TW426571B - Workpiece attaching and moving equipment and attaching end - Google Patents

Abstract

The present invention is to provide a workpiece attaching and moving equipment and attaching end, an attached end supporting frame is installed ascending and descending freely on machine bodies 21and 25 installed moving and driven freely horizontally, and more than one attaching device collecting body 550 is installed moving and positioning freely toward horizontal two-dimensions on attaching end supporting frame 29 through horizontally moving mechanisms 33, 35, 36, 47, 49, 51 and 52. The attaching device collecting device 550 has a plurality of attaching devices 55 connected side by side by attaching unit 57, adsorption driving device 60, 62, 63 and 65 are connected to each attaching device 55 respectively. By means of this construction, even if a complicated and delicate shape workpiece can be attached and moved properly.

Description

Λ2657 ^ # A7 B7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. 5. Description of the Invention (i) [Background of the Invention] The present invention is directed to a type of workpiece adsorption and conveyance used to adsorb and transport plate-shaped workpieces in laser processing equipment. Device and adsorption head. In the conventional laser processing equipment, when a plate-shaped workpiece is suctioned and transferred, a suction transfer device having a suction head is used, and the suction head uses a member such as a vacuum chuck. However, after processing, the workpiece has various shapes, especially when the shape of the workpiece is complicated, the position of the vacuum chuck cannot be matched with the shape of the workpiece, and it is difficult to adsorb and transport it. In addition, when the shape of the workpiece is fine, there may be cases where the vacuum chuck is out of the range of the workpiece, the effective suction force cannot be generated, and the suction and transportation may be difficult. Furthermore, when the suctioned workpiece is to be transported to a recessed place next to the stacked workpiece stack, the suction head interferes with the workpiece stack, causing a problem that the workpiece cannot be smoothly transferred. Therefore, the present invention has been made in view of the above-mentioned circumstances, and provides a workpiece suction transfer device and a suction head capable of appropriately sucking even a workpiece having a complicated and detailed shape. Secondly, it is preferred for the purpose of the present invention to provide a suction head capable of appropriately transferring a workpiece to a recessed recess. [Invention] In order to solve the above-mentioned problem, the invention of item 1 of the scope of patent application of the present invention has at least a horizontally movable body capable of being displaced and driven in a horizontal direction, and a nozzle support rack is mounted on the lifting mechanism. The carcass is installed on the above suction support by a horizontal movement mechanism so that more than one adsorption device assembly can be moved and positioned freely in the direction of the horizontal two-dimensional element, and -4-This paper size applies to China National Standard (CNS) Al Specification (210 X 297 mm) — — — — — · 1111111 —l · --— Γ II —-L > Γ ^ (Please read the precautions on the back before filling this page) A7 B7 42657 1. V. Description of the invention (2) {Please read the precautions on the back before filling out this page) The above-mentioned adsorption device assembly has a complex adsorption device, and the adsorption parts are installed in the adsorption device. Each of the adsorption devices is connected to an adsorption driving device. According to the above structure, since one or more adsorption device sets K can be moved and positioned freely in the horizontal two-dimensional direction by a horizontal movement mechanism, even if the shape of the workpiece to be transported is complicated, the above adsorption can be made. The device assembly is moved and positioned in the horizontal two-dimensional direction in accordance with the shape of the workpiece, and the workpiece is suctioned and conveyed without any problems. Furthermore, the above-mentioned adsorption device assembly has a plurality of adsorption devices installed adjacent to each other, and makes The adsorption driving device is connected to each adsorption device. In other words, since the adsorption of the workpiece can be performed independently by each adsorption device, even if the workpiece to be adsorbed has a detailed portion, and a number of adsorption portions in the assembly of the adsorption device exceed the detailed portion of the workpiece, other components that do not exceed the detailed portion can be used. The suction section effectively sucks up the workpiece, so the workpiece can be sucked and transferred without any problems. In this way, even if the workpiece is complex and detailed, the workpiece suction conveying device of the present invention can appropriately suck and carry it. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. Furthermore, the second item of the patent application scope of the present invention is in the workpiece adsorption and conveying device of the first item. The above-mentioned adsorption device assembly is provided with a plurality of these adsorption devices The collection system can be positioned freely by the above-mentioned horizontally-moving structure and the independent structure. With this configuration, since the shape of the plurality of adsorption device assembly systems M stands in the direction of the horizontal two-dimensional element, the positioning can be set freely. Therefore, in addition to the effect of the first invention, the multi-factor complex adsorption device assembly can be M Multiple modes of positioning, so that more complex shapes can be correspondingly absorbed. This paper size applies Chinese National Standard (CNS) A4 specifications (210 X 297 mm) 426571, A7 Employees ’Cooperatives, Intellectual Property Bureau, Ministry of Economic Affairs, Consumer Printing Cooperative ___B7__ : _ V. Description of the invention (3), very convenient. Secondly, the third item of the patent application scope of the present invention is the workpiece adsorption and conveying device of the first item, and the above-mentioned adsorption devices are integrated with each of the adsorption devices of Zhao and are supported in a freely movable form in the vertical direction. With this configuration, in addition to the effect of the first invention, the effect that the sucked workpiece can be lowered in a narrow space and placed on a pallet can be exerted. That is, in this case, although the adsorption device that does not adsorb the workpiece will encounter other obstacles during the descent, because each adsorption device moves up and down independently from each other _ freely, the adsorption device that encounters the obstacle can The contacting state stops falling, and the adsorption device that adsorbs the workpiece descends without difficulty. It is very convenient to move the adsorbed workpiece to the pallet without problems. With this feature, the end parts of the bark workpiece close to other workpieces or a parting table can be adsorbed. In addition, the fourth item of the patent application scope of the present invention is the workpiece adsorption conveying device of the first item, and the adsorption driving device includes an adsorption control device that controls the adsorption state of each adsorption device by K opening and closing. With this configuration, for example, when there are several adsorption units in the adsorption device assembly exceeding the workpiece range, the adsorption state of the adsorption device may be stopped by the adsorption control device for the adsorption device whose adsorption unit exceeds the workpiece range. Therefore, in addition to the effect of the first invention, the complex can stop the adsorption device that is unable to produce an effective adsorption force on the workpiece, eliminating unnecessary consumption of energy and achieving energy savings. In addition, it is convenient to eliminate the lack of foreign matter sucked by the M adsorption device such as dust. Secondly, the fifth item in the patent application scope of the present invention is the workpiece in item 1 (please read the precautions on the back before filling this page)-> ------ Order ・ ------ --Line '-----------------. This paper is scaled according to family standards (CNSM4 specification (2) 0 X 297 Gongchu) Intellectual property of the Ministry of Economic Affairs Printed by the Bureau ’s Consumer Cooperatives 42657 1. A7 _B7 V. Description of the invention (4) In the adsorption conveying device, the above-mentioned horizontal movement and structure are provided: Rotary positioning can be set freely on the frame of the above-mentioned tip support frame, and it can be positioned freely. The arm provided on the frame, and the