TWI328558B - Glass input system - Google Patents

Glass input system Download PDF

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Publication number
TWI328558B
TWI328558B TW096115629A TW96115629A TWI328558B TW I328558 B TWI328558 B TW I328558B TW 096115629 A TW096115629 A TW 096115629A TW 96115629 A TW96115629 A TW 96115629A TW I328558 B TWI328558 B TW I328558B
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Taiwan
Prior art keywords
glass
crate
horizontal
vertical
robot
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TW096115629A
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Chinese (zh)
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TW200833580A (en
Inventor
Jun-Mo Jung
Yong-Deuk Bae
Sung-Jin Lee
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Sfa Engineering Corp
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67706—Mechanical details, e.g. roller, belt
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67718—Changing orientation of the substrate, e.g. from a horizontal position to a vertical position
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67736—Loading to or unloading from a conveyor
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
    • H01L21/67742—Mechanical parts of transfer devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
    • H01L21/67745—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber characterized by movements or sequence of movements of transfer devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
    • H01L21/6838—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping with gripping and holding devices using a vacuum; Bernoulli devices

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  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Manipulator (AREA)
  • De-Stacking Of Articles (AREA)
  • Specific Conveyance Elements (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Description

I328558 24009pif.doc 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種玻璃輸入系統（gIass inpui system)，且特別是有關於一種玻璃輸入系統，其因為使用 了垂直/水平條板箱（crate)而可簡化線路的結構並相應地 減小占地面積（f00t print)，且因為減少了包含各種機械手 (robot)的設備的數目而減少用於建立系統的成本。 【先前技術】 玻璃包含用於光罩（photo mask)、半導體的晶片和平 面顯示器（flat panel display，FPD)的玻璃，所述平面顯 示裔例如液晶顯示器（liquid crystal display，LCD )、電聚 顯不面板（plasma display pand ’ pdp)和有機發光二極體 (organic light emitting diode，OLED)。儘管作為 FpD 的 玻璃和作為半導體的晶片的玻璃在材料或用途上不同，但 對所述玻璃進行的一系列處理（例如，曝光（exp〇sing)、 顯影（developing )、蝕刻（etching )、剝離（stripping )、 沖洗（rinsing)和洗滌（washing )處理）實質上非常類似， 且隨著這些處理被循序地實行，玻璃被製造。 在以下描述内容中，可認為玻璃是包含所有上述玻璃 的術語。然而，為了便於闡釋’以下描述内容尤其關注FpD 的LCD破璃。 玻璃在由製造商製造之後被供應給處理公司。者玻璃 從玻璃製造商供應給玻璃處理公51時，使用所謂 箱。可將條板箱理解為一種裝有幾十到幾百塊破璃的容 6 1328558 24009pif.doc 器。通常，條板箱裝載120-200件玻璃。將薄中間紙張插 入在條板箱中的玻璃之間以防止由於玻璃之間的物理碰撞 而導致的玻璃上的劃痕。 當將裝有玻璃的條板箱從玻璃製造商供應給玻螭處理 公司時，玻璃處理公司使用玻璃輸入系統將玻璃逐片輪入 到後續處理。也就是說，從條板箱取出一片玻璃並將其輸 入到後續處理。 'I328558 24009pif.doc IX. Description of the Invention: [Technical Field] The present invention relates to a glass input system (gIass inpui system), and more particularly to a glass input system because of the use of vertical/horizontal strips Crate can simplify the structure of the line and correspondingly reduce the footprint (f00t print), and reduce the cost for building the system by reducing the number of devices containing various robots. [Prior Art] The glass comprises a glass for a photo mask, a semiconductor wafer, and a flat panel display (FPD), such as a liquid crystal display (LCD), an electro-concentration display. Plasma display pand 'pdp and organic light emitting diode (OLED). Although the glass as the FpD and the glass as the semiconductor wafer differ in material or use, a series of processes (for example, exp〇sing, developing, etching, peeling) are performed on the glass. (stripping), rinsing, and washing processes are substantially very similar, and as these processes are performed sequentially, the glass is fabricated. In the following description, glass is considered to be a term encompassing all of the above glasses. However, for ease of explanation, the following description focuses in particular on LCD flooding of FpD. The glass is supplied to the processing company after being manufactured by the manufacturer. Glass is supplied from the glass manufacturer to the glass processing unit 51, using a so-called box. A crates can be understood as a 6 1328558 24009 pif.doc with tens to hundreds of pieces of broken glass. Typically, the crates are loaded with 120-200 pieces of glass. Thin intermediate paper is inserted between the glass in the crate to prevent scratches on the glass due to physical collision between the glass. When the glass-filled crates were supplied from the glass manufacturer to the glass processing company, the glass processing company used a glass input system to rotate the glass into subsequent processing. That is, take a piece of glass out of the crate and enter it for subsequent processing. '

根據裝載玻璃的方法，裝載幾十到幾百件玻璃的條板 箱包έ垂直型條板箱（vertical type crate )和水平型條板 箱（horizontal type crate)。當將玻璃裝載在水平型條板箱 中時，將玻璃水平配置並在垂直方向上進行裝 者 璃裝載在垂直型條板箱中時，在水平方向上2二= 的角度來裝載玻璃。 於仏板箱分為垂錢和水平^，所以麵處理公司 處的常規玻璃輸入系統具有分別對應於垂直型和水平According to the method of loading glass, a slat package of tens to hundreds of pieces of glass, a vertical type crate and a horizontal type crate are loaded. When the glass is loaded in the horizontal crate, the glass is horizontally arranged and loaded in the vertical direction. When the glass is loaded in the vertical crate, the glass is loaded at an angle of 2 = 2 in the horizontal direction. The coffin box is divided into dips and levels ^, so the conventional glass input system at the face processing company has vertical and horizontal levels respectively.

板箱的垂直型和水平型破璃輸入系統。換句話說，單獨提 供垂=料平型玻璃輸入系統作為常規破璃輪入系統& .朗輸人錢包含：麵輸人機械手 if從通過線路轉移的水平型條板箱逐片地輸 入玻T和中間紙張移除機械手（mterm 其配置在接近於::L::手 將一片破璃轉移到破璃轉移部分，其，，二^ 7 1328558 24009pif.doc 從水平型條板箱取得-片破璃並將所述 移部分上。當玻璃輸入機械手將破璃轉移^戟在破螭轉 時，操作中間紙張移除機械手以移除中^紙^螭轉移部分 垂直型玻璃輸入系統包含：破5离輪入機械 過線路轉移的垂直型條板箱逐片地輪入 手絲其從通 手，其被提供在玻璃輸入機械手周圍，，軺移機械 t接二Γ璃且將所接收到的玻_:到 機械手相互作用而移除***在破璃之間 ^^轉移 此，=移垂直型條板箱並將其配置在接近於:::二： 刀其中玻璃輸入機械手從垂直型條板箱取得 j 並將戶 =璃轉移到轉移機械手，且轉移機械手將破璃壯肖 載在玻璃〜移部分上。當玻璃輸人機械手將破璃轉2 璃轉移H，操作中間紙張移除機械手以移除中間紙張。 J㈣述’垂直型條板箱轉移幾乎垂直豎立的 Λ：十到a百鬼玻璃’使得與水平型條板箱相比，設備所佔 據的占地面積減小。因此’近來，垂直型條板箱比水平型 條板箱更廣泛地得到使用。然而，即使當垂直型條板箱且 有優點時，财玻璃製造商均改用垂直型條板箱還是Ξ困 難的α此心為止，還是將垂直和水平條板箱混合 用。 然而，當將垂直和水平條板箱混合使用時，玻璃處理 公司必須具有垂直型和水平型玻璃輪人系統。在此情況 8 ⑶8558 24009pif.doc 下，線路的結構變得複雜，且線路佔據許多空間，使得占 地面積增加。並且，包含多種機械手的設備的數目增加， 使得用於建立系統的成本增加。Vertical and horizontal glass input system for the crate. In other words, the vertical flat-type glass input system is provided separately as a conventional glass-in-the-wheel system &. The loss of money includes: the face-to-face manipulator if input from the horizontal crate transferred through the line one by one. Glass T and intermediate paper removal robot (mterm is configured close to::L:: hand transfers a piece of broken glass to the broken glass transfer part, its, ^^ 7 1328558 24009pif.doc obtained from the horizontal crate - the piece of glass is broken and the part is moved. When the glass input robot shifts the glass, the middle paper removes the robot to remove the middle paper, and the vertical part of the glass input The system consists of: a vertical-type crate that breaks from the wheel into the mechanical line. The wheel is inserted into the hand piece by piece from the hand. It is provided around the glass input robot, and the machine is connected to the glass and will The received glass _: to the robot interaction and removed to insert between the broken glass ^^ transfer this, = shift vertical crate and configure it close to ::: 2: knife where glass input machinery Hand from the vertical crates to get j and transfer the household = glass to the transfer machine And the transfer robot will load the broken glass on the glass ~ shifting part. When the glass input manipulator will turn the glass into 2 glass transfer H, operate the intermediate paper to remove the robot to remove the intermediate paper. J (four) describes 'vertical The crates transfer almost vertically erected Λ: ten to a hundred ghost glass', which makes the footprint of the equipment smaller than that of the horizontal crate. So recently, the vertical crate is more horizontal than the horizontal Crate is more widely used. However, even when vertical crate has advantages, it is still difficult for the glass manufacturer to use the vertical crate, or the vertical and horizontal bars. For the mixing of the crates. However, when mixing vertical and horizontal crates, the glass processing company must have vertical and horizontal glass wheel human systems. In this case 8 (3) 8558 24009pif.doc, the structure of the line becomes complicated And the line occupies a lot of space, so that the floor space is increased. Moreover, the number of devices including a plurality of robots is increased, so that the cost for establishing the system is increased.

