CN1272225C - Moving device - Google Patents

Abstract

A moving device for moving an object includes a main body, a plurality of supporting units, a plurality of flexible components and a plurality of protection components. The supporting unit is arranged on the main body and used for supporting the object. The flexible assembly is arranged on the side part of the supporting unit and is provided with a free end. A shield assembly is disposed on the free end of the flexible assembly for supporting and protecting the object.

Description

Moving device

technical field

The present invention relates to a moving device, in particular to a method for moving multiple objects placed in a cassette and using a plurality of flexible components to ensure that the moving device will not collide with the cassette during the moving process. Affects the transfer device and the transfer device of the cassette.

Background technique

As far as notebook computers and electronic portable products are concerned, thinness, lightness and compactness are the main demands of the current design, and usually the panel of electronic products has a glass substrate, and the thickness of the glass substrate must also become thinner and thinner, so as to reduce the size and weight of the product . Taking the manufacturing process of a thin film transistor liquid crystal display (TFT-LCD) as an example, glass substrates for panels or other plate-shaped objects are placed in a carrier cassette, and then a robotic arm is used to transport or access the substrates.

1A is a top view of a general robotic arm 100 and a cassette C'. The robotic arm 100 extends into the cassette C' in the direction A, and takes out the glass substrate stored in the cassette C' (Fig. 1A omits the drawing of the glass substrate for convenience. can clearly show the structure of the cassette C'). There are a plurality of cassette support rods 131', 141' on the inner walls 13', 14' of the cassette C' to support the substrate. Set up in a manner, each support bar 11, 12 has a plurality of fixed herringbone-shaped support plates 111, 121 above.

FIG. 1B shows a top view when the robot arm 100 is inserted into the cassette C'. Similarly, FIG. 1B omits the drawing of the glass substrate in order to clearly show the positional relationship between the robot arm 100 and the cassette C'. When the robot arm 100 is in the cassette C', the fixed herringbone support plates 111 and 121 of the robot arm 100 respectively protrude toward the inner side walls 13' and 14' of the cassette C'. The two support rods 11, 12 and the herringbone support plates 111, 121 together support the substrate, so that the substrate can be taken out of the cassette C′ stably.

When the mechanical arm 100 is in the normal setting state, it enters the cassette C' in the direction A of Fig. 1A and Fig. 1B, see Fig. 1C, which is a schematic diagram cut by the line BB' in Fig. 1B and viewed in the direction A , it can be seen from the figure that the mechanical arm 100 enters from between the cassette support rods 131', 131' and 141', 141' of the cassette C', and turns upward after reaching the bottom of the locked base plate 15. Move to touch the substrate 15 , as shown in FIG. 1D , use the fishbone support plates 111 , 121 on the support rods 11 , 12 to prop up the substrate 15 , and then move the substrate 15 out of the cassette C′.

The above is the operation situation of the robot arm 100 in a normal state. However, if the control system of the robotic arm 100 is reset, an abnormal shutdown occurs, or human operation is careless, when the robotic arm 100 is about to move the substrate 15 out of the cassette C', as shown in FIG. 2A , the robotic arm 100 The herringbone-shaped support plates 111, 121 will easily hit the cassette support rods 131', 141'. Fig. 2B partially shows the collision position of the cassette strut 141 and the herringbone support plate 121, and only one of the inner side walls 14' of the cassette is shown on the figure. When the two collide with each other, the herringbone support plate 121 is fixed and the structure is sharp and rigid, the collision with the cassette pole 141 ′ will cause damage to the cassette C′ or the robot arm 100 , and even cause the substrate 15 to break.

Similarly, when the control system stores the substrate 15 on the robot arm 100, the support plates 111, 121 of the robot arm 100 may also collide with the cassette poles 131', 141', causing the substrate 15 to be worn or broken.

In short, when the robot arm 100 on the current TFT-LCD production line accesses the glass substrate 15 from the cassette C', because the height or width of the cassette C' cannot be increased, and due to factors such as improper operation, the robot arm M is likely to collide with the glass substrate 15. Cassette support rods 131', 141' make the herringbone support plates 111, 121 of the robot arm 100 easy to be damaged, and then the substrate 15 on the robot arm 100 is broken, resulting in a lower production yield, wasting materials and delaying the production process time .

