A tilt transfer arm for large size glass substrates

Abstract

The application relates to the field of glass substrate conveying, and discloses a tilt conveying arm for large-size glass substrates. In the application, a four-axis robot, a seven-degree angle component and an arm component are included, the bottom of the seven-degree angle component is fixedly connected with the four-axis robot through a flange connecting plate, and the top is rotationally connected with the arm component, the seven-degree angle component is used for driving the arm component to switch between a horizontal posture and a seven-degree tilt posture, the four-axis robot is used for driving the seven-degree angle component and the arm component to move as a whole, and the arm component is used for adsorbing and supporting the large-size glass substrate. The horizontal tilt posture switching of the arm component is realized through the seven-degree angle component, a plurality of mechanical arms for respectively corresponding to upstream horizontal plate taking and downstream tilt plate conveying are not additionally arranged, the posture requirements of different processes are simultaneously adapted, the posture of the substrate does not need to be manually adjusted, and the cross-process transfer efficiency is improved.

Description

Technical Field

[0001] This application belongs to the field of glass substrate handling technology, specifically a tilting conveyor arm for large-size glass substrates. Background Technology

[0002] With the development of large-size display devices, the market demand for large-size glass substrates is increasing. Currently, LCD glass production has developed to the 10.5 generation line (glass size 3370*2940 mm).

[0003] In the production process of large-size glass substrates, the turnover of glass substrates between different processes requires the use of robotic arms for handling. The glass transfer methods of different process equipment are different. In the upstream precision cutting machine and chamfering machine, the glass substrates are transferred by the equipment in a horizontal posture.

[0004] However, the downstream cleaning equipment is transported at a seven-degree angle, so the glass substrate needs to be changed in orientation when it is transported from the upstream chamfering machine to the cleaning machine. In order to solve this production problem...

[0005] This invention designs a large-size glass substrate tilting conveyor arm, which can realize the functional requirements of horizontal board picking and tilting board delivery within a limited equipment space. Utility Model Content

[0006] The purpose of this application is to provide a tilting conveyor arm for large-size glass substrates in order to solve the problems mentioned above.

[0007] The technical solution adopted in this application is as follows: a tilting conveying arm for large-size glass substrates, including a four-axis robot, a seven-degree angle component and an arm component. The bottom of the seven-degree angle component is fixedly connected to the four-axis robot through a flange connecting plate, and the top is rotatably connected to the arm component. The seven-degree angle component is used to drive the arm component to switch between a horizontal posture and a seven-degree tilt posture. The four-axis robot is used to drive the seven-degree angle component and the arm component to move as a whole, and the arm component is used to adsorb and support large-size glass substrates.

[0008] In a preferred embodiment, the seven-degree angle component includes a flange connecting plate, a mounting base plate, a cylinder assembly, a rotating shaft assembly, a horizontal sensing block, a seven-degree angle sensing block, a horizontal limiting block, and a seven-degree angle limiting block. The flange connecting plate is fixedly disposed at the bottom of the mounting base plate, the rotating shaft assembly and the cylinder assembly are both disposed at the top of the mounting base plate, and the horizontal sensing block and the seven-degree angle sensing block are fixedly disposed at intervals on the outer side of the mounting base plate. The horizontal limiting block and the seven-degree angle limiting block are respectively fixed at both ends of the mounting base plate, and both are equipped with hydraulic buffers.

[0009] In a preferred embodiment, the rotating shaft assembly includes two seated bearings, a rotating shaft, and two shaft fixing blocks. The two seated bearings are symmetrically fixed on the top of the mounting base plate. The two ends of the rotating shaft pass through the inner rings of the two seated bearings, and the two shaft fixing blocks are respectively sleeved on the two ends of the rotating shaft. The top end of the shaft fixing block is fixedly connected to the arm fixing plate of the arm component.

[0010] In a preferred embodiment, the cylinder assembly includes a cylinder, a hinge seat, and a support bracket. The piston rod end of the cylinder is hinged to the hinge seat, which is fixed to the top of the mounting base plate. The cylinder barrel end of the cylinder is hinged to the support bracket, which is fixedly installed at the bottom of the arm mounting plate of the arm component. The cylinder is equipped with a magnetic ring sensor.

