TWI775650B - Strip fasten device - Google Patents

Abstract

The present invention provides a strip fasten device comprising a clamping mechanism which can selectively clamp a strip and movable toward to an input mechanism. The input mechanism transports a stack of storage dish into the strip fasten device, and aligns the stack of storage dish to the clamping mechanism and a fasten mechanism. The fasten mechanism set nearby the clamping mechanism gets the strip from the clamping mechanism and fast the strip around the stack of storage dish.

Description

Belt binding device

A storage device, especially a belt binding device.

The invention of the semiconductor integrated circuit (IC) has enabled the development of the technology industry and its application in modern life, so that modern people not only use smart mobile devices and automobiles and other hardware equipment for people's livelihood to gradually improve the standard, but also accelerate The development of 5G communication, AI intelligent technology and IOT Internet of Things.

In the field of semiconductors, the quality of a finished wafer involves the overall operation of a technological equipment. When mass or efficient manufacturing is required and the high quality of the finished wafer is maintained, the wafer is placed between each step of the equipment. The transfer of the wafer becomes an important key to the finished wafer. For the transfer and storage of the wafer between the two production steps, the wafer is mostly stored in a storage tray, and a plurality of storage trays are designed to be stacked and combined to save space.

In order to prevent the plurality of storage trays and the plurality of wafers from being damaged and broken due to overturning or collision during transportation, at least one strap with a devil felt structure on the surface is usually manually wrapped around the plurality of storage trays. If the bundle is fixed, this method will not only cause loss of personnel and time costs, but also delay the overall process time and efficiency. The use of multiple straps is often difficult to manage, resulting in loss and waste.

In order to develop a device that can reduce the cost of personnel and time, and avoid the overall process time delay, the present invention provides a strap binding device, which includes at least one clamping mechanism, and the clamping mechanism can selectively clamp one of the bundles. The belt is moved closer to a tray feeding mechanism, and the tray feeding mechanism transports one or more temporary storage trays placed in layers into the strap binding device, and the positions correspond to the clamping mechanism and a binding mechanism; and the binding The mechanism is arranged adjacent to the disk feeding mechanism, the binding mechanism obtains the binding belt from the clamping mechanism, and binds the binding belt on the outer periphery of one or more temporary storage disks.

Wherein, the gripping mechanism grips the strap and moves to the position adjacent to the tray feeding mechanism, the position of the strap corresponds to one of the outer peripheral surfaces of the more than one temporary storage disk, and the gripping mechanism includes a moving track and can move along the A first gripping arm that moves on a track, the first gripping arm is positioned above a storage tray, and selectively grips one of the straps on a storage tray, wherein the strap has a relatively short side direction is perpendicular to the storage disk.

Wherein, the tray feeding mechanism includes a tray tray member, and more than one temporary storage tray is stacked on the tray tray member. More than one temporary storage tray associated with the tray tray member moves along a tray tray track, and more than one temporary storage tray moves along a tray tray track. One end of the one end protrudes toward the direction of the gripping mechanism and protrudes from the disk feeding member; and a pressing element, which provides a pressure on the upper surface of more than one temporary storage disk, and the pressing element includes: a support frame, the The support frame presents a type of structure and is arranged on the disk feeding member, so that more than one temporary storage disk can be accommodated between the supporting frame and the disk feeding member; and a pressing rod, the pressing rod is movable Passing through the support frame, one end of the pressing rod can selectively abut against the upper surface of more than one temporary storage disk.

Wherein, the binding mechanism includes two automatic arms, the two automatic arms are respectively connected to the clamping mechanism to clamp two ends of one of the binding belts, and the free ends of the two automatic arms both include a rotating base, the The free end of the rotating base is provided with at least one automatic clamping nozzle, so that the two automatic arms can respectively rotate at least one of the automatic clamping nozzles clockwise or counterclockwise through the rotating base.

Further, one of the automatic arms includes a first automatic gripping nozzle and a second automatic gripping nozzle, and a gripping direction respectively formed by the first automatic gripping nozzle and the second automatic gripping nozzle is perpendicular to each other.

Further, one of the automatic arms includes a third automatic clamping nozzle, the third automatic clamping nozzle is formed with two clamping surfaces corresponding to each other, and the two clamping surfaces are concave and convex.

Further, a V-shaped projection protrudes from one of the clamping surfaces of the third automatic clamping nozzle, and the inclined surfaces formed on both sides of the V-shaped projection are arranged along the extension direction of the clamping surface; the other clamping surface faces inward A V-shaped groove is concavely arranged, and the V-shaped protrusion and the V-shaped groove structure bite each other.

Further, the first gripping arm includes a length extension device, the length extension device is parallel to a relative long side direction of the belt, and both ends of the length extension device are respectively provided with a first clamping jaw, the length The extension device can adjust the distance between the two first clamping jaws; and, the length extension device and each of the first clamping jaws are provided with an extension plate, and the two first clamping jaws can rotate relative to the two extension plates, and Along each of the extending plates, the storage tray is approached or moved away, wherein the two first clamping jaws respectively clamp both ends of one of the straps.

Further, the gripping mechanism includes a second gripping arm, the second gripping arm obtains one of the straps from the first gripping arm, and displaces the strap to a position corresponding to one or more of the temporary storage disks. a bottom surface, the second gripping arm includes two second bases, and the two second bases are respectively provided with second gripping claws rotatably, and each of the second gripping claws respectively grips one of the bundles two ends of the belt; and a second track arranged in parallel with the two first jaws, each of the second bases can be displaced along the second rail and drive each of the second jaws to move.

Further, two of the second rails are aligned in a straight line and spaced apart, and each of the second bases moves along the second rails to adjust the distance between the second jaws.

