TWM569331U - Material pick-and-place device - Google Patents
Material pick-and-place device Download PDFInfo
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- TWM569331U TWM569331U TW107204186U TW107204186U TWM569331U TW M569331 U TWM569331 U TW M569331U TW 107204186 U TW107204186 U TW 107204186U TW 107204186 U TW107204186 U TW 107204186U TW M569331 U TWM569331 U TW M569331U
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Abstract
Description
本創作涉及一種取放裝置,特別是涉及一種單一台車具有多個取放模組,並利用此台車進行物品取放的物品取放裝置。 The present invention relates to a pick-and-place device, and more particularly to an item pick-and-place device for a single trolley having a plurality of pick-and-place modules and using the cart for picking up and dropping articles.
半導體製程中,晶圓與封裝件不能碰觸到灰塵,因此,在無塵室中進行加工過程,用於容置上述物品的容器以及相關運送裝置就成為不可或缺的工具。在現行用於運輸容器的懸吊運輸裝置(Overhead Hoist Transfer,OHT;又稱天車)的佈置下,通常需將機台進出料埠口對齊在軌道中心正下方,方便懸吊運輸裝置的台車停車取放貨物。 In the semiconductor process, the wafer and the package cannot touch the dust. Therefore, in the clean room, the container for accommodating the above items and the related transport device become an indispensable tool. In the current layout of the Overhead Hoist Transfer (OHT; also known as the crane), it is usually necessary to align the inlet and outlet of the machine to the bottom of the track to facilitate the suspension of the transport device. Parking to pick up and drop off goods.
然而,現行的懸吊運輸裝置上皆為使用單一捲揚機構取放貨物,不僅使得換料時間較長,並且也需要更多的OHT台車。 However, the current suspension transport devices use a single hoisting mechanism to pick up and place the cargo, which not only makes the refueling time longer, but also requires more OHT trolleys.
本創作所要解決的技術問題在於,針對習知技術的不足提供一種物品取放裝置。 The technical problem to be solved by the present invention is to provide an item pick-and-place device for the deficiencies of the prior art.
為了解決上述的技術問題,本創作所採用的技術方案是,提供一種物品取放裝置,其包括裝置本體、多個取放模組與控制組件。裝置本體能活動地連接於軌道。多個取放模組相鄰設置於裝置本體,每一個取放模組包括升降組件與夾取組件。升降組件連接於裝置本體。夾取組件活動地連接於升降組件。控制組件與多個升降組件及多個夾取組件通訊。其中,控制組件根據執行命令而控制至少一升降組件,以讓至少一升降組件驅使所對應的夾取組件趨近或遠離承載台。其中,控制組件根據執行命令而控制至少一升降組件所對應夾取組件,以讓所對應的夾取組件取得承載 台上的物件,或讓所對應的夾取組件將物件放置到承載台。 In order to solve the above technical problem, the technical solution adopted by the present invention is to provide an item pick-and-place device, which comprises a device body, a plurality of pick-and-place modules and a control component. The device body is movably coupled to the track. A plurality of pick-and-place modules are disposed adjacent to the device body, and each of the pick-and-place modules includes a lifting assembly and a clamping assembly. The lifting assembly is coupled to the device body. The gripping assembly is movably coupled to the lift assembly. The control assembly communicates with a plurality of lifting assemblies and a plurality of clamping assemblies. Wherein, the control component controls the at least one lifting assembly according to the execution command to cause the at least one lifting component to drive the corresponding clamping component to approach or away from the loading platform. Wherein, the control component controls the at least one clamping component corresponding to the lifting component according to the execution command, so that the corresponding clamping component obtains the bearing The object on the table, or the corresponding gripping assembly to place the object on the carrying platform.
本創作的有益效果在於,本創作所提供的物品取放裝置,其能通過“物品取放裝置包括多個取放模組”、“多個取放模組相鄰設置於裝置本體”、“控制組件根據執行命令而控制至少一升降組件,以讓至少一升降組件驅使所對應的夾取組件趨近或遠離承載台”以及“控制組件根據執行命令而控制至少一升降組件所對應的夾取組件,以讓所對應的夾取組件取得承載台上的物件,或讓所對應的夾取組件將物件放置到承載台”的技術方案,以達到縮短換料時間的技術功效。 The beneficial effect of the present invention is that the article pick-and-place device provided by the present invention can be provided by the “item pick-and-place device comprising a plurality of pick-and-place modules”, “the plurality of pick-and-place modules are disposed adjacent to the device body”, “ The control component controls the at least one lifting assembly according to the execution command to cause the at least one lifting component to drive the corresponding clamping component toward or away from the loading platform" and the control component controls the clamping group corresponding to the at least one lifting component according to the execution command The technical solution of the corresponding clamping component to obtain the object on the carrying platform or the corresponding clamping component to place the object on the carrying platform" is to achieve the technical effect of shortening the refueling time.
為使能更進一步瞭解本創作的特徵及技術內容,請參閱以下有關本創作的詳細說明與圖式,然而所提供的圖式僅用於提供參考與說明,並非用來對本創作加以限制。 In order to further understand the features and technical contents of this creation, please refer to the following detailed description and drawings of the present invention. However, the drawings are provided for reference and description only, and are not intended to limit the creation.
1‧‧‧物品取放裝置 1‧‧‧ Item pick and place device
10‧‧‧裝置本體 10‧‧‧ device body
11‧‧‧取放模組 11‧‧‧ pick and place module
110‧‧‧升降組件 110‧‧‧ Lifting components
1100‧‧‧驅動單元 1100‧‧‧ drive unit
1101‧‧‧捲揚單元 1101‧‧‧Winning unit
1102‧‧‧皮帶 1102‧‧‧Land
111‧‧‧夾取組件 111‧‧‧Capture components
1110‧‧‧組件本體 1110‧‧‧Component body
1110A‧‧‧滑槽 1110A‧‧ ‧ chute
1110B‧‧‧限位部 1110B‧‧‧Limited Department
1111‧‧‧夾放單元 1111‧‧‧Snap unit
1112‧‧‧保護單元 1112‧‧‧Protection unit
12‧‧‧控制組件 12‧‧‧Control components
2‧‧‧軌道 2‧‧‧ Track
3‧‧‧承載台 3‧‧‧Loading station
4‧‧‧物件 4‧‧‧ objects
圖1為本創作的物品取放裝置的第一實施例的側視示意圖。 1 is a side elevational view of a first embodiment of the article pick and place apparatus of the present invention.
