TWI699320B - Carrying method and device for picking up vertical thin plate to horizontal conveying table - Google Patents
Carrying method and device for picking up vertical thin plate to horizontal conveying table Download PDFInfo
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Abstract
本發明提供一種擷取垂立式薄板至水平輸送台面的載運方法,包括驅動一治具夾持該垂立式薄板的至少一端邊,續令該治具載運該薄板由垂立狀態移動成水平狀態,進而擺放該薄板於一水平輸送台面,其中該薄板為可撓性薄板,該薄板在移動過程中由該治具提供一承持面護持該薄板,且在擺放該薄板的過程中,該承持面係移動至低陷於該水平輸送台面的一底部位置。為此,本發明還提供一種擷取垂立式薄板至水平輸送台面的載運裝置,以改善傳統垂立式薄板在被擷取暨移動時容易受損的問題。 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
本發明涉及薄板的擷取、移動及擺放技術,特別有關一種擷取垂立式薄板至水平輸送台面的載運方法及其裝置。 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.
周知,電子產品為了能滿足客戶的使用需求,都在朝多功能的方向發展,進而在眾多競爭對手中脫穎而出。為了提高電子產品的功能性,電子產品需要使用到更多的處理器與組件。 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.
由於要將更多的處理器與組件組裝在電子產品內的印刷電路基板上,因此印刷電路基板普遍採用高密度互連技術(High Density Interconnect,HDI),這項技術可在每一單位面積內容納比傳統印刷電路基板更多的功能。高密度互連技術(HDI)是採用更精密的線路設計、更纖薄的材料,以雷射鑽孔互連,使印刷電路基板小型化。 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.
一般採用高密度互連技術(HDI)的印刷電路基板之製造方式為改良型半加成法(Modified Semi-Additive Process,mSAP)。改良型半加成法(mSAP)是在一種較薄的印刷電路基板(以下簡稱薄板,其板厚約略可達0.4mm至0.046mm之間)上進行化學銅、並於薄板上製作抗蝕圖形,再經由電鍍工法將預作薄板金屬線路圖形增厚,再經去除抗蝕圖形後經過閃蝕去除多餘化學銅層,保留下來的部分即形成精細電子電路。然後,將多片薄板鑽孔互連而構成印刷電路基板。 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.
在上述改良型半加成法(mSAP)的製程中,包含烘烤作業,且知,目前較高效率的印刷電路基板烘烤作業大多採用一種垂直吊掛該基板進行移動式連續烘烤的烤箱,且不論該基板的 厚薄,都是以垂吊形式移動進入及移出烤箱的烘烤腔室,因此當基板在烘烤腔室內完成之後,是以垂吊形式呈現在烘烤腔室的出口端,隨後通常會藉助一載運裝置,自烘烤腔室的出口端擷取垂立式基板,而後移送至水平輸送台上傳遞至下一個作業區站。 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.
其中,當垂立式基板要從烤箱移動至水平輸送台的過程中,通常是以夾具夾持或負壓吸盤吸持的方式,以便於將基板由垂直狀態調整至水平狀態。 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.
然而,由上述可知,例如mSAP等薄板的厚度非常薄,很容易在移動的過程中因各種因素(例如:本身的重量、風力等)的影響而發生弧曲變形或摺痕的現象,造成薄板表面的不平整,乃至於被判定成瑕疵品或不良品,因此有待改進。 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.
有鑑於此,本發明之目的,旨在改善傳統垂立式薄板在被擷取暨移動時容易受損的問題。 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.
為此,本發明提供之一種擷取垂立式薄板至水平輸送台面的載運方法,包括執行下列步驟:驅動一治具夾持該垂立式薄板的至少一端邊,續令該治具載運該薄板由垂立狀態移動成水平狀態,進而擺放該薄板於一水平輸送台面;其中,該薄板為可撓性薄板,該薄板在移動過程中由該治具提供一承持面護持該薄板,且在擺放該薄板的過程中,該承持面係移動至低陷於該水平輸送台面的一底部位置。 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.
在進一步實施中,所述至少一端邊為該垂立式薄板之頂部的端邊。 In a further implementation, the at least one end edge is the end edge of the top of the vertical thin plate.
在進一步實施中,所述至少一端邊為該垂立式薄板之兩相對應的端邊。 In a further implementation, the at least one end edge is two corresponding end edges of the vertical thin plate.
在進一步實施中,該承持面為一平面。 In a further implementation, the supporting surface is a flat surface.
