TW202346176A - Retractable board device - Google Patents

Abstract

A retractable board device includes a board conveying mechanism, a first tray lifting mechanism, a second tray lifting mechanism and a mechanical arm. The board conveying mechanism can be used to input and output boards, the first pallet lifting mechanism can be used to lift and input boards with or without boards, and the second tray lifting mechanism can be used to lift and output boards with or without boards. A tray can be used to place at least two boards, and the first tray lifting mechanism and the second tray lifting mechanism can be used to lift the tray. The mechanical arm can be used to move the boards from the tray of the second tray lifting mechanism to the board conveying mechanism, or move the board from the board conveying mechanism to the tray of the second tray lifting mechanism. As a result, it can be used for boards-receiving and boards-unloading operations, the boards will not be mixed, and has a better utilization rate.

Description

Retractable board device

The invention relates to a board retracting and unfolding device, and in particular, to an automated board retracting and unfolding device that can be used for board retracting and placing board operations.

The manufacturing process of panels (such as copper foil substrates) is relatively complex, so automated transportation is used. Pallets can be used to carry panels during transportation between processes. However, in the existing board retracting and unloading operations, the tray can only be used to place one panel, so When moving small panels, the transfer speed is slow, it is difficult to obtain a better utilization rate, and the problem of mixing materials is prone to occur.

The technical problem to be solved by the present invention is to provide a plate retracting and unfolding device in view of the shortcomings of the existing technology, which can be used for plate retracting and plate placing operations, the plates will not mix materials, and has a better utilization rate.

In order to solve the above technical problems, the present invention provides a plate retracting and releasing device, which includes: a plate conveying mechanism, which can be used to input and output plates; a first pallet lifting mechanism, which lifts and lowers the first pallet. The mechanism can be used to lift the input pallet; a second pallet lifting mechanism is provided on one side of the first pallet lifting mechanism, and the pallet of the first pallet lifting mechanism can be transported to the second pallet lifting mechanism , the second pallet lifting mechanism can be used to lift and lower the output pallet; and a mechanical arm, the robotic arm is disposed between the plate conveying mechanism and the second pallet lifting mechanism; wherein the pallet contains plates or does not contain plates , the pallet can be used to place at least two of the panels, and the robot arm can be used to transfer the panels, moving the panels from the tray of the second pallet lifting mechanism to the panel conveying mechanism, or The plate is moved from the plate conveying mechanism to the pallet of the second pallet lifting mechanism.

Preferably, the pallet can be input into the first pallet lifting mechanism and output into the second pallet lifting mechanism by a transfer device, and the transfer device includes a trolley or AGV.

Preferably, the first pallet lifting mechanism and the second pallet lifting mechanism are both provided with a positioning mechanism. The positioning mechanism includes a plurality of driving devices and a plurality of positioning parts, and the positioning parts are respectively connected to the driving devices. The positioning plates correspond to the sides of the pallet, the driving devices can push the positioning parts respectively, and the edge of the pallet can be positioned against the positioning parts.

Preferably, a traversing arm is provided between the first pallet lifting mechanism and the second pallet lifting mechanism, and the pallet of the first pallet lifting mechanism can be transported to the second pallet lifting mechanism by the traversing arm.

Preferably, the second pallet lifting mechanism is provided with at least one plate detection mechanism to detect whether the plate is placed on the pallet.

The beneficial effect of the present invention is that the retractable plate device provided by the present invention includes a plate conveying mechanism, a first pallet lifting mechanism, a second pallet lifting mechanism and a robotic arm. The panel conveying mechanism can be used to input and output panels. The first pallet lifting mechanism can be used to lift the input pallet. The second pallet lifting mechanism can be used to lift the output pallet. The pallet contains or does not contain panels. The pallet can be used Place at least two panels. The robotic arm can be used to move the panels from the tray of the second pallet lifting mechanism to the panel conveying mechanism, or move the panels from the panel conveying mechanism to the tray of the second pallet lifting mechanism. The invention can be used for board collecting and board placing operations, and the pallet can be used to place at least two boards. The boards will not be mixed, and more boards can be moved, with a better utilization rate.

Furthermore, the present invention can be provided with a transverse arm between the first pallet lifting mechanism and the second pallet lifting mechanism, which can move the pallet from the first pallet lifting mechanism to the second pallet lifting mechanism, so that the pallet can be moved quickly. , achieve automation efficiency. The second pallet lifting mechanism can be equipped with a plate detection mechanism to detect whether the pallet has placed plates. The first pallet lifting mechanism and the second pallet lifting mechanism may be provided with positioning mechanisms for positioning the pallets so that the pallets can be positioned accurately. It can also be used with AGV (transfer device) to transport pallets and panels to achieve automated production.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and illustration and are not used to limit the present invention.