明確地說’如上所述’根據常規垂直型玻璃輸入系統， 由於從玻璃輸入機械手接收玻璃並將玻璃輸入到後續處理 的轉移機械手被單獨提供在逐#輸人玻璃的玻璃輸入機械 手周圍，所以造成由於轉移機械手具有較長通行線路 (traffic line)而導致成本增加且玻璃上產生劃痕的問 【發明内容】 /為了解決上述和/或其他問題’本發明提供—種坡續輪 ^系統’其因為使用了垂直/水平條板箱而可簡化線路“ ，亚相應地減小占地面積，且因為減少了包含各種機械^ 的設備的數目而減少用於建立系統的成本。 根據本、明m，_種玻璃輸人系統包括：破 分’在所述玻璃轉移部分上裝載並轉移玻璃；雙用 Ιΐ輸人機械手，其從配置在裝載有多個玻璃的垂直型 二璃相和^平型條板箱駐作位置處的條板箱逐片地抓ς 門㈣㈣抓取的麵輸人到玻竭轉移部分；雙用途甲 二手處移’其被提供在接近於雙用途玻璃輸入機 以及插人麵板箱中的玻璃之_中間紙張； 水平型:板:制其確定條板箱是垂直型條板箱還是 和雙用途中二忒:雙用途輸入機械手 平型條板箱中的每機械手使其對應垂直型條板箱和水 24009pif.doc 所述玻璃輸入系統進一步包括條板箱轉移部分，其將 垂直型條板箱和水平型條板箱轉移到工作位置。/、 …:斤Ϊ玻璃輸入系統進一步包括檢測部分，其檢測條板 =垂直型條板箱還是水平型條板箱，並將檢測資訊傳輸 機械手控㈣分，其巾機械手㈣部分基於所述從檢 輸的資絲確定條㈣是垂直贿板闕是水平型 极箱供在條板箱轉移部分處，並通過識別條 板箱還是==_de)來檢測條板箱是垂直型條 雙用途玻璃輪入機械手包括：支樓部分；吸 2引並拾取軸麵__抓 載成與玻璃轉移部分接=及弓力。取的玻蹲的抓取表面裝 通=真f多個吸引 空來吸引並拾取抓取表 '乂在頭部主體中的真 部主體盘吸引墊， ，夕固連接部分，其連接頭 的每-者處以將㈣中 所述玻璃輸入***進一步包括破瑪裝载手（細 24009pif.docSpecifically, as described above, according to the conventional vertical type glass input system, since the transfer robot that receives the glass from the glass input robot and inputs the glass to the subsequent processing is separately provided around the glass input robot of the input glass Therefore, the cost is increased due to the long moving line of the transfer robot and the scratches are generated on the glass. [Inventive content] / In order to solve the above and/or other problems, the present invention provides a type of sloping wheel. ^The system 'simplifies the line because of the use of vertical/horizontal crates," correspondingly reduces the footprint, and reduces the cost of building the system by reducing the number of devices containing various machines. The present invention relates to a glass input system comprising: breaking a 'loading and transferring glass on the glass transfer portion; and using a double-handed manipulator, which is arranged from a vertical type glass loaded with a plurality of glasses The crate of the phase and the flat-type crate at the position of the crate is grabbed by the door one by one (four) (four) the face of the grab is transferred to the part of the glass exhaust; the second-hand use of the dual-purpose armor Provides intermediate paper in a glass that is close to the dual-purpose glass input machine and the inserted panel box; Horizontal type: Plate: Determines whether the crate is a vertical crate or a dual-use: dual use Enter each manipulator in the manipulator flat crate to correspond to the vertical crate and water 24009pif.doc The glass entry system further includes a crate transfer section that will be vertical crate and horizontal strip The crate is transferred to the working position. /, ...: The Ϊ glass input system further includes a detecting portion, which detects the slat = a vertical crate or a horizontal crate, and the detection information transmission mechanical control (four) points, The towel manipulator (4) is based in part on the determination of the wire from the inspection (4) is a vertical bribe plate, the horizontal pole box is provided at the transfer portion of the crate, and the strip is detected by identifying the crate or ==_de) The crates are vertical strips. The dual-purpose glass wheel-in robots include: the branch part; the suction 2 leads and picks up the shaft surface __ the grip is connected to the glass transfer part = and the bow force. The grabbed surface of the glass pick is taken Pass = true f multiple attracting space to attract and pick up Grab the table '乂 主体 主体 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部.doc

