TWI649829B - Automatic handling of the operating system - Google Patents
Automatic handling of the operating system Download PDFInfo
- Publication number
- TWI649829B TWI649829B TW106145842A TW106145842A TWI649829B TW I649829 B TWI649829 B TW I649829B TW 106145842 A TW106145842 A TW 106145842A TW 106145842 A TW106145842 A TW 106145842A TW I649829 B TWI649829 B TW I649829B
- Authority
- TW
- Taiwan
- Prior art keywords
- image
- interface
- frame
- lid
- degree
- Prior art date
Links
Landscapes
- Manipulator (AREA)
Abstract
一種自動搬運操作系統，主要係由一框架、一含有感測元件的多向滑動裝置以及一線性單元所構成；該框架其一側邊設具有一軌道；該含有感測元件的多向滑動裝置，係設置於該框架及該軌道上，亦以二支撐位置支持一多自由度手臂運作混合動作，為以一感測元件辨識一桶蓋影像中一桶蓋上的一接口位置座標與一接管位置座標；該線性單元其設置於該框架上並提供驅動該多向滑動裝置與該多自由度手臂依照座標，以運轉該多自由度手臂啟閉一接口或帶動一接管啟閉該接口，藉以獲取該接管固定於該接口或分離於該接口之功效。 An automatic handling operating system is mainly composed of a frame, a multidirectional sliding device including a sensing component, and a linear unit; the frame is provided with a track on one side thereof; and the multidirectional sliding device including the sensing component The system is disposed on the frame and the track, and supports a multi-degree-of-freedom arm operation mixing action with two support positions, so as to identify an interface position coordinate and a take-up on a bucket cover in a bucket image by a sensing component. a linear coordinate unit disposed on the frame and configured to drive the multi-directional sliding device and the multi-degree-of-freedom arm according to a coordinate to operate the multi-degree-of-freedom arm to open and close an interface or to drive a connector to open and close the interface, thereby Obtain the effect that the takeover is fixed to or separated from the interface.
Description
本發明係關於一種自動搬運操作系統，特別是指一種具有輕量、薄型及散熱特性充分等優點之浮動碟盤。 The present invention relates to an automatic handling operating system, and more particularly to a floating disk having the advantages of being lightweight, thin, and having sufficient heat dissipation characteristics.
目前半導體廠的特性為：1.特殊氣體多，危險性高，超過30種可燃性/腐蝕性/毒性的特殊氣體；2.製程自動化越來越高。 At present, the characteristics of the semiconductor factory are: 1. Special gas, high risk, more than 30 kinds of flammable / corrosive / toxic special gas; 2. Process automation is getting higher and higher.
而半導體廠所使用的化學藥品，其種類一般可分類如下：①酸性(Acid)：HCl、HNO3、H2SO4、H3PO4、49%HF、115uBHF、1200BHF、120HF、0.5%HF、Ecopeeler等。②鹼性(Caustic)：2.8%Developer、NH4OH、ELM-C30等。③有機溶劑(Solvent)：IPA、EKC265、10%IPA、PGMEA+PGME等。④氧化性(Oxygen)：H2O2。 The types of chemicals used in semiconductor factories can be generally classified as follows: 1 Acid: HCl, HNO 3 , H 2 SO 4 , H 3 PO 4 , 49% HF, 115 uBHF, 1200 BHF, 120 HF, 0.5% HF , Ecopeeler, etc. 2 Caustic: 2.8% Developer, NH 4 OH, ELM-C30, and the like. 3 organic solvent (Solvent): IPA, EKC265, 10% IPA, PGMEA + PGME and the like. 4 Oxidizing property (Oxygen): H 2 O 2 .
桶裝供應系統(Drum System)的HDPE藍色化學桶為保持乾淨與安全供應環境，以及避免人員於現場傾倒的方式補酸為考量。再加上應用在食品、石化、特化、化學藥品領域的HDPE藍色化學桶之使用需求日增，故高純度HDPE藍色化學桶適合使用於半導體，LCD、LED產業之電子級化 學原料產品時，因HDPE藍色化學桶使用量大，更換週期頻繁，避免人員更換藥桶太頻繁，造成人員操作與安全負擔為考量，而成功研發完成本件自動搬運操作系統。 The HDPE Blue Chemical Barrel of the Drum System is designed to maintain a clean and safe supply environment and to avoid acid ingestion by personnel. In addition, the use of HDPE blue chemical barrels for food, petrochemical, specialization, and chemical applications is increasing. Therefore, high-purity HDPE blue chemical barrels are suitable for use in semiconductors, and electronic leveling in the LCD and LED industries. When learning raw materials, HDPE blue chemical barrels are used in large quantities, frequent replacement cycles, avoiding frequent replacement of the medicine barrels by personnel, resulting in the consideration of personnel operation and safety burden, and successful development of the automatic handling system.
本發明之目的即在於提供一種穩定供應大宗高品質的化學品之自動搬運操作系統。 It is an object of the present invention to provide an automated handling operating system that stably supplies large quantities of high quality chemicals.
