Grabbing device and sorting system for flexible substrates

Abstract

The invention provides a flexible substrate grabbing device and a sorting system.The flexible substrate grabbing device comprises a substrate, mechanical arms are symmetrically arranged on the left side and the right side of the upper end of the substrate, the mechanical arms are connected with a grabbing shell and an observation assembly, and an adsorption mechanism and a positioning mechanism are connected to the grabbing shell; by arranging the positioning mechanism, the flexible substrate is flattened before being adsorbed and connected, so that the problem that the flexible substrate is prone to bending, and the flexible substrate is prone to bending if the contact end between the flexible substrate and the pneumatic suction cup is bent when the pneumatic suction cup adsorbs the flexible substrate is solved. And at the moment, a closed space is difficult to form between the pneumatic suction cup and the flexible substrate, and subsequent adsorption grabbing work cannot be carried out.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible board grasping, and in particular to a grasping device and a sorting system for a flexible substrate. Background Art

[0002] In the production process of liquid crystal displays, it is necessary to divide large and thin flexible substrates into small flexible substrate units according to different layouts, remove waste materials and then sort them one by one to specific stations for post-processing. Referring to CN201920180203-A flexible substrate grabbing mechanism and its sorting system, it is disclosed that at least two lifting mechanisms are installed on the grabbing base, and a suction cup frame is installed on the lifting mechanism. The camera component is installed on the suction cup frame. The camera component is combined with the suction cup frame to improve the efficiency while ensuring the accuracy of sorting. The installed camera component serves as the visual mechanism of the entire mechanism, which is installed through a fixed frame. On the side of the suction cup frame, a shooting port protrudes from the lower side of the suction cup frame, which can shoot the substrate unit to identify whether it is in the correct position and posture. When grasping, the suction cup assembly is mainly used for adsorption and grasping. The suction cup assembly includes a pneumatic suction cup and an air intake and exhaust part. The substrate unit is taken and placed by controlling the air intake and exhaust. The application discloses that the suction cup frame adsorbs the flexible substrate, but since the flexible substrate is prone to bend, when the pneumatic suction cup adsorbs the flexible substrate, if there is a bend in the contact end between the flexible substrate and the pneumatic suction cup, it is difficult to form a closed space between the pneumatic suction cup and the flexible substrate, and subsequent adsorption and grasping work cannot be performed. Summary of the invention

[0003] The present invention provides a gripping device and a sorting system for a flexible substrate, which are used to solve the above-mentioned technical problem that since the flexible substrate is prone to bending, when the pneumatic suction cup adsorbs the flexible substrate, if there is a bending at the contact end between the flexible substrate and the pneumatic suction cup, it is difficult to form a closed space between the pneumatic suction cup and the flexible substrate, and subsequent adsorption and gripping work cannot be performed.

[0004] To solve the above technical problems, the present invention discloses a gripping device for a flexible substrate, including a substrate, wherein mechanical arms are symmetrically provided on the left and right sides of the upper end of the substrate, the mechanical arms are connected to a gripping shell and an observation component, and an adsorption mechanism and a positioning mechanism are connected to the gripping shell.

[0005] Preferably, the robotic arm includes motor 1, which is fixedly arranged at the upper end of the base plate, motor 1 is fixedly connected to telescopic cylinder 1, telescopic cylinder 1 is fixedly connected to telescopic cylinder 2, telescopic cylinder 2 is fixedly connected to the mounting plate, the upper end of the mounting plate is fixedly connected to the fixed section of telescopic cylinder 3, and the movable section of telescopic cylinder 3 passes through the mounting plate and is fixedly connected to the grabbing shell.

[0006] Preferably, the observation component includes a camera, the camera is fixedly connected to the mounting plate via a connecting plate, the camera is electrically connected to the robotic arm via a controller 1, and the camera is used to photograph the flexible substrate to be grasped.

[0007] Preferably, the adsorption mechanism includes a suction cup, the upper end of the suction cup is fixedly connected to the middle part of the lower end of the mounting plate through a shock-absorbing block, the lower end of the suction cup is provided with a contact cavity, the left side of the upper end of the suction cup is provided with an air suction pipe, the contact cavity is connected with the air suction pipe, the air suction pipe is connected with an air suction pump, the air suction pump is fixedly arranged on the left side of the upper end of the grasping shell, the right side of the suction cup is provided with an air supply pipe, the air supply pipe is connected with the air supply pump, and the air supply pump is fixedly connected to the right side of the lower end of the grasping shell.

[0008] Preferably, the positioning mechanism includes a plurality of sliding cavities 2 evenly distributed around the grab shell, and a sliding groove is connected on the long end side walls arranged in parallel in the sliding cavity 2, a sliding rod is slidably provided between the two parallel sliding grooves, the sliding rod is connected to the connecting rod, the connecting rod is rotatably connected to the push-pull wheel, a groove 1 is provided at the end of the upper side of the connecting rod away from each other, a clamping block is slidably provided in the groove 1, and a spring 1 is fixed between the clamping block and the groove 1, the clamping block and the clamping hole are matched with each other, and the upper and lower ends of the clamping hole are connected with a matching opening, the width of the matching opening is smaller than the width of the clamping hole, the clamping hole and the matching opening are arranged at one end of the fixed block 1 close to the sliding cavity 2, a plurality of fixed blocks 1 are evenly distributed around the upper end of the grab shell, the matching opening is matched with the matching separation block, and a plurality of matching separation blocks are evenly distributed around the lower end of the mounting plate.