hand) ’其被提供在接近於破罐轉移部分處並將 讀人機械手轉移的玻璃裝載到玻璃轉移部分白I 玻璃裝载手部分地耦合到玻璃轉移 玻璃轉移部分的上方區域中上升和下^刀k而能夠在 上升/下降部分的縱長方向的方向上從上升/下降 :=取;::側支撐從雙用途破璃輪入機械;轉: 破辕於a=匕括多個水平條’其每—者均配置在雙用途 之間;多個支撐塾，其被“ 至少-個』撑糊抓取表面-及 上傾玻璃輸入機械_ 適當位置。 者的末鳊部分，並將水平條連接在 玻的上端連接到垂直條中的每一者。 璃輸入機械；二 個輥(r°iie〇,其將從雙用途玻 分別配置在所述幸昆之門m轉移到後續處理，且水平條 升和下降到適當位置。更4通過上升/下降部分而上 作以盥錐：：。p y刀控刮雙用途中間纸張移除機械手的操 (、又用逆_輸人機械手的操作相互作用，且雙用途 1328558 24009pif.doc 中1、’.氏張私除機械手進一步包括吸弓I八 中間紙張的一側。 刀，，、吸引並拾取 水平型條板箱進一步包括至少〜 防止中間紙張的另-表面任意移動。中間紙張固持器以 玻璃輪入系統進一步包括緩衝 流程方向上的先前處中， /、被詖供在處理 箱在緩衝部分處轉。+核板箱和水平型條板 破璃輪入系統進一步包括清潔部分， 部分的先前處理中，並整體地清潔垂直型停===衝 條板箱中的玻璃。 且土仏扳相和水平型 所述玻璃是選自液晶顯示器、電裝 光二極體的大螢幕平面顯示器。以不面板和有機發 【實施方式】 在以下描述内容中，玻璃表示用於光罩' =平面顯示器（FPD)的《，所述平面顯示器例如= 曰曰絲員不器（LCD)、電漿顯示面板（PDp)和有 體（OLED)。明確地說，所述玻璃表示大型lcd"玻^。 大玻螭意味著具有1950 mm/2250 mm的水平/垂直寬度的 =七代咖玻璃，或具有216〇mm/246Gmm的水平^直 寬度的第人代LCD玻璃。然❿，本發明的權鄕圍不限於 此’因此玻璃的尺寸無需受上述數字限制。 、 圖1說明根據本發明實施例的玻璃輸入系統的配置。 圖2到6是繪示通過將垂直型條板箱應用於圖丨的玻^輸 入系統來輸入玻璃的操作的圖。圖7到U是繪示通過將^ 1328558 24009pif.doc + 丨的玻德人线來輸人玻璃的操作 的圖*圖12疋圖1的破續輸入系統的方框圖。 /芬看圖1到12(主要參看圖u，根據實施例的玻璃輸 系’’·充ιέ “板箱供應部分10 ,其供應含有由玻璃製造 商提供的幾十或幾百塊麵G的垂直型條板箱1 (請參看 圖2到6)或水平型條板箱3 (請參看圖7至⑺）；清潔部 刀其王妝地清潔所供應的垂直型條板箱1或水平型條 板箱3中的玻璃G ;條板箱轉移部分14，其將已完成清潔 的垂直型條板箱1或水平型條板箱3轉移觸後將描述的 雙用途玻璃輸人機械手3〇的工作位置W (料看圖υ ; 玻璃轉移部们6,其將麵G㈣直型條板箱i或水平型 條板相3逐片裝载到後續處理〗9 ;以及缓衝部分1S，其被 提供祕板箱娜部分錢餘箱〗或水平型 ir、板箱3在緩衝部分18處等待。根據玻璃輪人系統的環 土兄，可在5又什期間排除所述緩衝部分π。 在如上配置的玻璃輸入系統的操作中’由玻璃製造商 製造的玻璃G在裝載㈣直贿板箱〗或水平藝板箱3 中之後被轉移到玻璃處理公司。當到達玻璃處理公司時， 將玻璃G從垂直型條板箱i或水平型條板箱3卸載並供庫 到條板箱供應部分10。 " 接著’提供在條板箱供應部分1G處的翔的叉式 機（f〇r識）提升垂直型條板箱1或水平型條板箱3並將 其移動到清潔部分12。當通過清潔部分12時，垂直 板箱1或水平型條板箱3被整體地清潔。因此，簡單ς清 24009pif.d〇c 潔了垂直型條板箱】或 將已完成清潔的 的玻璃〇。 置在條板箱轉移部 二條板㈤1或水平型條板箱3放 或帶㈤Ο上(其可具體實施為輥、鏈（伽in) 工作位置W。將已到雙用途玻蹲輪入機械手30的 在條板箱轉移部分r4tr絮但由於沉重工作負載而未放置 3放置在緩衝部分直型條板箱】或水平型條板箱 沿著條板箱轉分18上等待。 機械手3〇的工作t置轉移並到達雙用途破璃輸入 箱3停止在工作Γ置置^的重雔直型條板箱】或水平型條板 雙用途中間紙張移除機械手輪二，械手3。和 或水平型條板箱3逐片轉移並輪入到破f條板箱1 就是說，破璃轉移部分】6將破璃 ^ Μ 16。也Hand) 'It is supplied near the broken can transfer section and loads the glass transferred by the reading robot to the glass transfer section. The white I glass loading hand is partially coupled to the upper area of the glass transfer glass transfer section. ^ knife k can be raised/declined in the direction of the longitudinal direction of the ascending/descending portion: =;;: side support from the dual-purpose broken glass wheel into the machine; turn: breaks the a = multiple levels The strips 'each of them are arranged between dual uses; a plurality of support jaws, which are "at least one" to grasp the surface - and the up-tilt glass input machine _ the appropriate position. The horizontal strip is connected to each of the vertical strips at the upper end of the glass. Glass input machine; two rolls (r°iie〇, which will be transferred from the dual-purpose glass to the gate of the Xingkun door to subsequent processing) And the horizontal bar rises and falls to the appropriate position. The 4th is made up of the 盥 cone through the rising/falling part::. py knife-controlled scraping dual-purpose intermediate paper to remove the manipulator's operation (and counter-input The manipulator's operational interactions, and dual use 1328558 24009pif.doc in 1, '. The schizophrenia robot further includes one side of the suction paper I. The knife, the, attracting and picking the horizontal crate further includes at least ~ preventing the other surface of the intermediate paper from moving freely. The intermediate paper holder is glass The wheeling system further includes a buffering process in the previous position, and is supplied to the processing box at the buffer portion. The + nuclear box and the horizontal slat glass wheeling system further include a cleaning portion, a portion of the previous portion During processing, and in the overall cleaning of the vertical type stop === glass in the punching crate. And the soil and the horizontal type of the glass is a large-screen flat-panel display selected from the group consisting of a liquid crystal display and an electric photodiode. Non-panel and organic hair [Embodiment] In the following description, glass indicates "for a reticle '= flat panel display (FPD), such as a flat panel display (LCD), plasma display Panel (PDp) and organic (OLED). Specifically, the glass represents a large lcd " glass. The large glass means a horizontal/vertical width of 1950 mm / 2250 mm = seven generations of coffee glass, or 216 〇 mm / 246 Gmm horizontal straight width of the first generation of LCD glass. However, the scope of the present invention is not limited to this 'so the size of the glass is not subject to the above numerical limitations. Figure 1 illustrates an embodiment of the present invention The configuration of the glass input system. Figures 2 to 6 are diagrams showing the operation of inputting glass by applying a vertical type crate to the glass input system of Fig. 7. Figs. 7 to U are shown by ^ 1328558 24009pif. Doc + 玻 玻 玻 线 操作 输 输 操作 图 图 图 图 图 图 图 图 图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图 方框图''·充ιέ' The crate supply part 10, which supplies vertical crate 1 containing tens or hundreds of faces G provided by the glass manufacturer (see Figures 2 to 6) or horizontal crate 3 (Refer to Fig. 7 to (7)); the cleaning section is cleaned by the vertical type crate 1 or the glass G in the horizontal crate 3; the crate transfer part 14 will be completed Clean vertical crates 1 or horizontal crates 3 transfer dual-purpose glass input machine The working position of the hand 3〇 (the material is shown in Fig. 玻璃; the glass transfer part 6, which loads the face G (four) straight crate i or the horizontal type slat phase 3 piece by piece into the subsequent processing 〖9; and the buffer part 1S, which is provided with the secret box Na part of the money remaining box or horizontal type ir, the box 3 waits at the buffer portion 18. According to the ring brother of the glass wheel man system, the buffer portion π can be excluded during the period of five. In the operation of the glass input system configured as above, the glass G manufactured by the glass manufacturer was transferred to the glass processing company after being loaded into the (four) straight briquettes or the horizontal art box 3. When reaching the glass processing company, the glass G is unloaded from the vertical crate i or the horizontal crate 3 and supplied to the crate supply portion 10. "Next' provides a forklift machine at the 1G of the crate supply portion 1F to lift the vertical crate 1 or the horizontal crate 3 and move it to the cleaning portion 12. When passing through the cleaning portion 12, the vertical crate 1 or the horizontal crate 3 is integrally cleaned. Therefore, simply clear the 24009pif.d〇c clean vertical crate or the finished glass bottle. Placed in the two-plate (5) 1 or horizontal-type crate 3 of the crate transfer section or on the belt (5) ( (which can be embodied as a roller, chain (gamma) working position W. Will have been into the dual-purpose glass wheel into the robot 30 in the crate transfer part r4tr floc but due to heavy work load not placed 3 placed in the buffer part straight crate] or horizontal type crate waiting along the crate turn 18. Robot 3〇 The work t is transferred and reaches the dual-purpose broken glass input box 3 to stop the heavy-duty straight crate in the working set] or the horizontal-type strip dual-purpose intermediate paper to remove the mechanical hand wheel 2, the robot 3. Or the horizontal crate 3 is transferred piece by piece and wheeled into the broken f crate 1 That is to say, the broken glass transfer part] 6 will break the glass ^ Μ 16. Also

