TW202225073A - Sheet-like article conveying method, pallet, and article conveying system wherein the pallet is capable of holding and conveying the articles that are in a downwardly bent state - Google Patents

Sheet-like article conveying method, pallet, and article conveying system wherein the pallet is capable of holding and conveying the articles that are in a downwardly bent state Download PDF

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Publication number
TW202225073A
TW202225073A TW109145747A TW109145747A TW202225073A TW 202225073 A TW202225073 A TW 202225073A TW 109145747 A TW109145747 A TW 109145747A TW 109145747 A TW109145747 A TW 109145747A TW 202225073 A TW202225073 A TW 202225073A
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Taiwan
Prior art keywords
articles
pallet
short
article
holding
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TW109145747A
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Chinese (zh)
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安藤弘一
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日商大和股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/24—Delivering or advancing articles from machines; Advancing articles to or into piles by air blast or suction apparatus
    • B65H29/241—Suction devices
    • 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
    • B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • 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
    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/02—Pile receivers with stationary end support against which pile accumulates
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/022—Flat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/10—Cassettes, holders, bins, decks, trays, supports or magazines for sheets stacked substantially horizontally
    • B65H2405/11—Parts and details thereof
    • B65H2405/111—Bottom
    • B65H2405/1114—Bottom with surface portions curved in lengthwise direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/10—Cassettes, holders, bins, decks, trays, supports or magazines for sheets stacked substantially horizontally
    • B65H2405/11—Parts and details thereof
    • B65H2405/112—Rear, i.e. portion opposite to the feeding / delivering side
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/10—Cassettes, holders, bins, decks, trays, supports or magazines for sheets stacked substantially horizontally
    • B65H2405/11—Parts and details thereof
    • B65H2405/113—Front, i.e. portion adjacent to the feeding / delivering side
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/10—Cassettes, holders, bins, decks, trays, supports or magazines for sheets stacked substantially horizontally
    • B65H2405/11—Parts and details thereof
    • B65H2405/114—Side, i.e. portion parallel to the feeding / delivering direction

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Pallets (AREA)
  • Packaging Of Annular Or Rod-Shaped Articles, Wearing Apparel, Cassettes, Or The Like (AREA)

Abstract

The present invention provides a technique for conveying, stacking, and holding sheet-like and rectangular-shaped articles that are in a downwardly bent state. The irregular deformation of the sheet-like articles is suppressed, the contact between the articles is avoided, and they are stably stacked and held on the pallet. The method of conveying articles includes: the step of keeping the plurality of places along the short side of the articles to be horizontal above the pallet by means of a plurality of holding means; the step of moving the holding means in the horizontal direction, shortening the distance between the short side and the short side of the articles, and pressing the central parts of the articles downward by the pressing means; the step of placing the articles on the pallet; and the step of arranging spacer papers on the articles. The distance that the pressing means presses the articles is shorter than the distance that the central parts of the articles move downward by the movement of the holding means. The present invention provides a pallet capable of holding and conveying the articles that are in a downwardly bent state.

Description

片狀物品之搬送方法、托板、以及物品搬送系統Sheet-like article conveying method, pallet, and article conveying system

本發明係關於一種搬送片狀物品而逐片堆疊之物品搬送方法、用以將片狀物品在堆疊之狀態下保持並搬送之托板、以及物品搬送系統。尤其是關於將容易彈性變形之矩形片狀物品以向下方彎曲之狀態下搬送、堆疊、保持之方法。又，係關於一種適合用以將片狀物品在向下方彎曲之狀態下堆疊、保持、搬送之托板與物品搬送系統。The present invention relates to an article conveying method for conveying sheet-like articles and stacking them one by one, a pallet for holding and conveying sheet-like articles in a stacked state, and an article conveying system. In particular, it relates to a method of conveying, stacking, and holding a rectangular sheet-like article that is easily elastically deformed in a state of being bent downward. Furthermore, it relates to a pallet and an article conveying system suitable for stacking, holding, and conveying sheet-like articles in a state of being bent downward.

由玻璃、金屬、樹脂、以及該等之複合材料構成之片狀薄板材，廣泛地應用於印刷配線板(printed wiring board, PWB)、太陽能電池、顯示裝置等。其中，印刷配線板，尤其是覆銅箔層壓板(Copper Clad Laminate, CCL)係經過許多步驟而商品化，因此進行保持與搬送之機會多。此種片狀之材料係於表面進行各種加工而商品化，因此於搬送及保持時，必須防止裝置及物品彼此之接觸，且保護表面。Sheet-like sheets made of glass, metal, resin, and composite materials thereof are widely used in printed wiring boards (PWB), solar cells, display devices, and the like. Among them, printed wiring boards, especially copper clad laminates (Copper Clad Laminate, CCL) are commercialized through many steps, so there are many opportunities for holding and transporting. This kind of sheet-like material is commercialized by various processing on the surface. Therefore, during transportation and holding, it is necessary to prevent the contact between devices and articles, and to protect the surface.