[0009] Preferably, the positioning mechanism also includes a cavity 1 arranged inside the grab shell, a sliding cavity 1 is symmetrically connected to the left and right ends of the lower side of the cavity 1, a sliding plate is slidably provided in the cavity 1, a spring 4 is fixedly provided between the sliding plate and the cavity 1, a through hole 1 is provided in the middle of the sliding plate for the suction pipe to pass through, a limit block is provided on the left side of the lower end of the sliding plate, a pushing block is provided on the right side of the lower end of the sliding plate, the limit block is in corresponding contact with the upper end of the contact block 1, a groove 2 at the left end of the contact block 1 is slidably connected to the contact block 2, and a spring 2 is fixedly provided between the groove 2 and the contact block 2, the contact block 2 passes through the sliding cavity 1 on the left side and is slidably connected to the leftmost connecting rod, the contact block 1 is slidably connected to the sliding cavity 1 on the left side, the inclined section of the pushing block is in corresponding contact with the contact block 3, the contact block 3 passes through the sliding cavity 1 on the right side and is slidably connected to the rightmost connecting rod, and the contact block 3 is slidably connected to the sliding cavity 1 on the right side.

[0010] Preferably, a connecting block is provided at the upper end of the sliding plate, and the connecting block is slidably connected to the connecting port on the intake pipe, the connecting port on the intake pipe is connected to the internal pipe hole of the intake pipe, and the connecting port on the intake pipe and the internal pipe hole of the intake pipe are distributed at ninety degrees, and a connecting hole one is penetrated at the left and right ends of the connecting block, and the connecting hole one is connected to the corresponding pipe hole inside the intake pipe.

[0011] A sorting system adopts a grasping device of a flexible substrate, comprising a support block 1 slidably arranged in the middle of the upper end of the substrate, the support block 1 is threadedly connected to the threaded section of the threaded rod, the lower end of the support block 1 is slidably connected to the substrate, the upper end of the support block 1 is rotatably connected to the rotating shaft, the rotating shaft is slidably connected to the bevel gear 1, the rotating shaft is fixedly connected to the middle of the lower end of the sorting platform, and support blocks 2 are symmetrically arranged on the left and right sides of the lower end of the sorting platform, the support block 2 is slidably connected to the guide rod, the rear side of the threaded rod is fixedly connected to the block, the block cooperates with the connecting cavity on the driving block, the driving block is slidably connected to the driving shaft, the driving shaft is fixedly connected to the motor 2, the motor 2 and the fixed block 2 are fixedly arranged on the rear side of the substrate, the threaded rod, the driving shaft and the guide rod are all arranged on the substrate through a mounting plate, the driving shaft is slidably connected to the bevel gear 2, the bevel gear 2 is fixedly connected to the driving block, the bevel gear 1 is meshed with the bevel gear 2, a spring 3 is rotatably arranged between the bevel gear 2 and the fixed block 2, and the spring 3 is sleeved on the driving shaft, and the fixed block 2 is rotatably connected to the driving shaft.

[0012] Preferably, an open groove is symmetrically provided on the left and right sides of the upper end of the sorting platform, a partition is provided in the middle of the upper end of the sorting platform, a cavity 2 is provided inside the sorting platform, and a through hole 2 is symmetrically provided on the left and right sides of the lower end of the sorting platform, the open groove is connected with the through hole 2 through the cavity 2, a support block is slidably provided in the open groove, the support block is fixedly connected to the connecting block 1, the connecting block 1 passes through the open groove and is rotatably connected to the sliding seat in the cavity 2, the sliding seat is slidably connected to the upper end of the rotating plate, a rotating shaft is fixedly provided between the front and rear ends of the middle part of the rotating plate, the rotating shaft is rotatably arranged in the cavity 2, a torsion spring is fixedly provided between the rotating plate and the cavity 2, and the torsion spring is sleeved on the rotating shaft, and a connecting block 2 is symmetrically provided on the left and right sides of the lower end of the rotating plate, the connecting block 2 passes through the through hole 2 and is in corresponding contact with the bevel gear 1.

[0013] Preferably, a spring five is rotatably provided between the bevel gear one and the support block one, and the spring five is sleeved on the rotating shaft.

[0014] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a structural schematic diagram of the present invention; Figure 2 for Figure 1 A schematic diagram of the enlarged structure of region A; Figure 3 A schematic top view of a grab shell of the present invention; Figure 4 for Figure 1A schematic diagram of the enlarged structure of the B region; Figure 5 It is a schematic diagram of the side view structure of the substrate of the present invention.

