WO2015006989A1

WO2015006989A1 - Object position correction apparatus

Info

Publication number: WO2015006989A1
Application number: PCT/CN2013/079859
Authority: WO
Inventors: 杨国坤; 林昆贤; 齐明虎; 陈增宏; 汪永强; 舒志优; 李晨阳子; 杨卫兵; 蒋运芍
Original assignee: 深圳市华星光电技术有限公司
Priority date: 2013-07-19
Filing date: 2013-07-23
Publication date: 2015-01-22
Also published as: CN103350886B; CN103350886A

Abstract

An object position correction apparatus (500) comprises a support table (502); a translation member (501) for translating along a preset path, the translation member (501) being fixed to the support table (502); and a pincer-shaped member arranged on the support table (502), for correcting the position of a three-dimensional object. The object position correction apparatus (500) is able to prevent the occurrence of the case where a three-dimensional object cannot be corrected owing to a relatively large deviation of the original position of the three-dimensional object.

Description

Object position correction device

Technical field

The invention relates to the field of object handling and storage, and in particular to an object position correcting device.

Background technique

In the process of automatic handling or storage of articles (for example, Cassette), due to factors such as mechanical vibration or positioning error, the position of the object may deviate from the predetermined position, so in order to make the object in automatic handling Or the position during storage is relatively fixed, and the position of the object needs to be corrected.

For example, in a factory producing liquid crystal panels, a conventional automated handling system requires that a cassette containing a liquid crystal panel or substrate be transported from a machine of the previous process to a device of the next process. In the handling process, due to the inevitable mechanical vibration and mechanical positioning error, the positioning of the cassette tends to be biased, so the position correction of the cassette is required to prevent the cassette from being in the predetermined position, thereby making the card I have not been caught or fixed.

Conventional automated handling systems are typically provided with a cassette position correcting device to more accurately carry the cassette and complete the precise loading and unloading of the panel.

The conventional cassette position correcting device 100 is shown in FIG. 1. The conventional cassette position correcting device 100 includes a cylinder 101, a support plate 102, and two contact members 103. The cylinder 101 is connected to the support plate 102 for use. The support plate 102 is moved in a straight line, and the two contact members 103 are disposed on the support plate 102 for contacting the cassette 200 and performing position correction on the cassette 200. The two contact members 103 are provided. There is a certain distance between the intervals.

As shown in FIG. 2 and FIG. 3, the conventional cassette position correcting device 100 operates in such a manner that before the cassette 200 is corrected, the two cassette position correcting devices 100 are set in a facing state and are located at the cassette positioning point. Nearby, the two contact members 103 of the cassette position correcting device 100 are aligned with an edge of the cassette 200, as shown in FIG. When the cassette 200 is corrected, the cylinder 101 is returned from the original extended state, that is, toward the center in the diagonal direction of the cassette 200. Finally, the two contact members 103 of the cassette position correcting device 100 are Two adjacent planes of one edge of the cassette 200 are in contact with each other, and the two contact members 103 sandwich the edge to correct the position of the cassette 200, as shown in FIG.

In practice, the inventors have found that the prior art has at least the following problems:

As shown in FIG. 4, since the mechanical vibration is inevitably occurred in the process of transporting the articles by the automated handling system, the position of the cassette 200 is deviated, or the position of the cassette 200 is caused by the mechanical positioning error. deviation. When the deviation of the position of the cassette 200 is greater than the working range of the existing correction mechanism, the conventional cassette position correcting device 100 may be invalid, that is, the position of the cassette 200 cannot be corrected, and the cassette 200 is directly prevented from being abnormal. Unloading and loading, even unable to carry it properly, etc.

Therefore, it is necessary to propose a new technical solution to solve the above technical problems.

technical problem

SUMMARY OF THE INVENTION An object of the present invention is to provide an object position correcting device which can prevent occurrence of a situation in which a three-dimensional object cannot be corrected due to a large deviation of an initial position of a three-dimensional object.

