TWI653186B - Carrier - Google Patents

Carrier Download PDF

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Publication number
TWI653186B
TWI653186B TW107137201A TW107137201A TWI653186B TW I653186 B TWI653186 B TW I653186B TW 107137201 A TW107137201 A TW 107137201A TW 107137201 A TW107137201 A TW 107137201A TW I653186 B TWI653186 B TW I653186B
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TW
Taiwan
Prior art keywords
carrier
frame
pressing
driven
sheet
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Application number
TW107137201A
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Chinese (zh)
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TW201914936A (en
Inventor
程冠霖
林漢聲
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萬潤科技股份有限公司
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Priority to TW107137201A priority Critical patent/TWI653186B/en
Application granted granted Critical
Publication of TWI653186B publication Critical patent/TWI653186B/en
Publication of TW201914936A publication Critical patent/TW201914936A/en

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Abstract

本發明提供一種承載座,包括:一軌道機構;一拉引機構,設有一可受驅動作往復位移的牽引件;該牽引件可被驅動拉引一容置架進入該軌道機構上;一定位機構,設有相對應設置並可受驅動作相向推夾或外鬆的二夾具;該容置架在該軌道機構之一預設位置受該二夾具在兩側夾持定位。 The present invention provides a carrier, comprising: a track mechanism; a pulling mechanism provided with a traction member that can be driven for reciprocating displacement; the traction member can be driven to pull a receiving frame into the track mechanism; The mechanism is provided with two clamps correspondingly arranged and driven to be oppositely pushed or loosened; the receiving frame is clamped and positioned on both sides by a preset position of the two rails.

Description

承載座 Carrier

本發明係有關於一種承載座,尤指一種可供承載一置放物料之容置架,並可對該容置架進行定位的承載座。 The invention relates to a carrier, in particular to a carrier for carrying a receiving frame for placing materials and for positioning the receiving frame.

習知印刷電路板之製程,通常係將銅箔基板裁切成預設尺寸後,再進行電路蝕刻、壓合、鑽孔…等加工作業;在上述加工作業中,待加工之板材通常係置放於加工裝置旁之取放裝置內,再將待加工之板材送入加工裝置或自加工裝置接收加工完成之板材;在專利號第M543524號「兼具翻板功能之收放板機」所揭露的技術中,提供一種適合使用在銅箔基板上進行蝕刻製程用的設備,其中該先前技術中提供一具有氣缸裝置與夾爪之夾板升降機構;在該夾板升降機構係以氣缸裝置連動夾爪將板材置入一作業區之板材框架或自板材框架中上提移出,並配合一機械手臂上具有吸嘴的吸盤裝置將板材吸附後翻轉而置於輸送裝置中的輸送帶移送至加工裝置進行加工。 The process of the conventional printed circuit board usually cuts the copper foil substrate into a predetermined size, and then performs processing such as circuit etching, pressing, drilling, etc.; in the above processing operation, the board to be processed is usually tied Placed in the pick-and-place device next to the processing device, and then the plate to be processed is sent to the processing device or the self-processing device to receive the processed plate; in Patent No. M543524, "Retractable plate machine with flap function" In the disclosed technology, there is provided an apparatus suitable for use in an etching process on a copper foil substrate, wherein the prior art provides a splint lifting mechanism having a cylinder device and a jaw; the clamping plate lifting mechanism is a cylinder device interlocking clamp The claws are placed in or removed from the sheet frame of a working area, and are conveyed to the processing device by the suction belt placed on the conveying device after being sucked and sucked by the suction cup device having the suction nozzle on the robot arm. Processing.

然而,該第M543524號專利案所揭露的先前技術,其主要使用在蝕刻的製程,故其所對應的加工裝置為蝕刻機,若使用於鑽孔製程,則因一般鑽孔的精準度相當高,故板材框架之置板槽是否能與夾板升降機構之夾爪相對位,成為後續是否可精準加工之因素之一;但是,因板材框架有進出作業區之需求,故收放板機之機架需設有板材框架進出之輸送流路,其輸送流路兩側之機架亦需與板材框架兩側保留預定間隙,板材框架 才可自由地進出作業區,導致板材框架在輸送流路上可能會有靠一側偏靠甚至歪斜之情況發生,且收放板機在作業時會有晃動之產生,亦會影響板材框架在輸送流路上之位置,上述情況皆可能使夾爪無法精準地對板材之預設夾取位置進行夾取,甚至可能根本無法夾持到板材,進而影響該板材被輸送至加工裝置的定位精度。 However, the prior art disclosed in Patent No. M543524 is mainly used in an etching process, so that the corresponding processing device is an etching machine. If it is used in a drilling process, the accuracy of the general drilling is relatively high. Therefore, whether the plate groove of the plate frame can be opposite to the jaw of the splint lifting mechanism becomes one of the factors for subsequent precision processing; however, since the plate frame has the requirement of entering and leaving the working area, the machine for retracting the plate machine The frame needs to have a conveying flow path for the plate frame to enter and exit, and the frame on both sides of the conveying flow path also needs to reserve a predetermined gap with both sides of the plate frame, the plate frame It is free to enter and exit the working area, which may cause the sheet frame to be biased or even skewed on one side of the conveying flow path, and the retracting and unloading machine will have sloshing during operation, which will also affect the conveying of the sheet frame. The position on the flow path may cause the jaws to accurately grasp the preset clamping position of the sheet, and may even be unable to clamp to the sheet at all, thereby affecting the positioning accuracy of the sheet being conveyed to the processing device.

爰是,本發明的目的,在於提供一種具有較精確定位的承載座。 Accordingly, it is an object of the present invention to provide a carrier having a more precise positioning.

依據本發明目的之承載座,包括:一軌道機構;一拉引機構,設有一可受驅動作往復位移的牽引件;該牽引件可被驅動拉引一容置架進入該軌道機構上;一定位機構,設有相對應設置並可受驅動作相向推夾或外鬆的二夾具;該容置架在該軌道機構之一預設位置受該二夾具在兩側夾持定位。 The carrier according to the object of the present invention comprises: a track mechanism; a pulling mechanism provided with a traction member that can be driven for reciprocating displacement; the traction member can be driven to pull a receiving frame into the track mechanism; The positioning mechanism is provided with two clamps correspondingly arranged and driven to be oppositely pushed or loosened; the receiving frame is clamped and positioned on both sides by a preset position of the two rails.

本發明實施例之承載座,該容置架藉該拉引機構在被拉引進入該承載座之該軌道機構上後,在到達預設位置時可受該定位機構的夾持定位;藉此使該承載座具有一較精確的定位。 In the carrier of the embodiment of the present invention, the receiving frame can be positioned by the positioning mechanism after being pulled into the track mechanism of the bearing frame by the pulling mechanism; The carrier has a more precise positioning.