[0016] In the figure: 1, base plate; 2, telescopic cylinder 1; 3, telescopic cylinder 2; 4, mounting plate; 5, telescopic cylinder 3; 6, motor 1; 7, grab shell; 8, cavity 1; 9, sliding cavity 1; 10, suction cup; 11, contact cavity; 12, air supply pipe; 13, air supply pump; 14, suction pipe; 15, rotating shaft; 16, suction pump; 17, push-pull wheel; 18, connecting rod; 19, sliding rod; 20, sliding groove; 21, sliding cavity 2; 22, fixed block 1; 23, matching mouth; 24, clamping hole; 25, matching separation block; 26, clamping block; 27, spring 1; 28, contact block 2; 29, spring 2; 30, shock-absorbing block; 31, contact block 1; 32, Limit block; 33, connecting block; 34, connecting hole one; 35, contact block three; 36, sliding plate; 37, pushing block; 38, sorting table; 39, support block one; 40, support block two; 41, guide rod; 42, threaded rod; 43, bevel gear one; 44, open groove; 45, support block; 46, partition; 47, motor two; 48, mounting plate; 49, block; 50, spring three; 51, fixed block two; 52, bevel gear two; 53, cavity two; 54, rotating shaft; 55, through hole two; 56, connecting block one; 57, sliding seat; 58, rotating plate; 59, connecting block two; 60, driving block; 61, camera; 62, spring four. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0018] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0019] The present invention provides the following embodiments Example 1 An embodiment of the present invention provides a gripping device for a flexible substrate, such as Figure 1-Figure 3 As shown, it includes a substrate 1, and mechanical arms are symmetrically provided on the left and right sides of the upper end of the substrate 1. The mechanical arms are connected to a grasping shell 7 and an observation component, and an adsorption mechanism and a positioning mechanism are connected to the grasping shell 7.

[0020] The beneficial effects of the above technical solution are: The mechanical arm is used to drive the grasping shell 7 and the observation component to move, and the grasping shell 7 drives the adsorption mechanism and the positioning mechanism to move, so that the adsorption mechanism, the positioning mechanism and the observation component can move to the corresponding position of the flexible substrate to be grasped. The observation component is used as a visual mechanism to determine the position of the flexible substrate. Specifically, when the mechanical arm moves to the corresponding position of the flexible substrate, the observation component can photograph the flexible substrate to be grasped and determine the position of the flexible substrate, so as to control the operation of the mechanical arm according to the position of the flexible substrate, so that the adsorption mechanism and the positioning mechanism move to the target position. After the adsorption mechanism and the positioning mechanism move to the target position, the mechanical arm controls the grasping shell 7 to move toward the direction of the flexible substrate, so that the adsorption mechanism and the positioning mechanism move toward the flexible substrate. In this process During the process, the positioning mechanism first contacts the flexible substrate. After the positioning mechanism contacts the flexible substrate, it cannot continue to move toward the flexible substrate. At this time, the positioning mechanism moves along the placement plane of the flexible substrate to flatten it until the positioning mechanism cannot move. At this time, the adsorption mechanism is in sealing contact with the flexible substrate, and then the adsorption mechanism is controlled to adsorb and connect the flexible substrate, completing the grasping of the flexible substrate. The setting of the positioning mechanism flattens the flexible substrate before adsorbing and connecting it, which solves the technical problem that the flexible substrate is prone to bends. When the pneumatic suction cup adsorbs the flexible substrate, if there are bends at the contact end between the flexible substrate and the pneumatic suction cup, it is difficult to form a closed space between the pneumatic suction cup and the flexible substrate, and subsequent adsorption and grasping work cannot be performed.

[0021] Example 2 On the basis of Example 1, Figure 1-Figure 3 As shown, the robot arm includes a motor 1 6, which is fixedly arranged at the upper end of the base plate 1, and the motor 1 6 is fixedly connected to the telescopic cylinder 1 2, the telescopic cylinder 1 2 is fixedly connected to the telescopic cylinder 2 3, the telescopic cylinder 2 3 is fixedly connected to the mounting plate 4, the upper end of the mounting plate 4 is fixedly connected to the fixed section of the telescopic cylinder 3 5, and the movable section of the telescopic cylinder 3 5 penetrates the mounting plate 4 and is fixedly connected to the grab shell 7; The observation component includes a camera 61, which is fixedly connected to the mounting plate 4 through a connecting plate, and the camera 61 is electrically connected to the robot arm through a controller 1, and the camera 61 is used to photograph the flexible substrate to be grasped; The adsorption mechanism includes a suction cup 10, the upper end of the suction cup 10 is fixedly connected to the middle part of the lower end of the mounting plate 4 through a shock-absorbing block 30, the lower end of the suction cup 10 is provided with a contact cavity 11, and the left side of the upper end of the suction cup 10 is provided with an air suction pipe 14, the contact cavity 11 is connected with the air suction pipe 14, the air suction pipe 14 is connected with an air suction pump 16, the air suction pump 16 is fixedly arranged on the left side of the upper end of the grabbing shell 7, and the right side of the suction cup 10 is provided with an air supply pipe 12, the air supply pipe 12 is connected with the air supply pump 13, and the air supply pump 13 is fixedly connected to the right side of the lower end of the grabbing shell 7.

