TWI448369B - Suction device - Google Patents
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本發明是有關於一種吸附裝置，且特別是有關於一種可吸附多種尺寸的物體的吸附裝置。This invention relates to an adsorption apparatus, and more particularly to an adsorption apparatus that can adsorb objects of various sizes.
一般來說，顯示面板在工廠內會以機械手臂所連接的吸附裝置進行搬運。然而，不同尺寸的面板需由不同尺寸的吸附裝置吸附。因此若要吸附不同尺寸與形狀的面板，面板製造者需要以人工方式更換機械手臂上的吸附裝置，以使吸附裝置上的吸嘴的數量與位置能夠對應於欲吸附之面板。Generally, the display panel is transported in the factory by an adsorption device to which the robot arm is attached. However, panels of different sizes need to be adsorbed by adsorption devices of different sizes. Therefore, in order to adsorb panels of different sizes and shapes, the panel manufacturer needs to manually replace the adsorption device on the robot arm so that the number and position of the nozzles on the adsorption device can correspond to the panel to be adsorbed.
以人工方式更換機械手臂的吸附裝置十分費時，且會提高面板毀損的風險。此外，還需要花費成本購置並保存不同尺寸的吸附裝置。因此，如何改良機械手臂的吸附裝置，以降低成本並加速面板搬運過程以利產品量產，值得探討。Manually replacing the adsorption device of the robot arm is time consuming and increases the risk of panel damage. In addition, it is also costly to purchase and store adsorption devices of different sizes. Therefore, how to improve the adsorption device of the robot arm to reduce the cost and accelerate the panel handling process to facilitate mass production is worth exploring.
本發明提供一種吸附裝置，以解決習知吸附單元僅能吸附單一尺寸的物體的問題。The present invention provides an adsorption device to solve the problem that the conventional adsorption unit can only adsorb objects of a single size.
本發明提出一種吸附裝置，用以安裝於一移動裝置以吸附不同尺寸的待運物。此吸附裝置包括一中心軸、多個連桿組以及多個吸附單元。其中，各連桿組的一第一端滑 設於中心軸，各吸附單元樞接於對應的連桿組的一第二端。當連桿組的各個第一端位於中心軸上的一第一位置時，連桿組的各個第二端位於同一平面。當連桿組的各個第一端從中心軸上的第一位置移動至中心軸上的一第二位置時，連桿組的各個第二端依然位於同一平面，且連桿組的各個第二端之間的距離增加。The invention provides an adsorption device for mounting on a mobile device to adsorb different sizes of objects to be transported. The adsorption device includes a central shaft, a plurality of link sets, and a plurality of adsorption units. Wherein a first end of each link group slides The adsorption unit is pivotally connected to a second end of the corresponding link group. When the respective first ends of the link sets are in a first position on the central axis, the respective second ends of the link sets are in the same plane. When the respective first ends of the link sets move from a first position on the central axis to a second position on the central axis, the respective second ends of the link set are still in the same plane, and each second of the link sets The distance between the ends increases.
在本發明之一實施例中，上述之多個連桿組中的每一連桿組更包括一第一連桿以及一第二連桿，其中第一連桿具有前述第一端與第二端，第二連桿的一第三端樞設於中心軸，第二連桿的一第四端樞接於第一連桿的中段。因此，當第一連桿的第一端由第一位置滑動到第二位置時，第二連桿可限制第一連桿的第二端所移動的範圍，與在第一位置時是同一個平面。In an embodiment of the present invention, each of the plurality of link sets further includes a first link and a second link, wherein the first link has the first end and the second end The third end of the second connecting rod is pivotally disposed on the central axis, and the fourth end of the second connecting rod is pivotally connected to the middle portion of the first connecting rod. Therefore, when the first end of the first link is slid from the first position to the second position, the second link can limit the range in which the second end of the first link moves, which is the same as when in the first position flat.
在本發明之一實施例中，上述之多個連桿組的各個第一連桿的第一端位於中心軸上的第一位置時，各第一連桿與中心軸具有一第一夾角，各個第一連桿的第一端位於中心軸上的第二位置時，各第一連桿與中心軸具有一第二夾角，且第一夾角小於第二夾角。In an embodiment of the present invention, when the first ends of the first links of the plurality of link sets are located at the first position on the central axis, each of the first links has a first angle with the central axis. When the first end of each of the first links is in the second position on the central axis, each of the first links has a second angle with the central axis, and the first angle is smaller than the second angle.
