A robot for carrying a display substrate

Abstract

This invention relates to the field of display substrate handling equipment technology, and discloses a robot for handling display substrates, including a vehicle body with a storage mechanism, a handling mechanism, and an isolation and installation mechanism. The storage mechanism includes a support and pushing mechanism and a load-bearing displacement mechanism to achieve dual fixing and synchronous displacement of the substrate. The handling mechanism consists of symmetrical robotic arms and an adjustable clamping mechanism to adapt to multi-point stable clamping of substrates of different specifications. The isolation and installation mechanism can automatically complete the adsorption, laying, and collection of isolation strips. All mechanisms work together to realize the full automation of substrate clamping, handling, storage, and isolation. The substrates are protected by isolation strips covered with sponge pads to avoid collisions and scratches. The equipment has high mobility and is suitable for the continuous operation requirements of automated production lines, greatly improving the safety, efficiency, and automation level of substrate handling.

Description

Technical Field

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

[0002] The stability, protection, and automation of handling equipment are extremely important during the production and transportation of display substrates. Existing display substrate handling equipment mostly uses a single load-bearing structure to store substrates, without effective isolation and protection between substrates. During handling and storage, collisions and scratches are likely to occur, causing scratches and damage to the substrate surface, which affects product yield. At the same time, the clamping mechanism of traditional handling equipment has poor adaptability, making it difficult to accurately and stably clamp display substrates of different specifications, and clamping deviation is likely to cause the substrate to fall off and be damaged.

[0003] Furthermore, existing equipment suffers from poor coordination between substrate storage and loading / unloading processes, relying heavily on manual assistance to lay substrate isolation strips. This not only results in high labor intensity and low efficiency but also increases the risk of substrate contamination due to human error. Moreover, existing automated handling equipment cannot automatically lay and retrieve isolation strips, making it unsuitable for the continuous operation requirements of automated production lines. To address these issues, there is an urgent need to design a robot for handling display substrates that integrates automated clamping, protective storage, and intelligent isolation feeding, thereby improving the safety, efficiency, and automation level of substrate handling. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned difficulties and provide a robot for handling display substrates.

[0005] To solve the above-mentioned technical problems, the technical solution provided by the present invention is: a robot for handling display substrates, including a vehicle body, a storage mechanism and a handling mechanism on the vehicle body, wherein the handling mechanism places the display substrate on the storage mechanism; The storage mechanism includes a support and push mechanism and a load-bearing displacement mechanism. The support and push mechanism includes a guide plate on the top of the vehicle body and a support frame that slides on the guide plate. The load-bearing displacement mechanism includes a conveying mechanism on both sides of the guide plate. Multiple load-bearing plates are evenly arranged on the conveying mechanism. The bottom of the display substrate is placed on the load-bearing plate and the rear side rests on the support frame. An isolation strip is placed between adjacent display substrates. The handling mechanism includes robotic arms and a clamping mechanism. Two sets of robotic arms are symmetrically arranged at the front of the vehicle body, and the clamping mechanism is located at the working end of the two sets of robotic arms. The clamping mechanism clamps the display substrate. The top of the vehicle body is provided with outer protective frames on both sides, and an isolation installation mechanism that can automatically pick up and put in the isolation strip is provided on the inner side of the outer protective frame.

[0006] As an improvement: the isolation installation mechanism includes a crossbeam installed on the outer frame, a pusher platform sliding on the crossbeam, an attachment plate on the inner side of the crossbeam, multiple isolation strips arranged and adsorbed on the attachment plate, and a feeding mechanism at the front end of the crossbeam. After the pusher platform pushes the isolation strips to the feeding mechanism, the feeding mechanism pushes the isolation strips between the display substrates.

[0007] As an improvement: the isolation strip includes a core board, the outer side of which is covered with a sponge pad, and a second magnet is provided on the rear side of the core board. The isolation strip is attracted to the auxiliary plate by the second magnet.

[0008] As an improvement: the feeding mechanism includes a cylinder and a feeding platform. The cylinder is fixed to the end of the crossbeam and its output end is connected to the feeding platform. The front end of the feeding platform is provided with a magnet that is magnetically attracted to a magnet. The magnet is horizontally arranged with the attached plate. A blocking plate is provided on one side of the feeding platform.

