WO2011096033A1 - 搬送装置 - Google Patents
搬送装置 Download PDFInfo
- Publication number
- WO2011096033A1 WO2011096033A1 PCT/JP2010/006724 JP2010006724W WO2011096033A1 WO 2011096033 A1 WO2011096033 A1 WO 2011096033A1 JP 2010006724 W JP2010006724 W JP 2010006724W WO 2011096033 A1 WO2011096033 A1 WO 2011096033A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- support member
- holding mechanism
- connecting member
- holding
- display panel
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
Definitions
- the present invention relates to a transfer device for transferring a workpiece such as a liquid crystal display panel.
- Patent Document 1 discloses a transport device that holds the upper surface of a liquid crystal display panel by suction and hangs and transports the panel.
- FIGS. 7 and 8 are side views showing a schematic configuration of the transport apparatus.
- the transport device 100 includes a rail portion 101 that extends in the horizontal direction, a drive portion 102 that is guided by the rail portion 101 and is movable in the horizontal direction, and a vertical movement that is provided in the drive portion 102.
- the arm portion 103 is extendable and retractable, the connecting portion 104 is formed at the lower end of the arm portion 103, the hand support portion 105 is attached and fixed to the connecting portion 104, and is supported in a state suspended from the hand support portion 105.
- the hand part 106 is provided.
- the hand support part 105 is directly fixed to the connecting part 104 by a set screw.
- a plurality of suction portions 107 are provided at the lower end of the hand portion 106 for holding the upper surface of the liquid crystal display panel 108 by suction.
- the transfer device 100 extends the arm unit 103 to lower the hand unit 106 and holds the liquid crystal display panel 108 by suction.
- the hand portion 106 holding the liquid crystal display panel 108 is raised by contracting the arm portion 103.
- the drive unit 102 is moved in the horizontal direction along the rail unit 101, and the arm unit 103 is extended at a desired position to lower the hand unit 106.
- the liquid crystal display panel 108 is transported to a predetermined position by opening the suction unit 107.
- Patent Document 2 discloses a protection device for protecting the connecting portion of the arm.
- FIG. 9 is a cross-sectional view showing the structure of the arm connecting portion protection device 110.
- the protection device 110 has a boot 114 that covers the outer periphery of the arm connecting portion provided with a connecting member 113 and the like for connecting the arm members 111 and 112 so as to freely bend and extend and rotate.
- the boot 114 has a protection portion 115 that covers the outer periphery of the arm connecting member, and left and right arm attachment portions 116 and 117 that are attached to the arm members 111 and 112 are formed at both ends of the protection portion 115.
- At least a part of the protection part 115 is formed of a bellows or the like so as to be flexible, and a bearing 118 is disposed on at least one of the arm members 111 and 112 and the left and right arm attachment parts 116 and 117. Has been. This prevents the boot 114 from being damaged without impeding the rotation and bending / extending operation of the arm members 111 and 112 that are freely connected to each other.
- the transfer device 100 that hangs and conveys the liquid crystal display panel described above, in order to advance the automation of the manufacturing process, the work such as the liquid crystal display panel 108 is moved at high speed or the hand unit 106 is highly accurate. It is desirable to drive.
- the mechanism of the hand unit 106 and the like becomes expensive.
- other peripheral devices 120 such as optical devices used for various measurements are arranged around the transport apparatus 100. However, these devices are also expensive. There are many.
- the present invention has been made in view of the above points, and an object of the present invention is to appropriately protect the main structural mechanism and peripheral devices even when the transport device malfunctions. There is.
- the present invention is directed to a transport device including a holding mechanism that holds a workpiece and a moving mechanism that moves the holding mechanism in a suspended state.
- the holding mechanism is connected to the moving mechanism via a connecting mechanism, and the connecting mechanism includes a first support member attached and fixed to the moving mechanism, and a second support member attached and fixed to the holding mechanism. And a connecting member that connects the first supporting member and the second supporting member, and the mechanical strength of the connecting member is smaller than the mechanical strength of each of the first supporting member and the second supporting member.
