WO2019174201A1 - 一种移载设备及移载方法 - Google Patents

一种移载设备及移载方法 Download PDF

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Publication number
WO2019174201A1
WO2019174201A1 PCT/CN2018/104507 CN2018104507W WO2019174201A1 WO 2019174201 A1 WO2019174201 A1 WO 2019174201A1 CN 2018104507 W CN2018104507 W CN 2018104507W WO 2019174201 A1 WO2019174201 A1 WO 2019174201A1
Authority
WO
WIPO (PCT)
Prior art keywords
target object
station
detecting
module arm
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/104507
Other languages
English (en)
French (fr)
Inventor
何怀亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HKC Co Ltd
Original Assignee
HKC Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HKC Co Ltd filed Critical HKC Co Ltd
Priority to US16/312,064 priority Critical patent/US11472636B2/en
Publication of WO2019174201A1 publication Critical patent/WO2019174201A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/063—Transporting devices for sheet glass
    • B65G49/064—Transporting devices for sheet glass in a horizontal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45051—Transfer line

Definitions

  • the present application belongs to the technical field of automatic conveying equipment, and more particularly to a transfer device and a transfer method based on the transfer device.
  • the traditional liquid crystal module detects the automatic conveying device, and the panel for carrying the liquid crystal module is arranged on both sides of the liquid crystal module conveying channel, and the liquid crystal module is removed from the conveying channel for detection, and is sent to the conveying channel after the detection is completed.
  • the separation position between the detection position and the detection process is separated, the use process is complicated, the time is long, the equipment is large, the space is large, the production cost is high, and it is not easy to arrange in the plant area.
  • the purpose of the present application is to provide a transfer device and a transfer method, which aims to solve the traditional automatic detection device for detecting a liquid crystal module.
  • the use process is complicated, takes a long time, the device is large in size, takes up a large space, and has high production cost. And it is not easy to arrange in the factory.
  • the technical solution adopted by the present application is to provide a transfer device, where the transfer device includes:
  • the module arm is disposed on the upper side of the equipment frame body, and the number is at least one set;
  • a station to be inspected which is disposed on the device frame and located at an initial placement position of the module arm in a conveying direction for placing a target object to be detected;
  • a detection end station which is disposed on the device frame and located at an end placement position of the module arm conveying direction, for placing the target object whose detection is completed;
  • a detecting station disposed on the equipment rack and located between the to-be-detected station and the detecting end station for holding and detecting the target object;
  • a feeding mechanism connected to the module arm, driven by the module arm or driven by the module arm, for transferring the target object of the station to be inspected to the detecting station, and also used for Lifting the target object to avoid the inspector;
  • a discharging mechanism connected to the module arm, driven by the module arm or driven by the module arm, for transferring the target object of the detecting station to the detecting end station, and also for Lifting the target object to avoid the inspector.
  • the detection end station is located at one end of the module arm.
  • the number of detection stations is at least eight and uniformly disposed on both sides of the module arm.
  • the number of the module arms is at least two and juxtaposed, and the number of the robots is set on the two of the module arms.
  • the feeding mechanism and the discharging mechanism are robots.
  • the robot hand is provided with an anti-collision detecting element.
  • the collision avoidance detecting element is a distance detecting sensor.
  • the robot is provided with a fixed structure for securing the target object.
  • the fixed structure is a suction cup.
  • the suction cup is secured to the robot by a mounting bracket.
  • the suction cups are evenly arranged on the holder.
  • the transfer device further includes a vacuuming device for communicating with the suction cup.
  • the vacuuming device is a vacuum pump.
  • the vacuum pump is connected to the suction cup by a pipe.
  • the conduit is a flexible hose.
  • the application also provides a transfer device, the transfer device comprising:
  • the module arm is disposed on the upper side of the equipment frame body, and the number is at least one set;
  • a station to be inspected which is disposed on the device frame and located at an initial placement position of the module arm in a conveying direction for placing a target object to be detected;
  • a detection end station which is disposed on the device frame and located at an end placement position of the module arm conveying direction, for placing the target object whose detection is completed;
  • a detecting station disposed on the equipment rack and located between the to-be-detected station and the detecting end station for holding and detecting the target object;
  • a feeding mechanism connected to the module arm, driven by the module arm or driven by the module arm, for transferring the target object of the station to be inspected to the detecting station, and also used for Lifting the target object to avoid the inspector;
  • a discharging mechanism connected to the module arm, driven by the module arm or driven by the module arm, for transferring the target object of the detecting station to the detecting end station, and also for Lifting the target object to avoid the inspector;
  • the detecting station is at least eight, and the number of the detecting stations is disposed on two sides of the module arm, and the robot is used to transfer the target object of the detecting station to the detecting end station, One of the detecting stations corresponds to one of the detecting personnel;
  • the equipment frame body is further provided with an electric control box for controlling the movement of the module arm and the robot.
  • the application also provides a transfer method, the transfer method comprising:
  • the discharging mechanism picks up the detected target object, lifts it to avoid the inspector and places the target object to the detecting end station.
  • the placing the target object to the detection end station further comprises:
  • the discharging mechanism When the discharging mechanism picks up the detected target object, it lifts up or flips upwards, so that the height of the target object is greater than the height of the detecting person, and then the target object is transported to the detecting end station.