mounting unit for mounting the adsorption device assembly mounted on the arm in a horizontally movable and positionable manner. With this configuration, each adsorption device assembly can align the suction head by the frame. The support frame is rotated and positioned, the support arm is rotated and positioned to the frame, and the suction head mounting portion is moved to position the support arm in the horizontal direction, and moved and positioned in the horizontal quadratic element direction, so that it can be positioned at various positions in the horizontal plane. Therefore, it is very convenient to carry out suction conveyance even for more complicated shapes. The invention applies to the work piece adsorption head No. 6 of the patent scope: the adsorption head is warm; a plurality of adsorption devices provided on the body of the above adsorption head; and each of the above adsorption devices is separated from other adsorption devices in a separate form. The rod-shaped sliding part supported by K is freely moved in the axial direction of the adsorption head body; in the state of non-adsorption object, M is connected to each other at the adsorption parts at the front ends of the sliding parts; The air suction and suction device of each of the above-mentioned suction sections; and the air suction opening and closing control device provided on the air suction device and capable of individually turning on / off control of the air suction operation of each of the suction sections. That is, the suction heads are closely adjacent to each other. Adsorption unit, each of which is connected to the suction device, so the adsorption of the workpiece can be performed independently by each adsorption unit. Therefore, even if the adsorption object is a complex and detailed workpiece, and the number of adsorption units in the adsorption head exceeds The meticulous part of the workpiece can still be efficiently adsorbed by the remaining adsorption part that does not exceed the workpiece part, so the workpiece can be suctioned without difficulty. In other words, even complex and delicate workpieces can still be properly adsorbed. And, if you want to absorb -7- this paper's fullness applies to the Chinese National Standard (CNS) A4 specification mo X 297 mm) (Please read the precautions on the back before filling in this page) -------- Order ir.:-----1-line 4 265 7 Α7 Β7 Printed by X Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs No, since qr is not, the middle moving part, the pipe head rotating material is attached to the sliding material for other reasons. There are also separate items, and the ministry side is δ. In addition, there is a constant effect. It is not only in the ministry section, but it is moved by the attached item. Knowing that you can distribute it in 8 pieces, the first part of the stick, the outer part encloses a 6 branch. The first part of the model involves the removal of a slippery dry pair, and the removal tube should be sucked into the set- The appropriation department draws and waits for Ming Qi to breathe this qi and this time to take the time to borrow. The cost will be described in detail before the user's meeting. V. Description of the invention (5) When the workpiece is transported to the recessed place beside the stacked workpiece stack, the adsorption device that does not adsorb the workpiece may sometimes collide with other workpieces during the movement. Obstacles such as stacks * However, since the sliding part of each adsorption device can move independently and independently from other adsorption devices, the adsorption device that meets the obstacle can stop moving when it encounters the obstacle, and the adsorption device that adsorbs the workpiece at the same time Then it moves smoothly, so M can move the adsorbed workpiece to the desired position without any problem. Therefore, even in a recessed place, the present invention can wind the workpiece in place. Moreover, in the present invention, for example, when there are several adsorption devices that are out of the working range, only the adsorption devices that are beyond the workpiece are cut off by the air suction opening and closing control device to the adsorption part of the adsorption device, and the adsorption unit is stopped. Adsorption status. With this configuration, the situation in which the adsorption device that cannot generate an effective adsorption force to the workpiece is still operating and wasteful energy is wasted is avoided, and the effect of energy saving is achieved. It is even more convenient to eliminate the lack of foreign objects such as dust sucked by the suction device. The seventh item of the scope of patent application of the present invention is the adsorption head of the sixth item, in which the rod-shaped sliding portion is formed into a hollow tube * and an air flow path is formed inside the air flow path, and the air flow path is constituted by using κ to adsorb each of the above. The paper size of the suction air is applicable to China National Standard (CNS) A4 (210 X 297 g) (Please read the precautions on the back before filling this page) ------------ I — J J- I ^^-1 ------ I ----------, ('11 f -____ Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 4 2 6 5 7 I, A7 ___B7 V. Description of the invention (6) Supporting β in this way, even if it is a workpiece (not shown) formed with a concave-convex part by, for example, punching, it can be compared with the surface with the concave-convex part. Rotate each adsorption section to integrate each adsorption section, so that the adsorption section and the workpiece generate effective adsorption force. Therefore, in addition to the effect of the sixth invention, it is very convenient to adsorb the workpiece formed with the uneven portion. The ninth item of the patent application scope of the present invention is the adsorption head of the sixth item, and the adsorption head body is provided with a moving device of the body. With this structure, when the suction head body is moved by a moving device, it can cooperate with a workpiece with a complex shape to move the suction head to an appropriate suction position for the workpiece. Therefore, in addition to the effect of the sixth invention, more complex workpieces can also be suctioned. The tenth item of the patent application scope of the present invention is the adsorption head of the sixth item. Each of the adsorption sections is provided with a covering device for covering each adsorption section with K, and an inclined portion is formed on the adsorption head body side of the covering device. With this structure, in addition to the effect of the sixth invention, the covering device can be used to prevent damage caused by the collision between the plurality of suction parts. Furthermore, it can prevent the suction force from being inadvertently sucked at the suction parts. To the external dust. In addition, after the relative positions of adjacent suction parts are staggered in the direction of the sleeve, the sliding part of the suction head is exposed to its sliding part to move any of the stray suction parts, and the above is moved. When the positions between adjacent suction parts are realigned, one end of the covering device will touch the inclined portion of the other covering device and slide along the inclined shape, so the covering device can be prevented. Caught between the phase of the case, very convenient. This paper scales applicable Chinese National Standard (CNS) A4 size (2〗 0 X 297 mm) (Please read the back of the precautions to fill out this page)

I --- I-^-!; ------- I --------- I___ I Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economy 42657 1, A7 ___B7____ V. Description of the invention (7) The description of the preferred embodiment The detailed description of the embodiment of the present invention will be described below with reference to the drawings. As shown in the first circle, the laser processing equipment 1 is provided with a conventional material storage rack 2 in which a majority of β is stored. The plate-like material workpiece 70 A, and the material workpiece 70A to be processed can be appropriately taken out of most of the material workpieces 7QA stacked. Next to the material storage rack 2 (to the right of the paper on the first circle), there are known laser processing units 3 (the number is not limited to two), and 70A of the material workpieces are cut and processed by laser light. .The two laser processing sickles 3 and 3 are next to each other (right side of the paper on the first circle), and there are two known sub-packing stations 5 (the number is not limited to two), which can be cut off. Finished workpiece 70. These material storage racks 2, laser processing machines 3, 3, and packing tables 5, 5 are aligned in a horizontally defined transport direction (in the direction of arrows A and B in the figure). Above these material storage racks 2, laser processing machines 3, 3 and sub-packing tables 5, 5 are provided guide rails 6 extending in