- the connecting member is divided by an external force applied to the second support member or the holding mechanism, and is configured to separate the first support member and the second support member from each other.
- the work is transported to a predetermined position by moving the holding mechanism that holds the work in a state of being suspended by the moving mechanism.
- the holding mechanism and the moving mechanism are connected via a connecting mechanism, and the connecting mechanism connects the first support member attached and fixed to the moving mechanism and the second support member attached and fixed to the holding mechanism. It has a member.
- the connecting member has a smaller mechanical strength than each of the first support member and the second support member.
- the connecting member is divided, and the first support member and the second support member are separated from each other.
- the connecting member when an external force is applied to the second support member or the holding mechanism, the connecting member is divided by the external force so that the first support member and the second support member are separated from each other. Even if the second support member or the holding mechanism collides with surrounding devices during the transfer of the workpiece due to the malfunction of the holding mechanism, the impact force can be absorbed by the connecting member.
- the moving mechanism and peripheral devices can be appropriately protected.
- FIG. 1 is a front view illustrating an appearance of the transport apparatus according to the first embodiment.
- FIG. 2 is a front view showing a partially broken structure of the coupling mechanism.
- FIG. 3 is a top view showing the appearance of the coupling mechanism.
- FIG. 4 is an exploded front view showing the constituent members of the coupling mechanism in a partially broken view.
- FIG. 5 is a top view showing the appearance of the connecting member.
- FIG. 6 is a cross-sectional view showing the structure of the connecting member.
- FIG. 7 is a side view showing a schematic configuration of a transfer apparatus which is a related technique.
- FIG. 8 is a side view showing a transfer device that has collided with a peripheral device as a related technique.
- FIG. 9 is a cross-sectional view showing the structure of a conventional arm connecting portion protection device.
- Embodiment 1 of the Invention 1 to 6 show Embodiment 1 of the present invention.
- FIG. 1 is a front view showing an appearance of the transfer apparatus 1 according to the first embodiment.
- FIG. 2 is a front view showing a partially broken structure of the coupling mechanism 13.
- FIG. 3 is a top view showing the appearance of the coupling mechanism 13.
- FIG. 4 is an exploded front view showing the constituent members of the coupling mechanism 13 with a part broken away.
- FIG. 5 is a top view showing the appearance of the connecting member 17.
- FIG. 6 is a cross-sectional view showing the structure of the connecting member 17.
- the upper side in FIGS. 1, 2 and 4 is referred to as “upper side”, and the lower side in FIG. 1 is referred to as “lower side”.
- the transport apparatus 1 includes a holding mechanism 11 that holds a liquid crystal display panel 10 as a work, and a moving mechanism 12 that moves the holding mechanism 11 in a suspended state. Yes.
- the holding mechanism 11 is connected to the moving mechanism 12 via a connecting mechanism 13.
- the liquid crystal display panel 10 is suspended and transported.
- the moving mechanism 12 includes a rail portion 31 that extends in the horizontal direction, a drive portion 32 that is guided by the rail portion 31 so as to be movable in the horizontal direction, and an arm portion 33 that is provided in the drive portion 32 and can be vertically expanded and contracted. And have.
- the drive unit 32 is configured to move along the rail unit 31 and to drive the arm unit 33 to extend and contract.
- the arm portion 33 is formed as a cylindrical rod.
- the holding mechanism 11 includes a plurality of hand portions 25 that hold the liquid crystal display panel 10 by suction.
- a plurality of suction pads 26 for sucking and holding the upper surface of the liquid crystal display panel 10 are provided at the lower ends of the respective hand portions 25.
- connection mechanism 13 includes a first support member 15 attached and fixed to the arm portion 33 of the moving mechanism 12, a second support member 16 attached and fixed to the holding mechanism 11, and the first support member 15 and the second support member. 16 and a connecting member 17 that connects 16.
- the first support member 15 is made of a metal material, and as shown in FIGS. 2 to 4, a main body portion 35 formed of a disk-shaped member having a predetermined thickness, and projects from the center of the upper surface of the main body portion 35.
- the boss portion 36 is formed.
- the boss portion 36 and the main body portion 35 are integrally formed.
