TWI699320B - Carrying method and device for picking up vertical thin plate to horizontal conveying table - Google Patents

Abstract

The invention provides a carrying method for picking up a vertical thin plate to a horizontal conveying table, which includes driving a jig to clamp at least one end of the vertical thin plate, and continuing to make the jig to carry the thin plate from the vertical state to move horizontally State, and then place the thin plate on a horizontal conveying table, where the thin plate is a flexible thin plate, and the jig provides a bearing surface to protect the thin plate during the movement of the thin plate, and in the process of placing the thin plate , The bearing surface is moved to a position that is sunken at the bottom of the horizontal conveying table. To this end, the present invention also provides a carrying device for picking up the vertical thin plate to the horizontal conveying table, so as to improve the problem that the traditional vertical thin plate is easily damaged when being picked and moved.

Description

Carrying method and device for picking up vertical thin plate to horizontal conveying table

The invention relates to the technique of picking, moving and placing thin plates, in particular to a carrying method and device for picking up vertical thin plates to a horizontal conveying table.

As we all know, in order to meet the needs of customers, electronic products are developing in the direction of multi-function, and then stand out from many competitors. In order to improve the functionality of electronic products, electronic products need to use more processors and components.

As more processors and components are to be assembled on the printed circuit substrates in electronic products, the printed circuit substrates generally use High Density Interconnect (HDI), which can be used in each unit area. NA has more functions than traditional printed circuit boards. High-density interconnection technology (HDI) uses more precise circuit design, thinner materials, and interconnects with laser drilling to miniaturize printed circuit boards.

Generally, the manufacturing method of printed circuit boards using high-density interconnection technology (HDI) is the Modified Semi-Additive Process (mSAP). Modified semi-additive method (mSAP) is to conduct chemical copper on a thinner printed circuit board (hereinafter referred to as thin plate, whose thickness can reach between 0.4mm and 0.046mm), and make a resist pattern on the thin plate , And then thicken the pre-made thin metal circuit pattern through the electroplating method, and then remove the anti-corrosion pattern and remove the excess chemical copper layer through flash etching, and the remaining part forms a fine electronic circuit. Then, a plurality of thin plates are drilled and interconnected to form a printed circuit board.

In the above-mentioned improved semi-additive method (mSAP) process, the baking operation is included, and it is known that most of the current high-efficiency printed circuit board baking operations use a mobile oven that hangs the substrate vertically for continuous baking. , Regardless of the substrate Thickness and thinness are all moved into and out of the baking chamber of the oven in a hanging form. Therefore, after the substrate is completed in the baking chamber, it is presented in a hanging form at the outlet end of the baking chamber, and then a The carrying device picks up the vertical substrate from the outlet end of the baking chamber, and then transfers it to the horizontal conveying platform to be transferred to the next work area station.

Among them, when the vertical substrate is to be moved from the oven to the horizontal conveying table, it is usually clamped by a clamp or sucked by a negative pressure suction cup, so as to adjust the substrate from a vertical state to a horizontal state.

However, it can be seen from the above that the thickness of thin plates such as mSAP is very thin, and it is easy to bend or crease due to various factors (such as its own weight, wind, etc.) during the movement, resulting in thin plates. Irregularities on the surface may even be judged to be defective or defective, so it needs improvement.

In view of this, the purpose of the present invention is to improve the problem that the traditional vertical thin plate is easily damaged when it is picked up and moved.

To this end, the present invention provides a carrying method for picking up a vertical thin plate to a horizontal conveying table, including the following steps: driving a jig to clamp at least one end of the vertical thin plate, and continuing to make the jig carry the The thin plate moves from a vertical state to a horizontal state, and then the thin plate is placed on a horizontal conveying table; wherein the thin plate is a flexible thin plate, and the jig provides a supporting surface to support the thin plate during the movement process, And in the process of placing the thin plate, the supporting surface is moved to a position that is sunken at the bottom of the horizontal conveying table.