圖2為本創作的物品取放裝置的第一實施例的立體示意圖。 2 is a perspective view of the first embodiment of the article pick-and-place device of the present invention.
圖3為本創作的物品取放裝置的第二實施例的側視示意圖。 Fig. 3 is a side elevational view showing the second embodiment of the article pick-and-place device of the present invention.
圖4為本創作的物品取放裝置的第三實施例的側視示意圖。 4 is a side elevational view of a third embodiment of the article pick and place apparatus of the present invention.
圖5為本創作的物品取放裝置的第四實施例的側視示意圖。 Fig. 5 is a side elevational view showing the fourth embodiment of the article pick-and-place device of the present invention.
圖6為本創作的物品取放方法的第一實施例的流程圖。 FIG. 6 is a flow chart of the first embodiment of the article picking and placing method of the present invention.
圖7為本創作的物品取放方法的第二實施例的流程圖。 FIG. 7 is a flow chart of a second embodiment of the method for picking and placing articles according to the present invention.
以下是通過特定的具體實施例來說明本創作所揭露有關“物品取放裝置及其方法”的實施方式,本領域技術人員可由本說明書所公開的內容瞭解本創作的優點與效果。本創作可通過其他不同的具體實施例加以施行或應用,本說明書中的各項細節也可基於不同觀點與應用,在不悖離本創作的構思下進行各種修改與變更。另外,本創作的圖式僅為簡單示意說明,並非依實際尺寸的描繪,事先聲明。以下的實施方式將進一步詳細說明本創作的相 關技術內容,但所公開的內容並非用以限制本創作的保護範圍。 The following is a specific embodiment to explain the implementation of the "item pick-and-place device and method thereof" disclosed in the present disclosure, and those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in the present specification. The present invention can be implemented or applied in various other specific embodiments. The details of the present specification can also be variously modified and changed without departing from the concept of the present invention. In addition, the drawings of this creation are only for a simple illustration, and are not stated in advance according to the actual size. The following embodiments will further detail the phase of this creation. The technical content, but the content disclosed is not intended to limit the scope of protection of this creation.
應理解,雖然本文中可能使用術語第一、第二、第三等來描述各種元件或者信號,但這些元件或者信號不應受這些術語的限制。這些術語主要是用以區分一元件與另一元件,或者一信號與另一信號。另外,本文中所使用的術語“或”,應視實際情況可能包括相關聯的列出項目中的任一個或者多個的組合。 It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements or signals, these elements or signals are not limited by these terms. These terms are primarily used to distinguish one element from another, or one signal and another. In addition, the term "or" as used herein may include a combination of any one or more of the associated listed items, depending on the actual situation.
請參閱圖1及圖2所示,圖1為本創作的物品取放裝置的第一實施例的側視示意圖,圖2為本創作的物品取放裝置的第一實施例的立體示意圖。由上述圖中可知,本創作的物品取放裝置1包括裝置本體10、多個取放模組11與控制組件12。裝置本體10能活動地連接於軌道2。多個取放模組11相鄰設置於裝置本體10,每一個取放模組11包括升降組件110與夾取組件111。升降組件110連接於裝置本體10。夾取組件111活動地連接於升降組件110。控制組件12與多個升降組件110及多個夾取組件111通訊。其中,控制組件12根據執行命令而控制至少一升降組件110,以讓至少一升降組件110驅使所對應的夾取組件111趨近或遠離承載台3。其中,控制組件12根據執行命令而控制至少一升降組件110所對應夾取組件111,以讓所對應的夾取組件111取得承載台3上的物件4,或讓所對應的夾取組件111將物件4放置到承載台3。 Referring to FIG. 1 and FIG. 2, FIG. 1 is a schematic side view of a first embodiment of the article pick-and-place device of the present invention, and FIG. 2 is a perspective view of the first embodiment of the article pick-and-place device of the present invention. As can be seen from the above figures, the article pick-and-place device 1 of the present invention comprises a device body 10, a plurality of pick-and-place modules 11 and a control assembly 12. The device body 10 is movably coupled to the track 2. A plurality of pick-and-place modules 11 are disposed adjacent to the device body 10 , and each of the pick-and-place modules 11 includes a lifting assembly 110 and a clamping assembly 111 . The lifting assembly 110 is coupled to the device body 10. The gripping assembly 111 is movably coupled to the lift assembly 110. Control assembly 12 is in communication with a plurality of lift assemblies 110 and a plurality of grip assemblies 111. The control component 12 controls the at least one lifting component 110 according to the execution command to cause the at least one lifting component 110 to drive the corresponding clamping component 111 to approach or away from the loading platform 3. The control component 12 controls the at least one clamping component 111 corresponding to the lifting component 110 according to the execution command, so that the corresponding clamping component 111 obtains the object 4 on the carrying platform 3, or the corresponding clamping component 111 will The object 4 is placed on the carrying platform 3.
具體而言,本創作的物品取放裝置1可應用於無塵室中的OHT系統,物品取放裝置1包括了裝置本體10、多個取放模組11與控制組件12,裝置本體10可為殼體結構,如現有OHT系統的台車主體結構,裝置本體10能活動地連接於OHT系統中的軌道2。多個取放模組11彼此相鄰地設置於裝置本體10上,每一個取放模組11包括了升降組件110與夾取組件111,升降組件110可 為捲揚器,夾取組件111可為能夾取貨物與置放貨物的取放機構;升降組件110連接於裝置本體10,而夾取組件111能活動地連接於升降組件110。控制組件12可為設置在裝置本體10或取放模組11上的處理器,或者可為獨立設置的控制設備,控制組件12可以有線或無線的方式與升降組件110及夾取組件111通訊連結,或者控制組件12也可與升降組件110及夾取組件111電性連接。 Specifically, the article pick-and-place device 1 of the present invention can be applied to an OHT system in a clean room. The article pick-and-place device 1 includes a device body 10, a plurality of pick-and-place modules 11 and a control component 12, and the device body 10 can be For the housing structure, such as the trolley body structure of the existing OHT system, the device body 10 can be movably coupled to the track 2 in the OHT system. A plurality of pick-and-place modules 11 are disposed adjacent to each other on the device body 10. Each pick-and-place module 11 includes a lifting assembly 110 and a clamping assembly 111. The lifting assembly 110 can be For the hoist, the gripping assembly 111 can be a pick-and-place mechanism capable of gripping the cargo and placing the cargo; the lifting assembly 110 is coupled to the apparatus body 10, and the gripping assembly 111 is movably coupled to the lifting assembly 110. The control component 12 can be a processor disposed on the device body 10 or the pick-and-place module 11 or can be a separately provided control device. The control component 12 can be communicatively coupled to the lifting component 110 and the clamping component 111 in a wired or wireless manner. Or the control assembly 12 can also be electrically connected to the lifting assembly 110 and the clamping assembly 111.