在進一步實施中,所述移動包括至少一軸向的線性位移及翻轉。 In a further implementation, the movement includes at least one axial linear displacement and overturning.
在進一步實施中,該薄板由垂立狀態移動至尚未翻 轉成水平狀態的載運過程中,至少一部分時間該承持面係坐落於該薄板與該水平輸送台面之間。 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.
上述方法可以透過一種裝置技術而獲得實現,為此,本發明之一具體實施例在於提供一種擷取垂立式薄板至水平輸送台面的載運裝置,其技術手段包括:一治具,組設於一多軸傳動機構上,該治具具有一承持面,該治具上設有至少一用以夾持該薄板的夾爪;一水平輸送台,配置於該多軸傳動機構之一側,該水平輸送台面係形成於該水平輸送台上;其中,該薄板為可撓性薄板,該薄板經由該治具接受該多軸傳動機構的驅動而由垂立狀態翻轉至水平狀態,該水平輸送台面係由多個載運元件相互間隔建構而成,該承持面形成有多個能閃躲所述載運元件的開口,該治具經由該夾爪夾持該垂立式薄板的至少一端邊,該治具並經由該承持面的護持而載運該垂立式薄板擺放於該水平輸送台面,其中該承持面係移動至低陷於該水平輸送台面的一底部位置來擺放該薄板於該水平輸送台面。 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.
在進一步實施中,該承持面為一平面。 In a further implementation, the supporting surface is a flat surface.
在進一步實施中,該治具由一面狀模板構成,該承持面係形成於該模板上,且所述多個開口係分別形成於該模板上。 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.
在進一步實施中,該治具包含多個桿件,所述多個桿件呈十字狀交叉排列而建構形成該承持面,所述多個開口係分別形成於所述多個桿件之間。 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 .
在進一步實施中,所述載運元件為轉動輪,所述多個轉動輪的輪面建構形成該水平輸送台面。 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.
在進一步實施中,所述載運元件為輸送帶,所述多個輸送帶的帶面建構形成該水平輸送台面。 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.
在進一步實施中,該多軸傳動機構為一機械手臂。 In a further implementation, the multi-axis transmission mechanism is a robotic arm.
在進一步實施中,該多軸傳動機構為一擺臂。 In a further implementation, the multi-axis transmission mechanism is a swing arm.
在進一步實施中,所述至少一端邊為該垂立式薄板之頂部的端邊。 In a further implementation, the at least one end edge is the end edge of the top of the vertical thin plate.
在進一步實施中,所述至少一端邊為該垂立式薄板之兩相對應的端邊。 In a further implementation, the at least one end edge is two corresponding end edges of the vertical thin plate.
根據上述技術手段,本發明的優點在於:當垂立式薄板由烘烤腔室的出口端朝向水平輸送台面的方向移動,並且由垂立狀態翻轉至水平狀態的過程中,該薄板是倚靠在承持面上,藉由承持面的護持,能避免薄板在移動過程中產生弧曲變形或摺痕的現象。此外,該承持面係移動至低陷於該水平輸送台面的一底部位置,係能促進薄板能被平穩且柔順的擺放於該水平輸送台面。 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.
在此所揭露的各實施例的特徵及技術功效將呈現於下方的描述與圖式中。 The features and technical effects of the embodiments disclosed herein will be presented in the following description and drawings.
10:薄板 10: Thin plate
101:端邊 101: end edge
20:治具 20: Fixture
20a:模板 20a: template
20b:桿件 20b: Rod
21:開口 21: opening
22:承持面 22: bearing surface
23:夾爪 23: gripper
30:水平輸送台 30: Horizontal conveyor
31:載運元件 31: Carrying components
31a:轉動輪 31a: Turn the wheel
31b:輸送帶 31b: Conveyor belt
32:水平輸送台面 32: Horizontal conveyor table
33:底部位置 33: bottom position
40:多軸傳動機構 40: Multi-axis transmission mechanism
40a:機械手臂 40a: Robotic arm
40b:擺臂 40b: swing arm
41:垂向驅動器 41: Vertical drive
42:旋擺驅動器 42: swing drive
h:間距 h: spacing
D:移動方向 D: Moving direction
S1至S3:實施例之步驟說明 S1 to S3: Step description of the embodiment
圖1是本發明載運方法的步驟程序圖。 Fig. 1 is a sequence diagram of the steps of the transportation method of the present invention.
圖2a至圖2h分別是執行圖1載運方法的動作示意圖。 Figures 2a to 2h are schematic diagrams of the actions of the carrying method of Figure 1 respectively.