Technical solution

An object position correcting device comprising: a support table; a translating member for translating according to a predetermined path, wherein the translating member is fixed to the support table; and a pincer member, wherein the pliers a member placed on the support table, the clamp member for correcting a position of the three-dimensional object; the clamp member comprising: a first clamp arm; a second clamp arm; and a first rotation axis Wherein the first clamping arm and the second clamping arm are disposed in a cross shape, and the intersection of the first clamping arm and the second clamping arm is movably connected by the first rotating shaft; A movable connecting portion is disposed on the support table, and the clamp member is connected to the movable connecting portion.

In the above object position correcting device, the pincer member further includes: a one-piece control member, wherein the tension control member and the first end of the first clamp arm and the second clamp arm a two-end movable connection, the tensioning control member is for controlling the tensioning of the first clamping arm and the second clamping arm; a second rotating shaft; and a third rotating shaft; wherein the tensioning The control member is movably coupled to the first end by the second rotating shaft, and the tensioning control member is movably coupled to the second end by the third rotating shaft.

In the above object position correcting device, the tension control member is a bending lever, the bending lever includes: a first bending arm; and a second bending arm; wherein the first bending An arm is movably coupled to the second bending arm, the first bending arm is movably coupled to the first end by the second rotating shaft, and the second bending arm passes through the third rotating shaft The second end is movably connected.

An object position correcting device comprising: a support table; a translating member for translating according to a predetermined path, wherein the translating member is fixed to the support table; and a pincer member, wherein the pliers A member is placed on the support table, and the pinch member is used to correct the position of the three-dimensional object.

In the above object position correcting device, the clamp member includes: a first clamp arm; a second clamp arm; and a first rotation shaft; wherein the first clamp arm and the second clamp arm are disposed In a cross shape, the intersection of the first clamping arm and the second clamping arm is movably connected by the first rotating shaft.

In the above object position correcting device, the intersection is disposed away from the third end and the fourth end, and is adjacent to a portion near the first end and the second end.

In the above object position correcting device, the pincer member further includes: a one-piece control member, wherein the tension control member and the first end of the first clamp arm and the second clamp arm The two ends are movably connected, and the tensioning control member is for controlling the engagement of the first clamping arm and the second clamping arm.

In the above object position correcting device, the pincer member further includes: a second rotating shaft; and a third rotating shaft; wherein the tensioning control member passes the second rotating shaft and the first end The movable connection is movably connected to the second end by the third rotating shaft.

In the above object position correcting device, the bending lever further includes: a biasing arm, wherein the first bending arm and the second bending arm are movably connected to the force applying arm.

In the above object position correcting device, the tension control member is a telescopic rod, and the telescopic rod has an elongated shape, and both ends of the telescopic rod respectively correspond to the first end of the first clamp arm The second end of the second clamp arm is movably coupled.

In the above object position correcting device, the telescopic rod includes: two studs, wherein the studs are movably connected to the first end and the second end respectively; a screw, wherein the screw The post and the stud are nested together.

In the above object position correcting device, the first clamp arm further includes a third end, and the second clamp arm further includes a fourth end; the clamp member further includes: a first movable contact member for The three-dimensional object is in active contact; and a second movable contact is for active contact with the three-dimensional object; wherein the first movable contact is disposed on the third end, the second movable contact Provided on the fourth end.

In the above object position correcting device, the first movable contact is a first pulley and the second movable contact is a second pulley.

In the above object position correcting device, the plane in which the first pulley and the second pulley are located is parallel to a horizontal plane.

In the above object position correcting device, the plane in which the first pulley and the second pulley are located and the horizontal mask have an angle of less than ninety degrees.

In the above object position correcting device, the support table is provided with a movable connecting portion, and the clamp member is connected to the movable connecting portion.

In the above object position correcting device, the movable connecting portion is a groove; the pincer member further includes: a sliding member, wherein a part of the sliding member is fixed to the clamp member, and the other portion is disposed In the groove.

