TWI744665B - Method and device for automatically sorting and collecting plate parts - Google Patents

Abstract

The present invention provides a method for automatically sorting and collecting panels for panels, which includes constructing a one-level header tower based on multiple levels of a plurality of panels carried on the discharge end of a conveyor line, and the internal planning of the level-type header tower A plurality of collecting and placing slots are formed according to the board level, etc., and a single robotic arm is used to automatically identify and pick up the plates of all levels on the discharge end of the conveyor line to the collecting and placing of each plate. In the tank, the multiple collection tanks are stacked above and below in a layered header tower with the same floor area, and each of the collection tanks has automatic expansion for the board to be placed and placed in The ability of the panel to automatically close after being placed. The present invention also provides a panel automatic sorting and binning device implementing the above method, so as to improve the problem that the traditional panel automatic sorting and binning process is too complicated and affects the work efficiency.

Description

Method and device for automatically sorting and collecting plate parts

The invention relates to the technology of plate sorting and collecting boxes, in particular to a method and device for automatically sorting plate parts and collecting boxes.

Generally, the so-called panels include various PCB, LCD Panel, TFT Panel, Touch Panel or solar panels, etc., or panels made of glass, wood, glue and other materials divided into materials. The panels can be flat Or a curved body such as a tile plate, and the peripheral contour of the plate can also include a variety of quadrilateral, circular, polygonal, or curved shapes.

Take flat LCD Panel as an example. In the process of manufacturing panels, manufacturers usually classify them into different levels according to the quality or degree of defects in the manufacturing process, for example, according to the number of defective light spots on the panel surface. It is classified into different levels to facilitate the classification, packaging and shipment of the back-end operations, or for discarding.

As shown in Fig. 1, it reveals the current automated operation process of the industry after the panel 12a is made and before packaging. in:

After the plates 12a are manufactured one by one, multiple levels such as A, B, C, etc. have been marked with barcodes or other identification marks, and they are automatically carried to a discharge end 11a via a conveying line 10a.

On the near side of the discharge end 11a, a plurality of classification temporary storage stations (buffer) 81 will be arranged corresponding to the different levels of the plate 12a, and between the plurality of classification temporary storage stations (buffer) 81 and the discharge end 11a A first robotic arm (Robot) 71a equipped with a pallet claw is arranged in between. The pallet claws of the first robotic arm 71a automatically sort and transfer the plates 12a of different levels on the discharge end 11a of the conveyor line 10a to their respective The classification temporary storage platform 81 is held.

Moreover, on the near side of the plurality of classification temporary storage stations 81, a relay station 82 that facilitates the sinking of the tray claws under the table surface is also arranged, and a relay station 82 is provided between the relay station 82 and the plurality of classification temporary storage stations 81. A second robotic arm 72a with a pallet claw is installed. The pallet claws of the second robotic arm 72a can automatically divide the plates 12a of different levels on the multiple sorting temporary storage table 81, taking the same level as the unit, and multiple pieces at a time. It is transported to the relay station 82 for packing.

At the same time, the industry will also arrange multiple header boxes (packaging boxes) 83 that can place multiple panels 12a at a time on the near side of the above-mentioned relay station 82 according to the different levels of the panels 12a. Between the relay station 82 and the plurality of header boxes 83, a third robotic arm 73a equipped with sucker claws is also arranged. The plate 12a is transferred to the header box 83 of the corresponding level, and the third robot arm 73a will also suck a diaphragm made of EVA material from the side every time a piece of plate 12a is transported. , Are placed at intervals between the plates 12a in each header box 83, so that the multiple plates 12a of various levels can be packed with one plate 12a separated by a diaphragm.

In the above-mentioned exercises, the industry must use multiple sets of robotic arms for multiple handling, as well as the configuration of multiple classification temporary storage stations and relay stations, which has had a negative impact on the construction of production line equipment and is not conducive to the automatic sorting and assembly of panels. Therefore, the efficiency of the operation of the box needs to be improved urgently.

In view of this, the purpose of the present invention is to improve the problem that the process of traditional automatic panel sorting and binning is too complicated and affects the work efficiency.

