CN101830351B - Clamping assembly, positioning equipment using same and method for moving object from positioning equipment - Google Patents
Clamping assembly, positioning equipment using same and method for moving object from positioning equipment Download PDFInfo
- Publication number
- CN101830351B CN101830351B CN2010101772839A CN201010177283A CN101830351B CN 101830351 B CN101830351 B CN 101830351B CN 2010101772839 A CN2010101772839 A CN 2010101772839A CN 201010177283 A CN201010177283 A CN 201010177283A CN 101830351 B CN101830351 B CN 101830351B
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- CN
- China
- Prior art keywords
- clamping
- clamping assembly
- swivel becket
- posting
- fixing aid
- Prior art date
- Legal status (The legal status 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 status listed.)
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Abstract
The invention provides a clamping assembly, which comprises a roller, a turning ring and a plurality of clamping balls. The turning ring is rotationally arranged in the roller and encloses the roller, and the turning ring is provided with a plurality of accommodating grooves. The clamping balls are arranged in the accommodating grooves respectively, and each clamping ball is protruded out of the external surface of the turning ring. The clamping assembly has good durability. Moreover, the invention also provides positioning equipment using the clamping assembly and a method for moving an object from the positioning equipment.
Description
[technical field]
The invention relates to a kind of clamping assembly, and particularly relevant for a kind of method that is used for the clamping assembly of fixing aid and uses its fixing aid and fixing aid moving object.
[background technology]
When making read out instrument, need with display panel or board carrying to different place, to carry out different processing procedures.When carrying, the normal carrying box with multilayer spatial accommodation of using is loaded a plurality of display panels or substrate, in order to carrying.In addition, after carrying box moves to the destination, need to come carrying box is positioned,, and carry out follow-up processing procedure in order to picking and placeing of display panel or substrate through fixing aid.
Fig. 1 is the scheme drawing of carrying box and fixing aid in the prior art, and Fig. 2 is the scheme drawing that carrying box is positioned through fixing aid, and wherein Fig. 2 is the following view that has carried the fixing aid of carrying box, and Fig. 2 omits the moving member of fixing aid.Please with reference to Fig. 1 and Fig. 2, fixing aid 100 comprises registration device 110 and a plurality of supporting pad 120, and wherein registration device 110 comprises two moving members 112, and each moving member 112 is provided with clamping assembly 114.Clamping assembly 114 is free roller, and moving member 112 is suitable for moving clamping assembly 114.In addition, the bottom 52 of carrying box 50 is a framework, and it has corner, two location 54.
Hold above-mentioned, when carrying box 50 is moved to fixing aid 100 by mechanical arm 60, near 120 supports of bottom 52 supported pads of carrying box 50, and the clamping assembly 114 of registration device 110 is positioned at the corner, cooresponding location 54.Then, moving member 112 can move to the desired location with clamping assembly 114, and in the process that moves, when clamping assembly 114 touches the bottom 52 of carrying box 50, can rotate, and the position of carrying box 50 is finely tuned.After clamping assembly 114 moved to above-mentioned desired location, clamping assembly 114 (like clamping assembly 114 shown in dotted lines in Figure 2) was positioned at corner 54, location, and interfered with the bottom 52 of carrying box 50, to clamp down on carrying box 50.So, fixedly carrying box 50, in order to carrying out next processing procedure.
On the other hand, after processing procedure was accomplished, mechanical arm 60 can be removed carrying box 50.When desire moves carrying box 50, receive the wearing and tearing of carrying box 50, need to move earlier clamping assembly 114, so that clamping assembly 114 separates with carrying box 50 for avoiding clamping assembly 114.Yet this will make the position of carrying box 50 squint easily, cause the precision that picks and places of mechanical arm 60 to be affected.When mechanical arm 60 pick and place precision when not good, then need use manpower instead and operate machine arm 60 to move carrying box 50, so will reduce the production efficiency of read out instrument.
