TWI363394B - Apparatus of fully-auto loader and method of the same - Google Patents

Apparatus of fully-auto loader and method of the same Download PDF

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Publication number
TWI363394B
TWI363394B TW97112708A TW97112708A TWI363394B TW I363394 B TWI363394 B TW I363394B TW 97112708 A TW97112708 A TW 97112708A TW 97112708 A TW97112708 A TW 97112708A TW I363394 B TWI363394 B TW I363394B
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Taiwan
Prior art keywords
pick
work
working
wafer
place
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TW97112708A
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Chinese (zh)
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TW200943462A (en
Inventor
Jia Bin Hsu
Chia Hung Hung
Chen YANG Tsai
Shih Jian Lu
Ching Nan Liu
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Mjc Probe Inc
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Publication of TWI363394B publication Critical patent/TWI363394B/en

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1363.394" r , .
I. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a fully automatic feeding and discharging device. More specifically, the present invention relates to a fully automatic feed and discharge device having a grain sorting function. [Prior Art] » Llght emitting diode (LED) and semiconductor wafers, after cutting into crystal grains, using a grain sorting function, such as a grain sorter, for grain testing and The action of sorting (bin). In LEd and • usually for the main wavelength (peak length), luminous intensity (MCD), Lumens, color temperature (c〇l〇r temperature), operating voltage (^), reverse breakdown voltage (ImA) Several key parameters are required for testing and sorting f. This step has an important impact on the wafer production and packaging costs of the LED. The ^ body grain can also be used for grain testing and sorting according to the requirements of the product. In the sorting process of processing the led die placed in the wafer ring using the die sorter, the die sorting machine automatically dispenses the #UD die into different sorting boxes according to the set test standard ( The heart is as in (4). In the sorting process, the sorting box or wafer ring is replaced to continue the step of grain sorting. Nowadays, the electronic industry has higher and higher requirements for the consistency of LED light properties. The 32 bin sorting machine is no longer usable. Currently, the commercial sorting machine on the market has the ability to support 72 bins or even 150 bins to meet the stringent requirements of the industry for the consistency of LED die wavelength and brightness. In addition to the excellent visual inspection and sorting system, the number of bins used in the township sorting process and the number of transfer boxes to be used are also many. Therefore, the storage capacity of 5 ^ 63394 * 4 in the machine, the overall efficiency of the incoming and outgoing speeds to the machine's "Design and transmission mechanism" [invention] Physical effects (10) have a non-negligible effect. The main The purpose is to provide Workbench for grain sorting function:: Inlet and discharge device, dynamic replacement of the sorting box or wafer ring required for particle sorting. The second step in the process of the invention is to provide Lang's grain sorting station, rain Μ81^ moving in and out #装置, • The replacement time of the invention or the crystal 31 ring. The time for accelerating the grain sorting. The invention discloses a feeding and discharging device, by loading a working piece of automatic grain sorting step by step, and loading a first working object, and performing a mechanism between the workpiece, the table and the loader, by means of a The machine M1 is placed in the exchange of the working object position. The working object and the first: "4 boxes, wafer ring, and the distribution box and the wafer ring are the same: as described above, the structure of the present invention is also It is necessary to set a ΐ 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛 牛And 1 further accelerate the time of grain sorting. In order to achieve the goal, the present invention is carried out by the station - the first work物#, and the crystallizer discharge device, by means of a synchronous automatic process into the 6-segment sorting process, and by a loader to save a piece of snippet #山妨first work object' The taking mechanism carries the second working object to and between the loader, and the position of the working object is exchanged at the same time by the synchronization of the working mouth piece and the fourth working time. The embodiment, the one-way, V-transport mechanism has two kinds of - pivot, | έ by ^ 2 帛 - manipulator f, - the second robot arm and the arm 1 = placed in the first robot arm and the second The mechanical component makes the position replacement (4) and the work object in the two opposite mechanical rails j ^, the mechanical arm, respectively, the connection = the object 'the horizontal movement step by the mechanism to reduce the first working object And the location of the second work object, the time of the person to change, thereby speeding up the time of grain sorting. The form, the object, the viewpoint, the features and the advantages of the present invention will become more apparent as the following detailed description of the preferred embodiments and the accompanying drawings thereof. The invention is described. The scope of the invention will be defined by the accompanying patent claims. The present invention will be described in detail with reference to the preferred embodiments and the accompanying drawings, which are intended to illustrate and not to limit the scope of the invention. Therefore, the present invention may be embodied in other embodiments in addition to the preferred embodiments in the specification. Please refer to FIG. 1 ' which is a top view of the internal mechanism of a non-synchronous automatic feeding and discharging device in the embodiment of the present invention. As shown in the figure, the fully automatic feeding and discharging device 100 of the present invention has an architecture platform 1〇3 and a casing 1〇5, and an internal supply-sealed isolation is constructed between the 1363.394 2 casing 105 and the structure level from 1〇3. Work space to avoid internal agencies being affected by the second. On the outer casing 105, there is a right and a right side, and the J of the boundary area has a plurality of movable doors 1 to 7 for component replacement or machine maintenance.