Anti-collision glass substrate carrying equipment and glass substrate carrying production line

Abstract

The utility model provides anti-collision glass substrate carrying equipment and a glass substrate carrying production line. The anti-collision glass substrate carrying equipment comprises a tray assembly, wherein the tray assembly comprises a tray and a hoisting mechanism; the tray is suspended through the hoisting mechanism and can move up and down and horizontally along with the hoisting mechanism; the carrying assembly is mounted on the upper surface of the tray and comprises a carrier plate and a servo mechanism; the servo mechanism is used for driving the carrier plate to telescopically move relative to the tray; the anti-collision assembly is mounted on the carrier plate and comprises a connecting seat and a three-dimensional laser scanning radar; the three-dimensional laser scanning radar is installed at the front end of the telescopic direction of the carrier plate in a protruding mode through the connecting base so as to scan a three-dimensional space obstacle at the front end of the carrier plate. Collision can be effectively avoided, and the anti-collision performance and the applicability are better.

Description

Technical Field

[0001] This application relates to the field of glass substrate manufacturing technology, and more specifically, to an anti-collision glass substrate handling device and a glass substrate handling production line. Background Technology

[0002] Automated material handling equipment is a crucial component of automated material handling systems, used in panel factories to transport materials such as glass substrates. With the development of the optoelectronic industry, manufacturers are upgrading their processes and technologies, resulting in increasingly larger panel sizes and consequently larger loads on the handling components, as well as greater dimensions and deformations in the working parts. Traditional contact-based anti-collision structures send signals to the system for emergency stop upon contact, causing significant vibrations to the handling equipment and the load, which is detrimental to system stability. For example, Chinese Patent 202220276141.6 discloses a glass substrate anti-collision device that uses an elastic anti-collision layer on the guide rail handling equipment. However, this still generates vibrations in the device itself and on the glass substrate, especially when the glass substrate is very large, where inertial damage becomes more pronounced. Therefore, there is a need to design a more versatile glass substrate handling equipment that is better suited to large-sized glass substrates and offers greater precision and flexibility. Utility Model Content

[0003] This application provides a collision-resistant glass substrate handling equipment and a glass substrate handling production line to solve the problem that existing glass substrate handling equipment, which uses a contact-type collision-resistant structure, still causes vibration to the equipment and glass substrate, especially when handling large-size glass substrates, which may lead to serious damage due to increased inertia.

[0004] According to the present application, a collision-resistant glass substrate handling device includes:

[0005] The pallet assembly includes a pallet and a lifting mechanism; the pallet is suspended in the air by the lifting mechanism and can move up and down and horizontally with the lifting mechanism.

[0006] A transport assembly, mounted on the upper surface of a pallet, includes: a carrier plate and a servo mechanism; the servo mechanism is used to drive the carrier plate to move telescopically relative to the pallet.

[0007] An anti-collision assembly is mounted on a carrier plate and includes a connector and a three-dimensional laser scanning radar. The three-dimensional laser scanning radar protrudes from the connector and is mounted on the front end of the carrier plate in the telescopic direction to scan for three-dimensional obstacles at the front end of the carrier plate.

[0008] In some embodiments, the connecting base includes: a frame and a radar box; the frame is fixedly installed at the center of the front end face of the carrier plate; the radar box is fixedly installed on the frame; the three-dimensional laser scanning radar is installed in the radar box, and the arc scanning generation mechanism of the three-dimensional laser scanning radar protrudes from the housing of the radar box.

[0009] In some embodiments, a set of alignment sensors are symmetrically arranged on both sides of the three-dimensional laser scanning radar, near the front edge of the carrier plate.

[0010] In some embodiments, the servo mechanism includes: a first motor assembly and a telescopic arm; the telescopic arm is a linkage structure, and the linkages of the telescopic arm are rotatably connected; the first motor assembly is mounted on a tray, and the motor output end of the first motor assembly is connected to the beginning end of the telescopic arm; the end end of the telescopic arm is rotatably connected to a carrier plate.

[0011] In some embodiments, the tray assembly further includes: a mounting base; the mounting base is rotatably mounted on the tray, and a first motor assembly is fixedly mounted on the mounting base; and a second motor assembly is disposed between the tray and the mounting base, the second motor assembly driving the mounting base to rotate relative to the tray.

[0012] In some embodiments, the telescopic outriggers include two sets arranged side by side, with a timing pulley provided between the ends of the two sets of telescopic outriggers.

[0013] In some embodiments, a heat dissipation mesh is provided on the tray below the mounting base, and the heat dissipation mesh covers the first motor unit.