因此,在操作者使用本創作的物品取放裝置1進行取得承載台3(如無塵室中的製程機台,但不以此為限)上的物件4(如晶圓或封裝件,但不以此為限)或放置物件4到承載台3上時,操作者可透過輸入裝置(圖中未繪示,如鍵盤或觸控螢幕等)給予控制組件12一執行命令。控制組件12根據此執行命令而至少一升降組件110進行作動,另一升降組件110則處於不作動的狀態。此時,至少一升降組件110驅使所對應的夾取組件111下降而趨近於承載台3或者上升而遠離於承載台3。並且,控制組件12還可進一步根據執行命令而控制至少一升降組件110所對應夾取組件111進行作動,以使所對應的夾取組件111進行夾取承載台3上的物件4,或者,讓所對應的夾取組件111將物件4放置到承載台3上。 Therefore, the operator uses the article pick-and-place device 1 of the present invention to perform the object 4 (such as a wafer or a package) on the receiving platform 3 (such as a process machine in a clean room, but not limited thereto). When not limited to this or when the object 4 is placed on the carrying platform 3, the operator can give the control component 12 an execution command through an input device (not shown, such as a keyboard or a touch screen). According to the execution command, the control unit 12 operates at least one lifting assembly 110, and the other lifting assembly 110 is in a non-actuating state. At this time, at least one lifting assembly 110 drives the corresponding clamping assembly 111 to descend to approach the carrier 3 or rise away from the carrier 3 . Moreover, the control component 12 can further control the clamping component 111 corresponding to the at least one lifting component 110 to be actuated according to the execution command, so that the corresponding clamping component 111 can clamp the object 4 on the carrying platform 3, or The corresponding gripping assembly 111 places the object 4 onto the carrier 3.
進一步而言,本創作的每一個升降組件110可包含驅動單元1100及多個捲揚單元1101,驅動單元1100與多個捲揚單元1101皆設置在裝置本體10上,驅動單元1100可為電動馬達或伺服馬達,捲揚單元1101可為捲揚器,但不以此為限。驅動單元1100能與控制組件12電性連接或通訊連結。多個捲揚單元1101能轉動地連接於驅動單元1100。每一個夾取組件111進一步包括了組件本體1110、多個夾放單元1111與多個保護單元1112。組件本體1110具有多個滑槽1110A與多個限位部1110B,組件本體1110能活動地連接於多個捲揚單元1101,例如,多個捲揚單元1101透過皮帶1102與組件本體1110連接,但不以此為限。每一個夾放單 元1111能活動地設置於每一個限位部1110B,並穿設於多個滑槽1110A,每一個夾放單元1111能與控制組件12電性連接或通訊連結,但不以此為限。多個保護單元1112分別設置在組件本體1110的兩側。 Further, each lifting assembly 110 of the present invention may include a driving unit 1100 and a plurality of hoisting units 1101. The driving unit 1100 and the plurality of hoisting units 1101 are all disposed on the apparatus body 10. The driving unit 1100 may be an electric motor. Or the servo motor, the hoisting unit 1101 can be a hoist, but is not limited thereto. The driving unit 1100 can be electrically connected or communicatively coupled to the control component 12. The plurality of hoisting units 1101 are rotatably coupled to the driving unit 1100. Each of the gripping assemblies 111 further includes an assembly body 1110, a plurality of pinch units 1111, and a plurality of protection units 1112. The assembly body 1110 has a plurality of sliding slots 1110A and a plurality of limiting portions 1110B. The assembly body 1110 is movably connected to the plurality of winding units 1101. For example, the plurality of winding units 1101 are connected to the assembly body 1110 through the belt 1102, but Not limited to this. Each folder The component 1111 is movably disposed in each of the limiting portions 1110B and is disposed in the plurality of sliding slots 1110A. Each of the clamping units 1111 can be electrically connected or communicatively coupled to the control component 12, but is not limited thereto. A plurality of protection units 1112 are respectively disposed on both sides of the assembly body 1110.
因此,每一個取放模組11在受控制組件12控制而作動時,驅動單元1100會根據控制組件12的控制而驅使所對應的多個捲揚單元1101進行作動,使得多個捲揚單元1101進行升降夾取組件111,而讓夾取組件111趨近或遠離承載台3。並且,控制組件12還能控制夾放單元1111作動,以使組件本體1110上相對應的多個夾放單元1111透過各自相對應的限位部1110B進行位移,以達到夾取物件4或置放物件4。 Therefore, when each pick-and-place module 11 is controlled by the control unit 12, the driving unit 1100 drives the corresponding plurality of hoisting units 1101 to operate according to the control of the control unit 12, so that the plurality of hoisting units 1101 The lifting and lowering assembly 111 is carried out while the clamping assembly 111 is brought closer to or away from the loading platform 3. Moreover, the control unit 12 can also control the clamping unit 1111 to move, so that the corresponding plurality of clamping units 1111 on the assembly body 1110 are displaced through the corresponding limiting portions 1110B to capture the object 4 or placed. Object 4.
值得一提的是,本創作的物品取放裝置1也可透過一動力模組(圖中未繪示,如驅動馬達,但不以此為限)根據控制組件12的控制而驅使相對應的多個夾放單元1111進行位移。 It is worth mentioning that the article pick-and-place device 1 of the present invention can also drive a corresponding power module according to the control of the control component 12 through a power module (not shown, such as a drive motor, but not limited thereto). The plurality of pinch units 1111 are displaced.
