Layered adsorption arm device for unpacking

Abstract

The utility model relates to a layered adsorption arm device used for unpacking, which comprises an integrated adsorption arm, the integrated adsorption arm comprises a spacing gasket adsorption unit and a glass substrate adsorption unit, and the spacing gasket adsorption unit is arranged on one side of the glass substrate adsorption unit; the spacing gasket adsorption unit comprises a plurality of first vacuum chucks which are linearly arranged; the glass substrate adsorption unit comprises a plurality of second vacuum chucks which are uniformly arranged at intervals; the spacing gasket adsorption unit and the glass substrate adsorption unit are arranged in a staggered mode, and a height difference exists between the working plane of the first vacuum suction cup and the working plane of the second vacuum suction cup. According to the utility model, the spacing gasket adsorption unit and the glass substrate adsorption unit are integrally arranged, so that stable adsorption and layered release of heterogeneous materials can be synchronously completed in single operation. And the spacing gasket adsorption units and the glass substrate adsorption units are arranged in a three-dimensional staggered manner, so that the problem of adsorption mismatch of heterogeneous materials in an asymmetric stacking state is solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to liquid crystal panel production technical field, concretely relates to a layered adsorption arm device for unpacking. BACKGROUND

[0002] In the production and transportation of liquid crystal panels, the unpacking process needs to accurately separate the glass substrate and the spacer pad stacked in the box, and then transfer them to the machine table and the recycling box respectively. Under actual working conditions, compared with the process characteristics of regular stacking in the same plane during the boxing process, there are complex working conditions such as electrostatic adsorption between the glass substrate and the spacer pad, stacking position deviation and stacking height difference. Therefore, the unpacking operation needs to overcome the dynamic interference when separating heterogeneous materials, and the adsorption positioning accuracy and anti-interference ability are required to be higher.

[0003] The existing unpacking technology mainly adopts the operation mode of double mechanical arms cooperating with vacuum adsorption. The main mechanical arm adsorbs the spacer pad through the top vacuum suction cup and vertically lifts it, and the auxiliary mechanical arm clamps the glass substrate from the side to realize synchronous separation. In this scheme, the suction cup usually adsorbs the center area of the spacer pad in a single plane, and the glass substrate is fixed by the bottom support or the lateral clamping jaw. However, due to the interaction between the glass substrate and the spacer pad, the adsorption of the spacer pad will also affect the glass substrate, and even directly lift the glass substrate to cause chipping.

[0004] In the prior art, the coverage area of the vacuum suction cup is expanded to simultaneously adsorb the spacer pad and the glass substrate, but due to the asymmetric height difference between the two when they are stacked in the box (the height of the spacer pad is lower than the edge height of the glass substrate), it is difficult for the adsorption surface to simultaneously fit the two types of materials, and forcibly adsorbing the glass substrate may cause micro-cracks due to uneven stress. The core defect of the prior art is that there is a mismatch between the spatial distribution of the mechanical arm and the material, and the dynamic interference when separating heterogeneous materials is not considered. Therefore, there is an urgent need for a vacuum arm with layered adsorption capability to eliminate the mechanical interference of heterogeneous height and material during separation in the unpacking process and improve the accuracy of the unpacking process. UTILITY MODEL CONTENTS

[0005] To solve the above problems in the prior art, the utility model provides a layered adsorption arm device for unpacking. The technical problem to be solved by the utility model is solved by the following technical scheme:

[0006] The utility model provides a layered adsorption arm device for unpacking, include: integral type adsorption arm, including interval gasket adsorption unit and glass substrate adsorption unit, interval gasket adsorption unit sets up at glass substrate adsorption unit one side, interval gasket adsorption unit includes a plurality of first vacuum chuck, a plurality of first vacuum chuck is along linear arrangement, is used for adsorbing interval gasket, glass substrate adsorption unit includes: a plurality of second vacuum chuck, a plurality of second vacuum chuck evenly interval arrangement, is used for adsorbing glass substrate, interval gasket adsorption unit with glass substrate adsorption unit dislocation setting, and first vacuum chuck with second vacuum chuck's work plane between arrangement has height difference.

[0007] In an embodiment of the utility model, the height difference H between the working planes of the first vacuum chuck and the second vacuum chuck is in the range of 5-15 mm.

[0008] In an embodiment of the utility model, the interval gasket adsorption unit includes a first rigid connecting arm, the glass substrate adsorption unit includes a second rigid connecting arm, and the first rigid connecting arm and the second rigid connecting arm are connected by a connecting rod into an integral structure.

