TWI704968B - Stamping device, transferring device, automatic stamping equipment and method for transferring workpiece - Google Patents

Stamping device, transferring device, automatic stamping equipment and method for transferring workpiece Download PDF

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TWI704968B
TWI704968B TW107126669A TW107126669A TWI704968B TW I704968 B TWI704968 B TW I704968B TW 107126669 A TW107126669 A TW 107126669A TW 107126669 A TW107126669 A TW 107126669A TW I704968 B TWI704968 B TW I704968B
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module
workpieces
transfer
conveying
conveying module
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TW107126669A
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Chinese (zh)
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TW202007454A (en
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余丞宏
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大陸商蘇州滙富弘自動化科技有限公司
余丞宏
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
    • B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
    • B26F1/38—Cutting-out; Stamping-out
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D2007/0012—Details, accessories or auxiliary or special operations not otherwise provided for
    • B26D2007/0018—Trays, reservoirs for waste, chips or cut products
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
    • B26F2210/00—Perforating, punching, cutting-out, stamping-out, severing by means other than cutting of specific products
    • B26F2210/08—Perforating, punching, cutting-out, stamping-out, severing by means other than cutting of specific products of ceramic green sheets, printed circuit boards and the like

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  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)
  • Manipulator (AREA)

Abstract

An automatic stamping equipment including a stamping device, a transferring device and a controlling device is provided. The transferring device includes a conveying module, a speed sensing module, an image capture module and a robotic arm. The controlling device controls the robotic arm to sequentially transfer a plurality of workpieces from the conveying module to a carrier according to a data obtained by the speed sensing module and the image capture module. A method for transferring workpiece, a stamping device and a transferring device are further provided.

Description

沖壓裝置、轉移裝置、自動化沖壓設備及工件轉移方法Stamping device, transfer device, automatic stamping equipment, and workpiece transfer method

本發明是有關於一種轉移方法及應用於此轉移方法的裝置及設備，且特別是有關於一種沖壓裝置、一種轉移裝置、一種自動化沖壓設備及一種工件轉移方法。The present invention relates to a transfer method and a device and equipment applied to the transfer method, and particularly relates to a punching device, a transfer device, an automatic punching device and a workpiece transfer method.

沖壓成型的技術，是依靠沖壓裝置與模具之間的配合，來對板材施加外力，使板材產生塑性變形或分離，從而獲得所需形狀和尺寸的工件。傳統的沖壓成型技術，是依靠人工將待加工的板材放置到模具上，並在沖壓完成後，再依靠人工收集由沖壓所形成的工件。The technology of stamping and forming relies on the cooperation between the stamping device and the die to apply external force to the plate to cause plastic deformation or separation of the plate, so as to obtain a workpiece of the required shape and size. The traditional stamping forming technology relies on manually placing the plate to be processed on the mold, and after the stamping is completed, it relies on the manual to collect the workpiece formed by the stamping.

然而，利用人工的方式放置待加工的板材以及收集工件，不僅耗費的人力成本過鉅，整體的加工效率還因此受限於操作人員的疲勞程度，且操作人員稍有不慎即有可能發生工傷意外。However, using manual methods to place the plates to be processed and collect the workpieces not only consumes too much labor costs, but the overall processing efficiency is also limited by the fatigue of the operators, and the operator may be injured if the operator is not careful. accident.

本發明提供一種自動化沖壓設備，能夠節省人力成本、提升成品的加工效率、提高作業的安全性及提升產品的良率。The invention provides an automatic stamping equipment, which can save labor costs, improve the processing efficiency of finished products, improve the safety of operations and improve the yield of products.

本發明提供一種工件轉移方法，能夠節省人力成本、提升成品的加工效率、提高作業的安全性及提升產品的良率。The invention provides a workpiece transfer method, which can save labor costs, improve the processing efficiency of finished products, improve the safety of operations and increase the yield of products.

本發明提供一種轉移裝置，能夠節省人力成本、提升成品的加工效率、提高作業的安全性及提升產品的良率。The invention provides a transfer device, which can save labor costs, improve the processing efficiency of finished products, improve the safety of operations and improve the yield of products.

本發明提供一種沖壓裝置，能夠降低磨耗、延長使用壽命並降低維修成本。The invention provides a stamping device, which can reduce wear, extend service life and reduce maintenance costs.

本發明的一種自動化沖壓設備，包括一沖壓裝置、一轉移裝置及一控制裝置。沖壓裝置經配置以沖壓一板材的多個待沖壓部分以形成多個工件。轉移裝置包括一輸送模組、一速度感測模組、一影像擷取模組及一機械手臂。輸送模組經配置以輸送由沖壓裝置所形成的這些工件。速度感測模組經配置以偵測輸送模組的輸送速度。影像擷取模組經配置以擷取輸送模組所正在輸送的這些工件的影像。機械手臂經配置以將這些工件從輸送模組轉移至一載具。控制裝置根據影像擷取模組所擷取由輸送模組所正在輸送的這些工件的影像來判斷各個工件在輸送模組上的即時方位，並根據速度感測模組所偵測輸送模組的輸送速度及影像擷取模組所擷取由輸送模組所正在輸送的這些工件的影像來判斷各個工件在輸送模組上的即時位置，且根據各個工件在輸送模組上的即時方位及即時位置來控制機械手臂將這些工件從輸送模組依序轉移至載具。The automatic stamping equipment of the present invention includes a stamping device, a transfer device and a control device. The punching device is configured to punch a plurality of parts to be punched of a plate to form a plurality of workpieces. The transfer device includes a conveying module, a speed sensing module, an image capturing module and a mechanical arm. The conveying module is configured to convey these workpieces formed by the punching device. The speed sensing module is configured to detect the conveying speed of the conveying module. The image capturing module is configured to capture images of the workpieces being conveyed by the conveying module. The robotic arm is configured to transfer these workpieces from the conveying module to a carrier. The control device judges the real-time position of each workpiece on the conveying module according to the images of the workpieces being conveyed by the conveying module captured by the image capturing module, and detects the position of the conveying module according to the speed sensing module The conveying speed and the image capturing module captures the images of the workpieces being conveyed by the conveying module to determine the real-time position of each workpiece on the conveying module, and according to the real-time position and real-time position of each workpiece on the conveying module The position is used to control the robotic arm to sequentially transfer these workpieces from the conveying module to the carrier.

在本發明的一實施例中，上述的沖壓裝置包括一沖壓模组以及一轉移模組。沖壓模组具有一沖壓區。轉移模組經配置以將板材轉移到沖壓區，並將這些工件從沖壓區轉移到輸送模組。In an embodiment of the present invention, the aforementioned punching device includes a punching module and a transfer module. The stamping module has a stamping area. The transfer module is configured to transfer the sheet material to the stamping zone and transfer these workpieces from the stamping zone to the conveying module.

在本發明的一實施例中，上述的自動化沖壓設備更包括一收集盒，配置於輸送模組，以集中由輸送模組所排出的這些工件。In an embodiment of the present invention, the above-mentioned automated stamping equipment further includes a collection box disposed in the conveying module to collect the workpieces discharged by the conveying module.

