TWI745690B - Thin plate stacking device and method of use - Google Patents

Abstract

A thin plate stacking device and a use method thereof. Firstly, a first film is placed and positioned on a stacking area, and then a substrate on a first temporary storage area is adsorbed by a first suction member, and the substrate is moved and placed on the first film laterally Above, let the substrate and the first film completely overlap, and at the same time allow the second suction member of the second robot arm to adsorb the second film, and the third suction component of the third robot arm to adsorb the third film, moving the second and third films in the lateral direction. After the robot arm, the third film is placed and completely overlapped on the substrate, and then the second robot arm is moved laterally by a short distance. After the third suction assembly is removed, the second robot arm is lowered to make the second film cross Laminating on the third film, after repeating the above-mentioned stacking steps, a plurality of thin plates are stacked laterally and crosswise.

Description

Thin plate stacking device and method of use

The present invention relates to a thin plate stacking device and a method of use thereof, especially one that can effectively improve the efficiency of stacking a substrate and a thin film into a thin plate.

In the manufacturing process of printed circuit boards, before the substrate is exposed, a photoresist layer and a film adhered to the surface of the photoresist layer are formed on the upper and lower surfaces of the substrate, respectively. After the exposure, the film is peeled off to make the photoresist The layer is exposed for subsequent development and etching procedures. Before the above-mentioned substrate and film with photoresist layer are formed into a thin plate, currently they are mainly stacked manually. After the substrate and each film are stacked up and down one by one, the films are respectively adhered to the upper and lower surfaces of the substrate. .

However, the above-mentioned manual stacking method is not only inaccurate, but also unsatisfactory in overall operating efficiency. In view of this, in order to provide a structure that is different from the conventional technology and improve the above-mentioned shortcomings, the inventor has accumulated many years of experience Experience and continuous R&D and improvement led to the present invention.

One purpose of the present invention is to provide a thin plate stacking device and a method of use thereof, so as to solve the problem of manual stacking of conventional substrates and films, and to simplify substrates, films and thin plates through the transfer procedures of several robotic arms. The stacking action can effectively improve the efficiency of the overall operation; and after the stacking action of a single sheet is completed, a short-distance lateral offset is generated Action, so that a plurality of thin plates can be stacked horizontally across each other, so that the operator can quickly separate the stacked thin plates.

To achieve the above objective, the thin plate stacking device provided by the present invention includes a frame, a first machine and a second machine. The frame includes a first support base, a second support base, and a third support base. The first support base has a first temporary storage area, the second support base has a second temporary storage area, and the third support base Has a stacking area; the first machine has a first robotic arm, and one end of the first robotic arm has a first suction member for sucking and moving a substrate on the first temporary storage area, and then releasing the substrate on the stacking area; The second machine has a second robot arm and at least one third robot arm. One end of the second robot arm has a second suction member for sucking a film on the second temporary storage area and then releasing the film on the stacking area , At least one third robot arm is connected under the second robot arm in a manner that can move up and down, left and right, and one end of any third robot arm has a third suction assembly for sucking a film on the second temporary storage area , Then release the film on the stacking area.

During implementation, a plurality of thin plates are stacked on the stacking area of the third support base in a crosswise manner.

In implementation, the first robot arm includes a first traverse mechanism and a first lifting mechanism. The first traverse mechanism is connected to the first lifting mechanism, and the first lifting mechanism is connected to the first suction member for driving the first suction member. A substrate moves laterally or up and down.

In implementation, the second robot arm includes a second traverse mechanism and a second lifting mechanism. The second traverse mechanism is connected to the second lifting mechanism, and the second lifting mechanism is connected to the second suction member for driving the second suction member. A film moves laterally or up and down.

In implementation, the third suction assembly includes a third suction part and a fourth suction part, The third robot arm includes a third traverse mechanism, a third lifting mechanism, a fourth traverse mechanism and a fourth lifting mechanism. The third traverse mechanism is connected to the third lifting mechanism, and the third lifting mechanism is connected to the third suction The fourth traverse mechanism is connected to the fourth lifting mechanism, the fourth lifting mechanism is connected to the fourth adsorption member, and the third adsorption member and the fourth adsorption member jointly adsorb a film.

