Automatic rubbing roller storage system and pick-and-place method

An automatic rubbing roller storage system includes a roller storing device, a roller transport track, a roller transport platform and a positioning device; the roller storing device includes a rotatable roller storing portion, the roller storing portion has one end provided with a first damper and the other end provided with a second damper, and the roller is held therebetween; the roller transport platform includes a sliding base and a roller placement platform; a transmission device is disposed between the roller transport track and the sliding base. The automatic rubbing roller storage system can achieve automatic roller pick-and-place operation, improve the efficiency, save a large number of human labors and reduce the production and maintenance cost. An automatic rubbing roller pick-and-place method is also provided.

TECHNICAL FIELD

Embodiments of the present invention relate to an automatic rubbing roller storage system and a pick-and-place method.

BACKGROUND

During a cell-assembling process of liquid crystal panels, a rubbing step is performed by rubbing an alignment film surface of a substrate in a certain direction with a certain force using a roller wrapped with nylon cloth or cotton cloth so as to form channels which allow liquid crystals to have directional alignment and pre-tilt angle. Such step is also referred to as alignment technology of liquid crystal molecules. The effect of alignment directly affects qualities of liquid crystal devices, thus the alignment technology has extremely strict requirements on the roller; wherein, apart from a material of the roller that may affect qualities of the roller such as precision and deformation resistance, a storing means of the roller may also have considerable influence thereto. Furthermore, manufactures recently have increasingly higher requirements on cost and efficiency for storing rollers.

A currently known roller-storage system merely can achieve semi-automatic roller pick-and-place operation. The system includes a roller storage and a robot configured for roller pick-and-place with a structure illustrated inFIG. 1andFIG. 2, respectively. The robot is a multi-joint apparatus freely movable as a whole, including a plurality of freely rotatable joints, stretching arms12disposed between the joints, and a clamping arm14configured to clamp the roller; the roller storage includes a clamping clip16and a clamping slot15which are configured to clamp the roller, and a storing platform; as illustrated inFIG. 3, a roller transporter used as the device transporting the roller includes wheels17and a roller transport platform18on which the roller can be placed. With such semi-automatic roller storage system, the roller transporter is fixed at a certain position in the storage by manual works so as to precisely position the robot to pick up a roller from the roller transporter, then the clamping arm of the robot clamps the roller tightly and transports the same into the clamper16and the slot15at a corresponding position on the storing platform; when it is determined that the roller1has been placed in position, the robot returns to an original pre-set position and waits for a pick-and-place instruction for another roller1.

As above, the currently known semi-automatic roller storage system mainly relies on a precise positioning of the robot to achieve roller pick-and-place operation, which is a complicated and slow process and may heavily influence the pick-and-place efficiency; moreover, when stored for a long period of time, the roller is likely to have bending deformation because it is placed at an inclined angle, which may influence qualities, performances and a service life of the roller.

SUMMARY

At least one embodiment of the present invention provides an automatic rubbing roller storage system and a rubbing roller pick-and-place method to solve technical problem that currently known roller pick-and-place operation is complicated and slow with poor efficiency.

The automatic rubbing roller storage system as provided by embodiments of the present invention includes a roller storing device, a roller transport track, a roller transport platform and a positioning device.

The roller storing device includes a rotatable roller storing portion, the roller storing portion has one end connected to a first holder and the other end connected to a second holder; the first holder and the second holder are fixedly mounted at two sides of the roller transport track; the first holder is provided with a first motor configured to drive the roller storing portion to rotate; one end of the roller storing portion is provided with at least two first clampers uniformly distributed along a circumferential direction, and the other end of the roller storing portion is provided with second clampers corresponding to the first dampers; the first clamper and the corresponding second clamper are cooperated with each other to hold a roller therebetween.

The roller transport platform is disposed on the roller transport track, and includes a sliding base slidably engaged with the roller transport track and a roller placement platform for placing the roller; a transmission device and a guiding pair are disposed between the roller transport track and the sliding base so as to drive the sliding base to move in linear motion along the roller transport track; the sliding base is provided with a first lifting device configured to drive the roller placement platform to move upwards and downwards; and the roller placement platform is provided with a roller placement slot.

The positioning device includes a sensor configured to sense the roller transport platform, the sensor is fixed on at least one of the first holder and the second holder and is electrically connected to a control unit; wherein a movement condition of each of the first motor, the transmission device and the first lifting device is controlled by the control unit, and a clamping action of at least one of the first clamper and the second clamper is controlled by the control unit.