[0022] The beneficial effects of the above technical solution are: When the mechanical arm is working, the motor 6 can drive the telescopic cylinder 2 to rotate along the horizontal plane, and the telescopic cylinder 2 can drive the telescopic cylinder 2 3 to move up and down when it is extended and retracted, and the telescopic cylinder 2 3 can drive the mounting plate 4 to move left and right when it is extended and retracted. The telescopic cylinder 3 5 can drive the grabbing shell 7 to move up and down, so as to achieve the purpose of moving the grabbing shell 7 to any position in the three-dimensional space. When the camera 61 is electrically connected to the mechanical arm through the controller 1, it is electrically connected to the motor 6, the telescopic cylinder 1 2, the telescopic cylinder 2 3 and the telescopic cylinder 3 5 respectively, so as to automatically control the motor 6, the telescopic cylinder 1 2, the telescopic cylinder 2 3 and the telescopic cylinder 3 5 to work independently. The observation component refers to CN201920180203-A photographic component in a grasping mechanism for a flexible substrate and its sorting system. The present invention does not involve improvements thereto, so it will not be described in detail. When the adsorption mechanism is working, the suction cup 10 contacts the flexible substrate to be grasped, so that the contact cavity 11 forms a closed space. When the suction pump 16 is working, the air in the contact cavity 11 can be extracted through the suction pipe 14, so that the contact cavity 11 forms a negative pressure space, so that the suction cup 10 and the flexible substrate are adsorbed and connected. When the air supply pump 13 is working, air can be delivered to the contact cavity 11 through the air supply pipe 12, so that the air pressure in the contact cavity 11 becomes larger, which is used to complete the separation of the suction cup 10 and the flexible substrate.

[0023] Example 3 On the basis of Example 2, Figure 1-Figure 3As shown, the positioning mechanism includes a plurality of sliding cavities 21 uniformly arranged circumferentially of the grab shell 7, and a sliding groove 20 is connected on the long end side walls arranged in parallel in the sliding cavity 21, and a sliding rod 19 is slidably arranged between the two parallel sliding grooves 20, and the sliding rod 19 is fixedly connected to the connecting rod 18, and the connecting rod 18 is rotatably connected to the push-pull wheel 17, and a groove 1 is arranged at one end of the upper side of the connecting rod 18 away from each other, and a clamping block 26 is slidably arranged in the groove 1, and a spring 1 27 is fixedly arranged between the clamping block 26 and the groove 1, and the clamping block 26 is matched with the clamping hole 24 correspondingly, and the upper and lower ends of the clamping hole 24 are connected with a matching port 23, and the width of the matching port 23 is smaller than the width of the clamping hole 24, and the clamping hole 24 and the matching port 23 are arranged at one end of the fixed block 1 22 close to the sliding cavity 21, and a plurality of fixed blocks 22 are uniformly arranged circumferentially on the upper end of the grab shell 7, and the matching port 23 is matched with the matching separation block 25 correspondingly, and a plurality of matching separation blocks 25 are uniformly arranged circumferentially on the lower end of the mounting plate 4; The positioning mechanism also includes a cavity 8 arranged inside the grab shell 7, and the left and right ends of the lower side of the cavity 8 are symmetrically connected with a sliding cavity 9, a sliding plate 36 is slidably arranged in the cavity 8, a spring 462 is fixedly arranged between the sliding plate 36 and the cavity 8, a through hole 1 is arranged in the middle of the sliding plate 36 for the suction pipe 14 to pass through, a limit block 32 is arranged on the left side of the lower end of the sliding plate 36, and a push block 37 is arranged on the right side of the lower end of the sliding plate 36, and the limit block 32 is in contact with the upper end of the contact block 31 correspondingly, and the contact block 31 is in contact with the upper end of the contact block 31. 1 is slidably connected with the contact block 28, and a spring 29 is fixed between the groove 2 and the contact block 28, the contact block 28 passes through the left sliding cavity 19 and is slidably connected with the leftmost connecting rod 18, the contact block 1 31 is slidably connected with the left sliding cavity 19, the inclined section of the push block 37 is in contact with the contact block 3 35, the contact block 3 35 passes through the right sliding cavity 19 and is slidably connected with the rightmost connecting rod 18, and the contact block 3 35 is slidably connected with the right sliding cavity 19; A connecting block 33 is provided at the upper end of the sliding plate 36, and the connecting block 33 is slidably connected to the connecting port on the intake pipe 14, and the connecting port on the intake pipe 14 is connected to the internal pipe hole of the intake pipe 14, and the connecting port on the intake pipe 14 and the internal pipe hole of the intake pipe 14 are distributed at ninety degrees, and a connecting hole 1 34 is penetrated at the left and right ends of the connecting block 33, and the connecting hole 1 34 is correspondingly connected to the pipe hole inside the intake pipe 14.