In implementation, the third traverse mechanism and the fourth traverse mechanism are located on the same plane, and the third and fourth traverse mechanisms are respectively connected to the third lifting mechanism and the fourth traverse mechanism in such a way that the third and fourth traverse mechanisms are relatively close to or away from each other. Lifting mechanism.

The method of using the thin plate stacking device provided by the present invention includes: a. placing and positioning at least one substrate on the first temporary storage area of the first support base, and placing and positioning at least one film on the second temporary storage area of the second support base On the storage area, a first film is placed and positioned on the stacking area of the third support base; b. After adsorbing a substrate with the first suction member, the substrate is moved laterally and placed on the first film in the stacking area, so that the substrate and The first film is completely overlapped; at the same time, the second suction member of the second robot arm of the second machine can adsorb a second film, and the third suction component of the third robot arm can adsorb a third film; c. move the second robot arm laterally And the third robotic arm, use the third robotic arm to place the third film above the substrate in the stacking area, so that the third film and the substrate are completely overlapped, and then after removing the third suction assembly, let the second robotic arm descend to make The second film is laminated on the top of the third film; and d. Steps b and c are repeated, so that a plurality of thin plates are stacked on the stacking area of the third support base.

In implementation, the second robotic arm of step c moves laterally at a short distance at the same time, so that after the third suction assembly is removed, the second robotic arm is lowered so that the second film is cross-laminated on top of the third film.

During implementation, the plurality of thin plates in step d are stacked on the first in a crosswise manner On the stacking area of the three support bases.

In order to further understand the present invention, the following is a detailed description of the specific components of the present invention and the effects achieved by the following preferred embodiments, in conjunction with the drawings and figure numbers.

1‧‧‧Thin plate stacking device

11‧‧‧Substrate

12‧‧‧First film

13‧‧‧Second film

14‧‧‧Third film

15‧‧‧Thin Plate

2‧‧‧Frame

21‧‧‧Frame body

22‧‧‧First support seat

221‧‧‧First Temporary Storage Area

23‧‧‧Second support base

231‧‧‧Second Temporary Storage Area

24‧‧‧Third support base

241‧‧‧Stacking area

3‧‧‧The first machine

31‧‧‧The first robotic arm

311‧‧‧The first traverse mechanism

312‧‧‧The first lifting mechanism

32‧‧‧The first suction part

321‧‧‧First plate rack

322‧‧‧First suction cup

4‧‧‧Second Machine

41‧‧‧Second robotic arm

411‧‧‧Second traverse mechanism

412‧‧‧Second Lifting Mechanism

42‧‧‧The third robotic arm

421‧‧‧Third traverse mechanism

422‧‧‧The third lifting mechanism

423‧‧‧Fourth Transverse Mechanism

424‧‧‧The fourth lifting mechanism

43‧‧‧Second Adsorption Piece

44‧‧‧Third suction assembly

441‧‧‧The third adsorption part

442‧‧‧The fourth adsorption part

443‧‧‧ gap

Figure 1 is a top view of the creative sheet stacking device.

Figure 2 is a front view of this creative sheet stacking device.

Figure 3 is the use state diagram of the second machine of the creative thin plate stacking device.

Figures 4, 5, and 6 are schematic diagrams of the working state of the creative sheet stacking device when stacking sheets.

This creation is a thin plate stacking device and its use method. The thin plate is a flat plate such as a printed circuit board, and includes a substrate. The upper surface and the lower surface of the substrate are provided with a thin film. The number of films or underlying films can also be more than one layer, respectively.

Please refer to Figures 1 and 2, which is a preferred embodiment of the creative thin plate stacking device 1, which includes a frame 2, a first machine 3, and a second machine 4. The frame 2 has a frame main body 21, and the frame main body 21 has a first support base 22, a second support base 23, and a third support base 24 arranged in an L-shape. In implementation, the first support base 22, The second support base 23 and the third support base 24 can also be arranged adjacent to each other in a "one" shape. In implementation, the first support base 22 is an end of the conveyor belt, and the first support base 22 can also be a carrying device such as a cart; the first support base 22 has a first temporary storage area 221 for carrying and positioning at least A substrate, the second support base 23 has a second temporary storage area 231 for supporting and positioning at least one film, and the third supporting base 24 has a stacking area 241 for supporting and positioning a plurality of A laminated sheet.