In an example, the roller storing portion includes a first clamping plate and a second clamping plate which are fixedly connected together through a coupling shaft; an inner side of the first clamping plate is provided with the at least two first clampers uniformly distributed along a circumference direction, and an inner side of the second clamping plate is provided with the second clampers corresponding to the first dampers; an output shaft of the first motor is fixedly connected to the first clamping plate, and an outer casing of the first motor is connected to the first holder.

In an example, the first holder is provided with a first sliding chute along a vertical direction; the outer casing of the first motor is provided with at least one pair of guiding surfaces parallel to each other, the guiding surfaces are slidably engaged with the first sliding chute; an inner side of the second holder is provided with a sliding track along a vertical direction; an outer side of the second clamping plate is provided with a second sliding chute slidably engaged with the sliding track; the second holder is provided with a second lifting device configured to drive the second clamping plate to move upwards and downwards, and a raising and descending action of the second lifting device is controlled by the control unit.

Alternatively, the first holder is provided with a first sliding chute along a vertical direction; an outer side of the first clamping plate is provided with a first sliding block slidably engaged with the first sliding chute; the outer casing of the first motor is fixedly connected to the first sliding block; an inner side of the second holder is provided with a sliding track along a vertical direction, an outer side of the second clamping plate is provided with a second sliding chute slidably engaged with the sliding track; the second holder is provided with a second lifting device configured to drive the second clamping plate to move upwards and downwards, and a raising and descending action of the second lifting device is controlled by the control unit.

In an example, the second lifting device includes a second motor, a screw rod fixedly connected to an output shaft of the second motor, and a nut engaged with the screw rod; the nut is fixedly connected to the second clamping plate; an outer casing of the second motor is fixedly mounted on the second holder; and the second motor is electrically connected to the control unit.

In an example, the outer side of the second clamping plate is provided with a second sliding block, the second sliding chute is provided at an outer side of the second sliding block; and the nut is fixedly connected to the second sliding block.

In an example, the sliding track is a linear guiding track.

In an example, the first clamping plate and the second clamping plate both have a disc-like structure in a shape of regular polygon; the first clamper is fixedly connected at a corner position of the first clamping plate, and correspondingly the second damper is fixedly connected at a corner position of the second clamping plate.

In an example, the first clamping plate and the second clamping plate both have a disc-like structure in a shape of square, regular hexagon, regular octagon, regular decagon or regular dodecagon.

In an example, the first damper is a pneumatic claw, the second clamper is a claw groove, and a clamping action of the pneumatic claw is controlled by the control unit.

In an example, the transmission device includes a rack disposed along a length direction of the roller transport track, a gear engaged with the rack, and a roller transport motor configured to drive the gear to rotate; an outer casing of the roller transport motor is fixedly connected at the sliding base, an output shaft of the roller transport motor is fixedly connected to the gear, and the roller transport motor is electrically connected to the control un it.

In an example, the first lifting device is a cylinder, a base of the cylinder is fixedly connected to the sliding base, a piston rod of the cylinder is fixedly connected to the roller placement platform, and an up-and-down action for stretching out and drawing back of the piston rod of the cylinder is controlled by the control unit.

In an example, the roller transport track is provided with a guiding track along a length direction thereof, the sliding base is provided with a guiding groove slidably engaged with the guiding track, and a slidable engagement between the guiding track and the guiding groove forms the guiding pair.

In an example, the roller placement slot is arranged in two rows in parallel.

Embodiments of the present invention further provides an automatic rubbing roller pick-and-place method by using the above-described automatic rubbing roller storage system, including a roller-picking step, a roller-transporting step and a roller-storing step which are performed in sequence.

The roller-picking step includes: the control unit controls the transmission device between the roller transport platform and the roller transport track to drive the roller transport platform to move along the roller transport track until reaching a roller-picking ready position of a rubbing machinery carried with a roller to be picked; then the control unit controls the first lifting device to drive the roller placement platform to move upwards until reaching a receiving position at a certain height; then an automatic roller-loading device of the rubbing machinery automatically loads the roller to be picked into the roller placement slot on the roller placement platform; then the control unit controls the first lifting device to drive the roller placement platform to move downwards to return to an original position.

