Frog type vacuum transfer robot based on large glass panel production line

Abstract

The invention relates to the technical field of vacuum transfer robots, and discloses a frog type vacuum transfer robot based on a large glass panel production line, the frog type vacuum transfer robot comprises a base, the middle of the top of the base is fixedly connected with a fixed cylinder, and the top of the fixed cylinder penetrates through and is provided with a rotating shaft type sealing piece; the top of the rotating shaft type sealing piece is fixedly connected with a corrugated pipe, and the top of the corrugated pipe is fixedly connected with a movable cylinder. A moving cylinder and a sliding cylinder are driven to move upwards through an electromagnetic coil and a permanent magnet on the overall adjusting assembly, a servo motor drives a fixing plate and the electromagnetic coil to rotate, and therefore the moving cylinder and the sliding cylinder are driven to rotate, and the first frog type arm and the second frog type arm are lifted and rotated; the first frog-type arm and the second frog-type arm stretch out and draw back through the rotating mechanism, oil stains or impurities generated by lifting of an existing ball screw and a lifting base are avoided through the overall adjusting assembly, and the cleanliness of equipment is high.

Description

Technical Field

[0001] The invention relates to the technical field of vacuum handling robots, in particular to a frog-type vacuum handling robot based on a large glass panel production line. Background Art

[0002] As the FPD industry continues to prosper and develop, the demand for intelligence and smart display continues to grow, and the glass panels have shown a significant growth trend in both quality and quantity. In view of this, the demand of end customers for domestic vacuum robots is becoming increasingly obvious, in order to respond to market demand and enhance product competitiveness.

[0003] Processes such as thin film processing and evaporation on mother glass substrates require an extremely high level of clean environment and must therefore be performed in a vacuum environment. Robotic arms that move in a vacuum must have seals built into each joint to prevent air and dust from escaping from inside the arm, and since the seals hinder the movement of the robotic arm, the freedom of joint movement is often low.

[0004] In the production process of glass substrates, the glass substrates often need to be transported, and the transporting work is generally completed by a robotic arm. In the process of the robotic arm lifting and lowering the glass substrate, since the glass substrate is very thin, it will form a depression between the forks of the robotic arm, and then slide on the forks, causing scratches and damage to the glass, which will then cause the glass substrate to be damaged or have a poor appearance in subsequent processes, reducing the product yield. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a frog-type vacuum handling robot based on a large glass panel production line, which solves the problems of use in a vacuum environment, high requirements on equipment cleanliness for product quality, high requirements on control accuracy and reliability, factory space limitations, many changes in large glass conveying displacement, and difficulty in conveying.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a frog-type vacuum handling robot based on a large glass panel production line, comprising a base, a fixed cylinder is fixedly connected to the top middle of the base, a rotating shaft seal is penetrated through the top of the fixed cylinder and provided, a bellows is fixedly connected to the top of the rotating shaft seal, a moving cylinder is fixedly connected to the top of the bellows, a fixed ring is fixedly connected to the top of the moving cylinder, a connecting frame is fixedly connected to the top of the fixing ring, a rotating mechanism is penetrated and provided on both sides of the top of the connecting frame, a first frog-type arm is fixedly connected to the output end of the rotating mechanism, a rotating mechanism is penetrated through and provided on the top of the first frog-type arm, a second frog-type arm is fixedly connected to the output end of the rotating mechanism, and the top of the second frog-type arm is fixedly connected to The wheelbase is shortened and the shifting mechanism is adapted to move the trainer to a vertical cam which is provided at the bottom of the wheelbase and abuts against the limit of the wheel hub.

[0007] Preferably, the overall adjustment component includes a servo motor, two second fixed plates, and multiple electromagnetic coils. The servo motor is fixedly connected to the middle of the bottom of the base, the bottom of the second fixed plate at the bottom is fixedly connected to the output end of the servo motor, the outer wall of the second fixed plate at the bottom is rotatably connected to the inner wall of the fixed cylinder, the top of the second fixed plate at the top is fixedly connected to the bottom of the inner wall of the moving cylinder, and the bottom outer wall of the second fixed plate at the top and the top outer wall of the second fixed plate at the bottom are both fixedly connected with evenly distributed electromagnetic coils.

[0008] Preferably, the bottom of the base is penetrated and provided with evenly distributed supporting legs, and both ends of the bottom of the supporting legs are fixedly connected with evenly distributed rubber pads.

