly the substrate 60. Matching.

In some embodiments, the detection substrate 20 may be able to completely cover the substrate 60, and thus, the detection substrate 20 may correspondingly acquire the force condition of the substrate 60. On the other hand, when the size and shape of the substrate 60 are changed, the same detection substrate 20 can be used for detection.

It should be noted that the same weight of the detecting substrate 20 and the weight of the substrate 60 may make the first force receiving condition of the detecting substrate 20 and the second force receiving condition of the substrate 60 more similar. In some embodiments, the weight of the detection substrate 20 may also be different from the weight of the substrate 60, such that the first force condition can be converted to the second force condition by a switching relationship between gravity.

Referring to FIG. 3, in one embodiment, the pressure sensing module 22 includes a pressure sensor. Step S2 includes the following steps:

S22: Obtain a first stress condition according to an output signal of the pressure sensor.

Referring again to FIG. 2, in one embodiment, the pressure sensing module 22 includes a pressure sensor. The processing module 30 is configured to obtain a first stress condition according to an output signal of the pressure sensor.

That is to say, step S22 can be implemented by the processing module 30.

In this way, the first force condition of the detection substrate 20 can be directly obtained by the pressure sensor.

Specifically, the pressure sensor may include a piezoelectric column in a matrix array, and the pressure abnormal point may be determined according to the pressure detected by each piezoelectric column, and the substrate 60 may be determined to be transported according to the coordinate position of the pressure abnormal point in the pressure sensor. A location where damage may occur during the process, thereby judging that the corresponding transport device 10 and the corresponding position of the transport device 10 may have problems.

Referring to FIG. 4, in one embodiment, the detection substrate 20 includes a processor 24, and the processor 24 includes a processing module 30.

As such, the processor 24 of the test substrate 20 can directly process and analyze the first force condition to determine the second force condition.

It can be understood that in the transportation system 100, the pressure detecting module 22 of the detecting substrate 20 is a component that directly acquires the first pressure condition of the detecting substrate 20, since both the pressure detecting module 22 and the processor 24 detect components inside the substrate 20, By directly processing the first force condition of the detection substrate 20 detected by the pressure detecting module 22 by the processor 24 of the detection substrate 20, the processing and analysis of the first stress condition can be quickly and efficiently realized to directly acquire the substrate 60. The situation of the two forces.

Referring to Figures 5 and 6, together, in one embodiment, the transport system 100 includes a processing device 40. The detection substrate 20 includes a wireless transmission module 26 for communicating with the processing device 40. Step S4 includes the following steps:

S42: The wireless transmission module 26 transmits the first stress condition to the processing device 40.

Referring again to FIG. 6, in one embodiment, the transportation system 100 includes a processing device 40. The processing device 40 includes a processing module 30 that includes a wireless transmission module 26. The wireless transmission module 26 is configured to transmit the first force condition to the processing module 30.

That is to say, step S44 can be implemented by the wireless transmission module 26, and step S46 can be implemented by the processing device 40.

As such, the first force condition can be processed and analyzed by the processing device 40 to determine the second force condition.

In some embodiments, the detection substrate 20 does not have data processing capability or the data processing capability is too weak, so that the first force condition acquired by the pressure detection module 22 cannot be quickly processed, and thus the processing device 40 outside the substrate 20 can be detected. The first stress condition is processed and analyzed to obtain a second force condition. Since the processing device 40 and the detection substrate 20 may not have a connection relationship, the detection substrate 20 may implement communication with the processing device 40 through the wireless transmission module 26.

In one embodiment, the wireless transmission module 26 includes a Bluetooth module and the processing device 40 includes a computer.

In this way, the detecting substrate 20 can be connected to the computer through the Bluetooth module, and the first force condition can be transmitted to the computer by using the fast data transmission capability of the Bluetooth module, and then the first force condition can be processed by the computer with rapid data processing capability to obtain the second force. situation.

In some embodiments, the wireless transmission module 26 includes a wireless local area network (WLAN) module, and the processing device 40 includes data processing capabilities such as a cell phone, a tablet computer, and the like.

Referring to FIG. 7, in an embodiment, after step S4, the determining method includes the following steps:

S6: determining whether the second force condition meets a predetermined condition; and

S8: A prompt message is issued when the second force condition does not meet the predetermined condition.

Referring to FIG. 2 again, in an embodiment, the processing module 30 is configured to determine whether the second force condition meets the predetermined condition and issue the prompt information when the second force condition does not meet the predetermined condition.

That is to say, steps S6 and S8 can be implemented by the processing module 30.

In this way, it is possible to issue a prompt message when it is judged that the substrate 60 may have a problem.

Specifically, the predetermined condition may be a range of force of the substrate 60 during normal transmission and can be obtained through a large number of experiments. When the second force condition does not meet the predetermined condition, it may indicate that the substrate 60 may have a problem during the corresponding transportation process, so the processing module 30 may issue a prompt message to promptly indicate the location of the transportation device 10 and the transportation device 10 where the problem may occur. .

It can be understood that the prompt information may be at least one of text information, image information, and voice information. For example, the processing module 30 may control the electro-acoustic component of the transportation system 100 to emit a prompt sound when the second force condition does not meet the predetermined condition. It should be noted that the prompt information may be at least one of text information, image information, and voice information, where the prompt information may be text information, image information, voice information, text information, and image information, text information, and voice information, and images. Information and voice information, any of text information, image information, and voice information. There are no restrictions here.

