CN206813979U - Thin sheet conveying device - Google Patents

Abstract

The utility model discloses a slim plate conveyer contains at least: the device comprises a conveying module, at least one image acquisition unit, at least one multi-axis mechanical arm, a sucker module, an aggregate module and a control module, wherein the image acquisition unit is used for acquiring a dynamic image of at least one thin plate moving on the conveying unit and conveying the dynamic image to the control module, so that the position of the thin plate can be obtained, and further the motor of the multi-axis mechanical arm is controlled to actuate, the sucker module is adjusted to grab the thin plate after the position is reached, the thin plate is placed on the aggregate module piece by piece, the thin plate can be transferred to the aggregate module under the state of dynamic movement on the conveying unit without stopping waiting, and the effect of improving productivity can be achieved through rapid conveying.

Description

Thin sheet conveying device

technical field

The utility model relates to a thin-slab conveying device, in particular to a thin-slab conveying device which uses a multi-axis mechanical arm to replace manual material collection and can increase production capacity.

Background technique

Press, in recent years, with the continuous improvement of science and technology, and the continuous progress of the science and technology industry, many technological and electronic products have also emerged accordingly, bringing people convenience in life, work, entertainment and leisure, and moving towards the second It is an indicator of progress in the eleventh century. Therefore, all kinds of electronic and electrical products are flooded around people's living environment, and various electronic products or electrical products have thin boards made of flexible substrates. Very important parts in the 3C electronics industry, such as optical films, electronic paper, solar substrates, circuit boards, etc. If this type of thin board cannot be transported by a conveyor belt during the manufacturing process, the thin board needs to be placed in a container before it can be transported between processes.

Therefore, recently, the industry often uses shallow dish trays (TRAY) to carry thin boards. Its high reusability can reduce costs; and then press the "receiving operation" of manually putting the boards that have completed the process into the empty tray. , or take out the boards from the self-fulfilling tray manually and then send them into the process of "board placement operation", but the manual retraction operation often involves labor costs, poor work efficiency and inconsistent work quality; therefore, the use of The automated equipment sends the completed plates and empty trays to the pick-and-place area of the robotic arm and positions them, and can place the plates one by one on the empty tray and push them on the trolley for removal; or perform the opposite action The reverse mode of board placement operation, which automatically takes out the boards from the full tray and sends them into the process, is the fundamental solution to the needs of automatic transportation and standard positioning.

Furthermore, mass production does not allow too much waiting time in the process to cause waste. Therefore, how to quickly transfer the plates and put them into empty trays in the least time to improve process efficiency is a must for the process equipment industry. question.

Utility model content

The technical problem solved by the utility model is to provide a thin-slab conveying device, especially a thin-slab conveying device that uses a multi-axis mechanical arm to replace manual material collection and can increase production capacity.

The technical means adopted in the utility model are as follows.

The thin plate conveying device of the present invention at least includes: a conveying module, at least one conveying unit is provided for conveying at least one thin plate, and at least one image capture unit is arranged on at least one side of the conveying module for Capture a dynamic image of at least one thin plate moving on the conveying unit. At least one multi-axis robot arm is arranged on one side of the conveying module. It has a plurality of joint axes and a manipulator, and each joint axis has a motor respectively. It is used to drive each joint shaft and suction cup module, installed on the manipulator, used to grab the thin plate on the conveying unit, and the collecting module is arranged on one side of the conveying module to bear the The thin plate grasped by the multi-axis robotic arm; and the control module, respectively connected to the image capture unit and the motor of the multi-axis mechanical arm, and using the image capture unit to capture at least one thin plate on the conveying unit The moving dynamic image is sent to the control module to obtain the position of the thin plate, and then control the motor of the multi-axis robotic arm to make the suction cup module adjust to the position and grab the thin plate , and place them piece by piece on the aggregate module.

According to the above technical features, the conveying unit is composed of a conveying belt driven by a motor.

According to the above technical features, the motor is a servo motor.

According to the above technical features, the image capture unit is an image sensor (Charge Coupled Device; CCD).

According to the above technical features, the aggregate module is provided with a first lifting device, a second lifting device and a traverse device.