[0009] Preferably, a mounting pin is passed through and slidably connected to the top of the clamping block, and the mounting pin is passed through and slidably connected to the fixing block.

[0010] Preferably, sealing pins are passed through and slidably connected to both sides of the outer wall of the clamping frame, and the sealing pins are passed through and slidably connected to the transport plate, and the top of the transport plate is passed through and provided with evenly distributed vacuum adsorption holes.

[0011] Preferably, a fixing block penetrates and is fixedly connected to one side of the outer wall of the clamping frames on both sides, and the fixing block penetrates and is fixedly connected to the outer wall of the moving cylinder.

[0012] Preferably, a vacuum pump is fixedly connected to one side of the top of the base, a connecting pipe is fixedly connected to the output end of the vacuum pump, and the connecting pipe penetrates and is fixedly connected to the fixing tube.

[0013] Preferably, the top outer wall of the sliding cylinder passes through and opens an evenly distributed air duct, the middle top and bottom of the inner wall of the sliding cylinder are fixedly connected with a first fixed plate, the top of the outer wall of the sliding cylinder is fixedly connected with a limiting ring, and permanent magnets are arranged between the first fixed plate and the limiting ring at the top and between the first fixed plate and the limiting ring at the bottom.

[0014] The present invention provides a frog-type vacuum handling robot based on a large glass panel production line. It has the following beneficial effects: 1. The present invention drives the moving cylinder and the sliding cylinder to move upward through the electromagnetic coil and the permanent magnet on the overall adjustment component, and drives the fixed plate and the electromagnetic coil to rotate through the servo motor, thereby driving the moving cylinder and the sliding cylinder to rotate, so as to lift and rotate the first frog-type arm and the second frog-type arm, and retract the first frog-type arm and the second frog-type arm through the rotating mechanism. The existing ball screw and lifting seat are avoided through the overall adjustment component, and the oil or impurities generated by lifting and lowering are avoided, so that the cleanliness of the equipment is high.

[0015] 2. The present invention adjusts the path position of the vacuum tube as needed, and extracts the hot air generated in the fixed cylinder and the movable cylinder through a vacuum pump. When the glass panel reaches the specified position, the air intake valve on the vacuum pump is opened to allow outside air to enter the fixed cylinder and the movable cylinder, and then the electromagnetic coil is cooled by the outside air. Air ducts can be opened on the vacuum tube or on the inner walls of the first frog-type arm and the second frog-type arm as needed, thereby cooling the lower rotating mechanism and the overall adjustment component. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A perspective view of the present invention; Figure 2 A top view of the present invention; Figure 3 It is a front view of the present invention; Figure 4 A bottom view of the present invention; Figure 5 is a cross-sectional view of a fixed cylinder of the present invention; Figure 6 It is an exploded view of the frog-type arm of the present invention.

