TWI836448B - Retractable board device - Google Patents
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- TWI836448B TWI836448B TW111119788A TW111119788A TWI836448B TW I836448 B TWI836448 B TW I836448B TW 111119788 A TW111119788 A TW 111119788A TW 111119788 A TW111119788 A TW 111119788A TW I836448 B TWI836448 B TW I836448B
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- 230000007246 mechanism Effects 0.000 claims abstract description 182
- 238000001514 detection method Methods 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000011889 copper foil Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
Description
本發明涉及一種收放板裝置，尤指一種能用於收板及放板作業的自動化收放板裝置。 The present invention relates to a board retracting and unloading device, in particular to an automated board retracting and unloading device that can be used for board retracting and unloading operations.
板件(如銅箔基板)的製程較為繁複，因此會利用自動化搬運，製程間搬送時可使用托盤來承載板件，然而現有收放板作業中，托盤只能用來放置一個板件，因此在搬運小板件時，移載速度較慢，難以獲得較佳稼動率，且容易有混料的問題產生。 The manufacturing process of panels (such as copper foil substrates) is relatively complicated, so automated handling is used. Pallets can be used to carry panels when transporting between processes. However, in the existing panel loading and unloading operations, pallets can only be used to place one panel. Therefore, when transporting small panels, the transfer speed is slow, making it difficult to achieve a better utilization rate, and it is easy to cause material mixing problems.
本發明所要解決的技術問題在於，針對現有技術的不足提供一種收放板裝置，能用於收板及放板作業，板件不會混料，且具有較佳的稼動率。 The technical problem to be solved by the present invention is to provide a plate retracting and unfolding device in view of the shortcomings of the existing technology, which can be used for plate retracting and plate placing operations, the plates will not mix materials, and has a better utilization rate.
為了解決上述的技術問題，本發明提供一種收放板裝置，包括：一板件輸送機構，該板件輸送機構能用於輸入及輸出板件；一第一托盤升降機構，該第一托盤升降機構能用於升降輸入托盤；一第二托盤升降機構，該第二托盤升降機構設置於該第一托盤升降機構的一側，該第一托盤升降機構的托盤能搬運至該第二托盤升降機構，該第二托盤升降機構能用於升降輸出托盤；以及一機械手臂，該機械手臂設置於該板件輸送機構及該第二托盤升 降機構之間；其中該托盤含板件或不含板件，該托盤能用於放置至少兩個所述板件，該機械手臂能用以移載該板件，將該板件由該第二托盤升降機構的托盤內移動至該板件輸送機構，或將該板件由該板件輸送機構移動至該第二托盤升降機構的托盤內。 In order to solve the above technical problems, the present invention provides a plate retracting and releasing device, which includes: a plate conveying mechanism, which can be used to input and output plates; a first pallet lifting mechanism, which lifts and lowers the first pallet. The mechanism can be used to lift the input pallet; a second pallet lifting mechanism is provided on one side of the first pallet lifting mechanism, and the pallet of the first pallet lifting mechanism can be transported to the second pallet lifting mechanism , the second pallet lifting mechanism can be used to lift and lower the output pallet; and a mechanical arm, the robotic arm is provided on the plate conveying mechanism and the second pallet lifting mechanism between the lowering mechanisms; wherein the pallet contains or does not contain panels, the pallet can be used to place at least two of the panels, and the robotic arm can be used to move the panels and move the panels from the third The pallet of the second pallet lifting mechanism is moved to the plate conveying mechanism, or the plate is moved from the plate conveying mechanism to the pallet of the second pallet lifting mechanism.
較佳的，該托盤能由一移載裝置輸入該第一托盤升降機構、輸出該第二托盤升降機構，該移載裝置包含台車或AGV。 Preferably, the pallet can be input into the first pallet lifting mechanism and output into the second pallet lifting mechanism by a transfer device, and the transfer device includes a trolley or AGV.
較佳的，該第一托盤升降機構及該第二托盤升降機構皆設置有定位機構，該定位機構包含多個驅動裝置及多個定位件，該些定位件分別連接於該些驅動裝置，該些定位件對應於該托盤的側邊，該些驅動裝置能分別推動該些定位件，該托盤的邊緣能被該些定位件抵觸定位。 Preferably, the first pallet lifting mechanism and the second pallet lifting mechanism are both provided with a positioning mechanism. The positioning mechanism includes a plurality of driving devices and a plurality of positioning parts, and the positioning parts are respectively connected to the driving devices. The positioning parts correspond to the sides of the pallet, the driving devices can push the positioning parts respectively, and the edge of the pallet can be positioned against the positioning parts.