[0009] As an improvement: the end of the crossbeam is also provided with a material receiving mechanism, which includes a second cylinder and a C-shaped plate. The second cylinder is fixed to the outside of the crossbeam and its output end is connected to the C-shaped plate. The C-shaped plate is slidably engaged with the outside of the end of the crossbeam, and both ends of the C-shaped plate are provided with chamfered plates.

[0010] As an improvement: the clamping mechanism includes symmetrically arranged outer frames, the two outer frames are connected by a truss, clamping frames are provided at both ends of the outer frames, a longitudinal plate is slidably provided between the inner sides of the two clamping frames, a clamping platform is provided at one end of the clamping frame and both ends of the longitudinal plate, a cylinder is provided on the clamping frame, and the output end of the cylinder is connected to the longitudinal plate.

[0011] As an improvement: the clamping frame is slidably disposed at both ends of the outer frame, and the two clamping frames on the same side are connected by a transmission frame. A cylinder is provided on the truss, and the output end of the cylinder is connected to the transmission frame.

[0012] As an improvement: a motor is provided at the bottom of the guide plate, and a threaded rod is provided at the bottom of the guide plate. The output end of the motor is in transmission cooperation with the threaded rod. A guide groove is provided on the guide plate, a pad is installed on the front side of the support frame, and a drive platform is provided at the bottom of the support frame that is in sliding cooperation with the guide groove. A threaded hole that cooperates with the threaded rod is provided on the drive platform.

[0013] As an improvement: the conveying mechanism includes a guard plate, rotating rollers and a conveyor belt. The guard plate is located on both sides of the conveyor belt and connected to the vehicle body. The two rotating rollers are rotatably located between the guard plates and drive the conveyor belt to rotate. The bearing displacement mechanism also includes a drive mechanism that drives the two sets of conveying mechanisms to operate. The bearing plate is installed on the conveyor belt. The top of the bearing plate is provided with a limit plate. The bearing plate and the support frame move synchronously and at the same speed.

[0014] The beneficial effects of this invention compared to existing technologies are as follows: By integrating an automated handling mechanism, a protective storage mechanism, and an intelligent isolation installation mechanism, this invention achieves a comprehensive upgrade in terms of substrate clamping, storage protection, and operational automation compared to traditional handling equipment. It effectively solves the pain points of traditional equipment, such as easy scratching of substrates, unstable clamping, and low operational efficiency. Specifically: 1. A symmetrical robotic arm with an adjustable clamping mechanism is used. The vertical plate is driven by a three-cylinder to slide, which realizes the adjustment of the spacing of the clamping stage. It can adapt to the clamping requirements of different specifications of display substrates. The clamping stage clamps the substrate from multiple points from the edge, avoiding pressure or scratches on the substrate surface during the clamping process, and ensuring the stability and accuracy of substrate clamping. 2. The storage mechanism adopts a combination of a bearing plate and a support frame to achieve double fixation of the substrate by bottom support and rear side leaning. The limiting plate on the bearing plate effectively prevents the substrate from shifting to the left or right. At the same time, the isolation strip covered with sponge pad is placed between adjacent substrates to avoid collisions and scratches between substrates, fundamentally solving the problem of scratches and damage during substrate storage. 3. The isolation strip is automatically adsorbed, pushed and laid by the isolation installation mechanism. The isolation strip is adsorbed on the material plate by magnets for orderly storage. The push corner table and the feeding mechanism work together to accurately push the isolation strip between adjacent substrates. No manual assistance is required, which greatly reduces labor intensity, avoids substrate contamination caused by manual operation and improves work efficiency. 4. The support frame of the supporting pushing mechanism and the bearing plate of the bearing displacement mechanism move synchronously and at the same speed. The motor drives the threaded rod to drive the support frame to slide precisely along the guide plate. The conveying mechanism drives the bearing plate to move synchronously, realizing the orderly pushing and storage of the substrate, ensuring the neatness of the substrate storage, and facilitating the precise picking and placing of the substrate by the handling mechanism, realizing the seamless connection of the material storage and retrieval process. 5. The handling, storage, and isolation feeding mechanisms are integrated into the vehicle body, making the equipment highly mobile and flexible enough to cooperate with automated production lines to complete substrate transfer. The various mechanisms work together to achieve full automation of substrate clamping, handling, storage, and isolation without manual intervention, meeting the continuous operation requirements of industrial production and effectively improving the overall operating efficiency of the production line. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2 This is a schematic diagram of the main structure of the present invention.

