TW202007454A - Stamping device, transferring device, automatic stamping equipment and method for transferring workpiece - Google Patents

Abstract

An automatic stamping equipment including a stamping device, a transferring device and a controlling device is provided. The transferring device includes a conveying module, a speed sensing module, an image capture module and a robotic arm. The controlling device controls the robotic arm to sequentially transfer a plurality of workpieces from the conveying module to a carrier according to a data obtained by the speed sensing module and the image capture module. A method for transferring workpiece, a stamping device and a transferring device are further provided.

Description

Stamping device, transfer device, automatic stamping equipment and workpiece transfer method

The invention relates to a transfer method and a device and equipment applied to the transfer method, and particularly relates to a stamping device, a transfer device, an automatic stamping device and a workpiece transfer method.

The technique of stamping and forming is to rely on the cooperation between the stamping device and the mold to apply an external force to the plate to cause plastic deformation or separation of the plate to obtain a workpiece of the desired shape and size. The traditional stamping and forming technology relies on manually placing the plate to be processed on the mold, and after the stamping is completed, the work pieces formed by the stamping are collected manually.

However, placing the plate to be processed and collecting the workpiece by manual means not only consumes too much labor cost, but the overall processing efficiency is also limited by the fatigue degree of the operator, and the operator may be injured if he is not careful accident.

The invention provides an automatic stamping equipment, which can save labor cost, improve the processing efficiency of finished products, improve the safety of operations and improve the yield of products.

The invention provides a workpiece transfer method, which can save labor cost, improve the processing efficiency of finished products, improve the safety of operations and improve the yield of products.

The invention provides a transfer device, which can save labor costs, improve the processing efficiency of finished products, improve the safety of operations and improve the yield of products.

The invention provides a stamping device, which can reduce abrasion, prolong service life and reduce maintenance cost.

The automatic stamping equipment of the present invention includes a stamping device, a transfer device and a control device. The stamping device is configured to stamp a plurality of parts to be stamped of a sheet material to form a plurality of workpieces. The transfer device includes a conveying module, a speed sensing module, an image capturing module and a mechanical arm. The conveying module is configured to convey these workpieces formed by the stamping device. The speed sensing module is configured to detect the conveying speed of the conveying module. The image capturing module is configured to capture images of the workpieces being conveyed by the conveying module. The robotic arm is configured to transfer these workpieces from the conveyor module to a carrier. The control device determines the real-time position of each workpiece on the conveying module according to the images of the workpieces being conveyed by the conveying module captured by the image capturing module, and detects the conveying module's position according to the speed sensing module The conveying speed and the image capturing module capture the images of the workpieces being conveyed by the conveying module to determine the real-time position of each workpiece on the conveying module, and according to the real-time position and real-time position of each workpiece on the conveying module Position to control the robot arm to transfer these workpieces from the conveyor module to the carrier in sequence.

In an embodiment of the invention, the aforementioned stamping device includes a stamping module and a transfer module. The stamping module has a stamping area. The transfer module is configured to transfer the sheet to the stamping area and transfer these workpieces from the stamping area to the conveyor module.

In an embodiment of the present invention, the above-mentioned automatic stamping equipment further includes a collection box, which is arranged on the conveying module to concentrate the workpieces discharged by the conveying module.

In an embodiment of the invention, the aforementioned control device is a PC-Based control device.

In an embodiment of the invention, the above-mentioned automatic stamping equipment further includes a transfer device, which is suitable for carrying and collecting carriers.

In an embodiment of the present invention, the number of the above-mentioned robot arms is two, the robot arms are arranged on the same side of the conveying module, and the transfer device is located between the robot arms.

A workpiece transfer method of the present invention includes: transferring a plurality of workpieces to a conveying module via a transfer module; capturing the workpieces being conveyed by the conveying module according to an image capturing module via a control device Image to determine the real-time orientation of each workpiece on the conveying module; the conveying speed of the conveying module detected by a speed sensing module and the image capturing module are captured by the conveying module through the control device The images of these workpieces determine the real-time position of each workpiece on the conveyor module; and the control device controls a robot arm to transfer these workpieces from the conveyor module to one according to the real-time orientation and real-time position of each workpiece on the conveyor module vehicle.