The roller-transporting step includes: the control unit controls the transmission device to drive the roller transport platform carried with the roller to move until reaching a roller-storing ready position of the roller storing device, then controls the positioning device to precisely position the roller transport platform.

The roller-storing step includes: the control unit controls the first motor to drive the roller storing portion to rotate by a certain angle, so as to allow a corresponding storing position on the roller storing portion being right above the roller on the roller transport platform which has been precisely positioned; then the control unit controls the first lifting device to drive the roller placement platform upwards until reaching a clamping position, and/or, controls the second motor to drive the roller storing portion to move downwards until reaching the clamping position; then the control unit controls the first clamper and the second clamper to hold the roller therebetween; then the control unit controls the first lifting device to drive the roller placement platform to move downwards to return to its original position, and/or, controls the second motor to drive the roller storing portion to move upwards to return to its original position.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

In order to make objects, technical details and advantages of the embodiments of the invention apparent, technical solutions according to the embodiments of the present invention will be described clearly and completely as below in conjunction with the accompanying drawings of embodiments of the present invention. It is to be understood that the described embodiments are only a part of but not all of exemplary embodiments of the present invention. Based on the described embodiments of the present invention, various other embodiments can be obtained by those of ordinary skill in the art without creative labor and those embodiments shall fall into the protection scope of the present invention.

Unless otherwise defined, all the technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art to which the present invention belongs. The terms, such as “first,” “second,” or the like, which are used in the description and the claims of the present application, are not intended to indicate any sequence, amount or importance, but for distinguishing various components. Also, the terms, such as “a/an,” “one,” or the like, are not intended to limit the amount, but for indicating the existence of at lease one The terms, such as “include/including,” “include/including,” or the like are intended to specify that the elements or the objects stated before these terms encompass the elements or the objects and equivalents thereof listed after these terms, but not preclude other elements or objects. The terms, “on,” “under,” or the like are only used to indicate relative position relationship, and when the position of the object which is described is changed, the relative position relationship may be changed accordingly.

Embodiments of the present invention relate to an automatic rubbing roller storage system, mainly including a roller storing device2, a roller transport track3, a roller transport platform4movable on the roller transport track3, a positioning device5disposed on the roller storing device2, and a control unit8electrically connected to the roller storing device2, the roller transport platform4and the positioning device5.

Embodiments of the present invention further provide an automatic rubbing roller pick-and-place method by using the above-mentioned automatic rubbing roller storage system, mainly including a roller-picking step, a roller-transporting step and a roller-storing step which are performed in sequence.

In an embodiment of the present invention, the control unit8controls the roller transport platform4to move in free motion on the roller transport track3; when approaching a target location, the roller transport platform4is precisely positioned right below the roller storing device2by the positioning device5cooperated with the control unit8; then the control unit8sends an instruction to load a roller1carried on the roller transport platform4and place the roller1onto a corresponding position on the roller storing device2.

It should be noted that, as used herein, the term “inner side” refers to a side facing the roller transport track3and the term “outer side” refers to a side facing away the roller transport track3. Furthermore, in embodiments of the present invention, the roller1is initially disposed at a rubbing machinery6and ready for being transported by the roller transport platform4and then placed onto the corresponding location of the roller storing device2, but the present invention is not limited thereto.

First Embodiment

The first embodiment of the present invention provides an automatic rubbing roller storage system, including a roller storing device2, a roller transport track3, a roller transport platform4and a positioning device5, as illustrated inFIG. 4-FIG. 11.

In an example of this embodiment, the roller storing device2includes a rotatable roller storing portion20. As illustrated inFIG. 6andFIG. 7, the roller storing portion20has one end connected to a first holder201and the other end connected to a second holder205; the first holder201and the second holder205are fixedly mounted at two sides of the roller transport track3, respectively, and the first holder201is provided with a first motor202which can drive the roller storing portion20to rotate; furthermore, one end of the roller storing portion20is provided with at least two first clampers213which are uniformly distributed along a circumferential direction, and the other end of the roller storing portion20is provided with second clampers211which are disposed corresponding to the first clampers213, wherein the first damper213and the corresponding second clamper211are cooperated with each other to hold the roller1therebetween.