[0024] The beneficial effects of the above technical solution are: The grabbing shell 7 and the placement plane of the flexible substrate are arranged in parallel. When the grabbing shell 7 moves toward the flexible substrate, until the push-pull wheel 17 contacts the upper end of the flexible substrate, the push-pull wheel 17 cannot move toward the flexible substrate. At this time, the push-pull wheel 17 moves along the placement plane of the flexible substrate. During this process, the push-pull wheel 17 drives the connecting rod 18 to move, and the connecting rod 18 drives the sliding rod 19 to slide along the sliding groove 20, ensuring that the grabbing shell 7 can move downward normally, and the circumferentially distributed plurality of sliding cavities 21 and the correspondingly connected push-pull wheels 17 move in directions away from each other, and the central axis surrounded by the plurality of sliding cavities 21 coincides with the central axis of the suction cup 10. Therefore, when the plurality of push-pull wheels 17 move in their original directions, the area near the contact end of the flexible substrate and the suction cup 10 can be flattened, thereby ensuring that the suction cup 10 and the flexible substrate can be in contact. A closed space is formed. When the leftmost connecting rod 18 drives the sliding rod 19 to slide along the sliding groove 20, it drives the contact block 28 to move along the sliding cavity 1 9 on the left, and the contact block 28 drives the contact block 1 31 to slide along the sliding cavity 1 9 on the left. When the rightmost connecting rod 18 drives the sliding rod 19 to slide along the sliding groove 20, it drives the contact block 35 to slide along the sliding cavity 1 9 on the right, until the contact block 1 31 is out of contact with the limit block 32, and the contact block 35 is out of contact with the push block 37. At this time, the sliding plate 36 moves downward under the elastic action of the spring 4 62, and the sliding plate 36 moves downward to drive the connecting block 33 to move downward, so that the connecting hole 1 34 is connected to the pipe hole inside the suction pipe 14 correspondingly. At this time, the suction pipe 14 is in a connected state, and the suction pump 16 can work to suck the air in the contact cavity 11; After the sliding rod 19 cannot move along the sliding groove 20, the lower end of the push-pull wheel 17 is just flush with the lower end of the suction cup 10. Since the push-pull wheel 17 cannot move toward the flexible substrate, nor can it move along the placement plane of the flexible substrate, the grab shell 7 cannot move downward. At this time, the suction cup 10 is in contact with the flexible substrate, and the contact cavity 11 becomes a closed space. At the same time, the sliding rod 19 cannot move, and the block 26 on the connecting rod 18 is just matched with the hole 24. A contact block can be set on the block 26, and a contact switch can be set in the hole 24. The contact switch is electrically connected to the suction pump 16 through the controller 2, so that the suction pump 16 can automatically perform suction work at this time without Manual control saves time and effort. At this time, the flexible substrate will not be affected by the gravity of the push-pull wheel 17, so as to avoid the gravity of the push-pull wheel 17 affecting the connection between the flexible substrate and the suction cup 10. During the transfer process of the flexible substrate, it is necessary to ensure that the fixed block 22 is not in contact with the matching separation block 25. After the flexible substrate is transferred to the target position, the grabbing shell 7 is driven to move upward by the telescopic cylinder 3 5, so that the matching separation block 25 is inserted into the matching port 23, and the inclined section of the matching separation block 25 is in contact with the card block 26. As the grabbing shell 7 moves upward, until the matching separation block 25 pushes the card block 26 away from the card hole 24, the push-pull wheel 17 has a tendency to move downward under the action of gravity, which assists the flexible substrate and the suction cup 10. The disc 10 is separated, and then the grab shell 7 is controlled to move downward until the grab shell 7 drives the flexible substrate to move to the target height, and the air pump 13 works to separate the flexible substrate from the suction cup 10. After the flexible substrate is separated from the suction cup 10, the push-pull wheel 17 moves downward under the action of gravity and drives the sliding rod 19 to slide in the opposite direction along the sliding groove 20 through the connecting rod 18. In this process, the rightmost connecting rod 18 drives the contact block three 35 to slide in the opposite direction along the sliding cavity one 9 on the right side, and the contact block three 35 contacts the inclined section of the push block 37, so that the push block 37 drives the sliding plate 36 to move upward, the spring four 62 is compressed, and the sliding plate 36 drives the connecting block 33 to move upward, which in turn causes the air to flow in. The tube hole inside the tube 14 is re-blocked, so that the suction cup 10 cannot perform the adsorption work at this time, so as to prevent the suction cup 10 from accidentally adsorbing other materials. In this process, the leftmost connecting rod 18 will drive the contact block 28 to move in the opposite direction along the sliding cavity 19 on the left side. Since the limit block 32 limits the contact block 1 31, the contact block 28 slides along the left end groove 2 of the contact block 1 31 at this time, and the spring 29 is compressed until the sliding plate 36 drives the limit block 32 to return to its original position. At this time, under the elastic action of the spring 29, the contact block 1 31 returns to its original position and contacts with the lower end of the limit block 32, so that the positioning mechanism is finally restored to its original position, waiting for the next flexible substrate grabbing work.

