1. An operation region detection device for detecting an operation region of relative rotation in a hollow structure joint for allowing relative rotation of two link members of a robot, said operation region detection device comprising at least one dog, a support member for supporting said at least one dog, and at least one detection switch provided corresponding to said at least one dog and outputting a signal based on contact or noncontact with the corresponding dog,
said support member arranged in the hollow part of said joint and attached to one of said two link members so that a center axis of said support member is substantially aligned with a rotation axis of said relative rotation;
said at least one dog attached to the outer circumference of said support member and having a length corresponding to a predetermined detection region along a peripheral direction of said outer circumference; and
said at least one detection switch provided on the other of said two link members at a position facing said dog, to detect a region to which a current position of said relative rotation belongs based on the state of output of said signal.
2. The operation region detection device according to claim 1, wherein said at least one dog comprises a plurality of dogs and said at least one detection switch comprises a number of detection switches corresponding to the number of said plurality of dogs.
3. The operation region detection device according to claim 2, wherein said plurality of dogs are aligned in a center axial direction of said support member and supported by said support member, and said detection switches are arranged corresponding to said plurality of dogs.
4. An operation range restricting device for a robot joint comprising a restricting means for restricting an operation range of relative rotation in a hollow structure joint for allowing relative rotation of two link members of a robot, wherein
said restricting means restricts an operation range of said relative rotation based on a region to which a current position of said relative rotation belongs detected by said operation region detection device according to claim 1.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. (canceled)
2. A liquid crystal dispensing system comprising:
a container for containing liquid crystal;
measuring means for measuring liquid crystal in the container;
discharging means for discharging an amount of liquid crystal from the container, the amount of liquid crystal discharged from the container being controlled based on data measured by the measuring means; and
a nozzle for dropping liquid crystal discharged from the discharging means onto a substrate.
3. The system of claim 2, wherein the discharging means includes:
a case;
a cylinder in the case, the cylinder having inlet and discharging openings; and
a piston for pumping liquid crystal by rotational and axial movement in the cylinder, the piston having a groove at a lower portion proximate the inlet and discharging openings of the cylinder.
4. The system of claim 3, wherein the amount of liquid crystal discharged from the container is dependent upon a fixing angle of the discharging means.
5. The system of claim 4, wherein the system further comprises a liquid crystal capacity amount controlling member contacting the discharging means to vary the fixing angle of the discharging means.
6. The system of claim 2, wherein the measuring means includes a gravimeter for measuring a weight of liquid crystal in the container.
7. The system of claim 6, wherein the gravimeter includes a load cell.
8. The system of claim 2, wherein the measuring means includes a device that indicates a volume of liquid crystal in the container.
9. The system of claim 8, wherein the device is an ultrasonic sensor.
10. The system of claim 2, further comprising a control unit for controlling a discharge amount of liquid crystal discharged from the discharging means and compensating a dispensing amount of liquid crystal based on the data measured by the measuring means.
11. The system of claim 10, wherein the control unit includes:
a dispensing amount setting unit for setting a selected dispensing amount of liquid crystal to be dropped onto the substrate;
a dispensing amount compensating unit for calculating a current dispensing amount of liquid crystal based on the data measured by the measuring means, and calculating a differential value between the selected dispensing amount of liquid crystal set by the dispensing amount setting unit and the current dispensing amount; and
driving unit for operating the discharging means by driving a motor.
12. The system of claim 11, wherein the dispensing amount compensating unit includes:
a dispensing amount calculating unit for calculating the current dispensing amount of liquid crystal based on the data measured by the measuring means;
a differential value calculating unit for calculating the differential value between the current dispensing amount of liquid crystal measured by the dispensing amount calculating unit and the selected dispensing amount of liquid crystal;
a dispensing amount limitation value setting unit for setting a limitation value of the differential value calculated by the differential value calculator unit; and
a comparing unit for comparing the differential value and the dispensing amount limitation value respectively input from the differential value calculating unit and the dispensing amount limitation value setting unit, and based on a comparison of the differential value and the dispensing amount limitation value outputting a signal to the motor driving unit.
