Dispensing system for glue liquid of glass substrate and dispensing method thereof

Abstract

The application discloses a kind of glass substrate glue liquid distribution systems, feed equipment is used to store and transfer glass substrate, and feed equipment includes: feeding device transports glass substrate feeding, transfer device transfers glass substrate, overturning device drives glass substrate to overturn, and unloading device is unloaded to the glass substrate that completes point glue job;Point glue equipment utilizes the rotation of inclined mechanism to drive point glue mechanism to rotate between vertical direction and horizontal direction, and point glue mechanism is vertical direction, and the end surface of glass substrate is carried out point glue job;Point glue mechanism is horizontal direction, and the side surface of glass substrate is carried out point glue job.A kind of point glue distribution method of glass substrate, the end surface and side surface of glass substrate are carried out point glue job using the above-mentioned glass substrate glue liquid distribution system.The glass substrate glue liquid distribution system and its point glue distribution method of the application can realize the four around and side surface of glass substrate to carry out point glue job, improve point glue job efficiency.

Description

Technical Field

[0001] This invention relates to the field of semiconductor packaging, and more particularly to a glass substrate adhesive dispensing system and its dispensing method. Background Technology

[0002] In existing semiconductor packaging products, the outer edge area of ​​the workpiece is easily subjected to external mechanical stress during manufacturing, handling and use due to the high brittleness of the glass substrate material itself. This can lead to problems such as impact damage, micro-cracks or even edge chipping. To address these issues, edge sealing or peripheral adhesive application structures are typically used to improve the protection of the workpiece edges.

[0003] Existing dispensing equipment is typically designed for dispensing onto wafers. Current dispensing systems can only dispense onto the front side of the glass substrate, making it difficult to dispense onto the sides. Further improvements are needed to address how to dispense adhesive onto the end faces and sides of the glass substrate. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that existing dispensing systems cannot dispense adhesive to the reverse and side surfaces of glass substrates. The present invention provides a glass substrate adhesive dispensing system that can perform dispensing operations on the end faces and side surfaces of glass substrates, thereby improving dispensing efficiency.

[0005] The technical solution adopted by this invention to solve its technical problem is: a glass substrate adhesive dispensing system, comprising: The feeding device, used for storing and transferring glass substrates, includes: The feeding device is used to transport and feed glass substrates; A transfer device for adsorbing and transporting glass substrates; A flipping device is used to receive a workpiece that has completed the front-side dispensing operation and drive the glass substrate to flip so that the transfer device can send the flipped glass substrate into the dispensing equipment for the back-side dispensing operation. A feeding device is used to transport glass substrates that have completed the dispensing operation. Dispensing equipment, the dispensing equipment comprising: A dispensing mechanism is connected to a tilting and rotating mechanism, which drives the dispensing mechanism to rotate between the vertical and horizontal directions. The tilting and rotating mechanism is connected to the three-axis motion mechanism; A processing stage, which is used to support a glass substrate and drive the glass substrate to rotate; in, The dispensing mechanism faces the front of the glass substrate and performs dispensing operations on the periphery of the glass substrate surface. The dispensing mechanism faces the side of the glass substrate and performs dispensing operations on the side of the glass substrate.

[0006] The dispensing system of this invention feeds a glass substrate into a dispensing device for dispensing, and uses a flipping device to flip the glass substrate, enabling the dispensing device to dispense adhesive onto both the end face and the side face of the glass substrate, thereby improving dispensing efficiency.

[0007] Furthermore, the feeding device includes: a first feeding device; the first feeding device has a first feeding station and a first unloading station, the first feeding station receives a first material box containing multiple large-sized glass substrates, the first feeding device is adapted to move the large-sized glass substrates one by one from the first feeding station to the first unloading station, and the transfer device obtains the large-sized glass substrates from the first unloading station and transfers them.

[0008] Furthermore, the first feeding device includes: z-axis motion mechanism; A feeding mechanism is used to carry a material box for placing glass substrates. The feeding mechanism has a first feeding station and is connected to a z-axis motion mechanism. The feeding mechanism moves along the z-axis to transport the glass substrates in the material box to the first feeding station. The feeding mechanism is adjacent to the loading mechanism in the y-direction. The feeding mechanism has a first picking station and drives the glass substrate to move from the first feeding station to the first picking station.

[0009] Furthermore, the feeding mechanism includes: A feeding assembly is located inside the workpiece conveying assembly. The feeding assembly extends into the material box to pull the glass substrate on the first feeding station along the y direction to the workpiece conveying assembly. A workpiece conveying assembly receives a glass substrate and conveys it along the y-direction to a first picking station.

[0010] Furthermore, the feeding mechanism includes: A material box conveying bracket, which is connected to the z-axis motion mechanism; A material box positioning and conveying mechanism is connected to a material box conveying bracket. The material box is placed on the material box positioning and conveying mechanism, and the material box positioning and conveying mechanism moves along the z-direction following the material box conveying bracket.

[0011] Furthermore, the feeding device also includes a second feeding device, which has a second feeding station and a second unloading station. The second feeding station receives a tray containing multiple small-sized glass substrates. The second feeding device is adapted to move the trays one by one from the second feeding station to the first unloading station. The transfer device retrieves the small-sized glass substrates from the second unloading station and transfers them.

[0012] Furthermore, the processing stage can be selectively equipped with a large adsorption fixture or a small adsorption fixture according to the size of the glass substrate. The large adsorption fixture is adapted to place a large glass substrate, and the small adsorption fixture is adapted to place a small glass substrate.

[0013] Furthermore, the ends of the large and small adsorption fixtures are detachably equipped with magnetic blocks, which contact the ends of the glass substrate to position the glass substrate.

[0014] Furthermore, the transfer device includes: First x-axis motion mechanism; A material-grabbing robot arm, wherein the material-grabbing robot arm is connected to the first x-axis motion mechanism; Second x-axis motion mechanism; A downward-viewing camera, which is connected to the second x-axis motion mechanism; The downward-viewing camera captures images of the glass substrate to be processed at the first or second material handling station, so that the gripping robot can pick up the glass substrate; or the downward-viewing camera captures images of the unloading station of the unloading device, so that the gripping robot can put the glass substrate that has completed the dispensing operation back to the unloading station. The gripping robot is used to pick up glass substrates, and the first x-axis motion mechanism drives the gripping robot to move along the x-axis to transfer the glass substrates between the loading device, dispensing device, flipping device and unloading device.

[0015] Furthermore, the dispensing equipment also includes: The first vision module is connected to the three-axis motion mechanism and performs image acquisition on the surface of the glass substrate. The second vision module is connected to the three-axis motion mechanism and performs image acquisition on the side of the glass substrate.

[0016] Furthermore, the number of dispensing devices is two, and the dispensing devices are symmetrically arranged on both sides of the transfer device in the x-direction.

