WO2020133627A1 - 搬送装置和切割系统 - Google Patents

搬送装置和切割系统 Download PDF

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Publication number
WO2020133627A1
WO2020133627A1 PCT/CN2019/073587 CN2019073587W WO2020133627A1 WO 2020133627 A1 WO2020133627 A1 WO 2020133627A1 CN 2019073587 W CN2019073587 W CN 2019073587W WO 2020133627 A1 WO2020133627 A1 WO 2020133627A1
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WIPO (PCT)
Prior art keywords
conveying device
transported
sensor
gripper
machine
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Application number
PCT/CN2019/073587
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English (en)
French (fr)
Inventor
张恒
Original Assignee
惠科股份有限公司
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Filing date
Publication date
Application filed by 惠科股份有限公司 filed Critical 惠科股份有限公司
Publication of WO2020133627A1 publication Critical patent/WO2020133627A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • C—CHEMISTRY; METALLURGY
    • C03—GLASS; MINERAL OR SLAG WOOL
    • C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
    • C03B33/00—Severing cooled glass
    • C03B33/02—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor

Definitions

  • the present application relates to the field of display technology, in particular to a conveying device and a cutting system.
  • glass substrates are the basic components that constitute liquid crystal display devices.
  • the glass substrate is often cut on the larger glass substrate according to the corresponding size. Before cutting, the glass substrate should be transported to the position to be cut.
  • a conveying device known by the inventor cannot recognize the deviation of the glass substrate, resulting in damage to the glass substrate.
  • the purpose of the present application is to provide a conveying device and a cutting system to avoid damage to the glass substrate.
  • the present application provides a conveying device, the conveying device includes a machine, a conveyer and a sensor; the conveyer is located at the end of the machine and is configured to convey the object to be conveyed; A sensor, located on the conveyor, is configured to sense the object to be transported; each object to be transported corresponds to at least two sensors.
  • the conveyor includes a gripper, the sensor is disposed on the gripper, the gripper is configured to grip the object to be transported; the sensor corresponding to each object to be transported A first sensor and a second sensor are included, and the first sensor and the second sensor are respectively provided at two ends of the object to be transported.
  • the gripper includes an adsorption structure configured to grasp the object to be transported by adsorption.
  • the suction structure includes a suction nozzle and a suction tube, the suction nozzle is connected to the suction tube, and the suction nozzle communicates with the inside of the suction tube.
  • each of the grippers is provided with the sensor.
  • the gripper includes a clamp configured to grip the object to be transported by gripping.
  • the clamp includes an upper jaw, a lower jaw, and a cushion pad, and the cushion pad is disposed on a surface of the upper jaw and the lower jaw, and the upper jaw and the lower jaw cooperate to grip the object to be transported.
  • the cushion is made of rubber material.
  • the opening end of the suction nozzle is circular.
  • the buffer pad includes a buffer layer and a support layer, the support layer is in contact with the upper jaw and the lower jaw and is fixed in cooperation; when the object to be transported is transported, the buffer layer is configured to The transported object is in contact.
  • the support layer is detachably assembled and fixed with the upper jaw and the lower jaw.
  • the supporting layer and the upper and lower jaws are fixed by screws in cooperation.
  • the buffer layer is made of rubber material.
  • the support layer is made of hard plastic.
  • the support layer is made of metal.
  • the buffer layer and the support layer are connected in a detachable manner.
  • the buffer layer includes a hollowed-out area
  • the hollowed-out area includes an opening that connects the hollowed-out area to the outside world, and the area of the opening is smaller than the area of the outline of the hollowed-out area;
  • the hollowed-out area is located inside the buffer layer, and the support layer is installed into the hollowed-out area through the opening.
  • the area of the outline of the support layer is greater than the area of the opening, and is less than or equal to the area of the outline of the hollowed-out area.
  • the present application also provides a conveying device configured to convey a glass substrate.
  • the conveying device includes a machine, a conveyer, and a sensor; the conveyer is located at an end of the machine and is configured to convey an object to be conveyed;
  • the sensor located on the conveyor, is configured to sense the object to be transported; each object to be transported corresponds to at least two sensors;
  • the conveyor includes a gripper, the sensor is disposed on the gripper, the The gripper is configured to grip a glass substrate;
  • the sensor corresponding to each glass substrate includes a first sensor and a second sensor, and the first sensor and the second sensor respectively correspond to both ends of the glass substrate Set;
  • the gripper includes an adsorption structure, the adsorption structure includes a suction nozzle and a suction tube, the suction nozzle and the suction tube are connected, the suction nozzle communicates with the inside of the suction tube;
  • the suction structure is configured to pass Grab the glass substrate by means of adsorption.
  • the application also provides a cutting system, the cutting system includes a cutting device and a conveying device, the conveying device includes a machine, a conveyer, and a sensor; the conveyer is located at an end of the machine, and is configured to convey The object to be transported; the sensor, located on the conveyor, is configured to sense the object to be transported; each object to be transported corresponds to at least two sensors; the cutting device is in parallel with the transport device, and the cutting device is The conveying machine of the conveying device is relatively placed, and the conveying device conveys the object to be conveyed to the cutting device by the conveying machine to perform a cutting operation.
  • each object to be transported corresponds to at least two sensors, and the sensors are distributed at both ends of the object to be transported, so that the object to be transported is slightly offset, It will be sensed by the sensor, which avoids the subsequent grabbing action of the conveyor to damage the objects to be transported, thereby saving the cost of the objects to be transported, and also avoiding the downtime when the objects to be transported are damaged, thereby improving the cutting of the objects to be transported. Work efficiency.
  • FIG. 1 is a schematic diagram of a conveying device of an exemplary technology
  • FIG. 2 is a schematic diagram of a fixture of a conveying device of an exemplary technology
  • FIG. 3 is a schematic diagram of a conveying device that can sense the deviation of the object to be conveyed according to one embodiment of the present application
  • FIG. 4 is a schematic diagram of an adsorption structure of a conveying device according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a jig of a conveying device with a cushion pad according to another embodiment of the present application.
