Glass substrate conveying and caching system

Abstract

The invention belongs to the technical field of suspension conveying devices, and particularly relates to a glass substrate conveying temporary storage system which comprises a circulation transmission mechanism and a plurality of cantilever clamping modules used for clamping glass substrates, and the circulation transmission mechanism can drive the cantilever clamping modules to circulate in the horizontal plane direction; the cantilever clamping module comprises a cantilever support, a plurality of sets of vertical parallel clamping plates are arranged on the cantilever support, and the clamping plates are connected with the cantilever support through connecting rods to form a parallelogram connecting rod mechanism. During clamping, the glass substrate is vertically placed in from bottom to top, the two grouped clamping plates are gradually separated while being pushed upwards by the glass substrate, the glass substrate is placed between the two grouped clamping plates and then makes contact with the clamping face on the inner side of the glass substrate, and after releasing, the glass substrate pulls the two grouped clamping plates to move downwards under the action of self weight and is folded and clamped towards the middle. The device is compact in structure, small in occupied area, rapid in taking and placing and high in flexibility.

Description

Technical Field

[0001] The present invention relates to a glass substrate conveying and buffering system, belonging to the technical field of suspension conveying devices. Background Art

[0002] In the manufacturing fields such as liquid crystal panels and photovoltaic glass, glass substrates need to be transferred between processes such as cleaning, coating, and cutting. Traditional conveying systems mostly use planar roller tracks or robotic arms for handling, and there are many problems: Low space utilization rate: Roller track conveying requires continuous occupation of horizontal space. When large-sized glass substrates are buffered, the floor area occupied is huge, and it is difficult to arrange in a production environment with limited space, resulting in low utilization rate of the production site.

[0003] Limited picking and placing efficiency: The single picking and placing action cycle of the robotic arm is long, affecting the production line rhythm; Poor buffering flexibility: Most existing suspended buffering systems use fixed shelves, and special lifting equipment is required for access, and dynamic transfer cannot be achieved.

[0004] Therefore, there is an urgent need for a glass substrate processing system that integrates efficient conveying, compact buffering, and safe clamping. Summary of the Invention

[0005] According to the above deficiencies in the prior art, the technical problem to be solved by the present invention is: to provide a glass substrate conveying and buffering system with a compact structure, small floor area, and fast picking and placing.

[0006] The glass substrate conveying and buffering system of the present invention includes a transfer drive mechanism and multiple groups of cantilever clamping modules for clamping glass substrates. The transfer drive mechanism can drive the cantilever clamping modules to rotate in the horizontal plane; the cantilever clamping modules rotate in a cycle driven by the transfer drive mechanism for conveying (or buffering). The cantilever clamping modules can pick up and place glass at the head and tail positions of the transfer drive mechanism; or the glass can not be taken off, and the glass substrate can be rotated and temporarily stored on it. Both the cantilever clamping modules on both sides can be used for storage, with a compact structure, small floor area, and high space utilization rate.

[0007] The cantilever clamping module includes a cantilever frame. A plurality of groups of vertically parallel clamping plates are arranged on the cantilever frame. The clamping plates are connected to the cantilever frame through connecting rods to form a parallelogram link mechanism; each group of clamping plates can be opened and closed, and the clamping plates always maintain a vertical state and are parallel to each other during the opening and closing process. When not clamping, the clamping plates fall to the lowest point of the stroke. The distance between the two clamping plates in the same group is the closest when at the lowest point, and the closest distance is less than the thickness of the glass substrate; when clamping, the glass substrate is vertically placed from bottom to top. While the two clamping plates in the group are pushed upward by the glass substrate, they gradually separate. After the glass substrate is placed between the two clamping plates in the group, it contacts the clamping surface on its inner side. After release, the glass substrate pulls the two clamping plates in the group to move downward and close towards the middle under the action of its own weight, realizing stable clamping of the glass substrate.

[0008] The described transfer drive mechanism includes a frame body and a drive belt running in the horizontal plane direction. Above the drive belt, there is a suspension track with the same running trajectory as it. One end of the cantilever clamping module is slidably installed on the suspension track and is driven by the drive belt to perform horizontal transfer, and the other end extends out of the frame body.