A‧‧‧供料單元 A‧‧‧Feeding unit

A1‧‧‧第一取放裝置 A1‧‧‧first pick and place device

A11‧‧‧承載座 A11‧‧‧ bearing seat

A111‧‧‧軌道機構 A111‧‧‧Track mechanism

A1111‧‧‧滾輪 A1111‧‧‧Roller

A1112‧‧‧軌座 A1112‧‧ ‧ rail seat

A1113‧‧‧入口端 A1113‧‧‧ entrance end

A112‧‧‧拉引機構 A112‧‧‧ Pulling mechanism

A1121‧‧‧牽引件 A1121‧‧‧ traction parts

A1122‧‧‧扣件 A1122‧‧‧ fasteners

A113‧‧‧定位機構 A113‧‧‧ Positioning mechanism

A1131‧‧‧夾具 A1131‧‧‧ fixture

A114‧‧‧卸推件 A114‧‧‧Removable parts

A115‧‧‧撥扣件 A115‧‧‧Drawing parts

A116‧‧‧導引件 A116‧‧‧Guide

A1161‧‧‧滾輪 A1161‧‧‧Roller

A117‧‧‧止擋件 A117‧‧‧stops

A12‧‧‧機架 A12‧‧‧Rack

A121‧‧‧容置區間 A121‧‧‧ accommodation interval

A122‧‧‧滑軌 A122‧‧‧rails

A123‧‧‧滑座 A123‧‧‧ slide

A124‧‧‧驅動機構 A124‧‧‧ drive mechanism

A13‧‧‧移動架 A13‧‧‧Mobile rack

A131‧‧‧Z軸驅動機構 A131‧‧‧Z-axis drive mechanism

A132‧‧‧支架 A132‧‧‧ bracket

A133‧‧‧X軸向驅動機構 A133‧‧‧X axial drive mechanism

A14‧‧‧夾持機構 A14‧‧‧Clamping mechanism

A141‧‧‧滑塊 A141‧‧‧Slider

A142‧‧‧夾爪組件 A142‧‧‧ jaw assembly

A1421‧‧‧夾爪汽缸 A1421‧‧‧ jaw cylinder

A1422‧‧‧夾爪 A1422‧‧‧claw

A143‧‧‧X軸向驅動機構 A143‧‧‧X axial drive mechanism

A15‧‧‧整壓機構 A15‧‧‧Complete pressure mechanism

A151‧‧‧整壓工作區 A151‧‧‧Complete work area

A152‧‧‧整壓組件 A152‧‧‧Complete components

A1521‧‧‧抵撐部 A1521‧‧‧Resistance Department

A1522‧‧‧壓抵部 A1522‧‧‧Fist

A1523‧‧‧讓位區 A1523‧‧‧Right area

A1524‧‧‧旋轉驅動機構 A1524‧‧‧Rotary drive mechanism

A16‧‧‧導引機構 A16‧‧‧Guide

A161‧‧‧導引組件 A161‧‧‧Guide components

A1611‧‧‧導引夾片 A1611‧‧‧ guide clip

A1612‧‧‧夾爪氣缸 A1612‧‧‧ jaw cylinder

A2‧‧‧第一整位裝置 A2‧‧‧first full device

A21‧‧‧整位平台 A21‧‧‧ whole platform

A211‧‧‧第一長槽孔 A211‧‧‧First long slot

A212‧‧‧第二長槽孔 A212‧‧‧Second long slot

A213‧‧‧第三長槽孔 A213‧‧‧ third long slot

A22‧‧‧機台台面 A22‧‧‧ machine table

A221‧‧‧支柱 A221‧‧‧ pillar

A23‧‧‧X軸向整位機構 A23‧‧‧X axial position mechanism

A231‧‧‧第一移動塊 A231‧‧‧First moving block

A232‧‧‧整位件 A232‧‧‧All parts

A233‧‧‧X軸向驅動機構 A233‧‧‧X axial drive mechanism

A24‧‧‧Y軸向整位機構 A24‧‧‧Y axial position mechanism

A241‧‧‧第二移動塊 A241‧‧‧Second moving block

A242‧‧‧整位件 A242‧‧‧ Whole piece

A243‧‧‧Y軸向驅動機構 A243‧‧‧Y axial drive mechanism

A25‧‧‧升降機構 A25‧‧‧ Lifting mechanism

A251‧‧‧升降塊 A251‧‧‧ Lifting block

A252‧‧‧桿管 A252‧‧‧ rod tube

A253‧‧‧吸嘴 A253‧‧ ‧ nozzle

A254‧‧‧寬度間距 A254‧‧‧Width spacing

A255‧‧‧Z軸向驅動機構 A255‧‧‧Z axial drive mechanism

A256‧‧‧高度間距 A256‧‧‧height spacing

A3‧‧‧第一取付單元 A3‧‧‧first pay unit

A31‧‧‧基座 A31‧‧‧Base

A32‧‧‧取付機構 A32‧‧‧ payment agency

A321‧‧‧固定牙叉 A321‧‧‧fixed fork

A322‧‧‧活動牙叉 A322‧‧‧Activity fork

A323‧‧‧吸嘴 A323‧‧ ‧ nozzle

A324‧‧‧滑軌 A324‧‧‧rails

B‧‧‧加工裝置 B‧‧‧Processing device

B1‧‧‧加工載台 B1‧‧‧Processing stage

C‧‧‧台車 C‧‧‧Trolley

C1‧‧‧車架 C1‧‧‧ frame

C11‧‧‧容置區間 C11‧‧‧ accommodation interval

C12‧‧‧架桿 C12‧‧‧ pole

C2‧‧‧軌道機構 C2‧‧‧ Track Mechanism

C3‧‧‧掣桿機構 C3‧‧‧ mast mechanism

C31‧‧‧開關 C31‧‧‧ switch

C32‧‧‧掣桿 C32‧‧‧ mast

D‧‧‧容置架 D‧‧‧Rack

D1‧‧‧容置槽 D1‧‧‧ accommodating slot

E‧‧‧收料單元 E‧‧‧Receipt unit

E1‧‧‧第二取放裝置 E1‧‧‧Second pick and place device

E13‧‧‧移動架 E13‧‧‧Mobile rack

E14‧‧‧夾持機構 E14‧‧‧Clamping mechanism

E142‧‧‧夾爪組件 E142‧‧‧ jaw assembly

E15‧‧‧整壓機構 E15‧‧‧Complete pressure mechanism

E151‧‧‧整壓工作區 E151‧‧‧Complete work area

E152‧‧‧整壓組件 E152‧‧‧Complete components

E161‧‧‧導引組件 E161‧‧‧Guide components

E1611‧‧‧導引夾片 E1611‧‧‧ guide clip

E2‧‧‧第二整位裝置 E2‧‧‧ second full device

E21‧‧‧整位平台 E21‧‧‧ whole platform

E3‧‧‧第二取付單元 E3‧‧‧second take-up unit

F‧‧‧台車 F‧‧‧Trolley

G‧‧‧容置架 G‧‧‧Rack

G1‧‧‧容置槽 G1‧‧‧ accommodating slot

H‧‧‧移送裝置 H‧‧‧Transfer device

H1‧‧‧軌架 H1‧‧‧rail

H11‧‧‧軌桿 H11‧‧‧ rails

H2‧‧‧第一龍門機構 H2‧‧‧First gantry

H3‧‧‧第一龍門機構 H3‧‧‧First gantry

H4‧‧‧第一移取機構 H4‧‧‧First removal agency

H41‧‧‧升降座 H41‧‧‧ Lifting seat

H42‧‧‧吸嘴 H42‧‧‧ nozzle

H43‧‧‧Z軸向驅動機構 H43‧‧‧Z axial drive mechanism

H5‧‧‧第二移取機構 H5‧‧‧Second removal agency

H51‧‧‧升降座 H51‧‧‧ Lifting seat

H52‧‧‧吸嘴 H52‧‧ ‧ nozzle

H53‧‧‧Z軸向驅動機構 H53‧‧‧Z axial drive mechanism

H6‧‧‧第三移取機構 H6‧‧‧The third removal agency

H61‧‧‧升降座 H61‧‧‧ Lifting seat

H62‧‧‧吸嘴 H62‧‧‧ nozzle

H63‧‧‧Z軸向驅動機構 H63‧‧‧Z axial drive mechanism

I‧‧‧圍籬 I‧‧‧ fence

S‧‧‧偵測元件 S‧‧‧Detection components

W‧‧‧板件 W‧‧‧ plates

W1‧‧‧第一工作面 W1‧‧‧ first working face

W2‧‧‧第二工作面 W2‧‧‧ second working surface

圖1係本發明實施例中以二供收料設備分別位於加工裝置兩側作供、收料之立體示意圖。 FIG. 1 is a schematic perspective view showing the supply and receiving of two feeding and receiving devices on both sides of the processing device in the embodiment of the present invention.

圖2係本發明實施例中第一取付單元上取付機構之立體示意圖。 FIG. 2 is a schematic perspective view of the take-off mechanism of the first pick-up unit in the embodiment of the present invention.

圖3係本發明實施例中第一取放裝置與容置架、板材組裝關係之立體示意圖。 3 is a perspective view showing the assembly relationship between the first pick-and-place device, the accommodating frame and the plate in the embodiment of the present invention.

圖4係本發明實施例中第一取放裝置之機架與承載座之立體分解示意圖。 4 is a perspective exploded view of the frame and the carrier of the first pick-and-place device in the embodiment of the present invention.

圖5係本發明實施例中第一取放裝置之承載座與台車對接之立體分解示意圖。 FIG. 5 is a perspective exploded view showing the docking of the carrier of the first pick-and-place device and the trolley in the embodiment of the present invention.

圖6係本發明實施例中圖4之A-A剖面部分示意圖。 Figure 6 is a partial cross-sectional view taken along line A-A of Figure 4 in the embodiment of the present invention.

圖7係本發明實施例中第一整位裝置之立體示意圖。 Figure 7 is a perspective view of the first full position device in the embodiment of the present invention.

圖8係本發明實施例中第一整位裝置之整位平台與機台台面之立體分解示意圖。 FIG. 8 is a perspective exploded view of the whole platform and the machine table of the first full-position device in the embodiment of the present invention.

圖9係本發明實施例中移送裝置與二整位平台之立體示意圖。 FIG. 9 is a schematic perspective view of a transfer device and a two-position platform in an embodiment of the present invention.

圖10係本發明實施例中移送裝置自第一整位裝置搬送板材至加工裝置與自加工裝置搬送板材至第二整位裝置之示意圖。 FIG. 10 is a schematic view showing the transfer device transferring the plate from the first full-position device to the processing device and the self-processing device to the second full-position device in the embodiment of the present invention.