  • FIG. 6 is a schematic diagram of the cross section of A-A1 in FIG. 5;
  • FIG. 7 is a schematic diagram of a cutting system according to one embodiment of the present application.
  • FIG. 8 is a schematic diagram of working steps of a cutting system according to one embodiment of the present application.
  • the terms “installation”, “connected”, “connected” should be understood in a broad sense, for example, it can be a fixed connection, it can be Disassembly connection, or integral connection; it can be mechanical connection or electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the connection between two components.
  • installation should be understood in a broad sense, for example, it can be a fixed connection, it can be Disassembly connection, or integral connection; it can be mechanical connection or electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the connection between two components.
  • the embodiment describes the conveying device of the present application in detail.
  • a conveying device 100 includes a machine 110, a conveyer 120, and a sensor 130.
  • the conveyer 120 is located at the end of the machine 110 and is configured to convey the object to be conveyed 400; the sensor 130 is located on the conveyer 120 and is configured to sense The object to be transported 400; each object to be transported 400 corresponds to at least two sensors 130.
  • this solution makes each object to be transported 400 correspond to at least two sensors 130, and the sensors 130 are distributed at both ends of the object to be transported 400. If the object to be transported 400 is slightly deviated, it will be sensed by the sensor 130, which avoids the subsequent grasping action of the transporter 120 to damage the object to be transported 400, thereby saving the cost of the object to be transported 400, and also avoiding The downtime when the transported object 400 is damaged, thereby improving the work efficiency of the object to be transported 400 for cutting.
  • the transporter 120 includes a gripper 121, and the sensor 130 is disposed on the gripper 121.
  • the gripper 121 is configured to grip the object to be transported 400; each object to be transported 400 corresponds to
  • the sensor 130 includes a first sensor 131 and a second sensor 132, and the first sensor 131 and the second sensor 132 are respectively provided at both ends of the object to be conveyed 400.
  • the gripper 121 directly grabs the object to be transported 400, and the sensor 130 is provided on the gripper 121 corresponding to the positions of both ends of the object to be transported 400.
  • the sensors 130 at the two ends of the object to be transported 400 can cooperate Induction of the object to be transported 400 can detect whether the object to be transported 400 is deviated, thereby avoiding the subsequent grasping action of the gripper 121 to damage the object to be transported 400, saving the cost of the object to be transported 400, and also avoiding the object to be transported The downtime when the object 400 is damaged, thereby improving the work efficiency of the object 400 to be cut.
  • the gripper 121 includes a suction structure 200 configured to grip the object 400 to be transported by suction.
  • the gripper 121 is provided with a structure with an adsorption function, and the object 400 to be conveyed is grasped by adsorption, because the grasping action of the adsorption is relatively flexible, and the damage to the conveyed object 400 is basically not damaged, and the grasping can be avoided
  • the hand 121 damages the to-be-transported object 400 during the process of grasping the to-be-transported object 400, thereby improving the transport efficiency.
  • the suction structure 200 includes a suction nozzle 220 and a suction tube 210, and the suction nozzle 220 is connected to the suction tube 210, and the suction nozzle 220 communicates with the inside of the suction tube 210.
  • the suction structure 200 of this solution is composed of a suction nozzle 220 and a suction tube 210.
  • the suction nozzle 220 is connected to the suction tube 210.
  • the suction nozzle 220 communicates with the inside of the suction tube 210.
  • the suction nozzle 220 directly acts on the surface of the object to be transported 400.
  • the suction tube 210 sucks the gas between the suction nozzle 220 and the object to be transported 400 to make the pressure difference between the suction nozzle 220 and the object to be transported 400, because the adsorption structure 200 is controllable, so the adsorption pressure is controllable, then the adsorption can be guaranteed
  • the stability of the object, the transport safety of the object to be transported 400 can also be ensured, and the gripping action of the adsorption is relatively flexible, which basically does not cause damage to the object to be transported 400.
  • each gripper 121 is provided with a sensor 130.
  • the sensor 130 is only provided on one of the grippers 121, it will be difficult to identify the situation where the object to be transported 400 is deviated. If the transported object 400 is deviated, the gripper 121 will continue to pick up the transported object 400, which will cause damage to the transported object 400. Therefore, in this solution, a sensor 130 is provided on each gripper 121 to ensure that the transported object is transported.
  • the detection of 400 being deviated can effectively avoid the damage to the transported object 400 by the next grasping action of the gripper 121, which saves the cost of the object to be transported 400, and also avoids the downtime when the object to be transported 400 is damaged. Improve the work efficiency of the object 400 to be cut.
  • the gripper 121 includes a clamp 300 configured to grip the object to be transported 400 by gripping.
  • the gripper 121 is a jig 300, that is, the object to be transported 400 is gripped by clamping.
  • the jig 300 applies a pair of symmetrical pressures to the object to be transported 400, so that the object to be transported 400 is firmly fixed in the In the middle of the symmetrical pressure, there is basically no relaxation unless it is controlled to be released. Therefore, in this solution, the grip 121 is set as the jig 300, which can ensure the stability of the gripping and transport of the object to be transported 400.
  • the jig 300 includes an upper jaw 310, a lower jaw 320 and a cushion pad 330.
  • the cushion pad 330 is disposed on a surface of the upper jaw 310 and the lower jaw 320. ⁇ 400.
  • the general fixture 300 includes an upper jaw 310 and a lower jaw 320, wherein the upper jaw 310 and the lower jaw 320 are usually made of a material with higher hardness, so that the upper jaw 310 and the lower jaw 320 directly contact and clamp the object 400 to be transported. If the hardness of the object to be transported 400 is less than the hardness of the upper jaw 310 and the lower jaw 320, the object to be transported 400 may be damaged.
