TWI656081B - Pipeline feeding and discharging system and method - Google Patents
Pipeline feeding and discharging system and method Download PDFInfo
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- TWI656081B TWI656081B TW107126587A TW107126587A TWI656081B TW I656081 B TWI656081 B TW I656081B TW 107126587 A TW107126587 A TW 107126587A TW 107126587 A TW107126587 A TW 107126587A TW I656081 B TWI656081 B TW I656081B
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- 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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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- 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
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- De-Stacking Of Articles (AREA)
Abstract
本發明揭露一種管線取料裝置，從一第一管線同時接取複數個料件，或同時接取複數個料件移動至一第二管線，且每一料件具有一內部空間。該管線取料裝置包含：固定複數個接取裝置的一固定架；升降該固定架的高度且位移該固定架位置的一升降位移機構；控制該等接取裝置同步執行一接取動作或一釋放動作的一控制器。該控制器控制每一接取裝置在每一料件的內部空間執行該接取動作或該釋放動作。The invention discloses a pipeline material retrieving device, which simultaneously receives a plurality of material parts from a first pipeline, or simultaneously moves a plurality of material parts to a second pipeline, and each material part has an internal space. The pipeline reclaiming device includes: a fixing frame for fixing a plurality of receiving devices; a lifting and displacing mechanism for raising and lowering the height of the fixing frame and displacing the position of the fixing frame; controlling the receiving devices to perform a picking action or a synchronously A controller that releases the action. The controller controls each pick-up device to perform the pick-up action or the release action in the internal space of each material.
Description
本發明是關於一種取料裝置及方法，尤其是關於一種自管線或輸送帶一次接取大量料件的裝置及方法，其中所述料件特別是指具有容器功能的結構。 The invention relates to a material retrieving device and method, in particular to a device and method for taking a large number of material parts from a pipeline or a conveyor belt at a time, wherein the material parts particularly refer to a structure having a container function.
隨著工業4.0的發展，生產線的人力投入逐漸的受到縮減，取而代之的是大量的自動化機器。各種動作的精準性及優化確實助於生產成本的降低。因此，生產線的自動化設計是重要的。良好的設計，包含軟體控制及各種硬體安排，除了可提升產能之外，生產線的流暢性亦可以長時間維持。此外，良好的設計可應付各種無法預期的狀況，比如像是生產線處理料件本身存在的缺陷。 With the development of Industry 4.0, the manpower input of the production line has been gradually reduced, replaced by a large number of automated machines. The precision and optimization of various actions really help to reduce production costs. Therefore, the automated design of the production line is important. Good design, including software control and various hardware arrangements, in addition to improving productivity, the smoothness of the production line can also be maintained for a long time. In addition, a good design can cope with various unexpected conditions, such as defects in the processing line itself.
針對大型貨物籃的清洗或堆疊存放，如便利商店的送貨籃，當前的作法是操作人員將使用過的送貨籃堆疊集中送至清洗工廠，並以半自動的方式清洗送貨籃。然而，隨著社會的外食習慣提高，從便利商店回收的送貨籃數量已明顯增加。半自動的清洗工廠及匱乏的人力資源將無法應付更大量的清洗作業。尤其，送貨籃在使用過程中所造成的缺陷(如變形、破損)，更使得生 產線的流暢性備受考驗。這是因為，無法預期的變形的料件可能超出了機械動作的涵蓋範圍，導致料件無法順利推進，其通常必須由有經驗的操作人員排除障礙。生產線具有一進料端和一出料端，其中進料端的動作是關鍵的。首先，進料的速度是產能提升的因素之一，這通常可以經由每單位時間實質輸入料件的數量而評估。其次，進料料件的一致性也考驗機械或操作人員是否要付出額外的時間執行校正動作，確保每一個料件在生產線中運送的過程都處在各個機械工具的誤差容許範圍內。如所述便利商店的送貨籃一般是以相互堆疊的方式回收至清洗工廠，而堆疊後的結構大多因送貨籃本身的缺陷無法呈現理想的堆疊形態。在現今作法是以堆疊結構進入工作線的情形，產能當然難以提升。 For the cleaning or stacking storage of large cargo baskets, such as the delivery baskets of convenience stores, the current practice is that the operators collectively send the used delivery basket stacks to the cleaning factory and clean the delivery baskets in a semi-automatic manner. However, as society's eating habits have improved, the number of delivery baskets recovered from convenience stores has increased significantly. Semi-automatic cleaning plants and lack of human resources will not be able to cope with a larger number of cleaning operations. In particular, the defects (such as deformation and damage) caused by the delivery basket during use make the The fluency of the production line has been tested. This is because the unexpectedly deformed material may exceed the range of mechanical action, resulting in the material not being able to advance smoothly, which must usually be removed by an experienced operator. The production line has a feed end and a discharge end, where the action of the feed end is critical. First of all, the speed of feeding is one of the factors to increase the production capacity, which can usually be evaluated by the actual number of input parts per unit time. Secondly, the consistency of the feed material also tests whether the machine or the operator has to spend extra time to perform the corrective action to ensure that the process of transporting each material in the production line is within the tolerance range of each machine tool. As mentioned, the delivery baskets of the convenience store are generally returned to the cleaning factory in a stacked manner, and the structure after the stacking cannot be ideally stacked due to the defects of the delivery basket itself. In today's situation where the stack structure is used to enter the working line, the production capacity is of course difficult to increase.
因此，有必要設計一種有效提升進料速度與流暢度的裝置及方法，尤其是針對如前述堆疊結構的進料方式。此外，亦有必要設計一種系統是包含有這樣的進料方式及能相互配合的出料方式。 Therefore, it is necessary to design a device and method for effectively improving the feeding speed and fluency, especially for the feeding method of the aforementioned stacked structure. In addition, it is also necessary to design a system that includes such a feeding method and a mutually compatible discharging method.
本發明目的在於提供一種管線進出料系統，包含：一管線，輸送複數個台車，該管線具有一入口與一出口，且該入口與該出口之間設有一進料區與一出料區，每一台車用以承載複數個料件的堆疊，且每一料件具有一內部空間；一第一取料裝置，包含複數個接取裝置，且同步升降與位移該等接取裝置；一第二取料裝置，包含複數個接取裝置，且同步升降與位移該等接取裝置；以及一控制器，控制該第一取料裝置與該第二取料裝置的該等接取裝置執行一接取動作或一釋放動作；其中，在該第一取料裝置同步升降與位移該等接取裝置至該進料區之後，該控制器控制該第一取料裝置的該等接取裝置從複數個堆 疊的料件同步接取待處理的複數個料件；其中，在該控制器控制該第二取料裝置的該等接取裝置同步接取已處理的複數個料件之後，該第二取料裝置同步升降與位移該等接取裝置至該出料區，由該控制器控制該第二取料裝置的該等接取裝置同步釋放已處理的複數個料件至複數個堆疊的料件。 The purpose of the present invention is to provide a pipeline feeding and discharging system, comprising: a pipeline for transporting a plurality of trolleys, the pipeline has an inlet and an outlet, and a feeding area and a discharging area are provided between the inlet and the outlet, each A cart is used to carry a stack of a plurality of materials, and each material has an internal space; a first reclaiming device, including a plurality of picking devices, and simultaneously lifting and displacing the picking devices; a second The picking device includes a plurality of picking devices, and simultaneously lifts and displaces the picking devices; and a controller controls the picking devices of the first picking device and the second picking device to perform a picking A picking action or a release action; wherein, after the first picking device synchronously lifts and displaces the picking devices to the feed zone, the controller controls the picking devices of the first picking device from the plural Heap The stacked material pieces simultaneously pick up a plurality of pieces to be processed; wherein, after the controller controls the pick-up devices of the second pick-up device to pick up the processed plurality of pieces in synchronization, the second pick-up The material device synchronously lifts and displaces the pick-up devices to the discharge area, and the controller controls the pick-up devices of the second material pick-up device to synchronously release the processed multiple pieces to multiple stacked pieces .
在一具體實施例中，其中，在該控制器控制該第二取料裝置的該等接取裝置同步接取已處理的複數個料件之後，該第二取料裝置同步升降與位移該等接取裝置至該出料區，由該控制器控制該第二取料裝置的該等接取裝置同步釋放已處理的複數個料件至複數個堆疊的料件。 In a specific embodiment, after the controller controls the pick-up devices of the second pick-up device to pick up a plurality of processed pieces simultaneously, the second pick-up device moves up and down synchronously The picking device arrives at the discharge area, and the picking devices of the second picking device controlled by the controller synchronously release the processed plural pieces to plural stacked pieces.
在一具體實施例中，系統進一步包含一第一整理裝置，設置於該管線的入口與進料區之間，使該台車承載的該等料件堆疊整齊。 In a specific embodiment, the system further includes a first sorting device, disposed between the inlet of the pipeline and the feed area, so that the materials carried by the trolley are stacked neatly.
在一具體實施例中，該第一整理裝置具有複數個可動部，且至少一可動部可相對另一可動部樞轉。 In a specific embodiment, the first sorting device has a plurality of movable parts, and at least one movable part can pivot relative to the other movable part.
在一具體實施例中，該第一整理裝置具有複數個可動部，且該等可動部經配置以圍繞該等料件的堆疊結構，使該台車承載的該等料件堆疊整齊。 In a specific embodiment, the first sorting device has a plurality of movable parts, and the movable parts are configured to surround the stacking structure of the materials, so that the materials carried by the trolley are stacked neatly.
