TWI850895B - Receiving and placing machine and transferring mechanism - Google Patents

Abstract

A receiving and placing machine that is used for transferring plates includes a loading port, a transferring mechanism and a conveying mechanism. An object container can be transported to the loading port and the transferring mechanism is disposed between the loading port and the conveying mechanism. The transferring mechanism can deliver the plates from the object container to the conveying mechanism, or deliver the plates from the conveying mechanism to the object container. As a result, automated production can be facilitated and the production efficiency can be improved. The transferring mechanism includes a lifting device, a three-axis robotic arm and a bearing member. The three-axis robotic arm is disposed on the lifting device that can drive the three-axis robotic arm to lift and move. The three-axis robotic arm uses three power sources and three axes operate independently, and the bearing member is connected to the three-axis robotic arm that can be used to carry and move the plates.

Description

Retractable plate mechanism and transfer mechanism

The present invention relates to an EFEM and a transfer mechanism, and in particular to an EFEM and a transfer mechanism that can be used for transferring panels.

The EFEM can be used to transfer panels. The EFEM can use a robot to move panels. However, the existing EFEM and robot have poor production lines and are often difficult to achieve automated production, making it difficult to improve production efficiency.

The technical problem to be solved by the present invention is to provide a plate retracting and releasing mechanism and a transfer mechanism to address the deficiencies of the prior art, which can facilitate automated production and improve production efficiency.

In order to solve the above technical problems, the present invention provides a plate retracting mechanism for transferring plates, the plate retracting mechanism comprising: a loading port, the loading port can be used to temporarily store an object container, the object container can be used to accommodate the plate; a transfer mechanism, the transfer mechanism comprising a lifting device, a three-axis robot arm and a bearing member, the three-axis robot arm is arranged on the lifting device, and the lifting device can drive the three-axis robot arm The three-axis robot arm includes a base, a first support, a second support, and a second support. The three-axis robot arm includes a base, a first support, a second support, and a second support. The three-axis robot arm includes a base, a first support, and a second support. An arm body, a second arm body, a first power source, a first transmission group, a second power source, a second transmission group, a third power source and a third transmission group, the base is connected to the lifting device, the first arm body can rotate relative to the base, the second arm body can rotate relative to the first arm body, an operating end is set at one end of the second arm body for connecting the carrier, the operating end is rotatably set on the second arm body, the first power source and the first transmission group are set in the base, the first transmission group is connected between the first power source and the first arm body, the second power source and the second transmission group are set in the first arm body, the second transmission group is connected between the second power source and the second arm body, the third power source and the third transmission group are set in the second arm body, and the third transmission group is connected between the third power source and the operating end.

In order to solve the above technical problems, the present invention provides a transfer mechanism, comprising: a lifting device; a three-axis robot arm, the three-axis robot arm is arranged on the lifting device, and the lifting device can drive the three-axis robot arm to move up and down; and a bearing member, the bearing member is connected to the three-axis robot arm; wherein the three-axis robot arm includes a base, a first arm body, a second arm body, a first power source, a first transmission group, a second power source, a second transmission group, a third power source and a third transmission group, the base is connected to the lifting device, the first arm body can rotate relative to the base, The second arm body can rotate relative to the first arm body. An operating end is set at one end of the second arm body for connecting to the supporting member. The operating end is rotatably set on the second arm body. The first power source and the first transmission group are set in the base, and the first transmission group is connected between the first power source and the first arm body. The second power source and the second transmission group are set in the first arm body, and the second transmission group is connected between the second power source and the second arm body. The third power source and the third transmission group are set in the second arm body, and the third transmission group is connected between the third power source and the operating end.

The beneficial effect of the present invention lies in that the plate retracting and unretracting mechanism and the transfer mechanism provided by the present invention include a loading port, a transfer mechanism and a conveying mechanism. The object container can be conveyed to the loading port, the transfer mechanism is arranged between the loading port and the conveying mechanism, and the transfer mechanism can move the plate in the object container to the conveying mechanism, or move the plate on the conveying mechanism to the object container, which has a better production line, can facilitate automated production, and improve production efficiency. The transfer mechanism includes a lifting device, a three-axis robot arm and a bearing member. The three-axis robot arm is arranged on the lifting device. The lifting device can drive the three-axis robot arm to move up and down. The three-axis robot arm includes a base, a first arm body, a second arm body, a first power source, a first transmission group, a second power source, a second transmission group, a third power source and a third transmission group. The first power source and the first transmission group are arranged in the base, the first transmission group is connected between the first power source and the first arm body, the second power source and the second transmission group are arranged in the first arm body, the second transmission group is connected between the second power source and the second arm body, the third power source and the third transmission group are arranged in the second arm body, and the third transmission group is connected between the third power source and the operating end. The three-axis robot uses three power sources to operate independently, which can improve transmission accuracy, facilitate automated production, and improve production efficiency.