[0017] Furthermore, the transfer device also includes: The NG discharge mechanism is used to place defective glass substrates onto the NG discharge mechanism.

[0018] Furthermore, the glass substrate adhesive dispensing system also includes a curing device, which is used to cure the glass substrate after the dispensing operation is completed, and the curing device is located between adjacent feeding devices.

[0019] The technical solution adopted by this invention to solve its technical problem is: a dispensing method for a glass substrate, applied to the above-mentioned glass substrate adhesive dispensing system, specifically including the following steps: S1. The glass substrate is transported to the unloading station by the feeding device; S2. The transfer device obtains the glass substrate from the material handling station and transfers the glass substrate to the processing platform; S3. The dispensing mechanism rotates to the vertical direction, and moves relative to the glass substrate to dispense adhesive onto the end face of the glass substrate; Alternatively: The dispensing mechanism rotates to the horizontal direction and moves along one side of the glass substrate to perform a single dispensing operation on the side of the glass substrate. After the dispensing operation on that side is completed, the processing stage drives the glass substrate to rotate 90°, and the dispensing mechanism moves along the other side of the glass substrate again to perform a single dispensing operation. The above actions are repeated until the dispensing operation on all sides of the glass substrate is completed. S4. The transfer device sends the glass substrate that has completed the dispensing operation on the processing platform to the unloading station of the unloading device, and the unloading device completes the unloading of the workpiece.

[0020] The beneficial effects of this invention are: The glass substrate adhesive dispensing system of the present invention feeds the glass substrate through a feeding device, a conveying device, and a dispensing device, and flips the glass substrate with a flipping device, so that the glass substrate can be dispensed on the end face and side face of the dispensing equipment according to the operation requirements, thereby meeting different dispensing needs.

[0021] The glass substrate adhesive dispensing system of the present invention provides glass substrates of different sizes through a first feeding device and a second feeding device. Glass substrates of different sizes can be used in the same dispensing process, and glass substrates of different sizes can be unloaded by a feeding device, which has wider applicability and saves space. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a three-dimensional structural schematic diagram of the glass substrate adhesive distribution system of the present invention.

[0024] Figure 2 yes Figure 1 Top view.

[0025] Figure 3 yes Figure 1 Side view.

[0026] Figure 4 This is a three-dimensional structural diagram of the transfer device.

[0027] Figure 5 This is a three-dimensional structural diagram of a dispensing device.

[0028] Figure 6 This is a sectional view of the machining platform.

[0029] Figure 7 This is a three-dimensional structural diagram of the first feeding device.

[0030] Figure 8 This is a three-dimensional structural diagram of the first feeding device from another angle.

[0031] Figure 9 This is a three-dimensional structural diagram of the feeding mechanism.

[0032] Figure 10 This is a three-dimensional structural diagram of the feeding mechanism from another angle.

[0033] Figure 11 This is a three-dimensional structural diagram of the feeding component.

[0034] Figure 12 This is a three-dimensional structural diagram of the flipping device.

[0035] Figure 13 yes Figure 11 Side view.

[0036] Figure 14 This is a schematic diagram of the curing device.

[0037] Figure 15 This is a schematic diagram of the processing platform for assembling large adsorption fixtures.

[0038] Figure 16 This is a schematic diagram of the processing platform for assembling small adsorption fixtures.

[0039] Figure 17 This is a schematic diagram illustrating the principle of adhesive dispensing on the side of a glass substrate.

[0040] In the picture: 1. Transfer device; 11. First x-axis motion mechanism; 12. Gripping robot; 13. Second x-axis motion mechanism; 14. Downward-looking camera; 15. Tilting device; 151. Lifting platform; 1511. Support column; 152. Tilting assembly; 1521. Power unit; 1522. Servo gripper; 153. Z-axis lifting mechanism; 154. Y-axis motion mechanism; 16. Quick-change mechanism; 161. Bracket; 17. Gripper; 2. Feeding device; 21a. First feeding station; 21b. First unloading station; 21. First feeding device; 201. Z-axis motion mechanism; 202. Feeding mechanism; 203. Feeding mechanism; 204. First material box; 205. Feeding assembly; 2051. Transmission belt assembly; 2052. Slide table; 2053. Guide rail; 2054. Tie rod; 2055. Protrusion; 206. Workpiece conveying assembly; 2061. Conveyor belt assembly; 207. Material box Conveying bracket; 2071, Material box height detection sensor; 2072, Workpiece detection sensor; 2073, Material box arrival detection sensor; 208, Material box positioning and conveying mechanism; 2081, Material box conveying assembly; 2082, Positioning assembly; 20821, Upper positioning part; 20822, Side positioning part; 20831, Stop block; 20832, Anti-reverse block; 22, Second feeding device; 22a, Second feeding station; 22b, Second unloading station; 3. Dispensing equipment; 31. Processing platform; 311. Large suction fixture; 312. Small suction fixture; 313. Magnetic block; 314. Heating plate; 315. Drive motor; 32. Three-axis motion mechanism; 33. First vision module; 34. Dispensing mechanism; 35. Process module; 36. Side calibration module; 37. Tilting and rotating mechanism; 38. Second vision module; 4. Feeding device; 41. Feeding station; 42. Feeding station; 5. NG discharge mechanism; 6. Curing device; 61. Adsorption fixture; 62. UV lamp. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0042] Example 1: like Figures 1 to 4As shown, a glass substrate adhesive dispensing system includes a feeding device and a dispensing device. The feeding device is used to store and transfer glass substrates. The feeding device includes: a transfer device 1, a loading device 2, a flipping device 15, and a unloading device 4. The loading device 2 includes: a first loading device 21 and two second loading devices 22. The first loading device 21 drives large-sized glass substrates to flow between a first feeding station 21a and a first unloading station 21b of the first loading device 21. The second loading devices 22 drive small-sized glass substrates to flow between a second feeding station 22a and a second unloading station 22b of the second loading device 22. The first loading device 21 and the second loading device 22 are spaced apart in the x-direction. Two second feeding devices 22 are arranged adjacent to each other, and the two second feeding devices 22 are located in the middle area of ​​the transfer device 1. The first feeding device 21 is located on the left side of the transfer device 1. The unloading device 4 is symmetrically arranged with the first feeding device 21. This allows for the addition of other mechanisms (which will be described in detail below) within a limited space. Glass substrates come in various sizes. Large glass substrates need to be fed through the first feeding device 21, while small glass substrates need to be fed through the second feeding device 22.

[0043] Since the first feeding device 21 and the second feeding device 22 are adjacent to the transfer device 1 in the y-direction, the feeding side and the discharging side of the first feeding device 21 and the second feeding device 22 are on the same side, and the feeding path and the discharging path of the workpiece are basically the same, which can greatly reduce the space required for workpiece circulation.