較佳的，該第一托盤升降機構及該第二托盤升降機構之間設置有一橫移手臂，該第一托盤升降機構的托盤能由該橫移手臂搬運至該第二托盤升降機構。 Preferably, a traversing arm is provided between the first pallet lifting mechanism and the second pallet lifting mechanism, and the pallet of the first pallet lifting mechanism can be transported to the second pallet lifting mechanism by the traversing arm.
較佳的，該第二托盤升降機構設置有至少一板件檢測機構，用以檢測該托盤有無放置該板件。 Preferably, the second tray lifting mechanism is provided with at least one plate detection mechanism for detecting whether the tray has the plate placed thereon.
本發明的有益效果在於，本發明所提供的收放板裝置，包括一板件輸送機構、一第一托盤升降機構、一第二托盤升降機構及一機械手臂。板件輸送機構能用於輸入及輸出板件，第一托盤升降機構能用於升降輸入托盤，第二托盤升降機構能用於升降輸出托盤，托盤含板件或不含板件，托盤能用於放置至少兩個板件。機械手臂能用以移載板件，將板件由第二托盤升降機構的托盤內移動至板件輸送機構，或將板件由板件輸送機構移動至第二托盤升降機構的托盤內。本發明能用於收板及放板作業，且托盤能用於放置至少兩個板件，板件不會混料，且能移載較多的板件，具有較佳的稼動率。 The beneficial effect of the present invention is that the plate storage device provided by the present invention includes a plate conveying mechanism, a first tray lifting mechanism, a second tray lifting mechanism and a mechanical arm. The plate conveying mechanism can be used to input and output plates, the first tray lifting mechanism can be used to lift the input tray, the second tray lifting mechanism can be used to lift the output tray, the tray contains plates or does not contain plates, and the tray can be used to place at least two plates. The mechanical arm can be used to transfer plates, move plates from the tray of the second tray lifting mechanism to the plate conveying mechanism, or move plates from the plate conveying mechanism to the tray of the second tray lifting mechanism. The invention can be used for collecting and placing boards, and the pallet can be used to place at least two boards, the boards will not be mixed, and more boards can be transferred, with a better utilization rate.
再者，本發明可在第一托盤升降機構及第二托盤升降機構之間 設置有橫移手臂，能將托盤由第一托盤升降機構移動至第二托盤升降機構，使托盤能快速的移載，達到自動化效能。第二托盤升降機構可設有板件檢測機構，用以檢測托盤有無放置板件。第一托盤升降機構及第二托盤升降機構可設有定位機構，用以定位托盤，使托盤可準確的定位。另可搭配AGV(移載裝置)輸送托盤及板件，達到自動化生產。 Furthermore, the present invention can be provided with a transverse arm between the first pallet lifting mechanism and the second pallet lifting mechanism, which can move the pallet from the first pallet lifting mechanism to the second pallet lifting mechanism, so that the pallet can be quickly transferred to achieve automation efficiency. The second pallet lifting mechanism can be provided with a plate detection mechanism to detect whether there are plates placed on the pallet. The first pallet lifting mechanism and the second pallet lifting mechanism can be provided with a positioning mechanism to position the pallet so that the pallet can be accurately positioned. In addition, the AGV (transfer device) can be used to transport pallets and plates to achieve automated production.
為使能更進一步瞭解本發明的特徵及技術內容，請參閱以下有關本發明的詳細說明與圖式，然而所提供的圖式僅用於提供參考與說明，並非用來對本發明加以限制。 In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and illustration and are not used to limit the present invention.
1:板件輸送機構 1:Plate conveying mechanism
2:第一托盤升降機構 2: First pallet lifting mechanism
21:第一升降驅動單元 21: First lift drive unit
22:第一升降座 22:The first lift seat
3:第二托盤升降機構 3: Second pallet lifting mechanism
31:第二升降驅動單元 31: Second lifting drive unit
32:第二升降座 32: Second lifting seat
4:機械手臂 4: Robotic arm
5:定位機構 5: Positioning mechanism
51:驅動裝置 51: Driving device
52:定位件 52: Positioning parts
6:橫移手臂 6: Move your arms laterally
7:板件檢測機構 7: Panel testing mechanism
71:光電感測器 71: Photoelectric sensor
72:鏡片 72: Lens
100:托盤 100:Tray
200:板件 200:Plate
300:移載裝置 300: Transfer device
圖1為本發明收放板裝置的前視圖。 Figure 1 is a front view of the retractable plate device of the present invention.