刼作人贝. The fully automatic feeding and discharging device 1() in the embodiment of February. The inside contains a loading e (l〇ader) 109, a mechanical arm lu, and a workbench 'workbench 113 is used to store the first working object, work ° 113 ^ - pick up the machine (piek and plaee maehine) U9, U is sorting (binning), taking the machine and 〗 〖q in the side of the 曰 曰 曰 曰 曰 曰 曰 曰 真空 真空 真空 真空 真空 真空 真空 真空 真空The loader 1〇9 is used for storing the second workpiece 101', which has a plurality of slots, a pick-up mechanism 125 and a pick-and-place position 127 for storing the second work object 1〇1, The pick-up position 127 is disposed on the pick-up mechanism 125 by the pick-up mechanism 125 carrying the second work object 1〇1 from the slot to the pick-and-place position (7). Among them, the take-up mechanism 125 is a pick-up mechanism for picking up or picking up. It should be noted that the pick and place position 127 can be separated from the pick-up mechanism 125 depending on the manner in which it is designed. = The robot arm 111 is used to transfer the first work item on the table 113 to the loader 109' or to transfer the second work item 1〇1 of the loader 109 to the table 113. As described above, the first work object on the workbench ιΐ3 is automatically replaced into a second work object 1〇1 to facilitate the step of grain sorting by the workbench η]. The table 113 includes a loading table 115 and a wafer table 117. The materializing table 115 is placed at the position of the dispensing box 131, and the wafer table 117 is at the position of the day ring 133, and the tool 119 is taken. The wafer ring 133 is subjected to grain 8 1363.394 particle sorting onto the dispensing box 131. Two pieces, according to the different needs of the operator; ^ the first work box (3), and the wafer ring 133 and: can be used as wafer ring 133, material, day _ pepper 133 and points The box 131 is connected to the tray by an expansion ring and a tray (adapter: J II! The crystal expansion step in the LED process, will - 疋 展 展 展 展 展 展 使 使 使 使 使 使 使The spacing between the grains and the grains is large, and the grain sorting step is performed.
133 is placed on the wafer " η. In the present invention, the lanthanum system is executed by the pick-up tool m, and the pick-up: selects the wafer ring on the action round table m to be specifically measured and selects the crystal on the distribution table U5 to divide the material into the ~31: i 曰 并Move it to the process of grain sorting. In the middle of the TM stand, the loader (10) further includes a lifting mechanism 121 and a feeding mechanism (2) in addition to a plurality of slots, the taking mechanism 125 and the picking position U7. The feeding mechanism 123 is configured to adjust the plurality of slots to align the take-up mechanism 125' to facilitate the take-up mechanism 125 to carry the second work object 1 (M. Referring first to FIG. 2, which is an embodiment of the present invention The structure of the feeding mechanism 123. The plurality of slots of the loader 109 in the figure are disposed on the sending mechanism; the mechanism 123 is used to store the second slot of the feeding mechanism 123 in the embodiment of the present invention. I crop # 1G1, and sort and access according to the position set by the operator. It should be noted that according to the different needs of the operator, 'the first working object 1 〇1 can be used as the wafer ring, the distribution box, and One of the wafer ring and the knife cartridge. As shown in Figure 2, the feeding mechanism is composed of a plurality of cassettes 201. Each of the cassettes 2〇1 has a certain number of slots of 9 1363394. 2G3 is used to accommodate the second crop member 1 () as described in the embodiment of the present invention, wherein the parameters are only for illustrative purposes, and are not intended to limit the present invention. In the embodiment of the present invention, the feeding mechanism 123 # contains Six groups of 2,1, and each set of E2〇1 has twenty-five slots, so the total It can store one hundred and fifty working items. In actual operation, the piece g 2〇ι and the inner 2 slots 203 are not limited to a specific number. (4) Sorting of crystal grains. There are a large number of various second working objects (8) required. Therefore, it is necessary to set a plurality of sets of sheets Μ 2〇1 and slots 2〇3 to meet the requirements of the crystal=sorting step. In Fig. 1, the lifting mechanism ΐ2ι The vertical movement of the entire two mechanisms 125 is performed so that the pick-up mechanism 125 is at two degrees of 'loading or carrying out the second work object 1〇1. It should be noted that 'a plurality of slots are not necessarily To be set in the feeding mechanism (2), the slots can exist in a fixed manner, and the take-up mechanism US is set on the feeding mechanism 123 to make the filming] "叮, moving and aligning the plurality of slots 1 can be horizontal Referring to FIG. 1 'the function of the robot arm 111 is to transfer the first or the first work object' to the second work object 101 on the feeding mechanism 123 and to be carried out to the pick-and-place position by the pick-up mechanism 125 127, the robot arm can take the second working object of the pick and place position 127 Transfer to the work Α: Special 13:: The first work object on the nine 113 (four) ^ == 127 and then 'loaded by the pick-up mechanism 125 to take the first work object on the placement 127 to one of the upper positions of the feed mechanism 123. It is necessary to note that the film taking mechanism 125 ^ 々 π The Wode reader i29 ' can be loaded in the first work object or the second work object is: = 条 the bar code on it for identification. Arm (1) Several positions are moved::: The first hand f (shown by the curved arrow in the figure) is sent. Among them, the robot i work object and the second work object are transmitted. The robotic arm of the mechanism or the robotic arm of the second and second suction methods. Ιοί 2 As stated in the article, the first------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ In the first, when the first working object represents the dispensing box 131 of the dispensing table 5, the piece 1G1 serves only as a dispensing box. In short, when the table (1) is selected, the fully automatic feeding and discharging device 100 is replaced with the U1 for the dispensing table 115. The wafer ring 133 on the wafer table 117 is replaced by a one-eighth method. In the present embodiment, in the table 113, the positive grain of a certain arm has been completed, for example, the first classification (bin, mechanical 13m·1 needs to be moved to the dispensing table 115' to be the first working object (minute The cartridge (2) is transported to the pick-and-place position 127, and the pick-up mechanism 125 transports the first work object (the dispensing cassette 丨 31) in the pick-and-place position to one of the slots of the feeding mechanism 123. The mechanism 丨23 is driven by the mechanism to move the horizontal direction of the shaft, that is, the direction of the double arrow shown in FIG. 1, so that the left and right rows of the feeding mechanism 123 are aligned with the take-up mechanism 125 to facilitate the work object (the material) The loading of the box 131) or the second working object 丨〇1 (divided into 2 winds) is carried out. When the second working object 101 (separating box) is carried out from a plurality of slots, the picking mechanism 丨 25 series The second working object i^ (separating box) is moved to the picking and placing position 127, and the second working object 1〇1 (separating box) placed there is transferred to the dispensing table 115 by the robot arm 111. To sort the grains of the workbench U3 1363, 394 ^ Dingdi: Category (10) 2). According to the foregoing, by substituting the = work item (separation box 131) and the second guard item HM (separation box), the table U3 can perform other sorted grain sorting. In this case, the robot arm (1) has two transfer points, which are the pick-up position 127 and the sorting table 115. In another example, when the first work object represents the ring (1) on the wafer table, the second work object 101 serves only as a wafer ring. The dispensing box 131 of the dispensing table (1) is manually replaced. The die on the workbench (1) = two crop parts (wafer ring 133) has been sorted, mechanical 133), ::: to the wafer table m to transport the first working object (wafer ring) To the pick-and-place position f 127, the pick-up mechanism 125 will transfer the first work object at the pick-and-place position (the wafer ring is called to one of the plurality of slots of the feeding mechanism US. 筮__士士(4) At the time of loading, the machine is configured to move the second workpiece 101 (the wafer) to the pick-and-place position 127. The second workpiece ι〇ι is placed there. The wafer ring) is transferred to the wafer table 117 by the robot arm ln to allow the:::113 to perform the step of grain sorting. For this embodiment, the mechanical round table 117 has three transfer fixed points, respectively In the embodiment of the pick and place position 1 127 and the crystal, the first working object represents the crystal=33 on the wafer table ι7 and the dispensing box 131 of the dispensing table 115. The second working object ι〇ι 二曰_ and the material In the case of the first working object (wafer ring (1) box! 31) and the second working object 1 〇 1 (wafer ring or dispensing box), the same applies to the previous text, and the details are not described herein. .this There are three transfer points for the robot arm (1) 12, which are the pick-and-place and the wafer table 117. The 127 and the sub-distribution table 115. Figure 3 is a flow chart of the steps of crop replacement in an embodiment of the present invention. Step-by-step flow chart of the second method. Please refer to the method of fully automatic feeding and discharging.—The first crop part is taken from the position of the mechanical arm. The moving part is moved to the table (1). The mechanism arm ^2; the robot arm (1) will be placed. In the next step S3, (4) the position 127 at position 127 on the 127th mechanism (2) will take the position: the first - the work of the complex (four) -: from The pick-and-place position 12 of the plurality of slots of the feeding mechanism 123 to the pick-and-place position 12 carries the second work of the first workpiece pick-and-place position U7: f. Finally, in step S5, 'transfer to the table 113. The object will be picked up by the robot arm 111 and placed on the table 113, etc., in the step S6, the process of picking and picking up the core I picking knife in the example. It should be noted that this embodiment, the first , the first work item and the second work item, that is, as before, you 4 = crop parts are divided When the dispensing box 131 is on the 115, the second ring 1 2 is a dispensing box; when the first working object is the crystal material Δ on the wafer table 117, the second working object needs to be a wafer ring; The working object is:, the dispensing box 131 on the 115 and the wafer ring 133 on the wafer table 117. The first working object needs to be a dispensing box and a wafer ring. In one embodiment, the fully automatic feed and discharge material name (10) further includes a buffer 135 structure. In this embodiment 13 1363394, the buffer table 135 provides a first work object-standby position to accelerate the n object. Two crop parts (8) 詈 盥 详 , ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作 工作= After the completion of the grain sorting operation, the fully automatic feed must first load the first working object on the table 113 into the feed.