  • a cushion pad 330 is provided on the surface of the upper jaw 310 and the lower jaw 320, so that when the upper jaw 310 and the lower jaw 320 are closed to grip the object to be transported 400, the cushion pad 330 directly contacts the conductive object 400 and conducts the conduction between the upper jaw 310 and the upper jaw 310.
  • the pressure of the lower jaw 320 can prevent the upper jaw 310 and the lower jaw 320 with high hardness from directly contacting the object 400 to be transported, and avoiding damage to the object 400 to be transported.
  • the cushion 330 is made of rubber.
  • the cushion pad 330 of this solution is made of rubber material, which can not only protect the object to be transported 400 from being damaged by the upper jaw 310 and the lower jaw 320, but also increase the firmness of the upper jaw 310 and the lower jaw 320 to grip the object to be transported 400.
  • the opening end of the suction nozzle 220 is round.
  • the opening end of the suction nozzle 220 is circular, because the circular shape is isotropic. In this way, when the suction nozzle 220 adsorbs the object to be transported 400, it applies a uniform force in all directions, and the effect is stable.
  • the cushion pad 330 includes a cushion layer 340 and a support layer 350, and the support layer 350 is in contact with and fixed with the upper jaw 310 and the lower jaw 320; when the object to be transported 400 is transferred, the buffer layer 340 is It is configured to be in contact with the object to be transported 400.
  • the cushion pad 330 is composed of two parts, wherein the support layer 350 is responsible for fixing, and the cushion layer 340 is responsible for buffering the transported object 400; in this way, the cushion pad 330 is only considered for each part in the production
  • the required properties can be produced and combined together to form the cushion 330, which is convenient and practical.
  • the support layer 350 is detachably mounted and fixed with the upper jaw 310 and the lower jaw 320.
  • this solution considering that the cushion pad 330 has a certain service life, it should be replaced if the service life is damaged. Therefore, this solution enables the support layer 350 to be fixed and fixed with the upper jaw 310 and the lower jaw 320 in a detachable manner, thereby achieving cushioning The detachability of the pad 330.
  • the supporting layer 350 is fixed with screws 360 by cooperating with the upper jaw 310 and the lower jaw 320.
  • the support layer 350 cooperates with the upper jaw 310 and the lower jaw 320 to be fixed by screws 360. In this way, the supporting layer 350 is firmly fixed to the upper jaw 310 and the lower jaw 320.
  • the buffer layer 340 is made of rubber material.
  • the buffer layer 340 directly interacts with the object to be transported 400.
  • the buffer layer 340 is made of rubber material because the rubber material has good anti-skid With the buffering effect, at the same time, the production technology of rubber products is mature, the raw materials are extensive, and the cost is low.
  • the support layer 350 is made of hard plastic. In this solution, it is considered that the support layer 350 fixes the cushion pad 330 on the upper jaw 310 and the lower jaw 320. In order to make the fixation stronger, the support layer 350 should be made of hard material, so this solution uses the support layer 350 It is made of hard plastic because the manufacturing technology of plastic is mature, and the raw materials are extensive, and the cost is low.
  • the support layer 350 is made of metal. In this solution, it is considered that the support layer 350 fixes the cushion pad 330 on the upper jaw 310 and the lower jaw 320. In order to make the fixation stronger, the support layer 350 should be made of hard material, so this solution uses the support layer 350 Made of metal, because the manufacturing technology of metal is mature, and the raw materials are extensive, and the cost is low.
  • the buffer layer 340 and the support layer 350 are detachably connected.
  • the buffer layer 340 in the buffer pad 330 is often in contact with the object to be transported 400 and often deforms, and the support layer 350 remains basically unchanged after being fixed. Therefore, the buffer layer 340 is periodically replaced and the support layer 350 Basically, it will not be replaced. Then, the buffer layer 340 and the support layer 350 are connected in a detachable manner, so that the support layer 350 can be recycled, saving costs.
  • the buffer layer 340 includes a hollowed-out area 341, and the hollowed-out area 341 includes an opening 342 that connects the hollowed-out area 341 to the outside world, and the area of the opening 342 is smaller than that of the hollowed-out area 341.
  • the area of the profile; the hollowed-out area 341 is located inside the buffer layer 340, and the support layer 350 is installed into the hollowed-out area 341 through the opening 342.
  • a hollowed-out area 341 is provided in the buffer layer 340, so that the support layer 350 is installed and fixed in the hollowed-out area 341, so that the integrity is stronger, and the support layer 350 can well fix the buffer layer 340;
  • the buffer layer 340 is provided with an opening 342, so that the opening 342 connects the hollowed-out area 341 to the outside, that is, the support layer 350 is fixed to the hollowed-out area 341 through the opening 342;
  • the area of the opening 342 is smaller than the outline area of the hollowed-out area 341, because
  • the material of the buffer layer 340 has good elasticity, so that the area of the opening 342 is small and can still pass through the support layer 350, and the support layer 350 after being installed will not be easily separated from the buffer layer 340.
  • the area of the outline of the support layer 350 is larger than the area of the opening 342 and less than or equal to the area of the outline of the hollowed-out area 341.
  • the area of the outline of the support layer 350 is greater than the area of the opening 342 and less than or equal to the area of the outline of the hollowed-out area 341, so that the support layer 350 will not easily fall out of the opening 342 after being installed in the buffer layer 340,
  • the support layer 350 enables the buffer layer 340 to be firmly fixed to the upper and lower jaws.
  • a conveying device 100 for conveying glass substrates.
  • the conveying device 100 includes a machine 110, a conveyer 120, and a sensor 130.