The following is a description of the relevant implementation modes disclosed in the present invention through specific specific examples. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depictions based on actual dimensions, as is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of the present invention. In addition, the term "or" used in this article shall include any one or combination of more of the associated listed items depending on the actual situation.

[Example]

Please refer to Figures 1 to 3. The present invention provides a plate retracting and releasing device that can be used for plate retracting and plate placing operations. The retracting and placing plate device includes a plate conveying mechanism 1, a first pallet lifting mechanism 2, and a first pallet lifting mechanism 2. Two pallet lifting mechanisms 3 and one robotic arm 4.

The plate conveying mechanism 1 can be used to convey the plate 200. The plate conveying mechanism 1 can be a roller conveying device or other types of conveying devices. The structure of the plate conveying mechanism 1 is not limited. The plate conveying mechanism 1 Can be used for input and output panels 200. The plate conveying mechanism 1 of this embodiment is a double-track conveying mechanism, but is not limited thereto. It is preferably designed in a multi-track format, which can increase the conveying capacity of the plate 200 .

The first pallet lifting mechanism 2 can be disposed on one side of the plate conveying mechanism 1. The first pallet lifting mechanism 2 can be used to lift and import the pallet 100 containing the plate 200 or not containing the plate 200. 200 or the pallet 100 without the plate 200 can be input into the first pallet lifting mechanism 2 by a transfer device 300 such as a trolley. In addition, the transfer device 300 can also be an AGV to achieve automated production. The pallet 100 containing the panel 200 can also be called a full pallet 100 , and the pallet 100 without the panel 200 can also be called an empty pallet 100 . The pallet 100 can be used to place at least two panels 200. In this embodiment, the pallet 100 can be used to place four panels 200 (as shown in Figure 4). The panels 200 can be in the shape of a field. type arrangement, but not limited.

The first pallet lifting mechanism 2 may include a first lifting driving unit 21 and a first lifting seat 22. The first lifting driving unit 21 may be a driving mechanism such as a motor screw. The structure of the first lifting driving unit 21 is not Limitation, the first lifting base 22 is connected to the first lifting driving unit 21. The first lifting base 22 can be a fork structure, etc. The first lifting driving unit 21 can drive the first lifting base 22 to move up and down to drive the The pallet can be lifted and moved 100 times. The first pallet lifting mechanism 2 can be used to lift the pallet 100 so that when multiple pallets 100 are stacked on top of each other, the uppermost pallet 100 can be located at a predetermined height so that a pick-and-place device (such as the traversing arm 6 ) can be used to pick and place one by one. The top tray is 100.

The second pallet lifting mechanism 3 is disposed on one side of the first pallet lifting mechanism 2. In this embodiment, the first pallet lifting mechanism 2 and the second pallet lifting mechanism 3 are disposed side by side to form a better configuration. The second pallet lifting mechanism 3 can be used to lift and output the pallet 100 containing the panels 200 or without the panels 200 , and the pallet 100 containing the panels 200 or without the panels 200 can be moved by a trolley (or AGV), etc. The loading device 300 outputs the second pallet lifting mechanism 3 .

The second pallet lifting mechanism 3 may include a second lifting driving unit 31 and a second lifting seat 32. The second lifting driving unit 31 may be a driving mechanism such as a motor screw. The structure of the second lifting driving unit 31 is not Limitation, the second lifting base 32 is connected to the second lifting driving unit 31. The second lifting base 32 can be a fork structure, etc. The second lifting driving unit 31 can drive the second lifting base 32 to move up and down to drive the The pallet 100 moves up and down, so that the second pallet lifting mechanism 3 can be used to lift the pallet 100. When multiple pallets 100 are stacked on top of each other, the uppermost pallet 100 can be located at a predetermined height, so that a pick-and-place device (such as a robot arm 4) can be used. ) Pick and place the panels 200 on the uppermost pallet 100 one by one.

Both the first pallet lifting mechanism 2 and the second pallet lifting mechanism 3 can be further provided with a positioning mechanism 5. The positioning mechanism 5 includes a plurality of driving devices 51 and a plurality of positioning parts 52 (as shown in Figure 3). These driving devices 51 is fixed at a predetermined height. The driving devices 51 may be cylinders, etc. The positioning members 52 are respectively connected to the driving devices 51 . The positioning plates 52 correspond to the sides of the pallet 100 . When the pallet 100 rises to a predetermined position, the driving devices 51 can push the positioning parts 52 respectively, so that the edge of the uppermost pallet 100 can be positioned against the positioning parts 52, so that the pallet 100 can be accurately positioned. .

