201223841 六、發明說明： 【發明所屬之技術領域】 本發明係有關於一種傳輸系統’特別是一種在輸送及/或 加工作業中用以輸送待加工物件及/或已加工物件之物件傳輸 糸統。 【先前技術】 由於液晶顯示器(liquid crystal display ’ LCD)相較於傳統陰 極射線管(cathode ray tube，CRT)顯示器具備了輕薄、省電、 無幅射線等優點，因此被廣泛的應用於筆記型電腦、個人數位 助理器(Personal Digital Assistant ’ PDA)、數位相機、攝錄影機、 行動電話及掌上型遊戲機等各式電子產品中。 身又在液SB顯示器的組成結構中，通常會將一軟性電路板 (flexible printed circuit，FPC)壓著於液晶面板(LCD panel)邊緣 的端子上，並且將軟性電路板之一端連接至外界系統，藉以使 液晶面板經由軟性電路板與外界系統相互連結。其中，為了讓 液晶面板的電路與軟性電路板的電路之間具有良好的電性導 通狀悲，一般在軟性電路板與液晶面板之間的壓著製程中，通 常包含有貼附異方性導電膜(anis〇tr〇pic c〇nductive fi]m . ACF)、假壓著(pre-b〇nding)以及本壓著(fmai b〇nding^加工程 序。此壓著製程首先在一貼附機台上將異方性導電膜貼附於液 晶面板的端子上。接著，在假壓著機台上將軟性電路板.設置於 異方性導電膜上’並且在軟性電路板的電路與液晶面板的電路 201223841 Γ精確對位。然後，以假㈣裝置對軟性電路板施以壓 2使贿魏㈣過異紐導麵對位貼合於紅面板上。 再以本壓著裝置對軟性電路板施以加熱加Μ，使軟性電 路板猎由財,轉_接合雜晶祕，並且錄晶面板的電 路及軟性電路板的電路形成電性導通狀態。 -中為了維持愿著製程的生產效能，習知做法之一，是 依據每=步驟的作t時間，在生產線上配置—部貼附機台、三 部假縣機台以及五部本塵著機台等不同的加工機台，使生產 線區分為貼附加工位置、假墨著加工位置及本麗著加工位置。 並且’所使_物件傳輸系統是在不_加工位針沿加工機 台的排列方向配置有輸送帶，以藉由輸送帶解—方向傳輸待 ^工或已加工的液晶面板。同時，在蘭區配置有—位操作 貝’在假塵著區配置有三位操作員以及在本璧著區配置有三位 操作員’細在不_加工位置巾以人力搬運咐式將待加工 的液晶面板自輸送帶轉移至加工機台上以及將已加工完成的 液晶面板置放回輸送帶。 因此，在習知單轴式(藉由輸送帶的單向傳輪)的物件傳送 系統中，由於需使用大量的人力配合加工機台來完成貼附、假 屢敍核輕健程序’題著製程容易受到操作員執行作 業時的生理及诚因素的影響，而降讎程的生產效能及 產品良率，並同時存在有人力成本過高的問題。 為了解決上述的問題，目前有相關業者選擇性的在每一加 201223841201223841 VI. Description of the Invention: [Technical Field] The present invention relates to a transmission system, in particular to an article transport system for transporting articles to be processed and/or processed articles during transport and/or processing operations. . [Prior Art] Since the liquid crystal display 'LCD' has the advantages of lightness, power saving, and no amplitude radiation compared with the conventional cathode ray tube (CRT) display, it is widely used in notes. Computers, personal digital assistants (PDAs), digital cameras, camcorders, mobile phones, and handheld game consoles. In the composition of the liquid SB display, a flexible printed circuit (FPC) is usually pressed against the terminal on the edge of the liquid crystal panel (LCD panel), and one end of the flexible circuit board is connected to the external system. Therefore, the liquid crystal panel is connected to the external system via the flexible circuit board. In order to make the electrical circuit between the circuit of the liquid crystal panel and the circuit of the flexible circuit board have good electrical conduction, generally in the pressing process between the flexible circuit board and the liquid crystal panel, the anisotropic conductive is usually included. Film (anis〇tr〇pic c〇nductive fi]m . ACF), pre-b〇nding and this pressing (fmai b〇nding^ processing program. This pressing process is first on a sticking machine The anisotropic conductive film is attached to the terminal of the liquid crystal panel on the stage. Then, the flexible circuit board is placed on the anisotropic conductive film on the dummy pressing machine' and the circuit and the liquid crystal panel on the flexible circuit board The circuit 201223841 Γ Exactly aligns. Then, the dummy board is applied to the flexible circuit board with a false (four) device to make the bribe Wei (four) too different to face the position on the red panel. Then press the device to the flexible circuit board The heating and twisting is applied to make the flexible circuit board hunted for money, and the circuit of the crystal panel and the circuit of the flexible circuit board form an electrical conduction state. - In order to maintain the production efficiency of the process, One of the conventional practices is based on the t for each step In the production line, there are different processing machines, such as a machine attached to the machine, three fake county machines, and five dusting machines. The production line is divided into additional work positions, false ink processing positions and The processing position is prosperous. And the 'object-transfer system is equipped with a conveyor belt in the arrangement direction of the processing machine without the processing needle to transfer the liquid crystal panel to be processed or processed by the conveyor belt. At the same time, there are three operators in the area of the blue area and three operators in the area of the dusty area, and three operators are arranged in the area of the squatting area. The liquid crystal panel is transferred from the conveyor belt to the processing machine and the processed liquid crystal panel is placed back to the conveyor belt. Therefore, in the object conveying system of the conventional single-axis type (by the one-way transmission of the conveyor belt) Due to the need to use a large amount of manpower to cooperate with the processing machine to complete the attachment, the fake and repeat the light program, the process is easy to be affected by the physiological and honest factors of the operator when performing the operation, and the production efficiency of the down process Production Yield, and high labor costs at the same time there is a problem. To solve the above problems, there are related businesses selectivity in each plus 201 223 841
