Printer, method of operating printer, and substrate handling mechanism
A printer includes a substrate support, a printhead assembly, first and second actuators, and a controller. The printhead assembly deposits material on a substrate supported on the substrate support. The first actuator is disposed at a side of the substrate support and coupled to a first linear track disposed along the side of the substrate support and oriented in a first direction. The second actuator is disposed at an end of the substrate support and coupled to a second linear track disposed along the end of the substrate support and oriented in a second direction perpendicular to the first direction. The first and second actuators are positioned to engage with the substrate simultaneously. The controller moves the first and second actuators together to rotate the substrate.
1. A printer, comprising:
a gas cushion substrate support;
a printhead assembly to deposit material on a substrate supported on the substrate support;
a first actuator disposed at a side of the substrate support and coupled to a first linear track disposed along the side of the substrate support and oriented in a first direction;
a second actuator disposed at an end of the substrate support and coupled to a second linear track disposed along the end of the substrate support and oriented in a second direction perpendicular to the first direction, the first and second actuators positioned to engage with a supported substrate simultaneously; and
a controller to move the first and second actuators together, while engaged with the supported substrate, to rotate the substrate.
2. The printer of claim 1 , wherein
the controller is operatively coupled to the first actuator and the second actuator to control the first actuator and the second actuator to simultaneously move, in the first direction and the second direction, respectively, to cause substrate rotation from a first orientation associated with a first format to a second orientation associated with a second format,
wherein
the first format is one of
a portrait format, having a length in the first direction and a width in the second direction, and
a landscape format having the width in the first direction and the length in the second direction, and
the second format is the other of the portrait format and the landscape format.
3. The printer of claim 1 , further comprising:
a holder assembly movable along the side of the substrate support in the first direction to hold and translate a substrate in the first direction while the substrate is being supported on the substrate support,
wherein the printhead assembly is movable relative to the substrate support in the second direction.
4. The printer of claim 1 , further comprising:
at least one auxiliary actuator coupled to the second linear track to move the second actuator and the second linear track in the first direction.
5. The printer of claim 1 , wherein
the substrate support comprises:
a rectangular main section,
a first extension adjacent, in the second direction, to the main section to support a first corner portion of the substrate during substrate rotation, and
a second extension adjacent, in the first direction, to the main section to support a second corner portion of the substrate during substrate rotation, wherein the main section and the first and second extension sections all provide gas cushion substrate support.
6. The printer of claim 1 , wherein
at least one of the first actuator or the second actuator comprises:
a carriage coupled to and movable along the corresponding first or second linear track,
an arm extending from the carriage toward the substrate support, and
an end-effector pivotably coupled to an end of the arm to hold a corresponding first or second portion of a substrate during rotation thereof, and to rotate together with the substrate.
7. The printer of claim 6 , wherein
at least one of the first linear track or the second linear track is arranged below an upper surface of the substrate support.
8. The printer of claim 6 , further comprising:
a holder assembly movable along the side of the substrate support in the first direction to hold and translate a substrate in the first direction while the substrate is being supported on the substrate support, wherein
the end-effector comprises a suction cup to engage an upper surface of a substrate during rotation, and
the holder assembly comprises a plurality of suction holes to engage a lower surface of a substrate during translation.
9. The printer of claim 6 , wherein
the end-effector comprises a suction cup,
the suction cup is raisable away from the substrate support to disengage from a substrate during translation of the substrate by the holder assembly, and
the suction cup is lowerable toward the substrate support to engage the substrate during rotation of the substrate.
10. A method of handling a substrate in a printer, the method comprising:
supporting the substrate on a gas cushion substrate support; and
rotating the substrate by
holding a first portion of the substrate by a first end-effector of a first actuator, the first end-effector rotatable about a first rotational axis,
holding a second portion of the substrate by a second end-effector of a second actuator, the second end-effector rotatable about a second rotational axis different from the first rotational axis, and
simultaneously moving the first actuator in a first direction and the second actuator in a second direction transverse to the first direction, to cause a rotation of the substrate, wherein during the rotation of the substrate, the first and second end-effectors are rotated together with the substrate about the first and second rotational axes, respectively.
11. The method of claim 10 , wherein
in said rotating, the substrate is rotated from a first orientation associated with a first format to a second orientation associated with a second format,
the first format is one of
a portrait format, having a length in the first direction and a width in the second direction, and
a landscape format having the width in the first direction and the length in the second direction,
the second format is the other of the portrait format and the landscape format.