  • the conveyer 120 is located at the end of the machine 110 and is It is configured to transport the object to be transported 400;
  • the sensor 130 is located on the transporter 120 and is configured to sense the object to be transported 400;
  • each object to be transported 400 corresponds to at least two sensors 130;
  • the transporter 120 includes a gripper 121, and the sensor 130 is disposed at
  • the gripper 121 is configured to grip the glass substrate 410;
  • the sensor 130 corresponding to each glass substrate 410 includes a first sensor 131 and a second sensor 132, and the first sensor 131 and the second sensor 132 respectively correspond to the glass substrate
  • the two ends of 410 are provided;
  • the grip 121 includes an adsorption structure 200 including a suction nozzle 220 and a suction tube 210, the suction nozzle 220 is connected to the suction tube 210, and
  • each glass substrate 410 corresponds to two sensors 130, and the sensors 130 are distributed at both ends of the glass substrate 410, so that the glass substrate 410 is slightly biased, it will be sensed by the sensor 130, avoiding the next
  • the grasping action of the conveyor 120 damages the glass substrate 410, thereby saving the cost of the glass substrate 410, and also avoids the downtime when the glass substrate 410 is damaged, thereby improving the work efficiency of the glass substrate 410 cutting;
  • the end position sensor 130 can cooperate with the to-be-transported object 400 to detect whether the to-be-transported object 400 is deviated, thereby avoiding the subsequent grasping action of the gripper 121 to damage the to-be-transported object 400 and saving the to-be-transported object 400 Cost, while also avoiding downtime when the object to be transported 400 is damaged, thereby improving the work efficiency of the object to be transported 400 cutting;
  • the gripper 121 is provided with a structure with an adsorption function, and the object to be transported 400 is grasped
  • the suction nozzle 220 of the adsorption structure 200 of this solution It is composed of a suction tube 210, and a suction nozzle 220 is connected to the suction tube 210.
  • the suction nozzle 220 communicates with the inside of the suction tube 210.
  • the suction nozzle 220 directly acts on the surface of the object to be transported 400.
  • the suction tube 210 connects the suction nozzle 220 to the object to be transported 400 The gas is sucked to produce the pressure difference between the suction nozzle 220 and the object to be transported 400.
  • the adsorption structure 200 is controllable, the adsorption pressure is controllable, then the stability of the adsorption can be guaranteed, and the transportation of the object to be transported 400 is safe The performance can also be guaranteed, and the gripping action of the adsorption is relatively flexible, and the damage to the transported object 400 is basically not caused.
  • the cutting system 600 includes a cutting device 500 and a conveying device 100.