本發明之次一目的係在於提供一種供應高品質的大宗氣體及安全的特殊氣體，以提供潔淨的生產環境的自動搬運操作系統。 A second object of the present invention is to provide an automatic handling operating system that supplies high quality bulk gases and safe special gases to provide a clean production environment.
本發明之另一目的係在於提供一種全自動供應高品質的大宗氣體及安全的特殊氣體之自動搬運操作系統。 Another object of the present invention is to provide an automatic handling system for automatically supplying high quality bulk gases and safe special gases.
可達成上述發明目的之自動搬運操作系統，包括有：一框架，其一側邊設具有一軌道；一含有感測元件的多向滑動裝置，係設置於該框架及該軌道上，亦以二支撐位置在接觸狀態下支持一多自由度手臂運作混合動作，為以一感測元件辨識一桶蓋所產生的一桶蓋影像，用以確認該桶蓋影像中該桶蓋上的一接口位置座標與一接管位置座標；一線性單元，其設置於該框架上並提供驅動該多向滑動裝置，同步驅動與該多向滑動裝置聯接之該多自由 度手臂依照辨識的該接口位置座標與該接管位置座標，以運轉該多自由度手臂啟閉一接口或帶動一接管啟閉該接口，藉以獲取該接管固定或分離該接口。 An automatic handling operating system capable of achieving the above object includes: a frame having a track on one side thereof; and a multi-directional sliding device including a sensing element disposed on the frame and the track, The support position supports a multi-degree-of-freedom arm operation mixing action in the contact state, and is a bucket cover image generated by recognizing a bucket cover with a sensing component for confirming an interface position on the bucket cover in the image of the bucket cover a coordinate and a nozzle position coordinate; a linear unit disposed on the frame and providing to drive the multi-directional sliding device, and the synchronous driving is coupled to the multi-directional sliding device The arm is in accordance with the identified coordinate of the interface position and the position of the take-over position to operate the multi-degree-of-freedom arm to open or close an interface or to drive a connector to open and close the interface, so as to obtain the connector to fix or separate the interface.
1‧‧‧框架 1‧‧‧Frame
11‧‧‧軌道 11‧‧‧ Track
12‧‧‧入口處 12‧‧‧ Entrance
13‧‧‧取料區 13‧‧‧Reclaiming area
2‧‧‧多向滑動裝置 2‧‧‧Multidirectional sliding device
21‧‧‧感測元件 21‧‧‧Sensor components
22‧‧‧多自由度手臂 22‧‧‧Multiple freedom arms
23‧‧‧夾頭 23‧‧‧ chuck
24‧‧‧第一支撐位置 24‧‧‧First support position
25‧‧‧第二支撐位置 25‧‧‧second support position
3‧‧‧線性單元 3‧‧‧ linear unit
4‧‧‧桶材 4‧‧‧ barrels
41‧‧‧桶蓋 41‧‧‧ barrel cover
411‧‧‧液端接口 411‧‧‧ liquid end interface
412‧‧‧氣端接口 412‧‧‧Air end interface
圖1為本發明自動搬運操作系統之側視圖；圖2為本發明自動搬運操作系統之前視圖；圖3為圖1之該多向滑動裝置與該線性單元之局部放大示意圖；圖4為圖2之該多向滑動裝置與該線性單元之局部放大示意圖；以及圖5為該自動搬運操作系統之作動示意圖。 1 is a side view of the automatic handling operating system of the present invention; FIG. 2 is a front view of the automatic handling operating system of the present invention; FIG. 3 is a partially enlarged schematic view of the multidirectional sliding device of FIG. 1 and the linear unit; A partial enlarged view of the multi-directional sliding device and the linear unit; and FIG. 5 is a schematic diagram of the operation of the automatic handling operating system.
請參閱圖1至圖5，表示本實施形態之自動搬運操作系統之模式性前視圖，主要包括有：一框架1、一含有感測元件21(sensing element)的多向滑動裝置2以及一線性單元3所構成。 Referring to FIG. 1 to FIG. 5, a schematic front view of the automatic handling operating system of the present embodiment is shown, which mainly includes: a frame 1, a multidirectional sliding device 2 including a sensing element 21, and a linear Unit 3 is constructed.
