A glass substrate handling robot for manufacturing display devices

Abstract

This invention relates to the field of robotic handling technology, specifically to a robotic handling unit for glass substrates used in display device manufacturing. It includes a frame with two clamping assemblies. Each clamping assembly includes a connecting rod with a vertical groove. Two lifting blocks are slidably engaged within the groove, and their opposite ends are connected by a pull rope. Each lifting block has a clamping rod fixed to it. Pneumatic drive assemblies are fixed to both the upper and lower ends of the connecting rod. Airbags are fixed to opposite sides of the two lifting blocks within the vertical groove, and these airbags are fixedly connected to adjacent pneumatic drive assemblies. Air inlets are provided on the lifting blocks and communicate with adjacent airbags. Pressure valves are installed within these air inlets. Through a linkage mechanism between the spring and the sliding frame, the system automatically triggers a sealing plate to block the rectangular hole when the clamping force reaches a preset threshold, locking the airbags in an inflated state, thereby maintaining a constant pressure of the silicone pad on the glass substrate.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, specifically to a glass substrate handling robot for manufacturing display devices. Background Technology

[0002] In the field of display device manufacturing, glass substrates serve as a crucial carrier for core components such as LCD panels and OLED screens, making the stability and safety of their handling process paramount. Glass substrates are characterized by high brittleness and low impact resistance. In automated production lines, any improper control of clamping force can lead to substrate breakage, microcracks, or surface scratches, resulting in decreased product yield and increased production costs. Traditional handling robots often employ rigid clamping or simple pneumatic control, but these methods have significant limitations: clamping force is difficult to adjust dynamically, making them susceptible to instantaneous overload due to external vibrations or operational errors; they lack reliable force feedback mechanisms, failing to maintain constant pressure in real-time during clamping; and the release phase may cause secondary damage due to negative pressure or uncoordinated mechanical return. These shortcomings severely restrict the production demands for high-precision, high-efficiency display devices, especially in the handling of large glass substrates (such as those used in G8.5 and higher generation lines).

[0003] Therefore, an intelligent handling solution needs to be designed that can ensure the clamping force is always within a safe threshold through an adaptive mechanism, while also taking into account rapid response and reliable reset. Summary of the Invention

[0004] The main objective of this invention is to provide a handling robot capable of applying a constant clamping force to glass substrates used in the manufacture of display devices.

[0005] To achieve the above objectives, the technical solution provided by this invention is as follows:

[0006] A glass substrate handling robot for display device manufacturing includes a frame with two clamping assemblies. Each clamping assembly includes a connecting rod with a vertical groove. Two lifting blocks are slidably engaged within the vertical groove, and their opposite ends are connected by a pull rope. Each lifting block has a clamping rod fixed to it. Pneumatic drive assemblies are fixed to both the upper and lower ends of the connecting rod. Airbags are fixed to opposite sides of the two lifting blocks within the vertical groove, and these airbags are fixedly connected to adjacent pneumatic drive assemblies. Each lifting block has an air inlet, which communicates with an adjacent airbag, and a pressure valve is installed within the air inlet. The pneumatic drive assembly includes a fixed rod fixedly connected to the connecting rod. The fixed rod has a first cavity and a second cavity at its two ends. Two vertically aligned through holes are formed within the fixed rod between the first and second cavities. Two straight sections of an inverted U-shaped sliding frame are also present. The components are slidably mounted in two perforations. The vertical part of the sliding frame is located in the first cavity, where a spring is installed. The middle of the spring is fixedly connected to the vertical part of the sliding frame. The perforation near the connecting rod communicates with the adjacent airbag through a connecting hole in the fixed rod. The connecting hole communicates with the second cavity through a rectangular hole in the fixed rod. The straight part of the sliding frame near the connecting rod passes through the connecting hole and the rectangular hole. A sealing plate is fixed to the end of the straight part of the sliding frame near the connecting rod. After the sealing plate enters the rectangular hole, it can block the rectangular hole. An electric push rod is fixed inside the fixed rod. A piston plate is slidably and sealingly connected in the second cavity. The telescopic rod of the electric push rod is fixedly connected to the piston plate. An exhaust hole is opened on the side of the fixed rod away from the connecting rod. The exhaust hole communicates with the adjacent perforation. The exhaust hole is close to the second cavity, and a one-way valve is fixed inside the exhaust hole.

[0007] Specifically, an electrically controlled guide rail is fixed on the frame, and two sliders are installed inside the electrically controlled guide rail. The fixing rod above the clamping assembly is fixedly connected to the sliders.

[0008] Specifically, the vertical groove is formed on the opposite end faces of the two connecting rods.