The present invention can not only effectively replace manpower to achieve a substantially fully automatic production line, but also the setting of the second gripping arm can make the overall process of the strap binding device smoother and reduce the need for movement. the waiting time between operations. After the second gripping arm grips one of the straps, during the movement of the second gripping arm, the first gripping arm can simultaneously perform the resetting action, until the storage disk obtains another One of the straps doubles the efficiency of the strap binding device.

10: Strap storage device

10A: Body

11: Accommodating space

12: Storage Disk

121: Storage space

122: Positioning pieces

123: Groove

124:Fixed elements

1241: Magnet

13: jacking unit

131: Lifting track

132: Lifting base

14: Grab unit

141: First Grab Track

141A: Second Grab Track

142: Grab Pieces

145: Extensions

15: Output unit

151: output track

1511: output end

152: Undertaking the base

16: Girdle

161: wear end

162: Free End

163: Metal Ring

164: Bare Segment

20: Belt binding device

21: Clamping mechanism

211: Moving Tracks

212: First gripping arm

2121: First Pedestal

2122: Length extension device

2123: The first gripper

213: Second gripping arm

2131: Second Pedestal

2132: Second track

2133: Second jaw

22: Dispensing mechanism

221: Tray Parts

222: Tray track

223: Pressure components

2231: Support frame

2232: Compression rod

23: Binding mechanism

231: Automatic Arm

231A: First Automatic Arm

231B: Second automatic arm

2311: Swivel base

2312: Automatic clamping nozzle

2312A: The first automatic clamping nozzle

2312B: Second automatic clamping nozzle

2312C: The third automatic clamping nozzle

2312D: Fourth automatic clamping nozzle

2313: Clamp face

A: Scratch disk

B: The first clamping angle

C: Second clamping angle

D: Angle relationship

1 is a schematic diagram of a preferred embodiment of the present invention

2 is a side view of the first region of the preferred embodiment of the present invention

FIG. 3 is a three-dimensional schematic diagram of some components of the preferred embodiment of the present invention.

4 is a side view of the second region of the preferred embodiment of the present invention

5A to 5C are schematic diagrams of the first clamping step according to the preferred embodiment of the present invention

6A to 6B are schematic diagrams of the second clamping step according to the preferred embodiment of the present invention

7A to 7F are schematic diagrams of binding steps according to a preferred embodiment of the present invention

Please refer to FIG. 1 to FIG. 4 , which are preferred embodiments of the belt binding device 20 provided by the present invention. Through the regulation of a control system, a strap storage device 10 storing at least one strap 16 can transfer one of the straps 16 to the strap binding device 20 . The strap binding device 20 can further move one of the straps 16 to the vicinity of one or more temporary storage disks A that can accommodate a wafer and are stacked and placed, and execute one of the straps 16 to be stacked and placed. The above actions are performed on the outer peripheral surface of the temporary disk A.

The belt storage device 10 includes at least one accommodating space 11 , one or more storage trays 12 , at least one lifting unit 13 , a grabbing unit 14 and an output unit 15 . In the accommodating space 11, more than one storage tray 12 is stacked sequentially from bottom to top, and the lifting unit 13 can be moved up and down. One or more of the storage trays 12 placed on top of each other are moved so that the uppermost storage tray 12 can be displaced to the top surface of the strap storage device 10 . The grabbing unit 14 grabs the uppermost storage disk 12 in the accommodating space 11 and moves it to the output unit 15 .

Please refer to FIG. 2 and FIG. 3 , the storage disk 12 includes a storage space 121 , and at least one of the straps 16 is stored in the storage space 121 . The storage space 121 extending horizontally can be formed above the object; the storage disk 12 can also be a quadrangular shape, and the storage space 121 can be defined in the frame shape. The belt 16 is perpendicular to the storage space 121 formed by the storage tray 12 with the direction of a relatively short side thereof. Preferably, the direction of the relatively short side of the belt 16 is perpendicular to the storage space 121 .

In this embodiment, the storage tray 12 is a square plate body, and an upper surface of the storage tray 12 is provided with at least one positioning member 122 , and the positioning member 122 is disposed along one of the length directions of the storage tray 12 . The positioning member 122 Preferably, it is a one-piece body with at least one groove 123 concave on its surface, so that the strap 16 can be inserted into the groove 123 by using one of the opposite long sides, so that the support of the groove 123 can be used. The storage space 121 is formed by the belt 16 standing above the storage tray 12 in the relative short side direction.

The storage tray 12 and the positioning member 122 are not limited to two separate components, and the storage tray 12 and the positioning member 122 may also be integrally arranged in a row. In this embodiment, the two positioning members 122 are disposed in the storage space 121 in parallel, and the grooves 123 of the two positioning members 122 are arranged corresponding to each other, and the distance formed between the two positioning members 112 is less than or equal to The length of the strap 16. In this way, the strap 16 can be inserted into the two grooves 123 corresponding to each other by using the two ends of the relatively long sides, so as to achieve a state of standing upright on the storage space 121 with the relatively short sides.

Further, the opposite long sides of the belt 16 include a through end 161 and a free end 162 at opposite ends, and a devil felt structure formed on the surface of the belt 16 , wherein the through end 161 A metal ring 163 is included. When the strap 16 is placed on the storage tray 12, the through end 161 is and the free ends 162 are respectively placed in the grooves 123 of the two positioning members 122 corresponding to each other. The length of the strap 16 will vary according to the size of the temporary storage disk A to be bound and the size of the surrounding area formed by the number of the temporary storage disks A stacked. Therefore, the space formed between the two positioning members 122 is different. The distance will also be adjusted according to the length of the strap 16 .