該框架1其一側邊設具有一軌道11，該框架1其底面設置有至少一滾動裝置以提供一桶材4(barrel)從一入口處12低阻力移動至該框架1之一取料區13；係由一無人搬運車(Automatic Guided Vehicle)經由有線或無線的一連線(connecting line)接收一缺料訊號，該無人搬運車自動由一儲 存區(storage zone)的一取出處搬運該桶材4至該框架1之該入口處12；以往既知該桶材4之儲存區具備，在指定位置設有一桶材4取出處的一儲存空間；排列於指定方向上的複數個儲存區；將從桶材4該儲存區搬運出的該桶材4搬運至指定位置的該無人搬運車；控制該無人搬運車的動作的一控制器；及一移動機構係由可移動地配置於各儲存區的排列方向的該桶材4，當選擇該桶材4時，藉由該移動機構使該儲存區的該桶材4移動至對應於選擇該桶材4的該儲存區處，再藉由該移動機構將該桶材4搬運移動至該桶材4取出處。 The frame 1 is provided with a rail 11 on one side thereof, and the bottom surface of the frame 1 is provided with at least one rolling device to provide a barrel 4 from a low resistance of an inlet 12 to a reclaiming area of the frame 1. 13; receiving, by an Automatic Guided Vehicle, a missing signal via a wired or wireless connecting line, the automated guided vehicle is automatically stored by a storage device The storage area of the storage zone is transported to the entrance 12 of the frame 1; it is known that the storage area of the material 4 is provided, and a storage space of the storage area of the material 4 is provided at the designated position. a plurality of storage areas arranged in a specified direction; the unloaded cart conveyed from the storage area of the tub 4 to the designated position; a controller for controlling the operation of the automated guided vehicle; a moving mechanism is a barrel 4 movably disposed in an arrangement direction of each storage area, and when the barrel 4 is selected, the barrel 4 of the storage area is moved to correspond to the selection by the moving mechanism At the storage area of the tub 4, the material of the tub 4 is moved to the take-out of the tub 4 by the moving mechanism.
該含有感測元件21(sensing element)的多向滑動裝置2(Multi-directional sliding device)，係設置於該框架1及該軌道11上，亦以二支撐位置在接觸狀態下支持一多自由度手臂22(dexterous arms)運作混合動作(compound motion)，為以一感測元件21辨識一桶蓋41所產生的一桶蓋影像，用以確認該桶蓋影像中該桶蓋41上的一接口位置座標與一接管位置座標；一種夾頭23(chuck)是更經常被用來提供該夾箝力。該夾頭23可被納入該工件支撐件中，藉此由該多向滑動裝置2驅動該夾頭23提供下列動作與功能：(1)該桶材4從該框架1之該入口處12定位於該框架1之該取料區13、(2.1)旋開該桶蓋41上之一液端接口蓋子、(2.2)固定該液端接口蓋子於該框架1之一置放處、(2.3)夾取一液端接管、(2.4) 將該液端接管鎖固於該桶蓋41上的一液端接口411、(3.1)旋開該桶蓋41上之一氣端接口蓋子、(3.2)固定該氣端接口蓋子於該框架1之一置放處、(3.3)夾取一氣端接管、(3.4)將該氣端接管鎖固於該桶蓋41上的一氣端接口412、(4.1)旋開該桶蓋41上之一氣端接管、(4.2)固定該氣端接管於一氣端固定夾上、(4.3)將該氣端蓋子鎖固於該桶蓋41上的一氣端接口412、(5.1)旋開該桶蓋41上之一液端接管、(5.2)固定該液端接管於一液端固定夾上、(6.1)夾取一液端蓋子、(6.2)該液端蓋子鎖固於該桶蓋41上的一液端接口411、(7)以該夾頭23將該桶材4從該取料區13拉出至該框架1之該入口處12等連續動作(consecutive motion)、混合動作(compound motion)、以及循環動作(cyclic action)。 The multi-directional sliding device 2 is provided on the frame 1 and the track 11, and supports a plurality of degrees of freedom in a contact state with two supporting positions. The dexterous arms operate a compound motion to identify an image of a lid of a lid 41 by a sensing element 21 for confirming an interface on the lid 41 of the image of the lid. The position coordinates and a take-up position coordinate; a chuck 23 is more often used to provide the clamping force. The collet 23 can be incorporated into the workpiece support whereby the collet 23 is driven by the multi-directional slide 2 to provide the following actions and functions: (1) the tub 4 is positioned from the entrance 12 of the frame 1. In the reclaiming area 13 of the frame 1, (2.1) unscrewing a liquid end interface cover on the lid 41, (2.2) fixing the liquid end interface cover to a place of the frame 1, (2.3) Clamp a liquid terminal, (2.4) The liquid end connector is locked to a liquid end interface 411 of the water tank cover 41, (3.1) a gas end interface cover on the water tank cover 41 is unscrewed, and (3.2) the air end interface cover is fixed to the frame 1 a gas outlet end pipe 412, (3.4) a gas end port 412 that locks the gas end pipe to the water tank end 41, and (4.1) a gas end pipe on the water tank cover 41 (4.2) fixing the gas end connector to an air end fixing clip, (4.3) locking the air end cover to the air end port 412 of the water tank cover 41, and (5.1) unscrewing the one of the water tank cover 41 a liquid end connection pipe, (5.2) fixing the liquid end connection pipe to a liquid end fixing clamp, (6.1) clamping a liquid end cover, (6.2) a liquid end interface of the liquid end cover locked to the liquid cover 41 411, (7) a continuous motion (compound motion), a compound motion, and a cyclic motion of pulling the tub 4 from the take-up area 13 to the entrance 12 of the frame 1 by the chuck 23. (cyclic action).