[0014] In some embodiments, a material detection sensor is also provided on the carrier plate; four sets of material detection sensors are provided, which are distributed in a rectangular shape on the carrier plate, and the detection end of the material detection sensor is arranged facing the upper surface of the carrier plate.

[0015] According to another aspect of this application, a glass substrate handling production line is provided, including: a glass substrate rack and the above-described anti-collision glass substrate handling equipment;

[0016] The glass substrate rack is in the form of a vertical wall and includes multiple arrayed glass substrate bins. The anti-collision glass substrate handling equipment is installed between adjacent glass substrate racks and can move vertically up and down and horizontally across the surface of the glass substrate racks. When the carrier plate of the anti-collision glass substrate handling equipment extends, it can extend under each glass substrate bin to realize the handling of glass substrates.

[0017] In some embodiments, multiple sets of anti-collision glass substrate handling devices are provided between adjacent glass substrate frames.

[0018] According to the technical solution of this application, the anti-collision glass substrate handling equipment includes: a pallet assembly, which includes a pallet and a lifting mechanism; the pallet is suspended in the air by the lifting mechanism and can move up and down and horizontally with the lifting mechanism; a handling component, which is installed on the upper surface of the pallet and includes a carrier plate and a servo mechanism; the servo mechanism is used to drive the carrier plate to move telescopically relative to the pallet; and an anti-collision component, which is installed on the carrier plate and includes a connecting seat and a three-dimensional laser scanning radar; the three-dimensional laser scanning radar is protruding from the connecting seat at the front end of the carrier plate in the telescopic direction to scan obstacles in the three-dimensional space at the front end of the carrier plate. By setting an anti-collision component including a three-dimensional laser scanning radar, this application can scan obstacles in a whole three-dimensional area at the front end of the carrier plate in real time, with a wide coverage and large angle, thus effectively avoiding collisions, protecting the equipment itself and the glass substrate from vibration, and effectively improving anti-collision performance and applicability. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This paper shows an isometric structural schematic diagram of an anti-collision glass substrate handling device according to an embodiment of this application;

[0022] Figure 2 This is a top view of the anti-collision glass substrate handling equipment in its retracted state according to an embodiment of this application;

[0023] Figure 3 This paper shows an enlarged structural diagram of the front end face of the carrier plate of the anti-collision glass substrate handling device according to an embodiment of this application;

[0024] Figure 4 This paper shows a side view of the extended state of the anti-collision glass substrate handling device according to an embodiment of this application.

[0025] Figure 5 This paper shows a top view of the extended state of the anti-collision glass substrate handling device according to an embodiment of this application.

[0026] Figure 6 This is a bottom view of the extended state of the anti-collision glass substrate handling device according to an embodiment of this application;

[0027] Figure 7 A schematic diagram of the main structure of a glass substrate handling production line according to an embodiment of this application (carrier plate extended state) is shown;

[0028] Figure 8 A top view of the glass substrate handling production line according to an embodiment of this application is shown (carrier plate in retracted state).

[0029] The above figures include the following reference numerals:

[0030] 1. Pallet assembly; 11. Pallet; 12. Mounting base; 13. Second motor unit; 14. Heat dissipation mesh; 2. Handling assembly; 21. Carrier plate; 22. First motor unit; 23. Telescopic support arm; 24. Synchronous pulley; 25. Material detection sensor; 3. Anti-collision assembly; 31. 3D laser scanning radar; 32. Frame; 33. Radar box; 34. Alignment sensor; 4. Glass substrate frame; 41. Glass substrate hopper. Detailed Implementation

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0033] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, rotated 90 degrees, or in other orientations, and the spatial relative descriptions used herein will be interpreted accordingly.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] Figures 1 to 6 An embodiment of the anti-collision glass substrate handling device of this application is illustrated schematically.

[0037] like Figures 1 to 6 As shown, this application discloses a collision-resistant glass substrate handling device, which includes: a tray assembly 1, which includes a tray 11 and a lifting mechanism (not shown). The tray 11 is suspended by the lifting mechanism (i.e., mounted via lifting rings at the four corners of the tray 11) and can move vertically and horizontally with the lifting mechanism. A handling assembly 2 is mounted on the upper surface of the tray 11 and includes a carrier plate 21 and a servo mechanism. The servo mechanism is used to drive the carrier plate 21 to move telescopically relative to the tray 11. A collision-resistant assembly 3 is mounted on the carrier plate 21 and includes a connecting seat and a three-dimensional laser scanning radar 31. The three-dimensional laser scanning radar 31 protrudes from the front end of the carrier plate 21 in the telescopic direction via the connecting seat to scan obstacles at the front end of the carrier plate 21.