工機台上設置自動傾械手臂，邱由機械手臂在輸送帶及加 工機台之間進行第二軸向的運動而執行待加工及/或已加工之 液晶面板的移載作業，以達到提升壓著製輯生產效能及產品 良率的目的’並_解決人力成本過高關題。然而，這種雙 軸式(藉由輸送㈣單向雜及機财臂的旋觀作)的物件 傳輸系絲財g卩省人力成本的闕，但由於必需在相當數量 的加工機台上妓機械手臂，除了大幅增加壓著製程的設備成 本外’朗時造成這些加工機台的維護成本上升，而同樣存在 有無法降低生產成本的問題。 【發明内容】 鑒於以上的問題’本發明提供—獅件傳齡統，藉以 改良習知單軸式物件傳㈣、統容W到人力因素㈣響加工 程序的生產效能及產品良率的問題，以及改良習知單轴式及雜 轴式物件傳齡統無法兼具提料產魏麟低生產成本: 問題。 本發明揭露-種物件傳輸系統，用以將複數個待加工射 分配至複數個機台上及/或自每—機台上將—已加工物 :。此物件傳輸系統包括—第—轴運動機構、—第二轴運動相 _及1三__構。第—_動機構設置於複數 之一側’㈣鮮—方向輸送她鱗加4件及/或已力° 物件。'第二_動機構設置於複數個機台及第—軸運^ 間，並且可相職送帶额數_纟之間減 牙》二袖運 201223841 =财有複數個拾取手臂，用以拾取複數個待加工物件及/ $ 轴運動機構設置於第二轴 :广二轴運動機構往復旋轉，以帶動複數個斷 複數個機台及該第-軸運動機構之間往復位移 = 運動機構係配合複數個機台的加工速度，帶動第三軸運^ 之間往復位移，並且暫時地停留於每一機台^ *轴運動機構係配合第-軸運動機構的輪送速度，而以 稷數個拾取彻帛—Μ娜姆_“之間交換 複數鱗加讀件之其巾之—及/或已加讀件。 、 朴本1明之功效在於，提供—種三軸式的物件傳輸系統，並 且糟的二軸運動機構配合複數個機台的加工速度而往復位 移以及第三軸物機構配合第—軸魏機構的輸送速度而往 復旋轉的時序鶴，而_在傳輸過財同時對待加工物件進 吁乍業以及對已加工物件進行傳輸作業的目的，進而節省 習知物件傳輸_的人力配置以及機财f的設置數量，因此 可避免人為因素所造成生產效能及n率的情形發生，並同 時犯讓物件加工及傳輸作業所需社產成本大幅降低。 /以上之關於本翻内容之制及以下之實施方式之說明 係用以7F&與轉本㈣H並且提供本㈣之專利申請 範圍更進一步之解釋。 f實施方式】 本么明所_的物件傳齡統，係可應縣不職業中做 201223841 為待加工物件以及已加工物件的輸送及/或加工作業中，例如 應用在半導體、液晶顯示器或電路板等電子產業中，進行半導 體晶圓、液晶面板及電路板等物件的加工及/或輸送作業；或 者是應驗料製造錢物流群產業巾，做她裝零件、材 料、半成品、成品、貨物或其他不同形式物件的加卫及/或輸 达作業。在以下本發明之詳細說明中，細本發明所揭露之物An automatic tilting arm is arranged on the machine table, and the second axial movement between the conveyor belt and the processing machine is performed by the robot arm to perform the transfer operation of the liquid crystal panel to be processed and/or processed to achieve the lifting. The purpose of pressing the production efficiency and product yield is 'to solve the problem of high labor cost. However, this kind of biaxial type (by conveying (four) one-way miscellaneous and the rotation of the machine arm) is the object of transmission, which saves labor costs, but it must be on a considerable number of processing machines. In addition to greatly increasing the equipment cost of the pressing process, the robot arm causes the maintenance cost of these processing machines to rise, and there is also the problem that the production cost cannot be reduced. SUMMARY OF THE INVENTION In view of the above problems, the present invention provides a method for improving the production efficiency and product yield of a conventional uniaxial object transmission (four), a generalized W to a human factor (four) sound processing program, and the like. And the improvement of the conventional single-axis and miscellaneous type of object age can not be combined with the production of Wei Lin low production costs: problems. The invention discloses an object transport system for distributing a plurality of workpieces to be processed onto a plurality of machines and/or from each machine to be processed. The object transport system includes a first-axis motion mechanism, a second-axis motion phase, and a third-axis configuration. The first--moving mechanism is placed on one side of the plural '(four) fresh-direction to convey her scale plus 4 pieces and/or has been forceed. 'Second_moving mechanism is set in a plurality of machines and the first axis, and can be used to send the amount of the number of _ 减 减 》 》 》 》 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 A plurality of objects to be processed and / / axis movement mechanism are disposed on the second axis: the wide two-axis motion mechanism reciprocally rotates to drive a plurality of broken plurality of machines and the reciprocating displacement between the first-axis moving mechanisms = motion mechanism coordination The processing speed of a plurality of machines drives the reciprocating displacement between the third shafts, and temporarily stays at each machine. * The axis motion mechanism cooperates with the rotation speed of the first-axis motion mechanism, and the number of turns is Picking up the 帛 Μ Μ Μ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The bad two-axis motion mechanism cooperates with the processing speed of a plurality of machines and the reciprocating displacement and the third axis mechanism cooperates with the conveying speed of the first-axis mechanism to reciprocally rotate the sequence crane, and _ in the transmission of the wealth while treating the workpiece Defects and processed objects The purpose of the transmission operation is to save the manual configuration and the number of settings of the machine f, so that the production efficiency and the n-rate caused by human factors can be avoided, and at the same time, the object processing and transmission operations can be made. The cost of the production of the company is substantially reduced. / The above description of the system and the following description of the implementation of the content is used to further explain the scope of the patent application of the 4F & and the transfer (4) H and provide the (4). f Implementation] The object of the Ming Dynasty is the age of the object, which can be used in the transportation and/or processing of the object to be processed and the processed object, such as in the electronics industry such as semiconductor, liquid crystal display or circuit board. To process and/or transport semiconductor wafers, liquid crystal panels and circuit boards, or to manufacture materials for the logistics group, to make parts, materials, semi-finished products, finished products, goods or other different forms of objects. Guarding and/or delivering operations. In the following detailed description of the invention, the invention is disclosed
件傳輸祕應驗液晶面板的本㈣程料做為舉例說明，但 並不以此為限。 /如「第1圖」所示’為本發明之—實施例所揭露的物件傳 輸系統1G ’侧以在複數個機台2()之間傳輸 件30及/或已加工物_中柯，在本實施财，複數個Γ 台包含呈線性排列之一第一機台21G、一第二機台220及 一第二機台230，但並不以此數量 制方式為限。物件傳輸 糸、，先10包括一第一軸運動機構11〇、 ,λΆ g 弟一軸運動機構120 以及一第二軸運動機_，第1運動機構⑽配 個機台20之一側，並 、星數 當一據从 210、第二機台220及 弟逸230的排列方向延伸，用以朝單—方向( 朝第三機台230的方&彳終、、，+ 機〇 210 林向)輸魏數轉加工齡3Q。 本貫施例中，第-輛運動機構11〇為一 ，、中在 機構’其可以是但 Μ V 11之輸送 个侷限於疋址/定距輪送機構。 第二軸運動機構120具有一滑執⑵ 121沿第一機台2]〇朝 戰具122，滑執 朝弟二機台230的方向設置於第-軸運動 201223841 枚構110及钹數個機台2〇之間。移動載具122設置於滑執⑵ 並可於/月軌121上相對第一軸運動機構於複數個機台 2〇之間往復位移，意即· 122可選擇性的於賴⑵上從 相鄰於第機台210之一側移動至相鄰於第三機台230之另一 侧’或者是從相鄰於第三機台23〇之一侧移動至相鄰於第一機 台之另-側。並且，在移動的過程中，載具122另可耕時 地停留在對應於第—機台加、第二機台22G及第三機台23〇 的1 置處。其中’在第一軸運動機構ιι〇開始輸送待加工物件 3〇刖’第二軸運動機構120之載具122係停留在對應於第一 機台210的位置處。 雖然在本貫補巾第二軸運動機構是以載具搭配滑執的 方式進行往復位移，然而在本發明之其他實_巾，第二轴運 動機構亦可以是其他具有往復位移魏之移械具，例如裝設 有滾輪而可自由滑移之載具等，此僅為用以做為舉例說明，但 並不以此為限。 此外’第二轴運動機構12〇之載具122更設置有一校正台 、及暫置台124，校正台123及暫置台124係沿滑軌121 的延伸方向分別地設置於載具122的相對二側面。校正台⑵ 系用以在待加工物件3〇及已加工物件的傳輸過程中暫時地承 載待加工物件30 ’以及對待加工物件3〇進行定位校正，而暫 置台124則用以暫時地承載已加工物件。 第二軸運動機構130包含一旋轉軸13]及一拾取裝置 201223841 132 ’旋轉軸131 _於載具122上，並城轉軸⑶的軸心 方向垂直直立於第二軸運動機構⑽的位移方向。拾取裝置 m設置於旋轉軸131，並且在拾取裝置132上沿旋轉轴⑶ 的徑向方向延伸形成有—第—拾取手们33、1二拾取手臂 第_才。取手# 135及一第四拾取手臂说。第一於取 手臂心第二拾取手们34、第三拾取手臂135及第四棘 手臂136係斜字形排财式對稱設置於 分別對應於輸送帶1U、校正么123、第妓^置132上而 , 仅止σ 123、第—機台210以及暫置 台124，並且常態地懸置於輸送帶lu、校正台⑵、第 台210及暫置台124上方。 其中，拾取裝置132可藉域轉軸131帶動而相對第二袖 運動機構12〇以正負9G度(携。)的旋轉角度轉動，以帶動第 一拾取手臂133、第二拾取手臂134、第三拾取手臂135及第 四拾取手们36辭位移，使第—拾取手f 133於輸送帶⑴ 及校正台123之間往復位移；使第二拾取手臂w於校正二 123及第—機台之加工位置211之間往復位移；使第三拾取: 臂135於第-機台之加工位置2n及暫置台124之間往復位 f以及使第四拾取手臂136於暫置台124及輸送帶⑴之間 往復位移。 請參閱「第1圖」和「第2圖」，在操作上，當第_車由運 動機構UG以—預定的輪送速度將複數個待加讀件30自第 一機台21G朝第三機台⑽的方向輪送，此-輸送速度係維持 201223841 在輸送帶m上介於相鄰之二機台間的待加工物件％數量相 4於機台總數量或其倍數的輸送速度。例如，在本實施例中設 置有第-機台21〇、第二機台22〇以及第三機台23〇，因此輸 送帶⑴上介於第—勤之加工位㈣及第二機台之加工位 置221之間的待加工物件3〇數量為兩個。其中，若包含對應 於第一機台之加工位置211的待加工物件30，則輸送帶m 上介於第-機台之加工位置211及第二機台之加工位置功之 間的待加讀件3G數#顺總機台數量轉。第三轴運動機 構130即配合第-軸運動機構11〇的輸送速度而拾取複數個待 加工物件30之其中之並將其移载_對應的機台上。並 且，第二軸運動機構120的初始位置係對應於第一機台加， 並且配合複數個機台2G的加工速度而依據—賊的配置程序 於第-機台別、第二機台22〇及第三機台23〇之間往復位移。 舉例而言’當第一軸運動機構110以輸送帶m將一第一 待加工物件31輸送至對應於第一機台之加工位置211的位 置’第三軸運動機構130即以第一拾取手臂133拾取第一待加 工物件3卜並且使第—拾取手f 133相對載具122旋轉而將 第-待加工物件31置放於校正台123上。接著，第—拾取手 臂133再旋轉回對應於輸送帶⑴的位置，此時第—待加工物 件31即藉由校正台123校正其與第一機台之加工位置2ιι的 對應位置。接著，輸送帶m持續輸送_在第—待加工物件 31後方的第二待加讀件32及第三待加工物件％等待加工 201223841 ^件30，朗第四待加工物件34對應於第—機台之加工位置 叫時’第三軸運動機構⑽即同時的以第—拾 =四待加讀件34以及以第二拾取手f 134拾取第一壯 相對I 31。然後’如「第2圖」所示，第三軸運動機構130 續具丨22旋轉，使第—待加工物件3ι移載至第—機台之 123。置211亚同步的使第四待加工物件34移載至校正台 第請參閱「第2圖」至「第4圖」，當第—待加工物件31及 正::7Γ分別放置於第一機台之力，211及校 加:後，，機台⑽即開始進行第-待加工物件31的 [門^此日守’在等待第一待加工物件31完成加工的時間 印内’苐二軸運動機構12〇配合第一機台2 位移至對應第二機台220的Μ 4 開始而 上° 、置’並且暫時的停留在此位置 弟-軸運動機構110則持續的將第二待加工物㈣、 弟二待加工物件％、第五待加工物件％ 及笫4-註·Α , 乐得加工物件36 第七待加工物件37朝第二機台22()的 圖」所示，直到第三待加工物件：〇弟 置22】拄结- …於弟一機台之加工位 寺，第二軸運動機構13〇即配合 :第—拾取手臂阳拾取第三待加卫: 待加工物㈣從輸送帶⑴移載至校 靖第二 手臂⑼弟二拾取 夕載至弟-機台之加工位置221(如「第4圖」所示）。 201223841 月乡閱第4圖」至「第6圖」，在第三軸運動機構l3〇 ;第機口 220的位置處完成第三待加工物件及第四待加 物件34的移裁作業後，第二軸運動機構⑽即帶動第三轴 運動機構13G從第二機台22〇位移至第—機台別。此時，原 先放置於第-機台21〇的第一待加工物件Μ已完成加工作業 而成為-第-已加工物件41，若否，則第二轴運動機構⑽ 及第三軸運動機構13時時停靠於第一機台2赠等候加工作 業完成。之後，第-軸運動機構11〇持續的魏複數個待加工 物件30 ’直到第七待加讀件37對應於第—機台之加工位置 2U，第三軸運動機構B〇即同時的以第一拾取手臂说拾取 輸送帶111上的第七待加工物件37 ;以第二拾取手们34拾 取枚正cr 123上的第三待加工物件33 ;以及以第三拾取手臂 135拾取第-機台之加工位置211上的第一已加工物件*卜接 著’藉由第二轴運動機構！