  • the conveying device 100 includes a machine 110, a conveyer 120, and a sensor 130; the conveyer 120 is located on the machine.
  • the end of 110 is configured to transport the object to be transported 400; the sensor 130, located on the transporter 120, is configured to sense the object to be transported 400; each object to be transported 400 corresponds to at least two sensors 130; the cutting device 500 and the transport
  • the apparatus 100 is arranged in parallel, and the cutting apparatus 500 is placed opposite to the conveyor 120 of the conveying apparatus 100.
  • the conveying apparatus 100 transports the object to be conveyed 400 to the cutting apparatus 500 through the conveyor 120 for cutting operation. Specific steps include:
  • the sensor 130 senses the object to be transported 400, and feeds back information to the gripper 121;
  • S14 The sensor 130 senses that the object to be transported 400 is not deviated, and the gripper 121 performs a gripping action;
  • the gripper 121 transports the object to be transported 400 to the cutting device 500;
  • the cutting device 500 performs a cutting operation on the object to be transported 400.
  • the technical solution of the present application can be widely used in a variety of display panels, such as twisted nematic (TN) display panel, vertical alignment (VA) display panel, etc.
  • TN twisted nematic
  • VA vertical alignment
  • Panels such as Organic Light-Emitting Diode (OLED) display panels, can be applied to the above solutions.
  • OLED Organic Light-Emitting Diode

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Organic Chemistry (AREA)
  • Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

一种搬送装置（100）和切割系统（600），对玻璃基板（410）使用。搬送装置（100）包括机台（110）、搬送机（120）以及传感器（130），搬送机（120）位于机台（110）的端部，搬送机（120）被配置为搬送待搬送物（400）；传感器（130）位于搬送机（120）上，传感器（130）被配置为感应待搬送物（400）；每个待搬送物（400）对应至少两个传感器（130）。

Description

搬送装置和切割系统
本申请要求于2018年12月24日提交中国专利局，申请号为CN201811579701.X，申请名称为“一种搬送装置和切割系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及显示技术领域，尤其涉及一种搬送装置和切割系统。
背景技术
这里的陈述仅提供与本申请有关的背景信息，而不必然地构成现有技术。
在机械加工过程中，板材切割常用方式有手工切割、半自动切割机切割及数控切割机切割。手工切割灵活方便，但手工切割质量差、尺寸误差大、材料浪费大、后续加工工作量大，同时劳动条件恶劣，生产效率低。半自动切割机中仿形切割机，切割工件的质量较好，由于其使用切割模具，不适合于单件、小批量和大工件切割。其它类型半自动切割机虽然降低了工人劳动强度，但其功能简单，只适合一些较规则形状的零件切割。数控切割相对手动和半自动切割方式来说，可有效地提高板材切割地效率、切割质量，减轻操作者地劳动强度。尤其是显示面板领域，玻璃基板是构成液晶显示器件的基本部件，近年来，由于平板显示产业的发展，对于玻璃基板的生产需求越来越大。在玻璃基板的生产过程中，为了获得满足要求的玻璃基板，常常会在较大的玻璃基板上按照相应的尺寸对玻璃基板进行切割。切割前应将玻璃基板搬送至待切割位置。
发明人知晓的一种搬送装置，其不能识别玻璃基板放偏的情况，导致玻璃基板被损坏。
技术解决方案
本申请的目的在于提供一种搬送装置和切割系统，以避免玻璃基板被损坏。
为实现上述目的，本申请提供了一种搬送装置，所述搬送装置包括机台、搬送机以及传感器；所述搬送机位于所述机台的端部，被配置为搬送待搬送物；所述传感器，位于所述搬送机上，被配置为感应待搬送物；每个待搬送物对应至少两个传感器。
可选的，所述搬送机包括抓手，所述传感器设置在所述抓手上，所述抓手被配置为抓取所述待搬送物；每个所述待搬送物对应的所述传感器包括第一传感器和第二传感器，所述第一传感器与所述第二传感器分别对应所述待搬送物的两端设置。
可选的，所述抓手包括吸附结构，被配置为通过吸附的方式抓取待搬送物。
可选的，所述吸附结构包括吸嘴和吸管，所述吸嘴和所述吸管连接，所述吸嘴与所述吸管的内部相通。
可选的，每个所述抓手上均设置所述传感器。
可选的，所述抓手包括夹具，被配置为通过夹取的方式抓取所述待搬送物。
可选的，所述夹具包括上颚、下颚和缓冲垫，所述缓冲垫设置在所述上颚与下颚相对的面上，所述上颚与所述下颚相配合来夹取所述待搬送物。
可选的，所述缓冲垫采用橡胶材质制成。
可选的，所述吸嘴的开口端为圆形。
可选的，所述缓冲垫包括缓冲层与支撑层，所述支撑层与所述上颚和下颚接触并配合固定；在搬送所述待搬送物时，所述缓冲层被配置为与所述待搬送物接触。
可选的，所述支撑层通过可拆装方式与所述上颚和下颚配合固定。