在一具體實施例中，該進料區提供有一第二整理裝置，經配置以夾持住該進料區中並列的多個台車所承載的多個堆疊。 In a specific embodiment, the feeding area is provided with a second finishing device configured to hold a plurality of stacks carried by multiple trolleys in the feeding area.
在一具體實施例中，系統進一步包含一下料平台，設置於該管線的出料區與一下料管線之間，該下料平台提供有複數個限制機構，相鄰的兩個限制機構定義一停留區域供單一已處理的料件停留。 In a specific embodiment, the system further includes a discharge platform, which is disposed between the discharge area of the pipeline and the discharge pipeline, the discharge platform is provided with a plurality of restriction mechanisms, and two adjacent restriction mechanisms define a stay The area is reserved for a single processed item.
在一具體實施例中，該下料平台包含一第三整理裝置，經配置以整理位於停留區域已處理的料件之間的間距，便於該第二取料裝置同步升降與位移該等接取裝置至下料平台，以同步接取已處理的複數個料件。 In a specific embodiment, the unloading platform includes a third sorting device, which is configured to sort the space between the processed materials in the stay area, so that the second picking device can simultaneously lift and displace the picking The device is connected to the unloading platform to simultaneously pick up the processed multiple pieces.
在一具體實施例中，系統進一步包含一具有一推出手臂的推出機構，設於該下料管線相對於該下料平台的另一側，該推出手臂同步將已處理的複數個料件從該下料管線推入至該下料平台的複數個停留區域，以等待該第二取料裝置的該等接取裝置接取已處理的複數個料件。 In a specific embodiment, the system further includes an ejection mechanism with an ejection arm, which is located on the other side of the unloading line relative to the unloading platform, and the ejection arm synchronizes a plurality of processed pieces from the The unloading line is pushed into the plurality of staying areas of the unloading platform to wait for the picking devices of the second picking device to pick up the processed pieces.
在一具體實施例中，該第一取料裝置將該等接取裝置所接取待處理的複數個料件放置於一上料管線，且該第二取料裝置的該等接取裝置未接取之前，已處理的複數個料件被放置在一下料管線，其中該上料管線與下料管線之間設置一處理設備。 In a specific embodiment, the first retrieving device places the plurality of materials to be processed received by the same retrieving device in a feeding line, and the retrieving devices of the second retrieving device are not Before picking, the processed multiple pieces of material are placed in the unloading line, wherein a processing device is provided between the loading line and the unloading line.
在一具體實施例中，系統進一步包含一收集容器，設置於該管線的進料區與一上料管線之間，該第一取料裝置同步升降與位移該等接取裝置所接取待處理的複數個料件至該收集容器上方，並傾斜待處理的複數個料件以傾倒該內部空間的雜物至該收集容器。 In a specific embodiment, the system further includes a collection container disposed between the feeding area of the pipeline and a feeding pipeline, and the first retrieving device is synchronously raised and lowered and displaced by the receiving device to be processed A plurality of materials to the collection container, and tilt the plurality of materials to be processed to pour debris from the internal space to the collection container.
在發明的另一目的在於提供一種管線進料方法，包含：由一管線，推送多個堆疊從一入口至一進料區，每一堆疊包含待處理的複數個料件，每一料件具有一內部空間；在該入口處由一第一整理裝置，整理該等堆疊的每一者致使堆疊整齊；在該進料區由一第二整理裝置，整理該等堆疊以使該等堆疊排列整齊；及由一第一取料裝置的複數個接取裝置，從該進料區的該等堆疊接取複數個料件，並將複數個料件位移至一上料管線。 Another object of the invention is to provide a pipeline feeding method, comprising: pushing a plurality of stacks from an inlet to a feeding area from a pipeline, each stack includes a plurality of materials to be processed, each material having An internal space; a first sorting device at the entrance, sorting each of the stacks to make the stacks tidy; a second sorting device at the feed area, sorting the stacks to make the stacks neatly arranged ; And a plurality of picking devices of a first material picking device, picking up a plurality of material pieces from the stacks in the feed zone, and displacing the plurality of material pieces into a feeding line.
在一具體實施例中，方法進一步包含：將複數個料件位移至該上料管線之前，由該第一取料裝置傾斜待處理的複數個料件以傾倒該內部空間的雜物至一收集容器。 In a specific embodiment, the method further includes: before displacing the plurality of materials to the feeding line, the first reclaiming device tilts the plurality of materials to be processed to dump the debris in the internal space to a collection container.
在一具體實施例中，方法進一步包含：由一偵測手段偵測在進入該第一整理裝置之前的每一堆疊並產生一偵測訊號，以決定是否允許一或多個堆疊進入該第一整理裝置。 In a specific embodiment, the method further includes: detecting each stack before entering the first sorting device by a detection means and generating a detection signal to determine whether to allow one or more stacks to enter the first Finishing device.
在一具體實施例中，方法進一步包含：由該第一取料裝置的每一接取裝置從對應的料件的該內部空間執行一接取動作。 In a specific embodiment, the method further includes: each picking device of the first picking device performs a picking action from the internal space of the corresponding material.
本發明又一目的在於提供一種管線出料方法，包含：由一管線，推送多個堆疊從一出料區至一出口，每一堆疊包含已處理的複數個料件，每一料件具有一內部空間；由一具有一推出手臂的推出機構，將已處理的複數個料件從一下料管線推入至一下料平台的複數個停留區域；以及由一第二取料裝置的複數個接取裝置，從該下料平台的該等停留區域接取已處理的複數個料件，並將複數個料件位移至該出料區的多個堆疊。 Another object of the present invention is to provide a pipeline discharging method, which includes: pushing a plurality of stacks from a discharging area to an outlet by a pipeline, each stack includes a plurality of processed pieces, each piece has a Internal space; a push-out mechanism with a push-out arm pushes the processed multiple materials from the feed line into the multiple stop areas of the feed platform; and multiple pick-ups by a second take-up device The device takes a plurality of processed pieces from the staying areas of the unloading platform and displaces the plurality of pieces to a plurality of stacks in the discharge area.
在一具體實施例中，方法進一步包含：由該第二取料裝置的每一接取裝置從對應的料件的該內部空間執行一接取動作。 In a specific embodiment, the method further includes: each picking device of the second picking device performs a picking action from the internal space of the corresponding material.
在一具體實施例中，方法進一步包含：在該推出手臂設置複數個釋放欄杆，該等釋放欄杆依序阻擋該下料管線所推送的複數個料件，並使每一料件對準該下料平台對應的停留區域，由該推出手臂同步將每一料件推入對應的停留區域。 In a specific embodiment, the method further includes: providing a plurality of release rails on the ejection arm, the release rails sequentially blocking the plurality of materials pushed by the cutting pipeline, and aligning each material with the lower The staying area corresponding to the material platform is pushed by the pushing arm into each corresponding staying area synchronously.
在一具體實施例中，該下料平台設置於該管線的該出料區與該下料管線之間，該下料平台提供有複數個限制機構，相鄰的兩個限制機構定義一停留區域，供單一已處理的料件停留。 In a specific embodiment, the discharge platform is disposed between the discharge area of the pipeline and the discharge pipeline, the discharge platform is provided with a plurality of restriction mechanisms, and two adjacent restriction mechanisms define a staying area , For a single processed material to stay.
100‧‧‧進出料系統 100‧‧‧ Feeding and discharging system
110‧‧‧處理設備 110‧‧‧Processing equipment
101‧‧‧入口 101‧‧‧ entrance
140‧‧‧控制器 140‧‧‧Controller
102‧‧‧出口 102‧‧‧Export
150‧‧‧第一整理裝置 150‧‧‧First finishing device
103‧‧‧輸送管線 103‧‧‧Transmission pipeline
200‧‧‧堆疊結構 200‧‧‧Stacked structure
1031‧‧‧進料區 1031‧‧‧Feeding area
202‧‧‧台車 202‧‧‧Trolley
1032‧‧‧出料區 1032‧‧‧Discharge area
300‧‧‧堆疊 300‧‧‧Stack
120‧‧‧上料管線 120‧‧‧ Feeding pipeline
400‧‧‧送貨籃 400‧‧‧delivery basket
121‧‧‧第一取料裝置 121‧‧‧First reclaiming device
401‧‧‧內部空間 401‧‧‧Internal space
122‧‧‧收集容器 122‧‧‧Collection container
402‧‧‧底部 402‧‧‧Bottom
130‧‧‧下料管線 130‧‧‧Feeding pipeline
403A、403B‧‧‧側邊 403A, 403B‧‧‧side
131‧‧‧第二取料裝置 131‧‧‧Second reclaimer
132‧‧‧推出機構 132‧‧‧ Launch organization
133‧‧‧下料平台 133‧‧‧cutting platform
501‧‧‧第一可動部 501‧‧‧ First movable part
900‧‧‧下料平台 900‧‧‧cutting platform
502‧‧‧第二可動部 502‧‧‧ Second movable part
901‧‧‧斜面 901‧‧‧Bevel
503‧‧‧第三可動部 503‧‧‧The third movable part
902‧‧‧滾輪 902‧‧‧wheel
504‧‧‧第四可動部 504‧‧‧The fourth movable part
903‧‧‧阻擋機構 903‧‧‧ blocking mechanism
505‧‧‧整理位置 505‧‧‧Finish location
904‧‧‧限制機構 904‧‧‧Restricting agency
600‧‧‧第二整理裝置 600‧‧‧Second finishing device
905‧‧‧缺口 905‧‧‧Notch
700‧‧‧固定架 700‧‧‧Fixing frame
1000‧‧‧第三整理裝置 1000‧‧‧The third finishing device
701‧‧‧樑 701‧‧‧ Liang
S1100-S1110‧‧‧步驟 S1100-S1110‧‧‧Step
702‧‧‧連接結構 702‧‧‧ connection structure
S1200-S1206‧‧‧步驟 S1200-S1206‧‧‧Step
703‧‧‧接取裝置 703‧‧‧ Pickup device
7031‧‧‧夾持手指 7031‧‧‧ grip fingers
800‧‧‧撐臂 800‧‧‧arm
801‧‧‧送貨籃 801‧‧‧delivery basket
802‧‧‧內部空件 802‧‧‧Inner empty parts
參考下列實施方式描述及圖式，將會更清楚了解到本發明的前述和其他特色及優點。 The foregoing and other features and advantages of the present invention will be more clearly understood with reference to the following embodiment descriptions and drawings.