[0009] Among them, the cantilever clamping module is equipped with a clamping release mechanism for releasing the clamping of the glass substrate during material taking, so that the glass substrate falls.

[0010] Specifically, a connecting curved plate is provided above the clamping plate, and a horizontal roller is installed at the top end of the connecting curved plate. The clamping release mechanism includes a wedge block that can slide along the length direction of the cantilever frame. The wedge block is located below the roller and has one end of its upper surface lower and the other end higher. When the wedge block moves, the roller rolls along the upper surface of the wedge block, which can force the roller to drive the clamping plate to move upward and open to both sides at the same time, releasing the clamping.

[0011] Furthermore, a number of parallel needle rollers are arranged on the upper surface of the wedge block, and the axial direction of the needle rollers is perpendicular to the axial direction of the roller. During the process of the roller driving the clamping plate to move upward and open to both sides, there will be a movement along the axial direction of the roller between the roller and the wedge block. The arrangement of the needle rollers can reduce the friction of the axial movement of the roller, making the mechanism operate smoothly.

[0012] Preferably, each clamping plate is equipped with a wedge block, and all the wedge blocks are connected together by a linkage frame and move synchronously.

[0013] Furthermore, a push-pull handle is provided at the outer end of the linkage frame, and an abutting shaft is provided at the inner end. When the linkage frame moves inward, it drives the wedge block to move inward synchronously to release the clamping. Below the drive belt of the transfer drive mechanism, there is an abutting track with the same running trajectory as it. When the cantilever clamping module rotates and runs, the abutting shaft cannot extend under the blocking action of the abutting track, which can limit the inward movement of the linkage frame, realizing self-locking during transportation (or buffer station), and preventing accidental operation to release the clamping in areas other than the loading and unloading stations, resulting in damage to the glass substrate due to falling.

[0014] Furthermore, the loading and unloading stations are located at the head and tail positions of the transfer conveyor mechanism. Concave notches are opened in the abutting tracks at the corresponding positions of the loading and unloading stations. The concave notches are for the abutting shaft to give way, so that the linkage frame can move inward at the loading and unloading stations to release the clamping of the glass substrate for loading and unloading.

[0015] Preferably, when the clamping plate falls to the lowest point of the stroke, the connecting rod is in a horizontal state under the limiting action, and at this time, the distance between the two clamping plates in the same group is the closest.

[0016] The lower ends of the grouped clamping plates form flared openings to facilitate loading; rubber pads are provided on the clamping surfaces inside the clamping plates to increase the clamping friction.

[0017] The beneficial effects of the present invention compared with the prior art are as follows: 1. Three-dimensional space layout Through the vertical distribution of the suspension track and the cantilever clamping module, the glass substrate is suspended for conveying and buffering, saving more than 70% of the ground space (compared with the traditional roller track layout), and is especially suitable for the high-density storage of large-size glass substrates.

[0018] 2. Gravity self-locking clamping mechanism The clamping plate realizes pure mechanical clamping through a parallelogram linkage mechanism. The self-weight of the glass substrate drives the clamping plate to move down and close, without the need for external energy; the rubber pad on the clamping surface provides flexible friction force to avoid scratching the glass surface, and the clamping force is adaptively adjusted according to the weight of the glass, with high safety.

[0019] 3. Precise station interlock control The abutting track and the abutting shaft form a physical position interlock. The abutting shaft is only allowed to move inward to release the clamping at the loading and unloading stations, eliminating the risk of glass dropping caused by misoperation during transfer.

[0020] 4. High-efficiency and low-resistance release mechanism The needle rollers and rollers on the surface of the wedge block form rolling friction pairs in the X and Y axis directions on the horizontal plane, greatly reducing the friction resistance when releasing the clamping, with smooth movement and small wear, and extending the service life of the mechanism.

