TWI823407B - Three-axis arm automation equipment - Google Patents

Abstract

A three-axis arm automation equipment includes at least one plate conveying mechanism, one three-axis robotic arm, one lifting device, at least one carrier conveying mechanism and at least one NG temporary storage mechanism. The three-axis robotic arm is disposed on the lifting device and can be used to support boards. The three-axis robotic arm can drive the boards to move horizontally, and the lifting device drives the three-axis robotic arm and the boards to move up and down, so that the boards can move between various mechanisms of a device. The NG temporary storage mechanism can be used to temporarily store NG boards. Therefore, the generation of wear debris can be reduced through a manner of a plate connection method, and the three-axis robot arm can reduce the occupied space and have a better availability. In addition, at least one exchange expansion device can also be provided to expand temporary storage carriers.

Description

Three-axis arm automation equipment

The invention relates to a three-axis arm automation equipment, in particular to a three-axis arm automation equipment that can pick up and place panels on a carrier.

The manufacturing process of copper foil substrates (boards) is relatively complicated, so automated transportation is used. Carriers (frames) can be used for transportation between processes. However, during the transfer process of boards, it is easy to generate wear debris, which in turn generates dust particles. Contamination, and the conventional pick-and-place mechanism takes up more space, and the transfer speed is slow, making it difficult to obtain a better utilization rate.

The technical problem to be solved by the present invention is to provide a three-axis arm automation equipment in view of the shortcomings of the existing technology. By utilizing its plate connection method, the generation of wear debris can be reduced, and the three-axis robotic arm can reduce the occupied space and obtain better results. utilization rate.

In order to solve the above technical problems, the present invention provides a three-axis arm automation equipment, including at least one plate conveying mechanism, which can be used to input or output plates; a three-axis robotic arm, the three-axis robotic arm Can support and move the plate; a lifting device, the three-axis robotic arm is arranged on the lifting device, the lifting device can drive the three-axis robotic arm to lift; at least one carrier transport mechanism, the carrier transport mechanism can use In the input or output carrier, the three-axis robotic arm is disposed between the plate conveying mechanism and the carrier conveying mechanism, and the three-axis robotic arm can take the plate from the carrier to the plate conveying mechanism, Or take the plate from the plate conveying mechanism to the carrier; and at least one NG temporary storage mechanism, the NG temporary storage mechanism is arranged at the interval of the plate conveying mechanism, and the three-axis robot arm can transfer the NG plate The files are placed in the NG temporary storage facility.

Preferably, the carrier transport mechanism is provided with two or more. When the plates of one of the carriers are taken out, they are exchanged for the plates of the other carrier. When one of the carriers is After the panels are filled, the panels are placed on another carrier to achieve continuous production.

Preferably, the three-axis robotic arm has a load-bearing end that can support the plate. The load-bearing end is provided with a plurality of suction cups that can absorb and fix the plate.

The beneficial effect of the present invention is that the three-axis arm automation equipment provided by the present invention includes at least one plate conveying mechanism, a three-axis robotic arm, a lifting device, at least one carrier conveying mechanism and at least one NG temporary storage mechanism. The plate conveying mechanism can be used to input or output plates. The three-axis robotic arm can be used to support the moving plates. The carrier conveying mechanism can be used to input or output the carrier. The three-axis robotic arm can move the plates from the carrier. Take it to the panel conveying mechanism, or take the panels from the panel conveying mechanism to the carrier. The three-axis robot arm can also place the NG panels in the NG temporary storage mechanism. The three-axis mechanical arm of the present invention moves plates in a supporting manner, and uses its plate-connecting method to reduce the generation of wear debris, and the three-axis robotic arm can reduce the occupied space and allow the plates to move between various mechanisms of the equipment, thereby enabling Get better utilization rate.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and illustration and are not used to limit the present invention.

The following is a description of the relevant implementation modes disclosed in the present invention through specific specific examples. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depictions based on actual dimensions, as is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of the present invention. In addition, the term "or" used in this article shall include any one or combination of more of the associated listed items depending on the actual situation.