圖3是本發明載運裝置之第一種實施例的構造示意圖。 Fig. 3 is a schematic diagram of the structure of the first embodiment of the carrying device of the present invention.
圖4是圖3中水平輸送台的俯視圖。 Fig. 4 is a top view of the horizontal conveying table in Fig. 3.
圖5是圖4中夾持有薄板的治具移動至水平輸送台面上方時的示意圖。 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.
圖6是圖3中治具移動至水平輸送台面下方而使薄板擺放於水平輸送台面時的示意圖。 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.
圖6a是圖6的局部放大示意圖。 Fig. 6a is a partial enlarged schematic diagram of Fig. 6.
圖7是本發明載運裝置之第二種實施例的構造示意圖。 Fig. 7 is a schematic structural view of a second embodiment of the carrying device of the present invention.
圖8是圖7的側視圖。 Fig. 8 is a side view of Fig. 7.
圖9是圖7的俯視圖。 Fig. 9 is a plan view of Fig. 7.
圖10是圖7中夾持有薄板的治具移動至水平輸送台面上方時的示意圖。。 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. .
圖11是圖10的俯視圖。 Fig. 11 is a plan view of Fig. 10.
首先,請參閱圖1,說明本發明擷取垂立式薄板至水平輸送台面的載運方法,包括依序執行下述步驟S1至S3: 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:
步驟S1:夾持垂立式薄板。 Step S1: Clamp the vertical thin plate.
請依序參閱圖2a至圖2c,說明移動一治具20接觸垂立式薄板10(如圖2a所示),該治具20夾持垂立式薄板10的至少一端邊101(如圖2b所示),所述至少一端邊101在實施上可以是垂立式薄板10之頂部的端邊101,也可以是垂立式薄板10之兩個相對應的端邊101。該治具20具有一承持面22,該治具20夾持垂立式薄板10而使垂立式薄板10的板面鄰近承持面22(如圖2a所示)。該承持面22在實施上為一平面。
Please refer to Figures 2a to 2c in order to illustrate that a
步驟S2:移動並護持薄板。 Step S2: Move and hold the thin plate.
請依序參閱圖2d至圖2f,說明驅動治具20朝向水平輸送台面32的方向移動,所述移動包括至少一軸向的線性位移及翻轉(如圖2d及圖2e所示),使薄板10由垂立狀態移動至水平狀態(如圖2f所示)。當薄板10由垂立狀態移動至尚未翻轉成水平狀態的載運過程中,至少一部分時間內該薄板10係坐落於該承持面22與該移動方向D之間(如圖2d所示),讓薄板10倚靠在承持面22上,以便於承持面22對薄板10產生護持作用,進而避免薄板10在移動過程中產生弧曲變形或摺紋的現象,且在所述移動過程的另一部分時間中,該承持面22係坐落於該薄板10與該水平輸送台面32之間(如圖2e至2f所示),以便後續能將薄板10平穩的擺放於水平輸送台面32上。
Please refer to FIGS. 2d to 2f in order to illustrate the movement of the driving
步驟S3:擺放薄板於水平輸送台面。 Step S3: Place the thin plate on the horizontal conveying table.
請依序參閱圖2g及圖2h,說明治具20移動至水平輸送台面32的上方。接著,該治具20由水平輸送台面32的上方向下移動(如圖2g所示),使承持面22由上往下移動至一低陷於水平輸送台面32的底部位置33(如圖2h所示),該底部位置33與水平輸送台面32之間具有一間距h,該間距h是大於0,且承持面22在由水平輸送台面32的上方移動至底部位置33的過程中,該
治具20的承持面22是呈現與水平輸送台面32平行的狀態,令薄板10擺放於水平輸送台面32上時,能同時全部接觸到水平輸送台面32,避免薄板10因只有部分接觸水平輸送台面32而發生彎折的現象。
Please refer to FIGS. 2g and 2h in order to illustrate that the
為了能夠具體實現上述方法,請合併參閱圖3及圖4,揭露出本發明所提供之第一種擷取垂立式薄板至水平輸送台面的載運裝置,包括一治具20及一水平輸送台30。其中:該治具20在實施上是組設於一多軸傳動機構40上,該治具20能經由多軸傳動機構40的帶動而位移及翻轉,該多軸傳動機構40在實施上可以是一機械手臂40a。進一步的說,該治具20在實施上係由一面狀模板20a構成,該承持面22是形成於模板20a上。該治具20上組設有多個能自動開啟及閉合的夾爪23,藉由所述多個夾爪23來夾持薄板10,使薄板10定位於治具20上。所述多個夾爪23在實施上可以是坐落於承持面22的一側,也可以是坐落於承持面22的相對應的兩側。藉此,使薄板10定位於承持面22上。
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