Preferably, a fixing element 124 is provided in each of the grooves 123 , so that when the belt 16 is inserted into each of the grooves 123 , the fixing element 124 can stabilize the belt 16 in each of the grooves 123 , it is not easy to fall, the fixing element 124 can be a magnet 1241 attracting the metal ring 163 , a vacuum suction element or a pressing element.

Taking the fixing element 124 as the magnet 1241 as an example, a magnet 1241 is disposed at the bottom of each groove 123 of the positioning member 122, so that the magnet 1241 can use the magnetism to make the metal ring 163 of the strap 16 and its Attracting and fixing can not only prevent the strap 16 from falling, but also maintain the shape of the strap 16 standing upright in the storage space 121 in the short side direction, and arrange more than one strap 16 in the same direction and uniformity.

Taking the fixing member 124 as the vacuum suction member or the pressing member as an example, the vacuum suction member or the pressing member is provided on the groove wall of each groove 123 . When the belt 16 is inserted into each of the grooves 123 , the vacuum suction element can use vacuum suction to suck one side of the belt 16 ; and the pressing element can press against the belt 16 one of the side surfaces, and then fix the strap 16 in each of the grooves 123 .

In this embodiment, the fixing elements 124 of the two positioning members 122 are the magnet 1241 and the vacuum suction element, respectively. In this way, the magnet 1241 can be used to fix the passing end 161 and the metal ring 163 of the strap 16 And use the vacuum suction element to fix the free end 162 of the strap 16, not only can better stabilize the strap 16, but also ensure that the strap 16 can be perpendicular to the storage space 121.

The jacking unit 13 is disposed in the accommodating space 11 , and the jacking unit 13 includes a jacking rail 131 perpendicular to the horizontal plane and a jacking base 132 moving up and down along the jacking rail 131 , wherein One or more of the storage disks 12 are stacked on the lifting base 132 in sequence, so that the lifting base 132 can move the more than one storage disks 12 stacked in the accommodating space from bottom to top. The uppermost storage tray 12 can be displaced to the top surface of the strap storage device 10 .

Preferably, the strap storage device 10 includes a main body 10A with a rectangular shape, at least a part of the main body 10A is formed as the accommodating space 11 , and the output unit 15 is arranged beside the accommodating space 11 . On the side, the grabbing unit 14 is disposed above the accommodating space 11 and the output unit 15 , and the grabbing unit 14 can run back and forth between the accommodating space 11 and the output unit 15 . The grabbing unit 14 includes a first grabbing rail 141 and a grabbing member 142 moving along the first grabbing rail 141 , and the first grabbing rail 141 is along the space between the accommodating space 11 and the output unit 15 . The location corresponds to the setting. The grasping member 142 includes a first grasping end and a second grasping end disposed corresponding to each other. The first grab end can be close to or away from the second grab end, and the direction formed by the first grab end and the second grab end is parallel to at least one long side of the storage tray 12 .

An extending device 145 is formed on the grabbing member 142 , and the extending device 145 can adjust the distance of the grabbing member 142 relative to the accommodating space 11 and the output unit 15 up and down as required. When the grabbing member 142 wants to grab the uppermost storage disk 12 in the accommodating space 11 , the grabbing member 142 moves along the first grab rail 141 to above the accommodating space 11 . The distance formed between the first grab end and the second grab end is slightly larger than at least one of the long sides of the storage tray 12 .

Next, the extension device 145 enables the grab member 142 to extend toward the accommodating space 11 , so that the first grab end and the second grab end can move downward and correspond to the long side of the storage tray 12 Then, the first grab end is close to the second grab end, and grabs the uppermost storage disk 12 . The extension device 145 can further make the grab member 142 away from the accommodating space 11 , and finally, the grab member 142 can move to the output unit 15 along the first grab track 141 .

The shapes of the first grab end and the second grab end are not limited, and they may be a clamping nozzle, and when grabbing the storage disk 12 , clamps a pair of sides of the storage disk 12 . In this embodiment, The first grab end 143 and the second grab end 144 are respectively a baffle plate extending downward. A free end of the first grasping end and the second grasping end corresponds to each other and horizontally extends to form a tray member. A grab space can be formed between the first grab end, the second grab end and the two tray members.

In this way, when the first grab end and the second grab end and the opposite sides of the storage tray 12 are close to each other, the two baffles respectively abut against the opposite sides, and the two tray members The pair of sides are respectively inserted under the uppermost storage tray 12, so that the upper storage tray 12 can be accommodated in the grab space, so that when the storage tray 12 moves through the grab unit 14, it can pass through The two trays are stably supported and kept level so as not to be tipped over.

The output unit 15 receives the storage tray 12 released by the grab unit 14 and transports the storage tray 12 to the outside of the strap storage device 10 . The output unit 15 includes an output track 151 and along the output track 151 A receiving base 152 is moved. A transport direction of the output rail 151 is not limited, and the output direction can be determined according to the requirements of transporting the storage disk 12 . A flat surface is formed above the receiving base 152 for receiving the storage tray 12 and keeping the storage tray 12 running horizontally.

When the grabbing unit 14 wants to grab the storage disk 12 and move it to the output unit 15 , the grabbing unit 14 moves above the receiving base 152 , and the extension device 1435 makes the grabbing member 1432 face the receiving base 152, so that the storage tray 12 can be moved downward and placed above the receiving base 152. Then, the storage tray 12 can be released when the first grasping end 1433 is away from the second grasping end 1434.