= a plurality of slots of the slot feeding mechanism 123 carry the first working object 101 to the table 113 to A =: "the process" will take a lot of transmission time. 113 in the grain selection During the action, it takes a long time to wait for the first work object and the second work object i. If the punch table 135 structure is shortened, the work table (1) will be shortened when the die is performed, and the first work object and the second work object 101 are replaced. Waiting time. In Figure 1, the buffer table 135 cooperates with other structures of the automatic feeding and discharging device 100. There are two embodiments. Figure 4 shows the use of the buffer table for the replacement of the first working object and the second sanitary piece. Step flow chart of the example, that is, the flow chart of the method of the asynchronous automatic feeding and discharging method. Please refer to FIG. 4 and simultaneously compare the figure... First, in the step S" of FIG. 4, the mechanical arm ill will pivot to take The second working object is taken up at the vacating position 127. Before this, the picking and placing position 127 transfers the second working object 101 of one of the plurality of slots to the pick-and-place position i 127. In step S12, the robot arm 111 will The second work item 101 It is sent to the buffer table 135. Next, in step S13, the robot arm U1 is rotated to the top of the table ^ to pick up the first work object thereon, and in the subsequent step S14, 14 丄 30 work 4 After the first work item on the 113 113 is transferred to the pick-and-place position 127, the pick-up mechanism 125 places the pick-and-place position 127 in a specific slot in the crop-feeding mechanism 123. ^ While the S15 is being inserted, the 'mechanical arm 111 will continue to rotate to the buffer 2' to take the second work item thereon (step S16) and transfer it to the table 113 in step S17. Finally, in step $18, the workbench=3 will perform the procedures of positioning, building and crystallization to continue the grain sorting. ^=Step flow is completed, that is, the sorting of the grain sorting is performed as described above. Figure 4 is a step of 'division of another type of grain: selecting and replacing the previous first work object and the second work object, etc. FIG. 5 is the use of the buffer table for the first work object and the second work object. A flow chart of the steps of the other embodiment. Referring to Figure 5 and simultaneously comparing 2 first. In step S21 of Figure 5, the robot arm lu will be towed to the position of the table 113 to pick up the first working object. In the step, the robot arm (1) will transfer the first work item to the buffer table 135. Next, in step (2), after the robot arm (1) places the first object on the buffer table 135, the second work object 1〇1 on the pick-up position 127 is picked up, and thereafter In step S24, the second work item is transferred to the work table 113 for placement. Prior to this, the pick-up position 127 transfers the second work object 101 of the plurality of slots to the pick-and-place position 127. Thereafter, in step S25, the stage 113 will perform a program such as clamping, stacking, and crystallizing to continue the sorting operation of the die. At the same time as step S25, the robot arm 111 continues to rotate to the buffer table 135 15 1363394. The first king crop member ((4) is transferred to the pick and place position on the pick-up mechanism 125) In the middle of the S28, the taking mechanism 125 will take the first work and place it in a specific slot in the step. That is, the f department (2) is rotated by the above-mentioned figure 5, = line 2 =, and its previous first work object disk type knives sorting U 仟 "the first work item replacement Wait for the action. As described in the 'J" article, in Figure 1, the two working objects cn ^ are replaced by the buffer table 135 and the second work object. Also, in the step of Figure 4, and in step S23 of Figure 5. The first (2) will transfer the first picking mechanism in the plurality of slots to the working object 1〇1 to the picking period door. This step 'can be used for grain sorting at the workbench 113. Into the second can also complete a certain classification of the crystal grain at the workbench 113
k and so on. The first working object and the first _ are the same as described in 仏/tL. When the third money is made: ^ 1G1 type and the front piece is the split box 131 s on the turret 115 - the work object 101 is the split box ' and the wafer on the wafer table 117 = 33 is manually performed Replacement, when the workbench ιι3 completes the grain sorting of a certain member, the first work item (separate box i3i) and the second work item = (separate box) 'will be implemented as described above, and the robot arm The three points of the iu are the pick-and-place position i27 and the dispensing table ιΐ5 buffer port 135. Similarly, when the first working object is the wafer ring U3 on the wafer table ji 7, the second working object 1 〇1 is the wafer ring, and the dispensing box 131 on the dispensing table is manually replaced. When the working table U3 is divided into a certain sort of die, the first working object (wafer ring 133) and The second work object 101 (wafer ring) will be implemented in the manner described above, and the machine 16 1363394 曰: ί 1, there are r transfer fixed points, respectively, the pick and place position 127, I of the two: J and the buffer table 135; when the first working object is the wafer ring 133 on the loading table 115 and the wafer table m, the second working object 101 is a type of material曰 八 : ::: 哀 ' When the workbench 113 completes a certain minute and a Β-曰 first work object (separate box 131 or wafer ring 133) work "piece (8) (separate box or wafer ring), will According to the foregoing mechanical machine, the arm 1U has four transmission fixed points, which are respectively taken, 77 material table U 5, wafer table 117 and buffer table 135. The embodiments described above are in an asynchronous manner in the present invention. The automatic feeding and unloading frame for transferring or replacing 2 crop parts and the second working object is performed. The non-synchronized person means that the first working object and the second working object are separately moved at different times to complete the position invention. The automatic loading and unloading structure and method for moving and replacing the first working object and the first working object by synchronous transmission mode have the advantages that the first working