在本發明的一實施例中，上述的控制裝置為一PC-Based控制裝置。In an embodiment of the present invention, the aforementioned control device is a PC-Based control device.

在本發明的一實施例中，上述的自動化沖壓設備更包括一移載裝置，適於承載及收集載具。In an embodiment of the present invention, the above-mentioned automated stamping equipment further includes a transfer device, which is suitable for carrying and collecting carriers.

在本發明的一實施例中，上述的機械手臂的數量為兩個，這些機械手臂配置於輸送模組的同一側，且移載裝置位於這些機械手臂之間。In an embodiment of the present invention, the number of the aforementioned robotic arms is two, these robotic arms are arranged on the same side of the conveying module, and the transfer device is located between the robotic arms.

本發明的一種工件轉移方法，包括：經由一轉移模組將多個工件轉移到一輸送模組；經由一控制裝置根據一影像擷取模組所擷取輸送模組所正在輸送的這些工件的影像，判斷各個工件在輸送模組上的即時方位；經由控制裝置根據一速度感測模組所偵測輸送模組的輸送速度及影像擷取模組所擷取由輸送模組所正在輸送的這些工件的影像，判斷各個工件在輸送模組上的即時位置；以及經由控制裝置根據各個工件在輸送模組上的即時方位及即時位置，控制一機械手臂將這些工件從輸送模組轉移至一載具。A method for transferring workpieces of the present invention includes: transferring a plurality of workpieces to a conveying module through a transfer module; and using a control device to capture the workpieces being conveyed by the conveying module according to an image capturing module Image to determine the real-time position of each workpiece on the conveying module; the conveying speed of the conveying module detected by a speed sensing module and the conveying module captured by the image capturing module are captured by the conveying module by the control device The images of these workpieces determine the real-time position of each workpiece on the conveying module; and through the control device, according to the real-time position and real-time position of each workpiece on the conveying module, control a robotic arm to transfer these workpieces from the conveying module to a vehicle.

在本發明的一實施例中，上述的控制機械手臂將這些工件轉移至載具的步驟包括：經由控制裝置根據各個工件上的記號，判斷各個工件是否需要被轉移至載具；當工件需要轉移至載具時，經由控制裝置根據工件在輸送模組上的即時方位及即時位置，控制機械手臂將工件從輸送模組轉移至載具；以及當工件不需轉移至載具時，控制機械手臂不將工件從輸送模組轉移至載具。In an embodiment of the present invention, the step of controlling the robot arm to transfer these workpieces to the carrier includes: judging whether each workpiece needs to be transferred to the carrier via the control device according to the mark on each workpiece; when the workpiece needs to be transferred When reaching the carrier, the control device controls the robot arm to transfer the workpiece from the conveying module to the carrier according to the real-time orientation and real-time position of the workpiece on the conveying module; and when the workpiece does not need to be transferred to the carrier, the robot arm is controlled Do not transfer the workpiece from the conveying module to the carrier.

在本發明的一實施例中，上述的經由影像擷取模組擷取輸送模組所正在輸送的這些工件的影像的步驟中，經由控制裝置辨識各個工件上的記號，以判斷各個工件是否需要被轉移至載具。In an embodiment of the present invention, in the step of capturing images of the workpieces being conveyed by the conveying module through the image capturing module, the control device recognizes the marks on each workpiece to determine whether each workpiece needs Was transferred to the vehicle.

在本發明的一實施例中，上述的工件轉移方法，更包括：經由一收集盒，收集由輸送模組所排出的這些工件。In an embodiment of the present invention, the above-mentioned workpiece transfer method further includes: collecting the workpieces discharged by the conveying module through a collecting box.

本發明的一種轉移裝置適於耦接一控制裝置。轉移裝置包括一輸送模組、一速度感測模組、一影像擷取模組以及一機械手臂。輸送模組經配置以輸送多個工件。速度感測模組經配置以偵測輸送模組的輸送速度。影像擷取模組經配置以擷取輸送模組所正在輸送的這些工件的影像。機械手臂經配置以將這些工件從輸送模組轉移至一載具。控制裝置根據影像擷取模組所擷取由輸送模組所正在輸送的這些工件的影像來判斷各工件在輸送模組上的即時方位，並根據速度感測模組所偵測輸送模組的輸送速度及影像擷取模組所擷取由輸送模組所正在輸送的這些工件的影像來判斷各個工件在輸送模組上的即時位置，以及根據各個工件在輸送模組上的即時方位及即時位置來控制機械手臂將這些工件從輸送模組轉移至載具。A transfer device of the present invention is suitable for coupling to a control device. The transfer device includes a conveying module, a speed sensing module, an image capturing module and a mechanical arm. The conveying module is configured to convey multiple workpieces. The speed sensing module is configured to detect the conveying speed of the conveying module. The image capturing module is configured to capture images of the workpieces being conveyed by the conveying module. The robotic arm is configured to transfer these workpieces from the conveying module to a carrier. The control device judges the real-time position of each workpiece on the conveying module according to the images of the workpieces being conveyed by the conveying module captured by the image capturing module, and detects the position of the conveying module according to the speed sensing module The conveying speed and image capture module captures the images of the workpieces being conveyed by the conveying module to determine the real-time position of each workpiece on the conveying module, and according to the real-time position and real-time position of each workpiece on the conveying module Position to control the robotic arm to transfer these workpieces from the conveying module to the carrier.

本發明的一種沖壓裝置，包括一沖壓模組以及一轉移模組。沖壓模組具有一沖壓區。轉移模組包括一線性定子、一第一取放動子以及一第二取放動子。第一取放動子磁浮地設置於線性定子，以將待沖壓的一板材轉移至沖壓區。第二取放動子磁浮地設置於線性定子，以將已沖壓的板材移離沖壓區，其中第一取放動子在線性定子上的移動路徑與第二取放動子在線性定子上的移動路徑局部重疊。A punching device of the present invention includes a punching module and a transfer module. The stamping module has a stamping area. The transfer module includes a linear stator, a first pick and place mover and a second pick and place mover. The first pick-and-place mover is magnetically arranged on the linear stator to transfer a plate to be stamped to the stamping area. The second pick-and-place mover is magnetically levitation arranged on the linear stator to move the stamped plate away from the stamping area. The movement path of the first pick-and-place mover on the linear stator is the same as that of the second pick-and-place mover on the linear stator. The movement path partially overlaps.

基於上述，在本發明的上述實施例的自動化沖壓設備及工件轉移方法中，利用控制裝置對沖壓裝置以及轉移裝置進行自動化的控制，藉此能夠節省人力成本、提升成品的加工效率、提高作業的安全性及提升產品的良率。Based on the above, in the automatic stamping equipment and workpiece transfer method of the above embodiments of the present invention, the control device is used to automatically control the stamping device and the transfer device, thereby saving labor costs, improving the processing efficiency of the finished product, and improving the work efficiency Safety and improve product yield.

