WO2013152502A1 - 玻璃基板的取放装置 - Google Patents

玻璃基板的取放装置 Download PDF

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Publication number
WO2013152502A1
WO2013152502A1 PCT/CN2012/073998 CN2012073998W WO2013152502A1 WO 2013152502 A1 WO2013152502 A1 WO 2013152502A1 CN 2012073998 W CN2012073998 W CN 2012073998W WO 2013152502 A1 WO2013152502 A1 WO 2013152502A1
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WO
WIPO (PCT)
Prior art keywords
rod
transmission
horizontal direction
driving
frame
Prior art date
Application number
PCT/CN2012/073998
Other languages
English (en)
French (fr)
Inventor
杨卫兵
吴俊豪
林昆贤
汪永强
朱二庆
李贤德
Original Assignee
深圳市华星光电技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市华星光电技术有限公司 filed Critical 深圳市华星光电技术有限公司
Priority to US13/510,907 priority Critical patent/US8777548B2/en
Publication of WO2013152502A1 publication Critical patent/WO2013152502A1/zh

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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
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • 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
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/063—Transporting devices for sheet glass
    • B65G49/064—Transporting devices for sheet glass in a horizontal position
    • 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
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces

Definitions

  • the present invention relates to the field of liquid crystal displays, and in particular to a pick-and-place device for a glass substrate.
  • the glass substrate carried in the cassette needs to be taken out from the cassette for sampling inspection, and the cassette is replaced after the glass substrate is taken out and the cassette is taken out.
  • the thickness of the glass substrate is usually only 0.4 to 0.7 mm, and is generally brittle, so that the glass substrate is easily broken during loading or unloading of the glass substrate. Further, when the glass substrate is broken, it is necessary to take out the damaged glass substrate in the cassette.
  • the technical problem to be solved by the present invention is to provide a pick-and-place device for a glass substrate, which can conveniently and quickly take out the glass substrate carried in the cassette or put the glass substrate back into the cassette.
  • a technical solution adopted by the present invention is to provide a pick-and-place device for a glass substrate, comprising: a frame; a transfer platform, the transfer platform includes a transmission portion disposed on the frame, and the transmission portion includes the first a frame and a plurality of first transmission rods arranged in parallel along the first horizontal direction and supported by the first frame, the conveying platform further comprising a lifting mechanism for raising a plane in which the first transmission rod is located; and a vertical translation mechanism for driving the transmission platform Moving in a vertical direction to raise the transport platform to a specified height;
  • the auxiliary device includes a bracket and a plurality of support rods arranged in parallel along the first horizontal direction and supported on the bracket, the support rod being laterally movable from the cassette And entering and exiting the cassette in a second horizontal direction perpendicular to the first horizontal direction and supporting the first frame; and a horizontal translation mechanism for moving the transmission platform in the first horizontal direction to allow the transmission portion to enter and exit the cassette, the first transmission rod Rot
  • the first frame is provided with a first slot corresponding to each of the first transmission rods
  • the lifting mechanism comprises: a slider corresponding to each of the first transmission rods and provided with a second slot, a lever connecting the sliders, and a driving device for driving the pull rod to move the slider in the first horizontal direction
  • the first transmission rod is disposed in the first slot and the second slot, and is defined by the first slot and the second slot
  • the horizontal movement of the slider causes the plane in which the first transmission rod is located to be raised.
  • the auxiliary device further comprises a roller disposed at the end of the support rod, the first frame is provided with a sliding groove for receiving the roller, and the first frame along the roller after the roller enters the predetermined position in the cassette in the second horizontal direction The first horizontal direction enters the cassette, thereby causing the chute to receive the roller.
  • the vertical translation mechanism comprises a screw rotatably disposed on the frame, a nut disposed at a corresponding position on the conveying platform and sleeved on the screw, and a driving device for synchronously driving the screw.
  • a pick-and-place device for a glass substrate comprising: a frame; a transfer platform, the transfer platform includes a transmission portion disposed on the frame, and the transmission portion includes a frame and a plurality of first transmission rods arranged in parallel along the first horizontal direction and supported by the first frame; a vertical translation mechanism for moving the transmission platform in a vertical direction to raise the transfer platform to a specified height; a horizontal translation mechanism for moving the transmission platform in a first horizontal direction to move the transmission portion into and out of the cassette, wherein the first transmission rod rotates about its own axis to move the glass substrate supported on the first transmission rod into or out of the cassette .
  • the conveying platform further comprises a lifting mechanism for lifting the plane where the first transmission rod is located, thereby jacking up the glass substrate.
  • the first frame is provided with a first slot corresponding to each of the first transmission rods
  • the lifting mechanism comprises: a slider corresponding to each of the first transmission rods and provided with a second slot, a lever connecting the sliders, and a driving device for driving the pull rod to move the slider in the first horizontal direction
  • the first transmission rod is disposed in the first slot and the second slot, and is defined by the first slot and the second slot
  • the horizontal movement of the slider causes the plane in which the first transmission rod is located to be raised.
  • first slot is disposed in a vertical direction
  • second slot includes an inclined portion disposed obliquely with respect to the vertical direction
  • the horizontal translation mechanism is a roller or a sliding element disposed at the bottom of the rack.
  • the conveying platform further comprises a receiving portion disposed on the frame and adjacent to the transmission portion, the receiving portion is configured to receive the glass substrate that is removed from the cassette or to be moved into the cassette, the receiving portion includes the second frame and is parallel along the first horizontal direction A plurality of second transmission rods arranged and supported by the second frame.
  • the conveying platform further comprises a first roller fixed on the first transmission rod and a second roller fixed on the second transmission rod, the first roller synchronously rotates with the first transmission rod, and the second roller synchronizes with the second transmission rod Rotating, the first roller and the second roller are used to support the glass substrate.
  • the pick-and-place device further comprises an auxiliary device comprising a bracket and a plurality of support rods arranged in parallel along the first horizontal direction and supported on the bracket, the support rod being capable of being perpendicular to the first horizontal direction from the lateral direction of the cassette
  • the second horizontal direction enters and exits the cassette and supports the first frame.
  • the auxiliary device further comprises a roller disposed at the end of the support rod, the first frame is provided with a sliding groove for receiving the roller, and the first frame along the roller after the roller enters the predetermined position in the cassette in the second horizontal direction The first horizontal direction enters the cassette, thereby causing the chute to receive the roller.
  • the auxiliary device further includes a first driving rod coaxially disposed in at least part of the supporting rod and rotatable along the own axis, the first driving rod and the corresponding first transmission rod are engaged with each other and driven by the rotation of the first driving rod The first transmission rod rotates.