object and the second working object of the two positions to be replaced are synchronously The transport mechanism performs the transmission and the replacement of the position, and greatly reduces the time required for the work object and the first work object to move. Referring to FIG. 6 , it is a structural block diagram of the synchronous automatic feed and discharge farm according to the embodiment of the present invention. Figure Shows' praise synchronous automatic feeding and discharging a loaded by a user 109, a table 113 and two synchronous transfer mechanism 6 "into ten billions. Since the loader and the workbench in the present embodiment are as shown in the figure: the planter station is called the same, so the following is used: Further, the functions of the loader 109 and the workbench 113 have been described in the foregoing, and therefore will not be described again. The synchronous transfer mechanism 615 performs synchronous transfer and position replacement on the second work object in the loading and unloading position of the loader 179 17 S and the first work object of the work table 113, that is, the synchronous transfer mechanism 615 ^ The following two actions are performed, one for transferring the one-piece work item in the pick-and-place position of the loader 109 to the work table 113, and the other for transferring the crop item of the work table ι13 to the pick-and-place position of the loader 1〇9. . To achieve this goal, the step 2 feed mechanism 615 usually needs to simultaneously pick and place the first and second work objects ', and the synchronous transfer mechanism 615 is a synchronous transfer mechanism of the pick-up mechanism. It should be noted that when the first and second working objects described in the work are of the sorting box on the loading table 5, the second item is the dividing box, and The wafer ring on the wafer table U7 is manually operated by the temple, instead: when the first work object is the wafer ring of the wafer table 117 i - the work object is the wafer ring, and the branch on the distribution table 115 Each material is replaced by a branching type; when the first working object is the dispensing table (1): It. In the case of 81 wafer rings on 117, the second working object is a sub-tank and a daily ring. The following rides, w / will be a detailed structural diagram to describe the implementation of the synchronous transmission mechanism. Qi Fu: View: The picture is seven: the second and seventh hands of the same-step conveyor; ^ and - pivot 703, the first robot 701 and the: robot 705 are centered on the tow 7〇3 Horizontal rotation: &gt; According to Figure 6, Figure 1 and Figure 7, the first month of the temple is placed at position m, and the first Π: 701 is placed on the loader 1〇9, and is rotated by the pivot 703. ::: Arm 705 is placed on the workbench 113. The first mechanical arm 701 and the second mechanical arm 1363394. 7〇5, that is, the curved arrows in Fig. 7 are respectively taken up from the table. The first work object of the second 13 and the first cow of the pick and place position 127 are replaced by the position. In the embodiment in which the mechanism of the other embodiment of the synchronous transfer mechanism 615 in FIG. 6 is two, seven, the synchronous transfer mechanism needs to rotate the first robot f 7〇1 with a pivot period of 705, ^/th. The second robot arm X γ is used: the fully automatic feeding and discharging device of Fig. 1 must have sufficient space, in order to make the synchronous conveying mechanism act. The real-time synchronous transport mechanism of Fig. 8 is operated in the plane of the χ_ζ axis, and the second: the feeding and discharging device, when the synchronous automatic feeding and discharging device is designed, it will not affect the space placement. As shown in FIG. 8, the synchronous transfer mechanism includes two machines == connected by the pivot portions 811 and 813 to the opposite machine rails, and is disposed at the pick-and-place position 127 of the loader 109 with reference to FIG. Above the machine rail 815, the robot arm 8〇7 can be driven horizontally by moving the pivot portion 8 ii, that is, the direction of the arrow in FIG. 8; likewise, on the mechanism road 817, the pivot portion 8 is moved. You can also move the robot arm 8G9 in the direction π. In the movement of the two mechanical arms Xie, 8〇9 protection, the knife J picks up the first work object of the work table 113 and the pick-and-place position η two work objects to make the position replacement. It should be noted that the two robot arms, 7 and 809 are designed to use a displacement in the Z-axis direction so that the horizontal movement of the two robot arms 8G7 and 8G9 does not hinder each other. ' 19 1363394 Figure 9 is a flow chart of the transfer procedure of the synchronous automatic inlet and outlet device of Figure 6. Referring to FIG. 9 and FIG. 6 simultaneously, in the process of replacing the position of the first working object and the second working object, first, in step s3i, the taking mechanism 125 carries one of the plurality of slots of the feeding mechanism 123. The second work item to a pick-and-place position will be conveyed to the pick-and-place position 127 by way of example. Then, in step S32, the towel synchronous transfer mechanism 615 respectively picks up the second work object placed on the pick-and-place position, and creates the first work object on the table 113, and moves to make the two positions = parent change. Further, in step S33, the synchronizing transport mechanism 615 will place the second work item 'i.e., the first work item will be placed in position, and the second work item will be placed on the work table 113. Among them, the workbench 113 performs the sorting operation of positioning, picking and lithography. At the same time, in step S35, 3 of the slots are taken? After the work object is loaded into the feeding mechanism 123, the specific grain sorting is performed, and then the step of "selecting a class of the S class" is performed to perform another step. 