第一圖顯示本發明進料及出料(簡稱進出料)系統的示意圖。 The first figure shows a schematic diagram of the feeding and discharging (referred to as feeding and discharging) system of the present invention.
第二圖例示多個籃的堆疊結構。 The second figure illustrates the stacking structure of a plurality of baskets.
第三圖例示兩個籃的堆疊。 The third figure illustrates the stacking of two baskets.
第四圖例示單一籃的立體圖。 The fourth figure illustrates a perspective view of a single basket.
第五A五C圖顯示本發明進出料系統中的第一整理裝置示意圖。 Figures 5A-5C show schematic diagrams of the first sorting device in the feed and discharge system of the present invention.
第六圖顯示本發明進出料系統中的第二整理裝置示意圖。 The sixth figure shows a schematic diagram of the second sorting device in the feeding and discharging system of the present invention.
第七圖顯示本發明進出料系統中的取料裝置局部立體圖。 The seventh figure shows a partial perspective view of the reclaiming device in the feeding and discharging system of the present invention.
第八圖顯示本發明取料裝置的一接取方式。 The eighth figure shows a picking mode of the reclaiming device of the present invention.
第九圖例示本發明進出料系統中的下料裝置。 The ninth figure illustrates the discharging device in the feeding and discharging system of the present invention.
第十圖顯示下料裝置的局部特徵。 The tenth figure shows the partial features of the blanking device.
第十一圖為本發明進出料系統的流程圖。 Figure 11 is a flow chart of the feed and discharge system of the present invention.
第十二圖為本發明取料裝置的流程圖。 Figure 12 is a flow chart of the reclaiming device of the present invention.
在以下多個示例具體實施例的詳細敘述中，對該等隨附圖式進行參考，該等圖式形成本發明之一部分。且係以範例說明的方式顯示，藉由該範例可實作該等所敘述之具體實施例。提供足夠的細節以使該領域技術人員能夠實作該等所述具體實施例，而要瞭解到在不背離其精神或範圍下，也可以使用其他具體實施例，並可以進行其他改變。此外，雖然可以如此，但對於「一具體實施例」的參照並不需要屬於該相同或單數的具體實施例。因此，以下詳細 敘述並不具有限制的想法，而該等敘述具體實施例的範圍係僅由該等附加申請專利範圍所定義。 In the following detailed description of a number of example specific embodiments, reference is made to the accompanying drawings, which form part of the present invention. It is shown by way of example description, and the described specific embodiments can be implemented by this example. Provide sufficient details to enable those skilled in the art to implement the described specific embodiments, and understand that other specific embodiments can be used and other changes can be made without departing from the spirit or scope thereof. In addition, although this may be the case, the reference to "a specific embodiment" does not need to belong to the same or singular specific embodiment. Therefore, the following details The description does not have a limiting idea, and the scope of the specific embodiments of the description is defined only by the scope of the additional patent applications.
在整體申請書與申請專利範圍中，除非在上下文中另外明確說明，否則以下用詞係具有與此明確相關聯的意義。當在此使用時，除非另外明確說明，否則該用詞「或」係為一種包含的「或」用法，並與該用詞「及/或」等價。除非在上下文中另外明確說明，否則該用詞「根據」並非排他，並允許根據於並未敘述的多數其他因子。此外，在整體申請書中，「一」、「一個」與「該」的意義包含複數的參照。「在...中」的意義包含「在...中」與「在...上」。 In the scope of the entire application and patent application, unless otherwise clearly stated in the context, the following word systems have a meaning clearly associated with this. When used herein, unless expressly stated otherwise, the term "or" is an inclusive usage of "or" and is equivalent to the term "and/or". Unless expressly stated otherwise in the context, the term "based on" is not exclusive and allows the basis of most other factors not stated. In addition, in the overall application, the meanings of "one", "one" and "the" include plural references. The meaning of "in" includes "in" and "on".
以下簡短提供該等創新主題的簡要總結，以提供對某些態樣的一基本瞭解。並不預期此簡短敘述做為一完整的概述。不預期此簡短敘述用於辨識主要或關鍵元件，或用於描繪或是限縮該範圍。其目的只是以簡要形式呈現某些概念，以做為稍後呈現之該更詳細敘述的序曲。 The following provides a brief summary of these innovative themes to provide a basic understanding of some aspects. This short narrative is not intended as a complete overview. This short description is not intended to identify major or key components, or to depict or limit the scope. Its purpose is only to present some concepts in a brief form as a prelude to the more detailed narrative presented later.
第一圖示意了本發明進出料系統(100)，其與一處理設備(110)連接，以管線輸送方式對該處理設備提供待處理料件並接收經處理的料件。因此，若以處理設備(110)為中心，系統(100)可進一步分為獨立的管線進料系統(端)及管線出料系統(端)。舉例而言，處理設備(110)為專門清洗特定容器的清洗設備。以下說明將主要以便利商店的送貨籃為範例，但應瞭解本發明並非僅限於說明中的料件，類似或其他的料件應涵蓋在本發明。該系統(100)具有一入口(101)、一出口(102)及在該出入口之間延伸的管線或輸送帶(103)。本文所述管線泛指具有實質上沿著一方向提供推進的機械輸送機制。管線(103)實質上從進料系統延伸至出料系統，且在進料系統中設定有一 進料區(1031)及在出料系統中設定有一出料區(1032)。進料時，待處理送貨籃會在進料區(1031)以管線方式集中等待被接取。出料時，經處理送貨籃會集中在出料區(1032)以管線方式等待被推進至出口(102)。 The first figure illustrates the feed-in and feed-out system (100) of the present invention, which is connected to a processing device (110), supplies the material to be processed to the processing equipment and receives the processed material by pipeline transportation. Therefore, if the processing equipment (110) is the center, the system (100) can be further divided into an independent pipeline feed system (end) and a pipeline discharge system (end). For example, the processing device (110) is a cleaning device that specifically cleans a specific container. The following description will mainly take the delivery basket of a convenience store as an example, but it should be understood that the present invention is not limited to the materials in the description, and similar or other materials should be included in the present invention. The system (100) has an inlet (101), an outlet (102), and a pipeline or conveyor belt (103) extending between the inlet and the outlet. The pipeline described herein generally refers to a mechanical transport mechanism that provides propulsion substantially in one direction. The pipeline (103) essentially extends from the feeding system to the discharging system, and is set in the feeding system The feeding area (1031) and a discharging area (1032) are set in the discharging system. When feeding, the delivery basket to be processed will be waiting in line in the feeding area (1031) to be picked up. At the time of discharge, the processed delivery basket will be concentrated in the discharge area (1032) and wait for being pushed to the exit (102) in a pipeline manner.
該系統(100)的進料端包含一上料管線(120)及一第一取料裝置(121)，而出料端包含一下料管線(130)及一第二取料裝置(131)，其中第一取料裝置(121)與第二取料裝置(131)分別為一種管線取料裝置，可同時接取複數個料件，在實施例中以送貨籃為例示。進料區(1031)的複數個送貨籃經由第一取料裝置(121)轉移至上料管線(120)。清洗後經處理的送貨籃由下料管線(130)運送，最後由第二取料裝置(131)轉移至出料區(1032)。在不同的實施例中，上料管線(120)與下料管線(130)可以是相連接的一管線或是不同的管線，視兩者管線的輸送速度是否一致。所述第一和第二取料裝置(121、131)包含一接收命令的多軸機械手臂，該機械手臂可同時接取複數個料件並左右平移或上下移動該等料件，有必要時，該等料件甚至可被傾斜。所述第一和第二取料裝置(121、131)具有一最大抓取單位，其指當所述第一或第二取料裝置(121、131)執行一抓取(或接取)動作時可抓取料件的最大數量。此最大抓取單位與該系統(100)處理料件的產能有關，而本發明所提供之取料裝置除了能在管線處理上大量的轉移料件外，還能確保抓取(或接取)及釋放料件的成功率。 The feeding end of the system (100) includes a feeding line (120) and a first retrieving device (121), and the discharging end includes a discharging line (130) and a second retrieving device (131), The first retrieving device (121) and the second retrieving device (131) are respectively a kind of pipeline retrieving device, which can simultaneously receive a plurality of material parts. In the embodiment, a delivery basket is taken as an example. A plurality of delivery baskets in the feeding area (1031) are transferred to the feeding line (120) via the first reclaiming device (121). After cleaning, the processed delivery basket is transported by the unloading line (130), and finally transferred to the discharge area (1032) by the second reclaiming device (131). In different embodiments, the feeding line (120) and the discharging line (130) may be a connected line or different lines, depending on whether the conveying speed of the two lines is the same. The first and second reclaiming devices (121, 131) include a multi-axis robotic arm that receives commands. The robotic arm can simultaneously pick up a plurality of materials and move them horizontally or vertically, if necessary , These materials can even be tilted. The first and second reclaiming devices (121, 131) have a maximum gripping unit, which refers to when the first or second retrieving device (121, 131) performs a gripping (or picking) action The maximum number of parts that can be grabbed at the time. The maximum picking unit is related to the capacity of the system (100) to process materials. In addition to the large number of materials transferred in the pipeline processing, the picking device provided by the present invention can also ensure picking (or picking) And the success rate of releasing materials.