- the boss 36 is inserted into a hole (not shown) formed at the lower end of the arm 33. As a result, the first support member 15 is attached to the arm portion 33.
- the main body portion 35 of the boss portion 36 is formed with a first hole portion 37 opened on the upper surface side and a second hole portion 38 opened on the lower surface side at a position concentric with the first hole portion 37. Yes.
- the first hole portion 37 and the second hole portion 38 communicate with each other, and penetrate the main body portion 35 in the thickness direction as a whole.
- the second support member 16 is made of a metal material, and is formed of a plate-like member as shown in FIGS.
- the plurality of hand portions 25 are attached and fixed to the end portion of the second support member 16.
- the second support member 16 has a third hole portion 41 opened on the upper surface side, and a fourth hole portion 42 opened on the lower surface side at a position concentric with the third hole portion 41. And are formed.
- the third hole 41 and the fourth hole 42 communicate with each other, and penetrate the second support member 16 in the thickness direction as a whole.
- the connecting member 17 is formed of a cylindrical member having a through hole 20 formed therein, and is formed of a resin material such as phenol resin, for example. Further, a thread 23 is formed on the inner peripheral surface of the through hole 20 of the connecting member 17.
- the first end 21 of the connecting member 17 is inserted into the second hole 38 in the main body 35 of the first support member 15 and is inserted into the first hole 37.
- the first support member 15 is fastened and fixed by a set screw 39. That is, the shaft 40 of the first set screw 39 is screwed into one end side of the through hole 20 as a screw hole.
- the other end 22 of the connecting member 17 is inserted into the third hole 41 of the second support member 16 and fastened to the second support member 16 by the second set screw 43 inserted into the fourth hole 42. It is fixed. That is, the shaft 44 of the second set screw 43 is screwed into the other end side of the through hole 20 as a screw hole.
- the first support member 15 and the second support member 16 are connected via the connecting member 17.
- the tip of the first set screw 39 on the shaft 40 inside the connection member 17, the tip of the first set screw 39 on the shaft 40, and the second A predetermined gap 45 is formed between the tip of the set screw 43 and the shaft 44. At least a part of the gap 45 is arranged at a height position between the lower surface of the main body 35 and the upper surface of the second support member 16 in the first support member 15.
- the mechanical strength of the connecting member 17 made of, for example, a resin material is smaller than the mechanical strength of each of the first support member 15 and the second support member 16 made of, for example, a metal material.
- the connecting member 17 is divided by the external force applied to the second support member 16 or the holding mechanism 11 and is configured to separate the first support member 15 and the second support member 16 from each other.
- the transport apparatus 1 moves the driving unit 32 of the moving mechanism 12 in the horizontal direction along the rail unit 31 and moves the hand unit 25 of the holding mechanism 11 to the receiving position of the liquid crystal display panel 10.
- the drive unit 32 extends and drives the contracted arm unit 33 at the receiving position, and brings the hand unit 25 close to the liquid crystal display panel 10 disposed below the arm unit 33.
- the drive unit 32 drives the arm unit 33 to contract and raises and lifts the liquid crystal display panel 10.
- the transport device 1 moves the driving unit 32 in the horizontal direction along the rail unit 31, and causes the hand unit 25 holding the liquid crystal display panel 10 to be sucked and held on the liquid crystal display panel 10.
- the driving unit 32 extends and drives the contracted arm unit 33 at the delivery position, and places the liquid crystal display panel 10 on a stage (not shown) below the driving unit 32.
- the driving unit 32 drives the arm unit 33 to contract and raises the hand unit 25.
- connection member 17 since the connecting member 17 has a smaller mechanical strength than each of the first support member 15 and the second support member 16, the external force applied to the second support member 16 or the holding mechanism 11 due to the collision described above.
- the connection member 17 is divided, and the first support member 15 and the second support member 16 are separated from each other.
- the impact force is absorbed by the division or breakage of the connecting member 17, and thus the main part of the transportation device.
- the holding mechanism 11, the moving mechanism 12, and the peripheral devices, which are constituent mechanisms, are appropriately protected from the impact force caused by the collision.