然而,本創作的物品取放裝置1並不以上述所舉的例子為限,於實際實施時,可視使用者或製造商依其需求在對等的範圍中做調整。 However, the article pick-and-place device 1 of the present invention is not limited to the above-exemplified examples. In actual implementation, the user or the manufacturer can adjust the range in the peer-to-peer according to his needs.
請參閱圖3所示,圖3為本創作的物品取放裝置的第二實施例的側視示意圖,並請一併參閱圖1及圖2。由上述圖中可知,本創作的物品取放裝置的第二實施例與上述第一實施例的物品取放裝置的相同組件的作動相似,在此不再贅述,值得注意的是,在本實施例中,控制組件12根據執行命令而控制其中一升降組件110與所對應的夾取組件111,以讓其中一升降組件110驅使所對應的夾取組件111趨近於承載台3,並讓其中一升降組件110所對應的夾取組件111取得承載台3上的物件4;其中,控制組件12根據執行命令而控制其中一升降組件110、另一升降組件110以及另一 升降組件110所對應的夾取組件111,以讓其中一升降組件110驅使所對應的夾取組件111遠離承載台3,並讓另一升降組件110驅使所對應的夾取組件111趨近於承載台3,而讓另一升降組件110所對應的夾取組件111將另一物件4放置到承載台3。 Please refer to FIG. 3 , which is a side view of the second embodiment of the article pick-and-place device of the present invention, and please refer to FIG. 1 and FIG. 2 together. As can be seen from the above figures, the second embodiment of the article pick-and-place device of the present invention is similar to the operation of the same components of the article pick-and-place device of the first embodiment, and will not be described again. It is worth noting that in this embodiment For example, the control component 12 controls one of the lifting assembly 110 and the corresponding clamping component 111 according to the execution command, so that one of the lifting components 110 drives the corresponding clamping component 111 to approach the carrying platform 3, and let The gripping assembly 111 corresponding to the lifting assembly 110 takes the object 4 on the carrying platform 3; wherein the control assembly 12 controls one of the lifting assembly 110, the other lifting assembly 110, and another according to the execution command. The clamping assembly 111 corresponding to the lifting assembly 110 is configured such that one of the lifting assemblies 110 drives the corresponding clamping assembly 111 away from the loading platform 3, and the other lifting assembly 110 drives the corresponding clamping assembly 111 to be closer to the bearing. The table 3 is placed by the gripping assembly 111 corresponding to the other lifting assembly 110 to place the other object 4 to the carrying platform 3.
承上所述,本創作的物品取放裝置1進一步可提供多種運行的實施態樣,在本實施例中,物品取放裝置1可提供先夾取承載台3上的物件4,再置放另一物件4到承載台3上的功效。舉例而言,物品取放裝置1的某一夾取組件111已經承載由另一承載台3或存放物件4的推車夾取的物件4,因此,在裝置本體10通過軌道2位移到承載台3上方後,操作者可透過控制組件12控制多個取放模組11先後分別對物件4進行夾取與放置的作業。控制組件12可根據執行命令控制其中一升降組件110驅使其所對應的夾取組件111下降而趨近於承載台3,並取得承載台3上的物件4。接著,控制組件12控制其中一升降組件110驅使其所對應的夾取組件111上升而遠離承載台3。待夾取組件111上升後,控制組件12也控制另一升降組件110驅使其所對應的夾取組件111下降而趨近於承載台3,並將原先承載的物件4放置到承載台3,進行補料動作。 As described above, the article pick-and-place device 1 of the present invention can further provide a plurality of operational embodiments. In the embodiment, the article pick-and-place device 1 can provide the object 4 on the loading platform 3 and then placed. The effect of another item 4 on the carrying platform 3. For example, one of the gripping assemblies 111 of the article pick-and-place device 1 already carries the article 4 gripped by the cart of another deck 3 or storage item 4, thus being displaced to the deck by the rails 2 of the apparatus body 10 After the top of the 3, the operator can control the plurality of pick-and-place modules 11 to respectively pick and place the objects 4 through the control unit 12. The control unit 12 can control one of the lifting assemblies 110 to drive down the corresponding clamping assembly 111 to approach the carrying platform 3 according to the execution command, and obtain the object 4 on the carrying platform 3. Next, the control assembly 12 controls one of the lifting assemblies 110 to drive the corresponding clamping assembly 111 to rise away from the carrier 3. After the clamping assembly 111 is raised, the control assembly 12 also controls the other lifting assembly 110 to drive the corresponding clamping assembly 111 to descend to approach the carrying platform 3, and place the previously carried object 4 on the carrying platform 3 for performing Feeding action.
值得注意的是,本創作的物品取放裝置1應用在無塵室運送系統的領域時,在一較佳的實施態樣中,物品取放裝置1可先透過其中一取放模組11取走上一個製程機台上所完成的材料,接著,到下一個製程機台時,除了取走此製程機台所完成的材料之外,再透過另一取放模組11將上一製程機台上所完成的材料補充至此製程機台上,以進行後續的製程。 It should be noted that when the article pick-and-place device 1 of the present invention is applied in the field of the clean room transport system, in a preferred embodiment, the article pick-and-place device 1 can first be taken through one of the pick-and-place modules 11 Going onto the material completed on a process machine, and then, when going to the next process machine, in addition to taking the material completed by the process machine, the other process machine is passed through another pick-and-place module 11 The materials completed on the process are added to the process machine for subsequent processes.