[First Embodiment]

Referring to Figures 1 to 4, the present invention provides a three-axis arm automation equipment, including at least one plate conveying mechanism 1, a three-axis robotic arm 2, a lifting device 3, at least one carrier conveying mechanism 4 and at least one NG The temporary storage mechanism 5 and the above-mentioned components can be arranged in a frame 10 .

The plate conveying mechanism 1 can be a roller conveying device or other types of conveying devices. The structure of the plate conveying mechanism 1 is not limited. The plate conveying mechanism 1 can be used to input or output the plates 200 . The plate conveying mechanism 1 of this embodiment is monorail conveying.

The lifting device 3 can be disposed at an interval on one side of the plate conveying mechanism 1. The structure of the lifting device 3 is not limited and can be any existing lifting mechanism. The three-axis robotic arm 2 is installed on a lifting device 3. The lifting device 3 can drive the three-axis robotic arm 2 to rise and fall, so that the three-axis robotic arm 2 can rise or fall to a predetermined height, so that the three-axis robotic arm 2 can To pick and place the panel 200, the three-axis robot arm 2 can be used to support the panel 200. The three-axis robot arm 2 can drive the panel 200 to move horizontally, and the lifting device 3 can drive the three-axis robot arm 2 and the panel 200 to lift. Movement enables the plate 200 to move between various mechanisms of the equipment.

The three-axis robot arm 2 may have a carrying end 21 (as shown in FIG. 1 ), so that the carrying end 21 can be used to support the plate 200 , and the carrying end 21 may be provided with a plurality of suction cups 22 , and the plate 200 may be placed on Above the carrying end 21, the suction cups 22 are used to vacuum and adsorb and fix. The three-axis robotic arm 2 of the present invention uses a support method to carry the plate 200, which can reduce the generation of wear debris and reduce the pollution caused by dust particles.

One or more carrier conveying mechanisms 4 may be provided. In this embodiment, two or more carrier conveying mechanisms 4 are provided to enable continuous production. The carrier conveying mechanism 4 can be a roller conveying device or other types of conveying devices. The structure of the carrier conveying mechanism 4 is not limited. The carrier conveying mechanism 4 can be used to input or output the carrier 100. Preferably, the carrier Two or more carrier conveying mechanisms 4 are provided, and these carrier conveying mechanisms individually input or output carriers. The three-axis robot arm 2 is disposed between the plate conveying mechanism 1 and the carrier conveying mechanism 4 . The conveying direction of the plate conveying mechanism 1 and the conveying direction of the carrier conveying mechanism 4 can be parallel to each other or perpendicular to each other. In this embodiment, the conveying directions of the plate conveying mechanism 1 and the conveying direction of the carrier conveying mechanism 4 are parallel to each other.

The NG temporary storage mechanism 5 can be used to place NG panels 200 to provide a temporary storage function for the NG panels 200. The NG temporary storage mechanism 5 can be disposed above one side of the panel conveying mechanism 1. The three-axis The robotic arm 2 can be located between the plate conveying mechanism 1 , the carrier conveying mechanism 4 and the NG temporary storage mechanism 5 . Preferably, the NG temporary storage mechanism 5 has a plurality of accommodating slots 51 (as shown in Figure 1). The accommodating slots 51 are arranged at intervals, and the NG plate 200 is inserted into the accommodating slots 51 in a horizontal shape. middle. The panels 200 on the panel conveying mechanism 1 and the panels 200 on the carrier 100 are also horizontal, so that the NG panels 200 can be quickly placed in the NG temporary storage mechanism 5 without affecting subsequent panels. 200 pick and place action.

In the plate placing mode of this embodiment, personnel can put the carrier 100 into the carrier conveying mechanism 4. After the positioning of the carrier 100 is completed, the three-axis robot arm 2 takes the plate 200 from the carrier 100 to the plate conveyor. Mechanism 1, the material is discharged after the whole board (beating board) is completed. After the panels 200 of one of the carriers 100 are taken out, they are exchanged for the panels 200 of another carrier 100 to achieve continuous production.