可选的，所述支撑层与所述上颚和下颚配合通过螺丝固定。
可选的，所述缓冲层采用橡胶材质制成。
可选的，所述支撑层采用硬质塑料制成。
可选的，所述支撑层采用金属制成。
可选的，所述缓冲层与所述支撑层通过可拆装方式连接。
可选的，所述缓冲层包括挖空区，所述挖空区包括开口，所述开口将所述挖空区与外界相连，所述开口的面积小于所述挖空区的轮廓的面积；所述挖空区位于所述缓冲层的内部，所述支撑层通过所述开口安装到所述挖空区内。
可选的，所述支撑层的轮廓的面积大于所述开口的面积，且小于或等于所述挖空区的轮廓的面积。
本申请还提供一种搬送装置，被配置为搬送玻璃基板，所述搬送装置包括机台、搬送机以及传感器；所述搬送机位于所述机台的端部，被配置为搬送待搬送物；所述传感器，位于所述搬送机上，被配置为感应待搬送物；每个待搬送物对应至少两个传感器；所述搬送机包括抓手，所述传感器设置在所述抓手上，所述抓手被配置为抓取玻璃基板；每个所述玻璃基板对应的所述传感器包括第一传感器和第二传感器，所述第一传感器与所述第二传感器分别对应所述玻璃基板的两端设置；所述抓手包括吸附结构，所述吸附结构包括吸嘴和吸管，所述吸嘴和所述吸管连接，所述吸嘴与所述吸管的内部相通；所述吸附结构被配置为通过吸附的方式抓取玻璃基板。
本申请还提供一种切割系统，所述切割系统包括切割装置和搬送装置，所述搬送装置包括机台、搬送机以及传感器；所述搬送机位于所述机台的端部，被配置为搬送待搬送物；所述传感器，位于所述搬送机上，被配置为感应待搬送物；每个待搬送物对应至少两个传感器； 所述切割装置与所述搬送装置并列，且所述切割装置与所述搬送装置的搬送机相对放置，所述搬送装置通过搬送机将所述待搬送物运送到所述切割装置进行切割作业。
相对于每个待搬送物对应一个传感器的方案来说，本申请使每个待搬送物对应至少两个传感器，且传感器分布在待搬送物的两端，这样待搬送物稍有偏放，就会被传感器感应到，避免了接下来的搬送机的抓取动作对待搬送物的损坏，从而节省了待搬送物的成本，同时也避免待搬送物损坏时停工时间，进而提高待搬送物切割的工作效率。
附图说明
所包括的附图用来提供对本申请实施例的理解，其构成了说明书的一部分，用于例示本申请的实施方式，并与文字描述一起来阐释本申请的原理。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1是范例性技术的一种搬送装置的示意图；
图2是范例性技术的一种搬送装置的夹具示意图；
图3是本申请其中一个实施例的一种可以感应待搬送物放偏的搬送装置的示意图；
图4是本申请其中一个实施例的一种搬送装置的吸附结构的示意图；
图5是本申请另一个实施例的具有缓冲垫的搬送装置的夹具的示意图；
图6是图5中A-A1的截面的示意图；
图7是本申请其中一个实施例的切割系统的示意图；
图8是本申请其中一个实施例的切割系统的工作步骤的示意图。
本申请的实施方式
这里所公开的具体结构和功能细节仅仅是代表性的，并且是描述本申请的示例性实施例的目的。但是本申请可以通过许多替换形式来具体实现，并且不应当被解释成仅仅受限于这里所阐述的实施例。
在本申请的描述中，应当理解的是，术语“中心”、“横向”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个 以上。另外，术语“包括”及其任何变形，意图在于覆盖不排他的包含。
在本申请的描述中，应作说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
这里所使用的术语仅仅是为了描述具体实施例而不意图限制示例性实施例。除非上下文明确地另有所指，否则这里所使用的单数形式“一个”、“一项”还意图包括复数。还应当理解的是，这里所使用的术语“包括”和/或“包含”规定所陈述的特征、整数、步骤、操作、单元和/或组件的存在，而不排除存在或添加一个或更多其他特征、整数、步骤、操作、单元、组件和/或其组合。
在图中，结构相似的是以相同标号表示。
如图3至图7所示，实施例详细描述本申请的搬送装置。
一种搬送装置100，包括机台110、搬送机120以及传感器130，搬送机120位于机台110的端部，被配置为搬送待搬送物400；传感器130位于搬送机120上，被配置为感应待搬送物400；每个待搬送物400对应至少两个传感器130。
本方案中，相对于如图1和图2中所示的方案来说，本方案使每块待搬送物400对应至少两个传感器130，且传感器130分布在待搬送物400的两端，这样待搬送物400稍有偏放，就会被传感器130感应到，避免了接下来的搬送机120的抓取动作对待搬送物400的损坏，从而节省了待搬送物400的成本，同时也避免待搬送物400损坏时停工时间，进而提高待搬送物400切割的工作效率。
在一实施例中，如图3所示，搬送机120包括抓手121，传感器130设置在抓手121上，抓手121被配置为抓取待搬送物400；每个待搬送物400对应的传感器130包括第一传感器131和第二传感器132，第一传感器131与第二传感器132分别对应待搬送物400的两端设置。
本方案中，抓手121直接抓取待搬送物400，将传感器130设置在对应待搬送物400的两端位置的抓手121上，这样，待搬送物400的两端位置的传感器130可以配合对待搬送物400进行感应，可以感应待搬送物400是否放偏，从而避免接下来的抓手121的抓取动作对待搬送物400的损坏，节省了待搬送物400的成本，同时也避免待搬送物400损坏时停工时间，进而提高待搬送物400切割的工作效率。
在一实施例中，如图4所示，抓手121包括吸附结构200，被配置为通过吸附的方式抓取待搬送物400。本方案中，抓手121设置为具有吸附功能的结构，通过吸附的方式抓取待 搬送物400，因为吸附的抓取动作是偏柔性的，基本不会对待搬送物400造成损坏，可以避免抓手121在抓取待搬送物400的过程中损坏待搬送物400，提高搬送效率。
在一实施例中，如图4所示，吸附结构200包括吸嘴220和吸管210，吸嘴220和吸管210连接，吸嘴220与吸管210的内部相通。
本方案中，考虑到吸附是利用压强差产生的，考虑到待搬送物400搬送过程中的安全性，所以吸附结构200应具备较强的吸附力，即能制造出大的压强差，因此，本方案的吸附结构200由的吸嘴220和吸管210构成，吸嘴220和吸管210连接，吸嘴220与吸管210的内部相通，吸嘴220是直接作用在待搬送物400的表面上，吸管210将吸嘴220与待搬送物400之间的气体吸净，以制造吸嘴220与待搬送物400之间的压强差，因为吸附结构200可控，所以吸附压强可控，那么可以保证吸附的稳定性，对待搬送物400的搬送安全性也可以保证，而且吸附的抓取动作是偏柔性的，基本不会对待搬送物400造成损坏。
在一实施例中，每个抓手121上均设置传感器130。本方案中，考虑到每个待搬送物400对应多个抓手121，若传感器130只设置在其中一个抓手121上，那么将很难识别待搬送物400放偏的情况，若没有识别待搬送物400放偏，抓手121会继续对待搬送物400进行抓取，会导致待搬送物400被损坏，因此，本方案在每个抓手121上均设置传感器130，这样可以确保对待搬送物400被放偏情况的感应，能有效避免接下来的抓手121的抓取动作对待搬送物400的损坏，节省了待搬送物400的成本，同时也避免待搬送物400损坏时停工时间，进而提高待搬送物400切割的工作效率。