In a further implementation, the at least one end edge is the end edge of the top of the vertical thin plate.

In a further implementation, the at least one end edge is two corresponding end edges of the vertical thin plate.

In a further implementation, the supporting surface is a flat surface.

In a further implementation, the movement includes at least one axial linear displacement and overturning.

In further implementation, the sheet moves from the vertical state to not yet turned During the transportation process of turning to the horizontal state, at least part of the time the supporting surface is located between the thin plate and the horizontal conveying table.

The above method can be achieved through a device technology. For this reason, a specific embodiment of the present invention is to provide a carrying device for picking up a vertical thin plate to a horizontal conveying table. The technical means includes: a jig, which is assembled in On a multi-axis transmission mechanism, the jig has a bearing surface, the jig is provided with at least one clamping jaw for clamping the thin plate; a horizontal conveying table is arranged on one side of the multi-axis transmission mechanism, The horizontal conveying table is formed on the horizontal conveying table; wherein, the thin plate is a flexible thin plate, and the thin plate is driven by the multi-axis transmission mechanism through the jig to turn from the vertical state to the horizontal state, the horizontal conveying The table top is constructed by a plurality of carrying elements spaced apart from each other, the supporting surface is formed with a plurality of openings capable of evading the carrying elements, the jig clamps at least one end of the vertical thin plate through the clamping jaws, the The jig is supported by the supporting surface to carry the vertical thin plate to be placed on the horizontal conveying table, wherein the supporting surface is moved to a bottom position that is sunken in the horizontal conveying table to place the thin plate on the horizontal conveying table Horizontal conveyor table.

In a further implementation, the supporting surface is a flat surface.

In a further implementation, the jig is composed of a planar template, the supporting surface is formed on the template, and the plurality of openings are respectively formed on the template.

In a further implementation, the jig includes a plurality of rods, the plurality of rods are arranged in a cross shape to form the supporting surface, and the plurality of openings are respectively formed between the plurality of rods .

In a further implementation, the carrying element is a rotating wheel, and the wheel surfaces of the plurality of rotating wheels are constructed to form the horizontal conveying table.

In a further implementation, the carrying element is a conveyor belt, and the belt surfaces of the plurality of conveyor belts are constructed to form the horizontal conveyor table.

In a further implementation, the multi-axis transmission mechanism is a robotic arm.

In a further implementation, the multi-axis transmission mechanism is a swing arm.

In a further implementation, the at least one end edge is the end edge of the top of the vertical thin plate.

In a further implementation, the at least one end edge is two corresponding end edges of the vertical thin plate.

According to the above technical means, the advantage of the present invention is that when the vertical thin plate moves from the outlet end of the baking chamber toward the horizontal conveying table and is turned from the vertical state to the horizontal state, the thin plate is leaning against On the supporting surface, with the support of the supporting surface, the phenomenon of arc deformation or crease of the thin plate during the movement can be avoided. In addition, the supporting surface is moved to a position that is sunken at the bottom of the horizontal conveying table, which can promote the thin plate to be placed on the horizontal conveying table smoothly and smoothly.

The features and technical effects of the embodiments disclosed herein will be presented in the following description and drawings.

10: Thin plate

101: end edge

20: Fixture

20a: template

20b: Rod

21: opening

22: bearing surface

23: gripper

30: Horizontal conveyor

31: Carrying components

31a: Turn the wheel

31b: Conveyor belt

32: Horizontal conveyor table

33: bottom position

40: Multi-axis transmission mechanism

40a: Robotic arm

40b: swing arm

41: Vertical drive

42: swing drive

h: spacing

D: Moving direction

S1 to S3: Step description of the embodiment

Fig. 1 is a sequence diagram of the steps of the transportation method of the present invention.

Figures 2a to 2h are schematic diagrams of the actions of the carrying method of Figure 1 respectively.