the above-mentioned conveying direction (directions of arrows A and B in the drawing), so that The material storage rack 2, laser processing 榇 3, and 3 are interconnected. The transfer robot 7 is freely driven on the guide rail 6 along the guide rail 6 in the above-mentioned conveying direction (arrows A and B directions). The transfer robot 7 is a conventional device for freely transferring a material worker companion 7 0 A from the material storage rack 2 to each of them using a vacuum chuck or the like. The laser processing machine 3 is used to transfer the processed workpiece 70 from the laser processing unit 3 to each of the sub-stations 5 with a fork, etc. On the other hand, the two sub-stations 5 and 5 are further aside (No. 1 On the right side of the drawing, the square of arrow B is oriented toward the above-mentioned conveying direction (directions of arrows A and B-1 0-this paper size applies + national national standard (CNS) Al specification (2) 0 X 297 mm)- ---- 11 ^ Ί In-- 'Ά -------- Order ------- line (please read the precautions on the back before filling this page) A7 426571 B7_ 5. Description of the invention ( 8)) In a state of arrangement, a plurality of conventional workpiece storage racks 3 are provided (four in this embodiment, but it is not limited to four). Each workpiece storage rack 9 is provided with a plurality of layers stacked thereon. The finished workpiece 70 is also provided with a plate-shaped supporting plate 10 in a freely detachable manner, and a workpiece stack 700 formed by stacking a plurality of processed workpieces 70 can be arranged on the bracket 10. The above-mentioned submounting table 5, 5 and a plurality of workpiece storage racks 9 are extended in the form of the above-mentioned conveying direction (directions of arrows A and B) shown in FIG. 1, and a pair of supporting pieces 1U and 11a are provided with appropriate support pieces. The guide rails 11 and 11 allow the above-mentioned sub-packing tables 5 and 5 and a plurality of workpiece storage racks 9 to be K-speeded together. These guide rails 11 and 11 are provided with a stacking robot 20. As shown in Figs. 2 to 4 As shown (but the guide rails Π, Π, etc. are omitted in the fourth garden), the stacking robot 20 is provided with a suspension frame 21 which is suspended by the guide rails U, U. The suspension frame 21 can be along the guide rails 11, 11 toward the above. Transport direction (directions of arrows A and B) can be moved freely. The suspension frame 21 is provided with a travel driving device 22 composed of a motor 22a and gears 22b, 22b driven by the motor 22a to rotate, and the above-mentioned support member 11a is along M The forms of the guide rails 11 and 11 are provided with racks 11b and 11b, and each rack 22b of the walking driving device 22 is meshed with each rack lib. The suspension frame 21 is provided with a pair of parallel moving rails 23 and 23, and the rails 23 and 3 extend in a horizontal direction (arrows C and D in the circle) perpendicular to the above-mentioned conveying direction (directions of arrows A and B). In the former, the first rails 25 are suspended from the moving rails 23 and 23, and the first rack 25 can move freely along the moving rails 23 and 23 in the directions of arrows C and D. As shown in Fig. 4, the first frame 25 is provided with a motor 26a and is rotated by the motor 26a-1 1-This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) (Please read the notes on the back before filling out this page) Order —— ； —— Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, printed A7 426571 ___B7___ V. Gear 26b of the invention description (9) Of the mobile driving device 26. In addition, a rack 23a is provided in the suspension frame 21 in the form of a K-shaped moving track 23. The gear 26a of the moving driving device 26 is engaged with the rack 23a. As shown in FIG. 2, a plurality of guide holes 25a are formed on the first frame 25 to penetrate vertically. (As shown in the third circle, the actual pickled example is formed into four.) As shown in FIGS. 2 and 3 As shown, each guide hole 25a K slides through the rod body 27 extending up and down, and the second frame 29 is connected to the lower end of the defending bodies 27. Therefore, the second frame 2 9 is for the first frame The racks 25 and 5 can move freely in the vertical direction (directions of arrows E and F in the circle). As shown in Fig. 2 and Fig. 4, a balancer 28 (two in this embodiment) constituted by a pneumatic cylinder device is provided between the first frame 25 and the second frame 23. The load of the second frame 29 can be supported by the balancer 28 in the first frame 25. In addition, as shown in FIG. 2 or 3, the second frame 2 9M penetrates the first frame 25 and is provided with rod-shaped screw members 30 (two in this embodiment) extending up and down, and nuts. The members 31 (two in this embodiment) are fixed to the first frame 25 in a form of being fixed only to the first frame 25 in the vertical direction. The nut members 3 1M form a ball screw device and are broadcast on each screw member 30. Furthermore, the first yoke 25 is provided with a nut driving device 32, and the device 32 includes a motor 32a. And by the power output from the motor 32a, the nut members 31 can be driven and rotated freely. In addition, the second frame 29 is provided with an axis 33 extending upward from the second frame 23 protruding downward (in the direction of the arrow F), and the sleeve 33 is a rotation axis CT1 extending vertically from the center toward the arrow R1. , R2 direction sleeve turn freely. A suspension frame 35 is suspended from the lower end of the glaze 33. 2nd frame 29 -12- This paper size applies the Chinese national standard (CMS > A4 specification (210 = < 297 mm) {Please read the precautions on the back before filling this page) The Intellectual Property Bureau Staff Consumer Cooperatives Printing -------- Order --------- " -line-! ---------------- ^ --- Γ ____ A7 k 4265 7 1, _ B7___ V. Description of the invention (10) A rotary drive device 36 is provided between the shaft 33 and the shaft 33. As shown in FIG. 2, the rotary drive device 36 is composed of a motor 36a provided on the second frame 29 side and a pulley 3Sb or the like that is driven to rotate by the motor 36a via a belt. The pulley 36b is fixedly installed.于 轴 33. By rotation of the pulley 36b, the shaft 33 is driven to rotate in the direction of arrow K1. As shown in Figs. 2 and 5_, the suspension bracket 35 of this embodiment is a plate body which is substantially horizontal, and its plane shape is generally cruciform. Suspension racks 35 are provided with suction head units 45a at the respective end portions 35a near the front ends of the four arms corresponding to the cross shape (the suspension rack 35 may be of any shape, and the number of suction head units may be 1M) ). As shown in FIGS. 5, 6 and 8, each suction head unit 45 has a bracket 46 fixed to the lower side of the end portion 35 a. The horizontal and substantially straight arms 4 and 7 are provided on the bracket 46 with the rotation axis CT2 extending in the up-and-down direction (directions of arrows E and F) in the direction of arrows S and T. Moreover, the bracket 46 is provided with a drive motor 49, and the output pump 49a of the drive motor 49 is arranged concentrically with the rotating shaft CT2. Once connected to the above-mentioned support 47, the support arm 47 is provided with slide rails 50, 50, etc. The slide rail 5Q is extended along the support arm 47 in the tendon P and Q directions (the extending direction of the support arm 47 is also horizontal), and an adsorption head 58 is provided through the slide rails 50 and 50. The suction head 58 is provided with a tip holder 51 that can slide freely along the above-mentioned slide rails 50 and 50 in the directions of arrows P and Q (the slide rail 5 is omitted in FIG. 5 to simplify the circle surface, and the tip holder 51 is also provided). Simplified cuboid shape) The tip holder 51 is provided with a sliding drive device 52, which is composed of a motor 52 and a gear 52b that can be driven by the motor to rotate. In addition, the support arm 47 is provided with the support arm 47 Gear rack 47a, sliding -13- This paper size applies to China National Standard (CNS) A4 (210 x 297 male f) -------- 1 ^,-J 1 J11 < * ---- --- 1 Order --------- line (please read the notes on the back before filling out this page) Printed by the Intellectual Property Bureau of the Ministry of Economic Affairs and the Consumer Cooperatives of the Ministry of Economic Affairs Printed by the Employees Cooperative of the Intellectual Property Bureau of the Ministry of Economics and Printing 426571 Λ Α7 __Β7 ____ 5. Description of the invention (11) The gear 52b of the driving device 52 is meshed with the rack 47a. As shown in Figs. 6, 7 and 9 (a), a horizontal plate-shaped suction is formed on the tip holder 51. Head support portion 53. The suction head support portion 53 supports a plurality of suction devices 55 (19 in