WO2020177180A1 - Panel fixture - Google Patents

Panel fixture Download PDF

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Publication number
WO2020177180A1
WO2020177180A1 PCT/CN2019/082388 CN2019082388W WO2020177180A1 WO 2020177180 A1 WO2020177180 A1 WO 2020177180A1 CN 2019082388 W CN2019082388 W CN 2019082388W WO 2020177180 A1 WO2020177180 A1 WO 2020177180A1
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WO
WIPO (PCT)
Prior art keywords
screw
panel
rod
longitudinal
carrier
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PCT/CN2019/082388
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French (fr)
Chinese (zh)
Inventor
宣楚兵
梁健
李志明
Original Assignee
武汉华星光电技术有限公司
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Publication date
Priority to CN201910163763.0A priority Critical patent/CN109704021A/en
Priority to CN201910163763.0 priority
Application filed by 武汉华星光电技术有限公司 filed Critical 武汉华星光电技术有限公司
Publication of WO2020177180A1 publication Critical patent/WO2020177180A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22Devices influencing the relative position or the attitude of articles during transit by conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials

Abstract

Disclosed is a panel fixture (100), used for positioning and moving a plurality of panels simultaneously, comprising: a stage (10); a longitudinal fixing system (20) provided on the stage (10) and configured to longitudinally fix a panel (A) so as to enable the panel (A) to move in a longitudinal direction; and a transverse fixing system (30) provided on the stage (10) and configured to transversely fix the panel (A) so as to enable the panel (A) to move in a transverse direction. The longitudinal fixing system (20) comprises: four cylinder groups (210), a longitudinal screw (220), four longitudinal guide rails (230), and a longitudinal servo motor (280). The transverse fixing system (30) comprises: a transverse screw (320), two slider sets (390), a transverse servo motor (380), two transverse guide rails (330), and a manipulator (40). The panel fixture can be compatible with multiple sizes and achieve precise positioning of panels.

Description

面板夹具Panel fixture 技术领域Technical field
本发明是有关于一种面板夹具,特别是有关于一种用于定位及移动面板的面板夹具。The present invention relates to a panel fixture, in particular to a panel fixture for positioning and moving panels.
背景技术Background technique
传统的面板夹正机构只能一次对单片面板前后左右夹正定位,无法对多片面板同时夹正;当有机器人配合工作时,由于无法快速对面板实现精确定位,所以无法快速一次性多片取放,严重影响产品的制造流程,影响产能。The traditional panel clamping mechanism can only clamp the front, rear, left, and right of a single panel at a time, and cannot clamp multiple panels at the same time; when there are robots working together, they cannot quickly achieve precise positioning of the panel, so they cannot quickly perform multiple operations at a time. Film pick-and-place seriously affects the product manufacturing process and production capacity.
技术问题technical problem
因此,基于上述原有面板夹正机构存在的种种弊端,亟需一种可有效定位及移动多个面板的面板夹具。Therefore, based on the various drawbacks of the aforementioned original panel clamping mechanism, there is an urgent need for a panel clamp that can effectively position and move multiple panels.
技术解决方案Technical solutions
据此,依据本发明的一实施例,提供一种面板夹具,用于定位及移动至少一面板,包括:一载台;一纵向固定系统,配置于所述载台上,用于纵向固定所述面板,使所述面板于一纵向上移动;以及一横向固定系统,配置于所述载台上,用于横向固定所述面板,使所述面板于一横向上移动。Accordingly, according to an embodiment of the present invention, a panel fixture is provided for positioning and moving at least one panel, including: a carrier; a longitudinal fixing system, configured on the carrier, for longitudinally fixing the The panel enables the panel to move in a longitudinal direction; and a transverse fixing system is arranged on the carrier to fix the panel in a transverse direction so that the panel moves in a transverse direction.
在本发明的一实施例中,所述纵向固定系统包括:四个气缸组,两两对称地配置于所述载台上,其中所述四个气缸组用以装载所述至少一面板;一纵向螺杆,包括旋向相反的一第一螺杆及一第二螺杆,其中所述纵向螺杆沿着所述载台的一纵向中轴线延伸配置于所述两两对称的四个汽缸组之间,且所述第一螺杆及所述第二螺杆以一第一联轴器彼此相接,其中所述纵向螺杆之一端固定至所述载台;四个纵向导轨,两两一组分别沿着所述载台的两相对的纵向边缘延伸,对称固定于所述载台上;一第一连杆及一第二连杆,垂直于所述纵向螺杆,对称于所述第一联轴器平行延伸,其中所述第一螺杆及所述第二螺杆分别垂直穿过所述第一连杆及所述第二连杆的中心点,且所述第一连杆及所述第二连杆中的两端分别固定于四个滑块上,所述四个滑块分别装设在所述四个纵向导轨上;以及一纵向伺服马达,链接于所述纵向螺杆之另一端,控制所述第一螺杆及所述第二螺杆具有相反旋向,使所述第一螺杆及所述第二螺杆带动所述第一连杆及所述第二连杆于所述纵向上对称移动。In an embodiment of the present invention, the longitudinal fixing system includes: four cylinder groups arranged symmetrically on the carrier table by two, wherein the four cylinder groups are used to load the at least one panel; The longitudinal screw includes a first screw and a second screw with opposite rotation directions, wherein the longitudinal screw extends along a longitudinal center axis of the carrier and is arranged between the two symmetrical four cylinder groups, And the first screw and the second screw are connected to each other by a first coupling, wherein one end of the longitudinal screw is fixed to the carrier; four longitudinal guide rails, two sets of two are respectively along the The two opposite longitudinal edges of the carrier extend and are symmetrically fixed on the carrier; a first connecting rod and a second connecting rod, perpendicular to the longitudinal screw, extend symmetrically to the first coupling in parallel , Wherein the first screw rod and the second screw rod vertically pass through the center points of the first connecting rod and the second connecting rod, and the first connecting rod and the second connecting rod The two ends are respectively fixed on four sliding blocks, the four sliding blocks are respectively installed on the four longitudinal guide rails; and a longitudinal servo motor, which is linked to the other end of the longitudinal screw, controls the first The screw and the second screw have opposite rotation directions, so that the first screw and the second screw drive the first connecting rod and the second connecting rod to move symmetrically in the longitudinal direction.