[0011] In a preferred embodiment, the arm component includes an arm fixing plate, an arm lever assembly, a pneumatic assembly, and two proximity switch assemblies. Two proximity switch assemblies are fixedly disposed on the outer surface of the arm fixing plate, and correspond to the horizontal sensing block and the seven-degree angle sensing block of the seven-degree angle component, respectively. The pneumatic assembly is installed on the top of the arm fixing plate, and the arm lever assembly is fixedly disposed on the bottom of the arm fixing plate. The pneumatic assembly includes a solenoid valve, a digital display pressure switch, and a vacuum generator.

[0012] In a preferred embodiment, the arm arm assembly includes a carbon fiber arm arm, a plurality of suction cups and a plurality of brushes, which are fixed to the bottom of the arm fixing plate in parallel at intervals. The suction cups and brushes are staggered and fixed to the carbon fiber arm arm, and the brushes are made of nylon material.

[0013] In a preferred embodiment, the range of motion of the four-axis robot covers the pick-and-place stations of the upstream chamfering machine and the downstream cleaning machine.

[0014] In a preferred embodiment, both the horizontal limiting block and the seven-degree angle limiting block of the seven-degree angle component are made of polyurethane, and the surface of the carbon fiber arm bar of the arm component is provided with an antistatic coating.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of this application are:

[0016] The arm component can switch between horizontal and tilt postures by using a seven-degree angle component, eliminating the need to set up multiple robotic arms to handle upstream horizontal board picking and downstream tilting board delivery. It can also adapt to the transfer posture requirements of different processes, eliminating the need for manual adjustment of the substrate posture and improving the efficiency of cross-process transfer.

[0017] The carbon fiber arm and multi-suction cup design can stably support large-size glass substrates, while brush support prevents substrate collapse and scratches. Vacuum adsorption combined with pressure monitoring ensures that the substrate has no risk of falling. The automatic determination of horizontal / tilt posture and the limit buffer design prevent excessive posture switching or jamming. The high-precision positioning of the four-axis robot reduces substrate collision damage and ensures the production yield of glass substrates.

[0018] This invention can meet the production needs of transferring large-size glass substrates from upstream equipment to downstream equipment; within the limited factory space of glass substrate manufacturers, this invention can simultaneously meet the needs of horizontally picking up the substrate from upstream equipment and placing the substrate to downstream equipment at a seven-degree angle. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of a tilting conveyor arm for large-size glass substrates;

[0020] Figure 2 This is a three-dimensional structural diagram of a seven-degree angle component of a large-size glass substrate tilting conveyor arm;

[0021] Figure 3 This is a three-dimensional structural diagram of a component of a large-size glass substrate tilting conveyor arm;

[0022] Figure 4 This is a three-dimensional structural diagram of a rotating shaft assembly for a large-size glass substrate tilting conveyor arm;

[0023] Figure 5 This is a three-dimensional structural diagram of a cylinder assembly for a large-size glass substrate tilting conveyor arm;

[0024] Figure 6 This is a three-dimensional structural diagram of a large-size glass substrate tilting conveyor arm assembly.

[0025] The diagram shows the following components: 1. Four-axis robot; 2. Seven-degree angle component; 3. Arm component; 21. Flange connection plate; 22. Mounting base plate; 23. Cylinder assembly; 24. Rotary axis assembly; 25. Horizontal sensor block; 26. Seven-degree angle sensor block; 27. Seven-degree angle limit block; 28. Horizontal limit block; 31. Arm fixing plate; 32. Arm lever assembly; 33. Pneumatic assembly; 34. Proximity switch assembly; 301. Bearing with seat; 302. Rotary axis; 303. Shaft fixing block; 401. Cylinder; 402. Support corner piece; 403. Hinge seat; 501. Carbon fiber arm lever; 502. Suction cup; 503. Brush. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Example:

[0028] Reference Figure 1-6 A tilting conveyor arm for large-size glass substrates includes a four-axis robot 1, a seven-degree angle component 2, and an arm component 3. The bottom of the seven-degree angle component 2 is fixedly connected to the four-axis robot 1 via a flange connecting plate 21, and the top is rotatably connected to the arm component 3. The seven-degree angle component 2 is used to drive the arm component 3 to switch between a horizontal posture and a seven-degree tilt posture. The four-axis robot 1 is used to drive the seven-degree angle component 2 and the arm component 3 to move as a whole. The arm component 3 is used to adsorb and support large-size glass substrates. By clarifying the core components of the device and the basic functions of each component, a complete conveying architecture of "movement-posture switching-substrate carrying" is constructed, which solves the problem that traditional robotic arms cannot achieve horizontal and tilt posture conversion in a limited space, and provides hardware support for cross-process transfer of large-size glass substrates.

