CN113895952B - Substrate glass grabbing device - Google Patents
Substrate glass grabbing device Download PDFInfo
- Publication number
- CN113895952B CN113895952B CN202111002972.0A CN202111002972A CN113895952B CN 113895952 B CN113895952 B CN 113895952B CN 202111002972 A CN202111002972 A CN 202111002972A CN 113895952 B CN113895952 B CN 113895952B
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- longitudinal
- transverse
- substrate glass
- fixing frame
- groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
The invention relates to the technical field of substrate glass production, and discloses a substrate glass grabbing device. The substrate glass grabbing device comprises a mechanical arm and a fixing frame, wherein the mechanical arm is used for driving the fixing frame to move, and a transverse sucker assembly and a longitudinal sucker assembly which are used for being connected with substrate glass are arranged on the fixing frame; the two groups of transverse sucking disc components are arranged at intervals along the vertical direction, and the distance between the two groups of transverse sucking disc components can be adjusted; the longitudinal sucking disc components are two groups, the two groups of longitudinal sucking disc components are arranged at intervals along the horizontal direction, and the distance between the two groups of longitudinal sucking disc components can be adjusted. According to the invention, the grabbing range of the fixing frame can be changed by adjusting the distance between the two groups of transverse sucker assemblies and the distance between the two groups of longitudinal sucker assemblies, so that the grabbing requirements of different specifications of substrate glass are met, the fixing frame is not required to be replaced in the adjusting process, the equipment adjusting time is shortened, and the production efficiency is increased.
Description
Technical Field
The invention relates to the technical field of substrate glass production, in particular to a substrate glass grabbing device.
Background
In the production process of the TFT-LCD substrate glass production line, the TFT-LCD substrate glass is forbidden to contact with an effective surface (an area used in the production of a liquid crystal display) in production, so that a device provided with uniformly distributed suckers is required to be used for realizing the grabbing action along the outermost side of the glass when the TFT-LCD substrate glass is grabbed. Along with the diversification of market demand sizes, TFT-LCD substrate glass with different sizes needs to be produced, and the conventional grabbing equipment is poor in universality and cannot meet the demands of the TFT-LCD substrate glass with different sizes.
Disclosure of Invention
In order to solve the technical problems described above or at least partially solve the technical problems described above, the present invention provides a substrate glass gripping device.
The invention provides a substrate glass grabbing device, which comprises a mechanical arm and a fixing frame, wherein the mechanical arm is used for driving the fixing frame to move, and a transverse sucker assembly and a longitudinal sucker assembly which are used for being connected with substrate glass are arranged on the fixing frame;
the two groups of transverse sucking disc components are arranged at intervals along the vertical direction, and the distance between the two groups of transverse sucking disc components can be adjusted;
the longitudinal sucking disc components are two groups, the two groups of longitudinal sucking disc components are arranged at intervals along the horizontal direction, and the distance between the two groups of longitudinal sucking disc components can be adjusted.
Preferably, the fixing frame is provided with a plurality of transverse installation pieces along the horizontal direction, the plurality of transverse installation pieces are arranged at intervals along the vertical direction, and the transverse sucker assembly can be detachably arranged on the transverse installation pieces;
the mount is provided with a plurality of vertical installed parts along vertical direction, and a plurality of vertical installed parts set up along horizontal direction interval, and vertical sucking disc subassembly can dismantle the setting on vertical installed part.
Preferably, the fixing frame comprises two longitudinal fixing rods arranged along the vertical direction, the longitudinal sucker assembly is arranged on the longitudinal fixing rods, and the longitudinal fixing rods are detachably connected with the longitudinal mounting piece.
Preferably, the fixing frame comprises two transverse fixing rods arranged along the horizontal direction, at least one transverse fixing rod is provided with at least two extension rods, the extension rods are perpendicular to the transverse fixing rods, and the transverse installation parts are respectively arranged on the transverse fixing rods and the extension rods.
Preferably, the longitudinal mounting member comprises first positioning members oppositely arranged on two transverse fixing rods, the longitudinal fixing rods are provided with second positioning members matched with the first positioning members, and the transverse fixing rods are provided with a plurality of first positioning members at intervals along the length direction.