  • the auxiliary device further includes a second driving rod disposed along the first horizontal direction and a driving device, and the first driving rod is disposed with a first magnetic ring at a position corresponding to each of the first driving rods, and the first driving rod and the first driving rod a second magnetic ring is disposed on the corresponding position of the second driving rod, and the second magnetic ring is rotatably connected to the supporting rod, and rotates synchronously with the first driving rod and can slide in the second horizontal direction with respect to the first driving rod, and the driving device drives The two driving rods drive the first magnetic ring to rotate, and in turn drive the second magnetic ring and the first driving rod to rotate.
  • the bracket further includes a first bracket assembly having a first slope, a second bracket assembly having a second slope matching the first slope, and a first driving device, the first driving rod being rotatably supported on the first bracket assembly, a driving device drives the first bracket assembly and the second bracket assembly to be relatively translated in a first horizontal direction, so that the first bracket assembly transmits the first driving rod in a second horizontal direction by the first inclined surface and the second inclined surface, thereby further Engaged with the first transmission rod.
  • the second bracket assembly further includes a rack portion connected to the second inclined surface
  • the first driving device includes a gear portion corresponding to the rack portion
  • the first driving device drives the gear portion to rotate
  • the gear portion drives the rack portion The portion translates in a first horizontal direction to effect relative translation of the first bracket assembly and the second bracket assembly.
  • the bracket further includes a third bracket assembly having a third slope, a fourth bracket assembly having a fourth slope matching the third slope, and a second drive device, the support rod, the first bracket assembly and the second bracket assembly being fixed to On the third bracket assembly, the second driving device drives the third bracket assembly and the fourth bracket assembly to be relatively translated in the first horizontal direction, so that the third bracket assembly is in the second horizontal direction under the action of the third slope and the fourth slope
  • the drive support rod, the first bracket assembly and the second bracket assembly further enable the support rod to enter and exit the cassette.
  • the vertical translation mechanism comprises a screw rotatably disposed on the frame and a nut disposed at a corresponding position on the conveying platform and sleeved on the screw.
  • the vertical translation mechanism further includes a drive for synchronously driving the first screw.
  • the invention has the advantages that the pick-and-place device of the invention can be inserted into the cassette to carry out the glass substrate or the damaged glass substrate, and the sampled glass substrate can be put back into the cassette, which is highly automated and time-consuming. High efficiency without damaging the removed glass substrate.
  • FIG. 1 is a schematic view of the glass substrate pick-and-place device of the embodiment of the present invention extending into a cassette to lift the glass substrate.
  • FIG. 2 is a plan view of a transfer platform and an auxiliary device of the pick-and-place device of the glass substrate shown in FIG. 1.
  • Figure 3 is an enlarged view of a region A in Figure 1.
  • Figure 4 is an enlarged view of a region B in Figure 1.
  • Figure 5 is an enlarged view of a region C in Figure 1.
  • Figure 6 is an enlarged view of a region D in Figure 2.
  • Figure 7 is an enlarged view of a region E in Figure 2.
  • Figure 8 is a side elevational view of one side of the auxiliary mechanism in combination with the first frame.
  • Figure 9 is a side elevational view of another angle of one side of the auxiliary mechanism in combination with the first frame.
  • Figure 10 is an enlarged view of a region F in Figure 2 .
  • the pick-and-place device 100 for a glass substrate includes a frame 1 and a transfer platform 2 .
  • the transport platform 2 is disposed on the frame 1, and includes a transmission portion 21 capable of entering and exiting the cassette 4 and a receiving portion 20 adjacent to the transmission portion 21.
  • the transmission portion 21 includes a first frame 22 and a plurality of first transmission rods 23 arranged in parallel along the first horizontal direction X and supported by the first frame 22.
  • the pick-and-place device 100 for a glass substrate further includes a horizontal translation mechanism 11 and a vertical translation mechanism.
  • the horizontal translation mechanism 11 is used for the transmission conveying platform 2 to move in the first horizontal direction X to allow the transmission portion 21 to enter and exit the cassette 4.
  • a vertical translation mechanism is used to drive the transport platform 2 to move in a vertical direction to raise the transfer platform 2 to a specified height.
  • the horizontal translation mechanism 11 is a plurality of rollers disposed at the bottom of the frame 1 and rotatable relative to the frame 1. In practical applications, the horizontal translation mechanism 11 can also have other sliding elements.
  • the pick-and-place device 100 can be moved in the first horizontal direction X by the arrangement of the horizontal translation mechanism 11, for example, the push/pull frame 1 can cause the horizontal translation mechanism 11 to move the transmission portion 21 of the transfer platform 2 at a predetermined height into / The cassette 4 carrying the glass substrate 5 is removed.
  • the first transmission rod 23 of the transmission portion 21 is rotatable about its own axis to move the glass substrate 5 supported on the first transmission rod 23 into or out of the cassette 4.
  • the vertical translation mechanism includes a pair of screws 12 disposed on the frame 1 in a vertical direction, a nut 13 sleeved on the screw 12 and movable up and down relative to the screw 12 along the thread of the screw 12.
  • a driving device 101 that drives the screw 12 to rotate in synchronization.
  • the driving device 101 includes a worm 14 for supplying power, a worm wheel 15 meshing with the worm 14, a transmission rod 16 fixed coaxially with the worm wheel 15, a first gear 17 respectively located at both ends of the transmission rod 16, and a coaxial fixing to the screw 12 and A second gear 18 that is engaged by a gear 17 is engaged.
  • the nut 13 is disposed at a corresponding position on the transfer platform 2 and is fixedly coupled to the transfer platform 2.
  • the transfer platform 2 of the present embodiment further includes a lifting mechanism that raises the plane of the first transmission rod 23. Please refer to Figure 3 and Figure 4 for the specific structure.
  • a first slot 222 is disposed at a position on the first frame 22 corresponding to each of the first transmission rods 23.
  • the lifting mechanism includes a slider 211 corresponding to each of the first transmission rods 23 and providing a second slot 212, a pull rod 214 connecting each slider 211, and a drive rod 214 for moving the slider 211 in the first horizontal direction X Drive device 102.
  • the drive device 102 includes a powered worm 216 and a worm gear 215 that meshes with the worm 216.
  • the pull rod 214 is coupled to the worm gear 215, and the second slot 212 includes an angled portion 213.
  • the first slot 222 is disposed in the vertical direction
  • the inclined portion 213 of the second slot 212 is disposed obliquely with respect to the vertical direction.
  • Each of the first transmission rods 23 is disposed in the first slot 222 and the second slot 212, and the first slot 222 is restricted from moving in the first horizontal direction X by the first slot 222, and is in the slider During the horizontal movement of 211, the first transmission rod 23 is moved in the vertical direction in the first slot 222 by the inclined portion 213 of the second slot 212.
  • the first transmission rod 23 is located at the bottom of the first slot 222 and the second slot 212, and the overall thickness of the transmission portion 21 is thin, which can effectively prevent the transmission portion 21 from being injured.
