TWI686343B - Positioning device for predicting feeding time and feeding position - Google Patents

Positioning device for predicting feeding time and feeding position Download PDF

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Publication number
TWI686343B
TWI686343B TW108122421A TW108122421A TWI686343B TW I686343 B TWI686343 B TW I686343B TW 108122421 A TW108122421 A TW 108122421A TW 108122421 A TW108122421 A TW 108122421A TW I686343 B TWI686343 B TW I686343B
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Taiwan
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feed
feeding
turntable
positioning
holes
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TW108122421A
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Chinese (zh)
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TW202100433A (en
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徐雅雯
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徐雅雯
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Priority to TW108122421A priority Critical patent/TWI686343B/en
Priority to CN201910792036.0A priority patent/CN112141633B/en
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Publication of TWI686343B publication Critical patent/TWI686343B/en
Publication of TW202100433A publication Critical patent/TW202100433A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G29/00—Rotary conveyors, e.g. rotating discs, arms, star-wheels or cones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements

Abstract

一種預判進料時間及進料位置之定位裝置，其主要是在一進料轉盤上環設有複數料孔及複數寬度大於該等料孔寬度的定位區域，每一個定位區域均對應一個料孔，且該等料孔之一側邊與該等定位區域之一側邊是在同一軸線上，而該等定位區域另一側邊則朝進料轉盤旋轉方向延伸一距離，用以供該定位區域感測器在偵測到對區域後，預知料孔即將抵達機械手臂放置電子元件之進料位置，並依據定位區域一側向進料轉盤旋轉之方向延伸之距離及進料轉盤轉動之速度，計算出料孔抵達進料位置的時間，以利用機械手臂將電子元件依據料孔抵達進料位置的時間，將電子元件放置於進料轉盤上的進料位置。 A positioning device for predicting the feeding time and the feeding position, which is mainly provided with a plurality of material holes and a positioning area with a plurality of widths greater than the width of the material holes on a feed turntable, each positioning area corresponds to a material hole , And one side of the material holes and one side of the positioning area are on the same axis, and the other side of the positioning area extends a distance toward the rotation direction of the feed turntable for the positioning After the area sensor detects the alignment area, it predicts that the material hole will soon reach the feeding position where the robotic arm places the electronic component, and the distance extending from the side of the positioning area to the direction of the rotation of the feed turntable and the speed of the feed turntable rotation , Calculate the time when the feed hole reaches the feed position, and use the mechanical arm to place the electronic component according to the time when the feed hole reaches the feed position, and place the electronic component at the feed position on the feed turntable.

Description

預判進料時間及進料位置之定位裝置 Positioning device for predicting feeding time and feeding position

本發明是有關一種電子元件製程中進料轉盤的定位領域，尤指一種預先偵測料孔位置，以進行快速定位並加快製程速度的預判進料時間及進料位置之定位裝置。 The invention relates to the field of positioning a feeding turntable in the manufacturing process of an electronic component, in particular to a positioning device for pre-judging the feeding time and the feeding position for detecting the position of the material hole in advance for rapid positioning and accelerating the process speed.

在電子元件的製程中，無論是在檢測或製造的流程裡，均會將電子元件以機械手臂夾放到進料轉盤上的料孔中，以利用進料轉盤運輸電子元件到下一製程進行其他動作，然而，在此過程中，均必須先定位該進料轉盤上的料孔是否達到預定位置後停止進料轉盤，再利用機械手臂將電子元件擺放至料孔之內，惟此動作雖然在單一電子元件的操作過程中，損耗的時間不多，但是整個電子元件製程中，必須重複數萬次前述動作，所有損耗的時間相加，會導致電子元件製程的效率不佳。 In the process of electronic components, whether in the inspection or manufacturing process, the electronic components will be clamped into the material holes on the feed turntable by a mechanical arm to use the feed turntable to transport the electronic components to the next process. Other actions, however, in this process, you must first position the feed hole on the feed turntable to reach the predetermined position, then stop the feed turntable, and then use the robotic arm to place the electronic components into the feed hole, but this action Although in the operation process of a single electronic component, the loss time is not much, but in the entire electronic component process, the foregoing actions must be repeated tens of thousands of times, and the sum of all the lost time will result in poor efficiency of the electronic component process.

由上所述，目前的電子元件製程仍有相當多的問題，故，本案發明人鑑於上述之問題，乃亟思加以改良創新，並經多年苦心孤詣潛心研究後，終於成功研發完成本件預判進料時間及進料位置之定位裝置。 As mentioned above, there are still many problems in the current electronic component manufacturing process. Therefore, in view of the above problems, the inventor of the present case is eager to improve and innovate. After years of painstaking research, he has successfully developed and completed the pre-judgment of this part. Positioning device for feeding time and feeding position.