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

The following is an explanation of the relevant implementation methods disclosed by the present invention through specific concrete embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways 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 depicted according to actual sizes. Please note in advance. The following implementation methods will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention. In addition, the term "or" used in this article may include any one or more combinations of the related listed items depending on the actual situation.

[Example]

Please refer to FIG. 1 and FIG. 3 , the present invention provides a plate retracting and releasing mechanism, including a loading port 1 , a transfer mechanism 2 and a conveying mechanism 3 .

The loading port 1 can be used to temporarily store an object container 100, which can accommodate a plate 200. After the object container 100 is transported to a predetermined position of the loading port 1, the loading port 1 will open the object container 100 so as to take out and place the plate 200 in the object container 100. Since the loading port 1 is not the focus of the present invention and the present invention does not limit the structure of the loading port 1, it will not be described in detail.

The transfer mechanism 2 is disposed between the loading port 1 and the conveying mechanism 3. The transfer mechanism 2 can move the plate 200 in the object container 100 to the conveying mechanism 3, or move the plate 200 on the conveying mechanism 3 into the object container 100. Please refer to Figures 3 and 4. The transfer mechanism 2 includes a lifting device 21, a three-axis robot arm 22 and a bearing member 25. The three-axis robot arm 22 is disposed on the lifting device 21. The lifting device 21 can drive the three-axis robot arm 22 to move up and down. The bearing member 25 is connected to the three-axis robot arm 22 and can be used to carry and move the plate 200.

The lifting device 21 may be an electric slide, and the lifting device 21 may include a track 211, on which a linking body 212 is movably disposed. The linking body 212 may be driven to move on the first track 211, so that the linking body 212 can move up and down. The linkage 212 can be driven by a lifting power source 213, which can be a motor, etc. The lifting power source 213 can drive the linkage 212 to move on the track 211 through a known transmission mechanism such as a belt, a screw (not shown), etc. disposed in the track 211, so as to utilize the rigid structure of the track 211 to guide the linkage 212 to move stably to a predetermined height, so as to utilize the linkage 212 to drive the three-axis robot arm 22 to move up and down.

Please refer to FIG. 5 to FIG. 7 , the three-axis robot arm 22 uses three power sources (motors) and the three axes operate independently. The three-axis robot arm 22 includes a base 221, a first arm 222, a second arm 223, a first power source 224, a first transmission group 225, a second power source 226, a second transmission group 227, a third power source 228 and a third transmission group 229. The base 221 is connected to the lifting device 21, and the base 221 can be connected to the linkage 212 of the lifting device 21, so that the linkage 212 can drive the three-axis robot arm 22 to move up and down.

The base 221, the first arm 222 and the second arm 223 are all hollow bodies. The rear end of the first arm 222 is close to the base 221, and the first arm 222 can rotate relative to the base 221. The rear end of the second arm 223 is close to the front end of the first arm 222, and the second arm 223 can rotate relative to the first arm 222. The base 221, the first arm 222 and the second arm 223 can rotate relative to each other to form a joint structure. The front end (one end) of the second arm 223 is provided with an operating end 230, which can be used to connect the carrier 25. The operating end 230 is on the rotatable second arm 223 to drive the carrier 25 to rotate.

The first power source 224 and the first transmission group 225 are disposed in the base 221, the first transmission group 225 is connected between the first power source 224 and the first arm 222, and the first power source 224 can drive the first arm 222 to rotate through the first transmission group 225. The second power source 226 and the second transmission group 227 are disposed in the first arm 222, the second transmission group 227 is connected between the second power source 226 and the second arm 223, and the second power source 226 can drive the second arm 223 to rotate through the second transmission group 227. The third power source 228 and the third transmission assembly 229 are disposed in the second arm 223. The third transmission assembly 229 is connected between the third power source 228 and the operating end 230. The third power source 228 can drive the operating end 230 to rotate through the third transmission assembly 229, and the operating end 230 can drive the carrier 25 to rotate.