According to the above technical features, the aggregate module is further provided with a trolley.

The technical effects produced by the utility model are as follows.

The conveying device of the utility model allows the thin plate to be transferred to the collecting module in a state of dynamic movement on the conveying unit without waiting, without wasting waiting time, so as to achieve rapid conveying and improve productivity .

Description of drawings

Fig. 1 is a perspective view showing the structure of the transmission device in the present invention.

Fig. 2 is a perspective view showing the structure of the multi-axis robot arm in the present invention.

Fig. 3 is a perspective view showing the structure of the conveying module in the utility model.

Fig. 4 shows the perspective view of the structure of the aggregate module in the utility model.

Description of figure number:

Conveyor module 10

motor 11

conveyor belt 12

Drive roller set 13

Multi-axis robotic arm 20

Joint axis 21

Manipulator 22

motor 23

Suction cup module 30

aggregate module 40

Machine 41

The first storage space 42

The second holding space 43

The first lifting device 44

Second lifting device 45

Traversing device 46

Trolley 47

Control module 50

Thin panel 60 .

detailed description

Please refer to FIG. 1 which shows a perspective view of the structure of the transmission device in the present invention. Firstly, the thin plate conveying device of the present invention at least includes: a conveying module 10, at least one image capture unit, at least one multi-axis robot arm 20, a sucker module 30, a material collecting module 40 and a control module 50, Wherein: the conveying module 10 is provided with at least one conveying unit for conveying at least one thin plate 60; as please also refer to the embodiment shown in FIG. 2 , the conveying unit is formed by a conveyor belt 12 driven by a motor 11 , and the front of the conveyor belt 12 is provided with a drive roller set 13 that rotates synchronously with the conveyor belt 12 to accept the thin plate 60 that has been processed in the previous process and transfer it to the conveyor belt 12 at the rear.

At least one image capture unit (not shown) can be an image sensor (Charge Coupled Device; CCD), which is arranged on at least one side of the conveying module 10, for capturing at least one thin plate 60 on the conveying unit. For dynamic images moving on the conveyor belt 12 , the image capture units of the present invention can be respectively arranged above the conveyor belt 12 .

At least one multi-axis robot arm 20 is located on one side of the conveying module 10. In the embodiment shown in the figure, the multi-axis robot arm 20 is located on the side of the conveyor belt 12. Please also refer to FIG. The robot arm 20 has a plurality of joint shafts 21 and a manipulator 22 , and each joint shaft 21 has a motor 23 to drive each joint shaft 21 , and the motor may be a servo motor.

The suction cup module 30 is mounted on the manipulator 22 to grab the thin plate 60 on the conveying unit; the multi-axis manipulator 20 of the present invention has a plurality of joint axes 21 that move independently, so the manipulator 22 It can be rotated to any angle according to actual needs, and the suction cup mechanism 30 can be moved to the required coordinates to grab the thin plate; since the multi-axis robot arm 20 can reach any coordinate position, the thin plate placed on the conveyor belt 12 The parts do not need to be positioned at a specific position, as long as the thin plate is transported on the conveyor belt 12, the image is captured by the image capture unit above it to determine the coordinate value of the thin plate, the multi-axis robot arm 20 can Adjust to the required coordinate position according to the command to grab the thin plate.

The collecting module 40 is arranged on one side of the conveying module 10. In the embodiment shown in the figure, it is located behind the conveying belt 12, and is used to bear the thin plate 60 grasped by the multi-axis robot arm 20. .

The control module 50 is respectively connected with the image capture unit and the motor 23 of the multi-axis robotic arm to receive the dynamic image captured by the image capture unit, and obtain the position of the thin plate 60, and then control the multi-axis robot. The motor 23 of shaft manipulator actuates.