另一方面，在本發明的上述實施例的轉移裝置中，利用控制裝置對輸送模組、影像擷取模組及機械手臂進行自動化的控制，藉此能夠節省人力成本、提升成品的加工效率、提高作業的安全性及提升產品的良率。On the other hand, in the transfer device of the foregoing embodiment of the present invention, the control device is used to automatically control the conveying module, the image capturing module, and the robotic arm, thereby saving labor costs, improving the processing efficiency of the finished product, and Improve operation safety and improve product yield.

除此之外，在本發明的上述實施例的沖壓裝置中，第一取放動子可將待沖壓的板材轉移至沖壓區，且第二取放動子可將已沖壓的板材移離沖壓區，藉此能夠降低磨耗、延長使用壽命並降低維修成本。In addition, in the punching device of the above-mentioned embodiment of the present invention, the first pick and place mover can transfer the sheet to be punched to the punching zone, and the second pick and place mover can move the punched sheet away from the punching zone. Zone, which can reduce wear, extend service life and reduce maintenance costs.

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

圖1是本發明的一實施例的一種自動化沖壓設備的示意圖。圖2A至圖2C是圖1的工件及其被沖壓後被轉移至輸送模組及載具的放大示意圖。請參考圖1至圖2C，在本實施例中，自動化沖壓設備100包括沖壓裝置110、轉移裝置120及控制裝置130。沖壓裝置110經配置以沖壓一板材300的多個待沖壓部分B以形成多個工件C。板材300例如是軟性電路板的板材，這些待沖壓部分B對應是在板材300上尚未從板材300上分離的軟性電路板，而這些工件C對應是經沖壓後已與板材300分離的軟性電路板，但不在此限。Fig. 1 is a schematic diagram of an automated stamping equipment according to an embodiment of the present invention. 2A to 2C are enlarged schematic diagrams of the workpiece of FIG. 1 and its transfer to the conveying module and carrier after being punched. Please refer to FIGS. 1 to 2C. In this embodiment, the automated stamping equipment 100 includes a stamping device 110, a transfer device 120, and a control device 130. The punching device 110 is configured to punch a plurality of portions B to be punched of a plate 300 to form a plurality of workpieces C. The sheet 300 is, for example, a sheet of a flexible circuit board. The parts B to be punched correspond to the flexible circuit board on the sheet 300 that has not been separated from the sheet 300, and the workpieces C correspond to the flexible circuit board that has been separated from the sheet 300 after being punched. , But not limited to this.

轉移裝置120包括輸送模組121、速度感測模組122、影像擷取模組123以及機械手臂124。輸送模組121經配置以輸送由沖壓裝置110所形成的這些工件C。速度感測模組122經配置以偵測輸送模組121的輸送速度，速度感測模組122例如是普通馬達加編碼器，或是伺服馬達加減速機，但不在此限。影像擷取模組123經配置以擷取輸送模組121所正在輸送的這些工件C的影像。機械手臂124經配置以將這些工件C從輸送模組121轉移至一載具140（例如裝載用的托盤），機械手臂124例如是三軸滑台（X-Y-Z Table）、SCARA機器手（Selective Compliance Articulated Robot Arm，SCARA）、Delta機器手（Delta Robot）、協作機器人或六軸機器人，但不在此限。舉例而言，如圖2C所示，載具140具有多個凹槽141，而這些工件C可分別被轉移至載具140的凹槽141。控制裝置130根據影像擷取模組123所擷取由輸送模組121所正在輸送的這些工件C的影像來判斷各個工件C在輸送模組121上的即時方位，並根據速度感測模組122所偵測輸送模組121的輸送速度及影像擷取模組123所擷取由輸送模組121所正在輸送的這些工件C的影像來判斷各個工件C在輸送模組121上的即時位置，且根據各個工件C在輸送模組121上的即時方位及即時位置來控制機械手臂124將這些工件C從輸送模組121依序轉移至載具140。因此，在本實施例的自動化沖壓設備100中，藉由輸送模組121、速度感測模組122、影像擷取模組123、機械手臂124與控制裝置130之間的配合，沖壓完成的工件C可自動轉移至載具140中存放，藉此可減少人力成本、增加產量、提高作業過程的安全性及提升產品的良率。The transfer device 120 includes a conveying module 121, a speed sensing module 122, an image capturing module 123, and a robot arm 124. The conveying module 121 is configured to convey the workpieces C formed by the punching device 110. The speed sensing module 122 is configured to detect the conveying speed of the conveying module 121. The speed sensing module 122 is, for example, a common motor plus an encoder, or a servo motor plus a reducer, but not limited to this. The image capturing module 123 is configured to capture images of the workpieces C being conveyed by the conveying module 121. The robotic arm 124 is configured to transfer these workpieces C from the conveying module 121 to a carrier 140 (such as a tray for loading). The robotic arm 124 is, for example, a three-axis sliding table (XYZ Table) or a SCARA robot (Selective Compliance Articulated). Robot Arm, SCARA), Delta Robot (Delta Robot), collaborative robot or six-axis robot, but not limited to this. For example, as shown in FIG. 2C, the carrier 140 has a plurality of grooves 141, and the workpieces C can be transferred to the grooves 141 of the carrier 140, respectively. The control device 130 determines the real-time orientation of each workpiece C on the conveying module 121 according to the images of the workpieces C being conveyed by the conveying module 121 captured by the image capturing module 123, and detects the real-time orientation of each workpiece C on the conveying module 121 according to the speed sensing module 122 The detected conveying speed of the conveying module 121 and the images of the workpieces C being conveyed by the conveying module 121 are captured by the image capturing module 123 to determine the real-time position of each workpiece C on the conveying module 121, and According to the real-time orientation and real-time position of each workpiece C on the conveying module 121, the robot arm 124 is controlled to sequentially transfer the workpieces C from the conveying module 121 to the carrier 140. Therefore, in the automated stamping equipment 100 of this embodiment, the stamped workpiece is completed by the cooperation between the conveying module 121, the speed sensing module 122, the image capturing module 123, the robotic arm 124 and the control device 130 C can be automatically transferred to the carrier 140 for storage, thereby reducing labor costs, increasing output, improving the safety of the operation process, and improving the yield of products.

圖4是本發明的一實施例的一種沖壓裝置的示意圖。請參考圖2A、圖2B及圖4，具體而言，沖壓裝置110包括一沖壓模组112以及一轉移模組114。沖壓模组112具有一沖壓區112a。轉移模組114經配置以將板材300轉移到沖壓區112a，並將經沖壓裝置110所沖壓完成後的這些工件C從沖壓區112a轉移到輸送模組121。Fig. 4 is a schematic diagram of a punching device according to an embodiment of the present invention. Please refer to FIG. 2A, FIG. 2B and FIG. 4. Specifically, the punching device 110 includes a punching module 112 and a transfer module 114. The stamping module 112 has a stamping area 112a. The transfer module 114 is configured to transfer the sheet 300 to the stamping zone 112 a and transfer the workpieces C that have been stamped by the stamping device 110 from the stamping zone 112 a to the conveying module 121.