在一实施例中，抓手121包括夹具300，被配置为通过夹取的方式抓取待搬送物400。
本方案中，抓手121为夹具300，即通过夹取的方式抓取待搬送物400，夹具300是通过对待搬送物400施加一对对称的压力，使待搬送物400被牢牢固定在该对称的压力中间，基本不会松懈，除非控制其松开，因此，本方案将抓手121设为夹具300，可以保证对待搬送物400的抓取及搬送的稳定性。
在一实施例中，如图5所示，夹具300包括上颚310、下颚320和缓冲垫330，缓冲垫330设置在上颚310与下颚320相对的面上，上颚310与下颚320相合夹取待搬送物400。
本方案中，一般夹具300均包括上颚310和下颚320，其中上颚310和下颚320通常是采用具有较高硬度的材料制成，这样上颚310和下颚320直接接触并夹住待搬送物400后，若待搬送物400的硬度小于上颚310和下颚320的硬度，那么就可能损坏待搬送物400。因此，本方案在上颚310与下颚320相对的面上设置缓冲垫330，这样在上颚310和下颚320闭合夹取待搬送物400时，缓冲垫330直接与待搬送物400接触并传导上颚310和下颚320的压力，可以避免硬度较高的上颚310和下颚320直接接触待搬送物400，避免对待搬送物400造成损坏。
在一实施例中，缓冲垫330采用橡胶材质制成。本方案中，考虑到橡胶制品具有良好的柔性和较大的摩擦系数，并且具有制造技术成熟、原料广泛、成本低以及无污染等性质，十分适用作为缓冲及放摩擦部件。因此，本方案缓冲垫330采用橡胶材质制成，既能保护待搬送物400免于被上颚310和下颚320损坏，还可以增加上颚310和下颚320的夹取待搬送物400牢固性。
在一实施例中，吸嘴220的开口端为圆形。本方案中，吸嘴220的开口端设为圆形，因为圆形具有各向同性，这样，吸嘴220吸附待搬送物400时会各向均匀施力，作用效果稳定。
在一实施例中，如图6所示，缓冲垫330包括缓冲层340与支撑层350，支撑层350与上颚310和下颚320接触并配合固定；在搬送待搬送物400时，缓冲层340被配置为与待搬送物400接触。
本方案中，将缓冲垫330设为由两部分组成，其中，支撑层350负责固定，缓冲层340负责对待搬送物400起到缓冲作用；这样，缓冲垫330在制作中，只考虑每个部分所应具备的性质，然后制作并组合到一起形成缓冲垫330即可，方便且实用性强。
在一实施例中，如图6所示，支撑层350通过可拆装方式与上颚310和下颚320配合固定。
本方案中，考虑到缓冲垫330具有一定的使用寿命，若到寿损坏，那么就应该更换，所以，本方案使支撑层350通过可拆装方式与上颚310和下颚320配合固定，从而实现缓冲垫330的可拆装性。
在一实施例中，如图6所示，支撑层350与上颚310和下颚320配合通过螺丝360固定。
本方案中，考虑缓冲垫330是受力部件，而且其稳定性越好对待搬送物400的搬送安全性就越高，所以，本方案使支撑层350与上颚310和下颚320配合通过螺丝360固定，这样支撑层350与上颚310和下颚320固定较牢固。
在一实施例中，缓冲层340采用橡胶材质制成。本方案中，缓冲层340与待搬送物400直接作用，为了防止待搬送物400在搬送过程中出现松动或者被压坏，所以，缓冲层340采用橡胶材质制成，因为橡胶材质具有良好的防滑与缓冲作用，同时橡胶制品的生产技术成熟，原料广泛，成本低等性质。
在一实施例中，支撑层350采用硬质塑料制成。本方案中，考虑到支撑层350是将缓冲垫330固定在上颚310和下颚320上，为了使固定更牢，那么支撑层350应采用硬质材质制成，所以，本方案使支撑层350采用硬质塑料制成，因为塑料的制造技术成熟，且原料广泛，成本低廉。
在一实施例中，支撑层350采用金属制成。本方案中，考虑到支撑层350是将缓冲垫330固定在上颚310和下颚320上，为了使固定更牢，那么支撑层350应采用硬质材质制成， 所以，本方案使支撑层350采用金属制成，因为金属的制造技术成熟，且原料广泛，成本较低。
在一实施例中，缓冲层340与支撑层350通过可拆装方式连接。本方案中，考虑到缓冲垫330中的缓冲层340经常与待搬送物400接触，并且常发生形变，而支撑层350固定后基本保持不变，所以，缓冲层340会定期更换，支撑层350基本不会更换，那么，将缓冲层340与支撑层350通过可拆装方式连接，使支撑层350可以循环使用，节省成本。
在一实施例中，如图6所示，缓冲层340包括挖空区341，挖空区341包括开口342，开口342将挖空区341与外界相连，开口342的面积小于挖空区341的轮廓的面积；挖空区341位于缓冲层340的内部，支撑层350通过开口342安装到挖空区341内。
本方案中，在缓冲层340内设置挖空区341，使支撑层350安装固定在挖空区341，这样整体性更强，而且，支撑层350可以很好的将缓冲层340固定；然后在缓冲层340上设开口342，使开口342将挖空区341与外界相连，即支撑层350通过开口342固定到挖空区341；使开口342的面积小于挖空区341的轮廓的面积，因为缓冲层340的材质具有较好的弹性，所以使开口342的面积较小仍可以通过支撑层350，并且安装后的支撑层350不会轻易脱离缓冲层340。
在一实施例中，如图6所示，支撑层350的轮廓的面积大于开口342的面积，且小于或等于挖空区341的轮廓的面积。
本方案中，使支撑层350的轮廓的面积大于开口342的面积，且小于或等于挖空区341的轮廓的面积，这样支撑层350安装到缓冲层340内后不会从开口342轻易脱落，使支撑层350能将缓冲层340牢固地固定到上颚和下颚上。
如图4和图7所示，公开了一种搬送装置100，用来搬送玻璃基板，搬送装置100包括机台110、搬送机120以及传感器130，搬送机120位于机台110的端部，被配置为搬送待搬送物400；传感器130位于搬送机120上，被配置为感应待搬送物400；每个待搬送物400对应至少两个传感器130；搬送机120包括抓手121，传感器130设置在抓手上121，抓手121被配置为抓取玻璃基板410；每个玻璃基板410对应的传感器130包括第一传感器131和第二传感器132，第一传感器131与第二传感器132分别对应玻璃基板410的两端设置；抓手121包括吸附结构200，吸附结构200包括吸嘴220和吸管210，吸嘴220和吸管210连接，吸嘴220与吸管210的内部相通；吸附结构200被配置为通过吸附的方式抓取玻璃基板410。