In this embodiment, the first transmission group 225, the second transmission group 227 and the third transmission group 229 are all belt groups. The first transmission group 225, the second transmission group 227 and the third transmission group 229 can also be connected to a first speed reducer 231, a second speed reducer 232 and a third speed reducer 233 respectively. The first transmission group 225 can be connected to the first arm 222 through the first speed reducer 231, the second transmission group 227 can be connected to the second arm 223 through the second speed reducer 232, and the third transmission group 229 can be connected to the operating end 230 through the third speed reducer 233. Preferably, the first speed reducer 231, the second speed reducer 232 and the third speed reducer 233 are harmonic speed reducers, which can improve the transmission accuracy and stabilize the operation.

Preferably, the first power source 224 is disposed near the middle of the base 221, the second power source 226 is disposed near the middle of the first arm 222, and the third power source 228 is disposed near the middle of the second arm 223. The first transmission group 225 is disposed between the upper end of the first power source 224 and the lower end of the first speed reducer 231, the second transmission group 227 is disposed between the lower end of the second power source 226 and the lower end of the second speed reducer 232, and the third transmission group 229 is disposed between the lower end of the third power source 228 and the lower end of the third speed reducer 233, so as to form an optimized configuration.

The support member 25 (fork) is connected to the operating end 230 of the three-axis robot arm 22. The support member 25 can support the plate 200 from below or absorb the plate 200 from above. In this embodiment, the support member 25 can support the plate 200 from below. The structure of the support member 25 is not limited. The support member 25 can be a four-fork type, the support member 25 can also be a single-board type (as shown in Figure 8), and the support member 25 can also be a two-fork, three-fork or four-fork type. A plurality of first suction cups 251 can also be provided on the support member 25 to absorb the plate 200 so that the plate 200 can be stably fixed on the support member 25.

The conveying mechanism 3 can be used to convey the plate 200. The structure of the conveying mechanism 3 is not limited. The conveying mechanism 3 can be a conveyor belt or a conveyor roller set, etc. In the present embodiment, the conveying mechanism 3 is a conveyor roller set, and the conveying mechanism 3 can include a conveying power source 31, a transmission mechanism 32 and a plurality of conveying rollers 33 (as shown in FIG. 9 ). The conveying power source 31 can be a motor, etc., and the transmission mechanism 32 can include a transmission belt 321, a first transmission shaft 322 and a plurality of second transmission shafts 323. The transmission belt 321 is connected between the conveying power source 31 and the first transmission shaft 322, and the second transmission shafts 323 are arranged at intervals. The conveying rollers 33 are respectively arranged on the second transmission shafts 323, and the plates 200 can be placed on the conveying rollers 33. One end of the second transmission shafts 323 and the first transmission shaft 322 can be driven through a non-contact magnetic ring 324, so that the transmission mechanism 32 is connected between the transport power source 31 and the transport rollers 33. The magnetic ring 324 uses magnetic attraction, which is a non-contact transmission, no wear, no dust, and can improve the cleanliness. The transport power source 31 can drive the transport rollers 33 to rotate through the transmission mechanism 32 to transport the plate 200.

The retractable plate mechanism may further include a plate turning mechanism 4 (as shown in FIG. 10 ), which is close to the conveying mechanism 3 and may be disposed above or below the conveying mechanism 3. The plate turning mechanism 4 can turn the plate 200 on the conveying mechanism 3. In this embodiment, the plate turning mechanism 4 is disposed above the conveying mechanism 3, and may include a lifting module 41, a rotating group 42, and a plate taking group 43. The lifting module 41 may be a lifting mechanism such as an electric slide, and the rotating group 42 is connected to the lifting module 41. The rotating group 42 may include a rotating power source 421 such as a motor. The plate picking group 43 is installed on the rotating group 42. The plate picking group 43 can be a suction cup style or a clamp style, etc. In the present embodiment, the plate picking group 43 is a suction cup style. The plate picking group 43 includes a plurality of second suction cups 431. The plate picking group 43 can be used to absorb the plate 200, and the lifting module 41 can be used to drive the plate 200 to rise to a predetermined height, and then the rotating group 42 can be used to drive the plate 200 to rotate the plate, so that the plate 200 is rotated to a predetermined angle, and then continue to be transported. In another embodiment, the transfer plate mechanism 4 is disposed below the conveying mechanism 3, and the transfer plate mechanism 4 includes a lifting module 41 and a rotating group 42. The rotating group 42 is connected to the lifting module 41. The plate 200 can be placed on the rotating group 42, and the lifting module 41 drives the plate 200 to rise, and the rotating group 42 drives the plate 200 to transfer.