  • the worm 216 of the driving device 102 When the conveying platform 2 is located in the cassette 4, when the glass substrate 5 is to be taken up, the worm 216 of the driving device 102 is rotated, and the worm 216 drives the worm wheel 215 meshed with it to rotate, and the worm wheel 215 pulls the slider 211 through the rod 214.
  • the first transmission rod 23 is lifted along the inclined portion 213 of the second slot 212 under the definition of the first slot 222 and the second slot 212, thereby achieving the purpose of being able to jack up the glass substrate 5.
  • a lifting mechanism is respectively disposed on the first frames 22 on both sides. In practice, this should not be restricted.
  • the receiving portion 20 of the transfer platform 2 is used to receive the glass substrate 5 from which the cassette 4 or the cassette 4 is to be moved.
  • the receiving portion 20 includes a second frame 25 and a plurality of second transmission rods 26 arranged in parallel along the first horizontal direction X and supported by the second frame 25.
  • the receiving portion 20 does not enter or exit the cassette 4, it is not necessary to design a lifting mechanism for raising the plane of the second transmission rod 26. Therefore, in the process of moving the transfer portion 21 into or out of the cassette 4, the initial plane of the first transmission rod 23 is lower than the plane in which the second transmission rod 24 is located.
  • the specifications of the first frame 22 and the second frame 25 are not limited herein.
  • the second frame 25 may be the same width as or slightly larger than the width of the first frame 22, and the thickness of the second frame 25 may be greater than The thickness of the first frame 22.
  • the transfer platform 2 further includes a first roller 24 fixed to the first transmission rod 23 and a second roller 27 fixed to the second transmission rod 26.
  • the first roller 24 and the first transmission rod 23 rotate in synchronization
  • the second roller 27 and the second transmission rod 26 rotate in synchronization.
  • the first roller 23 and the second roller 27 are used to support the glass substrate 5, and the contact area of the glass substrate 5 carried on the transmission portion 21 and the receiving portion 20 can be reduced by the arrangement of the first roller 23 and the second roller 24, thereby The probability of damage when the glass substrate 5 enters and exits the cassette 4 is reduced.
  • the pick-and-place device 100 for a glass substrate of the embodiment of the present invention further includes an auxiliary device 3 for supporting the first frame 22 of the conveying portion 21.
  • auxiliary device 3 for supporting the first frame 22 of the conveying portion 21.
  • the auxiliary mechanism 3 includes a pair of brackets 31, a plurality of support rods 32 arranged in parallel in the first horizontal direction X and supported on the bracket 31, and a roller 33 disposed at the end of the support rod 32, coaxially disposed in at least part of the support rods 32.
  • first driving rod 34 rotatable along its own axis, a second driving rod 36 disposed along the first horizontal direction X, and a plurality of sleeves disposed on the second driving rod 36 and corresponding to the positions of each of the first driving rods 34 a first magnetic ring 37, a second magnetic ring 35 disposed on the first driving rod 34 and corresponding to the position of the second driving rod 36, a bearing 316 for fixing the second driving rod 36, and a connecting support rod 32 and The bearing 315 of the second magnetic ring 35 and the drive unit 38.
  • the bracket 31 includes a first bracket assembly 311, a second bracket assembly 312, a first linear bearing (not shown), a driving device 103, a third bracket assembly 313, a fourth bracket assembly 314, and a second linear bearing (not The figure) and the drive device 104.
  • the first bracket assembly 311 has a first slope 301, and the first driving rod 34 is rotatably supported on the first bracket assembly 311.
  • the second bracket assembly 312 has a second ramp 302 that mates with the first ramp 301 and a rack portion 305 that is coupled to the second ramp 302.
  • the drive unit 103 includes a gear portion 306 that is disposed corresponding to and engaged with the rack portion 305 for driving linear movement thereof.
  • the first sloped surface 301 of the first bracket assembly 311 and the second sloped surface 302 of the second bracket assembly 312 are attached to each other and connected by a first linear axis.
  • the gear portion 306 of the driving device 103 By driving the gear portion 306 of the driving device 103, the second bracket assembly 312 can be caused. Translating in a first horizontal direction X relative to the first bracket assembly 311, thereby causing the first bracket assembly 311 to be displaced in the second horizontal direction Y by the first inclined surface 301 and the second inclined surface 302, and driving the first driving rod 34.
  • the third bracket assembly 313 has a third ramp 303
  • the fourth bracket assembly 314 has a fourth ramp 304 that mates with the third ramp 303.
  • the support bar 32, the first bracket assembly 311, and the second bracket assembly 312 are secured to the third bracket assembly 313.
  • the third slope 303 of the third bracket assembly 313 and the fourth slope 304 of the fourth bracket assembly 314 abut each other and are connected by a second linear bearing.
  • the drive unit 104 includes a nut 308 that is secured to the fourth bracket assembly 314 and a screw 307 that is rotationally fixed relative to the fourth bracket assembly 314 and that powers the nut 308.
  • the fourth bracket assembly 314 can be translated relative to the third bracket assembly 313, the support rod 32, the first bracket assembly 311 and the second bracket assembly in the first horizontal direction X, thereby making the third
  • the bracket assembly 313 is displaced in the second horizontal direction Y by the third inclined surface 303 and the fourth inclined surface, thereby driving the support rod 32, the first bracket assembly 311, and the second bracket assembly 312 so as to be disposed on the support rod 32.
  • the roller 33 is capable of entering and exiting the cassette 4 in the second horizontal direction.
  • the first frame 22 is provided with a chute 221 for receiving the roller 33.
  • the roller 33 enters the predetermined position in the cassette 4 in the second horizontal direction Y under the driving of the driving device 104, the first frame 22 enters the cassette 4 in the first horizontal direction X, and the sliding slot 221 receives the roller 33, that is, the first The chute 221 of a frame 22 slides along the slide rail formed by the roller 33, so that the transmission portion 21 of the transfer platform 2 is supported by the auxiliary device 3.
  • the first drive rod 34 is coaxially disposed in at least a portion of the support rod 32 and is rotatably supported on the first bracket assembly 311 so as to be rotatable about its own axis.
  • the first drive rod 34 corresponds to the first transmission rod 23 of the transmission portion 21 and is capable of engaging and driving the first transmission rod 23 at the corresponding position under the driving of the driving device 103.
  • the first bracket assembly 311 is displaced along the second horizontal direction Y to further drive the first driving rod 34 supported on the first bracket assembly 311 with respect to the second bracket assembly 312 and the third bracket.
  • the assembly 313, the fourth bracket assembly 314, the support rod 32, and the second magnetic ring 35 are displaced in the second horizontal direction Y to effect engagement with the first transmission rod 23.
  • the second drive rod 36 is rotatably disposed on the third bracket assembly 313 through the bearing 316 in the first horizontal direction X.
  • the first magnetic ring 37 is disposed at a position on the second drive lever 36 corresponding to each of the first drive levers 34, and the first magnetic ring 37 rotates in synchronization with the second drive lever 36.