[0021] 5. Seamless connection automation The circulating flow design of the cantilever clamping module supports continuous operation. Cooperating with the transfer trolley, it realizes the "stop and pick" type loading and unloading of the glass substrate, greatly improving the production line efficiency. Description of the drawings

[0022] Figure 1 is one of the overall structural schematic diagrams of the present invention; Figure 2 is the structural schematic diagram of the present invention after hiding the U-shaped suspension track and the abutting track at the loading station; Figure 3 is Figure 2 the partial enlarged view of part A in Figure 4 is Figure 2 the structural schematic diagram of the present invention after adding the U-shaped suspension track and the abutting track at the loading station; Figure 5 is Figure 4 the partial enlarged view of part B in Figure 6 is the front view of the present invention; Figure 7 is the top view of the present invention; Figure 8 is the side view of the present invention; Figure 9 One of the structural schematic diagrams of the cantilever clamping module; Figure 10 Another structural schematic diagram of the cantilever clamping module; Figure 11 The third structural schematic diagram of the cantilever clamping module; Figure 12 is Figure 11 The partial enlarged view of part C in Figure 13 The fourth structural schematic diagram of the cantilever clamping module; Figure 14 The structural schematic diagram of the linkage frame; Figure 15 One of the process schematic diagrams of the cantilever clamping module clamping the glass substrate; Figure 16 is Figure 15 The side view of Figure 17 is Figure 16 The partial enlarged view of part D in Figure 18 Another process schematic diagram of the cantilever clamping module clamping the glass substrate; Figure 19 is Figure 18 The partial enlarged view of part E in Figure 20 Another overall structural schematic diagram of the present invention; Figure 21 is Figure 20 The partial enlarged view of part F in Figure 22 The structural schematic diagram of the U-shaped abutting track at the blanking station; Figure 23 One of the structural schematic diagrams of docking with the transfer trolley; Figure 24 Another structural schematic diagram of docking with the transfer trolley.

[0023] In the figure: 1. Frame body; 2. Transmission belt; 3. Suspension track; 4. Abutting track; 4.1 Notch; 5. Cantilever clamping module; 6. Servo motor; 7. Reducer; 8. Coupling; 9. Belt pulley; 10. Glass substrate; 11. Hanging claw; 12. Belt connecting arm; 13. Elastic mechanism; 14. Guide rail; 15. Linkage frame; 16. Wedge block; 17. Connecting rod; 18. Clamping plate seat; 19. Push-pull handle; 20. Cantilever frame; 21. Clamping plate; 21.1 Flared opening; 22. Connecting curved plate; 23. Roller; 24. Abutting shaft; 25. Needle roller; 26. Roller; 27. Transfer trolley; 28. Lifting platform; 29. Placing groove; 30. Male positioning head; 31. Female positioning head. Specific embodiments

[0024] The present invention will be further described below in conjunction with specific embodiments.

[0025] The description of the present invention is only an embodiment of the structural and even functional description, and the scope of the rights of the present invention is not limited by the embodiments described in the text.

[0026] As Figures 1 - 24 shown, this embodiment is implemented through the following technical solutions: A glass substrate conveying and buffering system includes a transfer drive mechanism and multiple groups of cantilever clamping modules 5 for clamping the glass substrate 10. The transfer drive mechanism can drive the cantilever clamping modules 5 to rotate in the horizontal plane direction.

[0027] The transfer drive mechanism includes a frame body 1 and a drive belt 2 running in the horizontal plane direction. The inner side of the drive belt 2 has teeth and is matched with a pulley 9 with the same teeth. The pulley 9 is driven to rotate by a servo motor 6 through a reducer 7 and a coupling 8. Suspension tracks 3 and abutment tracks 4 with the same running trajectory as the drive belt 2 are respectively arranged on the upper and lower sides of the drive belt 2. The suspension tracks 3 and the abutment tracks 4 are fixed on the frame body 1; one end of the cantilever clamping module 5 is slidably installed on the suspension track 3 and is driven by the drive belt 2 to perform horizontal rotation, and the other end extends out of the frame body 1, and the length direction of the cantilever clamping module 5 is horizontally perpendicular to the suspension track 3.