[0009] Specifically, silicone pads are fixed to the opposite end faces of the two clamping rods of the clamping assembly.

[0010] Specifically, the upper and lower ends of the spring are fixedly connected to the upper and lower cavity walls of the first cavity, respectively, and in the initial state, the middle part of the spring is inclined towards the direction of the second cavity.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] 1. Through the linkage mechanism between the spring and the sliding frame, the system can automatically trigger the sealing plate to block the rectangular hole when the clamping force reaches the preset threshold, and lock the airbag expansion state, thereby maintaining the constant pressure of the silicone pad on the glass substrate. This effectively avoids the glass substrate from cracking, micro-cracks or surface damage caused by the clamping force fluctuation or overload of traditional robotic arms, significantly improving the safety of handling, and is especially suitable for high-brittle display device glass.

[0013] 2. During the release phase, negative pressure control and mechanical limiting are used. When the piston plate moves in the reverse direction, the sliding frame is reset under the action of the spring and the exhaust hole is blocked, so as to realize the smooth return of the airbag gas. At the same time, the pull rope restricts the reset position of the lifting block and the clamping rod. In the reset phase after the glass substrate is transported, the electric push rod pushes the piston plate to move away from the first cavity. The gas in the airbag is drawn into the second cavity. At this time, the pressure valve opens, allowing outside air to enter the airbag, avoiding the formation of a large negative pressure inside the airbag and avoiding fatigue damage to the airbag material that would affect the subsequent clamping accuracy.

[0014] 3. During the inflation phase, gas is rapidly injected to expand the airbag, improving the clamping response speed; during the deflation phase, a one-way valve and a pressure valve work together to achieve efficient discharge of excess gas and external air compensation. This not only reduces energy consumption but also enhances the system's reliability and repeatability on high-speed production lines.

[0015] 4. The lifting block, airbag, and pressure valve in the air inlet within the vertical slot adopt a modular layout, replacing complex sensors with simple mechanical components to achieve integrated clamping, force feedback, and overload protection. The combination of silicone pads and clamping rods further buffers vibration, adapts to glass substrates of different sizes, reduces the risk of scratches, and facilitates maintenance.

[0016] 5. The design of the rack and electrically controlled guide rails supports seamless integration with external robotic arms. Slider control allows for precise approach and disengagement of the clamping components, achieving fully automated handling throughout the process. The spring-loaded locking mechanism ensures constant clamping force unaffected by external interference, enhancing applicability and yield assurance in display device manufacturing environments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the present invention.

[0018] Figure 2 This is a schematic diagram of the clamping assembly.

[0019] Figure 3 This is a cross-sectional view of the clamping component.

[0020] Figure 4 This is a schematic diagram of the air-driven assembly.

[0021] Figure 5 This is a schematic diagram of the airbag inflated by the air-driven assembly.

[0022] The components in the attached diagram are named as follows: 1. Frame; 2. Electrically controlled guide rail; 3. Slider; 4. Fixing rod; 5. Connecting rod; 6. Vertical groove; 7. Clamping rod; 8. Silicone pad; 9. Airbag; 10. First cavity; 11. Second cavity; 12. Spring; 13. Electric push rod; 14. Sliding frame; 15. Perforation; 16. Rectangular hole; 17. Exhaust port; 18. One-way valve; 19. Piston plate; 20. Air inlet; 21. Pressure valve; 22. Sealing plate; 23. Connecting hole; 24. Pull rope; 25. Lifting block. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] like Figures 1-4 As shown, a glass substrate handling robot for manufacturing display devices includes a frame 1, on which two clamping components are disposed.

[0025] The clamping assembly includes a connecting rod 5, on which a vertical groove 6 is formed, which is formed on the opposite end faces of the two connecting rods 5.

[0026] Two lifting blocks 25 are slidably engaged within the vertical groove 6, and the opposite ends of the two lifting blocks 25 are connected by a pull rope 24.

[0027] Each lifting block 25 is fixed with a clamping rod 7, and the opposite end faces of the two clamping rods 7 of the clamping assembly are fixed with silicone pads 8.

[0028] Both ends of the connecting rod 5 are fixed with air drive components. Two lifting blocks 25 in the vertical groove 6 are fixed with airbags 9 on opposite sides. The airbags 9 are fixedly connected to the adjacent air drive components. An air inlet 20 is opened on the lifting block 25. The air inlet 20 is connected to the adjacent airbag 9. A pressure valve 21 is installed in the air inlet 20.