[0009] In an embodiment of the utility model, a plurality of first vacuum chucks are arranged on the first rigid connecting arm, and the horizontal spacing between the plurality of first vacuum chucks is adjustable.

[0010] In an embodiment of the utility model, a plurality of second vacuum chucks are evenly arranged on the second rigid connecting arm along the four corner regions of the glass substrate, and the horizontal spacing between the plurality of second vacuum chucks is adjustable.

[0011] In an embodiment of the utility model, each first vacuum chuck and each second vacuum chuck are provided with a lifting module, and the height of each first vacuum chuck and each second vacuum chuck is independently adjusted by the lifting module.

[0012] In an embodiment of the utility model, the plurality of first vacuum chucks and the plurality of second vacuum chucks are independently controlled for adsorption.

[0013] In an embodiment of the utility model, each first vacuum chuck and each second vacuum chuck are independently closed for adsorption.

[0014] In an embodiment of the utility model, one side of the interval gasket is exposed outside the glass substrate, a plurality of first vacuum chucks are adsorbed on the exposed part of one side of the interval gasket, and the other side of the interval gasket is a free end.

[0015] In an embodiment of the utility model, the free end of the spacing gasket is floated by inertia when moving.

[0016] Compared with the prior art, the utility model has the beneficial effects that:

[0017] The layered adsorption arm device for unpacking is integrally provided with the spacing gasket adsorption unit and the glass substrate adsorption unit, and can synchronously complete stable adsorption and layered release of heterogeneous materials in single operation. The spacing gasket adsorption unit and the glass substrate adsorption unit adopt three-dimensional staggered layout, accurately match the asymmetric stacking height difference of the spacing gasket and the glass substrate through the height difference of the working plane, avoid uneven stress caused by traditional plane adsorption, solve the adsorption mismatch problem of heterogeneous materials in the asymmetric stacking state, and are suitable for unpacking scenes with complex stacking characteristics in liquid crystal panel manufacturing.

[0018] The first vacuum chuck adopts linear arrangement, utilizes gravity self-vertical effect, only grabs one side edge of the spacing gasket during adsorption, and the free end not adsorbed is naturally floated by inertia when moving, so that the influence of electrostatic adsorption on the glass substrate is significantly reduced. The second vacuum chucks on the glass substrate adsorption unit are uniformly and spacedly arranged, are directly completed through the multi-point distributed chuck layout, do not need to rely on the external clamping mechanism, and eliminate the stress concentration risk caused by the traditional lateral clamping jaw.

[0019] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, which can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are taken as examples, and the specific description is as follows. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a box structure schematic view of the liquid crystal panel;

[0021] Figure 2 It is a structure schematic view of the layered adsorption arm device for unpacking provided by the embodiment of the utility model;

[0022] Figure 3a It is a spacing adjustment state schematic view of the first vacuum chuck provided by the embodiment of the utility model;

[0023] Figure 3b It is a height adjustment state schematic view of the first vacuum chuck provided by the embodiment of the utility model;

[0024] Figures 4a to 4c It is a unpacking process schematic view provided by the embodiment of the utility model.

[0025] 100 - integrated adsorption arm; 200 - spacer pad adsorption unit; 210 - first vacuum chuck; 300 - glass substrate adsorption unit; 310 - second vacuum chuck; 1 - box; 2 - spacer pad; 3 - glass substrate. DETAILED DESCRIPTION

[0026] In order to further illustrate the technical means and effects taken by the present application to achieve the predetermined purpose, the following will be described in detail in combination with the drawings and specific embodiments. The technical means and effects taken by the present application to achieve the predetermined purpose can be more deeply and specifically understood through the description of the specific embodiments. However, the accompanying drawings are provided for reference and illustration only, and are not intended to limit the technical solutions of the present application.

[0027] The foregoing and other technical contents, characteristics and effects of the present application can be clearly presented in the detailed description of the specific embodiments in combination with the accompanying drawings. Through the description of the specific embodiments, the technical means and effects taken by the present application to achieve the predetermined purpose can be more deeply and specifically understood. However, the accompanying drawings are provided for reference and illustration only, and are not intended to limit the technical solutions of the present application.