To this end, the present invention provides a method for automatically sorting and collecting panels for panels, which includes: constructing a one-level header tower according to multiple levels of a plurality of panels carried on the discharge end of a conveyor line. The header tower is planned and formed with a plurality of collecting and placing tanks arranged and formed according to the level of the plate; a single robotic arm is used to automatically identify and capture the plates of each level on the discharge end of the conveyor line to each of the plates In the collecting tank to which the parts belong; wherein the multiple collecting tanks are arranged in a layered header tower with the same floor space above and below in a stacked manner, and each of the collecting tanks has automatic expansion for supply Board placement and placement The ability to automatically close after the piece is placed.

In a further implementation, the mechanical arm picks up the plate by means of negative pressure suction.

In further implementation, each of the collection tanks is expanded and closed along the horizontal direction.

The above method can be realized through a device technology. For this reason, a specific embodiment of the present invention is to provide a plate automatic sorting and collecting device, the technical means includes: a discharge end formed on a carrying multiple plates The end of the moving conveyor line; a one-level header tower with a plurality of collecting and discharging tanks; a mechanical arm arranged between the discharge end and the level-type header tower; wherein, the plurality of collecting and discharging The above and below tanks are stacked in a tiered header tower with the same floor area, and each of the collection tanks is equipped with an automatic unfolding and moving shelf, and each shelf can automatically unfold its own collection and delivery. The slot is used for the board to be placed, each shelf can be automatically closed after the board is placed, and each shelf is located in the same area when it is unfolded.

In a further implementation, a plurality of horizontal slide rails are fixed in the tiered header tower, and each layer frame is slidably assembled in the tiered header tower via the horizontal slide rails. Each of the shelves is driven by a driver to move along the horizontal slide rail.

In a further implementation, the layered header tower also has a fixed layer frame located at the bottom end of the plurality of layer frames.

In a further implementation, each of the collection slots is respectively equipped with a box for placing the board. Two limit plates for positioning each box are respectively movably arranged in each of the collection and storage tanks. A baffle is also provided in each collection slot, and each box is positioned in each collection slot via the restraint of the baffle and the two limiting plates. The robotic arm also picks up a diaphragm and places it between the plates in each box every time the robotic arm picks up a board to each interval in the box. The mechanical arm picks up the plate through a jig. The fixture is a sucker claw.

According to the above technical means, the advantages of the present invention are: saving the floor space and configuration quantity of the robotic arm, classification temporary storage station and relay station, and simplifying Process, and then improve the efficiency of automatic sorting and packing of panels.

Please refer to the following embodiments and drawings for specific implementation details of the technical means of the above-mentioned methods and devices and their performance.

10a, 10b, 10c: conveyor line

11a, 11b, 11c: discharge end

12a, 12b, 12c: plate

20b, 20c: level header tower

21: Frame

22: Horizontal slide

23: drive

24: belt

25: fixed seat

30b, 30c: collection tank

31: box

40: Shelf

50: fixed shelf

61: limit plate

62: bezel

70b, 70c: robotic arm

701: Fixture

71a: The first robotic arm

72a: The second robotic arm

73a: The third robotic arm

81: Classification temporary storage station

82: Repeater

83: bin

S1 to S2: Step description of the embodiment

Figure 1 is a schematic diagram of the operation flow of the traditional automatic sorting and binning of panels.

Fig. 2 is a program diagram of the steps of the automatic sorting and binning method for panels of the present invention.

3a to 3c are schematic diagrams of actions for executing the method of FIG. 2 respectively.

Fig. 4 is a schematic diagram of the arrangement of the automatic sorting and collecting device for panels of the present invention.

Fig. 5 is a three-dimensional schematic diagram of the layered header tower in Fig. 4.

Fig. 6 is a perspective schematic view of the shelf in Fig. 5.

Fig. 6a is a partial enlarged schematic diagram of Fig. 6.

Fig. 7 is a perspective schematic view of the fixed shelf in Fig. 5.

Please refer to Fig. 2 to illustrate the automatic sorting and binning method for panels provided by the present invention, including the following steps S1 to S2 in sequence:

Step S1: Construct a tiered header tower.