  • the second magnetic ring 35 is sleeved at a position on the first drive rod 36 corresponding to the second drive rod 36.
  • the first magnetic ring 37 and the second magnetic ring 35 are perpendicular to each other.
  • the second magnetic ring 35 is rotatably coupled to the support rod 32 via a bearing 315 and rotates in synchronization with the first drive rod 34.
  • the second magnetic ring 35 is displaceable relative to the first transmission rod 34 in the second direction Y.
  • the driving device 38 drives the second transmission rod 36 to drive the first magnetic ring 37 to rotate, thereby driving the second magnetic ring 35 perpendicular to the first magnetic ring 37 to drive the first driving rod 34 to rotate.
  • the steps of using the glass substrate pick-and-place device 100 of the embodiment of the present invention to take out the glass substrate 5 carried in the cassette 4 are as follows:
  • the top surface of the conveying platform 2 is adjusted to a certain height, which is slightly lower than the bottom surface position of the glass substrate 5 to be taken out, and ensures that the transmission portion 21 does not touch the glass substrate 5 to be taken out when entering the cassette. Nor does it damage other glass substrates located adjacent to the glass substrate 5 to be removed;
  • the gantry 1 is pushed to move the pick-and-place device 100 horizontally by the horizontal translation mechanism 11, so that the sliding groove 221 of the first frame 22 of the transmission portion 21 slides under the guidance of the roller 33, and the transmission portion 21 enters the cassette. 4 and supported by the roller 33;
  • the first transmission rod 23 rises along the first slot 222 and the second slot 223 to raise the plane where the first transmission rod 23 is located, thereby jacking up the glass substrate 5 to be taken out;
  • the first bracket assembly 311 drives the first driving rod 34 to engage with the first transmission rod 23 in the second horizontal direction Y;
  • the second driving rod 36 drives the first driving rod 34 to rotate by the first magnetic ring 37 and the second magnetic ring 35, thereby driving the first driving rod 23 engaged with the first driving rod 34 to rotate, and finally the glass
  • the substrate 5 is moved from the inside of the cassette 4 to the receiving portion 20 of the transfer platform 2, and the glass substrate 5 is taken out.
  • the operation of removing the pick-and-place device 100 is: first, stopping the driving of the driving device 38; and second, driving the first driving device 103 in the opposite direction to disengage the first driving rod
  • the third driving step 23 is engaged; in the third step, the driving device 102 is driven in the reverse direction to return the plane where the first transmission rod 23 is located to the initial state; and in the fourth step, the transmission portion 21 is moved out of the card by the horizontal translation mechanism 11
  • the second driving device 104 is driven in the reverse direction to move the roller 33 out of the cassette.
  • the pick-and-place device 100 of the glass substrate of the embodiment of the present invention can also put the glass substrate 5 located outside the cassette 4 back into the cassette 4.