[0029] The pneumatic drive assembly includes a fixed rod 4 that is fixedly connected to the connecting rod 5. An electrically controlled guide rail 2 is fixed on the frame 1, and two sliders 3 are provided inside the electrically controlled guide rail 2. The fixed rod 4 above the clamping assembly is fixedly connected to the sliders 3.

[0030] The fixing rod 4 has a first cavity 10 and a second cavity 11 at its two ends, respectively. Two vertically arranged through holes 15 are formed within the fixing rod 4 between the first cavity 10 and the second cavity 11. Two straight sections of the inverted U-shaped sliding frame 14 are slidably disposed within the two through holes 15. The vertical section of the sliding frame 14 is located within the first cavity 10, and a spring piece 12 is disposed within the first cavity 10. The middle portion of the spring piece 12 is fixedly connected to the vertical portion of the sliding frame 14. Specifically, the upper and lower ends of the spring piece 12 are fixedly connected to the upper and lower walls of the first cavity 10, respectively. In the initial state, the middle portion of the spring piece 12 is inclined towards the direction of the second cavity 11.

[0031] The perforation 15 near the connecting rod 5 is connected to the adjacent airbag 9 through the connecting hole 23 opened in the fixing rod 4. The connecting hole 23 is connected to the second cavity 11 through the rectangular hole 16 opened in the fixing rod 4. The straight part of the sliding frame 14 near the connecting rod 5 passes through the connecting hole 23 and the rectangular hole 16.

[0032] A sealing plate 22 is fixed to the end of the sliding frame 14 near the straight part of the connecting rod 5. After the sealing plate 22 enters the rectangular hole 16, it can block the rectangular hole 16.

[0033] An electric push rod 13 is fixed inside the fixed rod 4. A piston plate 19 is slidably and sealed inside the second cavity 11. The telescopic rod of the electric push rod 13 is fixedly connected to the piston plate 19. An exhaust hole 17 is opened on the side of the fixed rod 4 away from the connecting rod 5. The exhaust hole 17 is connected to the adjacent through hole 15. The exhaust hole 17 is close to the second cavity 11. A one-way valve 18 is fixed inside the exhaust hole 17.

[0034] When handling the glass substrate, the frame 1 is fixedly connected to the external robotic arm. Then, the robotic arm controls the robot to move to the designated position, so that the glass substrate is located between the two connecting rods 5, and the space between the glass substrate and the two clamping rods 7 of the clamping assembly corresponds.

[0035] The two sliders 3 are brought closer together by the electrically controlled guide rail 2, thereby bringing the two clamping components closer together. Then, the electric push rod 13 is activated, causing the piston plate 19 to move towards the first chamber 10. This causes air in the second chamber 11 to be injected into the airbag 9 through the rectangular hole 16 and the connecting hole 23, causing the airbag 9 to inflate. As the airbag 9 inflates, it drives the lifting block 25, the clamping rod 7, and the silicone pad 8 to move towards the glass substrate until the silicone pad 8 contacts the glass substrate. Then, as the piston plate 19 continues to move towards the first chamber 10, the airbag 9 continues to inflate, thus clamping and fixing the glass substrate by the silicone pad 8. When the clamping force of the silicone pad 8 on the glass substrate reaches a certain value, the gas in the second chamber 11 will push the sliding frame 14 and the sealing plate 22 towards the first chamber 10, while the middle part of the spring piece 12 moves away from the second chamber 11. During the process of the sliding frame 14 driving the sealing plate 22 towards the first chamber 10, the pressure valve 21 does not open. After the piston plate 19 comes into contact with the cavity wall of the second cavity 11 near the first cavity 10, the electric push rod 13 stops moving.

[0036] When the middle part of the spring piece 12 protrudes away from the second cavity 11, the rectangular hole 16 is blocked by the sealing plate 22, and the exhaust hole 17 is connected to the through hole 15 away from the connecting rod 5. The state at this time is as follows. Figure 5 As shown. At this time, under the elastic force of the spring piece 12, the sliding frame 14 and the sealing plate 22 cannot move back to the direction of the second cavity 11. The airbag 9 remains inflated, and the silicone pad 8 applies a constant clamping force to the glass substrate to avoid excessive clamping force causing the glass substrate to break.

[0037] Then, as the piston plate 19 continues to move toward the first chamber 10, the one-way valve 18 opens, and the gas in the second chamber 11 is discharged through the exhaust port 17.