  • detecting the target object placed at the inspection station further comprises:
  • the number of inspection stations is greater than one, if it is required to continuously detect at different stations, after the target object of the previous inspection station completes the detection, the target object detected by the previous inspection station is placed to the next detection. Station.
  • detecting the target object placed at the inspection station further comprises:
  • the target object can be completed after one test and then transferred to the detection end station.
  • the transfer device of the present application clamps the target object of the station to be inspected to the inspection station by the feeding mechanism on the module arm, and then clamps the target object to the detection end station through the discharging mechanism after the detection is completed. Then, the inspection end station is transferred to the next process, and the inspection station is arranged along the transport direction of the module arm.
  • the target object to be inspected is clamped to the inspection station by the feeding mechanism on the module arm, and after the detection is completed, the target object is clamped to the detection end station by the discharging mechanism. Then, the inspection end station is transferred to the next process, and the detection is directly performed at the inspection station.
  • the detection is performed, the target object only needs to be lifted up to avoid the detection personnel and then transferred to the next station, and the target object does not need to be moved out to the delivery. Outside the direction, the operation is simple, the transmission time is saved, the detection efficiency is improved, the width of the device is shortened, the space occupied is saved, the transfer equipment is arranged in the factory area, the production cost is greatly reduced, and the work efficiency is improved.
  • FIG. 1 is a schematic structural diagram of a transfer device according to Embodiment 1 of the present application.
  • FIG. 2 is a schematic structural diagram of a transfer device according to Embodiment 2 of the present application.
  • FIG. 3 is a schematic structural diagram of a transfer device according to Embodiment 3 of the present application.
  • FIG. 4 is a schematic structural diagram of a transfer device according to Embodiment 4 of the present application.
  • FIG. 5 is a schematic structural diagram of a transfer device according to Embodiment 5 of the present application.
  • FIG. 6 is a schematic structural diagram of a transfer device according to Embodiment 6 of the present application.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • the transfer device includes:
  • the module arm 2 is disposed on the upper side of the equipment frame body 1, and the number is at least one set;
  • the station to be inspected 11 is disposed on the equipment frame 1 and is disposed at an initial placement position in the conveying direction of the module arm 2 for placing the target object 3 to be detected;
  • the detection end station 13 is disposed on the equipment frame 1 and located at the end placement position of the module arm 2 in the conveying direction for placing the detected target object 3;
  • the detecting station 12 is disposed on the equipment frame 1 and located between the station to be inspected 11 and the end station 13 for detecting, and is used for holding and detecting the target object 3;
  • the feeding mechanism is connected to the module arm 2, and is driven by the module arm 2 to transfer the target object 3 of the station to be inspected to the detecting station 12 and used for lifting the target object. 3 avoiding the inspector 4;
  • the discharging mechanism is connected to the module arm 2, and is driven by the module arm 2 to transfer the target object 3 of the detecting station 12 to the detecting end station 13, and is also used for lifting the target.
  • the object 3 evades the inspector 4.
  • the packaging structure clamps the target object 3 of the station 11 to be inspected to the inspection station 12 by the feeding mechanism on the module arm 2, and then detects the target object 3 by the discharging mechanism after the detection is completed.
  • the station 13 is terminated, and then transferred to the next process by the detection end station 13, and the inspection station 12 is disposed along the transport direction of the module arm 2.
  • the detection is performed, only the target object 3 needs to be lifted up to avoid the detection person 4 moving backward. Carrying to the next station, the target object 3 does not need to be moved out to the outside of the transport direction, saving the transmission time, improving the detection efficiency, the device is more compact, shortening the device width, saving the floor space, and facilitating the transfer of the device.
  • the layout of the factory area also greatly reduces the production and production costs and improves the work efficiency.
  • the feeding mechanism and the discharging mechanism provided on the module arm 2 can be driven by the module arm 2 to be transmitted after the robot 21 picks up the target object, or the module arm 2 is a fixed beam, a feeding mechanism and a discharging device. The mechanism is placed on the module arm 2, and the target object is picked up and then transmitted.
  • the detection end station 13 is located at one end of the module arm. Easy to operate the discharge mechanism.
  • the discharging mechanism shares the same track disposed on the module arm 2 with the feeding mechanism to save space.
  • the feeding mechanism and the discharging mechanism are robots 21, and one robot 21 is used to transfer the target object 3 of the station 11 to be inspected to the detecting station 12.
  • the other robot 21 is used to transfer the target object 3 of the detecting station 12 to the detecting end station 13, and the two robots 21 share the same track.
  • the picking and placing of the target object is performed separately, the efficiency is high, and the work is used in an orderly manner. Space saving not only reduces the size of the device but also facilitates control.
  • the structure of the fixed target object on the robot is a plurality of suction cups. When the target object is a plate member, especially a panel in a display device, the adsorption fixing effect is good and the panel is not damaged.
  • the detection end station 13 is located on both sides of the module arm 2, and the detection end station 13 is disposed on the module arm 2 One side or both sides.
  • the manipulator 21 is disposed on one side of the module arm 2, the compact footprint of the device for a group of transmission channels is small, and the detection end station 13 is disposed on both sides of the module arm 2 to add a group of transmission channels for convenient detection.
  • the person 4 is inspected on one side of the transfer path to make full use of the space.
  • the number of inspection stations 12 is at least one.
  • the number of inspection stations 12 can be set according to the actual detection requirements of different detected objects.