- the connecting member 17 has a mechanical strength smaller than each of the first support member 15 and the second support member 16, and at least a part of the gap 45 formed inside the connecting member 17 is Since the first support member 15 is disposed at a height position between the lower surface of the main body 35 and the upper surface of the second support member 16, the external force applied to the second support member 16 or the holding mechanism 11 due to the collision described above.
- the connection member 17 itself can be divided, and the first support member 15 and the second support member 16 can be separated from each other.
- the impact force can be absorbed by the division or breakage of the connecting member 17, so The holding mechanism 11 and the moving mechanism 12, which are constituent mechanisms, and peripheral devices can be appropriately protected from the impact force caused by the collision.
- the connecting member 17 is constituted by a cylindrical member, and one end side thereof is fastened and fixed to the first support member 15 while the other end side is fastened and fixed to the second support member 16.
- the connecting member 17 that can be separated by the external force while connecting the 15 and the second support member 16 can be suitably obtained.
- first support member 15 and the second support member 16 are made of a metal material, and the connecting member 17 is made of a resin material, their mechanical strength can be easily made different.
- the liquid crystal display can be performed while protecting the main structural mechanism and peripheral devices of the transfer device 1.
- the panel 10 can be conveyed suitably.
- the connecting member 17 is made of a resin material.
- the connecting member 17 may be made of other materials as long as it has a lower mechanical strength than the first support member 15 and the second support member 16. Good.
- the shape of the connecting member 17 is not limited to the cylindrical member as described above, and if the mechanical strength of the connecting member 17 is sufficiently low, a solid configuration without the gap 45 may be adopted. Is possible.
- the holding mechanism 11 is not limited to a mechanism that vacuum-sucks the workpiece such as the liquid crystal display panel 10 as described above, and may be a mechanism that clamps and holds the workpiece.
- liquid crystal display panel not only the liquid crystal display panel but also other display panels such as an organic EL display panel and general substrates such as a glass substrate can be applied as the work conveyed by the holding mechanism 11.
- the present invention is useful for a transport device that transports a workpiece such as a liquid crystal display panel.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
Abstract
Description
次に、本発明の作用について説明する。
図1~図6は、本発明の実施形態1を示している。
次に、上記搬送装置1の搬送動作について説明する。
したがって、この実施形態1によると、仮に搬送装置1が誤作動して、ハンド部25の移動中に第2支持部材16又はハンド部25(保持機構11)が周辺機器に衝突した場合であっても、連結部材17が第1支持部材15及び第2支持部材16のそれぞれよりも小さい機械的強度を有し、しかも、連結部材17の内部に形成されている隙間45の少なくとも一部が、第1支持部材15における本体部35の下面と、第2支持部材16の上面との間の高さ位置に配置されているため、上記衝突によって第2支持部材16又は保持機構11に加わった外力により、連結部材17自体を分断させ、第1支持部材15及び第2支持部材16を互いに分離させることができる。
上記実施形態1では、連結部材17を樹脂材料によって構成したが、第1支持部材15及び第2支持部材16のそれぞれよりも機械的強度が低い部材であれば、他の材料によって構成してもよい。
10 液晶表示パネル
11 保持機構
12 移動機構
13 連結機構