[0017] Among them, 1. base; 2. support leg; 3. rubber pad; 4. fixed cylinder; 5. bellows; 6. moving cylinder; 7. fixed ring; 8. connecting frame; 9. vacuum pump; 10. connecting pipe; 11. slider; 12. fixed block; 13. clamping frame; 14. sealing pin; 15. transport plate; 16. vacuum adsorption hole; 17. vacuum connecting pipe; 18. first frog-type arm; 19. second frog-type arm; 20. limiting column; 21. clamping block; 22. vacuum tube; 23. mounting pin; 24. servo motor; 25. rotating shaft seal; 26. gasket; 27. pressure block; 28. linear guide; 29. ​​sliding cylinder; 30. air duct; 31. first fixed plate; 32. permanent magnet; 33. limiting ring; 34. second fixed plate; 35. electromagnetic coil; 36. rotating mechanism. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example: Please see attached Figure 1 - Attachment Figure 6 The embodiment of the present invention provides a frog-type vacuum handling robot based on a large glass panel production line, including a base 1, a fixed cylinder 4 is fixedly connected to the middle of the top of the base 1, a rotating shaft seal 25 is penetrated and arranged on the top of the fixed cylinder 4, a bellows 5 is fixedly connected to the top of the rotating shaft seal 25, a moving cylinder 6 is fixedly connected to the top of the bellows 5, a fixed ring 7 is fixedly connected to the top of the moving cylinder 6, a connecting frame 8 is fixedly connected to the top of the fixed ring 7, a rotating mechanism 36 is penetrated and arranged on both sides of the top of the connecting frame 8, a first frog-type arm 18 is fixedly connected to the output end of the rotating mechanism 36, a rotating mechanism 36 is penetrated and arranged on the top of the first frog-type arm 18, and a second frog-type arm 18 is fixedly connected to the output end of the rotating mechanism 36 The second frog-type arm 19 is fixedly connected to a limiting column 20 at the top, a gasket 26 is penetrated and slidably connected to the bottom of the outer wall of the limiting column 20, a linear guide 28 is penetrated and slidably connected to the middle of the outer wall of the limiting column 20, a pressure block 27 is penetrated and slidably connected to the top of the outer wall of the limiting column 20, a slider 11 is provided on the outer wall of the linear guide 28, one end of the slider 11 is fixedly connected to a fixed block 12, one end of the outer wall of the fixed block 12 is slidably connected to a clamping block 21, one end of the clamping block 21 is fixedly connected to a clamping frame 13, one end of the clamping frame 13 penetrates and slidably connected to a transport plate 15, the inner walls of the fixed cylinder 4 and the movable cylinder 6 are both provided with integral adjustment components, and a sliding cylinder 29 is slidably connected between the inner walls of the fixed cylinder 4 and the movable cylinder 6; The rotating mechanism 36 includes a servo motor 24, a reducer, and a magnetic fluid sealing device. The servo motor 24 serves as a rotating power, the reducer amplifies the torque required for rotation, and the magnetic fluid sealing device is used to ensure that the machine operates normally in a vacuum environment without leakage. The bellows 5 plays a role in sealing, protecting, compensating for deformation, and buffering. The rotating shaft seal 25 prevents the bellows 5 from twisting when the moving cylinder 6 rotates. The first frog-type arm 18 and the second frog-type arm 19 are made of carbon fiber or ceramic material to carry large glass panels and ensure the deformation of the arm ends. The vacuum adsorption holes 16 are arranged as a whole to adsorb large glass products to ensure their stability during movement. The spacing of the sliders 11 can be adjusted through the linear guide rails 28 and the sliders 11, so as to transport glass panels of different sizes.

[0020] Please refer to the attached Figure 3 - Attachment Figure 5 The overall adjustment component includes a servo motor 24, two second fixed plates 34, and a plurality of electromagnetic coils 35. The servo motor 24 is fixedly connected to the middle of the bottom of the base 1. The bottom of the bottom second fixed plate 34 is fixedly connected to the output end of the servo motor 24. The outer wall of the bottom second fixed plate 34 is rotatably connected to the inner wall of the fixed cylinder 4. The top of the top second fixed plate 34 is fixedly connected to the bottom of the inner wall of the moving cylinder 6. The bottom outer wall of the top second fixed plate 34 and the top outer wall of the bottom second fixed plate 34 are both fixedly connected with uniformly distributed electromagnetic coils 35. The top outer wall of the sliding cylinder 29 penetrates and opens a uniformly distributed air duct 30. The top and bottom of the inner wall of the sliding cylinder 29 are fixedly connected with a first fixed plate 31. The top of the outer wall of the sliding cylinder 29 is fixedly connected with a limiting ring 33. Permanent magnets 32 are arranged between the top first fixed plate 31 and the limiting ring 33 and between the bottom first fixed plate 31 and the limiting ring 33. The electromagnetic coils 35 on both sides or one side are turned on, and the electromagnetic coils 35 and the permanent magnets 32 repel each other to realize the lifting and lowering of the object. The magnetic field strength can be adjusted by changing the current of the electromagnetic coil 35 below, thereby changing the size of the repulsive force to realize the lifting and lowering of the object. The servo motor 24 is turned on, and the output end of the servo motor 24 rotates, driving the bottom fixed plate 34 and the electromagnetic coil 35 to rotate. The rotation of the electromagnetic coil 35 drives the sliding cylinder 29 to rotate, thereby driving the moving cylinder 6, the fixed ring 7 and the connecting frame 8 to rotate.

[0021] Please refer to the attached Figure 1 The bottom of the base 1 is penetrated and provided with evenly distributed support legs 2, and both ends of the bottom of the support legs 2 are fixedly connected with evenly distributed rubber pads 3; The base 1 can be supported by the support legs 2, and the ground can be protected by the rubber pads 3, which can also prevent the device from sliding and avoid the support legs 2 from rubbing against the ground and making harsh sounds when the device is carried.