In the above object position correcting device, the pincer member further includes: a spring, wherein the spring is coupled to the first clip arm and the second clip arm, and the spring is used to make the first The clamp arm and the second clamp arm have an elastic or closed elasticity that is open.

In the above object position correcting device, the article position correcting device includes at least two of the pincer members; wherein, in the vertical direction, at least two of the pincer members are disposed together in a linear array.

Beneficial effect

Compared with the prior art, the embodiment of the present invention utilizes the clamp member to positionally correct the three-dimensional object. Therefore, even if the initial position of the three-dimensional object has a large deviation, the three-dimensional object is still in the implementation of the present invention. In the receiving range of the object position correcting device of the example, the occurrence of a situation in which the stereoscopic object cannot be corrected is prevented.

DRAWINGS

Figure 1 is an isometric view of a conventional click position correcting device;

2 and 3 are schematic views showing the operation of the conventional cassette position correcting device;

Figure 4 is a schematic view showing the failure of the conventional cassette position correcting device;

Figure 5 is an isometric view of an object position correcting device according to an embodiment of the present invention;

6 and 7 are schematic views showing the operation of the object position correcting device according to the embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

The following description of the various embodiments is provided to illustrate the specific embodiments of the invention.

Referring to FIG. 5, FIG. 5 is an isometric view of an object position correcting device 500 according to an embodiment of the present invention.

The object position correcting device 500 of the embodiment of the present invention includes a support table 502, a translating member 501, and a pincer member. Wherein the support table 502 is for placing the clamp member; the translation member 501 is for translating according to a predetermined path, the translation member 501 is fixed with the support table 502; On the support table 502, the clamp member is used to correct the position of the three-dimensional object 200 (for example, a cassette).

In the object position correcting device 500 of the embodiment of the invention, the pinch member includes a first clamping arm 503, a second clamping arm 504 and a first rotating shaft 505. The first clamp arm 503 has a first end 5031 and a third end 5032, and the second clamp arm 504 has a second end 5041 and a fourth end 5042. The first clamping arm 503 and the second clamping arm 504 are disposed in a cross shape, and the intersection of the first clamping arm 503 and the second clamping arm 504 is movably connected by the first rotating shaft 505. The first clamping arm 503 and the second clamping arm 504 of the clamp member can be opened and closed by the first rotating shaft 505. The manner in which the clamp member corrects the position of the three-dimensional object 200 is: first, the first clamp arm 503 and the second clamp arm 504 are in an open state, as shown in FIG. The object position correcting device 500 of the embodiment of the present invention has a larger range for receiving the three-dimensional object 200; then, the object position correcting device 500 of the embodiment of the present invention approaches the three-dimensional object 200 through the translating member 501 until a predetermined distance from the three-dimensional object 200; finally, the first clamping arm 503 and the second clamping arm 504 are closed, such that the third end 5032 of the first clamping arm 503 and the second clamping arm The fourth end 5042 of the 504 is in contact with the three-dimensional object 200, thereby correcting the position of the three-dimensional object 200. Thus, even if the initial position of the three-dimensional object 200 has a large deviation, the three-dimensional object 200 is still in the receiving range of the object position correcting device 500 of the embodiment of the present invention, preventing the three-dimensional object 200 from being corrected. The emergence of the situation.

As an improvement, in order to make the object position correcting device 500 of the embodiment of the present invention have a larger receiving range, the intersection of the first clamping arm 503 and the second clamping arm 504 (the first rotating shaft 505) The location is located away from the third end 5032 and the fourth end 5042, adjacent to a portion near the first end 5031 and the second end 5041.

In order to better control the opening and closing of the first clamping arm 503 and the second clamping arm 504, in the object position correcting device 500 of the embodiment of the invention, the clamp member further includes a single control. a piece 506, the tensioning control member 506 is movably coupled to the first end 5031 of the first clamping arm 503 and the second end 5041 of the second clamping arm 504, and the tensioning control member 506 is used to control the The first clamping arm 503 is in tension with the second clamping arm 504.