  • the number of detection stations 12 is at least eight and uniformly disposed on both sides of the module arm 2 .
  • the detected target object 3 is a display module
  • four detection stations 12 may be sequentially disposed on both sides of the module arm 2, and the detection module 4 detects the display module beside the detection station 12, and does not need to display
  • the module can be detected by moving out of the transmission direction, shortening the waiting time of personnel, improving production efficiency, shortening the width of the transfer equipment, simplifying the moving mechanism of the equipment, saving equipment costs, and making the production line have moving space.
  • the detecting station 12 can be used as a detecting platform or as a continuous detecting platform.
  • the target object When used as a detecting platform, the target object can be completed after one test, and then transmitted by the robot 21 to the detecting end station 13, when the detecting station 12 can When used as a continuous detection platform, it can be sequentially detected by the robot 21 between the inspection stations 12, and then transmitted by the robot 21 to the detection end station 13.
  • the number of the module arms 2 is at least two and juxtaposed, and the number of the robots 21 or the like is symmetrically set in two modes. Group on arm 2.
  • the number of module arms 2 is two, the two transmission channels can be independently controlled, and the detection of different products can be performed without affecting the work.
  • the robot 21 is provided with an anti-collision detecting component.
  • the robot 21 can be evaded or stopped by the detecting personnel 4 to ensure the detecting personnel 4 Safety and equipment security.
  • the collision avoidance detecting element is a distance detecting sensor.
  • the distance detecting sensor By setting the distance detecting sensor, the distance between the obstacle and the manipulator 21 can be detected, thereby pre-judging, and the alarm is set or evaded or stopped after the set safety distance is reached.
  • the robot 21 is provided with a fixing structure for fixing the target object 3.
  • the fixed structure is set to ensure the fixed stability of the target object 3, and the transfer is convenient.
  • the fixed structure is a suction cup.
  • the suction cup is secured to the robot 21 by a mounting bracket.
  • a plurality of suction cups can be provided on the robot 21 to ensure a fixing effect.
  • the suction cups are evenly arranged on the mount. It is ensured that the target object 3 can be uniformly stressed and the fixing is more stable.
  • the transfer device further includes a vacuuming device for communicating with the suction cup. It is convenient to generate a negative pressure on the suction cup, thereby adsorbing and fixing the target object 3.
  • the vacuuming device is a vacuum pump that facilitates generating a negative pressure on the suction cup to thereby adsorb and fix the target object 3.
  • the vacuum pump is coupled to the suction cup by a conduit.
  • the vacuum pump is connected to the suction cup through the pipeline, which facilitates the connection of multiple suction cups by the same vacuum pump, saving space and cost.
  • the conduit is a flexible hose.
  • the flexible hose is PU hose (PU material, polyurethane), PU material, with chemical corrosion resistance, light weight, high wear resistance, anti-staining, anti-flatulence and other properties.
  • the flexible hose is helical and has a certain amount of expansion and contraction.
  • the present application further provides a transfer device, where the transfer device includes:
  • Equipment frame 1 for placing on the ground
  • the module arm 2 is disposed on the upper side of the equipment frame body 1, and the number is at least one set;
  • the station to be inspected 11 is disposed on the equipment frame 1 and is disposed at an initial placement position in the conveying direction of the module arm 2 for placing the target object 3 to be detected;
  • the detection end station 13 is disposed on the equipment frame 1 and located at the end placement position of the module arm 2 in the conveying direction for placing the detected target object 3;
  • the detecting station 12 is disposed on the equipment frame 1 and located between the station to be inspected 11 and the end station 13 for detecting, and is used for holding and detecting the target object 3;
  • the feeding mechanism is connected to the module arm 2, and is driven by the module arm 2 to move the target object 3 of the station 11 to be inspected to the detecting station 12, and is also used for lifting the target.
  • the object 3 avoids the inspector 4;
  • the discharging mechanism is connected to the module arm 2 and shares the same track set on the module arm 2 with the feeding mechanism, and is driven by the module arm 2 by itself or for detecting the station 12
  • the target object 3 is transferred to the detection end station 13, and is also used to lift the target object 3 to avoid the detection person 4;
  • the detecting station 12 is at least eight, the detecting station 12 and the like are disposed on both sides of the module arm 2, and any detecting station 12 corresponds to a detecting person 4;
  • the equipment frame 1 is further provided with an electric control box for controlling the movement of the module arm 2 and the robot 21.
  • the transfer device clamps the target object 3 of the station 11 to be inspected to the inspection station 12 by the feeding mechanism on the module arm 2, and then clamps the target object 3 through the discharge mechanism after the detection is completed.
  • the detection end station 13 is then transferred from the detection end station 13 to the next step, and the inspection station 12 is disposed along the transport direction of the module arm 2, and the target object 3 does not need to be moved out to the outside of the transport direction during the detection, saving The transmission time is improved, and the detection efficiency is improved.
  • the detecting module 4 detects the display module beside the detecting station 12, and can perform detection without moving the display module out of the conveying direction, shortening the waiting time of the personnel, improving the production efficiency, and shortening the movement.
  • the width of the carrying device saves space, facilitates the placement of the transfer equipment in the plant area, simplifies the moving mechanism of the equipment, saves equipment costs, and has a moving line space on the production line.