  • the operation steps of returning the glass substrate 5 are similar to the removal of the glass substrate 5.
  • the steps a) to e) of taking out the glass substrate are also suitable for returning the glass substrate.
  • the last step since the direction of taking out and returning the glass substrate 5 is completely reversed, it is only necessary to change the direction of the drive driving device 38. .
  • the glass substrate 5 since the second transmission rod 26 on the receiving portion 20 does not apply the transmission power, after the glass substrate 5 is placed on the receiving portion 20, the glass substrate 5 needs to be pushed until at least a portion of the glass substrate 5 enters the conveying portion 21 and The power of the transfer unit 21 fully drives the glass substrate 5.
  • a power device may be added to the second transmission rod 26, for example, the bracket 31 of the auxiliary device 3, the second driving rod 36, the first driving rod 34, and the first
  • the magnetic ring 35 and the second magnetic ring 37 share the drive unit 38 and the receiving unit 20 with the drive unit 38 and the like.
  • the invention has the advantages that the pick-and-place device of the invention can be inserted into the cassette to carry out the glass substrate or the damaged glass substrate, and the sampled glass substrate can be put back into the cassette, which is highly automated and time-consuming. High efficiency without damaging the removed glass substrate.

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Abstract

一种玻璃基板的取放装置（100），包括机架（1）、传送平台（2）、竖直平移机构和水平平移机构（11）。传送平台（2）包括设置于机架（1）上的传动部（21）。传动部（21）包括第一框架（22）和第一传动杆（23）。竖直平移机构用于使传送平台（2）上升到指定高度。水平平移机构（11）用于使传动部（21）进出卡匣（4），其中第一传动杆（23）绕自身轴线转动从而将支撑于第一传动杆（23）上的玻璃基板移入和移出卡匣（4）。

Description

玻璃基板的取放装置
【技术领域】
本发明涉及液晶显示器领域，特别涉及一种玻璃基板的取放装置。
【背景技术】
在液晶显示器的制造工艺中，需要将玻璃基板从卡匣中搬送到制程线上，并完成所需制造工艺。进一步，在搬送过程中，需要对承载于卡匣中的玻璃基板从卡匣中取出进行抽检，并在玻璃基板被取出卡匣抽检合格后需重新放回卡匣。玻璃基板的厚度通常只有0.4-0.7mm，且通常较脆，因此在装载或卸载玻璃基板的过程中玻璃基板很容易破损。此外，当玻璃基板发生破损现象时，需要取出卡匣中的破损玻璃基板。
由于卡匣中的玻璃基板之间的间距很小，目前尚无取出或放回玻璃基板或破损玻璃基板的取放装置，取放玻璃基板或破损玻璃基板的动作都是人工完成，因此，耗费时间长、破片几率高，很难再重新放回卡匣中。
因此，有必要提供一种玻璃基板的取放装置，以解决上述问题。
【发明内容】
本发明主要解决的技术问题是提供一种玻璃基板的取放装置，可方便快捷取出承载于卡匣中的玻璃基板或将玻璃基板放回卡匣中。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种玻璃基板的取放装置，包括：机架；传送平台，传送平台包括设置于机架上的传动部，传动部包括第一框架以及沿第一水平方向平行排列且支撑于第一框架的多个第一传动杆，传送平台进一步包括抬升第一传动杆所在的平面的抬升机构；竖直平移机构，用于传动传送平台沿竖直方向运动，以使传送平台上升到指定的高度；辅助装置，辅助装置包括支架和沿第一水平方向平行排列且支撑于支架上的多个支撑杆，支撑杆能够从卡匣的侧向沿与第一水平方向垂直的第二水平方向进出卡匣，并支撑第一框架；水平平移机构，用于传动传送平台沿第一水平方向运动，以使传动部进出卡匣，第一传动杆绕自身轴线转动从而将支撑于第一传动杆上的玻璃基板移入或移出卡匣。
其中，第一框架设置有对应于每个第一传动杆的第一开槽，抬升机构包括：对应于每个第一传动杆且设置有第二开槽的滑块、连接滑块的拉杆以及驱动拉杆以使滑块沿第一水平方向运动的驱动装置，第一传动杆穿设在第一开槽和第二开槽中，并在第一开槽和第二开槽的限定下随着滑块的水平运动使第一传动杆所在的平面被抬升。
其中，辅助装置进一步包括设置在支撑杆末端的滚轮，第一框架上设置有用于接收滚轮的滑槽，当滚轮随支撑杆沿第二水平方向进入卡匣中的预定位置后，第一框架沿第一水平方向进入卡匣，进而使得滑槽接收滚轮。
其中，竖直平移机构包括可转动地设置在机架上的螺杆、设置在传送平台上对应位置处且套设于螺杆上的螺母，以及对螺杆进行同步驱动的驱动装置。
为解决上述技术问题，本发明采用的另一个技术方案是：提供一种玻璃基板的取放装置，包括：机架；传送平台，传送平台包括设置于机架上的传动部，传动部包括第一框架以及沿第一水平方向平行排列且支撑于第一框架的多个第一传动杆；竖直平移机构，用于传动传送平台沿竖直方向运动，以使传送平台上升到指定的高度；水平平移机构，用于传动传送平台沿第一水平方向运动，以使传动部进出卡匣，其中第一传动杆绕自身轴线转动从而将支撑于第一传动杆上的玻璃基板移入或移出卡匣。
其中，传送平台进一步包括抬升第一传动杆所在的平面的抬升机构，进而顶起玻璃基板。
其中，第一框架设置有对应于每个第一传动杆的第一开槽，抬升机构包括：对应于每个第一传动杆且设置有第二开槽的滑块、连接滑块的拉杆以及驱动拉杆以使滑块沿第一水平方向运动的驱动装置，第一传动杆穿设在第一开槽和第二开槽中，并在第一开槽和第二开槽的限定下随着滑块的水平运动使第一传动杆所在的平面被抬升。