圖2為本發明收放板裝置的側視圖。 Figure 2 is a side view of the retractable plate device of the present invention.
圖3為本發明收放板裝置的俯視圖。 Figure 3 is a top view of the retractable plate device of the present invention.
圖4為本發明托盤及板件的俯視圖。 Figure 4 is a top view of the pallet and panels of the present invention.
圖5為本發明收放板裝置的動作示意圖(一)。 Figure 5 is a schematic diagram (1) of the operation of the plate retracting and unfolding device of the present invention.
圖6為本發明收放板裝置的動作示意圖(一)。 Figure 6 is a schematic diagram of the operation of the retractable plate device of the present invention (I).
以下是通過特定的具體實施例來說明本發明所公開有關的實施方式，本領域技術人員可由本說明書所公開的內容瞭解本發明的優點與效果。本發明可通過其他不同的具體實施例加以施行或應用，本說明書中的各項細節也可基於不同觀點與應用，在不背離本發明的構思下進行各種修改與變更。另外，本發明的附圖僅為簡單示意說明，並非依實際尺寸的描繪，事先聲明。以下的實施方式將進一步詳細說明本發明的相關技術內容，但所公 開的內容並非用以限制本發明的保護範圍。另外，本文中所使用的術語“或”，應視實際情況可能包括相關聯的列出項目中的任一個或者多個的組合。 The following is a description of the relevant implementation modes disclosed in the present invention through specific specific examples. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depictions based on actual dimensions, as is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed The contents disclosed are not intended to limit the scope of protection of the present invention. In addition, the term "or" used in this article shall include any one or combination of more of the associated listed items depending on the actual situation.
[實施例] [Example]
請參閱圖1至圖3，本發明提供一種收放板裝置，能用於收板及放板作業，該收放板裝置包括一板件輸送機構1、一第一托盤升降機構2、一第二托盤升降機構3及一機械手臂4。 Please refer to Figures 1 to 3. The present invention provides a plate retracting and releasing device that can be used for plate retracting and plate placing operations. The retracting and placing plate device includes a plate conveying mechanism 1, a first pallet lifting mechanism 2, and a first pallet lifting mechanism 2. Two pallet lifting mechanisms 3 and one robotic arm 4.
該板件輸送機構1能用於輸送板件200，該板件輸送機構1可為滾輪輸送裝置或其他型式的輸送裝置，該板件輸送機構1的結構並不限制，該板件輸送機構1能用於輸入及輸出板件200。本實施例的板件輸送機構1為雙軌輸送機構，但不予以限制，較佳為多軌形式設計，可增加板件200的輸送量。 The plate conveying mechanism 1 can be used to convey the plate 200. The plate conveying mechanism 1 can be a roller conveying device or other types of conveying devices. The structure of the plate conveying mechanism 1 is not limited. The plate conveying mechanism 1 can be used to input and output the plate 200. The plate conveying mechanism 1 of this embodiment is a double-track conveying mechanism, but it is not limited. It is preferably a multi-track design to increase the conveying capacity of the plate 200.
該第一托盤升降機構2可設置於板件輸送機構1的一側，該第一托盤升降機構2能用於升降輸入含板件200或不含板件200的托盤100，所述含板件200或不含板件200的托盤100能由台車等移載裝置300輸入第一托盤升降機構2。另，該移載裝置300亦可為AGV，以便達到自動化生產。所述含板件200的托盤100亦可稱為滿托盤100，不含板件200的托盤100亦可稱為空托盤100。所述托盤100能用於放置至少兩個板件200，在本實施例中，該托盤100能用於放置四個板件200(如圖4所示)，該些板件200可呈田字型排列，但不予以限制。 The first tray lifting mechanism 2 can be arranged on one side of the plate conveying mechanism 1. The first tray lifting mechanism 2 can be used to lift and input trays 100 containing plates 200 or not containing plates 200. The trays 100 containing plates 200 or not containing plates 200 can be input into the first tray lifting mechanism 2 by a transfer device 300 such as a trolley. In addition, the transfer device 300 can also be an AGV to achieve automated production. The trays 100 containing plates 200 can also be called full trays 100, and the trays 100 not containing plates 200 can also be called empty trays 100. The tray 100 can be used to place at least two panels 200. In this embodiment, the tray 100 can be used to place four panels 200 (as shown in FIG. 4 ). The panels 200 can be arranged in a field shape, but this is not limited.