Fig. 3 is a schematic diagram of the structure of the first embodiment of the carrying device of the present invention.

Fig. 4 is a top view of the horizontal conveying table in Fig. 3.

Fig. 5 is a schematic diagram of the jig holding the thin plate in Fig. 4 when it is moved above the horizontal conveying table.

Fig. 6 is a schematic diagram of the jig in Fig. 3 when the jig is moved below the horizontal conveying table and the sheet is placed on the horizontal conveying table.

Fig. 6a is a partial enlarged schematic diagram of Fig. 6.

Fig. 7 is a schematic structural view of a second embodiment of the carrying device of the present invention.

Fig. 8 is a side view of Fig. 7.

Fig. 9 is a plan view of Fig. 7.

Fig. 10 is a schematic diagram of the jig holding the thin plate in Fig. 7 when it is moved above the horizontal conveying table. .

Fig. 11 is a plan view of Fig. 10.

First of all, please refer to Figure 1 to illustrate the method of the present invention for picking up the vertical thin plate to the horizontal conveying table, including the following steps S1 to S3 in sequence:

Step S1: Clamp the vertical thin plate.

Please refer to Figures 2a to 2c in order to illustrate that a jig 20 is moved to contact the vertical thin plate 10 (as shown in Figure 2a), and the jig 20 clamps at least one end 101 of the vertical thin plate 10 (as shown in Figure 2b). As shown), the at least one end edge 101 can be the end edge 101 of the top of the vertical thin plate 10, or two corresponding end edges 101 of the vertical thin plate 10 in implementation. The jig 20 has a supporting surface 22, and the jig 20 clamps the vertical thin plate 10 so that the plate surface of the vertical thin plate 10 is adjacent to the supporting surface 22 (as shown in FIG. 2a). The supporting surface 22 is a plane in implementation.

Step S2: Move and hold the thin plate.

Please refer to FIGS. 2d to 2f in order to illustrate the movement of the driving jig 20 toward the horizontal conveying table 32. The movement includes at least one axial linear displacement and overturning (as shown in FIGS. 2d and 2e) to make the thin plate 10 moves from the vertical state to the horizontal state (as shown in Figure 2f). When the thin plate 10 moves from the vertical state to the horizontal state, at least part of the time the thin plate 10 is located between the supporting surface 22 and the moving direction D (as shown in FIG. 2d), so that The thin plate 10 is leaning against the supporting surface 22, so that the supporting surface 22 can protect the thin plate 10, thereby avoiding the phenomenon of bending deformation or folding of the thin plate 10 during the movement process, and in another part of the movement process During the time, the supporting surface 22 is located between the thin plate 10 and the horizontal conveying table 32 (as shown in FIGS. 2e to 2f), so that the thin plate 10 can be placed on the horizontal conveying table 32 stably in the future.

Step S3: Place the thin plate on the horizontal conveying table.

Please refer to FIGS. 2g and 2h in order to illustrate that the jig 20 moves to the top of the horizontal conveying table 32. Next, the jig 20 moves downward from the top of the horizontal conveying table 32 (as shown in FIG. 2g), so that the supporting surface 22 moves from top to bottom to a position 33 that is sunken at the bottom of the horizontal conveying table 32 (as shown in FIG. 2h). (Shown), there is a distance h between the bottom position 33 and the horizontal conveying table 32, the distance h is greater than 0, and the supporting surface 22 moves from above the horizontal conveying table 32 to the bottom position 33, the The supporting surface 22 of the jig 20 is in a state parallel to the horizontal conveying table 32, so that when the sheet 10 is placed on the horizontal conveying table 32, it can all touch the horizontal conveying table 32 at the same time, avoiding that the sheet 10 is only partially contacted horizontally. The conveying table 32 is bent.