this embodiment, but is not limited to 19) by using a bush 53a extending vertically. A plurality of adsorption devices 5 5 supported by one tip support part 5 3 are grouped together to form an adsorption device assembly 550. Each adsorption device 55 is provided with a rod-shaped pipe body 56 extending up and down. The ground penetrates through the tip support portion 53 by a bush 53a, etc. That is, the pipe body 56 slides freely on the tip support portion 53 in the vertical direction (directions of arrows E and F). The upper end of the pipe body 5 3 There is a stopper portion 56a near the nozzle support portion 53 whose size cannot be passed by the bush 53a. The stopper portion 56a is fastened to the tip support portion 53 so that the tube body 56 is supported by the tip support portion 53. ° As shown in Fig. Δ, Fig. 7, Fig. 10, and Fig. 11, the lower end of the pipe body 56 is provided with a 笠 -shaped vacuum suction cup 57 which extends downward (in the direction of the arrow F), and the vicinity of the lower end of the pipe body 56 is The shape surrounding the above-mentioned suction cup 57 is provided with a generally cylindrical suction cup protection member 59 (see FIG. 11, for the sake of simplicity, only a part of the adsorption device 55 is shown with two dotted lines for the suction cup protection). Member 59). The suction cup protection member 59 has an inclined push-out portion 59a that is narrowed upward at its upper portion. The inside of the suction cup 57 is communicated and connected with the air flow path 56c (Fig. 6) inside the pipe body 56 through the lower end of the pipe body 56, and the upper end of the pipe body 56 is connected to the gas pipe 60 through the joint 56b. In the figure, for the sake of simplicity, the air supply pipe is indicated by a dotted chain line) as a flexible telescopic screw pipe or the like, and the air loop 56c is in communication with the inside of the air pipe 60. This paper size is applicable to China National Standard (CNS) A4 (210 X 297 mm) 1.— 1— · νι ^ — 7 ^ ---- Order ------- 4 ^-| Line {Please first Read the notes on the back and fill in this page) A7 4 265 7 1, ___B7_ V. Description of the invention (12) As shown in Figures 6 to 8 蹰, the tip holder 51 is formed with a horizontal plate-shaped trachea support 61, The trachea support portion 61 is located above the upper tip support portion 53 and is in a state of facing 1¾ up and down with the tip support portion 53. The end of the gas pipe 60 of each adsorption device 55 is connected through the appropriate joint 61a. (Omitted in FIG. 7) The trachea support portion 61 is connected and supported. With this structure, most gas pipes

I 6 G corrections should be prevented by K. In addition, each key gas pipe 60 is connected to the air pressure transmission member 62 composed of another pipe body through the upper joint 61a, and the front end of the air pressure transmission member 62 is connected to a vacuum pump 83. {Air pressure transmission member 62 and a vacuum pump 63 is only disclosed in Figure 6). As shown in FIG. 6, each air pressure transmission member 62 is provided with a valve 65 which can open and close the inside of the air pressure transmission member 62 in the middle, and a valve driving device (not shown) selectively selects each valve 65. Opening and closing. The adsorption device assembly 550 formed by the plurality of adsorption devices 55 constituted as described above is, as shown in FIG. 1 (1_), such that the suction cups 5 7 form a round wheel 0 and are closely adjacent to each other. The laser processing equipment and stacking robot 20 are configured as described above. Therefore, the laser processing equipment 1 can process and assemble the workpiece in the following manner. That is, as shown in the first plaque, the materials are sequentially processed from the material. The storage rack 2 takes out the stacked material work 70A, and uses the transfer robot 7 to sequentially transfer the collected material work 7QA to each laser processing unit 3. At each laser processing machine 3, it will sequentially send The incoming material work 7DA is cut and processed in sequence. The workpieces 70 processed by the laser processing machines 3 are sequentially transferred to the loading stations 5 by the transfer robot 7. On the other hand, they are transferred to the respective loading stations 5. The processed workpiece 7 0 of the mounting table 5 is transferred to each pallet 1U of each workpiece storage rack 9 by the stacking robot 20 according to the procedure detailed below. &Quot; 15- This paper size is applicable to China Standard (CNS) A4 specification (210 X 297 mm) {Please read the precautions on the back first (Fill in this page) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs -------- Order * --- „--- I l · Γ Γ I ---- I I ----- IK- ---- I____ Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 42657 1. A7 B7 V. Invention Description (η) Also, at the walking driving device 22 provided in the suspension frame 21, the motor 22a is operated, The gears 22b and 22b are driven to rotate, and the suspension frames 21 are moved in the directions of the rails 11, 11 and the arrow A using the gears 22b and 22b and the matching racks lib and Ub. The braking function enables the stacker 20 to be positioned at the desired position. With this arrangement, the suspension frame 21 is positioned at the corresponding position of the processed workpiece 70 (on the Above the processed workpiece 70, a position aligned with the arrows A and B > Next, at a moving drive device 26 provided on the first sock 25, the motor 26a is operated, and the gear 26b is driven to rotate, and the tooth is used The spoke 26b and the matching rack 23a move the first frame 25 along the moving rail 23 in the directions of arrows C and D toward the suspension frame 21, and move the driving device 2 6 The braking function is positioned at the desired position. With this operation, the first rack 25 is positioned approximately directly above the processed workpiece 70 to be transferred on the dispensing table 25. Then, for example, as shown in FIG. 5, The respective adsorption device assembly 5Q0 of the four adsorption head units 45 is first moved and positioned above the processed workpiece 70 in the direction of the horizontal second element in a manner that matches the shape of the processed workpiece 70. The movement positioning operation is performed by the following steps. U) The rotation / positioning of the suspension frame 35, (b) the rotation / positioning of the arm 47, and (c) the sliding / positioning of the tip holder 51 are achieved. (a) Rotation / positioning of the suspension frame 35. This action is firstly performed at the slewing driving device 36 between the second stern frame 29 and the shaft 33, and the motor 36a is actuated. By rotating the driving pulley 36b, the sleeve 33K slewing axis CT is facing the second frame 29. In the figure, the arrows R1 and R2 rotate and drive. Kthis way-1 6-This paper size applies Chinese National Standard (CNS) A! Specification (210 X 297mm t) (Please read the notes on the back before filling this page) — — — — — — 1— «— —IlIJ — — ^^-1- < vllllli — — — —.-------- Γ __ *. 4265 7 1, A7 __B7_ V. Description of the invention (14) (Please read the notes on the back before filling (This page), the suspension frame 35 can be rotated by the rotation of the sleeve 33 to the second frame 29 in the directions of the arrows R1 and R2 in the figure. As soon as the 3 to 5 sides of the suspension bracket are turned to the desired position, the braking function on the side of the rotary driving device 36 is used to stop and position the charm hanger 35. (b) Rotation / positioning of the arm 47. This action is performed separately at each of the suction head units 45. That is, at each of the suction head units 45, the drive motor 49 provided in the bracket 46 is operated, and the arm 47 is rotated and rotated in the direction of the middle arrow S and T around the center of rotation _ CT2 via the output shaft 49 a. move. Once the arm 47 is swung to the desired position, the arm 47 is stopped / positioned by the braking function of the drive motor 49. (c) Sliding / positioning of the tip holder 51. This action was also performed individually at each of the adsorption head army units. That is, at each of the suction head military units 45, the motor 52a of the sliding drive device 52 provided on the tip holder 51 is operated, the gear 52b is driven to rotate, and the suction head is driven through the rack 47a which is in conjunction with the gear 52b. The rack 51 slides along the slide rails 50 and 50 in the directions of arrows P and Q. As soon as the tip holder 51 is slid to the desired position, the stop function of the tip holder 51 is stopped / positioned by using the braking function of the jog device 52. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs through the above-mentioned actions U), ΠΟ, (c) respectively; or by performing any one or both of the actions (a), (b), (c); , (B >, (c), at least one unit of the four adsorption head military units 45 performs, (b), (c); then each adsorption device assembly 550 of the four adsorption head military units 45 It is positioned in the horizontal two-dimensional direction relative to the stationary second frame 29 and even the processed workpiece 70 on the sub-assembly table 5. For example, as shown in the fifth plaque, M is aligned with the one to be transported. The shape of the finished workpiece 7G-17- This paper size is applicable to China Standard S (CNS) A4 (210 X 297 mm) A7 426571, __B7____ V. Positioning in accordance with the description of the invention (is). Then, The nut sleeper device 32 of the frame 25 causes the motor 32a to operate, and uses the motor 32a to rotate and drive each nut member 32 to drive each screw member 30 to which the medium cap member 31 is screwed downward. With this operation, the second frame 29 is guided by the plurality of defending bodies 27 and the guide holes 25a penetrated by the shafts. The movement is driven downward (in the direction of arrow F in the figure) relative to the first frame 25. The movement and drive of the second frame 29 relative to the first frame 25 are continued, and the adsorption of the four suction head units 45 is continued. The device assembly 550 descends, and when the suction cups 57 of the adsorption device assemblies 550 contact the processed workpiece 70 on the dispensing table 5 as shown in FIG. 5, the operation of the kneading cap driving device 32 is stopped. The movement of the second frame 29 relative to the first frame 25 is stopped M. Furthermore, in this case, even after the suction cups 57 of the suction device assembly 550 contact and process the workpiece 70, the second frame 29 can be made. The frame 29 is slightly lower than the first frame 25. For example, after each sucker 57 contacts and processes the workpiece 70, the second frame 29 is lowered relative to the first frame 25, which is the same as the first. As shown in 13 circles (in the 13th plaque, the suction cup protection member 59 and the like have been omitted), the suction head support portion 53 supporting the plurality of suction devices 55 has been lowered. However, each suction device 55 is an M tube body 56. The sliding form moves freely upwards relative to the tip support portion 53. Therefore, the tip support portion 53 is relatively Each adsorption device 55 can move freely downward. With this configuration, even if the plurality of adsorption devices 55 contact and process the workpiece 70, and the adsorption device 55 stays on the processed workpiece 70 in this state, the tip support portion 53 will not Inadvertently applying force to the adsorption device 55, it can smoothly descend. Therefore, even if the amount of movement of the second frame 29 relative to the first frame 25 is not particularly correct, the adsorption device set -1 8-this paper size Applicable to Chinese National Standards < CNS) Al Specifications (2) 0 X 297 mm (Please read the precautions on the back before filling out this page) Printed by the Intellectual Property Bureau Staff Consumer Cooperatives of the Ministry of Economic Affairs I I II II Order-II! ------------------ L___I I. 4 265 7 1 Λ Α7 _Β7__ 5. Description of the invention (16) Each sucker 5 of the body 550 contacts the workpiece 70 after it has been processed. Can be performed correctly and safely. (Please read the precautions on the back before filling in this page.) As mentioned above, each adsorption device assembly 550 of the four false adsorption head unit 45 has been aligned with the shape of the processed workpiece 7Q as shown in Fig. 5, Therefore, most of the suction cups 57 of each suction device assembly 550 can be formed into the state when they contact the workpiece 70 as shown in FIG. The consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs does not print. As shown in Figure 15, the rotation center of each arm 47 is the rotation axis CT 2, and the rotation sleeve of the suspension sleeve 33 of the suspension frame 35 is the CTI rotation axis CT2. The K rotation axis CT1 is the center. The four suction head military units 45 in this embodiment are arranged at intervals of 90 degrees on the same field around the rotation CT1, and the length of each branch 47 is slightly shorter than the rotation axes CT1 and CT2. The distance between. Furthermore, the adsorption device assembly 550 of each support 47 can move freely from the vicinity of the sleeve CT2 of the arm 47 to the vicinity of the front end of the support 47, so each adsorption device assembly 550 is in the horizontal quadratic element direction (horizontal plane). (Inside) The positioning range RF1 to RF4. If the rotation axis CT2 of each M is used as a reference, it is, for example, the range shown by the slanted line in Figure 15 (the two-point key line on the 15th circle indicates the arm 47 or the suction device assembly hip δ5ϋ Track of movement). In addition, as mentioned above, the suspension frame 35 revolves relative to the second yoke 29 with the rotation axis CT1 as the center, and each of the suction head units 45 revolves with the rotation sleeve CT1 as the center, so the rotation sleeve CT1 is used. At the time of reference> The range RG that can be positioned in the horizontal quadratic quotient (in the horizontal plane) of each set of adsorption devices 550 is shown in Figure 15 and within the circumference around the sleeve CT1 (Figure 15 (One point mystery line). In other words, as long as the processed workpiece 70 to be transported is within the range RG below the suspension frame 35, regardless of the shape-1 9-This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) 4 2 6 5 7 1. A7 __B7 ___ V. Description of the invention (1 ·?) Each assembly of the adsorption device 5 50 can position the processed workpiece 70 properly. For example, as shown in FIG. 16 (5th) or 18_, the front end of each K window 47 is concentrated near the sleeve CT1, and the adsorption device assembly 550 of these knuckles 47 is moved to __CT1 and added. During positioning, the positioning of a U-shaped workpiece (Figure 16) located near the rotary CT1 or the assembly of the suction device 艚 55 (a circular workpiece 70 (the 18th phase) near the rotary axis CT1) can be achieved. Furthermore, For example, as shown in FIG. 17, when the adsorption device 550 (the adsorption device assembly 550 on the lower side of the middle surface of the paper surface) is positioned from the state K on the 18th circle and then positioned close to the sleeve CT1, the adsorption can be achieved. Positioning of the device assembly 550 relative to the small triangular workpiece near the axis of rotation. As shown in Figure 19 or Figure 21, the charge 47 (the reward 47 on the lower side of the paper in the circle) is changed from the 18th round Rotary movement • Leave the rotation axis CT1, so that the suction device of the other arm 47 (the arm 4 on the right side of the paper surface in the circle) is different from the support arm 47 and moves along the support arm 47, leaving the rotation axis CT1 At the time, the adsorption device assembly 550 was slender and complicated in the left and right directions on the paper surface (with the shape of slender protrusions) The positioning action of the workpiece 70 can be completed. Moreover, as shown in the drawing 20, the two arms (the arms 47, 47 on the lower side of the paper surface and the right I on the paper surface) from the 19th drawing The state rotates again, and when leaving the rotation axis CT1, the positioning operation of the adsorption device assembly 5 50 for the workpiece 70 having a more complicated shape than that in FIG. 19 can be completed. As shown in FIG. 22 (8, let 2 When the arm 47 (the arms 47, 47 on the lower side of the paper and the right side of the paper in the figure) rotates from the state in FIG. 18 to leave the rotation axis CT1, the adsorption device set is -20. CNS) A4 specification (210 ^ 297 mm) (Please read the notes on the back before filling out this page) Order -------- Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs

! --------- I III II t .--- h- 1! II A7 4 265 7 1 B7____ V. Description of the invention (18) The shape of the composite 550 is more complicated than that of the eighteenth and is left and right in the figure. The positioning operation of the workpieces 70 of the same size can be completed. Other unillustrated four 涸 adsorption device assemblies 550 can be used for positioning in various forms to complete the positioning of various complex shapes of workpieces. In the above manner, as shown in the fifth step, after positioning the four adsorption device assembly 550 on the processed workpiece 70, the workpiece 7 (3 is sucked. The vacuum pump 63 (the sixth circle) is driven in advance by M, and The valve 65 of each air pressure transmission member 62 is closed. Therefore, in order to perform the adsorption of the workpiece 70, the valve 65 of each air pressure transmission member 62 must be moved to open and bark state. By fc operation, the air pressure transmission The suction cups 57 connected to the vacuum pump 63 by the through member 62, the gas pipe 60, and the pipe body 56 are decompressed to generate a suction force. As shown in the fifth plaque and FIG. 13, each suction cup 57 is abutted against After processing the workpiece 70, the suction force is generated between the suction cup 57 and the workpiece 7Q to suck the workpiece 70. At this time, as shown in FIG. 11, a suction device collects the plurality of suction cups 550, even if there are completely The suction cup 57 on the workpiece 70 (in the middle, the suction cup 57 with a dot is depicted) and the suction cup 57 beyond the scope of the workpiece 7G (completely beyond the workpiece 70 or a part of the suction cup 57 beyond the workpiece 70. ) Also. That is, since each suction cup 57 generates a suction force independently of each other Therefore, the suction cup 57 beyond the workpiece 7Q does not produce an effective suction force on the workpiece 70, but the suction cup 57 which is not incompatible with these suction cups 57 and can be completely located on the workpiece 70 can maintain air tightness between the suction cup 57 and the workpiece 70, And effectively generate the adsorption force. Therefore, even if all the suction cups 57 of the adsorption device assembly 550 are not completely and surely positioned on the workpiece 7G, the adsorption force required to reliably adsorb the workpiece 7G can be obtained, so the width is smaller than the adsorption device assembly 55 (3's work piece or shape is complex and fine-21- This paper size is applicable to China National Standard (CNS) A4 specification (210 X 297 mm) ---- ^ ·! ·· '--- J-*- ---- 1 — — Order ---------- -Line (Please read the notes on the back before filling this page) Printed by the Intellectual Property Bureau of the Ministry of Economy Printed by the consumer cooperative 4 2 6 5 7 1, A7 ____B7____ 5. The work piece caused by the invention description (I9) can also effectively generate adsorption force, and it has no difficulty in adsorbing the work piece, and it is very square. In addition, At the time of suction, the air pressure transmission member 62 corresponding to the suction cup 57 exceeding the workpiece 70 moves the valve 65, Make it in a bark-closed state. With this operation, the suction cup 57 that does not generate an effective suction force with the workpiece 70 can be supplied without a suction force to save energy. Furthermore, it exceeds the workpiece 70 in particular. The suction cup 57 can avoid the lack of suction of the objects such as the packing table 5 or other workpieces 70 or the suction target workpieces or the suction to the house, which is very useful. As mentioned above, after the suction processing of the workpieces 70, That is, the second backing frame 2S is moved upward (with the tendon E Fangshang in the figure) relative to the first grate 25 by the nut driving device 32 to raise the sucked processed workpiece 70 to a predetermined height. Then, the deceiving device 22 will move the frame 21 along the rails 11 and 11 toward the arrow B to stop the stacker sickle 20 at the desired position (in the arrows A and B). In the direction, it is aligned with the pallet 10 of the workpiece storage rack 9 that receives the processed workpiece 70 sucked and conveyed by K). Then, the M moving driving device 26 moves and drives the first frame 25 relative to the suspension frame 21 in the directions of arrows C and D along the moving rail 23 to move the sucked processed workpiece 70 to a desired position ( The position of the pallet 10 above the processed workpiece 70 is directly received by M, and the first frame 25 is stopped and positioned. Then, the sleeve 33 is rotated relative to the second frame 29 by the rotary actuator 36. The sleeve CT1 is driven to rotate in the direction of the arrows R1 and R2 in the center of the sleeve, and the hanger 35 is driven to rotate in the directions of the arrows R1 and R2 in the figure to adjust the orientation of the processed workpiece 70 to the desired direction. Then, the K-nut driving device 32 makes the second frame 29 relative to the 1st -22- .1; ^ ^ Ι-ιΜ—,-^ -------- order --J — — —- ; -'- · — Line 1 (Please read the notes on the back before filling out this page) This paper size is applicable to the Chinese Θ Standard (CNS) A4 specification (210 X 297 mm) Printed by the Employees ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs * 1 ^ 4 265 7 1, * A7 __B7_ 5. Explanation of the invention (2〇) The rack 25 is driven downward (in the direction of the arrow F in the circle) to drive the adsorbed process The finished workpiece 70 is lowered onto the pallet 1Q. Yankuang moves the second frame 29 downwards relative to the first frame 25 to drive the adsorbed workpiece 70 down again, as shown in FIG. 12 (for simplicity In the twelfth plaque, the stacker device 20 only shows the suction device assembly 550 and the simplified tip holder 51) or the fourteenth garden (in the fourteenth, the suction cup protection member 59 has been omitted). The workpiece is placed at a predetermined position on the pallet 1Q (although the middle school shows the workpiece stack 700 in the layered state, but this position can also be the surface of the pallet 10.) After the placement is completed, the air pressure transmission is closed. The valve 65 of the member 62 releases the suction force between the suction cups 57 and the workpiece 70, and K releases the suction state of the workpiece 70. With this action, the workpiece 70 transferred from the previous position is loaded on the pallet 10 The work on the workpiece stack 700 is completed. At this time, after processing the workpiece 70 is placed on the pallet 10, the second frame 29 can still move a little downward relative to the first rack 25. Processing After the workpiece 70 is placed on the pallet 10, if the second frame 29 moves downward and is driven relative to the first frame 25, As shown in the 14th circle (the adsorption device 55 for the adsorption work piece 70 is provided with two in the center of the paper surface in the picture), the nozzle support part 53 that is supporting the plural adsorption device 55 will descend again. However, as previously mentioned, As mentioned, the suction head support part 53 can move relatively freely downward for each adsorption device 55, so each adsorption device 55 does not move downward after hitting the workpiece 70, but is in a stopped state. At the same time, the tip support portion 53 can be lowered without being hindered by such adsorption devices 55, and the adsorption device 55 is not subjected to an unexpected force due to the tip support portions 53 or the like. In other words, even if the amount of movement of the second frame 29 relative to the first frame 25 is not particularly correct, the processed processing -23- This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) (please Read the precautions on the back before filling out this page) Clothing -------- Order ---- 1 U .-- Line-A7 4 2 6 6 7 1 _B7________ V. Description of the Invention (21) Workpiece 70 The transfer operation can also be carried out by cutting, which is very convenient. In addition, since a plurality of workpieces 70 are usually stacked on the pallet 1Q and are in the form of a workpiece stack TOO, the height of the formed workpiece stack 700 makes the load of the workpiece 7G stacked on the β stack. The setting position (horizontal height) is different. However, as described above, according to the stacking robot 20 of this embodiment, even if the movement of the second rack 29 relative to the first rack 25 is not particularly correct, the adsorbed workpiece 70 can be transferred and placed in a predetermined position. Because of the mounting position (horizontal height), for example, when the workpiece 70 is lowered, the movement M in the up and down direction is often set at a fixed value, and the workpiece 70 can be placed at different horizontal heights according to various situations. With this feature, the control of the amount of movement in the up and down direction is very simple and convenient. In addition, when transferring and processing the workpiece 70, in order to effectively use the limited space on the pallet 10 to distribute most of the workpieces, as shown on the 12th and 14th drawings, the system M forms another unit beside the existing workpiece stack 700. Method 1 of a workpiece stack transfers the incoming workpiece 70. In this example, there is another workpiece stack 700 directly below the adsorption device 55 (the two adsorption devices 55 on the left of the 14th Luozhong paper surface) of the adsorption device 55 that is not adsorbed, and its position is higher than the adsorption workpiece 70 to be placed (horizontal height). Therefore, when the workpiece 70 to be adsorbed is to be lowered, the adsorption device 55 (the two adsorption devices 55 on the left side of the paper on the left of the paper in FIG. 14) without the workpiece 