於專利文獻1中，揭示有用以搬送薄板狀基板之托板。專利文獻1之托板，以保持部與移動搬送裝置對應部之雙層構造構成。於專利文獻1，基板之中央部在因自重而向下方彎曲之狀態下被保持為水平並搬送。專利文獻1之托板尤其適合於玻璃基板之搬送。 [先前技術文獻] [專利文獻] In patent document 1, the pallet for conveying a thin plate-shaped board|substrate is disclosed. The pallet of Patent Document 1 has a two-layer structure of a holding portion and a portion corresponding to a moving conveying device. In Patent Document 1, the central portion of the substrate is transported while being kept horizontally in a state of being bent downward by its own weight. The pallet of patent document 1 is especially suitable for conveyance of a glass substrate. [Prior Art Literature] [Patent Literature]

[專利文獻1]日本特開第2015-203351號公報[Patent Document 1] Japanese Patent Laid-Open No. 2015-203351

[發明所欲解決之問題][Problems to be Solved by Invention]

片狀物品，於保持並搬送周緣部時，常有中央部因自重而向下方彎曲之情況。然而，板厚度非常薄之物品，有於搬送途中不規則變形、堆疊時與上下物品接觸之情況。搬送中之「突然挫曲(snap buckling)」亦為不規則變形之一成因。被要求有抑制如上所述之變形，以穩定之形狀搬送物品，不與裝置及其他物品接觸而保持物品之技術。When a sheet-like article is held and conveyed at the peripheral portion, the center portion is often bent downward due to its own weight. However, articles with very thin plates may deform irregularly during conveyance, and may come into contact with upper and lower articles during stacking. "snap buckling" during transportation is also one of the causes of irregular deformation. There is a demand for a technology that suppresses the deformation as described above, conveys the article in a stable shape, and holds the article without contacting the device and other articles.

本發明係鑑於上述情事而完成者，且係以如下技術之提供作為待解決之課題者，該技術係藉由較簡易之構成，抑制片狀物品之不規則變形，在不與裝置及其他物品接觸之下進行搬送並保持。 [解決問題之技術手段] The present invention has been made in view of the above-mentioned circumstances, and the problem to be solved is to provide the following technology that suppresses irregular deformation of sheet-like articles with a relatively simple structure, and is not compatible with devices and other articles. Transport and hold under contact. [Technical means to solve problems]

本發明係關於一種片狀物品之搬送方法，用以將片狀且矩形狀之物品，以向下方彎曲之狀態搬送，堆疊於托板而保持。本發明之物品搬送方法之特徵在於，具備：藉由複數個保持手段，保持物品之沿著短邊的複數處，在托板之上方保持為水平之步驟；在保持物品之狀態下使保持手段於水平方向移動，縮短物品之短邊與短邊之間的距離，同時藉由按壓手段將物品之中央部向下方按壓之步驟；將物品載置於前述托板之步驟；以及於物品之上配置間隔紙之步驟。於本發明之物品搬送方法中，按壓手段按壓物品之距離，短於藉由保持手段之移動而物品之中央部向下方移動之距離。The present invention relates to a method for conveying sheet-like articles, which is used for conveying sheet-like and rectangular articles in a state of being bent downward, and stacking and holding them on a pallet. The article conveying method of the present invention is characterized by comprising: a step of holding a plurality of positions along the short sides of the article horizontally above the pallet by a plurality of holding means; Moving in the horizontal direction, shortening the distance between the short side and the short side of the article, and simultaneously pressing the central part of the article downward by means of pressing means; placing the article on the aforementioned pallet; and placing the article on the article Steps to configure spacer paper. In the article conveying method of the present invention, the distance that the pressing means presses the article is shorter than the distance that the central portion of the article moves downward by the movement of the holding means.

本發明之物品搬送方法最適合用於搬送並保持厚度0.02~1mm之印刷配線板或覆銅箔層壓板之情形。The article conveying method of the present invention is most suitable for conveying and holding printed wiring boards or copper clad laminates with a thickness of 0.02 to 1 mm.

本發明又提供一種托板，將片狀且矩形狀之物品，以向下方彎曲之狀態堆疊而保持。本發明之托板之特徵在於，具備：框體，支承物品之下表面之周緣部，由對向之一對長邊構件與對向之一對短邊構件形成矩形之形狀；長邊側壁構件，固定於各個長邊構件之上側，往相對於長邊構件垂直之方向突出；以及短邊側壁構件，固定於各個短邊構件之上側，往相對於短邊構件垂直之方向突出。本發明之托板，於短邊構件之上表面，設有用以在傾斜之狀態下保持物品之短邊之周緣部之傾斜面。The present invention also provides a pallet for stacking and holding sheet-shaped and rectangular-shaped articles in a downwardly bent state. The pallet of the present invention is characterized in that it is provided with: a frame body, the peripheral part of the lower surface of the supporting article is formed into a rectangular shape by a pair of opposite long-side members and a pair of opposite short-side members; long-side side wall members are fixed on the upper side of each long-side member and protrude in a direction perpendicular to the long-side member; and short-side side wall members are fixed on the upper side of each short-side member and protrude in a perpendicular direction relative to the short-side member. In the pallet of the present invention, the upper surface of the short-side member is provided with an inclined surface for holding the peripheral portion of the short-side of the article in an inclined state.

本發明之托板，可進一步具備由固定於框體之下表面之棒狀構件構成的中央支承體。The pallet of the present invention may further include a central support body composed of a rod-shaped member fixed to the lower surface of the frame body.