為解決習知技術之問題，本發明之一目的是在於提供一種加 快電子元件製程速度的預判進料時間及進料位置之定位裝置。 In order to solve the problems of the conventional technology, one object of the present invention is to provide an additional Positioning device for predicting feed time and feed position of fast electronic component process speed.

為解決習知技術之問題，本發明之另一目的是在於提供一種利用預先判定料孔位置，以實現在擺放電子元件時無須停止進料轉盤目的之預判進料時間及進料位置之定位裝置。 In order to solve the problems of the conventional technology, another object of the present invention is to provide a pre-judged feed time and feed position that does not require stopping the feed turntable when placing electronic components Positioning means.

為達成前述目的，本發明所提供之預判進料時間及進料位置之定位裝置主要是在進料轉盤上設有複數個定位區域，該等定位區域與進料轉盤上臨近該進料轉盤周緣之位置所環設的複數料孔數量相同，且每一個定位區域均對應一個料孔，其中，該等定位區域之一側邊與該等料孔之一側邊是在同一軸線上，該等定位區域之另一側邊是朝向進料轉盤旋轉之方向延伸一距離。 In order to achieve the foregoing purpose, the positioning device for pre-judging the feeding time and the feeding position provided by the present invention is mainly provided with a plurality of positioning areas on the feeding turntable, and these positioning areas and the feeding turntable are adjacent to the feeding turntable The number of the plurality of material holes surrounded by the position of the peripheral edge is the same, and each positioning area corresponds to a material hole, wherein one side of the positioning area and one side of the material holes are on the same axis, the The other side of the equal positioning area extends a distance toward the direction of rotation of the feed turntable.

本發明所提供之預判進料時間及進料位置之定位裝置使用時，是透過一定位區域感測器偵測定位區域的位置，因此，當進料轉盤轉動時，該定位區域感測器偵測到定位區域向進料轉盤旋轉之方向延伸之側邊時，即可得知料孔即將抵達機械手臂放置電子元件之進料位置，並依據定位區域一側向進料轉盤旋轉之方向延伸之距離及進料轉盤轉動之速度，計算出料孔抵達進料位置的時間，進而預先利用機械手臂將電子元件依據料孔抵達進料位置的時間，將電子元件放置於進料轉盤上的進料位置，因而令進料轉盤不用如習知需停止進料轉盤以放置電子元件，從而達到加快製程之目的。 The positioning device for predicting the feeding time and the feeding position provided by the present invention uses a positioning area sensor to detect the position of the positioning area. Therefore, when the feeding turntable rotates, the positioning area sensor When detecting the side of the positioning area extending in the direction of rotation of the feed carousel, you can know that the material hole is about to reach the feeding position of the robot arm to place electronic components, and extend in the direction of rotation of the feed carousel according to the side of the positioning area Distance and the speed of the feed carousel rotation, calculate the time when the feed hole reaches the feed position, and then use the mechanical arm to place the electronic component on the feed carousel according to the time when the feed hole reaches the feed position The material position, so that the feed carousel does not need to stop the feed carousel to place electronic components as is conventionally known, so as to speed up the process.

1:進料轉盤 1: feed turntable

11:料孔 11: feed hole

12:定位區域 12: positioning area

13:交替波偵測孔 13: Alternating wave detection hole

2:料孔位置感測器 2: Material hole position sensor

3:定位區域感測器 3: positioning area sensor

4:交替波感測器 4: alternating wave sensor

5:馬達 5: Motor

圖1為本發明預判進料時間及進料位置之定位裝置的外觀示意圖；圖2為本發明預判進料時間及進料位置之定位裝置的俯視圖；圖3為本發明進料轉盤的立體外觀圖。 1 is a schematic view of the appearance of the positioning device for pre-judging the feeding time and the feeding position of the present invention; FIG. 2 is a top view of the positioning device for the pre-judging the feeding time and feeding position of the present invention; FIG. 3 is the feeding turntable of the present invention Three-dimensional appearance.

以下將描述具體之實施例以說明本發明之實施態樣，惟其並非用以限制本發明所欲保護之範疇。 The following describes specific embodiments to illustrate the implementation of the present invention, but it is not intended to limit the scope of the invention to be protected.