進一步來說，轉移模組114包括一線性定子114a、一第一取放動子114b以及一第二取放動子114c。轉移模組114例如是利用直線電動機（或稱線性馬達）作為動力來源，但不在此限。第一取放動子114b磁浮地設置於線性定子114a，且包括一第一取放頭114b1，以將待沖壓的板材300轉移至沖壓區112a。第一取放頭114b1例如是以真空方式吸取待沖壓的板材300，但不在此限。第二取放動子114c磁浮地設置於線性定子114a，且包括一第二取放頭114c1，以將已沖壓的板材300移離沖壓區112a，並將從板材300所沖壓出的這些工件C從沖壓區112a轉移到輸送模組121。第二取放頭114c1例如是以真空方式吸取已沖壓的板材300，但不在此限。在本實施例中，第一取放動子114b在線性定子114a上的移動路徑與第二取放動子114c在線性定子114a上的移動路徑局部重疊。由於第一取放動子114b與第二取放動子114c磁浮地設置在線性定子114a，第一取放動子114b及第二取放動子114c與線性定子114a之間的接觸被大幅度地降低，因此第一取放動子114b、第二取放動子114c及線性定子114a之間的磨耗可大幅降低，從而延長使用壽命並降低維修成本。另一方面，第一取放動子114b與第二取放動子114c兩者使用相同的線性定子114a，可減少沖壓裝置110在空間的浪費，以縮小沖壓裝置110整體的體積。Furthermore, the transfer module 114 includes a linear stator 114a, a first pick-and-place mover 114b, and a second pick-and-place mover 114c. The transfer module 114 uses, for example, a linear motor (or called a linear motor) as a power source, but it is not limited thereto. The first pick-and-place mover 114b is magnetically levitated on the linear stator 114a, and includes a first pick-and-place head 114b1 to transfer the plate 300 to be punched to the punching zone 112a. For example, the first pick-and-place head 114b1 sucks the plate 300 to be punched in a vacuum, but it is not limited to this. The second pick-and-place mover 114c is magnetically arranged on the linear stator 114a, and includes a second pick-and-place head 114c1 to move the punched plate 300 away from the punching zone 112a, and remove the workpieces C punched from the plate 300 Transfer from the stamping zone 112a to the conveying module 121. The second pick-and-place head 114c1, for example, sucks the punched sheet 300 in a vacuum, but it is not limited to this. In this embodiment, the movement path of the first pick and place mover 114b on the linear stator 114a and the movement path of the second pick and place mover 114c on the linear stator 114a partially overlap. Since the first pick-and-place mover 114b and the second pick-and-place mover 114c are magnetically arranged on the linear stator 114a, the contact between the first pick-and-place mover 114b and the second pick-and-place mover 114c and the linear stator 114a is greatly increased. Therefore, the wear between the first pick-and-place mover 114b, the second pick-and-place mover 114c and the linear stator 114a can be greatly reduced, thereby prolonging the service life and reducing maintenance costs. On the other hand, the first pick-and-place mover 114b and the second pick-and-place mover 114c both use the same linear stator 114a, which can reduce the waste of space in the punching device 110 and reduce the overall volume of the punching device 110.

進一步配合參考圖2D，自動化沖壓設備100可更包括一回收區170，配置於沖壓裝置110與轉移裝置120之間。舉例而言，當沖壓裝置110將板材300沖壓完成後，板材300將被分為不沖壓部分A與工件C。此時，第二取放動子114c可由沖壓區112a吸取位於沖壓區112a的不沖壓部分A與工件C，接著第二取放動子114c可移動至回收區170，去除第二取放動子114c對不沖壓部分A的吸力以將不沖壓部分A放置於回收區170，接著第二取放動子114c再移動至輸送模組121，並除去第二取放動子114c對工件C的吸力，以將工件C放置於輸送模組121，但第二取放動子114c放置不沖壓部分A與工件C於回收區170及輸送模組121的位置並不設限。With further reference to FIG. 2D, the automated stamping equipment 100 may further include a recovery area 170 disposed between the stamping device 110 and the transfer device 120. For example, after the punching device 110 completes the punching of the sheet 300, the sheet 300 is divided into the non-punched part A and the workpiece C. At this time, the second pick-and-place mover 114c can suck the non-punched part A and the workpiece C in the stamping area 112a from the punching area 112a, and then the second pick-and-place mover 114c can move to the recovery area 170 to remove the second pick-and-place mover. The suction force of 114c on the non-punched portion A is to place the non-punched portion A in the recovery area 170, and then the second pick-and-place mover 114c moves to the conveying module 121 and removes the suction force of the second pick-and-place mover 114c on the workpiece C , In order to place the workpiece C in the conveying module 121, but the position of the second pick-and-place mover 114c for placing the non-punched part A and the workpiece C in the recovery area 170 and the conveying module 121 is not limited.

請參考圖1及圖2B，自動化沖壓設備100更包括一收集盒160，配置於輸送模組121，以集中由輸送模組121所排出的這些工件C。在其它實施例中，當沖壓裝置將板材沖壓完成後，第二取放動子也可直接將不沖壓部分與工件同時放置於輸送模組上，而收集盒可用以收集不沖壓部分。Please refer to FIG. 1 and FIG. 2B, the automated stamping equipment 100 further includes a collecting box 160 disposed in the conveying module 121 to collect the workpieces C discharged by the conveying module 121. In other embodiments, after the punching device finishes punching the plate, the second pick-and-place mover can also directly place the non-punched part and the workpiece on the conveying module at the same time, and the collection box may be used to collect the non-punched part.

在本實施例中，控制裝置130為一PC-Based控制裝置，但不在此限，其可應用於工業4.0與雲端技術，如此本實施例的自動化沖壓設備100除了可達到自動化加工之外，還可依照客戶的需求對工件C進行客製化。此外，還可將生產、加工等資料分享予客戶，以利於客戶得知即時的生產概況。In this embodiment, the control device 130 is a PC-Based control device, but it is not limited to this. It can be applied to Industry 4.0 and cloud technology. In this way, the automated stamping equipment 100 of this embodiment can not only achieve automated processing, but also Workpiece C can be customized according to customer needs. In addition, it can also share production and processing information with customers to help customers know the real-time production overview.