該線性單元3(linear unit)其設置於該框架1上並提供驅動該多向滑動裝置2，同步驅動與該多向滑動裝置2聯接之該多自由度手臂22依照辨識的該接口位置座標與該接管位置座標，以運轉該多自由度手臂22啟閉一接口或帶動一接管啟閉該接口，藉以獲取該接管固定或分離該接口。 The linear unit 3 is disposed on the frame 1 and provides to drive the multi-directional sliding device 2, and the multi-degree-of-freedom arm 22 coupled with the multi-directional sliding device 2 is synchronously driven according to the identified position position coordinates and The take-over position coordinates to operate the multi-degree-of-freedom arm 22 to open and close an interface or to drive a connector to open and close the interface, thereby obtaining the connector to fix or separate the interface.
如圖3與圖4所示，該含有感測元件21的多向滑動裝置2係設置於該框架1及該軌道11上，亦以二支撐位置24,25在接觸狀態下支持該多自由度手臂22運作混合動作，二支撐位置24,25係由該第一支撐位置24與該第二支撐位置25構成並設置至少一滑塊(或至少一空氣軸承)提供接觸狀態 於該軌道11表面移動，該多向滑動裝置2為設置在該線性單元3下的垂直滑動裝置並用以連接該第一支撐位置24與該第二支撐位置25，使該多向滑動裝置2可於該線性單元3上滑動，而該多向滑動裝置2能於該線性單元3上滑動；請再參閱圖3至圖4，該多向滑動裝置2的該第一支撐位置24、該第二支撐位置25與接觸該軌道11的各表面裝設有至少一滑塊(或該空氣軸承結構)，並藉由該滑塊(或是該空氣軸承結構)提供該多向滑動裝置2於該軌道11各表面接觸狀態移動，在本發明中，該第一支撐位置24與該軌道11各接觸表面位置各設置該滑塊(或該空氣軸承結構)，而該第二支撐位置25與該軌道11接觸表面設置該滑塊(或是該空氣軸承結構)，並利用壓力閥以調整安裝於該第一支撐位置24與該第二支撐位置25內側之該滑塊(或該空氣軸承結構)與該軌道11之間的間距，接著調整該多向滑動裝置2之水平，在調整完該多向滑動裝置2之後，再利用安裝該框架1上的該線性單元3進行驅動，即可順利帶動該多向滑動裝置2作往復運動；其後，該無人搬運車自動由一儲存區(storage zone)的該桶材4取出處搬運該桶材4至該框架1之該入口處12，該多自由度手臂22受控制器運作施以連續動作、混合動作、以及循環動作，為以一感測元件21辨識一桶蓋41所產生的一桶蓋影像，用以確認該桶蓋影像中該桶蓋41上的一接口位置座標、或一接管位置座標、或一位置座標。 As shown in FIG. 3 and FIG. 4, the multi-directional sliding device 2 including the sensing element 21 is disposed on the frame 1 and the rail 11, and supports the multi-degree of freedom in the contact state by the two supporting positions 24, 25. The arm 22 operates a mixing action, and the two support positions 24, 25 are formed by the first support position 24 and the second support position 25 and are provided with at least one slider (or at least one air bearing) to provide a contact state. Moving on the surface of the track 11, the multi-directional sliding device 2 is a vertical sliding device disposed under the linear unit 3 and is used for connecting the first supporting position 24 and the second supporting position 25, so that the multi-directional sliding device 2 can be Sliding on the linear unit 3, and the multi-directional sliding device 2 can slide on the linear unit 3; please refer to FIG. 3 to FIG. 4 again, the first supporting position 24, the second of the multi-directional sliding device 2 The support position 25 and each surface contacting the track 11 are provided with at least one slider (or the air bearing structure), and the multi-directional sliding device 2 is provided on the track by the slider (or the air bearing structure) 11 each surface contact state is moved. In the present invention, the first support position 24 and the contact surface position of the track 11 are respectively disposed with the slider (or the air bearing structure), and the second support position 25 and the track 11 The slider is disposed on the contact surface (or the air bearing structure), and the pressure valve is used to adjust the slider (or the air bearing structure) installed inside the first support position 24 and the second support position 25 The spacing between the tracks 11, then adjust the multi-directional slip The level of the device 2, after the multi-directional sliding device 2 is adjusted, and then driven by the linear unit 3 mounted on the frame 1, can smoothly drive the multi-directional sliding device 2 to reciprocate; thereafter, the unmanned The truck automatically transports the tub 4 to the entrance 12 of the frame 1 from the bucket 4 of a storage zone, and the multi-degree-of-freedom arm 22 is operated by the controller to perform continuous action and mixing action. And a looping operation for recognizing a bucket cover image generated by a bucket cover 41 by a sensing component 21 for confirming an interface position coordinate or a nozzle position coordinate on the bucket cover 41 in the image of the bucket cover, Or a position coordinate.
本發明主要目的為提供該感測元件21藉由影像辨識技術辨識具有特定標記的該桶蓋影像，從而取得及時有效的資訊，進而讓控制器快速得知該接口位置座標、或該接管位置座標、或該位置座標，可迅速獲得該桶蓋41上之該液端接口411或該氣端接口412之座標位置以進行快速定位或進行座標定位相關作業。 The main purpose of the present invention is to provide the sensing component 21 to identify the image of the lid with a specific mark by image recognition technology, thereby obtaining timely and effective information, and then letting the controller quickly know the position coordinate of the interface or the coordinates of the nozzle position. Or the coordinate of the position, the coordinate position of the liquid end interface 411 or the air end interface 412 on the lid 41 can be quickly obtained for quick positioning or coordinate positioning related work.