The clamp member further includes a second rotation shaft 5033 and a third rotation shaft (not shown), and the second rotation shaft 5033 is disposed at the first end 5031 of the first clamp arm 503. The third rotating shaft is disposed at the second end 5041 of the second clamping arm 504. The tensioning control member 506 is movably coupled to the first end 5031 by the second rotating shaft 5033, and the tensioning control member 506 is movably coupled to the second end 5041 by the third rotating shaft.

In the object position correcting device 500 of the embodiment of the present invention, the tension control member 500 is a bending rod, and the bending rod includes a first bending arm 5061, a second bending arm 5062, and a Force arm 5063. The first bending arm 5061 and the second bending arm 5062 are movably connected to the urging arm 5063, that is, one end of the first bending arm 5061 and the second bending arm 5062 are The other end of the first bending arm 5061 is movably connected to the first end 5031 through the second rotating shaft 5033, and the other end of the second bending arm 5062 is movably connected to the urging arm 5063. The second end 5041 is movably connected by the third rotating shaft. Controlling the distance between the first end 5031 and the second end 5041 by applying a thrust or pulling force to the force applying arm 5063 in a predetermined direction, thereby controlling the first clamping arm 503 and the second clamping The arms 504 are opened and closed.

As an alternative, the tensioning control member 506 is a telescopic rod, the telescopic rod is elongated, and the two ends of the telescopic rod are respectively connected with the first end of the first clamping arm 503. The second end 5041 of the second clamping arm 504 is movably coupled to the body of the second clamping arm 504, and the body portion of the telescopic rod is disposed to be telescopic. For example, the rod body of the telescopic rod is provided in two parts, one part is a stud with a thread on the outer surface of the column body, and the other part is a threaded screw tube inside the tube body, and the stud or the screw tube is set to be Rotating, the stud is sleeved with the solenoid, and the distance between the first end 5031 and the second end 5041 is controlled by twisting the stud or the screw, thereby realizing The opening and closing of the first clamp arm 503 and the second clamp arm 504 are controlled. For another example, the rod body of the telescopic rod is disposed in three parts, wherein both parts are studs, and the third part is a screw or a nut, and the two studs respectively and the first end 5031 of the first clamping arm 503 The second end 5041 of the second clamping arm 504 is movably connected, and the nut or the nut is sleeved with the two studs, and the screw is controlled by screwing the nut or the nut. The distance between an end 5031 and the second end 5041, thereby controlling the opening and closing of the first clamp arm 503 and the second clamp arm 504.

In the object position correcting device 500 of the embodiment of the present invention, the pincer member further includes a first movable contact and a second movable contact. The first movable contact and the second movable contact are both for moving contact with the three-dimensional object 200; the first movable contact is disposed on the third end 5032, the second movable contact A piece is disposed on the fourth end 5042.

In the article position correcting device 500 of the embodiment of the present invention, the first movable contact is a first pulley 507, and the second movable contact is a second pulley 508. The first pulley 507 and the second pulley 508 are placed flat or inclined, that is, the plane in which the first pulley 507 and the second pulley 508 are located is parallel to the horizontal plane or has less than ninety degrees with the horizontal mask. Angle. a fourth rotation axis of the first pulley 507 and a fifth rotation axis of the second pulley 508 are respectively fixed at a third end 5032 of the first clamp arm 503 and a fourth end of the second clamp arm 504 At the end 5042. Since the first pulley 507 and the second pulley 508 are rotatable about the fourth rotation axis and the fifth rotation axis, respectively, by the first pulley 507 and the second pulley 508, The article position correcting device 500 of the embodiment of the invention can guide the three-dimensional object 200 into its receiving range, and further, since it is in contact with the three-dimensional object 200 through the first pulley 507 and the second pulley 508, The first clamp arm 503 and the second clamp arm 504 do not cause scratches or the like on the three-dimensional object 200.