19。為此，破璃轉移部分16可包含多卸J多到後續處理 中的每-者轉移到後續處王里19。沿著=將玻增G 移的玻璃G最終到達後續處幻 ^夕^^6轉 (未圖示）中，且接荖鈐λ 5丨& + +丹人衣载在早獨的盒 玻璃G進行L 到所述處理中的每-者以便對 ^常規技射，條板箱轉移部分14轉移 邮 自垂直型條板箱i和水平型條板箱3的一反，相：廷 是說，只有選自垂直型條板箱】和水平型停板。也就 條纖條板箱轉移部分14的線路上被轉移。：的:個 線路的結構變得複雜，占地面積相應增加 此’心者 含各種機械手的設備的數目增加，所以用 会由於包 、咬卫·系統的成 1328558 24009pif.doc 本增加。 t實施例中，為了解決上述問題，可將垂直 直型條板箱!和水平型條板箱：J 線路的脑_料14 _。並且 =條板箱1或水平型條板箱1逐片輪入到玻璃轉移: 為了實現上述系列的操作，除了雙 手30和雙用途中間紙張移除機械手％外迷還需二:械 途玻璃輸入機械手3〇和雙用途中間紙張^丰、^用 互作用的周邊部件來將玻璃G從到===相 型條板箱1或水平型條板箱3逐片輪入^玻 =直 16，這將參看圖2到„進行詳細描述。 〜私‘刀 .用所示，根據本實施例的麵輸入系統包含 又用途玻增輸人機械手3〇、雙用 ％匕3 50、機械手控制部分6。(請參看圖12’)二 ^用t行將朗⑽垂直型條板箱1或水ΐ型侔S 4,璃轉移部分16的-系列工作的結構 作位置判垂直型條板箱=:^ =雙用途玻璃輸入機械手3。包含==移:: 引早兀3〇，其吸引並拾取抓 ，及 每-者的-個表面),·以及多，機械 1328558 24009pif.doc 部分31與吸引單元33，並翻轉且轉移破 引單元33吸引並拾取的破璃|两u使付由吸 可裝載在玻補移部分ίΓ中的母—者的抓取表面⑴ 支撐雙用途玻璃輸入機械手3〇的支樓部分3 玻璃輸入系統的定位有雙用途玻璃輸入機械手％ 上。儘管附圖中未圖示，但如果為支樓部分31 輪° 那麼由於可容易地將雙用途玻璃輸人機械手*、=细 望位置，所以可方便地完成工作。 卞夕^ 多關節機械臂35通過翻轉玻璃來轉移破螭g 吸引單元33吸引並拾取的破璃G中的每—者的二 G1可按照原狀裝載在玻璃轉移部分16上。也就是二衣， 關郎機械臂35翻轉玻璃並將被翻轉的破璃罗 =夕 移部㈣上(當使用垂直型條板箱"夸如轉 且當使用水平型條板箱3時如圖7到11所示）。 供參考，不得在玻璃G中的每一者的兩側上產 痕。然而，如在本實施例中，玻璃G從製造商轉移 劃 公司或逐片轉移到後續處理19(請參看圖理 下，在本實施例中，玻璃G可由與玻璃轉移部分μ ^ '兄 16a接觸的分離結構或卷狀物抓取。為了維持坡^ g的幸昆 質，玻璃G中的每一者的被抓取表面與接觸輕、的°° 需要始終為同一表面。也就是說，當抓取玻填G中 '，面 者的表面時，玻璃（3需要被轉移，同時使被抓取♦、母〜 玻璃轉移部分16的輥16a。因此，可維持玻續G的^接觸 在本貫施例中，將玻璃G中的每一者的被抓取並貝 '接觸坡 16 24009pif.doc 璃轉移表面]6的矣ι j6 抓取表面G1。抓取♦ a的表面稱為玻璃G中的每—者的 分離的使用表面Q2 的相對表面是與抓取表面01 由於這個原因，多月^圖）和10)。 -者以轉移被翻轉的姑f即域臂35翻轉玻璃G中的每 的玻璃G中的每一者、使得由吸引單元33吸弓|並拾取 分16上，同時戶雜士的抓取表面G】均裝載在破螭轉移部 機械臂35翻轉由轉移表面16的輕l6a。當多關節 一者時，當將坡蹲G中早引並拾取的玻續G中的每 玻璃轉移表面16的幸曰母—者從垂直型條板箱1裝載在 轉小於約彻。的^61上時’將玻璃G中的每-者翻 條板箱3裝餘§將朗G中的每—者從水平型19. To this end, the broken glass transfer portion 16 can include multiple unloading J to each of the subsequent processes to transfer to the subsequent king. The glass G along the =G increasing G is finally reached in the subsequent illusion ^^^^6 turn (not shown), and the 荖钤λ 5丨& + + Dan people clothes in the early box glass G performs L to each of the processes for the conventional technique, and the crate transfer portion 14 transfers the reverse from the vertical crate i and the horizontal crate 3, the phase: Only selected from vertical crates and horizontal stop plates. That is, the line of the strip-crate transfer portion 14 is transferred. : The structure of the line becomes complicated, and the floor space increases accordingly. The number of devices containing various robots increases, so the use will increase due to the package, the bite system, and 1328558 24009pif.doc. In the embodiment, in order to solve the above problem, a vertical straight crate! and a horizontal crate: a brain line of the J line can be used. And = the crates 1 or the horizontal crates 1 are transferred to the glass one by one: In order to achieve the above series of operations, in addition to the hands 30 and the dual-purpose intermediate paper removal robots, the fans need two more: The glass input robot 3〇 and the dual-purpose intermediate paper ^Feng, ^ use the peripheral components of the interaction to push the glass G from the === phase type crate 1 or the horizontal type crate 3 to the piece by piece ^ glass = Straight 16, which will be described in detail with reference to Fig. 2 to Fig. 2 - private 'knife. As shown, the surface input system according to the present embodiment includes a dual-use manipulator 3 〇, dual use % 匕 3 50, Robot control section 6. (Refer to Fig. 12') The position of the series work of the vertical (10) vertical type crate 1 or the water raft type S 4 and the glass transfer part 16 is determined by the t line. Crate =:^ = dual-purpose glass input manipulator 3. Contains == Shift:: Leads 3兀, attracts and picks up, and each-of-the-surface, · and more, machinery 1328558 24009pif The .doc portion 31 and the attraction unit 33 are turned over and the transfer breaking unit 33 attracts and picks up the broken glass|two u so that the suction can be loaded in the glass-filled portion. The parent-man's gripping surface (1) supports the dual-purpose glass input robot 3〇's branch section 3 The glass input system is positioned with a dual-purpose glass input robot %. Although not shown in the drawing, if it is not shown The section of the building is 31 wheels. Then, since the dual-purpose glass can be easily input into the manipulator* and = the position of the eye, the work can be easily performed. 卞 ^ ^ The multi-joint robot arm 35 transfers the breakage g by the flip glass. The two G1 of each of the glass G that is attracted and picked up 33 can be loaded on the glass transfer portion 16 as it is. That is, the second clothes, the Klang robot arm 35 flips the glass and will be turned over by the inverted glass. Part (4) (when using vertical crate " exaggerated and when using horizontal crate 3 as shown in Figures 7 to 11) For reference, not on each side of each of the glass G However, as in the present embodiment, the glass G is transferred from the manufacturer to the company or piece by piece to the subsequent process 19 (please refer to the figure, in the present embodiment, the glass G can be transferred to the glass by the portion μ ^ 'Brother 16a contact separate structure or roll grab In order to maintain the good quality of the slope, the gripped surface of each of the glass G and the contact angle are always the same surface. That is, when grabbing the glass fill G, 'face On the surface of the person, the glass (3 needs to be transferred while the roller 16a of the mother-to-glass transfer portion 16 is grasped. Therefore, the contact of the glass G can be maintained. In the present embodiment, the glass G is Each of the grabs and shells 'contact slope 16 24009pif.doc glass transfer surface] 6 矣ι j6 grab surface G1. Grab ♦ a surface is called the use of each of the glass G The opposite surface of the surface Q2 is with the gripping surface 01 for this reason, many months ^ Figure) and 10). - each of the glass G in each of the glass G is turned over by the transfer-over inverted frog, that is, each of the glass G in the glass G is caused to be sucked by the suction unit 33 and picked up on the minute 16 while the gripping surface of the household hobby G] is loaded on the break-forward transfer portion of the robot arm 35 to invert the light l6a from the transfer surface 16. When there is a multi-joint, the fortunate mother of each of the glass transfer surfaces 16 in the glass G which is introduced and picked up in the sill G is loaded from the vertical crate 1 at a rotation of less than about. When ^61 is on, 'every of the glass G is turned over, the crate 3 is loaded. § Each of the lang G is from the horizontal type.

