TWM310091U - Plate holding device - Google Patents

Description

M310091 - VIII. New description: [New technical field] The present invention relates to a supporting device, in particular to a flat supporting device mounted on a robot arm. [Prior Art] When a flat article [e.g., a product such as a glass substrate, a wafer, or a panel] is used in a cassette, a mechanism such as a robot arm is used to carry the operation. Referring to Figures 1 and 2, the conventional robot arm 1 includes an arm unit 11 and a wrist unit 12 pivotally mounted on the arm unit 11. The wrist unit 12 has two supports that are in the same plane and are relatively movable.帛12卜-plate member ^ can be placed on the two support frames i2i on the wrist unit 12, and the wrist unit is driven by a power source 13 to drive the wrist unit 12 on a card. The access operation is performed in 匣 (not shown). Referring to FIG. 2 'If the area of the flat member 14 is large, and the distance between the two supporting frames ι 21 is small, only the central portion of the flat member 14 can be retained, at this time, the flat member 14 Two (four) points will be affected by gravity due to lack of support, and will result in a downward sag and a bend. In order to avoid the above situation, the wrist unit 12 can change the distance between the two towers according to the size of the flat member 14, so that the flat member 14 can be dispersed by the two supports 121. However, once the area of the flat member 14 is too large, and the two support frames (2) are respectively supported on the bottom sides of the flat member 14, respectively, the central portion of the flat member 14 of M310091 is also lacking. The phenomenon of the downward sag and the bending of the support causes the quality of the flat member 14 to be greatly reduced. Therefore, for high-precision products such as liquid crystal panels, wafers, etc., the industrial use is lost, which is invisible. A lot of losses.

(4)® 3 ‘Another design method’ is a conventional robotic arm! The wrist unit 12 has four support frames 12 which are in the same plane and are in a fixed state. However, this design can be applied to a large-sized flat member U' to make the dragon have a good cutting effect, but When the area of the flat member 14 is small and can only be placed across the two central support frames 121, and cannot be supported by the outer two support frames 121, the two sides of the flat member 14 are also The lack of support results in a downward sag, which in turn reduces the quality of the flat member 14. [New content] Therefore, the object of the present invention is to provide a flat plate supporting device which can be applied to support flat objects of various sizes and sizes, so that it is not easy to cause downward sag. Therefore, the tablet supporting device of the present invention is mounted on a robot arm for driving the tablet supporting device to move, and the tablet supporting device is for supporting a flat object, and the tablet supporting device includes a first a power source, and an arm unit for placing the flat object thereon, having a first arm, a second arm, and a third branch spaced apart from each other and located in the same plane An arm and a fourth arm, the first and fourth arms are located on the outer side, the second and third arms are located on the inner side, and the first power source can drive the first and fourth arms in the same plane Move up in the opposite direction of M310091. The utility model has the advantages that when the central portion of the flat object is placed on the second and third arms, the first and fourth arms can be respectively moved in opposite directions, so that the two sides of the flat object are It can be supported by the first and fourth branches respectively. Therefore, the flat object can obtain a good supporting effect in both the central portion and the two sides, so that it is not easy to produce a downward sag and effectively maintain the flat plate. The product quality of the object.