[0022] Please refer to the attached Figure 2 - Attachment Figure 3 The top of the clamp block 21 is penetrated and slidably connected with a mounting pin 23, and the mounting pin 23 is penetrated and slidably connected with the fixing block 12; The clamp block 21 is installed on the fixed block 12 by installing the latch 23. The clamp block 21 can be disassembled or installed by installing the latch 23. By disassembling or installing the clamp block 21, the size of the transport plate 15 can be replaced.

[0023] Please refer to the attached Figure 2 The outer wall of the clamping frame 13 is penetrated and slidably connected with sealing pins 14 on both sides, and the sealing pins 14 are penetrated and slidably connected with the conveying plate 15, and the top of the conveying plate 15 is penetrated and opened with evenly distributed vacuum adsorption holes 16; The sealing pin 14 can be adsorbed more tightly through the vacuum pump 9, and the glass panel can be adsorbed through the vacuum adsorption hole 16 on the transport plate 15, so that the glass panel can be transported by the frog-type arm, and the transport plate 15 can be replaced through the sealing pin 14, so that the vacuum adsorption hole 16 on the transport plate 15 can be replaced.

[0024] Please refer to the attached Figure 2 - Attachment Figure 3 and attached Figure 6 , a vacuum tube 22 is passed through and fixedly connected to one side of the clamping frames 13 on both sides, and the vacuum tube 22 is passed through and fixedly connected to the outer wall of the moving cylinder 6, and a vacuum connecting tube 17 is passed through and fixedly connected between the clamping frames 13 on the same side; The clamping frame 13 is connected to the moving cylinder 6 through the vacuum tube 22. The clamping frames 13 on both sides can be connected through the vacuum connecting pipe 17, and the passing position of the vacuum tube 22 can be adjusted as needed, so that the vacuum tube 22 passes through the rotating mechanism 36, thereby taking away the heat generated by the rotating mechanism 36, passing the vacuum tube 22 through the second frog-type arm 19, and then the second frog-type arm 19 and the rotating mechanism 36 are sealed, and then the vacuum tube 22 and the second frog-type arm 19 are penetrated, and the vacuum tube 22 passes through the other side of the second frog-type arm 19 and the rotating mechanism 36 on the first frog-type arm 18, and then the connection between the first frog-type arm 18 and the second frog-type arm 19 is sealed, and then the vacuum tube 22 passes through the moving cylinder 6, so as to cool the lower rotating mechanism 36 and the overall adjustment component, and the air duct 30 can be opened on the vacuum tube 22 or on the inner wall of the first frog-type arm 18 and the second frog-type arm 19 as needed.

[0025] Please refer to the attached Figure 1A vacuum pump 9 is fixedly connected to one side of the top of the base 1, a connecting pipe 10 is fixedly connected to the output end of the vacuum pump 9, and the connecting pipe 10 penetrates and is fixedly connected to the fixed cylinder 4; When the glass panel needs to be adsorbed, the vacuum pump 9 is turned on. The vacuum pump 9 sucks out the air in the fixed cylinder 4 and the movable cylinder 6 through the connecting pipe 10, and then adsorbs the glass panel through the vacuum tube 22, the clamping frame 13, the conveying plate 15 and the vacuum adsorption hole 16. At the same time, the hot air generated in the fixed cylinder 4 and the movable cylinder 6 is extracted. When the glass panel reaches the specified position, the air inlet valve on the vacuum pump 9 is opened to allow outside air to enter the fixed cylinder 4 and the movable cylinder 6, and then the electromagnetic coil 35 is cooled by the outside air. The other end of the vacuum pump 9 is connected to the outside world to prevent oil and gas from entering the device. In addition, the air inlet pipeline and the air outlet pipeline of the vacuum pump 9 are both provided with dust collectors, and a condenser can be connected to the air inlet pipeline of the vacuum pump 9.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A frog-type vacuum handling robot based on a large glass panel production line, comprising a base (1), characterized in that: A fixed cylinder (4) is fixedly connected to the middle of the top of the base (1), a rotating shaft seal (25) is passed through and arranged on the top of the fixed cylinder (4), a bellows (5) is fixedly connected to the top of the rotating shaft seal (25), a moving cylinder (6) is fixedly connected to the top of the bellows (5), a fixed ring (7) is fixedly connected to the top of the moving cylinder (6), a connecting frame (8) is fixedly connected to the top of the fixing ring (7), a rotating mechanism (36) is passed through and arranged on both sides of the top of the connecting frame (8), a first frog-type arm (18) is fixedly connected to the output end of the rotating mechanism (36), a rotating mechanism (36) is passed through and arranged on the top of the first frog-type arm (18), a second frog-type arm (19) is fixedly connected to the top of the second frog-type arm (19), a limiting column (20) is fixedly connected to the bottom of the outer wall of the limiting column (20), and a gasket (26) is passed through and slidably connected to the limiting column (20), A linear guide rail (28) is passed through the middle of the outer wall of the column (20) and is slidably connected thereto; a pressure block (27) is passed through the top of the outer wall of the limit column (20) and is slidably connected thereto; a slider (11) is provided on the outer wall of the linear guide rail (28); one end of the slider (11) is fixedly connected to a fixed block (12); one end of the outer wall of the fixed block (12) is slidably connected to a clamping block (21); one end of the clamping block (21) is fixedly connected to a clamping frame (13); one end of the clamping frame (13) is fixedly connected to a clamping frame (13); A conveying plate (15) is penetrated and slidably connected at one end, the inner walls of the fixed cylinder (4) and the movable cylinder (6) are both provided with an integral adjustment assembly, a sliding cylinder (29) is slidably connected between the inner walls of the fixed cylinder (4) and the movable cylinder (6), a vacuum tube (22) is penetrated and fixedly connected on one side of the clamping frames (13) on both sides, and the vacuum tube (22) is penetrated and fixedly connected to the outer wall of the movable cylinder (6), and a vacuum connecting pipe (17) is penetrated and fixedly connected between the clamping frames (13) on the same side.