本發明進一步提供一種物品搬送系統。本發明之物品搬送系統，具備：物品搬送裝置，搬送片狀且矩形狀之物品；托板，將片狀且矩形狀之物品，以向下方彎曲之狀態堆疊而保持；以及間隔紙，***於物品之間，配置於托板之上。本發明之物品搬送系統，其托板具備：框體，支承物品之下表面之周緣部，由對向之一對長邊構件與對向之一對短邊構件形成矩形之形狀；長邊側壁構件，固定於各個長邊構件之上側，往相對於長邊構件垂直之方向突出；以及短邊側壁構件，固定於各個前述短邊構件之上側，往相對於短邊構件垂直之方向突出。而且，於短邊構件之上表面，設有用以在傾斜之狀態下保持物品之短邊之周緣部之傾斜面。 [發明之效果] The present invention further provides an article handling system. The article conveying system of the present invention includes: an article conveying device for conveying sheet-like and rectangular-shaped articles; a pallet for stacking and holding the sheet-like and rectangular-shaped articles in a downwardly bent state; and a spacer sheet inserted in the Between items, it is arranged on the pallet. In the article conveying system of the present invention, the pallet is provided with: a frame body that supports the peripheral edge of the lower surface of the article, and is formed into a rectangular shape by a pair of opposite long-side members and a pair of opposite short-side members; A member is fixed to the upper side of each long-side member and protrudes in a direction perpendicular to the long-side member; and a short-side side wall member is fixed to the upper side of each of the short-side members and protrudes in a direction perpendicular to the short-side member. Furthermore, on the upper surface of the short-side member, there is provided an inclined surface for holding the peripheral portion of the short-side of the article in an inclined state. [Effect of invention]

本發明之物品搬送方法，藉由保持手段以縮短物品之短邊與短邊之間的距離之方式移動，同時藉由按壓手段將物品之中央部向下方按壓，藉此可使物品向下方彎曲。藉由該步驟，可確實地防止物品之不規則變形。物品藉由被向下方按壓而定向於正確的朝向，且藉由短邊與短邊之距離規定其形狀，因此被規律地收納於托板。The article conveying method of the present invention moves the article so as to shorten the distance between the short side and the short side by the holding means, and simultaneously presses the central portion of the article downward by the pressing means, so that the article can be bent downward. . By this step, irregular deformation of the article can be reliably prevented. The article is oriented in the correct direction by being pressed downward, and its shape is defined by the distance between the short side and the short side, so that it is regularly stored on the pallet.

本發明之物品搬送方法，於物品與物品之間配置間隔紙。間隔紙藉由彎曲為與物品相同形狀，而無間隙地堆疊於物品與物品之間。藉此，物品與物品之間不會空出大空間，且物品彼此不會接觸，可穩定地保持物品。In the article conveying method of the present invention, a spacer paper is arranged between articles. The spacer paper is stacked between the articles without gaps by being bent into the same shape as the articles. Thereby, a large space is not left between the articles, and the articles do not come into contact with each other, so that the articles can be held stably.

本發明之托板，藉由設置支承物品下表面之中央部的中央支承體，即使於保持較大型之片狀物品之情形時，亦可將物品以固定之狀態穩定地積層。In the pallet of the present invention, by providing a central support body supporting the central portion of the lower surface of the article, even when holding a relatively large sheet-like article, the article can be stably stacked in a fixed state.

以下，使用本發明之物品搬送方法與托板，對用以搬送並保持如覆銅箔層壓板之彎曲之物品的最佳實施形態，參照圖式詳細地進行說明。覆銅箔層壓板，係於將使紙、玻璃、碳纖維等之基材浸漬樹脂而成的預浸體(prepreg)重疊，進行加壓加熱處理而得到之積層板之兩面配置銅箔而成之基板材料。一般厚度0.02~1mm之覆銅箔層壓板，在彈性範圍內柔軟地彎曲。本實施形態之物品搬送方法與托板可適用於具有類似於覆銅箔層壓板之材料特性及形狀之片狀矩形物品的全部，尤其是印刷配線板。Hereinafter, using the article conveying method and pallet of the present invention, a preferred embodiment for conveying and holding a bent article such as a copper clad laminate will be described in detail with reference to the drawings. Copper-clad laminate is a laminate obtained by stacking prepregs made of resin-impregnated substrates, such as paper, glass, and carbon fiber, and then pressurizing and heat-treating prepregs. Copper foils are placed on both sides of the laminate. substrate material. Generally, copper-clad laminates with a thickness of 0.02~1mm can bend softly within the elastic range. The article conveying method and pallet of this embodiment can be applied to all sheet-like rectangular articles having material properties and shapes similar to copper clad laminates, especially printed wiring boards.

於以下之說明中，水平面係指與靜置托板之地表大致相同之面。關於覆銅箔層壓板，將收納於托板時成為上側之面稱為上表面，將成為下側之面稱為下表面。覆銅箔層壓板之左右方向與縱橫方向如圖3所示，作為將覆銅箔層壓板靜置為橫擺而自上表面觀察之情形之方向進行定義。In the following description, the horizontal plane refers to a plane that is substantially the same as the surface of the stationary pallet. Regarding the copper-clad laminate, the surface which becomes the upper side when accommodated in the pallet is called the upper surface, and the surface which becomes the lower side is called the lower surface. The left-right direction and the vertical and horizontal directions of the copper-clad laminate are defined as the directions when the copper-clad laminate is left to yaw and viewed from the upper surface, as shown in FIG. 3 .

圖1係示意性地表示適用於本發明之物品搬送方法的物品搬送系統之概略構成圖。物品搬送系統具備搬送裝置10與托板1。FIG. 1 is a schematic configuration diagram schematically showing an article conveying system to which the article conveying method of the present invention is applied. The article conveyance system includes a conveyance device 10 and a pallet 1 .