The first machine tool 3 includes a first robotic arm 31 and a first suction member 32. The first robotic arm 31 includes a first lateral movement mechanism 311 and a first lifting mechanism 312. The first lateral movement mechanism 311 is connected to the frame body 21 , And across the tops of the first support base 22 and the third support base 24, the first traverse mechanism 311 is a combination of an opportunistic motor and a belt gear set. In implementation, the first traverse mechanism 311 can also be a pneumatic cylinder Combination with a piston push rod group; the first lifting mechanism 312 is a combination of a servo motor and a screw. In implementation, the first lifting mechanism 312 can also be a combination of a pneumatic cylinder, a gear and a rack, and the first lifting mechanism 312 is connected upwards The first traverse mechanism 311 allows the first lifting mechanism 312 to move back and forth between the first temporary storage area 221 and the stacking area 241; and the first suction member 32 includes a first plate frame 321 and a plurality of distributed and combined positions The first suction cups 322 on the first plate frame 321 have the bottom suction nozzles of the plurality of first suction cups 322 facing downwards, and the top ends of the plurality of first suction cups 322 are respectively connected to an air compressor to generate upward suction force to suck the substrate. Or stop the suction force and allow the substrate to be separated from the plurality of first suction cups 322 and fall down. In implementation, the first suction member 32 is connected to the bottom of the first lifting mechanism 312. When the first lifting mechanism 312 moves laterally to the upper side of the first temporary storage area 221 or the stacking area 241, it passes through the first lifting mechanism 312. Ascending or descending, the first adsorption member 32 can adsorb a substrate on the first temporary storage area 221, and then release the substrate on the stacking area 241.

The second machine tool 4 includes a second robot arm, at least one third robot arm, a second suction member, and at least one third suction assembly. In this embodiment, the first machine tool 4 includes a second robot arm 41, A third robot arm 42, a second suction member 43 and a third suction assembly 44. Among them, the second robotic arm 41 includes a second traverse mechanism 411 and a second lifting mechanism 412. The second traverse mechanism 411 is connected to the frame body 21 and straddles the second support base 23 and the third support base 24. At the top, the second traverse mechanism 411 is a combination of the opportunistic motor and the belt gear set. When implemented, the second traverse The moving mechanism 411 can also be a combination of a pneumatic cylinder and a piston push rod group; the second lifting mechanism 412 is a combination of a servo motor and a screw. In implementation, the second lifting mechanism 412 can also be a combination of a pneumatic cylinder, a gear, and a rack. , The second lifting mechanism 412 is upwardly connected to the second traverse mechanism 411, so that the second lifting mechanism 412 moves back and forth between the second temporary storage area 231 and the stacking area 241; and the second suction member 43 is connected to the first suction member 32 has the same suction cup structure, which generates upward suction force to absorb the film, or stops the suction force to put down the film. In implementation, the second suction member 43 is connected to the bottom of the second lifting mechanism 412. When the second lifting mechanism 412 moves laterally to above the second temporary storage area 231 or the stacking area 241, the second lifting mechanism 412 Ascending or descending, the second suction member 43 can adsorb a film on the second temporary storage area 231, and then release the film on the stacking area 241.