[0017] Figure 3 This is an exploded view of the main structure of the present invention.

[0018] Figure 4 This is a schematic diagram of the storage mechanism of the present invention.

[0019] Figure 5 This is a schematic diagram of the structure of the supporting push mechanism of the present invention. Figure 1 .

[0020] Figure 6 This is a schematic diagram of the structure of the supporting push mechanism of the present invention. Figure 2 .

[0021] Figure 7 This is a schematic diagram of the structure of the bearing displacement mechanism of the present invention.

[0022] Figure 8 This is a cross-sectional view of the displacement mechanism of the present invention.

[0023] Figure 9 This is a schematic diagram of the drive mechanism of the present invention.

[0024] Figure 10 This is a schematic diagram of the isolation installation mechanism of the present invention.

[0025] Figure 11 This is an exploded view of the isolation installation mechanism of the present invention.

[0026] Figure 12 This is an exploded view of the feeding mechanism and the isolation strip of the present invention.

[0027] Figure 13 This is a schematic diagram of the transport mechanism of the present invention.

[0028] Figure 14 This is a schematic diagram of the clamping mechanism of the present invention.

[0029] As shown in the figure: 01. Display substrate; 1. Vehicle body; 11. Outer protective frame; 2. Storage mechanism; 3. Support and pushing mechanism; 31. Guide plate; 311. Load-bearing plate; 312. Guide groove; 32. Support frame; 321. Pad plate; 322. Drive platform; 33. Motor 1; 331. Gear 1; 34. Threaded rod 1; 341. Gear 2; 4. Bearing displacement mechanism; 41. Conveying mechanism; 411. Protective plate; 412. Rotary roller; 413. Support plate; 414. Conveyor belt; 415. Gear 3; 42. Load-bearing plate; 421. Limiting clamp; 43. Drive mechanism; 431. Motor 2; 432. Gear 4; 433. Drive shaft; 434. Gear 5; 435. 5. Gear 6; 5. Isolation installation mechanism; 51. Crossbeam; 52. Motor 3; 53. Threaded rod 2; 54. Pushing corner table; 55. Auxiliary plate; 56. Feeding mechanism; 561. Cylinder 1; 562. Feeding table; 563. Magnet 1; 564. Baffle plate; 57. Receiving mechanism; 571. Cylinder 2; 572. C-shaped plate; 573. Turning plate; 6. Isolation strip; 61. Core plate; 62. Sponge pad; 63. Magnet 2; 7. Handling mechanism; 8. Mechanical arm; 81. Arm 1; 82. Arm 2; 9. Clamping mechanism; 91. Outer frame; 911. Truss; 92. Clamping frame; 93. Cylinder 3; 94. Transmission frame; 95. Longitudinal plate; 96. Cylinder 4; 97. Clamping table. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings.

[0031] Combined with appendix Figure 1 Appendix Figure 2 Appendix Figure 3 and attached Figure 4 As shown, a robot for handling display substrates includes a vehicle body 1, a storage mechanism 2 and a handling mechanism 7 on the vehicle body 1. The handling mechanism 7 places the display substrate 01 on the storage mechanism 2. The storage mechanism 2 includes a support and pushing mechanism 3 and a bearing and displacement mechanism 4. The support and pushing mechanism 3 includes a guide plate 31 on the top of the vehicle body 1 and a support frame 32 slidably disposed on the guide plate 31. The bearing and displacement mechanism 4 includes a conveying mechanism 41 on both sides of the guide plate 31. Multiple bearing plates 42 are evenly disposed on the conveying mechanism 41. The bottom of the display substrate 01 is placed on the bearing plate 42 and the rear side rests against the support frame 32. An isolation strip 6 is placed between adjacent display substrates 01. The handling mechanism 7 includes a robotic arm 8 and a clamping mechanism 9. Two sets of robotic arms 8 are symmetrically disposed at the front end of the vehicle body 1. The clamping mechanism 9 is disposed at the working end of the two sets of robotic arms 8 and clamps the display substrate 01. The top two sides of the vehicle body 1 are provided with an outer protective frame 11. The inner side of the outer protective frame 11 is provided with an isolation mounting mechanism 5 that can automatically pick up and place the isolation strip 6.