圖11係本發明實施例中第一取放裝置之夾持機構至容置架夾取板件之立體示意圖。 Figure 11 is a perspective view showing the clamping mechanism of the first pick-and-place device to the accommodating frame of the accommodating frame in the embodiment of the present invention.

圖12係本發明實施例中第一取放裝置之夾持機構夾取板件至整壓機構之立體示意圖。 Figure 12 is a perspective view showing the clamping mechanism of the first pick-and-place device of the embodiment of the present invention for gripping the plate member to the pressing mechanism.

圖13係本發明實施例中圖12之B-B剖面部分示意圖。 Figure 13 is a partial cross-sectional view taken along line B-B of Figure 12 in the embodiment of the present invention.

圖14係本發明實施例中第一取付單元至第一取放裝置之整壓機構吸取板材之立體示意圖。 Figure 14 is a perspective view showing the suction plate of the first take-up unit to the first pick-and-place device of the first embodiment of the present invention.

圖15係本發明實施例中第一取付單元吸取板材至第一整位裝置之立體示意圖。 Figure 15 is a perspective view showing the first take-up unit sucking the sheet to the first full position device in the embodiment of the present invention.

圖16係本發明實施例中第二取付單元吸取板材至第二取放裝置之整壓機構之立體示意圖。 Figure 16 is a perspective view showing the second pressing unit of the embodiment of the present invention for taking up the plate to the pressing mechanism of the second pick-and-place device.

圖17係本發明實施例中第二取放裝置之夾持機構夾持板材至容置架之立體示意圖。 Figure 17 is a perspective view showing the clamping mechanism of the second pick-and-place device of the embodiment of the present invention holding the plate to the receiving frame.

圖18係本發明實施例中圖17之C-C剖面部分示意圖。 Figure 18 is a partial cross-sectional view taken along line C-C of Figure 17 in the embodiment of the present invention.

請參閱圖1,本發明可以由圖中所示之實施例來作說明,該實施例中設有構造組成相同的二供收料設備,其中一執行供料的供收料設備在本實施例中稱為供料單元A,其位於一加工裝置B的一側,且利用一台車C將盛放待加工的板材W之一容置架D送入該供料單元A中,並在加工裝置B的另一側設置一執行收料的另一供收料設備,在本實施例稱為收料單元E,再以一移送裝置H將該供料單元A中待加工的該板材W移送至該加工裝置B進行加工,最後將該完成加工的該板材W搬至該收料單元E執行收集,並以一台車F搬送盛放已完成加工的該板材W的容置架G離開至預定位置;以下茲分別說明:該作為供料單元A的供收料設備,設於該加工裝置B之一側,該加工裝置B例如雷射鑚孔機,用以在銅箔基板上進行鑚孔;該作為供料單元A的供收料設備包括一第一取放裝置A1、一第一整位裝置A2,並可配合供收料設備外的一第一取付單元A3進行該第一取放裝置A1、該第一整位裝置A2間該板材W的搬送;其中,該第一取放裝置A1之一側可與該台車C相對接連結,該台車C之一車架C1內設有一容置區間C11用以置放該容置架D,該容置區間C11下方兩側設有二排分別各以多數滾輪間隔組構成的軌道機構C2,該容置架D係擺放在該軌道機構C2上,方便該容置架D移入該第一取放裝置A1或方便該台車C接收自該第一取放裝置A1移出之該容置架D,該台車C可移動並載送該容置架D至預設地點;該第一整位裝置A2設於該第一取放裝置A1之另一側與該加工裝置B之間,該第一取付單元A3之基座A31設於該第一取放裝置A1與該第一整位裝置A2之間的旁側;該第一取付單元A3可以六個自由度進行操作,如圖2所示,其上設有一由位於內側的二支固定牙叉A321(Fork)及位於外側的二活動牙叉A322相互平行及相隔間距所組構成的取付機構A32,各固定牙叉A321及活動牙叉A322分別各設有複數個可連接負壓的吸嘴A323,其中該二活動牙叉A322分別各設於一 與活動牙叉A322呈垂直方向的滑軌A324上而可作位移,以調整改變整個該取付機構A32的幅寬面積,適應不同規格物料的取付;該作為收料單元E的供收料設備,設於該加工裝置B之另一側,其包括一第二取放裝置E1、一第二整位裝置E2,並可配合供收料設備外的一第二取付單元E3進行該第二取放裝置E1、該第二整位裝置E2間該板材W的搬送;該第二取放裝置E1之一側可與一台車F相連結,該台車F可移動並載送一容置架G至預設地點;供料單元A的該第一取放裝置A1、該第一整位裝置A2、該第一取付單元A3、該台車C、該容置架D與收料單元E的該第二取放裝置E1、該第二整位裝置E2、該第二取付單元E3、該台車F、該容置架F分別具有相同之機構,僅左、右配置相反,在此不多加贅述!該第一取付單元A3及該第二取付單元E3可各為一機械手臂;一移送裝置H,設於該供料單元A的供收料設備之該第一整位裝置A2與該收料單元E的供收料設備之該第二整位裝置E2之間,並經過該加工裝置B,用於搬送該供料單元A的供收料設備之第一整位裝置A2上的待加工物料至加工裝置B進行加工作業,再將加工完成後之物料搬送至該收料單元E的供收料設備之第二整位裝置E2;其中,該供料單元A與該收料單元E外分別各設有圍籬I,分別各圈圍該第一取放裝置A1、該第一整位裝置A2、該第一取付單元A3或該第二取放裝置E1、該第二整位裝置E2、該第二取付單元E3,用以防止人員進入第一取付單元A3與第二取付單元E3之操作範圍。 Referring to FIG. 1, the present invention can be illustrated by the embodiment shown in the drawings. In this embodiment, two receiving and receiving devices having the same structural composition are provided, wherein a feeding and receiving device for performing feeding is in this embodiment. The feeding unit A is located at one side of a processing device B, and a loading device D of one of the sheets W to be processed is fed into the feeding unit A by a vehicle C, and is processed in the processing device. The other side of B is provided with another feeding and receiving device for performing the receiving, which is referred to as the receiving unit E in this embodiment, and the sheet W to be processed in the feeding unit A is transferred to the transfer unit H to The processing device B performs processing, and finally the sheet W that has been processed is transferred to the receiving unit E for collection, and is transported by a vehicle F to the receiving frame G of the sheet W that has been processed to a predetermined position. The following is a description of the feeding and receiving device as the feeding unit A, which is disposed on one side of the processing device B, and the processing device B is, for example, a laser boring machine for performing boring on the copper foil substrate; The feeding and receiving device as the feeding unit A comprises a first pick-and-place device A1, a first whole position The A2 is disposed, and the first pick-and-place unit A1 and the first whole-position device A2 are transported between the first pick-and-place device A1 and the first pick-up unit A2; wherein the first pick-and-place device A1 One side can be connected to the vehicle C. One of the frames C1 of the vehicle C is provided with an accommodating section C11 for arranging the accommodating frame D. The two sides of the accommodating section C11 are respectively arranged in two rows. Each of the track mechanisms C2 is formed by a plurality of roller spacing groups, and the receiving frame D is placed on the track mechanism C2, so that the receiving frame D is moved into the first pick-and-place device A1 or the trolley C is received from the first The receiving frame D is removed from the pick-and-place device A1, and the car C can move and carry the receiving frame D to a preset location; the first full-position device A2 is disposed on the other of the first pick-and-place device A1 Between the side and the processing device B, the base A31 of the first pick-up unit A3 is disposed beside the first pick-and-place device A1 and the first full-position device A2; the first pick-up unit A3 can be six Operated in degrees of freedom, as shown in Figure 2, there is a two-position fixed fork A321 (Fork) on the inside and two movable teeth on the outside. Each of the fixed fork A321 and the movable fork A322 is respectively provided with a plurality of nozzles A323 capable of connecting a negative pressure, wherein the two movable forks A322 are respectively disposed on the receiving mechanism A32, which is formed by a pair of parallel and spaced apart distances. One The slide rail A324 perpendicular to the movable fork A322 can be displaced to adjust and change the width of the entire take-up mechanism A32 to adapt to the payment of materials of different specifications; the receiving and receiving device as the receiving unit E, It is disposed on the other side of the processing device B, and includes a second pick-and-place device E1 and a second full-position device E2, and can perform the second pick-and-place with a second pick-up unit E3 outside the receiving device. The device E1 and the second whole device E2 carry the material W; the one side of the second pick-and-place device E1 can be connected with a vehicle F, and the vehicle F can move and carry a receiving frame G to the pre- The second pick-up device A1 of the feeding unit A, the first pick-up device A2, the first pick-up unit A3, the cart C, the cradle D and the second take-up of the receiving unit E The discharge device E1, the second full-position device E2, the second take-up unit E3, the trolley F, and the accommodating frame F have the same mechanism, and only the left and right configurations are reversed, and no further description is given here! The first pick-up unit A3 and the second pick-up unit E3 can each be a robot arm; a transfer device H, the first full-position device A2 and the receiving unit of the feeding unit of the feeding unit A Between the second unit E2 of the feeding and receiving device of E, and passing through the processing device B, for conveying the material to be processed on the first whole device A2 of the feeding device of the feeding unit A to The processing device B performs a processing operation, and then transfers the processed material to the second whole device E2 of the receiving unit E for the receiving device; wherein the feeding unit A and the receiving unit E respectively a fence I is provided, respectively surrounding the first pick-and-place device A1, the first full-position device A2, the first pick-up unit A3 or the second pick-and-place device E1, the second whole device E2 The second pick-up unit E3 is configured to prevent a person from entering the operating range of the first pick-up unit A3 and the second pick-up unit E3.