搬送裝置10係具備將覆銅箔層壓板40與間隔紙30逐片保持而交互搬送之頭部11、與多關節臂部12之機器人。頭部11具備保持覆銅箔層壓板40或間隔紙30之複數個保持手段13、與將覆銅箔層壓板40向下方按壓而進行定向之按壓手段14。The conveying device 10 is a robot including a head 11 and a multi-joint arm 12 that hold the copper-clad laminate 40 and the spacer paper 30 one by one and carry them alternately. The head 11 includes a plurality of holding means 13 for holding the copper-clad laminate 40 or the spacer paper 30, and a pressing means 14 for pressing the copper-clad laminate 40 downward and orienting it.

頭部11具備複數個保持手段13。作為保持手段13，較佳為使用接觸覆銅箔層壓板40之表面、且藉由吸引而保持覆銅箔層壓板40之吸附墊13。The head 11 includes a plurality of holding means 13 . As the holding means 13, it is preferable to use the suction pad 13 which contacts the surface of the copper clad laminate 40 and holds the copper clad laminate 40 by suction.

於較佳之實施形態中，複數個吸附墊13配置於能將覆銅箔層壓板40之一對短邊分別在多個點保持之位置。可根據覆銅箔層壓板40之大小與堅硬度，變更吸附墊13之個數與位置，調整保持之間隔，在複數處進行保持。吸附墊13保持覆銅箔層壓板40之位置，只要避開對覆銅箔層壓板40之表面進行加工之位置即可。一般而言，吸附墊13，在將自覆銅箔層壓板40之短邊起成為既定之距離之內側的位置於縱方向排成一行之狀態下進行保持。In a preferred embodiment, the plurality of suction pads 13 are disposed at positions that can hold a pair of short sides of the copper clad laminate 40 at a plurality of points, respectively. According to the size and rigidity of the copper-clad laminate 40 , the number and position of the adsorption pads 13 can be changed, the holding interval can be adjusted, and the holding can be performed at plural places. The adsorption pad 13 keeps the position of the copper clad laminate 40 , as long as it avoids the position where the surface of the copper clad laminate 40 is processed. Generally, the suction pads 13 are held in a state in which the positions on the inner side of the predetermined distance from the short side of the copper-clad laminate 40 are aligned in the longitudinal direction.

又，頭部11具備將覆銅箔層壓板40向下方按壓進行定向之按壓手段14。如圖1所示，按壓手段14以按壓覆銅箔層壓板40之中央之方式，沿著縱軸配置一個或複數個。於圖1中，雖示出有設置兩個按壓手段14之構成，但可根據覆銅箔層壓板40之大小及堅硬度，變更按壓手段14之個數與位置。作為按壓手段14，例如可應用柱塞。Moreover, the head part 11 is provided with the pressing means 14 which presses and orientates the copper clad laminate 40 downward. As shown in FIG. 1 , one or a plurality of pressing means 14 are arranged along the longitudinal axis so as to press the center of the copper-clad laminate 40 . In FIG. 1 , although two pressing means 14 are provided, the number and position of pressing means 14 can be changed according to the size and rigidity of the copper clad laminate 40 . As the pressing means 14, for example, a plunger can be applied.

圖2(a)中表示托板之立體圖，圖2(b)中表示托板之前視圖，圖2(c)中表示托板之側視圖。本實施形態之托板1，可將尤其是厚度0.02~1mm之矩形狀之覆銅箔層壓板40在彎曲之狀態下堆疊而進行保持。托板1具備構成底面之框體2。框體2由對向之一對長邊構件2a與對向之一對短邊構件2b形成矩形之形狀。Fig. 2(a) shows a perspective view of the pallet, Fig. 2(b) shows a front view of the pallet, and Fig. 2(c) shows a side view of the pallet. In the pallet 1 of the present embodiment, the rectangular copper-clad laminates 40 with a thickness of 0.02 to 1 mm can be stacked and held in a bent state. The pallet 1 includes a frame body 2 that constitutes a bottom surface. The frame body 2 is formed into a rectangular shape by a pair of opposite long-side members 2a and a pair of opposite short-side members 2b.

進而，托板1具備長邊側壁構件3與短邊側壁構件4。長邊側壁構件3固定於長邊構件2a之上，往相對於長邊構件2a垂直之方向突出。短邊側壁構件4，固定於短邊構件2b之上，往相對於短邊構件2b垂直之方向突出。Furthermore, the pallet 1 is provided with the long-side side wall member 3 and the short-side side wall member 4 . The long-side side wall member 3 is fixed on the long-side member 2a, and protrudes in a direction perpendicular to the long-side member 2a. The short-side side wall member 4 is fixed on the short-side member 2b and protrudes in a direction perpendicular to the short-side member 2b.

針對托板1之框體2的形狀，更詳細地進行說明。於框體2之長邊構件2a之上表面內側，於下側形成有凸的曲面21a。曲面21a之形狀，與載置時之覆銅箔層壓板40之彎曲之形狀大致一致，曲面21a支承覆銅箔層壓板40之長邊周緣部。又，框體2之短邊構件2b之上表面內側之緣部，為了支承覆銅箔層壓板40之兩方的短邊周緣部，形成有傾斜面21b。傾斜面21b，可以與載置之覆銅箔層壓板40之形狀一致之方式，形成為曲面。替代地，於使載置之覆銅箔層壓板40以非常大之半徑彎曲之情形時，傾斜面21b亦可以直線形成。The shape of the frame body 2 of the pallet 1 will be described in more detail. On the inner side of the upper surface of the long-side member 2a of the frame body 2, a convex curved surface 21a is formed on the lower side. The shape of the curved surface 21 a is substantially the same as the curved shape of the copper clad laminate 40 when placed, and the curved surface 21 a supports the long edge of the copper clad laminate 40 . Moreover, the edge part on the inner side of the upper surface of the short-side member 2b of the frame body 2 is formed with inclined surfaces 21b in order to support the short-side peripheral parts of both sides of the copper-clad laminate 40 . The inclined surface 21b may be formed into a curved surface so as to conform to the shape of the copper-clad laminate 40 to be placed. Alternatively, when the mounted copper clad laminate 40 is bent with a very large radius, the inclined surface 21b may be formed in a straight line.