The thin plate 60 completed by the previous process is placed on the driving roller set 13 of the conveying module 10, and is continuously conveyed to the conveyor belt 12. The thin plate 60 does not need to be positioned at a specific position, and the image capture above the conveyor belt 12 The acquisition unit captures the dynamic image of the movement of the thin plate 60, and transmits the image to the control module, and obtains the coordinates of the placed thin plate 60, and the control module controls the multi-axis robot arm 20 according to the coordinate information The motor 23 is actuated to make the sucker module 30 adjust to the correct coordinate position to grab the plate and place it on the collecting module 40 . Since the device uses a multi-axis robot arm 20 instead of manual material collection, the process efficiency can be improved, and the thin plate can be transferred to the material collection module under the state of dynamic movement on the conveying unit without stopping and waiting. There is no need to waste waiting time, so as to achieve rapid transmission and improve productivity.

Furthermore, as shown in Figure 4, the aggregate module 40 is mainly provided with a machine frame 41 and its frame is formed around a first storage space 42 and a second storage space 43, the aggregate module 40 is another A first elevating device 44, a second elevating device 45 and a traverse device 46 are provided, and the first elevating device 44 and the second elevating device 45 are respectively arranged at the sides of the first accommodating space 42 and a second accommodating space 43. The bottom is used to carry a plurality of discs (TRAY discs) to be moved, and the collecting module 40 is additionally provided with a trolley 47 to transfer a plurality of discs; wherein, please refer to Fig. 1 and Fig. 4 at the same time, by A trolley loaded with a plurality of discs will transfer the plurality of discs to the first lifting device 44; then the first lifting device 44 will rise to move the plurality of discs located in the first storage space 42 upwards, and The multi-axis mechanical arm 20 places a thin plate on the highest position of the plate; then, the plate at the highest position and containing the thin plate is clamped by the traverse device 46, and then the control module 50 controls the transverse The shifting device 40 is moved to transfer and place the disc that is clamped at the highest position in the first storage space 42 and contains the thin plate on the second lifting device 30 of the second storage space 43; finally, After the second elevating device 30 is piled up with a plurality of discs containing thin boards, a car will take out the plurality of discs containing thin boards.

In the present invention, the thin-slabs completed in the previous process do not need special positioning, and the dynamic images of the thin-slabs moving on the conveyor belt can be captured by the image capture unit to obtain the coordinates of the thin-slabs, and the control module is based on The coordinate information controls the actuation of the motor of the multi-axis mechanical arm, so that the sucker module is adjusted to the correct coordinate position to grab the plate and place it on the collecting module. The utility model allows the thin plate to be transferred to the collecting module in a state of dynamic movement on the conveying unit without waiting, without wasting waiting time, so as to achieve rapid transmission and improve productivity.

Claims (6)

1. a kind of slim plate conveyer, it is characterised in that comprise at least：

One conveying module, provided with an at least supply unit transmitting at least one slim plate；

An at least image acquisition unit, located at the conveying module at least side, to capture at least one slim plate in the conveying The dynamic image moved on unit；

An at least multi-axis mechanical arm, located at the conveying module side, it has multiple joint shafts and a robot arm, and each pass There is nodal axisn motor to drive each joint shaft respectively；

One sucker module, is installed on the robot arm, to capture the slim plate on the supply unit；

One gathers materials module, located at the conveying module side, the slim plate that is captured to the bearing multi-axis mechanical arm；And

One controls module, and the motor with the image acquisition unit and multi-axis mechanical arm is connected respectively, to receive the image The dynamic image that acquisition unit is captured, and the position of the slim plate is obtained, and then control the motor of the multi-axis mechanical arm Start, sucker module adjustment is captured the slim plate behind the position, and it is placed on piecewise and gathered materials on module.

2. slim plate conveyer as claimed in claim 1, it is characterised in that the supply unit driven by a motor one Conveyer belt is formed.

3. slim plate conveyer as claimed in claim 1, it is characterised in that the motor is servo motor.

4. the slim plate conveyer as described in claims 1 to 3 is any, it is characterised in that the image acquisition unit is shadow As sensor.

5. the slim plate conveyer as described in claims 1 to 3 is any, it is characterised in that the module that gathers materials is provided with first Lowering or hoisting gear, the second lowering or hoisting gear and traverse displacement unit.

6. slim plate conveyer as claimed in claim 5, it is characterised in that the module that gathers materials is provided with chassis.