[0044] Specifically, the dispensing device 3 is externally connected to the transfer device 1 in the x-direction. The loading device 2 transports the glass substrate from the first feeding station 21a to the first unloading station 21b. The transfer device 1 picks up the glass substrate located at the first unloading station 21b and transfers it to the dispensing device 3. After the dispensing device 3 performs the dispensing operation on the glass substrate, the transfer device 1 picks up the dispensed glass substrate and returns it to the first unloading station 21b. The loading device 2 then returns the dispensed glass substrate from the first unloading station 21b to the first feeding station 21a. The dispensing device 3 is located to the side of the transfer device 1, and is spatially closer to the first loading device 21 and the second loading device 22. The transfer device 1 can shorten the length of the flow path between the workpiece and the dispensing device 3, improving operational efficiency. In this embodiment, the size of the glass substrate transported by the first loading device 21 is much larger than the size of the glass substrate transported by the second loading device 22.

[0045] like Figures 7 to 10Preferably, the first loading device 21 includes: a z-axis motion mechanism 201, a loading mechanism 202, and a feeding mechanism 203. The loading mechanism 202 carries a first material box 204 containing large-sized glass substrates. The loading mechanism 202 is connected to the z-axis motion mechanism 201 and moves along the z-axis to transport the large-sized glass substrates in the first material box 204 to the first feeding station 21a. The feeding mechanism 203 is adjacent to the loading mechanism 202 in the y-axis direction. The feeding mechanism 203 moves the large-sized glass substrates from the first feeding station 21a to the first unloading station 21b. The first material box 204 is placed in the loading mechanism 202. Driven by the z-axis motion mechanism 201, since the large-sized glass substrates are arranged sequentially along the z-axis in the first material box 204, when the first material box 204 moves along the z-axis with the loading mechanism 202, the uppermost large-sized glass substrate first moves to the first feeding station 21a, and then the feeding mechanism 203 transports the large-sized glass substrate to the first unloading station 21b. Then the first material box 204 continues to rise along the z-axis until all the large-sized glass substrates are taken out. After that, the empty material box is replaced with a material box full of large-sized glass substrates and the operation continues.

[0046] like Figure 11As shown, specifically, the feeding mechanism 203 includes a feeding assembly 205 and a workpiece conveying assembly 206. The feeding assembly 205 is located inside the workpiece conveying assembly 206 and extends into the first material box 204 to pull the large-sized glass substrate on the first feeding station 21a along the y-direction to the workpiece conveying assembly 206. The workpiece conveying assembly 206 receives the large-sized glass substrate and conveys it along the y-direction to the first picking station 21b (the first picking station 21b is the end of the workpiece conveying assembly 206). When a large-sized glass substrate is transferred from the first feeding station 21a to the first unloading station 21b, the first material box 204 rises to its highest point along the z-axis. At this time, there is a gap between the bottommost large-sized glass substrate in the first material box 204 and the bottom of the first material box 204 to allow the feeding assembly 205 to enter the first material box 204. After the feeding assembly 205 enters the first material box 204 (at this time, the feeding assembly 205 is located below the bottommost large-sized glass substrate), after the large-sized glass substrate rises to the first feeding station 21a, the feeding assembly 205 will move along the y-axis... The large glass substrate moves into the first material box 204. At this point, the feeding component 205 is located below the large glass substrate. The first material box 204 then descends a short distance along the z-axis, at which point the feeding component 205 contacts the large glass substrate. The feeding component 205 pulls the large glass substrate along the y-axis, and the large glass substrate leaves the first material box 204 and enters the workpiece conveying component 206. Under the combined action of the material box positioning conveying mechanism 208 and the conveying component, the large glass substrate moves along the y-axis to the first picking station 21b to be picked up by the transfer device 1. The feeding component 205 picks up materials from the bottom layer of the first material box 204 until all the large glass substrates in the first material box 204 are removed. The unloading process is similar; the large glass substrates are unloaded from the top layer of the first material box 204 until the first material box 204 is full.

[0047] In this embodiment, the workpiece conveying assembly 206 is a conveyor belt assembly 2061 arranged along the y-direction. After the glass substrate enters the conveyor belt assembly 2061, it moves along the y-direction. The feeding assembly 205 includes a transmission belt assembly 2051 arranged along the y-direction. The transmission belt assembly 2051 is located in the middle of the conveyor belt assembly 2061. A slide table 2052 is provided on the transmission belt assembly 2051. The slide table 2052 is movably connected to the guide rail 2053. A pull rod 2054 arranged along the y-direction is provided above the slide table 2052. The front end of the pull rod 2054 has a protrusion 2055. The pull rod 2054 enters the first material box 204 and hooks the large-sized glass substrate through the protrusion 2055, thereby pulling the large-sized glass substrate out of the first material box 204.

[0048] Specifically, the feeding mechanism 202 includes a box conveying support 207 and a box positioning conveying mechanism 208. The box conveying support 207 is connected to the z-axis motion mechanism 201. The box positioning conveying mechanism 208 is connected to the box conveying support 207, and a first box 204 is placed on the box positioning conveying mechanism 208. The box positioning conveying mechanism 208 moves along the z-axis following the box conveying support 207. In this embodiment, there are two box positioning conveying mechanisms 208, arranged along the z-axis. Each box positioning conveying mechanism 208 can be equipped with one first box 204, achieving one for backup and one for use.

[0049] Specifically, the cassette positioning and conveying mechanism 208 includes: a cassette conveying assembly 2081, a positioning assembly 2082, and a stop assembly. A first cassette 204 is placed on the cassette conveying assembly 2081, which drives the first cassette 204 to move along the y-direction. The positioning assembly 2082 is located outside the first cassette 204, moves towards the first cassette 204, and abuts against the first cassette 204 to position it. The stop assembly is located in the conveying direction of the cassette conveying assembly 2081, and abuts against the first cassette 204 to limit its position in the y-direction. The first material box 204 is moved manually or by an AGV and placed on the material box conveying component 2081. The material box conveying component 2081 then drives the first material box 204 to move along the y-direction until the first material box 204 is blocked by the stop component. At this point, the first material box 204 is conveyed into position, and the positioning component 2082 fixes the first material box 204 to prevent displacement during the loading process. After the first material box 204 reaches its position, the material box conveying bracket 207 can move along the z-direction to perform the aforementioned workpiece loading process.

[0050] Preferably, the positioning component 2082 includes an upper positioning part 20821 and a side positioning part 20822. The upper positioning part 20821 is located above the material box conveying component 2081, and moves along the z-direction to abut against the top of the first material box 204 to position the first material box 204. The side positioning parts 20822 are located on both sides of the material box conveying component 2081, and move relative to each other along the x-direction to abut against the sides of the first material box 204 to position the first material box 204. The front end of the side positioning part 20822 is also provided with a material box positioning detection sensor 2073, which is used to detect the position of the first material box 204 in the y-direction. The first material box 204 moves into position and triggers the material box position detection sensor 2073. At this time, the upper positioning part 20821 and the side positioning part 20822 move towards the first material box 204 simultaneously until the upper positioning part 20821 and the side positioning part 20822 abut against the side of the first material box 204, positioning the first material box 204 to prevent the first material box 204 from slipping during the lifting and lowering process and to prevent the first material box 204 from falling.