[0032] This robot addresses the problems of poor protection, low clamping adaptability, and reliance on manual installation of the isolation strip 6 in existing display substrate handling equipment. By integrating a storage, handling, and automatic pick-and-place structure for the isolation strip 6 into the vehicle body 1, it achieves automated clamping, protective storage, and intelligent isolation feeding for substrate handling. This effectively solves the problems of collision and scratching, clamping misalignment and detachment, low efficiency of manual operation, and easy contamination of the substrate during substrate handling and storage. At the same time, it adapts to the continuous operation requirements of automated production lines, significantly improving the safety, efficiency, and automation level of substrate handling.

[0033] The working process is as follows: First, two sets of robotic arms 8 symmetrically arranged at the front end of the vehicle body 1 drive the clamping mechanism 9 to move. The clamping mechanism 9 accurately and stably clamps the display substrates 01 of different specifications. The robotic arms 8, in conjunction with the clamping mechanism 9, move the display substrates 01 to the storage mechanism 2 of the vehicle body 1. Then, the display substrates 01 are placed on the support plate 42 of the conveying mechanism 41 of the bearing displacement mechanism 4, so that the bottom of the display substrates 01 is supported by the support plate 42 and the rear side rests on the support frame 32 of the support pushing mechanism 3. After one display substrate 01 is placed, when placing the next display substrate 01, the isolation installation mechanism 5 on the inner side of the outer protective frame 11 automatically completes the installation of the isolation strip 6, accurately placing the isolation strip 6 on the two Between the display substrates 01, adjacent display substrates 01 are effectively isolated by the isolation strips 6. The supporting pushing mechanism 3 and the bearing displacement mechanism 4 work together to drive the support frame 32 and the bearing plate 42 to move synchronously and at the same speed, providing a suitable position for the continuous placement of subsequent substrates, and realizing the orderly and protective storage of multiple display substrates 01. When the display substrates 01 are placed from the storage mechanism 2 to the external facility by the action of the clamping mechanism 9 driven by the two sets of robotic arms 8, the isolation installation mechanism 5 completes the automatic collection of the isolation strips 6. No manual assistance is required throughout the process, realizing the integrated and automated operation of the display substrates 01 from clamping and handling, protective storage to automatic retrieval and placement of the isolation strips 6, and completing the entire handling and storage process of the display substrates 01.

[0034] Combined with appendix Figure 2 Appendix Figure 10 and attached Figure 11 As shown, the isolation installation mechanism 5 includes a crossbeam 51 mounted on the outer protective frame 11. A pusher platform 54 is slidably provided on the inner side of the crossbeam 51. A motor 52 is provided on the crossbeam 51. A threaded rod 53 is rotatably provided on the inner side of the crossbeam 51. The output end of the motor 52 is connected to the threaded rod 53 for transmission. A threaded hole that mates with the threaded rod 53 is provided on the pusher platform 54. An attachment plate 55 is provided on the inner side of the crossbeam 51. Multiple isolation strips 6 are arranged and adsorbed on the attachment plate 55. A feeding mechanism 56 is provided at the front end of the crossbeam 51. After the pusher platform 54 pushes the isolation strips 6 to the feeding mechanism 56, the feeding mechanism 56 pushes the isolation strips 6 between the display substrates 01.

[0035] Combined with appendix Figure 11 and attached Figure 12 As shown, the isolation strip 6 includes a core plate 61, with a sponge pad 62 covering the outside of the core plate 61. A magnet 63 is provided on the rear side of the core plate 61, and the isolation strip 6 is attracted to the auxiliary plate 55 by the magnet 63.

[0036] The isolation mounting mechanism 5 and the isolation strip 6 work together to automatically pick up and feed the isolation strip 6 to the display substrate 01. The working process is as follows: the isolation strip 6 is attracted to the attachment plate 55 of the isolation mounting mechanism 5 by the magnet 63 provided on the rear side of its core plate 61. Multiple isolation strips 6 are arranged in an orderly manner on the attachment plate 55 in this way. When it is necessary to lay the isolation strip 6 between the substrates, the motor 52 on the crossbeam 51 starts and drives the threaded rod 53 to rotate. The pusher angle table 54, which cooperates with the threaded rod 53, slides along the inner side of the crossbeam 51 under the action of threaded transmission. During the sliding process, the pusher angle table 54 pushes the attachment plate. The isolation strip 6 on 55 is pushed towards the feeding mechanism 56 at the front end of the crossbeam 51, accurately pushing the single isolation strip 6 to the feeding mechanism 56. Then the feeding mechanism 56 operates to smoothly push the isolation strip 6 to the designated position between the display substrates 01 that have been placed on the storage mechanism 2, completing the automatic laying operation of the single isolation strip 6. Subsequently, the above actions can be repeated to continuously lay isolation strips 6 for adjacent display substrates 01. The sponge pad 62 covering the outer side of the core board 61 of the isolation strip 6 achieves flexible isolation and protection for the display substrates 01, avoiding collisions and scratches between the substrates that could cause damage.