The strap storage device 10 does not limit the quantity of the accommodating space 11 , nor does it limit the relative position between the accommodating space 11 and the output unit 15 . For example, one of the accommodating spaces 11 is respectively disposed at both ends of a longitudinal direction in the main body 10A (the rectangular body), and the output unit 15 is disposed between the two accommodating spaces 11 , and the first grab rail 141 is disposed above the main body 10A along the longitudinal direction, and the transport direction of the output unit 15 is perpendicular to the longitudinal direction. so in the middle The distances between the output unit 15 and the two accommodating spaces 11 are equal, which can reduce the back and forth movement distance of the first grab rail 141 and improve the efficiency of the belt storage device 10 moving the storage disk 12 .

Preferably, the accommodating space 11 does not limit the number of the lifting units 13. In this embodiment, in each accommodating space 11, the other long side of the main body 10A (the rectangular body) is used. Three of the jacking units 13 are arranged at intervals in the direction, and the grabbing unit 14 further includes a second grabbing track 141A arranged along the three alignment directions of the jacking units 13 , wherein the grabbing member 142 can be along the The setting direction of the second grab rail 141A moves back and forth above the three jacking units 13 . Preferably, the second grabbing rail 141A can move along the first grabbing rail 141 , thereby driving the grabbing member 142 to travel back and forth between the accommodating space 11 and the output unit 15 . In this way, the arrangement of a plurality of the lifting units 13 can be used to increase the storage capacity of the storage tray 12 and the strap 16, and the straps 16 of different lengths can also be classified and stored according to needs, so as to achieve an effective strap. Belt management, and the arrangement of the first grab rail 141 and the second grab rail 141A in different extension directions can further greatly increase the moving range of the grab member 142 and promote the overall practicability of the belt storage device 10 .

Please refer to FIG. 4 and FIG. 6B , the belt binding device 20 includes at least one clamping mechanism 21 , a tray feeding mechanism 22 and a binding mechanism 23 , and the clamping mechanism 21 is correspondingly disposed on the output rail 151 away from the An output end 1511 of the strap storage device 10 , the gripping mechanism 21 can selectively grip one of the straps 16 on the storage tray 12 and move toward the tray feeding mechanism 22 . The disk feeding mechanism 22 can transport one or more of the temporary storage disks A stacked to the belt binding device 20 outside the band binding device 20 , and the position corresponds to the clamping mechanism 21 . When the clamping mechanism 21 clamps the strap 16 and moves to a position adjacent to the tray feeding mechanism 22 , the position of the strap 16 can correspond to at least one outer peripheral surface of one or more temporary storage disks A. As shown in FIG. The binding mechanism 23 is disposed adjacent to the disk feeding mechanism 22 , the binding mechanism 23 obtains the binding belt 16 from the clamping mechanism 21 , and binds the binding belt 16 to the outer periphery of one or more temporary storage disks A.

Further referring to FIG. 5A , in a preferred embodiment of the present invention, the gripping mechanism 21 includes a moving track 211 , a first gripping arm 212 and a second gripping arm 213 . the moving track 211 is arranged above the output end 1511, preferably, the moving track 211 and the positioning member 122 are arranged parallel to each other, the first gripping arm 212 can run back and forth along the moving track 211, so that the first gripping arm 212 One of the straps 16 on the storage tray 12 can be selectively clamped as required.

Further, the first gripping arm 212 includes a first base 2121, a length extension device 2122 and two first clamping jaws 2123, wherein the first base 2121 is disposed on the moving rail 211 and the length extension between the devices 2122 , and the first base 2121 can drive the length extension device 2122 to move along the moving track 211 . The length extension device 2122 is parallel to both ends of the relative longitudinal direction of the belt 16 and is provided with a first clamping jaw 2123 respectively. The length extension device 2122 can be based on requirements or correspond to the length of the belt 16 Extending or shrinking makes the distance between the two first clamping jaws 2123 move away from or close to each other.

The shape of the length extension device 2122 is not limited, and it can be two rod-shaped objects that are sleeved with each other. Corresponding movement; the length extension device 2122 can also be a screw, and one of the first jaws 2123 includes a threaded collar movably sleeved around the screw, and the screw is rotated by a motor, one of the first jaws 2123. A side of one jaw 2123 can move relative to the other of the first jaw 2123 . In this embodiment, the length extension device 2122 is two plate-like objects that are sleeved with each other. Through the mutual axial movement of the two plate-like objects, the first clamping jaws 2123 disposed at both ends move correspondingly. The arrangement of the plate can relatively improve the mechanical stability of the length extension device 2122 .

Further, two extension plates are protruded from both ends of the length extension device 2122 toward the storage tray 12 , and the two first clamping jaws 2123 are respectively rotatably disposed on the two extension plates, so that each of the second A clamping claw 2123 can approach or move away from the storage tray 12 along each of the extending plates, and rotate relative to the two extending plates to exhibit a first state and a second state. The free end of the first jaw 2123 includes a pair of jaws, and a jaw opening formed in the middle of the jaws. The size of the jaw opening changes according to whether the jaws are opened or closed.

Next, please refer to FIG. 5A to FIG. 5C , which are schematic diagrams of steps of the first gripping arm 212 gripping one of the straps 16 on the storage disk 12 . When in the initial position, the jaws of each of the first jaws 2123 extend toward the storage tray 12, showing the first state, and the opening of the jaws is in an open state. At this time, the extension direction formed by the pair of clamping nozzles is perpendicular to at least one of the straps 16 on the storage tray 12 .

When the first gripping arm 212 is about to grip one of the straps 16 , each of the first gripping claws 2123 moves along the moving track 211 via the first base 2121 , so that one of the straps 16 can be The clamping nozzle openings are aligned with the first clamping jaws 2123 . Preferably, in this step, the length extending device 2122 extends or contracts corresponding to the length of the strap 16 , so that the distance between the two first clamping jaws 2123 is less than or equal to the length of the strap 16 .