中的各n 5_轉移部分16的輥16a上時，將_ r 中的母-者翻轉幾乎180。的角度。 破埤G 部分=====瑀1:的每-者的 扣.夕t 包含.頭部主體33a ’其中其內邱幺 面G1 ，其接觸玻璃G中的每一者的抓取表 ⑴；主體孤形成的真空來別抓取表面 ㈣b t = ί科33e，其連接頭縣體33a與％1 _ 、母者’以使所述兩者彼此分離。 同的::=3a:具有與附圖所示的那些形狀和結構不 有至,丨'二構。在本實施例中，頭部主體33a製造成具 主/ 個部分被連接的棍形形狀。因此，可減輕頭； 形當頭部主體仏具有如本實施例中的提 ^碩部主體33a優選具有棋盤結構。 !328558 24009pif.doc 次，丨蛩WD疋，、丨策上按觸玻螭Q中的每一者 面G1的部分。吸引塾33b大致具有漏斗結構以使 空壓力來吸引並拾取玻璃G中的每一者的抓取表面g\/。、 另外’為了防止在玻璃G中的每一者上產生劃痕 ^ 33b可由例如橡膠或矽的柔軟材料製成。 坚 當頭部主體33a具有如上所述的棋盤結構時， 點處提供連接部分33c，使得吸引墊33b中的每—: 接到頭部主體33a。與頭部主體33a 一樣，連連 具有棍形形狀。如果不提供連接部分3 : 直餘合到頭部主體.33a，那麼在接收破璃 的過各中’㈣將描制水平射能干擾利單元 it ’當提供具有如本實施例中的棍形 二 時，可容易地解決上述問題。 义钱邛刀he ^ ’具有上述結構的雙崎破璃輪人機械+ ：3D τ、， 過將玻璃G直接放置在破璃 ：逍 载玻璃G。然而，在本實施例中，進—牛=，上來裝 4〇 ’以將玻璃G平穩地放置在玻璃 分、载手 上。也就是說，將破猶载手4 16的輕偷 =處，以將從雙用途破人機財^多部分 玻提 能夠在玻璃轉移部到玻璃轉移部* 16，從而 =而上升和下降。破_ 於破璃轉移部 ^，其能夠在_移部分-上方以分 18 24009pif.doc =:::==降部分41的縱長方向 機械手;:移的==4= 支樓所述每一者的抓取表面G]。 η母者的下部 叉狀物45包含：多個水平條45a，1 =T玻璃輸入機械手3。的連接部分%多 墊45b，其提供在水平條m按 每一者的下側支樓所述每—者的G中的 直條祝，其連接水平條45a者的抓取表面Gi;以及多個垂 葡丰！0雙，途玻璃輸人機械手3Q將玻璃G轉移到玻璃f …件間圖4和5以及9和10所示。去In the case of the roller 16a of each of the n 5_transfer portions 16 , the mother in the _ r is flipped by almost 180. Angle.埤 埤 部分 = = = = = 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 夕 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部 头部The vacuum formed by the body alone does not grasp the surface (4) b t = ί科 33e, which connects the head bodies 33a with %1 _ , the mother 'to separate the two from each other. The same as::=3a: There are no such shapes and structures as those shown in the drawings. In the present embodiment, the head main body 33a is manufactured in a stick shape in which the main portion is connected. Therefore, the head can be lightened; the shape of the head main body 仏 having the outline main body 33a as in the present embodiment preferably has a checkerboard structure. !328558 24009pif.doc times, 丨蛩 疋 疋 丨 丨 丨 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按 按The suction weir 33b has a generally funnel structure to allow air pressure to attract and pick up the gripping surface g\/ of each of the glass G. Further, in order to prevent the occurrence of scratches on each of the glasses G, 33b may be made of a soft material such as rubber or enamel. When the head main body 33a has the checkerboard structure as described above, the connecting portion 33c is provided at the point such that each of the attraction pads 33b is connected to the head main body 33a. Like the head main body 33a, it has a stick shape in succession. If the connecting portion 3 is not provided: straight to the head main body .33a, then in the case of receiving the broken glass, '(4) will draw the horizontal radiant energy to interfere with the profit unit it' when provided with the stick shape as in the present embodiment At 2 o'clock, the above problems can be easily solved.义 邛 he he ^ ' The above-mentioned structure of the Shuangsaki broken glass wheel machinery + : 3D τ,, the glass G is placed directly on the broken glass: 载 glass G. However, in the present embodiment, the feed is made up of 4 〇 ' to place the glass G smoothly on the glass and the hand. That is to say, the sneak sneak of the hand 4 16 will be broken, so that the multi-part glass from the dual-use machine can be raised and lowered in the glass transfer part*16. Broken _ in the broken glass transfer part ^, which can be above the _ shifting part - by 18 24009pif.doc =:::== the lengthwise direction of the portion 41 of the robot;: shifting == 4 = The grab surface of each is G]. The lower fork 45 of the η mother includes: a plurality of horizontal strips 45a, 1 = T glass input robot 3. The connecting portion % multi-pad 45b, which provides a straight strip in the horizontal strip m in each of the lower side of each of the G, which connects the gripping surface Gi of the horizontal strip 45a; A phoenix! 0 double, the glass input manipulator 3Q transfers the glass G to the glass f... Figure 4 and 5 and 9 and 10 are shown. go with