The third robot arm 42 is connected to the bottom of the second robot arm 41 in a manner that can move up and down, left and right. The third robot arm 42 includes a third traverse mechanism 421, a third lifting mechanism 422, and a fourth traverse mechanism. Mechanism 423 and a fourth lifting mechanism 424. Among them, the third traverse mechanism 421, the third lift mechanism 422, the fourth traverse mechanism 423, and the fourth lift mechanism 424 are respectively a combination of a servo motor and a screw. When implemented, the third traverse mechanism 421, the third lift mechanism 422, the fourth traverse mechanism 423, and the fourth lifting mechanism 424 can also be a combination of a pneumatic cylinder, a gear, and a rack, or a combination of a pneumatic cylinder and a piston push rod group, respectively. The third traverse mechanism 421 and the fourth traverse mechanism 424 are located on the same plane, and the third traverse mechanism 421 is upwardly connected to the third lifting mechanism 422, and the third traverse mechanism 421 is downwardly connected to the third suction member 441; The four traverse mechanism 423 is upwardly connected to the fourth lifting mechanism 424, and the fourth traverse mechanism 423 is downwardly connected to the fourth suction member 442. The third suction member 441 and the fourth suction member 442 are combined to form a third suction assembly 44, whereby When the third traverse mechanism 421 and the fourth traverse mechanism 423 are relatively close, the third suction assembly 44 is used to suck a film, and when the third traverse mechanism 421 and the fourth traverse mechanism 423 are moved away from each other in the opposite direction, the first The second suction member 43 descends and passes through the third suction member 441 and the fourth suction member The gap 443 between 442 is used to adsorb the film on the second temporary storage area 231, and passes upward through the gap 443 to return to the original position after being adsorbed.

Therefore, as shown in Figures 3-6, the method of using the creative thin-plate stacking device 1 includes the following steps:

a. At least one substrate 11 is placed and positioned on the first temporary storage area 221 of the first support base 22, at least one film is placed and positioned on the second temporary storage area 231 of the second support base 23, and a first film 12 is placed It is positioned on the stacking area 241 of the third support base 24.

b. After adsorbing a substrate 11 on the first temporary storage area 221 with the first suction member 32, the substrate 11 is moved laterally and placed above the first film 12 in the stacking area 241 so that the substrate 11 and the first film 12 are completely overlapped ; At the same time, let the second suction member 43 of the second robotic arm 41 of the second implement 4 adsorb a second film 13 on the second temporary storage area 231, and the third suction component 44 of the third robotic arm 42 adsorbs the second temporary storage A third film 14 on the area 231.

c. Move the second robotic arm 41 and the third robotic arm 42 laterally, and use the third robotic arm 42 to place the third film 14 above the substrate 12 in the stacking area 241 so that the third film 14 and the substrate 12 are completely overlapped, and then Move the second robot arm 41 laterally in a short distance, and after separating the third suction member 441 and the fourth suction member 442, the second robot arm 41 is lowered to place the second film 13 so that the second film 13 is stacked horizontally Above the third film 14.

d. Repeat steps b and c, so that a plurality of thin plates 15 are stacked on the stacking area 241 of the third support base 24 in a cross-stacking manner.

In the above step a, the first film 12 is preliminarily sucked and positioned by the third sucking assembly 441 of the third robot arm 42. In steps b and c, when the second adsorption element 43 and the third adsorption assembly 44 are located above the second temporary storage area 231 at the same time, the third adsorption element of the third adsorption assembly 4 After the 441 is separated from the fourth suction member 442, the second suction member 43 can be lowered and passed through the gap 443 between the third suction member 441 and the fourth suction member 442, so as to adsorb the second suction member on the second temporary storage area 231. The two films 13 pass upward through the gap 443 after being sucked to return to the original position. When the third sucking member 441 and the fourth sucking member 442 are relatively close, the third sucking member 441 and the fourth sucking member 442 can be shared The third film 14 is adsorbed to allow the second tool 4 to move the two films at the same time, and the second film 13 and the third film 14 are respectively placed on the stacking area 241 of the third support base 24 in sequence.

Therefore, this creation has the following advantages:

1. This creation simplifies the stacking of substrates, films, and thin plates through the moving procedures of three robotic arms. Therefore, the stacking accuracy can be increased and the overall operation efficiency can be improved.

2. This creation is to make the second robotic arm produce a short-distance lateral offset movement after completing the stacking action of a single sheet, so that a plurality of sheets can be stacked laterally and crosswise on the stacking area of the third support base. Therefore, you can It is convenient for the operator to quickly separate the thin plates after the stacking operation is completed, so as to save working time.

In summary, according to the content disclosed above, this creation can indeed achieve the expected purpose, providing a thin plate stacking device that can effectively stack substrates and thin films into thin plates, and allows each thin plate to be quickly separated to improve work efficiency. And its use method is of great value for industrial use. Yan filed an invention patent application in accordance with the law.