請參閱圖4所示,圖4為本創作的物品取放裝置的第三實施例的側視示意圖,並請一併參閱圖1至圖3。由上述圖中可知,本 創作的物品取放裝置的第三實施例與上述各實施例的物品取放裝置的相同組件的作動相似,在此不再贅述,值得注意的是,在本實施例中,控制組件12根據執行命令而控制多個升降組件110,以讓多個升降組件110驅使所對應的夾取組件111趨近於承載台3;其中,控制組件12根據執行命令而控制多個升降組件110所對應的夾取組件111,以讓其中一升降組件110所對應的夾取組件111取得承載台3上的物件4,以及讓另一升降組件110所對應的夾取組件111將物件4放置到承載台3。 Please refer to FIG. 4 , which is a side view of the third embodiment of the article pick-and-place device of the present invention, and please refer to FIG. 1 to FIG. 3 together. As can be seen from the above figures, this The third embodiment of the created article pick-and-place device is similar to the operation of the same components of the article pick-and-place device of the above embodiments, and will not be described herein. It is noted that in the present embodiment, the control component 12 is executed according to the embodiment. Commanding and controlling the plurality of lifting assemblies 110 to cause the plurality of lifting assemblies 110 to drive the corresponding clamping assemblies 111 to approach the loading platform 3; wherein the control assembly 12 controls the corresponding clamping members of the plurality of lifting assemblies 110 according to the execution command. The assembly 111 is taken such that the gripping assembly 111 corresponding to one of the lifting assemblies 110 takes the object 4 on the carrying platform 3 and the gripping assembly 111 corresponding to the other lifting assembly 110 places the object 4 onto the carrying platform 3.
承上所述,本創作的物品取放裝置1進一步可提供多種運行的實施態樣,在本實施例中,物品取放裝置1可提供同時夾取承載台3上的物件4,並置放另一物件4到承載台3上的功效。具體而言,物品取放裝置1的某一夾取組件111已經承載由另一承載台3或存放物件4的推車夾取的物件4,因此,在裝置本體10通過軌道2位移到承載台3上方後,操作者可透過控制組件12控制多個取放模組11同時對承載台3上的物件4進行夾取,並將物件4放置到承載台3上的作業。即,控制組件12可根據執行命令控制多個升降組件110驅使其所對應的夾取組件111下降而趨近於承載台3。接著,控制組件12控制其中一升降組件110所對應的夾取組件111夾取承載台3上的物件4,並控制另一升降組件110所對應的夾取組件111將原先承載的物件4放置在承載台3上,進行補料動作。 As described above, the article pick-and-place device 1 of the present invention can further provide a plurality of operational embodiments. In the embodiment, the article pick-and-place device 1 can simultaneously pick up the object 4 on the carrying platform 3 and place another The effect of an object 4 on the carrying platform 3. Specifically, one of the gripping assemblies 111 of the article pick-and-place device 1 has carried the article 4 gripped by the other cart 3 or the cart of the storage item 4, and thus, the apparatus body 10 is displaced to the deck by the rail 2 After the top of the 3, the operator can control the plurality of pick-and-place modules 11 through the control unit 12 to simultaneously grip the objects 4 on the carrying platform 3 and place the objects 4 on the loading platform 3. That is, the control component 12 can control the plurality of lifting assemblies 110 to drive the corresponding clamping assembly 111 to descend toward the carrying platform 3 according to the execution command. Next, the control component 12 controls the clamping component 111 corresponding to one of the lifting components 110 to grip the object 4 on the loading platform 3, and controls the clamping component 111 corresponding to the other lifting component 110 to place the originally carried object 4 in the The feeding station 3 performs a feeding operation.
由此可知,當本創作的物品取放裝置1應用在無塵室運送系統的領域時,在一較佳的實施態樣中,物品取放裝置1可同時透過其中一取放模組11取走某一製程機台上所完成的材料,並利用另一取放模組11將待製程材料補充至製程機台上。 Therefore, when the article pick-and-place device 1 of the present invention is applied to the field of the clean room transport system, in a preferred embodiment, the article pick-and-place device 1 can simultaneously be taken through one of the pick-and-place modules 11 Take the material completed on a certain processing machine, and use another pick-and-place module 11 to replenish the material to be processed onto the processing machine.
請參閱圖5所示,圖5為本創作的物品取放裝置的第四實施 例的側視示意圖,並請一併參閱圖1至圖4。由上述圖中可知,本創作的物品取放裝置的第四實施例與上述各實施例的物品取放裝置的相同組件的作動相似,在此不再贅述,值得注意的是,在本實施例中,控制組件12根據執行命令而控制多個升降組件110,以讓多個升降組件110驅使所對應的夾取組件111趨近於承載台3;其中,控制組件12根據執行命令而控制多個升降組件110所對應的夾取組件111,以讓多個升降組件110所對應的夾取組件111取得承載台3上的物件4,或者讓多個升降組件110所對應的夾取組件111將物件4放置到承載台3。 Please refer to FIG. 5 , FIG. 5 is a fourth implementation of the article pick-and-place device of the present invention. A side view of the example, and please refer to Figure 1 to Figure 4. As can be seen from the above figures, the fourth embodiment of the article pick-and-place device of the present invention is similar to the operation of the same components of the article pick-and-place device of the above embodiments, and will not be described again. It is worth noting that in this embodiment. The control component 12 controls the plurality of lifting assemblies 110 according to the execution command to cause the plurality of lifting assemblies 110 to drive the corresponding clamping assembly 111 to approach the carrying platform 3; wherein the control component 12 controls the plurality of commands according to the execution command. The clamping component 111 corresponding to the lifting component 110 is configured to allow the clamping component 111 corresponding to the plurality of lifting components 110 to obtain the object 4 on the loading platform 3, or the clamping component 111 corresponding to the plurality of lifting components 110 to take the object 4 Placed on the carrying platform 3.
承上所述,本創作的物品取放裝置1進一步可提供多種運行的實施態樣,在本實施例中,物品取放裝置1可提供多個取放模組11同時夾取承載台3上的物件4,或者同時將物件4放置到承載台3上的功效。舉例而言,操作者可透過控制組件12,使得控制組件12可根據執行命令控制多個升降組件110驅使其所對應的夾取組件111下降而趨近於承載台3。接著,控制組件12控制多個升降組件110所對應的夾取組件111同時夾取承載台3上的物件4。 As described above, the article pick-and-place device 1 of the present invention can further provide a plurality of operational embodiments. In the embodiment, the article pick-and-place device 1 can provide a plurality of pick-and-place modules 11 and simultaneously grip the loading platform 3. The object 4, or the effect of placing the object 4 on the carrying platform 3 at the same time. For example, the operator can control the component 12 such that the control component 12 can control the plurality of lifting components 110 to drive the corresponding clamping component 111 down to approach the carrier 3 according to the execution command. Next, the control assembly 12 controls the gripping assembly 111 corresponding to the plurality of lifting assemblies 110 to simultaneously grip the objects 4 on the carrying platform 3.