[0025] Example 4 On the basis of Example 3, Figure 1-Figure 5As shown, a sorting system adopts a gripping device for a flexible substrate, including a support block 39 slidably arranged in the middle of the upper end of the substrate 1, the support block 39 is threadedly connected to the threaded section of the threaded rod 42, the lower end of the support block 39 is slidably connected to the substrate 1, the upper end of the support block 39 is rotatably connected to the rotating shaft 54, the rotating shaft 54 ​​is slidably connected to the bevel gear 43, the rotating shaft 54 ​​is fixedly connected to the middle of the lower end of the sorting platform 38, and the lower end of the sorting platform 38 is symmetrically provided with support blocks 40 on both sides, the support block 40 is slidably connected to the guide rod 41, the rear side of the threaded rod 42 is fixedly connected to the block 49, and the square The block 49 cooperates with the connecting cavity on the driving block 60, the driving block 60 is slidably connected with the driving shaft, the driving shaft is fixedly connected with the motor 2 47, the motor 2 47 and the fixed block 2 51 are fixedly arranged on the rear side of the base plate 1, the threaded rod 42, the driving shaft and the guide rod 41 are all arranged on the base plate 1 through the mounting plate 48, the driving shaft is slidably connected with the bevel gear 2 52, the bevel gear 2 52 is fixedly connected with the driving block 60, the bevel gear 1 43 is meshed with the bevel gear 2 52 correspondingly, a spring 3 50 is rotatably arranged between the bevel gear 2 52 and the fixed block 2 51, and the spring 3 50 is sleeved on the driving shaft, and the fixed block 2 51 is rotatably connected with the driving shaft; Open grooves 44 are symmetrically provided on the left and right sides of the upper end of the sorting platform 38, a partition plate 46 is provided in the middle of the upper end of the sorting platform 38, a cavity 2 53 is provided inside the sorting platform 38, and through holes 2 55 are symmetrically provided on the left and right sides of the lower end of the sorting platform 38. The open groove 44 is connected with the through holes 2 55 through the cavity 2 53. A support block 45 is slidably provided in the open groove 44. The support block 45 and the connecting block 1 56 are fixedly connected. The connecting block 1 56 passes through the open groove 44 and is rotatably connected to the sliding seat 57 in the cavity 2 53. The sliding seat 57 is slidably connected to the upper end of the rotating plate 58. A rotating shaft 15 is fixedly provided between the front and rear ends of the middle part of the rotating plate 58. The rotating shaft 15 is rotatably arranged in the cavity 2 53. A torsion spring is fixedly provided between the rotating plate 58 and the cavity 2 53, and the torsion spring is sleeved on the rotating shaft 15. Connecting blocks 2 59 are symmetrically provided on the left and right sides of the lower end of the rotating plate 58. The connecting block 2 59 passes through the through hole 2 55 and contacts with the bevel gear 1 43 correspondingly. A spring five is rotatably provided between the bevel gear one 43 and the support block one 39 , and the spring five is sleeved on the rotating shaft 54 ​​.

[0026] The beneficial effects of the above technical solution are: The support blocks 45 on the left and right sides and the connecting block 1 56 and the rotating plate 58 connected thereto form a seesaw structure. The sorting platform 38 can simultaneously transmit two batches of flexible substrates to be sorted. The partition plate 46 is used to separate the two batches of flexible substrates to be sorted. After the two batches of flexible substrates to be sorted are respectively transmitted to the support blocks 45 on the left and right sides of the sorting platform 38, the weight of the flexible substrates placed on the support blocks 45 on the left and right sides of the sorting platform 38 is made the same, so that the rotating plate 58 remains horizontal. The motor 2 47 drives the driving block 60 to rotate through the driving shaft. The driving block 60 drives the threaded rod 42 to rotate through the block 49. The threaded rod 42 drives the support block 1 39 to slide along the middle part of the upper end of the substrate 1. The support block 1 39 drives the sorting platform 38 to move backward, so that the sorting platform 38 moves to the corresponding position of the robot arm. The setting of the support block 2 40 and the guide rod 41 guides the forward and backward movement of the sorting platform 38. When sorting the flexible substrates on the sorting table 38, if the mechanical arm on one side fails to work, the weight of the flexible substrates placed on the left and right sides of the sorting table 38 is no longer the same, and the rotating plate 58 is no longer horizontal. The supporting block 45 on the heavier side moves downward to drive the connecting block 1 56 to move downward, and the connecting block 1 56 drives the sliding seat 57 to slide along the rotating plate 58, and the torsion spring is deformed. During this process, the rotating plate 58 rotates and drives the connecting block 2 59 on one side to move downward. The downward movement of the connecting block 2 59 on either side can push the bevel gear 1 43 to move downward, and the spring 5 is compressed. During the downward movement of the bevel gear 1 43, it contacts the bevel gear 2 52 and pushes the bevel gear 2 52 to move backward. The spring 3 50 is compressed, and the connecting cavity in the driving block 60 is disengaged from the block 49. At this time, the threaded rod 42 will not rotate with the motor 2 47, and then the motor 2 47 is controlled to work to drive the bevel gear 2 52 to rotate, and the bevel gear 2 52 drives the bevel gear 1 4 3 rotates, the bevel gear 1 43 drives the sorting table 38 to rotate through the rotating shaft 54, so that the sorting table 38 rotates 180 degrees, ensuring that the flexible substrate corresponding to the mechanical arm on the side where the fault occurs is transferred to the mechanical arm on the side where the fault occurs for sorting, so that the sorting system of the present invention can also perform the sorting work normally when the mechanical arm with a fault is repaired, thereby improving the sorting efficiency. After the sorting is completed, since there is no flexible substrate on the support blocks 45 on the left and right sides, their weights are the same again. Under the elastic action of the torsion spring, the rotating plate 58 returns to its original position, and under the elastic action of the spring five, the bevel gear 1 43 also returns to its original position. After the bevel gear 1 43 is disengaged from the bevel gear 2 52, the bevel gear 2 52 returns to its original position under the elastic action of the spring three 50. The bevel gear 2 52 drives the connecting cavity in the driving block 60 to match with the block 49 again. The reverse operation of the control motor 2 47 can drive the threaded rod 42 to rotate in the reverse direction, so that the sorting table 38 returns to its original position and performs the work of transporting the flexible substrate to be sorted next time.