配詈Λ降Γ分41使水平條祝下降時，水平條45a分另1 -己置f形成於玻璃轉移部分16的上表面上的輕恤之間。J 支稽塾4:>b被提供在水平條祝的上表面上，且優 勒、吸引墊33b-樣由柔軟材料製成。支樓墊伙可與吸引 33b 一樣被製成真空的。那麼，當雙用途玻璃輪入機械 手30將玻璃G轉移到玻縣載手4Q且玻璃g的抓取表= G1由支樓墊45b支樓時，由於支撐塾极中形成了直* 所以玻璃G不會被震動且可牢固地容納在支撐墊祝二 然而，由於本㈣的_翻不限於此，所以支稽塾 不是必須製成真空的。 垂直條45c被配置成在背離雙用途玻璃輸入機械手邓 的方向上傾向水平條45a的末端部分，並連接水平條〜。 24009pif.doc 因^當水平條45a分別配置在雙用途玻璃輸入機械手3〇 白部分33c之間時，雙用途玻璃輸入機械手3〇與玻璃 ^載手4〇不會彼此打擾。當將垂直條祝提供在上述位置 升/下降部分41的上端可連接到垂直條45c。然而， 由=本發日㈣洲範圍不限於此，所以上升/下降部分Μ 不是必須連接到垂直條45c。 提供在接近於雙用途玻璃輸入機械手3〇處的中 除機械手50與雙用途玻璃輸入機械手3〇相互作 用而私除插人在玻璃6之_中間紙張5。如上所述 片玻璃0裝載在圖2到6的 中 =丄的水侧板箱3中。將.薄中間紙張5***在 G上產生防止由於朗G之間的物理衝擊而在玻璃 因此’當將破璃G從垂直型條板 3逐片轉移到玻璃轉移部分 ：文 相 為此，提供擁用诠由閂从而要私除中間紙張5。 張移除機^ ·η中 移除機械手5Q。雙用途中間紙 途破入機械手3〇-樣用於 直生< 木板相1和水平型條板箱3兩者。 玻璃輸入機械手3G —樣 /、又闬述 是能機械手50 間紙====，雙用- 間紙張的-表面。吸弓丨部分52 ^其^丨並拾取令 的腳掌那樣的結構的吸引纖毛(su:t=^ 10ncli_)、靜電卡盤 20 1328558 24009pif.doc (electrostatic chuck )、機器卡盤。 當雙用途令間紙張移除機械手5〇將中 ' 型條板箱1移除時，雙用途中間紙張移除機^ \、垂直 、部分52僅吸引並拾取中間紙張5的上端的 « G ^ , 5 f|j t J， :的’因為玻璃G和中間紙張5兩者均直立跃 # ^G移糾，巾間賴5也料不會^ 從水=條;===5。將中間_ 的中π i 敝供在水平靠板箱3處 ^ I ^ f C ^ ^ ) t .1 5 ^ φ 型條“ 為’當雙用途玻璃輸入機械手3〇從水平 ίίϋ抓取並轉移玻璃G中的每—者時，***在破璃 ㈣tf拽張5_動可能細地產生。當 動較劇烈時，中間紙張5可能在破璃G上留下劃痕張 1 持哭^於本發明的權利範圍不限於此，所以中間紙張固 | 疋必須提供在水平㈣板箱3處。相反，可將 Λ張固持器提供在垂直型條板W處。 μ夕 所示機械手控制部分60通過確定借助條板 ==分14而到達工作位置w的條板箱是垂直型條板 和雠水平型條板箱3來控制雙用途玻璃輸入機械手3〇 ，中間紙張移除機械手50。因此，在本系統中可對 一里條板箱]和水平型條板箱3進行雙重使用。 勹人^於上述目的，根據本實施例的玻璃輸入系統進—步 欢’貝〗σ卩分65。所述檢測部分65可被提供在條板箱轉 1328558 24009pif.doc Μ處，以檢測祕板箱轉移部分14轉移的條板箱 疋垂直里條板箱1還是水平型條板箱3，並 輸到機械手控制部分60。 』貝訊傅 々々檢測部分65可通過識別垂直型條板箱}和水平型條板 相3處所提供的條碼來檢測條板箱的類型。然而，^在 ，，檢測由條板箱轉移部分14轉移賴板箱的尺： % ’檢測出條板箱的類型。 在如上配置的玻璃輸入系統的操作中，每 :们:處所提供的_叉式升降機將垂直型；板箱;或： 平里條板相3移動到清潔部分12時，φ 二 清潔部分12時被整體水 /早/月你垂直型條板箱1或水平型條板箱3中的玻璃 傷 將完成清潔的垂直型條板箱丨或 在條板箱轉移部分14 (其可具體實施㈣置 亚轉移到雙用途玻璃輸人機械手3 ’ 由於沉重工作負栽而未放心二 ]。刀,^ 垂直贱水平顯板箱放置錢衝t 8上亚在緩衝部分18上等待。 邙刀 當轉移到雙用途玻璃輸入機械手如的 垂直型條板箱i或水平型條板箱3停止在工作位//的 檢測部分65檢測所轉移的條板 時， 平型條板箱3，並將於制〜雜直㈣板相1硬是水 當到造工j到機械手控制部分的。 〜 直W的條板箱是垂直型條板箱1時（如 24〇〇9pif.d〇l 玻璃輪人機械手機3=手=、:? 6G根據情況來控制雙用 破填裝載手40。去紙張移除機械手50和 板箱3時(如圖7;乍；=的條板箱是水平型條 況來控制雙用途破機^控制部*⑼根據情 機械，械手*雙用途中間紙張移除 冨使用垂直型條板箱1 破嘴輪入機械手30 "^所不），知作雙用途 的吸弓I塾现接觸及引單元33 者的抓取表面G〗。接| 士仏丑$破璃G中的每一 以职2丨也 接者’由於吸引墊33b中形忐吉介 以及弓I墊33b吸引並拾取破璃。在^成真空，所 所示，操作多關節機 、〜、，如圖3和4 並將被翻轉的玻二以*__ G中的每-者， 双两配置在破璃轉移部分 雙用途中間紙張移除機械手％ 途^J或中。 械手30的操作相互作 就二用=破填輸入機 張移除機械手50的吸引也就疋5兄，雙用途中間紙 上端。在此狀態下吸引並拾取中間紙張5的When the grading point 41 is lowered to cause the horizontal strip to fall, the horizontal strip 45a is divided into another one - the f is formed between the light-shirts on the upper surface of the glass transfer portion 16. J 塾 塾 4: > b is provided on the upper surface of the horizontal strip, and the absorbing and attracting pad 33b is made of a soft material. The branch pad can be made vacuum like the attraction 33b. Then, when the dual-purpose glass wheel is inserted into the robot 30, the glass G is transferred to the glass county hand 4Q and the grip table of the glass g = G1 is supported by the branch pad 45b, because the support bung is formed in the straight * so the glass G will not be shaken and can be firmly accommodated in the support pad. However, since the _ turn of this (4) is not limited to this, it is not necessary to make a vacuum. The vertical strip 45c is configured to be inclined toward the end portion of the horizontal strip 45a in a direction away from the dual-purpose glass input robot Deng and to connect the horizontal strips ~. 24009pif.doc When the horizontal bar 45a is disposed between the dual-purpose glass input robot 3 white portion 33c, the dual-purpose glass input robot 3〇 and the glass carrier 4〇 do not disturb each other. When the vertical strip is provided at the above position, the upper end of the ascending/descending portion 41 can be connected to the vertical strip 45c. However, the range of the day (four) continent is not limited to this, so the rising/falling portion Μ does not have to be connected to the vertical bar 45c. Provided in the vicinity of the dual-purpose glass input robot 3 除 In addition to the robot 50 and the dual-purpose glass input robot 3 〇 interact with each other and insert the glass 6 _ intermediate paper 5. The sheet glass 0 is loaded in the water side tank 3 of the middle = 图 of Figs. 2 to 6 as described above. Inserting the thin intermediate paper 5 on the G causes prevention of the physical impact due to the Lang G in the glass thus 'when the glass G is transferred from the vertical strip 3 to the glass transfer portion piece by piece: the text is provided for this purpose The use of the interpretation of the bolt to privately remove the intermediate paper 5. Remove the machine ^ · η Remove the robot 5Q. The dual-purpose intermediate paper is broken into the robot 3〇-like for both the direct < wood board phase 1 and horizontal type crates 3. Glass input manipulator 3G - sample /, and further description is the robot 50 paper ====, dual-use - between the paper - surface. The suction bow portion 52 ^ ^ 丨 丨 拾 拾 拾 拾 拾 拾 拾 拾 拾 拾 拾 拾 拾 拾 su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su su When the dual-purpose paper removal robot 5 removes the 'type crate 1 ', the dual-purpose intermediate paper removal machine ^ , vertical, portion 52 only attracts and picks up the upper end of the intermediate paper 5 « G ^ , 5 f|jt J, : 'Because both the glass G and the intermediate paper 5 are upright jump # ^G shifting the correction, the towel between the 5 is not expected ^ from the water = strip; === 5. The middle π i 中间 of the middle _ is supplied to the horizontal deck box 3 ^ I ^ f C ^ ^ ) t .1 5 ^ φ type strip "for the dual-purpose glass input robot 3 〇 grab from the horizontal ί ϋ When transferring each of the glass G, inserting it in the broken glass (4) tf 拽 5 5_ moving may be finely generated. When the movement is more severe, the intermediate paper 5 may leave a scratch on the broken glass 1 The scope of the invention is not limited thereto, so the intermediate paper must be provided at the horizontal (four) crate 3. Instead, the tamper holder can be provided at the vertical slat W. The intermediate paper removal robot 50 is controlled by determining that the crate that reaches the working position w by means of the slat == 14 is a vertical slat and a horizontal slat 3 Therefore, in the present system, a one-story crates] and a horizontal-type crates 3 can be used in a double manner. In view of the above object, the glass input system according to the present embodiment enters a step-by-step σ 卩Sub. 65. The detecting portion 65 can be provided at the crate turn 1328558 24009pif.doc , to detect the secret box The crate to be transferred by the transfer portion 14 is also the vertical crate 1 or the horizontal crate 3, and is input to the robot control portion 60. 』Bei Xun Fu 々々 detection portion 65 can recognize the vertical crate} The bar code provided at the third level is used to detect the type of the crate. However, the size of the elevating box is detected by the crate transfer portion 14: % 'The type of crate is detected. In the operation of the glass input system configured as above, each: the _ fork lift provided by the space will be vertical; the crates; or: when the flat strip phase 3 is moved to the cleaning portion 12, φ 2 cleans the portion 12 The glass indentation in the vertical water/early/month vertical vertical crate 1 or horizontal crate 3 will complete the clean vertical ladle 丨 or in the crate transfer portion 14 (which can be implemented (4) Sub-transfer to dual-use glass input manipulator 3 'Because of heavy work, the plant is not assured.] Knife, ^ Vertical 贱 horizontal display crate placed money rushing t 8 on the Asian side waiting on the buffer part 18. Sickle when transferring To the dual-purpose glass input robot such as vertical crate i or horizontal The crate 3 stops when the detecting portion 65 of the working position // detects the transferred slats, the flat crate 3, and the system is hard to make the water to the robot j to the robot Control part of the ~. Straight W's crate is vertical crate 1 (such as 24 〇〇 9pif.d〇l glass wheel man mechanical phone 3 = hand =, :? 6G according to the situation to control dual use break Load hand 40. When removing the paper removal robot 50 and the crates 3 (as shown in Figure 7; 乍; = the crate is horizontal type to control the dual-use broken machine ^ control department * (9) according to the situation, the mechanical hand *Double-purpose intermediate paper removal 冨Using vertical crate 1 Breaking the wheel into the manipulator 30 "^no), knowing that the double-purpose suction bow I is now in contact with the gripping unit 33 〗.接| 仏 仏 $ 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 由于 由于 由于 由于 由于 由于 由于In the vacuum, as shown, the multi-joint machine is operated, ~, as shown in Figures 3 and 4, and the inverted glass is in each of *__ G, and the two are placed in the middle of the double-use of the broken glass transfer part. Paper removal robot % way ^J or medium. The operation of the robot 30 interacts with each other. The second use = the broken input machine. The attraction of the removal robot 50 is also the upper end of the dual-use intermediate paper. Attracting and picking up the intermediate paper 5 in this state

機；H·辟\ ^ 田又用返破璃輸入機械手30的々B 機械臂35的操作使破璃G從 于Μ的多關郎 用途中間紙張移除機械手 ；·=目1移動時，雙 弓I部分52吸引並拾取 個方向上疑轉，使得由吸 部分5 4。 3、'，氏張D被收集到中間紙張收集The machine is used to remove the robot. The operation of the robot arm 35 is used to remove the robot from the smashing of the shovel. The double bow I portion 52 attracts and picks up the direction of the suspect, so that the suction portion 5 4 . 3, ', the sheet D is collected to the intermediate paper collection

當雙用途玻璃輪人接M 型條板箱i移_破^的操作使坡璃G從垂直 控制部分60操作16的=區域時， 機械手 衣载丁 40。也就是說，上升/下降部 1328558 24009pif.doc 分4]上升。 當上升/下降部分41上升時，雙用途玻璃輸入機械手 30的多關節機械臂35經操作以在直線方向上進一步延 伸’並下降以使得吸引單元33的連接部分33c被配置在形 成玻璃裝載手40的叉狀物45的水平條45a之間。 如圖5所示’玻璃G中的每一者的抓取表面G1裝載When the dual-purpose glass wheel is connected to the M-type crate, the operation of the glass is shifted from the vertical control portion 60 to the = area of the 16th, and the mechanical hand is loaded 40. That is to say, the ascending/descending portion 1328558 24009pif.doc is divided by 4]. When the ascending/descending portion 41 ascends, the multi-joint robot arm 35 of the dual-purpose glass input robot 30 is operated to further extend 'in the linear direction' and descends so that the connecting portion 33c of the attraction unit 33 is disposed to form the glass loader Between the horizontal strips 45a of the forks 45 of 40. As shown in Figure 5, the gripping surface G1 of each of the glass G loads