In addition, a traversing arm 6 can be further provided between the first pallet lifting mechanism 2 and the second pallet lifting mechanism 3. The pallet 100 of the first pallet lifting mechanism 2 can be transported by the traversing arm 6 to the second pallet lifting mechanism. Mechanism 3, the traverse arm 6 can also be replaced by other pick-and-place devices.

In addition, at least one plate detection mechanism 7 can be further provided in the second pallet lifting mechanism 3 to detect whether the plate 200 is placed on the pallet 100. The plate detection mechanism 7 can include lens reflection, photoelectricity, vision, etc., and is not To be limiting, in this embodiment, the panel detection mechanism 7 includes a plurality of photoelectric sensors 71 and a plurality of lenses 72 (as shown in FIGS. 1 and 3 ), and these photoelectric sensors 71 can be disposed on the second On the lifting base 32 , the lenses 72 are respectively arranged at corresponding positions above the photoelectric sensors 71 . When there is no plate 200 placed on the pallet 100, the light emitted by the photoelectric sensors 71 can respectively illuminate the lenses 72, and reflect the light back to the photoelectric sensors 71 through the lenses 72; when the tray 100 When there is a board 200 placed on the tray 100, the light emitted by the photoelectric sensors 71 will be blocked by the board 200 and cannot be reflected back to the photoelectric sensors 71, thereby determining whether there is a board 200 placed on the tray 100.

The robotic arm 4 is disposed between the plate conveying mechanism 1 and the second pallet lifting mechanism 3. Preferably, the robotic arm 4 can be a six-axis arm to have a better degree of freedom and can carry more efficiently. To move the plate 200, the robot arm 4 can move the plate 200 from the pallet 100 of the second pallet lifting mechanism 3 to the plate conveying mechanism 1, or move the plate 200 from the plate conveying mechanism 1 to the second pallet. In the pallet 100 of the lifting mechanism 3 . The robot arm 4 may also be provided with a suction cup group (not shown) for sucking one or more panels 200 .

During the plate placing operation in this embodiment, as shown in Figure 5, the pallet 100 containing the plate 200 can be sent into the first pallet lifting mechanism 2. The first pallet lifting mechanism 2 can lift the pallet 100 and then move it laterally. The arm 6 and other devices take the pallet 100 containing the plate 200 to the second pallet lifting mechanism 3. At this time, the plate detection mechanism 7 can be used to detect whether the pallet 100 has the plate 200 placed on it. Then the second pallet lifting mechanism 3 can lift the pallet 100. After lifting, the positioning mechanism 5 can also be used to position the pallet 100 . Then, the robotic arm 4 is used to take the panels 200 to the panel conveying mechanism 1 , and the panels 200 are taken to the panel conveying mechanism 1 one by one. The panel conveying mechanism 1 of this embodiment is a double-track conveyor, and two panels 200 can be transported to the panel conveying mechanism 1 and then transported together to the process equipment.

During the pallet closing operation of this embodiment, as shown in FIG. 6 , the pallet 100 without the plate 200 can be sent into the first pallet lifting mechanism 2 , and the first pallet lifting mechanism 2 can lift the pallet 100 , and then move it horizontally. The moving arm 6 and other devices take the pallet 100 without the plate 200 to the second pallet lifting mechanism 3. At this time, the plate detection mechanism 7 can be used to detect whether the pallet 100 has the plate 200 placed on it. Then the second pallet lifting mechanism 3 can The pallet 100 is lifted, and the positioning mechanism 5 can be used to position the pallet 100 . Then, the plate conveying mechanism 1 delivers the incoming material, and the plate 200 is positioned on all four sides. The robotic arm 4 then takes the plate 200 on the plate conveying mechanism 1 into the pallet 100 of the second pallet lifting mechanism 3. The machine The arm 4 places the panels 200 into the pallet 100 one by one.

[Beneficial effects of the embodiment]

The beneficial effect of the present invention is that the retractable plate device provided by the present invention includes a plate conveying mechanism, a first pallet lifting mechanism, a second pallet lifting mechanism and a robotic arm. The panel conveying mechanism can be used to input and output panels. The first pallet lifting mechanism can be used to lift the input pallet. The second pallet lifting mechanism can be used to lift the output pallet. The pallet contains or does not contain panels. The pallet can be used Place at least two panels. The robotic arm can be used to move the panels from the tray of the second pallet lifting mechanism to the panel conveying mechanism, or move the panels from the panel conveying mechanism to the tray of the second pallet lifting mechanism. The invention can be used for board collecting and board placing operations, and the pallet can be used to place at least two boards. The boards will not be mixed, and more boards can be moved, with a better utilization rate.