在本发明的一实施例中,所述横向固定系统包括:一横向丝杆,包括旋向相反的一第一丝杆及一第二丝杆,其中所述横向丝杆沿着所述载台的一横向中轴线延伸排列于两两对称的四个汽缸组之间,且所述第一丝杆及所述第二丝杆以一第二联轴器彼此相接,其中所述横向丝杆之一端固定至所述载台;两个滑块组,每个滑块组各包括两个滚珠滑块,所述第一丝杆及所述第二丝杆分别穿过所述两个滚珠滑块,其中所述两个滚珠滑块分别固定于一横向连杆的两端,藉此使所述两个滚珠滑块分别在所述第一丝杆及所述第二丝杆上的移动方式为同步同方向;一横向伺服马达,链接于所述横向丝杆之另一端,以相反两旋向分别控制所述第一丝杆及所述第二丝杆分别带动所述两个滑块组于所述横向上进行对称运动;两个横向导轨,平行于所述横向丝杆,分别沿着所述载台的两相对的横向边缘延伸,对称固定于所述载台上;以及一机械手,用于固定所述面板,所述机械手藉由至少两个横向滑块分别固定于所述两个横向导轨上,使所述机械手配合所述面板于所述横向上移动。In an embodiment of the present invention, the lateral fixing system includes: a lateral screw, including a first screw and a second screw with opposite rotation directions, wherein the lateral screw is along the carrier A horizontal central axis of the two symmetrical cylinders extends between the four cylinder groups, and the first screw rod and the second screw rod are connected to each other by a second coupling, wherein the horizontal screw rod One end is fixed to the carrier; two slider groups, each slider group includes two ball sliders, the first screw rod and the second screw rod pass through the two ball sliders respectively Block, wherein the two ball sliders are respectively fixed to the two ends of a transverse connecting rod, so that the two ball sliders move on the first screw rod and the second screw rod respectively Synchronous in the same direction; a transverse servo motor, linked to the other end of the transverse screw rod, controls the first screw rod and the second screw rod to drive the two slider groups respectively in two opposite directions of rotation Perform symmetrical movement in the transverse direction; two transverse guide rails, parallel to the transverse screw rod, respectively extend along two opposite transverse edges of the carrier, and are symmetrically fixed on the carrier; and a manipulator, For fixing the panel, the manipulator is fixed on the two transverse guide rails by at least two transverse sliding blocks respectively, so that the manipulator cooperates with the panel to move in the transverse direction.
在本发明的一实施例中,所述四个气缸组中的每一组皆包括:一伸出气缸,配置在所述载台的一横向边缘;一第一顶伸气缸,临靠所述伸出气缸,由所述伸出气缸驱动,用于定位所述面板:以及一第二顶升气缸,固定于所述第一连杆或第二连杆上,对应并配合所述第一顶伸气缸共同夹紧所述面板。In an embodiment of the present invention, each of the four cylinder groups includes: an extended cylinder arranged on a lateral edge of the carrier; a first extended cylinder adjacent to the extended cylinder The ejection cylinder, driven by the extension cylinder, is used to position the panel: and a second jacking cylinder, fixed on the first connecting rod or the second connecting rod, corresponding to and cooperating with the first jacking rod The cylinders clamp the panel together.
在本发明的一实施例中,所述四个气缸组中之2至4者同时用于定位及移动2至4个面板。In an embodiment of the present invention, 2 to 4 of the four cylinder groups are used to position and move 2 to 4 panels at the same time.
在本发明的一实施例中,四个所述第二顶升气缸两两一组分别固定于所述第一连杆及所述第二连杆上,于纵向上对称移动。In an embodiment of the present invention, two sets of four second jacking cylinders are fixed on the first connecting rod and the second connecting rod, respectively, and move symmetrically in the longitudinal direction.
在本发明的一实施例中,四个所述第一顶升气缸分别和四个所述伸出气缸配合使用,以夹紧所述面板,并确保所述2至4个面板于定位前后的参考位置一致,使所述2至4个面板中之一者与另一者的间距符合各种不同的设定值。In an embodiment of the present invention, the four first jacking cylinders are used in conjunction with the four protruding cylinders to clamp the panel and ensure that the 2 to 4 panels are positioned before and after positioning. The reference positions are consistent, so that the distance between one of the 2 to 4 panels and the other meets various setting values.
在本发明的一实施例中,所述面板之定位藉由所述伸出气缸及所述第一顶升气缸的气缸传动来完成,以配合不同尺寸的面板大小自动切换所述第一顶升气缸与所述第二顶升气缸之间距;而所述面板之横向移动及纵向移动则藉由所述第一伺服马达及所述第二伺服马达的马达驱动来完成。In an embodiment of the present invention, the positioning of the panel is completed by the cylinder transmission of the extension cylinder and the first jacking cylinder, so as to automatically switch the first jacking to match the size of the panel of different sizes. The distance between the cylinder and the second jacking cylinder; and the horizontal movement and the vertical movement of the panel are completed by the motors of the first servo motor and the second servo motor.
在本发明的一实施例中,所述第一顶升气缸与所述第二顶升气缸之间距为4-12 inch。In an embodiment of the present invention, the distance between the first jacking cylinder and the second jacking cylinder is 4-12 inches.
在本发明的一实施例中,所述两个滑块组在所述横向丝杆上移动靠近或移动远离。In an embodiment of the present invention, the two slider groups move closer or farther away on the transverse screw rod.
在本发明的一实施例中,所述机械手包括下列任一者:一叉式(fork)机械手、及六轴机械手。In an embodiment of the present invention, the manipulator includes any one of the following: a fork manipulator and a six-axis manipulator.
在本发明的一实施例中,所述的面板夹具更包括一第一轴承、一第一轴承座、一第二轴承、及一第二轴承座,其中所述纵向螺杆之一端固定于一第一轴承;所述横向丝杆之一端固定于一第二轴承,且所述第一轴承藉由一第一轴承座固定于所述载台,且所述第二轴承藉由一第二轴承座固定于所述载台。In an embodiment of the present invention, the panel fixture further includes a first bearing, a first bearing seat, a second bearing, and a second bearing seat, wherein one end of the longitudinal screw is fixed to a first bearing seat. A bearing; one end of the transverse screw rod is fixed to a second bearing, and the first bearing is fixed to the carrier through a first bearing seat, and the second bearing is fixed to a second bearing seat Fixed to the carrier.