The above and other technical contents, features and effects of the present invention will be apparent from the following detailed description of the preferred embodiments. Before the present invention is described in detail, it is noted that in the following description, similar elements are denoted by the same reference numerals. Referring to Figures 4 and 5, the first preferred embodiment of the present type of tablet support device 2 is mounted on a robot arm 3 for driving the plate support device i 2 to move 'the plate support device 2 Used to support a flat object 4. The ten-way forklift device 2 includes no, and is, 21, an arm unit 23 for placing the flat object 4 thereon, and an elbow, the power of the power source 21 is transmitted to the branch The first transmission group 25 of the arm unit 23 and a hollow outer casing 24 for damaging the first power source 21 and the first transmission group 25 therein. The arm unit 23 has one of the same planes and one of the same plane - an I 231, a second arm 232, a third arm 233, a fourth arm M310091, 234 ' and a plurality of The first one: the top adsorption member 235, Chuώ ^ four arms 231~234, the middle 'the first, the fourth one' on the outer side, the second and the third to cook the 231, 234 position Without moving relatively, the 23nd 2nd, 2nd, and 33nd are located on the inner side and are solidly extended from the inside of the outer casing 24 to protrude outwardly. The outer two shells: the i-arms 231 to 234 = - the transmission group 25 has two Located outside the outer casing of the outer casing, the transmission wheel 251, the ring assembly 252, and the outer wheel 251 are circulated.

^一多弟~The arm 231 and the outer circulation member 252 are fixed to each other, the white member 253, the fourth arm 234 is used to circulate the member T: the second fixing member 254, and An external linkage 255 that is moved by the first power source 21 to ffiW, wherein the outer circulation member 252 is a transmission belt, and the outer outer transmission wheel 251 is the outer circulation member 252 pulleys that work together. With the above design, the first power source 21 can drive the outer linkage 255 to move the first fixing member 254 along the outer circulation member 252 while circulating the outer circulation member 252 around the outer outer transmission wheel 251. Rotating, thereby driving the first fixing member 253 to move in a direction opposite to the second fixing member 4, thereby driving the first and fourth arms 231, 234 to move in opposite directions on the same plane. In the present embodiment, although the power transmission structure design of the first transmission group 25 is adopted, such a structural design is easily achieved by those having ordinary knowledge in the prior art, and is not important to the present invention. Technical features, in addition, there are still other kinds of conventional power transmission structure design, and the first and fourth arms 231, 234 can also be moved in the opposite direction on the same flat M310091 surface, so it should not be The power transmission structure design of the first transmission group 25 disclosed in this embodiment is limited. Referring to FIG. 5', by the meter, if the area of the flat object 4 is large, when the flat object 4 is placed on the arm unit 3, the central portion of the flat object 4 can be used by the second The three arms are supported, but the two sides of the flat object 4 will be easily bent downward due to lack of support. At this time, the first and fourth branches can be as shown in FIG.

'31 234 is moved in the opposite direction so that the two sides of the flat object 4 can be respectively supported by the first and fourth arms 231, 234, and the flat object 4 can be produced by the adsorbing member 235 The true heart and the attached force are adsorbed, and can be stably placed on the first, second, third, and fourth arms 231 to 234. By this means, the flat object 4 can be in the central portion or both sides. Obtaining a good supporting effect, making it difficult to produce the phenomenon of downward sag, and maintaining a consistent horizontal pattern of the product of the flat sheet; in addition, since the flat object is not easy to take down, it hangs down _ The phenomenon is that the flat object 4 and the adsorbent milk are closely attached without generating a gap, so that vacuum damage is not caused between the two, and the adsorption of the flat object 4 by the adsorbing member 235 is reduced. The force 'by this can make the flat object 4 less likely to be displaced, and avoid the accidental situation that the flat object 4 collides with the cassette when the pick-and-place action is performed in a cassette (not shown), and at the same time makes the flat object 4 placed in the card (four) The position is very accurate. When the first, second, third, and fourth arms 231 to W are removed for the next time, the flat object 4 is removed, and the collision of the flat object 4 is not easily caused. M310091 Referring to FIG. 6, the new 5L flat_support device 2 <the brother-car parent embodiment is substantially similar to the first preferred embodiment described above, and the difference is that the tablet support device 2 further includes a Located in the outer casing 24, π < a power source 22, and a second transmission set, also located in the outer casing 24, and 26. The second transmission set 26 has two inner transmission wheels 261 which are disposed at intervals and are located between the outer transmissions 251 and the outer transmission wheels 251, and are disposed on the inner transmission wheel 261 a circulation member 262, a third fixing member 263 for fixing the second arm 232 and the inner circulation member 262 to each other, and a fourth fixing member for fixing the third arm 233 and the inner circulation member to each other The fixing member 264 and an inner linking member 265 driven by the first yoke/fan-power source 22 to drive the third fixing member 263 to move. The second power source 22 can drive the inner linking member 265 to drive the third fixing member 263 to move along the inner circulation member 26, and the inner casing 262 moves while the inner circulation member 262 is surrounded. The two inner transmission wheels 261 are cyclically rotated, thereby driving the fourth fixing member 264 to move in a direction opposite to the third fixing member 263, so that the second and third arms 232 and 233 of the boat are on the same plane. Moving in opposite directions, respectively, and the range of movement of the two 232, 233 is limited to between the first and fourth arms 231, 234. In the present embodiment, the structural design of the second transmission set 26 is the same as that of the first transmission set 25, and in the prior art, the first transmission set 25 has a reference to the prior art. Where technical abilities are easily achieved and are not an important technical feature of the present invention, there are still other types of conventional power transmission structure designs that also enable the first arms 232, 233 to be The structural design of the transmission set 20, and the first and second arms 232, 233 are respectively reversed on the same plane.