In an embodiment of the present invention, the above-mentioned step of controlling the robot arm to transfer these workpieces to the carrier includes: determining whether each workpiece needs to be transferred to the carrier according to the marks on each workpiece via the control device; when the workpiece needs to be transferred When reaching the carrier, the robot is controlled by the control device to transfer the workpiece from the conveyor module to the carrier according to the real-time position and location of the workpiece on the conveyor module; and when the workpiece does not need to be transferred to the carrier, the robot is controlled Does not transfer the workpiece from the conveyor module to the carrier.

In an embodiment of the present invention, in the step of capturing the images of the workpieces being conveyed by the conveying module through the image capturing module, the marks on each workpiece are recognized by the control device to determine whether each workpiece needs Was transferred to the vehicle.

In an embodiment of the invention, the above-mentioned workpiece transfer method further includes: collecting the workpieces discharged by the conveying module through a collection box.

The transfer device of the present invention is suitable for coupling to a control device. The transfer device includes a conveying module, a speed sensing module, an image capturing module and a mechanical arm. The conveying module is configured to convey multiple workpieces. The speed sensing module is configured to detect the conveying speed of the conveying module. The image capturing module is configured to capture images of the workpieces being conveyed by the conveying module. The robotic arm is configured to transfer these workpieces from the conveyor module to a carrier. The control device determines the real-time position of each workpiece on the conveying module according to the images captured by the image capturing module of the workpieces being conveyed by the conveying module, and detects the conveying module's position according to the speed sensing module The conveying speed and the image capturing module capture the images of the workpieces being conveyed by the conveying module to determine the real-time position of each workpiece on the conveying module, and according to the real-time position and real-time position of each workpiece on the conveying module Position to control the robot arm to transfer these workpieces from the conveyor module to the carrier.

The stamping device of the present invention includes a stamping module and a transfer module. The stamping module has a stamping area. The transfer module includes a linear stator, a first pick-and-place mover, and a second pick-and-place mover. The first pick-and-place mover is magnetically mounted on the linear stator to transfer a plate to be stamped to the stamping area. The second pick-and-place mover is magnetically mounted on the linear stator to move the stamped sheet away from the stamping area, wherein the first pick-and-place mover on the linear stator and the second pick-and-place mover on the linear stator The movement paths partially overlap.

Based on the above, in the automated stamping equipment and workpiece transfer method of the above embodiment of the present invention, the control device is used to automatically control the stamping device and the transfer device, thereby saving labor costs, improving the processing efficiency of the finished product, and improving the operation. Safety and improve product yield.

On the other hand, in the transfer device of the above embodiment of the present invention, the control device is used to automatically control the conveying module, the image capturing module and the robotic arm, thereby saving labor costs and improving the processing efficiency of the finished product. Improve the safety of operations and the yield of products.

In addition, in the stamping device of the above embodiment of the present invention, the first fetching mover can transfer the plate to be pressed to the punching area, and the second fetching mover can move the pressed plate away from the punching Area, which can reduce wear, extend service life and reduce maintenance costs.

In order to make the above-mentioned features and advantages of the present invention more obvious and understandable, the embodiments are specifically described below in conjunction with the accompanying drawings for detailed description as follows.

FIG. 1 is a schematic diagram of an automatic stamping device according to an embodiment of the present invention. 2A to 2C are enlarged schematic views of the workpiece of FIG. 1 and its transfer to the conveying module and carrier after being stamped. Please refer to FIGS. 1 to 2C. In this embodiment, the automatic stamping apparatus 100 includes a stamping device 110, a transfer device 120, and a control device 130. The punching device 110 is configured to punch a plurality of portions B to be punched of a sheet 300 to form a plurality of workpieces C. The plate 300 is, for example, a plate of a flexible circuit board, and the portion B to be stamped corresponds to a flexible circuit board that has not been separated from the plate 300 on the plate 300, and the workpiece C corresponds to a flexible circuit board that has been separated from the plate 300 after stamping , But not limited to this.