其中，第一开槽沿竖直方向设置，第二开槽包括相对于竖直方向倾斜设置的倾斜部。
其中，水平平移机构为设置于机架底部的滚轮或滑动元件。
其中，传送平台进一步包括设置于机架上且与传动部邻接的承接部，承接部用于承接移出卡匣或待移入卡匣的玻璃基板，承接部包括第二框架以及沿第一水平方向平行排列且支撑于第二框架的多个第二传动杆。
其中，传送平台进一步包括固定于第一传动杆上的第一滚轮以及固定于第二传动杆上的第二滚轮，第一滚轮与第一传动杆同步转动，第二滚轮与第二传动杆同步转动，第一滚轮和第二滚轮用于支撑玻璃基板。
其中，取放装置进一步包括辅助装置，辅助装置包括支架和沿第一水平方向平行排列且支撑于支架上的多个支撑杆，支撑杆能够从卡匣的侧向沿与第一水平方向垂直的第二水平方向进出卡匣，并支撑第一框架。
其中，辅助装置进一步包括设置在支撑杆末端的滚轮，第一框架上设置有用于接收滚轮的滑槽，当滚轮随支撑杆沿第二水平方向进入卡匣中的预定位置后，第一框架沿第一水平方向进入卡匣，进而使得滑槽接收滚轮。
其中，辅助装置还包括同轴穿设在至少部分支撑杆内且可沿自身轴线转动的第一驱动杆，第一驱动杆与对应的第一传动杆相互接合并通过第一驱动杆的转动带动第一传动杆转动。
其中，辅助装置进一步包括沿第一水平方向设置的第二驱动杆以及驱动装置，第二驱动杆上与每个第一驱动杆对应的位置设置有第一磁环，第一驱动杆的与第二驱动杆对应的位置套设有第二磁环，第二磁环转动连接支撑杆，并与第一驱动杆同步转动且相对于第一驱动杆能够沿第二水平方向滑动，驱动装置驱动第二驱动杆带动第一磁环转动，并进而驱动第二磁环以及第一驱动杆转动。
其中，支架进一步包括具有第一斜面的第一支架组件、具有与第一斜面匹配的第二斜面的第二支架组件以及第一驱动装置，第一驱动杆转动支撑于第一支架组件上，第一驱动装置驱动第一支架组件和第二支架组件沿第一水平方向相对平移，以使第一支架组件在第一斜面和第二斜面的作用下沿第二水平方向传动第一驱动杆，进而与第一传动杆接合。
其中，第二支架组件还包括与第二斜面相连接的齿条部，第一驱动装置包括与齿条部对应设置的齿轮部，第一驱动装置驱动齿轮部转动，并由齿轮部带动齿条部沿第一水平方向平移，进而实现第一支架组件和第二支架组件的相对平移。
其中，支架进一步包括具有第三斜面的第三支架组件、具有与第三斜面匹配的第四斜面的第四支架组件以及第二驱动装置，支撑杆、第一支架组件以及第二支架组件固定于第三支架组件上，第二驱动装置驱动第三支架组件和第四支架组件沿第一水平方向相对平移，以使第三支架组件在第三斜面和第四斜面的作用下沿第二水平方向传动支撑杆、第一支架组件以及第二支架组件，进而使得支撑杆进出卡匣。
其中，竖直平移机构包括可转动地设置在机架上的螺杆和设置在传送平台上对应位置处且套设于螺杆上的螺母。
竖直平移机构进一步包括对第一螺杆进行同步驱动的驱动装置。
本发明的有益效果是：利用本发明的取放装置可伸入卡匣中将玻璃基板或破损玻璃基板运出，还可将抽检玻璃基板重新放回卡匣，自动化程度高、耗时短、效率高，且不会损坏被取出玻璃基板。
【附图说明】
图1 是本发明实施例的玻璃基板的取放装置伸入卡匣中顶起玻璃基板时的示意图。
图2是图1所示玻璃基板的取放装置的传送平台和辅助装置的俯视图。
图3是图1中区域A的放大图。
图4是图1中区域B的放大图。
图5是图1中区域C的放大图。
图6是图2中区域D的放大图。
图7是图2中区域E的放大图。
图8是辅助机构的一侧与第一框架组合的侧视示意图。
图9是辅助机构的一侧与第一框架组合的另一角度的侧视示意图。
图10是图2中区域F的放大图。
【具体实施方式】
下面结合附图和实施例对本发明进行详细说明。
请参照图1至图2，本发明实施例的玻璃基板的取放装置100包括机架1和传送平台2。传送平台2设置于机架1上，包括能够进出卡匣4的传动部21以及与传动部21邻接的承接部20。传动部21包括第一框架22以及沿第一水平方向X平行排列且支撑于第一框架22的多个第一传动杆23。
本发明实施例的玻璃基板的取放装置100进一步包括水平平移机构11和竖直平移机构。其中，水平平移机构11用于传动传送平台2沿第一水平方向X运动，以使传动部21进出卡匣4。竖直平移机构用于传动传送平台2沿竖直方向运动，以使传送平台2上升到指定的高度。
在本实施例中，水平平移机构11为若干设置于机架1底部且相对机架1能够转动的滚轮。在实际应用中，水平平移机构11还可以其他的滑动元件。通过水平平移机构11的设置能够将取放装置100在第一水平方向X上移动，例如，通过推/拉机架1可使得水平平移机构11带动位于预定高度的传送平台2的传动部21移入/移出承载玻璃基板5的卡匣4。传动部21的第一传动杆23能够绕自身轴线转动从而将支撑于第一传动杆23上的玻璃基板5移入或移出卡匣4。
请一并参图5，竖直平移机构包括一对沿竖直方向转动设置于机架1上的螺杆12、套设于螺杆12上且能够相对螺杆12沿螺杆12的螺纹上下移动的螺母13，以及驱动螺杆12同步转动的驱动装置101。驱动装置101包括提供动力的蜗杆14、与蜗杆14啮合的蜗轮15、与蜗轮15同轴固定的传动杆16、分别位于传动杆16两端的第一齿轮17以及同轴固定至螺杆12且与第一齿轮17啮合的第二齿轮18。螺母13设置在传送平台2上对应位置处，且与传送平台2固定连接。
当蜗杆14转动时，带动蜗轮15转动，进而使同轴固定至蜗轮15的传动杆16转动，进而通过相互啮合的第一齿轮17和第二齿轮18带动两螺杆12同步转动，从而调整与螺母13固定在一起的传送平台2的高度。
由于承载于卡匣4中的玻璃基板5之间的间隙较小，为了避免传送平台2的传动部21进出卡匣时损伤被取出玻璃基板5或损伤位于被取出玻璃基板5下方的其他玻璃基板，本实施例的传送平台2进一步包括抬升第一传动杆23所在平面的抬升机构。具体结构请一并参图3和图4。
第一框架22上与每个第一传动杆23对应的位置处设置有第一开槽222。抬升机构包括对应于每个第一传动杆23且设置第二开槽212的滑块211、连接每个滑块211的拉杆214，以及驱动拉杆214以使滑块211沿第一水平方向X运动的驱动装置102。其中，驱动装置102包括提供动力的蜗杆216和与蜗杆216啮合的蜗轮215，拉杆214连接至蜗轮215，第二开槽212包括倾斜部213。其中，第一开槽222沿竖直方向设置，而第二开槽212的倾斜部213相对于竖直方向倾斜设置。每个第一传动杆23穿设在第一开槽222和第二开槽212中，且通过第一开槽222限制第一传动杆23不能在第一水平方向X上移动，并在滑块211的水平运动过程中，通过第二开槽212的倾斜部213使得第一传动杆23在第一开槽222中沿竖直方向移动。
当传送平台2的传动部21进出卡匣时，第一传动杆23位于第一开槽222和第二开槽212的底部，传动部21的整体厚度较薄，可有效避免传动部21碰伤卡匣4中的玻璃基板5。
当传送平台2位于卡匣4中，需要顶起待取出玻璃基板5时，转动驱动装置102的蜗杆216，蜗杆216带动与之啮合的蜗轮215转动，进而由蜗轮215通过拉杆214拉动滑块211，第一传动杆23在第一开槽222和第二开槽212的限定下沿第二开槽212的倾斜部213被抬升，从而达到预定能够顶起玻璃基板5的目的。
为了使第一传动杆23所在的平面在被抬升的过程中保持水平，本实施例中在两侧第一框架22上分别设置一抬升机构。实际应用中，不应受此限制。
请一并参照图6，传送平台2的承接部20用来承接移出卡匣4或者待移入卡匣4的玻璃基板5。承接部20包括第二框架25和沿第一水平方向X平行排列且支撑于第二框架25的多个第二传动杆26。