在支撐墊45b上，且支樓墊45b中形成真空，使得玻璃GOn the support pad 45b, and a vacuum is formed in the branch pad 45b, so that the glass G

中的每一者均固定在適當位置。相反地操作雙用途玻璃輪 入機械手30的多關節機械臂35，使得吸引單元33從破壤 裝載手40撤回並移動到抓取另一玻璃的位置。 當通過上述操作將玻璃G中的每一者的抓取表面 裝載在支撐墊45b上時，上升/下降部分41下降，直到坡 璃G中的每一者的抓取表面G1接觸玻璃轉移部分16的輥 16a為止。當上升/下降部分41的下降操作完成時，玻璃轉. 移部分16的輥I6a將玻璃G轉移到後續處理19。玻璃^ 由玻璃轉移部分16轉移並到達後續處理19，以便被再次 裝載在分離的盒巾。接著，將玻璃㈣人到每—處理以 對玻璃G進行處理。 當使用圖7到11所示的水平型條板箱2時，操作與上 述垂直型條板箱1的操作幾乎相同。然而，如上所去 在雙用途t間紙張移除機械手5()移除中間紙張5的過程^ 板：3時’進一步包含中間紙張固持器(未 _方止中間紙在水平型條板箱 勺另一表面任思'移動。其後的操作 24 1328558 24009pif.doc 與上述操作相同。 根據t發明，由於垂直型和水平型條板箱可共同使 用所以簡化了線路的結構並減少了與此相應的占地面 積。、明確地說’由於可減少包含各種機械手的設備的數目， =以"^減^用於建立系統的成本。並且，儘管在本實施例 中，玻璃轉移部分採用輕類型，但可為此改用鏈或帶。這 可應用於條板箱轉移部分。 雖然，參照本發明優選實施例具體綠示並描述了本發 月，但所屬領域的技術人員將暸解，可在不脫 利要求書所界定的本發明的精神和範圍的情况下所] 優選實施例巾在形式和細節上作出各種變化。 & 如上所述，根據本發明，由於垂直型和水Each of them is fixed in place. Conversely, the dual-purpose glass wheel is rotated into the multi-joint robot arm 35 of the robot 30 such that the suction unit 33 is withdrawn from the soil-carrying loader 40 and moved to a position where another glass is grasped. When the gripping surface of each of the glass G is loaded on the support pad 45b by the above operation, the ascending/descending portion 41 is lowered until the gripping surface G1 of each of the glass G contacts the glass transfer portion 16 The roller 16a is up. When the lowering operation of the ascending/descending portion 41 is completed, the roller I6a of the glass transfer portion 16 transfers the glass G to the subsequent process 19. The glass ^ is transferred by the glass transfer portion 16 and reaches the subsequent process 19 so as to be loaded again on the separated tissue. Next, the glass (four) person is treated to each treatment to treat the glass G. When the horizontal type crate 2 shown in Figs. 7 to 11 is used, the operation is almost the same as that of the above-described vertical type crate 1. However, as described above, the process of removing the intermediate paper 5 between the dual-purpose paper removal robot 5 () removes the intermediate paper 5: 3' further includes the intermediate paper holder (not the square paper in the horizontal type crate) The other surface of the spoon is left to move 'moving. The subsequent operation 24 1328558 24009pif.doc is the same as above. According to the invention of t, since the vertical and horizontal crate can be used together, the structure of the line is simplified and reduced. The corresponding floor space. Specifically, 'because the number of devices containing various robots can be reduced, = is used to establish the cost of the system. And, in this embodiment, the glass transfer portion is adopted. Light type, but a chain or belt may be used for this purpose. This may be applied to the crate transfer portion. Although the present month is specifically illustrated and described with reference to a preferred embodiment of the present invention, those skilled in the art will appreciate that The preferred embodiment of the invention can be varied in form and detail in the context of the spirit and scope of the invention as defined by the appended claims. & As described above, according to the present invention, due to the vertical type And water

Lt Ξ ί用，所以簡化了線路的結構並減少了與此相:: 占f面積。明確地說，由於可減少包含各種機械手 的數目’所以可減少用於建立系統的成本。、。又 【圖式簡單說明】 圖1說明根據本發明實施例的玻璃輸入系 上圖2到6是繪示通過將垂直型條板箱應用於圖 璃輸入系統來輸人玻璃的操作的®。 、’ '坡 圖7到11是繪示通過將水平型條板箱應用 璃輸入系統來輪入玻璃的操作的圖。 ' @ 、 圖12是圖1的玻璃輸入系統的方框圖。 【主要元件符號說明】 25 1 :垂直型條板箱 1328558 24009pif.doc 3:水平型條板箱 5 :中間紙張 . 10:條板箱供應部分 12 :清潔部分 ' 14:條板箱轉移部分 16 :玻璃轉移部分 16a :輥 φ IS:緩衝部分 19 :後續處理 30 :雙用途玻璃輸入機械手 31 :支撐部分 33 :吸引單元 33a :頭部主體 33b :吸引墊 33c :連接部分 g 3 5 :多關節機械臂 40 :玻璃裝載手 41 :上升/下降部分 45 :叉狀物 45a :水平條 45b :支撐墊 45c :垂直條 50 :雙用途中間紙張移除機械手 52 :吸引部分 26 1328558 24009pif.docLt Ξ ί is used, so the structure of the line is simplified and the phase is reduced:: The area of f. In particular, since the number of various robots can be reduced', the cost for establishing the system can be reduced. ,. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 illustrates a glass input system according to an embodiment of the present invention. Figs. 2 to 6 are diagrams showing the operation of inputting glass by applying a vertical type crate to a glass input system. , 'Slopes 7 to 11 are diagrams showing the operation of turning the glass into the glass by applying the horizontal type crate to the glass input system. ' @ , Figure 12 is a block diagram of the glass input system of Figure 1. [Main component symbol description] 25 1 : Vertical crate 1328558 24009pif.doc 3: Horizontal crate 5: Intermediate paper. 10: Crate supply part 12: Cleaning part ' 14: Crate transfer part 16 : glass transfer portion 16a: roller φ IS: buffer portion 19: subsequent treatment 30: dual-purpose glass input robot 31: support portion 33: suction unit 33a: head main body 33b: suction pad 33c: connection portion g 3 5 : Joint robot arm 40: glass loading hand 41: ascending/descending portion 45: fork 45a: horizontal bar 45b: support pad 45c: vertical bar 50: dual-purpose intermediate paper removal robot 52: attraction portion 26 1328558 24009pif.doc

54 :中間紙張收集部分 60 :機械手控制部分 65 :檢測部分 G :玻璃 G1 :抓取表面 W :工作位置 2754 : Intermediate paper collection section 60 : Robot control section 65 : Detection section G : Glass G1 : Grab surface W : Working position 27

Claims (1)