Moreover, further, a transverse arm can be provided between the first pallet lifting mechanism and the second pallet lifting mechanism, which can move the pallet from the first pallet lifting mechanism to the second pallet lifting mechanism, so that the pallet can be moved quickly. load to achieve automation performance. The second pallet lifting mechanism can be equipped with a plate detection mechanism to detect whether the pallet has placed plates. The first pallet lifting mechanism and the second pallet lifting mechanism may be provided with positioning mechanisms for positioning the pallets so that the pallets can be positioned accurately. It can also be used with AGV (transfer device) to transport pallets and panels to achieve automated production.

The contents disclosed above are only preferred and feasible embodiments of the present invention, and do not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

1:Plate conveying mechanism 2: First pallet lifting mechanism 21: First lift drive unit 22:The first lift seat 3: Second pallet lifting mechanism 31: Second lift drive unit 32:Second lift seat 4: Robotic arm 5: Positioning mechanism 51:Driving device 52: Positioning parts 6: Move your arms laterally 7: Panel testing mechanism 71: Photoelectric sensor 72:Lens 100:Pallet 200:Plate 300: Transfer device

Figure 1 is a front view of the retractable plate device of the present invention.

Figure 2 is a side view of the retractable plate device of the present invention.

Figure 3 is a top view of the retractable plate device of the present invention.

Figure 4 is a top view of the pallet and panels of the present invention.

Figure 5 is a schematic diagram (1) of the operation of the plate retracting and unfolding device of the present invention.

Figure 6 is a schematic diagram (1) of the operation of the plate retracting and unfolding device of the present invention.

1:Plate conveying mechanism

2: First pallet lifting mechanism

21: First lift drive unit

22:The first lift seat

3: Second pallet lifting mechanism

31: Second lift drive unit

32:Second lift seat

4: Robotic arm

5: Positioning mechanism

51:Driving device

52: Positioning parts

6: Move your arms laterally

7: Panel testing mechanism

71: Photoelectric sensor

100:Pallet

200:Plate

300: Transfer device

Claims (10)

A retractable board device, including: A plate conveying mechanism, which can be used to input and output plates; A first tray lifting mechanism, which can be used to lift the input tray; A second pallet lifting mechanism, the second pallet lifting mechanism is arranged on one side of the first pallet lifting mechanism, the pallet of the first pallet lifting mechanism can be transported to the second pallet lifting mechanism, the second pallet lifting mechanism can for raising and lowering the output tray; and A robotic arm, the robotic arm is disposed between the plate conveying mechanism and the second pallet lifting mechanism; The pallet contains or does not contain panels, the pallet can be used to place at least two of the panels, the robot arm can be used to transfer the panels, and the panels are moved by the second pallet lifting mechanism. Move the pallet to the plate conveying mechanism, or move the plate from the plate conveying mechanism to the pallet of the second pallet lifting mechanism. The retractable plate device as claimed in claim 1, wherein the plate conveying mechanism is designed in a multi-track form. The retractable plate device of claim 1, wherein the robotic arm is a six-axis arm. The retractable plate device according to claim 1, wherein the first pallet lifting mechanism is disposed on one side of the plate transport mechanism, and the first pallet lifting mechanism and the second pallet lifting mechanism are arranged side by side. The retractable plate device according to claim 1, wherein the pallet can be input into the first pallet lifting mechanism and output into the second pallet lifting mechanism by a transfer device, and the transfer device includes a trolley or AGV. The retractable plate device according to claim 1, wherein the first pallet lifting mechanism includes a first lifting drive unit and a first lifting base, the first lifting base is connected to the first lifting driving unit, and the first lifting base is connected to the first lifting drive unit. The lifting drive unit can drive the first lifting seat to move up and down to drive the tray to move up and down. The retractable plate device according to claim 1, wherein the second pallet lifting mechanism includes a second lifting drive unit and a second lifting base, the second lifting base is connected to the second lifting driving unit, and the second lifting base is connected to the second lifting drive unit. The lifting drive unit can drive the second lifting base to move up and down to drive the tray to move up and down. The retractable plate device according to claim 1, wherein the first pallet lifting mechanism and the second pallet lifting mechanism are both provided with positioning mechanisms, and the positioning mechanisms include a plurality of driving devices and a plurality of positioning parts, and the positioning parts Respectively connected to the driving devices, the positioning plates correspond to the sides of the pallet, the driving devices can respectively push the positioning parts, and the edges of the pallet can be positioned against the positioning parts. The retractable plate device of claim 1, wherein a traversing arm is provided between the first pallet lifting mechanism and the second pallet lifting mechanism, and the pallet of the first pallet lifting mechanism can be transported by the traversing arm. The second pallet lifting mechanism. The retractable plate device of claim 1, wherein the second pallet lifting mechanism is provided with at least one plate detection mechanism to detect whether the plate is placed on the pallet.