請參閱圖1~3，本發明所提供之預判進料時間及進料位置之定位裝置主要包括有一進料轉盤1、一料孔位置感測器2、一定位區域感測器3、一交替波感測器4、一機械手臂(圖中未示)及一控制器(圖中未示)。 Please refer to FIGS. 1~3. The positioning device for pre-judged feed time and feed position provided by the present invention mainly includes a feed turntable 1, a feed hole position sensor 2, a positioning area sensor 3, a Alternating wave sensor 4, a mechanical arm (not shown) and a controller (not shown).

其中，進料轉盤1之軸心是連接於一馬達5上，以透過該馬達5驅使進料轉盤1旋轉，且進料轉盤1在其臨近周緣之位置處，等距離環設有複數個料孔11，而在進料轉盤1臨近軸心之位置處，等距離環設有複數交替波偵測孔13，且在進料轉盤1於該等交替波偵測孔13及該等料孔11之間，則等距離環設有複數定位區域12，其中，定位區域12之數量與料孔11的數量相同，且每一個定位區域12均對應一個料孔11，同時，每一定位區域12之一側邊是與每一個料孔11之一側邊是在同一軸線上，而每一個定位區域12的另一側邊則是朝向進料轉盤1受馬達5帶動旋轉之方向延伸一距離，並使得該等定位區域12之寬度大於該等料孔11之寬度。 The axis of the feed carousel 1 is connected to a motor 5 to drive the feed carousel 1 to rotate through the motor 5, and the feed carousel 1 is provided with a plurality of materials at equidistant rings near its peripheral edge Hole 11, and a plurality of alternating wave detection holes 13 are provided in the equidistant ring at the position of the feed turntable 1 near the axis, and the alternate wave detection holes 13 and the feed holes 11 are provided on the feed turntable 1 Between them, there are a plurality of positioning areas 12 in the equidistant ring, wherein the number of positioning areas 12 is the same as the number of material holes 11, and each positioning area 12 corresponds to one material hole 11, and at the same time, each positioning area 12 One side is on the same axis as one side of each feed hole 11, and the other side of each positioning area 12 extends a distance toward the direction in which the feed turntable 1 is driven by the motor 5 to rotate, and The width of the positioning regions 12 is greater than the width of the material holes 11.

另外，料孔位置感測器2、定位區域感測器3及交替波感測器4是設置於該進料轉盤1的外緣，該料孔位置感測器2是由進料轉盤1外緣延伸至該進料轉盤1之該等料孔11上方位置，該定位區域感測器3是由進料轉盤1 外緣延伸至該進料轉盤1之該等定位區域12上方位置，而該交替波感測器4是由進料轉盤1外緣延伸至該進料轉盤1之該等交替波偵測孔13之上方位置，而機械手臂設在進料轉盤1外緣之一固定位置，用以夾持電子元件後將電子元件放置在進料轉盤1上之料孔11內，該控制器是與該馬達5、料孔位置感測器2、定位區域感測器3及交替波感測器4作電性連接。 In addition, the feed hole position sensor 2, the positioning area sensor 3 and the alternating wave sensor 4 are provided on the outer edge of the feed carousel 1, and the feed hole position sensor 2 is provided by the feed carousel 1 The edge extends to the position above the feed holes 11 of the feed carousel 1, the positioning area sensor 3 is formed by the feed carousel 1 The outer edge extends to the position above the positioning regions 12 of the feed carousel 1, and the alternating wave sensor 4 extends from the outer edge of the feed carousel 1 to the alternating wave detection holes 13 of the feed carousel 1 The robot arm is located at a fixed position on the outer edge of the feed carousel 1 to hold the electronic component and place the electronic component in the feed hole 11 on the feed carousel 1. The controller is connected to the motor 5. The material hole position sensor 2, the positioning area sensor 3 and the alternating wave sensor 4 are electrically connected.