[summary of the invention]
The present invention provides a kind of clamping assembly, to promote durability.
The present invention proposes a kind of fixing aid in addition, to reduce maintenance cost.
The present invention proposes a kind of method from the fixing aid moving object again, picks and places the not good shortcoming of precision with improvement.
For reaching above-mentioned advantage, the present invention proposes a kind of clamping assembly, and it comprises cylinder, swivel becket and a plurality of clamping ball.Swivel becket is arranged at cylinder rotationally and centers on cylinder, and swivel becket has a plurality of storage tanks.Clamping ball is arranged in the storage tank respectively, and each clamping ball protrudes from the outside face of swivel becket.
In one embodiment of this invention, above-mentioned cylinder has base portion and the clamping part that is connected, and the external diameter of clamping part is greater than the external diameter of base portion, and swivel becket is to be arranged at clamping part rotationally.
In one embodiment of this invention, above-mentioned clamping assembly more comprises stop part.The junction of clamping part and base portion is provided with hold down groove, and the side away from base portion of clamping part is provided with stop configurations, and wherein stop part is fixed in hold down groove, and swivel becket is between stop part and stop configurations.
In one embodiment of this invention, above-mentioned stop part is the C type, and hold down groove is annular hold down groove.
In one embodiment of this invention, above-mentioned clamping ball rollably is arranged in the storage tank.
In one embodiment of this invention, above-mentioned clamping ball is arranged in the parallel ring of a plurality of essence around swivel becket, and the straight line of the axis direction of parallel rotation ring passes through the centre of sphere of a clamping ball at most.
In one embodiment of this invention, through the minimum angle between the axis direction of the online and swivel becket of the clamping ball of different rings two the centre of sphere at least wherein between 4 to 6 degree.
In one embodiment of this invention, above-mentioned clamping ball is from 0.5 millimeter to 1 millimeter of the outside protrusion of the outside face of swivel becket.
In one embodiment of this invention, the material of above-mentioned cylinder, swivel becket and clamping ball comprises polyformaldehyde.
For reaching above-mentioned advantage, the present invention proposes a kind of fixing aid in addition, and it is suitable for fixed object, and the object bottom is provided with posting.This fixing aid comprises plummer and registration device.Plummer is suitable for carrying object, and registration device comprises two moving members and two above-mentioned clamping assemblies.Each clamping assembly is articulated in cooresponding moving member through cylinder.When object was positioned over plummer, clamping assembly was positioned at the posting of object, and moving member is suitable for clamping assembly is moved to two corners of posting, so that clamping assembly is clamped down on posting.
In one embodiment of this invention, above-mentioned posting is square, and clamping assembly is when clamping down on posting, and clamping assembly is positioned on the diagonal line of posting.
For reaching above-mentioned advantage, the present invention proposes a kind of method from above-mentioned fixing aid moving object again.When the clamping assembly that the method is included in fixing aid is clamped down on the posting of object, moving object.
In one embodiment of this invention, the method for above-mentioned moving object through at least one mechanical arm with direction moving object perpendicular to the bottom of object.
Clamping assembly of the present invention contacts through the posting of clamping ball with the object that is fixed, thus can reduce area of contact, to fall the abrasion loss of clamping assembly.Therefore, clamping assembly of the present invention has preferable durability.In addition, owing to the method from the fixing aid moving object of the present invention is a moving object under the state that object is clamped down on by clamping assembly, thus can prevent the offset of object, and then lifting picks and places precision.In addition, fixing aid of the present invention is because of using the preferable clamping assembly of durability, thus can reduce the frequency that clamping assembly is changed, and then reduce maintenance cost.
For let above and other objects of the present invention, feature and advantage can be more obviously understandable, hereinafter is special lifts preferred embodiment, and cooperates appended graphicly, elaborates as follows.
[description of drawings]
Fig. 1 is the scheme drawing of carrying box and fixing aid in the prior art.