The transfer device 120 includes a conveying module 121, a speed sensing module 122, an image capturing module 123, and a robot arm 124. The conveying module 121 is configured to convey these workpieces C formed by the punching device 110. The speed sensing module 122 is configured to detect the conveying speed of the conveying module 121. The speed sensing module 122 is, for example, an ordinary motor plus an encoder, or a servo motor acceleration and deceleration, but not limited to this. The image capturing module 123 is configured to capture images of the workpieces C being transported by the transport module 121. The robot arm 124 is configured to transfer these workpieces C from the conveying module 121 to a carrier 140 (such as a pallet for loading), and the robot arm 124 is, for example, a three-axis slide table (XYZ Table) or a SCARA robot (Selective Compliance Articulated Robot Arm (SCARA), Delta Robot, collaborative robot or six-axis robot, but not limited to this. For example, as shown in FIG. 2C, the carrier 140 has a plurality of grooves 141, and these workpieces C can be transferred to the grooves 141 of the carrier 140, respectively. The control device 130 determines the real-time orientation of each workpiece C on the conveying module 121 according to the images of the workpieces C being conveyed by the conveying module 121 captured by the image capturing module 123, and according to the speed sensing module 122 The detected conveying speed of the conveying module 121 and the images captured by the image capturing module 123 of the workpieces C being conveyed by the conveying module 121 determine the real-time position of each workpiece C on the conveying module 121, and The robot arm 124 is controlled to sequentially transfer these workpieces C from the transport module 121 to the carrier 140 according to the real-time orientation and the real-time position of each workpiece C on the transport module 121. Therefore, in the automated stamping apparatus 100 of this embodiment, through the cooperation between the conveying module 121, the speed sensing module 122, the image capturing module 123, the robot arm 124, and the control device 130, the finished workpiece is stamped C can be automatically transferred to the carrier 140 for storage, which can reduce labor costs, increase output, improve the safety of the operation process and improve the yield of the product.

4 is a schematic diagram of a stamping device according to an embodiment of the invention. Please refer to FIGS. 2A, 2B and 4. Specifically, the stamping device 110 includes a stamping module 112 and a transfer module 114. The stamping module 112 has a stamping area 112a. The transfer module 114 is configured to transfer the sheet 300 to the stamping area 112a, and transfer the workpieces C stamped by the stamping device 110 from the stamping area 112a to the conveying module 121.

Further, the transfer module 114 includes a linear stator 114a, a first pick-and-place mover 114b, and a second pick-and-place mover 114c. The transfer module 114 uses, for example, a linear motor (or linear motor) as a power source, but it is not limited thereto. The first pick-and-place mover 114b is magnetically mounted on the linear stator 114a, and includes a first pick-and-place head 114b1 to transfer the plate 300 to be punched to the punching area 112a. The first pick-and-place head 114b1 sucks the plate 300 to be punched by vacuum, for example, but not limited to this. The second pick-and-place mover 114c is magnetically mounted on the linear stator 114a, and includes a second pick-and-place head 114c1 to move the punched sheet 300 away from the punching area 112a, and to punch the workpieces C stamped from the sheet 300 Transfer from the punching area 112a to the conveying module 121. The second pick-and-place head 114c1 sucks the punched plate material 300 by vacuum, for example, but not limited to this. In this embodiment, the moving path of the first pick-and-place actuator 114b on the linear stator 114a partially overlaps the moving path of the second pick-and-place actuator 114c on the linear stator 114a. Since the first pick-and-place mover 114b and the second pick-and-place mover 114c are magnetically mounted on the linear stator 114a, the contact between the first pick-and-place mover 114b and the second pick-and-place mover 114c and the linear stator 114a is greatly increased Ground, the wear between the first pick-and-place mover 114b, the second pick-and-place mover 114c, and the linear stator 114a can be greatly reduced, thereby extending the service life and reducing maintenance costs. On the other hand, the same linear stator 114a is used for both the first pick-and-place mover 114b and the second pick-and-place mover 114c, which can reduce the space waste of the punching device 110 and reduce the overall volume of the punching device 110.