在本发明的一实施例中,所述第一螺杆及所述第二螺杆带动所述第一连杆及所述第二连杆于所述纵向上对称移动,如此一来,位于所述第一连杆上之所述第二顶升气缸与位于所述第二连杆上之所述第二顶升气缸同步对称运动,据此,装载于所述第二顶升气缸上之所述2至4个面板中之一者与装载于所述另一第二顶升气缸上之所述2至4个面板中之另一者同步对称运动。In an embodiment of the present invention, the first screw and the second screw drive the first connecting rod and the second connecting rod to move symmetrically in the longitudinal direction. The second jacking cylinder on a connecting rod and the second jacking cylinder on the second connecting rod move synchronously and symmetrically, and accordingly, the 2 loaded on the second jacking cylinder One of the four panels and the other of the two to four panels loaded on the other second jacking cylinder move synchronously and symmetrically.
有益效果Beneficial effect
本发明提供一种面板夹具,其为一四方夹定位机构,可以兼容中小多尺寸,实现精确定位,同时可以满足不同工业机械手作业。The invention provides a panel clamp, which is a four-square clamp positioning mechanism, which can be compatible with small and medium sizes, realize accurate positioning, and can meet the tasks of different industrial manipulators.
附图说明Description of the drawings
为了更清楚地说明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单介绍,显而易见地,下面描述中的附图仅仅是发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to explain the embodiments or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are merely inventions For some embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative work.
图1为本发明之实施例的面板夹具示意图。Fig. 1 is a schematic diagram of a panel fixture according to an embodiment of the present invention.
图2为本发明之实施例的纵向固定系统示意图。Fig. 2 is a schematic diagram of a longitudinal fixing system according to an embodiment of the present invention.
图3为本发明之实施例的横向固定系统示意图。Fig. 3 is a schematic diagram of a lateral fixing system according to an embodiment of the present invention.
图4为本发明之实施例的横向固定系统中横向丝杆、滑块组、联轴器及横向伺服马达的示意图。4 is a schematic diagram of the transverse screw rod, the sliding block group, the coupling and the transverse servo motor in the transverse fixing system of the embodiment of the present invention.
本发明的最佳实施方式The best mode of the invention
为让本发明的上述内容能更明显易懂,下文特举优选实施例,并配合所附图式作详细说明。In order to make the above-mentioned content of the present invention more obvious and understandable, preferred embodiments are described in detail below in conjunction with the accompanying drawings.
以下各实施例的说明是参考附加的图示,用以例示本发明可用以实施的特定实施例。本发明所提到的方向用语,例如[纵向]、[横向]、[上]、[下]、[前]、[后]、[左]、[右]、[内]、[外]、[侧面]等,仅是参考附加图式的方向。因此,使用的方向用语是用以说明及理解本发明,而非用以限制本发明。在图中,结构相似的单元是用以相同标号表示。The description of the following embodiments refers to the attached drawings to illustrate specific embodiments that the present invention can be implemented. The directional terms mentioned in the present invention, such as [vertical], [horizontal], [top], [bottom], [front], [back], [left], [right], [inside], [outside], [Side], etc., only refer to the direction of the attached drawings. Therefore, the directional terms used are used to describe and understand the present invention, rather than to limit the present invention. In the figure, units with similar structures are indicated by the same reference numerals.
本发明提供一种面板夹具,其为一四方夹定位机构,可以兼容中小多尺寸,实现精确定位,同时可以满足不同工业机械手作业。The invention provides a panel clamp, which is a four-square clamp positioning mechanism, which can be compatible with small and medium sizes, realize accurate positioning, and can meet the tasks of different industrial manipulators.
据此,本发明的一实施例提供了一种面板夹具,如图1至图3所示,图1为本发明之实施例的面板夹具示意图;图2为本发明之实施例的纵向固定系统示意图;图3为本发明之实施例的横向固定系统示意图,其中所述面板夹具100用于定位及移动至少一面板A,包括:一载台10;一纵向固定系统20,配置于所述载台10上,用于纵向固定所述面板A,使所述面板A于一纵向上移动;以及一横向固定系统30,配置于所述载台10上,用于横向固定所述面板A,使所述面板A于一横向上移动。Accordingly, an embodiment of the present invention provides a panel clamp, as shown in Figures 1 to 3. Figure 1 is a schematic diagram of a panel clamp according to an embodiment of the present invention; Figure 2 is a longitudinal fixing system according to an embodiment of the present invention Schematic diagram; Figure 3 is a schematic diagram of a lateral fixing system according to an embodiment of the present invention, in which the panel clamp 100 is used to position and move at least one panel A, including: a carrier 10; a longitudinal fixation system 20, configured on the carrier The platform 10 is used to fix the panel A longitudinally so that the panel A can move in a longitudinal direction; and a lateral fixing system 30 is arranged on the carrier 10 and is used to fix the panel A laterally so that The panel A moves in a lateral direction.