[0037] Combined with appendix Figure 11 and attached Figure 12 As shown, the feeding mechanism 56 includes a cylinder 561 and a feeding platform 562. The cylinder 561 is fixed to the end of the crossbeam 51 and its output end is connected to the feeding platform 562. The front end of the feeding platform 562 is provided with a magnet 563 that is magnetically attracted to a magnet 63. The magnet 563 is horizontally arranged with the attachment plate 55. A baffle plate 564 is provided on one side of the feeding platform 562.

[0038] Combined with appendix Figure 10 and attached Figure 11 As shown, the end of the crossbeam 51 is also provided with a material receiving mechanism 57. The material receiving mechanism 57 includes a second cylinder 571 and a chamfered plate 572. The second cylinder 571 is fixed to the outside of the crossbeam 51 and its output end is connected to the chamfered plate 572. The chamfered plate 572 is slidably engaged with the outside of the end of the crossbeam 51. Both ends of the chamfered plate 572 are provided with a crank plate 573.

[0039] The feeding mechanism 56 and the receiving mechanism 57, together with the remaining components of the isolation installation mechanism 5, complete the precise feeding and recycling of the isolation strip 6. When the pusher 54 pushes the isolation strip 6 on the attachment plate 55 to the feeding mechanism 56, the magnet 63 on the rear side of the isolation strip 6 and the magnet 563 at the front end of the feeding table 562 magnetically attract each other, making the isolation strip 6 stably adhere to the feeding table 562. Then, the cylinder 561 starts and pushes the feeding table 562 towards the display substrate 01, precisely pushing the isolation strip 6 adsorbed on the feeding table 562 to the designated position between adjacent display substrates 01, completing the laying and feeding of the isolation strip 6. The blocking plate on one side of the feeding table 562... 564 limits the isolation strip 6 on the auxiliary plate 55 to prevent it from moving onto the moving path of the feeding table 562 due to excessive pushing by the pusher corner table 54, thereby blocking the reset of the feeding table 562. During feeding, the next display substrate 01 is not placed on the storage mechanism 2. After the next display substrate 01 is placed on the storage mechanism 2, the display substrate 01 presses the isolation strip 6 on the rear display substrate 01. The two display substrates 01 rely on the squeezing and friction to keep the isolation strip 6 in a certain position. When the feeding table 562 resets, the second magnet 63 separates from the first magnet 563 at the front end of the feeding table 562 due to the squeezing of the isolation strip 6, thus completing the feeding operation.

[0040] When the used isolation strip 6 needs to be recycled, cylinder 561 is activated and pushes the feeding table 562 to move closer to the display substrate 01 until the feeding table 562 penetrates into the gap between the two display substrates 01 and magnets 63 and 563 are magnetically attracted. After the upper display substrate 01 is removed, the feeding table 562 is reset. At this time, the isolation strip 6 will move with the feeding table 562 to the end of the attachment plate 55. Then the receiving mechanism 57 starts to operate. Cylinder 571 is activated and pushes the C-shaped plate 572 to slide along the crossbeam 51. The bends 573 at both ends of the C-shaped plate 572 move together until the bends 573 fit against both sides of the isolation strip 6 to be recycled. The isolation strip 6 on the feeding table 562 is pulled back to the attachment plate 55 through the bends 573, completing the automatic receiving operation of the isolation strip 6.

[0041] Combined with appendix Figure 1 and attached Figure 14 As shown, the clamping mechanism 9 includes symmetrically arranged outer frames 91, which are connected by a truss 911. Clamping frames 92 are provided at both ends of the outer frames 91, and a longitudinal plate 95 is slidably provided between the inner sides of the two clamping frames 92. Clamping platforms 97 are provided at one end of the clamping frame 92 and at both ends of the longitudinal plate 95. A cylinder 96 is provided on the clamping frame 92, and the output end of the cylinder 96 is connected to the longitudinal plate 95.