[0028] The cantilever clamping module 5 of this embodiment includes a cantilever frame 20. The middle area of the cantilever frame 20 is hollowed out to allow the glass substrate 10 to pass through. One end of the cantilever frame 20 is fixedly installed with a vertical belt connecting arm 12. The top end of the belt connecting arm 12 is fixedly connected with a hanging claw 11. The hanging claw 11 is slidably connected with the suspension track 3, and the belt connecting arm 12 is fixedly connected with the drive belt 2.

[0029] A plurality of groups of vertically parallel clamping plates 21 are arranged on the cantilever frame 20. The clamping plates 21 are connected to a clamping plate seat 18 fixed to the bottom surface of the cantilever frame 20 through a connecting rod 17. The clamping plates 21, the clamping plate seat 18 and the connecting rod 17 form a parallelogram link mechanism. Each group of clamping plates 21 can be opened and closed, and the clamping plates 21 remain vertical and parallel to each other during the opening and closing process. The clamping plates 21 in the same group can be symmetrically and synchronously opened and closed through the meshing of a pair of gears (or half gears) (not shown in the figure).

[0030] When not clamping, the clamping plates 21 fall to the lowest point of the stroke. At this time, the connecting rod 17 is in a horizontal state, as Figure 17As shown in the figure, when the two clamping plates 21 in the same group are at the lowest point, the distance between them is the closest, and the closest distance is less than the thickness of the glass substrate 10. When clamping, the glass substrate 10 is vertically inserted from bottom to top. While the glass substrate 10 pushes the two clamping plates 21 in the group upward, the two clamping plates 21 gradually separate. After the glass substrate 10 is placed between the two clamping plates 21 in the group, it contacts the clamping surface on the inner side. After release, the glass substrate 10 pulls the two clamping plates 21 in the group downward and closes in the middle under the action of its own weight, realizing stable clamping of the glass substrate 10 (at this time, the angle α between the connecting rod 17 and the horizontal direction is α ≤ 20°). The lower ends of the clamping plates 21 in the group are formed with flared openings 21.1 for convenient feeding. The clamping surface on the inner side of the clamping plates 21 is provided with rubber pads to increase the clamping friction force.

[0031] The cantilever clamping module 5 is equipped with a clamping release mechanism for releasing the clamping of the glass substrate 10 during material taking, so that the glass substrate 10 falls.

[0032] Above the clamping plates 21, there is a connecting curved plate 22. At the top of the connecting curved plate 22, a horizontal roller 23 is installed for cooperation with the above-mentioned clamping release mechanism. Specifically, the clamping release mechanism includes a wedge block 16 arranged on the guide rail 14 and slidable along the length direction of the cantilever frame 20. Each clamping plate 21 is equipped with a wedge block 16, and all the wedge blocks 16 are connected together by a linkage frame 15 and move synchronously. The wedge block 16 is located below the roller 23 and the upper surface of the wedge block 16 is low at one end and high at the other end. A number of parallel needle rollers 25 are arranged on the upper surface of the wedge block 16, and the axial direction of the needle rollers 25 is perpendicular to the axial direction of the roller 23. When the wedge block 16 moves, the roller rolls along the upper surface of the wedge block, which can force the roller 23 to drive the clamping plate 21 to move upward and open to both sides at the same time, releasing the clamping. During the process of the roller 23 driving the clamping plate 21 to move upward and open to both sides, there will be a movement along the axial direction of the roller 23 between the roller 23 and the wedge block 16. The arrangement of the needle rollers 25 can reduce the friction force of the axial movement of the roller 23, making the mechanism operate smoothly.