3〇相對第二軸運動機構12〇往復旋 轉’使第七待加工物件37、第三待加玉物件33以及第一已加 工物件41分別被移載至校正台123、第-機台之加工位置211 以及暫置台124後，並使第—拾取手臂133、第二拾取手臂134 以及第二拾取手臂135回復為分別對應於輸送帶⑴、校正台 123以及第一機台之加工位置211的狀態(如「第6圖」所示）。 清蒼閱「第6圖」至「第8圖」，第一軸運動機構no持 續的將配置於輸送帶111上的第二待加讀件32、第五待加 工物件35、第六待加工物件36以及後續的複數個待加工物件The transmission (4) of the liquid crystal panel is taken as an example, but it is not limited to this. / as shown in "FIG. 1", the object transfer system 1G' side disclosed in the embodiment of the present invention transmits the member 30 and/or the processed object _ between the plurality of machines 2 (). In this implementation, the plurality of platforms include one of the first machine 21G, the second machine 220, and the second machine 230 in a linear arrangement, but the method is not limited thereto. The object transmission 10 includes a first axis motion mechanism 11〇, a λΆg brother-axis motion mechanism 120, and a second axis motion machine_, and the first motion mechanism (10) is coupled to one side of the machine unit 20, and The number of stars extends from the arrangement direction of 210, the second machine 220, and the Diyi 230, and is used to face the single-direction (toward the side of the third machine 230 and the end of the machine) ) Transfer Wei number to processing age 3Q. In the present embodiment, the first motion mechanism 11 is one, and the middle mechanism is the same as the transmission of the V 11 to the address/distance transmission mechanism. The second axis motion mechanism 120 has a slipper (2) 121 along the first machine 2] toward the warfare 122, and the slide is set in the direction of the second machine 230 to the first axis movement 201223841. Between 2 〇. The moving carrier 122 is disposed on the sliding handle (2) and reciprocally displaces between the plurality of machines 2〇 relative to the first axis moving mechanism on the /month rail 121, that is, the 122 can be selectively adjacent to the Lai (2) Moving on one side of the first machine 210 to the other side adjacent to the third machine 230' or moving from one side adjacent to the third machine 23 to the other adjacent to the first machine side. Further, during the movement, the carrier 122 stays at the 1st position corresponding to the first machine, the second machine 22G, and the third machine 23A. The carrier 122 in which the second axis motion mechanism 120 starts to convey the object to be processed 3 〇刖 in the first axis motion mechanism stays at a position corresponding to the first machine 210. Although the second axis motion mechanism of the present patch is reciprocally displaced in a manner that the carrier is slidably engaged, in the other embodiments of the present invention, the second axis motion mechanism may be other reciprocating displacements. For example, but not limited to, a carrier that can be freely slidable, such as a roller. In addition, the carrier 122 of the second axis moving mechanism 12 is further provided with a correction table and a temporary table 124. The calibration table 123 and the temporary table 124 are respectively disposed on opposite sides of the carrier 122 along the extending direction of the slide rail 121. . The calibration table (2) is used for temporarily carrying the object to be processed 30' and the object to be processed 3' during the transmission of the object to be processed and the processed object, and the temporary table 124 is used for temporarily carrying the processed object. The second axis motion mechanism 130 includes a rotating shaft 13] and a pick-up device 201223841 132'. The rotating shaft 131_ is on the carrier 122, and the axial direction of the turning shaft (3) is vertically erected in the direction of displacement of the second shaft moving mechanism (10). The pick-up device m is disposed on the rotating shaft 131, and on the pick-up device 132, extending along the radial direction of the rotating shaft (3), the first picking hands 33 and the second picking arm are formed. Take the hand # 135 and a fourth pick arm said. The first arm-handling second picking hand 34, the third picking arm 135, and the fourth ratcheting arm 136 are obliquely arranged in a diagonal shape to correspond to the conveyor belt 1U, the correction 123, and the first setting 132 respectively. However, only the σ 123, the first stage 210, and the temporary stage 124 are normally suspended above the conveyor belt lu, the correction stage (2), the stage 210, and the temporary stage 124. The picking device 132 can be rotated by the rotation axis of the second sleeve moving mechanism 12 正 at a positive or negative 9G degree (carrying) to drive the first picking arm 133, the