請參閱圖3~6,該第一取放裝置A1為一獨立的機台,設有包括:一承載座A11,該承載座A11上設有一軌道機構A111,其由分置兩側相互平行並呈Y軸向水平設置且其上鑲設有複數滾輪A1111的二軌座 A1112所構成,二軌座A1112間設有一呈Y軸向水平設置之拉引機構A112,該拉引機構A112上設有一可受驅動作Y軸向往復位移的牽引件A1121,該牽引件A1121上設有一開口朝上且可受驅動作上、下位移的凹狀之扣件A1122;該承載座A11上另設有一定位機構A113,該定位機構A113包括位於該二軌座A1112外呈X軸向相對應設置並可受驅動作相向推夾或外鬆的二夾具A1131;該軌道機構A111的入口端A1113的二軌座A1112間設有一可受驅動往復外推或內縮的卸推件A114;該軌道機構A111的該入口端A1113之該承載座A11端面處,設有可受驅動作伸、縮及旋轉的二撥扣件A115,以及分設兩側具有滾輪A1161的二導引件A116,並在該二撥扣件A115側分別各設有一止擋件A117;其中,該台車C與該第一取放裝置A1對接時,經由該台車C的車身嵌入二導引件A116間而對位前方抵觸該止擋件A117而到位,再經由該二撥扣件A115被驅動前伸及旋轉嵌扣該台車C的車架C1前方下緣的一架桿C12而使該台車C獲得定位,而經由該卸推件A114被驅動前伸推抵該台車C上嵌抵阻動該容置架D的掣桿機構C3上一開關C31後,使該掣桿機構C3上的掣桿C32解除對該容置架D的嵌抵阻動,再使該牽引件A1121被驅動前伸,而以該凹狀之扣件A1122伸於該台車C前方一座架D1下方,並在使該扣件A1122被驅動上移嵌扣該座架D1後,於該牽引件A1121被驅動回縮時,將該台車C的軌道機構C2上的該容置架D拉引入該第一取放裝置A1中承載座A11的軌道機構A111中二軌座A1112上,並在到達預設位置時受該定位機構A113的二夾具A1131在兩側夾持定位;一機架A12,設於該承載座A11上,該機架A12成矩形立方體之框架狀,內設有一容置區間A121恰對應位於該軌道機構A111中二軌座A1112上方,用於置放受該拉引機構A112拉引入的該容置架D,該容置架D內 設有複數個容置槽D1,可容置待加工物料,在本實施例中以例如銅箔基板之薄片狀的板材W為待加工物料,使該板材W直立容置於容置架D內(該容置架D可採用專利號第M543524號中所提供的板材框架,其為先前技術,茲不贅述);該機架A12上的兩側各設有一Y軸向的滑軌A122,每一滑軌A122上各設有一滑座A123,其中一側的滑座並受一驅動機構A124所驅動;一移動架A13,以兩端跨設於該機架A12上兩側二滑座A123上,可受該驅動機構A124所驅動的該滑座A123連動而作Y軸向水平位移;該移動架A13中央位置設有一Z軸驅動機構A131;該移動架A13兩側分別各設有對應配置的支架A132,該支架A132上分別各設有X軸向驅動機構A133;一夾持機構A14,設有一呈倒T字型之滑塊A141,該滑塊A141可在該Z軸驅動機構A131上垂直位移,該Z軸驅動機構A131設於該移動架A13中央位置;該滑塊A141在倒T字型水平部分之兩側各設有一夾爪組件A142,其分別設於兩個X軸向驅動機構A143上,可依該板材W尺寸之不同而調整兩夾爪組件A142間之距離;該夾爪組件A142以一夾爪汽缸A1421控制夾爪A1422之開合;一整壓機構A15,設有一整壓工作區A151在兩個整壓組件A152之間;兩個整壓組件A152分別相隔間距並垂直平行設置在該移動架A13兩側之各一支架A132上呈對應配置,且與該支架A132上之一X軸向驅動機構A133相連結,使兩個整壓組件A152間之距離可依該板材W尺寸之不同而調整;該整壓組件A152設有一片狀之抵撐部A1521與一片狀之壓抵部A1522,該壓抵部A1522上開設有複數個可閃避該第一取付單元A3(圖1)的該牙叉A321之讓位區A1523,該壓抵部A1522可藉由一旋轉驅動機構 A1524驅動而相對該抵撐部A1521樞轉使該整壓組件A152呈開啟或閉合狀態,在該整壓組件A152呈閉合狀態時,該抵撐部A1521與該壓抵部A1522之間仍具有可供該板材W穿經之間隙;一導引機構A16,其設有兩個對應配置之導引組件A161分別位於該整壓機構A15之兩個整壓組件A152下方,各導引組件A161分別設有兩個導引夾片A1611,可藉由一夾爪氣缸A1612控制兩個導引夾片A1611之開合使該導引組件A161呈開啟或閉合狀態,在該導引組件A161呈閉合狀態時,兩個導引夾片A1611之間仍具有可供該板材W穿經之間隙。 Referring to FIGS. 3-6, the first pick-and-place device A1 is a stand-alone machine, and includes a carrier A11. The carrier A11 is provided with a track mechanism A111, which is parallel to each other by two sides. a two-track seat horizontally arranged in the Y-axis and having a plurality of rollers A1111 mounted thereon A1112 is formed, and a pulling mechanism A112 horizontally disposed in the Y-axis is disposed between the two-track A1112, and the pulling mechanism A112 is provided with a pulling member A1121 which can be driven to reciprocate in the Y-axis, and the pulling member A1121 is disposed. A concave fastener A1122 having an opening upward and being driven to be displaced upward and downward is provided; the positioning mechanism A113 is further disposed on the bearing base A11, and the positioning mechanism A113 includes an X axial direction outside the two rail seat A1112. Correspondingly disposed and can be driven as opposite push clamps or loose two clamps A1131; between the two rail seats A1112 of the inlet end A1113 of the rail mechanism A111 is provided with a pusher A114 that can be driven to reciprocate extrapolation or retraction; The end of the bearing end A11 of the inlet end A1113 of the track mechanism A111 is provided with two latching members A115 which can be driven to extend, contract and rotate, and two guiding members A116 which are provided with rollers A1161 on both sides. And a stop member A117 is disposed on each of the two latching members A115; wherein when the cart C is docked with the first pick-and-place device A1, the body of the cart C is inserted into the two guide members A116 to be aligned. The front side is in contact with the stopper A117 and is in place, and then the two buckles are The A115 is driven to extend and rotate a rod C12 that is engaged with the lower edge of the front side of the frame C1 of the carriage C to obtain the positioning of the vehicle C, and is driven by the unloading member A114 to be pushed forward to the carriage C. After the switch C31 on the mast mechanism C3 of the gantry D is resisted, the mast C32 on the mast mechanism C3 is released from the occlusion resistance of the accommodating frame D, and the traction member A1121 is The drive is extended, and the concave fastener A1122 extends below the frame D1 in front of the trolley C, and after the fastener A1122 is driven to be inserted and latched to the mount D1, the traction member A1121 is driven. When retracting, the accommodating frame D on the track mechanism C2 of the carriage C is pulled into the two-track seat A1112 of the track mechanism A111 of the carrier A11 in the first pick-and-place device A1, and when reaching the preset position The two clamps A1131 of the positioning mechanism A113 are clamped and positioned on both sides; a frame A12 is disposed on the bearing base A11, and the frame A12 is formed into a rectangular cube frame shape, and an accommodation section A121 is located correspondingly. The arbor mechanism A111 is disposed above the two-track base A1112 for accommodating the accommodating frame D introduced by the pulling mechanism A112. Inside frame D A plurality of accommodating grooves D1 are provided for accommodating the material to be processed. In the embodiment, a sheet-like material W such as a copper foil substrate is used as a material to be processed, so that the plate W is erected in the accommodating frame D. (The gantry frame D can be a plate frame provided in Patent No. M543524, which is a prior art, and is not described herein;) a Y-axis slide rail A122 is provided on each side of the frame A12. Each of the slide rails A122 is provided with a sliding seat A123, wherein one side of the sliding seat is driven by a driving mechanism A124; a moving frame A13 is disposed at two ends of the two sliding blocks A123 on both sides of the frame A12. The slide A123 driven by the drive mechanism A124 is linked to the Y-axis horizontal displacement; the Z-axis drive mechanism A131 is disposed at the center of the movable frame A13; and the movable frame A13 is respectively provided with corresponding configurations on both sides The bracket A132 is respectively provided with an X-axis driving mechanism A133; a clamping mechanism A14 is provided with an inverted T-shaped slider A141, and the slider A141 can be vertically on the Z-axis driving mechanism A131. Displacement, the Z-axis driving mechanism A131 is disposed at a central position of the moving frame A13; the slider A141 is in inverted T-shaped water Each of the two sides is provided with a jaw assembly A142, which is respectively disposed on two X-axis driving mechanisms A143, and the distance between the two jaw assemblies A142 can be adjusted according to the size of the sheet W; the jaw assembly A142 The clamping jaw A1422 is controlled by a jaw cylinder A1421; a pressing mechanism A15 is provided with a full working area A151 between the two pressing components A152; the two pressing components A152 are respectively spaced apart and vertically parallel A corresponding arrangement is arranged on each of the brackets A132 on both sides of the moving frame A13, and is coupled with one of the X-axis driving mechanisms A133 of the bracket A132, so that the distance between the two pressing components A152 can be determined according to the size of the sheet W. The whole pressure component A152 is provided with a piece of the abutting portion A1521 and a piece of the pressing portion A1522. The pressing portion A1522 is provided with a plurality of the first receiving unit A3 (Fig. 1). a retaining area A1523 of the dental fork A321, the pressing portion A1522 can be driven by a rotary drive mechanism The A1524 is driven to pivot relative to the abutting portion A1521 to open or close the pressing component A152. When the pressing component A152 is in the closed state, the receiving portion A1521 and the pressing portion A1522 are still The guiding mechanism A16 is provided with two correspondingly disposed guiding components A161 respectively located under the two pressing components A152 of the pressing mechanism A15, and each guiding component A161 is respectively provided There are two guiding clips A1611, which can be controlled by a jaw cylinder A1612 to open or close the two guiding clips A1611, when the guiding assembly A161 is closed. There is still a gap between the two guiding clips A1611 for the sheet W to pass through.