[0051] Preferably, the stop assembly includes a stop block 20831 and a backstop block 20832. The stop block 20831 is located at the end of the cartridge conveying assembly 2081. After the first cartridge 204 moves from the front end of the cartridge conveying assembly 2081 to the end, the stop block 20831 abuts against the lower end of the first cartridge 204. The stop block 20831 restricts the movement of the first cartridge 204 in the y-direction, preventing the first cartridge 204 from falling. The backstop block 20832 is movably located at the front end of the cartridge conveying assembly 2081. After the first cartridge 204 moves from the end of the cartridge conveying assembly 2081 to the front end, the backstop block 20832 abuts against the lower end of the first cartridge 204. When manually unloading materials, a stop block 20832 needs to be set to prevent the first material box 204 from falling off the material box conveying assembly 2081.

[0052] The feeding mechanism 202 in this embodiment can be adapted to manual feeding or AGV trolley feeding (AGV trolley has a corresponding connecting track for direct conveying of material boxes). Since the feeding mechanism 202 can convey the first material box 204 along the z-direction, it is convenient to control the material box conveying component 2081 to be aligned with the connecting track of the AGV trolley, so as to realize the rapid conveying of the first material box 204.

[0053] The structure of the unloading device 4 is exactly the same as that of the first loading device 21. The only difference is that during unloading, a fixture is placed on the workpiece conveying assembly of the unloading device 4. Before the workpiece is unloaded, the fixture is in the unloading station 41. The fixture has a boss for placing the large glass substrate after dispensing. After the large glass substrate is placed on the boss of the fixture, the feeding assembly pushes the fixture back into the unloading station 42, that is, back into the material box.

[0054] Preferably, the material box conveying bracket 207 is also equipped with a material box height detection sensor 2071 and a workpiece detection sensor 2072. The material box height detection sensor 2071 is located above the first material box 204 and is used to detect the height position of the first material box 204. The workpiece detection sensor 2072 is located below the first material box 204 and is used to detect the y-direction position of the large-sized glass substrate. The feeding assembly 205 can only start working when the position of the first material box 204 is not excessively high and the workpiece detection sensor 2072 can detect the large-sized glass substrate.

[0055] Specifically, the second feeding device 22 includes: a storage cabinet, a tray unpacking mechanism, a tray conveying mechanism, and a pushing mechanism. The storage cabinet is used to store multiple trays stacked together. The tray unpacking mechanism separates the tray at the top layer from the other trays and conveys the top tray to the second feeding station 22a. The conveying mechanism is located on one side of the storage cabinet and opposite the output position. It receives trays pushed from the second feeding station 22a and conveys the trays to the second picking station 22b. The pushing mechanism is used to push the trays located at the second feeding station 22a to the tray conveying mechanism. The second feeding device 22 in this embodiment is the same as that in the applicant's earlier patent application CN202511325127.5.

[0056] Specifically, the first feeding device 21 transports large glass substrates with dimensions of 310mm*310mm, while the second feeding device 22 transports small glass substrates with dimensions of 20mm*20mm. In a single operation, either the first feeding device 21 or the second feeding device 22 is used for material supply, and only one type of glass substrate can be dispensed at a time; mixed operations are not allowed.

[0057] Specifically, the transfer device 1 includes: a first x-axis motion mechanism 11, a gripping robot 12, a second x-axis motion mechanism 13, and a downward-viewing camera 14. The gripping robot 12 is connected to the first x-axis motion mechanism 11. The gripping robot 12 is a conventional structure and will not be described in detail here. The gripping robot 12 has a vacuum adsorption function, and also adsorbs large-sized glass substrates by vacuum adsorption. The gripping robot 12 holds and adsorbs large-sized glass substrates from the bottom. The gripping robot 12 adsorbs small-sized glass substrates from the upper surface of small-sized glass substrates. In this embodiment, the gripping robot 12 is a six-axis robot.

[0058] The downward-view camera 14 is connected to the second x-axis motion mechanism 13, which is located above the loading device 2 and the unloading device 4. This allows the downward-view camera 14 to move above the first picking station 21b, the second picking station 22b, and the unloading station 41 when it moves along the x-axis. The downward-view camera 14 captures images of the large-sized glass substrate to be processed at the first picking station 21b or the small-sized glass substrate to be processed at the second picking station 22b, so that the gripping robot 12 can pick up the corresponding glass substrate. Before dispensing a large-sized glass substrate, the gripping robot 12 needs to pick up the large-sized glass substrate. The downward-viewing camera 14 moves along the x-axis to above the first picking station 21b of the loading mechanism 202, and then photographs the large-sized glass substrate to obtain its position. After the gripping robot 12 moves with the first x-axis movement mechanism 11 to above the first picking station 21b, it picks up the large-sized glass substrate based on its position and places it into the dispensing equipment 3 for dispensing. During the glass substrate operation, the downward-viewing camera 14 moves along the x-axis to above the first picking station 21b of the second loading device 22, and then photographs the large-sized glass substrate to obtain its position. The gripping robot 12 then picks up the large-sized glass substrate based on its position and places it into the dispensing equipment 3 for dispensing. The gripping robot 12 is used to pick up large-sized glass substrates and transfer them between the first picking station 21b and the dispensing device 3. Since the first loading device 21, the unloading device 4, and the second loading device 22 are all arranged along the x-direction, the unloading station 41 and the first picking station 21b are coaxially arranged in the x-direction. The downward-looking camera 14 only needs to move along the x-direction to quickly move above the unloading station 41, the first picking station 21b, or the second picking station 22b, optimizing the overall machine space layout and ensuring that the relative positions of the downward-looking camera 14 and the unloading station 41, the first picking station 21b, and the second picking station 22b are always accurate. The flow of the large-sized glass substrates in the x-direction is mainly controlled by the first x-direction motion mechanism 11, and the gripping robot 12 realizes the gripping and unloading.

[0059] In this embodiment, the small-sized glass substrates are arranged in an array on the tray. Therefore, before the gripping robot 12 picks up the small-sized glass substrates, the downward-looking camera 14 must capture the position of all the small-sized glass substrates to ensure that the gripping robot 12 can accurately pick up the small-sized glass substrates.

[0060] Since only one dispensing operation can be performed on the glass substrate at a time in this embodiment, large-sized glass substrates and small-sized glass substrates can share the same unloading device 4 during unloading.