Preferably, the fixing frame further comprises a framework, and two ends of the framework are respectively connected with the two transverse fixing rods.
Preferably, the middle part of the skeleton is provided with a mounting position for being connected with the mechanical arm.
Preferably, the transverse sucker assembly comprises a plurality of sucker assembly bodies arranged at intervals along the horizontal direction, and the longitudinal sucker assembly comprises a plurality of sucker assembly bodies arranged at intervals along the vertical direction.
Preferably, each sucker assembly body comprises a sucker rod for connecting with the fixing frame and a sucker body arranged at the end part of the sucker rod.
Preferably, the sucker body is connected with a vacuum pipeline for sucking vacuum.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages:
according to the invention, the grabbing range of the fixing frame can be changed by adjusting the distance between the two groups of transverse sucker assemblies and the distance between the two groups of longitudinal sucker assemblies, so that the grabbing requirements of different specifications of substrate glass are met, the fixing frame is not required to be replaced in the adjusting process, the equipment adjusting time is shortened, and the production efficiency is increased.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic view of a substrate glass gripping device according to an embodiment of the present invention;
fig. 2 is a schematic view of an arrangement mode of a fixing frame according to an embodiment of the invention.
Description of the reference numerals
10. A substrate glass; 20. a mechanical arm; 30. a fixing frame; 31. a longitudinal fixing rod; 32. a transverse fixing rod; 33. an extension bar; 34. a skeleton; 35. a mounting position; 40. a lateral suction cup assembly; 50. a longitudinal chuck assembly; 60. a sucker rod; 61. a suction cup body; 70. and a backup plate.
Detailed Description
In order that the above objects, features and advantages of the invention will be more clearly understood, a further description of the invention will be made. The embodiments of the present invention and the features in the embodiments may be combined with each other without collision.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein; it is apparent that the embodiments in the specification are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1 and fig. 2, the substrate glass gripping device provided in the embodiment of the invention includes a mechanical arm 20 and a fixing frame 30, where the mechanical arm 20 is used to drive the fixing frame 30 to move. The structure of the mechanical arm 20 is not limited, and the mechanical arm 20 is only required to drive the fixing frame 30 to move along any angle, and the mechanical arm 20 is in the prior art, so that no excessive description is made here, and in addition, the mechanical arm 20 in fig. 1 is a schematic diagram and does not represent a specific structure of the mechanical arm 20 in the present application. The substrate glass 10 can be TFT-LCD substrate glass, etc., that is, the substrate glass gripping device can be used in the production process of TFT-LCD substrate glass production line.
The holder 30 is provided with a lateral suction cup assembly 40 and a longitudinal suction cup assembly 50 for connection with the substrate glass 10. The two groups of the transverse sucking disc assemblies 40 are arranged at intervals along the vertical direction, the two groups of the transverse sucking disc assemblies 40 respectively correspond to the upper and lower grabbing positions of the substrate glass 10, the upper and lower grabbing positions are the upper and lower parts of the forbidden contact effective surface of the substrate glass 10, and the distance between the two groups of the transverse sucking disc assemblies 40 can be adjusted to adapt to the substrate glass 10 with different sizes. The two groups of the longitudinal sucking disc assemblies 50 are arranged at intervals along the horizontal direction, the two groups of the longitudinal sucking disc assemblies 50 respectively correspond to the left and right grabbing positions of the substrate glass 10, the left and right grabbing positions are the left side and the right side of the forbidden contact effective surface of the substrate glass 10, and the distance between the two groups of the longitudinal sucking disc assemblies 50 can be adjusted to adapt to the substrate glass 10 with different sizes.
The invention can change the grabbing range of the fixing frame 30 by adjusting the distance between the two groups of transverse sucking disc assemblies 40 and the distance between the two groups of longitudinal sucking disc assemblies 50, thereby adapting to the substrate glass 10 with different specifications, meeting the grabbing requirements of the substrate glass 10 with different sizes, and reducing the equipment adjusting time and increasing the production efficiency without changing the fixing frame 30 in the adjusting process.
