A frog-type vacuum handling robot based on a large glass panel production line

Abstract

The application 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, which comprises a base, a fixed cylinder is fixedly connected to the middle of the top of the base, a rotating shaft type sealing piece is arranged through the top of the fixed cylinder, a bellows is fixedly connected to the top of the rotating shaft type sealing piece, and a moving cylinder is fixedly connected to the top of the bellows. The electromagnetic coil and the permanent magnet on the overall adjusting assembly drive the moving cylinder and the sliding cylinder to move upwards, the fixed plate and the electromagnetic coil are rotated by the servo motor, so that the moving cylinder and the sliding cylinder are driven to rotate, 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 are telescoped through the rotating mechanism, and the overall adjusting assembly avoids the existing ball screw and lifting seat, and the oil stains or impurities generated during lifting, so that the equipment has high cleanliness.

Description

Technical Field

[0001] The present 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 demand for intelligent and smart displays continues to grow, glass panels are showing significant growth in both quality and quantity. Consequently, end-customer demand for domestically produced vacuum robots is becoming increasingly evident. To meet market demand and enhance product competitiveness, we must

[0003] Processes such as thin film processing and vapor deposition on mother glass substrates require an extremely high level of cleanliness and must therefore be performed in a vacuum environment. Robotic arms moving in a vacuum must have seals built into each joint to prevent air and dust from escaping from within the arm. However, these seals hinder the arm's movement, often resulting in a limited degree of freedom in joint motion.

[0004] During the production process of glass substrates, they often need to be transported. The transport work is generally completed by a robotic arm. In the process of lifting and lowering the glass substrates, due to the thin glass substrates, they will form a sag between the forks of the robotic arm, causing them to slide on the forks, resulting in scratches and damage to the glass. Subsequently, the glass substrates will be damaged or have a poor appearance in subsequent processes, reducing the product yield. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, 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 control accuracy and reliability requirements, 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 fixedly connected to the top middle of the base, a rotating shaft seal passing through the top of the fixed cylinder and provided with a bellows, a moving cylinder fixedly connected to the top of the bellows, a fixed ring fixedly connected to the top of the moving cylinder, a connecting frame fixedly connected to the top of the connecting frame, a rotating mechanism passing through and provided on both sides of the top, a first frog-type arm fixedly connected to the output end of the rotating mechanism, a rotating mechanism passing through and provided on the top of the first frog-type arm, a second frog-type arm fixedly connected to the output end of the rotating mechanism, and a second frog-type arm fixedly connected to the top of the second frog-type arm The top of the outer wall of the sliding rail is fixed with a toothed plate, and the bottom of the toothed plate is fixed with a toothed plate, and the toothed plate is fixed with a toothed plate, and the toothed plate is fixed with a toothed plate.

[0007] Preferably, the overall adjustment assembly 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 support legs, and both ends of the bottom of the support legs are fixedly connected with evenly distributed rubber pads.

[0009] Preferably, a mounting pin passes through and is slidably connected to the top of the clamping block, and the mounting pin passes through and is 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 is passed through and fixedly connected to one side of the outer wall of the clamping frame on both sides, and the fixing block is passed through and 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, and a connecting pipe is fixedly connected to the output end of the vacuum pump, and the connecting pipe passes through and is fixedly connected to the fixing cylinder.

[0013] Preferably, the top outer wall of the sliding cylinder is penetrated and opened with evenly distributed air ducts, 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 provided between the first fixed plate and the limiting ring at the top and 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:

[0015] 1. The present invention drives the movable cylinder and the sliding cylinder to move upward by the electromagnetic coil and the permanent magnet on the integral adjustment component, and drives the fixed plate and the electromagnetic coil to rotate by the servo motor, thereby driving the movable cylinder and the sliding cylinder to rotate, thereby lifting and rotating the first frog-type arm and the second frog-type arm, and extending and retracting the first frog-type arm through the rotating mechanism. The integral adjustment component avoids the oil or impurities generated by the existing ball screw and lifting seat during lifting, so that the cleanliness of the equipment is high.

[0016] 2. The present invention adjusts the path position of the vacuum tube 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 inlet 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 to cool the lower rotating mechanism and the overall adjustment component. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A perspective view of the present invention;

[0018] Figure 2 A top view of the present invention;

[0019] Figure 3 It is a front view of the present invention;

[0020] Figure 4 A bottom view of the present invention;

[0021] Figure 5 is a cross-sectional view of the fixing cylinder of the present invention;

[0022] Figure 6It is an exploded view of the frog-type arm of the present invention.

[0023] 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

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the specification of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] Example:

[0026] Please see the attached Figure 1 - Attachment Figure 6The embodiment of the present invention provides a frog-type vacuum handling robot based on a large glass panel production line, comprising 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 passed through and provided 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 provided 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 provided on the top of the first frog-type arm 18, a second frog-type arm 18 is fixedly connected to the output end of the rotating mechanism 36 Type arm 19, the top of the second frog-type arm 19 is fixedly connected to the limiting column 20, the bottom of the outer wall of the limiting column 20 is penetrated and slidably connected with a gasket 26, the middle of the outer wall of the limiting column 20 is penetrated and slidably connected with a linear guide rail 28, the top of the outer wall of the limiting column 20 is penetrated and slidably connected with a pressure block 27, the outer wall of the linear guide rail 28 is provided with a slider 11, one end of the slider 11 is fixedly connected to the fixed block 12, one end of the outer wall of the fixed block 12 is slidably connected with a clamping block 21, one end of the clamping block 21 is fixedly connected to the clamping frame 13, one end of the clamping frame 13 is penetrated and slidably connected with the transport plate 15, the inner walls of the fixed cylinder 4 and the movable cylinder 6 are both provided with an integral adjustment component, and the inner walls of the fixed cylinder 4 and the movable cylinder 6 are slidably connected with a sliding cylinder 29;

[0027] The rotating mechanism 36 includes a servo motor 24, a reducer, and a magnetofluid sealing device. The servo motor 24 serves as a rotating power, the reducer amplifies the torque required for rotation, and the magnetofluid 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 to transport glass panels of different sizes.