[Beneficial Effects of the Embodiments]

The beneficial effect of the present invention lies in that the plate retracting and unretracting mechanism and the transfer mechanism provided by the present invention include a loading port, a transfer mechanism and a conveying mechanism. The object container can be conveyed to the loading port, the transfer mechanism is arranged between the loading port and the conveying mechanism, and the transfer mechanism can move the plate in the object container to the conveying mechanism, or move the plate on the conveying mechanism to the object container, which has a better production line, can facilitate automated production, and improve production efficiency. The transfer mechanism includes a lifting device, a three-axis robot arm and a bearing member. The three-axis robot arm is arranged on the lifting device. The lifting device can drive the three-axis robot arm to move up and down. The three-axis robot arm includes a base, a first arm body, a second arm body, a first power source, a first transmission group, a second power source, a second transmission group, a third power source and a third transmission group. The first power source and the first transmission group are arranged in the base, the first transmission group is connected between the first power source and the first arm body, the second power source and the second transmission group are arranged in the first arm body, the second transmission group is connected between the second power source and the second arm body, the third power source and the third transmission group are arranged in the second arm body, and the third transmission group is connected between the third power source and the operating end. The three-axis robot uses three power sources to operate independently, which can improve transmission accuracy, facilitate automated production, and improve production efficiency.

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

1: Loading port 2: Transfer mechanism 21: Lifting device 211: Track 212: Linkage 213: Lifting power source 22: Three-axis robot arm 221: Base 222: First arm 223: Second arm 224: First power source 225: First transmission group 226: Second power source 227: Second transmission group 228: Third power source 229: Third transmission group 230: Operation end 231: First reducer 232: Second reducer 233: Third reducer 25: Carrying part 251: First suction cup 3: Conveying mechanism 31: Conveying power source 32: Transmission mechanism 321: Drive belt 322: First drive shaft 323: Second drive shaft 324: Magnetic ring 33: Conveyor roller 4: Plate turning mechanism 41: Lifting module 42: Rotating group 421: Rotating power source 43: Plate removal group 431: Second suction cup 100: Object container 200: Plate

FIG. 1 is a perspective view of the retractable plate mechanism of the present invention.

FIG. 2 is a three-dimensional diagram of the retractable plate mechanism of the present invention from another angle.

FIG. 3 is a perspective view of the transfer mechanism of the present invention.

FIG. 4 is a three-dimensional diagram of the transfer mechanism of the present invention from another angle.

FIG5 is a perspective view of the three-axis robotic arm of the present invention.

FIG6 is a three-dimensional diagram of the internal structure of the three-axis robot arm of the present invention.

FIG. 7 is a side view of the internal structure of the three-axis robot arm of the present invention.

FIG8 is a three-dimensional diagram of another embodiment of the carrier of the present invention.

FIG. 9 is a three-dimensional diagram of the conveying mechanism of the present invention.

FIG. 10 is a perspective view of the plate transfer mechanism of the present invention.

1: Loading port 2: Transfer mechanism 21: Lifting device 211: Track 213: Lifting power source 22: Three-axis robot arm 221: Base 222: First arm body 223: Second arm body 226: Second power source 230: Operation end 25: Carrying part 3: Conveying mechanism 33: Conveying roller 100: Object container 200: Plate

Claims (9)