在本發明之一實施例中，上述之多個連桿組中的每一連桿組更包括一第三連桿以及一第四連桿。第三連桿的一第五端滑設於中心軸，且第三連桿的一第六端樞接於第四連桿的一第七端，第四連桿的一第八端樞接於前述第二連桿的中段。In an embodiment of the invention, each of the plurality of link sets further includes a third link and a fourth link. A fifth end of the third link is slidably disposed on the central axis, and a sixth end of the third link is pivotally connected to a seventh end of the fourth link, and an eighth end of the fourth link is pivotally connected to The middle section of the aforementioned second link.
在本發明之一實施例中，上述之多個連桿組中的每一 連桿組更包括一第三連桿以及一第四連桿。第三連桿的一第五端滑設於中心軸，且第三連桿的一第六端樞接於第四連桿的一第七端，第四連桿的一第八端樞接於第一連桿的中段與第二連桿的第四端。In an embodiment of the invention, each of the plurality of link sets The link set further includes a third link and a fourth link. A fifth end of the third link is slidably disposed on the central axis, and a sixth end of the third link is pivotally connected to a seventh end of the fourth link, and an eighth end of the fourth link is pivotally connected to a middle portion of the first link and a fourth end of the second link.
在本發明之一實施例中，上述之多個連桿組中的各第四連桿包括互相平行的兩根子連桿，前述第一連桿穿過兩根子連桿之間。In an embodiment of the invention, each of the plurality of link sets includes two sub-links that are parallel to each other, and the first link passes between the two sub-links.
在本發明之一實施例中，上述之多個連桿組中的各第三連桿的第五端的延伸方向實質垂直第六端的延伸方向。In an embodiment of the invention, the extending direction of the fifth end of each of the plurality of link sets is substantially perpendicular to the extending direction of the sixth end.
在本發明之一實施例中，上述之吸附裝置更包括多個萬向滾珠，其中吸附單元經由萬向滾珠而樞接於對應的連桿組的第二端。In an embodiment of the invention, the adsorption device further includes a plurality of universal balls, wherein the adsorption unit is pivotally connected to the second end of the corresponding link group via the universal ball.
在本發明之一實施例中，上述之吸附裝置更包括多條吸氣管，吸氣管連通吸附單元至一抽氣裝置。In an embodiment of the invention, the adsorption device further includes a plurality of suction pipes, and the suction pipe communicates with the adsorption unit to an air suction device.
在本發明之一實施例中，上述之吸附裝置的吸附單元為吸嘴。In an embodiment of the invention, the adsorption unit of the adsorption device is a nozzle.
基於上述，本發明的吸附裝置安裝於一移動裝置後，當第一端相對於中心軸的位置變換時，樞接於第二端的吸附單元之間的距離也會隨之改變，故可用於吸附多種尺寸的待運物。Based on the above, after the adsorption device of the present invention is mounted on a moving device, when the position of the first end relative to the central axis changes, the distance between the adsorption units pivotally connected to the second end also changes, so that it can be used for adsorption. A variety of sizes of things to be transported.
為讓本發明之上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。The above described features and advantages of the present invention will be more apparent from the following description.
圖1是依照本發明之一實施例之吸附裝置的立體圖。請參考圖1，本實施例之吸附裝置100可安裝於移動裝置(圖1中未繪示)，以吸附不同尺寸的待運物110。移動裝置例如是機械手臂，可在吸附裝置100吸附住待運物110之後，移動吸附裝置100與待運物110到使用者需要的位置。本實施例之吸附裝置100包括一中心軸120、多個連桿組130以及多個吸附單元140。其中，各連桿組130的一第一端131a滑設於中心軸120，各吸附單元140樞接於對應的連桿組130的一第二端131b。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of an adsorption device in accordance with an embodiment of the present invention. Referring to FIG. 1 , the adsorption device 100 of the present embodiment can be mounted on a mobile device (not shown in FIG. 1 ) to adsorb objects 110 of different sizes. The mobile device is, for example, a robot arm, and after the adsorption device 100 adsorbs the object to be transported 110, the adsorption device 100 and the object to be transported 110 are moved to a position desired by the user. The adsorption device 100 of the present embodiment includes a central shaft 120, a plurality of link sets 130, and a plurality of adsorption units 140. A first end 131a of each of the link sets 130 is slidably disposed on the central axis 120, and each of the adsorption units 140 is pivotally connected to a second end 131b of the corresponding link set 130.