In the plate collection mode of this embodiment, after the plate 200 is fed into the plate conveying mechanism 1 and the whole plate is completed, the three-axis robot arm 2 takes the plate 200 into the carrier 100. When one of the carriers 100 is full After the plate 200, the plate 200 is replaced with another carrier 100 to achieve continuous production.

[Second Embodiment]

Referring to Figures 5 to 8, this embodiment provides a three-axis arm automation equipment, including at least one plate conveying mechanism 1, a three-axis robotic arm 2, a lifting device 3, at least one carrier conveying mechanism 4 and at least one NG staging facility 5. The structure of this embodiment is roughly the same as that of the above-mentioned first embodiment, and the main difference lies in that the plate conveying mechanism 1 of this embodiment is a monorail conveyor and can transfer plates. The plate conveying mechanism 1 is a rotating plate conveying mechanism, which can mount the top plate 200 and rotate 180 degrees, thereby providing the function of a rotating plate. The rotating plate conveying mechanism can be an existing device, and the present invention does not limit the structure of the rotating plate conveying mechanism, so it will not be described again.

In the plate placing mode of this embodiment, personnel can put the carrier 100 into the carrier conveying mechanism 4. After the positioning of the carrier 100 is completed, the three-axis robot arm 2 takes the plate 200 from the carrier 100 to the plate conveyor. Mechanism 1: After the top is lifted, the plate is rotated (180 degrees), and after the whole plate (clapper) is completed, it is lowered back to the conveyor to discharge the material. After the panels 200 of one of the carriers 100 are taken out, they are exchanged for the panels 200 of another carrier 100 to achieve continuous production.

In the plate closing mode of this embodiment, the plate 200 is fed into the plate conveying mechanism 1. After being pushed up, the plate is rotated (180 degrees), and after the whole plate (clapper) is completed, it is lowered back to the conveyor. The three-axis machine The arm 2 takes the panel 200 into the carrier 100. When one of the carriers 100 is filled with panels 200, the panel 200 is replaced with another carrier 100 to achieve continuous production.

[Third Embodiment]

Referring to Figures 9 to 12, this embodiment provides a three-axis arm automation equipment, including at least one plate conveying mechanism 1, a three-axis robotic arm 2, a lifting device 3, at least one carrier conveying mechanism 4, and at least one NG temporary storage mechanism 5 and at least one switching expansion device 6 . The structure of this embodiment is roughly the same as that of the above-mentioned first embodiment. The main difference lies in that the plate conveying mechanism 1 of this embodiment is a double-track conveyor. That is, there are two plate conveying mechanisms 1, which can increase the number of plates 200. transport volume. This embodiment is further provided with a switching expansion device 6. One or more of the switching expansion devices 6 can be provided. In this embodiment, there are multiple switching expansion devices 6, which can expand the temporary storage of more carriers 100. . The exchange and expansion device 6 can be disposed on the side of the carrier transport mechanism 4 away from the three-axis robot arm 2 , that is, the carrier transport mechanism 4 is disposed between the three-axis robot arm 2 and the exchange and expansion device 6 .

The switching expansion device 6 has a storage compartment 61 (as shown in Figure 9). The storage compartment 61 is a temporary storage compartment. The storage compartment 61 is connected to a driving device 62. The driving device 62 can be a cylinder or other device. The driving device 62 can drive the storage compartment 61 to rise and fall, so that the storage compartment 61 can move up or down, so that the empty storage compartment 61 can be used to temporarily store the carrier 100.

In the plate placing mode of this embodiment, personnel can put the carrier 100 into the carrier conveying mechanism 4. After the positioning of the carrier 100 is completed, the three-axis robot arm 2 takes the plate 200 from the carrier 100 to the plate conveyor. Mechanism 1, the material is discharged after the whole board (beating board) is completed. After the panels 200 of one of the carriers 100 are taken out, they are exchanged for the panels 200 of another carrier 100 to achieve continuous production.

In the plate collection mode of this embodiment, after the plate 200 is fed into the plate conveying mechanism 1 and the whole plate is completed, the three-axis robot arm 2 takes the plate 200 into the carrier 100. When one of the carriers 100 is full After the plate 200, the plate 200 is replaced with another carrier 100 to achieve continuous production.