請參考圖1及圖2C，在本實施例中，自動化沖壓設備100更可包括一移載裝置150，適於承載及收集載具140。移載裝置150可經配置以承載多個載具140，現場工作人員可在移載裝置150收集完一定數量的載具140後，再一次性的將載具140移離自動化沖壓設備100。在本實施例中，機械手臂124的數量可為兩個，且這兩個機械手臂124可配置於輸送模組121的同一側，其中這兩個機械手臂124配置於移載裝置150的相對兩側，此配置可減少自動化沖壓設備100所占據的空間，以有效利用環境空間。此外，使用兩個或多個機械手臂124可增加工件C的轉移效率，且可擴大這些機械手臂124的整體作業範圍。然而，在其它未繪示的實施例中，機械手臂的數量及配置位置並沒有限制，例如兩個機械手臂也可配置於輸送模組的相對兩側，且機械手臂數量可以依照實際需求調整，例如輸送模組的兩側分別配置有兩個機械手臂。Please refer to FIGS. 1 and 2C. In this embodiment, the automated stamping equipment 100 may further include a transfer device 150 suitable for carrying and collecting the carrier 140. The transfer device 150 may be configured to carry a plurality of carriers 140, and the on-site workers can move the carriers 140 away from the automated stamping equipment 100 at one time after the transfer device 150 has collected a certain number of carriers 140. In this embodiment, the number of robot arms 124 can be two, and the two robot arms 124 can be arranged on the same side of the conveying module 121, wherein the two robot arms 124 are arranged on opposite sides of the transfer device 150. On the other hand, this configuration can reduce the space occupied by the automated stamping equipment 100 to effectively utilize the environmental space. In addition, the use of two or more robotic arms 124 can increase the transfer efficiency of the workpiece C, and can expand the overall operating range of these robotic arms 124. However, in other unillustrated embodiments, the number and configuration positions of the robot arms are not limited. For example, two robot arms can also be arranged on opposite sides of the conveying module, and the number of robot arms can be adjusted according to actual needs. For example, two robotic arms are respectively configured on both sides of the conveying module.

圖3是本發明的一實施例的一種工件轉移方法的流程圖。請參考圖1至圖3，本實施例的工件轉移方法200，包括：在步驟S210中：經由轉移模組114將多個工件C轉移到輸送模組121；在步驟S220中：經由控制裝置130根據影像擷取模組123所擷取輸送模組121所正在輸送的這些工件C的影像，判斷各個工件C在輸送模組121上的即時方位；在步驟S230中：經由控制裝置130根據速度感測模組122所偵測輸送模組121的輸送速度及影像擷取模組123所擷取由輸送模組121所正在輸送的這些工件C的影像，判斷各工件C在輸送模組121上的即時位置；以及在步驟S240中：經由控制裝置130根據各個工件C在輸送模組121上的即時方位及即時位置，控制機械手臂124將這些工件C從輸送模組121轉移至載具140。因此，在本實施例的自動化沖壓設備100中，藉由輸送模組121、影像擷取模組123、機械手臂124與控制裝置130之間的配合，沖壓完成的工件C可自動轉移至載具140中存放，藉此可減少人力成本、增加產量、提高作業過程的安全性及提升產品的良率。Fig. 3 is a flowchart of a workpiece transfer method according to an embodiment of the present invention. 1 to 3, the workpiece transfer method 200 of this embodiment includes: in step S210: transferring a plurality of workpieces C to the conveying module 121 via the transfer module 114; in step S220: via the control device 130 According to the images of the workpieces C being transported by the conveying module 121 captured by the image capturing module 123, the real-time orientation of each workpiece C on the conveying module 121 is determined; in step S230: the control device 130 senses the speed The conveying speed of the conveying module 121 detected by the measuring module 122 and the images of the workpieces C being conveyed by the conveying module 121 captured by the image capturing module 123 are determined to determine the position of each workpiece C on the conveying module 121 Real-time position; and in step S240: control the robotic arm 124 to transfer the workpieces C from the conveying module 121 to the carrier 140 according to the real-time orientation and real-time position of each workpiece C on the conveying module 121 via the control device 130. Therefore, in the automated stamping equipment 100 of this embodiment, through the cooperation between the conveying module 121, the image capturing module 123, the robotic arm 124 and the control device 130, the stamped workpiece C can be automatically transferred to the carrier Stored in 140, which can reduce labor costs, increase production, improve the safety of the operation process and improve the yield of products.

另一方面，在步驟S240中，控制機械手臂124將這些工件C轉移至載具140的步驟更可包括：經由控制裝置130根據各個工件C上的記號D，判斷各個工件C是否需要被轉移至載具140；當判斷工件C需要轉移至載具140時，經由控制裝置130根據工件C在輸送模組121上的即時方位及即時位置，控制機械手臂124將工件C從輸送模組121轉移至載具140；以及當判斷工件C不需要轉移至載具140時，控制機械手臂124不將工件C從輸送模組121轉移至載具140。On the other hand, in step S240, the step of controlling the robotic arm 124 to transfer these workpieces C to the carrier 140 may further include: judging whether each workpiece C needs to be transferred to the carrier 140 according to the mark D on each workpiece C via the control device 130 Carrier 140; when it is determined that the workpiece C needs to be transferred to the carrier 140, the control device 130 controls the robot arm 124 to transfer the workpiece C from the conveying module 121 to the conveying module 121 according to the real-time orientation and real-time position of the workpiece C on the conveying module 121 Carrier 140; and when it is determined that the workpiece C does not need to be transferred to the carrier 140, the robot arm 124 is controlled not to transfer the workpiece C from the conveying module 121 to the carrier 140.

舉例而言，請參考圖1、圖2A、圖2B及圖3，工件C上的記號D可以是沖壓裝置110在沖壓板材300之前，經人工目檢過後由人工或設備加註於板材300的各個待沖壓部分B的記號D，或者，工件C上的記號D也可為二維條碼、QR-Code，在此並不設限。For example, please refer to Figure 1, Figure 2A, Figure 2B and Figure 3, the mark D on the workpiece C can be the stamping device 110 before the stamping of the plate 300, after manual visual inspection, manually or equipment added to the plate 300 The mark D of each part B to be stamped, or the mark D on the workpiece C can also be a two-dimensional bar code or QR-Code, which is not limited here.

此外，在步驟S240，經由影像擷取模組123擷取輸送模組121所正在輸送的這些工件C的影像的步驟中，經由控制裝置130辨識各個工件C上的記號D，以判斷各個工件C是否需要被轉移至載具140。簡言之，當影像擷取模組123擷取輸送模組121所正在輸送的這些工件C的影像時，同時能夠擷取到各個工件C上的記號D，控制裝置130即會根據各個工件C上的記號D判斷是否將其移動到載具140，未被移動的工件C最終將會落入收集盒160。藉此，可將工件C進行分類管理，例如排除未通過電性測試或外觀有缺陷的工件C，而保留檢測沒有問題的工件C。In addition, in step S240, in the step of capturing images of the workpieces C being transported by the transport module 121 through the image capturing module 123, the control device 130 identifies the marks D on each workpiece C to determine each workpiece C Whether it needs to be transferred to the carrier 140. In short, when the image capturing module 123 captures the images of the workpieces C being conveyed by the conveying module 121, it can capture the mark D on each workpiece C at the same time, and the control device 130 will then follow each workpiece C The mark D on it determines whether to move it to the carrier 140. The workpiece C that has not been moved will eventually fall into the collection box 160. In this way, the workpiece C can be classified and managed, for example, the workpiece C that fails the electrical test or the appearance is defective is excluded, and the workpiece C that has no problem in the inspection is retained.

依據客戶需求，也可在原收集盒160處，增加一組機械手臂和移載裝置，以將外觀有缺陷的工件C，移轉到另一組載具上，以區別不同記號。According to customer requirements, a set of robotic arms and transfer devices can be added to the original collection box 160 to transfer the defective workpiece C to another set of carriers to distinguish different marks.