該水平輸送台面32是形成於水平輸送台30上,且該水平輸送台30是配置於多軸傳動機構40的一側,該治具20能經由多軸傳動機構40的帶動而位移至水平輸送台30。更具體的說,該水平輸送台30上配置有多個載運元件31,該水平輸送台面32是由所述多個載運元件31相互間隔建構而成。所述載運元件31在實施上可以是轉動輪31a,該水平輸送台面32是由所述多個轉動輪31a的輪面建構形成。此外,該承持面22形成有多個能閃躲載運元件31的開口21,所述開口21在實施上是形成於模板20a上,該模板20a經由其開口21能閃躲水平輸送台30上的轉動輪31a。
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
當治具20經由多軸傳動機構40(也就是機械手臂40a)的帶動而位移至水平輸送台30的上方時(如圖5所示),治具20上的開口21是對準水平輸送台30上的載運元件31(也就是轉動輪
31a)。接著,治具20朝下方水平輸送台30的方向移動,藉由治具20上的開口21閃躲水平輸送台30上的載運元件31,使治具20的承持面22移動至低陷於水平輸送台30的水平輸送台面32的底部位置33(如圖6及圖6a所示),由於薄板10受到載運元件31的阻擋而無法跟隨治具20繼續向下移動,因此薄板10能平穩的擺放於水平輸送台面32上,並且接受載運元件31(即轉動輪31a)的傳動而水平移送至下一個作業區站。
When the
請合併參閱圖7、圖8及圖9,揭露本發明之第二種實施例,說明本實施例中治具20是由多個桿件20b構成,所述多個桿件20b是呈十字狀交叉排列而建構形成承持面22。所述多個開口21是分別形成於多個桿件20b之間。
Please refer to FIGS. 7, 8 and 9 together to disclose a second embodiment of the present invention. It is explained that the
該多軸傳動機構40在實施上可以是一擺臂40b,該擺臂40b連結有一垂向驅動器41及一旋擺驅動器42,使治具20能經由垂向驅動器41的驅動而垂向位移及經由旋擺驅動器42的驅動而旋擺。
The
該水平輸送台30上的載運元件31在實施上可以是輸送帶31b,該水平輸送台面32是由所述多個輸送帶31b的帶面建構形成。
The carrying
請合併參閱圖10及圖11,說明該治具20經由擺臂20b接受旋擺驅動器42的驅動而旋擺,使治具20所夾持的薄板由垂立狀態翻轉為水平狀態,接著,該治具20經由擺臂20b接受垂向驅動器41的驅動而向下位移,藉由治具20上的開口21閃躲水平輸送台30上的載運元件31(也就是輸送帶31b),使治具20的承持面22移動至低陷於水平輸送台30的水平輸送台面32的底部位置33,令治具20之承持面22上的薄板10擺放於水平輸送台面32上。
Please refer to FIGS. 10 and 11 together to illustrate that the
以上實施例僅為表達了本發明的較佳實施方式,但並不能因此而理解為對本發明專利範圍的限制。因此,本發明應以申請專利範圍中限定的請求項內容為準。 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至S3‧‧‧實施例之步驟說明 S1 to S3‧‧‧Example step description
Claims (14)
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CN203446112U (en) * | 2013-08-28 | 2014-02-19 | 东莞市五株电子科技有限公司 | Plate turnover machine with finger plate grabbing function |
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CN108945962A (en) * | 2018-05-31 | 2018-12-07 | 嘉善万得隆服饰辅料厂(普通合伙) | A kind of transfer device at case auxiliary material |
CN208747103U (en) * | 2018-07-24 | 2019-04-16 | 珠海市同辉电子有限公司 | A kind of automatic transferring of board substrate |
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CN104291112A (en) * | 2013-07-17 | 2015-01-21 | 深南电路有限公司 | Automatic discharging conveyer and discharging conveying method |
CN203446112U (en) * | 2013-08-28 | 2014-02-19 | 东莞市五株电子科技有限公司 | Plate turnover machine with finger plate grabbing function |
CN205736387U (en) * | 2016-07-08 | 2016-11-30 | 东江精创注塑(深圳)有限公司 | A kind of automatic printing equipment being applicable to multi-angle printing |
TWM566711U (en) * | 2018-04-27 | 2018-09-11 | 迅得機械股份有限公司 | Clamping type material feeding mechanism |
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