[0042] Combined with appendix Figure 1 and attached Figure 14As shown, the clamping frame 92 is slidably disposed at both ends of the outer frame 91. The two clamping frames 92 on the same side are connected by the transmission frame 94. The truss 911 is provided with a cylinder 93, and the output end of the cylinder 93 is connected to the transmission frame 94.

[0043] Combined with appendix Figure 1 Appendix Figure 13 and attached Figure 14 As shown, the robotic arm 8 includes a first arm 81 and a second arm 82. One end of the first arm 81 is rotatably connected to the vehicle body 1, and both ends of the second arm 82 are rotatably connected to the other end of the first arm 81 and the outer frame 91, respectively. A joint motor is provided at each of the rotatable connections.

[0044] The robotic arm 8 and the clamping mechanism 9 work together to accurately and securely clamp and transfer display substrates 01 of different specifications. During operation, the robotic arm 8 first drives the first arm 81 and the second arm 82 to rotate in conjunction through the joint motors at each rotating connection, which in turn moves the clamping mechanism 9 at the end to the clamping position of the display substrate 01. According to the specifications and dimensions of the substrate, the third cylinder 93 on the truss 911 is activated first and pushes the transmission frame 94 to move. The transmission frame 94 drives the two clamping frames 92 on the same side to slide along both ends of the outer frame 91, thereby adjusting the spacing between the clamping frames 92 to match the width of the substrate. After the clamping frames 92 are adjusted to the correct position, the fourth cylinder 96 on the clamping frame 92 is activated and pushes the vertical plate 95 to slide along the inner side of the two clamping frames 92. The overall clamping range of the clamping stage 97 is adjusted by sliding the vertical plate 95, so that the clamping stages 97 at one end of the clamping frame 92 and both ends of the vertical plate 95 are precisely attached to the edge of the display substrate 01, completing the multi-point stable clamping of the substrate and avoiding clamping deviation. After clamping, the robotic arm 8 drives the coordinated rotation of arm 1 81 and arm 2 82 through the joint motor, driving the clamping mechanism 9 and the clamped display substrate 01 to move together and accurately transfer them to the designated placement position of the storage mechanism 2. Then, the cylinder 4 96 drives the vertical plate 95 to reset, releasing the clamping stage 97 from clamping the substrate. The cylinder 3 93 then drives the clamping frame 92 to reset, and the robotic arm 8 drives the clamping mechanism 9 back to the initial position, waiting for the next clamping and transfer operation.

[0045] Combined with appendix Figure 4 Appendix Figure 5 and attached Figure 6 As shown, the bottom of the guide plate 31 is provided with a load-bearing plate 311, which is connected to the groove on the top of the vehicle body 1. The bottom of the guide plate 31 is provided with a motor 33, and the bottom of the guide plate 31 is provided with a threaded rod 34. The output end of the motor 33 is provided with a gear 331, and one end of the threaded rod 34 is provided with a gear 341 that meshes with the gear 331. The guide plate 31 is provided with a guide groove 312. The front side of the support frame 32 is provided with a pad 321. The bottom of the support frame 32 is provided with a drive platform 322 that slides with the guide groove 312. The drive platform 322 is provided with a threaded hole that mates with the threaded rod 34.

[0046] When the support and pushing mechanism 3 is working, the motor 33 at the bottom of the guide plate 31 starts, and its output end drives the gear 331 to rotate. The gear 331 meshes with the gear 341 at one end of the threaded rod 34, thereby driving the threaded rod 34 to rotate synchronously at the bottom of the guide plate 31. The drive table 322, which is in sync with the threaded rod 34, slides smoothly along the guide groove 312 on the guide plate 31 under the action of threaded transmission. The drive table 322 synchronously drives the support frame 32 connected to it to move together. The pad 321 on the front side of the support frame 32 moves synchronously with the support frame 32. The support frame 32 is moved until it reaches the designated position for the display substrate 01. At this point, the rear side of the display substrate 01 can be supported by the pad 321 of the support frame 32. During the subsequent placement of multiple display substrates 01, the motor 33 can continuously drive the threaded rod 34 to rotate according to the operation requirements, causing the support frame 32 to slide smoothly at a set speed, achieving synchronous and same-speed movement with the bearing displacement mechanism 4, providing precise and suitable rear support for each placed display substrate 01, and ensuring the stability of the substrate during storage.