  • the application also provides a transfer method, the transfer method comprising:
  • the target object 3 into the station to be inspected 11, adjust the position of the feeding mechanism, so that the feeding mechanism picks up the target object 3, lifts the target object 3 to avoid the detecting person 4 and places the target object 3 to the detecting station 12;
  • the position of the discharge mechanism is adjusted so that the discharge mechanism picks up the detected target object 3, lifts the target object 3 to detect the person 4, and places the target object 3 at the detection end station 13.
  • the transfer method clamps the target object 3 of the station 11 to be inspected to the inspection station 12 by the feeding mechanism on the module arm 2, and then detects the target object 3 by the discharging mechanism after the detection is completed.
  • the station 13 is terminated, and then the detection end station 13 is transferred to the next step, and the detection is directly performed on the detecting station 12.
  • the target object 3 does not need to be moved out to the outside of the transport direction, the operation is simple, the transmission time is saved, the detection efficiency is improved, the device width is shortened, the space occupied is saved, the transfer equipment is arranged in the plant area, and the transfer device is also greatly reduced.
  • the production cost is increased and the work efficiency is improved.
  • placing the target object to the detection end station further includes:
  • the discharge mechanism picks up the detected target object 3, it is lifted up or turned up, so that the height of the target object 3 is greater than the height of the inspector, and then the target object 3 is transported to the detection end station.
  • the object 3 By lifting the object 3 up or down to avoid the inspector, the safety of the inspector is ensured.
  • the target object is a plate
  • the plate is sucked and fixed by the suction cup on the robot, and flipped up by 180 degrees, which can be quickly The plate is lifted and the work efficiency is high.
  • the discharging mechanism and the feeding mechanism are both the robot 21, and the discharging mechanism and the feeding mechanism may be separate robots 21 and two robots. 21 common to the same track, the target object is taken separately and separated, the efficiency is high, the work is used in an orderly manner, and the space is saved, which not only reduces the size of the device but also facilitates control, and can also be the same robot 21 .
  • detecting the target object 3 placed at the detecting station 12 further includes: when the number of detecting stations 12 is greater than one, such as It is necessary to continuously detect at different stations.