second picking arm 134, and the third picking. The arm 135 and the fourth picker are displaced by 36 degrees, so that the first picking hand f 133 is reciprocally displaced between the conveyor belt (1) and the correction table 123; and the second picking arm w is in the processing position of the correction two 123 and the first machine Reciprocating displacement between 211; third picking: arm 135 reciprocating position f between processing position 2n of the first machine and temporary table 124 and reciprocating displacement of fourth picking arm 136 between temporary table 124 and conveyor belt (1) . Please refer to "Fig. 1" and "Fig. 2". In operation, when the first carriage is moved by the motion mechanism UG at a predetermined transmission speed, the plurality of to-be-read readings 30 are directed from the first machine 21G to the third. The direction of the machine (10) is carried, and the conveying speed is maintained at 201223841. The number of items to be processed between the two adjacent machines on the conveyor belt m is 4, the total number of the machines or the multiple of the conveying speed. For example, in the present embodiment, the first machine 21 〇, the second machine 22 〇, and the third machine 23 设置 are provided, so the conveyor belt (1) is interposed between the first machining station (four) and the second machine. The number of objects to be processed 3 between the processing positions 221 is two. Wherein, if the object to be processed 30 corresponding to the processing position 211 of the first machine is included, the conveyor belt m is to be read between the processing position 211 of the first machine and the machining position of the second machine. Piece 3G number #顺总机台转转. The third-axis moving mechanism 130 picks up a plurality of objects to be processed 30 in accordance with the conveying speed of the first-axis moving mechanism 11〇 and transfers it to the corresponding machine. Moreover, the initial position of the second axis motion mechanism 120 corresponds to the first machine plus, and cooperates with the processing speed of the plurality of machines 2G according to the configuration procedure of the thief on the first machine and the second machine 22〇 And the third machine 23 往复 reciprocating displacement. For example, when the first axis moving mechanism 110 conveys a first object to be processed 31 to a position corresponding to the processing position 211 of the first machine by the conveyor belt m, the third axis moving mechanism 130 is the first picking arm. 133 picks up the first object to be processed 3 and rotates the first picking finger f 133 with respect to the carrier 122 to place the first object to be processed 31 on the correcting table 123. Then, the first picking arm 133 is rotated back to the position corresponding to the conveyor belt (1), at which time the first object to be processed 31 is corrected by the correcting table 123 to the corresponding position of the processing position 2ι of the first machine. Then, the conveyor belt m is continuously conveyed _ the second to-be-readed reading member 32 and the third object to be processed after the first object to be processed 31 are waiting for processing 201223841 pieces 30, and the fourth fourth object to be processed 34 corresponds to the first machine The machining position of the table is called 'the third axis motion mechanism (10), that is, the first to the fourth to be read 34 and the second to the first f I 134 to pick up the first strong I 31 . Then, as shown in Fig. 2, the third-axis motion mechanism 130 continues to rotate the cymbal 22 to transfer the first object to be processed 3 to 123 of the first machine. The second workpiece to be processed 34 is transferred to the calibration station. Referring to "Fig. 2" to "Fig. 4", when the first object to be processed 31 and the positive::7 are respectively placed in the first machine The force of Taiwan, 211 and the school plus: After the machine (10) starts to perform the first-to-be-processed object 31 [the door ^ this day guard] waiting for the first object to be processed 31 to complete the processing time stamping The moving mechanism 12 〇 cooperates with the first machine 2 to shift to the Μ 4 corresponding to the second machine 220 to start up, set and temporarily stay at this position, and the second-axis moving mechanism 110 continues to hold the second workpiece. (4), the second part of the workpiece to be processed, the fifth item to be processed, and the fourth item to be processed, 笫4-Note·Α, the processed object 