In the expansion mode of this embodiment, personnel can put the carrier 100 into the exchange expansion device 6 and move the storage cell 61 up or down to select an empty storage cell 61, and then the transfer of the carrier 100 with the retractable plate is completed in the machine. Go to the empty storage compartment 61, and then move the storage compartment 61 up or down to send the vehicle 100 that the person has just placed into the machine.

[Fourth Embodiment]

Referring to Figures 13 to 16, this embodiment provides a three-axis arm automation equipment, including at least one plate conveying mechanism 1, a three-axis robotic arm 2, a lifting device 3, at least one carrier conveying mechanism 4, at least one NG temporary storage mechanism 5 and at least one switching expansion device 6 . The structure of this embodiment is roughly the same as that of the above-mentioned third embodiment. The main difference lies in that the plate conveying mechanism 1 of this embodiment is a rotating plate conveying mechanism, which can mount the top plate 200 and rotate 90 degrees, thereby providing a rotating plate. board functions.

In the plate placing mode of this embodiment, personnel can put the carrier 100 into the carrier conveying mechanism 4. After the positioning of the carrier 100 is completed, the three-axis robot arm 2 takes the plate from the carrier 100 to the plate conveying mechanism. 1. Discharge the material after the whole board (beating board) is completed. After the panels 200 of one of the carriers 100 are taken out, they are exchanged for the panels 200 of another carrier 100 to achieve continuous production.

In the plate collection mode of this embodiment, after the plate 200 is fed into the plate conveying mechanism 1 and the whole plate is completed, the three-axis robot arm 2 takes the plate 200 into the carrier 100. When one of the carriers 100 is full After the plate 200, the plate 200 is replaced with another carrier 100 to achieve continuous production.

In the expansion mode of this embodiment, personnel can put the carrier 100 into the exchange expansion device 6 and move the storage cell 61 up or down to select an empty storage cell 61, and then the transfer of the carrier 100 with the retractable plate is completed in the machine. Go to the empty storage compartment 61, and then move the storage compartment 61 up or down to send the vehicle 100 that the person has just placed into the machine.

[Beneficial effects of the embodiment]

The beneficial effect of the present invention is that the three-axis arm automation equipment provided by the present invention includes at least one plate conveying mechanism, a three-axis robotic arm, a lifting device, at least one carrier conveying mechanism and at least one NG temporary storage mechanism. The plate conveying mechanism can be used to input or output plates. The three-axis robotic arm can be used to support the moving plates. The carrier conveying mechanism can be used to input or output the carrier. The three-axis robotic arm can move the plates from the carrier. Take it to the panel conveying mechanism, or take the panels from the panel conveying mechanism to the carrier. The three-axis robot arm can also place the NG panels in the NG temporary storage mechanism. The three-axis mechanical arm of the present invention moves plates in a supporting manner, and uses its plate-connecting method to reduce the generation of wear debris, and the three-axis robotic arm can reduce the occupied space and allow the plates to move between various mechanisms of the equipment, thereby enabling Get better utilization rate.

The contents disclosed above are only preferred and feasible embodiments of the present invention, and do not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

1:Plate conveying mechanism

2: Three-axis robotic arm

21: Bearing end

22:Suction cup

3: Lifting device

4:Vehicle conveying mechanism

5:NG temporary storage institution

51: Accommodation tank

6:Exchange expansion device

61: Storage cell

62:Driving device

10:Rack

100:Vehicle

200:Plate

Figure 1 is a front view of a three-axis arm automation device according to the first embodiment of the present invention.

Figure 2 is a side view of the three-axis arm automation equipment according to the first embodiment of the present invention.

Figure 3 is a top view of the three-axis arm automation equipment according to the first embodiment of the present invention.

Figure 4 is a schematic diagram of the operation of the three-axis arm automation equipment according to the first embodiment of the present invention.

Figure 5 is a front view of the three-axis arm automation equipment according to the second embodiment of the present invention.

Figure 6 is a side view of the three-axis arm automation equipment according to the second embodiment of the present invention.