13. The system of claim 12, wherein the dispensing amount calculating unit calculates the current dispensing amount of liquid crystal by subtracting a second amount of liquid crystal measured by the measuring means from a first amount of liquid crystal measured by the measuring means.
14. The system of claim 11, wherein the control unit checks a remaining amount of liquid crystal in the liquid crystal material container based on the data from the measuring means.
15. The system of claim 14, wherein if the remaining amount of liquid crystal is less than the selected dispensing amount of liquid crystal, the driving unit stops the operation of the motor thereby stopping liquid crystal dispensing.
16. The system of claim 2, wherein the substrate includes at least one unit liquid crystal display panel region.
17. The system of claim 16, wherein the liquid crystal from the nozzle is dropped in the at least one unit liquid crystal display panel region.
18. A liquid crystal dispensing system comprising:
a plurality of liquid crystal dispensers including a container for containing liquid crystal, measuring means installed in each liquid crystal dispenser for measuring liquid crystal in the container, discharging means for discharging the liquid crystal from the container, and a nozzle for dropping the liquid crystal discharged from the discharging means onto at least one unit liquid crystal display panel region in a substrate, the amount of the discharged liquid crystal from the container being controlled based on data from the measuring means.
19. The system of claim 2, further comprising a control unit for controlling a discharge amount liquid crystal discharged from the plurality of liquid crystal dispensers and compensating a dispensing amount of liquid crystal based on the data measured by the measuring means.
20. A method of fabricating an LCD device using the system of claim 12 comprising:
placing liquid crystal material on a substrate including at least one unit liquid crystal display panel region with the system;
applying a sealant on the substrate;
joining a second substrate to the first substrate using the sealant; and
separating the unit liquid crystal display panel from the substrate.
21. A method of fabricating an LCD device using the system of claim 18 comprising:
placing liquid crystal material on a substrate including at least one unit liquid crystal display panel region with the system;
applying a sealant on the substrate;
joining a second substrate to the first substrate using the sealant; and
separating the unit liquid crystal display panel from the substrate.
22. A method of dispensing liquid crystal material comprising:
dispensing liquid crystal onto a substrate using dispenser;
measuring an amount of the liquid crystal in the dispenser; and
controlling the dispensing amount of the liquid crystal based on the measured amount of the liquid crystal in the dispenser.
23. The method of claim 22, wherein the dispenser includes:
a container for containing liquid crystal;
measuring means for measuring liquid crystal in the container;
a pump for pumping liquid crystal in the container; and
a nozzle for dropping liquid crystal from the pump onto a substrate.
24. The method of claim 23, wherein the pump includes:
a case, a cylinder, the cylinder having inlet and discharging openings; and
a piston for pumping liquid crystal by rotational and axial movement in the cylinder, the piston having groove at a lower portion to be arranged near the inlet and discharging openings by movement of the piston.
25. The method of claim 22, wherein the measuring the amount of the liquid crystal includes measuring the weight of liquid crystal in the container.
26. The method of claim 22, wherein measuring the amount of the liquid crystal includes measuring the volume of liquid crystal in the container.
27. The method of claim 22, wherein controlling the dispensing amount of the liquid crystal includes:
calculating a differential value between the measured current dispensing amount of liquid crystal in the container and the pre-determined amount of liquid crystal in the container;
comparing the calculated differential value with set value;
compensating the dispensing amount of liquid crystal if the calculated differential value is different from the set value, the compensating amount being calculated based on the calculated differential value and the set value.
28. A method of fabricating liquid crystal display device comprising:
providing first and second substrates;
dispensing liquid crystal onto a plurality of unit liquid crystal display panel region in a substrate using a plurality of dispensers;
measuring an amount of the liquid crystal in each dispenser;
controlling the dispensing amount of the liquid crystal based on the measured amount of the liquid crystal in each dispenser;
joining the first and second substrates using the sealant; and
separating the unit liquid crystal display panel from the substrates.