2. A frog-type vacuum handling robot based on a large glass panel production line according to claim 1, characterized in that: The integral adjustment component comprises a servo motor (24), two second fixing plates (34), and a plurality of electromagnetic coils (35); the servo motor (24) is fixedly connected to the middle of the bottom of the base (1); the bottom of the second fixing plate (34) at the bottom is fixedly connected to the output end of the servo motor (24); the outer wall of the second fixing plate (34) at the bottom is rotatably connected to the inner wall of the fixed cylinder (4); the top of the second fixing plate (34) at the top is fixedly connected to the bottom of the inner wall of the moving cylinder (6); and the outer wall at the bottom of the second fixing plate (34) at the top and the outer wall at the top of the second fixing plate (34) at the bottom are both fixedly connected with uniformly distributed electromagnetic coils (35).

3. The frog-type vacuum handling robot based on a large glass panel production line according to claim 1 is characterized in that: The bottom of the base (1) is penetrated by and provided with evenly distributed support legs (2), and both ends of the bottom of the support legs (2) are fixedly connected with evenly distributed rubber pads (3).

4. The frog-type vacuum handling robot based on a large glass panel production line according to claim 1 is characterized in that: A mounting pin (23) penetrates and is slidably connected to the top of the clamping block (21), and the mounting pin (23) penetrates and is slidably connected to the fixing block (12).

5. The frog-type vacuum handling robot based on a large glass panel production line according to claim 1, characterized in that: Sealing pins (14) are passed through and slidably connected to both sides of the outer wall of the clamping frame (13), and the sealing pins (14) are passed through and slidably connected to the transport plate (15), and the top of the transport plate (15) is passed through and provided with evenly distributed vacuum adsorption holes (16).

6. The frog-type vacuum handling robot based on a large glass panel production line according to claim 1, characterized in that: A fixing block (12) penetrates and is fixedly connected to one side of the outer wall of the clamping frames (13) on both sides, and the fixing block (12) penetrates and is fixedly connected to the outer wall of the moving cylinder (6).

7. The frog-type vacuum handling robot based on a large glass panel production line according to claim 1 is characterized in that: A vacuum pump (9) is fixedly connected to one side of the top of the base (1), a connecting pipe (10) is fixedly connected to the output end of the vacuum pump (9), and the connecting pipe (10) penetrates and is fixedly connected to the fixed cylinder (4).

8. The frog-type vacuum handling robot based on a large glass panel production line according to claim 1, characterized in that: The top outer wall of the sliding cylinder (29) is penetrated by and provided with evenly distributed air ducts (30); the middle top and bottom of the inner wall of the sliding cylinder (29) are fixedly connected to a first fixing plate (31); the top of the outer wall of the sliding cylinder (29) is fixedly connected to a limiting ring (33); and permanent magnets (32) are provided between the first fixing plate (31) and the limiting ring (33) at the top and between the first fixing plate (31) and the limiting ring (33) at the bottom.

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