[0033] At the outer end of the linkage frame 15, there is a push-pull handle 19, and at the inner end, there is an abutting shaft 24. The abutting shaft 24 passes through the belt connecting arm 12, and the height where the abutting shaft 24 is located corresponds to the abutting track 4. When the linkage frame 15 moves inward, it drives the wedge block 16 to move inward synchronously to release the clamping. The linkage frame 15 is equipped with an elastic mechanism 13, and the elastic mechanism 13 makes the linkage frame 15 have a tendency to move outward, which can reset the linkage frame 15. When the cantilever clamping module 5 rotates and operates, the abutting shaft 24 cannot extend under the blocking action of the abutting track 4, which can limit the inward movement of the linkage frame 15. Concave notches 4.1 are opened at the corresponding positions of the loading and unloading stations on the abutting track 4. The concave notches 4.1 are for the abutting shaft 24 to give way, so that the linkage frame 15 can move inward at the loading and unloading stations to release the clamping of the glass substrate 10 for loading and unloading. A horizontal roller 26 is provided at the end of the abutting shaft 24 to prevent rigid friction between the abutting shaft 24 and the abutting track 4.

[0034] Functions of the abutting track: First, it realizes self-locking during transportation (or at the buffer station) to prevent accidental release of clamping outside the loading and unloading stations, which may cause the glass substrate to drop and be damaged. Second, it provides a hanging anti-torsion supporting force for the cantilever clamping module 5 to prevent the cantilever clamping module 5 from tipping over.

[0035] The system further includes a transfer cart 27. A lifting platform 28 is provided on the transfer cart 27, and a placement groove 29 is provided on the lifting platform. During transfer, the glass substrate 10 is located in the placement groove 29 (a velvet cloth or dust-free cloth is provided between the glass substrate 10 and the placement groove 29).

[0036] Working process or principle of the present invention: During loading, the transfer cart 27 transports the glass substrate 10 to the loading station. The positioning male head 30 on the transfer cart 27 cooperates with the positioning female head 31 on the frame 1 to achieve loading positioning. The lifting platform 28 rises, and the glass substrate 10 is vertically placed into the cantilever clamping module 5 from bottom to top. The two grouped clamping plates 21 are pushed upward by the glass substrate 10 and gradually separated at the same time. The glass substrate 10 is placed between the two grouped clamping plates 21 and contacts the rubber pads on their inner sides. The lifting platform 28 descends by 1 cm. Under the action of its own weight, the glass substrate 10 pulls the two grouped clamping plates 21 to move downward and close towards the middle, realizing stable clamping of the glass substrate 10. A pressure sensor assembly is provided at the bottom of the placement groove 29 of the transfer cart 27. After the lifting platform 28 descends for 5 s, if the pressure sensor assembly does not alarm, it indicates that the glass substrate 10 has not slipped, the clamping is firm, the transfer cart 27 retreats, and the equipment operates normally; otherwise, the machine stops to repair the current cantilever clamping module 5 or marks the cantilever clamping module 5 as suspended from use.

[0037] The glass substrate 10 can be buffered or transported in the system.

[0038] During unloading, the transfer cart 27 moves to the unloading station. The positioning male head 30 on the transfer cart 27 cooperates with the positioning female head 31 on the frame 1 to achieve unloading positioning. The lifting platform 28 rises so that the bottom of the placement groove 29 contacts the bottom surface of the glass substrate 10. The push-pull handle 19 is pushed, the linkage frame 15 moves towards the inner end, driving the wedge block 16 to move synchronously towards the inner end. The roller 23 rolls along the upper surface of the wedge block 16, which can force the roller 23 to drive the clamping plate 21 to move upward and open to both sides at the same time, releasing the clamping. The glass substrate 10 falls into the placement groove 29, the lifting platform 28 descends, and the transfer cart 27 drives away with the glass substrate 10.

[0039] During the rotation operation, the abutting shaft 24 cannot extend under the blocking action of the abutting track 4, which can limit the inward movement of the linkage frame 15 to achieve self-locking of the rotation clamping. Concave notches 4.1 are formed in the abutting tracks 4 at the corresponding positions of the loading and unloading stations. The concave notches 4.1 are for the abutting shaft 24 to pass through, so that the linkage frame 15 can move inward at the loading and unloading stations, releasing the clamping of the glass substrate 10 for loading and unloading.