In order to implement the above method in detail, please refer to FIGS. 3 and 4 together to reveal the first transport device provided by the present invention for picking up a vertical thin plate to a horizontal conveying table, including a jig 20 and a horizontal conveying table. 30. Wherein: the jig 20 is assembled on a multi-axis transmission mechanism 40 in implementation, the jig 20 can be displaced and turned over by the multi-axis transmission mechanism 40, and the multi-axis transmission mechanism 40 can be A mechanical arm 40a. Furthermore, the jig 20 is implemented by a planar template 20a, and the supporting surface 22 is formed on the template 20a. The fixture 20 is provided with a plurality of clamping jaws 23 that can be automatically opened and closed. The plurality of clamping jaws 23 clamp the thin plate 10 so that the thin plate 10 is positioned on the fixture 20. The plurality of clamping jaws 23 may be located on one side of the supporting surface 22 in implementation, or may be located on corresponding two sides of the supporting surface 22. Thereby, the thin plate 10 is positioned on the supporting surface 22.

The horizontal conveying table 32 is formed on the horizontal conveying table 30, and the horizontal conveying table 30 is arranged on one side of the multi-axis transmission mechanism 40. The jig 20 can be driven by the multi-axis transmission mechanism 40 to move to the horizontal conveying Taiwan 30. More specifically, a plurality of carrier elements 31 are arranged on the horizontal conveying table 30, and the horizontal conveying table 32 is constructed by the plurality of carrier elements 31 spaced apart from each other. The carrying element 31 may be a rotating wheel 31a in implementation, and the horizontal conveying table 32 is formed by the wheel surface of the plurality of rotating wheels 31a. In addition, the supporting surface 22 is formed with a plurality of openings 21 capable of evading the carrying element 31. The openings 21 are formed on the template 20a in practice, and the template 20a can evade rotation on the horizontal conveying platform 30 through the openings 21 thereof.轮31a.

When the jig 20 is driven by the multi-axis transmission mechanism 40 (that is, the robotic arm 40a) to move to the top of the horizontal conveying table 30 (as shown in Figure 5), the opening 21 on the jig 20 is aligned with the horizontal conveying table. 30 on the carrying element 31 (that is, the rotating wheel 31a). Then, the jig 20 moves in the direction of the lower horizontal conveying table 30, and the carrying element 31 on the horizontal conveying table 30 is evaded by the opening 21 on the jig 20, so that the supporting surface 22 of the jig 20 is moved to a lower level in the horizontal conveying At the bottom position 33 of the horizontal conveying table 32 of the table 30 (as shown in FIGS. 6 and 6a), because the sheet 10 is blocked by the carrier element 31 and cannot continue to move downward with the jig 20, the sheet 10 can be placed steadily On the horizontal conveying table 32, and receiving the transmission of the carrying element 31 (that is, the rotating wheel 31a), it is horizontally transferred to the next work area station.

Please refer to FIGS. 7, 8 and 9 together to disclose a second embodiment of the present invention. It is explained that the fixture 20 in this embodiment is composed of a plurality of rods 20b, and the plurality of rods 20b are cross-shaped The cross-arrangement is constructed to form the supporting surface 22. The plurality of openings 21 are respectively formed between the plurality of rods 20b.

The multi-axis transmission mechanism 40 can be implemented as a swing arm 40b, the swing arm 40b is connected with a vertical driver 41 and a swing driver 42, so that the jig 20 can be driven by the vertical driver 41 for vertical displacement and The swing driver 42 is driven to swing.

The carrying element 31 on the horizontal conveying table 30 may be a conveying belt 31b in implementation, and the horizontal conveying table 32 is formed by the belt surface of the plurality of conveying belts 31b.