根據本發明之一目的，係提供一種含有感測元件21的多向滑動裝置2之自動辨識系統，包括一影像接收模組、一桶蓋位置辨識模組及一接管辨識模組，其中該影像接收模組接收該桶蓋影像，由該桶蓋位置辨識模組找出該桶蓋影像中的影像偵測圖形，用以確認該桶蓋影像中該桶蓋41的位置，該接管辨識模組則從該框架1內部偵測該取料區13之可見的該液端接管、或該氣端接管的高度資訊或接管位置座標。 According to an aspect of the present invention, an automatic identification system for a multi-directional slide device 2 including a sensing element 21 includes an image receiving module, a lid position recognition module and a nozzle identification module, wherein the image is The receiving module receives the image of the canopy, and the image recognition module in the image of the canopy is used to identify the image of the canopy 41 in the image of the canopy. The takeover identification module is used. Then, the liquid end pipe visible in the reclaiming area 13 or the height information of the gas end pipe or the position of the takeover position is detected from the inside of the frame 1.
其中，該桶蓋影像更包括有拍攝該桶材4的一化學桶型號標籤及一拍攝時間資訊，含有感測元件21的多向滑動裝置2之自動辨識系統更包括一資訊回報模組，該資訊回報模組係將該桶蓋影像的該化學桶型號標籤及該拍攝時間資訊傳送到一控制器。 The image of the barrel cover further includes a chemical barrel model label for photographing the barrel 4 and a shooting time information, and the automatic identification system of the multi-directional sliding device 2 including the sensing element 21 further includes an information return module. The information return module transmits the chemical barrel model label of the lid image and the shooting time information to a controller.
本發明係一種含有感測元件21的多向滑動裝置2之自動辨識系統，係包括該影像接收模組、該桶蓋位置辨識模組及該接管辨識模組，其中該影像接收模組接收該感測 元件21拍攝影像辨識該桶蓋41所產生的該桶蓋影像，影像辨識該桶蓋41係可於該桶蓋41的上端設有一化學桶型號標籤，而在化學桶型號標籤的下方設有一桶蓋編號，該桶蓋編號可作為控制器查找影像辨識該桶蓋41所處儲存區位置之依據，用以供控制器辨識該儲存區之化學桶種類。 The present invention is an automatic identification system for a multi-directional sliding device 2 including a sensing component 21, comprising the image receiving module, the lid position recognition module and the nozzle identification module, wherein the image receiving module receives the Sensing The component 21 captures an image of the lid image generated by the lid 41. The image recognition panel 41 is provided with a chemical barrel type label on the upper end of the lid 41, and a barrel below the chemical barrel model label. The cover number can be used as a basis for the controller to find the image to identify the location of the storage area of the lid 41, and the controller can identify the chemical barrel type of the storage area.
再者，該桶蓋位置辨識模組找出該桶蓋影像中的化學桶型號標籤，用以確認該桶蓋影像中該桶材4的位置，該化學桶型號標籤係由一識別標識(如：歐洲商品條碼EAN(國際性的商品條碼系統)、Code39碼(可以顯示43個字符)、UPC碼(美國統一代碼，主要用於美國、加拿大地區)、Code128碼(可以顯示128個ASCII字元)、Codabar碼(大多用於醫療和圖書領域的條碼)、Interleaved 2of 5(只能表示數字，用於商品包裝，倉庫以及工業中)及QR CODE)所構成，但不以此為限，化學桶型號標籤的形狀只要排列於指定方向上的複數個儲存區的物品有所區別，避免該桶蓋位置辨識模組誤判即可。而該接管辨識模組則從該桶蓋影像中位於化學桶型號標籤獲取化學桶種類。其中，該識別標識提供給該感測元件21拍攝，該感測元件21藉由其所設之該影像接收模組、該桶蓋位置辨識模組及該接管辨識模組而可連結到一傳送儲存區的控制器，使得控制器可以利用連線(connecting line)連結該影像接收模組，以利傳送該桶蓋影像到該控制器。 Furthermore, the lid position recognition module finds a chemical barrel model label in the image of the lid image to confirm the position of the barrel 4 in the image of the barrel lid, and the chemical barrel model label is identified by an identification label (eg, : European commodity barcode EAN (international commodity barcode system), Code39 code (can display 43 characters), UPC code (US unified code, mainly used in the United States, Canada), Code128 code (can display 128 ASCII characters) ), Codabar code (mostly used for barcodes in medical and book fields), Interleaved 2of 5 (only for numbers, for goods packaging, warehouses and industry) and QR CODE), but not limited to, chemistry The shape of the barrel model label is different as long as the items in the plurality of storage areas arranged in the specified direction are different, and the position recognition module of the lid is prevented from being misjudged. The take-over identification module obtains the chemical barrel type from the chemical barrel model label from the image of the lid image. The identification component is provided for the sensing component 21, and the sensing component 21 can be connected to a transmission by the image receiving module, the lid position recognition module and the nozzle identification module. The controller of the storage area enables the controller to connect the image receiving module with a connecting line to facilitate the transfer of the image of the lid to the controller.