該系統(100)的出料端還包含一推出機構(132)，其經配置以將複數個經處理送貨籃移出下料管線(130)，被移出的複數個送貨籃前往一下料平台(133)等待被第二取料裝置(131)轉移至管線(103)的出料區(1032)。送貨籃被堆疊在出料區(1032)且隨後經由管線(103)輸送至出口(102)。 一控制器(140)可通訊連接至所述第一和第二取料裝置(121、131)以及推出機構(132)，以控制彼此之間關聯的操作流程。 The discharge end of the system (100) also includes an ejection mechanism (132) configured to move a plurality of processed delivery baskets out of the discharge line (130), and the removed plurality of delivery baskets go to the discharge platform (133) Waiting to be transferred to the discharge area (1032) of the pipeline (103) by the second reclaiming device (131). The delivery baskets are stacked in the discharge area (1032) and then transported to the outlet (102) via the pipeline (103). A controller (140) can be communicatively connected to the first and second reclaiming devices (121, 131) and the ejection mechanism (132) to control the operation flow associated with each other.
較佳地，第一和第二取料裝置(121、131)的最大抓取單位決定了進料區(1031)和出料區(1032)的裝載能力，意即可放置料件堆疊結構的數量。舉例而言，若第一和第二取料裝置(121、131)的最大抓取單位為N，則進料區(1031)和出料區(1032)可裝載最多N個料件堆疊結構，其中，每一個料件堆疊結構的高度相同，該高度即料件可堆疊的數量。所以，第一取料裝置(121)每次從進料區(1031)的N個料件堆疊結構同時取走最上面的N個待處理料件，而第二取料裝置(131)接取N個經處理料件會放置在出料區(1032)的N個料件堆疊結構最上面位置。較佳地，上料管線(120)與下料管線(130)的輸送單位相當於最大抓取單位，意即上料管線(120)一次進處理設備(110)的輸送量為N個料件，下料管線(130)一次被移出的輸送量亦為N個料件。因此，上料管線(120)與下料管線(130)的長度設計得以一併考量。同樣地，管線(103)的進料區(1031)與出料區(1032)的長度設計也可一併考量。 Preferably, the maximum gripping unit of the first and second reclaiming devices (121, 131) determines the loading capacity of the feeding area (1031) and the discharging area (1032), which means that the stacking structure of the material can be placed Quantity. For example, if the maximum gripping unit of the first and second reclaiming devices (121, 131) is N, the feeding area (1031) and the discharging area (1032) can be loaded with up to N material stacking structures, The height of each material stacking structure is the same, and this height is the number of the material stackable. Therefore, the first retrieving device (121) removes the top N items to be processed from the N component stacking structure of the feeding area (1031) at a time, while the second retrieving device (131) takes The N processed materials will be placed at the top of the stack of N materials in the discharge area (1032). Preferably, the feeding unit of the feeding line (120) and the unloading line (130) is equivalent to the maximum gripping unit, which means that the feeding amount of the feeding line (120) into the processing device (110) is N pieces The conveying volume of the unloading line (130) once removed is also N pieces. Therefore, the length design of the feeding line (120) and the discharging line (130) can be considered together. Similarly, the length design of the feed zone (1031) and the discharge zone (1032) of the pipeline (103) can also be considered together.
由於每個料件堆疊結構在管線(103)上是藉由一台車(202)所承載，請參考第二圖。因此，依上述設計考量，進料區(1031)與出料區(1032)的長度設計需容納N個台車(202)，以承載N個料件堆疊結構。當第一取料裝置(121)取完進料區(1031)的所有料件後，N個空的台車(202)將沿著管線(103)一起移出進料區(1031)。之後，N個空的台車(202)將沿著管線(103)一起移入出料區(1032)，以準備承載第二取料裝置(131)每次放置N個經處理料件，在N個台車(202)上堆疊形成N個料件堆疊結構。最後，將N個經處理料件堆疊結構藉由N個台車(202)一起移出出料區(1032)，被推進至出口(102)。 較佳地，管線(103)的進料區(1031)與出料區(1032)之間將設置緩衝區，該緩衝區的長度設計為N個台車(202)的倍數，俾使本系統的管線(103)一次輸送將N個空的台車(202)從進料區(1031)移入緩衝區。之後，該管線(103)一次輸送將N個空的台車(202)從緩衝區移入出料區(1032)。本文是以台車作為範例說明，但對於本發明所屬領域的通常知識者而言，其他替代方案也是可行的。例如，可採能夠承載送貨籃堆疊的托盤結構，或可配合管線種類的其他載運手段。 Since each material stacking structure is carried on the pipeline (103) by a trolley (202), please refer to the second figure. Therefore, according to the above design considerations, the length design of the feeding area (1031) and the discharging area (1032) needs to accommodate N trolleys (202) to support the stacking structure of N materials. When the first feeding device (121) has finished taking all the parts in the feeding area (1031), N empty trolleys (202) will move out of the feeding area (1031) along the pipeline (103). After that, N empty trolleys (202) will be moved along the pipeline (103) into the discharge area (1032) to prepare to carry the second reclaiming device (131) to place N processed materials each time. The trolley (202) is stacked to form a stacking structure of N pieces. Finally, the stacked structure of N processed materials is moved out of the discharge area (1032) by N trolleys (202) and pushed to the outlet (102). Preferably, a buffer zone will be provided between the feed zone (1031) and the discharge zone (1032) of the pipeline (103), the length of the buffer zone is designed to be a multiple of N trolleys (202), so that the system’s The pipeline (103) transports N empty trolleys (202) from the feed area (1031) into the buffer zone at a time. After that, the pipeline (103) transports N empty trolleys (202) from the buffer zone into the discharge area (1032) at a time. This article uses a trolley as an example, but for those of ordinary knowledge in the field to which the present invention belongs, other alternatives are also feasible. For example, a pallet structure that can carry a stack of delivery baskets may be adopted, or other means of transportation that can match the type of pipeline.
繼續參考第一圖，輸送管線(103)於靠進入口(101)處還提供有一第一整理裝置(150)。第一整理裝置(150)配置在輸送管線(103)上，當堆疊送貨籃的台車(160)沿著輸送管線(103)被驅動滑行至第一整理裝置(150)時，第一整理裝置(150)可用於整理堆疊結構，確保堆疊結構良好排列，避免堆疊歪斜不利於第一取料裝置(121)的接取。本發明所要求的整理機制是重要的，這涉及上料流程的順暢。如回收的送貨籃可能存在各種的結構缺陷，其會影響堆疊結構層與層之間的錯位，導致堆疊結構不穩定且每一送貨籃不一定落在機械操作可容許的範圍。因此，本發明在進料端所提供的整理手段是提升產能的關鍵之一。此外，第一整理裝置(150)可配合一高度偵測手段，以偵測進入第一整理裝置(150)前的料件堆疊總高度是否符合該系統取料裝置(即機械手臂)的操作容許範圍。控制器(140)可依據所述偵測而記錄第N個台車所承載的堆疊高度，並決定是否允許或拒絕該料件堆疊進入第一整理裝置(150)。所述高度偵測手段設置的主要目的是確保料件堆疊的高度位於機械手臂可容許的操作範圍內，避免因所述取料裝置抓不到料件或料件無法分離而使系統停擺。若台車上所堆疊的數量過多或不足時，控制器(140)可命令輸送管 線(103)將台車退回入口(101)或經由一警示手段告知操作人員調整料件堆疊數量。所述高度偵測是指該堆疊結構相對於該系統的一高度，其可由料件本身及堆疊層數所決定。舉例而言，當台車無承載任何料件的狀態，高度偵測手段識別堆疊結構的高度為零；當台車承載三十個堆疊的料件，高度偵測手段可識別堆疊結構到達最大容許高度，且表示該台車為滿載的狀態。在一實施例中，所述高度偵測手段可經由一光學偵測手段或一超音波偵測手段實現。較佳地，所述手段適於配置成針對未整理的料件堆疊結構實施高度偵測。 With continued reference to the first figure, the delivery line (103) is also provided with a first finishing device (150) near the inlet (101). The first sorting device (150) is arranged on the conveying line (103). When the trolley (160) stacking the delivery baskets is driven and slid along the conveying line (103) to the first sorting device (150), the first sorting device (150) It can be used to arrange the stacking structure, ensure the stacking structure is well arranged, and avoid stack skew which is not conducive to the first retrieving device (121). The sorting mechanism required by the present invention is important, which involves a smooth feeding process. For example, the recovered delivery basket may have various structural defects, which may affect the misalignment between layers of the stacked structure, resulting in unstable stack structure and each delivery basket may not necessarily fall within the allowable range of mechanical operation. Therefore, the sorting method provided by the present invention at the feed end is one of the keys to increasing productivity. In addition, the first sorting device (150) can cooperate with a height detection means to detect whether the total height of the material stack before entering the first sorting device (150) conforms to the operation permission of the system reclaiming device (that is, the robotic arm) range. The controller (140) can record the stacking height carried by the Nth trolley according to the detection, and decide whether to allow or deny the stacking of the material into the first sorting device (150). The main purpose of the height detection means is to ensure that the height of the material stack is within the allowable operating range of the robotic arm, so as to avoid the system from shutting down because the material pick-up device cannot catch the material or the material cannot be separated. If the quantity stacked on the trolley is too large or insufficient, the controller (140) can command the conveying pipe The line (103) returns the trolley to the entrance (101) or informs the operator to adjust the stacking quantity of the material through a warning means. The height detection refers to a height of the stacked structure relative to the system, which can be determined by the material itself and the number of stacked layers. For example, when the trolley is not carrying any material, the height detection means recognizes that the height of the stack structure is zero; when the trolley is carrying thirty stacked materials, the height detection means can recognize that the stack structure reaches the maximum allowable height, And it indicates that the trolley is fully loaded. In one embodiment, the height detection means may be realized by an optical detection means or an ultrasonic detection means. Preferably, the means is adapted to implement height detection for the unstructured stacking of materials.