由于，承接部20不会进出卡匣4，因此无需设计抬升第二传动杆26所在平面的抬升机构。故，在传送部21移入或移出卡匣4的过程中，第一传动杆23所在的初始平面低于第二传动杆24所在的平面。
关于第一框架22和第二框架25的规格在此不做限定，例如，第二框架25可以与第一框架22同宽或略大于第一框架22的宽度，第二框架25的厚度可以大于第一框架22的厚度。
如图3和图6所示，传送平台2进一步包括固定于第一传动杆23上的第一滚轮24和固定于第二传动杆26上的第二滚轮27。第一滚轮24和第一传动杆23同步转动，第二滚轮27和第二传动杆26同步转动。第一滚轮23和第二滚轮27用于支撑玻璃基板5，通过第一滚轮23和第二滚轮24的设置能够减小承载于传动部21和承接部20上的玻璃基板5的接触面积，从而降低玻璃基板5进出卡匣4时的损伤几率。
传送平台2的传动部21的厚度受制于较小的玻璃基板5之间的间隙限制，故传动部21的厚度通常较薄。然而，传动部21在沿第一水平方向X上的尺寸通常较大，因此当承载面积较大的玻璃基板5时容易发生弯曲，从而可能导致取放玻璃基板5过程的失效。为避免出现上述问题，本发明实施例玻璃基板的取放装置100还包括用于支撑传送部21的第一框架22的辅助装置3。辅助装置3的具体结构及与传送平台2的配合请一并参图7至图10。
辅助机构3包括一对支架31、多个沿第一水平方向X平行排列且支撑于支架31的支撑杆32、设置于支撑杆32末端的滚轮33、同轴穿设在至少部分支撑杆32内且可沿自身轴线转动的第一驱动杆34、沿第一水平方向X设置的第二驱动杆36、多个套设在第二驱动杆36上且与每个第一驱动杆34位置对应的第一磁环37、套设在第一驱动杆34上且与第二驱动杆36位置对应的第二磁环35、用于固定第二驱动杆36的轴承316、用于连接支撑杆32和第二磁环35的轴承315以及驱动装置38。
其中，支架31包括第一支架组件311、第二支架组件312、第一直线轴承（未图示）、驱动装置103、第三支架组件313、第四支架组件314、第二直线轴承（未图示）以及驱动装置104。
第一支架组件311具有第一斜面301，第一驱动杆34转动支撑于第一支架组件311上。第二支架组件312具有与第一斜面301匹配的第二斜面302以及与第二斜面302相连接的齿条部305。驱动装置103包括与齿条部305对应设置且与之啮合用于驱动其线性移动的齿轮部306。第一支架组件311的第一斜面301和第二支架组件312的第二斜面302相互贴合且通过第一直线轴线连接，通过驱动驱动装置103的齿轮部306，能够使第二支架组件312相对第一支架组件311在第一水平方向X上平移，进而使第一支架组件311在第一斜面301和第二斜面302的作用下沿第二水平方向Y发生位移，并传动第一驱动杆34。
第三支架组件313具有第三斜面303，第四支架组件314具有与第三斜面303匹配的第四斜面304。支撑杆32、第一支架组件311和第二支架组件312固定于第三支架组件313上。第三支架组件313的第三斜面303和第四支架组件314的第四斜面304相互贴合且通过第二直线轴承连接。驱动装置104包括固定至第四支架组件314的螺母308和相对第四支架组件314转动固定且为螺母308提供动力的螺杆307。通过驱动驱动装置104的螺杆307，能够使第四支架组件314相对第三支架组件313、支撑杆32、第一支架组件311和第二支架组件在第一水平方向X上平移，进而使第三支架组件313在第三斜面303和第四斜面的作用下沿第二水平方向Y发生位移，进而传动支撑杆32、第一支架组件311、第二支架组件312，从而使设置于支撑杆32上的滚轮33沿第二水平方向能够进出卡匣4。
第一框架22上设置有用于接收滚轮33的滑槽221。当滚轮33在驱动装置104的驱动下沿第二水平方向Y进入卡匣4中的预定位置后，第一框架22沿第一水平方向X进入卡匣4，滑槽221接收滚轮33，即第一框架22的滑槽221顺着滚轮33形成的滑轨滑行，从而使传送平台2的传动部21被辅助装置3支撑。
第一驱动杆34同轴穿设在至少部分支撑杆32内且转动支撑在第一支架组件311上，进而能够绕自身轴线转动。第一驱动杆34与传动部21的第一传动杆23对应且能够在驱动装置103的驱动下与对应位置处的第一传动杆23接合并带动其转动。具体来说，当驱动驱动装置103时，第一支架组件311沿第二水平方向Y发生位移进一步带动支撑在第一支架组件311上的第一驱动杆34相对第二支架组件312、第三支架组件313、第四支架组件314、支撑杆32和第二磁环35沿第二水平方向Y发生位移，进而实现与第一传动杆23的接合。
第二驱动杆36沿第一水平方向X通过轴承316转动设置在第三支架组件313上。第一磁环37设置在第二驱动杆36上的对应于每个第一驱动杆34的位置处，第一磁环37与第二驱动杆36同步转动。第二磁环35套设在第一驱动杆36上的与第二驱动杆36对应的位置处。第一磁环37和第二磁环35互相垂直。第二磁环35通过轴承315转动连接至支撑杆32，且与第一驱动杆34同步转动。第二磁环35相对第一传动杆34能够沿第二方向Y发生位移。驱动装置38驱动第二传动杆36带动第一磁环37转动，进而驱动与第一磁环37垂直的第二磁环35带动第一驱动杆34转动。
使用本发明实施例的玻璃基板取放装置100取出承载于卡匣4中的玻璃基板5的步骤为：
a). 驱动驱动装置101，使传送平台2的顶面调整至一定高度，该高度比待取出的玻璃基板5的底面位置稍低，确保传动部21进入卡匣时既不会碰到待取出玻璃基板5亦不会损伤位于待取出玻璃基板5之下相邻位置处的其他玻璃基板；
b). 驱动驱动装置104，使设置于支撑杆32上的滚轮33沿第二水平方向Y进入卡匣4的预定位置处；
c). 推动机架1，使取放装置100在水平平移机构11的带动下水平移动，进而使传动部21的第一框架22的滑槽221在滚轮33的导引下滑动，传动部21进入卡匣4并被滚轮33支撑；
d). 驱动驱动装置102，第一传动杆23沿着第一开槽222和第二开槽223上升从而使第一传动杆23所在的平面被抬升，进而将待取出玻璃基板5顶起；
e). 驱动驱动装置103，第一支架组件311带动第一驱动杆34沿第二水平方向Y与第一传动杆23接合；
f). 驱动驱动装置38，第二驱动杆36通过第一磁环37和第二磁环35带动第一驱动杆34转动，进而驱动与第一驱动杆34接合的第一传动杆23转动，最终将玻璃基板5从卡匣4内移至传送平台2的承接部20上，取玻璃基板5完成。
取出玻璃基板5的动作完成后，移开取放装置100的动作过程是：第一步，停止驱动装置38的驱动；第二步，反方向驱动第一驱动装置103使第一驱动杆脱离与第一传动杆23的接合；第三步，反方向驱动驱动装置102，使第一传动杆23所在的平面回复初始状态；第四步，在水平平移机构11的带动下使传动部21移出卡匣；第五步，反方向驱动第二驱动装置104使滚轮33移出卡匣。
使用本发明实施例玻璃基板的取放装置100还可以将位于卡匣4之外的玻璃基板5重新放回卡匣4。放回玻璃基板5的动作步骤与取出玻璃基板5类似。尤其是，取出玻璃基板的步骤a)~e)亦适用于放回玻璃基板，最后一步中，因取出和放回玻璃基板5的方向完全相反，所以只需改变驱动驱动装置38的方向即可。本实施例中，因承接部20上的第二传动杆26未外加传动动力，故将玻璃基板5放置于承接部20上后需要推动玻璃基板5直至玻璃基板5的至少一部分进入传送部21且传送部21的动力能完全带动玻璃基板5。
实际应用中，为了方便放回玻璃基板5的动作，可以给第二传动杆26增设动力装置，例如，延长辅助装置3的支架31、第二驱动杆36，增设第一驱动杆34、第一磁环35和第二磁环37，使传动部21和承接部20共用驱动装置38等等。