A plate retracting and unloading mechanism is used for transferring plate parts. The plate retracting and unloading mechanism comprises: a loading port, which can be used to temporarily store an object container, and the object container can be used to accommodate the plate part; a transfer mechanism, which comprises a lifting device, a three-axis mechanical arm and a bearing member, the three-axis mechanical arm is arranged on the lifting device, the lifting device can drive the three-axis mechanical arm to lift and move, the bearing member is connected to the three-axis mechanical arm, and can be used to carry and move the plate part; and a conveying The conveying mechanism can be used to convey the plate, the transfer mechanism is arranged between the loading port and the conveying mechanism, and the transfer mechanism can move the plate in the object container to the conveying mechanism, or move the plate on the conveying mechanism into the object container; wherein the three-axis robot arm includes a base, a first arm body, a second arm body, a first power source, a first transmission group, a second power source, a second transmission group, a third power source and a third transmission group, the base is connected In the lifting device, the first arm body can rotate relative to the base, the second arm body can rotate relative to the first arm body, an operating end is set at one end of the second arm body for connecting the carrier, and the operating end is rotatably set on the second arm body, the first power source and the first transmission group are set in the base, the first transmission group is connected between the first power source and the first arm body, the second power source and the second transmission group are set in the first arm body, and the second transmission group is connected to The third power source and the third transmission group are arranged between the second power source and the second arm body, and the third transmission group is connected between the third power source and the operating end; the first transmission group is connected to the first arm body through a first reducer, the second transmission group is connected to the second arm body through a second reducer, and the third transmission group is connected to the operating end through a third reducer, and the first reducer, the second reducer and the third reducer are harmonic reducers. As described in claim 1, the retractable plate mechanism, wherein the lifting device is an electric slide, the lifting device comprises a track, a linkage body is movably arranged on the track, the linkage body can be driven by a lifting power source, and the three-axis robot arm is connected to the linkage body. The retractable plate mechanism as described in claim 1, wherein the first power source is arranged near the middle of the base, the second power source is arranged near the middle of the first arm, the third power source is arranged near the middle of the second arm, the first transmission group is arranged between the upper end of the first power source and the lower end of the first reducer, the second transmission group is arranged between the lower end of the second power source and the lower end of the second reducer, and the third transmission group is arranged between the lower end of the third power source and the lower end of the third reducer. The plate retracting and extending mechanism as described in claim 1 further includes a plate turning mechanism, which is close to the conveying mechanism and can turn the plate on the conveying mechanism. As described in claim 4, the plate retracting and releasing mechanism comprises a lifting module, a rotating group and a plate taking group, the rotating group is connected to the lifting module, the plate taking group is mounted on the rotating group, the plate taking group can absorb the plate, and the lifting module drives the plate to rise, and the rotating group drives the plate to perform the plate turning action. As described in claim 4, the plate retracting and unretracting mechanism, wherein the plate turning mechanism is arranged below the conveying mechanism, and the plate turning mechanism comprises a lifting module and a rotating group, the rotating group is connected to the lifting module, the plate can be placed on the rotating group, and the lifting module drives the plate to rise, and the rotating group drives the plate to turn. A transfer mechanism includes: a lifting device; a three-axis robot arm, the three-axis robot arm is arranged on the lifting device, the lifting device can drive the three-axis robot arm to move up and down; and a bearing member, the bearing member is connected to the three-axis robot arm; wherein the three-axis robot arm includes a base, a first arm body, a second arm body, a first power source, a first transmission group, a second power source, a second transmission group, a third power source and a third transmission group, the base is connected to the lifting device, the first arm body can rotate relative to the base, the second arm body can rotate relative to the first arm body, one end of the second arm body is provided with an operating end for connecting the bearing member, the operating end is rotatably provided on the second arm body On the body, the first power source and the first transmission group are arranged in the base, the first transmission group is connected between the first power source and the first arm, the second power source and the second transmission group are arranged in the first arm, the second transmission group is connected between the second power source and the second arm, the third power source and the third transmission group are arranged in the second arm, and the third transmission group is connected between the third power source and the operating end; the first transmission group is connected to the first arm through a first reducer, the second transmission group is connected to the second arm through a second reducer, and the third transmission group is connected to the operating end through a third reducer, and the first reducer, the second reducer and the third reducer are harmonic reducers. The transfer mechanism as described in claim 7, wherein the lifting device is an electric slide, the lifting device comprises a track, a linkage body is movably arranged on the track, the linkage body can be driven by a lifting power source, and the three-axis robot arm is connected to the linkage body. The transfer mechanism as described in claim 7, wherein the first power source is arranged near the middle of the base, the second power source is arranged near the middle of the first arm, the third power source is arranged near the middle of the second arm, the first transmission group is arranged between the upper end of the first power source and the lower end of the first reducer, the second transmission group is arranged between the lower end of the second power source and the lower end of the second reducer, and the third transmission group is arranged between the lower end of the third power source and the lower end of the third reducer.

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