In an example of this embodiment, the roller transport platform4is disposed on the roller transport track3. As illustrated inFIGS. 6-8andFIG. 10, the roller transport platform4includes a sliding base401slidably engaged with the roller transport track3and a roller placement platform402on which the roller1can be placed; a transmission device and a guiding pair are disposed between the roller transport track3and the sliding base401and configured to drive the sliding base401to move in linear motion along the roller transport track3; the sliding base401is provided with a first lifting device configured to drive the roller placement platform402to move upwards and downwards, and the roller placement platform402is provided with a roller storing slot403.

In an example of this embodiment, the positioning device5includes a sensor501configured to sense the roller transport platform4. As illustrated inFIG. 9andFIG. 11, the sensor501is fixed on the first holder201(it can also be fixed on the second holder205, of course) and is electrically connected to a control unit8which controls a movement condition of each of the first motor202, the transmission device and the first lifting device and controls a clamping action of the first holder213and/or the second damper211.

In the automatic rubbing roller storage system according to the present embodiment, the roller transport track3has one end disposed at a roller-picking ready position near the rubbing machinery6. As illustrated inFIG. 5, when the roller transport platform4that is slidably movable in reciprocating linear motion on the roller transport track3moves to be in front of the rubbing machinery6, the roller placement platform402on the roller transport platform4can be raised or descended to a roller-loading position on the rubbing machinery6; at this time, through an automatic roller-loading device7, the rubbing machinery6can automatically load a corresponding roller1and place the roller1into the roller placement slot403on the roller placement platform402which has been raised or descended to the roller-loading position; subsequently, with an action of the transmission device, the roller transport platform4carried with the roller1slides to a roller-storing ready position under the roller storing device2, and is precisely positioned there by the positioning device5; subsequently, the first lifting device, again, drives the roller placement platform402to move upwards until reaching a clamping position at a certain height corresponding to the precisely positioned roller-storing ready position, so that the roller1having been precisely positioned can be held tightly between a pair of clampers disposed at two sides of the roller storing portion20, that is, the first clamper213and the second clamper211; subsequently, the first lifting device drives the roller placement platform402to move downwards to return to an original position; subsequently, the first motor202(as illustrated inFIG. 7) drives the roller storing portion20to rotate by a certain angle so as to facilitate another pair of clampers disposed at two ends of the roller storing portion20to tightly hold next roller1therebetween.

The rubbing machinery6itself is provided with the automatic roller-loading device7and hence is able to load the roller automatically; moreover, operation conditions of the first lifting device, the transmission device, the damper, the roller storing portion20and the positioning device are all controlled by the controller8through automatic control and cooperation, so that the automatic rubbing roller storage system according to embodiments of the present invention can achieve automatic pick-and-place of the roller1to shorten the time cost for pick-and-place operation and improve the efficiency thereof; in addition, the automatic rubbing roller storage system according to embodiments of the present invention requires neither manual pick-and-place operation of the roller1nor the assistance of robot operation, which saves a large number of human labors and also reduces cost for production and maintenance. Furthermore, the roller storing portion20itself is rotatable, which allows the roller1carried thereon always rotating around the roller storing portion20, resulting in uniform force of gravity subjected by respective points on the roller so as to prevent the roller from deforming due to long-time storage, and hence to ensure certain qualities and service life of the roller during storage.

In an example of this embodiment, the roller storing portion20includes a first clamping plate203and a second clamping plate204which are fixedly connected together through a coupling shaft212, wherein an inner side of the first clamping plate203is provided with at least two first clampers213uniformly distributed along a circumferential direction, and an inner side of the second clamping plate204is provided with second dampers214corresponding to the first clampers213; the first motor202has an output shaft fixedly connected to the first clamping plate203and has an outer casing connected to the first holder201. The first clamping plate203and the second clamping plate204both have a disc-like structure and can be made of commonly used plate materials with not only low material cost but also low production cost due to simple manufacture process thereof; fixedly connecting the first clamping plate and the corresponding second clamping plate together through the coupling shaft212can not only allow the two clamping plates always rotating synchronously to avoid internal stress and torque generated in the roller held between the two clamping plates so as to ensure qualities of the roller but also can obtain advantages of easy disassembling and assembling, easy manufacturing and low cost as compared with one-piece apparatus; fixedly connecting the output shaft of the first motor202and the first clamping plate203together either directly or indirectly while connecting the outer casing of the first motor202and the first holder201either directly or indirectly allow the first motor202driving the entire roller storing portion20to rotate with respective to the two holders; that is, the output shaft of the first motor202drives the first clamping plate203to rotate, and the first clamping plate203in turn drives the second clamping plate204to rotate synchronously through the coupling shaft212, so that the two clamping plates, together, drive the roller1held therebetween to rotate about an axis of the coupling shaft212.