[0027] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A gripping device for a flexible substrate, characterized in that: It comprises a base plate (1), wherein mechanical arms are symmetrically arranged on the left and right sides of the upper end of the base plate (1), the mechanical arms are connected to a grasping shell (7) and an observation component, and an adsorption mechanism and a positioning mechanism are connected to the grasping shell (7).

2. The gripping device for a flexible substrate according to claim 1, characterized in that: The robot arm comprises a motor 1 (6), the motor 1 (6) being fixedly arranged at the upper end of a base plate (1), the motor 1 (6) being fixedly connected to a telescopic cylinder 1 (2), the telescopic cylinder 1 (2) being fixedly connected to a telescopic cylinder 2 (3), the telescopic cylinder 2 (3) being fixedly connected to a mounting plate (4), the upper end of the mounting plate (4) being fixedly connected to a fixed section of a telescopic cylinder 3 (5), and the movable section of the telescopic cylinder 3 (5) passing through the mounting plate (4) and being fixedly connected to a grab shell (7).

3. The gripping device for a flexible substrate according to claim 1, characterized in that: The observation component comprises a camera (61), the camera (61) is fixedly connected to the mounting plate (4) via a connecting plate, the camera (61) is electrically connected to the mechanical arm via a controller 1, and the camera (61) is used to photograph the flexible substrate to be grasped.

4. The gripping device for a flexible substrate according to claim 2, characterized in that: The adsorption mechanism comprises a suction cup (10), the upper end of the suction cup (10) is fixedly connected to the middle part of the lower end of the mounting plate (4) via a shock-absorbing block (30), the lower end of the suction cup (10) is provided with a contact cavity (11), the left side of the upper end of the suction cup (10) is provided with an air suction pipe (14), the contact cavity (11) is communicated with the air suction pipe (14), the air suction pipe (14) is communicated with an air suction pump (16), the air suction pump (16) is fixedly arranged on the left side of the upper end of the grasping shell (7), the right side of the suction cup (10) is provided with an air supply pipe (12), the air supply pipe (12) is communicated with the air supply pump (13), and the air supply pump (13) is fixedly connected to the right side of the lower end of the grasping shell (7).

5. The gripping device for a flexible substrate according to claim 4, characterized in that: The positioning mechanism comprises a plurality of sliding cavities (21) uniformly arranged in the circumferential direction of the grab shell (7), each of the long end side walls of the sliding cavities (21) being arranged in parallel is connected to a sliding groove (20), a sliding rod (19) is slidably arranged between the two parallel sliding grooves (20), the sliding rod (19) is connected to the connecting rod (18), the connecting rod (18) is rotatably connected to the push-pull wheel (17), a groove (1) is arranged at one end of the upper side of the connecting rod (18) away from each other, a clamping block (26) is slidably arranged in the groove (1), and a spring is fixedly arranged between the clamping block (26) and the groove (1). The spring (27) is provided, the clamping block (26) is matched with the clamping hole (24), the upper and lower ends of the clamping hole (24) are connected with a matching opening (23), the width of the matching opening (23) is smaller than the width of the clamping hole (24), the clamping hole (24) and the matching opening (23) are arranged at one end of the fixed block (22) close to the sliding cavity (21), a plurality of fixed blocks (22) are evenly arranged around the upper end of the grab shell (7), the matching opening (23) is matched with the matching separation block (25), and a plurality of matching separation blocks (25) are evenly arranged around the lower end of the mounting plate (4).