With further reference to FIG. 2D, the automated stamping apparatus 100 may further include a recovery area 170 disposed between the stamping device 110 and the transfer device 120. For example, after the stamping device 110 stamps the sheet 300, the sheet 300 will be divided into a non-punched portion A and a workpiece C. At this time, the second pick-and-place mover 114c can absorb the unpressed portion A and the workpiece C located in the punching zone 112a from the punching zone 112a, and then the second pick-and-place mover 114c can move to the recovery zone 170 to remove the second pick-and-place mover The suction force of 114c to the unpressed portion A to place the unpressed portion A in the recovery area 170, and then the second pick-and-place actuator 114c moves to the conveying module 121, and removes the suction force of the second pick-and-place actuator 114c to the workpiece C To place the workpiece C on the conveying module 121, but the position of the second pick-and-place mover 114c where the unpressed portion A and the workpiece C are placed in the recovery area 170 and the conveying module 121 is not limited.

Please refer to FIGS. 1 and 2B, the automatic stamping apparatus 100 further includes a collection box 160, which is disposed on the conveying module 121 to concentrate the workpieces C discharged from the conveying module 121. In other embodiments, after the stamping device stamps the sheet, the second pick-and-place mover can also directly place the unpressed part and the workpiece on the conveying module at the same time, and the collection box can be used to collect the unpressed part.

In this embodiment, the control device 130 is a PC-Based control device, but it is not limited to this, and it can be applied to Industry 4.0 and cloud technology. Thus, in addition to automated processing, the automated stamping equipment 100 of this embodiment can also The workpiece C can be customized according to the needs of customers. In addition, the production, processing and other materials can also be shared with customers, so that customers can get real-time production overview.

Please refer to FIGS. 1 and 2C. In this embodiment, the automatic stamping apparatus 100 may further include a transfer device 150, which is suitable for carrying and collecting the carrier 140. The transfer device 150 can be configured to carry a plurality of carriers 140. After collecting a certain number of carriers 140, the field staff can move the carriers 140 away from the automated punching apparatus 100 at once. In this embodiment, the number of robot arms 124 may be two, and the two robot arms 124 may be configured on the same side of the conveying module 121, wherein the two robot arms 124 are disposed on opposite sides of the transfer device 150 On the side, this configuration can reduce the space occupied by the automated stamping apparatus 100 to effectively utilize the environmental space. In addition, the use of two or more robot arms 124 can increase the transfer efficiency of the workpiece C, and can expand the overall working range of these robot arms 124. However, in other unillustrated embodiments, the number and arrangement positions of the robot arms are not limited. For example, two robot arms can also be disposed on opposite sides of the conveying module, and the number of robot arms can be adjusted according to actual needs. For example, two mechanical arms are arranged on both sides of the conveying module.

3 is a flowchart of a workpiece transfer method according to an embodiment of the invention. Referring to FIGS. 1 to 3, the workpiece transfer method 200 of this embodiment includes: in step S210: transferring a plurality of workpieces C to the conveying module 121 via the transfer module 114; in step S220: via the control device 130 According to the images of the workpieces C being conveyed by the conveying module 121 captured by the image capturing module 123, the real-time orientation of each workpiece C on the conveying module 121 is determined; in step S230: according to the sense of speed via the control device 130 The detecting speed of the conveying module 121 detected by the measuring module 122 and the images of the workpieces C being conveyed by the conveying module 121 are captured by the image capturing module 123, and the workpiece C is determined on the conveying module 121 Real-time position; and in step S240: control the robot 124 to transfer these workpieces C from the transport module 121 to the carrier 140 according to the real-time orientation and real-time position of each workpiece C on the transport module 121 via the control device 130. Therefore, in the automated stamping apparatus 100 of this embodiment, through the cooperation between the conveying module 121, the image capturing module 123, the robot arm 124, and the control device 130, the stamped workpiece C can be automatically transferred to the carrier Stored in 140, which can reduce labor costs, increase output, improve the safety of the operation process and improve the yield of products.

On the other hand, in step S240, the step of controlling the robot arm 124 to transfer these workpieces C to the carrier 140 may further include: determining whether each workpiece C needs to be transferred to according to the mark D on each workpiece C via the control device 130 Carrier 140; when it is determined that the workpiece C needs to be transferred to the carrier 140, the robot arm 124 is controlled to transfer the workpiece C from the conveyor module 121 to the robot module 124 according to the real-time orientation and the real-time position of the workpiece C on the conveyor module 121 through the control device 130 The carrier 140; and when it is determined that the workpiece C does not need to be transferred to the carrier 140, the robot arm 124 is controlled not to transfer the workpiece C from the conveying module 121 to the carrier 140.