圖5是本發明再一實施例的一種轉移裝置的示意圖。請參考圖5，相較於圖1的實施例，本實施例的轉移裝置420包括兩個機械手臂424及兩個移載裝置450。舉例而言，這兩個機械手臂424及這兩個移載裝置450可配置在輸送模組421的同一側。Fig. 5 is a schematic diagram of a transfer device according to still another embodiment of the present invention. Please refer to FIG. 5. Compared with the embodiment of FIG. 1, the transfer device 420 of this embodiment includes two robot arms 424 and two transfer devices 450. For example, the two robot arms 424 and the two transfer devices 450 can be arranged on the same side of the conveying module 421.

圖6是本發明另一實施例的一種自動化沖壓設備的示意圖。請參考圖6，相較於圖1的實施例，在本實施例中，自動化沖壓設備500的轉移裝置520包括兩個機械手臂524及兩個移載裝置550。此外，輸送模組521具有一整流段521a及兩個轉移段521b，其中整流段521a可將來自沖壓裝置510的工件分流至這兩個轉移段521b，並且各轉移段521b的旁側可設置有機械手臂524及移載裝置550。另外，速度感測模組522可偵測輸送模組521的轉移段521b的輸送速度，影像擷取模組523可擷取被轉移前的工件的影像，而控制裝置530可對沖壓裝置510及轉移裝置520的組件來進行控制。Fig. 6 is a schematic diagram of an automated stamping equipment according to another embodiment of the present invention. Please refer to FIG. 6. Compared with the embodiment of FIG. 1, in this embodiment, the transfer device 520 of the automated stamping equipment 500 includes two mechanical arms 524 and two transfer devices 550. In addition, the conveying module 521 has a rectification section 521a and two transfer sections 521b. The rectification section 521a can divert the workpiece from the punching device 510 to the two transfer sections 521b, and each transfer section 521b can be provided with Robotic arm 524 and transfer device 550. In addition, the speed sensing module 522 can detect the conveying speed of the transfer section 521b of the conveying module 521, the image capturing module 523 can capture images of the workpiece before being transferred, and the control device 530 can control the punching device 510 and The components of the transfer device 520 are controlled.

圖7是本發明另一實施例的一種自動化沖壓設備的示意圖。請參考圖7，相較於圖1的實施例，在本實施例中，自動化沖壓設備600包括兩個沖壓裝置610，轉移裝置620包括兩個機械手臂624及八個移載裝置650。輸送模組621具有一整流段621a及一轉移段621b，其中整流段621a可將來自這兩個沖壓裝置610的工件匯流至轉移段621b。這兩個機械手臂624可配置在輸送模組621的轉移段621b的上方，四個移載裝置650可分別配置在輸送模組621的相對兩側且位於機械手臂624的轉移範圍內，而另四個移載裝置650可分別配置在輸送模組621的相對兩側且位於另一機械手臂624的轉移範圍內。在圖7中，以一點鏈線繪製出各機械手臂624的轉移範圍，而各機械手臂624可負責將工件轉移至對應的這些移載裝置650。另外，速度感測模組622可偵測輸送模組621的轉移段621b的輸送速度，影像擷取模組623可擷取被轉移前的工件的影像，而控制裝置630可對沖壓裝置610及轉移裝置620的組件來進行控制。Fig. 7 is a schematic diagram of an automated stamping equipment according to another embodiment of the present invention. Please refer to FIG. 7. Compared with the embodiment of FIG. 1, in this embodiment, the automated stamping equipment 600 includes two stamping devices 610, and the transfer device 620 includes two mechanical arms 624 and eight transfer devices 650. The conveying module 621 has a rectifying section 621a and a transferring section 621b, wherein the rectifying section 621a can merge the workpieces from the two punching devices 610 to the transferring section 621b. The two robot arms 624 can be arranged above the transfer section 621b of the conveying module 621, and the four transfer devices 650 can be respectively arranged on opposite sides of the conveying module 621 and located within the transfer range of the robot arm 624. The four transfer devices 650 can be respectively arranged on opposite sides of the conveying module 621 and located within the transfer range of another robot arm 624. In FIG. 7, the transfer range of each robot arm 624 is drawn with a dotted chain line, and each robot arm 624 can be responsible for transferring the workpiece to the corresponding transfer device 650. In addition, the speed sensing module 622 can detect the conveying speed of the transfer section 621b of the conveying module 621, the image capturing module 623 can capture images of the workpiece before being transferred, and the control device 630 can control the punching device 610 and The components of the transfer device 620 are controlled.

在其它未繪示的實施例中，沖壓裝置、轉移裝置、輸送模組的整流段及轉移段、機械手臂以及移載裝置等的數量以及擺放位置可依需求調整，在此並不設限。除了圖6的實施例的一個沖壓裝置分流至輸送模組的兩個轉移段（即1對2）以及圖7的實施例的兩個沖壓裝置匯流至輸送模組的單一轉移段（即2對1）以外，在其它未繪示的實施例中，沖壓裝置的數量及轉移裝置的轉移段的數量可以任意搭配，例如1對多、多對1等。此外，控制裝置也可以拆分成多個子控制裝置，用以分別控制這些沖壓裝置及這些轉移裝置的組件。In other unshown embodiments, the number and placement of the stamping device, the transfer device, the rectifying section and the transfer section of the conveying module, the mechanical arm and the transfer device, etc. can be adjusted according to requirements, and there is no limit here. . In addition to the one punching device in the embodiment of FIG. 6 diverted to the two transfer sections of the conveying module (ie 1 to 2) and the two punching devices of the embodiment of FIG. 7 merged to a single transfer section of the conveying module (ie, 2 pairs) In addition to 1), in other unillustrated embodiments, the number of punching devices and the number of transfer sections of the transfer device can be arbitrarily matched, such as one-to-many, many-to-one, etc. In addition, the control device can also be split into multiple sub-control devices to control the components of the punching devices and the transfer devices respectively.

綜上所述，在本發明的上述實施例中，藉由輸送模組、影像擷取模組、機械手臂與控制裝置之間的配合，沖壓完成的工件可自動轉移至載具中存放，藉此可減少人力成本、增加產量、提高作業過程的安全性及提升產品的良率。To sum up, in the above-mentioned embodiments of the present invention, through the cooperation between the conveying module, the image capturing module, the robot arm and the control device, the stamped workpiece can be automatically transferred to the carrier for storage. This can reduce labor costs, increase production, improve the safety of the operation process and increase the yield of products.

此外，由於第一取放動子及第二取放動子是磁浮地設置於線性定子，使得第一取放動子及第二取放動子與線性定子之間的接觸被大幅度地降低，因此第一取放動子、第二取放動子及線性定子之間的磨耗可大幅降低，從而延長使用壽命並降低維修成本。另一方面，第一取放動子與第二取放動子可在同一線性定子上移動，這可減少沖壓裝置在空間上的浪費，以縮小沖壓裝置整體的體積。In addition, since the first pick-and-place mover and the second pick-and-place mover are magnetically levitation arranged on the linear stator, the contact between the first pick-and-place mover and the second pick-and-place mover and the linear stator is greatly reduced Therefore, the wear between the first pick-and-place mover, the second pick-and-place mover and the linear stator can be greatly reduced, thereby prolonging the service life and reducing maintenance costs. On the other hand, the first pick-and-place mover and the second pick-and-place mover can move on the same linear stator, which can reduce the space waste of the punching device and reduce the overall volume of the punching device.