[0061] When unloading large-sized glass substrates, after the workpiece has completed the dispensing process, the sides and ends of the workpiece's outer edge may still have dispensing surfaces. Therefore, if the push rod directly pushes the workpiece during unloading, it will damage the dispensing surfaces of the large-sized glass substrate, affecting the dispensing quality and making it impossible to directly place the large-sized glass substrate back into the material box in the loading manner. Therefore, empty material boxes are pre-placed on the unloading device 4. Multiple fixtures are spaced apart along the z-direction in the empty material boxes. Before the workpiece is unloaded, the fixtures are moved to the unloading station 41 by the feeding assembly in a feeding and loading manner.

[0062] The downward-view camera 14 captures the image of the unloading station 41, where a fixture is placed. The camera 14 also captures the position of the fixture. After determining the fixture's position, the gripping robot 12 places the completed large-sized glass substrate back onto the fixture, thus returning the large-sized glass substrate to the unloading station 41. Then, the feeding assembly 205 pushes the fixture back onto the material tray. The feeding assembly 205 then pulls the next fixture out of the material box, and so on. Only one large-sized glass substrate can be placed on each fixture.

[0063] When unloading small-sized glass substrates, they cannot be directly placed back into the material tray using the same loading method. Therefore, multiple fixtures are spaced along the z-axis on the material tray, and these fixtures are moved to the unloading station 41 by the feeding assembly. Since the small-sized glass substrates are relatively small, each fixture can have multiple bosses, and each fixture can hold multiple small-sized glass substrates (the specific number depends on the size of the small-sized glass substrates). After each fixture has held a small-sized glass substrate on its boss, the feeding assembly pushes the fixture back into the material tray.

[0064] Because multiple small glass substrates can be placed on the fixture, in order to avoid the small glass substrates being repeatedly placed on the same boss by the gripping robot 12 and thus damaged, the downward-looking camera 14 must take a picture of the fixture before each feeding to determine whether the glass substrate can be placed.

[0065] like Figures 12 to 13 As shown, specifically, the transfer device 1 also includes a flipping device 15. The gripping robot 12 places the large-sized glass substrate, after the front-side dispensing operation has been completed, into the flipping device 15. The flipping device 15 drives the glass substrate to flip 180°. The gripping robot 12 then feeds the flipped large-sized glass substrate into the dispensing equipment 3 for the reverse-side dispensing operation. The flipping device 15, along with the loading device 2 and the unloading device 4, are all arranged along the x-direction. In this embodiment, the flipping device 15 is located between the second loading device 22 and the unloading device 4.

[0066] In this embodiment, the first feeding device 21, the second feeding device 22, the unloading device 4, and the flipping device 15 are arranged approximately coaxially, so that most of the workpiece's flow path is concentrated in the x-direction, which can shorten the workpiece's flow path and ensure accurate workpiece positioning.

[0067] Preferably, the flipping device 15 includes a lifting platform 151 and a flipping assembly 152. The lifting platform 151 is mounted on a z-axis lifting mechanism 153, which drives the lifting platform 151 to move along the z-axis. The flipping assembly 152 is connected to a y-axis motion mechanism 154, which drives the flipping assembly 152 to move along the y-axis. The flipping assembly 152 includes a power unit 1521 and a servo gripper 1522. The servo gripper 1522 moves relative to each other to grip the front and back of a large-sized glass substrate (the servo gripper 1522 has a conventional structure with a vacuum suction head to avoid damaging the large-sized glass substrate). The power unit 1521 drives the servo gripper 1522 to rotate, thereby flipping the large-sized glass substrate 180°. The end of the lifting platform 151 has a support column 1511, and the support column 1511 has a vacuum adsorption port inside. The support column 1511 and the vacuum adsorption port are used to support and adsorb the workpiece. The support column 1511 can leave enough space between the large glass substrate and the lifting platform 151, so that the servo gripper 1522 can extend into the underside of the large glass substrate.

[0068] After the front side of the large-sized glass substrate is glued, glue needs to be applied to the back side. At this time, the gripping robot 12 picks up the large-sized glass substrate and places it on the lifting platform 151. The support column 1511 supports the large-sized glass substrate, while the vacuum suction port picks up and fixes the large-sized glass substrate. Then, the lifting platform 151 rises along the z-axis. After the lifting platform 151 is in position, the flipping component 152 moves along the y-axis towards the glass substrate under the drive of the y-axis motion mechanism 154. The upper servo gripper 1522 is located above the front side of the large-sized glass substrate, and the lower servo gripper 1522 is located below the back side of the large-sized glass substrate. Then, the two servo grippers 1522 move synchronously towards the large-sized glass substrate, picking up and holding the large-sized glass substrate. Then, the vacuum suction port releases the suction, and the large-sized glass substrate can be separated from the support column 1511. Finally, the lifting platform 151 descends, causing the support column 1511 to separate from the large-sized glass substrate. At this point, the power unit 1521 drives the servo gripper 1522 to rotate 180°, completing the flipping of the large-sized glass substrate. Then, the lifting platform 151 rises again to repeat the above process, receiving and adsorbing the glass substrate. The servo gripper 1522 releases the large-sized glass substrate and resets along the y-axis. After the servo gripper 1522 resets, the vacuum adsorption of the large-sized glass substrate is released again. Finally, the gripping robot 12 adsorbs the large-sized glass substrate again and sends it into the dispensing equipment 3 for reverse dispensing. The flipping device 15 is mainly used for flipping larger workpieces.

[0069] When flipping a small glass substrate, the gripping robot 12 can directly flip the glass substrate, so there is no need for the flipping device 15 to flip it.

[0070] like Figure 5 and Figure 6 As shown, specifically, the dispensing equipment 3 includes: a processing stage 31, a three-axis motion mechanism 32, a first vision module 33, a second vision module 38, a tilting and rotating mechanism 37, and a dispensing mechanism 34. The processing stage 31 is used to support the glass substrate to be dispensed. The dispensing mechanism 34 is connected to the tilting and rotating mechanism 37 and is used to perform dispensing operations on the sides and end faces of the glass substrate on the processing stage. The dispensing mechanism 34 can rotate between -5° and 90°. When the dispensing mechanism 34 is vertical, its dispensing direction is towards the end face of the glass substrate, and it performs dispensing operations on the end face of the glass substrate. When the dispensing mechanism 34 is horizontal, its dispensing direction is towards the side face of the glass substrate, and it performs dispensing operations on the side face of the glass substrate. The tilting and rotating mechanism 37 is connected to the three-axis motion mechanism 32. The dispensing mechanism 34 can be a screw valve, a piezoelectric valve, a spray valve, or a C-type valve.

[0071] Specifically, such as Figure 6 , Figure 15 and Figure 16 As shown, since the glass substrates come in two different sizes, the processing stage 31 needs to be adapted to both types of glass substrates. Typically, processing stages are circular (suitable for wafer dispensing). Therefore, depending on the size of the glass substrate, a large suction fixture 311 or a small suction fixture 312 is selectively mounted on the processing stage. The large suction fixture 311 is adapted to hold large glass substrates (310mm*310mm), and the small suction fixture 312 is adapted to hold small glass substrates (20mm*20mm).