請參閱圖7、8,該第一整位裝置A2設有包括:一整位平台A21,受複數個支柱A23支撐使其呈水平設置於一機台台面A22上之一適當高度;該整位平台A21上開設有一第一長槽孔A211、複數個第二長槽孔A212與複數個第三長槽孔A213;該第一長槽孔A211與該第二長槽孔A212呈Y軸向配置;該第三長槽孔A213呈X軸向配置,且兩相鄰之該第三長槽孔A213之間距可容納該第一取付單元A3(圖1)之該牙叉A321進入;在該整位平台A21下方之機台台面A22上設有一X軸向整位機構A23、一Y軸向整位機構A24與一升降機構A25;該X軸向整位機構A23設有兩個第一移動塊A231,其上設有複數個整位件A232,該整位件A232可穿經第三長槽孔A213凸出於整位平台A21上方,該第一移動塊A231設於一X軸向驅動機構A233上,兩個該第一移動塊A231可連動該複數個整位件A232在X軸方向上朝該待加工物料相對的移靠或遠離;該Y軸向整位機構A24設有兩個第二移動塊A241,其上設有複數個整位件A242,該整位件A242可穿經該第二長槽孔A212凸出於整位平台A21上方,第二移動塊A241設於一Y軸向驅動機構A243上,兩個第二移動塊A241可連動該複數個整位件A242在Y軸方向上朝該待加工物料相 對的移靠或遠離;該升降機構A25設有三個可受驅動上、下位移的長條狀升降塊A251呈相隔間距平行排列,每一該升降塊A251上設有複數個相隔間距Y軸向排列並以桿管A252架高之吸嘴A253,且同一該升降塊A251上的各該吸嘴A253間提供四個可供容納該第一取付單元A3(圖1)之該牙叉A321進入的寬度間距A254;該升降塊A251受一Z軸向驅動機構A255驅動,使該吸嘴A253可穿經第一長槽孔A211與第三長槽孔A213選擇性地凸出於該整位平台A21上方或沒入該整位平台A21下方;在該吸嘴A253沒入該整位平台A21下方時,該取付機構A32以該吸嘴A322(圖1)朝下直接將該板材W(圖3)以被吸附面朝上方式放置於該整位平台A21上供該X軸向整位機構A23、該Y軸向整位機構A24整位;在該吸嘴A253凸出於該整位平台A21上方時,提供一該整位平台A21表面的高度間距A256,以提供該第一取付單元A3之該取付機構A32伸入其間以該吸嘴A322(圖1)朝上將該板材W(圖3)以被吸附面朝下方式放置於該吸嘴A253上,待該第一取付單元A3之該取付機構A32移出該高度間距A256後,各該吸嘴A253才下降使該板材W(圖3)放置於該整位平台A21上供該X軸向整位機構A23、該Y軸向整位機構A24整位。 Referring to FIG. 7 and FIG. 8 , the first full-position device A2 is provided with: a whole platform A21 supported by a plurality of pillars A23 so as to be horizontally disposed at an appropriate height on a machine table A22; A first long slot A211, a plurality of second slot slots A212 and a plurality of third slot slots A213 are defined in the platform A21. The first slot slot A211 and the second slot slot A212 are disposed in the Y-axis direction. The third long slot A213 is disposed in the X-axis direction, and the two adjacent long slot A213 are spaced apart from the fork A321 that can accommodate the first take-up unit A3 (FIG. 1); An X-axis integral mechanism A23, a Y-axis integral mechanism A24 and a lifting mechanism A25 are disposed on the machine table A22 below the platform A21. The X-axis positioning mechanism A23 is provided with two first moving blocks. A231, which is provided with a plurality of integral parts A232, the whole piece A232 can protrude through the third long slot A213 above the whole platform A21, and the first moving block A231 is disposed on an X-axis driving mechanism On the A233, the two first moving blocks A231 can interlock the plurality of the whole parts A232 to move relative to or away from the material to be processed in the X-axis direction; Two second moving blocks A241 are disposed on the whole position mechanism A24, and a plurality of the whole parts A242 are disposed thereon, and the whole piece A242 can pass through the second long slot A212 and protrude above the whole platform A21. The second moving block A241 is disposed on a Y-axis driving mechanism A243, and the two second moving blocks A241 can interlock the plurality of the whole pieces A242 in the Y-axis direction toward the material to be processed. The lifting mechanism A25 is provided with three elongated lifting blocks A251 which can be driven to move up and down, and are arranged in parallel at intervals. Each of the lifting blocks A251 is provided with a plurality of spaced apart Y-axis directions. Between the nozzles A253 and the nozzles A253, and the nozzles A253 on the same block A251 are provided with four teeth A321 for receiving the first pick-up unit A3 (Fig. 1). Width spacing A254; the lifting block A251 is driven by a Z-axis driving mechanism A255, so that the nozzle A253 can selectively protrude through the first long slot A211 and the third long slot A213 from the whole platform A21 Above or below the whole platform A21; when the nozzle A253 is not under the whole platform A21, the take-up mechanism A32 directly faces the sheet W with the nozzle A322 (Fig. 1) downward (Fig. 3) The X-axis positioning mechanism A23 and the Y-axis positioning mechanism A24 are placed in position on the entire positioning platform A21; the nozzle A253 protrudes above the whole platform A21. Providing a height spacing A256 of the surface of the whole platform A21 to provide the receiving mechanism A32 of the first receiving unit A3 The sheet W ( FIG. 3 ) is placed on the nozzle A 253 with the suction surface facing downward with the nozzle A 322 ( FIG. 1 ) facing upward, and the take-up mechanism A32 of the first take-up unit A3 moves out of the height. After the spacing A256, each of the nozzles A253 is lowered to place the sheet W (Fig. 3) on the whole platform A21 for the X-axis positioning mechanism A23 and the Y-axis positioning mechanism A24 to be in position.