For example, please refer to FIG. 1, FIG. 2A, FIG. 2B and FIG. 3, the mark D on the workpiece C may be the stamping device 110 before stamping the sheet 300, after manual visual inspection by the manual or equipment added to the sheet 300 The symbol D of each part B to be stamped, or the symbol D on the workpiece C may also be a two-dimensional barcode or QR-Code, which is not limited here.

In addition, in step S240, in the step of capturing the images of the workpieces C being conveyed by the conveying module 121 through the image capturing module 123, the control device 130 recognizes the mark D on each workpiece C to determine each workpiece C Whether it needs to be transferred to the vehicle 140. In short, when the image capturing module 123 captures the images of the workpieces C being conveyed by the conveying module 121, the marks D on each workpiece C can be captured at the same time, and the control device 130 will The mark D on the above determines whether to move it to the carrier 140, and the unmoved workpiece C will eventually fall into the collection box 160. In this way, the workpiece C can be classified and managed, for example, the workpiece C that fails the electrical test or has a defective appearance can be excluded, and the workpiece C that has no problem can be detected.

According to customer needs, a group of mechanical arms and transfer devices can also be added to the original collection box 160 to transfer the defective workpiece C to another group of carriers to distinguish different marks.

5 is a schematic diagram of a transfer device according to yet another embodiment of the present invention. Please refer to FIG. 5. Compared with the embodiment of FIG. 1, the transfer device 420 of this embodiment includes two robot arms 424 and two transfer devices 450. For example, the two robot arms 424 and the two transfer devices 450 can be disposed on the same side of the conveying module 421.

6 is a schematic diagram of an automatic stamping device according to another embodiment of the present invention. Please refer to FIG. 6. Compared with the embodiment of FIG. 1, in this embodiment, the transfer device 520 of the automatic stamping apparatus 500 includes two robot arms 524 and two transfer devices 550. In addition, the conveying module 521 has a rectifying section 521a and two transfer sections 521b, wherein the rectifying section 521a can divert the workpiece from the stamping device 510 to the two transfer sections 521b, and the side of each transfer section 521b can be provided with Mechanical arm 524 and transfer device 550. In addition, the speed sensing module 522 can detect the conveying speed of the transfer section 521b of the conveying module 521, the image capturing module 523 can capture the image of the workpiece before being transferred, and the control device 530 can control the punching device 510 and Control the components of the transfer device 520.

7 is a schematic diagram of an automatic stamping device according to another embodiment of the present invention. Referring to FIG. 7, compared to the embodiment of FIG. 1, in this embodiment, the automatic stamping apparatus 600 includes two stamping devices 610, and the transfer device 620 includes two robot arms 624 and eight transfer devices 650. The conveying module 621 has a rectifying section 621a and a transfer section 621b, wherein the rectifying section 621a can merge the workpieces from the two punching devices 610 to the transfer section 621b. The two robot arms 624 may be disposed above the transfer section 621b of the transport module 621, and the four transfer devices 650 may be disposed on opposite sides of the transport module 621 and within the transfer range of the robot arm 624, while the other The four transfer devices 650 can be respectively disposed on opposite sides of the conveying module 621 and located within the transfer range of another robot arm 624. In FIG. 7, the transfer range of each robot arm 624 is drawn with a dotted line, and each robot arm 624 may be responsible for transferring the workpiece to the corresponding transfer devices 650. In addition, the speed sensing module 622 can detect the conveying speed of the transfer section 621b of the conveying module 621, the image capturing module 623 can capture the image of the workpiece before being transferred, and the control device 630 can control the punching device 610 and Control the components of the transfer device 620.

In other unillustrated embodiments, the number and placement positions of the punching device, transfer device, rectification section and transfer section of the conveying module, robot arm and transfer device, etc. can be adjusted according to requirements, and there is no limitation here . In addition to the embodiment of FIG. 6, one stamping device is diverted to two transfer sections of the conveying module (that is, 1 to 2) and the two stamping devices of the embodiment of FIG. 7 are merged to a single transfer section of the conveying module (that is, 2 pairs 1) In addition, in other embodiments not shown, the number of stamping devices and the number of transfer sections of the transfer device can be arbitrarily matched, such as one-to-many, many-to-one, and so on. In addition, the control device can also be divided into a plurality of sub-control devices to control the components of the stamping devices and the transfer devices.