[0029] Reference Figure 1-5 The seven-degree angle component 2 includes a flange connecting plate 21, a mounting base plate 22, a cylinder assembly 23, a rotating shaft 302 assembly 24, a horizontal sensing block 25, a seven-degree angle sensing block 26, a horizontal limiting block 28, and a seven-degree angle limiting block 27. The flange connecting plate 21 is fixedly installed at the bottom of the mounting base plate 22. The rotating shaft 302 assembly 24 and the cylinder assembly 23 are both installed at the top of the mounting base plate 22. The horizontal sensing block 25 and the seven-degree angle sensing block 26 are fixedly installed at intervals on the outer side of the mounting base plate 22. The horizontal limiting block 28... The 7-degree angle limiting block 27 is fixed to both ends of the mounting base plate 22, and both are equipped with hydraulic buffers. The rotating shaft 302 assembly 24 provides a rotation fulcrum for the posture switching of the arm component 3, and the cylinder assembly 23 provides the driving force for posture switching. The horizontal / 7-degree angle sensing block 26 cooperates with the subsequent proximity switch to accurately determine the arm posture. The horizontal / 7-degree angle limiting block 27 works in conjunction with the hydraulic buffer to limit the extreme posture of the arm component 3, avoid excessive rotation that could cause the base plate to fall off, and improve the safety of device operation.

[0030] Reference Figure 1-5The rotating shaft 302 assembly 24 includes two seated bearings 301, a rotating shaft 302, and two shaft fixing blocks 303. The two seated bearings 301 are symmetrically fixed on the top of the mounting base plate 22. The two ends of the rotating shaft 302 are respectively inserted through the inner rings of the two seated bearings 301, and the two shaft fixing blocks 303 are respectively sleeved on the two ends of the rotating shaft 302. The top of the shaft fixing blocks 303 is fixedly connected to the arm fixing plate 31 of the arm component 3. The seated bearings 301 and the high-precision rotating shaft 302 ensure smooth rotation of the arm component 3 and avoid attitude switching jamming caused by shaft system deviation. The symmetrical design of the two shaft fixing blocks 303 makes the connection between the arm component 3 and the rotating shaft 302 stable, preventing the connection from loosening due to the excessive weight of the large-size glass substrate, and ensuring the structural stability during rotation.

[0031] Reference Figure 1-5 The cylinder assembly 23 includes a cylinder 401, a hinge seat 403, and a support corner piece 402. The piston rod end of the cylinder 401 is hinged to the hinge seat 403, which is fixed to the top of the mounting base plate 22. The cylinder barrel end of the cylinder 401 is hinged to the support corner piece 402, which is fixedly installed at the bottom of the arm fixing plate 31 of the arm component 3. The cylinder 401 is equipped with a magnetic ring sensor. The cylinder 401 drives the arm component 3 to rotate around the rotation axis 302 by extending / retracting the piston rod, thereby switching between horizontal and tilted postures. The hinged connection allows the cylinder 401 to adapt to angle changes during driving, avoiding component damage caused by rigid connection. The magnetic ring sensor provides real-time feedback on the cylinder status, ensuring accurate and controllable posture switching and preventing posture deviation caused by cylinder 401 failure.

[0032] Reference Figure 1-5 The arm component 3 includes an arm fixing plate 31, an arm lever assembly 32, a pneumatic assembly 33, and two proximity switch assemblies 34. Two proximity switch assemblies 34 are fixedly installed on the outer surface of the arm fixing plate 31, corresponding to the horizontal sensing block 25 and the seven-degree angle sensing block 26 of the seven-degree angle component 2, respectively. The pneumatic assembly 33 is installed on the top of the arm fixing plate 31, and the arm lever assembly 32 is fixedly installed on the bottom of the arm fixing plate 31. The pneumatic assembly 33 includes a solenoid valve, a digital pressure switch, and a vacuum generator. The proximity switch assembly 34 cooperates with the sensing blocks to realize automatic determination of the arm posture without manual monitoring. The pneumatic assembly 33 provides negative pressure to the suction cup 502 through the vacuum generator. The digital pressure switch monitors the vacuum level in real time, and the solenoid valve controls the vacuum on and off, ensuring the stable adsorption of the glass substrate by the suction cup 502 and preventing the substrate from falling off.