請參閱圖9、10,該移送裝置H設有包括:一軌架H1,呈Y軸向設置,包括相互平行的二軌桿H11,其兩端各設於一第一龍門機構H2與一第二龍門機構H3上;其中,該第一龍門機構H2設於該第一整位裝置A2上,由相隔間距並相互平行的二龍門H21所構成;該第二龍門機構H3設於該第二整位裝置E2上,由相隔間距並相互平行的二龍門H31所構成;該軌架H1提供一直線搬送流路,該直線搬送流路並經過該第一整位裝置A2的整位平台A21、加工裝置B的加工載台B1、該第二整位裝置E2的整位平台E21上方; 一第一移取機構H4,設於該軌架H1上,並被控制往復移動於靠該供料單元A一側的該軌架H1上,並工作於該第一整位裝置A2的整位平台A21與該加工裝置B的該加工載台B1間,其設有一呈水平設置之升降座H41,該升降座H41上設有複數個朝下的吸嘴H42,該升降座H41可受一Z軸向驅動機構H43驅動作上、下位移,以連動各該吸嘴H42可同步向下吸附該板材W或吸附該板材W後上移;一第二移取機構H5,設於軌架H1上,並被控制往復移動於靠該收料單元E一側的該軌架H1上,並工作於該第二整位裝置E2的整位平台E321與該加工裝置B的該加工載台B1間,其設有一呈水平設置之升降座H51,該升降座H51上設有複數個朝下的吸嘴H52,該升降座H51可受一Z軸向驅動機構H53驅動作上、下位移,以連動各該吸嘴H52可同步向下吸附該板材W或吸附該板材W後上移;一第三移取機構H6,設於該軌架H1上,並被控制往復移動於於靠該供料單元A一側的該軌架H1上,並與該第一移取機構H4鄰靠及同步位移,其中,該第一移取機構H4位於朝該供料單元A一側,該第三移取機構H6位於另一側;該第三移取機構H6設有一呈水平設置之升降座H61,該升降座H61上設有複數個朝下的吸嘴H62,該升降座H61可受一Z軸向驅動機構H63驅動作上、下位移,以連動各該吸嘴H62可同步向下吸附該板材W或吸附該板材W後上移;因本發明實施例中的加工裝置B為一雷射鑽孔機,該雷射鑽孔機的加工裝置B之該加工載台B1上係提供一次需對兩片板材W進行加工,故在本實施例中,該移送裝置H一側同時設有該第一移取機構H4及該第三移取機構H6,另一側僅設該第二移取機構H5;倘配合的加工裝置B為一次僅對一片板材W進行加工者,則該移送裝置H僅需一側設該第一移取機構 H4,另一側設該第二移取機構H5即可;各該第一移取機構H4、該第二移取機構H5、該第三移取機構H6上可設置防止相互碰撞的感測元件S;其中,該第一移取機構H4係負責至該第一整位裝置A2吸附該板材W並搬送至該加工裝置B進行加工,且該加工載台B1可沿該軌架H1所提供的直線搬送流路作往復位移;故當該加工載台B1移靠該供料單元A之該第一整位裝置A2時,該第一移取機構H4自該第一整位裝置A2的整位平台A21上來回二次共搬送兩片板材W進入該加工裝置B置於該加工載台B1上,其中,該第一移取機構H4、該第三移取機構H6係同時在軌架H1上移動,但第三移取機構H6在此僅負責在加工裝置B內與第一移取機構H4配合向下壓整板材W,不作吸附及搬送該板材W;當該板材W完成加工後,該加工載台B1移靠該收料單元E之該第二整位裝置E2時,該第二移取機構H5係負責自該加工載台B1搬送該加工裝置B加工完成後之該板材W至該第二整位裝置E2的該整位平台E21。 Referring to FIG. 9 and FIG. 10, the transfer device H is provided with a rail frame H1 disposed in the Y-axis direction, and includes two rails H11 parallel to each other, and the two ends are respectively disposed on a first gantry mechanism H2 and a first The second gantry mechanism H3 is disposed on the first full-position device A2, and is composed of two gantry doors H21 spaced apart from each other and parallel to each other; the second gantry mechanism H3 is disposed at the second whole The position device E2 is composed of two gantry doors H31 spaced apart from each other and parallel to each other; the rail frame H1 provides a straight line conveying flow path, and the linear conveying flow path passes through the whole platform A21 of the first integral device A2, and the processing device Above the processing platform B1 of B, the entire platform E21 of the second whole device E2; a first removal mechanism H4 is disposed on the rail frame H1, and is controlled to reciprocately move on the rail frame H1 on the side of the feeding unit A, and operates on the whole position of the first whole position device A2. The platform A21 and the processing stage B1 of the processing device B are provided with a horizontally disposed lifting seat H41, and the lifting seat H41 is provided with a plurality of downwardly facing suction nozzles H42, which can be subjected to a Z The axial drive mechanism H43 is driven to move up and down, so that each of the suction nozzles H42 can simultaneously adsorb the plate W downwardly or adsorb the plate W and then move up; a second removal mechanism H5 is disposed on the rail frame H1. And being controlled to reciprocate on the rail H1 on the side of the receiving unit E, and working between the whole platform E321 of the second whole device E2 and the processing stage B1 of the processing device B, The lifting seat H51 is provided with a plurality of downwardly facing suction nozzles H52. The lifting seat H51 can be driven by a Z-axis driving mechanism H53 for upper and lower displacement to interlock with each other. The nozzle H52 can synchronously adsorb the sheet W downward or adsorb the sheet W and then move up; a third removal mechanism H6 is disposed on the rail frame H1. And being controlled to reciprocate on the rail H1 on the side of the feeding unit A, and adjacent to and synchronously displaced with the first removing mechanism H4, wherein the first removing mechanism H4 is located at the same On the side of the material unit A, the third removal mechanism H6 is located on the other side; the third removal mechanism H6 is provided with a horizontally disposed lifting seat H61, and the lifting seat H61 is provided with a plurality of downwardly facing nozzles H62 The lifting seat H61 can be driven by a Z-axis driving mechanism H63 for up-and-down displacement, so that each of the nozzles H62 can synchronously adsorb the plate material W or adsorb the plate W and then move up; The processing device B in the processing device B is a laser drilling machine. The processing station B1 of the processing device B of the laser drilling machine is required to process two sheets of material W once, so in this embodiment, The first transfer mechanism H4 and the third transfer mechanism H6 are simultaneously disposed on the transfer device H side, and the second transfer mechanism H5 is provided on the other side; if the processing device B is matched only for one sheet W at a time If the processor is to be processed, the transfer device H only needs to have the first removal mechanism on one side. H4, the other side is provided with the second removal mechanism H5; each of the first removal mechanism H4, the second removal mechanism H5, and the third removal mechanism H6 can be provided with sensing elements that prevent each other from colliding with each other. S; wherein the first removal mechanism H4 is responsible for the first full position device A2 adsorbing the sheet material W and transporting it to the processing device B for processing, and the processing stage B1 is provided along the rail frame H1. The linear transport flow path is reciprocally displaced; therefore, when the processing stage B1 moves to the first full-position device A2 of the feeding unit A, the first removal mechanism H4 is from the entire position of the first full-position device A2. On the platform A21, a total of two sheets of material are transferred back and forth, and the processing device B is placed on the processing stage B1. The first removal mechanism H4 and the third removal mechanism H6 are simultaneously on the rail frame H1. Moving, but the third removal mechanism H6 is only responsible for the downward pressing of the sheet W in the processing device B with the first removal mechanism H4, and does not adsorb and transport the sheet W; when the sheet W is finished, When the processing stage B1 is moved to the second full-position device E2 of the receiving unit E, the second removing mechanism H5 is responsible for the processing load. The table B1 conveys the sheet W after the processing of the processing device B to the entire platform E21 of the second unit device E2.