36, the seventh object to be processed 37, as shown in the figure of the second machine 22 (), until the third Items to be processed: 〇弟定22]拄结-...The processing of the temple in the machine of the younger brother, the second axis of the movement mechanism 13 〇 cooperate: the first pick up the arm Yang pick the third to be added: the object to be processed (four) from The conveyor belt (1) is transferred to the second arm of the school (9), and the second is to pick up the processing position 221 of the brother-machine (as shown in Figure 4).201223841 Monthly reading of the 4th to the 6th, after the third axis moving mechanism l3〇; the position of the second port 220 is completed at the position of the third object to be processed and the fourth object to be added 34, The second axis motion mechanism (10) drives the third axis motion mechanism 13G to be displaced from the second machine 22 to the first machine. At this time, the first object to be processed 原 originally placed on the first stage 21〇 has been processed to become the -first processed object 41, and if not, the second axis moving mechanism (10) and the third axis moving mechanism 13 At the same time, it is docked at the first machine 2 and the waiting processing operation is completed. Thereafter, the first-axis moving mechanism 11 〇 continues the plurality of objects to be processed 30 ′ until the seventh to-be-reading member 37 corresponds to the processing position 2U of the first machine, and the third-axis moving mechanism B is simultaneously Picking up the arm to pick up the seventh object to be processed 37 on the conveyor belt 111; picking up the third object to be processed 33 on the positive cr 123 by the second picker 34; and picking up the first machine by the third picking arm 135 The first processed object on the processing position 211 is then followed by the second axis motion mechanism! 3〇 relative to the second axis motion mechanism 12 〇 reciprocating rotation 'the seventh object to be processed 37, the third object to be added 33 and the first processed object 41 are respectively transferred to the correction table 123, the first machine processing After the position 211 and the temporary stage 124, the first picking arm 133, the second picking arm 134, and the second picking arm 135 are returned to the state corresponding to the processing position 211 of the conveyor belt (1), the correction table 123, and the first machine, respectively. (as shown in Figure 6). Qing Cang read "Fig. 6" to "8th figure", the first axis moving mechanism no continues to be placed on the conveyor belt 111, the second to-be-reading member 32, the fifth object to be processed 35, and the sixth to be processed Object 36 and subsequent plurality of objects to be processed
B 14 201223841 3〇朝第三機台230的方向輸送。此時，第二軸運動機構i2〇 即配合第一軸運動機構110的輸送速度自第一機台21〇位移至 第三機台230。並且’當第二待加工物件32對應於第三機台 之加工位置231日夺，第三軸運動機構13〇即同時的以第_拾取 手臂133、第二拾取手臂134以及第四拾取手臂136分別拾取 第二待加工物件32、第七待加工物件37以及第一已加工物件 41同時’藉由第二轴運動機構13〇相對第二軸運動機構⑽ 往復旋轉，使第二待加工物件32自輸送帶ιη移載至校正台 123;使第七待加工物件37自校正台123移載至第三機台之力: 工位置23i ’·以及使第一已加工物件41自暫置台ΐ24移載至 輸送帶·「第8圖」所示）。因此，讓已加工完成的物件 可再經由輸送帶111輸送至後續的工作站。 '•月，閱第7圖」至「第9圖」，之後，原先放置於第二 機台220的第四待加工物件34已完成加工作業而成為一第二 已加工物件42。此時，第二軸運動機構120即帶動第三軸運 動機構130仗第二機台23〇位移至第二機台挪，而第一轴運 動機構1】〇則持續的輸送複數個待加工物件3〇。直到第六待 件％對應於第二機台之加工位置221，第三轴運動機 :硐時的以第-拾取手臂133、第二拾取手臂134以及 你土^取手f 135分別拾取第六待加工物件36、第二待加工 ^ η第二已加工物件42。同時，藉由第三轴運動機構 相料二運動機構叫域旋轉，使第六待加工物件36 201223841 自輸达帶111移載至校正台123 ;使第二待加工物件32自校 正σ 123移載至第二機台之加工位置η ;以及使第二已加工 物件42自第二機台之加工位置221移載至暫置台124(如「第 9圖」所示）。 同樣地，在後續的作業流程中，以第二軸運動機構120帶 動第三軸運動機構13〇轉至第一機台21〇的位置，並藉由第 三軸運動機構13〇將第一機台21〇上已完成加工作業的第三待 加工物件33放置於暫置台124，以及將第二已加工物件42放 置；輸111，讓已加工完成的物件可再經由輸送帶I〗〗輸 运至後續的工作站。之後’第二軸運動麵12〇再位移至第三 機口 230 ’並以第三機台230、第二機台220、第一機台21〇 的私動順序’位移至每—機台的位置，以便於讓第三運動機構 130執订待加工物件30及/或已加工物件於輸送帶111及複數 個機台2G之間相互交換的取置作業。 ★雖然，在本實施例中，第二軸運動機構於複數個機台之間 自第孝由運動機構110之輸送帶⑴上的取放配置程序是以第 =機台；第-機纟；第二機台’第一機台；第三機台，第二機 一 機1 〇，第二機台，第二機台，第一機台，·...；以及 二^機A，諸— ^ 〇 機台，第一機台的移動方式做為舉例說明，然而 △，發明邮他實施射，此取放配置程麵可以是第三機 :機^機台’第一機台；…；第三機台’第二機台，·以及第 。的移動方式。