'Guang: The first work item and the second work object are placed first, no need to think about it. Step S31 can be carried out during the sorting of the workbench J i 曰', or can be completed at the workbench 113; one eight two: two points The selection process is carried out. ', the day-to-day ring of the knife or the sorting process of the grain, it is often necessary to replace the wafer discharge station. Only the step of the particle sorting. The purpose of the fully automatic feeding and discharging of the invention. </ RTI> </ RTI> </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; The scope of patent rights. The scope of patent protection is subject to the scope of the patents attached to the attached patents. Anyone who is familiar with the field, without any deviation from the spirit or scope of this patent, Equivalent change done in the spirit revealed by the present invention. Or design, and should be included in the scope of the following claims. [Simplified description of the drawings] / The present invention can be understood by the preferred embodiments of the specification and the detailed description and the following figures. A person skilled in the art should appreciate that the preferred embodiments of the present invention are intended to be illustrative and not to limit the scope of the invention, wherein: Figure 1 - an asynchronous automatic access in accordance with an embodiment of the present invention FIG. 2 is a structural view of a feeding mechanism according to an embodiment of the present invention; FIG. 3 is a flow chart showing steps of replacing a first working object and a second working object according to an embodiment of the present invention; A flow chart of the steps of an embodiment of the first work object and the second work object replacement using the buffer table of the present invention; FIG. 5 is another embodiment of the present invention for using the buffer table to perform the first work object and the second work object replacement. FIG. 6 is a block diagram of a synchronous automatic inlet and outlet material structure according to an embodiment of the present invention; FIG. 7 is a machine of an embodiment of the synchronous transmission mechanism of FIG. 20 1363394. FIG. 8 is another embodiment of the synchronous transfer mechanism of FIG. 6; and the top view of the pick-up is a flow chart of the steps of replacing the work object by using the synchronous automatic feeding and discharging device in the embodiment. Description of component symbols] 1〇1 1〇3 1〇5 1〇7 1〇9 111 113 115 117 119 121 123 125 127 129 131 133 135 Fully automatic feeding and discharging device Second working object architecture Platform housing Moving door loader machinery Arm Workbench Dispense Table Wafer Table Pickup Machine Lifting Mechanism Feeding Mechanism Picking Mechanism Pickup Position Words Buying Code Machine Feeding Box Wafer Ring Buffering Table 22 1363394. 201 Sheets 203 Slots 615 Synchronous Transfer Mechanism 701 First Robot arm 703 Pivot. 705 Second robot arm _ 807 Robot arm 809 Robot arm 811 Pivot part 813 Pivot part 815 Machine command 817 Machine track S1 ~ S6, S11 ~ S18, S21 ~ S28, S31 ~ S35 steps
twenty three

Claims (1)

1363394. X. Patent application scope: A non-synchronized automatic feeding and discharging device, comprising: ::: a table for carrying a first working object, the working table having a pick-and-place tool for grain sorting The carrier has a plurality of slots, a pick-up mechanism, and a pick-and-place slot for storing the second work object, and the second work object is cut by the pick-up mechanism to a pick-and-place position; and a second robot arm for transferring the second crop member in the pick-and-place position to the pick-and-place crop piece to the pick-and-place position (4) by the pick-up mechanism Pick and place crop pieces to the slots. 2. The non-synchronized automatic feeding and discharging device according to claim 1, further comprising: a buffering table for providing the robot arm to transfer the second working object to the buffering station.千千弟三· As described in claim 2, the non-synchronized fully automatic robot arm transmits the first working object of the working ding wire/ 其中 1 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The first arm of the buffer table is reached by the robot arm to the pick-and-place position. 24 1 · The non-synchronized automatic introduction as described in the item 2 of 2, the mechanical arm is to take the rose (4) ... 2 devices, wherein the long-distance seed ϊ α μ θ, the first working object placed thereon is transmitted thereto. And the second piece of the buffer table is transferred to the table by the robot f. 5. As described in the request item, the non-synchronized manned, and the loading and unloading device, wherein the war entry state further includes a material feeding mechanism, and the samples are sorrowful to 'Huai; k^ is placed in the far feeding mechanism . The water-filling manual aligns one of the plurality of slots with the pick-up machine. 6. The non-synchronized full loader as described in the request item further includes a lifting mechanism for the feeding device to which the lowering action. _ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ ─ Material device, the ^ ° 3 needle table and a wafer table. The phase-step type fully-automatic working object described in claim 8 is the dispensing box on the dispensing table, and the two-circle; the-wafer ring' is the pick-up tool for the wafer:. The sorting box is sorted onto the dispensing table. Θθ«裱 is performed on the crystal 10. The phase-step type fully automatic first workpiece described in claim 8 is the wafer table device, wherein t is 0%, and the distribution table has 1363394. ::: magazine, the pick-up tool is pulled/knife selected to the dispensing box on the dispensing table. The upper 裱 round 裱 is crystallized. 11. The non-compressed first working object according to claim 8 is the dispensing moving in and out device, wherein the wafer ring is the pick-up tool. Wafer: Top: Box and the dispense & selected on the wafer table. °❺曰曰ring for the crystal powder, the 12.==:=::= setting,” 14. The non-synchronized fully automatic wafer ring second working object described in the claim item is stored in the slot. The dispensing box in the middle of the apparatus. The non-synchronized eight-JL moving in and out device as described in the claim ,, wherein the mechanical arm is a pivoting mechanical arm. The automatic feeding and discharging device, wherein the arm or 16. The non-synchronized full-mechanical arm of claim 1 is a mechanical mechanical arm of the gripping mechanism. 26 1363394. 