本发明的有益效果是：利用本发明的取放装置可伸入卡匣中将玻璃基板或破损玻璃基板运出，还可将抽检玻璃基板重新放回卡匣，自动化程度高、耗时短、效率高，且不会损坏被取出玻璃基板。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (20)

  1. 一种玻璃基板的取放装置，其中，所述取放装置包括：
    机架；
    传送平台，所述传送平台包括设置于所述机架上的传动部，所述传动部包括第一框架以及沿第一水平方向平行排列且支撑于所述第一框架的多个第一传动杆，所述传送平台进一步包括抬升所述第一传动杆所在的平面的抬升机构；
    竖直平移机构，用于传动所述传送平台沿竖直方向运动，以使所述传送平台上升到指定的高度；
    辅助装置，所述辅助装置包括支架和沿所述第一水平方向平行排列且支撑于所述支架上的多个支撑杆，所述支撑杆能够从所述卡匣的侧向沿与所述第一水平方向垂直的第二水平方向进出所述卡匣，并支撑所述第一框架；
    水平平移机构，用于传动所述传送平台沿所述第一水平方向运动，以使所述传动部进出卡匣，其中所述第一传动杆绕自身轴线转动从而将支撑于所述第一传动杆上的玻璃基板移入或移出所述卡匣。
  2. 根据权利要求1所述的取放装置，其中所述第一框架设置有对应于每个所述第一传动杆的第一开槽，所述抬升机构包括：对应于每个所述第一传动杆且设置有第二开槽的滑块、连接所述滑块的拉杆以及驱动所述拉杆以使所述滑块沿所述第一水平方向运动的驱动装置，所述第一传动杆穿设在所述第一开槽和所述第二开槽中，并在所述第一开槽和所述第二开槽的限定下随着所述滑块的水平运动使所述第一传动杆所在的平面被抬升。
  3. 根据权利要求1所述的取放装置，其中所述辅助装置进一步包括设置在所述支撑杆末端的滚轮，所述第一框架上设置有用于接收所述滚轮的滑槽，当所述滚轮随所述支撑杆沿所述第二水平方向进入所述卡匣中的预定位置后，所述第一框架沿所述第一水平方向进入所述卡匣，进而使得所述滑槽接收所述滚轮。
  4. 根据权利要求1所述的取放装置，其中所述竖直平移机构包括可转动地设置在所述机架上的螺杆、设置在所述传送平台上对应位置处且套设于所述螺杆上的螺母，以及对所述螺杆进行同步驱动的驱动装置。
  5. 一种玻璃基板的取放装置，其中，所述取放装置包括：
    机架；
    传送平台，所述传送平台包括设置于所述机架上的传动部，所述传动部包括第一框架以及沿第一水平方向平行排列且支撑于所述第一框架的多个第一传动杆；
    竖直平移机构，用于传动所述传送平台沿竖直方向运动，以使所述传送平台上升到指定的高度；
    水平平移机构，用于传动所述传送平台沿所述第一水平方向运动，以使所述传动部进出卡匣，其中所述第一传动杆绕自身轴线转动从而将支撑于所述第一传动杆上的玻璃基板移入或移出所述卡匣。
  6. 根据权利要求5所述的取放装置，其中所述传送平台进一步包括抬升所述第一传动杆所在的平面的抬升机构，进而顶起所述玻璃基板。
  7. 根据权利要求6所述的取放装置，其中所述第一框架设置有对应于每个所述第一传动杆的第一开槽，所述抬升机构包括：对应于每个所述第一传动杆且设置有第二开槽的滑块、连接所述滑块的拉杆以及驱动所述拉杆以使所述滑块沿所述第一水平方向运动的驱动装置，所述第一传动杆穿设在所述第一开槽和所述第二开槽中，并在所述第一开槽和所述第二开槽的限定下随着所述滑块的水平运动使所述第一传动杆所在的平面被抬升。
  8. 根据权利要求7所述的取放装置，其中所述第一开槽沿所述竖直方向设置，所述第二开槽包括相对于所述竖直方向倾斜设置的倾斜部。
  9. 根据权利要求5所述的取放装置，其中所述水平平移机构为设置于所述机架底部的滚轮或滑动元件。
  10. 根据权利要求5所述的取放装置，其中所述传送平台进一步包括设置于所述机架上且与所述传动部邻接的承接部，所述承接部用于承接移出所述卡匣或待移入所述卡匣的所述玻璃基板，所述承接部包括第二框架以及沿所述第一水平方向平行排列且支撑于所述第二框架的多个第二传动杆。
  11. 根据权利要求10所述的取放装置，其中所述传送平台进一步包括固定于所述第一传动杆上的第一滚轮以及固定于所述第二传动杆上的第二滚轮，所述第一滚轮与所述第一传动杆同步转动，所述第二滚轮与所述第二传动杆同步转动，所述第一滚轮和所述第二滚轮用于支撑所述玻璃基板。
  12. 根据权利要求5所述的取放装置，其中所述取放装置进一步包括辅助装置，所述辅助装置包括支架和沿所述第一水平方向平行排列且支撑于所述支架上的多个支撑杆，所述支撑杆能够从所述卡匣的侧向沿与所述第一水平方向垂直的第二水平方向进出所述卡匣，并支撑所述第一框架。
  13. 根据权利要求12所述的取放装置，其中所述辅助装置进一步包括设置在所述支撑杆末端的滚轮，所述第一框架上设置有用于接收所述滚轮的滑槽，当所述滚轮随所述支撑杆沿所述第二水平方向进入所述卡匣中的预定位置后，所述第一框架沿所述第一水平方向进入所述卡匣，进而使得所述滑槽接收所述滚轮。
  14. 根据权利要求12所述的取放装置，其中所述辅助装置还包括同轴穿设在至少部分所述支撑杆内且可沿自身轴线转动的第一驱动杆，所述第一驱动杆与对应的所述第一传动杆相互接合并通过所述第一驱动杆的转动带动所述第一传动杆转动。
  15. 根据权利要求14所述的取放装置，其中所述辅助装置进一步包括沿所述第一水平方向设置的第二驱动杆以及驱动装置，所述第二驱动杆上与每个所述第一驱动杆对应的位置设置有第一磁环，所述第一驱动杆的与所述第二驱动杆对应的位置套设有第二磁环，所述第二磁环转动连接所述支撑杆，并与所述第一驱动杆同步转动且相对于所述第一驱动杆能够沿所述第二水平方向滑动，所述驱动装置驱动所述第二驱动杆带动所述第一磁环转动，并进而驱动所述第二磁环以及所述第一驱动杆转动。
  16. 根据权利要求14所述的取放装置，其中所述支架进一步包括具有第一斜面的第一支架组件、具有与所述第一斜面匹配的第二斜面的第二支架组件以及第一驱动装置，所述第一驱动杆转动支撑于所述第一支架组件上，所述第一驱动装置驱动所述第一支架组件和所述第二支架组件沿所述第一水平方向相对平移，以使所述第一支架组件在所述第一斜面和所述第二斜面的作用下沿所述第二水平方向传动所述第一驱动杆，进而与所述第一传动杆接合。
  17. 根据权利要求16所述的取放装置，其中所述第二支架组件还包括与所述第二斜面相连接的齿条部，所述第一驱动装置包括与所述齿条部对应设置的齿轮部，所述第一驱动装置驱动所述齿轮部转动，并由所述齿轮部带动所述齿条部沿所述第一水平方向平移，进而实现所述第一支架组件和所述第二支架组件的相对平移。
  18. 根据权利要求16所述的取放装置，其中所述支架进一步包括具有第三斜面的第三支架组件、具有与所述第三斜面匹配的第四斜面的第四支架组件以及第二驱动装置，所述支撑杆、所述第一支架组件以及所述第二支架组件固定于所述第三支架组件上，所述第二驱动装置驱动所述第三支架组件和所述第四支架组件沿所述第一水平方向相对平移，以使所述第三支架组件在所述第三斜面和所述第四斜面的作用下沿所述第二水平方向传动所述支撑杆、所述第一支架组件以及所述第二支架组件，进而使得所述支撑杆进出所述卡匣。
  19. 根据权利要求5所述的取放装置，其中所述竖直平移机构包括可转动地设置在所述机架上的螺杆和设置在所述传送平台上对应位置处且套设于所述螺杆上的螺母。
  20. 根据权利要求19所述的取放装置，其中所述竖直平移机构进一步包括对所述螺杆进行同步驱动的驱动装置。
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