Fig. 2 is the scheme drawing that carrying box is positioned through fixing aid.
Fig. 3 is the scheme drawing that a kind of fixing aid of one embodiment of the invention is used for carrying object.
Fig. 4 is the scheme drawing that the fixing aid of Fig. 3 positions object.
Fig. 5 is the schematic perspective view of the clamping assembly of one embodiment of the invention.
Fig. 6 is the partial exploded view of Fig. 5.
[primary clustering nomenclature]
50: carrying box
52: the bottom of carrying box
54: the corner, location
60: mechanical arm
70: object
72: the bottom of object
74: posting
100: fixing aid
110: registration device
112: moving member
114: clamping assembly
120: supporting pad
200: fixing aid
210: plummer
220: registration device
222: moving member
300: clamping assembly
310: cylinder
312: base portion
314: clamping part
315: hold down groove
316: stop configurations
320: swivel becket
322: storage tank
324: outside face
330: clamping ball
332: the centre of sphere of clamping ball
340: stop part
A: the axis direction of swivel becket
R1, R2, R3: ring
L1: straight line
L2: two the centre of sphere at least wherein of the clamping ball through being positioned at different rings online
θ: minimum angle
[specific embodiment]
Fig. 3 is the scheme drawing that a kind of fixing aid of one embodiment of the invention is used for carrying object; And the scheme drawing that Fig. 4 is the fixing aid of Fig. 3 to be positioned object; Wherein Fig. 4 is the following view that has carried the fixing aid of object, and Fig. 4 omits the moving member of fixing aid.Please with reference to Fig. 3 and Fig. 4, the fixing aid 200 of present embodiment is suitable for fixed object 70, and the bottom 72 of object 70 is provided with posting 74.This object 70 can be carrying box, framework etc., but not as limit.In addition, fixing aid 200 comprises plummer 210 and registration device 220.Plummer 210 is suitable for carrying object 70, and registration device 220 comprises two moving members 222 and two clamping assemblies 300.Each clamping assembly 300 is articulated on the cooresponding moving member 222, and is detailed, and each clamping assembly 300 can be articulated in cooresponding moving member 222 through cylinder 310 (being shown in Fig. 5).In addition, these clamping assemblies 300 for example are free roller.
When object 70 is positioned over plummer 210; Clamping assembly 300 is positioned at the posting 74 of object 70; And moving member 222 is suitable for clamping assembly 300 is moved to the desired location; And in the process that clamping assembly 300 moves, when clamping assembly 300 touches the posting 74 of object 70, can rotate, and the position of object 70 is finely tuned.After clamping assembly 300 (clamping assembly 300 shown in dotted line) moved to above-mentioned desired location, clamping assembly 300 was positioned at two corners 76 of posting 74, and interfered with posting 74, to clamp down on posting 74.
Above-mentioned posting 74 for example is to be square, and clamping assembly 300 is when clamping down on posting 74, and two clamping assemblies 300 are positioned on the diagonal line of posting 74, so that clamping assembly 300 can more firmly be clamped down on posting 74.In addition; Plummer 210 for example comprises a plurality of supporting pads that are used for carrying object 70; Supporting pad can be the pad (floating table) that floats, and so can reduce the area of contact of object 70 and plummer 210, makes clamping assembly 300 finely tune the location to the position of object 70 more easily.
Fig. 5 is the schematic perspective view of the clamping assembly of one embodiment of the invention, and Fig. 6 is the three-dimensional exploded view of Fig. 5.Please with reference to Fig. 5 and Fig. 6, above-mentioned clamping assembly 300 comprises cylinder 310, swivel becket 320 and a plurality of clamping ball 330.Swivel becket 320 is arranged at cylinder 310 rotationally and centers on cylinder 310, and swivel becket 320 has a plurality of storage tanks 322.Clamping ball 330 is arranged at respectively in these storage tanks 322, and each clamping ball 330 protrudes from the outside face 324 of swivel becket 320.These clamping ball 330 are for example outwards protruded 0.5 millimeter to 1 millimeter from the outside face 324 of swivel becket 320.