15 第1支持部材
16 第2支持部材
17 連結部材
25 ハンド部
31 レール部
32 駆動部
33 アーム部
35 本体部
36 ボス部
Claims (5)
- ワークを保持する保持機構と、
上記保持機構を吊り下げた状態で移動させる移動機構とを備えた搬送装置であって、
上記保持機構は、上記移動機構に連結機構を介して連結され、
上記連結機構は、上記移動機構に取付固定された第1支持部材と、上記保持機構に取付固定された第2支持部材と、上記第1支持部材及び第2支持部材を連結する連結部材とを有し、
上記連結部材の機械的強度は、上記第1支持部材及び第2支持部材のそれぞれの機械的強度よりも小さくなっており、
上記連結部材は、上記第2支持部材又は上記保持機構に加わった外力によって分断され、上記第1支持部材及び第2支持部材を互いに分離するように構成されている
ことを特徴とする搬送装置。 - 請求項1に記載された搬送装置において、
上記連結部材は、筒状部材によって構成され、当該連結部材の一端側が上記第1支持部材に締結固定される一方、当該連結部材の他端側が上記第2支持部材に締結固定されている
ことを特徴とする搬送装置。 - 請求項1又は2に記載された搬送装置において、
上記第1支持部材及び上記第2支持部材は、金属材料により構成され、
上記連結部材は、樹脂材料によって構成されている
ことを特徴とする搬送装置。 - 請求項1乃至3の何れか1つに記載された搬送装置において、
上記第2支持部材には、上記ワークを吸着保持する複数のハンド部が取付固定されている
ことを特徴とする搬送装置。 - 請求項1乃至4の何れか1つに記載された搬送装置において、
上記ワークは、表示パネルである
ことを特徴とする搬送装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010800597243A CN102686370A (zh) | 2010-02-02 | 2010-11-16 | 搬运装置 |
JP2011552590A JPWO2011096033A1 (ja) | 2010-02-02 | 2010-11-16 | 搬送装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010-021202 | 2010-02-02 | ||
JP2010021202 | 2010-02-02 |
Publications (1)
Publication Number | Publication Date |
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WO2011096033A1 true WO2011096033A1 (ja) | 2011-08-11 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2010/006724 WO2011096033A1 (ja) | 2010-02-02 | 2010-11-16 | 搬送装置 |
Country Status (3)
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JP (1) | JPWO2011096033A1 (ja) |
CN (1) | CN102686370A (ja) |
WO (1) | WO2011096033A1 (ja) |
Families Citing this family (3)
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JP6497984B2 (ja) * | 2015-03-06 | 2019-04-10 | 平田機工株式会社 | 保持ノズル、保持ユニット及び搬送装置 |
CN106926278A (zh) * | 2017-04-20 | 2017-07-07 | 力源液压系统(贵阳)有限公司 | 机械人第6轴运动手抓防撞机方法及装置 |
CN111836494B (zh) * | 2020-08-03 | 2021-10-22 | 国网河北省电力有限公司信息通信分公司 | 一种基于电力物联网的智能化项目控制设备 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04294994A (ja) * | 1991-03-25 | 1992-10-19 | Hitachi Chem Co Ltd | ロボットハンド取付器具 |
JPH0911169A (ja) * | 1995-06-28 | 1997-01-14 | Sharp Corp | 産業用ロボットのチャック保護装置 |
JP2002012321A (ja) * | 2000-06-30 | 2002-01-15 | Shibaura Mechatronics Corp | 基板搬送装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW550651B (en) * | 2001-08-08 | 2003-09-01 | Tokyo Electron Ltd | Substrate conveying apparatus, substrate processing system, and substrate conveying method |
KR100615281B1 (ko) * | 2004-12-04 | 2006-08-25 | 주식회사 파이컴 | 외팔보 패널 이송장치 |
DE102006056339A1 (de) * | 2006-11-29 | 2008-09-11 | Bernhard Brain | Vorrichtung zum Trennen von zwei aufeinander angeordneten scheibenförmigen Elementen bei der Entnahme |
-
2010
- 2010-11-16 WO PCT/JP2010/006724 patent/WO2011096033A1/ja active Application Filing
- 2010-11-16 JP JP2011552590A patent/JPWO2011096033A1/ja active Pending
- 2010-11-16 CN CN2010800597243A patent/CN102686370A/zh active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04294994A (ja) * | 1991-03-25 | 1992-10-19 | Hitachi Chem Co Ltd | ロボットハンド取付器具 |
JPH0911169A (ja) * | 1995-06-28 | 1997-01-14 | Sharp Corp | 産業用ロボットのチャック保護装置 |
JP2002012321A (ja) * | 2000-06-30 | 2002-01-15 | Shibaura Mechatronics Corp | 基板搬送装置 |
Also Published As
Publication number | Publication date |
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CN102686370A (zh) | 2012-09-19 |
JPWO2011096033A1 (ja) | 2013-06-06 |
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