Please refer to FIGS. 10 and 11 together to illustrate that the jig 20 receives the drive of the swing driver 42 via the swing arm 20b and rotates, so that the thin plate clamped by the jig 20 is turned from the vertical state to the horizontal state. Then, the The jig 20 is driven by the vertical driver 41 through the swing arm 20b to move downward, and the opening 21 on the jig 20 evades the carrier element 31 (that is, the conveyor belt 31b) on the horizontal conveyor 30, so that the jig 20 The supporting surface 22 moves to a position 33 that is lowered at the bottom of the horizontal conveying table 32 of the horizontal conveying table 30, so that the thin plate 10 on the supporting surface 22 of the jig 20 is placed on the horizontal conveying table 32.

The above examples only express the preferred embodiments of the present invention, but should not be understood as a limitation to the scope of the present invention. Therefore, the present invention should be subject to the claims defined in the scope of the patent application.

S1 to S3‧‧‧Example step description

Claims (14)

A carrying method for picking up a vertical thin plate to a horizontal conveying table includes: driving a jig to clamp at least one end of the vertical thin plate, and continuing to make the jig to carry the thin plate from the vertical state to a horizontal state, Then place the thin plate on a horizontal conveying table; wherein, the thin plate is a flexible thin plate, and the jig provides a bearing surface to protect the thin plate during the movement process, and the movement includes at least one axial linear Displacement and overturning; during a part of the moving process, the thin plate is located between the supporting surface and the moving direction, and during another part of the moving process, the supporting surface is located on the thin plate And the horizontal conveying table; and in the process of placing the thin plate, the supporting surface moves to a bottom position that is sunken in the horizontal conveying table. The method for picking up the vertical thin plate to the horizontal conveying table as described in claim 1, wherein the at least one end side is the end side of the top of the vertical thin plate. According to claim 1, the method for picking up the vertical thin plate to the horizontal conveying table, wherein the at least one end edge is two corresponding end sides of the vertical thin plate. According to claim 1, the method for picking up the vertical thin plate to the horizontal conveying table, wherein the supporting surface is a flat surface. A carrying device for executing the method of claim 1, wherein: the jig is assembled on a multi-axis transmission mechanism, the horizontal conveying table is formed on a horizontal conveying table, and the horizontal conveying table is configured on the multi-axis transmission One side of the mechanism, and the horizontal conveying table is constructed by a plurality of carrying elements spaced apart from each other, and the supporting surface is formed with a plurality of openings capable of evading the carrying elements. The carrying device for picking up the vertical thin plate to the horizontal conveying table as described in claim 5, wherein the supporting surface is a flat surface. The carrier device for picking up the vertical thin plate to the horizontal conveying table as described in claim 5 or 6, wherein the jig is composed of a planar template, and the supporting surface is formed on the template And the plurality of openings are respectively formed on the template. The carrier device for picking up a vertical thin plate to a horizontal conveying table as described in claim 5 or 6, wherein the jig includes a plurality of rods, and the plurality of rods are arranged in a cross shape to form the supporting surface , The plurality of openings are respectively formed between the plurality of rods. According to claim 5, the carrying device for picking up the vertical sheet to the horizontal conveying table, wherein the carrying element is a rotating wheel, and the wheel surfaces of the plurality of rotating wheels are constructed to form the horizontal conveying table. According to claim 5, the carrying device for picking up the vertical thin plate to the horizontal conveyor table, wherein the carrying element is a conveyor belt, and the belt surfaces of the plurality of conveyor belts are constructed to form the horizontal conveyor table. According to claim 5, the carrier device for picking up the vertical thin plate to the horizontal conveying table, wherein the multi-axis transmission mechanism is a mechanical arm. According to claim 5, the carrier device for picking up the vertical thin plate to the horizontal conveying table, wherein the multi-axis transmission mechanism is a swing arm. The carrying device for picking up the vertical thin plate to the horizontal conveying table as described in claim 5, wherein the at least one end side is the end side of the top of the vertical thin plate. The carrying device for picking up the vertical thin plate to the horizontal conveying table as described in claim 5, wherein the at least one end edge is the two corresponding end edges of the vertical thin plate.

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