一并参见图1及图2,具体而言,在本发明的一实施例中,所述纵向固定系统20包括:四个气缸组210,两两对称地配置于所述载台10上,其中所述四个气缸组210用以装载所述至少一面板A;一纵向螺杆220,包括旋向相反的一第一螺杆221及一第二螺杆222,其中所述纵向螺杆220沿着所述载台10的一纵向中轴线延伸配置于所述两两对称的四个汽缸组210之间,且所述第一螺杆221及所述第二螺杆222以一第一联轴器223彼此相接,其中所述纵向螺杆220之一端固定至所述载台10;四个纵向导轨230,两两一组分别沿着所述载台10的两相对的纵向边缘延伸111,对称固定于所述载台10上;一第一连杆250及一第二连杆260,垂直于所述纵向螺杆220,对称于所述第一联轴器223平行延伸,其中所述第一螺杆221及所述第二螺杆222分别垂直穿过所述第一连杆250及所述第二连杆260的中心点,且所述第一连杆250及所述第二连杆260中的两端分别固定于四个滑块240上,所述四个滑块240分别装设在所述四个纵向导轨230上;以及一纵向伺服马达280,链接于所述纵向螺杆220之另一端,控制所述第一螺杆221及所述第二螺杆222具有相反旋向,使所述第一螺杆221及所述第二螺杆222带动所述第一连杆250及所述第二连杆260于所述纵向上对称移动。1 and 2 together, specifically, in an embodiment of the present invention, the longitudinal fixing system 20 includes four cylinder groups 210, which are arranged symmetrically on the carrier 10, wherein The four cylinder groups 210 are used to load the at least one panel A; a longitudinal screw 220 includes a first screw 221 and a second screw 222 that rotate in opposite directions, wherein the longitudinal screw 220 runs along the load A longitudinal center axis of the table 10 extends between the two symmetrical four cylinder groups 210, and the first screw 221 and the second screw 222 are connected to each other by a first coupling 223, One end of the longitudinal screw 220 is fixed to the carrier 10; four longitudinal guide rails 230, two in two groups, respectively extend 111 along two opposite longitudinal edges of the carrier 10, and are fixed to the carrier symmetrically 10; a first connecting rod 250 and a second connecting rod 260, perpendicular to the longitudinal screw 220, symmetrically extending parallel to the first coupling 223, wherein the first screw 221 and the second The screw 222 vertically passes through the center points of the first link 250 and the second link 260, and two ends of the first link 250 and the second link 260 are respectively fixed to four On the slider 240, the four sliders 240 are respectively installed on the four longitudinal guide rails 230; and a longitudinal servo motor 280, linked to the other end of the longitudinal screw 220, controls the first screw 221 And the second screw 222 have opposite rotation directions, so that the first screw 221 and the second screw 222 drive the first connecting rod 250 and the second connecting rod 260 to move symmetrically in the longitudinal direction.
继续参见图1及图2,在本发明的一实施例中,所述四个气缸组210中的每一组皆包括:一伸出气缸211,配置在所述载台的一横向边缘112;一第一顶伸气缸212,临靠所述伸出气缸211,由所述伸出气缸211驱动,用于定位所述面板A:以及一第二顶升气缸213,固定于所述第一连杆250或第二连杆上260,对应并配合所述第一顶伸气缸212共同夹紧所述面板A。Continuing to refer to FIGS. 1 and 2, in an embodiment of the present invention, each of the four cylinder groups 210 includes: a protruding cylinder 211 arranged on a lateral edge 112 of the carrier; The first jacking cylinder 212, adjacent to the protruding cylinder 211, is driven by the protruding cylinder 211, and is used to position the panel A: and a second jacking cylinder 213, which is fixed to the first connecting rod 250 or 260 on the second connecting rod, corresponding to and cooperating with the first protruding cylinder 212 to clamp the panel A together.
继续参见图2,在本发明的一实施例中,四个所述第二顶升气缸213两两一组分别固定于所述第一连杆250及所述第二连杆260上,于纵向上对称移动。Continuing to refer to FIG. 2, in an embodiment of the present invention, four second jacking cylinders 213 are fixed on the first connecting rod 250 and the second connecting rod 260 in two groups, respectively, in the longitudinal direction Move up symmetrically.
如图1及图2所示,在本发明的一实施例中,所述第一螺杆221及所述第二螺杆222带动所述第一连杆250及所述第二连杆260于所述纵向上对称移动,如此一来,位于所述第一连杆250上之所述第二顶升气缸213与位于所述第二连杆260上之所述第二顶升气缸213同步对称运动,据此,装载于所述第二顶升气缸213上之所述2至4个面板中之一者与装载于所述另一第二顶升气缸213上之所述2至4个面板中之另一者同步对称运动。As shown in Figures 1 and 2, in an embodiment of the present invention, the first screw 221 and the second screw 222 drive the first connecting rod 250 and the second connecting rod 260 to the Move symmetrically in the longitudinal direction, so that the second jacking cylinder 213 located on the first connecting rod 250 and the second jacking cylinder 213 located on the second connecting rod 260 move synchronously and symmetrically, Accordingly, one of the 2 to 4 panels mounted on the second jacking cylinder 213 and the 2 to 4 panels mounted on the other second jacking cylinder 213 The other moves synchronously and symmetrically.
如图1及图2所示,在本发明的一实施例中,所述四个气缸组210中之2至4者亦可同时用于定位及移动2至4个面板A、B、C、D。具体而言,四个所述第一顶升气缸212分别和四个所述伸出气缸211配合使用,以夹紧所述面板A、B、C、D,并确保所述2至4个面板于定位前后的参考位置一致,使所述2至4个面板中之一者与另一者的间距符合各种不同的设定值。As shown in Figures 1 and 2, in an embodiment of the present invention, 2 to 4 of the four cylinder banks 210 can also be used to position and move 2 to 4 panels A, B, C, D. Specifically, the four first jacking cylinders 212 are used in conjunction with the four extension cylinders 211 to clamp the panels A, B, C, and D, and ensure that the 2 to 4 panels The reference positions before and after positioning are consistent, so that the distance between one of the 2 to 4 panels and the other meets various setting values.
在本发明的一实施例中,所述第一顶升气缸与所述第二顶升气缸之间距为4-12 inch。In an embodiment of the present invention, the distance between the first jacking cylinder and the second jacking cylinder is 4-12 inches.
图4为本发明之实施例的横向固定系统中横向丝杆、滑块组、联轴器及横向伺服马达的示意图。一并参见图3及图4,具体而言,在本发明的一实施例中,所述横向固定系统30包括,一横向丝杆320,包括旋向相反的一第一丝杆321及一第二丝杆322,其中所述横向丝杆320沿着所述载台10的一横向中轴线延伸排列于两两对称的四个汽缸组210之间,且所述第一丝杆321及所述第二丝杆322以一第二联轴器323彼此相接,其中所述横向丝杆320之一端固定至所述载台10(参见图1)。4 is a schematic diagram of the transverse screw rod, the sliding block group, the coupling and the transverse servo motor in the transverse fixing system of the embodiment of the present invention. 3 and 4 together, specifically, in an embodiment of the present invention, the transverse fixing system 30 includes a transverse screw 320, including a first screw 321 and a first screw with opposite rotation directions. Two screw rods 322, wherein the horizontal screw rod 320 extends along a transverse central axis of the carrier 10 and is arranged between four cylinder groups 210 that are symmetrical two by two, and the first screw rod 321 and the The second screw rod 322 is connected to each other by a second coupling 323, wherein one end of the transverse screw rod 320 is fixed to the carrier 10 (see FIG. 1).