17. Non-__ # ^ ^ -η V as described in claim 1 The king automatically enters and discharges the device, and further comprises a bar code machine for capturing the bar code of the first frame. The crop piece and the second work object are 18· a synchronous automatic feeding and discharging device, comprising: a workbench, It is used to carry the Ding from the heart, and the work piece is provided. The workbench has a pick-up tool for grain sorting; 'Φ: loader: has a plurality of slots, - takes A structure and takes Placement, these slots are used to store the second work #玟位ψ v crop pieces, straw And the second working object of the slot is carried by the pick-up mechanism to the pick-and-place position H transport mechanism for simultaneously performing the second work on the pick-and-place position to the 5-Hai workbench, and the workbench on the workbench The first work, the piece pass = (four) the heart set 're-I! The first work object in the pick-and-place position is carried by the pick-up mechanism to the slots. 19. The synchronous type described in item 18 The automatic feeding and discharging device, wherein the device further comprises a feeder, wherein the slots are positioned on the feeding mechanism to perform horizontal movement, so that the plurality of slots are aligned with the taking mechanism. The synchronous automatic feeding and discharging device, wherein the loading device further comprises a lifting mechanism for vertically lifting the film taking mechanism. 27 丄 394 2l* synchronous automatic access according to claim 18 The material pick-up device ▲ the pick-up mechanism is a pick-and-pick pick-up mechanism. The synchronous automatic full-automatic feeding and discharging device described in Item 18 of Xuan Ruming, the work table further includes a feeding table and A wafer station. Medium 4 • ·: Synchronized full self-described in claim 22 The feeding and discharging device and the working object are the dispensing boxes on the dispensing table, and the wafer;: =^ ring, the taking device is on the wafer on the wafer table: the particles are sorted to the dispensing table The dispensing box on the top. The synchronous automatic loading and unloading device described in 4 item 22, the working object is the wafer ring on the wafer table, and the dispensing material has a dispensing box, The pick-up tool is used to sort the wafer on the wafer table to the sorting box on the sorting table. The synchronous automatic full-c piece described in claim 22 is the dispensing table. The upper dispensing box and the wafer mounting tool perform the wafer ring on the wafer table: a sorting box that is selected to the picking table. The sundial cylinder 28 1363394. 27. The synchronous second working object as claimed in claim 18 is a wafer in which the device is stored: the device, wherein the request item 18 is in the form of a fully automatic "crop piece" In order to survive in the slot, the second, second:: ^ step type automatic feeding and discharging ... wherein the attached mode =: mechanism of synchronous transmission mechanism or vacuum suction 3 〇. Synchronous as described in ^ 18 Fully automatic feeding and discharging, even more inclusive:: machine to read the first working object and the second working object I 31. = 2 item 18 synchronous synchronous automatic feeding and discharging = sending mechanism contains - first The mechanical arm, the second robot 2, the arm is placed in the first mechanical arm and the second mechanical second working center and is axially rotated to take the first and the first crop The position is replaced by the 32. = synchronous automatic automatic feeding and discharging device according to item 18, the mechanism has two mechanical arms 'connected to each other respectively; = 5 hai two mechanical arms respectively take the first and the first Two working objects, which are interlaced in the horizontal direction by the machine. 29 1363394. 33 ·A kind of non-synchronous automatic in and out #tn The method of using -μη" includes the following steps: J uses a mechanical arm to pick up the first working object placed on the mechanical arm Jiang 1筮σ; The hand 1 transports the 5xuan-work object to the pick-and-place position; the film mechanism loads the -1 crop piece stored in the plurality of slots in the pick-and-place position to the Where the slot is in the position where it is placed; and (4) the "work object" to take the robot arm to pick up the error 5, set the brother-work item and place it on the workbench The method of non-synchronized automatic feeding and discharging according to VIII 34 33, 1 the second arm is taken up and the V-segment of the first working cattle placed on the workbench comprises the picking up the material placed on the feeding table 35. The method of non-synchronized automatic feeding and discharging according to ΐ=33, wherein the step of the component comprises: taking the placing-wafer table Λν*;:/;·work 36·Π=33 Non-synchronous automatic feeding and discharging method, the picking up of the piece is placed on the workbench - the first work! The upper distribution box or the wafer ring on the wafer port. 30 1363394. 37. The method of loading and discharging the film taking mechanism from the slots in the asynchronous manner as described in claim 33 The step at the location includes the loading-sorting &quot;I~work object to the 38. The method of loading the material from the slots in the non-synchronization described in claim 33' The step of picking up and placing the position includes loading one. - ~ the first working object to the non-synchronous type described in the paragraph 3 = item 33 = = from the slots "loading the second = two: . The steps include a loading box or a crystal: a non-synchronous automatic feeding and discharging method, and the picking mechanism includes the following steps from a plurality of slots. a work object to a = use a robot arm to pick up the second work object placed in the pick and place position to transfer the second work object to - buffer ... Γ::: move to -, position and pick up two, The first work object on the first object and transfer it to the robot arm placed on it to be placed on the set, and work Member and transfer it '3 ° at the starting and takes place on a second / E to have the table. 41. The method of step-by-step automatic paste as described in claim 4, 31 1363394, 2: mechanical: the arm is moved to the position of the table and the object placed on it is picked up and placed Transfer to the step placed on the pick and place. 3 The taking mechanism loads the first work object in the pick-and-place position and stores it in one of the slots of the 5th. In the non-synchronized automatic entry and exit described in the monthly agricultural item 40, the mechanical year Ming Ming # as , m: its: mechanical &quot; moves to the position of the table and picks up the step of placing the work object, including the movement To one eight thick A/ Pick up the dispensing box placed on it. At the position of the knife seven and 43. In the asynchronous automatic described in Item 4〇, the robot arm moves to $#厶', the method, the first position of the tool is taken and picked up and taken up The wafer ring placed on it.