When the position of the first gripping arm 212 corresponds to one of the straps 16 , each of the first gripping claws 2123 approaches the strap 16 along each of the extending plates, so that the strap 16 is located on the opposite side. The long sides can be located in the openings of the clamping nozzles, and the paired clamping nozzles of the first clamping jaws 2123 are located on both sides of the strap 16, respectively. At this time, the two clamping nozzles are close to each other. The strap 16 is clamped. When the clamping nozzle clamps the strap 16 , each of the first clamping jaws 2123 moves along each of the extending plates, and the strap 16 is moved away from the storage tray 12 . Preferably, one of the first clamping jaws 2123 clamps the metal ring 163 of the through end 161 of the belt 16 ; the other first clamping jaw 2123 clamps the end of the free end 162 of the belt 16 , When the first gripping arm 212 moves out of the strap 16 into each of the grooves 123 , the strap 16 can be stably released from the fixing element 124 .

Next, as shown in FIG. 5B , the two first clamping jaws 2123 together with the belt 16 are rotated 90 degrees relative to the two extension plates, so that the two clamping mouths of the first clamping jaws 2123 face away from the belt The direction of the storage device 10 extends to exhibit the second state. Further, as shown in the direction of the arrow in FIG. 5C , the first gripping arm 212 can follow the setting of the moving rail 211 to grip the strap 16 away from the strap storage device 10 , preferably, the first gripping arm 212 clamps the belt 16 and moves it adjacent to the feeder mechanism 22 Preferably, the first gripping arm 212 grips the strap 16 and moves to a position adjacent to the second gripping arm 213 .

Please refer to FIG. 6A to FIG. 6B , which are schematic diagrams of steps for obtaining one of the straps 16 from the second gripping arm 213 to the first gripping arm 212 . The second gripping arm 213 is mainly used to take the strap 16 away from the strap storage device 10 and displace the strap 16 to at least one of the outer peripheral surfaces corresponding to one or more of the temporary storage disks A. It should be noted that the arrangement of the second gripping arm 213 is not limited, and the strap 16 can also be directly moved to the position adjacent to the tray feeding mechanism 22 only through the first gripping arm 212 .

The arrangement of the second gripping arm 213 can make the overall process of the band binding device 20 smoother and reduce the waiting time between actions. For example, after the second gripping arm 213 grips one of the straps 16, during the movement of the second gripping arm 213, the first gripping arm 212 can simultaneously perform the reset action, and Obtaining another strap 16 from the storage tray 12 doubles the efficiency of the strap tying device 20 .

The structure of the second gripping arm 213 is not limited, and the second gripping arm 213 can also be substantially the same as the first gripping arm 212 . In this embodiment, the second clamping arm 213 includes a second base 2131 , two second rails 2132 and two second clamping jaws 2133 , wherein the second bases 2131 are respectively disposed on the second bases 2131 . Between the rails 2132 and the second clamping jaws 2133 , the second bases 2131 can drive the second clamping jaws 2133 to move along the second rails 2132 respectively.

The two second rails 2132 are aligned in a straight line at intervals, and the straight line is parallel to the straight line formed by the two first clamping jaws 2123 . The two second clamping jaws 2133 can be adjusted according to requirements or corresponding to the length of the strap 16 , so that each of the second bases 2131 moves along the second rail 2132 to adjust the second base 2131 on the two second bases 2131 . The distance between the two jaws 2133. The two second rails 2132 are not limited to be separated, and the two second rails 2132 can also be integrated into a linear rail, so that each of the second bases 2131 can move therein.

The two second clamping jaws 2133 are respectively rotatably disposed on the two second bases 2131 , so that each of the second clamping jaws 2133 can rotate relative to the second base 2131 . The free end of each of the second jaws 2133 also includes a pair of second jaws, and a second jaw opening formed between the second jaws. The size of the second jaw opening is based on the The opening or closing of the second jaw is changed.

In the initial position, the second jaws of each of the second jaws 2133 extend toward the direction of the first clamping arm 212 , and the openings of each of the second jaws are in an open state. At this time, the extending direction of the second clamping nozzle corresponds to the extending direction of the clamping nozzle exhibiting the second state. Preferably, the distance between the two second gripping jaws 2133 is adjusted to be less than or equal to the length of the strap 16 according to the length of the strap 16 held by the first gripping arm 212 .

Referring to FIG. 5C , when the first gripping arm 212 is displaced along the moving track 211 , the first gripping arm 212 moves to a position adjacent to the second gripping arm 213 , so that the other side of the strap 16 is opposite to The long sides can be relatively positioned in the openings of the second clamping nozzles, and the paired second clamping nozzles are respectively located on both sides of the strap 16. Then, the second clamping nozzles can be close to each other to clamp the Drawstring 16. Preferably, the positions of the two second clamping jaws 2133 and the first clamping jaws 2123 for clamping the strap 16 are staggered from each other, so that the first clamping arm 212 and the second clamping arm 213 do not mutually interference.

Next, as shown in FIG. 6B , the two second jaws 2133 together with the strap 16 are rotated 180 degrees relative to the two second bases 2131 , so that the second jaws of the second jaws 2133 face In the direction of the disk feeding mechanism 22, preferably, each of the second clamping jaws 2133 clamps the strap 16 and rotates relative to the second base 2131, so that the strap 16 corresponds to at least one of the more than one temporary storage disk A. On the outer peripheral surface, preferably, each of the second clamping jaws 2133 rotates relative to the second base 2131 , so that the strap 16 corresponds to a bottom surface of one or more temporary storage disks A.