長邊側壁構件3，具有在覆銅箔層壓板40與間隔紙30交互積層之狀態下進行保持時的、作為對準用之導引的功能。長邊側壁構件3，亦可為壁狀之構件。又，如圖2(a)至圖2(c)所示，於棒狀之構件之情形，較佳為於各個長邊構件2a上以相同個數逐個對向地配置。更佳為，長邊側壁構件3彼此隔著覆銅箔層壓板40對向，配置於成為一對之位置。成為一對之長邊側壁構件3彼此之距離，對應於覆銅箔層壓板40之縱方向之長度。The long-side side wall member 3 has a function as a guide for alignment when holding the copper-clad laminate 40 and the spacer paper 30 alternately laminated. The long-side side wall member 3 may also be a wall-shaped member. Moreover, as shown in FIGS. 2( a ) to 2 ( c ), in the case of a rod-shaped member, it is preferable that the same number of long-side members 2a are arranged to face each other one by one. More preferably, the long-side sidewall members 3 face each other with the copper-clad laminate 40 interposed therebetween, and are arranged in a paired position. The distance between the pair of long-side sidewall members 3 corresponds to the length in the longitudinal direction of the copper-clad laminate 40 .

又，短邊側壁構件4，亦具有使覆銅箔層壓板40與間隔紙30向下方彎曲而積層並進行支承時的、作為對準用之導引的功能。短邊側壁構件4，較佳為於各個短邊構件2b上以相同個數逐個配置。更佳為，短邊側壁構件4彼此隔著覆銅箔層壓板40對向，配置於成為一對之位置。一對短邊側壁構件4彼此之距離，對應於彎曲狀態下之覆銅箔層壓板40與間隔紙30之橫方向的尺寸。In addition, the short-side side wall member 4 also has a function as a guide for alignment when the copper-clad laminate 40 and the spacer paper 30 are bent downward, laminated and supported. The short-side side wall members 4 are preferably arranged one by one in the same number on each of the short-side members 2b. More preferably, the short-side sidewall members 4 face each other with the copper-clad laminate 40 interposed therebetween, and are arranged in a paired position. The distance between the pair of short-side sidewall members 4 corresponds to the dimension in the transverse direction of the copper-clad laminate 40 and the spacer paper 30 in the bent state.

托板1之框體2、長邊側壁構件3、以及短邊側壁構件4，較佳為分別接觸覆銅箔層壓板40之部分以樹脂形成，例如，可使用聚氯乙烯或聚醚醚酮。另一方面，被要求具有強度之托板1，能以金屬形成各構件之骨架之構造，於內側貼合樹脂構件來構成。The frame body 2, the long-side sidewall members 3, and the short-side sidewall members 4 of the pallet 1 are preferably formed of resin at the portion contacting the copper-clad laminate 40, for example, polyvinyl chloride or polyetheretherketone can be used . On the other hand, the pallet 1, which is required to have strength, can be constituted by a structure in which the skeleton of each member is formed of metal, and a resin member is laminated on the inner side.

於圖3(a)中，表示於托板1積層覆銅箔層壓板40時，以夾於覆銅箔層壓板40與覆銅箔層壓板40之間之方式配置的間隔紙30之一例。間隔紙30係以保護覆銅箔層壓板40之目的而配置之紙，具有外形尺寸與覆銅箔層壓板40相同之框形形狀。於圖3(b)中，表示收納於托板1之矩形之覆銅箔層壓板40之一例。間隔紙30之長邊側的寬度，等於或大於框體2之曲面21a之寬度。間隔紙30之短邊側之寬度，等於或大於框體2之傾斜面21b之寬度。藉由間隔紙30之寬度最佳化，托板1可適當地支承間隔紙30與覆銅箔層壓板40之雙方，避開覆銅箔層壓板40彼此之接觸。即，於本實施形態中，物品搬送系統亦可謂係包含物品搬送裝置10、托板1、及間隔紙30之系統。In FIG. 3( a ), an example of the spacer paper 30 arranged so as to be sandwiched between the copper clad laminate 40 and the copper clad laminate 40 when the copper clad laminate 40 is laminated on the pallet 1 is shown. The spacer paper 30 is a paper arranged for the purpose of protecting the copper clad laminate 40 , and has a frame shape with the same external dimensions as the copper clad laminate 40 . In FIG.3(b), an example of the rectangular copper-clad laminate 40 accommodated in the pallet 1 is shown. The width of the long side of the spacer paper 30 is equal to or greater than the width of the curved surface 21 a of the frame body 2 . The width of the short side of the spacer paper 30 is equal to or greater than the width of the inclined surface 21 b of the frame body 2 . By optimizing the width of the spacer paper 30 , the pallet 1 can properly support both the spacer paper 30 and the copper clad laminate 40 , avoiding the contact between the copper clad laminates 40 . That is, in the present embodiment, the article conveyance system can also be said to be a system including the article conveyance device 10 , the pallet 1 , and the spacer paper 30 .