該第一托盤升降機構2可包含一第一升降驅動單元21及一第一升降座22，該第一升降驅動單元21可為馬達螺桿等驅動機構，該第一升降驅動單元21的結構並不限制，該第一升降座22連接於第一升降驅動單元21，該第一升降座22可為牙叉結構等，該第一升降驅動單元21能驅動第一升降座22升降移動，用以帶動托盤100升降移動。該第一托盤升降機構2能用於升降托 盤100，使多個托盤100相互堆疊時，最上層的托盤100可位於預定的高度，以便利用取放裝置(如橫移手臂6)逐一的取放最上層的托盤100。 The first pallet lifting mechanism 2 may include a first lifting driving unit 21 and a first lifting seat 22. The first lifting driving unit 21 may be a driving mechanism such as a motor screw. The structure of the first lifting driving unit 21 is not Limitation, the first lifting base 22 is connected to the first lifting driving unit 21. The first lifting base 22 can be a fork structure, etc. The first lifting driving unit 21 can drive the first lifting base 22 to move up and down to drive the The pallet can be lifted and moved 100 times. The first pallet lifting mechanism 2 can be used to lift the pallet When multiple pallets 100 are stacked on each other, the uppermost pallet 100 can be located at a predetermined height, so that the uppermost pallet 100 can be picked up and placed one by one using a pick-and-place device (such as the traverse arm 6).
該第二托盤升降機構3設置於第一托盤升降機構2的一側，在本實施例中，第一托盤升降機構2及第二托盤升降機構3並列設置，以形成較佳的配置。該第二托盤升降機構3能用於升降輸出含板件200或不含板件200的托盤100，所述含板件200或不含板件200的托盤100能由台車(或AGV)等移載裝置300輸出第二托盤升降機構3。 The second tray lifting mechanism 3 is arranged on one side of the first tray lifting mechanism 2. In this embodiment, the first tray lifting mechanism 2 and the second tray lifting mechanism 3 are arranged in parallel to form a better configuration. The second tray lifting mechanism 3 can be used to lift and output a tray 100 containing or not containing a panel 200. The tray 100 containing or not containing a panel 200 can be output from the second tray lifting mechanism 3 by a transfer device 300 such as a trolley (or AGV).
該第二托盤升降機構3可包含一第二升降驅動單元31及一第二升降座32，該第二升降驅動單元31可為馬達螺桿等驅動機構，該第二升降驅動單元31的結構並不限制，該第二升降座32連接於第二升降驅動單元31，該第二升降座32可為牙叉結構等，該第二升降驅動單元31能驅動第二升降座32升降移動，用以帶動托盤100升降移動，使該第二托盤升降機構3能用於升降托盤100，使多個托盤100相互堆疊時，最上層的托盤100可位於預定的高度，以便利用取放裝置(如機械手臂4)逐一的於最上層的托盤100取放板件200。 The second pallet lifting mechanism 3 may include a second lifting driving unit 31 and a second lifting seat 32. The second lifting driving unit 31 may be a driving mechanism such as a motor screw. The structure of the second lifting driving unit 31 is not Limitation, the second lifting base 32 is connected to the second lifting driving unit 31. The second lifting base 32 can be a fork structure, etc. The second lifting driving unit 31 can drive the second lifting base 32 to move up and down to drive the The pallet 100 moves up and down, so that the second pallet lifting mechanism 3 can be used to lift the pallet 100. When multiple pallets 100 are stacked on top of each other, the uppermost pallet 100 can be located at a predetermined height, so that a pick-and-place device (such as a robot arm 4) can be used. ) Pick and place the panels 200 on the uppermost pallet 100 one by one.
