280results about How to "Shorten takt time" patented technology

The invention discloses a method and a device for planning a robot time optimal trajectory based on a dynamic model. The method for planning the robot time optimal trajectory comprises the following steps: converting joint motion constraint and geometric path constraint to a parameter space through a robot motion trajectory predetermined by dynamics modeling and parameterization; taking shortest time as an objective structural optimization problem, and solving through a numerical integration method to obtain an optimal motion parameter of the robot; and carrying out spline curve smoothing on acceleration for three times on a phase plane by considering the problem of joint vibration caused by sudden change of the acceleration. Compared with the conventional trapezoid acceleration trajectoryplanning method, the motion parameter of the robot can be optimized under the joint motion constraint and the geometric path constraint; the high-speed motion of the robot can be achieved; the performance of a joint motor is fully used; the motion speed of the robot can be further improved; pitch time for executing tasks is reduced, so that the operation efficiency of the robot is improved; and the method and the device have great significance to improvement of overall performance of the robot.

The invention provides a substrate processing apparatus and a coating apparatus and a coating method characterized in that a rectangular processed substrate is kept a fitting processed posture as a simple structure for stably suspending moving on a suspension loading station. A first and a second holding parts (106L, 106R) in a first (left side) and a second (right side) moving parts (84L, 84R) comprise two adsorption pads (108L, 108R) combined at the reverse (low surface) of the two corners at left side and right side of the substrate G through a vacuum adsorption force; a pair of pad support parts (110L, 110R) for inhibiting the displacement in perpendicular direction of each adsorption pad (108L, 108R) in two positions which are separated by a prescriptive space along the moving direction (X direction); and a pair of pad actuators (112L, 112R) enabling the pad support parts (110L, 110R) to respectively independently up-down moving or up-down shifting.

The invention relates to a vacuum evaporation system capable of controlling evaporating airflow distribution and components. The system comprises an evaporation gun, a high-temperature evaporation crucible and a storage tank filled with an evaporating material, wherein a nozzle with an upper conical surface and a lower conical surface is formed on the evaporation gun, and a movable airflow guidance plug is arranged inside the nozzle; a substrate to be evaporated is opposite to the front of the nozzle; the evaporation gun is connected with the high-temperature evaporation crucible which is provided with a cross baffle through a heat pipeline or a surge flask, and the other side of the crucible is connected with the storage tank through a pipeline which is provided with a feed valve; heating coils are arranged on the evaporation gun, the heat pipeline, the high-temperature evaporation crucible and the outer wall of the pipeline, and a heat coil is arranged on the outer wall of the storage tank as well; the evaporating material in the storage tank is delivered into the high-temperature evaporation crucible through the feed valve and the pipeline, so that the evaporating material to be evaporated is immediately turned to be vapor delivered to the evaporating gun; and the volume and the direction of the vapor can be controlled by changing the relative position of the airflow guidance plug and the nozzle, and the vapor is evaporated to the substrate to form an evaporating film, which is uniform and has set area and multiple components. The vacuum evaporation system has simple structure, can improve the utilization rate of the organic evaporating material, and can improve the production efficiency.

A method for manufacturing an SOI substrate in which crystal defects of a single crystal semiconductor layer are reduced is provided. An oxide film containing halogen is formed on each of surfaces of a single crystal semiconductor substrate and of a semiconductor substrate provided with a single crystal semiconductor layer separated from the single crystal semiconductor substrate, whereby impurities that exist on the surfaces of and inside the substrates are decreased. In addition, the single crystal semiconductor layer provided over the semiconductor substrate is irradiated with a laser beam, whereby crystallinity of the single crystal semiconductor layer is improved and planarity is improved.

The embodiment of the invention provides a light alignment film and a preparing method thereof, a liquid crystal display substrate and a device and belongs to the field of liquid crystal display. The light alignment film and the preparing method thereof, the liquid crystal display substrate and the device aim at improving the display effect of a display device. The preparing method of the light alignment film comprises the steps that the substrate is coated with a light alignment material film layer; the light alignment material film layer for coating is procured; the procured light alignment material film layer is irradiated with linearly polarized light, and thus the light alignment material film layer with the alignment function is formed; main curing is conducted on the light alignment material film layer with the alignment function, reaction by-products generated through the curing reaction are eliminated while the light alignment material film layer with the alignment function has the curing reaction, and the light alignment film is obtained. The light alignment film and the preparing method thereof, the liquid crystal display substrate and the device can be used in the production of the light alignment film.