圖2是圖1之吸附裝置的第一端位於第一位置的側視圖。圖3是圖1之吸附裝置的第一端位於第二位置的側視圖。請同時參考圖2與圖3，當連桿組130的各個第一端131a位於中心軸120上的一第一位置P1時，連桿組130的各個第二端131b位於同一平面A。當連桿組130的各個第一端131a從中心軸120上的第一位置P1移動至中心軸120上的一第二位置P2時，連桿組130的各個第二端131b相對於中心軸120的高度可以保持不變或是有所變化，但各個第二端131b依然位於同一平面B，且連桿組130的各個第二端131b之間的距離增加，由d1改變為d2。平面A與平面B可以是同一平面，也可以是不同的平面。Figure 2 is a side elevational view of the first end of the adsorption device of Figure 1 in a first position. Figure 3 is a side elevational view of the first end of the adsorption device of Figure 1 in a second position. Referring to FIG. 2 and FIG. 3 simultaneously, when the first ends 131a of the link sets 130 are located at a first position P1 on the central axis 120, the respective second ends 131b of the link sets 130 are located in the same plane A. When the respective first ends 131a of the link set 130 move from the first position P1 on the central axis 120 to a second position P2 on the central axis 120, the respective second ends 131b of the link set 130 are opposite to the central axis 120. The height may remain the same or vary, but the respective second ends 131b are still in the same plane B, and the distance between the respective second ends 131b of the link set 130 is increased from d1 to d2. The plane A and the plane B may be the same plane or different planes.
因此，藉由控制連桿組130的第一端131a於中心軸120的位置，可以改變各個第二端131b之間的距離，並藉此控制樞接在各第二端131b的吸附單元140的距離。當各 個吸附單元140之間的距離改變時，吸附裝置100所能吸附的範圍亦隨之更改。例如圖3中的待運物110a的尺寸大於圖2中的待運物110，因此可藉由控制第一連桿131的第一端131a在中心軸120的位置，使吸附裝置100的吸附範圍由小變大以配合待運物110a的尺寸。Therefore, by controlling the position of the first end 131a of the link set 130 at the central axis 120, the distance between the respective second ends 131b can be changed, and thereby the adsorption unit 140 pivotally connected to each of the second ends 131b can be controlled. distance. When each When the distance between the adsorption units 140 is changed, the range that the adsorption device 100 can adsorb is also changed. For example, the size of the object to be transported 110a in FIG. 3 is larger than that of the object to be transported 110 in FIG. 2, so that the adsorption range of the adsorption device 100 can be made by controlling the position of the first end 131a of the first link 131 at the central axis 120. From small to large to match the size of the object to be transported 110a.
請再同時參考圖2與圖3。詳細來說，上述之多個連桿組130中的每一連桿組130包括一第一連桿131以及一第二連桿132。其中，第一連桿131具有第一端131a以及第二端131b，第二連桿132的一第三端132a樞設於中心軸120，第二連桿132的一第四端132b樞接於第一連桿131的中段。因此，當第一連桿131的第一端131a由第一位置P1滑動至第二位置P2時，第二連桿132將第一連桿131的第二端131b拉往遠離中心軸120的方向移動。Please refer to Figure 2 and Figure 3 at the same time. In detail, each of the plurality of link sets 130 includes a first link 131 and a second link 132. The first link 131 has a first end 131a and a second end 131b. A third end 132a of the second link 132 is pivotally disposed on the central axis 120. A fourth end 132b of the second link 132 is pivotally connected to the second end 132b. The middle section of the first link 131. Therefore, when the first end 131a of the first link 131 is slid from the first position P1 to the second position P2, the second link 132 pulls the second end 131b of the first link 131 away from the central axis 120. mobile.