Above-mentioned cylinder 310 for example has the base portion that is connected 312 and clamping part 314, and the external diameter of clamping part 314 is greater than the external diameter of base portion 312, and swivel becket 320 is to be arranged at clamping part 314 rotationally.In addition, clamping part 314 for example is provided with hold down groove 315 with the junction of base portion 312, and the side away from base portion 312 of clamping part 314 for example is provided with stop configurations 316.Clamping assembly 300 can more comprise the stop part 340 that is fixed in hold down groove 315, through stop part 340 and stop configurations 316 swivel becket 320 is fixed between stop part 340 and the stop configurations 316.In addition, stop part 340 for example is to be the C type, conveniently loading onto or to remove, only is not limited thereto, and also can adjust the stop part that for example can be made up of two semicircles according to actual conditions.And hold down groove 315 for example is annular hold down groove.In addition, the material of above-mentioned cylinder 310, swivel becket 320 and clamping ball 330 can be selected polyformaldehyde (POM for use; Polyoxymethylene) or other abrasion resistant material.
In the present embodiment, the clamping ball 330 that protrudes from swivel becket 320 is to be used for interfering with posting 74, to clamp down on posting 74.Change speech, be different from the face way of contact of prior art, the clamping assembly 300 of present embodiment uses the mode of multiple spots contact to contact posting 74.So one embodiment of the invention proposes a kind of method from the fixing aid moving object, the method is to clamp down under the situation of object 70 moving object 70 at clamping assembly 300.The method of moving object 70 for example is with the moving object 70 that makes progress of the direction perpendicular to the bottom 72 of object 70 through at least one mechanical arm (figure do not show).
Because clamping assembly 300 uses the mode of multiple spots contact to contact posting 74,, so can promote the durability of clamping assembly 300 so when moving object 70, it is less that clamping assembly 300 receives the part of object 70 frictions.Because the durability of clamping assembly 300 is preferable, thus the replacing frequency of clamping assembly 300 can be reduced, and then reduce the maintenance cost of fixing aid 200.And, during mobile object 70,, can avoid object 70 displacements and cause and pick and place precision and be affected because clamping assembly 300 is clamped down on the posting 74 of object 70.
What deserves to be mentioned is that because swivel becket 320 can disassemble from cylinder 310, when the frayed degree of clamping ball 330 was too serious, the swivel becket 320 that only need more renew got final product, so can reduce the maintenance cost of fixing aid 200.After substitute mode is for example dismantled stop part 340 earlier, move swivel becket 320 it is skidded off along base portion 312, new swivel becket 320 is being loaded onto, refill stop part 340, it is fixed.
In one embodiment, clamping ball 330 rollably is arranged in the storage tank 322, so that each position of clamping ball 330 all possibly touch posting 74.And, because cylinder 310, swivel becket 320 and clamping ball 330 all can be rolled,, so can significantly promote the durability of clamping assembly 300 so the position that clamping ball 330 is worn can be scattered in each position of clamping ball 330.
Above-mentioned clamping ball 330 for example is to be arranged in the parallel ring of a plurality of essence (like ring R1, R2, R3) around swivel becket 320, that is clamping ball 330 can become multilayer (as three layers) along the trajectory alignment of ring (like ring R1, R2, R3).In one embodiment, in order further to promote the durability of clamping assembly 300, can make the maximum centre ofs sphere 332 of straight line L1 of the axis direction A of parallel rotation ring 320 through a clamping ball 330.In other words, the clamping ball 330 of different rings R does not line up and comes on the same straight line L1.Particularly, for example be between 4 to 6 degree through the minimum angle theta between the axis direction A of the online L2 of the clamping ball 330 of different rings two the centre of sphere 332 wherein and swivel becket 320.