The invention provides a visual inspection apparatus, visual inspection method, and peripheral edge inspection unit that can be mounted on visual inspection apparatus. A visual inspection apparatus is provided with a macroscopic inspecting section (10) and a microscopic inspecting section (11), and the microscopic inspecting section (11) has an inspection stage (31) and a microscope (32) on a mounting plate (30). The inspection stage (31) is movable in an X direction, a Y direction and a Z direction, and is also rotatable in a direction. Furthermore, a periphery inspecting section (12) is fixed on the mounting plate (30) for obtaining an enlarged image of a periphery of a wafer (W). The periphery inspecting section (12) is arranged to pick up an image of the periphery of the wafer (W) held by the inspection stage (31).

The invention provides logistics tower equipment and belongs to the technical field of warehouse logistics. The logistics tower equipment comprises an adjusting rack, windows, an outer layer goods shelf, an inner layer rotary goods shelf, a center rotation mechanism, a lifting mechanism, a buffer storage mechanism and a manipulator assembly. The adjusting rack is arranged at the top ends of the outer layer goods shelf and the inner layer goods shelf and connected with the outer layer goods shelf, the inner layer goods shelf, the center rotation mechanism and the lifting mechanism which are arranged in sequence. The inner layer goods shelf is connected with the adjusting rack through a top rail assembly and connected to the ground through a ground rail assembly and does circular rotational motion along top rails and ground rails. A center rotation stand column is mounted in the middle of the inner layer goods shelf. The buffer storage mechanism and the manipulator assembly are both mounted on the center rotation stand column through a vertical driving mechanism and move up and down along the center rotation stand column. A goods taking passage is formed longitudinally along the diameter, where the manipulator assembly is mounted, of the inner layer goods shelf. The outer layer goods shelf is provided with the goods taking and sending windows. According to the logistics tower equipment, the number of goods locations on the goods shelves is large, and the space utilization rate is high; and goods on the outer layer goods shelf are taken through the inner layer rotary goods shelf, and accordingly the output and input efficiency of a warehouse is improved.

An organic electroluminescent panel, an organic electroluminescent display, an organic electroluminescent lighting device, each include an organic electroluminescent element that maintains stable light emission characteristics for a long period of time. The organic electroluminescent panel includes an element substrate; a sealing substrate facing the element substrate; and an organic electroluminescent element disposed on a sealing substrate side of the element substrate, wherein the organic electroluminescent panel further includes a first sealing member and a second sealing member, the first sealing member sealing a gap between the element substrate and the sealing substrate, the second sealing member covering the organic electroluminescent element, the first sealing member and the second sealing member being arranged with a space therebetween, the space is in a vacuum or reduced pressure state.

A load port unit can prevent or control leakage of inert gas from an EFEM system to the outside. The load port unit used in the EFEM system is provided with an air inlet that opens on a side facing a mini-environment between the upper end of an opener driving unit and the lower end of the pod. The width of the air inlet opening is larger than the width of the opening of the pod. With this arrangement, surplus gas is sucked from the pod when gas purging is performed on the pod.

The present invention is a laser irradiation apparatus which is capable of selecting among a plurality of laser lights L having different wavelengths a laser light of a wavelength according to a purpose of irradiation and irradiating an object Ob to be irradiated with the laser light having the wavelength. The laser irradiation apparatus includes: on an optical path of a mixed light beam of the plurality of laser lights L having different wavelengths, a slit having a width corresponding to a diffraction limit of the laser light having the shortest wavelength among the plurality of laser lights L having different wavelengths; and an objective lens for focusing a laser light that has passed through the slit, on the object Ob to be irradiated.

The invention discloses a split assembling mechanism of a common rail injection system of a diesel engine, which comprises a base, a common rail pipe fixing component and an oil injector fixing component. In the split assembling mechanism, a common rail pipe and an oil injector are respectively fixed to mounting positions opposite to each other, and an oil pipe and relative sealing joints are mounted hermetically. After being mounted, the integral common rail injection system is subjected to hermetical detection and then mounted on an engine after being qualified in the hermetical detection. Since the assembling of the common rail injection system and the process of mounting the common rail injection system onto the engine which have the same requirements for clean environment are carried out simultaneously, assembling time is saved, assembling efficiency is higher, the single unit occupies smaller clean space but requires shorter assembling cycle, and the split assembling mechanism is applicable to assembling of diesel engines in various types. Further, to the small-size diesel engines, limitation on assembling space is removed, assembling difficulty is reduced and working efficiency is improved favorably. Meanwhile, testing of the engine body is omitted in the online leakage test for sealing joints of parts of the injection system, so that test is simplified relatively and production cost is reduced.