本方案中，使每个玻璃基板410对应两个传感器130，且传感器130分布在玻璃基板410的两端，这样玻璃基板410稍有偏放，就会被传感器130感应到，避免了接下来的搬送机120的抓取动作对玻璃基板410的损坏，从而节省了玻璃基板410的成本，同时也避免玻璃 基板410损坏时停工时间，进而提高玻璃基板410切割的工作效率；待搬送物400的两端位置的传感器130可以配合对待搬送物400进行感应，可以感应待搬送物400是否放偏，从而避免接下来的抓手121的抓取动作对待搬送物400的损坏，节省了待搬送物400的成本，同时也避免待搬送物400损坏时停工时间，进而提高待搬送物400切割的工作效率；抓手121设置为具有吸附功能的结构，通过吸附的方式抓取待搬送物400，因为吸附的抓取动作是偏柔性的，基本不会对待搬送物400造成损坏，可以避免抓手121在抓取待搬送物400的过程中损坏待搬送物400，提高搬送效率；考虑到吸附是利用压强差产生的，考虑到待搬送物400搬送过程中的安全性，所以吸附结构200应具备较强的吸附力，即能制造出大的压强差，因此，本方案的吸附结构200由的吸嘴220和吸管210构成，吸嘴220和吸管210连接，吸嘴220与吸管210的内部相通，吸嘴220是直接作用在待搬送物400的表面上，吸管210将吸嘴220与待搬送物400之间的气体吸净，以制造吸嘴220与待搬送物400之间的压强差，因为吸附结构200可控，所以吸附压强可控，那么可以保证吸附的稳定性，对待搬送物400的搬送安全性也可以保证，而且吸附的抓取动作是偏柔性的，基本不会对待搬送物400造成损坏。
如图7至图8所示，公开了一种切割系统600，切割系统600包括切割装置500和搬送装置100，搬送装置100包括机台110、搬送机120以及传感器130；搬送机120位于机台110的端部，被配置为搬送待搬送物400；传感器130，位于搬送机120上，被配置为感应待搬送物400；每个待搬送物400对应至少两个传感器130；切割装置500与搬送装置100并列，且切割装置500与搬送装置100的搬送机120相对放置，搬送装置100通过搬送机120将待搬送物400运送到切割装置500进行切割作业，具体步骤包括：
S11：传感器130感应到待搬送物400，将信息反馈给抓手121；
S12：抓手121根据传感器130反馈信息判断；
S13：传感器130感应到待搬送物400放偏，抓手121不执行抓取动作；
S14：传感器130感应到待搬送物400没放偏，抓手121执行抓取动作；
S15：抓手121将待搬送物400搬送至切割装置500；
S16：切割装置500对待搬送物400进行切割作业。
应作说明的是，本申请中涉及到的各步骤的限定，在不影响具体方案实施的前提下，并不认定为对步骤先后顺序做出限定，写在前面的步骤可以是在先执行的，也可以是在后执行的，甚至也可以是同时执行的，只要能实施本方案，都应当视为属于本申请的保护范围。
本申请的技术方案可以广泛使用在多种显示面板，如扭曲向列型(Twisted Nematic，TN)显示面板、垂直配向型(Vertical Alignment，VA)显示面板等，当然，也可以是其他类型的显示面板，如有机发光二极管(Organic Light-Emitting Diode，OLED)显示面板，均可适用 上述方案。
以上内容是结合具体的可选的实施方式对本申请所作的详细说明，不能认定本申请的具体实施只局限于这些说明。对于本申请所属技术领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本申请的保护范围。

Claims (20)

  1. 一种搬送装置，包括：
    机台；
    搬送机，位于所述机台的端部，被配置为搬送待搬送物；以及
    传感器，位于所述搬送机上，被配置为感应待搬送物；
    每个待搬送物对应至少两个所述传感器。
  2. 如权利要求1所述的一种搬送装置，其中，所述搬送机包括抓手，所述传感器设置在所述抓手上，所述抓手被配置为抓取所述待搬送物；
    每个所述待搬送物对应的所述传感器包括第一传感器和第二传感器，所述第一传感器与所述第二传感器分别对应所述待搬送物的两端设置。
  3. 如权利要求2所述的一种搬送装置，其中，所述抓手包括吸附结构，被配置为通过吸附的方式抓取待搬送物。
  4. 如权利要求3所述的一种搬送装置，其中，所述吸附结构包括吸嘴和吸管，所述吸嘴和所述吸管连接，所述吸嘴与所述吸管的内部相通。
  5. 如权利要求2所述的一种搬送装置，其中，每个所述抓手上均设置所述传感器。
  6. 如权利要求2所述的一种搬送装置，其中，所述抓手包括夹具，被配置为通过夹取的方式抓取所述待搬送物。
  7. 如权利要求6所述的一种搬送装置，其中，所述夹具包括上颚、下颚和缓冲垫，所述缓冲垫设置在所述上颚与下颚相对的面上，所述上颚与所述下颚相配合来夹取所述待搬送物。
  8. 如权利要求7所述的一种搬送装置，其中，所述缓冲垫采用橡胶材质制成。
  9. 如权利要求4所述的一种搬送装置，其中，所述吸嘴的开口端为圆形。
  10. 如权利要求7所述的一种搬送装置，其中，所述缓冲垫包括缓冲层与支撑层，所述支撑层与所述上颚和下颚接触并配合固定；
    在搬送所述待搬送物时，所述缓冲层被配置为与所述待搬送物接触。
  11. 如权利要求10所述的一种搬送装置，其中，所述支撑层通过可拆装方式与所述上颚和下颚配合固定。
  12. 如权利要求11所述的一种搬送装置，其中，所述支撑层与所述上颚和下颚配合通过螺丝固定。
  13. 如权利要求10所述的一种搬送装置，其中，所述缓冲层采用橡胶材质制成。
  14. 如权利要求10所述的一种搬送装置，其中，所述支撑层采用硬质塑料制成。
  15. 如权利要求10所述的一种搬送装置，其中，所述支撑层采用金属制成。
  16. 如权利要求10所述的一种搬送装置，其中，所述缓冲层与所述支撑层通过可拆装方式连接。
  17. 如权利要求16所述的一种搬送装置，其中，所述缓冲层包括挖空区，所述挖空区包括开口，所述开口将所述挖空区与外界相连，所述开口的面积小于所述挖空区的轮廓的面积；
    所述挖空区位于所述缓冲层的内部，所述支撑层通过所述开口安装到所述挖空区内。
  18. 如权利要求17所述的一种搬送装置，其中，所述支撑层的轮廓的面积大于所述开口的面积，且小于或等于所述挖空区的轮廓的面积。
  19. 一种搬送装置，被配置为搬送玻璃基板，所述搬送装置包括：
    机台；
    搬送机，位于所述机台的端部，被配置为搬送玻璃基板；以及
    传感器，位于所述搬送机上，被配置为感应玻璃基板；
    每个玻璃基板对应两个所述传感器；
    所述搬送机包括抓手，所述传感器设置在所述抓手上，所述抓手被配置为抓取玻璃基板；
    每个所述玻璃基板对应的所述传感器包括第一传感器和第二传感器，所述第一传感器与所述第二传感器分别对应所述玻璃基板的两端设置；
    所述抓手包括吸附结构，所述吸附结构包括吸嘴和吸管，所述吸嘴和所述吸管连接，所述吸嘴与所述吸管的内部相通；所述吸附结构被配置为通过吸附的方式抓取玻璃基板。
  20. 一种切割系统，所述切割系统包括切割装置和搬送装置，所述搬送装置包括：
    机台；
    搬送机，位于所述机台的端部，被配置为搬送待搬送物；以及
    传感器，位于所述搬送机上，被配置为感应待搬送物；
    每个待搬送物对应至少两个所述传感器；
    所述切割装置与所述搬送装置并列，且所述切割装置与所述搬送装置的搬送机相对放置，所述搬送装置通过搬送机将所述待搬送物运送到所述切割装置进行切割作业。
PCT/CN2019/073587 2018-12-24 2019-01-29 搬送装置和切割系统 WO2020133627A1 (zh)

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