本發明所提供之預判進料時間及進料位置之定位裝置使用時，是利用馬達5帶動進料轉盤1轉動，並利用機械手臂夾持電子元件並放置到進料轉盤1上的料孔11內，其中，當進料轉盤1轉動時，由於該等定位區域12其中一側邊是朝向進料轉盤1轉動之方向延伸，因此，當料孔11即將抵達機械手臂放置電子元件之位置時，定位區域感測器3會先行偵測到定位區域12，此時透過定位區域12朝向進料轉盤1轉動方向延伸的距離，以及馬達5驅使進料轉盤1轉動的速度，即可得知進料轉盤1之料孔11轉到機械手臂放置電子元件位置的時間，此時，控制器即控制機械手臂在料孔11旋轉到定位時將電子元件放置於料孔11內，即可在電子元件製程中，避免進料轉盤1需先停止轉動以等待機械手臂將電子元件放置料孔11後再重新啟動之動作，進而可使電子元件製程的速度加快。 The positioning device for predicting the feeding time and the feeding position provided by the present invention uses the motor 5 to drive the feeding turntable 1 to rotate, and uses a mechanical arm to clamp the electronic component and place it on the feeding hole of the feeding turntable 1 Within 11, when the feed turntable 1 rotates, since one side of the positioning area 12 extends toward the direction in which the feed turntable 1 rotates, when the feed hole 11 is about to reach the position where the robot arm places the electronic component , The positioning area sensor 3 will first detect the positioning area 12, at this time through the positioning area 12 toward the direction of rotation of the feed carousel 1, and the motor 5 drives the speed of the feed carousel 1 rotation, you can know the progress The time when the material hole 11 of the material turntable 1 is turned to the position where the robot arm places the electronic component. At this time, the controller controls the robot arm to place the electronic component in the material hole 11 when the material hole 11 is rotated to the position, During the manufacturing process, the feeding turntable 1 needs to be stopped to wait for the robot arm to place the electronic component in the material hole 11 before restarting, which can accelerate the speed of the electronic component manufacturing process.

另外，本發明所提供之預判進料時間及進料位置之定位裝置透過料孔位置感測器2來偵測料孔11位置之目的，是用於當定位區域感測器3偵測到定位區域12後，依據進料轉盤1的轉速，及定位區域12朝向進料轉盤1轉動方向延伸的距離，判斷料孔11抵達放置電子元件位置的時間時，利用料孔位置感測器2偵測料孔11是否到達定位，若料孔位置感測器2並未偵測到料孔11，即代表進料轉盤1可能因為卡料或其他原因卡住或延遲，因此，控 制器即控制馬達停止驅動進料轉盤1旋轉，並通知維修人員檢查及排除障礙，而交替波感測器4是用以偵測該等交替波偵測孔13的位置，其功能與習知電子元件製程時交替波感測器4偵測進料轉盤1上所設交替波偵測孔13之目的相同。 In addition, the positioning device for predicting the feeding time and the feeding position provided by the present invention detects the position of the material hole 11 through the material hole position sensor 2 and is used when the positioning area sensor 3 detects After positioning the area 12, according to the rotation speed of the feed turntable 1 and the distance the positioning area 12 extends toward the direction of rotation of the feed turntable 1, to determine the time when the feed hole 11 reaches the position where the electronic component is placed, the feed hole position sensor 2 is used to detect Whether the measuring hole 11 has reached the positioning. If the material hole position sensor 2 does not detect the material hole 11, it means that the feed carousel 1 may be stuck or delayed due to jamming or other reasons. Therefore, control The controller controls the motor to stop driving the feed carousel 1 to rotate, and informs the maintenance personnel to check and remove obstacles, and the alternating wave sensor 4 is used to detect the position of the alternating wave detection holes 13, its function and knowledge The purpose of the alternating wave sensor 4 to detect the alternating wave detection hole 13 provided on the feed turntable 1 during the electronic component manufacturing process is the same.

由上所述，本發明所提供之預判進料時間及進料位置之定位裝置相較習知電子元件製程，本發明更具有以下之特點及功效： As mentioned above, compared with the conventional electronic component manufacturing process, the positioning device for predicting the feeding time and feeding position provided by the present invention has the following features and effects:

1.本發明透過定位區域12以及定位區域感測器3的設置，以可提前得知料孔11抵達電子元件放置位置的時間，而可在進料轉盤1無須停止的狀況下，控制機械手臂準確的將電子元件置入料孔11內，進而減少電子元件製程中進料轉盤1停止轉動及重新轉動的時間，從而達到加快電子元件製程速度之目的。 1. In the present invention, the positioning area 12 and the positioning area sensor 3 can be set to know in advance the time when the material hole 11 reaches the placement position of the electronic component, and the robot arm can be controlled without stopping the feeding turntable 1 The electronic components are accurately placed into the material holes 11, thereby reducing the time for the feeding turntable 1 to stop rotating and re-rotating during the electronic component manufacturing process, thereby achieving the purpose of accelerating the manufacturing speed of the electronic component.

2.本發明透過料孔位置感測器2在料孔11預定抵達電子元件放置的位置及時間，進行料孔11位置的偵測，可以有效得知在電子元件製程中進料轉盤1是否出現卡住或延遲的狀況，進而可有效快速排除故障。 2. The present invention detects the position of the material hole 11 through the material hole position sensor 2 at the position and time when the material hole 11 is scheduled to arrive at the placement of the electronic component, and can effectively know whether the feed carousel 1 appears in the electronic component manufacturing process The stuck or delayed situation can effectively and quickly eliminate the fault.

