Substrate Holding Hand Linkage with Biasing Force

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Solution Overview

Problem

Existing substrate-holding apparatuses, such as those described in Japanese Patent Laid-Open Publication No. JP2006-313865, face challenges in maintaining the pitch between blades when the driving force is not applied, leading to a narrow pitch due to the weight of the blades.

Innovation Solution

A substrate-holding hand and substrate-conveying robot are designed with a linkage system that includes a force applier separate from the driver. This force applier applies a force to the linkage in a direction that increases the pitch between the blades, ensuring the pitch is maintained even without a driving force.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the pitch conversion cylinder is deactivated and air is not supplied to change the pitch between blades, then the substrate-holding apparatus can be maintained or other work activities can be performed, but the blades move downward due to their own weights causing the pitch between blades to become narrow

Engineering Contradiction:

Improvemaintenance capabilityVSAvoidpitch between blades

Core Design Contradiction:

Ease of operationVSStability of the object's composition

Solution Approach 1:

A biasing force is applied to the linkage to counteract the downward movement caused by blade weight. The biasing force is configured to balance the gravitational force acting on the blades, preventing them from moving downward when the pitch conversion cylinder is deactivated, thereby maintaining the pitch between blades during maintenance or other work activities.

Inventive Principle:

Principle #8Anti-weight (Counterweight)

2Adaptability or versatility

If the pitch conversion cylinder is used to change the pitch between blades, then the pitch can be adjusted between wide and narrow levels, but the pitch becomes unstable when the driving force is not applied

Engineering Contradiction:

Improvepitch adjustment capabilityVSAvoidpitch between blades

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The linkage is designed with a biasing force that automatically maintains the pitch between blades without requiring continuous driving force from the pitch conversion cylinder. The system uses the blade weights and biasing force to self-regulate and maintain the pitch at the desired level, eliminating the need for constant active control.

Inventive Principle:

Principle #25Self-service

3Use of energy by stationary object

If the blades are moved downward by their own weights when the pitch conversion cylinder is deactivated, then no additional energy is consumed, but the pitch between blades becomes narrow and unstable

Engineering Contradiction:

Improveenergy consumptionVSAvoidpitch between blades

Core Design Contradiction:

Use of energy by stationary objectVSStability of the object's composition

Solution Approach 1:

A biasing force is applied in advance to counteract the expected downward movement of the blades due to gravity. This preliminary counter-action prevents the pitch from becoming narrow before it can occur, ensuring stable pitch maintenance without requiring continuous energy input from the pitch conversion cylinder.

Inventive Principle:

Principle #9Preliminary anti-action

Data Source

PatentUS20250074719A1Substrate holding hand and substrate conveyor robot

Publication Date: 2025.03.06 KAWASAKI JUKOGYO KK

AI summary

A substrate-holding hand includes a plurality of blades, a linkage for supporting the plurality of blades, and a force applier arranged for applying a force to the linkage in a direction that increases a pitch between the blades.