[0072] Preferably, the dimensions of the large suction fixture 311 or the small suction fixture 312 are adapted to the glass substrate, and both the large suction fixture 311 and the small suction fixture 312 also have vacuum suction function. In addition, the ends of the large suction fixture 311 or the small suction fixture 312 have magnetic blocks 313. The magnetic blocks 313 are suitable for manual material feeding. Before manual feeding, the magnetic blocks 313 are first attached to the ends of the large suction fixture 311 or the small suction fixture 312. Then, the glass substrate is placed on the large suction fixture 311 or the small suction fixture 312, so that the four ends of the glass substrate are precisely positioned by the magnetic blocks 313. Before the dispensing operation, the magnetic blocks 313 can be manually removed. Of course, the processing stage 31 includes a heating plate 314 and a drive motor 315. The drive motor 315 is connected to the heating plate 314 via power transmission, and the drive motor 315 can drive the heating plate 314 to rotate. A large suction fixture 311 or a small suction fixture 312 can be mounted on the heating plate 314. The heating plate 314 can heat the corresponding glass substrate. At the same time, according to the needs of the dispensing operation, the drive motor 315 can drive the glass substrate to rotate through the heating plate 314.

[0073] In this embodiment, the end face refers to any area on the surface of the glass substrate, which can be the middle area or the surrounding area, depending on the adhesive application requirements.

[0074] Specifically, since the workpiece inlet of the dispensing device 3 is located outside the first x-axis motion mechanism 11, when the first x-axis motion mechanism 11 drives the gripping robot 12 to move to the end, the gripping robot 12 can place the glass substrate on the processing stage 31 by itself, shortening the workpiece flow path and improving the workpiece operation efficiency.

[0075] When it is necessary to perform adhesive dispensing on the glass substrate, the gripping robot 12 directly picks up the glass substrate and places it on the processing stage 31. The tilting and rotating mechanism 37 drives the dispensing mechanism 34 to the vertical direction to dispense adhesive on the surface of the glass substrate from the vertical direction. The tilting and rotating mechanism 37 can also drive the dispensing mechanism 34 to the horizontal direction to dispense adhesive on the side of the glass substrate.

[0076] The first vision module 33 is connected to the three-axis motion mechanism 32, and the first vision module 33 acquires images of the surface of the glass substrate. The second vision module 38 is connected to the three-axis motion mechanism 32, and the second vision module 38 acquires images of the side of the glass substrate. Before the dispensing operation, the glass substrate is inspected for defects such as chipped edges, missing corners, and warping. If obvious defects are detected in the glass substrate, the workpiece is determined to be NG (Not Good), and the gripping robot 12 directly picks up the workpiece and places it into the NG unloading mechanism 5. After the dispensing operation, the shape of the sprayed adhesive on the workpiece is inspected.

[0077] Preferably, the dispensing equipment 3 further includes a process module 35 and a side calibration module 36. The side calibration module 36 is disposed on the side of the processing platform and is connected to the Z-axis lifting mechanism. The side calibration module 36 ensures the accuracy of position calibration during horizontal operation. During dispensing operation, the side calibration module 36 can be lowered below the platform to provide sufficient working space for the dispensing mechanism 34.

[0078] Specifically, the side calibration module 36 includes pressure-sensitive paper, a knife setter, a ceramic plate, and a standard origin array calibration board.

[0079] Specifically, process module 35 includes a non-contact weighing module, a glue removal process module, a UPC glue residue detection module, and a front calibration module. The non-contact weighing module is used to calibrate the glue dispensing weight of the valve. The glue removal process module is used for cleaning the glue residue from the screw valve needle. The UPC glue residue detection module checks whether there is glue residue on the nozzle. The front calibration module includes a lint-free cloth wiping module, compatible with both nozzle and needle wiping; a parameter setting glue suction module, which can be linked to the task to determine if the glue suction status is good; and a four-point calibration module, which uses a centrifugal paper to predict the dispensing effect.

[0080] There are two dispensing devices 3, which are symmetrically arranged on both sides of the transfer device 1 in the x-direction. Both dispensing devices 3 can perform front, back, and side dispensing, and can be configured according to operational needs to improve dispensing efficiency.

[0081] Specifically, the transfer device 1 also includes a quick-change mechanism 16, which is adjacent to the second x-axis motion mechanism 13 in the y-direction. In this embodiment, the quick-change mechanism 16 is located between the first x-axis motion mechanism 11 and the second feeding device 22, in the central region of the transfer device 1. After changing the gripper, the movement path for the next action can be shortened. The quick-change mechanism 16 is equipped with multiple grippers 17, and the gripping robot 12 moves to the quick-change mechanism 16 to change the grippers 17. Since the glass substrate can have various different sizes, the quick-change mechanism 16 can be used to quickly change the appropriate grippers 17 to adsorb different workpieces. The grippers 17 and the gripping robot 12 are assembled using a conventional quick-change flange structure.

[0082] Preferably, the quick-change mechanism 16 includes a bracket 161, on which a plurality of grippers 17 are spaced apart along the y-direction. The grippers 17 are arranged along the z-direction, and the quick-change flanges of the grippers 17 face upward in the z-direction. Since there is a gap in the y-direction between the first x-direction motion mechanism 11 and the feeding device 2, the bracket 161 is positioned between the first x-direction motion mechanism 11 and the feeding device 2, and the grippers 17 are also arranged along the y-direction, making full use of the space in the y-direction. The quick-change mechanism 16 is located at the center of the transfer device 1, which facilitates the quick execution of the next action after changing the grippers 17.

[0083] Specifically, the transfer device 1 also includes an NG (Not Acceptable) discharge mechanism 5. The gripping robot 12 places the defective glass substrates into the NG discharge mechanism 5. The NG discharge mechanism 5 has a drawer-type structure; the defective workpieces can be removed manually by pulling out the mechanism. The NG discharge mechanism 5 also has internal sensors that alert the user when a defective workpiece is detected. After the user pulls out the NG discharge mechanism 5, the sensors again issue an alert, preventing other defective workpieces from being placed into the NG discharge mechanism 5.

[0084] In this embodiment, there are two NG discharge mechanisms 5, and the NG discharge mechanisms 5 are located below the feeding assembly 205.

[0085] In this embodiment, the glass substrate is transported solely by a gripping robot 12 during the loading, dispensing, and unloading processes. The gripping robot 12 has high degrees of freedom and can accurately pick up the workpiece, reducing the risk of damage that might occur from workpieces flowing between conventional conveying mechanisms. Furthermore, the dispensing station, unloading station 41, first picking station 21b, and flipping station are basically arranged along the x-axis, allowing the gripping robot 12 to quickly move the workpiece between these stations, significantly reducing the workpiece's travel path and improving operational efficiency. During the loading and unloading processes, the precise positioning of the workpiece prevents edge chipping and other issues during transport.