上列詳細說明係針對本創作之一可行實施例之具體說明，惟該實施例並非用以限制本發明之專利範圍，凡未脫離本創作技藝精神所為之等效實施或變更，均應包含於本案之專利範圍中。 The above detailed description is a specific description of a feasible embodiment of this creation, but this embodiment is not intended to limit the patent scope of the present invention, and any equivalent implementation or change that does not deviate from the spirit of this creative art should be included in The patent scope of this case.

1‧‧‧進料轉盤 1‧‧‧ Feeding turntable

11‧‧‧料孔 11‧‧‧Feed hole

12‧‧‧定位區域 12‧‧‧Location area

13‧‧‧交替波偵測孔 13‧‧‧Alternating wave detection hole

2‧‧‧料孔位置感測器 2‧‧‧Feed hole position sensor

3‧‧‧定位區域感測器 3‧‧‧Positioning area sensor

4‧‧‧交替波感測器 4‧‧‧Alternating wave sensor

5‧‧‧馬達 5‧‧‧Motor

Claims (6)

一種預判進料時間及進料位置之定位裝置，其主要包括：一進料轉盤，該進料轉盤主要包括：複數料孔，該等料孔是等距離佈設於該進料轉盤臨近周緣之位置；複數定位區域，該等定位區域是設於該等料孔與該進料轉盤軸心之間，且每一個定位區域均對應一個料孔，該等定位區域之一側邊是與該等料孔之一側邊在同一軸線上，該等定位區域另一側邊是朝向進料轉盤旋轉方向之一側延伸，而使該等定位區域之寬度大於該等料孔之寬度；一料孔位置感測器，該料孔位置感測器是用以偵測該等料孔位置；一定位區域感測器，該定位區域感測器是用以偵測該等定位區域位置。 A positioning device for prejudge the feeding time and feeding position, which mainly includes: a feeding turntable, the feeding turntable mainly includes: a plurality of feed holes, the feed holes are equidistantly arranged near the periphery of the feed turntable Position; plural positioning areas, the positioning areas are located between the feed holes and the feed turntable axis, and each positioning area corresponds to a feed hole, one side of the positioning area is One side of the material hole is on the same axis, and the other sides of the positioning areas extend toward one side of the rotation direction of the feed turntable, so that the width of the positioning areas is greater than the width of the material holes; a material hole A position sensor, the material hole position sensor is used to detect the positions of the material holes; a positioning area sensor, the positioning area sensor is used to detect the positions of the positioning areas. 如請求項1所述之預判進料時間及進料位置之定位裝置，其中該進料轉盤之軸心是與一馬達連接，以藉由該馬達驅使該進料轉盤轉動。 The positioning device for predicting the feeding time and the feeding position according to claim 1, wherein the axis of the feeding turntable is connected to a motor to drive the feeding turntable to rotate by the motor. 如請求項1所述之預判進料時間及進料位置之定位裝置，其中該料孔位置感測器是由該進料轉盤外緣延伸至該進料轉盤之該等料孔上方位置。 The positioning device for predicting the feed time and feed position according to claim 1, wherein the feed hole position sensor extends from the outer edge of the feed turntable to a position above the feed holes of the feed turntable. 如請求項1所述之預判進料時間及進料位置之定位裝置，其中該定位區域感測器是由該進料轉盤外緣延伸至該進料轉盤之該等定位區域上方位置。 The positioning device for predicting the feeding time and the feeding position according to claim 1, wherein the positioning area sensor extends from the outer edge of the feeding turntable to a position above the positioning areas of the feeding turntable. 如請求項1所述之預判進料時間及進料位置之定位裝置，其中更包括一交替波感測器及複數交替波偵測孔，該等交替波偵測孔是環設該進料轉盤上，且該等交替波偵測孔是設於該進料轉盤軸心與該等定位區域之間，該交替波感測器是用以偵測該等交替波偵測孔位置。 The positioning device for pre-judging the feeding time and the feeding position as described in claim 1, further comprising an alternating wave sensor and a plurality of alternating wave detection holes, the alternating wave detection holes are surrounded by the feed On the turntable, the alternating wave detection holes are provided between the axis of the feed turntable and the positioning areas. The alternating wave sensor is used to detect the positions of the alternating wave detection holes. 如請求項5所述之預判進料時間及進料位置之定位裝置，其中該交替波感測器是由該進料轉盤外緣延伸至該進料轉盤之該等交替波偵測孔上方位置。 The positioning device for pre-judging the feeding time and the feeding position as described in claim 5, wherein the alternating wave sensor extends from the outer edge of the feeding turntable to above the alternating wave detection holes of the feeding turntable position.
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