第二圖例示由多個送貨籃上下堆疊的結構(200)並由一台車(202)承載著。為了提升產能，上下堆疊的數量希望盡可能地最大化，但相對地堆疊重量也應注意是否影響整體堆疊結構的穩定性，以及台車(202)所能承受的輸送負擔。台車(202)具有適當的結構以穩固抓取堆疊的底部。台車(202)的設計可根據輸送管線(103)的種類而決定。例如，以軌道作為引導的管線，其配合的台車適合裝配輪子。較佳地，台車(202)可下輸送管線(103)。這對於某些工廠的操作人員是方便的，意即回收後的送貨籃可先堆疊在一台車(202)上，堆疊完成後再由操作人員將承載有堆疊結構的台車(202)從入口(101)進入輸送管線(103)。依據該系統(100)的最大抓取量N，操作人員可一次載入N個已裝載的台車(202)。 The second figure illustrates a structure (200) stacked up and down by a plurality of delivery baskets and carried by a cart (202). In order to increase productivity, the number of stacks on the top and bottom is expected to be maximized as much as possible, but the relative weight of the stack should also pay attention to whether it affects the stability of the overall stack structure and the transportation burden that the trolley (202) can bear. The trolley (202) has an appropriate structure to firmly grasp the bottom of the stack. The design of the trolley (202) can be determined according to the type of transmission pipeline (103). For example, with a track as a guide line, the matched trolley is suitable for assembling wheels. Preferably, the trolley (202) can go down the delivery pipeline (103). This is convenient for the operators of some factories, which means that the recovered delivery basket can be stacked on a trolley (202) first, and after the stacking is completed, the operator can remove the trolley (202) carrying the stacking structure from the entrance (101) Enter the delivery line (103). According to the maximum grasping amount N of the system (100), the operator can load N loaded trolleys (202) at a time.
第三圖及第四圖例示一種送貨籃(400)及兩個數量的堆疊(300)。第四圖例示的送貨籃(400)具有一內部空間(401)，其由一底部(402)與相連該底部的複數側邊(403A、403B)所形成。底部(402)為貨物的主要承載結構，其可為一平板或者如圖示的簍空結構。側邊為高側邊(404A)及矮側邊(404B)彼此相鄰連接而成，尤其矮側邊(404B)所形成一缺口的長度大約 等同高側邊(404A)的長度。因此，相同的兩個送貨籃可以交叉堆疊，如第三圖所示，藉此在一限制的垂直堆疊高度中，可將堆疊的數量最大化。然如前述，送貨籃本身的缺陷，如彎曲，可能會導致人工堆疊結構存在不希望的扭曲。為了解決這個問題，本發明的第一整理裝置(150)在堆疊結構進入進料端後針對扭曲的部分進行修正。 The third and fourth figures illustrate a delivery basket (400) and two number stacks (300). The delivery basket (400) illustrated in the fourth figure has an interior space (401) formed by a bottom (402) and a plurality of sides (403A, 403B) connecting the bottom. The bottom (402) is the main load-bearing structure of the goods, which may be a flat plate or a basket-like empty structure as shown. The side is formed by connecting the high side (404A) and the short side (404B) next to each other, especially the length of a gap formed by the short side (404B) is about Equivalent to the length of the high side (404A). Therefore, the same two delivery baskets can be stacked crosswise, as shown in the third figure, whereby the number of stacks can be maximized in a limited vertical stacking height. However, as mentioned above, defects in the delivery basket itself, such as bending, may cause undesirable distortions in the manual stacking structure. In order to solve this problem, the first sorting device (150) of the present invention corrects the twisted part after the stack structure enters the feed end.
下料平台(133)設置於推出機構(132)的相對側，位於下料管線(130)與出料區(1032)之間，以接收被推出下料管線(130)的複數個料件。第九圖局部例示一下料平台(900)，銜接在下料管線(130)的y方向。下料平台(900)具有一斜面(901)，且該斜面(901)提供有促進料件滑落的一滾輪(902)。較佳地，該滾輪(902)是受到驅動的動力滾輪，其可將料件帶往正確的方向。以送貨籃而言，動力滾輪提供單一方向的推力促使送貨籃滑落並防止送貨籃發生傾斜或偏移。該斜面(901)的底端有防止料件滑落的一阻擋機構(903)，斜面(901)和阻擋機構(903)之間還提供有複數個限制機構(904)等間距隔開。兩個相鄰的限制機構(904)之間形成一停留區域供單一料件停留，等待被第二取料裝置轉移(131)。例如，根據接收送貨籃的方位(長度或寬度朝下料平台)，相鄰限制機構(904)之間的距離須大於送貨籃的長度或寬度，避免送貨籃被兩者阻擋。 The unloading platform (133) is disposed on the opposite side of the ejection mechanism (132), between the unloading line (130) and the discharge area (1032), to receive a plurality of pieces of material pushed out of the unloading line (130). The ninth figure partially illustrates the unloading platform (900) connected in the y direction of the unloading line (130). The unloading platform (900) has a slanted surface (901), and the slanted surface (901) is provided with a roller (902) to promote the sliding of the material. Preferably, the roller (902) is a driven power roller, which can bring the material to the correct direction. For the delivery basket, the power roller provides a single direction of thrust to promote the delivery basket to slide down and prevent the delivery basket from tilting or shifting. The bottom end of the inclined surface (901) is provided with a blocking mechanism (903) for preventing the material from slipping. A plurality of limiting mechanisms (904) are provided at equal intervals between the inclined surface (901) and the blocking mechanism (903). A stop area is formed between two adjacent restricting mechanisms (904) for a single material to stop, waiting to be transferred by the second reclaiming device (131). For example, according to the orientation of receiving the delivery basket (length or width facing down the material platform), the distance between adjacent restriction mechanisms (904) must be greater than the length or width of the delivery basket to avoid the delivery basket being blocked by both.
第十圖更清楚地示意下料平台的限制機構(904)，其為上窄下寬的對稱結構，有助於引導料件至停留區域。所述停留區是指料件躺在斜面(901)上並能同時獲得阻擋機構(904)支撐的區域。為了確保料件位於第二取料裝置(131)的操作範圍，下料平台(900)還可包含複數個第三整理裝置(1000)，其為一夾持裝置。位於停留區域的送貨籃有可能尚未擺正或者過度 傾向一限制機構(904)，第三整理裝置(1000)經控制以橫向(x方向)夾住送貨籃，藉此將送貨籃擺正且位於容易接取的位置，等待第二取料裝置(131)執行接取動作。較佳地，相鄰兩限制機構(904)之間的停留區域可形成一缺口(905)，此設置有助於第二取料裝置(131)接取送貨籃，尤其當第二取料裝置(131)採取一夾爪裝置時機械手指會穿越送貨籃的底部。 The tenth figure more clearly shows the limiting mechanism (904) of the blanking platform, which is a symmetrical structure with narrow upper and lower width, which helps to guide the material to the stay area. The stay area refers to an area where the material lays on the inclined surface (901) and can simultaneously obtain the support of the blocking mechanism (904). In order to ensure that the material is within the operating range of the second reclaiming device (131), the unloading platform (900) may further include a plurality of third finishing devices (1000), which are a clamping device. The delivery basket in the stop area may not be straightened or excessive In favor of a restriction mechanism (904), the third sorting device (1000) is controlled to clamp the delivery basket in the lateral direction (x direction), thereby aligning the delivery basket in an easy-to-access position, waiting for the second picking The device (131) performs the pick-up action. Preferably, a gap (905) may be formed in the staying area between two adjacent restricting mechanisms (904), this arrangement helps the second reclaiming device (131) to take delivery baskets, especially when the second reclaiming When the device (131) adopts a jaw device, the mechanical finger will pass through the bottom of the delivery basket.