Figure 7 is a top view of the three-axis arm automation equipment according to the second embodiment of the present invention.

Figure 8 is a schematic diagram of the operation of the three-axis arm automation equipment according to the second embodiment of the present invention.

Figure 9 is a front view of the three-axis arm automation equipment according to the third embodiment of the present invention.

Figure 10 is a side view of the three-axis arm automation equipment according to the third embodiment of the present invention.

Figure 11 is a top view of the three-axis arm automation equipment according to the third embodiment of the present invention.

Figure 12 is a schematic diagram of the operation of the three-axis arm automation equipment according to the third embodiment of the present invention.

Figure 13 is a front view of the three-axis arm automation equipment according to the fourth embodiment of the present invention.

Figure 14 is a side view of the three-axis arm automation equipment according to the fourth embodiment of the present invention.

Figure 15 is a top view of the three-axis arm automation equipment according to the fourth embodiment of the present invention.

Figure 16 is a schematic diagram of the operation of the three-axis arm automation equipment according to the fourth embodiment of the present invention.

1:Plate conveying mechanism

2: Three-axis robotic arm

21: Bearing end

22:Suction cup

3: Lifting device

4:Vehicle conveying mechanism

5:NG temporary storage institution

51: Accommodation tank

10:Rack

100:Vehicle

200:Plate

Claims (10)

A three-axis arm automation equipment, including: at least one plate conveying mechanism, the plate conveying mechanism can be used to input or output the plate; a three-axis mechanical arm, the three-axis mechanical arm can support and transfer the plate, the The three-axis robot arm has a load-bearing end, and the plate can be placed above the load-bearing end, and the load-bearing end supports the plate; a lifting device, the three-axis robot arm is arranged on the lifting device, and the lifting device can drive The three-axis robot arm lifts and lowers; at least one carrier transport mechanism can be used to input or output the carrier, the three-axis robot arm is disposed between the plate transport mechanism and the carrier transport mechanism, the The three-axis robot arm can take the plate from the carrier to the plate conveying mechanism, or take the plate from the plate conveying mechanism to the carrier; and at least one NG temporary storage mechanism, the NG temporary storage The mechanism is arranged at the interval of the plate conveying mechanism, and the three-axis robot arm can place NG plates in the NG temporary storage mechanism. The three-axis arm automation equipment as described in claim 1, wherein the carrier transport mechanism is provided with two or more, and these carrier transport mechanisms individually input or output the carrier. When the plate of one of the carriers After the pieces are picked up, the plates are exchanged for the plates of another carrier. When one of the carriers is full of plates, the plates are replaced with another carrier to achieve continuous production. As for the three-axis arm automation equipment of claim 1, the carrying end is provided with a plurality of suction cups, and these suction cups can adsorb and fix the plate. The three-axis arm automation equipment as described in claim 1, wherein the plate conveying mechanism is a rotating plate conveying mechanism, which can rotate the plate 180 degrees or 90 degrees to provide the function of a rotating plate. The three-axis arm automation equipment as claimed in claim 1 further includes at least one exchange expansion device, which has a storage compartment and can be used to temporarily store the carrier. The three-axis arm automation equipment as described in claim 5, wherein the storage compartment is connected to a driving device, and the driving device can drive the storage compartment up and down to select an empty storage compartment to temporarily store the carrier. The three-axis arm automation equipment of claim 5, wherein the carrier transport mechanism is disposed between the three-axis robotic arm and the exchange expansion device. The three-axis arm automation equipment as described in claim 1, wherein the NG temporary storage mechanism has a plurality of accommodation slots, the accommodation slots are arranged at intervals, and the NG plate is horizontally inserted into the accommodation. In the groove, the plates on the plate conveying mechanism and the plates on the carrier are horizontal. The three-axis arm automation equipment as claimed in claim 1, wherein two plate conveying mechanisms are provided to form a double-track conveying. The three-axis arm automation equipment of claim 1, wherein the conveying direction of the plate conveying mechanism and the conveying direction of the carrier conveying mechanism are parallel to or perpendicular to each other.

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