In some embodiments, the mount 30 is provided with a plurality of lateral mounts in a horizontal direction, the plurality of lateral mounts being spaced apart in a vertical direction, and the lateral suction cup assembly 40 being removably disposed on the lateral mounts. The setting positions of the transverse mounting members are opposite to the grabbing positions above and below the substrate glass 10 with different specifications, so that the transverse sucker assemblies 40 are mounted on the corresponding transverse mounting members according to the requirements of the substrate glass 10 with different specifications.
The fixing frame 30 is provided with a plurality of longitudinal mounting members in a vertical direction, the plurality of longitudinal mounting members being disposed at intervals in a horizontal direction, and the longitudinal chuck assembly 50 being detachably disposed on the longitudinal mounting members. The vertical mounting members are disposed at positions opposite to the left and right gripping positions of the substrate glass 10 with different specifications, so that the vertical chuck assembly 50 is mounted on the corresponding vertical mounting members according to the requirements of the substrate glass 10 with different specifications.
As shown in fig. 2, the fixing frame 30 includes two longitudinal fixing rods 31 disposed along a vertical direction, the longitudinal chuck assembly 50 is disposed on the longitudinal fixing rods 31, and the longitudinal fixing rods 31 are detachably connected with the longitudinal mounting members. That is, according to the substrate glass 10 of different specifications, the longitudinal fixing bars 31 are mounted on different longitudinal mounting members, so that the distance between the two longitudinal fixing bars 31 is adapted to the distance between the gripping positions of the left and right sides of the substrate glass 10, and the longitudinal chuck assembly 50 is connected to the corresponding gripping positions. The longitudinal chuck assembly 50 can be mounted on the longitudinal fixing rod 31 by means of bolting, etc., so that the mounting and the replacement are facilitated.
Specifically, when gripping the substrate glass 10 of one of the specifications, the two longitudinal fixing bars 31 are mounted on the corresponding longitudinal mounts such that the distance between the two longitudinal fixing bars 31 is adapted to the distance between the gripping positions of the left and right sides of the substrate glass 10, and the gripping positions of the left and right sides of the substrate glass 10 are gripped by the longitudinal chuck assembly 50. When the substrate glass 10 of different specifications is gripped, if the distance between the gripping positions of the left side and the right side of the substrate glass 10 increases, at this time, one of the longitudinal fixing bars 31 is detached or both of the longitudinal fixing bars 31 are detached, and the detached longitudinal fixing bar 31 is mounted on the longitudinal mounting member on the outer side thereof, so that the distance between the two longitudinal fixing bars 31 increases, thereby accommodating the lateral gripping of the substrate glass 10 of different scales.
The fixing frame 30 comprises two transverse fixing rods 32 which are arranged along the horizontal direction, at least one transverse fixing rod 32 is provided with at least two extension rods 33, the extension rods 33 are perpendicular to the transverse fixing rods 32, the extension rods 33 extend to the outer sides of the transverse fixing rods 32, and transverse mounting pieces are respectively arranged on the transverse fixing rods 32 and the extension rods 33, so that the transverse sucker assemblies 40 are detachably connected with the transverse fixing rods 32. Specifically, the distance between the two lateral fixing bars 32 is adapted to the distance between the gripping positions above and below the substrate glass 10, and in use, two sets of lateral suction cup assemblies 40 are mounted on the two lateral fixing bars 32, respectively, such that the lateral suction cup assemblies 40 on the lateral fixing bars 32 can be connected to the gripping positions of the substrate glass 10. When the substrate glass 10 with different specifications is grabbed, if the distance between the grabbing positions above and below the substrate glass 10 is increased, at this time, the transverse sucking disc assemblies 40 on the transverse fixing rods 32 provided with the lengthening rods 33 are taken down, and the transverse sucking disc assemblies 40 are mounted on the lengthening rods 33, so that the distance between two groups of transverse sucking disc assemblies 40 is increased to be suitable for the distance between the grabbing positions above and below the substrate glass 10, and then the grabbing action can be realized, so that the vertical grabbing of the substrate glass 10 with different scales is suitable. Wherein, the transverse installation piece can be the screw thread seat of setting on transverse fixing rod 32 and extension 33, then set up the through-hole on transverse sucking disc subassembly 40, and the bolt passes the through-hole and is connected with the screw thread seat, and then installs transverse sucking disc subassembly 40 on the screw thread seat, and this kind of connected mode easy dismounting, and fixed effectual.