[0047] Combined with appendix Figure 4 Appendix Figure 7 and attached Figure 8 As shown, the conveying mechanism 41 includes a guard plate 411, a rotating roller 412, and a conveyor belt 414. The guard plate 411 is located on both sides of the conveyor belt 414 and is connected to the vehicle body 1 and the guide plate 31 respectively. A support plate 413 is provided between the guard plates 411. The support plate 413 is provided with rollers that support the conveyor belt 414. Two rotating rollers 412 are rotatably located between the guard plates 411 and drive the conveyor belt 414 to rotate. The bearing displacement mechanism 4 also includes a drive mechanism 43 that drives the two sets of conveying mechanisms 41 to operate. The bearing plate 42 is installed on the conveyor belt 414. A limiting plate 421 is provided on the top of the bearing plate 42. The bearing plate 42 and the support frame 32 move synchronously and at the same speed.

[0048] Combined with appendix Figure 7 and attached Figure 9 As shown, the drive mechanism 43 includes a second motor 431 and a transmission shaft 433. The second motor 431 is fixed inside the vehicle body 1, and the transmission shaft 433 is rotatably located inside the vehicle body 1. The output end of the second motor 431 is provided with a fourth gear 432. The transmission shaft 433 is provided with a fifth gear 434 and two sixth gears 435. The fourth gear 432 meshes with the fifth gear 434 for transmission. The rotating roller 412 is coaxially connected with a third gear 415, which meshes with the sixth gear 435 for transmission.

[0049] When the bearing displacement mechanism 4 is working, it is first started by the motor 431 inside the vehicle body 1. Its output end drives the gear 432 to rotate. The gear 432 meshes with the gear 434 on the transmission shaft 433, thereby driving the transmission shaft 433 to rotate synchronously inside the vehicle body 1. When the transmission shaft 433 rotates, it drives the two gears 435 on it to rotate together. The gears 435 mesh with the gear 415, thereby driving the two rollers 412 of the two sets of bearing displacement mechanisms 4 to rotate synchronously. The rollers 412 further drive the conveyor belt 414 to rotate. The guard plate 411 provides limiting protection for the operating range of the conveyor belt 414. The bearing plate 42 installed on the conveyor belt 414 moves synchronously with the operation of the conveyor belt 414. Under the precise drive of the motor, the bearing plate 42 and the support frame 32 of the support and push mechanism 3 move synchronously and at the same speed. When the display substrate 01 is placed on the bearing plate 42, the bearing... The limiting plate 421 at the top of the carrier plate 42 limits the bottom of the substrate to prevent the substrate from sliding or shifting during movement and storage. The bottom of the substrate is stably supported by the carrier plate 42. The support plate 413 between the guard plates 411 and the rollers on it provide lower support for the conveyor belt 414, ensuring the smooth operation of the conveyor belt 414. Together with the rear support of the support frame 32, they form a double fixation. The two sets of conveying mechanisms 41 operate synchronously under the synchronous drive of the drive mechanism 43, driving the carrier plates 42 on both sides to move synchronously. This provides stable support for the orderly placement of multiple display substrates 01. During continuous substrate storage operations, the carrier plate 42 moves smoothly with the conveyor belt 414 at a set speed, always matching the position of the support frame 32, ensuring that each substrate can be accurately placed and stably supported, avoiding the substrate from tipping over or being damaged by collision due to changes in the bearing position or unstable support.