以下，再次參照圖1，對使用搬送裝置10搬送覆銅箔層壓板40、且於托板1將覆銅箔層壓板40與間隔紙30交互地逐片堆疊之搬送方法進行說明。1 again, the conveying method of conveying the copper clad laminate 40 using the conveying device 10 and alternately stacking the copper clad laminate 40 and the spacer paper 30 on the pallet 1 will be described.

於托板1，最初在框體2之上表面配置一片間隔紙30。On the pallet 1 , a sheet of spacer paper 30 is initially arranged on the upper surface of the frame body 2 .

通常，覆銅箔層壓板40由輸送帶50逐片地搬送。搬送裝置10，藉由吸附墊13，在多個點吸附且支承覆銅箔層壓板40之狀態下將覆銅箔層壓板40抬起，搬送至托板1之上方，並保持為水平(步驟1)。其次，搬送裝置10之吸附墊13，在維持將覆銅箔層壓板40保持為水平之狀態下，以縮短覆銅箔層壓板40之短邊與短邊之間的距離之方式於水平方向移動。換言之，吸附墊13在與覆銅箔層壓板40之長邊平行之方向，朝向覆銅箔層壓板40之中心於水平方向移動。與該水平方向移動同時地，按壓手段14下降，將覆銅箔層壓板40之中央部向下方按壓(步驟2)。Usually, the copper-clad laminates 40 are conveyed one by one by the conveyor belt 50 . The conveying device 10 lifts the copper clad laminate 40 in a state where the copper clad laminate 40 is adsorbed and supported at a plurality of points by the suction pads 13, and is conveyed to the top of the pallet 1 and kept horizontal (step 1). Next, the suction pad 13 of the conveying device 10 is moved in the horizontal direction in such a way as to shorten the distance between the short side and the short side of the copper clad laminate 40 while maintaining the state of keeping the copper clad laminate 40 horizontal. . In other words, the adsorption pad 13 moves in a horizontal direction toward the center of the copper clad laminate 40 in a direction parallel to the long side of the copper clad laminate 40 . Simultaneously with the movement in the horizontal direction, the pressing means 14 descends to press the central portion of the copper-clad laminate 40 downward (step 2).

按壓手段14按壓覆銅箔層壓板40之目的，係為了防止覆銅箔層壓板40於上方發生不規則之變形。一旦開始向下方彎曲之覆銅箔層壓板40，隨著吸附墊13之移動，緩慢地彈性變形而向下方彎曲。按壓手段14於變形之初期階段，只要作為觸發器(trigger)按壓覆銅箔層壓板40即可，按壓手段14按壓覆銅箔層壓板40之距離，短於覆銅箔層壓板40之中央部藉由吸附墊13之移動而向下方移動之距離。The purpose of pressing the copper clad laminate 40 by the pressing means 14 is to prevent the copper clad laminate 40 from being deformed irregularly above. Once the copper clad laminate 40 starts to bend downward, it slowly elastically deforms and bends downward along with the movement of the adsorption pad 13 . In the initial stage of deformation, the pressing means 14 only needs to act as a trigger to press the copper clad laminate 40 , and the distance at which the pressing means 14 presses the copper clad laminate 40 is shorter than the central portion of the copper clad laminate 40 . The distance moved downward by the movement of the adsorption pad 13 .

搬送裝置10，將向下側彎曲之覆銅箔層壓板40載置於托板1(步驟3)。覆銅箔層壓板40之下表面，隔著間隔紙30由框體2之曲面21a與傾斜面21b支承。又，覆銅箔層壓板40之長邊被導引定位於長邊側壁構件3，短邊被導引定位於短邊側壁構件4，以彎曲之狀態被穩定地保持。The conveying device 10 places the copper-clad laminate 40 bent downward on the pallet 1 (step 3). The lower surface of the copper-clad laminate 40 is supported by the curved surface 21 a and the inclined surface 21 b of the frame body 2 via the spacer paper 30 . In addition, the long sides of the copper-clad laminate 40 are guided and positioned on the long-side side wall members 3, and the short sides are guided and positioned on the short-side side wall members 4, and are stably held in a curved state.

其次，搬送裝置10自間隔紙保存容器60吸附間隔紙30而拾起，搬送至托板1，載置於覆銅箔層壓板40之上(步驟4)。間隔紙30相較於覆銅箔層壓板40強度較低，因此不會發生不規則之變形。間隔紙30藉由載置於托板1之覆銅箔層壓板40之上，與覆銅箔層壓板40相同地彎曲且無間隙地積層。Next, the conveying device 10 picks up the spacer paper 30 from the spacer paper storage container 60, conveys it to the pallet 1, and places it on the copper-clad laminate 40 (step 4). Compared with the copper clad laminate 40 , the spacer paper 30 has lower strength, and therefore will not deform irregularly. The spacer paper 30 is placed on the copper clad laminate 40 of the pallet 1 , and is bent in the same manner as the copper clad laminate 40 and laminated without gaps.