Contents of the invention

Therefore, the purpose of the moving device of the present invention is to move multiple objects placed in the cassette through multiple flexible components, and ensure that the objects will not be affected even if the moving device collides with the cassette during the moving process.

Another purpose of the transporting device of the present invention is to ensure that the cassette will not be damaged even if the transporting device collides with the cassette during the transporting process.

Another object of the present invention is to ensure that the moving device will not be damaged even if it collides with the cassette during the moving process.

Another object of the present invention is to reduce the amount of vibration during transportation and contribute to increasing the bearing capacity.

To achieve the above object, the present invention provides a moving device for moving an object, including a main body, a plurality of supporting units, a plurality of flexible components and a plurality of protective components. The above-mentioned support unit is arranged on the main body, and the support unit is used to support the object. The flexible component is arranged on the side of the supporting unit and has a free end. The protective component is arranged on the free end of the flexible component, and the protective component is used to support and protect the object.

Also, the flexible member is a steel sheet.

Also, the flexible component is L-shaped.

The moving device of the present invention also includes a connecting component, which is arranged between the flexible component and the supporting unit, and the connecting component is a screw.

In a preferred embodiment, each flexible component includes a first part and a second part, the joining position of the first and second parts is a bend, and the connecting component is arranged on the first part to connect to the support unit, And the protective component is arranged on the second part.

In another preferred embodiment, the first part and the second part of the flexible component are integrally formed.

In addition, the support unit includes a plurality of support pins, which are arranged on the same level as the protection component, and support the object together.

The protective components are made of plastic. The protective component protrudes from the flexible component to protect objects from impact or scratches.

Description of drawings

FIG. 1A is a top view of a traditional cartridge and a mechanical arm;

FIG. 1B is a top view of a traditional mechanical arm positioned in a cassette;

Fig. 1C is a cutaway view of the mechanical arm in the cassette along the BB' section line of Fig. 1B;

FIG. 1D is a side view of a traditional robotic arm supporting a substrate;

FIG. 2A is a top view of a conventional cartridge and a mechanical arm collision;

Fig. 2B is a partial enlarged view of the collision between the traditional cartridge and the mechanical arm;

Fig. 3 is a schematic diagram of the moving device of the present invention;

Figure 4 is a top view of the collision of the cassette and the transfer device of the present invention; and

Fig. 5 is a partial enlarged view of the collision between the cassette and the transfer device of the present invention.

Detailed ways

The content of each form disclosed in the present invention will be described in detail below with specific embodiments.

Referring to FIG. 3 , the conveying device 200 of the present invention will be described in detail. The transport device 200 includes a main body 20 , a pair of supporting units 21 , 22 , multiple flexible components 25 , multiple supporting pins 26 , multiple protective components 27 and multiple connecting components 28 . The supporting units 21 and 22 are arranged parallel to each other and connected by the main body 20 to form a whole. The handling device 200 can move back and forth inside and outside the cassette (not shown in this figure), and is mainly used to support and access an object or other similar boards for the manufacture of thin film transistor liquid crystal displays (TFT-LCDs). Taking the process as an example, the object transported by the transport device 200 is a glass substrate.

In order to solve the problem caused by the collision between the cassette and the transfer device 200, a plurality of flexible components 25 are respectively arranged on each supporting unit 21, 22 of the transfer device 200 of the present invention, and each flexible component 25 is a steel sheet or other Made of elastic material. In this example, the flexible component 25 can be divided into a first part 251 and a second part 252. The first part 251 and the second part 252 are integrally formed into an L shape. For a bend. The flexible component 25 can be connected to the supporting units 21 , 22 through the connecting component 28 . In this embodiment, the connecting component 28 is a screw, which can fix the second part 252 of the flexible component 25 on the supporting units 21 , 22 . The first part 251 of each flexible component 25 forms a cantilever with a free end, which can be elastically bent when a force is applied.

It should be noted that since the main function of the first part 251 of each flexible component 25 is to support the object, by increasing the length of each flexible component 25, the contact area between the moving device 200 and the object increases, so that the object will not Will bend downward and keep the object as horizontal as possible, and the change in length is determined by the physical characteristics of the object.