倘若承載台3處於待料狀態,則物品取放裝置1可先通過多個夾取組件111由另一承載台3或存放物件4的推車夾取物件4。接著,再將物件4同時補充至承載台3上。 If the carrying platform 3 is in the standby state, the article picking and locating device 1 can first pick up the object 4 from the other carrying platform 3 or the cart storing the article 4 through the plurality of gripping assemblies 111. Then, the object 4 is simultaneously replenished to the carrying platform 3.
由此可知,當本創作的物品取放裝置1應用在無塵室運送系統的領域時,在一較佳的實施態樣中,物品取放裝置1可透過多個取放模組11同時取走製程機台上所完成的材料;或者,在製程機台處於待料狀態時,可透過多個取放模組11將待製程材料同時補充至製程機台上。 Therefore, when the article pick-and-place device 1 of the present invention is applied to the field of the clean room transport system, in a preferred embodiment, the article pick-and-place device 1 can be simultaneously taken through the plurality of pick-and-place modules 11 The materials completed on the processing machine are taken; or, when the processing machine is in the standby state, the materials to be processed can be simultaneously replenished to the processing machine through the plurality of pick-and-place modules 11.
值得一提的是,在另一較佳的實施態樣中,承載台3上所存放的物件4或準備補充到承載台3的物件4可為卡匣(cassette)或托盤(tray)。也就是說,承載台3的一邊可放置卡匣(cassette), 另一邊放置托盤(tray),供物品取放裝置1夾取;或者,物品取放裝置1透過其中一夾取組件111將卡匣(cassette)補充至承載台3的一邊,並利用另一夾取組件111將托盤(tray)補充至承載台3的另一邊。 It is worth mentioning that, in another preferred embodiment, the article 4 stored on the carrier 3 or the article 4 to be replenished to the carrier 3 may be a cassette or a tray. That is to say, one side of the carrying platform 3 can be placed with a cassette, On the other side, a tray is placed for the pick-and-place device 1 to be gripped; or, the article pick-and-place device 1 replenishes the cassette to one side of the carrying table 3 through one of the gripping assemblies 111, and utilizes another clip. The take-up assembly 111 replenishes the tray to the other side of the stage 3.
此外,由上述實施例可知,本創作的物品取放裝置1所執行的取放動作具有多種排列組合,承載台3可放置物件4及所要補充的物件4也具有多種的排列組合,因此,本創作的物品取放裝置1的實施方式並不限於上述實施態樣。 In addition, as can be seen from the above embodiments, the pick-and-place operation performed by the article pick-and-place device 1 of the present invention has various arrangement combinations, and the object 4 to be placed on the loading platform 3 and the object 4 to be replenished also have various arrangement combinations. The embodiment of the created article pick-and-place device 1 is not limited to the above embodiment.
請參閱圖6所示,圖6為本創作的物品取放方法的第一實施例的流程圖,並請一併參閱圖1至圖5。由上述圖中可知,本創作進一步提供一種物品取放方法,其包含下列步驟:步驟S50:提供多個取放模組,多個取放模組相鄰設置於裝置本體;步驟S51:通過控制組件根據執行命令而控制至少一升降組件,以讓至少一升降組件驅使所對應的夾取組件趨近或遠離承載台;以及步驟S52:通過控制組件根據執行命令而控制至少一升降組件所對應的夾取組件,以讓所對應的夾取組件取得承載台上的物件,或讓所對應的夾取組件將物件放置到承載台。 Please refer to FIG. 6. FIG. 6 is a flow chart of the first embodiment of the method for picking and placing articles according to the present invention, and please refer to FIG. 1 to FIG. 5 together. As shown in the above figure, the present invention further provides an item picking and placing method, which comprises the following steps: Step S50: providing a plurality of pick and place modules, wherein the plurality of pick and place modules are disposed adjacent to the device body; and step S51: controlling The component controls the at least one lifting component according to the execution command to cause the at least one lifting component to drive the corresponding clamping component to approach or away from the loading platform; and step S52: controlling, by the control component, the at least one lifting component according to the execution command The component is clamped so that the corresponding gripping component obtains the object on the carrying platform, or the corresponding gripping component places the object on the carrying platform.
簡單而言,本創作的物品取放方法通過提供多個取放模組11,以及利用控制組件12對至少一個取放模組11進行控制,以提供操作者可通過本創作的多個取放模組11進行取得承載台3(如無塵室中的製程機台,但不以此為限)上的物件4(如晶圓或封裝件,但不以此為限)或放置物件4到承載台3上。而具體實施過程如前述實施例所述,在此不再特別贅述。 Briefly, the item picking and placing method of the present invention provides a plurality of pick and place modules 11 by using the control unit 12 to control at least one pick and place module 11 to provide multiple pick and place operations by the operator. The module 11 performs the object 4 (such as a wafer or a package, but not limited thereto) on the receiving platform 3 (such as a process machine in the clean room, but not limited thereto) or places the object 4 to On the carrying platform 3. The specific implementation process is as described in the foregoing embodiment, and details are not described herein again.