10 M310091 f moves toward the purpose, so it should not be limited to the structural design description of the second transmission set 26 in this embodiment t. Referring to FIG. 7, when the area of the flat object 4 is small, the first, second, third, and fourth cuts 231 to 234 can be moved inwardly so that the central portion and both sides of the flat object are At the same time, it is supported by the four, and the flat object 4 can be adsorbed by the vacuum adsorption force generated by the adsorption member, and can be placed on the first, second, second and fourth arms 231~ 234, the flat object 4 is not easy to produce a downward sag, which effectively maintains the product quality of the flat object 4, and the plate object 4 and the absorbing member 235 are closely attached without gaps. 'There is no vacuum damage between the two to reduce the adsorption force of the adsorbing member 235 on the flat object 4, thereby making the flat body 4 less likely to be displaced, and the flat object 4 is in the process of picking up and transporting It is not easy to collide with the stored cassette. Referring to FIG. 8, if the area of the flat object 4 is large, the first and fourth branches #231 to 234 can be moved outward to conform to the central portion of the flat object 4 by the second and third portions. The arms 232, 233 are supported, and the two sides of the plate object 4 are supported by the first and fourth arms 231, 234 while the δ hai plate object 4 is adsorbed by the absorbing member 235, and is stably placed. The first, second, third and fourth arms 231 to 234 Ji are placed in this way, and in this way, the flat object 4 is also less likely to cause downward sag bending, displacement and the like. It can be seen from the above description that the fourth support arm 2 of the present invention can be moved in opposite directions from each other by the fourth arms 231, 234, so that the two sides of the flat plate 11 M310091 can be talked about first and fourth respectively. Supported by the arms 231, 234, and the central portion of the flat object 4 is forked by the second and third arms 232 ^ 233, so that the flat object 4 can obtain a good supporting effect. The flat plate supporting device 2 can be formed to support the flat object 4 of various different sizes, and the flat plate object 4 is adsorbed by the vacuum adsorption force generated by the adsorbing member 235, and can be stably