第二取料裝置(131)可具有類似的結構和配置(即對應的固定架、連接結構、接取裝置)，但有差異的執行動作。第二取料裝置(131)同樣於料件的內部空間執行接取動作，但第二取料裝置(131)因應下料平台(900)的傾斜而以一角度執行所述接取動作。完成接取後，第二取料裝置(131)將N個送貨籃從下料平台(900)的停留區域轉移至輸送管線(103)的出料區(1032)，並放置於N個堆疊的最上位。第二取料裝置(131)自下料平台(900)一次接取N個送貨籃作為堆疊的下一層，並將N個送貨籃的每一者對準前一層對應的送貨籃的每一者，如使上下層送貨籃相互交叉的關係(如第三圖)，接著執行釋放動作完成堆疊。此處基於機械的堆疊料件是具有挑戰的，尤其這包含在大量取料的狀態下能夠使每一個送貨籃都能同時精準地放上堆疊結構。因此，前述的第一、第二和第三整理裝置(150、6000、1000)的動作是重要的，每一階段的重新整理是為了確保這些送貨籃在不同輸送狀態下彼此能夠維持理想的空間關係，使該等送貨籃在不同轉移期間都不超過機械操作的容許範圍。 The second retrieving device (131) may have a similar structure and configuration (ie, the corresponding fixing frame, connecting structure, and receiving device), but have different execution actions. The second retrieving device (131) also performs the picking action in the internal space of the material, but the second retrieving device (131) performs the picking action at an angle in response to the tilt of the unloading platform (900). After the pick-up is completed, the second reclaiming device (131) transfers N delivery baskets from the staying area of the unloading platform (900) to the discharge area (1032) of the conveying pipeline (103), and places them on the N stacks Of the highest. The second retrieving device (131) picks up N delivery baskets from the unloading platform (900) as the next layer of the stack, and aligns each of the N delivery baskets with the corresponding delivery basket of the previous layer Each of them, such as the relationship between the upper and lower delivery baskets (as shown in the third figure), then performs a release action to complete the stack. Here, mechanically-based stacking of parts is challenging, especially including the fact that each delivery basket can be accurately placed on the stack structure at the same time in a large-volume reclaim state. Therefore, the actions of the aforementioned first, second, and third sorting devices (150, 6000, 1000) are important, and the rearrangement at each stage is to ensure that these delivery baskets can maintain ideal each other in different conveying states. Spatial relationship, so that these delivery baskets do not exceed the allowable range of mechanical operation during different transfer periods.
出料區(1032)停放自進料區(1031)推進的N個台車，其如同進料區(1031)的停放規則彼此保持適當的間距。當台車承載了一定的數量堆疊的送貨籃後沿著輸送管線(103)被推送至出口(102)，完成出料。 The discharge area (1032) parks N trolleys advancing from the feed area (1031), which maintains a proper distance from each other like the parking rules of the feed area (1031). When the trolley carries a certain number of stacked delivery baskets, it is pushed to the outlet (102) along the conveying line (103) to complete the discharge.
第十一圖描述本發明進出料系統的方法流程，包含步驟S1100至S1110。這些步驟將配合第一圖至第十圖說明如下。 The eleventh figure describes the method flow of the feeding and discharging system of the present invention, including steps S1100 to S1110. These steps will be explained in conjunction with the first to tenth figures as follows.
在步驟S1100，提供一輸送管線(103)作為該進出料系統的第一管線。該輸送管線(103)經配置以推送多個堆疊，如第二圖所示以台車(202)所承載的堆疊結構(200)，由具有相同的複數個送貨籃(400)堆疊而成。其中，每一送貨籃具有由一底面及複數側邊形成的一內部空間。操作人員可將承載堆疊的多個台車依序載入輸送管線(103)，而管線(103)可使用已知的驅動機制各別推送每一個台車前進，且控制前後台車之間的距離，結束步驟S1100。輸送管線(103)的入口可採取升降機制以利台車順利載入輸送管線(103)。 In step S1100, a delivery line (103) is provided as the first line of the feed and discharge system. The conveying line (103) is configured to push multiple stacks. As shown in the second figure, the stacking structure (200) carried by the trolley (202) is formed by stacking multiple delivery baskets (400) having the same number. Among them, each delivery basket has an internal space formed by a bottom surface and a plurality of side edges. The operator can load the multiple trolleys carrying the stack into the transportation pipeline (103) in sequence, and the pipeline (103) can use the known driving mechanism to push each trolley forward, and control the distance between the front and back trolleys, and end Step S1100. The entrance of the conveying pipeline (103) can adopt a lifting mechanism to facilitate the trolley to load the conveying pipeline (103) smoothly.
在步驟S1102，由一第一整理裝置(150)夾持該等堆疊的每一者以個別整理每一堆疊。如第一圖的第一整理裝置(150)係設置在台車的路徑上，這些台車會依序停留在第一整理裝置(150)接受整理。第五A圖至第五C圖更詳細描述第一整理裝置所執行的動作。第五A圖表示第一整理裝置的一支撐動作，其以第一可動部(501)抵靠堆疊結構的一側，使其在y方向獲得支撐。第五B圖表示一第一夾持動作，其以第二和第三可動部(502、503)的樞轉的動作夾持該堆疊的兩側。第五C圖表示一第二夾持動作，其以相對於第一可動部(501)的第四可動部(504)抵靠該堆疊結構的另一側，令第一和第四可動部(501、504)夾持該堆疊結構，藉由這些可動部經配置以圍繞該堆疊結構，使其扭曲或傾斜得以修正整齊。接著，第一整理裝置的所有可動部退回原位，使堆疊繼續沿著輸送管線(103)推進至進料區(1031)，結束步驟S1102。在一實施例中，步驟S1100可進一步包含針對所述送貨籃堆疊結構(200)的一高度偵測手段， 以判斷該堆疊結構(200)的總高度是否符合所述取料裝置(121、131)的操作容許範圍。所述高度偵測手段可由光學偵測器或超音波偵測器配置於輸送管線(103)的路徑上而實現，且所述偵測手段包含產生一偵測訊號至控制器(140)，由控制器(140)判斷是否允許或拒絕承載堆疊結構的台車進入下一步驟的執行。控制器(140)可經配置而記錄在該系統中堆疊結構可被處理的一最大允許高度，如三十個。當偵測訊號指示超過或低於數量三十個，則控制器(140)命令輸送管線(103)退回未滿足最大允許高度的台車。 In step S1102, each of the stacks is clamped by a first sorting device (150) to sort each stack individually. As shown in the first figure, the first sorting device (150) is arranged on the path of the trolleys, and these carts will stay in the first sorting device (150) in sequence to receive sorting. Figures 5A to 5C describe the actions performed by the first sorting device in more detail. The fifth figure A shows a supporting action of the first sorting device, with the first movable portion (501) abutting the side of the stacking structure, so that it is supported in the y direction. Figure 5B shows a first clamping action which clamps both sides of the stack with the pivoting action of the second and third movable parts (502, 503). Figure 5C shows a second clamping action, which abuts the other side of the stacking structure with the fourth movable part (504) relative to the first movable part (501), so that the first and fourth movable parts ( 501, 504) The stacked structure is clamped, and the movable parts are configured to surround the stacked structure so that its twisting or tilting is corrected and tidy. Next, all the movable parts of the first sorting device are returned to their original positions, and the stack continues to advance along the conveying line (103) to the feed zone (1031), and step S1102 ends. In an embodiment, step S1100 may further include a height detection method for the delivery basket stack structure (200), In order to judge whether the total height of the stacking structure (200) conforms to the operation allowable range of the reclaiming device (121, 131). The height detection means can be realized by an optical detector or an ultrasonic detector arranged on the path of the delivery pipeline (103), and the detection means includes generating a detection signal to the controller (140), by The controller (140) determines whether to allow or deny the carriage carrying the stack structure to proceed to the execution of the next step. The controller (140) may be configured to record a maximum allowable height, such as thirty, in the system where the stacked structure can be processed. When the detection signal indicates that the number exceeds or falls below thirty, the controller (140) commands the delivery pipeline (103) to return the trolley that does not meet the maximum allowable height.
在步驟S1104，由一第二整理裝置(600)同時夾持該等堆疊以使該等堆疊在進料區(1031)中排列整齊。由第一整理裝置(150)整理的多個堆疊被集中停放在進料區(1031)，其被設置成允許N個台車停放成一列。當然，在其他可能的實施例中，進料區(1031)可被設置成允許N個台車停放成多列。如前述N的數量可由系統的一最大抓取量決定。如第六圖示意了進料區(1031)周圍可提供第二整理裝置(600)，其經配置以夾持N個台車所承載的N個堆疊，尤其第二整理裝置(600)配置成以同時接觸N個堆疊的方式執行夾持的動作，使該N個堆疊的列隊更整齊，結束步驟S1104。除此之外，第二整理裝置(600)可抓持該N個堆疊，使堆疊不易受外力(如在被取料的過程)作用而變形。 In step S1104, the stacks are simultaneously clamped by a second sorting device (600) so that the stacks are aligned in the feeding area (1031). The multiple stacks sorted by the first sorting device (150) are collectively parked in the feed area (1031), which is set to allow N trolleys to be parked in a row. Of course, in other possible embodiments, the feed zone (1031) may be configured to allow N trolleys to be parked in multiple rows. As mentioned above, the number of N can be determined by a maximum grab amount of the system. As shown in the sixth figure, a second finishing device (600) can be provided around the feeding area (1031), which is configured to hold N stacks carried by N trolleys, in particular the second finishing device (600) is configured as The clamping operation is performed in a manner of simultaneously contacting N stacks to make the alignment of the N stacks more orderly, and step S1104 is ended. In addition, the second sorting device (600) can grasp the N stacks, so that the stack is not easily deformed by external forces (such as during the process of being taken).
在步驟S1106，由一第一取料裝置執行一接取動作及一釋放動作使排列整齊的該等堆疊的料件被轉移至該系統的一第二管線。如第一圖的第一取料裝置(121)經配置以將輸送管線(103)的N個送貨籃從進料區(1031)的N個堆疊中一次轉移至上料管線(120)。上料管線(120)可視為該系統的第二管線。 In step S1106, a first retrieving device performs a picking action and a releasing action so that the stacked pieces of materials are neatly transferred to a second pipeline of the system. The first reclaiming device (121) as shown in the first figure is configured to transfer N delivery baskets of the conveying line (103) from the N stacks of the feeding area (1031) to the loading line (120) at a time. The feeding line (120) can be regarded as the second line of the system.