12. The method of claim 10 , wherein
the first portion of the substrate includes a first corner of the substrate,
the second portion of the substrate includes a second corner of the substrate,
the first portion of the substrate is held by the first end-effector with the first rotational axis of the first end-effector coinciding with the first corner of the substrate, and
the second portion of the substrate is held by the second end-effector with the second rotational axis of the second end-effector coinciding with the second corner of the substrate.
13. The method of claim 10 , wherein
the substrate support comprises:
a rectangular main section, and
a first extension adjacent, in the second direction, to the main section,
the main section and the extension both provide a gas cushion,
during the rotation of the substrate, the first extension supports a third portion of the substrate,
the first portion of the substrate includes a first corner of the substrate,
the second portion of the substrate includes a second corner of the substrate, and
the third portion of the substrate includes a third corner of the substrate.
14. The method of claim 13 , wherein
the substrate support further comprises:
a second extension adjacent, in the first direction, to the main section,
the second extension provides a gas cushion,
at a start of the rotation of the substrate,
the first portion of the substrate is supported by the main section, and
the second and third portions of the substrate are supported by the second extension,
during the rotation of the substrate,
the first portion of the substrate is supported by the main section and then by the second extension,
the second portion of the substrate is supported by the second extension, and
the third portion of the substrate is supported by the second extension and then by the first extension, and
upon completion of the rotation of the substrate,
the first and second portions of the substrate are supported by the second extension, and
the third portion of the substrate is supported by the main section.
15. The method of claim 10 , further comprising:
at least one of before or after the rotation of the substrate,
moving both the substrate and the second actuator holding the substrate in the first direction.
16. The method of claim 10 , further comprising:
at least one of before or after the rotation of the substrate,
holding the substrate, by a holder assembly of the printer, at a plurality of locations along an edge of the substrate, the edge oriented in the first direction, and
translating the substrate, by the holder assembly holding the edge of the substrate, in the first direction.
17. The method of claim 10 , further comprising:
holding the substrate in a first orientation, by a holder assembly of the printer, at a plurality of first locations along a first edge of the substrate, the first edge oriented in the first direction and connecting the first portion and the second portion of the substrate;
moving the holder assembly holding the first edge of the substrate in the first direction toward the first and second actuators, to cause a first translation of the substrate;
aligning the first rotational axis of the first end-effector to coincide with a first corner of the substrate in the first portion of the substrate, and aligning the second rotational axis of the second end-effector to coincide with a second corner of the substrate in the second portion of the substrate;
releasing, by the holder assembly, the first edge of the substrate and performing the rotation of the substrate;
upon completion of the rotation of the substrate, holding the substrate in a second orientation, by the holder assembly, at a plurality of second locations along a second edge of the substrate, the second edge oriented in the first direction and connecting the first portion and a third portion of the substrate; and
moving the holder assembly holding the second edge of the substrate in the first direction away from the first and second actuators, to cause a second translation of the substrate.
18. A substrate handling mechanism for a printer, the substrate handling mechanism comprising:
a first actuator coupled to a first linear track disposed along a side of a gas cushion substrate support and oriented in a first direction;
a second actuator coupled to a second linear track disposed along an end of the gas cushion substrate support and oriented in a second direction transverse to the first direction; and
a controller coupled to the first actuator and the second actuator to control the first actuator and the second actuator to simultaneously move, along the first linear track and the second linear track, respectively,
wherein
at least one of the first actuator or the second actuator comprises:
a carriage coupled to and movable along the corresponding first or second linear track,
an arm extending from the carriage toward the substrate support, and
an end-effector pivotably coupled to an end of the arm to be freely rotatable during the simultaneous movement of the first actuator and the second actuator.
19. The substrate handling mechanism of claim 18 , wherein
at least one of the first linear track or the second linear track is arranged below an upper surface of the substrate support,
the end-effector is lowerable toward the substrate support, and
the end-effector is raisable away from the substrate support.
20. The substrate handling mechanism of claim 18 , further comprising:
a first extension adjacent, in the second direction, to a rectangular main section of the substrate support, and
a second extension adjacent, in the first direction, to the main section, wherein the main section and the first and second extensions provide a gas cushion.
21. The substrate handling mechanism of claim 18 , wherein
said at least one of the first actuator or the second actuator comprises the second actuator which has
the carriage coupled to and movable along the second linear track in the second direction, and
the arm extensible and retractable relative to the carriage in the first direction.
22. The substrate handling mechanism of claim 18 , wherein
said at least one of the first actuator or the second actuator further comprises a cylinder coupling the end-effector to the arm, and controllable by the controller to be
pressurized to move the end-effector to a predetermined homing position for alignment of the end-effector with an edge of a substrate to be engaged for rotation, and
depressurized to enable the end-effector to be freely rotatable during the simultaneous movement of the first actuator and the second actuator for rotating the substrate.