[0033] Reference Figure 1-6The arm assembly 32 includes a carbon fiber arm 501, several suction cups 502, and several brushes 503, which are fixed to the bottom of the arm fixing plate 31 in parallel at intervals. The suction cups 502 and brushes 503 are staggered and fixed on the carbon fiber arm 501, and the brushes 503 are made of nylon. The carbon fiber arm 501 combines high strength and lightweight, adapting to the load-bearing requirements of large-size glass substrates and reducing the load on the four-axis robot 1. The suction cups 502 provide negative pressure adsorption force to prevent the substrate from sliding. The brushes 503 are higher than the adsorption surface of the suction cups 502, which can support the glass substrate in advance and avoid the substrate from collapsing and being scratched by direct friction with the carbon fiber arm 501, while not affecting the adsorption effect of the suction cups 502.

[0034] Reference Figure 1-4 The four-axis robot 1 has a range of motion covering the pick-and-place stations of the upstream chamfering machine and the downstream cleaning machine. High-precision repeatability positioning ensures that the glass substrates are accurately aligned with the equipment stations during pick-and-place, avoiding substrate collisions caused by positioning deviations. Its large load capacity is suitable for the weight of large-size glass substrates, and its multi-axis motion function allows the device to be flexibly adjusted in limited factory space to meet the needs of cross-equipment transfer.

[0035] Reference Figure 1-3 Both the horizontal limiting block 28 and the seven-degree angle limiting block 27 of the seven-degree angle component 2 are made of polyurethane, and the surface of the carbon fiber arm rod 501 of the arm component 3 is provided with an anti-static coating. The cooperation between the polyurethane limiting block and the hydraulic buffer can absorb the impact force when the arm component 3 switches to the extreme position, avoiding component damage and noise caused by metal collision. The anti-static coating prevents the carbon fiber arm rod 501 from attracting dust due to static electricity generated by friction, keeping the surface of the glass substrate clean.

[0036] The implementation principle of an embodiment of the tilting conveyor arm for large-size glass substrates in this application is as follows:

[0037] When it is necessary to retrieve a glass substrate from the upstream chamfering machine, the four-axis robot 1 moves the seven-degree angle component 2 and the arm component 3 to the top of the substrate retrieval station. At this time, the piston rod of the cylinder of the seven-degree angle component 2 retracts, causing the arm component 3 to rotate around the rotation axis 302 until the proximity switch component 34 of the arm fixing plate 31 aligns with the horizontal sensing block 25, determining that the arm component 3 is in a horizontal posture. The horizontal limit block 28 and the hydraulic buffer limit the excessive rotation of the arm. Subsequently, the vacuum generator of the pneumatic component 33 is activated, the solenoid valve is opened, and after the digital display pressure switch confirms that the vacuum level meets the standard, the four-axis robot 1 moves the arm component 3 down, and the suction cup 502 adsorbs the glass substrate, completing the horizontal substrate retrieval.

[0038] After the plate is picked up, the four-axis robot 1 drives the arm component 3 to rise and move to the transfer position; the cylinder of the seven-degree angle component 2 is vented, the piston rod extends, and pushes the arm component 3 to rotate counterclockwise around the rotation axis 302; during the rotation, the magnetic ring sensor of the cylinder provides real-time feedback on the position of the piston rod. When the arm component 3 rotates to the tilted posture, another proximity switch component 34 of the arm fixing plate 31 aligns with the seven-degree angle sensing block 26, the cylinder stops moving, and the seven-degree angle limit block 27 and the hydraulic buffer limit the arm from continuing to rotate, adapting to the tilting transfer requirements of the downstream cleaning machine.

[0039] After the posture switch is completed, the four-axis robot 1 moves the arm component 3 to above the plate feeding station of the downstream cleaning machine. At this time, the arm component 3 maintains an inclined posture, and the four-axis robot 1 adjusts its position to align the glass substrate with the inclined station of the cleaning machine. Then, the solenoid valve of the pneumatic component 33 closes, the vacuum is released, the suction cup 502 releases the glass substrate, and the glass substrate is stably introduced into the downstream process by relying on the transfer structure of the cleaning machine. After the plate feeding is completed, the cylinder piston rod retracts, the arm component 3 returns to a horizontal posture, and the four-axis robot 1 drives the device back to the initial position, waiting for the next transfer cycle.

