TWI653186B - Carrier - Google Patents

Abstract

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

Carrier

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.

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.

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.

Accordingly, it is an object of the present invention to provide a carrier having a more precise positioning.

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.

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‧‧‧Feeding unit

A1‧‧‧first pick and place device

A11‧‧‧ bearing seat

A111‧‧‧Track mechanism

A1111‧‧‧Roller

A1112‧‧ ‧ rail seat

A1113‧‧‧ entrance end

A112‧‧‧ Pulling mechanism

A1121‧‧‧ traction parts

A1122‧‧‧ fasteners

A113‧‧‧ Positioning mechanism

A1131‧‧‧ fixture

A114‧‧‧Removable parts

A115‧‧‧Drawing parts

A116‧‧‧Guide

A1161‧‧‧Roller

A117‧‧‧stops

A12‧‧‧Rack

A121‧‧‧ accommodation interval

A122‧‧‧rails

A123‧‧‧ slide

A124‧‧‧ drive mechanism

A13‧‧‧Mobile rack

A131‧‧‧Z-axis drive mechanism

A132‧‧‧ bracket

A133‧‧‧X axial drive mechanism

A14‧‧‧Clamping mechanism

A141‧‧‧Slider

A142‧‧‧ jaw assembly

A1421‧‧‧ jaw cylinder

A1422‧‧‧claw

A143‧‧‧X axial drive mechanism

A15‧‧‧Complete pressure mechanism

A151‧‧‧Complete work area

A152‧‧‧Complete components

A1521‧‧‧Resistance Department

A1522‧‧‧Fist

A1523‧‧‧Right area

A1524‧‧‧Rotary drive mechanism

A16‧‧‧Guide

A161‧‧‧Guide components

A1611‧‧‧ guide clip

A1612‧‧‧ jaw cylinder

A2‧‧‧first full device

A21‧‧‧ whole platform

A211‧‧‧First long slot

A212‧‧‧Second long slot

A213‧‧‧ third long slot

A22‧‧‧ machine table

A221‧‧‧ pillar

A23‧‧‧X axial position mechanism

A231‧‧‧First moving block

A232‧‧‧All parts

A233‧‧‧X axial drive mechanism

A24‧‧‧Y axial position mechanism

A241‧‧‧Second moving block

A242‧‧‧ Whole piece

A243‧‧‧Y axial drive mechanism

A25‧‧‧ Lifting mechanism

A251‧‧‧ Lifting block

A252‧‧‧ rod tube

A253‧‧ ‧ nozzle

A254‧‧‧Width spacing

A255‧‧‧Z axial drive mechanism

A256‧‧‧height spacing

A3‧‧‧first pay unit

A31‧‧‧Base

A32‧‧‧ payment agency

A321‧‧‧fixed fork

A322‧‧‧Activity fork

A323‧‧ ‧ nozzle

A324‧‧‧rails

B‧‧‧Processing device

B1‧‧‧Processing stage

C‧‧‧Trolley

C1‧‧‧ frame

C11‧‧‧ accommodation interval

C12‧‧‧ pole

C2‧‧‧ Track Mechanism

C3‧‧‧ mast mechanism

C31‧‧‧ switch

C32‧‧‧ mast

D‧‧‧Rack

D1‧‧‧ accommodating slot

E‧‧‧Receipt unit

E1‧‧‧Second pick and place device

E13‧‧‧Mobile rack

E14‧‧‧Clamping mechanism

E142‧‧‧ jaw assembly

E15‧‧‧Complete pressure mechanism

E151‧‧‧Complete work area

E152‧‧‧Complete components

E161‧‧‧Guide components

E1611‧‧‧ guide clip

E2‧‧‧ second full device

E21‧‧‧ whole platform

E3‧‧‧second take-up unit

F‧‧‧Trolley

G‧‧‧Rack

G1‧‧‧ accommodating slot

H‧‧‧Transfer device

H1‧‧‧rail

H11‧‧‧ rails

H2‧‧‧First gantry

H3‧‧‧First gantry

H4‧‧‧First removal agency

H41‧‧‧ Lifting seat

H42‧‧‧ nozzle

H43‧‧‧Z axial drive mechanism

H5‧‧‧Second removal agency

H51‧‧‧ Lifting seat

H52‧‧ ‧ nozzle

H53‧‧‧Z axial drive mechanism

H6‧‧‧The third removal agency

H61‧‧‧ Lifting seat

H62‧‧‧ nozzle

H63‧‧‧Z axial drive mechanism

I‧‧‧ fence

S‧‧‧Detection components

W‧‧‧ plates

W1‧‧‧ first working face

W2‧‧‧ second working surface

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.

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.

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.

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.

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.

Figure 6 is a partial cross-sectional view taken along line A-A of Figure 4 in the embodiment of the present invention.

Figure 7 is a perspective view of the first full position device in the embodiment of the present invention.

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.

FIG. 9 is a schematic perspective view of a transfer device and a two-position platform in an embodiment of the present invention.

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.

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.

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.

Figure 13 is a partial cross-sectional view taken along line B-B of Figure 12 in the embodiment of the present invention.

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.

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.

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.

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.

Figure 18 is a partial cross-sectional view taken along line C-C of Figure 17 in the embodiment of the present invention.

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.

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.

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.

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.

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.

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.

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)

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. 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. 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. 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. 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. 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. 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. 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. 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. . 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. 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.