6. The gripping device for a flexible substrate according to claim 5, characterized in that: The positioning mechanism also includes a cavity (8) arranged inside the grab shell (7), the lower left and right ends of the cavity (8) are symmetrically connected with a sliding cavity (9), a sliding plate (36) is slidably arranged in the cavity (8), a spring (62) is fixedly arranged between the sliding plate (36) and the cavity (8), a through hole (1) is arranged in the middle of the sliding plate (36) for the suction pipe (14) to pass through, a limit block (32) is arranged on the left side of the lower end of the sliding plate (36), a push block (37) is arranged on the right side of the lower end of the sliding plate (36), the limit block (32) is in contact with the upper end of the contact block (31), and the contact block (31) is in contact with the upper end of the contact block (31). The left end groove 2 of (31) is slidably connected to the contact block 2 (28), and a spring 2 (29) is fixedly provided between the groove 2 and the contact block 2 (28). The contact block 2 (28) passes through the left sliding cavity 1 (9) and is slidably connected to the leftmost connecting rod (18). The contact block 1 (31) is slidably connected to the left sliding cavity 1 (9). The inclined section of the push block (37) is in corresponding contact with the contact block 3 (35). The contact block 3 (35) passes through the right sliding cavity 1 (9) and is slidably connected to the rightmost connecting rod (18), and the contact block 3 (35) is slidably connected to the right sliding cavity 1 (9).

7. The gripping device for a flexible substrate according to claim 6, characterized in that: A connecting block (33) is provided at the upper end of the sliding plate (36), the connecting block (33) is slidably connected to a connecting port on the air intake pipe (14), the connecting port on the air intake pipe (14) is connected to an internal pipe hole of the air intake pipe (14), and the connecting port on the air intake pipe (14) and the internal pipe hole of the air intake pipe (14) are distributed at a 90-degree angle, and connecting holes (34) are provided through the left and right ends of the connecting block (33), and the connecting holes (34) are correspondingly connected to the internal pipe holes of the air intake pipe (14).

8. A sorting system, which uses a gripping device for a flexible substrate as claimed in any one of claims 1 to 7, characterized in that: The invention comprises a support block 1 (39) slidably arranged at the middle of the upper end of the base plate (1), the support block 1 (39) being threadedly connected to the threaded section of the threaded rod (42), the lower end of the support block 1 (39) being slidably connected to the base plate (1), the upper end of the support block 1 (39) being rotatably connected to the rotating shaft (54), the rotating shaft (54) being slidably connected to the bevel gear 1 (43), the rotating shaft (54) being fixedly connected to the middle of the lower end of the sorting platform (38), the lower end of the sorting platform (38) being symmetrically provided with support blocks 2 (40) on both sides, the support block 2 (40) being slidably connected to the guide rod (41), the rear side of the threaded rod (42) being fixedly connected to the block (49), the block (49) being connected to the connecting rod on the driving block (60) The connecting cavity is matched, the driving block (60) is slidably connected to the driving shaft, the driving shaft is fixedly connected to the second motor (47), the second motor (47) and the second fixed block (51) are fixedly arranged on the rear side of the base plate (1), the threaded rod (42), the driving shaft and the guide rod (41) are all arranged on the base plate (1) through the mounting plate (48), the driving shaft is slidably connected to the second bevel gear (52), the second bevel gear (52) and the driving block (60) are fixedly connected, the first bevel gear (43) and the second bevel gear (52) are correspondingly meshed, a third spring (50) is rotatably arranged between the second bevel gear (52) and the second fixed block (51), and the third spring (50) is sleeved on the driving shaft, and the second fixed block (51) is rotatably connected to the driving shaft.

9. A sorting system according to claim 8, characterized in that: The upper end of the sorting platform (38) is symmetrically provided with an opening groove (44) on both sides, a partition plate (46) is provided at the middle of the upper end of the sorting platform (38), a second cavity (53) is provided inside the sorting platform (38), and a second through hole (55) is symmetrically provided on both sides of the lower end of the sorting platform (38), the opening groove (44) is connected to the second through hole (55) through the second cavity (53), a support block (45) is slidably provided in the opening groove (44), the support block (45) and the first connecting block (56) are fixedly connected, and the first connecting block (56) passes through the opening groove (44) and is connected to the second cavity (5 3) is rotatably connected to the sliding seat (57), the sliding seat (57) is slidably connected to the upper end of the rotating plate (58), a rotating shaft (15) is fixedly provided between the front and rear ends of the middle part of the rotating plate (58), the rotating shaft (15) is rotatably arranged in the second cavity (53), a torsion spring is fixedly provided between the rotating plate (58) and the second cavity (53), and the torsion spring is sleeved on the rotating shaft (15), and a connecting block (59) is symmetrically provided on the left and right sides of the lower end of the rotating plate (58), and the connecting block (59) passes through the second through hole (55) and contacts with the bevel gear (43) accordingly.

10. A sorting system according to claim 8, characterized in that: A spring five is rotatably arranged between the bevel gear one (43) and the support block one (39), and the spring five is sleeved on the rotating shaft (54).

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