It is placed on the first, second, third and fourth arms 231 to 234. Therefore, the flat plate 4 is not only difficult to produce a downward sag, but effectively maintains the product quality of the body 4, and because The flat object 4 and the adsorbing member, and the vacuum damage are not caused between the two, and the adsorbing member 235 is reduced in the suction force of the flat object 4, so that the flat object 4+ is easily displaced, and the pick-and-place transport is performed. In the process, it is not easy to collide with the stored cassette, so it can really achieve the effect of the present invention. However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention cannot be limited thereto, that is, the simple equivalent change and modification made by the novel patent application scope and the novel description content, All remain within the scope of this new patent. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a top plan view showing a state in which a conventional mechanical arm carries a flat member; FIG. 2 is a schematic end view showing only two movable support frames shown in FIG. Figure 3 is a schematic view of one end, showing another conventional mechanical arm, using four fixed support frames to support a small-sized flat member. 12 M310091 Figure 4 It is not intended to describe the state of the first preferred embodiment of the present type of tablet supporting device for carrying a flat object, wherein the outer top surface is omitted, so that the configuration state of each member inside the outer casing is directly observed; FIG. 5 is an operation A schematic diagram of a process for assisting the description of the state of the first embodiment shown in FIG. 4 to uniformly disperse the support of the flat object; FIG. 6 is a top plan view showing the first embodiment of the present invention. The state in which the top surface of the outer casing is omitted; FIG. 7 is a schematic end view showing the second preferred embodiment shown in FIG. A flat object having a small area; and 乂 Fig. 8 is a flat object in which the end portion is not intended to explain the second preferred embodiment shown in Fig. 6, and the average dispersed support area is large.

13 M310091 [Main component symbol description] 2 Flat support device 252 External circulation member 21 First power source 253 First fixing member 22 Second power source 254 Second fixing member 23 Arm unit 255 External linkage 231 First arm 26 Second transmission group 232 Second arm 261 Inner transmission wheel 233 Third arm 262 Inner circulation member 234 Fourth arm 263 Third fixing member 235 Adsorption member 264 Fourth fixing member 24 Housing 265 Inner linkage 25 First transmission Group 3 Robot arm 251 Outer drive wheel 4 Flat object

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Claims (1)

M310091 IX. Scope of Application for Patention····························································································· The supporting device comprises: a first power source; and an arm unit for the flat object to be placed thereon, the second arm, the second arm; the same-plane-the first arm, The arm is located on the outer side; the first and fourth arms 'the first and fourth arms are located on the inner side, and the first power source can drive the first and second sides to move in the opposite direction. The plate supporting device according to the patent application scope flute- ιΐ,:, in the same plane, further includes: the power source 'can drive the second and third arms in the same plane The knife does not move in the opposite direction, and the range of movement of the two is limited to between the first and fourth arms of the younger brother. 3. According to the scope of the patent application? The flat support device described in the #固弟项, further includes a first transmission group, having a rain 徊Μ广# w /, a rain wheel spaced apart from the transmission wheel, and a circulation member on the outer drive wheel a second fixing member for fixing the first arm and the outer circulation member to each other, a second fixing member for fixing the fourth arm and the outer circulation member to each other, and An external linkage driven by the first power source to drive the second fixing member to move, the first power source driving the outer linkage to drive the second fixing member to move along the unit At the same time, the outer circulation member is cyclically rotated around the outer outer transmission wheel, so as to drive the first fixing member to be opposite to the second fixing member 15 M310091, and the four arms are privately moved in the same plane to drive the first one. Move in the opposite direction. 4. According to the patent application model-second transmission group, there are two:: a tablet supporting device, which further comprises an inner transmission wheel, and is disposed at the second outer transmission wheel, for enabling the An inner circulation member on the inner inner transmission wheel, a third fixed fixed member for fixing the inner inner ring member to each other, and a fourth solid fixed by the same: the sewing member is fixed to each other. Driving the inner connecting member of the third fixing member, the second driving $cage-π source can drive the inner linking member, and the ring member surrounds the two inner transmissions=two: the member moves 'while The inner switch w "turns, so as to drive the fourth fixing = move in the direction of the third fixing member, thereby driving the second 5 two branches # to move in opposite directions on the same plane respectively. According to the patent application scope 2 Or the flat-panel device of the above-mentioned item 4, and the other three working peripherals, the first and second power sources of the β-hai are located in the outer casing, and the first, second, third and fourth arms are outwardly and outwardly of the outer casing. Extends and protrudes beyond the outer casing. 16