[0040] Certainly, the above content is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of the embodiments of the present invention. The present invention is not limited to the above examples either. Equivalent changes and improvements made by those of ordinary skill in the art within the essence of the present invention shall fall within the scope covered by the patent of the present invention.

Claims

1. A glass substrate conveying and buffering system, characterized in that, It includes a transfer drive mechanism and multiple groups of cantilever clamping modules (5) for clamping a glass substrate (10). The transfer drive mechanism can drive the cantilever clamping modules (5) to transfer in the horizontal plane direction. The described cantilever clamping module (5) includes a cantilever frame (20). A plurality of vertically parallel clamping plates (21) are provided on the cantilever frame (20). The clamping plates (21) are connected to the cantilever frame (20) through connecting rods (17) to form a parallelogram linkage mechanism. When not clamping, the clamping plates (21) fall to the lowest point of the stroke. When the two clamping plates (21) in the same group are at the lowest point, the distance between them is the closest, and the closest distance is less than the thickness of the glass substrate (10). When clamping, the glass substrate (10) is vertically placed from bottom to top. While the two clamping plates (21) in a group are pushed upward by the glass substrate (10), they gradually separate. After the glass substrate (10) is placed between the two clamping plates (21) in a group, it contacts the inner clamping surface. After release, the glass substrate (10) pulls the two clamping plates (21) in a group to move downward and close towards the middle to clamp.

2. The glass substrate conveying and buffering system according to claim 1, wherein The described transfer drive mechanism includes a frame body (1) and a drive belt (2) running in the horizontal plane direction. Above the drive belt (2), there is a suspension track (3) with the same running trajectory as it. One end of the cantilever clamping module (5) is slidably installed on the suspension track (3) and is driven by the drive belt (2) to perform horizontal transfer, and the other end extends out of the frame body (1).

3. The glass substrate conveying and buffering system according to claim 2, wherein The described cantilever clamping module (5) is equipped with a clamping release mechanism.

4. The glass substrate conveying and buffering system according to claim 3, characterized in that, Above the described clamping plate (21), there is a connecting curved plate (22). At the top of the connecting curved plate (22), a horizontal roller (23) is installed. The described clamping release mechanism includes a wedge block (16) that can slide along the length direction of the cantilever frame (20). The wedge block (16) is located below the roller (23) and the upper surface is low at one end and high at the other end. When the wedge block (16) moves, it can force the roller (23) to drive the clamping plate (21) to move upward and open to both sides at the same time to release the clamping.

5. The glass substrate conveying and buffering system according to claim 4, wherein A number of parallel needle rollers (25) are arranged on the upper surface of the described wedge block (16). The axial direction of the needle rollers (25) is perpendicular to the axial direction of the roller (23).

6. The glass substrate conveying and buffering system according to claim 4 or 5, characterized in that, Each clamping plate (21) is equipped with a wedge block (16). All the wedge blocks (16) are connected together through a linkage frame (15) and move synchronously.

7. The glass substrate conveying and buffering system according to claim 6, wherein The outer end of the described linkage frame (15) is provided with a push-pull handle (19), and the inner end is provided with an abutting shaft (24). When the linkage frame (15) moves inward, it drives the wedge block (16) to move inward synchronously to release the clamping. Below the drive belt (2) of the transfer drive mechanism, there is an abutting track (4) with the same running trajectory as it. When the cantilever clamping module (5) is transferring and running, the abutting shaft (24) cannot extend out under the blocking action of the abutting track (4), which can limit the inward movement of the linkage frame (15).

8. The glass substrate conveying and buffering system according to claim 7, wherein The abutting track (4) at the corresponding positions of the loading and unloading stations is provided with an inward concave notch (4.1).

9. The glass substrate conveying and buffering system according to claim 1, wherein, When the clamping plate (21) falls to the lowest point of the stroke, the connecting rod (17) is in a horizontal state.

10. The glass substrate conveying and buffering system according to claim 1, wherein The lower ends of the clamping plates (21) in a group form a flared opening (21.1). A rubber pad is provided on the inner clamping surface of the clamping plate (21).

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