[0028] Please see the attached Figure 3 - Attachment Figure 5The 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 bottom middle 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 fixedly connected with evenly distributed electromagnetic coils 35, the top outer wall of the sliding cylinder 29 passes through and is provided with an evenly distributed air duct 30, the top and bottom middle 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 to a limiting ring 33, and permanent magnets 32 are provided 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;

[0029] Open the electromagnetic coils 35 on both sides or one side, 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. Turn on the servo motor 24, 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.

[0030] Please see 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;

[0031] 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.

[0032] Please see the attached Figure 2 - Attachment Figure 3 The top of the clamping 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;

[0033] The clamping block 21 is mounted on the fixed block 12 by means of the mounting pin 23 . The clamping block 21 can be disassembled or installed by means of the mounting pin 23 . By disassembling or installing the clamping block 21 , the size of the transport plate 15 can be changed.

[0034] Please see the attached Figure 2 , both sides of the outer wall of the clamping frame 13 are penetrated and slidably connected with sealing pins 14, 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;

[0035] 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. 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.

[0036] Please see the attached Figure 2 - Attachment Figure 3 and attached Figure 6 , one side of the clamping frames 13 on both sides is penetrated and fixedly connected with a vacuum tube 22, and the vacuum tube 22 is penetrated and fixedly connected to the outer wall of the moving cylinder 6, and a vacuum connecting tube 17 is penetrated and fixedly connected between the clamping frames 13 on the same side;

[0037] The clamping frame 13 is connected to the movable cylinder 6 through the vacuum tube 22. The clamping frames 13 on both sides can be connected through the vacuum connecting tube 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. The vacuum tube 22 passes through the second frog-type arm 19, and then the second frog-type arm 19 and the rotating mechanism 36 are sealed. Then, the vacuum tube 22 and the second frog-type arm 19 are penetrated. 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. Then, the vacuum tube 22 passes through the movable cylinder 6, thereby cooling the lower rotating mechanism 36 and the overall adjustment assembly. 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.

[0038] Please see the attached Figure 1 A vacuum pump 9 is fixedly connected to one side of the top of the base 1, and a connecting pipe 10 is fixedly connected to the output end of the vacuum pump 9, and the connecting pipe 10 passes through and is fixedly connected to the fixed cylinder 4;

[0039] When the glass panel needs to be adsorbed, the vacuum pump 9 is turned on, and 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 a dust collector, and a condenser can be connected to the air inlet pipeline of the vacuum pump 9.

[0040] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the 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: The top middle of the base (1) is fixedly connected to a fixed cylinder (4), the top of the fixed cylinder (4) is penetrated and provided with a rotating shaft seal (25), the top of the rotating shaft seal (25) is fixedly connected to a bellows (5), the top of the bellows (5) is fixedly connected to a moving cylinder (6), the top of the moving cylinder (6) is fixedly connected to a fixed ring (7), the top of the fixed ring (7) is fixedly connected to a connecting frame (8), both sides of the top of the connecting frame (8) are penetrated and provided with a rotating mechanism (36), the output end of the rotating mechanism (36) is fixedly connected to a first frog-type arm (18), the top of the first frog-type arm (18) is penetrated and provided with a rotating mechanism (36), the output end of the rotating mechanism (36) is fixedly connected to a second frog-type arm (19), the top of the second frog-type arm (19) is fixedly connected to a limiting column (20) The bottom of the outer wall of the limiting column (20) is penetrated and slidably connected with a gasket (26), the middle of the outer wall of the limiting column (20) is penetrated and slidably connected with a linear guide rail (28), the top of the outer wall of the limiting column (20) is penetrated and slidably connected with a pressure block (27), the outer wall of the linear guide rail (28) is provided with a slider (11), 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 with 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 penetrated and slidably connected with a transport plate (15), the fixed cylinder (4) and the movable cylinder (6) The inner walls are provided with integral adjustment components, 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 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 movable cylinder (6), and a vacuum connecting tube (17) is passed through and fixedly connected between the clamping frames (13) on the same side; The integral adjustment assembly 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) is fixedly connected to the output end of the servo motor (24). The outer wall of the second fixing plate (34) is rotatably connected to the inner wall of the fixed cylinder (4). The top of the second fixing plate (34) is fixedly connected to the bottom of the inner wall of the moving cylinder (6). The bottom outer wall of (34) and the top outer wall of the second fixing plate (34) at the bottom are both fixedly connected with uniformly distributed electromagnetic coils (35); The top outer wall of the sliding cylinder (29) is penetrated and provided with a uniformly distributed air duct (30), the middle 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 limit ring (33), and permanent magnets (32) are provided between the first fixed plate (31) and the limit ring (33) at the top and between the first fixed plate (31) and the limit ring (33) at the bottom.

2. The frog-type vacuum handling robot based on a large glass panel production line according to claim 1, characterized in that: 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).

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

4. 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). The top of the transport plate (15) is passed through and provided with evenly distributed vacuum adsorption holes (16).

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

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

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