In one embodiment, the determination method of the embodiment of the present invention is performed according to a predetermined period, or the transportation system 100 of the embodiment of the present invention determines the second force condition according to a predetermined period.

In this way, it can be periodically determined whether the second force condition meets the predetermined condition.

It can be understood that when the transport device 10 transports the substrate 60, the substrate 60 may be subjected to a force unevenness or an excessive force due to a failure of the transport device 10 or a deviation of the placement position of the substrate 60. Therefore, the present invention is executed according to a predetermined period. The method for determining the embodiment can determine the second force condition of the substrate 60 in a relatively real-time manner, thereby determining the position of the transport device 10 that may have a problem and correspondingly solving the problem, thereby ensuring that the transport device 10 can normally transport the substrate 60. .

In some embodiments, the length of the predetermined period can be determined by the operator. In this way, the operator can periodically determine the second force condition of the substrate 60 as needed. It should be noted that when the predetermined period is relatively short, the problems that may occur in the transportation device 10 are relatively easy to find, but the workload of the transportation system 100 is relatively large; when the predetermined period is relatively long, the workload of the transportation system 100 is relatively small, but the transportation device is relatively small. 10 possible problems are more difficult to find.

In some embodiments, the determining method of the embodiment of the present invention may be performed when the staff needs it, and no limitation is imposed herein. In this way, the specific cause of the damage of the substrate 60 can be quickly and accurately judged when the substrate 60 is damaged.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples", etc. Particular features, structures, materials or features described in the embodiments or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for performing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, which may be performed in a substantially simultaneous manner or in the reverse order, depending on the functions involved, in the order shown or discussed, which should It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for performing logical functions, and may be embodied in any computer readable medium, For instruction Executing systems, devices, or devices (such as computer-based systems, systems including processors, or other systems that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instructions, execute a system, apparatus, or device. use. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

Those skilled in the art can understand that all or part of the steps carried in carrying out the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be executed in the form of hardware or in the form of software functional modules. The integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A method for judging a force state of a substrate, which is used in a transportation system, characterized in that the transportation system comprises a transport device and a detection substrate, and the detection substrate is used for transporting on the transport device instead of the substrate to simulate a force receiving condition of the substrate, the detecting substrate comprises a pressure detecting module, and the determining method comprises the following steps:

Obtaining a first stress state of the detecting substrate detected by the pressure detecting module when the detecting substrate is transported on the transport device; and

Determining a second force condition of the substrate according to the first force condition.
The judging method according to claim 1, wherein the shape, size, and weight of the detecting substrate are the same as the shape, size, and weight of the substrate, respectively.
The determining method according to claim 1, wherein the pressure detecting module comprises a pressure sensor, and the detecting the detected by the pressure detecting module when the detecting substrate is transported on the transporting device The step of detecting the first stress condition of the substrate includes the following steps:

Obtaining the first force condition according to an output signal of the pressure sensor.
The determining method according to claim 1, wherein the detecting substrate comprises a processor, and the processor comprises the processing module.
The determining method according to claim 1, wherein said transportation system comprises processing means, said detecting substrate comprises a wireless transmission module, said wireless transmission module is operative to communicate with said processing means, said The step of determining the second force condition of the substrate by the first stress condition includes the following steps:

The wireless transmission module transmits the first stress condition to the processing device.
The method of determining according to claim 5, wherein said wireless transmission module comprises a Bluetooth module, and said processing device comprises a computer.
The judging method according to claim 1, wherein after the step of determining the second stress state of the substrate according to the first stress condition, the determining method comprises the following steps:

Determining whether the second force condition meets a predetermined condition; and

A prompt message is issued when the second force condition does not meet the predetermined condition.
The judging method according to claim 1, wherein the judging method is performed in accordance with a predetermined period.
A transportation system for determining a stress state of a substrate, characterized in that the transportation system comprises:

Transport device

Detecting a substrate for transporting on the transport device instead of the substrate to simulate a force condition of the substrate, the detecting substrate comprising a pressure detecting module;

a processing module, configured to acquire, when the detecting substrate is transported on the transport device, a first force condition of the detecting substrate detected by the pressure detecting module and according to the first force Status judgment The second force condition of the board.
The transport system according to claim 9, wherein said detecting substrate has the same shape, size and weight as the shape, size and weight of said substrate, respectively.
The transport system of claim 9 wherein said pressure sensing module comprises a pressure sensor, said processing module operative to obtain said first force condition based on an output signal of said pressure sensor.
The transport system of claim 9 wherein said detection substrate comprises a processor, said processor comprising said processing module.
The transport system of claim 9 wherein said transport system comprises processing means, said processing means comprising said processing module, said detecting substrate comprising a wireless transmission module, said wireless transmission module for The first stress condition is sent to the processing module.
The transportation system of claim 13 wherein said wireless transmission module comprises a Bluetooth module and said processing device comprises a computer.
The transport system according to claim 9, wherein said processing module is configured to determine whether said second force condition meets a predetermined condition and issue a prompt when said second force condition does not meet said predetermined condition information.
The transportation system according to claim 9, wherein said transportation system determines said second force condition in accordance with a predetermined period.