[0028] Embodiment one

[0029] The vacuum chuck on the conventional mechanical arm is designed based on the plane adsorption principle, and it is difficult to adapt to the misaligned distribution of the spacer pad and the glass substrate in three-dimensional space, such as Figure 1 , Figure 1 is a schematic view of the box structure of the liquid crystal panel; wherein the glass substrate 3 is placed on the spacer pad 2, one side of the spacer pad 2 is exposed outside the glass substrate 3, and the glass substrate 3 and the spacer pad 2 are both placed in the box 1. When the spacer pad is locally warped due to transportation vibration, a gap will be formed between the contact surface of the vacuum chuck and the spacer pad based on the plane adsorption, resulting in a decrease in vacuum degree or even adsorption failure. The height difference between the spacer pad 2 and the glass substrate 3 also makes it impossible for them to be stably grabbed by the same adsorption device, and forcibly synchronous adsorption will cause the glass edge to be lifted and subjected to excessive lateral shear force. In addition, due to the influence of the heterogeneous materials of the spacer pad 2 and the glass substrate 3, the electrostatic interaction between them will also cause the glass substrate 3 to be lifted when the spacer pad 2 is taken.

[0030] In view of this, the present application provides a layered adsorption arm device for unpacking, as shown in Figure 2 , Figure 3a , Figure 3b and Figures 4a to 4c , Figure 2 is a structural schematic view of a layered adsorption arm device for unpacking provided by an embodiment of the present application; Figure 3a is a schematic view of the distance adjustment state of the first vacuum chuck provided by an embodiment of the present application; Figure 3bis a height adjustment state schematic view of the first vacuum chuck provided by the embodiment of the utility model; Figures 4a to 4c is a disassembling process schematic view provided by the embodiment of the utility model.

[0031] In the embodiment, the layered adsorption arm device for disassembling includes: an integrated adsorption arm 100, which comprises a spacer pad adsorption unit 200 and a glass substrate adsorption unit 300, the spacer pad adsorption unit 200 is arranged on one side of the glass substrate adsorption unit 300; the spacer pad adsorption unit 200 comprises a plurality of first vacuum chucks 210, the plurality of first vacuum chucks 210 are arranged in a linear manner and used for adsorbing a spacer pad 2; the glass substrate adsorption unit 300 comprises: a plurality of second vacuum chucks 310, the plurality of second vacuum chucks 310 are arranged in a uniform manner and used for adsorbing a glass substrate 3.

[0032] In an optional embodiment, the spacer pad adsorption unit 200 and the glass substrate adsorption unit 300 are arranged in a staggered manner.

[0033] For example, the spacer pad adsorption unit 200 is arranged on one side of the glass substrate adsorption unit 300, and a height difference is arranged between working planes of the first vacuum chucks 210 and the second vacuum chucks 310.

[0034] Further, the spacer pad adsorption unit 200 comprises a first rigid connecting arm, the glass substrate adsorption unit 300 comprises a second rigid connecting arm, and the first rigid connecting arm and the second rigid connecting arm are connected into an integrated structure through a connecting rod.

[0035] As shown in the figure, Figure 3a In an optional embodiment, the plurality of first vacuum chucks 210 are arranged on the first rigid connecting arm in a spaced manner, and the horizontal spacing between the plurality of first vacuum chucks 210 is adjustable.

[0036] In an optional embodiment, the plurality of second vacuum chucks 310 are arranged on the second rigid connecting arm in a uniform manner along four corner regions of the glass substrate 3, and the horizontal spacing between the plurality of second vacuum chucks 310 is adjustable.

[0037] For example, the first vacuum chucks 210 can be connected to the first rigid connecting arm through telescopic guide rails, and the second vacuum chucks 310 can also be connected to the second rigid connecting arm through telescopic guide rails, so as to respectively adjust the horizontal spacing between the plurality of first vacuum chucks 210 and the horizontal spacing between the plurality of second vacuum chucks 310 through the telescopic guide rails.

[0038] Furthermore, each of the first vacuum suction cups 210 and each of the second vacuum suction cups 310 is provided with a displacement sensor to obtain position information when adjusting the horizontal spacing, and to further control the adjustment distance of the first vacuum suction cup 210 and the second vacuum suction cup 310 according to the position information.

[0039] For example, the diameters and adsorption forces of the first vacuum suction cup 210 and the second vacuum suction cup 310 can be adjusted according to the size of the spacer 2 and the glass substrate 3.

[0040] It is worth noting that the spacer adsorption unit 200 and the glass substrate adsorption unit 300 are combined into one unit. This not only reduces equipment costs but also ensures that the first vacuum suction cup 210 of the spacer adsorption unit 200 does not contact the glass substrate 3 during unpacking. Since one side of the spacer 2 is exposed outside the glass substrate 3, multiple first vacuum suction cups 210 adsorb onto the exposed part of one side of the spacer 2, while the other side of the spacer 2 is a free end. When adsorbing the spacer 2, the first vacuum suction cups 210 are arranged linearly and utilize the gravity self-hanging effect to only grasp one edge of the spacer 2. The first vacuum suction cups 210 do not contact the glass substrate 3. The unadsorbed free end of the spacer 2 will naturally float up due to inertia during movement, significantly reducing the cascading effect of electrostatic adsorption on the glass substrate 3. This avoids breakage caused by the spacer 2 deflecting the glass substrate 3, thereby avoiding unnecessary economic losses and maximizing production capacity.