[0038] Through the above structural design, this application embodiment provides a more adaptable anti-collision glass substrate handling device. The pallet assembly 1 enables the overall lifting and horizontal movement of the handling device. The handling component 2 on the pallet assembly 1 can also control the free extension and retraction of the carrier plate 21, thereby facilitating the insertion of the carrier plate 21 into a specific glass substrate hopper 41 and realizing the handling of glass substrates between different glass substrate hoppers 41. Simultaneously, this application also provides an anti-collision component 3, including a three-dimensional laser scanning radar 31, at the front end of the carrier plate 21. The three-dimensional laser scanning radar 31 can scan obstacles in a three-dimensional area at the front end of the carrier plate 21 in real time, thereby effectively preventing collisions, protecting the handling device itself and the glass substrate from vibration, and effectively improving anti-collision performance and applicability.

[0039] Among them, the 3D laser scanning radar 31 is a scanning device based on 3D laser scanning technology. Compared with traditional photoelectric distance sensing sensors, it can achieve rapid scanning and has been widely used in obstacle and collision recognition in high-end automobiles. Specifically, compared with the slow cycle time of a single scan by a traditional photoelectric distance sensing sensor, which takes several seconds, the 3D laser scanning radar 31 can complete the position scan of thousands of points in space within one second. Therefore, the 3D laser scanning radar 31 can scan an entire area in front in real time while in motion, with a scanning angle of up to 300 degrees and a scanning accuracy of 0.1mm. By replacing the traditional distance sensing sensor with the scanning position information of the 3D laser scanning radar 31 and transmitting it to the control system, the position of the carrier plate 21 can be precisely controlled, preventing it from contacting or colliding with other objects during operation. Moreover, the 3D laser scanning radar 31 can also be equipped with a built-in gyroscope to automatically correct errors caused by deformation, deflection, and vibration. Compared with traditional photoelectric distance sensors, it is more convenient to use and provides faster and more accurate position information scanning.

[0040] In some embodiments of this application, such as Figure 3 As shown, the mounting bracket for the 3D laser scanning radar 31 includes a U-shaped frame 32 and a radar housing 33. The U-shaped frame 32 is fixedly mounted at the center of the front end face of the carrier plate 21. The U-shaped frame 32 can also be called a "U-shaped frame," with a U-shaped structure in the middle and plate-like extensions on both sides for connection and fixation. The radar housing 33 is fixedly mounted on the U-shaped frame 32. The 3D laser scanning radar 31 is mounted in the radar housing 33, and the arc-shaped scanning mechanism of the 3D laser scanning radar 31 protrudes from the housing of the radar housing 33 to ensure that the 3D laser scanning radar 31 is not obstructed, allowing it to comprehensively scan obstacle information in front of the moving carrier plate 21 and provide position information to avoid collisions.

[0041] In some embodiments of this application, such as Figure 3As shown, a set of alignment sensors 34 are symmetrically arranged on both sides of the three-dimensional laser scanning radar 31, near the front edge of the carrier plate 21. The alignment sensors 34 are used to detect the position of the edge of the carrier plate 21 relative to the glass substrate holder 4, so that the carrier plate 21 can be aligned with the glass substrate hopper 41, thereby accurately carrying and transferring the glass substrate material. (Reference) Figure 2 and Figure 3 As shown, the alignment sensor 34 is mounted via an L-shaped connecting plate, and its sensing end protrudes slightly from the surface of the carrier plate 21 to improve the alignment detection effect.

[0042] In some embodiments of this application, reference is made to Figure 2 , Figures 4 to 6 As shown, the servo mechanism of the handling assembly 2 includes a first motor assembly 22 and a telescopic arm 23. The telescopic arm 23 is a linkage structure, with each segment of the linkage 23 rotatably connected. The first motor assembly 22 is mounted on the tray 11. The motor output end of the first motor assembly 22 is connected to the beginning end of the telescopic arm 23. The first motor assembly 22 drives the telescopic arm 23 to extend or retract by driving the first segment of the linkage 23 to rotate. The end of the telescopic arm 23 is rotatably connected to the carrier plate 21, thereby enabling the carrier plate 21 to extend or retract relative to the tray 11 for glass substrate handling.