參閱第十二圖，步驟S1106進一步包含步驟S1200至S1206。在步驟S1200，由第一取料裝置(121)執行一接取動作。如第七圖的成列的複數個接取裝置(703)經由所述升降位移機構分別描準送貨籃的底部中央並執行接取動作，其中所述接取動作包含夾取、吸取及撐開等方式，特別是所述接取動作是在送貨籃的內部空間完成，如此使堆疊的送貨籃彼此在沿著管線的方向可以更緊密的靠近，而在進出料區可以獲得最大處理產能。這點是重要的，為了提升進料的能力，每一次接取的料件數量當然也是關鍵之一。針對送貨籃或類似的料件而言，接取裝置(703)瞄準底部中央且在內部空間執行動作的設計可相對提升接取裝置配置(703)的數量，同時可獲得最佳的抓取效果，相較於由送貨籃的外圍抓取，必須在送貨籃彼此之間保留必要的夾取操作空間，而在空間上不利於將處理產能最大化。N個接取裝置(703)同步與N個送貨籃完成接取，結束步驟S1200。在步驟S1202，可經由所述升降位移機構的控制，該N個接取裝置(703)可同步執行一微小擺盪動作，使被接取的N送貨籃鬆脫其下層結構，更易從堆疊中取出，結束步驟S1202。由於第二整理裝置(600)可夾持堆疊，所述擺動不輕易使堆疊變形或傾斜。在步驟S1204，可由第一取料裝置(121)執行一傾斜動作，意即藉由所述升降位移機構被接取的N個貨物籃同步被傾斜相對一角度，接著恢復原來的狀態，結束步驟S1204。這個動作是選擇性的。在清洗貨物籃的應用中，傾斜動作可初步將料件的內部空間中的雜物倒出。在步驟S1206，經所述升降位移機構，被接取的N個貨物籃被放置在上料管線(120)的上方，該N個接取裝置(703)接著執行一釋放動作，使該N個送貨籃自接取裝置(703)釋放接取，結束步驟S1206。所述釋放動作仍然是在貨物籃的內部空間完成。 Referring to the twelfth figure, step S1106 further includes steps S1200 to S1206. In step S1200, the first retrieving device (121) performs a picking operation. A plurality of picking devices (703) in a row as shown in the seventh figure respectively mark the center of the bottom of the delivery basket through the lifting and displacing mechanism and perform a picking action, wherein the picking action includes gripping, sucking and supporting Opening and other methods, especially the pick-up action is completed in the inner space of the delivery basket, so that the stacked delivery baskets can be closer to each other in the direction of the pipeline, and the maximum processing can be obtained in the feeding and discharging area Capacity. This is important. In order to improve the ability of feeding, the number of parts received each time is of course one of the keys. For delivery baskets or similar materials, the design of the pick-up device (703) aimed at the center of the bottom and performing actions in the internal space can relatively increase the number of pick-up device configurations (703), while at the same time obtaining the best grip The effect is that, compared with grasping by the periphery of the delivery basket, the necessary clamping operation space must be reserved between the delivery baskets, which is not conducive to maximizing the processing capacity in terms of space. The N picking devices (703) synchronize with the N delivery baskets to complete picking, and end step S1200. In step S1202, under the control of the lifting and lowering mechanism, the N picking devices (703) can simultaneously perform a small swinging action, so that the picked N delivery basket can be loosened from its underlying structure, making it easier to get out of the stack Take out, and end step S1202. Since the second sorting device (600) can hold the stack, the swing does not easily deform or tilt the stack. In step S1204, a tilting motion can be performed by the first reclaiming device (121), which means that the N cargo baskets picked up by the lifting and displacing mechanism are simultaneously tilted by a relative angle, and then restored to the original state, ending the step S1204. This action is optional. In the application of cleaning the cargo basket, the tilting action can initially pour out the debris in the internal space of the material. In step S1206, the received N cargo baskets are placed above the loading line (120) via the lifting and lowering mechanism, and the N receiving devices (703) then perform a release action to make the N The delivery basket releases the pickup from the pickup device (703), and ends step S1206. The release action is still completed in the internal space of the cargo basket.
在步驟S1106中，第一取料裝置(121)是以一次接取N個料件為單位在一周期時間內完成所述接取動作及釋放動作。在一實施例中，上料管線(120)是以一次N個料件為單位將該N個料件推送至如第一圖的處理設備(110)。較佳地，處理設備(110)可配合系統所定義的每單位數量設計相容的管線輸送機制，並也以N個料件為單位輸出至如第一圖的下料管線(130)。為了方便說明，下料管線(130)可視為該系統的第二管線。在實際情況，該系統的第二管線(包含上料管線、下料管線)可以是該處理設備的一部分，或獨立於該處理設備。 In step S1106, the first retrieving device (121) completes the retrieving action and the releasing action in a cycle time by taking N material parts at a time as a unit. In one embodiment, the feeding line (120) pushes the N pieces of materials to the processing equipment (110) as shown in the first figure in units of N pieces of materials at a time. Preferably, the processing equipment (110) can design a compatible pipeline transportation mechanism per unit quantity defined by the system, and also output to the blanking pipeline (130) as shown in the first figure in units of N materials. For convenience of explanation, the blanking line (130) can be regarded as the second line of the system. In practical situations, the second pipeline of the system (including the loading pipeline and the unloading pipeline) may be a part of the processing equipment, or be independent of the processing equipment.
在步驟S1108，將該第二管線上的N個料件同時推離該第二管線，並由一下料平台接收被推出的該等料件。如由第一圖的推出機構(132)同時或依序推擊下料管線(130)上的N個貨物籃。銜接於下料管線(130)的下料平台(133)接收該N個貨物籃，且下料平台(133)上提供的限制機構(904)引導每個貨物籃落入對應的停留區域，結束步驟S1108。較佳地，在推出機構(132)的推出手臂可提供有N個釋放欄杆，其作用是限制每個貨物籃位於推出機構(132)的操作範圍，確保每個貨物籃都會被成功推出下料管線(130)並朝希望的方向落入下料平台(133)。 In step S1108, N materials on the second pipeline are pushed away from the second pipeline at the same time, and the materials are pushed out by the unloading platform. For example, the pushing mechanism (132) of the first figure pushes N cargo baskets on the blanking line (130) simultaneously or sequentially. The unloading platform (133) connected to the unloading line (130) receives the N cargo baskets, and the restriction mechanism (904) provided on the unloading platform (133) guides each cargo basket to fall into the corresponding stay area, and ends Step S1108. Preferably, the ejection arm of the ejection mechanism (132) can be provided with N release rails, the role of which is to limit the operation range of each cargo basket in the ejection mechanism (132), to ensure that each cargo basket will be successfully ejected The pipeline (130) falls into the blanking platform (133) in the desired direction.
在步驟S1110，夾持來自該第二管線的每一料件以將複數個料件排列整齊。如由第十圖的第三整理裝置(1000)夾持下料平台(133)上停留區域的送貨籃，藉此在下料平台(133)上的N個送貨籃的方位均維持一致且該等送貨籃的排列整齊，等待由第一圖的第二取料裝置(131)轉移至出料區(1032)。所述第三整理裝置(1000)係執行一水平方向(x方向)的夾持。但在其他可能 的實施例中，第三整理裝置(1000)或更多的其他整理裝置可提供所述送貨籃更多方向上的修正。 In step S1110, each material from the second pipeline is clamped to align the plurality of materials. For example, the third sorting device (1000) in the tenth figure clamps the delivery baskets in the rest area on the blanking platform (133), so that the orientations of the N delivery baskets on the blanking platform (133) are kept consistent and The delivery baskets are neatly arranged, waiting to be transferred to the discharge area (1032) by the second reclaiming device (131) in the first figure. The third finishing device (1000) performs a horizontal (x-direction) clamping. But in other possible In an embodiment of the invention, a third sorting device (1000) or more other sorting devices may provide corrections in more directions of the delivery basket.
在步驟S1104，由一第二整理裝置同時夾持該等堆疊以使該等堆疊排列整齊。由第一整理裝置(150)整理的多個堆疊被集中停放在進料區(1031)，其被設置成允許N個台車停放成一列。當然，在其他可能的實施例中，進料區(1031)可被設置成允許N個台車停放成多列。如前述N的數量可由系統的一最大抓取量決定。如第六圖示意了進料區(1031)周圍可提供第二整理裝置(600)，其經配置以夾持N個台車所承載的N個堆疊，尤其第二整理裝置(600)配置成以同時接觸N個堆疊的方式執行夾持的動作，使該N個堆疊的列隊更整齊，結束步驟S1104。除此之外，第二整理裝置(600)可抓持該N個堆疊，使堆疊不易受外力(如在被取料的過程)作用而變形。 In step S1104, the stacks are simultaneously clamped by a second sorting device to align the stacks. The multiple stacks sorted by the first sorting device (150) are collectively parked in the feed area (1031), which is set to allow N trolleys to be parked in a row. Of course, in other possible embodiments, the feed zone (1031) may be configured to allow N trolleys to be parked in multiple rows. As mentioned above, the number of N can be determined by a maximum grab amount of the system. As shown in the sixth figure, a second finishing device (600) can be provided around the feeding area (1031), which is configured to hold N stacks carried by N trolleys, in particular the second finishing device (600) is configured as The clamping operation is performed in a manner of simultaneously contacting N stacks to make the alignment of the N stacks more orderly, and step S1104 is ended. In addition, the second sorting device (600) can grasp the N stacks, so that the stack is not easily deformed by external forces (such as during the process of being taken).