承上述，當連桿組130的各個第一連桿131的第一端131a位於中心軸120上的第一位置P1時，各第一連桿131與中心軸120之間所夾的夾角為第一夾角θ1。當第一連桿131的第一端131a位於中心軸120上的第二位置P2時，各第一連桿131與中心軸120具有一第二夾角θ2，且第一夾角θ1小於第二夾角θ2。也就是說，當第一端131a位於中心軸120上的第一位置P1時，第一連桿131與中心軸120的第一夾角θ1較小，第二端131b之間的距離當然較小。反之，當第一端131a位於中心軸120上的第二位置P2時，第一連桿131與中心軸120的第二夾角θ2較大，第二端131b之間的距離當然較大。In the above, when the first end 131a of each of the first links 131 of the link set 130 is located at the first position P1 on the central axis 120, the angle between the first link 131 and the central axis 120 is the same. An angle θ1. When the first end 131a of the first link 131 is located at the second position P2 on the central axis 120, each of the first links 131 and the central axis 120 has a second angle θ2, and the first angle θ1 is smaller than the second angle θ2 . That is, when the first end 131a is located at the first position P1 on the central axis 120, the first angle θ1 of the first link 131 and the central axis 120 is small, and the distance between the second ends 131b is of course small. On the contrary, when the first end 131a is located at the second position P2 on the central axis 120, the second angle θ2 of the first link 131 and the central axis 120 is larger, and the distance between the second ends 131b is of course larger.
請再參考圖1。詳細而言，本實施例的連桿組130可分為多個第一連桿組130a與多個第二連桿組130b。各第一連桿組130a中包括一第一連桿131、一第二連桿132、一第三連桿133以及一第四連桿134。各第二連桿組130b中包括一第一連桿131、一第二連桿132、一第五連桿135以及一第六連桿136。在本實施例中，為配合待運物110的形狀，第一連桿組130a與第二連桿組130b中的第一連桿131具有不同的長度。更詳細的來講，第一連桿組130a中的第一連桿131的長度是大於第二連桿組130b中的第一連桿131的長度。配合其樞接在中心軸120的位置，不同長度的第一連桿131的第二端131b會位在待運物110上的不同位置，使樞接在第二端131b的吸附單元140能吸附在待運物110的不同位置。Please refer to Figure 1 again. In detail, the link set 130 of the present embodiment can be divided into a plurality of first link sets 130a and a plurality of second link sets 130b. Each of the first link sets 130a includes a first link 131, a second link 132, a third link 133, and a fourth link 134. Each of the second link sets 130b includes a first link 131, a second link 132, a fifth link 135, and a sixth link 136. In the present embodiment, in order to match the shape of the object to be transported 110, the first link group 130a and the first link 131 of the second link group 130b have different lengths. In more detail, the length of the first link 131 in the first link set 130a is greater than the length of the first link 131 in the second link set 130b. The second end 131b of the first link 131 of different lengths is located at different positions on the object to be transported 110 so that the adsorption unit 140 pivotally connected to the second end 131b can be adsorbed. At different locations of the object 110.
就本實施例而言，待運物110的形狀是長方形，而第一連桿組130a中的第一連桿131可吸附待運物110的各對角區域，第二連桿組130b中的第一連桿131則吸附待運物110中，兩個長邊的中點。在本實施例裡，連桿組130包括四個第一連桿組130a以及兩個第二連桿組130b，但實際上設計者可根據待運物110的形狀，設計出適當的第一連桿組130a與第二連桿組130b的數量，使吸附裝置100的吸附力能均勻。For the present embodiment, the shape of the object to be transported 110 is rectangular, and the first link 131 in the first link set 130a can absorb the diagonal areas of the object to be transported 110, and the second link set 130b The first link 131 adsorbs the midpoint of the two long sides in the object 110. In the present embodiment, the link set 130 includes four first link sets 130a and two second link sets 130b, but in fact, the designer can design an appropriate first connection according to the shape of the object to be transported 110. The number of the rod group 130a and the second link group 130b makes the adsorption force of the adsorption device 100 uniform.
承上述，為了配合不同長度的第一連桿131，第一連桿組130a與第二連桿組130b中，各個連桿之間的連接點的位置並不相同。以下將分述第一連桿組130a以及第二連 桿組130b之中，各個連桿之間的連接方式以及其所相應的連接點的位置，並說明第一連桿組130a以及第二連桿組130b與中心軸120之間的連接關係。In the above, in order to cooperate with the first link 131 of different lengths, the positions of the connection points between the respective links in the first link group 130a and the second link group 130b are not the same. The first link group 130a and the second link will be described below. Among the rod groups 130b, the connection manner between the respective links and the position of the corresponding connection points thereof, and the connection relationship between the first link group 130a and the second link group 130b and the center shaft 120 are explained.