[0038] After the glass substrate is transported to the designated position, the electric push rod 13 pushes the piston plate 19 to move away from the first cavity 10. At this time, the one-way valve 18 closes. During the process of the electric push rod 13 pushing the piston plate 19 away from the first cavity 10, a negative pressure is generated in the second cavity 11 between the sealing plate 22 and the piston plate 19. As the negative pressure increases, the sliding frame 14 drives the sealing plate 22 to gradually move towards the second cavity 11, and the middle part of the spring piece 12 gradually moves towards the second cavity 11. When the middle part of the spring piece 12 tilts towards the second cavity 11, the straight part of the sliding frame 14 away from the connecting rod 5 blocks the exhaust port 17. During the subsequent movement of the piston plate 19 away from the first cavity 10, the gas in the airbag 9 is drawn into the second cavity 11, thereby resetting the lifting block 25, the clamping rod 7, and the silicone pad 8. After the clamping rod 7 returns to its initial position, the pull rope 24 is tightened, and the lifting block 25, the clamping rod 7, and the silicone pad 8 are limited.

[0039] As the piston plate 19 continues to move away from the first cavity 10, the pressure valve 21 opens to allow outside air to enter the airbag 9, thus preventing a large negative pressure from being generated in the airbag 9 and avoiding fatigue damage to the airbag 9 material that could affect subsequent clamping accuracy.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A glass substrate handling robot for manufacturing display devices, comprising a frame (1), wherein two clamping assemblies are disposed on the frame (1), characterized in that, The clamping assembly includes a connecting rod (5), on which a vertical groove (6) is provided. Two lifting blocks (25) are slidably engaged in the vertical groove (6). The opposite ends of the two lifting blocks (25) are connected by a pull rope (24). Each lifting block (25) is fixed with a clamping rod (7). Both the upper and lower ends of the connecting rod (5) are fixed with air-driven components. An airbag (9) is fixed on the opposite side of each of the two lifting blocks (25) in the vertical groove (6). The airbag (9) is fixedly connected to the adjacent air-driven component. An air inlet (20) is provided on the lifting block (25). The air inlet (20) is connected to the adjacent air-driven component. The airbag (9) is connected to the air inlet (20), and a pressure valve (21) is installed in the air inlet (20). The air drive assembly includes a fixed rod (4) fixedly connected to the connecting rod (5). The two ends of the fixed rod (4) are respectively provided with a first cavity (10) and a second cavity (11). Two vertically arranged through holes (15) are opened in the fixed rod (4) between the first cavity (10) and the second cavity (11). The two straight parts of the inverted U-shaped sliding frame (14) are slidably arranged in the two through holes (15). The vertical part of the sliding frame (14) is located in the first cavity (10). A spring clip (12) is provided inside the cavity (10). The middle part of the spring clip (12) is fixedly connected to the vertical part of the sliding frame (14). The perforation (15) near the connecting rod (5) is connected to the adjacent airbag (9) through the connecting hole (23) opened in the fixed rod (4). The connecting hole (23) is connected to the second cavity (11) through the rectangular hole (16) opened in the fixed rod (4). The straight part of the sliding frame (14) near the connecting rod (5) passes through the connecting hole (23) and the rectangular hole (16). The end of the straight part of the sliding frame (14) near the connecting rod (5) is fixed with a seal. After the plate (22) and the sealing plate (22) enter the rectangular hole (16), they can block the rectangular hole (16); an electric push rod (13) is fixed inside the fixed rod (4); a piston plate (19) is slidably and sealed inside the second cavity (11); the telescopic rod of the electric push rod (13) is fixedly connected to the piston plate (19); an exhaust hole (17) is opened on the side of the fixed rod (4) away from the connecting rod (5); the exhaust hole (17) is connected to the adjacent through hole (15); the exhaust hole (17) is close to the second cavity (11); a one-way valve (18) is fixed inside the exhaust hole (17).

2. The glass substrate handling robot for manufacturing display devices according to claim 1, characterized in that, An electrically controlled guide rail (2) is fixed on the frame (1). Two sliders (3) are provided inside the electrically controlled guide rail (2). The fixing rod (4) above the clamping assembly is fixedly connected to the sliders (3).

3. The glass substrate handling robot for manufacturing display devices according to claim 1, characterized in that, The vertical groove (6) is formed on the opposite end faces of the two connecting rods (5).

4. The glass substrate handling robot for manufacturing display devices according to claim 1, characterized in that, The two clamping rods (7) of the clamping assembly are each fixed with a silicone pad (8) on their opposite end faces.

5. The glass substrate handling robot for manufacturing display devices according to claim 1, characterized in that, The upper and lower ends of the spring piece (12) are fixedly connected to the upper and lower cavity walls of the first cavity (10) respectively. In the initial state, the middle part of the spring piece (12) is inclined towards the direction of the second cavity (11).

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