70 is first brought into contact with the other workpiece stack 700. Above. However, when the workpiece 70 is continuously lowered in this state, the adsorption device 5 5 abutting on the workpiece stack 7QQ stays in the abutting bark state and slides upward with respect to the tip support portion 53 because of a tilt In the adsorption device assembly 5 50, each adsorption device 55 is independent, and can move up and down freely relative to the tip support portion 53. Therefore, it abuts on the workpiece stack-24- This paper scales the national standard (CNS) A4 specification (210 X 297 mm) (Please read the precautions on the back before filling this page) Printed by Employee Consumer Cooperatives * ------- «--lltl-il 4 ---------- I -------------- 4 265 7 1. A7 _ B7__ V. Description of the invention (22) (Please read the precautions on the back before filling in this page) The adsorption device 55 of 7 0 0 does not hinder the lowering of the nozzle support portion 53. In contrast, these adsorption devices 55 It also receives the undesired force from the tip support part 53. As a result, the adsorption device 55 that adsorbs the workpiece 70 can be easily lowered, and the workpiece 70 can be transferred to a predetermined position. Even in a narrow shelter, the work piece 70 can be tangentially displaced. -Line- Printed by the Consumer Goods Cooperative Association of the Intellectual Property Bureau of the Ministry of Economic Affairs * J ^ However, the suction cup protection member 59 of each adsorption device 55 has the following characteristics: 57 When the suction force is generated, it can also play a role in preventing accidental suction of external dust. In addition, as shown in FIG. 14, after the positions of the suction devices 55 of the suction device assembly 臁 550 are staggered in the vertical direction, the suction head support portion 53 can be raised to move the suction head support portion 53 upward. The square adsorption device 55 uses its own weight fi to descend (it is also possible to use a spring or other mechanism to force the descending structure), and as shown in the sixth circle, all the adsorption devices 55 are maintained at the same height. At this time, since the suction cup protection members 59 of the multiple suction cups 57 connected to each other are provided with an inclined portion 59a above, the adjacent suction cup protection members 59 and 59 are shifted up and down and then return to the same height. When the lower end of the protection member 59 contacts the inclined portion 59a of the adjacent suction cup protection member 59 located below, it can slide down along the inclined bark. The thin Ifc can prevent the missing of the phase between the suction cup protection members 53, 59, which is excellent. Hereinafter, in accordance with the same procedure as described above, the stacker robot 20 moves in the direction of the arrow A to the dispensing table 5 on which the next workpiece to be transported is placed, and the first frame 25 is opposite to the suspension frame. 21 Movement / positioning toward arrow C, fl, and rotation / positioning of suspension bracket 35 (b) Rotation / positioning of support window 47, (C) -25- This paper is sized to the national standard (CNS) A4 (210 X297 male f) Printed clothing by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 4 265 7 1 ^ A7 ___B7___ V. Description of the invention (23) Sliding / positioning of the tip holder 51, and assembled four adsorption devices 5 5 0 Align and position the processed workpiece on the loading table 5 so that the second frame 29 is lowered relative to the first frame 25, and then the K-chuck 57 attracts the workpiece 70, and the second frame 29 is opposed to The first rack 25 is raised, and the stacking robot 20 is moved to the workpiece storage rack 3 in the direction of arrow B, and the first rack 25 is moved / positioned and suspended in the directions of arrows C and D relative to the suspension frame 21 The rack 35 is rotated / positioned, and the workpiece transferred by the suction is moved to the loading position on the pallet 10 of the storage rack 9 and adjusted by K, and then the first The cymbal rack 29 is lowered relative to the first sock rack 25, so that the adsorbed workpiece is placed at a predetermined position, and the adsorption of the suction plate 57 is released to complete the displacement operation. By performing one of the above-mentioned series of operations repeatedly, the processed workpieces which are sequentially placed on each of the sub-stations 5 are sequentially sucked and transported and transferred to the pallet 10 of each workpiece storage rack 3. As described above, the stacker robot 20 according to this embodiment can borrow U) the rotation / positioning of the hanger 35, (b) the rotation / positioning of the support 47, and (c) the tip holder 51. Sliding / positioning allows the multiple adsorption device collections 雔 550 to be set to move and position freely in the direction of the horizontal two-dimensional element, so that even for complex shaped workpieces, each adsorption device collection can be positioned locally on 50 soils. This workpiece is sharply transported. In addition, each of the adsorption device assemblies 5 50 is formed by a plurality of adsorption devices 55 that are arranged adjacent to each other with suction cups 57K. Therefore, the suction cups 57 of each adsorption device 55 generate suction force independently, so the adsorption device assembly 艚 550 Even if there are several suction cups 57 beyond the scope of the workpiece, the remaining suction cups 57 can be used to properly adsorb the workpiece. For example, the workpiece with a width smaller than the adsorption device assembly 550 and a detailed and complex shape can be freely adsorbed, which is very convenient. 0-2 6- This paper size applies to China Solid State Standards (CNS) A4 (210 X 297 mm) C Please read the notes on the back before filling this page)

----- Order --------- Line-Ί -------- II A7 42657 1, ____B7__ V. Description of the invention (24) Furthermore, in the above examples, adsorption The device 55 is fixedly connected between the tube 56 and the suction cup 57, but it can also be connected between the tube 56 and the suction cup 57 by using a universal joint, etc., as another connection method, so that the suction cup 57 is paired with Guan Zhao 56 makes free rotation in all directions (such as the directions of the arrows M1, M2, M3, S4, etc. shown in the right corner of the 11th drawing surface).蕹 This design can rotate and adjust each sucker 57 relative to the uneven surface even if the workpiece (not shown in the country) is formed by stamping, etc., so that there is an effective The suction force enables M_ to facilitate the suction and transportation of the workpiece with the uneven shape. Furthermore, in the above-mentioned embodiment, the suction device assembly 骽 550 is connected to the shaft 33, the suspension 35, the swing drive 36, the support 47, the swing motor 49, the tip holder 51, the slide drive 52, and the like. The horizontal moving mechanism is freely moved and positioned toward the horizontal quadratic quotient, but the horizontal moving structure described above can also be designed into other various structures. For example, a flexible W-joint portion is provided at a plurality of positions of the support arm, and such a support arm is provided on the second frame 29, and a suction device for collecting hips 5 50 is provided at the front end of the support arm. Furthermore, in the adsorption device 55 of the above embodiment, the tube body 56 is a member that can be embedded in the suction support 57 and can be moved to the nozzle support portion 53 in a vertical direction. It is also used to vacuum the spring. The depressurizing effect of 63 is transmitted to the suction mechanism of the suction cup 57. However, in another design example, a rod-shaped sliding element that does not double as a suction mechanism can also be used, and directly connected to the suction cup 57 connected to the sliding element. A suction mechanism composed of a pipe connected to a vacuum pump 63, K replaces the pipe body 56. Moreover, in each of the above embodiments, the suction head is used in the laser plus -27- This paper size applies the Chinese National Standard (CNS) A4 specification (2) 〇χ 297 mm) (Please read the precautions on the back first (Fill in this page again)-Line _ Printed by the Employees' Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 4 265 7 1 J A7 ___B7___ V. Description of the invention (25) The case of the construction of the sea is added as an example, but the adsorption head of the present invention It is not limited to laser processing equipment, and can also be used in other types of machine tools. Hereinabove, the various eaves formations of the present invention have been described based on the examples, but the embodiments described in this specification are merely exemplary, and it does not mean that the present invention is limited