The longitudinal installation piece comprises first locating pieces which are oppositely arranged on the two transverse fixing rods 32, the longitudinal fixing rods 31 are provided with second locating pieces which are matched with the first locating pieces, the transverse fixing rods 32 are provided with a plurality of first locating pieces at intervals along the length direction, namely, two ends of the longitudinal fixing rods 31 are respectively detachably connected with the two transverse fixing rods 32, so that the longitudinal fixing rods 31 and the transverse fixing rods 32 are connected to form a rectangular frame structure, and stability of the fixing frame 30 and uniformity of stress at each position of the fixing frame 30 are ensured. Wherein, first setting element can be the fixing base of setting on horizontal dead lever 32, and the second setting element is the through-hole of setting on vertical dead lever 31 for vertical dead lever 31 passes through bolted connection on horizontal dead lever 32, easy dismounting ensures fixed strength.
Further optimally, the fixing frame 30 further comprises a framework 34, two ends of the framework 34 are respectively connected with the two transverse fixing rods 32, the strength of the fixing frame 30 can be increased by arranging the framework 34, and the overall stability of the fixing frame 30 can not be affected when the longitudinal fixing rods 31 are disassembled and assembled. Wherein, the middle part of skeleton 34 is equipped with the installation position 35 that is used for being connected with arm 20 for arm 20 is connected with skeleton 34.
As shown in connection with fig. 1 and 2, the lateral suction cup assembly 40 includes a plurality of suction cup assembly bodies disposed at intervals in a horizontal direction, and the longitudinal suction cup assembly 50 includes a plurality of suction cup assembly bodies disposed at intervals in a vertical direction, ensuring the connection strength of the lateral suction cup assembly 40 and the longitudinal suction cup assembly 50 with the substrate glass 10. Wherein, each sucking disc subassembly body includes the sucking disc pole 60 that is used for being connected with mount 30 and sets up the sucking disc body 61 at sucking disc pole 60 tip. That is, the sucker rod 60 is detachably disposed on the fixing frame 30, and various connection modes such as threaded connection, clamping connection and the like are provided. Wherein, the junction of every vertical dead lever 31 and horizontal dead lever 32 all is equipped with a sucking disc subassembly body, and base plate glass 10 atress homogeneity.
The suction cup body 61 is connected with a vacuum pipe for sucking vacuum. When the substrate glass 10 needs to be grabbed, each sucker body 61 is opposite to the grabbing position of the substrate glass 10, at this time, one side of the substrate glass 10 away from the sucker body 61 is provided with a backup plate 70, the mechanical arm 20 drives the fixing frame 30 to move towards the direction of the substrate glass 10, and the backup plate 70 also moves towards the direction of the substrate glass 10 under the action of external force until two sides of the substrate glass 10 are respectively contacted with the backup plate 70 and the sucker body 61, at this time, the vacuumizing equipment provides acting force for the sucker body 61 through the vacuum pipeline, so that the sucker body 61 sucks the substrate glass 10, and then the mechanical arm 20 moves the substrate glass 10 to the next working position.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The substrate glass grabbing device is characterized by comprising a mechanical arm (20) and a fixing frame (30), wherein the mechanical arm (20) is used for driving the fixing frame (30) to move, and a transverse sucker assembly (40) and a longitudinal sucker assembly (50) which are used for being connected with substrate glass (10) are arranged on the fixing frame (30);
the two groups of the transverse sucking disc assemblies (40) are arranged at intervals along the vertical direction, and the distance between the two groups of the transverse sucking disc assemblies (40) can be adjusted;
the two groups of the longitudinal sucking disc assemblies (50) are arranged at intervals along the horizontal direction, and the distance between the two groups of the longitudinal sucking disc assemblies (50) can be adjusted;
the fixing frame (30) is provided with a plurality of transverse installation pieces along the horizontal direction, the transverse installation pieces are arranged at intervals along the vertical direction, and the transverse sucker assembly (40) can be detachably arranged on the transverse installation pieces;
the fixing frame (30) is provided with a plurality of longitudinal mounting pieces along the vertical direction, a plurality of the longitudinal mounting pieces are arranged at intervals along the horizontal direction, and the longitudinal sucker assemblies (50) can be detachably arranged on the longitudinal mounting pieces;
the fixing frame (30) comprises two longitudinal fixing rods (31) arranged along the vertical direction, the longitudinal sucker assembly (50) is arranged on the longitudinal fixing rods (31), and the longitudinal fixing rods (31) are detachably connected with the longitudinal installation piece;
the fixing frame (30) comprises two transverse fixing rods (32) which are arranged along the horizontal direction, at least one of the transverse fixing rods (32) is provided with an extension rod (33), the number of the extension rods (33) is at least two, the extension rods (33) are perpendicular to the transverse fixing rods (32), and the transverse installation parts are respectively arranged on the transverse fixing rods (32) and the extension rods (33).