如圖1所繪示，在各第一連桿組130a中，第三連桿133的一第五端133a滑設於中心軸120，且此第三連桿133的一第六端133b樞接於第四連桿134的一第七端134a，而第四連桿134的一第八端134b樞接於第二連桿132的中段。在各第二連桿組130b中，第五連桿135的一第九端135a滑設於中心軸120，且第五連桿135的一第十端135b樞接於第六連桿136的一第十一端136a，第六連桿136的一第十二端136b樞接於第一連桿131的中段與第二連桿132的第四端132b。As shown in FIG. 1 , in each of the first link sets 130 a , a fifth end 133 a of the third link 133 is slidably disposed on the central axis 120 , and a sixth end 133 b of the third link 133 is pivotally connected. The seventh end 134a of the fourth link 134 is pivotally connected to the middle end of the second link 132. In each of the second link sets 130b, a ninth end 135a of the fifth link 135 is slidably disposed on the central axis 120, and a tenth end 135b of the fifth link 135 is pivotally connected to one of the sixth links 136. The eleventh end 136b of the sixth link 136 is pivotally connected to the middle portion of the first link 131 and the fourth end 132b of the second link 132.
在第一連桿組130a中，第四連桿134包括互相平行的兩根子連桿1341與1342，其所對應的第一連桿131穿過兩根子連桿1341與1342之間。在第二連桿組130b中，第六連桿136包括互相平行的兩根子連桿1361與1362，其所對應的第一連桿131穿過兩根子連桿1361與1362之間。此外，第三連桿133與第五連桿135為L型連桿，亦即第三連桿133的第五端133a的延伸方向實質垂直第六端133b的延伸方向，且第五連桿135的第九端135a的延伸方向實質垂直第十端135b。In the first link set 130a, the fourth link 134 includes two sub-links 1341 and 1342 that are parallel to each other, and the corresponding first link 131 passes between the two sub-links 1341 and 1342. In the second link set 130b, the sixth link 136 includes two sub-links 1361 and 1362 that are parallel to each other, and the corresponding first link 131 passes between the two sub-links 1361 and 1362. In addition, the third link 133 and the fifth link 135 are L-shaped links, that is, the extending direction of the fifth end 133a of the third link 133 is substantially perpendicular to the extending direction of the sixth end 133b, and the fifth link 135 The extending direction of the ninth end 135a is substantially perpendicular to the tenth end 135b.
具體來說，在第一連桿組130a中的第四連桿134樞接於第三連桿133以及第二連桿132的中段，因此當第三連桿133改變第五端133a在中心軸120的位置時，第三連 桿133帶動第四連桿134，此時第四連桿134帶動第二連桿132使其由第三端132a為支點轉動。由於第二連桿132樞接於第一連桿131，因此在第二連桿132轉動的過程中，第二連桿132會帶動第一連桿131的第一端131a滑動於中心軸120，並同時使其第二端131b與中心軸120的距離改變。當第一連桿131的第二端131b與中心軸120的距離改變，即可改變吸附裝置100的吸附範圍。故第一連桿組130a中，第三連桿133以及第四連桿134具有帶動的功能。同樣地，在第二連桿組130b中，藉由改變第五連桿135相對由中心軸120的位置，可帶動相應的第一連桿131，故在此不再贅述。Specifically, the fourth link 134 in the first link group 130a is pivotally connected to the middle of the third link 133 and the second link 132, so when the third link 133 changes the fifth end 133a at the central axis The position of 120, the third company The rod 133 drives the fourth link 134, and the fourth link 134 drives the second link 132 to rotate from the third end 132a as a fulcrum. Since the second link 132 is pivotally connected to the first link 131, the second link 132 drives the first end 131a of the first link 131 to slide against the central axis 120 during the rotation of the second link 132. At the same time, the distance between the second end 131b and the central axis 120 is changed. When the distance between the second end 131b of the first link 131 and the central axis 120 is changed, the adsorption range of the adsorption device 100 can be changed. Therefore, in the first link group 130a, the third link 133 and the fourth link 134 have a function of driving. Similarly, in the second link group 130b, by changing the position of the fifth link 135 relative to the central axis 120, the corresponding first link 131 can be driven, and thus will not be described herein.
圖4是圖1之吸附單元經由萬向滾珠樞接於連桿組的示意圖。圖4中僅示意性地繪示出其中一個萬向滾珠150，實際上每一吸附單元140皆可經由對應的萬向滾珠150樞接於連桿組130的第二端131b。因此當吸附裝置100的吸附單元140接觸到欲吸附的待運物110時，萬向滾珠150隨之滾動，使得吸附單元140可以隨意地移動及定位，最後各個吸附單元140的吸附面能均勻地接觸到待運物110。4 is a schematic view of the adsorption unit of FIG. 1 pivoted to a link set via a universal ball. Only one of the universal balls 150 is schematically illustrated in FIG. 4 . In fact, each of the adsorption units 140 can be pivotally connected to the second end 131 b of the link set 130 via the corresponding universal ball 150 . Therefore, when the adsorption unit 140 of the adsorption device 100 contacts the object 110 to be adsorbed, the universal ball 150 rolls, so that the adsorption unit 140 can be moved and positioned at will, and finally the adsorption surface of each adsorption unit 140 can be uniformly Contact with the object to be transported 110.