上述第一托盤升降機構2及第二托盤升降機構3皆可進一步設置定位機構5，該定位機構5包含多個驅動裝置51及多個定位件52(如圖3所示)，該些驅動裝置51固定於預定的高度，該些驅動裝置51可為氣缸等，該些定位件52分別連接於該些驅動裝置51，該些定位件52對應於托盤100的側邊。當該托盤100上升至預定位置時，該些驅動裝置51能分別推動該些定位件52，使最上層的托盤100的邊緣能被該些定位件52抵觸定位，使該托盤100可準確的定位。 The first tray lifting mechanism 2 and the second tray lifting mechanism 3 can be further provided with a positioning mechanism 5, which includes a plurality of driving devices 51 and a plurality of positioning members 52 (as shown in FIG. 3 ). The driving devices 51 are fixed at a predetermined height, and the driving devices 51 can be cylinders, etc. The positioning members 52 are respectively connected to the driving devices 51, and the positioning members 52 correspond to the sides of the tray 100. When the tray 100 rises to a predetermined position, the driving devices 51 can push the positioning members 52 respectively, so that the edge of the tray 100 on the uppermost layer can be contacted and positioned by the positioning members 52, so that the tray 100 can be accurately positioned.
另，亦可進一步的在第一托盤升降機構2及第二托盤升降機構3之間設置有一橫移手臂6，第一托盤升降機構2的托盤100能由橫移手臂6搬運至第二托盤升降機構3，該橫移手臂6亦可以其他的取放裝置取代。 In addition, a traversing arm 6 can be further provided between the first pallet lifting mechanism 2 and the second pallet lifting mechanism 3. The pallet 100 of the first pallet lifting mechanism 2 can be transported by the traversing arm 6 to the second pallet lifting mechanism. Mechanism 3, the traverse arm 6 can also be replaced by other pick-and-place devices.
另，亦可進一步在第二托盤升降機構3設置至少一板件檢測機構7，用以檢測托盤100有無放置板件200，板件檢測機構7可包含鏡片反射、光電、視覺等方式，並不予以限制，在本實施例中，板件檢測機構7包含多個光電感測器71及多個鏡片72(如圖1及圖3所示)，該些光電感測器71可設置於第二升降座32上，且將該些鏡片72分別設置於該些光電感測器71的上方處對應的位置。當托盤100上無放置板件200時，該些光電感測器71射出的光線可分別照射於該些鏡片72，並透過該些鏡片72將光線反射回該些光電感測器71；當托盤100上有放置板件200時，該些光電感測器71射出的光線會被板件200遮斷而無法反射回該些光電感測器71，藉此判斷托盤100上有無放置板件200。 In addition, at least one plate detection mechanism 7 may be further provided on the second tray lifting mechanism 3 to detect whether there is a plate 200 placed on the tray 100. The plate detection mechanism 7 may include lens reflection, photoelectric, visual and other methods, and is not limited. In the present embodiment, the plate detection mechanism 7 includes a plurality of photoelectric sensors 71 and a plurality of lenses 72 (as shown in FIGS. 1 and 3 ). The photoelectric sensors 71 may be provided on the second lifting base 32 , and the lenses 72 may be respectively provided at positions corresponding to the tops of the photoelectric sensors 71 . When there is no plate 200 placed on the tray 100, the light emitted by the photo sensors 71 can be irradiated on the lenses 72 respectively, and the light is reflected back to the photo sensors 71 through the lenses 72; when there is a plate 200 placed on the tray 100, the light emitted by the photo sensors 71 will be blocked by the plate 200 and cannot be reflected back to the photo sensors 71, thereby judging whether there is a plate 200 placed on the tray 100.
該機械手臂4設置於板件輸送機構1及第二托盤升降機構3之間，較佳的，該機械手臂4可為一六軸手臂，以具有較佳的自由度，能更有效率的搬運移載板件200，該機械手臂4能將板件200由第二托盤升降機構3的托盤100內移動至板件輸送機構1，或將板件200由板件輸送機構1移動至第二托盤升降機構3的托盤100內。該機械手臂4亦可設置吸盤組(圖略)，用以吸取一或多個板件200。 The robotic arm 4 is disposed between the plate conveying mechanism 1 and the second pallet lifting mechanism 3. Preferably, the robotic arm 4 can be a six-axis arm to have a better degree of freedom and can carry more efficiently. To move the plate 200, the robot arm 4 can move the plate 200 from the pallet 100 of the second pallet lifting mechanism 3 to the plate conveying mechanism 1, or move the plate 200 from the plate conveying mechanism 1 to the second pallet. In the pallet 100 of the lifting mechanism 3 . The robot arm 4 may also be provided with a suction cup group (not shown) for sucking one or more panels 200 .