继续参见图3及图4,在本发明的一实施例中,所述横向固定系统30还包括:两个滑块组390,每个滑块组390各包括两个滚珠滑块391,所述第一丝杆321及所述第二丝杆322分别穿过所述两个滚珠滑块391,其中所述两个滚珠滑块391分别固定于一横向连杆392的两端,藉此使所述两个滚珠滑块391分别在所述第一丝杆321及所述第二丝杆上322的移动方式为同步同方向;一横向伺服马达380,链接于所述横向丝杆320之另一端,以相反两旋向分别控制所述第一丝杆321及所述第二丝杆322分别带动所述两个滑块组390于所述横向上进行对称运动;两个横向导轨330,平行于所述横向丝杆320,分别沿着所述载台10的两相对的横向边缘延伸,对称固定于所述载台10上;以及一机械手40,用于固定所述面板A,所述机械手40藉由至少两个横向滑块340分别固定于所述两个横向导轨330上,使所述机械手40配合所述面板A于所述横向上移动。Continuing to refer to Figures 3 and 4, in an embodiment of the present invention, the lateral fixing system 30 further includes: two slider groups 390, each of which includes two ball sliders 391, The first screw rod 321 and the second screw rod 322 respectively pass through the two ball sliders 391, wherein the two ball sliders 391 are respectively fixed to both ends of a transverse connecting rod 392, thereby making the The two ball sliders 391 respectively move in the same direction on the first screw rod 321 and the second screw rod 322; a transverse servo motor 380 is connected to the other end of the transverse screw rod 320 , The first screw rod 321 and the second screw rod 322 are respectively controlled in two opposite rotation directions to drive the two slider groups 390 to perform symmetrical movement in the transverse direction; two transverse guide rails 330 are parallel to The transverse screw rods 320 respectively extend along two opposite transverse edges of the carrier 10 and are symmetrically fixed to the carrier 10; and a robot 40 for fixing the panel A, the robot 40 At least two horizontal sliders 340 are fixed on the two horizontal guide rails 330 respectively, so that the manipulator 40 cooperates with the panel A to move in the horizontal direction.
继续参见图4,在本发明的一实施例中,所述两个滑块组390在所述横向丝杆320上移动靠近或移动远离。Continuing to refer to FIG. 4, in an embodiment of the present invention, the two slider sets 390 move closer to or farther away on the transverse screw 320.
在本发明的一实施例中,所述机械手可包括下列任一者:一叉式(fork)机械手、及六轴机械手。In an embodiment of the present invention, the manipulator may include any one of the following: a fork manipulator and a six-axis manipulator.
请一并参见图1至图4,在本发明的一实施例中,所述的面板夹具100更包括一第一轴承50、一第一轴承座51、一第二轴承60、及一第二轴承座61,其中所述纵向螺杆220之一端固定于一第一轴承50,且所述第一轴承50藉由一第一轴承座51固定于所述载台10;所述横向丝杆320之一端固定于一第二轴承60,且所述第二轴承60藉由一第二轴承座61固定于所述载台10。Please refer to FIGS. 1 to 4 together. In an embodiment of the present invention, the panel fixture 100 further includes a first bearing 50, a first bearing seat 51, a second bearing 60, and a second bearing. The bearing seat 61, wherein one end of the longitudinal screw 220 is fixed to a first bearing 50, and the first bearing 50 is fixed to the carrier 10 by a first bearing seat 51; One end is fixed to a second bearing 60, and the second bearing 60 is fixed to the carrier 10 via a second bearing seat 61.
继续参见图1至图4,在本发明的一实施例中,所述面板A、B、C、D之定位藉由所述伸出气缸211及所述第一顶升气缸212的气缸传动来完成,以配合不同尺寸的面板大小自动切换所述第一顶升气缸212与所述第二顶升气缸213之间距;而所述面板A、B、C、D之横向移动及纵向移动则藉由所述第一伺服马达280及所述第二伺服马达380的马达驱动来完成。亦即,所述气缸传动与所述马达驱动共同完成定位并移动所述面板A、B、C、D的任务。Continuing to refer to Figures 1 to 4, in an embodiment of the present invention, the positioning of the panels A, B, C, and D is driven by the cylinders of the extending cylinder 211 and the first jacking cylinder 212 Completed, the distance between the first jacking cylinder 212 and the second jacking cylinder 213 is automatically switched according to the size of the panels of different sizes; and the horizontal and vertical movement of the panels A, B, C, and D are borrowed This is accomplished by the motor driving of the first servo motor 280 and the second servo motor 380. That is, the cylinder drive and the motor drive jointly complete the task of positioning and moving the panels A, B, C, and D.
综上所述,本发明提供一种面板夹具,其为一四方夹定位机构,可以兼容中小多尺寸,实现精确定位,同时可以满足不同工业机械手作业。In summary, the present invention provides a panel clamp, which is a four-square clamp positioning mechanism, which can be compatible with small and medium sizes, realize accurate positioning, and can satisfy different industrial manipulator operations.
虽然本发明结合其具体实施例而被描述,应该理解的是,许多替代、修改及变化对于那些本领域的技术人员将是显而易见的。因此,其意在包含落入所附权利要求书的范围内的所有替代、修改及变化。Although the present invention has been described in conjunction with its specific embodiments, it should be understood that many alternatives, modifications and changes will be apparent to those skilled in the art. Therefore, it is intended to include all substitutions, modifications and changes that fall within the scope of the appended claims.