[0050] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A robot for transporting display substrates, comprising a vehicle body (1), wherein the vehicle body (1) is provided with a storage mechanism (2) and a transport mechanism (7), the transport mechanism (7) placing the display substrate (01) on the storage mechanism (2), characterized in that: The storage mechanism (2) includes a support and push mechanism (3) and a load displacement mechanism (4). The support and push mechanism (3) includes a guide plate (31) on the top of the vehicle body (1) and a support frame (32) slidably disposed on the guide plate (31). The load displacement mechanism (4) includes a conveying mechanism (41) disposed on both sides of the guide plate (31). Multiple load plates (42) are evenly disposed on the conveying mechanism (41). The bottom of the display substrate (01) is placed on the load plate (42), and the rear side is supported on the support frame (32). An isolation strip (6) is placed between adjacent display substrates (01). The handling mechanism (7) includes a robotic arm (8) and a clamping mechanism (9). Two sets of robotic arms (8) are symmetrically arranged at the front end of the vehicle body (1). The clamping mechanism (9) is located at the working end of the two sets of robotic arms (8). The clamping mechanism (9) clamps the display substrate (01). The top two sides of the vehicle body (1) are provided with an outer protective frame (11). The inner side of the outer protective frame (11) is provided with an isolation installation mechanism (5) that can automatically pick up and put in the isolation strip (6). The isolation installation mechanism (5) includes a crossbeam (51) installed on the outer frame (11), a pusher (54) is slidably provided on the crossbeam (51), an attachment plate (55) is provided on the inner side of the crossbeam (51), and multiple isolation strips (6) are arranged and adsorbed on the attachment plate (55). A feeding mechanism (56) is provided at the front end of the crossbeam (51). After the pusher (54) pushes the isolation strips (6) to the feeding mechanism (56), the feeding mechanism (56) pushes the isolation strips (6) between the display substrates (01). The isolation strip (6) includes a core plate (61), a sponge pad (62) is wrapped around the outside of the core plate (61), and a magnet (63) is provided on the back side of the core plate (61). The isolation strip (6) is attracted to the auxiliary plate (55) by the magnet (63). The feeding mechanism (56) includes a cylinder (561) and a feeding platform (562). The cylinder (561) is fixed to the end of the crossbeam (51) and its output end is connected to the feeding platform (562). The front end of the feeding platform (562) is provided with a magnet (563) that is magnetically attracted to the magnet (63). The magnet (563) and the attachment plate (55) are horizontally arranged. A baffle plate (564) is provided on one side of the feeding platform (562). The end of the crossbeam (51) is also provided with a material receiving mechanism (57). The material receiving mechanism (57) includes a second cylinder (571) and a U-shaped plate (572). The second cylinder (571) is fixed to the outside of the crossbeam (51) and its output end is connected to the U-shaped plate (572). The U-shaped plate (572) slides with the outside of the end of the crossbeam (51). Both ends of the U-shaped plate (572) are provided with a bend plate (573).

2. The robot for handling display substrates according to claim 1, characterized in that: The clamping mechanism (9) includes symmetrically arranged outer frames (91), which are connected by a truss (911). The outer frames (91) are provided with clamping frames (92) at both ends. A longitudinal plate (95) is slidably arranged between the inner sides of the two clamping frames (92). A clamping platform (97) is provided at one end of the clamping frame (92) and at both ends of the longitudinal plate (95). A cylinder four (96) is provided on the clamping frame (92), and the output end of the cylinder four (96) is connected to the longitudinal plate (95).

3. The robot for handling display substrates according to claim 2, characterized in that: The clamping frame (92) is slidably disposed at both ends of the outer frame (91). The two clamping frames (92) on the same side are connected by the transmission frame (94). The truss (911) is provided with cylinder three (93), and the output end of cylinder three (93) is connected to the transmission frame (94).

4. The robot for handling display substrates according to claim 1, characterized in that: The bottom of the guide plate (31) is provided with a motor (33), and the bottom of the guide plate (31) is provided with a threaded rod (34) for rotation. The output end of the motor (33) is in transmission cooperation with the threaded rod (34). The guide plate (31) is provided with a guide groove (312). The front side of the support frame (32) is provided with a pad (321). The bottom of the support frame (32) is provided with a drive platform (322) that is in sliding cooperation with the guide groove (312). The drive platform (322) is provided with a threaded hole that cooperates with the threaded rod (34).

5. The robot for handling display substrates according to claim 1, characterized in that: The conveying mechanism (41) includes a guard plate (411), a rotating roller (412) and a conveyor belt (414). The guard plate (411) is located on both sides of the conveyor belt (414) and connected to the vehicle body (1). The two rotating rollers (412) are rotatably located between the guard plates (411) and drive the conveyor belt (414) to rotate. The bearing displacement mechanism (4) also includes a drive mechanism (43) that drives the two sets of conveying mechanisms (41) to operate. The bearing plate (42) is installed on the conveyor belt (414). The top of the bearing plate (42) is provided with a limiting plate (421). The bearing plate (42) moves synchronously and at the same speed as the support frame (32).

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