藉由重複以上之步驟1至步驟4，可搬送覆銅箔層壓板40，且於托板1將覆銅箔層壓板40與間隔紙30交互地逐片堆疊。於圖4，表示保持有覆銅箔層壓板40與間隔紙30之托板1的前視圖。於覆銅箔層壓板40與覆銅箔層壓板40之間，確保對應於一片間隔紙30之空間，從而在覆銅箔層壓板40彼此不接觸之下，穩定地進行保持。By repeating the above steps 1 to 4, the copper clad laminate 40 can be transported, and the copper clad laminate 40 and the spacer paper 30 can be alternately stacked one by one on the pallet 1 . In FIG. 4, the front view of the pallet 1 holding the copper clad laminate 40 and the spacer paper 30 is shown. Between the copper clad laminates 40 and the copper clad laminates 40 , a space corresponding to a piece of spacer paper 30 is secured, so that the copper clad laminates 40 are stably held without contacting each other.

於圖5(a)表示用以保持片狀物品之替代例之托板70。托板70具備中央支承體70a，該中央支承體70a由以與短邊構件平行之朝向結合於框體之長邊構件之中央的棒狀構件構成。於圖5(b)表示另一替代例之托板80。托板80之框體，具備將棒狀構件配置為十字型(Cross Bar)之中央支承體80a。藉由中央支承體70a、80a，可支承彎曲狀態之覆銅箔層壓板40之中央部。FIG. 5( a ) shows a pallet 70 of an alternative example for holding sheet-like articles. The pallet 70 is provided with the center support body 70a, and this center support body 70a is comprised by the rod-shaped member joined to the center of the long-side member of a frame body in the direction parallel to the short-side member. Another alternative pallet 80 is shown in FIG. 5(b). The frame body of the pallet 80 is provided with the center support body 80a in which the rod-shaped member is arrange|positioned in the shape of a cross (Cross Bar). The center part of the copper clad laminate 40 in a bent state can be supported by the center supports 70a and 80a.

於使用托板70之情形時，於配置於物品之間之間隔紙，除了外框部分外，還形成有具有等於或大於中央支承體70a之寬度的矩形部分。於使用托板80之情形時，於配置於物品之間之間隔紙，除了外框部分外，還形成有具有等於或大於中央支承體80a之寬度的十字型部分。即使於藉由替代例之托板與間隔紙保持更大型之片狀物品之情形，亦可將物品以固定狀態穩定地積層。In the case of using the pallet 70, a rectangular portion having a width equal to or greater than the central support body 70a is formed in addition to the outer frame portion of the spacer paper arranged between the articles. In the case of using the pallet 80, in addition to the outer frame portion, a cross-shaped portion having a width equal to or greater than the central support body 80a is formed in the spacer paper disposed between the articles. Even in the case of holding a larger sheet-like article by an alternative pallet and spacer paper, the articles can be stably laminated in a fixed state.

以上，根據實施形態，詳細地說明了本發明之具體的例子，但該等只不過是示例，並非限定申請專利範圍者。於申請專利範圍記載之技術中，包含對以上所示例之具體例進行各種變形、變更者。各個搬送裝置與托板之配置，能在不損及物品之搬送、積層、保持之原本功能之範圍內自由變更。又，於實施形態中針對搬送並堆疊覆銅箔層壓板之情形進行了詳細的說明，但如先前所述，只要是彎曲之片狀之物品，便可適用本發明之物品搬送方法與托板。尤其是，一般而言可適當地適用於可撓性之印刷配線板。As mentioned above, although the specific example of this invention was demonstrated in detail based on embodiment, these are merely examples, and do not limit what is claimed. Various modifications and changes to the specific examples exemplified above are included in the technology described in the scope of claims. The arrangement of each conveying device and pallet can be freely changed within the scope of not impairing the original functions of conveying, stacking, and maintaining articles. Further, in the embodiment, the case of conveying and stacking copper-clad laminates has been described in detail, but as mentioned above, as long as it is a bent sheet-like article, the article conveying method and pallet of the present invention can be applied . In particular, it can be suitably applied to a flexible printed wiring board in general.

1、70、80:托板 2:框體 2a:長邊構件 21a:曲面 2b:短邊構件 21b:傾斜面 3:長邊側壁構件 4:短邊側壁構件 10:物品搬送裝置 11:頭部 12:臂部 13:吸附墊（保持手段） 14:按壓手段 30:間隔紙 40:片狀物品 50:輸送帶 60:間隔紙保存容器 70a、80a:中央支承構件 1, 70, 80: pallet 2: Frame 2a: Long side members 21a: Surfaces 2b: Short side members 21b: Inclined surface 3: Long side wall members 4: Short side sidewall members 10: Item handling device 11: Head 12: Arm 13: Adsorption pad (holding means) 14: Pressing means 30: spacer paper 40: Flakes 50: Conveyor belt 60: Spacer paper storage container 70a, 80a: Central support member

[圖1]係示意性地表示被用於本發明之物品搬送方法的物品搬送系統之概略構成圖。 [圖2](a)係托板之立體圖，(b)係托板之前視圖，(c)係托板之側視圖。 [圖3](a)係表示間隔紙之一例的俯視圖，(b)係表示物品之一例的俯視圖。 [圖4]係示意性地表示於托板載置間隔紙與物品之狀態的前視圖。 [圖5](a)及(b)係替代例之托板的俯視圖。 1 is a schematic configuration diagram schematically showing an article conveying system used in the article conveying method of the present invention. [Fig. 2] (a) a perspective view of the pallet, (b) a front view of the pallet, and (c) a side view of the pallet. [ Fig. 3] (a) is a plan view showing an example of a spacer sheet, and (b) is a plan view showing an example of an article. [ Fig. 4 ] A front view schematically showing a state in which spacer sheets and articles are placed on a pallet. [Fig. 5] (a) and (b) are plan views of pallets of an alternative example.