13‧‧‧Second film

4‧‧‧Second Machine

41‧‧‧Second robotic arm

42‧‧‧The third robotic arm

43‧‧‧Second Adsorption Piece

44‧‧‧Third suction assembly

441‧‧‧The third adsorption part

442‧‧‧The fourth adsorption part

443‧‧‧ gap

Claims (9)

A thin plate stacking device, the thin plate includes a substrate, the upper and lower surfaces of the substrate are respectively provided with at least one film, the thin plate stacking device includes: a frame, including a first support seat, a second support seat and a third Support base, the first support base has a first temporary storage area, the second support base has a second temporary storage area, the third support base has a stacking area; a first machine tool is provided with a first machine Arm, one end of the first robotic arm has a first suction member for sucking and moving a substrate on the first temporary storage area, and then releasing the substrate on the stacking area; and a second machine having a A second robotic arm and at least one third robotic arm, one end of the second robotic arm has a second suction member for adsorbing a film on the second temporary storage area, and then releasing the film on the stacking area, The at least one third robot arm is connected under the second robot arm in a manner that can move up and down, left and right, and one end of any third robot arm has a third suction assembly, and the third suction assembly includes a third Adsorption member and a fourth adsorption member for the third adsorption member and the fourth adsorption member to jointly adsorb a film on the second temporary storage area, and then release the film on the stacking area; or After the third suction member is separated from the fourth suction member, the second robot arm is allowed to pass. For the sheet stacking device described in claim 1, wherein the first robot arm includes a first traverse mechanism and a first lifting mechanism, the first traverse mechanism is connected to the first lifting mechanism, and the first A lifting mechanism is connected to the first suction member for driving a substrate on the first suction member to move laterally or up and down. For example, in the sheet stacking device described in item 1 of the scope of patent application, the second robot arm includes a second traverse mechanism and a second lifting mechanism, the second traverse mechanism is connected to the second lifting mechanism, and the first Two lifting mechanisms are connected to the second suction member to drive a film on the second suction member to move laterally or up and down. For example, the thin plate stacking device described in item 1 of the scope of patent application, wherein the third robot arm includes a third traverse mechanism, a third lifting mechanism, a fourth traverse mechanism, and a fourth lifting mechanism. A three traverse mechanism is connected to the third lifting mechanism, the third lifting mechanism is connected to the third suction member, the fourth lateral movement mechanism is connected to the fourth lifting mechanism, and the fourth lifting mechanism is connected to the fourth suction member. For the thin plate stacking device described in item 4 of the scope of patent application, wherein the third traverse mechanism and the fourth traverse mechanism are located on the same plane, and the third traverse mechanism and the fourth traverse mechanism are The third lifting mechanism and the fourth lifting mechanism are respectively connected in a way that the mechanism is relatively close to or away from each other. A method of using the thin plate stacking device as described in any one of items 1 to 5 of the scope of the patent application includes: a. placing and positioning at least one substrate on the first temporary storage area of the first support base, at least A film is placed and positioned on the second temporary storage area of the second support base, and a first film is placed and positioned on the stacking area of the third support base; b. After adsorbing a substrate with the first suction member, Move the substrate laterally and place it above the first film in the stacking area so that the substrate and the first film are completely overlapped; let the second suction member of the second robot arm of the second machine absorb a second film, The third suction component of the robot arm sucks a third film; c. Move the second robotic arm and the third robotic arm laterally, use the third robotic arm to place the third film above the substrate in the stacking area, so that the third film and the substrate are completely overlapped, and then separate the third The third suction member and the fourth suction member of the suction assembly are lowered to allow the second robotic arm to stack the second film on top of the third film; and d. Repeat steps b and c to allow multiple thin plates Stacked on the stacking area of the third support seat. According to the method of the sheet stacking device described in item 6 of the scope of patent application, wherein the first film in step a is sucked and positioned by the third suction assembly of the third robot arm. According to the method of the sheet stacking device described in item 6 of the scope of patent application, wherein the second robot arm in step c moves laterally at a short distance at the same time, so that after the third suction assembly is removed, the second The robot arm descends, so that the second film is cross-laminated on top of the third film. According to the method of the sheet stacking device described in item 8 of the scope of patent application, the plurality of sheets of step d are stacked on the stacking area of the third support base in a crosswise manner.

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