  • a robot 21 or a robot 21 can be set to enable the robot 21 to pick up the target detected by the previous detecting station 12.
  • the object 3 and the target object 3 are placed to the next inspection station 12.
  • the number of detection stations 12 can be set according to the actual detection requirements of different detection objects, and the target object 3 is sequentially transmitted on the detection station 12 on the same side of the module arm 2.
  • the detecting station 12 can be used as a detecting platform or as a continuous detecting platform.
  • the target object When used as a detecting platform, the target object can be completed after one test, and then transmitted by the robot 21 to the detecting end station 13, when the detecting station 12 can When used as a continuous detection platform, it can be sequentially detected by the robot 21 between the inspection stations 12, and then transmitted by the robot 21 to the detection end station 13.
  • the transfer and detection of the target object can be simultaneously performed on both sides.
  • the transfer and detection of the target object can be performed simultaneously and asynchronously on both sides.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

一种移载设备及移载方法，该移载设备包括：设备架体（1）；模组手臂（2），设置在设备架体（1）上侧；待检测工位（11），设置在设备架体（1）上并位于模组手臂（2）输送方向的初始放置位置；检测结束工位（13），设置在设备架体（1）上并位于模组手臂（2）输送方向的结束放置位置；检测工位（12），设置在设备架体（1）上且位于待检测工位（11）及检测结束工位（13）之间；入料机构，用于将待检测工位（11）的目标物体（3）移载到检测工位（12）；出料机构，用于将检测工位（12）的目标物体（3）移载到检测结束工位（13）。

Description

一种移载设备及移载方法 技术领域
本申请属于自动输送设备技术领域，更具体地说，是涉及一种移载设备及基于该移载设备的移载方法。
 背景技术
传统的液晶模组检测自动输送设备，往往选用将液晶模组输送通道的两侧上设置承载液晶模组的面板，将液晶模组移出输送通道后进行检测，检测完成后在移入输送通道送往下一工序，检测位置和检测工序间的传送位置分离设置，使用过程复杂，耗费时间长，设备的体积大，占用空间大，生产成本高，而且不易在厂区布置。
 技术问题
本申请的目的在于提供一种移载设备及移载方法，旨在解决传统的液晶模组检测自动输送设备，使用过程复杂，耗费时间长，设备的体积大，占用空间大，生产成本高，而且不易在厂区布置。
 技术解决方案
为实现上述目的，本申请采用的技术方案是：提供一种移载设备，所述移载设备包括：
设备架体；
模组手臂，设置在所述设备架体上侧，数量至少为一组；
待检测工位，设置在所述设备架体上并位于所述模组手臂输送方向的初始放置位置，用于放置待检测的目标物体；
检测结束工位，设置在所述设备架体上并位于所述模组手臂输送方向的结束放置位置，用于放置检测完成的所述目标物体；
检测工位，设置在所述设备架体上且位于所述待检测工位及所述检测结束工位之间，用于盛放并检测所述目标物体；
入料机构，与所述模组手臂连接，通过自行运行或受所述模组手臂驱动，用于将所述待检测工位的所述目标物体移载到所述检测工位，还用于举升所述目标物体避让检测人员；
出料机构，与所述模组手臂连接，通过自行运行或受所述模组手臂驱动，用于将所述检测工位的所述目标物体移载到所述检测结束工位，还用于举升所述目标物体避让检测人员。
在一个实施例中，所述检测结束工位位于所述模组手臂的一端。
在一个实施例中，所述检测工位的数量为至少八个且均匀设置在所述模组手臂的两侧。
在一个实施例中，所述模组手臂数量为至少两个且并列设置，所述机械手等数量的设置在两个所述模组手臂上。
在一个实施例中，所述入料机构和所述出料机构为机械手。
在一个实施例中，所述机械手上设有防撞检测元件。
在一个实施例中，所述防撞检测元件为距离检测传感器。
在一个实施例中，所述机械手上设有用于固定所述目标物体的固定结构。
在一个实施例中，所述固定结构为吸盘。
在一个实施例中，所述吸盘通过固定架固设在所述机械手上。
在一个实施例中，所述吸盘在所述固定架上均匀布置。
在一个实施例中，所述移载设备还包括用于和所述吸盘连通的抽真空装置。
在一个实施例中，所述抽真空装置为真空泵。
在一个实施例中，所述真空泵与所述吸盘通过管路连接。
在一个实施例中，所述管路为柔性软管。
本申请还提供一种移载设备，所述移载设备包括：
设备架体；
模组手臂，设置在所述设备架体上侧，数量至少为一组；