請參閱圖7所示,圖7為本創作的物品取放方法的第二實施例的流程圖,並請一併參閱圖1至圖6。由上述圖中可知,本創作所提供的物品取放方法在控制組件根據執行命令而控制至少一升降組件與至少一升降組件所對應的夾取組件的步驟中,進一步更可包含下列步驟:步驟S51A:通過控制組件根據執行命令而控制其中一升降組件與所對應的夾取組件,以讓其中一升降組件驅使所對應的夾取組件趨近於承載台,並讓其中一升降組件所對應的夾取組件取得承載台上的物件;以及步驟S52A:通過控制組件根據執行命令而控制其中一升降組件、另一升降組件以及另一升降組件所對應的夾取組件,以讓其中一升降組件驅使所對應的夾取組件遠離承載台,並讓另一升降組件驅使所對應的夾取組件趨近於承載台,而讓另一升降組件所對應的夾取組件將物件放置到承載台。 Please refer to FIG. 7. FIG. 7 is a flow chart of the second embodiment of the method for picking and placing articles according to the present invention, and please refer to FIG. 1 to FIG. 6 together. As shown in the above figure, the method for picking up and dropping the article provided by the present invention further includes the following steps in the step of controlling the at least one lifting component and the clamping component corresponding to the at least one lifting component according to the execution command; S51A: controlling one of the lifting components and the corresponding clamping component according to the execution command by the control component, so that one of the lifting components drives the corresponding clamping component to approach the carrying platform, and one of the lifting components corresponds to The gripping assembly obtains the object on the carrying platform; and step S52A: controlling, by the control component, one of the lifting assembly, the other lifting assembly, and the clamping assembly corresponding to the other lifting assembly according to the execution command, so that one of the lifting assembly drives The corresponding gripping assembly is remote from the carrying platform, and another lifting assembly drives the corresponding gripping assembly to approach the carrying platform, and the corresponding gripping assembly of the other lifting assembly places the article onto the carrying platform.
簡單而言,本創作的物品取放方法通過提供多個取放模組11,並利用控制組件12對多個取放模組11進行控制,以提供操作者可通過本創作的其中一取放模組11先進行取得承載台3(如無塵室中的製程機台,但不以此為限)上的物件4(如晶圓或封裝件,但不以此為限),再利用另一取放模組11將物件4補充到承載台3上。而具體實施過程如前述實施例所述,在此不再特別贅述。 Briefly, the item picking and placing method of the present invention provides a plurality of pick and place modules 11 by using the control unit 12 by providing a plurality of pick and place modules 11 to provide an operator to pick and place through one of the creations. The module 11 first performs the object 4 (such as a wafer or a package, but not limited thereto) on the receiving platform 3 (such as the processing machine in the clean room, but not limited thereto), and then uses another A pick-and-place module 11 replenishes the object 4 onto the carrier 3. The specific implementation process is as described in the foregoing embodiment, and details are not described herein again.
在另一較佳的實施態樣中,本創作所提供的物品取放方法在控制組件根據執行命令而控制至少一升降組件與至少一升降組件所對應的夾取組件的步驟中,進一步更可包含下列步驟:步驟S51B:通過控制組件根據執行命令而控制多個升降組件,以讓多個升降組件驅使所對應的夾取組件趨近於承載台;以及 步驟S52B:通過控制組件根據執行命令而控制多個升降組件所對應的夾取組件,以讓其中一升降組件所對應的夾取組件取得承載台上的物件,以及讓另一升降組件所對應的夾取組件將物件放置到承載台。 In another preferred embodiment, the method for picking up and dropping the article provided by the present invention is further configured in the step of controlling the at least one lifting component and the clamping component corresponding to the at least one lifting component according to the execution command. The method includes the following steps: Step S51B: controlling a plurality of lifting components according to an execution command by the control component, so that the plurality of lifting components drive the corresponding clamping components to approach the carrying platform; Step S52B: controlling, by the control component, the clamping component corresponding to the plurality of lifting components according to the execution command, so that the clamping component corresponding to one lifting component obtains the object on the loading platform, and the corresponding lifting component The gripping assembly places the object on the carrier.
也就是說,本創作的物品取放方法通過提供多個取放模組11,並利用控制組件12對多個取放模組11進行控制,以提供操作者可通過本創作的多個取放模組11同時趨近於承載台3,其中一取放模組11進行取得承載台3(如無塵室中的製程機台,但不以此為限)上的物件4(如晶圓或封裝件,但不以此為限),另一取放模組11則將物件4補充到承載台3上。而具體實施過程如前述實施例所述,在此不再特別贅述。 That is to say, the article picking and placing method of the present invention provides a plurality of pick and place modules 11 by using the control component 12 to provide multiple pick and place modules 11 by the operator. The module 11 is simultaneously approached to the carrying platform 3, wherein a pick-and-place module 11 performs an object 4 (such as a wafer or a wafer) on the receiving platform 3 (such as a process in a clean room, but not limited thereto) The package, but not limited thereto, another pick-and-place module 11 replenishes the object 4 onto the carrier 3. The specific implementation process is as described in the foregoing embodiment, and details are not described herein again.
在又一較佳的實施態樣中,本創作所提供的物品取放方法在控制組件根據執行命令而控制至少一升降組件與至少一升降組件所對應的夾取組件的步驟中,進一步更可包含下列步驟:步驟S51C:通過控制組件根據執行命令而控制多個升降組件,以讓多個升降組件驅使所對應的夾取組件趨近於承載台;以及步驟S52C:通過控制組件根據執行命令而控制多個升降組件所對應的夾取組件,以讓多個升降組件所對應的夾取組件取得承載台上的物件,或者將物件放置到承載台。 In another preferred embodiment, the method for picking up and dropping the article provided by the present invention is further configured in the step of controlling the at least one lifting component and the clamping component corresponding to the at least one lifting component according to the execution command. The method includes the following steps: Step S51C: controlling a plurality of lifting components according to an execution command by the control component, so that the plurality of lifting components drive the corresponding clamping components to approach the carrying platform; and step S52C: according to executing the commands by the control component The clamping components corresponding to the plurality of lifting components are controlled to allow the clamping components corresponding to the plurality of lifting components to obtain the objects on the loading platform or to place the objects on the loading platform.
簡單而言,本創作的物品取放方法通過提供多個取放模組11,並利用控制組件12對多個取放模組11進行控制,以提供操作者可通過本創作的多個取放模組11同時趨近於承載台3,並且一同進行取得承載台3(如無塵室中的製程機台,但不以此為限)上的物件4(如晶圓或封裝件,但不以此為限),或者將物件4一同補充到承載台3上。而具體實施過程如前述實施例所述,在此不再特別贅述。 In brief, the item picking and placing method of the present invention provides a plurality of pick and place modules 11 by using the control unit 12 to provide multiple pick and place modules 11 by the operator. The module 11 is approached to the carrying platform 3 at the same time, and together with the object 4 (such as a wafer or a package) on the receiving platform 3 (such as a process machine in a clean room, but not limited thereto), To this end, the object 4 is added to the carrying platform 3 together. The specific implementation process is as described in the foregoing embodiment, and details are not described herein again.