或者是’第-機台，第二機台，第三機台；B 14 201223841 3 输送 conveyed in the direction of the third machine 230. At this time, the second shaft moving mechanism i2, i.e., the conveying speed of the first shaft moving mechanism 110, is displaced from the first machine 21 to the third machine 230. And 'when the second object to be processed 32 corresponds to the processing position 231 of the third machine, the third axis moving mechanism 13 is simultaneously the first picking arm 133, the second picking arm 134, and the fourth picking arm 136. The second object to be processed 32, the seventh object to be processed 37, and the first processed object 41 are respectively picked up and reciprocally rotated by the second axis moving mechanism 13 relative to the second axis moving mechanism (10) to make the second object to be processed 32 Transfer from the conveyor belt ιη to the correction table 123; force to transfer the seventh object to be processed 37 from the calibration station 123 to the third machine: the work position 23i '· and move the first processed object 41 from the temporary stage 24 Loaded on the conveyor belt, "Figure 8"). Therefore, the processed article can be transported to the subsequent workstation via the conveyor belt 111. '•Month, see Fig. 7' to Fig. 9 after that, the fourth object to be processed 34 originally placed on the second machine 220 has been processed to become a second processed object 42. At this time, the second axis motion mechanism 120 drives the third axis motion mechanism 130 仗 the second machine 23 〇 to the second machine, and the first axis motion mechanism 1 持续 continuously transports a plurality of objects to be processed. 3〇. Until the sixth waiting piece % corresponds to the processing position 221 of the second machine, the third axis moving machine: picks up the sixth waiting by the first picking arm 133, the second picking arm 134, and your soil picking hand f 135 The workpiece 36 is processed, and the second workpiece 42 is to be processed. At the same time, the third to-be-processed object 36 201223841 is transferred from the transmission belt 111 to the calibration station 123 by the third-axis motion mechanism, and the second object to be processed 32 is moved from the correction σ 123 The processing position η is carried to the second machine; and the second processed object 42 is transferred from the processing position 221 of the second machine to the temporary stage 124 (as shown in FIG. 9). Similarly, in the subsequent operation flow, the second axis motion mechanism 120 drives the third axis motion mechanism 13 to the position of the first machine 21 ,, and the first machine is driven by the third axis motion mechanism 13 The third object to be processed 33 on the table 21 is placed on the temporary table 124, and the second processed object 42 is placed; the 111 is processed, and the processed object can be transported through the conveyor belt I. To subsequent workstations. Then, the 'second axis moving surface 12〇 is displaced to the third machine port 230' and is displaced to the per-machine stage in the order of the third machine 230, the second machine 220, and the first machine 21〇. The position is such that the third motion mechanism 130 engages the object to be processed 30 and/or the workpiece to be exchanged between the conveyor belt 111 and the plurality of machines 2G. ★ Although, in the present embodiment, the second axis motion mechanism between the plurality of machines from the filial piety by the movement mechanism 110 on the conveyor belt (1) pick and place configuration program is the first machine; the first machine; The second machine 'the first machine; the third machine, the second machine, the first machine, the second machine, the second machine, the first machine, the first machine, the second machine, the second machine A, the — ^ 〇 machine, the movement of the first machine as an example, however, △, the invention sent him to shoot, this pick and place configuration surface can be the third machine: machine ^ machine 'first machine; The third machine 'the second machine, · and the first. The way of moving. Or 'the first machine, the second machine, the third machine;
16 S 201223841 第一機台’第二機台，第三機台;…;以及第-機台，第二機 台，第三機⑽移m此係藉㈣二_動機構配合複 數個機台的加工速度以及第三軸運動機構配合第—軸運動機 構的輸送速度峨最佳化㈣序，私讓複數瓣加工物 件及已加玉物件的輸送作業及加玉«朗時具有順暢的作 業流程’並且在此作魏財第二軸運動機構運轉之總走行距 離為最短。因此，軸在本實施例㈣上述之配置程序做為舉 例說明，但並不以此為限。16 S 201223841 The first machine 'the second machine, the third machine; ...; and the first machine, the second machine, the third machine (10) move m this system (four) two _ moving mechanism with a plurality of machines The processing speed and the third axis motion mechanism cooperate with the conveying speed of the first-axis motion mechanism to optimize (four) sequence, privately transfer the processing of the multi-lobed processed object and the jade object and the smooth operation process 'And the total distance traveled by Wei Cai's second-axis motion mechanism is the shortest. Therefore, the above-described configuration procedure of the present embodiment (4) is described as an example, but is not limited thereto.