請參閱步驟一所述之一框架1、一含有感測元件 21的多向滑動裝置2以及一線性單元3所構成的自動搬運操作系統，該自動搬運操作系統包含下列步驟來執行鎖固接頭之一實施例之方法：步驟111：將一桶材4從該框架1之該入口處12推到該框架1內部之一取料區13；步驟112：該多自由度手臂22驅動該夾頭23將該桶材4定位於該框架1之該取料區13；步驟211：接續，該多自由度手臂22使用該感測元件21找尋該桶蓋41上的一液端接口蓋子之一接口位置座標；步驟212：該多自由度手臂22轉動一夾頭23使該桶蓋41上之該液端接口蓋子以第二方向旋開；步驟213：該多自由度手臂22驅動該夾頭23將該液端接口蓋子放置在一蓋子固定點(在該框架1邊做一個小平台置放處置放該液端接口蓋子)；步驟311：接續，該多自由度手臂22使用該感測元件21找尋一液端接管之一接管位置座標(在該框架1邊做一個固定該液端接管的夾子)；步驟312：該多自由度手臂22以該夾頭23從該接管位置座標夾取該液端接管；步驟313：該多自由度手臂22使用該感測元件21找尋該液端接管底部的定位記號； 步驟411：接續，該多自由度手臂22使用該感測元件21找尋該桶蓋41上之一液端接口411之該接口位置座標；步驟412：該多自由度手臂22轉動該夾頭23使該液端接管以第一方向旋轉鎖到該桶蓋41上的該液端接口411上；步驟511：接續，該多自由度手臂22使用該感測元件21找尋該桶蓋41上一氣端接口蓋子之一接口位置座標；步驟512：該多自由度手臂22轉動該夾頭23使該桶蓋41上之該氣端接口蓋子以第二方向旋開；步驟513：該多自由度手臂22驅動該夾頭23將該氣端接口蓋子放置在蓋子固定點(在該框架1邊做一個小平台置放處置放該氣端接口蓋子)；步驟611：接續，該多自由度手臂22使用該感測元件21找尋該桶蓋41上之一氣端接管之一接管位置座標(在該框架1邊做一個固定該氣端接管的夾子)；步驟612：該多自由度手臂22以該夾頭23夾取該氣端接管；步驟711：接續，該多自由度手臂22使用該感測元件21找尋該桶蓋41上之該氣端接口412之該接口位置座標； 步驟712：該多自由度手臂22轉動該夾頭23使該氣端接管以第一方向旋轉鎖到該桶蓋41上的該氣端接口412上。 Please refer to step one of the frame 1 and a sensing component. The multi-directional sliding device 2 of 21 and the automatic handling operating system constituted by a linear unit 3, the automatic handling operating system comprising the following steps to perform the method of one embodiment of the locking joint: Step 111: removing a barrel 4 from the The inlet 12 of the frame 1 is pushed into a reclaiming zone 13 inside the frame 1; step 112: the multi-degree of freedom arm 22 drives the collet 23 to position the tub 4 in the reclaiming zone 13 of the frame 1 Step 211: Continuing, the multi-degree-of-freedom arm 22 uses the sensing component 21 to find an interface position coordinate of a liquid end interface cover on the lid 41; Step 212: The multi-degree-of-freedom arm 22 rotates a collet 23 The liquid end interface cover on the lid 41 is unscrewed in a second direction; Step 213: the multi-degree of freedom arm 22 drives the chuck 23 to place the liquid end interface cover at a cover fixing point (in the frame 1) While doing a small platform placement and disposal, the liquid end interface cover is provided; Step 311: Continuing, the multi-degree-of-freedom arm 22 uses the sensing component 21 to find a contact position coordinate of one of the liquid termination pipes (on the side of the frame 1) a clip that secures the liquid terminator; step 312: DOF arm 22 takes over the collet 23 to the liquid side from the gripping position coordinates of the receiver; step 313: the use of multiple degree of freedom arm 22 of the sensing element 21 to find the alignment mark of the liquid at the bottom of the pipe nipple; Step 411: Continuing, the multi-degree-of-freedom arm 22 uses the sensing component 21 to find the interface position coordinate of one of the liquid end interfaces 411 on the lid 41; Step 412: The multi-degree-of-freedom arm 22 rotates the collet 23 to make The liquid end pipe is rotated and locked in the first direction to the liquid end interface 411 on the water tank cover 41; in step 511: the multi-degree-of-freedom arm 22 uses the sensing component 21 to find a gas end interface on the water tank cover 41. One of the cover interface position coordinates; step 512: the multi-degree of freedom arm 22 rotates the collet 23 to cause the air end interface cover on the lid 41 to be unscrewed in a second direction; step 513: the multi-degree of freedom arm 22 is driven The collet 23 places the air end interface cover at the cover fixing point (a small platform is placed on the side of the frame 1 to dispose and put the air end interface cover); step 611: Continuation, the multi-degree of freedom arm 22 uses the feeling The measuring component 21 searches for a nozzle position coordinate of one of the air end fittings on the bucket cover 41 (a clip for fixing the air end connector is formed on the side of the frame 1); step 612: the multi-degree-of-freedom arm 22 is clamped by the collet 23 Taking the gas end pipe; step 711: connecting, the multiple degrees of freedom 22 uses the sensing arm member 21 to the inlet end of the interface to find the position coordinates 412 of the interface 41 on the lid; Step 712: The multi-degree-of-freedom arm 22 rotates the collet 23 to rotate the air end connector to the air end interface 412 on the tub cover 41 in a first direction.