本發明實施例在實施上,該板材W在供料單元A之搬送方法如下,包括:一夾取步驟:請參閱圖11、12、13,以該第一取放裝置A1取出該容置架D內之該板材W:使該移動架A13移動至預設位置(第二位置),在該整壓組件A152與該導引組件A161皆呈開啟狀態下,該夾持機構A14經整壓工作區A151向下位移至該容置架D以兩夾爪組件A143夾持該板材W之上側,然後該夾持機構A14向上位移至該整壓工作區A151上方,而夾持該板材W向上在該板材W兩側移經開啟狀態之該整壓組件A152與該導引組件A161間下,使該板材W位移至該整壓工作區A151,並在該板材W到位後,使該壓抵部A1522相對於該抵撐部A1521樞轉,而令該整壓組件A152呈閉合狀態,使該整壓機構A15可整壓該板材W之兩側讓該板材W在該整壓工作區 A151內保持垂直而表面翹曲量減少的狀態;該板材W在該整壓工作區A151內受整壓時,該板材W之第二工作面W2(背面)之兩側受兩個抵撐部A1521抵撐,該板材之第一工作面W1(前面)之兩側則受兩個壓抵部A1522壓抵;一搬送步驟:請參閱圖14、15,以該第一取付單元A3將該板材W移出該整壓工作區A151並搬送至第一整位裝置A2:在該夾持機構A14與該整壓機構A15夾持與整壓板材W後,該移動架A13連動受夾持與整壓之該板材W水平移動至靠近該第一取付單元A3之預設位置(第一位置),此該第一取付單元A3之該取付機構A32會以垂直狀態往該板材W貼靠,在其複數個該吸嘴A322吸附該板材W之該第一工作面W1後,該夾持機構A14與該整壓機構A15解除對板材W之夾持與整壓,使該板材W可受該第一取付單元A3搬送移出該整壓工作區A151至該第一整位裝置A2;在該板材W移出該整壓工作區A151後,該取付機構A32轉為水平狀態使該板材W之該第一工作面W1由垂直轉換為水平,以該第一工作面W1朝上放置於該整位平台A21上;一整位步驟:請參閱圖15,該板材W之在該第一整位裝置A2之該整位平台A21上,以該板材W周圍之複數個整位件A232、A242向該板材W周緣作X軸向或Y軸向移靠以導正該板材W之X、Y方向定位,避免該板材W位置偏移;在該第一取付單元A3搬送該板材W至該整位平台A21進行整位之期間,該第一取放裝置A1可重複進行夾取步驟以夾取下一塊板材W;請參閱圖1、10,該第一整位裝置A2裝置上之板材W需以該移送裝置H搬進該加工裝置B進行加工,其中,該第一移取機構H4、該第三移取機構H6受該供料單元A的控制系統所控制,該第二移取機構H5受該收料單元E的控制系統所控制;該板材W在該移送裝置H之搬送方法如下,包括:一加工搬送步驟:該供料單元A控制該第一移取機構H4在該軌架H1上移動至該第一整位裝置A2上方,此時該加工裝置B的該加工載台B1 位於鄰靠該供料單元A的該第一整位裝置A2側,使該升降座H41上之該吸嘴H42向下吸附該第一整位裝置A2上受導正後之該板材W,並搬送該板材W離開該第一整位裝置A2至該加工裝置B的該加工載台B1上;待該板材W加工完成後,該加工載台B1移靠該收料單元E的該第二整位裝置E2側,該收料單元E控制該第二移取機構H5吸附該加工裝置B的該加工載台B1上之已完成加工的該板材W,且搬送已完成加工的該板材W離開該加工裝置B至該收料單元E的該第二整位裝置E2;已完成加工的該板材W在該收料單元E之搬送方法大致與待加工的該板材W在該供料單元A之搬送方法相同,僅步驟之順序相反,在此不多加贅述搬送過程之細節,僅針對不同之處再加以描述,其中,該收料單元E之搬送方法包括:一整位步驟:請參閱圖10,以該第二整位裝置E2導正已完成加工的該板材W之X、Y方向,避免已完成加工的該板材W位置偏移;一搬送步驟:請參閱圖16,該第二取放裝置E1的該移動架E13移動至靠近該第二取付單元E3之預設位置(第一位置),且該整壓組件E152與該導引組件E161皆先呈開啟狀態;該第二取付單元E3之複數個吸嘴E221吸附已完成加工的該板材W之第一工作面W1,使該第二取付單元E3搬送已完成加工的該板材W至該第二取放裝置E1之該整壓工作區E151,且已完成加工的乾板材W之兩側貼靠於抵撐部E1521,再使該整壓組件E152呈關閉狀態,使已完成加工的該板材W在該整壓工作區E151內受該整壓機構E15整壓已完成加工的該板材W之兩側;一放置步驟:請參閱圖17、18,在該整壓機構E15整壓已完成加工的該板材W後,該移動架E13移動至遠離該第二取付單元E3之預設位置(第二位置),使該夾持機構E14向下位移至該整壓工作區E151以兩夾爪組件E142夾 持已完成加工的該板材W之上側,並使該夾持機構E14向下位移夾持已完成加工的該板材W穿經該整壓工作區E151;當已完成加工的該板材W底部穿經開啟狀態之該導引組件E161時,該導引組件E161切換為閉合狀態使已完成加工的該板材W在兩個導引夾片E1611之間受導引至該容置架G對應之該容置槽G1。 In the embodiment of the present invention, the feeding method of the sheet W in the feeding unit A is as follows, including: a clamping step: refer to FIG. 11, 12, and 13, and the receiving device is taken out by the first pick-and-place device A1. The plate W in the D: the moving frame A13 is moved to a preset position (second position), and the clamping mechanism A14 is subjected to the pressing operation when the pressing unit A152 and the guiding unit A161 are both opened. The area A151 is displaced downward to the accommodating frame D to sandwich the upper side of the sheet W with the two jaw assemblies A143, and then the clamping mechanism A14 is displaced upward to the top of the pressing working area A151, and the sheet W is clamped upward. The pressing component A152 of the plate W is moved between the two sides of the plate and the guiding component A161 to displace the plate W to the pressing working area A151, and after the plate W is in place, the pressing portion is made The A1522 pivots relative to the abutting portion A1521, so that the pressing component A152 is in a closed state, so that the pressing mechanism A15 can press the two sides of the plate W to allow the plate W to be in the pressing working area. a state in which the A151 is kept vertical and the surface warpage is reduced; when the sheet W is subjected to the pressing in the pressure-reducing working area A151, the two sides of the second working surface W2 (back surface) of the sheet W are subjected to two resisting portions. A1521 is resisted, and the two sides of the first working surface W1 (front side) of the sheet are pressed by the two pressing portions A1522; a conveying step: please refer to Figs. 14 and 15, the sheet is taken by the first taking unit A3 W moves out of the pressure-reducing working area A151 and transports it to the first full-position device A2: after the clamping mechanism A14 and the pressing mechanism A15 clamp and press the plate material W, the moving frame A13 is interlocked and pressed. The sheet W is horizontally moved to a preset position (first position) of the first take-up unit A3, and the take-off mechanism A32 of the first pick-up unit A3 is in a vertical state to the sheet W, at a plurality of After the suction nozzle A322 adsorbs the first working surface W1 of the sheet W, the clamping mechanism A14 and the pressing mechanism A15 release the clamping and pressing of the sheet W, so that the sheet W can be subjected to the first payment. The unit A3 transfers and removes the pressure-reducing working area A151 to the first full-position device A2; after the sheet W is removed from the pressing working area A151, the The receiving mechanism A32 is turned into a horizontal state to convert the first working surface W1 of the sheet W from vertical to horizontal, and the first working surface W1 is placed upward on the whole platform A21; a whole step: please refer to the figure 15. The plate W is placed on the entire platform A21 of the first full-position device A2 by X-axis or Y-axis movement to the periphery of the plate W by a plurality of integral parts A232 and A242 around the plate W. Positioning the X and Y directions of the sheet W to prevent the position of the sheet W from shifting; during the period in which the first take-up unit A3 transports the sheet W to the whole platform A21 for the whole position, the first pick-and-place The device A1 can repeatedly perform the clamping step to grip the next plate W; referring to Figures 1 and 10, the plate W on the device of the first full-position device A2 needs to be moved into the processing device B by the transfer device H for processing. The first removal mechanism H4 and the third removal mechanism H6 are controlled by the control system of the feeding unit A, and the second removal mechanism H5 is controlled by the control system of the receiving unit E; The method of transporting W in the transfer device H is as follows, including: a processing and transporting step: the feeding unit A controls the A pipetting mechanism H4 to move the apparatus over the first full bit A2 on the rails H1, at which point the processing of the B stage processing apparatus B1 Located on the side of the first full-position device A2 adjacent to the feeding unit A, the nozzle H42 on the lifting seat H41 is downwardly adsorbed to the plate W after being guided on the first full-position device A2, and Transfering the sheet W away from the first positioning device A2 to the processing stage B1 of the processing device B; after the processing of the sheet W is completed, the processing stage B1 is moved to the second whole of the receiving unit E On the side of the device E2, the receiving unit E controls the second removal mechanism H5 to adsorb the finished sheet W on the processing stage B1 of the processing device B, and transports the finished sheet W away from the processing The second device E2 of the processing device B to the receiving unit E; the conveying method of the finished sheet W in the receiving unit E is substantially carried out with the sheet W to be processed in the feeding unit A The method is the same, only the order of the steps is reversed, and the details of the transport process are not described here. Only the differences are described. The method for transporting the receiving unit E includes: a whole step: Please refer to FIG. The second integral device E2 guides the X and Y directions of the finished sheet W, and avoids The position of the sheet W that has been processed is shifted; a transporting step: Referring to FIG. 16, the moving frame E13 of the second pick-and-place device E1 is moved to a preset position (first position) adjacent to the second pick-up unit E3. And the whole pressing unit E152 and the guiding unit E161 are first opened; the plurality of nozzles E221 of the second taking unit E3 adsorb the first working surface W1 of the finished sheet W, so that the second The take-up unit E3 transports the finished sheet W to the pressing working area E151 of the second pick-and-place device E1, and both sides of the finished dry sheet W abut against the supporting portion E1521, and then the whole The pressing unit E152 is in a closed state, so that the finished sheet W is pressed by the pressing mechanism E15 in the whole pressing working area E151 on both sides of the sheet W which has been processed; a placing step: see FIG. 18, after the pressing mechanism E15 presses the finished sheet W, the moving frame E13 moves to a predetermined position (second position) away from the second take-up unit E3, so that the clamping mechanism E14 Lower displacement to the pressing working area E151 with two jaw assemblies E142 Holding the upper side of the sheet W which has been processed, and moving the clamping mechanism E14 downward to clamp the finished sheet W through the pressing working area E151; when the finished sheet is passed through the bottom of the sheet W When the guiding component E161 is opened, the guiding component E161 is switched to the closed state, so that the finished sheet W is guided between the two guiding clips E1611 to the corresponding capacity of the receiving frame G. Slot G1.