2. The substrate glass gripping device according to claim 1, wherein the longitudinal mounting member comprises first positioning members oppositely arranged on two transverse fixing rods (32), second positioning members matched with the first positioning members are arranged on the longitudinal fixing rods, and a plurality of first positioning members are arranged on the transverse fixing rods (32) at intervals along the length direction of the transverse fixing rods.
3. The substrate glass gripping device according to claim 2, wherein the fixing frame (30) further comprises a skeleton (34), and both ends of the skeleton (34) are respectively connected with the two lateral fixing rods (32).
4. A substrate glass gripping device according to claim 3, characterized in that the middle part of the skeleton (34) is provided with a mounting location (35) for connection with the robot arm (20).
5. The substrate glass gripping device according to claim 1, wherein the lateral chuck assembly (40) comprises a plurality of chuck assembly bodies arranged at intervals in a horizontal direction, and the longitudinal chuck assembly (50) comprises a plurality of chuck assembly bodies arranged at intervals in a vertical direction.
6. The substrate glass gripping device according to claim 5, wherein each of the chuck assembly bodies includes a chuck rod (60) for connection with the fixing frame (30) and a chuck body (61) provided at an end of the chuck rod (60).
7. The substrate glass gripping device according to claim 6, wherein the chuck body (61) is connected with a vacuum pipe for sucking vacuum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111002972.0A CN113895952B (en) | 2021-08-30 | 2021-08-30 | Substrate glass grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111002972.0A CN113895952B (en) | 2021-08-30 | 2021-08-30 | Substrate glass grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113895952A CN113895952A (en) | 2022-01-07 |
| CN113895952B true CN113895952B (en) | 2023-06-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111002972.0A Active CN113895952B (en) | 2021-08-30 | 2021-08-30 | Substrate glass grabbing device |
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| Country | Link |
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| CN (1) | CN113895952B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5632590A (en) * | 1995-06-30 | 1997-05-27 | Ford Motor Company | Method and system for loading panels into shipping containers at a work station and end effector for use therein |
| JP4480633B2 (en) * | 2005-06-21 | 2010-06-16 | セントラル硝子株式会社 | Method and apparatus for loading glass plate onto pallet |
| KR101036907B1 (en) * | 2009-10-09 | 2011-05-25 | 장대환 | A integrated robot hand and method of using the same |
| CN202336869U (en) * | 2011-12-07 | 2012-07-18 | 郑州旭飞光电科技有限公司 | Robot arm for gripping large-dimension thin film transistor-liquid crystal display (TFT-LCD) liquid crystal glass base plate |
| CN206437621U (en) * | 2016-11-30 | 2017-08-25 | 中建材凯盛机器人（上海）有限公司 | glass stacking device |
| CN210476944U (en) * | 2019-09-03 | 2020-05-08 | 苏州德益丰汽车科技股份有限公司 | Robot for grabbing automobile glass |
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2021
- 2021-08-30 CN CN202111002972.0A patent/CN113895952B/en active Active
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| CN113895952A (en) | 2022-01-07 |
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