In summary, in the above embodiments of the present invention, through the cooperation between the conveying module, the image capturing module, the robot arm and the control device, the stamped workpiece can be automatically transferred to the carrier for storage, by This can reduce labor costs, increase output, improve the safety of the operation process and improve the yield of products.

In addition, since the first fetching mover and the second fetching mover are arranged magnetically on the linear stator, the contact between the first fetching mover and the second fetching mover and the linear stator is greatly reduced Therefore, the wear between the first pick-and-place mover, the second pick-and-place mover and the linear stator can be greatly reduced, thereby extending the service life and reducing maintenance costs. On the other hand, the first pick-and-place mover and the second pick-and-place mover can move on the same linear stator, which can reduce the space waste of the punching device and reduce the overall volume of the punching device.

Although the present invention has been disclosed as above with examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be subject to the scope defined in the appended patent application.

100, 500, 600 ‧ ‧ ‧ automated stamping equipment 110, 510, 610 ‧ ‧ ‧ stamping device 112 ‧ ‧ ‧ stamping module 112a ‧ ‧ ‧ stamping zone 114 ‧ ‧ transfer module 114a ‧ ‧ linear stator 114b ‧ ‧ ‧First pick and place mover 114b1‧‧‧First pick and place head 114c‧‧‧Second pick and place mover 114c1‧‧‧Second pick and place head 120,420,520,620‧‧‧‧Transfer device 121,421 , 521, 621‧‧‧ Conveying modules 521a, 621a‧‧‧ Rectifying section 521b, 621b‧‧‧ Transfer section 122, 522, 622‧‧‧ Speed sensing modules 123, 523, 623‧‧‧ Image capture Modules 124, 424, 524, 624‧‧‧‧arm 130, 530, 630‧‧‧ control device 140‧‧‧ carrier 141‧‧‧ notch 150, 450, 550, 650‧‧‧ transfer device 160 ‧‧‧Collection box 170‧‧‧Recycling area 200‧‧‧Workpiece transfer method S210~S240‧‧‧Step 300‧‧‧Sheet A‧‧‧Unpressed part B‧‧‧Pending part C‧‧‧Workpiece D ‧‧‧mark

FIG. 1 is a schematic diagram of an automatic stamping device according to an embodiment of the present invention. 2A to 2C are enlarged schematic views of the workpiece of FIG. 1 and its transfer to the conveying module and carrier after being stamped. FIG. 2D is a schematic diagram of the recycling area of the automated stamping equipment of FIG. 1 for receiving unpunched portions. 3 is a flowchart of a workpiece transfer method according to an embodiment of the invention. 4 is a schematic diagram of a stamping device according to an embodiment of the invention. 5 is a schematic diagram of a transfer device according to another embodiment of the present invention. 6 is a schematic diagram of an automatic stamping device according to still another embodiment of the present invention. 7 is a schematic diagram of an automatic stamping device according to another embodiment of the present invention.

100‧‧‧Automatic stamping equipment

110‧‧‧Pressing device

112‧‧‧Stamping module

112a‧‧‧Stamping area

114‧‧‧Transfer module

114b‧‧‧ First fetching mover

114b1‧‧‧First pick and place head

114c‧‧‧Second fetching mover

120‧‧‧Transfer device

121‧‧‧Conveying module

122‧‧‧Speed sensing module

123‧‧‧Image capture module

124‧‧‧Robot

130‧‧‧Control device

140‧‧‧vehicle

150‧‧‧Transfer device

160‧‧‧Collection box

300‧‧‧plate

Claims (12)