圖5是圖4之吸附裝置加裝吸氣管的上視示意圖。吸附裝置100更包括多條吸氣管160，吸氣管160連通吸附單元140至一抽氣裝置(圖5中未繪示)。當抽氣裝置抽氣時，吸附單元140以及待運物100之間的氣體由吸氣管160抽出，此時吸附單元140，例如吸嘴，便可吸附住待運物110。以抽氣裝置搭配吸附單元140來吸附待運物110，可 以在不損壞待運物110之表面的情況下，配合移動裝置以移動待運物110。Fig. 5 is a top plan view showing the suction device of Fig. 4 with an air suction pipe. The adsorption device 100 further includes a plurality of suction pipes 160 that communicate with the adsorption unit 140 to an air suction device (not shown in FIG. 5). When the air suction device draws air, the gas between the adsorption unit 140 and the object to be transported 100 is extracted by the air suction pipe 160, and at this time, the adsorption unit 140, such as the suction nozzle, can adsorb the object to be transported 110. The suction device is combined with the adsorption unit 140 to adsorb the object to be transported 110, In order to damage the surface of the object to be transported 110, the moving device is engaged to move the object to be transported 110.
本實施例的吸附裝置100可適用於例如面板工廠，以運送廠內的不同尺寸的面板產品或玻璃基板，然不限於此。實際應用時，可配合廠房中的自動化控制系統，以廠內所生產之各種不同尺寸的面板或玻璃基板做為控制參數，控制吸附裝置100的連桿組130中，各第一連桿131的第一端131a相對於中心軸120的位置。或著是，控制第三連桿133以及第五連桿135在中心軸的位置，再以第三連桿133以及第五連桿135帶動相對應的第一連桿131，藉以改變吸附裝置100的吸附範圍。The adsorption device 100 of the present embodiment can be applied to, for example, a panel factory to transport different sized panel products or glass substrates in the factory, but is not limited thereto. In practical application, the automatic control system in the factory can be used to control various parameters of the panel or the glass substrate produced in the factory as the control parameters, and the first link 131 of the connecting rod group 130 of the adsorption device 100 is controlled. The position of the first end 131a relative to the central axis 120. Or, the third link 133 and the fifth link 135 are controlled at the position of the central axis, and the corresponding first link 131 is driven by the third link 133 and the fifth link 135, thereby changing the adsorption device 100. The adsorption range.
舉例而言，當廠房中生產線的面板尺寸具有24寸以及42寸兩種尺寸，若欲吸附的面板尺寸改變，使用者只要利用自動化控制系統來改變各第一連桿131的第一端131a的位置，吸附裝置100即可調整吸附範圍。配合前述吸附裝置100中的萬向滾珠150、抽氣裝置以及吸附單元140，便能在不刮傷面板的表面的情況下吸附住面板，此時自動化控制系統再控制移動裝置如機械手臂，將面板運送至所需的位置，便可達到運送產品的目的。當然，使用者亦可改用控制第三連桿133的第五端133a以及第五連桿135的第九端135a的位置來達到相同的效果。For example, when the panel size of the production line in the factory has two sizes of 24 inches and 42 inches, if the size of the panel to be adsorbed changes, the user only needs to use the automatic control system to change the first end 131a of each of the first links 131. At the position, the adsorption device 100 can adjust the adsorption range. With the universal ball 150, the air suction device and the adsorption unit 140 in the adsorption device 100, the panel can be sucked without scratching the surface of the panel, and the automatic control system controls the mobile device such as the robot arm. The panel can be transported to the desired location for the purpose of transporting the product. Of course, the user can also use the position of the fifth end 133a of the third link 133 and the ninth end 135a of the fifth link 135 to achieve the same effect.
