Workpiece Holding Mechanism for Substrate Alignment
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Solution Overview
Problem
Conventional substrate conveyor robots fail to effectively pick up and convey a pile of substrates due to their structural limitations, leading to misalignment and instability during transport.
Innovation Solution
A workpiece holding mechanism with two movable arms, featuring a series of supports with aligned surfaces, allows for precise adjustment and alignment of substrates in three-dimensional space, ensuring horizontal orientation and correct positioning for conveyance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a conventional substrate conveyor blade is used to hold substrates, then the blade structure is simple, but the substrate alignment precision deteriorates due to inability to adjust for misalignment in rotation direction, inclined direction, and height direction
Solution Approach 1:
The holding mechanism is divided into multiple independent supports (first support with first surface part, second support with second surface part, third support with third surface part, fourth support with fourth surface part, fifth support with fifth surface part, and sixth support with sixth surface part). Each support can be independently adjusted to correct specific alignment issues such as rotation direction, inclined direction, and height direction misalignments, thereby achieving precise substrate alignment without requiring a completely complex integrated structure.
Solution Approach 2:
The holding mechanism incorporates adjustable supports that can dynamically adapt to substrate misalignments. The supports are configured to be movable or adjustable in position and orientation, allowing the system to respond to and correct various alignment deviations (rotation, inclination, height) rather than requiring perfect initial substrate positioning.
2Productivity
If a conventional blade holds substrates in a recessed portion, then the structure is simple, but the ability to handle substrate piles deteriorates due to failure to pick up and convey multiple substrates effectively
Solution Approach 1:
The holding mechanism uses multiple discrete supports (first through sixth supports) that can independently engage with substrates in a pile. This segmentation allows the mechanism to grasp and convey multiple substrates simultaneously or sequentially, significantly improving productivity compared to a single recessed blade structure that can only hold one substrate at a time.
Solution Approach 2:
The holding mechanism is designed with multiple supports that can handle various substrate configurations and positions. The supports can accommodate substrates in different orientations and positions within the pile, making the mechanism versatile for handling substrate piles of varying sizes and arrangements, thereby enhancing overall handling capability.
3Manufacturing precision
If substrates are conveyed without alignment adjustment, then the conveyance process is fast, but the substrate positioning accuracy deteriorates at the destination
Solution Approach 1:
The holding mechanism performs alignment adjustment during the conveyance process itself, rather than requiring separate preliminary alignment steps before conveyance or post-conveyance adjustment at the destination. The adjustable supports correct misalignments (rotation, inclination, height) while the substrates are being held and conveyed, thereby achieving precise positioning without adding extra time to the overall process.
Solution Approach 2:
The alignment adjustment and conveyance operations are performed simultaneously and continuously by the holding mechanism. The supports maintain and adjust substrate alignment throughout the entire conveyance path, ensuring that positioning accuracy is achieved without interrupting the conveyance flow or requiring separate adjustment phases, thus minimizing time loss.
Data Source
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AI summary
A workpiece holding mechanism includes a first support having a first surface part, a second support having a second surface part, a third support having a third surface part located closer to the second surface part than the first surface part is and located at a height corresponding to a lower end of the first surface part, a fourth support having a fourth surface part located closer to the first surface part than the second surface part is and located at a height corresponding to a lower end of the second surface part, a fifth support having a fifth surface part located, at one end of the first surface part in the first direction, closer to the second surface part than the first surface part is and located above the third surface part, and a sixth support having a sixth surface part is located, at an end portion of the second surface part opposed to the other end of the first surface part in the first direction, closer to the first surface part than the second surface part is and located above the fourth surface part. At least one of the third surface part and the fourth surface part is defined by one of a surface extending in the first direction and a plurality of surfaces aligned in the first direction.