待检测工位，设置在所述设备架体上并位于所述模组手臂输送方向的初始放置位置，用于放置待检测的目标物体；
检测结束工位，设置在所述设备架体上并位于所述模组手臂输送方向的结束放置位置，用于放置检测完成的所述目标物体；
检测工位，设置在所述设备架体上且位于所述待检测工位及所述检测结束工位之间，用于盛放并检测所述目标物体；
入料机构，与所述模组手臂连接，通过自行运行或受所述模组手臂驱动，用于将所述待检测工位的所述目标物体移载到所述检测工位，还用于举升所述目标物体避让检测人员；
出料机构，与所述模组手臂连接，通过自行运行或受所述模组手臂驱动，用于将所述检测工位的所述目标物体移载到所述检测结束工位，还用于举升所述目标物体避让检测人员；
所述检测工位为至少八个，所述检测工位等数量的设置在所述模组手臂的两侧，所述机械手用于将检测工位的目标物体移载到检测结束工位，任一所述检测工位对应一所述检测人员；
所述设备架体上还设有用于控制所述模组手臂及所述机械手运动的电控箱。
本申请还提供一种移载方法，所述移载方法包括：
将目标物体放入待检测工位，入料机构拾取目标物体后举升避让检测人员并将所述目标物体放置到检测工位；
对放置到检测工位的目标物体进行检测；
出料机构拾取经过检测的目标物体后举升避让检测人员并并将目标物体放置到检测结束工位。
在一个实施例中，所述将目标物体放置到检测结束工位还包括：
当出料机构拾取经过检测的目标物体后向上提升或翻转，使目标物体的高度大于检测人员的高度，然后将目标物体运送到检测结束工位。
在一个实施例中，对放置到检测工位的目标物体进行检测还包括：
当检测工位的数量为大于一个时，如需要在不同的工位连续检测，在前一检测工位的目标物体完成检测后，使经过上一检测工位检测的目标物体放置到下一检测工位。
在一个实施例中，对放置到检测工位的目标物体进行检测还包括：
作为一次检测平台时，当目标物体经过一次检测即可完成，然后传送至检测结束工位。
 有益效果
本申请移载设备，通过在模组手臂上的入料机构将待检测工位的目标物体夹持到检测工位，检测完成后再通过出料机构将目标物体夹送到检测结束工位，然后由检测结束工位传送到下一个工序，检测工位沿在模组手臂的运送方向上设置，检测时仅需要向上举升目标物体避让检测人员后移载到下一工位，不需要将目标物体移出到运送方向外侧，节省了传送时间，提高了检测的效率，设备更加紧凑，缩短了设备宽度，节省了占地空间，便于移载设备在厂区布置，同时也大大减小了生产制作成本，提高了工作效率。
本申请移载方法，通过在模组手臂上的入料机构将待检测工位的目标物体夹持到检测工位，检测完成后再通过出料机构将目标物体夹送到检测结束工位，然后由检测结束工位传送到下一个工序，在检测工位上直接进行检测，检测时仅需要向上举升目标物体避让检测人员后移载到下一工位，不需要将目标物体移出到运送方向外侧，操作简单，节省了传送时间，提高了检测的效率，利于缩短设备宽度，节省占地空间，利于移载设备在厂区布置，同时也大大减小了生产制作成本，提高了工作效率。
 附图说明
图1为本申请实施例1提供的移载设备的结构示意图；
图2为本申请实施例2提供的移载设备的结构示意图；
图3为本申请实施例3提供的移载设备的结构示意图；
图4为本申请实施例4提供的移载设备的结构示意图；
图5为本申请实施例5提供的移载设备的结构示意图；
图6为本申请实施例6提供的移载设备的结构示意图。
 本发明的实施方式
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
请一并参阅图1及图2，现对本申请提供的移载设备进行说明。所述移载设备包括：
设备架体1；
模组手臂2，设置在设备架体1上侧，数量至少为一组；
待检测工位11，设置在设备架体1上并设置在模组手臂2输送方向的初始放置位置，用于放置待检测的目标物体3；
检测结束工位13，设置在设备架体1上并位于模组手臂2输送方向的结束放置位置，用于放置检测完成的目标物体3；
检测工位12，设置在设备架体1上且位于待检测工位11及检测结束工位13之间，用于盛放并检测目标物体3；
入料机构，与模组手臂2连接，通过自行运行或受所述模组手臂2驱动，用于将待检测工位11的目标物体3移载到检测工位12且用于举升目标物体3避让检测人员4；
出料机构，与模组手臂2连接，通过自行运行或受所述模组手臂2驱动，用于将检测工位12的目标物体3移载到检测结束工位13，还用于举升目标物体3避让检测人员4。
该包装结构，通过在模组手臂2上的入料机构将将待检测工位11的目标物体3夹持到检测工位12，检测完成后再通过出料机构将目标物体3夹送到检测结束工位13，然后由检测结束工位13传送到下一个工序，检测工位12沿在模组手臂2的运送方向上设置，检测时仅需要向上举升目标物体3避让检测人员4后移载到下一工位，不需要将目标物体3移出到运送方向外侧，节省了传送时间，提高了检测的效率，设备更加紧凑，缩短了设备宽度，节省了占地空间，便于移载设备在厂区布置，同时也大大减小了生产制作成本，提高了工作效率。模组手臂2上设置的进料机构和出料机构可以通过模组手臂2带动其运动，以达到机械手21拾取目标物体后进行传送，或者模组手臂2为固定横梁，进料机构和出料机构设置在模组手臂2上，拾取目标物体后进行传送。
在一个实施例中，请参阅图3至图6，作为本申请的一个示例性的实施方式，检测结束工位13位于所述模组手臂的一端。便于出料机构操作。可选地，出料机构与所述入料机构共用设置在模组手臂2上的同一轨道，节省空间。
在一个实施例中，作为本申请的一个示例性的实施方式，入料机构和出料机构为机械手21，一个机械手21用于将待检测工位11的目标物体3移载到检测工位12，另一个机械手21用于将检测工位12的目标物体3移载到检测结束工位13，且两个机械手21公用同一个轨道，目标物体的取放分开进行，效率高，工作使用有序，节省空间，不但缩小了设备的体积而且便于控制。作为可选地，机械手上的固定目标物体的结构为若干吸盘。当目标物体为板状件尤其是显示装置中的面板时，吸附固定效果好，而且不会损伤面板。
在一个实施例中，请参阅图3至图6，作为本申请的一个示例性的实施方式，检测结束工位13位于模组手臂2的两侧，检测结束工位13设置在模组手臂2的单侧或两侧。当机械手21设置在模组手臂2的单侧时，为一组传送通道设备紧凑占地空间小，将检测结束工位13设置在模组手臂2的两侧可以增加一组传送通道，方便检测人员4在传送通道的一侧进行检验，可以充分利用空间。