習知技術中，面板製造者需要配合不同尺寸的面板，以人工方式更換不同的吸附裝置100，不僅費時亦浪費人力。若面板製造者採用本實施例的吸附裝置100，則可節省更換吸附裝置100的時間，具有省時以及精簡人力以達 節省成本的優點。In the prior art, panel manufacturers need to cooperate with different sized panels to manually replace different adsorption devices 100, which is time consuming and labor intensive. If the panel manufacturer adopts the adsorption device 100 of the embodiment, the time for replacing the adsorption device 100 can be saved, and the time saving and the manpower can be reduced. The advantage of cost savings.
當然，面板的尺寸並不限於24寸以及42寸，可以有更多種尺寸的選擇。使用者可根據生產線的實際情況，依照不同待運物110的尺寸，定義出各第一連桿131的第一端131a相對於中心軸120的位置。因此，本實施例的吸附裝置100可吸附各不同尺寸的待運物100，使用上十分具有彈性。Of course, the size of the panel is not limited to 24 inches and 42 inches, and there are more choices of sizes. The user can define the position of the first end 131a of each first link 131 relative to the central axis 120 according to the actual condition of the production line and according to the size of the different objects 110. Therefore, the adsorption device 100 of the present embodiment can adsorb the objects 100 of different sizes and is very elastic in use.
綜上所述，本發明的吸附裝置中，當其連桿組的第一端相對於中心軸的位置改變時，各第二端之間的相對距離改變，使得樞接於對應的連桿組的第二端的吸附單元的吸附範圍能隨之改變，以使吸附裝置能吸附不同尺寸的待運物。此外，連桿組中更包括具有帶動功能的第三連桿、第四連桿以及第五連桿與第六連桿，此些連桿帶動第二連桿轉動，連帶使得第一連桿改變其第一端在中心軸的位置。In summary, in the adsorption device of the present invention, when the position of the first end of the link set is changed relative to the central axis, the relative distance between the second ends is changed, so that the pivotal link is connected to the corresponding link set. The adsorption range of the adsorption unit at the second end can be changed accordingly, so that the adsorption device can adsorb different sizes of the object to be transported. In addition, the link set further includes a third link, a fourth link, and a fifth link and a sixth link having a driving function, and the links drive the second link to rotate, and the first link changes Its first end is at the center axis.
雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明之精神和範圍內，當可作些許之更動與潤飾，故本發明之保護範圍當視後附之申請專利範圍所界定者為準。Although the present invention has been disclosed in the above embodiments, it is not intended to limit the invention, and any one of ordinary skill in the art can make some modifications and refinements without departing from the spirit and scope of the invention. The scope of the invention is defined by the scope of the appended claims.
100‧‧‧吸附裝置100‧‧‧Adsorption device
110、110a‧‧‧待運物110, 110a‧‧‧ Ships
120‧‧‧中心軸120‧‧‧ center axis
130‧‧‧連桿組130‧‧‧ linkage group
130a‧‧‧第一連桿組130a‧‧‧First Link Group
130b‧‧‧第二連桿組130b‧‧‧Second linkage
131‧‧‧第一連桿131‧‧‧First Link
131a‧‧‧第一端131a‧‧‧ first end
131b‧‧‧第二端131b‧‧‧second end
132‧‧‧第二連桿132‧‧‧second connecting rod
132a‧‧‧第三端132a‧‧‧ third end
132b‧‧‧第四端132b‧‧‧ fourth end
133‧‧‧第三連桿133‧‧‧third link
133a‧‧‧第五端133a‧‧‧ fifth end
133b‧‧‧第六端133b‧‧‧ sixth end
134‧‧‧第四連桿134‧‧‧fourth link
134a‧‧‧第七端134a‧‧‧ seventh end
134b‧‧‧第八端134b‧‧‧ eighth end
1341、1342、1361、1362‧‧‧子連桿1341, 1342, 1361, 1362‧‧‧ sub-links
135‧‧‧第五連桿135‧‧‧ fifth link
135a‧‧‧第九端135a‧‧‧ ninth end
135b‧‧‧第十端135b‧‧‧ tenth end
136‧‧‧第六連桿136‧‧‧ sixth link
136a‧‧‧第十一端136a‧‧‧The eleventh end
136b‧‧‧第十二端136b‧‧‧Twelfth end
140‧‧‧吸附單元140‧‧‧Adsorption unit
150‧‧‧萬向滾珠150‧‧‧ universal ball
160‧‧‧吸氣管160‧‧‧ suction pipe
A、B‧‧‧平面A, B‧‧ plane
P1‧‧‧第一位置P1‧‧‧ first position
P2‧‧‧第二位置P2‧‧‧ second position
θ1‧‧‧第一夾角Θ1‧‧‧ first angle
θ2‧‧‧第二夾角Θ2‧‧‧second angle
d1、d2‧‧‧距離D1, d2‧‧‧ distance
圖1是依照本發明之一實施例之一種吸附裝置的立體圖。1 is a perspective view of an adsorption device in accordance with an embodiment of the present invention.