本實施例在放板作業時，如圖5所示，能將含板件200的托盤100送入第一托盤升降機構2，第一托盤升降機構2能將托盤100舉升，而後以橫移手臂6等裝置將含板件200的托盤100取至第二托盤升降機構3，此時能利用板件檢測機構7檢測托盤100有無放置板件200，接著第二托盤升降機構3能將托盤100舉升，另可利用定位機構5將托盤100定位。而後，以機械手臂4將板件200取至板件輸送機構1，一片一片將板件200取至板件輸送機構1。本實施例的板件輸送機構1為雙軌輸送，可待兩片板件200輸送至板件輸送機構1，再一起輸送至製程設備內。 During the plate placing operation in this embodiment, as shown in Figure 5, the pallet 100 containing the plate 200 can be sent into the first pallet lifting mechanism 2. The first pallet lifting mechanism 2 can lift the pallet 100 and then move it laterally. The arm 6 and other devices take the pallet 100 containing the plate 200 to the second pallet lifting mechanism 3. At this time, the plate detection mechanism 7 can be used to detect whether the pallet 100 has the plate 200 placed on it. Then the second pallet lifting mechanism 3 can lift the pallet 100. After lifting, the positioning mechanism 5 can also be used to position the pallet 100 . Then, the robotic arm 4 is used to take the panels 200 to the panel conveying mechanism 1 , and the panels 200 are taken to the panel conveying mechanism 1 one by one. The panel conveying mechanism 1 of this embodiment is a double-track conveyor, and two panels 200 can be transported to the panel conveying mechanism 1 and then transported together to the process equipment.
本實施例在收板作業時，如圖6所示，能將不含板件200的托盤 100送入第一托盤升降機構2，第一托盤升降機構2能將托盤100舉升，而後以橫移手臂6等裝置將不含板件200的托盤100取至第二托盤升降機構3，此時能利用板件檢測機構7檢測托盤100有無放置板件200，接著第二托盤升降機構3能將托盤100舉升，另可利用定位機構5將托盤100定位。而後，該板件輸送機構1輸送入料，板件200四邊整板定位，再以機械手臂4將板件輸送機構1上的板件200取至第二托盤升降機構3的托盤100內，機械手臂4將板件200一片一片放置於托盤100內。 In the present embodiment, during the board collection operation, as shown in FIG6 , the pallet 100 without the board 200 can be sent to the first pallet lifting mechanism 2, and the first pallet lifting mechanism 2 can lift the pallet 100, and then the pallet 100 without the board 200 can be taken to the second pallet lifting mechanism 3 by means of a lateral arm 6 or the like, and at this time, the board detection mechanism 7 can be used to detect whether the pallet 100 has the board 200 placed thereon, and then the second pallet lifting mechanism 3 can lift the pallet 100, and the positioning mechanism 5 can be used to position the pallet 100. Then, the plate conveying mechanism 1 conveys the input material, the plate 200 is positioned on all four sides, and then the robot arm 4 takes the plate 200 on the plate conveying mechanism 1 to the tray 100 of the second tray lifting mechanism 3, and the robot arm 4 places the plate 200 one by one in the tray 100.
[實施例的有益效果] [Beneficial effects of the embodiment]
本發明的有益效果在於，本發明所提供的收放板裝置，包括一板件輸送機構、一第一托盤升降機構、一第二托盤升降機構及一機械手臂。板件輸送機構能用於輸入及輸出板件，第一托盤升降機構能用於升降輸入托盤，第二托盤升降機構能用於升降輸出托盤，托盤含板件或不含板件，托盤能用於放置至少兩個板件。機械手臂能用以移載板件，將板件由第二托盤升降機構的托盤內移動至板件輸送機構，或將板件由板件輸送機構移動至第二托盤升降機構的托盤內。本發明能用於收板及放板作業，且托盤能用於放置至少兩個板件，板件不會混料，且能移載較多的板件，具有較佳的稼動率。 The beneficial effect of the present invention is that the retractable plate device provided by the present invention includes a plate conveying mechanism, a first pallet lifting mechanism, a second pallet lifting mechanism and a robotic arm. The panel conveying mechanism can be used to input and output panels. The first pallet lifting mechanism can be used to lift the input pallet. The second pallet lifting mechanism can be used to lift the output pallet. The pallet contains or does not contain panels. The pallet can be used Place at least two panels. The robotic arm can be used to move the panels from the tray of the second pallet lifting mechanism to the panel conveying mechanism, or move the panels from the panel conveying mechanism to the tray of the second pallet lifting mechanism. The invention can be used for board collecting and board placing operations, and the pallet can be used to place at least two boards. The boards will not be mixed, and more boards can be moved, with a better utilization rate.