在一个实施例中，作为本申请的一个示例性的实施方式，检测工位12的数量为至少一个。检测工位12的数量可以根据不同的检测物体的实际检测要求进行设置。
在一个实施例中，请参阅图3至图6，作为本申请的一个示例性的实施方式，检测工位12的数量为至少八个且均匀设置在模组手臂2的两侧。当检测的目标物体3为显示模组时可以在模组手臂2的两侧顺序设置四个检测工位12，由检测人员4在检测工位12的旁边对显示模组进行检测，不用将显示模组移出传送方向即可进行检测，缩短人员等待时间，提高生产效率，而且缩短了移载设备的宽度，简化设备的移动机构，节省设备成本，并且使产线有动线空间。检测工位12可以作为一次检测平台，或者作为连续检测平台使用，作为一次检测平台时，目标物体经过一次检测即可完成，然后由机械手21传送至检测结束工位13，当检测工位12可以作为连续检测平台使用时，可以在检测工位12之间由机械手21移动顺序检测，然后由机械手21传送至检测结束工位13。
在一个实施例中，请参阅图5及图6，作为本申请的一个示例性的实施方式，模组手臂2数量为至少两个且并列设置，机械手21等数量的或对称设置在两个模组手臂2上。模组手臂2数量为两个时，能都对两个传送通道进行独立控制，可以进行不同产品的运载检测，互不影响工作。
在一个实施例中，作为本申请的一个示例性的实施方式，机械手21上设有防撞检测元件，通过设置防撞检测元件能够使机械手21对检测人员4进行避让或者停机，保证检测人员4的安全以及设备的安全。
在一个实施例中，作为本申请的一个示例性的实施方式，防撞检测元件为距离检测传感器。通过设置距离检测传感器能检测障碍物与机械手21的距离，从而进行预判，达到设定安全距离后报警或者避让或者停机。
在一个实施例中，作为本申请的一个示例性的实施方式，机械手21上设有用于固定目标物体3的固定结构。设置固定结构保证目标物体3的固定稳定性，方便移载。
在一个实施例中，作为本申请的一个示例性的实施方式，固定结构为吸盘。
在一个实施例中，作为本申请的一个示例性的实施方式，吸盘通过固定架固设在机械手21上。能够在机械手21上设置多个吸盘，保证固定效果。
在一个实施例中，作为本申请的一个示例性的实施方式，吸盘在固定架上均匀布置。保证目标物体3能够均匀受力，固定更加稳定。
在一个实施例中，作为本申请的一个示例性的实施方式，移载设备还包括用于和吸盘连通的抽真空装置。便于对吸盘产生负压，从而将目标物体3吸附固定。
在一个实施例中，作为本申请的一个示例性的实施方式，抽真空装置为真空泵，便于对吸盘产生负压，从而将目标物体3吸附固定。
在一个实施例中，作为本申请的一个示例性的实施方式，真空泵与吸盘通过管路连接。通过管路将真空泵与吸盘连接，便于同一真空泵连接多个吸盘，节省空间和成本。
在一个实施例中，作为本申请的一个示例性的实施方式，管路为柔性软管。柔性软管为PU软管（PU材料，即聚亚安酯），PU材料，具有耐化学腐蚀、重量轻、耐磨性高、防染色、防胀气等性能。可选的，柔性软管为螺旋状，有一定的伸缩量。
请一并参阅图1及图2，本申请还提供一种移载设备，所述移载设备包括：
设备架体1；
设备架体1，用于放置在地面上；
模组手臂2，设置在设备架体1上侧，数量至少为一组；
待检测工位11，设置在设备架体1上并设置在模组手臂2输送方向的初始放置位置，用于放置待检测的目标物体3；
检测结束工位13，设置在设备架体1上并位于模组手臂2输送方向的结束放置位置，用于放置检测完成的目标物体3；
检测工位12，设置在设备架体1上且位于待检测工位11及检测结束工位13之间，用于盛放并检测目标物体3；
入料机构，与模组手臂2连接，通过自行运行或受所述模组手臂2驱动，用于将待检测工位11的目标物体3移载到检测工位12，还用于举升目标物体3避让检测人员4；
出料机构，与模组手臂2连接，并与所述入料机构共用设置在模组手臂2上的同一轨道，通过自行运行或受所述模组手臂2驱动，用于将检测工位12的目标物体3移载到检测结束工位13，还用于举升目标物体3避让检测人员4；
检测工位12为至少八个，检测工位12等数量的设置在模组手臂2的两侧，任一检测工位12对应一检测人员4；
设备架体1上还设有用于控制模组手臂2及机械手21运动的电控箱。
该移载设备，通过在模组手臂2上的入料机构将将待检测工位11的目标物体3夹持到检测工位12，检测完成后再通过出料机构将目标物体3夹送到检测结束工位13，然后由检测结束工位13传送到下一个工序，检测工位12沿在模组手臂2的运送方向上设置，检测时不需要将目标物体3移出到运送方向外侧，节省了传送时间，提高了检测的效率，通过在模组手臂2的两侧设置四个检测工位12，从而实现一个模组手臂2的双通道运载结构，并通过电控箱进行控制入料机构和出料机构运载，由检测人员4在检测工位12的旁边对显示模组进行检测，不用将显示模组移出传送方向即可进行检测，缩短人员等待时间，提高生产效率，而且缩短了移载设备的宽度，节省了占地空间，便于移载设备在厂区布置，简化设备的移动机构，节省设备成本，并且使产线有动线空间。
本申请还提供一种移载方法，所述移载方法包括：
将目标物体3放入待检测工位11，调整入料机构的位置，使入料机构拾取目标物体3后举升目标物体3避让检测人员4并将目标物体3放置到检测工位12；
对放置到检测工位12的目标物体3进行检测；
检测完成后，调整出料机构的位置，使出料机构拾取经过检测的目标物体3后举升避让目标物体3检测人员4并将目标物体3放置到检测结束工位13。
该移载方法，通过在模组手臂2上的入料机构将待检测工位11的目标物体3夹持到检测工位12，检测完成后再通过出料机构将目标物体3夹送到检测结束工位13，然后由检测结束工位13传送到下一个工序，在检测工位12上直接进行检测，检测时仅需要向上举升目标物体3避让检测人员4后移载到下一工位，不需要将目标物体3移出到运送方向外侧，操作简单，节省了传送时间，提高了检测的效率，利于缩短设备宽度，节省占地空间，利于移载设备在厂区布置，同时也大大减小了生产制作成本，提高了工作效率。
在一个实施例中，作为本申请提供的移载方法的一种具体实施方式，将于将目标物体放置到检测结束工位还包括：
当出料机构拾取经过检测的目标物体3后向上提升或翻转，使目标物体3的高度大于检测人员的高度，然后将目标物体3运送到检测结束工位。通过对目标物体3向上提升或翻转来避让检测人员，保证检测人员的工作安全性，当目标物体为板状件时通过机械手上的吸盘将板状件吸附固定，向上翻转180度，可以快速将板状件举升，工作效率高。