在步驟S1106，由一第一取料裝置執行一接取動作及一釋放動作使排列整齊的該等堆疊的料件被轉移至該系統的一第二管線。如第一圖的第一取料裝置(121)經配置以將輸送管線(103)的N個送貨籃從進料區(1031)的N個堆疊中一次轉移至上料管線(120)。上料管線(120)可視為該系統的第二管線。 In step S1106, a first retrieving device performs a picking action and a releasing action so that the stacked pieces of materials are neatly transferred to a second pipeline of the system. The first reclaiming device (121) as shown in the first figure is configured to transfer N delivery baskets of the conveying line (103) from the N stacks of the feeding area (1031) to the loading line (120) at a time. The feeding line (120) can be regarded as the second line of the system.
參閱第十二圖，步驟S1106進一步包含步驟S1200至S1206。在步驟S1200，由第一取料裝置(121)執行一接取動作。如第七圖的成列的複數個接取裝置(703)經由所述升降位移機構分別描準送貨籃的底部中央並執行接取動作，其中所述接取包含夾取、吸取及撐開等方式，尤其所述接取動作是在送貨籃的內部空間完成。這點是重要的，為了提升進料的能力，每一次接取的料件數量當然是關鍵之一。針對送貨籃或類似的料件而言，接取裝置(703)瞄準 底部中央且在內部空間執行動作的設計可相對提升接取裝置配置(703)的數量，同時可獲得最佳的抓取效果。N個接取裝置(703)同步與N個送貨籃完成接取，結束步驟S1200。在步驟S1202，可經由所述升降位移機構的控制，該N個接取裝置(703)可同步執行一微小擺盪動作，使被接取的N送貨籃鬆脫其下層結構，更易從堆疊中取出，結束步驟S1202。由於第二整理裝置(600)可夾持堆疊，所述擺動不輕易使堆疊變形。在步驟S1204，可由第一取料裝置(121)執行一傾斜動作，意即藉由所述升降位移機構被接取的N個貨物籃同步被傾斜相對一角度，接著恢復原來的狀態，結束步驟S1204。這個動作是選擇性的。在清洗貨物籃的應用中，傾斜動作可初步將容器中的大型雜物倒出。在步驟S1206，經所述升降位移機構，被接取的N個貨物籃被放置在上料管線(120)的上方，該N個接取裝置(703)接著執行一釋放動作，使該N個送貨籃自接取裝置(703)段開連接，結束步驟S1206。所述釋放動作仍然是在貨物籃的內部空間完成。 Referring to the twelfth figure, step S1106 further includes steps S1200 to S1206. In step S1200, the first retrieving device (121) performs a picking operation. A plurality of picking devices (703) in a row as shown in the seventh figure respectively mark the center of the bottom of the delivery basket through the lifting and displacing mechanism and perform a picking action, wherein the picking includes gripping, sucking and spreading In other ways, especially the pick-up action is completed in the interior space of the delivery basket. This is important. In order to improve the feeding capacity, the number of parts received each time is of course one of the keys. For delivery baskets or similar items, the pick-up device (703) is aimed The design of the bottom center and the action performed in the internal space can relatively increase the number of picking device configurations (703), and at the same time, the best gripping effect can be obtained. The N picking devices (703) synchronize with the N delivery baskets to complete picking, and end step S1200. In step S1202, under the control of the lifting and lowering mechanism, the N picking devices (703) can simultaneously perform a small swinging action, so that the picked N delivery basket can be loosened from its underlying structure, making it easier to get out of the stack Take out, and end step S1202. Since the second sorting device (600) can hold the stack, the swing does not easily deform the stack. In step S1204, a tilting motion can be performed by the first reclaiming device (121), which means that the N cargo baskets picked up by the lifting and displacing mechanism are simultaneously tilted by a relative angle, and then restored to the original state, ending the step S1204. This action is optional. In the application of cleaning the cargo basket, the tilting action can initially pour out large debris in the container. In step S1206, the received N cargo baskets are placed above the loading line (120) via the lifting and lowering mechanism, and the N receiving devices (703) then perform a release action to make the N The delivery basket is connected from the pick-up device (703) in stages, and step S1206 is ended. The release action is still done in the internal space of the cargo basket.
在步驟S1106中，第一取料裝置(121)是以一次接取N個料件為單位在一周期時間內完成所述接取動作及釋放動作。在一實施例中，上料管線(120)是以一次N個料件為單位將該N個料件推送至如第一圖的處理設備(110)。較佳地，處理設備(110)可配合系統所定義的每單位數量設計相容的管線輸送機制，並也以N個料件為單為輸出至如第一圖的下料管線(130)。為了方便說明，下料管線(130)可視為該系統的第二管線。在實際情況，該系統的第二管線(包含上料管線、下料管線)可以是該處理設備的一部分，或獨立於該處理設備。 In step S1106, the first retrieving device (121) completes the retrieving action and the releasing action in a cycle time by taking N material parts at a time as a unit. In one embodiment, the feeding line (120) pushes the N pieces of materials to the processing equipment (110) as shown in the first figure in units of N pieces of materials at a time. Preferably, the processing equipment (110) can design a compatible pipeline transportation mechanism per unit quantity defined by the system, and also output the N material pieces to the unloading pipeline (130) as shown in the first figure. For convenience of explanation, the blanking line (130) can be regarded as the second line of the system. In practical situations, the second pipeline of the system (including the loading pipeline and the unloading pipeline) may be a part of the processing equipment, or be independent of the processing equipment.
在步驟S1108，將該第二管線上的N個料件同時推離該第二管線，並由一下料平台接收被推出的該等料件。如由第一圖的推出機構(132)同時或 依序推擊下料管線(130)上的N個貨物籃。銜接於下料管線(130)的下料平台(133)接收該N個貨物籃，且下料平台(133)上提供的限制機構(904)引導每個貨物籃落入對應的停留區域，結束步驟S1108。較佳地，在下料管線(130)可提供有N個釋放欄杆，其作用是限制每個貨物籃位於推出機構(132)的操作範圍，確保每個貨物籃都會被成功推出下料管線(130)並朝希望的方向離開現階段產線。 In step S1108, N materials on the second pipeline are pushed away from the second pipeline at the same time, and the materials are pushed out by the unloading platform. If the pushing mechanism (132) of the first picture Push N cargo baskets on the blanking line (130) in sequence. The unloading platform (133) connected to the unloading line (130) receives the N cargo baskets, and the restriction mechanism (904) provided on the unloading platform (133) guides each cargo basket to fall into the corresponding stay area, and ends Step S1108. Preferably, the discharge line (130) may be provided with N release rails, the function of which is to limit the operation range of each cargo basket in the ejection mechanism (132) to ensure that each cargo basket will be successfully pushed out of the discharge line (130) ) And leave the current production line in the direction of hope.
在步驟S1110，夾持來自該第二管線的每一料件以將複數個料件排列整齊。如由第十圖的第三整理裝置(1000)夾持下料平台(133)上停留區域的送貨籃，藉此在下料平台(133)上的N個送貨籃的方位均維持一致且該等送貨籃的排列整齊，等待由第一圖的第二取料裝置(131)轉移至出料區(1032)。所述第三整理裝置(1000)係執行一水平方向(x方向)的夾持。但在其他可能的實施例中，第三整理裝置(1000)或更多的其他整理裝置可提供所述送貨籃更多方向上的修正。 In step S1110, each material from the second pipeline is clamped to align the plurality of materials. For example, the third sorting device (1000) in the tenth figure clamps the delivery baskets in the rest area on the blanking platform (133), so that the orientations of the N delivery baskets on the blanking platform (133) are kept consistent and The delivery baskets are neatly arranged, waiting to be transferred to the discharge area (1032) by the second reclaiming device (131) in the first figure. The third finishing device (1000) performs a horizontal (x-direction) clamping. However, in other possible embodiments, the third sorting device (1000) or more other sorting devices may provide corrections to the delivery basket in more directions.
本文所述「對齊排列」和「整齊」用語是指堆疊或排列的所有單元，無論在水平方向或垂直方向，均盡可能切齊一直線或一平面。或者，在一排列中的欄或列係均勻分布，層與層的關係明確。應瞭解，所述「對齊排列」和「整齊」應考量料件本身存在的結構缺陷。 The terms "aligned" and "aligned" as used herein refer to all units stacked or arranged, whether in a horizontal or vertical direction, as much as possible to cut a straight line or a plane. Or, the columns or rows in an arrangement are evenly distributed, and the relationship between layers is clear. It should be understood that the "alignment" and "alignment" should take into account the structural defects of the material itself.
綜上所述，本發明提供的取料裝置及方法可有效提升進料的數量，如七個或更多，同時內部空間中的動作執行可有效抓每個料件。更重要的是，本發明提供的進出料系統及方法給予料件的堆疊和排列整理機制，使料件在進料端和出料端的路徑上都維持機械可操作的範圍內，此相對提升進出料的效率，意即降低機械失誤率。 In summary, the material retrieving device and method provided by the present invention can effectively increase the number of feeding materials, such as seven or more, and the action execution in the internal space can effectively grasp each material. More importantly, the feeding and discharging system and method provided by the present invention provide a mechanism for stacking, arranging and arranging materials, so that the materials can be maintained within a mechanically operable range on the path of the feeding end and the discharging end. The efficiency of the material means to reduce the mechanical error rate.
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