Please refer to FIG. 3a, which illustrates the construction of a one-level header tower 20b based on multiple stages (such as multiple stages such as A, B, C, etc.) of multiple plates 12b carried on the discharge end 11b of a conveying line 10b The tiered header tower 20b is planned to be formed with a plurality of collection tanks 30b arranged and formed according to the level of the plate 12b (such as multiple levels such as A, B, C, etc.), the plurality of collection tanks 30b are respectively used to hold plates 12b of different levels, and the plurality of collecting tanks 30b are arranged in an upper and lower stack in the same floor area header tower 20b. Furthermore, each of the collection slots 30b has the ability to automatically unfold for the plate 12b to receive, and to automatically close after the plate 12b is placed. Each of the collecting tanks 30b is implemented by moving in the horizontal direction to expand and close.

Step S2: Pick up the plates to the layered header tower.

Please refer to Figures 3a to 3c in order to illustrate that the plates 12b that have been marked with grades are moved one by one to the discharge end of the conveyor line 10b via a conveyor line 10b. 11b. Use a robotic arm 70b that can automatically identify the level marked by the board 12b to extract the board 12b on the material end 11b (as shown in FIG. 3a), for example, the level of the board 12b captured by the current robotic arm 70b Equal to A, the robotic arm 70b is implemented to pick up the plate 12b by means of negative pressure suction. Then, according to the level of the plate 12b, the storage tank 30b in the layered header tower 20b for holding the plate 12b of the level is automatically expanded (as shown in FIG. 3b), that is, the storage tank 30b protrudes out from the tiered header tower 20b. The mechanical arm 70b places the picked plates 12b from top to bottom in the unfolded collection tank 30b. At the same time, the conveying line 10b The next plate 12b to be picked up is carried to the discharge end 11b. Then, when the plate 12b is placed in the collecting tank 30b, the collecting tank 30b is automatically closed (as shown in FIG. 3c), that is, the collecting tank 30b is retracted into the tiered header tower 20b, and the mechanical The arm 70b moves to the discharge end 11b of the conveying line 10b, and picks up the plate 12b on the discharge end 11b of the conveying line 10b again.

On the other hand, please refer to FIG. 4 and FIG. 5 together to illustrate that the present invention also provides an automatic panel sorting and binning device, so that the above-mentioned automatic sorting and binning method for panel parts can be easily implemented. It can be seen from the above that the automatic sorting header device for panels includes a discharge end 11c, a one-level header tower 20c, and a robotic arm 70c. in:

The discharging end 11c is formed at the end of a conveying line 10c carrying a plurality of plates 12c, and the plates 12c are carried by the conveying line 10c to move to the discharging end 11c.

The tiered header tower 20c is provided with a plurality of collection tanks 30c, and the plurality of collection tanks 30c are respectively used to hold plates 12c of different levels, and the plurality of collection tanks 30c are implemented in practice. It is built in the layered header tower 20c with the same floor area in the above and below stacking mode. Furthermore, each of the collection and storage tanks 30 c respectively has a layer frame 40 that automatically expands, retracts, and traverses, and each of the collection and storage tanks 30 c is opened or closed by the drive of the layer frame 40. As a result, each shelf 40 can automatically move and unfold its associated storage slot 30c for the plate 12c to receive, and can automatically move and close after the plate 12c is placed. In specific implementation, each of the collecting and storing slots 30c is respectively equipped with a box 31, and the plate 12c is placed in the box 31. The box 31 may be made of corrugated paper. In addition, when the box After the box 31 is filled with the plates 12c, the worker can take out the box 31 filled with the plates 12c by unfolding the collection slot 30c, and put it into the empty box 31.

Please refer to Figure 5, Figure 6 and Figure 6a together to illustrate that the tiered header tower 20c has a frame 21 on which a plurality of horizontal slide rails 22 are fixed, and the plurality of tiers 40 are respectively It is slidably arranged on the horizontal sliding rail 22 and can move laterally. Furthermore, the plurality of shelves 40 are driven by a driver 23 to move laterally along the horizontal sliding rail 22 respectively. The driver 23 is implemented as a motor. The motor drives the shelf 40 via a belt 24. The shelf 40 is connected to the belt 24 via a fixing base 25. The motor drives the belt 24 to move, thereby driving the shelf 40. Following the movement, the shelf 40 can move laterally along the horizontal slide rail 22.