[0043] In some embodiments of this application, such as Figure 5 and Figure 6 As shown, the pallet assembly 1 further includes a mounting base 12. The mounting base 12 is circular and rotatably mounted on the pallet 11. A first motor assembly 22 is fixedly mounted on the mounting base 12. Furthermore, a second motor assembly 13 is disposed between the pallet 11 and the mounting base 12, and the second motor assembly 13 can drive the mounting base 12 to rotate relative to the pallet 11. Therefore, this embodiment can further realize the rotational movement of the carrier plate 21 relative to the pallet assembly 1, making the movement of the carrier plate 21 more flexible and controllable, and improving the adaptability and ease of use of the handling action. In this embodiment, the second motor assembly 13 includes two horizontally arranged motors, the housings of both horizontal motors are connected to the mounting base 12, and the output ends of both horizontal motors are connected to the pallet 11. It is understood that the connection can also be made in the opposite manner. In addition, as is well known to those skilled in the art, the second motor assembly 13 may also include other transmission structures for realizing rotational drive, such as gear sets or lead screws, which are commonly used by those skilled in the art and are listed here for illustrative purposes.

[0044] In some embodiments of this application, such as Figures 2 to 6As shown, the telescopic support arm 23 comprises two sets arranged side by side, with a synchronous pulley 24 positioned between the ends of the two sets of telescopic support arms 23. By using the synchronous pulley 24, the left and right sets of telescopic support arms 23 can rotate synchronously, thereby precisely controlling the extension and retraction of the two sets of telescopic support arms 23 to be highly consistent, ensuring smooth and precise extension and retraction of the carrier plate 21. See details... Figure 5 As shown, the two telescopic arms 23 are connected by two smaller synchronous pulleys 24 for synchronous transmission. The synchronous pulleys 24 can be either disc-shaped friction wheels or gear structures, and synchronous transmission is achieved through friction or gear meshing.

[0045] In some embodiments of this application, reference is made to Figure 1 As shown, a heat dissipation mesh 14 is provided on the tray 11 below the mounting base 12. The heat dissipation mesh 14 covers and supports the first motor assembly 22, providing installation space for the first motor assembly 22 and dissipating heat from it. Heat sinks can be installed inside the heat dissipation mesh 14 to quickly conduct and dissipate the heat generated by the first motor assembly 22. In this embodiment, the first motor assembly 22 includes two vertically mounted motors, which respectively drive two sets of telescopic arms 23.

[0046] In some embodiments of this application, such as Figure 2 and Figure 3 As shown, material detection sensors 25 are also provided on the carrier plate 21. Four sets of material detection sensors 25 are arranged in a rectangular pattern on the carrier plate 21 to detect the position of the glass substrate material, ensuring it falls accurately onto the carrier plate 21 and guaranteeing safe handling. Figure 2 and Figure 3 As shown, the detection end of the material detection sensor 25 is positioned facing the upper surface of the carrier plate 21 and protrudes through the detection hole on the upper surface of the carrier plate 21 to detect the edge position of the glass substrate material.

[0047] According to another aspect of this application, a glass substrate handling production line is disclosed, with reference to... Figure 7 and Figure 8As shown, the glass substrate handling production line includes a glass substrate rack 4 and a collision-resistant glass substrate handling device as described in any of the above embodiments. The glass substrate rack 4 is arranged in the form of a vertical wall and includes multiple arrayed glass substrate hoppers 41. The collision-resistant glass substrate handling device is installed between adjacent glass substrate racks 4 and can move vertically up and down and horizontally parallel to the surface of the glass substrate rack 4. When the carrier plate 21 of the collision-resistant glass substrate handling device extends, it can extend under each glass substrate hopper 41 to realize glass substrate handling. Therefore, the glass substrate handling production line of this application can quickly and accurately transfer glass substrates between wall-shaped glass substrate racks 4, and can avoid collisions and impacts when moving between densely packed glass substrate hoppers 41, improving the safety of glass handling.

[0048] In some embodiments of the glass substrate handling production line of this application, such as Figure 7 and Figure 8 As shown, multiple sets of anti-collision glass substrate handling equipment are arranged between adjacent glass substrate frames 4, thereby enabling multiple sets of handling equipment to operate simultaneously and improving handling efficiency.