[0040] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A tilting conveyor arm for large-size glass substrates, comprising a four-axis robot (1), a seven-degree angle component (2), and an arm component (3), characterized in that: The bottom of the seven-degree angle component (2) is fixedly connected to the four-axis robot (1) via a flange connecting plate (21), and the top is rotatably connected to the arm component (3). The seven-degree angle component (2) is used to drive the arm component (3) to switch between a horizontal posture and a seven-degree tilt posture. The four-axis robot (1) is used to drive the seven-degree angle component (2) and the arm component (3) to move as a whole. The arm component (3) is used to adsorb and support a large-size glass substrate.

2. The tilting conveyor arm for large-size glass substrates as described in claim 1, characterized in that: The seven-degree angle component (2) includes a flange connecting plate (21), a mounting base plate (22), a cylinder assembly (23), a rotating shaft (302) assembly (24), a horizontal sensing block (25), a seven-degree angle sensing block (26), a horizontal limiting block (28), and a seven-degree angle limiting block (27). The flange connecting plate (21) is fixedly installed at the bottom of the mounting base plate (22). The rotating shaft (302) assembly (24) and the cylinder assembly (23) are both installed at the top of the mounting base plate (22). The horizontal sensing block (25) and the seven-degree angle sensing block (26) are fixed at intervals on the outside of the mounting base plate (22). The horizontal limiting block (28) and the seven-degree angle limiting block (27) are respectively fixed at both ends of the mounting base plate (22), and both are equipped with hydraulic buffers.

3. The tilting conveyor arm for large-size glass substrates as described in claim 2, characterized in that: The rotating shaft (302) assembly (24) includes two seated bearings (301), a rotating shaft (302), and two shaft fixing blocks (303). The two seated bearings (301) are symmetrically fixed on the top of the mounting base plate (22). The two ends of the rotating shaft (302) are respectively inserted through the inner rings of the two seated bearings (301), and the two shaft fixing blocks (303) are respectively sleeved on the two ends of the rotating shaft (302). The top end of the shaft fixing block (303) is fixedly connected to the arm fixing plate (31) of the arm component (3).

4. The tilting conveyor arm for large-size glass substrates as described in claim 2, characterized in that: The cylinder assembly (23) includes a cylinder (401), a hinge seat (403), and a support corner piece (402). The piston rod end of the cylinder (401) is hinged to the hinge seat (403), which is fixed to the top of the mounting base plate (22). The cylinder barrel end of the cylinder (401) is hinged to the support corner piece (402), which is fixedly installed at the bottom of the arm fixing plate (31) of the arm component (3). The cylinder (401) is equipped with a magnetic ring sensor.

5. The tilting conveyor arm for large-size glass substrates as described in claim 1, characterized in that: The arm component (3) includes an arm fixing plate (31), an arm lever assembly (32), a pneumatic assembly (33), and two proximity switch assemblies (34). Two proximity switch assemblies (34) are fixedly installed on the outer surface of the arm fixing plate (31), and correspond to the horizontal sensing block (25) and the seven-degree angle sensing block (26) of the seven-degree angle component (2), respectively. The pneumatic assembly (33) is installed on the top of the arm fixing plate (31), and the arm lever assembly (32) is fixedly installed on the bottom of the arm fixing plate (31). The pneumatic assembly (33) includes a solenoid valve, a digital pressure switch, and a vacuum generator.

6. The tilting conveyor arm for large-size glass substrates as described in claim 5, characterized in that: The arm arm assembly (32) includes a carbon fiber arm arm (501), a number of suction cups (502) and a number of brushes (503), which are fixed to the bottom of the arm fixing plate (31) in parallel and at intervals. The suction cups (502) and brushes (503) are staggered and fixed on the carbon fiber arm arm (501), and the brushes (503) are made of nylon.

7. The tilting conveyor arm for large-size glass substrates as described in claim 1, characterized in that: The range of motion of the four-axis robot (1) covers the pick-and-place stations of the upstream chamfering machine and the downstream cleaning machine.

8. The tilting conveyor arm for large-size glass substrates as described in claim 1, characterized in that: The horizontal limiting block (28) and the seven-degree angle limiting block (27) of the seven-degree angle component (2) are both made of polyurethane, and the surface of the carbon fiber arm rod (501) of the arm component (3) is provided with an antistatic coating.

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