Claims (18)

  1. 一面板夹具,用于同时定位及移动多数面板,包括:A panel fixture for positioning and moving multiple panels at the same time, including:
    一载台;A carrier
    一纵向固定系统,配置于所述载台上,用于纵向固定所述面板,使所述面板于一纵向上移动;以及A longitudinal fixing system configured on the carrier for fixing the panel longitudinally so that the panel can move in a longitudinal direction; and
    一横向固定系统,配置于所述载台上,用于横向固定所述面板,使所述面板于一横向上移动,其中A lateral fixing system is arranged on the carrier and used to laterally fix the panel so that the panel can move in a lateral direction, wherein
    所述纵向固定系统包括:The longitudinal fixation system includes:
    四个气缸组,两两对称地配置于所述载台上,其中所述四个气缸组用以装载所述面板;Four cylinder groups are arranged on the carrier symmetrically in pairs, wherein the four cylinder groups are used to load the panel;
    一纵向螺杆,包括旋向相反的一第一螺杆及一第二螺杆,其中所述纵向螺杆沿着所述载台的一纵向中轴线延伸配置于所述两两对称的四个汽缸组之间,且所述第一螺杆及所述第二螺杆以一第一联轴器彼此相接,其中所述纵向螺杆之一端固定至所述载台;A longitudinal screw includes a first screw and a second screw with opposite rotation directions, wherein the longitudinal screw extends along a longitudinal center axis of the carrier and is arranged between the two symmetrical four cylinder groups , And the first screw and the second screw are connected to each other by a first coupling, wherein one end of the longitudinal screw is fixed to the carrier;
    四个纵向导轨,两两一组分别沿着所述载台的两相对的纵向边缘延伸,对称固定于所述载台上;Four longitudinal guide rails, two sets of two respectively extending along two opposite longitudinal edges of the carrier, and fixed to the carrier symmetrically;
    一第一连杆及一第二连杆,垂直于所述纵向螺杆,对称于所述第一联轴器平行延伸,其中所述第一螺杆及所述第二螺杆分别垂直穿过所述第一连杆及所述第二连杆的中心点,且所述第一连杆及所述第二连杆中的两端分别固定于四个滑块上,所述四个滑块分别装设在所述四个纵向导轨上;以及A first connecting rod and a second connecting rod are perpendicular to the longitudinal screw and extend symmetrically to the first coupling in parallel, wherein the first screw and the second screw respectively pass vertically through the first coupling The center point of a connecting rod and the second connecting rod, and both ends of the first connecting rod and the second connecting rod are respectively fixed on four sliding blocks, and the four sliding blocks are respectively installed On the four longitudinal rails; and
    一纵向伺服马达,链接于所述纵向螺杆之另一端,控制所述第一螺杆及所述第二螺杆具有相反旋向,使所述第一螺杆及所述第二螺杆带动所述第一连杆及所述第二连杆于所述纵向上对称移动;以及A longitudinal servo motor, linked to the other end of the longitudinal screw, controls the first screw and the second screw to have opposite rotation directions, so that the first screw and the second screw drive the first screw The rod and the second link move symmetrically in the longitudinal direction; and
    所述横向固定系统包括:The lateral fixing system includes:
    一横向丝杆,包括旋向相反的一第一丝杆及一第二丝杆,其中所述横向丝杆沿着所述载台的一横向中轴线延伸排列于两两对称的四个汽缸组之间,且所述第一丝杆及所述第二丝杆以一第二联轴器彼此相接,其中所述横向丝杆之一端固定至所述载台;A horizontal screw rod includes a first screw rod and a second screw rod with opposite rotation directions, wherein the horizontal screw rod extends along a transverse central axis of the carrier and is arranged in two symmetrical four cylinder groups And the first screw rod and the second screw rod are connected to each other by a second coupling, wherein one end of the transverse screw rod is fixed to the carrier;
    两个滑块组,每个滑块组各包括两个滚珠滑块,所述第一丝杆及所述第二丝杆分别穿过所述两个滚珠滑块,其中所述两个滚珠滑块分别固定于一横向连杆的两端,藉此使所述两个滚珠滑块分别在所述第一丝杆及所述第二丝杆上的移动方式为同步同方向,Two slider groups, each of which includes two ball sliders, the first screw rod and the second screw rod respectively pass through the two ball sliders, wherein the two ball sliders The blocks are respectively fixed to the two ends of a transverse connecting rod, so that the movement modes of the two ball sliders on the first screw rod and the second screw rod are synchronized in the same direction,
    一横向伺服马达,链接于所述横向丝杆之另一端,以相反两旋向分别控制所述第一丝杆及所述第二丝杆分别带动所述两个滑块组于所述横向上进行对称运动;A transverse servo motor, linked to the other end of the transverse screw rod, controls the first screw rod and the second screw rod to drive the two slider sets in the transverse direction with two opposite rotation directions respectively Perform symmetrical movements;
    两个横向导轨,平行于所述横向丝杆,分别沿着所述载台的两相对的横向边缘延伸,对称固定于所述载台上;以及Two transverse guide rails, parallel to the transverse screw rods, respectively extend along two opposite transverse edges of the carrier, and are symmetrically fixed on the carrier; and
    一机械手,用于固定所述面板,所述机械手藉由至少两个横向滑块分别固定于所述两个横向导轨上,使所述机械手配合所述面板于所述横向上移动,A manipulator for fixing the panel, the manipulator is fixed on the two transverse guide rails by at least two transverse sliding blocks respectively, so that the manipulator cooperates with the panel to move in the transverse direction,
    其中所述四个气缸组中的每一组皆包括:Each of the four cylinder groups includes:
    一伸出气缸,配置在所述载台的一横向边缘;A protruding cylinder arranged on a lateral edge of the carrier;
    一第一顶伸气缸,临靠所述伸出气缸,由所述伸出气缸驱动,用于定位所述面板:以及A first protruding cylinder, adjacent to the protruding cylinder, driven by the protruding cylinder, for positioning the panel: and
    一第二顶升气缸,固定于所述第一连杆或第二连杆上,对应并配合所述第一顶伸气缸共同夹紧所述面板;A second jacking cylinder, fixed to the first connecting rod or the second connecting rod, corresponding and cooperating with the first jacking cylinder to clamp the panel;
    且所述两个滑块组在所述横向丝杆上移动靠近或移动远离。And the two slider groups move closer or move away from the horizontal screw rod.
  2. 根据权利要求1所述的面板夹具,所述四个气缸组中之2至4者同时用于定位及移动2至4个面板。The panel fixture according to claim 1, wherein 2 to 4 of the four cylinder groups are used for positioning and moving 2 to 4 panels at the same time.