On the other hand, in order to support the object, a protective assembly 27 can be provided on the free end of the first part 251 of each flexible assembly 25, which can prevent the object from directly contacting each flexible assembly 25, thereby preventing each flexible assembly 25 from directly contacting each flexible assembly 25. Scratches directly on the surface of the object. In addition, there are a plurality of support pins 26 above the support units 21, 22 of the moving device 200, which are arranged on the same level _X1 as the protection assembly 27, thus, the support pins 26 and the protection assembly 27 on each flexible assembly 25 work together. support object. Since the protective component 27 is made of plastic, and the protective component 27 protrudes from the flexible component 25, the flexible component 25 can be protected from impact. Therefore, the protective component 27 can not only prevent the flexible component 25 from directly touching and scratching the object, but also can support the object more stably. Even in the case of collision with the cassette, the protective component 27 can protect the flexible component 25 from damage .

The function of the above-mentioned conveying device 200 in the cassette C will be described in detail below, please refer to FIG. 4 and FIG. 5 at the same time. As mentioned above, the present invention is mainly aimed at the problems caused when the control system of the moving device 200 is reset, abnormally crashed or human operation is careless. As shown in Figure 4, when the moving device 200 is in an abnormal state, the In cassette C, the flexible assembly 25 of the transport device 200 will hit the cassette struts 131 , 141 . However, since the flexible components 25 are elastic steel sheets with flexible characteristics, the flexible components 25 can be bent when being hit, so that the flexible components 25 can continue to exit the cassette C without damage.

Fig. 5 is a partially enlarged view of the collision position between the flexible assembly 25a of Fig. 4 and the cartridge support rod 141a, it can be seen from this figure that, through the flexible assembly 25 that can be bent, plus the protective assembly on the flexible assembly 25 27. When a collision occurs, the protective component 27 first collides with the cassette support rod 141, which can ensure that the moving device 200 will not affect the object 15 and will not damage the cassette even if it collides with the cassette C during the process of moving the object. C. It can protect the moving device 200 from being damaged.

Similarly, when the control system stores the object 15 in the moving device 200, the flexible assembly 25 and the protective assembly 27 on the flexible assembly 25 will not cause the object 15 to wear and tear even under abnormal conditions. or rupture.

It can be seen that, in addition to the function of supporting the object, the protective component 27 of the moving device 200 of the present invention can protect the flexible component 25 from direct collision. Therefore, when the moving device 200 collides with the cassette, The guard assembly 27 interferes with the cassette struts 131 , 141 and the flexible assembly 25 can bend without being damaged or otherwise destroying the cassette C. Therefore, the transport device 200 of the present invention can reduce the amount of vibration during transport and help increase the bearing capacity.

Although the present invention has been disclosed in conjunction with the above several preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art can still make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be defined by the claims.

Claims (10)

1. A moving device for moving an object, comprising: a subject; A plurality of supporting units are arranged on the main body, and the supporting units are used to support the object; A plurality of flexible components are arranged on the side of each supporting unit and have a free end; and A plurality of protective components are arranged on the free end of each flexible component, and each protective component is used to support and protect the object. 2. The moving device as claimed in claim 1, wherein each flexible component is a steel sheet. 3. The moving device as claimed in claim 1, wherein each flexible component is L-shaped. 4. The moving device as claimed in claim 1, further comprising a connecting component disposed between the flexible components and the supporting units. 5. The moving device as claimed in claim 4, wherein the connection component is a screw. 6. The moving device as claimed in claim 4, wherein each flexible component comprises a first part and a second part, the joining position of the first and second parts is a bend, and the connecting component is arranged on the first part One part is connected to each supporting unit, and the protective component is arranged on the second part. 7. The moving device as claimed in claim 6, wherein the first portion and the second portion of the flexible component are integrally formed. 8 . The moving device as claimed in claim 1 , wherein each supporting unit comprises a plurality of supporting pins, which are arranged on the same level as the protecting components to support the object together. 9. The moving device as claimed in claim 1, wherein each of the protective components is made of plastic. 10. The moving device as claimed in claim 1, wherein each protective component protrudes from each flexible component to protect the object from impact.

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