在一个实施例中，作为本申请提供的移载方法的一种具体实施方式，出料机构和入料机构均为机械手21，出料机构和入料机构可以是单独的机械手21，两个机械手21公用同一个轨道，目标物体的取放分开进行，效率高，工作使用有序，节省空间，不但缩小了设备的体积而且便于控制，亦可以是同一机械手21。
在一个实施例中，作为本申请提供的移载方法的一种具体实施方式，对放置到检测工位12的目标物体3进行检测还包括：当检测工位12的数量为大于一个时，如需要在不同的工位连续检测，在前一检测工位12的目标物体3完成检测后，可设定一机械手21或增设一机械手21，使机械手21拾取经过上一检测工位12检测的目标物体3并将目标物体3放置到下一检测工位12。检测工位12的数量可以根据不同的检测物体的实际检测要求进行设置，并在模组手臂2同一侧的检测工位12上依次传递目标物体3。检测工位12可以作为一次检测平台，或者作为连续检测平台使用，作为一次检测平台时，目标物体经过一次检测即可完成，然后由机械手21传送至检测结束工位13，当检测工位12可以作为连续检测平台使用时，可以在检测工位12之间由机械手21移动顺序检测，然后由机械手21传送至检测结束工位13。
在一个实施例中，作为本申请的一个示例性的实施方式，当模组手臂2两侧均设置机械手21时，可以两侧同时进行对目标物体的移载和检测。当模组手臂2数量为两个时，可以两侧同时且不同步进行对目标物体的移载和检测。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种移载设备，包括：
    设备架体；
    模组手臂，设置在所述设备架体上侧，数量至少为一组；
    待检测工位，设置在所述设备架体上并位于所述模组手臂输送方向的初始放置位置，用于放置待检测的目标物体；
    检测结束工位，设置在所述设备架体上并位于所述模组手臂输送方向的结束放置位置，用于放置检测完成的所述目标物体；
    检测工位，设置在所述设备架体上且位于所述待检测工位及所述检测结束工位之间，用于盛放并检测所述目标物体；
    入料机构，与所述模组手臂连接，通过自行运行或受所述模组手臂驱动，用于将所述待检测工位的所述目标物体移载到所述检测工位且用于举升所述目标物体避让检测人员；
    出料机构，与所述模组手臂连接，通过自行运行或受所述模组手臂驱动，用于将所述检测工位的所述目标物体移载到所述检测结束工位，还用于举升所述目标物体避让检测人员。
  2. 如权利要求1所述的移载设备，其中，所述检测结束工位位于所述模组手臂的一端。
  3. 如权利要求1所述的移载设备，其中，所述检测工位的数量为至少八个且均匀设置在所述模组手臂的两侧。
  4. 如权利要求1所述的移载设备，其中，所述模组手臂数量为至少两个且并列设置。
  5. 如权利要求1所述的移载设备，其中，所述入料机构和所述出料机构为机械手。
  6. 如权利要求5所述的移载设备，其中，所述机械手上设有防撞检测元件。
  7. 如权利要求6所述的移载设备，其中，所述防撞检测元件为距离检测传感器。
  8. 如权利要求5所述的移载设备，其中，所述机械手上设有用于固定所述目标物体的固定结构。
  9. 如权利要求8所述的移载设备，其中，所述固定结构为吸盘。
  10. 如权利要求9所述的移载设备，其中，所述吸盘通过固定架固设在所述机械手上。
  11. 如权利要求10所述的移载设备，其中，所述吸盘在所述固定架上均匀布置。
  12. 如权利要求9所述的移载设备，其中，所述移载设备还包括用于和所述吸盘连通的抽真空装置。
  13. 如权利要求12所述的移载设备，其中，所述抽真空装置为真空泵。
  14. 如权利要求13所述的移载设备，其中，所述真空泵与所述吸盘通过管路连接。
  15. 如权利要求13所述的移载设备，其中，所述管路为柔性软管。
  16. 一种移载设备，其中，所述移载设备包括：
    设备架体；
    模组手臂，设置在所述设备架体上侧，数量至少为一组；
    待检测工位，设置在所述设备架体上并位于所述模组手臂输送方向的初始放置位置，用于放置待检测的目标物体；
    检测结束工位，设置在所述设备架体上并位于所述模组手臂输送方向的结束放置位置，用于放置检测完成的所述目标物体；
    检测工位，设置在所述设备架体上且位于所述待检测工位及所述检测结束工位之间，用于盛放并检测所述目标物体；
    入料机构，与所述模组手臂连接，通过自行运行或受所述模组手臂驱动，用于将所述待检测工位的所述目标物体移载到所述检测工位，还用于举升所述目标物体避让检测人员；
    出料机构，与所述模组手臂连接，通过自行运行或受所述模组手臂驱动，用于将所述检测工位的所述目标物体移载到所述检测结束工位，还用于举升所述目标物体避让检测人员；
    所述检测工位为至少八个，所述检测工位等数量的设置在所述模组手臂的两侧，任一所述检测工位对应一所述检测人员；
    所述设备架体上还设有用于控制所述模组手臂及所述机械手运动的电控箱。
  17. 一种移载方法，其中，所述移载方法包括：
    将目标物体放入待检测工位，入料机构拾取目标物体后举升避让检测人员并将所述目标物体放置到检测工位；
    对放置到检测工位的目标物体进行检测；
    出料机构拾取经过检测的目标物体后举升避让检测人员并将目标物体放置到检测结束工位。
  18. 如权利要求17所述的移载方法，其中，将目标物体放置到检测结束工位还包括：
    当出料机构拾取经过检测的目标物体后向上提升或翻转，使目标物体的高度大于检测人员的高度，然后将目标物体运送到检测结束工位。
  19. 如权利要求17所述的移载方法，其中，对放置到检测工位的目标物体进行检测还包括：
    当检测工位的数量为大于一个时，如需要在不同的工位连续检测，在前一检测工位的目标物体完成检测后，使经过上一检测工位检测的目标物体放置到下一检测工位。
  20. 如权利要求17所述的移载方法，其中，对放置到检测工位的目标物体进行检测还包括：
    作为一次检测平台时，当目标物体经过一次检测即可完成，然后传送至检测结束工位。
PCT/CN2018/104507 2018-03-16 2018-09-07 一种移载设备及移载方法 Ceased WO2019174201A1 (zh)

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