  3. 根据权利要求1所述的面板夹具,其中四个所述第二顶升气缸两两一组分别固定于所述第一连杆及所述第二连杆上,于纵向上对称移动。The panel fixture according to claim 1, wherein the four second jacking cylinders are fixed on the first connecting rod and the second connecting rod in pairs in pairs, and move symmetrically in the longitudinal direction.
  4. 根据权利要求1所述的面板夹具,其中四个所述第一顶升气缸分别和四个所述伸出气缸配合使用,以夹紧所述面板,并确保所述2至4个面板于定位前后的参考位置一致,使所述2至4个面板中之一者与另一者的间距符合各种不同的设定值。The panel fixture according to claim 1, wherein the four first lifting cylinders are used in conjunction with the four extension cylinders to clamp the panel and ensure that the 2 to 4 panels are positioned The front and back reference positions are consistent, so that the distance between one of the two to four panels and the other meets various set values.
  5. 根据权利要求1所述的面板夹具,其中,所述面板之定位藉由所述伸出气缸及所述第一顶升气缸的气缸传动来完成,以配合不同尺寸的面板大小自动切换所述第一顶升气缸与所述第二顶升气缸之间距;而所述面板之横向移动及纵向移动则藉由所述第一伺服马达及所述第二伺服马达的马达驱动来完成。The panel fixture according to claim 1, wherein the positioning of the panel is completed by the cylinder transmission of the extension cylinder and the first jacking cylinder, so as to automatically switch the first The distance between a jacking cylinder and the second jacking cylinder; and the horizontal movement and the longitudinal movement of the panel are driven by the motors of the first servo motor and the second servo motor.
  6. 根据权利要求4所述的面板夹具,其中所述间距为4-12 inch。The panel fixture according to claim 4, wherein the pitch is 4-12 inches.
  7. 根据权利要求1所述的面板夹具,其中所述机械手包括下列任一者:一叉式(fork)机械手、及六轴机械手。The panel fixture according to claim 1, wherein the manipulator includes any one of the following: a fork manipulator, and a six-axis manipulator.
  8. 根据权利要求1所述的面板夹具,更包括一第一轴承、一第一轴承座、一第二轴承、及一第二轴承座,其中所述纵向螺杆之一端固定于一第一轴承;所述横向丝杆之一端固定于一第二轴承,且所述第一轴承藉由一第一轴承座固定于所述载台,且所述第二轴承藉由一第二轴承座固定于所述载台。The panel fixture according to claim 1, further comprising a first bearing, a first bearing seat, a second bearing, and a second bearing seat, wherein one end of the longitudinal screw is fixed to a first bearing; One end of the transverse screw rod is fixed to a second bearing, and the first bearing is fixed to the carrier by a first bearing seat, and the second bearing is fixed to the carrier by a second bearing seat. Carrier.
  9. 一面板夹具,用于同时定位及移动多数面板,包括:A panel fixture for positioning and moving multiple panels at the same time, including:
    一载台;A carrier
    一纵向固定系统,配置于所述载台上,用于纵向固定所述面板,使所述面板于一纵向上移动;以及A longitudinal fixing system configured on the carrier for fixing the panel longitudinally so that the panel can move in a longitudinal direction; and
    一横向固定系统,配置于所述载台上,用于横向固定所述面板,使所述面板于一横向上移动,其中A lateral fixing system is arranged on the carrier and used to laterally fix the panel so that the panel can move in a lateral direction, wherein
    所述纵向固定系统包括:The longitudinal fixation system includes:
    四个气缸组,两两对称地配置于所述载台上,其中所述四个气缸组用以装载所述面板;Four cylinder groups are arranged on the carrier symmetrically in pairs, wherein the four cylinder groups are used to load the panel;
    一纵向螺杆,包括旋向相反的一第一螺杆及一第二螺杆,其中所述纵向螺杆沿着所述载台的一纵向中轴线延伸配置于所述两两对称的四个汽缸组之间,且所述第一螺杆及所述第二螺杆以一第一联轴器彼此相接,其中所述纵向螺杆之一端固定至所述载台;A longitudinal screw includes a first screw and a second screw with opposite rotation directions, wherein the longitudinal screw extends along a longitudinal center axis of the carrier and is arranged between the two symmetrical four cylinder groups , And the first screw and the second screw are connected to each other by a first coupling, wherein one end of the longitudinal screw is fixed to the carrier;
    四个纵向导轨,两两一组分别沿着所述载台的两相对的纵向边缘延伸,对称固定于所述载台上;Four longitudinal guide rails, two sets of two respectively extending along two opposite longitudinal edges of the carrier, and fixed to the carrier symmetrically;
    一第一连杆及一第二连杆,垂直于所述纵向螺杆,对称于所述第一联轴器平行延伸,其中所述第一螺杆及所述第二螺杆分别垂直穿过所述第一连杆及所述第二连杆的中心点,且所述第一连杆及所述第二连杆中的两端分别固定于四个滑块上,所述四个滑块分别装设在所述四个纵向导轨上;以及A first connecting rod and a second connecting rod are perpendicular to the longitudinal screw and extend symmetrically to the first coupling in parallel, wherein the first screw and the second screw respectively pass vertically through the first coupling The center point of a connecting rod and the second connecting rod, and both ends of the first connecting rod and the second connecting rod are respectively fixed on four sliding blocks, and the four sliding blocks are respectively installed On the four longitudinal rails; and
    一纵向伺服马达,链接于所述纵向螺杆之另一端,控制所述第一螺杆及所述第二螺杆具有相反旋向,使所述第一螺杆及所述第二螺杆带动所述第一连杆及所述第二连杆于所述纵向上对称移动;以及A longitudinal servo motor, linked to the other end of the longitudinal screw, controls the first screw and the second screw to have opposite rotation directions, so that the first screw and the second screw drive the first screw The rod and the second link move symmetrically in the longitudinal direction; and
    所述横向固定系统包括:The lateral fixing system includes:
    一横向丝杆,包括旋向相反的一第一丝杆及一第二丝杆,其中所述横向丝杆沿着所述载台的一横向中轴线延伸排列于两两对称的四个汽缸组之间,且所述第一丝杆及所述第二丝杆以一第二联轴器彼此相接,其中所述横向丝杆之一端固定至所述载台;A horizontal screw rod includes a first screw rod and a second screw rod with opposite rotation directions, wherein the horizontal screw rod extends along a transverse central axis of the carrier and is arranged in two symmetrical four cylinder groups And the first screw rod and the second screw rod are connected to each other by a second coupling, wherein one end of the transverse screw rod is fixed to the carrier;
    两个滑块组,每个滑块组各包括两个滚珠滑块,所述第一丝杆及所述第二丝杆分别穿过所述两个滚珠滑块,其中所述两个滚珠滑块分别固定于一横向连杆的两端,藉此使所述两个滚珠滑块分别在所述第一丝杆及所述第二丝杆上的移动方式为同步同方向,Two slider groups, each of which includes two ball sliders, the first screw rod and the second screw rod respectively pass through the two ball sliders, wherein the two ball sliders The blocks are respectively fixed to the two ends of a transverse connecting rod, so that the movement modes of the two ball sliders on the first screw rod and the second screw rod are synchronized in the same direction,
    一横向伺服马达,链接于所述横向丝杆之另一端,以相反两旋向分别控制所述第一丝杆及所述第二丝杆分别带动所述两个滑块组于所述横向上进行对称运动;A transverse servo motor, linked to the other end of the transverse screw rod, controls the first screw rod and the second screw rod to drive the two slider sets in the transverse direction with two opposite rotation directions respectively Perform symmetrical movements;
    两个横向导轨,平行于所述横向丝杆,分别沿着所述载台的两相对的横向边缘延伸,对称固定于所述载台上;以及Two transverse guide rails, parallel to the transverse screw rods, respectively extend along two opposite transverse edges of the carrier, and are symmetrically fixed on the carrier; and
    一机械手,用于固定所述面板,所述机械手藉由至少两个横向滑块分别固定于所述两个横向导轨上,使所述机械手配合所述面板于所述横向上移动。A manipulator is used to fix the panel, and the manipulator is fixed on the two transverse guide rails by at least two transverse sliding blocks respectively, so that the manipulator cooperates with the panel to move in the transverse direction.
  10. 根据权利要求9所述的面板夹具,其中所述四个气缸组中的每一组皆包括:The panel fixture according to claim 9, wherein each of the four cylinder groups includes:
    一伸出气缸,配置在所述载台的一横向边缘;A protruding cylinder arranged on a lateral edge of the carrier;
    一第一顶伸气缸,临靠所述伸出气缸,由所述伸出气缸驱动,用于定位所述面板:以及A first protruding cylinder, adjacent to the protruding cylinder, driven by the protruding cylinder, for positioning the panel: and
    一第二顶升气缸,固定于所述第一连杆或第二连杆上,对应并配合所述第一顶伸气缸共同夹紧所述面板。A second jacking cylinder is fixed on the first connecting rod or the second connecting rod, corresponding to and cooperating with the first jacking cylinder to clamp the panel together.
  11. 根据权利要求10所述的面板夹具,所述四个气缸组中之2至4者同时用于定位及移动2至4个面板。The panel fixture according to claim 10, wherein 2 to 4 of the four cylinder groups are used for positioning and moving 2 to 4 panels at the same time.
  12. 根据权利要求10所述的面板夹具,其中四个所述第二顶升气缸两两一组分别固定于所述第一连杆及所述第二连杆上,于纵向上对称移动。10. The panel fixture according to claim 10, wherein the four second jacking cylinders are fixed on the first connecting rod and the second connecting rod in pairs, respectively, and move symmetrically in the longitudinal direction.
  13. 根据权利要求11所述的面板夹具,其中四个所述第一顶升气缸分别和四个所述伸出气缸配合使用,以夹紧所述面板,并确保所述2至4个面板于定位前后的参考位置一致,使所述2至4个面板中之一者与另一者的间距符合各种不同的设定值。The panel fixture according to claim 11, wherein the four first lifting cylinders are used in conjunction with the four extension cylinders to clamp the panel and ensure that the 2 to 4 panels are positioned The front and back reference positions are consistent, so that the distance between one of the two to four panels and the other meets various set values.
  14. 根据权利要求9所述的面板夹具,其中,所述面板之定位藉由所述伸出气缸及所述第一顶升气缸的气缸传动来完成,以配合不同尺寸的面板大小自动切换所述第一顶升气缸与所述第二顶升气缸之间距;而所述面板之横向移动及纵向移动则藉由所述第一伺服马达及所述第二伺服马达的马达驱动来完成。The panel fixture according to claim 9, wherein the positioning of the panel is completed by the cylinder drive of the extension cylinder and the first jacking cylinder, so as to automatically switch the first The distance between a jacking cylinder and the second jacking cylinder; and the horizontal movement and the longitudinal movement of the panel are driven by the motors of the first servo motor and the second servo motor.
  15. 根据权利要求14所述的面板夹具,其中所述间距为4-12 inch。The panel fixture according to claim 14, wherein the pitch is 4-12 inches.
  16. 根据权利要求9所述的面板夹具,其中所述两个滑块组在所述横向丝杆上移动靠近或移动远离。The panel clamp according to claim 9, wherein the two slider groups move closer or farther away on the transverse screw rod.
  17. 根据权利要求9所述的面板夹具,其中所述机械手包括下列任一者:一叉式(fork)机械手、及六轴机械手。The panel fixture according to claim 9, wherein the robot includes any one of the following: a fork robot and a six-axis robot.
  18. 根据权利要求9所述的面板夹具,更包括一第一轴承、一第一轴承座、一第二轴承、及一第二轴承座,其中所述纵向螺杆之一端固定于一第一轴承;所述横向丝杆之一端固定于一第二轴承,且所述第一轴承藉由一第一轴承座固定于所述载台,且所述第二轴承藉由一第二轴承座固定于所述载台。The panel fixture according to claim 9, further comprising a first bearing, a first bearing seat, a second bearing, and a second bearing seat, wherein one end of the longitudinal screw is fixed to a first bearing; One end of the transverse screw rod is fixed to a second bearing, and the first bearing is fixed to the carrier by a first bearing seat, and the second bearing is fixed to the carrier by a second bearing seat. Carrier.
PCT/CN2019/082388 2019-03-05 2019-04-12 Panel fixture WO2020177180A1 (en)

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