[0049] In summary, the anti-collision glass substrate handling equipment of this application includes: a pallet assembly, which includes a pallet and a lifting mechanism; the pallet is suspended by the lifting mechanism and can move up and down and horizontally with the lifting mechanism; a handling component, which is installed on the upper surface of the pallet and includes a carrier plate and a servo mechanism; the servo mechanism is used to drive the carrier plate to move telescopically relative to the pallet; and an anti-collision component, which is installed on the carrier plate and includes a connecting seat and a three-dimensional laser scanning radar; the three-dimensional laser scanning radar protrudes from the connecting seat at the front end of the carrier plate in the telescopic direction to scan for obstacles in the three-dimensional space at the front end of the carrier plate. By setting an anti-collision component including a three-dimensional laser scanning radar, this application can scan obstacles in a whole three-dimensional area at the front end of the carrier plate in real time, with a wide coverage and large angle, thus effectively avoiding collisions, protecting the equipment itself and the glass substrate from vibration, and effectively improving anti-collision performance and applicability.

[0050] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An anti-collision glass substrate handling apparatus, characterized by, include: Pallet assembly (1), the pallet assembly (1) includes: pallet (11) and lifting mechanism; the pallet (11) is suspended in the air by the lifting mechanism and can move up and down and horizontally with the lifting mechanism; A transport assembly (2) is mounted on the upper surface of the pallet (11) and includes: a carrier plate (21) and a servo mechanism; the servo mechanism is used to drive the carrier plate (21) to move telescopically relative to the pallet (11); Anti-collision component (3), which is mounted on the carrier plate (21), includes: a connecting seat and a three-dimensional laser scanning radar (31); the three-dimensional laser scanning radar (31) is mounted on the front end of the carrier plate (21) in the telescopic direction through the connecting seat to scan obstacles at the front end of the carrier plate (21).

2. The anti-collision glass substrate handling apparatus according to claim 1, wherein, The connecting base includes a frame (32) and a radar box (33); the frame (32) is fixedly installed at the center of the front end face of the carrier plate (21); the radar box (33) is fixedly installed on the frame (32); the three-dimensional laser scanning radar (31) is installed in the radar box (33), and the arc-shaped scanning mechanism of the three-dimensional laser scanning radar (31) protrudes from the box body of the radar box (33).

3. The anti-collision glass substrate handling apparatus according to claim 2, wherein, On both sides of the three-dimensional laser scanning radar (31), near the front edge of the carrier plate (21), a set of alignment sensors (34) are symmetrically arranged.

4. The anti-collision glass substrate handling apparatus according to claim 1, wherein, The servo mechanism includes: a first motor assembly (22) and a telescopic arm (23); the telescopic arm (23) is a linkage structure, and the linkages of the telescopic arm (23) are rotatably connected; the first motor assembly (22) is mounted on the tray (11), and the motor output end of the first motor assembly (22) is connected to the beginning end of the telescopic arm (23); the end of the telescopic arm (23) is rotatably connected to the carrier plate (21).

5. The anti-collision glass substrate handling apparatus according to claim 4, wherein, The tray assembly (1) further includes: a mounting base (12); the mounting base (12) is rotatably mounted on the tray (11), and the first motor assembly (22) is fixedly mounted on the mounting base (12); and a second motor assembly (13) is provided between the tray (11) and the mounting base (12), the second motor assembly (13) driving the mounting base (12) to rotate relative to the tray (11).

6. The anti-collision glass substrate handling apparatus according to claim 4, wherein The telescopic outrigger (23) includes two sets arranged side by side, and a synchronous pulley (24) is provided between the ends of the two sets of telescopic outriggers (23).

7. The anti-collision glass substrate handling apparatus according to claim 5, wherein A heat dissipation mesh (14) is provided on the tray (11) below the mounting base (12), and the heat dissipation mesh (14) covers the first motor assembly (22).

8. The anti-collision glass substrate handling apparatus according to claim 1, wherein, The carrier plate (21) is also provided with a material detection sensor (25); there are four sets of the material detection sensor (25), which are distributed in a rectangular shape on the carrier plate (21), and the detection end of the material detection sensor (25) is set facing the upper surface of the carrier plate (21).

9. A glass substrate handling line characterized by, include: Glass substrate holder (4) and anti-collision glass substrate handling equipment as described in any one of claims 1 to 8; The glass substrate rack (4) is arranged in the form of a vertical wall and includes multiple arrayed glass substrate bins (41). The anti-collision glass substrate handling equipment is installed between adjacent glass substrate racks (4) and can move vertically up and down and horizontally in parallel with the surface of the glass substrate rack (4). When the carrier plate (21) of the anti-collision glass substrate handling equipment extends out, it can extend into the bottom of each glass substrate bin (41) to realize the handling of glass substrates.

10. The glass substrate handling line of claim 9, wherein, Multiple sets of anti-collision glass substrate handling equipment are provided between adjacent glass substrate frames (4).

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