to the embodiments. Moreover, the model paintings of the present invention should be interpreted in accordance with the scope of the patent application after attachment, but should not be bound by the statements of the embodiments. Therefore, various changes or variations within the scope of the patent application are within the scope of this invention. Brief description of the drawings: The first circle is the oblique view of the laser processing equipment displayed in horizontal format; the second plaque is the side view of the stacking holder; the third image is the view of the second arrow I Park; 4 _ is the circle of sight of the 2nd arrow II; 5 _ is an oblique view of the suspension frame and the suction head unit; Figure 6 is a detailed side view of one of the suction head units (partial cross-section) _); The 7th circle is the circle of sight of arrow 6 (partial cross-section view); The 8th circle is the circle of sight of the adsorption head army from above (partial cross-section view); the ninth garden is the circle of adsorption head army Top circle of the suction support part; Figure 10 is the bottom view circle from which the adsorption device assembly remains; Figure 11: An oblique view of the adsorption device assembly that is adsorbing the processed workpiece; Figure 12 is the finished processing The workpiece is moved to the oblique view circle on the pallet; Figure 13 shows the assembly of the suction device. The side view of the workpiece that is intended to be suction-processed-2 8 * This paper size applies to the Chinese National Standard (CNS) A4 specification (2) 0 X 297 mm) ~ ν · -ί ^ ------- Ί I i. I " 一 --- / --- (Please read the notes on the back before filling this page)- · Printed by the Consumers 'Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 426571 A7 B7 V. Description of the Invention (26) Printed by the Consumers' Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs (m); The 14th surface is broadcasted and the processed workpieces are being moved to the pallet The above 铒 铒 第; 15th is the model plane circle of the locatable fan garden of the four adsorption device aggregates; 16_ is the model plane circle of the positioning type examples of the four adsorption device aggregates; the 17th circle is Chess-type flat circle of another example of positioning type of four-adsorption device assembly; Eighteenth is a chess-type plane of another example of positioning type of four-adsorption device assembly; 19th-point of four-type adsorption device The model plane circle I of another positioning type of the assembly is the second plane; 20_ is a horizontal plan view of another example of the positioning pattern of the four adsorption device sets; Pattern Plane of a Positioning Type Example_; Section 22 · is a horizontal plan view of another positioning pattern example of Four® Adsorption Device Collection®. Explanation of symbols 1 ---- Laser processing equipment 2 ---- Materials racks for laser processing ---- Laser processing eaves ---- Guideway ---- Workpiece storage rack 5 ... ---- Send the robot 10 ... pallet (please read the precautions on the back before filling this page) Order --- ^ — • Line r- 29- This paper applies the national standard (CNS) A4 Specifications (2) 0 X 297 mm A7 Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 4 2 6 5 7 1 _B7 V. Description of the invention (27) 11 ··, guide rail 20 .. • Stacking robot 2 1, · Suspension frame 22 · · Travel drive 2 3 · · · Rail 25... 1st frame 2 6... Mobile drive 27... 2 .. 2. .. screw member 3 1... Nut member 32... Nut drive 3.. • shaft 35... Suspension 36... Rotary drive 4 5... Suction head unit 4 6 .. .. 47... Bracket 4..... Driving horse 58... Slide rail 5 1.. • tip holder 52... Slide drive 53... 56... Pipe body 57... Suction cup 58... Suction head 59... Suction cup protection member 5 50... Suction device assembly 60... Gas pipe 61... Gas transfer member 63 .. Vacuum pump 65 .. Valve 7 0 .. Workpiece 70A.. Material work piece 7 0 0.. Workpiece stack -30- (Please read the precautions on the back before filling this page) ^ ---- ---- Ί — 'This paper size applies to China National Standard (CNS) a \ 4 specifications (210 X: 297 mm)

Claims (1)

4 2657 1. § D8 VI. The scope of the patent application; if the support of the frame is supported: the head is moved by suction, the drive is moved and the device is moved to the place where the lifter attaches the leveling water suction lifter to the top. Kind of Shaoyiyi to equipment 1. With the body; the upper part of the combined set holding support head with suction and suction on the M set as if moving the self-constituting position to the commercial side Fang Yuanshui Secondly, it is connected by the second connection mechanism of Ping Shuilang with the attachment configuration 〇 Adjacent interaction and mutual drive attachment Μ Prepared in the joint connection and special set. The above-mentioned part of the above-mentioned collection is installed. The number of items to be attached, the number of items to be attached, the number of items to be attached, and the number of items to be included are 1. The independent structure of the second level water in the state of t. The operator can move the device to the local place as flat as the water level and set it on the move. From the loan to the system, the system costs 0 yuan, and then stands alone. Attachments for workers' attachments 1 The first place in each place is as simple as the imagination, self-synthesis, profit collection, transfer, and special placement. Please apply to the installer and attach the following as the above mentioned 3. In the state, please read the first Please fill in this page again for the matters needing attention.) Ordering-Γ The consumer cooperation of the Intellectual Property Bureau of the Ministry of Economic Affairs has printed the system, controlled closed, opened, moved, and attached with suction parts. 1 Prepared by the system, the structure of the system will be removed, and the mechanism will be controlled. Attach the application as described below. 4. Attach, attach, and send the attachment to the office for reinstatement: Including 1 Baotiao plaque, Fan Donglili, special request to Fang Shenping Rushui 5. The upper, middle, and set the place, such as self-setting, the paper size applies the Chinese National Standard (CNS) A) specifications (210 x 297 public) Ministry of Economic Affairs Intellectual Property Bureau employee consumer cooperatives printed this paper in K degrees, using Chinese Standards (CNS) Al specifications (21ϋ 297 issued) A8 B8 C8 D8 VI. Patent application frame of the above-mentioned tip support frame; free rotation / positioning Expenses installed on the abutment frame, and a horizontally movable positioning arm provided on the upper arm, and provided with a tip mounting portion for mounting the adsorption device assembly by M. 6. —A kind of adsorption head, which includes the head of the suction head; a plurality of adsorption devices provided on the above-mentioned head body are provided on each of the absorption devices, and are independent from other suction devices in a state of being axially relative to the above-mentioned head body. Move freely to the rod-shaped sliding parts supported by KK; in the state of non-adsorption object, the adsorption parts densely arranged at the front ends of the above sliding parts in a state of being adjacent to each other; the suction structure connected to the above-mentioned adsorption parts ; And a suction opening / closing control mechanism which is provided in the above-mentioned suction machine and can individually perform ON / OFF control on the suction action of each suction section. 7. For the adsorption head of item 6 of the application scope, wherein the rod-shaped sliding part is formed into a hollow tube in the form of an air rolling path formed inside; and the above-mentioned air flow path is configured to suck air from each adsorption part of the upper part. Part of the above-mentioned pumping socks. 8. For the adsorption head of the patent application No. 6, in which each of the adsorption parts is a way of freely rotating the rod-shaped sliding part K in all directions. Supporter 0 -32- ---- < Please read the back first Please pay attention to this page before filling in this page) '! ^ -------- Order -------- line-4 265 7 1, A8 B8 C8 DS 6. Application for patent scope 9. For application for patent scope The suction head of item 6, wherein the above-mentioned suction head system is provided with a movable structure of the suction head body. 10. For the suction head of the patent application No. 6, wherein each suction part has a covering mechanism for covering each suction part; and the suction body of the covering structure is formed with an inclined part. (Please read the precautions on the back before filling this page) — ^ ΙΜΙ— Installed by the Intellectual Property Bureau of the Ministry of Economic Affairs and printed by the Consumer Cooperatives 3 ---- • Order il --- I i. Standard (CNS) A4 (210 x 297 mm)