Please refer to FIG. 7A to FIG. 7F , which are schematic diagrams of steps for the binding mechanism 23 to bind one of the straps 16 to the outer periphery of more than one temporary storage disk A. As shown in FIG. The binding mechanism 23 and the tray feeding mechanism 22 are disposed adjacent to each other, and the tray feeding mechanism 22 preferably includes a tray tray member 221 , a tray tray rail 222 and a pressing member 223 .

The tray transporting member 221 can move more than one temporary storage tray A in the tray transporting track 222, so that more than one temporary storage tray A stacked in layers can be transported through the tray traying member 221 to a position corresponding to the second clamping Arm 213. One or more of the temporary storage disks A are stacked and placed on the upper surface of the disk transport member 221, and one end of the more than one temporary storage disk A protrudes from the disk transport member 221, preferably, one or more of the temporary storage disks A are One end protrudes out of the disk tray 221 toward the second gripping arm 213 .

The pressing element 223 can provide a pressure so that more than one temporary storage disk A can be stably stacked on the upper surface of the disk input member 221 to avoid shaking or even collision damage when moving. In this embodiment, the pressing element 223 includes a supporting frame 2231 and a pressing rod 2232 , and the supporting frame 2231 includes at least two supporting rods protruding upward and disposed at intervals on the upper surface of the disc conveying member 221 and connecting two A support rod is parallel to a top plate of the tray input member 221, so that the support frame 2331 is arranged on the tray tray member 221 in a type of ㄇ structure, wherein the distance between at least two of the support rods arranged at intervals is greater than that of one or more of the temporary support rods. The distance between one of the long sides of the storage disk A enables more than one temporary storage disk A to be accommodated in a tray space formed between the support frame 2231 and the disk feeding member 221 . The pressing rod 2232 can be movably penetrated through the top plate, so that one end of the pressing rod 2232 can abut against the upper surface of one or more temporary storage disks A, and provide a pressure to stabilize the stack to place more than one temporary storage disk A. The function of saving disk A.

Referring to FIG. 6B , the binding mechanism 23 includes two automatic arms 231 , and the two automatic arms 231 are respectively disposed on both sides of the tray feeding mechanism 22 and correspond to the second gripping arms 213 . The two automatic arms 231 are not limited in their form. The purpose of the two automatic arms 231 is when the second gripping arm 213 grips the strap 16 and moves to a bottom surface corresponding to one or more of the temporary storage disks A , the two automatic arms 231 can respectively grip the passing end 161 and the free end 162 of one of the straps 16 to the two second clamping jaws 2133 .

As shown in FIG. 7A , the free ends of the two automatic arms 231 both include a rotating base 2311, the free end of the rotating base 2311 defines a plane, and the rotating base 2311 can be rotated based on the plane, so that The plane can be rotated clockwise or counterclockwise. Each of the planes is provided with at least one automatic gripping nozzle 2312, so that the two automatic arms 231 can rotate at least one of the automatic gripping nozzles 2312 through the rotating base 2311, so that they can be used when tying the belt 16 according to requirements. This enables each of the automatic gripping nozzles 2312 to display various angles and directions of gripping the band 16 .

In this embodiment, the two robot arms 231 can be further defined as a first robot arm 231A and a second robot arm 231B. The first automatic arm 231A further includes a pair of a first automatic gripper 2312A and a pair of a second automatic gripper 2312B, and the first automatic gripper 2312A and the second automatic gripper 2312B are respectively The constituted clamping directions are perpendicular to each other. The distance between the first automatic clamping nozzle 2312A and the second automatic clamping nozzle 2312B is not limited. In this embodiment, the first automatic clamping nozzle 2312A and the second automatic clamping nozzle 2312B are disposed adjacent to each other.

The second automatic arm 231B includes a pair of a third automatic gripper nozzle 2312C and a pair of a fourth automatic gripper nozzle 2312D, wherein the pair of the third automatic gripper nozzles 2312C constitute two corresponding to each other The clamping surface 2313 has a surface corresponding to the concavity and convexity. For example, the two clamping surfaces 2313 are formed with a convexity corresponding to a curved surface toward the extending direction thereof. In this embodiment, a V-shaped bump protrudes from one of the clamping surfaces 2313 of the third automatic clamping nozzle 2312C. The clamping surface 2313 is concave with a V-shaped groove inward, and the V-shaped protrusion and the V-shaped groove structure are engaged with each other.

When the first automatic arm 231A and the second automatic arm 231B respectively want to grip the passing end 161 and the free end 162 of the strap 16 on the second gripping arm 213, the first automatic arm 231A And the second gripping arm 213 uses the first automatic gripping nozzle 2312A and the third automatic gripping nozzle 2312C to grip the passing end 161 and the free end 162 respectively, wherein the first automatic arm 231A grips the The connection between the strap 16 and the metal ring 163 makes the metal ring 163 pass through the first automatic The arm 231A is clamped and fixed, and will not swing and move at will. When the second automatic arm 231A clamps the free end 162, the free end 162 of the strap 16 is partially exposed, forming a bare section 164, and the two clamping surfaces 2313 corresponding to the concave and convex, so that the strap 16 can be Correspondingly, the two clamping surfaces 2313 are clamped to form a V-shaped concave curvature in the direction of the relative short side of the exposed section 164 .

Then, the first automatic arm 231A and the second automatic arm 231B respectively drive the passing end 161 and the free end 162 of the strap 16 to move toward a top surface of the temporary storage disk A, so that the strap 16 can to surround the scratch disk A with the bottom facing upward. At this time, the first automatic clamping nozzle 2312A clamps the metal ring 163 and makes it stand upright, and the third automatic clamping nozzle 2312C clamps the bare section 164 to level and align the metal ring 163. 16 corresponds to the clamping of the two clamping surfaces 2313 to form a V-shaped concave curvature, so that the exposed section 164 has a structural strength, so that the metal ring 163 cannot be aligned with the metal ring 163 due to sagging and bending when it is horizontal.