24009pif.doc 、申請專利範圍： L一種坡螭輸入系統，包括·· 璃 轉移破 •玻离I%·部分’在所述麵轉移部分上裝載並24009pif.doc, the scope of patent application: L a kind of ramp input system, including · glass transfer break • glass I% · part 'loaded on the surface transfer part and =:所述破^ ’並將抓取的所述玻璃輸入到所述破^ 的 轉 ，紐錄槪於所述雙 地玻璃之間的中間紙張；以及 斤 r還，1分，確定所述條板箱是所述垂直型條板 相运疋所述水平型條板箱，並基於所述確定來控制所述摊 用途玻璃輸人機械手和所述雙用途中間紙張移除機械手以 對應所述垂直型條板箱和所述水平型條板箱中的每一者。=: the break ^ ' and the captured glass is input to the broken ^, the new record is placed between the two sheets of paper between the double ground glass; and the jin r also, 1 point, determine the said The crate is such that the vertical slats are transported to the horizontal slats, and based on the determination, the glazing input robot and the dual-purpose intermediate paper removing robot are controlled to correspond to Each of the vertical crate and the horizontal crate. 2.如申请專利範圍第1項所述之玻璃輸人系統，更包 括條板箱赫部分’所述條板箱轉料分將職垂直型條 板箱和所述水平型條板箱轉移到所述工作位置。 3.如申請專利範圍第2項所述之玻璃輪人系統，更包 括檢測部分，所述檢測部分檢測所述條板箱是所述垂直型 條板箱還疋所4水平型條板箱’並將制資訊傳輸到所述 機械手控制部分， 其中所述機械手控制部分基於從所述檢測部分傳輸 的所述檢測資絲確定所述條鋪是所麵直型條板箱還 28 1JZ0JD0 24009pi£d〇c 是所述水平型條板箱。 •如申清專利範圍第3項所述之破璃| < 所述檢測部分被提供在所述條板箱轉==、:其中 所提供的條碼來檢測所“I: 置玉-板相遇疋所述水平型條板箱。 Ϊ ^雔專魏圍第1項所述之破璃輸人系統，复中 戶斤i又用途破璃輸入機械手包括： /、中 # 支撐部分； 面；，吸引並拾取形成所述破璃的表面的抓取表 多關節機械臂，連接所述支撐部分盘所述 述玻璃來轉移所述破璃，使得由所述吸ί單 :轉移部‘::所述玻璃的所述抓取表面裝載成與所逑玻 第5項所述之玻璃輸入系統，其中 # ，。卩主體，所述頭部主體處形成真空； 2吸引墊’接觸所述玻璃的所述抓取表面，並通過 形成=相部主體巾的真空來吸引並拾輯述抓取表 面，从及 你二，連接部分，連接所述頭部主體與所述吸引墊，同 時使所_部主體細舰料彼此分離。 利範圍第6項所述之玻璃輸入系統，其中 和 '。⑯具有至少有—個部分被連接的棍形形狀。 29 1328558 24009pif.doc 8·如申請專利範圍第7項所述之玻璃輪人系統， 所述頭部主體具有棋盤配置結構，且所述連接部分括 在所述頭部主體的交叉點中的每一者處以將所迷 ς由' 的每一者連接到所述頭部主體。 肀 9.如申請專利範圍第6項所述之玻璃輪人系統 括玻璃裝載手，所频魏财減縣麵於所= 轉移部分處，郷從所錢岐玻璃輸人频 述玻璃裝載到所述破璃轉移部分的上表面。 勺所 10·如申請專利範圍第9項所述之玻璃輪人 所述玻璃魏手部分地_合顺述賴轉料分， 夠在所述玻璃轉移部分的上方區域中上升和下降。此 中所===第10項所述之玻―其 區域麵述耗轉料料所述上方 叉狀物，在垂直於所述上升/下降部分 向上從所述上升/下降部㈣末端部分延伸，麵 =述雙用途玻璃輸入機械手轉移的所述玻璃的 12.如申請專利範圍第η項所述之玻璃輸 中所述又狀物包括： 糸、，'充其 f個水平條’每-者均配置在所述㈣ 械手的所述連接部分之間； 肖輪入槐 多個支樓墊，被提供在所述水平條的上表面上並從所 30 24009pif.doc 述下側支擇所述玻璃的所述抓取表面；以及 至少—個垂直條，連接所述水平條。 中所述專利乾圍第12項所述之破璃輸入系統’其 的方向卜皮配置成在背_述雙用途麵輸人機械手 述水平條連接的每-者的末端部分，並將所 中二^!=:所述之破•系統，其 者。 刀^上、連接到所述垂直條中的每一 中所專利範圍第12項所述之玻璃輪入系統，其 玻璃移部分包括？悔b ’所述輥將從所述雙用途 所述:平=手輸入的所述破璃逐片轉移到後續處理，且 /下降部八1^在所錢之間讀能_過所述上升 降邻刀而上升和下降到適當位置。 所述機專利Ιε圍第1項所述之玻璃輸入系統’其中 的二與制所述雙用途中間紙張移除機械手 且所述雙用途S紙i，輸入機械手的操作相互作用， s〔張私除機械手進一步包括吸引部分， ^ 。卩分吸引並拾取所述巾間紙張的一側。 中所、成2 rf利r*圍第16項所述之玻璃輸人系統，其 止所=φ 、板相更包括至少—個中間紙張固持器以防 止所述中間紙張的另—表面任意移動。 万 括緩項所述之玻璃輸入系統，更包 p刀所U、k衝部分被提供在處理流程方向上的先 1328558 24009pif.doc 前處理中，且所述垂直型條板箱和所述水平型條板箱在所 述缓衝部分處等待。 19. 如申請專利範圍第18項所述之玻璃輸入系統，更 包括清潔部分，所述清潔部分被提供在所述緩衝部分的先 前處理中，並整體地清潔所述垂直型條板箱和所述水平型 條板箱中的所述玻璃。 20. 如申請專利範圍第1項所述之玻璃輸入系統，其中 所述玻璃是選自液晶顯示器、電漿顯示面板和有機發光二 極體的大螢幕平面顯示器。2. The glass input system according to item 1 of the patent application scope, further comprising a crate box portion, wherein the crate transfer sub-division vertical vertical crate and the horizontal crate are transferred to The working position. 3. The glass wheel human system according to claim 2, further comprising a detecting portion, wherein the detecting portion detects that the crate is the vertical type crates and the four horizontal type crates Transmitting and transmitting information to the robot control portion, wherein the robot control portion determines that the strip is a straight-type crate based on the detection wire transmitted from the detecting portion. 28 1JZ0JD0 24009pi £d〇c is the horizontal crate. • The glass is as described in claim 3 of the patent scope. < The detection portion is provided in the crate turn ==,: the bar code provided therein detects the "I: the jade-plate meets疋The horizontal type crates. Ϊ ^雔Specially used in Weiwei, the broken glass input system mentioned in the first item, Fuzhongzhongji i and the use of broken glass input manipulators include: /, medium # support part; Grasping and picking up a gripping table articulated robotic arm forming the surface of the broken glass, connecting the supporting portion of the glass to transfer the broken glass, so that the sucking unit: the transfer portion ':: The gripping surface of the glass is loaded into a glass input system according to item 5, wherein ##.卩 body, a vacuum is formed at the head body; 2 attracting pad 'contacting the glass Grasping the surface, and attracting and picking up the gripping surface by forming a vacuum of the phase body towel, connecting the head body and the attraction pad, and simultaneously The main body fine ship materials are separated from each other. The glass input system according to item 6 of the scope is And the '16' has a stick-shaped shape in which at least one part is connected. 29 1328558 24009pif.doc. The lens body system of claim 7, wherein the head body has a checkerboard configuration structure, and The connecting portion is included at each of the intersections of the head bodies to connect the obscured by each of the head bodies to the head body. 肀9. As described in claim 6 The glass wheel man system includes a glass loading hand, and the frequency of the Wei Cai minus the county is at the transfer part, and the glass is loaded from the glass to the upper surface of the broken part of the broken glass. · The glass wheel of the glass wheel as described in claim 9 of the patent application section is partially and steadily said to rise and fall in the upper region of the glass transfer portion. = the glass of the item 10, wherein the upper fork of the area-reversing material is extended upward from the rising/falling portion (four) end portion perpendicular to the rising/falling portion, the surface = the double Use glass to input the hand of the glass transferred by the robot 12. The slats in the glass loss described in the scope of the patent application include: 糸,, 'filling the f horizontal bars' are each disposed between the connecting portions of the (four) robot; Wheeling a plurality of branch mats, provided on an upper surface of the horizontal strip and selecting the gripping surface of the glass from a lower side of the 30 24009 pif. doc; and at least a vertical strip, a connection Said horizontal strip. The glass input system described in the fourth paragraph of the patent circumstance is arranged in the direction of the end portion of each of the horizontal strips connected to the manipulator. And will be in the middle ^!=: the described break • system, the other. The glass wheeling system of the invention of claim 12, wherein the glass shifting portion comprises? Repent b' the roller will be transferred from the dual use: flat = hand input of the broken glass to the subsequent processing, and / drop part 8 1 ^ between the money can read _ over the above Raise and lower the knife to raise and lower to the proper position. The machine patent Ι 围 围 玻璃 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃 玻璃Zhang privately removes the robot further including the attraction part, ^. The sputum attracts and picks up the side of the paper between the towels. In the glass input system of item 16, the stoppage = φ, the plate phase further comprises at least one intermediate paper holder to prevent the other surface of the intermediate paper from moving arbitrarily . The glass input system described in the versatile item, the U and k punch portions of the p-knife are provided in the first processing process in the direction of the process flow, and the vertical crate and the level are The type crate waits at the buffer portion. 19. The glass input system of claim 18, further comprising a cleaning portion provided in a prior process of the buffer portion and integrally cleaning the vertical crate and the chamber The glass in a horizontal crate. 20. The glass input system of claim 1, wherein the glass is a large screen flat panel display selected from the group consisting of a liquid crystal display, a plasma display panel, and an organic light emitting diode. 3232
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