再者，進一步的，可在第一托盤升降機構及第二托盤升降機構之間設置有橫移手臂，能將托盤由第一托盤升降機構移動至第二托盤升降機構，使托盤能快速的移載，達到自動化效能。第二托盤升降機構可設有板件檢測機構，用以檢測托盤有無放置板件。第一托盤升降機構及第二托盤升降機構可設有定位機構，用以定位托盤，使托盤可準確的定位。另可搭配AGV(移載裝置)輸送托盤及板件，達到自動化生產。 Furthermore, a transverse arm can be provided between the first pallet lifting mechanism and the second pallet lifting mechanism, which can move the pallet from the first pallet lifting mechanism to the second pallet lifting mechanism, so that the pallet can be quickly transferred to achieve automation efficiency. The second pallet lifting mechanism can be provided with a plate detection mechanism to detect whether there are plates placed on the pallet. The first pallet lifting mechanism and the second pallet lifting mechanism can be provided with a positioning mechanism to position the pallet so that the pallet can be accurately positioned. In addition, AGV (transfer device) can be used to transport pallets and plates to achieve automated production.
以上所公開的內容僅為本發明的優選可行實施例，並非因此侷限本發明的申請專利範圍，所以凡是運用本發明說明書及圖式內容所做的等 效技術變化，均包含於本發明的申請專利範圍內。 The above disclosed contents are only the preferred feasible embodiments of the present invention, and do not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the contents of the specification and drawings of the present invention are included in the scope of the patent application of the present invention.
1:板件輸送機構 1: Plate conveying mechanism
2:第一托盤升降機構 2: First pallet lifting mechanism
21:第一升降驅動單元 21: First lifting drive unit
22:第一升降座 22: First lift seat
3:第二托盤升降機構 3: Second tray lifting mechanism
31:第二升降驅動單元 31: Second lifting drive unit
32:第二升降座 32: Second lifting seat
4:機械手臂 4: Robotic arm
5:定位機構 5: Positioning mechanism
51:驅動裝置 51:Driving device
52:定位件 52: Positioning piece
6:橫移手臂 6: Move your arms laterally
7:板件檢測機構 7: Panel detection mechanism
71:光電感測器 71: Photoelectric sensor
100:托盤 100:Tray
200:板件 200: Panels
300:移載裝置 300: Transfer device
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW111119788A TWI836448B (en) | 2022-05-27 | 2022-05-27 | Retractable board device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW111119788A TWI836448B (en) | 2022-05-27 | 2022-05-27 | Retractable board device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW202346176A TW202346176A (en) | 2023-12-01 |
| TWI836448B true TWI836448B (en) | 2024-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW111119788A TWI836448B (en) | 2022-05-27 | 2022-05-27 | Retractable board device |
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| Country | Link |
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| TW (1) | TWI836448B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120037476A1 (en) * | 2010-08-12 | 2012-02-16 | Russell Kennedy | Board lumber positioning fence |
| TWM499406U (en) * | 2014-06-12 | 2015-04-21 | Schmid Automation Asia Co Ltd | Integrally formed track and dual-plate transporting device constituted by the same |
| TWM634000U (en) * | 2022-05-27 | 2022-11-11 | 迅得機械股份有限公司 | Board loading and unloading device |
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2022
- 2022-05-27 TW TW111119788A patent/TWI836448B/en active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120037476A1 (en) * | 2010-08-12 | 2012-02-16 | Russell Kennedy | Board lumber positioning fence |
| TWM499406U (en) * | 2014-06-12 | 2015-04-21 | Schmid Automation Asia Co Ltd | Integrally formed track and dual-plate transporting device constituted by the same |
| TWM634000U (en) * | 2022-05-27 | 2022-11-11 | 迅得機械股份有限公司 | Board loading and unloading device |
Also Published As
| Publication number | Publication date |
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| TW202346176A (en) | 2023-12-01 |
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