[0041] In addition, by evenly spacing the second vacuum suction cups 310 on the glass substrate adsorption unit 300, the glass substrate 3 can be directly positioned and adsorbed inside the housing 1 through a multi-point distributed suction cup layout, without relying on an external clamping mechanism, thus eliminating the risk of stress concentration caused by traditional lateral grippers.

[0042] Understandably, during adsorption, the first vacuum suction cup 210 only grips one edge of the spacer 2. The unadsorbed free end of the spacer 2 will naturally droop due to gravity when stationary, and will naturally float due to inertia when moving. In the horizontal direction, the free end droops naturally by using unilateral adsorption, creating lateral avoidance with the device structure. Due to the height difference between the working planes of the first vacuum suction cup 210 and the second vacuum suction cup 310, there is a certain distance between the free end and the glass substrate 3 during transfer. The transfer path is then controlled to ensure that the floating trajectory is outside the device to avoid the risk of collision.

[0043] like Figure 3b As shown, in an optional embodiment, each first vacuum suction cup 210 and each second vacuum suction cup 310 are provided with a lifting module (not shown in the figure). Through the lifting module, the height of each first vacuum suction cup 210 and each second vacuum suction cup 310 can be independently adjusted.

[0044] Exemplarily, the lifting modules of the first vacuum chuck 210 and the second vacuum chuck 310 can be driven to lift by a motor or a pneumatic cylinder.

[0045] Further, each first vacuum chuck 210 and each second vacuum chuck 310 is provided with a height position sensor for acquiring height position information when adjusting the lifting, and the lifting height of the first vacuum chuck 210 and the second vacuum chuck 310 can be further controlled according to the height position information.

[0046] In an optional embodiment, the plurality of first vacuum chucks 210 and the plurality of second vacuum chucks 310 can be independently controlled to adsorb, and each first vacuum chuck 210 and each second vacuum chuck 310 can be independently shielded to adsorb, so as to correspond to different types of spacer pads 2 or glass substrates 3.

[0047] Exemplarily, each first vacuum chuck 210 and each second vacuum chuck 310 can be independently controlled to adsorb or independently closed to adsorb, and the shielding (not adsorbing) of a single vacuum chuck can also be realized by adjusting the lifting height.

[0048] Exemplarily, the height difference H between the working planes of the first vacuum chuck 210 and the second vacuum chuck 310 ranges from 5mm to 15mm, which is set based on the stacking height difference between the glass substrate 3 and the spacer pad 2, and can effectively avoid the uneven stress problem caused by the traditional plane adsorption, and ensure the stable adsorption and separation of the glass substrate 3 and the spacer pad 2 in the adsorption process.

[0049] It can be understood that the first vacuum chuck 210 and the second vacuum chuck 310 should also adjust the lifting height in the range of the height difference H.

[0050] As shown in Figures 4a to 4c , the figure is a schematic diagram of the unpacking process provided by the embodiment of the utility model. Figures 4a to 4c

[0051] ​The working principle of the layered adsorption arm device for unpacking is that when the unpacking operation is performed, the integrated adsorption arm 100 is first positioned to the inside of the packaged box 1, wherein the interval spacer adsorption unit 200 and the glass substrate adsorption unit 300 are integrally arranged, the first vacuum chuck 210 adsorbs the exposed single-side edge of the interval spacer 2 from the inside of the box 1, the second vacuum chuck 310 synchronously adsorbs the four-corner area of the glass substrate 3, so that the interval spacer 2 is adsorbed together with the glass substrate 3, and then is synchronously moved to the recycling box position where the interval spacer 2 is placed and stopped.