In the object position correcting device 500 of the embodiment of the present invention, as an improvement, the support base 502 is provided with a movable connecting portion, and the clamp member is connected to the movable connecting portion, and the movable connecting portion is A groove 5021. The clamp member further includes a sliding member (not shown), the sliding member is disposed at a bottom of the clamp member, and a portion of the sliding member is fixed to the clamp member, for example, The slider is fixed to one end of the first rotating shaft 505, and the other portion is placed in the recess 5021. The clamp member may be linearly moved along the groove 5021 by the sliding member, that is, the clamp member may be adjacent to the three-dimensional object 200 along the groove 5021 or away from the three-dimensional object 200. .

In the article position correcting device 500 of the embodiment of the present invention, the pincer member further includes a spring 509 connected to the first clip arm 503 and the second clip arm 504, the spring 509 For making the first clamping arm 503 and the second clamping arm 504 have an elastic or closed elasticity, which is advantageous for keeping the first clamping arm 503 and the second clamping arm 504 outward Inertia (trend) that opens or closes inward.

In the article position correcting device 500 of the embodiment of the invention, the translating member is a cylinder 501 (the piston of the cylinder is not shown).

As an improvement, since the three-dimensional object 200 that needs to correct the position tends to have a certain height, that is, an edge thereof has a certain length, the object position correcting device 500 and the edge of the embodiment of the present invention There is only one contact point, which is disadvantageous in making the position of the three-dimensional object 200 more stable, that is, it is disadvantageous for the corrected three-dimensional object 200 to maintain the same position for a long time. In order to cause the three-dimensional object 200 to be stably positioned in the corrected position after being position-corrected by the article position correcting device 500 of the embodiment of the present invention, it is not easily moved to other positions, and therefore, in the vertical direction ( At least two of the pincer members are disposed in a linear array in a direction perpendicular to a plane in which the support table 502 is located, and at least two of the pinch members may be connected to each other, and at the same time, at least The second clamp arms 504 of the two jaw members may also be connected to each other, and at least two of the clamp members may share the same first rotation shaft 505 and the same tension control member 506. Thus, in the vertical direction, the object position correcting device 500 of the embodiment of the present invention has more contact points with the edge of the three-dimensional object 200, which is advantageous for making the three-dimensional object 200 stable (long time unchanged) ) is in the corrected position.

In the above, the present invention has been disclosed in the above preferred embodiments, but the preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various modifications without departing from the spirit and scope of the invention. The invention is modified and retouched, and the scope of the invention is defined by the scope defined by the claims.

Embodiments of the invention

Industrial applicability

Sequence table free content

Claims

An object position correcting device comprising:

a support table;

a translating member for translating according to a predetermined path, wherein the translating member is fixed to the support table;

a clamp member, wherein the clamp member is placed on the support table, and the clamp member is used to correct a position of the three-dimensional object;

The pincers include:

a first clamping arm;

a second clamp arm;

a first axis of rotation;

Wherein the first clamping arm and the second clamping arm are arranged in a cross shape, and the intersection of the first clamping arm and the second clamping arm is movably connected by the first rotating shaft;

Wherein, the support platform is provided with a movable connecting portion, and the clamp member is connected to the movable connecting portion.
The article position correcting device according to claim 1, wherein the pincer member further comprises:

a hinge control member, wherein the tension control member is movably coupled to the first end of the first clamp arm and the second end of the second clamp arm, and the tension control member is configured to control the Opening of the first clamping arm and the second clamping arm;

a second axis of rotation;

a third axis of rotation;

The tensioning control member is movably connected to the first end by the second rotating shaft, and the tensioning control member is movably connected to the second end by the third rotating shaft.
The object position correcting device according to claim 2, wherein said tensioning control member is a bending lever, and said bending lever comprises:

a first bending arm;

a second bending arm;