圖2是圖1之吸附裝置的第一端位於第一位置的側視圖。Figure 2 is a side elevational view of the first end of the adsorption device of Figure 1 in a first position.
圖3是圖1之吸附裝置的第一端位於第二位置的側視圖。Figure 3 is a side elevational view of the first end of the adsorption device of Figure 1 in a second position.
圖4是圖1之吸附單元經由萬向滾珠樞接於連桿組的示意圖。4 is a schematic view of the adsorption unit of FIG. 1 pivoted to a link set via a universal ball.
圖5是圖4之吸附裝置加裝吸氣管的上視示意圖。Fig. 5 is a top plan view showing the suction device of Fig. 4 with an air suction pipe.
100‧‧‧吸附裝置100‧‧‧Adsorption device
110‧‧‧待運物110‧‧‧Transportation
120‧‧‧中心軸120‧‧‧ center axis
130‧‧‧連桿組130‧‧‧ linkage group
130a‧‧‧第一連桿組130a‧‧‧First Link Group
130b‧‧‧第二連桿組130b‧‧‧Second linkage
131‧‧‧第一連桿131‧‧‧First Link
131a‧‧‧第一端131a‧‧‧ first end
131b‧‧‧第二端131b‧‧‧second end
132‧‧‧第二連桿132‧‧‧second connecting rod
132a‧‧‧第三端132a‧‧‧ third end
132b‧‧‧第四端132b‧‧‧ fourth end
133‧‧‧第三連桿133‧‧‧third link
133a‧‧‧第五端133a‧‧‧ fifth end
133b‧‧‧第六端133b‧‧‧ sixth end
134‧‧‧第四連桿134‧‧‧fourth link
134a‧‧‧第七端134a‧‧‧ seventh end
134b‧‧‧第八端134b‧‧‧ eighth end
1341、1342、1361、1362‧‧‧子連桿1341, 1342, 1361, 1362‧‧‧ sub-links
135‧‧‧第五連桿135‧‧‧ fifth link
135a‧‧‧第九端135a‧‧‧ ninth end
135b‧‧‧第十端135b‧‧‧ tenth end
136‧‧‧第六連桿136‧‧‧ sixth link
136a‧‧‧第十一端136a‧‧‧The eleventh end
136b‧‧‧第十二端136b‧‧‧Twelfth end
140‧‧‧吸附單元140‧‧‧Adsorption unit
Claims (10)
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| TW101121368A TWI448369B (en) | 2012-06-14 | 2012-06-14 | Suction device |
| CN201210265278.2A CN102765092B (en) | 2012-06-14 | 2012-07-27 | Adsorption device |
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| TW101121368A TWI448369B (en) | 2012-06-14 | 2012-06-14 | Suction device |
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| CN107792665A (en) * | 2017-09-08 | 2018-03-13 | 广东工业大学 | A kind of adjustable adsorption module in adsorption site position of connecting rod driving |
| CN107571273B (en) * | 2017-10-17 | 2020-06-16 | 清华大学 | Automatic grabbing device and method for precise and clean assembly of large-diameter optical element |
| CN111252545B (en) * | 2018-12-03 | 2021-10-08 | 菜鸟智能物流控股有限公司 | Vacuum suction device for logistics objects |
| CN111483802A (en) * | 2019-01-28 | 2020-08-04 | 菜鸟智能物流控股有限公司 | Mechanical arm object taking and placing device |
| CN111661606B (en) * | 2020-07-29 | 2023-11-10 | 吉林大学 | Turnover machine for stamping formed products |
| CN114014010B (en) * | 2021-11-19 | 2023-09-01 | 贵州慧联科技有限公司 | Universal elastic sucker mechanism |
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| CN201810642U (en) * | 2010-09-25 | 2011-04-27 | 王兆群 | Sucker device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102765092A (en) | 2012-11-07 |
| TW201350693A (en) | 2013-12-16 |
| CN102765092B (en) | 2015-10-28 |
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| MM4A | Annulment or lapse of patent due to non-payment of fees |