[0086] Example 2: Based on Example 1, such as Figure 14 As shown, the glass substrate adhesive dispensing system also includes a curing device 6, which is used to cure the glass substrate after dispensing. The curing device 6 is located between adjacent first loading devices 21 and second loading devices 22. In this embodiment, the curing device 6 is located between the second loading device 22 and the first loading device 21. The curing device 6 includes an adsorption fixture 61 and a UV lamp 62, with the UV lamp 62 arranged around the outside of the adsorption fixture 61. After the glass substrate is dispensed, the gripping robot 12 places the workpiece on the adsorption fixture 61 and cures it with the UV lamp 62. After curing, the gripping robot 12 then sends the workpiece into the unloading device 4. In conventional dispensing systems, the curing device is usually an external mechanism. The dispensed workpiece needs to be placed into the curing device for curing, and after curing, the workpiece is sent back into the dispensing system for further processing. This can cause workpiece damage during the workpiece transfer process and is also inefficient. In this embodiment, the curing device 6 is integrated into the dispensing system. The material handling robot 12 is used to quickly transfer the workpiece inside the dispensing system, reducing the process of the workpiece flowing between different mechanisms, reducing the risk of workpiece damage, and improving efficiency.

[0087] When performing dispensing operations on large-sized glass substrates using the above-mentioned dispensing system, the specific steps include: S1. The cassette containing the glass substrate is conveyed to the first feeding device 21. The first feeding device can be manual or automatic. Manual feeding involves manually moving the cassette to the cassette conveying bracket 207. Automatic feeding uses an AGV (Automated Guided Vehicle). The cassette conveying bracket 207 is lowered to a position aligned with the AGV, and the connecting track on the AGV is aligned with the cassette conveying assembly 2081. The cassette enters the cassette conveying assembly 2081 from the AGV and continues to move along the y-axis until the cassette is in place. The cassette placement detection sensor 2073 triggers a signal. The positioning assembly 2082 then presses the cassette firmly, allowing the feeding assembly 205 to remove the glass substrate.

[0088] S2. The first feeding device 21 transports the glass substrate to the first picking station 21b. The downward-looking camera 14 moves above the first picking station 21b and identifies the position of the glass substrate. Before the feeding assembly 205 operates, the material box conveying bracket 207 moves to its highest position along the z-axis. The glass substrate is picked up starting from the bottom layer of the material box below. The feeding assembly 205 pulls the glass substrate to the workpiece conveying assembly 206, which then transports it to the first picking station 21b. Then, the downward-looking camera 14 moves along the x-axis above the first picking station 21b to photograph the glass substrate, providing an adsorption position for the gripping robot 12.

[0089] S3. The gripping robot 12 picks up the glass substrate and transfers it to any dispensing device 3. The gripping robot 12 places the glass substrate on the processing stage 31, on which a large suction fixture is pre-assembled. Then, the first vision module 33 and the second vision module 38 detect whether the glass substrate is qualified. If the glass substrate is qualified, the dispensing device 3 performs dispensing on the glass substrate. If the glass substrate is unqualified, the gripping robot 12 places the unqualified glass substrate into the NG unloading mechanism 5. The operator pulls out the unqualified workpiece from the unloading mechanism.

[0090] S4. Dispensing equipment 3 performs dispensing operations on the glass substrate. In this embodiment, the dispensing process on the end face and side face of the glass substrate is described.

[0091] The adhesive dispensing process for the glass substrate end face includes dispensing adhesive on both the front and back sides of the glass substrate.

[0092] When applying adhesive to the front side of the glass substrate, the tilting and rotating mechanism 37 drives the dispensing mechanism 34 to the vertical direction to perform the dispensing operation on the front side of the glass substrate. At this time, the glass substrate can be in a stationary state, and the three-axis motion mechanism 32 drives the dispensing mechanism 34 to move in the x and / or y directions to perform dispensing on the front side of the glass substrate. Of course, when dispensing on the end face, the glass substrate can also be driven to rotate a certain angle to meet different dispensing requirements. After completing the front dispensing operation, the gripping robot 12 places the glass substrate on the flipping device 15, and the flipping device 15 is used to flip the glass substrate. After the glass substrate is flipped, the gripping robot 12 feeds the glass substrate back into the dispensing equipment 3 for the reverse dispensing operation.

[0093] like Figure 17 As shown, when applying adhesive to the side of the glass substrate, the dispensing mechanism 34 rotates to a horizontal position, facing the side of the glass substrate in the z-direction. The dispensing mechanism 34 moves relative to the side of the glass substrate in the y-direction, thereby performing dispensing on one side of the glass substrate. Then, the glass substrate rotates 90°, and the dispensing mechanism 34 repeats the y-direction dispensing process until the entire side of the glass substrate is dispensed.

[0094] S5. Before unloading, the unloading device 4 has pre-transported the fixture to the unloading station 41. The gripping robot 12 picks up the glass substrate after dispensing glue (the glass substrate has been cured in the curing device), the downward-looking camera 14 moves along the x-direction above the unloading station 41 to photograph the position of the fixture, then the gripping robot 12 places the glass substrate on the fixture, and then the feeding assembly 205 and the workpiece conveying assembly send the fixture into the material box, and the glass substrate returns to the unloading position.

[0095] When performing dispensing on small-sized glass substrates, multiple stacked trays are placed into the second loading device 22. The second loading device 22 then unpacks the trays, and the top tray is fed into the first picking station 21b via the feeding mechanism 203. The dispensing process is then performed on the glass substrates according to the aforementioned dispensing procedure. For dispensing on both sides, the glass substrates are directly flipped using the gripping robot 12. The remaining steps are the same as for dispensing large-sized glass substrates.

[0096] Of course, this system can also perform dispensing operations on wafers. When performing dispensing operations on wafers, the first feeding device 21 feeds the wafers. The dispensing mechanism can be adapted to perform dispensing operations on wafers in horizontal, vertical and inclined directions, depending on the dispensing requirements.