該自動搬運操作系統包含下列步驟來執行解離接頭之一實施例之方法：步驟121：該多自由度手臂22使用該感測元件21找尋一桶蓋41上之一氣端接管之一接管位置座標；步驟122：該多自由度手臂22轉動該氣端接管以第二方向旋轉解離該桶蓋41上之該氣端接口412；步驟123：該多自由度手臂22使用該感測元件21找尋一氣端固定夾之一位置座標；步驟124：該多自由度手臂22以該夾頭23將該氣端接管固定在該氣端固定夾上；步驟221：該多自由度手臂22使用該感測元件21找尋該氣端蓋子一位置座標；步驟222：該多自由度手臂22以該夾頭23夾取該氣端蓋子；步驟321：該多自由度手臂22使用該感測元件21找尋該桶蓋41上之該氣端接口412之該接口位置座標；步驟322：該多自由度手臂22以該夾頭23將該氣端蓋子鎖到該桶蓋41上的該氣端接口412上；步驟421：該多自由度手臂22使用該感測元件 21找尋一液端接管之一接管位置座標；步驟422：該多自由度手臂22轉動該夾頭23使該液端接管以第二方向旋轉解離該桶蓋41上的液端接口411；步驟423：該多自由度手臂22使用該感測元件21找尋該液端固定夾之一位置座標；步驟424：該多自由度手臂22以該夾頭23將該液端接管固定在該液端固定夾上；步驟521：該多自由度手臂22使用該感測元件21找尋該液端蓋子一位置座標；步驟522：該多自由度手臂22以該夾頭23夾取該液端蓋子；步驟621：該多自由度手臂22使用該感測元件21找尋該桶蓋41上之該液端接口411之該接口位置座標；步驟622：該多自由度手臂22轉動該夾頭23使該液端蓋子鎖到該桶蓋41上的該液端接口411上；步驟721：該多自由度手臂22使用該感測元件21找尋一桶蓋41上端面之任一位置座標；步驟722：該多自由度手臂22以該夾頭23夾取該桶蓋41上端面將該桶材4從該取料區13拉出至該框架1之該入口處12。 The automatic handling operating system includes the following steps to perform the method of the embodiment of the disengagement joint: Step 121: The multi-degree-of-freedom arm 22 uses the sensing component 21 to find a position of a nozzle end position on a bucket cover 41; Step 122: The multi-degree-of-freedom arm 22 rotates the air end connector to rotate the second end direction to disengage the air end interface 412 on the bucket cover 41. Step 123: The multi-degree-of-freedom arm 22 uses the sensing component 21 to find a gas end. One position coordinate of the fixing clip; Step 124: The multi-degree-of-freedom arm 22 fixes the air end connecting tube to the air end fixing clip by the chuck 23; Step 221: The multi-degree-of-freedom arm 22 uses the sensing element 21 Looking up the position of the air end cover; step 222: the multi-degree of freedom arm 22 grips the air end cover with the collet 23; Step 321: the multi-degree of freedom arm 22 uses the sensing element 21 to find the bucket cover 41 The interface position coordinate of the air end interface 412 is above; step 322: the multi-degree-of-freedom arm 22 locks the air end cover to the air end interface 412 on the bucket cover 41 by the chuck 23; step 421: The multi-degree of freedom arm 22 uses the sensing element 21: looking for one of the liquid terminal strips to take over the position coordinates; step 422: the multi-degree-of-freedom arm 22 rotates the collet 23 to rotate the liquid end connector in a second direction to disengage the liquid end interface 411 on the lid 41; The multi-degree-of-freedom arm 22 uses the sensing component 21 to find a position coordinate of the liquid end fixing clip; step 424: the multi-degree-of-freedom arm 22 fixes the liquid end connecting tube to the liquid end fixing clip by the collet 23 Step 521: The multi-degree-of-freedom arm 22 uses the sensing component 21 to find the liquid end cover a position coordinate; Step 522: The multi-degree of freedom arm 22 grips the liquid end cover with the collet 23; Step 621: The multi-degree-of-freedom arm 22 uses the sensing component 21 to find the interface position coordinate of the liquid end interface 411 on the bucket cover 41; Step 622: The multi-degree-of-freedom arm 22 rotates the collet 23 to lock the liquid end cover Step 721: The multi-degree-of-freedom arm 22 uses the sensing component 21 to find a coordinate of any position on the upper end surface of the bucket lid 41; Step 722: The multi-degree-of-freedom arm 22, the upper end surface of the tub cover 41 is gripped by the collet 23, and the tub 4 is taken from the The take-up area 13 is pulled out to the entrance 12 of the frame 1.