An automated stamping device includes: a stamping device configured to stamp a plurality of parts to be stamped of a sheet material to form a plurality of workpieces; a transfer device including: a conveying module configured to convey formed by the stamping device The workpieces; a speed sensing module configured to detect the conveying speed of the conveying module; an image capture module configured to capture images of the workpieces being conveyed by the conveying module ; And a mechanical arm configured to transfer the workpieces from the conveying module to a carrier; and a control device to capture the conveying modules being conveyed by the conveying module according to the image capturing module The image of the workpiece to determine the real-time orientation of each workpiece on the conveying module, and according to the conveying speed of the conveying module detected by the speed sensing module and the conveying module captured by the image capturing module Group the images of the workpieces being transported to determine the real-time position of each workpiece on the conveyor module, and control the robot arm to control the robot arm according to the real-time orientation and real-time position of each workpiece on the conveyor module The workpieces are sequentially transferred from the conveying module to the carrier. The automatic stamping equipment as described in item 1 of the patent application scope, wherein the stamping device includes: a stamping module with a stamping zone; and a transfer module configured to transfer the sheet to the stamping zone, and The workpieces are transferred from the stamping area to the conveyor module. The automatic stamping equipment as described in item 1 of the patent application scope further includes: a collecting box, which is arranged on the conveying module to concentrate the workpieces discharged by the conveying module. The automatic stamping equipment as described in item 1 of the patent application scope, wherein the control device is a PC-Based control device. The automatic stamping equipment as described in item 1 of the patent application scope further includes: a transfer device suitable for carrying and collecting the carrier. The automatic stamping equipment as described in item 5 of the patent application scope, wherein the number of the robot arms is two, the robot arms are arranged on the same side of the conveying module, and the transfer device is located between the robot arms . A workpiece transfer method, including: transferring a plurality of workpieces to a conveying module via a transfer module; capturing images of the workpieces being conveyed by the conveying module according to an image capturing module via a control device To determine the real-time orientation of each workpiece on the conveying module; the conveying speed of the conveying module detected by the speed sensing module and the image capturing module captured by the conveying module through the control device Group the images of the workpieces being conveyed to determine the real-time position of each workpiece on the conveying module; and control a machine according to the real-time orientation and real-time position of each workpiece on the conveying module through the control device The arm transfers the workpieces from the conveyor module to a carrier. The workpiece transfer method as described in item 7 of the patent application scope, wherein the step of controlling the robot arm to transfer the workpieces to the carrier includes: determining whether each of the workpieces is required according to the marks on the workpieces through the control device Be transferred to the carrier; when the workpiece needs to be transferred to the carrier, control the robot arm to remove the workpiece from the conveyor module according to the real-time orientation and real-time position of the workpiece on the conveyor module through the control device Transfer to the carrier; and when the workpiece does not need to be transferred to the carrier, control the robot arm not to transfer the workpiece from the conveying module to the carrier. The workpiece transfer method as described in item 8 of the patent application scope, wherein in the step of capturing the images of the workpieces being conveyed by the conveying module through the image capturing module, each of the workpieces is recognized by the control device Mark to determine whether each of the workpieces needs to be transferred to the carrier. The workpiece transfer method as described in item 8 of the patent application scope further includes: collecting the workpieces discharged by the conveying module through a collection box. A transfer device, suitable for coupling to a control device, includes: a transport module configured to transport a plurality of workpieces; a speed sensing module configured to detect the transport speed of the transport module; an image capture A module, configured to capture images of the workpieces being conveyed by the conveyor module; and a robot arm, configured to transfer the workpieces from the conveyor module to a carrier, wherein the control device Judging the real-time position of each workpiece on the conveying module according to the images captured by the image capturing module of the workpieces being conveyed by the conveying module, and detecting according to the speed sensing module The conveying speed of the conveying module and the images captured by the image capturing module of the workpieces being conveyed by the conveying module are used to determine the real-time position of each workpiece on the conveying module, and according to each The real-time orientation and real-time position of the workpiece on the conveying module control the robot arm to transfer the workpieces from the conveying module to the carrier. A stamping device includes: a stamping module with a stamping area; and a transfer module, including: a linear stator; a first pick-and-place mover, which is magnetically floated on the linear stator so that the one to be stamped The sheet is transferred to the stamping zone; and a second pick-and-place mover is provided magnetically on the linear stator to move the stamped sheet or a plurality of workpieces stamped from the sheet away from the stamping zone, wherein the first The moving path of a pick-and-place actuator on the linear stator partially overlaps with the moving path of the second pick-and-place actuator on the linear stator.

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