Please refer to FIG. 7B and FIG. 7C , after the second automatic arm 231B drives the exposed section 164 to penetrate the metal ring 163 , the first automatic arm 231A releases the strap 16 , and because the exposed section 164 has the structural strength, So that the bare section 164 can support the metal ring 163 to hang in it. Next, the first robotic arm 231A grips the bare segment 164 with its second automatic gripping nozzle 2312B, and the third automatic gripping nozzle 2312C releases the strap 16 . The first automatic arm 231A then drives the free end 162 to move toward the position of the first automatic arm 231A.

Preferably, there is an angular relationship D between the extending direction of the free end 162 and the top surface of the temporary storage disk A, and the angle is between 10 degrees and 60 degrees. The belt 16 is gradually encircled and fitted around the ring of the temporary storage disk A by the driving and displacement of the first automatic arm 231A, and also because of the angular relationship D between the extension direction of the free end 162 and the top surface, so that The metal ring 163 is close to the top surface of the temporary storage disk A. Preferably, the metal ring 163 abuts against the side where the top surface is connected to the side surface of one of the rings. Wherein, the second automatic clamping nozzle 2312B presents a first clamping angle B when clamping the exposed segment 164, and the first clamping The angle and direction of the angle B are not limited, and the formation of the first clamping angle B helps the first automatic arm 231A to give the strap 16 a tension, so that the strap 16 gradually adheres to and surrounds the temporary storage disk A.

Referring to FIG. 7D , the second automatic arm 231B uses the fourth automatic gripping nozzle 2312D to grip the bare section 164 , and the second automatic gripping nozzle 2312B releases the strap 16 . At this time, the angular relationship D between the extending direction of the free end 162 and the top surface of the temporary storage disk A is between 0 degrees and 30 degrees. Similarly, the fourth automatic gripping nozzle 2312D presents a second gripping angle C when gripping the bare segment 164, and gives the strap 16 the tension to ensure that the strap 16 adheres to and tightly binds the temporary storage disk A. around the ring. It should also be reflected that the angular relationship D approaches 0, the metal ring 163 abuts between the top surface of the temporary storage disk A and one of the side surfaces of the ring, or the metal ring 163 abuts against the temporary storage disk A. One of the ring sides.

Next, please refer to FIG. 7E and FIG. 7F , the fourth automatic clamping nozzle 2312D clamps the exposed section 164 and drives the free end 162 to move toward the position of the second automatic arm 231B. At this time, the strap 16 is attached to and tightened the temporary storage disk A, so the free end 162 can use the metal ring 163 as a fulcrum to drive and displace through the second automatic arm 231B, and also because the metal ring 163 is against the Between the top surface and one of the side surfaces of the ring (or against one of the side surfaces of the ring), so that the metal ring 163 or the connection between the strap 16 and the metal ring 163 can be used as an abutting area , to prevent the band 16 bound on the peripheral surface of the temporary storage disk A from rotating relative to the temporary storage disk A along with the moving direction of the second automatic arm 231B.

Preferably, when the fourth automatic clamping nozzle 2312D is displaced, there is still the second clamping angle C between the fourth automatic clamping nozzle 2312D and the exposed section 164 , giving the strap 16 the tension. Finally, the second automatic arm 231B drives the free end 162 to move toward the passing end 161 , and makes use of the devil felt structure on the surface of the strap 16 to bond the free end 162 and the passing end 161 to each other to complete the The strap 16 is wrapped around the step of tying to one or more of the temporary storage disks A. As shown in FIG.

The control system is connected to the strap storage device 10 and the strap binding device 20 , and the control system can select one of the storage devices to be placed in the strap storage device 10 according to the size of the circumferential surface of more than one temporary storage disk A disc 12 and one of the straps 16, and depending on the length of the strap 16, Adjusting the distance between the two gripping claws on the gripping mechanism 21 and a movement track of the two automatic arms 231 when the strap 16 is tied, so that the present invention can achieve the effect of automation. The control system can be set on a computer, so that an operator can also set or check the control system through the computer as required.

Preferably, the control system can effectively control and manage the usage status of each strap 16 through the principle of radio frequency identification (RFID). The control system includes a data recording center, at least one detector, and more than one radio frequency identification device, wherein the belts 16 , the vicinity of the grooves 123 or the storage disks 12 can be selectively arranged There is the radio frequency identification device (RFID), and the detector is optionally provided on the grabbing unit 143 , the gripping mechanism 21 or the binding mechanism 23 . In this way, each of the RFID devices can be detected by the detector, and a detection result can be transmitted to the data recording center to record the usage status of each of the straps 16 and/or each of the storage disks 12 .

For example. When the control system selects the size of the strap 16 to be used according to the circumferential surface of more than one temporary storage disk A, the control system can select the storage disk 12 on which the strap 16 of the corresponding size is placed through the data recording center , and confirm that the storage disk 12 is placed in the area of the accommodating space 11 . Then, the control system gives a command to drive the corresponding lifting unit 13 to move the storage disk 12, and instruct the grab unit 143 to move to the corresponding position. The detector of the grabbing unit 143 can detect the radio frequency identification device located in the storage disk 12, so that the control system can record and update the usage status of the storage disk 12 in real time, and at the same time compare whether it matches the instruction match.

When the storage tray 12 moves to the output end 1511 of the output track 151 , the clamping mechanism 21 clamps the selected strap 16 on the storage tray 12 according to the instruction, and transmits it to the binding mechanism 23 for execution The step of tying the strap 16. At the same time, the detector of the gripping mechanism 21 and/or the binding mechanism 23 can detect the radio frequency identification device located in the strap 16 and/or the groove 123, so that The control system can instantly update the use status of the strap 16 or whether the groove 123 is in an idle state, and at the same time compare whether the size of the strap 16 conforms to the command.

