# US 2024/0199352 A1 · Method for adjusting flatness of planes

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- Number: US 2024/0199352 A1
- Document ID: US20240199352A1
- Status: Published application
- Kind: A1
- Application number: 18/511,913
- Filed: 2023-11-16
- Published: 2024-06-20
- Earliest claimed: 2022-12-16
- Assignees: Innolux Corporation
- Applicants: InnoLux Corporation
- Inventors: De-Heng YANG; Chien-Cheng CHA; Chia-Che CHANG
- Web page: https://patentgrep.com/patent/US20240199352A1

## CPC

- B65G 61/00: Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
- B25J 9/1628: {characterised by the control loop}
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A method for adjusting flatness of planes is provided. The method includes steps of: providing a pick-and-place mechanism including a distance sensor and a pick-and-place plane; using the distance sensor to measure a first distance between the pick-and-place mechanism and a reference plane in a first direction; using the distance sensor to measure a second distance between the pick-and-place mechanism and the reference plane in a direction opposite to the first direction; calculating a first compensation degree according to the first distance and the second distance; and adjusting flatness between the pick-and-place plane and the reference plane with the first compensation degree.

## Claims

### Claim 1

A method for adjusting flatness of planes, comprising the steps of:
providing a pick-and-place mechanism, wherein the pick-and-place mechanism includes a distance sensor and a pick-and-place surface;
using the distance sensor to measure a first distance between the pick-and-place mechanism and a reference plane in a first direction;
using the distance sensor to measure a second distance between the pick-and-place mechanism and the reference plane in a direction opposite to the first direction;
using the first distance and the second distance to calculate a first compensation angle; and
adjusting flatness between the pick-and-place surface and the reference plane with the first compensation angle.

### Claim 2 (depends on 1)

The method as claimed in claim 1, wherein there is an interval distance between the distance sensor and a center of the pick-and-place mechanism, the first distance is greater than or equal to the second distance, and the first distance, the second distance, the interval distance and the first compensation angle satisfy:
θ
1
=
sin
-
1
(
(
S
⁢
1
-
S
⁢
2
)
2
⁢
D
)
,
where S1 represents the first distance, S2 represents the second distance, D represents the interval distance, and θ1 represents the first compensation angle.

### Claim 3 (depends on 2)

The method as claimed in claim 2, wherein the pick-and-place mechanism is arranged on a robotic arm.

### Claim 4 (depends on 3)

The method as claimed in claim 3, wherein the robotic arm is fixed on the reference surface.

### Claim 5 (depends on 4)

The method as claimed in claim 4, wherein the first compensation angle corresponds to a coordinate system of the robotic arm.

### Claim 6 (depends on 2)

The method as claimed in claim 2, further comprising the steps of:
using the distance sensor to obtain a third distance in a second direction perpendicular to the first direction, and a fourth distance in a direction opposite to the second direction; and
using the third distance and the fourth distance to calculate a second compensation angle.

### Claim 7 (depends on 6)

The method as claimed in claim 6, wherein the third distance is greater than or equal to the fourth distance, and the third distance, the fourth distance and the second compensation angle satisfy:
θ
2
=
sin
-
1
(
(
S
⁢
3
-
S
⁢
4
)
2
⁢
D
)
,
where S3 represents the third distance, S4 represents the fourth distance, D represents the interval distance, and θ2 represents the second compensation angle.

### Claim 8 (depends on 6)

The method as claimed in claim 6, wherein a difference between the first distance and the second distance is greater than or equal to a difference between the third distance and the fourth distance.

### Claim 9 (depends on 1)

The method as claimed in claim 1, wherein the pick-and-place mechanism is used to pick and place a panel, and the reference plane is used to place a backlight module.

### Claim 10 (depends on 1)

The method as claimed in claim 1, wherein the first distance is a maximum distance among a plurality of distances between the pick-and-place mechanism and the reference surface measured by the distance sensor in a plurality of directions.

### Claim 11 (depends on 6)

The method as claimed in claim 6, further comprising the step of: adjusting the flatness between the pick-and-place surface and the reference surface with the second compensation angle.

### Claim 12 (depends on 1)

The method as claimed in claim 1, wherein the reference plane is larger than the pick-and-place plane.

### Claim 13 (depends on 3)

The method as claimed in claim 3, wherein the robotic arm includes a rotation part, a base and at least one connection part for connecting the base and the rotation part.

### Claim 14 (depends on 13)

The method as claimed in claim 13, wherein the rotation part is connected to the pick-and-place mechanism.

### Claim 15 (depends on 13)

The method as claimed in claim 13, wherein the base is arranged and fixed on the reference plane.

### Claim 16 (depends on 13)

The method as claimed in claim 13, wherein the base is arranged on a horizontal plane, which is parallel to the reference plane and at a level different from that of the reference plane.

### Claim 17 (depends on 1)

The method as claimed in claim 1, wherein part of the distance sensor is arranged on a surface of the pick-and-place mechanism that is opposite to the pick-and-place surface, and remaining part of the distance sensor is exposed outside the surface.

### Claim 18 (depends on 17)

The method as claimed in claim 17, wherein the distance sensor 20 comprises a sensing unit 21, wherein the sensing unit 21 is exposed outside the second surface 12 and faces the reference plane 30.

### Claim 19 (depends on 3)

The method as claimed in claim 3, wherein the robotic arm adjusts an angle of the pick-and-place mechanism according to the first compensation angle, and rotates the pick-and-place mechanism by the first compensation angle so as to adjust flatness between the pick-and-place surface and the reference surface.

### Claim 20 (depends on 1)

The method as claimed in claim 1, wherein the first compensation angle is calculated by a processing unit.