For purpose of enhancing adaptability and adjustability of embodiments according to the present invention, in an example, the first holder201is provided with a first sliding chute214in a vertical direction; the outer casing of the first motor is provided with at least one pair of parallel guiding surfaces, the guiding surfaces are slidably engaged with the first sliding chute214; an inner side of the second holder205is provided with a sliding track206in a vertical direction; an outer side of the second clamping plate204is provided with a second sliding chute (not illustrated) slidably engaged with the sliding track206; the second holder205is provided with a second lifting device which can drive the second clamping plate204to move upwards and downwards, with a raising and descending action of the second lifting device being controlled by the control unit8.

The slidable engagement between the above-mentioned first sliding chute214on the first holder201and the guiding surface of the outer casing of the first motor forms a first guiding pair, and the slidable engagement between the second sliding chute and the sliding track206on the second holder205forms a second guiding pair; considering the two clamping plates are in synchronous movement, when the control unit8sends an operation instruction to the second lifting device, the second lifting device drives the second clamping plate204to move upwards and downwards; at this time, the first clamping plate203will be in synchronous up-and-down movement, that is, the second lifting device drives the entire roller storing portion20to slide upwards and downwards steadily with the guidance of the guiding pairs on the two holders, so as to flexibly control an interval between the roller storing portion20and the roller transport track3(or the roller transport platform4) according to field working requirement and to provide the automatic pick-and-place operation of roller1with more convenient conditions, thereby considerably enhancing the adaptability and adjustability of the entire system. Additionally, the arrangement of such structure ensures that the roller storing portion20still can be driven to move upwards and downwards by the second lifting device so as to achieve roller-storing step even when the first lifting device is out of work.

In an example of this embodiment, in order to avoid any sliding friction between the outer casing of the first motor202and the first sliding chute214of the first holder201, an outer side of the first clamping plate203can be provided with a first sliding block (not illustrated) which is slidably engaged with the first sliding chute214and is fixedly connected to the outer casing of the first motor202; that is, the outer casing of the first motor202is indirectly connected to the first holder201. Similarly, as mentioned above, an inner side of the second holder205is provided with a sliding track206in a vertical direction, and an outer side of the second clamping plate204is provided with a second sliding chute (not illustrated) slidably engaged with the sliding track206; the second holder205is provided with the second lifting device which can drive the second clamping plate204to move upwards and downwards, with the raising and descending action of the second lifting device being controlled by the control unit8.

In an example of this embodiment, the above-mentioned second lifting device can include a second motor207, a screw rod208fixedly connected to an output shaft of the second motor207, and a nut209engaged with the screw rod208; wherein the nut209is fixedly connected to the second clamping plate204, an outer casing of the second motor207is fixedly mounted on the second holder205, and a rotation of the output shaft of the second motor207is controlled by the control unit8. With such arrangement, when the control unit8sends an operation instruction to the second motor207, the second motor207drives the screw rod208to rotate, which in turn drives the nut209to move upwards and downwards in linear motion, which in turn drives the second clamping plate204fixedly connected to the nut209to move upwards and downwards in linear motion, so as to achieve up-and-down linear motion of the entire roller storing portion20.

In an example of this embodiment, in order to reduce a sliding friction between the sliding track206and the second sliding chute, for example, the outer side of the second clamping plate204can be provided with a second sliding block210, and the second sliding chute (not illustrated) can be provided on an outer side of the second sliding block210; the nut209is fixedly connected to the second sliding block210; and the sliding track206is a linear guiding track. With such arrangement, it can ensure the roller storing portion20moving upwards and downwards in a smooth manner.

In an example of this embodiment, in order to facilitate positioning during the pick-and-place operation of the roller1, for example, the first clamping plate203and the second clamping plate204both can be configured as a disk-like structure in a shape of regular polygon. For example, the first clamping plate203and the second clamping plate204can have a disk-like structure in a shape of polygon having even number of edges such as square, regular hexagon, regular octagon, regular decagon and regular dodecagon. With such arrangement, the entire roller storing portion20is kept balanced during the pick-and-place operation for pairs of rollers1. Of course, the first clamping plate203and the second clamping plate204can also be configured as a structure in a shape of polygon having odd number of edges. For another example, the first clamper213can be fixedly connected at a corner position of the first clamping plate203; correspondingly, the second clamper211can be fixedly connected at a corner position of the second clamping plate204; arranging the dampers at corners of corresponding clamping plates allows performing the positioning in a considerably more convenient and stable manner.