綜上所述，本案不但在空間型態上確屬創新， 並能較習用物品增進上述多項功效，應已充分符合新穎性及進步性之法定發明專利要件，爰依法提出申請，懇請 貴局核准本件發明專利申請案，以勵發明，至感德便。 In summary, this case is not only innovative in terms of space type, And it can improve the above-mentioned multiple functions compared with the conventional articles. It should fully meet the statutory invention patent requirements of novelty and progressiveness. If you apply for it according to law, you are requested to approve the application for the invention patent to encourage the invention.
Claims (2)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106145842A TWI649829B (en) | 2017-12-27 | 2017-12-27 | Automatic handling of the operating system |
| CN201810672625.0A CN109928199A (en) | 2017-12-17 | 2018-06-26 | Automatic transporting operating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106145842A TWI649829B (en) | 2017-12-27 | 2017-12-27 | Automatic handling of the operating system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TWI649829B true TWI649829B (en) | 2019-02-01 |
| TW201929126A TW201929126A (en) | 2019-07-16 |
Family
ID=66213520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW106145842A TWI649829B (en) | 2017-12-17 | 2017-12-27 | Automatic handling of the operating system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109928199A (en) |
| TW (1) | TWI649829B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201205598A (en) * | 2010-07-22 | 2012-02-01 | Iner Aec Executive Yuan | The dumping device of the radioactive contaminant storage tub and the processing method of the radioactive contaminant |
| CN104668267A (en) * | 2014-12-12 | 2015-06-03 | 上海大学 | Paint removal pull-down device for waste paint barrel |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4321159A1 (en) * | 1993-06-25 | 1995-01-05 | Ernst Dipl Ing Kiefer | Cap remover |
| CN101806612B (en) * | 2010-02-05 | 2011-08-31 | 中国计量科学研究院 | Automatic handing system of weight and application thereof |
| CN202848996U (en) * | 2012-09-29 | 2013-04-03 | 中科华核电技术研究院有限公司 | Automatic cover taking and sealing device |
| CN104555407B (en) * | 2014-12-25 | 2016-09-07 | 长城信息产业股份有限公司 | A kind of automatic labeling and granting vacuum test tube device |
| CN104760453B (en) * | 2015-04-13 | 2017-06-06 | 武汉申安机电工程有限责任公司 | A kind of imprinter automatic loading and unloading device and its control method |
| CN106966347A (en) * | 2017-05-26 | 2017-07-21 | 宁波大学 | A kind of cover separator reclaimed applied to chemical products |
-
2017
- 2017-12-27 TW TW106145842A patent/TWI649829B/en active
-
2018
- 2018-06-26 CN CN201810672625.0A patent/CN109928199A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201205598A (en) * | 2010-07-22 | 2012-02-01 | Iner Aec Executive Yuan | The dumping device of the radioactive contaminant storage tub and the processing method of the radioactive contaminant |
| CN104668267A (en) * | 2014-12-12 | 2015-06-03 | 上海大学 | Paint removal pull-down device for waste paint barrel |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201929126A (en) | 2019-07-16 |
| CN109928199A (en) | 2019-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6083140B2 (en) | Electronic component conveying device and electronic component inspection device | |
| US8820809B2 (en) | Robot hand and robot | |
| TWI461690B (en) | Automated assay and system | |
| JP2023106362A (en) | Rover-based integrated laboratory system including autonomous mobile robots | |
| KR102214426B1 (en) | Article storage facility and article storage method | |
| US10586721B2 (en) | Purge device, purge stocker, and purge method | |
| US20090035104A1 (en) | Transporting system, and teaching method in the transporting system | |
| TW201505793A (en) | Tray engine and methods for transferring trays to and from tools and in sorters | |
| US10173326B2 (en) | Industrial robot teaching method with calculating a position | |
| US10934045B2 (en) | Method and apparatus for labeling of support structures | |
| TWI649829B (en) | Automatic handling of the operating system | |
| EP3343597A1 (en) | Storage device and storage method | |
| US11679510B2 (en) | Photoresist bottle replacement system | |
| CN104284574B (en) | Component mounting system | |
| JP4651581B2 (en) | Component mounting method | |
| CN111656199A (en) | Automatic sampler vessel identification and contaminant monitoring | |
| US20230069127A1 (en) | Interlock apparatus for chemical supply system | |
| JP2001179677A (en) | Bin picking device | |
| CN117246698A (en) | Article conveying apparatus and article conveying method | |
| JPH075061U (en) | Liquid suction device | |
| JP7390162B2 (en) | Substrate processing equipment | |
| JP2017212347A (en) | Component mounting system and component mounting method | |
| US20240142480A1 (en) | Automated system for remote chemical sample collection with safe isolation of sample vessel | |
| JP2009009470A (en) | Handler equipped with displaying function, processed article-collating method using the same, and production-managing method | |
| CN101364092B (en) | Bottle body locking device, liquid management system and method thereof |