[0052] It is worth noting that the interval spacer 2 and the glass substrate 3 are in an asymmetric stacking state in the box 1, and the spatial relationship is that, in the vertical direction, the stacking height of the interval spacer 2 is lower than the edge of the glass substrate 3, and a height difference is formed in the vertical direction; in the horizontal direction, the interval spacer 2 is offset from the edge of the glass substrate 3 to form a lateral position difference. Therefore, the layered adsorption arm device for unpacking of the embodiment, through the staggered arrangement of the interval spacer adsorption unit 200 and the glass substrate adsorption unit 300, the first vacuum chuck 210 precisely matches the height difference between the interval spacer 2 and the glass substrate 3, and adsorbs the edge of the interval spacer 2 on one side, and the second vacuum chuck 310 independently adsorbs the four-corner area of the glass substrate 3, realizing synchronous grabbing of different materials. In the synchronous displacement process, the adsorption position of the interval spacer 2 and the adsorption end of the glass substrate 3 maintain a relative spatial relationship. Then, by independently controlling the vacuum adsorption force of each first vacuum chuck 210 and each second vacuum chuck 310, the coupled displacement or stress conduction caused by the interaction of the contact surfaces of different materials in the traditional synchronous adsorption is avoided. In other words, through the structural arrangement of the interval spacer adsorption unit 200 and the glass substrate adsorption unit 300, the mechanical coupling effect in the process of electrostatic adsorption and dynamic separation is actively avoided, and combined with the three-dimensional staggered adsorption path, the glass substrate 3 is only subjected to the force of the glass substrate adsorption unit 300 during the unpacking process, effectively solving the dynamic interference problem in the separation of different materials.

[0053] The layered adsorption arm device for unpacking is integrally provided with the interval gasket adsorption unit and the glass substrate adsorption unit, and can synchronously complete stable adsorption and layered release of heterogeneous materials in single operation.

[0054] It should be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another, and are not necessarily required to have a specific relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants are intended to cover non-exclusive inclusion, so that the article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the article or device including the element. The terms "connected" or "connected" and the like are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The orientation or position relationship indicated by "up", "down", "left", "right" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0055] The above is a further detailed description of the utility model in combination with specific preferred embodiments, and the specific implementation of the utility model cannot be limited to these descriptions. For ordinary skilled persons in the technical field to which the utility model belongs, without departing from the concept of the utility model, a number of simple deductions or substitutions can be made, which should be regarded as falling within the protection scope of the utility model.

Claims

1. A layered adsorption arm device for unpacking, characterized in that, include: An integrated adsorption arm (100) includes a spacer adsorption unit (200) and a glass substrate adsorption unit (300), wherein the spacer adsorption unit (200) is disposed on one side of the glass substrate adsorption unit (300). The spacer adsorption unit (200) includes a plurality of first vacuum suction cups (210), which are arranged in a linear manner for adsorbing spacer pads (2); The glass substrate adsorption unit (300) includes: a plurality of second vacuum suction cups (310), which are evenly spaced apart and used to adsorb the glass substrate (3); The spacer adsorption unit (200) and the glass substrate adsorption unit (300) are offset from each other, and there is a height difference between the working planes of the first vacuum suction cup (210) and the second vacuum suction cup (310).

2. The layered adsorption arm device for unpacking according to claim 1, characterized in that, The height difference H between the working planes of the first vacuum chuck (210) and the second vacuum chuck (310) ranges from 5 to 15 mm.

3. The layered adsorption arm device for unpacking according to claim 1, characterized in that, The spacer adsorption unit (200) includes a first rigid connecting arm, and the glass substrate adsorption unit (300) includes a second rigid connecting arm. The first rigid connecting arm and the second rigid connecting arm are connected as an integral structure by a connecting rod.

4. The layered adsorption arm device for unpacking according to claim 3, characterized in that, Multiple first vacuum suction cups (210) are spaced apart on the first rigid connecting arm, and the horizontal spacing between the multiple first vacuum suction cups (210) is adjustable.

5. The layered adsorption arm device for unpacking according to claim 3, characterized in that, Multiple second vacuum chucks (310) are evenly arranged on the second rigid connecting arm along the four corner regions of the glass substrate (3), and the horizontal spacing between the multiple second vacuum chucks (310) is adjustable.

6. The layered adsorption arm device for unpacking according to claim 1, characterized in that, Each of the first vacuum suction cups (210) and each of the second vacuum suction cups (310) is provided with a lifting module, through which the height of each of the first vacuum suction cups (210) and each of the second vacuum suction cups (310) can be independently adjusted.

7. The layered adsorption arm device for unpacking according to claim 1, characterized in that, The adsorption of the plurality of first vacuum suction cups (210) and the plurality of second vacuum suction cups (310) is controlled independently.

8. The layered adsorption arm device for unpacking according to claim 1, characterized in that, Each of the first vacuum suction cups (210) and each of the second vacuum suction cups (310) independently disables the adsorption function.

9. The layered adsorption arm device for unpacking according to claim 1, characterized in that, One side of the spacer (2) is exposed outside the glass substrate (3), and a plurality of the first vacuum suction cups (210) are adsorbed on the exposed part of one side of the spacer (2), while the other side of the spacer (2) is a free end.

10. The layered adsorption arm device for unpacking according to claim 9, characterized in that, The free end of the spacer (2) floats up due to inertia when it moves.

Images