In an example of this embodiment, the first clamper213can be configured as a pneumatic claw, and the second clamper211can be configured as a claw groove, with a clamping action of the pneumatic claw being controlled by the control unit8. In this example, for example, when placing the roller1, the control unit8controls the pneumatic claw to open its fingers so as to allow a first end of the roller1being placed at its center while a second end of the roller1being aligned with the claw groove; then the control unit8controls the pneumatic claw to close its fingers so as to tightly grip the first end of the roller1and push the second end of the roller1into the claw groove; in this way, the roller1is stably held between the first clamping plate203and the second clamping plate204. Such an example in which one of two clampers cooperated with each other is configured as a pneumatic claw while the other one is configured as a claw groove is advantageous in its simple structure with pneumatic executive components thereof being environmentally-friendly during operation.

In an example of this embodiment, in order to provide a sliding motion of the roller transport platform4on the roller transport track3in a smoother manner, as illustrated inFIG. 8, a rack301, a gear405engaged with the rack301and a roller transport motor406that rotates the gear405are disposed along a length direction of the roller transport track3; wherein, an outer casing of the roller transport motor is fixedly connected at the sliding base401, an output shaft of the roller transport motor406is fixedly connected to the gear405, and the roller transport motor406is electrically connected to the control unit8; in this way, an entire transmission device is constituted. Furthermore, the roller transport track3is provided with a guiding track302along a length direction thereof; the sliding base401is provided with a guiding groove404slidably engaged with guiding track302; and a slidable engagement between the guiding track302and the guiding groove404forms a guiding pair. The roller transport motor406on the sliding base401will drive the gear405to rotate so as to drive the entire roller transport platform4to move in reciprocating linear motion on the roller transport track3. Of course, apart from those described in this embodiment, other transmission devices capable of achieving linear transmission can also be used herein, for example, belt-wheel transmission device, chain transmission device and the like. Besides, instead of the guiding pair using slidable engagement constituted by the above-mentioned guiding track and guiding groove, it is also possible to dispose a guiding groove on the roller transport track3and dispose a guiding block slidably engaged with the guiding groove on the sliding base401.

For simplifying the structure and facilitating the implementation of control, in an example of this embodiment, the first lifting device is configured as a cylinder407, as illustrated inFIG. 8, a base of the cylinder is fixedly connected to the sliding base401, and a piston rod of the cylinder is fixedly connected to the roller placement platform402, with an up-and-down movement of the piston rod of the cylinder for stretching out and drawing back being controlled by the control unit8. When it is required to load the roller1from the rubbing machinery6for storing, the control unit8controls the cylinder407at a standby state under the automatic roller-loading device7to stretch out the piston rod so as to push the roller placement platform402to move upwards until reaching a roller-receiving position; when the automatic roller-loading device7places the roller1into the roller placement slot403on the roller placement platform402, the control unit8controls the piston rod to draw back so as to drive the roller placement platform402to move downwards to return to an original position; when the roller placement platform402returns to the original position, the control unit8controls the roller transport motor406on the sliding base401to drive the entire roller transport platform4to move in linear motion on the roller transport track3until reaching a corresponding position under the roller storing device2and then store the roller1at a corresponding position on the roller storing portion20.

During the pick-and-place operation of the roller, for purpose of always keeping a force subjected by the roller storing portion20balanced, it is possible to perform the pick-and-place operation in terms of a pair of rollers1one time. Of course, the positions for storing pairs of rollers1on the roller storing portion20can be in symmetry with respective to the axis of the roller storing portion20, so the roller placement slots403can be arranged in two rows parallel to each other, or in a single row or more than two rows.

Second Embodiment

The present embodiment provides an automatic rubbing roller pick-and-place method by using the automatic rubbing roller storage system described in the first embodiment, including a roller-picking step, a roller-transporting step and a roller-storing step which are performed in sequence.