Please refer to FIG. 5 and FIG. 7 together to illustrate that the level header tower 20c also has a fixed layer frame 50. The fixed layer frame 50 is located at the bottom end of the plurality of layer frames 40, and each layer When the frame 40 is unfolded, and the fixed layer frame 50 are both located in the same area beside the level header tower 20c, the area required for the level header tower 20c can be saved. Since the fixed layer frame 50 is located at the bottom end of the plurality of layer frames 40, it will not interfere with the upper layer frame 40 when the plate 12c is placed. Therefore, the fixed layer frame 50 does not need to have Ability to move laterally.

Please refer to Figure 5, Figure 6 and Figure 7 together to illustrate that each of the collection slots 30c is movably configured with two limit plates 61, and each box 31 is positioned at each of the collection slots by the restraint of the two limit plates 61. Put it in the slot 30c. The two limiting plates 61 are respectively disposed on opposite sides of each of the collecting and storing grooves 30c, and the two limiting plates 61 can be relatively close to or relatively away from each other through the driving of a pneumatic cylinder, for example, so as to make the two limiting The plate 61 can clamp the box 31 or release the box 31. In addition, a baffle 62 is also provided in each of the storage slots 30c on the plurality of shelves 40 and the fixed layer frame 50. By the restriction of the baffle 62 and the two limiting plates 61, the box 31 can be It is accurately positioned in the collecting and storing groove 30c.

Please refer to FIG. 4 again to illustrate that the robotic arm 70c is disposed between the discharge end 11c and the tiered header tower 20c. The robotic arm 70c can capture the plate 12c on the discharge end 11c of the conveyor line 10c. Place in the box 31. Furthermore, one end of the robotic arm 70c is assembled with a jig 701, and the robotic arm 70c passes through the jig 701 701 captures the plate 12c, and the jig 701 is a sucker claw in implementation, so that the mechanical arm 70c can capture the plate 12c in a vacuum suction manner. In addition, each time the robot arm 70c transports a piece of plate 12c to the box 31, it will suck a diaphragm made of EVA material from the side, and place it in each box 31 at an interval. Between the plates 12c, the multiple plates 12c of various levels can be boxed with one plate 12c separated by a diaphragm.

The above embodiments only express the preferred embodiments of the present invention, but they should not be understood as a limitation on the scope of the present invention. Therefore, the present invention should be subject to the content of the claims defined in the scope of the patent application.

S1 to S2: Step description of the embodiment

Claims (6)

A method for automatically sorting and collecting plates for plates includes: constructing a one-level header tower according to multiple levels of multiple plates carried on the discharge end of a conveying line, and the layered header tower is planned to form Multiple storage tanks are deployed according to the board level, etc.; a single robotic arm is used to automatically identify and capture the boards of all levels on the discharge end of the conveyor line to the collection tank to which each board belongs Wherein, the multiple collection tanks above and below are stacked in a layered header tower with the same floor area, and each of the collection tanks is configured to place the plate Boxes, and the plurality of collection slots have the ability to automatically expand for the plates to be placed in order by level, and to automatically close after the plates are placed at each level. Each collection slot is opened when the They are all located in the same area next to the tiered header tower, and the bottom layer of the tiered header tower is also planned to form a fixed shelf, which is located on the floor. In the bottom area of the same floor space next to the position-type header tower, each of the plates is placed in the interval time of the box of the corresponding collection tank level according to the level, and the robotic arm will also capture Take a diaphragm and place it between a plurality of plates of the same level in each box, so that each box presents a plate separated by a diaphragm to complete the boxing. According to claim 1, the automatic sorting and binning method for panels, wherein the mechanical arm picks up the panels by means of negative pressure suction. A panel automatic sorting header device applied to the method of claim 1, wherein the discharging end is formed at the end of the conveying line, and the mechanical arm is arranged between the discharging end and the layered header tower . As described in claim 3, the automatic sorting and collecting device for plates, wherein each of the collecting and discharging slots is respectively movably configured with two limit plates for positioning each of the boxes. As described in claim 4, the automatic sorting and collecting device for plate parts, wherein each of the collecting and storing grooves is also provided with a baffle, and each of the boxes is positioned at each of the baffles and the two limit plates. The set is placed in the slot. According to claim 3, the automatic sorting and binning device for panels, wherein the mechanical arm picks up the panels through a sucker claw.

Images