Because the clamping ball 330 of different rings does not line up and comes on the same straight line L1, thus in the process of moving object 70 each time, can reduce quantity and area with the clamping ball 330 of posting 74 frictions, and then promote the durability of clamping assembly 300.
In sum, clamping assembly of the present invention has advantage at least with the fixing aid that uses it:
1. be different from prior art, clamping assembly of the present invention adopts the mode of multiple spot contact to contact the posting of the object that is fixed, thus can reduce abrasion loss, and then promote the durability of clamping assembly of the present invention.
2. fixing aid of the present invention is because of using the preferable clamping assembly of durability, thus can reduce the frequency that clamping assembly is changed, and then reduce maintenance cost.
3. when the clamping ball serious wear of clamping assembly, only need to change swivel becket, so can reduce the maintenance cost of fixing aid of the present invention.
4. in one embodiment, make clamping ball rollably be arranged at the durability that can significantly promote clamping assembly of the present invention in the groove of swivel becket.
5. in one embodiment; Owing to make the straight line of the axis direction of parallel rotation ring pass through the centre of sphere of a clamping ball at most; So can in the process of moving object each time, reduce the quantity with the clamping ball of posting friction, and then promote the durability of clamping assembly of the present invention.
6. because method from the fixing aid moving object of the present invention is a moving object under the state that object is clamped down on by clamping assembly, thus the offset of object can be prevented, and then promote and pick and place precision.
Though the present invention discloses as above with preferred embodiment; Right its is not in order to limit the present invention; Has common knowledge the knowledgeable in the technical field under the present invention; Do not breaking away from the spirit and scope of the present invention, when can doing a little change and retouching, so protection scope of the present invention is as the criterion when looking accompanying the claim person of defining.
Claims (13)
1. clamping assembly comprises:
One cylinder;
One swivel becket is arranged at this cylinder rotationally and centers on this cylinder, and this swivel becket has a plurality of storage tanks; And
A plurality of clamping ball are arranged at respectively in the said storage tank, and each clamping ball protrudes from an outside face of this swivel becket.
2. clamping assembly according to claim 1 is characterized in that, this cylinder has a base portion and a clamping part that is connected, and the external diameter of this clamping part is greater than the external diameter of this base portion, and this swivel becket is to be arranged at this clamping part rotationally.
3. clamping assembly according to claim 2; It is characterized in that; More comprise a stop part, the junction of this clamping part and this base portion is provided with a hold down groove, and the side away from this base portion of this clamping part is provided with a stop configurations; Wherein this stop part is fixed in this hold down groove, and this swivel becket is between this stop part and this stop configurations.
4. clamping assembly according to claim 3 is characterized in that this stop part is the C type, and this hold down groove is annular hold down groove.
5. clamping assembly according to claim 1 is characterized in that said clamping ball rollably is arranged in the said storage tank.
6. clamping assembly according to claim 1 is characterized in that, said clamping ball is arranged in the parallel ring of a plurality of essence around this swivel becket, and a straight line of the axis direction of parallel this swivel becket is at most through one of them the centre of sphere of said clamping ball.
7. clamping assembly according to claim 6 is characterized in that, through the minimum angle between the axis direction of a line of the said clamping ball of different rings two the centre of sphere wherein and this swivel becket between 4 to 6 degree.
8. clamping assembly according to claim 1 is characterized in that, said clamping ball is outwards protruded 0.5 millimeter to 1 millimeter from this outside face of this swivel becket.
9. clamping assembly according to claim 1 is characterized in that, the material of this cylinder, this swivel becket and said clamping ball comprises polyformaldehyde (POM; Polyoxymethylene).