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be determined by the scope of the attached patent application.

100、500、600‧‧‧自動化沖壓設備110、510、610‧‧‧沖壓裝置112‧‧‧沖壓模組112a‧‧‧沖壓區114‧‧‧轉移模組114a‧‧‧線性定子114b‧‧‧第一取放動子114b1‧‧‧第一取放頭114c‧‧‧第二取放動子114c1‧‧‧第二取放頭120、420、520、620‧‧‧轉移裝置121、421、521、621‧‧‧輸送模組521a、621a‧‧‧整流段521b、621b‧‧‧轉移段122、522、622‧‧‧速度感測模組123、523、623‧‧‧影像擷取模組124、424、524、624‧‧‧機械手臂130、530、630‧‧‧控制裝置140‧‧‧載具141‧‧‧凹槽150、450、550、650‧‧‧移載裝置160‧‧‧收集盒170‧‧‧回收區200‧‧‧工件轉移方法S210~S240‧‧‧步驟300‧‧‧板材A‧‧‧不沖壓部分B‧‧‧待沖壓部分C‧‧‧工件D‧‧‧記號100, 500, 600‧‧‧Automatic stamping equipment 110, 510, 610‧‧‧Pressing device 112‧‧‧Pressing module 112a‧‧‧Pressing zone 114‧‧‧Transfer module 114a‧‧‧Linear stator 114b‧‧ ‧First pick and place mover 114b1‧‧‧First pick and place head 114c‧‧‧Second pick and place move 114c1‧‧‧Second pick and place head 120, 420, 520, 620‧‧‧Transfer device 121, 421 ,521,621‧‧‧Conveying module 521a,621a‧‧‧Rectification section 521b,621b‧‧‧Transfer section 122,522,622‧‧‧Speed sensor module 123,523,623‧‧‧Image capture Modules 124, 424, 524, 624‧‧‧Robot 130, 530, 630‧‧‧Control device 140‧‧‧Carrier 141‧‧Recess 150, 450, 550, 650‧‧‧Transfer device 160 ‧‧‧Collection box 170‧‧‧Recycling area 200‧‧‧Workpiece transfer method S210~S240‧‧‧Step 300‧‧‧Sheet A‧‧‧Part not stamped B‧‧‧Part to be stamped C‧‧‧Work D ‧‧‧mark

圖1是本發明的一實施例的一種自動化沖壓設備的示意圖。 圖2A至圖2C是圖1的工件及其被沖壓後被轉移至輸送模組及載具的放大示意圖。 圖2D是圖1的自動化沖壓設備用以承接不沖壓部分的回收區的示意圖。 圖3是本發明的一實施例的一種工件轉移方法的流程圖。 圖4是本發明的一實施例的一種沖壓裝置的示意圖。 圖5是本發明另一實施例的一種轉移裝置的示意圖。 圖6是本發明再一實施例的一種自動化沖壓設備的示意圖。 圖7是本發明另一實施例的一種自動化沖壓設備的示意圖。Fig. 1 is a schematic diagram of an automated stamping equipment according to an embodiment of the present invention. 2A to 2C are enlarged schematic diagrams of the workpiece of FIG. 1 and its transfer to the conveying module and carrier after being punched. FIG. 2D is a schematic diagram of the automatic stamping equipment of FIG. 1 for receiving the recovery area of the non- stamping part. Fig. 3 is a flowchart of a workpiece transfer method according to an embodiment of the present invention. Fig. 4 is a schematic diagram of a punching device according to an embodiment of the present invention. Fig. 5 is a schematic diagram of a transfer device according to another embodiment of the present invention. Fig. 6 is a schematic diagram of an automated stamping equipment according to another embodiment of the present invention. Fig. 7 is a schematic diagram of an automated stamping equipment according to another embodiment of the present invention.

100‧‧‧自動化沖壓設備 100‧‧‧Automatic stamping equipment

110‧‧‧沖壓裝置 110‧‧‧Pressing device

112‧‧‧沖壓模組 112‧‧‧Stamping module

112a‧‧‧沖壓區 112a‧‧‧Stamping area

114‧‧‧轉移模組 114‧‧‧Transfer Module

114b‧‧‧第一取放動子 114b‧‧‧First pick-and-place mover

114b1‧‧‧第一取放頭 114b1‧‧‧First pick and place head

114c‧‧‧第二取放動子 114c‧‧‧The second pick and place mover

120‧‧‧轉移裝置 120‧‧‧Transfer device

121‧‧‧輸送模組 121‧‧‧Conveying Module

122‧‧‧速度感測模組 122‧‧‧Speed sensor module

123‧‧‧影像擷取模組 123‧‧‧Image capture module

124‧‧‧機械手臂 124‧‧‧Robot

130‧‧‧控制裝置 130‧‧‧Control device

140‧‧‧載具 140‧‧‧vehicle

150‧‧‧移載裝置 150‧‧‧Transfer device

160‧‧‧收集盒 160‧‧‧Collection Box

300‧‧‧板材 300‧‧‧Plate

Claims (11)

