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TW200502070A - Carrying apparatus and carrying control method for sheet-like objects - Google Patents

Carrying apparatus and carrying control method for sheet-like objects

Info

Publication number
TW200502070A
TW200502070A TW092134088A TW92134088A TW200502070A TW 200502070 A TW200502070 A TW 200502070A TW 092134088 A TW092134088 A TW 092134088A TW 92134088 A TW92134088 A TW 92134088A TW 200502070 A TW200502070 A TW 200502070A
Authority
TW
Taiwan
Prior art keywords
carrying
objects
sheet
rotating arms
support base
Prior art date
Application number
TW092134088A
Other languages
Chinese (zh)
Inventor
Katsunori Sakata
Hidekazu Okutsu
Seiichi Fujii
Original Assignee
Rorze Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rorze Corp filed Critical Rorze Corp
Publication of TW200502070A publication Critical patent/TW200502070A/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
    • H10P72/50—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/002—Arms comprising beam bending compensation means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
    • H10P72/3302—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/02—Controlled or contamination-free environments or clean space conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups
    • H10P72/33—

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

A carrying apparatus and a carrying control method for sheet-like objects, the apparatus for carrying the sheet-like objects such as liquid crystal display panels and glass substrates into a treatment device, comprising a rather large robot (14) having rotating arms (16) for carrying large-sized sheet-like objects. The carrying apparatus and a sheet-like objects carrying system can stably raise the objects up to the height of approximately 2 m and can carry the objects with the deflected amount of the extended rotating arms (16) corrected. Horizontal support base parts (13) liftably cantilevered on two upright support bodies (12) are installed in the apparatus, and the carrying robot (14) with the rotating arms (16) is placed on the horizontal support base part (13). Also, the deflected amount of the extended rotating arms is corrected by raising the height of the horizontal support base part (13) according to the amount of the deflection of the rotating arms. The amount of the deflection of the rotating arms can also be corrected by varying the installation angle of the robot (14) placed on the horizontal support base part (13).
TW092134088A 2003-07-04 2003-12-02 Carrying apparatus and carrying control method for sheet-like objects TW200502070A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2003271050 2003-07-04

Publications (1)

Publication Number Publication Date
TW200502070A true TW200502070A (en) 2005-01-16

Family

ID=33562640

Family Applications (2)

Application Number Title Priority Date Filing Date
TW092134088A TW200502070A (en) 2003-07-04 2003-12-02 Carrying apparatus and carrying control method for sheet-like objects
TW093120144A TW200521056A (en) 2003-07-04 2004-07-05 Carrying apparatus and carrying control method for sheet-like substrate

Family Applications After (1)

Application Number Title Priority Date Filing Date
TW093120144A TW200521056A (en) 2003-07-04 2004-07-05 Carrying apparatus and carrying control method for sheet-like substrate

Country Status (6)

Country Link
JP (1) JP4499038B2 (en)
KR (1) KR101106401B1 (en)
CN (1) CN100407395C (en)
AU (1) AU2003304270A1 (en)
TW (2) TW200502070A (en)
WO (1) WO2005002804A1 (en)

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TWI399331B (en) * 2007-06-29 2013-06-21 Ｉｈｉ股份有限公司 Floating handling device
CN112171697A (en) * 2020-09-03 2021-01-05 中联重科股份有限公司 Manipulator device and pallet assembly system
TWI764276B (en) * 2019-09-19 2022-05-11 日商川崎重工業股份有限公司 Tilt adjustment device and robot equipped with the same

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CN105417066B (en) * 2015-11-09 2017-12-01 合肥欣奕华智能机器有限公司 Substrate position offset detection and means for correcting and substrate conveying system
CN105583815B (en) * 2016-03-17 2017-12-08 北京新智远恒计量校准技术有限公司 A kind of concrete sample testing inspection robot
CN109155269B (en) * 2016-05-20 2023-04-21 村田机械株式会社 Carriage and method of transportation
CN106216859B (en) * 2016-08-17 2018-02-27 江苏大学 The quick taking device and its method of a kind of flexible loading of laser indirect impact forging
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JP6723131B2 (en) 2016-09-29 2020-07-15 株式会社Ｓｃｒｅｅｎホールディングス Substrate transfer device and substrate transfer method
CN106516739B (en) * 2016-10-26 2019-04-16 福耀集团(福建)机械制造有限公司 A kind of glass carrying system based on robot vision
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TWI399331B (en) * 2007-06-29 2013-06-21 Ｉｈｉ股份有限公司 Floating handling device
TWI764276B (en) * 2019-09-19 2022-05-11 日商川崎重工業股份有限公司 Tilt adjustment device and robot equipped with the same
CN112171697A (en) * 2020-09-03 2021-01-05 中联重科股份有限公司 Manipulator device and pallet assembly system

Also Published As

Publication number Publication date
WO2005002804A1 (en) 2005-01-13
CN100407395C (en) 2008-07-30
JP4499038B2 (en) 2010-07-07
TW200521056A (en) 2005-07-01
KR101106401B1 (en) 2012-01-17
JPWO2005004230A1 (en) 2006-11-09
AU2003304270A1 (en) 2005-01-21
KR20060118394A (en) 2006-11-23
CN1816907A (en) 2006-08-09
TWI348447B (en) 2011-09-11

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