10. a fixing aid is suitable for a fixing object, and this object bottom is provided with a posting, and this fixing aid comprises:
One plummer is suitable for carrying this object;
One location device comprises:
Two moving members; And
Two like each described clamping assembly in the claim 1 to 9; Each clamping assembly is articulated in cooresponding this moving member through this cylinder; Wherein when this object is positioned over this plummer; Said clamping assembly is positioned at this posting of this object, and said moving member is suitable for said clamping assembly is moved to two corners of this posting, so that said clamping assembly is clamped down on this posting.
11. fixing aid according to claim 10 is characterized in that, this posting is square, and said clamping assembly is when clamping down on this posting, and said clamping assembly is positioned on the diagonal line of this posting.
12. the method from the fixing aid moving object is applicable to the described fixing aid of claim 10, should comprise from the method for fixing aid moving object:
When the said clamping assembly of this fixing aid is clamped down on this posting of this object, remove this object.
13. the method from the fixing aid moving object according to claim 12 is characterized in that, the method for removing this object is to be to remove this object with the direction perpendicular to this bottom of this object through at least one mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101772839A CN101830351B (en) | 2010-05-10 | 2010-05-10 | Clamping assembly, positioning equipment using same and method for moving object from positioning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101772839A CN101830351B (en) | 2010-05-10 | 2010-05-10 | Clamping assembly, positioning equipment using same and method for moving object from positioning equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101830351A CN101830351A (en) | 2010-09-15 |
| CN101830351B true CN101830351B (en) | 2012-07-04 |
Family
ID=42714600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101772839A Expired - Fee Related CN101830351B (en) | 2010-05-10 | 2010-05-10 | Clamping assembly, positioning equipment using same and method for moving object from positioning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101830351B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1045938A (en) * | 1989-03-25 | 1990-10-10 | 范潮来 | Bench vice with multi-freedom spherical jaws |
| US5743699A (en) * | 1995-12-19 | 1998-04-28 | Fujitsu Limited | Apparatus and method for transferring wafers |
| US5992837A (en) * | 1998-01-30 | 1999-11-30 | Marshall Dwaine Groves | Workpiece holding assembly |
| CN1938843A (en) * | 2004-04-05 | 2007-03-28 | 株式会社井口机工制作所 | Positioning table for substrate, positioning equipment for the substrate, and positioning method of the substrate |
| CN200957981Y (en) * | 2006-10-11 | 2007-10-10 | 北京京城清达电子设备有限公司 | Load-unloading mechanism |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3647576B2 (en) * | 1996-11-01 | 2005-05-11 | 大日本スクリーン製造株式会社 | Substrate holder |
| JP2001035898A (en) * | 1999-07-21 | 2001-02-09 | Mecs Corp | Floating device for cassette stage |
| JP3917139B2 (en) * | 2004-01-26 | 2007-05-23 | Ｔｄｋ株式会社 | Pod clamp unit of pod opener and clamping method |
-
2010
- 2010-05-10 CN CN2010101772839A patent/CN101830351B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1045938A (en) * | 1989-03-25 | 1990-10-10 | 范潮来 | Bench vice with multi-freedom spherical jaws |
| US5743699A (en) * | 1995-12-19 | 1998-04-28 | Fujitsu Limited | Apparatus and method for transferring wafers |
| US5992837A (en) * | 1998-01-30 | 1999-11-30 | Marshall Dwaine Groves | Workpiece holding assembly |
| CN1938843A (en) * | 2004-04-05 | 2007-03-28 | 株式会社井口机工制作所 | Positioning table for substrate, positioning equipment for the substrate, and positioning method of the substrate |
| CN200957981Y (en) * | 2006-10-11 | 2007-10-10 | 北京京城清达电子设备有限公司 | Load-unloading mechanism |
Non-Patent Citations (3)
| Title |
|---|
| JP特开2001-35898A 2001.02.09 |
| JP特开2005-209987A 2005.08.04 |
| JP特开平10-135314A 1998.05.22 |
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| Publication number | Publication date |
|---|---|
| CN101830351A (en) | 2010-09-15 |
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Granted publication date: 20120704 Termination date: 20210510 |