值得一提的是,在本創作的物品取放方法通過多個取放模組 11進行物件4取放作動的實施態樣中,其中一夾取組件111所取放的物件4可為卡匣(cassette),另一夾取組件111所取放的物件4則可為托盤(tray)。 It is worth mentioning that the pick and place method of the item in this creation passes through multiple pick and place modules. 11 In the embodiment of the object 4, the object 4 picked up by one of the clamping components 111 can be a cassette, and the object 4 taken by the other clamping component 111 can be a tray ( Tray).
本創作的有益效果在於,本創作所提供的物品取放裝置及其方法,其能通過“物品取放裝置1包括多個取放模組11”、“多個取放模組11相鄰設置於裝置本體10”、“控制組件12根據執行命令而控制至少一升降組件110,以讓至少一升降組件110驅使所對應的夾取組件111趨近或遠離承載台3”以及“控制組件12根據執行命令而控制至少一升降組件110所對應的夾取組件111,以讓所對應的夾取組件111取得承載台3上的物件4,或讓所對應的夾取組件111將物件4放置到承載台3”的技術方案,以達到縮短換料時間的技術功效。 The beneficial effect of the present invention is that the article pick-and-place device and the method thereof provided by the present invention can be arranged adjacently by the “item pick-and-place device 1 including a plurality of pick-and-place modules 11” and “multiple pick-and-place modules 11” At the device body 10", "the control assembly 12 controls at least one lifting assembly 110 in accordance with an execution command to cause at least one lifting assembly 110 to drive the corresponding clamping assembly 111 toward or away from the loading platform 3" and "the control assembly 12 is based on The at least one clamping component 111 corresponding to the lifting assembly 110 is controlled to execute the corresponding clamping component 111 to obtain the object 4 on the loading platform 3, or the corresponding clamping component 111 to place the object 4 onto the bearing. The 3" technical solution to achieve the technical effect of shortening the refueling time.
更進一步來說,現行的懸吊運輸裝置上皆為使用單一捲揚機構取放貨物,使得換料時間較長,因此,本創作所提供的物品取放裝置及其方法通過前述結構設計與取放方式,不僅可同時取走已完成的材料,並補齊下次待製程材料,也可以先後取走已完成的材料,並補齊下次待製程材料,以通過縮短換料的時間,而加速製程時間、減少所花費的時間。 Furthermore, the current suspension transport device uses a single hoisting mechanism to pick up and place the goods, so that the refueling time is longer. Therefore, the object pick-and-place device and the method thereof provided by the present invention are designed and accessed through the foregoing structure. The method can not only take away the completed materials at the same time, but also fill in the materials to be processed next time. It can also take the completed materials and fill the materials to be processed next time to accelerate the time by shortening the refueling. Process time and time spent.
以上所公開的內容僅為本創作的較佳可行實施例,並非因此侷限本創作的申請專利範圍,所以凡是運用本創作說明書及圖式內容所做的等效技術變化,均包含於本創作的申請專利範圍內。 The above disclosure is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of the patent application of the present invention. Therefore, any equivalent technical changes made by using the present specification and the content of the schema are included in the creation of the present invention. Within the scope of the patent application.
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CN201820507449.0U CN208616867U (en) | 2018-02-02 | 2018-04-10 | Article taking and placing device |
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TW107204185U TWM564029U (en) | 2018-02-02 | 2018-03-30 | Automation transport layout system |
TW107204187U TWM564587U (en) | 2018-02-02 | 2018-03-30 | Suspension transport device with rotating mechanism |
TW107111313A TWI674228B (en) | 2018-02-02 | 2018-03-30 | Automation transport layout system |
TW107204186U TWM569331U (en) | 2018-02-02 | 2018-03-30 | Material pick-and-place device |
TW107204808U TWM569332U (en) | 2018-02-02 | 2018-04-13 | Suspension transportation device and system for automatic optical recognition of materials |
TW107112713A TW201934445A (en) | 2018-02-02 | 2018-04-13 | Overhead hoist transfer device with automated optical inspection function and system thereof |
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TW107204187U TWM564587U (en) | 2018-02-02 | 2018-03-30 | Suspension transport device with rotating mechanism |
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TWI672761B (en) * | 2018-02-02 | 2019-09-21 | 盟立自動化股份有限公司 | Material pick-and-place device and method thereof |
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CN110137120A (en) * | 2018-02-02 | 2019-08-16 | 盟立自动化股份有限公司 | Layout system is transported in automation |
CN110127523A (en) * | 2018-02-02 | 2019-08-16 | 盟立自动化股份有限公司 | The suspention transport device and system of automated optical identification material |
TWI685053B (en) * | 2018-10-22 | 2020-02-11 | 涂增鑫 | Transport system |
TWI690001B (en) * | 2018-12-07 | 2020-04-01 | 日月光半導體製造股份有限公司 | Stage apparatus, process equipment and operation method of the process equipment |
CN113780429B (en) * | 2021-09-14 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Tower crane material classification and identification method and system based on image analysis |
CN113871335A (en) * | 2021-09-30 | 2021-12-31 | 弥费实业(上海)有限公司 | Transverse transfer device, air transportation equipment and automatic material handling system |
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US6604624B2 (en) * | 1998-09-22 | 2003-08-12 | Hirata Corporation | Work conveying system |
TW514618B (en) * | 2000-04-12 | 2002-12-21 | Samsung Electronics Co Ltd | A transfer system and apparatus for workpiece containers and method of transferring the workpiece containers using the same |
TW200848341A (en) * | 2007-06-14 | 2008-12-16 | Aquest Systems Corp | Integrated overhead transport system with stationary drive |
US8944739B2 (en) * | 2012-06-01 | 2015-02-03 | Taiwan Semiconductor Manufacturing Co., Ltd. | Loadport bridge for semiconductor fabrication tools |
TWI520258B (en) * | 2013-09-27 | 2016-02-01 | 華亞科技股份有限公司 | Lifting device and automatic handling system |
TWI672761B (en) * | 2018-02-02 | 2019-09-21 | 盟立自動化股份有限公司 | Material pick-and-place device and method thereof |
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TW201934440A (en) | 2019-09-01 |
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