The present invention relates to a chip pickup device capable of easily peeling off chips from a passivation layer without having to particularly adjust the push-up stroke of a pushing pin and the ascending/descending position of a supporting stage. The pushing pin 17 is protruded out of a pin hole 16. The pushing pin 17 is used to push a chip 102 via a passivation layer 101. The passivation layer 101 is sucked and drawn near the venting hole 15, but is not sucked and drawn near the pin hole 16. The passivation layer 101 is propped up at the vicinity of the pin hole 16 to be separated from the supporting stage 14, thereby peeling off the chip 102 from the passivation layer 101. Therefore, it is able to keep the stroke of the pushing pin 17 constant without modifying or adjusting the position of the supporting stage 14. In addition, because there is no absorbing force of air in the pin hole 16, it is easy to peel off the chip 102 from the passivation layer 101.

The panel contains a plurality of patterns having the same component placement structure, and the plurality of patterns respectively correspond to a plurality of sub-panels obtained by dividing the above-mentioned panel. The method for optimizing the assembly order of components i) includes the step (S2) of optimizing the assembly order of components for any one of the plurality of patterns by dividing the total number of the patterns contained in the panel by the assembler to calculate the quotient and the remainder (S4), a step (S6) for determining the quotient as the number of patterns allocated when the remainder is zero, and a step (S6) for determining the quotient as the number of patterns allocated when the remainder is one or more ) determining the quotient plus 1 as the number of patterns assigned to the same number of assemblers as the remainder starting from the assembler most upstream of the processing position, and ii) determining the quotient as the number of patterns assigned to the remaining The number of patterns of the assembler (S6 to S10), and a step for assigning the assigned number of patterns to each assembler (S12).

The present invention realizes the application which is good in edge linearity and uniform in pattern width. In an electrostatic application method, by applying a potential difference, a liquid gathering part extending towards an application object side is formed at the front end of a nozzle, and the front end of a pin in the nozzle is configured to protrude towards the liquid gathering part, so that the front end of the liquid gathering part is contacted with an application object, and the liquid contained in the nozzle is applied to the application object.

A macro inspection apparatus having: a substrate holder that holds a substrate to be inspected; a macro illumination optical system that irradiates illumination light onto the substrate; a substrate holder driving mechanism that supports the substrate holder, Simultaneously, in the state where the substrate is irradiated with the illumination light, the posture of the substrate holder is controlled; a substrate conveyance mechanism that transfers the substrate to and from the substrate holder; a substrate floating mechanism , which floats the substrate from the substrate holder by spraying air on the substrate transferred to the substrate holder; a substrate positioning mechanism that makes the substrate float by the substrate floating mechanism and a substrate fixing mechanism that fixes the substrate positioned by the substrate positioning mechanism on the substrate holder.

The invention relates to an automatic offline lifting device of cone yarns of a bobbin winder. The device comprises a cone yarn pushing mechanism, a chain cone yarn lifter and a cone yarn shifting manipulator; the cone yarn pushing mechanism is arranged in an outlet at the head of the bobbin winder on a double-row or single-row belt conveying line, and is connected with the chain cone yarn lifter for pushing two or single cone yarns into the chain cone yarn lifter; the cone yarns are gradually lifted to the top of the chain cone yarn lifter by the chain cone yarn lifter, and are automatically overturned by 90 degrees to change in the vertical direction perpendicular to a bobbin core; and the cone yarn shifting manipulator is mounted at the upper part of the chain cone yarn lifter for grabbing the vertical cone yarns on a cone yarn conveying line in air. The device can realize full-automatic logistics joint between the bobbin winder and subsequent production process, and reduces a lot of logistics carrying labors and carrying tools.

The invention provides a processing apparatus or a method for inspecting the ACF sticking state, capable of shortening the total time for the ACF sticking operation and the inspection operation of the ACF sticking state or shortening the width of the processing apparatus in the ACF sticking process, or a display substrate module assembly line, capable of shortening the beat time of the display substrate= module assemble or having short assembly line length. An ACF stuck at the predetermined positon of a display substrate is lighted and shot, when the ACF sticking state is inspected according to the shot result, the shooting and inspection are performed in the process of conveying the display substrate after the ACF is stuck.