Wherein the first bending arm is movably connected to the second bending arm, and the first bending arm is movably connected to the first end by the second rotating shaft, the second bending arm Connecting to the second end by the third rotating shaft.
An object position correcting device comprising:

a support table;

a translating member for translating according to a predetermined path, wherein the translating member is fixed to the support table;

A pinch member, wherein the pinch member is placed on the support table, and the pinch member is used to correct the position of the three-dimensional object.
The article position correcting device according to claim 4, wherein said pinch member comprises:

a first clamping arm;

a second clamp arm;

a first axis of rotation;

Wherein, the first clamping arm and the second clamping arm are arranged in a cross shape, and the intersection of the first clamping arm and the second clamping arm is movably connected by the first rotating shaft.
The article position correcting device according to claim 5, wherein said intersection is disposed away from said third end and said fourth end, adjacent to a portion near said first end and said second end.
The article position correcting device according to claim 5, wherein the pincer member further comprises:

a hinge control member, wherein the tension control member is movably coupled to the first end of the first clamp arm and the second end of the second clamp arm, and the tension control member is configured to control the The first clamp arm is in tension with the second clamp arm.
The article position correcting device according to claim 7, wherein the pincer member further comprises:

a second axis of rotation;

a third axis of rotation;

The tensioning control member is movably connected to the first end by the second rotating shaft, and the tensioning control member is movably connected to the second end by the third rotating shaft.
The object position correcting device according to claim 8, wherein the tension control member is a bending lever, and the bending lever comprises:

a first bending arm;

a second bending arm;

Wherein the first bending arm is movably connected to the second bending arm, and the first bending arm is movably connected to the first end by the second rotating shaft, the second bending arm Connecting to the second end by the third rotating shaft.
The article position correcting device according to claim 9, wherein the bending lever further comprises:

An urging arm, wherein the first bending arm and the second bending arm are movably connected to the urging arm.
The object position correcting device according to claim 7, wherein the tension control member is a telescopic rod, and the telescopic rod has an elongated shape, and both ends of the telescopic rod and the first clamp arm are respectively The first end and the second end of the second clamp arm are movably connected.
The article position correcting device according to claim 11, wherein said telescopic rod comprises:

Two studs, wherein the two studs are movably connected to the first end and the second end, respectively;

a solenoid, wherein the stud and the stud are sleeved together.
The article position correcting device according to claim 5, wherein said first clamp arm further comprises a third end, and said second clamp arm further comprises a fourth end;

The pincers further includes:

a first movable contact for active contact with the three-dimensional object;

a second movable contact member for movably contacting the three-dimensional object;

The first movable contact is disposed on the third end, and the second movable contact is disposed on the fourth end.
The article position correcting device according to claim 13, wherein said first movable contact is a first pulley and said second movable contact is a second pulley.
The article position correcting device according to claim 14, wherein a plane in which said first pulley and said second pulley are located are parallel to a horizontal plane.
The article position correcting device according to claim 14, wherein the plane in which the first pulley and the second pulley are located has an angle of less than ninety degrees with the horizontal mask.
The article position correcting device according to claim 4, wherein said support table is provided with a movable connecting portion, and said pinch member is coupled to said movable connecting portion.
The object position correcting device according to claim 17, wherein said movable connecting portion is a groove;

The pincers further includes:

A slider wherein a portion of the slider is fixed to the jaw member and another portion is disposed within the recess.
The article position correcting device according to claim 4, wherein the pincer member further comprises:

a spring, wherein the spring is coupled to the first clamp arm and the second clamp arm, the spring being used to cause the first clamp arm and the second clamp arm to have an elastic or open expansion Flexibility.
The article position correcting device according to claim 4, wherein said article position correcting means comprises at least two of said pincer members;

Wherein, in the vertical direction, at least two of the pincer members are arranged together in a linear array.