[0097] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A glass substrate adhesive dispensing system, characterized in that, include: The feeding device, used for storing and transferring glass substrates, includes: The feeding device (2) is used to transport glass substrates for feeding. Transfer device (1), the transfer device (1) is used to transfer glass substrate; The flipping device (15) is used to receive the glass substrate that has completed the front dispensing operation and drive the glass substrate to flip so that the transfer device (1) can send the flipped glass substrate back into the dispensing equipment (3) for the reverse dispensing operation. The unloading device (4) is used to transport the glass substrate that has completed the dispensing operation. Dispensing equipment (3), wherein the dispensing equipment (3) comprises: A dispensing mechanism (34) is connected to a tilting and rotating mechanism (37), which drives the dispensing mechanism (34) to rotate between the vertical and horizontal directions. The three-axis motion mechanism (32) is mounted on the tilting and rotating mechanism (37); Processing stage (31), the glass substrate is placed flat on the processing stage (31), and the processing stage (31) can drive the glass substrate to rotate; in, When the dispensing mechanism (34) is in a vertical direction, its dispensing direction is toward the end face of the glass substrate, and it performs dispensing operation on the end face of the glass substrate. When the dispensing mechanism (34) is in a horizontal direction, its dispensing direction is toward the side of the glass substrate, and it performs dispensing operations on the side of the glass substrate. The feeding device (2) includes: The first feeding device (21) has a first feeding station (21a) and a first picking station (21b). The first feeding station (21a) receives a first material box (204) containing multiple large-sized glass substrates. The first feeding device (21) is adapted to move the large-sized glass substrates from the first feeding station (21a) to the first picking station (21b) one by one. The transfer device (1) obtains the large-sized glass substrates from the first picking station (21b) and transfers them. The second feeding device (22) has a second feeding station (22a) and a second picking station (22b). The second feeding station (22a) receives a tray with multiple small-sized glass substrates. The second feeding device (22) is adapted to move the tray from the second feeding station (22a) to the second picking station (22b). The transfer device (1) picks up the small-sized glass substrates from the second picking station (22b) and transfers them. The transfer device (1) includes a downward-viewing camera (14) and a gripping robot (12). The downward-viewing camera (14) photographs the glass substrate to be processed at the first picking station (21b) or the second picking station (22b) so that the gripping robot (12) can pick up the glass substrate; or the downward-viewing camera (14) photographs the unloading station (41) of the unloading device (4) so ​​that the gripping robot (12) can put the glass substrate that has completed the dispensing operation back to the unloading station (41). The first feeding device (21) and the second feeding device (22) are adjacent to the transfer device (1) in the y direction. The dispensing device (3) is externally connected to the transfer device (1) in the x direction. The first feeding device (21), the unloading device (4) and the second feeding device (22) are all arranged along the x direction. The flipping device (15) is set along the x direction with the feeding device (2) and the unloading device (4).

2. The glass substrate adhesive dispensing system according to claim 1, characterized in that, The first feeding device (21) includes: z-axis motion mechanism (201); A feeding mechanism (202) is used to carry the first material box (204). The feeding mechanism (202) has a first feeding station (21a). The feeding mechanism (202) is connected to a z-axis motion mechanism (201). The feeding mechanism (202) moves along the z-axis to transport a large-sized glass substrate in the first material box (204) to the first feeding station (21a). The feeding mechanism (203) is adjacent to the loading mechanism (202) in the y direction. The feeding mechanism (203) has the first picking station (21b). The feeding mechanism (203) drives the large-sized glass substrate from the first feeding station (21a) to the first picking station (21b).

3. The glass substrate adhesive dispensing system according to claim 2, characterized in that, The feeding mechanism (203) includes: Feeding assembly (205) is located inside the workpiece conveying assembly (206). The feeding assembly (205) extends into the first material box (204) to pull the glass substrate on the first feeding station (21a) along the y direction to the workpiece conveying assembly (206). The workpiece conveying assembly (206) receives the glass substrate and conveys the glass substrate along the y direction to the first picking station (21b).

4. The glass substrate adhesive dispensing system according to claim 2, characterized in that, The feeding mechanism (202) includes: A material box conveying bracket (207) is connected to a z-axis motion mechanism (201); The material box positioning and conveying mechanism (208) is connected to the material box conveying bracket (207). The first material box (204) is placed on the material box positioning and conveying mechanism (208). The material box positioning and conveying mechanism (208) moves along the z-direction following the material box conveying bracket (207).

5. The glass substrate adhesive dispensing system according to claim 1, characterized in that, The processing stage (31) can be selectively equipped with a large adsorption fixture (311) or a small adsorption fixture (312) according to the size of the glass substrate. The large adsorption fixture (311) is adapted to place large-sized glass substrates, and the small adsorption fixture (312) is adapted to place small-sized glass substrates.

6. The glass substrate adhesive dispensing system according to claim 5, characterized in that, The large adsorption fixture (311) and the small adsorption fixture (312) are detachably equipped with magnetic blocks (313) at their ends. The magnetic blocks (313) contact the ends of the glass substrate to position the glass substrate.

7. The glass substrate adhesive dispensing system according to claim 1, characterized in that, The transfer device (1) further includes: The first x-axis motion mechanism (11) is connected to the material gripping robot (12); The second x-axis motion mechanism (13); the downward-facing camera (14) is connected to the second x-axis motion mechanism (13); The gripping robot (12) is used to adsorb the glass substrate, and the first x-axis motion mechanism (11) drives the gripping robot (12) to move along the x-axis to transfer the glass substrate between the loading device (2), the dispensing device (3), the flipping device (15) and the unloading device (4).

8. The glass substrate adhesive dispensing system according to claim 1, characterized in that, The dispensing equipment (3) also includes: The first vision module (33) is connected to the three-axis motion mechanism (32) and the first vision module (33) performs image acquisition on the surface of the glass substrate; The second vision module (38) is connected to the three-axis motion mechanism (32) and performs image acquisition on the side of the glass substrate.

9. The glass substrate adhesive dispensing system according to claim 7, characterized in that, The transfer device further includes an NG discharge mechanism (5), which is located below the first feeding device (21) or the unloading device (4). The gripping robot (12) places the unqualified glass substrates into the NG discharge mechanism.

10. The glass substrate adhesive dispensing system according to claim 1, characterized in that, The glass substrate adhesive dispensing system further includes a curing device (6), which is used to cure the glass substrate after the dispensing operation is completed. The curing device (6) is located between the feeding device (2) and the unloading device (4).

11. A method for dispensing adhesive onto a glass substrate, characterized in that, The adhesive dispensing system for glass substrates as described in any one of claims 1-10 specifically includes the following steps: S1. The glass substrate is transported to the picking station by the feeding device (2); S2. The transfer device (1) obtains the glass substrate from the material handling station and transfers the glass substrate to the processing stage (31); S3. The dispensing mechanism (34) rotates to the vertical direction and moves relative to the glass substrate to dispense adhesive onto the end face of the glass substrate; Alternatively: the dispensing mechanism (34) rotates to the horizontal direction, and the dispensing mechanism (34) moves along one side of the glass substrate to perform a single dispensing operation on the side of the glass substrate. After the dispensing operation on that side is completed, the processing stage drives the glass substrate to rotate 90°, and the dispensing mechanism (34) moves along the other side of the glass substrate again to perform a single dispensing operation. The above actions are repeated until the dispensing operation on all sides of the glass substrate is completed. S4. The transfer device (1) sends the glass substrate that has completed the dispensing operation on the processing stage (31) to the unloading station (41) of the unloading device (4), and the unloading device (4) completes the unloading of the workpiece.

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