本發明實施例之承載座A11,該容置架D藉該拉引機構A112拉引進入該承載座A11之該軌道機構A111上後,在到達預設位置時可受該定位機構A113的夾持定位;藉此使該承載座A11具有較精確的定位。 The carrier A11 of the embodiment of the present invention, after being pulled into the track mechanism A111 of the carrier A11 by the pulling mechanism A112, can be clamped by the positioning mechanism A113 when reaching the preset position. Positioning; thereby making the carrier A11 have a more precise positioning.

惟以上所述者,僅為本發明之較佳實施例而已,當不能以此限定本發明實施之範圍,即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾,皆仍屬本發明專利涵蓋之範圍內。 The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.

Claims (11)

一種承載座,包括:一軌道機構;一拉引機構,設有一可受驅動作往復位移的牽引件;該牽引件可被驅動拉引一容置架進入該軌道機構上;一定位機構,設有相對應設置並可受驅動作相向推夾或外鬆的二夾具;該容置架在該軌道機構之一預設位置受該二夾具在兩側夾持定位。 A carrier includes: a track mechanism; a pulling mechanism provided with a traction member that can be driven for reciprocating displacement; the traction member can be driven to pull a receiving frame into the track mechanism; a positioning mechanism is provided There are two clamps correspondingly arranged and driven to be oppositely pushed or loosened; the receiving frame is clamped and positioned on both sides by a preset position of the two rails. 如申請專利範圍第1項所述承載座,其中,該承載座之一側可與一載有該容置架的台車相對接;該牽引件可由該台車拉引該容置架至該軌道機構上。 The carrier of claim 1, wherein one side of the carrier can be opposite to a trolley carrying the receiving frame; the pulling member can pull the receiving frame to the rail mechanism by the trolley on. 如申請專利範圍第2項所述承載座,其中,該軌道機構的入口端的二軌座間設有一可受驅動往復外推或內縮的卸推件;經由該卸推件被驅動前伸推抵該台車上嵌抵阻動該容置架的一掣桿機構上一開關後,使該掣桿機構上的掣桿解除對該容置架的嵌抵阻動。 The carrier of claim 2, wherein the two-track seat at the inlet end of the track mechanism is provided with a thrust member that can be driven to reciprocate or retract, and is driven to push forward through the thrust member. After the switch is inserted into a lever mechanism of the gantry, the mast on the mast mechanism is released from the occlusion of the cradle. 如申請專利範圍第2項所述承載座,其中,該軌道機構的該入口端之該承載座端面處,設有可受驅動作伸、縮及旋轉的二撥扣件,以及分設兩側具有滾輪的二導引件,並在該二撥扣件側分別各設有一止擋件;其中,該台車與該承載座對接時,經由該台車的車身嵌入二導引件間而對位前方抵觸該止擋件而到位,再經由該二撥扣件被驅動前伸及旋轉嵌扣該台車的車架前方下緣的一架桿而使該台車獲得定位。 The carrier of claim 2, wherein the end of the bearing end of the rail mechanism is provided with two latching members that can be driven to extend, contract, and rotate, and two sides are provided. a second guiding member having a roller, and each of the two latching members is respectively provided with a stopping member; wherein, when the trolley is docked with the carrier, the body of the trolley is embedded between the two guiding members to be aligned with the front side The vehicle is positioned in opposition to the stopper, and is driven to extend and rotate a rod that is engaged with the lower front edge of the frame of the trolley. 如申請專利範圍第1項所述承載座,其中,該承載座上方設有一機架,該機架內設有一容置區間,該容置區間可供置放該容置架,該容置架內可供容置待加工物料;該機架上方設有一整壓機構,其設有一整壓工 作區在兩個整壓組件之間;該容置架內的該待加工物料可經由一夾持機構提取至該整壓工作區。 The carrier of claim 1, wherein the rack is provided with a rack, and the rack is provided with an accommodating section for accommodating the accommodating rack, the accommodating rack The material to be processed is accommodated therein; a pressure mechanism is arranged above the frame, and a whole press is provided The working area is between the two pressing components; the material to be processed in the receiving rack can be extracted to the pressing working area via a clamping mechanism. 如申請專利範圍第5項所述承載座,其中,該整壓組件設有一抵撐部與一壓抵部,該壓抵部可藉由一旋轉驅動機構驅動而相對該抵撐部樞轉,使該整壓組件呈開啟或閉合狀態。 The carrier of claim 5, wherein the pressing component is provided with an abutting portion and a pressing portion, and the pressing portion can be pivoted relative to the abutting portion by being driven by a rotary driving mechanism. The pressure component is opened or closed. 如申請專利範圍第5項所述承載座,其中,該整壓機構兩個整壓組件分別相隔間距並垂直平行設置在一移動架兩側之各一支架上呈對應配置。 The carrier of claim 5, wherein the two pressing components of the pressing mechanism are respectively disposed at a distance from each other and vertically disposed in parallel on each of the brackets on both sides of the moving frame. 如申請專利範圍第7項所述承載座,其中,該移動架以兩端跨設於該機架兩側二滑座上,可受驅動在該滑座水平位移;該移動架設有一Z軸驅動機構;該移動架兩側分別各設有對應配置的該支架,該支架上分別各設有X軸向驅動機構。 The carrier of claim 7, wherein the movable frame is straddled on two sliding seats on both sides of the frame, and can be driven to be horizontally displaced in the sliding seat; the moving frame is provided with a Z-axis driving The mechanism has a correspondingly arranged bracket on each side of the moving frame, and each of the brackets is provided with an X-axis driving mechanism. 如申請專利範圍第8項所述承載座,其中,該兩個整壓組件分別與該移動架兩側之支架上之X軸向驅動機構相連結,使兩個整壓組件間之距離可調整。 The carrier of claim 8, wherein the two integral components are respectively coupled with the X-axis driving mechanism on the brackets on both sides of the moving frame, so that the distance between the two pressing components can be adjusted. . 如申請專利範圍第8項所述承載座,其中,該夾持機構設於該Z軸驅動機構上,該夾持機構設有一滑塊,該滑塊可在該Z軸驅動機構上垂直位移;該滑塊在兩側各設有一夾爪組件,其分別設於兩個X軸向驅動機構上,可調整兩夾爪組件間之距離;該夾爪組件以一夾爪汽缸控制夾爪之開合。 The carrier of claim 8, wherein the clamping mechanism is disposed on the Z-axis driving mechanism, the clamping mechanism is provided with a slider, and the slider is vertically displaceable on the Z-axis driving mechanism; The slider is provided with a jaw assembly on each side, which are respectively disposed on two X-axis driving mechanisms, and can adjust the distance between the two jaw assemblies; the jaw assembly controls the opening of the jaws with a jaw cylinder Hehe. 如申請專利範圍第5項所述承載座,其中,該整壓機構之兩個整壓組件下方分別設有兩個對應配置之導引組件,各導引組件分別設有兩個導引夾片,可藉由一夾爪氣缸控制兩個導引夾片之開合,使該導引組件呈開啟或閉合狀態。 The carrier of claim 5, wherein two pressing components of the pressing mechanism are respectively provided with two corresponding guiding components, and each guiding component is respectively provided with two guiding clips. The opening and closing of the two guiding clips can be controlled by a jaw cylinder to open or close the guiding assembly.
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TWI733141B (en) * 2019-07-16 2021-07-11 亞智科技股份有限公司 Fork type substrate transportation device and method
TWI706699B (en) * 2019-10-02 2020-10-01 捷惠自動機械有限公司 Target drilling equipment
TWI745822B (en) * 2019-12-31 2021-11-11 萬潤科技股份有限公司 Pressing equipment, conveying method of pressing equipment, conveying device and conveying mechanism

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