In an example, the roller-picking step includes: the control unit8controls the transmission device (for example, the roller transport motor406) between the roller transport platform4and the roller transport track3to drive the roller transport platform4to move along the roller transport track3until reaching a roller-picking ready position near the rubbing machinery6carried with the roller1to be picked; then the control unit8controls the first lifting device (for example, the above-mentioned cylinder407) to drive the roller placement platform402to move upwards until reaching a receiving position at a certain height; then the automatic roller-loading device7of the rubbing machinery6automatically loads the roller1into the roller placement slot403on the roller placement platform402; then the control unit8controls the first lifting device (cylinder407) to drive the roller placement platform402to move downwards to return to an original position; when the roller placement platform402returns to the original position, the roller-picking step is completed; the “roller-picking step” as used herein refers to picking up the roller1from the rubbing machinery6and then placing the roller1onto the roller transport platform4.

In an example, the roller-transporting step includes: the control unit8, again, controls the transmission device (for example, the roller transport motor406) to drive the roller transport platform4carried with the roller1to move towards the roller storing device2; when the roller transport platform4arrives at a roller-storing ready position of the roller storing device2, the control unit8controls the positioning device5(for example, the sensor501) to precisely position the roller transport platform4; when the roller transport platform4is positioned, the roller-transporting step is completed.

In an example, the roller-storing step includes: the control unit8controls the first motor202to drive the roller storing portion20on the roller storing device2to rotate by a certain angle, so as to allow a corresponding storing position on the roller storing portion20being right above the roller1on the roller transport platform4which has been precisely positioned; then the control unit8controls the second motor207to drive the roller storing portion20to move downwards until reaching an appropriate position (and/or, the control unit8controls the first lifting device to push the roller placement platform402on the roller transport platform4to move upwards until reaching the appropriate position), that is, reaching a clamping position corresponding to the roller-storing ready position; then the control unit8controls the first clamper213(the pneumatic claw) and the second clamper211to hold the roller1therebetween; then the control unit8controls the second motor207to drive the roller storing portion20to move upwards to return to the original position (and/or, the control unit8controls the first lifting device to drive the roller placement platform402to move downwards to return to the original position) so as to completing the roller-storing step. Alternatively, during this step, the control unit8can also control the second motor207to drive the roller storing portion20to move downwards at first, and then controls the first motor202to drive the roller storing portion20to rotate.

In this embodiment, another roller-picking step of picking up the roller1from the roller storing portion20and placing the roller1onto the roller transport platform4is exactly opposite to the above-mentioned roller-storing step, that is, including: the control unit8controls the second motor207to drive the roller transport portion20to move downwards until reaching the corresponding position, then controls the first motor202to drive the roller storing portion20to rotate so as to allow the roller1exactly facing the roller placement slot403, then controls the first damper213to release the roller1to be falling into the roller placement slot403, and then controls the second motor207to drive the roller storing portion20to move upwards to return to its original position so as to complete another roller-picking step. Alternatively, during this process, the control unit8controls the first motor202to drive the roller storing portion20to rotate at first and then controls the second motor207to drive the roller storing portion20to move downwards to return to its original position, with details thereof being omitted herein.

FIG. 12is a schematic diagram illustrating a working flow of the control unit8in an example of the automatic rubbing roller pick-and-place method as provided by embodiments of the present invention. For the working principle of the control unit8, reference can be made to the corresponding description in connection with the above-mentioned first and second embodiment without details being repeated herein. It should be explained that, althoughFIG. 12merely illustrates connections between the control unit8and the first motor202, the transmission device, the first lifting device and the positioning device5, those skilled in the art will understand that the control unit8can also be connected to the second lifting device (for example, the second motor207) not illustrated inFIG. 12according to the description in connection with the first and second embodiment, without details being repeated herein.

Particular features, structures, materials or characteristics described in the present description can be combined in any appropriate manner in any other one or more embodiments.

It is understood that the described above are just exemplary implementations and embodiments to explain the principle of the present invention and the invention is not intended to be limited thereto. An ordinary person in the art can make various variations and modifications to the present invention without departure from the spirit and the scope of the present invention, and such variations and modifications shall fall in the scope of the present invention.

The present application claims the priority of China patent application No. 201410765876.5 filed on Dec. 12, 2014 titled “AUTOMATIC RUBBING ROLLER STORAGE SYSTEM AND PICK-AND-PLACE METHOD”, which is incorporated herein by reference in its entirely.