1:托板 1: pallet

10:物品搬送裝置 10: Item handling device

11:頭部 11: Head

12:臂部 12: Arm

13:吸附墊 13: Adsorption pad

14:按壓手段 14: Pressing means

30:間隔紙 30: spacer paper

40:片狀物品 40: Flakes

50:輸送帶 50: Conveyor belt

60:間隔紙保存容器 60: Spacer paper storage container

Claims (5)

一種片狀物品之搬送方法，用以將片狀且矩形狀之物品，以向下方彎曲之狀態搬送，堆疊於托板而保持，其特徵在於，具備： 藉由複數個保持手段，保持前述物品之沿著短邊的複數處，在前述托板之上方保持為水平之步驟； 在保持前述物品之狀態下使前述保持手段於水平方向移動，縮短前述物品之短邊與短邊之間的距離，同時藉由按壓手段將前述物品之中央部向下方按壓之步驟； 將前述物品載置於前述托板之步驟；以及 於前述物品之上配置間隔紙之步驟； 前述按壓手段按壓前述物品之距離，短於藉由前述保持手段之移動而前述物品之中央部向下方移動之距離。 A method for conveying sheet-like articles, which is used for conveying sheet-like and rectangular articles in a state of being bent downward, stacked on a pallet and held, characterized by comprising: The step of keeping the plurality of places along the short side of the above-mentioned article horizontally above the above-mentioned pallet by means of a plurality of holding means; The steps of moving the holding means in the horizontal direction in the state of holding the article, shortening the distance between the short side and the short side of the article, and pressing the central part of the article downward by the pressing means; the step of placing the aforementioned article on the aforementioned pallet; and the step of disposing spacer paper on the aforementioned articles; The distance that the pressing means presses the article is shorter than the distance that the central portion of the article moves downward by the movement of the holding means. 如請求項1之片狀物品之搬送方法，其中， 前述物品係厚度0.02~1mm之印刷配線板或覆銅箔層壓板。 The method for conveying sheet-like articles as claimed in claim 1, wherein, The aforementioned articles are printed wiring boards or copper clad laminates with a thickness of 0.02 to 1 mm. 一種托板，將片狀且矩形狀之物品，以向下方彎曲之狀態堆疊而保持，其特徵在於，具備： 框體，支承物品之下表面之周緣部，由對向之一對長邊構件與對向之一對短邊構件形成矩形之形狀； 長邊側壁構件，固定於各個前述長邊構件之上側，往相對於前述長邊構件垂直之方向突出；以及 短邊側壁構件，固定於各個前述短邊構件之上側，往相對於前述短邊構件垂直之方向突出； 於前述短邊構件之上表面，設有用以在傾斜之狀態下保持前述物品之短邊之周緣部之傾斜面。 A pallet for stacking and holding sheet-shaped and rectangular-shaped articles in a downwardly bent state, characterized in that it has: The frame body supports the peripheral portion of the lower surface of the article, and is formed into a rectangular shape by a pair of opposite long-side members and a pair of opposite short-side members; long-side sidewall members fixed to the upper side of each of the long-side members and protruding in a direction perpendicular to the long-side members; and The short-side sidewall members are fixed on the upper side of each of the short-side members and protrude in a direction perpendicular to the short-side members; On the upper surface of the short-side member, there is provided an inclined surface for holding the peripheral portion of the short-side of the article in an inclined state. 如請求項3之托板，其進一步具備由固定於前述框體之下表面之棒狀構件構成的中央支承體。The pallet according to claim 3, further comprising a central support body composed of a rod-shaped member fixed to the lower surface of the frame body. 一種物品搬送系統，具備： 物品搬送裝置，搬送片狀且矩形狀之物品； 托板，將片狀且矩形狀之前述物品，以向下方彎曲之狀態堆疊而保持；以及 間隔紙，***於前述物品之間，配置於前述托板之上； 前述托板具備： 框體，支承物品之下表面之周緣部，由對向之一對長邊構件與對向之一對短邊構件形成矩形之形狀； 長邊側壁構件，固定於各個前述長邊構件之上側，往相對於前述長邊構件垂直之方向突出；以及 短邊側壁構件，固定於各個前述短邊構件之上側，往相對於前述短邊構件垂直之方向突出； 於前述短邊構件之上表面，設有用以在傾斜之狀態下保持前述物品之短邊之周緣部之傾斜面。 An article handling system, comprising: Item conveying device, conveying sheet-shaped and rectangular-shaped items; A pallet for stacking and holding the aforementioned sheet-like and rectangular-like articles in a downwardly bent state; and spacer paper, inserted between the aforementioned articles, and arranged on the aforementioned pallet; The aforementioned pallets have: The frame body supports the peripheral portion of the lower surface of the article, and is formed into a rectangular shape by a pair of opposite long-side members and a pair of opposite short-side members; long-side sidewall members fixed to the upper side of each of the long-side members and protruding in a direction perpendicular to the long-side members; and The short-side sidewall members are fixed on the upper side of each of the short-side members and protrude in a direction perpendicular to the short-side members; On the upper surface of the short-side member, there is provided an inclined surface for holding the peripheral portion of the short-side of the article in an inclined state.
TW109145747A 2020-12-21 2020-12-23 Sheet-like article conveying method, pallet, and article conveying system wherein the pallet is capable of holding and conveying the articles that are in a downwardly bent state TW202225073A (en)

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