In the present invention, the strap binding device 20 is not limited to be used only for binding the strap 16 to more than one outer periphery of the temporary storage disk A, and the strap binding device 20 can also perform binding on more than one temporary storage disk A. The band 16 on the outer periphery of the save disk A is removed. The command given by the control system causes the strap binding device 20 to remove the strap 16 using the automatic arm 231 and transmit it to the gripping mechanism 21. During the process, the gripping mechanism 21 and/or Or the detector of the binding mechanism 23 can detect the radio frequency identification device located on the strap 16 so that the size of the strap 16 can be identified.

Then the control system can select the storage disk 12 and the groove 123 of the corresponding size according to the records of the data recording center, and give the command to move the storage disk 12 to the output end 1511 of the output track 151, At the same time, the detector can detect the radio frequency identification device located on the storage disk 12 and the groove 123 during the movement of the storage disk 12, so as to effectively confirm whether the storage disk 12 conforms to the command and whether the groove 123 is in an idle state. Finally, when the clamping mechanism 21 places the strap 16 in the selected groove 123 according to the instruction, the detector transmits the detection result, so that the control system can update the storage disk 12 and the groove 123 and the usage status of the strap 16 .

10: Strap storage device

10A: Body

11: accommodating space

12: Storage Disk

132: Lifting base

141: First Grab Track

141A: Second Grab Track

142: Grab Pieces

15: Output unit

20: Belt binding device

21: Clamping mechanism

22: Dispensing mechanism

23: Binding mechanism

Claims (10)

A belt binding device, comprising: at least one gripping mechanism, the gripping mechanism can selectively grip one of the straps and move toward an unloading mechanism; The tray feeding mechanism transports one or more temporary storage trays placed in layers into the strap tying device; and A binding mechanism obtains the binding belt from the clamping mechanism, and binds the binding belt on the outer periphery of one or more temporary storage disks. The strap binding device according to claim 1, wherein the gripping mechanism grips the strap and moves it to a position adjacent to the tray feeding mechanism, the strap position corresponds to one of the outer peripheral surfaces of the one or more temporary storage disks, and the clip The picking mechanism includes a moving track and a first gripping arm that can move along the moving track, the first gripping arm is positioned above a storage tray, and selectively grips one of the straps on the storage tray, Wherein, the direction of a relatively short side of the band is perpendicular to the storage tray. The belt binding device as claimed in claim 2, the tray feeding mechanism comprises: A disk feeding member, on which more than one temporary storage disk is stacked, and the more than one temporary storage disk associated with the disk feeding member moves along a disk feeding track, and one end of the more than one temporary storage disk faces the clamping the direction of the mechanism protrudes from the tray; and a pressing element, the pressing element provides a pressure on the upper surface of more than one temporary storage disk, and the pressing element comprises: a support frame, the support frame is arranged on the disk transport member in a type of U-shaped structure, so that more than one temporary storage disk can be accommodated between the support frame and the disk transport member; and A pressing rod is movably penetrated in the support frame, and one end of the pressing rod can selectively abut against the upper surface of one or more temporary storage disks. The strap binding device according to claim 3, the strapping mechanism includes two automatic arms, the two automatic arms are respectively connected to the gripping mechanism to grip two ends of one of the straps, and the two automatic arms Each of the free ends includes a rotating base, and the free end of the rotating base is provided with at least one automatic clamping nozzle, so that the two automatic arms can respectively rotate at least one of the automatic clamps clockwise or counterclockwise through the rotating base. mouth. The belt binding device as claimed in claim 4, wherein one of the automatic arms includes a first automatic gripping nozzle and a second automatic gripping nozzle, and the first automatic gripping nozzle and the second automatic gripping nozzle are respectively The constituted clamping directions are perpendicular to each other. The belt binding device according to claim 4, wherein one of the automatic arms includes a third automatic clamping nozzle, the third automatic clamping nozzle is formed with two clamping surfaces corresponding to each other, and the two clamping surfaces are concave and convex correspond. According to the belt binding device of claim 6, a V-shaped projection protrudes from one of the clamping surfaces of the third automatic clamping nozzle, and the inclined surfaces formed on both sides of the V-shaped projection are along the extension direction of the clamping surface The other clamping surface is concave with a V-shaped groove, and the V-shaped convex block and the V-shaped groove structure are engaged with each other. The strap binding device of any one of claims 2 to 7, the first gripping arm comprising: A length extension device, the length extension device is parallel to a relative long side direction of the belt, both ends of the length extension device are respectively provided with a first clamping claw, the length extension device can adjust the two first clamps the distance between the claws; and The length extension device and each of the first clamping jaws are provided with an extension plate, and the two first clamping jaws can rotate relative to the two extension plates, and move toward or away from the storage tray along the extension plates, wherein the two The first clamping jaws respectively clamp both ends of one of the straps. The strap binding device according to any one of claims 1 to 7, wherein the gripping mechanism comprises a second gripping arm, and the second gripping arm obtains one of the straps from the first gripping arm , and displace the strap to a bottom surface corresponding to one or more of the temporary storage disks, the second gripping arm includes: Two second bases, the two second bases are respectively rotatably provided with second clamping jaws, and each of the second clamping jaws respectively clamps two ends of one of the straps; and A second rail is arranged in parallel with the two first clamping jaws, and each of the second bases can be displaced along the second rail to drive each of the second clamping jaws to move. According to the strap binding device of claim 9, the two second rails are aligned in a straight line and spaced apart, and each of the second bases moves along the second rails to adjust the distance between the second jaws. distance.

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