一種自動化沖壓設備，包括：一沖壓裝置，經配置以沖壓一板材的多個待沖壓部分以形成多個工件，其中該些工件為多個電路板；一轉移裝置，包括：一輸送模組，經配置以輸送由該沖壓裝置所形成的該些工件；一速度感測模組，經配置以偵測該輸送模組的輸送速度；一影像擷取模組，經配置以擷取該輸送模組所正在輸送的該些工件的影像；以及一機械手臂，經配置以將該些工件從該輸送模組轉移至一載具；以及一控制裝置，根據該影像擷取模組所擷取由該輸送模組所正在輸送的該些工件的影像來判斷各該工件在該輸送模組上的即時方位，並根據該速度感測模組所偵測該輸送模組的輸送速度及該影像擷取模組所擷取由該輸送模組所正在輸送的該些工件的影像來判斷各該工件在該輸送模組上的即時位置，且根據各該工件在該輸送模組上所正在輸送的即時方位及即時位置來控制該機械手臂將不同方位的該些工件從該輸送模組依序以相同方位轉移至該載具。 An automatic stamping equipment includes: a stamping device configured to stamp a plurality of parts to be stamped of a plate to form a plurality of workpieces, wherein the workpieces are a plurality of circuit boards; a transfer device including: a conveying module, It is configured to convey the workpieces formed by the punching device; a speed sensing module is configured to detect the conveying speed of the conveying module; an image capturing module is configured to capture the conveying mold Group images of the workpieces being transported; and a robotic arm configured to transfer the workpieces from the transport module to a carrier; and a control device, which is captured by the image capture module according to The images of the workpieces being conveyed by the conveying module are used to determine the real-time position of each of the workpieces on the conveying module, and the conveying speed of the conveying module and the image capture detected by the speed sensing module The imaging module captures the images of the workpieces being transported by the conveying module to determine the real-time position of each workpiece on the conveying module, and according to the workpieces being conveyed on the conveying module The real-time orientation and the real-time position control the robotic arm to transfer the workpieces in different orientations from the conveying module to the carrier in the same orientation. 如申請專利範圍第1項所述的自動化沖壓設備，其中該沖壓裝置包括： 一沖壓模组，具有一沖壓區；以及一轉移模組，經配置以將該板材轉移到該沖壓區，並將該些工件從該沖壓區轉移到該輸送模組。 The automatic stamping equipment described in item 1 of the scope of patent application, wherein the stamping device includes: A stamping module having a stamping zone; and a transfer module configured to transfer the plate to the stamping zone and transfer the workpieces from the stamping zone to the conveying module. 如申請專利範圍第1項所述的自動化沖壓設備，更包括：一收集盒，配置於該輸送模組，以集中由該輸送模組所排出的該些工件。 As described in the first item of the scope of patent application, the automatic stamping equipment further includes: a collection box arranged in the conveying module to collect the workpieces discharged by the conveying module. 如申請專利範圍第1項所述的自動化沖壓設備，其中該控制裝置為一PC-Based控制裝置。 As for the automatic stamping equipment described in item 1 of the scope of patent application, the control device is a PC-Based control device. 如申請專利範圍第1項所述的自動化沖壓設備，更包括：一移載裝置，適於承載及收集該載具。 The automated stamping equipment described in item 1 of the scope of patent application further includes: a transfer device suitable for carrying and collecting the carrier. 如申請專利範圍第5項所述的自動化沖壓設備，其中該機械手臂的數量為兩個，該些機械手臂配置於該輸送模組的同一側，且該移載裝置位於該些機械手臂之間。 The automatic stamping equipment described in item 5 of the scope of patent application, wherein the number of the robot arms is two, the robot arms are arranged on the same side of the conveying module, and the transfer device is located between the robot arms . 一種工件轉移方法，包括：經由一轉移模組將多個工件轉移到一輸送模組，其中該些工件為多個電路板；經由一控制裝置根據一影像擷取模組所擷取該輸送模組所正在輸送的該些工件的影像，判斷各該工件在該輸送模組上的即時方位；經由該控制裝置根據一速度感測模組所偵測該輸送模組的輸送速度及該影像擷取模組所擷取由該輸送模組所正在輸送的該些工件的影像，判斷各該工件在該輸送模組上的即時位置；以及 經由該控制裝置根據各該工件在該輸送模組上所正在輸送的即時方位及即時位置，控制一機械手臂將不同方位的該些工件從該輸送模組以相同方位轉移至一載具。 A method for transferring workpieces includes: transferring a plurality of workpieces to a conveying module via a transfer module, wherein the workpieces are a plurality of circuit boards; and capturing the conveying mold according to an image capturing module via a control device Group the images of the workpieces being transported to determine the real-time position of each workpiece on the transport module; the control device detects the transport speed of the transport module and the image capture based on a speed sensing module Capturing images of the workpieces being conveyed by the conveying module captured by the module, and determining the real-time position of each of the workpieces on the conveying module; and According to the real-time position and real-time position of each workpiece being conveyed on the conveying module through the control device, a mechanical arm is controlled to transfer the workpieces in different directions from the conveying module to a carrier in the same direction. 如申請專利範圍第7項所述的工件轉移方法，其中控制該機械手臂將該些工件轉移至該載具的步驟包括：經由該控制裝置根據各該工件上的記號，判斷各該工件是否需要被轉移至該載具；當該工件需要轉移至該載具時，經由該控制裝置根據該工件在該輸送模組上的即時方位及即時位置，控制該機械手臂將該工件從該輸送模組轉移至該載具；以及當該工件不需轉移至該載具時，控制該機械手臂不將該工件從該輸送模組轉移至該載具。 For the workpiece transfer method described in item 7 of the scope of patent application, wherein the step of controlling the robot arm to transfer the workpieces to the carrier includes: judging whether each workpiece is required by the control device according to the mark on each workpiece Is transferred to the carrier; when the workpiece needs to be transferred to the carrier, the control device controls the robot arm to transfer the workpiece from the conveying module according to the real-time orientation and real-time position of the workpiece on the conveying module Transfer to the carrier; and when the workpiece does not need to be transferred to the carrier, control the robotic arm not to transfer the workpiece from the conveying module to the carrier. 如申請專利範圍第8項所述的工件轉移方法，其中在經由該影像擷取模組擷取該輸送模組所正在輸送的該些工件的影像的步驟中，經由該控制裝置辨識各該工件上的記號，以判斷各該工件是否需要被轉移至該載具。 The workpiece transfer method as described in item 8 of the scope of patent application, wherein in the step of capturing images of the workpieces being conveyed by the conveying module through the image capturing module, each workpiece is identified by the control device To determine whether each workpiece needs to be transferred to the carrier. 如申請專利範圍第8項所述的工件轉移方法，更包括：經由一收集盒，收集由該輸送模組所排出的該些工件。 As described in item 8 of the scope of patent application, the workpiece transfer method further includes: collecting the workpieces discharged by the conveying module through a collection box. 一種轉移裝置，適於耦接一控制裝置，包括：一輸送模組，經配置以輸送多個工件，其中該些工件為多個電路板；一速度感測模組，經配置以偵測該輸送模組的輸送速度； 一影像擷取模組，經配置以擷取該輸送模組所正在輸送的該些工件的影像；以及一機械手臂，經配置以將該些工件從該輸送模組轉移至一載具，其中該控制裝置根據該影像擷取模組所擷取由該輸送模組所正在輸送的該些工件的影像來判斷各該工件在該輸送模組上的即時方位，並根據該速度感測模組所偵測該輸送模組的輸送速度及該影像擷取模組所擷取由該輸送模組所正在輸送的該些工件的影像來判斷各該工件在該輸送模組上的即時位置，以及根據各該工件在該輸送模組上所正在輸送的即時方位及即時位置來控制該機械手臂將不同方位的該些工件從該輸送模組以相同方位轉移至該載具。 A transfer device, suitable for coupling to a control device, includes: a conveying module configured to convey a plurality of workpieces, wherein the workpieces are a plurality of circuit boards; and a speed sensing module configured to detect the The conveying speed of the conveying module; An image capturing module configured to capture images of the workpieces being conveyed by the conveying module; and a robotic arm configured to transfer the workpieces from the conveying module to a carrier, wherein The control device determines the real-time position of each workpiece on the conveying module according to the images of the workpieces being conveyed by the conveying module captured by the image capturing module, and senses the module according to the speed Detecting the conveying speed of the conveying module and the images of the workpieces being conveyed by the conveying module captured by the image capturing module to determine the real-time position of each of the workpieces on the conveying module, and According to the real-time position and real-time position of each workpiece being conveyed on the conveying module, the robot arm is controlled to transfer the workpieces in different directions from the conveying module to the carrier in the same direction.
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