曰曰 round table position and 44. As described in claim 4G, the non-synchronized all-mechanical arm moves to the working position of the Jinlu in and out of the section, its 筮, 乍 position and pick up The step of the first working item on the bean comprises moving to a dispensing box placed on/or on it, or moving to the mouth position and lifting the wafer ring placed thereon.曰曰®. The method of claim 12, wherein the step of loading and unloading the ejection mechanism from the slots comprises the step of loading a dispensing box. The working object to the 32 1363394, 46. The non-synchronized method of claim 40, wherein the pick-up mechanism carries the pick-up method from the slots, and the step of the pick-and-place position includes loading — Wafer ^. The working object to the method of the asynchronous automatic feeding and discharging described in the 47.2 item 4G is straightforward. The step of removing the arranging mechanism from the slots in the slots is included in the loading and unloading position: :: Work objects to the ® knife cover or a wafer ring. The method of hunger two kinds of asynchronous automatic feeding and discharging includes the following steps: a taking mechanism carries a pick-and-place position from a plurality of slots; (4) a younger-work object to a use-mechanical arm pick-up-workbench The first work of the robot moves the first working object to the buffer table. The robot arm moves to the pick and place position and picks up the r 7 working object placed on the 0 basin and transmits it to the Placed on the workbench; and the mechanical arm is rotated to the buffer table and the work item placed thereon is picked up and transported to the pick and place position. 49. The method of claim 7, wherein the robot arm moves to the buffer station and picks up the second crop member placed thereon and transfers it to the fetching device. The step of placing the position is further set. The picking mechanism stores the first working object in one of the slots of the picking and placing position. 33 1363394 50 = 2:8 The method of non-synchronized automatic feeding and discharging, the step of moving the arm to the first working object at the buffer position comprises moving to one of eight... On the distribution box. Move to 4 positions and • 51. As described in Item 48, the non-synchronized fully automatic mechanical arm describes the $^ method of entering and exiting, its #(4)-table position and pick it up The step of working on the object includes moving the pick-up wafer ring placed thereon.曰曰® station position and 52. The method for moving the robot arm to the relief input and discharge according to the method of claim 48, wherein the step of the first working object comprises moving to one, placing it Take the dispensing box placed on it or move it to the position of the port and the wafer ring placed on it. At the θ σ position and taking the non-synchronous all-in-one method of maneuvering the input and output according to the item 48, the straight-moon mechanism is carried out from the slots - the step of the pick-and-place position includes the load-point Expect each brother. A work item to the method of claim 54 wherein the pick-up mechanism feeds and unloads the plurality of slotted sheets from the slotted towel, and wherein the step of loading and unloading the pick-up position is included Loading - working objects to the exit - wafer ring. 1363394, 55. · The non-synchronized automatic i隹Φ·4ϋΙ·^-+ι as described in Yanqing 48. The method of taking the film machine Sun Zhan and Wang Miaobo into and out of the way, its magical choice: From the slots in the slots, the loading and unloading position of the Niu Lai 4 Α first working object to the ... ... at the step of the loading device - a dispensing box or a wafer ring. 56. A method of fully automatic feeding, the bag taking mechanism is from a plurality of two workpieces of a feeding mechanism to a second picking object to a pick-and-place position; wherein a $-synchronous transfer mechanism is simultaneously taken (four) a first work object in the pick-and-place position and a placement on the workbench, a FI at work item; a step transfer mechanism to perform the position exchange of the first work: a younger work object, the synchronous transfer mechanism The first work item is placed at the pick-and-place position and the work table respectively; &amp; I object slot l = the plurality of feed mechanism 57. • Synchronous automatic entry and exit as described in claim 56. The method of exiting the cymbal, wherein the step of loading the second working object from the plurality of 送 夕 — — — — — — — 包 包 包 包 包 包 包 包 包 包 包 兮58. The synchronous automatic automatic feeding and discharging method according to claim 56, wherein the drinking and taking mechanism carries a plurality of slots from the feeding mechanism to the night of the feeding mechanism. Step of working the object to the pick and place position包 哉 ^ S ^ 出 - wafer ring. 35 394, 59 r Λ 清 清 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 56 The step of loading and unloading the workpiece in one of the positions includes loading the 182 or a wafer ring. The synchronous automatic feeding and discharging material described in Kouyi Yue 56 is the taking piece.棬椹鄱人兮笛ζ_ Yi Wanfa, in which the institution loads the first working object of 11 hai to the feeding; g Μ .Λ· &amp; slots - Μ + 4 4 Α β, the plural of the needle mechanism ^ The step includes loading a sorting box. The method of loading the η μ by the synchronous automatic pick-up mechanism described in Item 56 of the method of loading the enthalpy of one of the slots to the feeding mechanism includes loading - Wafer ring.
The method of fully taking in and out of the filming step, wherein the step of the plurality of I crop parts to the feeding mechanism comprises loading a dispensing box or a wafer ring. 36
TW97112708A 2008-04-08 2008-04-08 Apparatus of fully-auto loader and method of the same TWI363394B (en)

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TWI577620B (en) * 2013-07-29 2017-04-11 鴻海精密工業股份有限公司 Automatic pill picking device and method
TWI567002B (en) * 2013-07-29 2017-01-21 鴻海精密工業股份有限公司 Automatic pill picking device
JP6360762B2 (en) * 2014-09-26 2018-07-18 株式会社ディスコ Processing equipment
CN105314393B (en) * 2015-11-20 2017-07-28 江苏艾科瑞思封装自动化设备有限公司 Do not shut down feeding device

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