/同樣地，在本發明所揭露之實施例中，雖然是以物件傳輸 系統應用於複數賴台之間做為糊制，但是對於某些具有 複數個加讀置的單—機台而言，當本發明所揭露的物件傳輸 系統應用於這的機㈣，仍可藉域數個加工位置之間 的排列方式，並透過第二軸運誠構配合複數個加工位置的加 工速度以及第三軸運動機構配合第—轴運動機構的輸送速度 而做最佳化的日铸鶴’使第二轴運械構運轉之走行距離為 最短。因此’對於這種具有複數個加墻置的單—機台而言， 由於其複數個加工位置可視為本發明所指出之複數個機台，而 亦屬於本發明所涵蓋之範籌内。 本發明之功效在於，藉由第一軸運動機構、第二轴運動機 構以及第三軸運動機構的設置方式，提供三軸式的物件傳輪系 統’意即同時具有位於複數個機台之—側並且朝單—方向輪送 物件的第-軸、介於複數個機台及第—轴之間並且可於複^個 17 201223841 機台之間往復位移的第二_及垂直於第二㈣且可在複數 個機台及第-軸之間往復旋轉的第三軸的物件傳輸系統。讓複 數個待加工物件及已加讀件在經由第—軸運動機構傳輸的 過程中’可同時藉由第二軸運動機構及第三軸運動機構的協同 作用，而順暢的以最短的走行總距離在第一轴運動機構及複數 個機台之間移轉。因此，除了可大幅提升物件加工及傳輸作業 的生產效能及產品良率外，並同時可節省習知物件傳輸系統十 的人力及自動化機械手臂的配置，進而讓物件傳輪及加工作業 的生產成本降低。 〃 雖然本發明之實施例揭露如上所述，然並非用以限定本發 明，任何熟習相關技藝者，在不脫離本發明之精神和範圍内， 舉凡依本發明申請範圍所述之形狀、構造、特徵及精神當可做 些許之變更’因此本發明之專利保護範圍須視本說明書所附之 申請專利範圍所界定者為準。 【圖式簡單說明】 第1圖為本發明之—實施例之俯視示意圖。 第2圖至第9圖為本發明之一實施例之使用狀態示意圖。 【主要元件符號說明】 10 物件傳輸系統 110 第一軸運動機構 111 輪送帶 120 弟一軸運動機構Similarly, in the embodiment disclosed by the present invention, although the object transmission system is applied as a paste between the plurality of platforms, for some single-machines having a plurality of read-and-read, When the object transport system disclosed in the present invention is applied to the machine (4), the processing speed between the plurality of machining positions and the third axis can be coordinated by the second shaft. The Japanese-made crane that optimizes the conveying speed of the moving mechanism in conjunction with the conveying speed of the first-axis moving mechanism makes the running distance of the second-axis operating mechanism the shortest. Therefore, for such a single-machine having a plurality of wall-mounted positions, since a plurality of processing positions can be regarded as a plurality of machines indicated by the present invention, it is also within the scope of the present invention. The utility model has the advantages that the three-axis object conveying system is provided by the arrangement of the first axis moving mechanism, the second axis moving mechanism and the third axis moving mechanism, which means that the plurality of machines are located at the same time. Side and toward the single-direction wheel, the first axis of the object, between the plurality of machines and the first axis, and the second _ and the second (four) of the reciprocating displacement between the plurality of 17 201223841 machines And a third axis object transport system reciprocally rotatable between the plurality of machines and the first axis. Having a plurality of objects to be processed and the added readings during the transmission through the first-axis moving mechanism can simultaneously perform the shortest running by the synergistic action of the second-axis moving mechanism and the third-axis moving mechanism. The distance is shifted between the first axis motion mechanism and the plurality of machines. Therefore, in addition to greatly improving the production efficiency and product yield of the object processing and transmission operations, at the same time, it can save the manpower and automatic mechanical arm configuration of the conventional object transmission system 10, thereby allowing the production cost of the object transfer wheel and the processing operation. reduce. 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 The features and spirits of the invention are subject to change. The scope of the invention is therefore defined by the scope of the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a top plan view showing an embodiment of the present invention. 2 to 9 are schematic views showing the state of use of an embodiment of the present invention. [Main component symbol description] 10 Object transfer system 110 First axis motion mechanism 111 Round belt 120 Younger one-axis motion mechanism
18 S 20122384118 S 201223841
121 滑執 122 載具 123 校正台 124 暫置台 130 第三軸運動機構 131 旋轉軸 132 拾取裝置 133 第一拾取手臂 134 第二拾取手臂 135 第三拾取手臂 136 第四拾取手臂 20 複數個機台 210 第一機台 211 第一機台之加工位置 220 第二機台 221 第二機台之加工位置 230 第三機台 231 第三機台之加工位置 30 待加工物件 31 第一待加工物件 32 第二待加工物件 33 第三待加工物件 19 201223841 34 第四待加工物件 35 第五待加工物件 36 第六待加工物件 37 第七待加工物件 41 第一已加工物件 42 第二已加工物件 20121 Slip 122 Carrier 123 Calibration station 124 Temporary stage 130 Third axis motion mechanism 131 Rotary shaft 132 Pickup device 133 First pick arm 134 Second pick arm 135 Third pick arm 136 Fourth pick arm 20 Multiple machines 210 First machine table 211 First machine table processing position 220 Second machine table 221 Second machine table processing position 230 Third machine table 231 Third machine table processing position 30 Object to be processed 31 First object to be processed 32 Second object to be processed 33 Third object to be processed 19 201223841 34 Fourth object to be processed 35 Fifth object to be processed 36 Sixth object to be processed 37 Seventh object to be processed 41 First processed object 42 Second processed object 20