Clamping device and automatic bearing disc carrying device

Abstract

The invention discloses a clamping device and an automatic bearing disc carrying device. The clamping device is used for clamping at least one bearing disc. The clamping device comprises a fixing piece, a fixing frame, a first buckling piece, a second buckling piece, an actuating element and an abutting assembly. The fixing frame is fixed to the fixing piece. The first buckling piece and the second buckling piece are connected to the two opposite sides of the fixing piece and arranged in the first direction. The actuating element is configured to actuate the first buckling piece and the second buckling piece to move face to face and back to back in the first direction. The pressing assembly comprises two pressing rods, two pressing parts and a pivoting part. The two pressing rods are connected to the fixing frame. The two abutting parts are connected to the ends, away from the fixing frame, of the two pressing rods respectively and are configured to abut against at least one bearing disc. The pivoting part is located between the fixing frame and the two abutting parts. The two pressing rods are pivoted to the pivoting part. According to the method, the existing framework of the existing final test classification processor in a factory does not need to be additionally modified, so that the import cost can be greatly reduced.

Description

Technical Field

[0001] The present disclosure relates to a clamping device and an automatic carrier plate transporting device. Background Art

[0002] Generally speaking, the production lines of various packaging and testing factories and test equipment manufacturers currently use manpower to carry out the transportation, loading and unloading of batches of goods. However, this has increased labor costs. Specifically, the production line must manually load and unload batches of goods through operators. In addition, relying entirely on the manpower of operators cannot control the time of loading batches of goods in real time. Moreover, relying entirely on the manpower of operators is relatively difficult to track the current location of the batch of goods.

[0003] Therefore, how to provide a clamping device and an automatic carrier plate transporting device is one of the problems that the industry is eager to invest research and development resources to solve. Summary of the invention

[0004] In view of this, one objective of the present disclosure is to provide a clamping device and an automatic carrier plate transporting device that can solve the above-mentioned problems.

[0005] In order to achieve the above-mentioned object, according to one embodiment of the present disclosure, a clamping device is used to clamp at least one carrier plate. The clamping device includes a fixing member, a fixing frame, a first buckle member, a second buckle member, an actuating element and a pressing assembly. The fixing frame is fixed to the fixing member. The first buckle member and the second buckle member are connected to opposite sides of the fixing member and are arranged in a first direction. The actuating element is configured to actuate the first buckle member and the second buckle member to move toward each other and away from each other in the first direction. The pressing assembly includes two pressure rods, two pressing portions and a pivoting portion. The two pressure rods are respectively connected to the fixing frame. The two pressing portions are respectively connected to the ends of the two pressure rods away from the fixing frame and are configured to press at least one carrier plate. The pivoting portion is located between the fixing frame and one of the two pressing portions. The two pressure rods are pivotally connected to the pivoting portion.

[0006] In one or more embodiments of the present disclosure, the clamping device further includes a lateral movement component connected between the first buckle and the fixed member and between the second buckle and the fixed member. The lateral movement component is configured to allow the first buckle and the second buckle to move toward and away from each other in a first direction. The lateral movement component further includes a first slider, a second slider, and a connecting member. The first slider and the second slider can be slidably connected to a slide rail located on the fixed member, and the slide rail extends parallel to the first direction. The connecting member is connected between the first slider and the first buckle and between the second slider and the second buckle.

[0007] In one or more embodiments of the present disclosure, the pressing assembly further includes a torsion spring and a contact member. The torsion spring is disposed on the pivot portion. The contact member is disposed on one side of the two pressure rods close to the fixing frame and is located between the two pressure rods. The two pressure rods clamp the contact member together and clamp an angle.

[0008] In one or more embodiments of the present disclosure, the two pressure rods are configured to rotate along an axis parallel to the first direction.

[0009] In one or more embodiments of the present disclosure, the clamping device further includes a bearing portion and a plurality of level sensors. The bearing portion is disposed at the ends of the first buckle member and the second buckle member away from the fixing member and has a bearing surface configured to bear at least one bearing plate. The bearing portion disposed on the first buckle member and the bearing portion disposed on the second buckle member protrude toward each other along a first direction. The bearing portion disposed on the first buckle member and the bearing portion disposed on the second buckle member face each other. The level sensor is disposed on the first buckle member and the second buckle member and is configured to emit light along the first direction, and the level sensor is higher than the bearing surface.

[0010] In one or more embodiments of the present disclosure, the clamping device further includes one or more distance measuring sensors disposed on the fixing frame and configured to emit light along a third direction different from the first direction.

[0011] In one or more embodiments of the present disclosure, the clamping device further includes an elastic pressure block and a touch pressure sensor. The elastic pressure block is disposed at one end of the first buckle member and the second buckle member away from the fixing member. The touch pressure sensor is disposed on the first buckle member and the second buckle member and is disposed adjacent to the elastic pressure block.

[0012] In order to achieve the above-mentioned purpose, according to one embodiment of the present disclosure, an automated carrier plate handling device comprises a transport carrier, a robot arm and a clamping device. The robot arm can be rotatably connected to the transport carrier. The clamping device can be rotatably connected to an end of the robot arm away from the transport carrier and is configured to clamp at least one carrier plate. The clamping device comprises a fixing member, a fixing frame, a first buckle clamp, a second buckle clamp, an actuating element and a pressing assembly. The fixing member is connected to the robot arm. The fixing frame is fixed to the fixing member. The first buckle clamp and the second buckle clamp are connected to opposite sides of the fixing member and are arranged in a first direction. The actuating element is configured to actuate the first buckle clamp and the second buckle clamp to move toward and away from each other in the first direction. The pressing assembly comprises two pressure rods, two pressing portions and a pivoting portion. The two pressure rods are respectively connected to the fixing frame. The two pressing portions are respectively connected to the ends of the two pressure rods away from the fixing frame and are configured to press at least one carrier plate. The pivoting portion is located between the fixing frame and one of the two pressing portions. The two pressure rods are pivotally connected to the pivoting portion.

[0013] In one or more embodiments of the present disclosure, the automated carrier handling device further comprises a control element. The control element is configured to: control the transport carrier to move to a target position; actuate the robot arm to move the clamping device adjacent to at least one carrier; and control the actuating element to actuate the first buckle member and the second buckle member to move toward each other in a first direction to clamp at least one carrier.

[0014] In one or more embodiments of the present disclosure, the automated tray handling device further includes a placement rack disposed on the transport carrier and configured to accommodate at least one tray.

[0015] In one or more embodiments of the present disclosure, the placement rack includes a plurality of tracks and a plurality of clamping mechanisms. The tracks are disposed on a transport vehicle. The clamping mechanisms can be slidably connected to the tracks and are configured to clamp at least one carrier plate.

[0016] In one or more embodiments of the present disclosure, the automated carrier tray transporting device further comprises a control element configured to control the robot arm to transport at least one carrier tray to the placement rack.

[0017] In one or more embodiments of the present disclosure, the clamping device further includes a lateral movement component connected between the first buckle and the fixed member and between the second buckle and the fixed member. The lateral movement component is configured to allow the first buckle and the second buckle to move toward and away from each other in a first direction. The lateral movement component further includes a first slider, a second slider, and a connecting member. The first slider and the second slider can be slidably connected to a slide rail located on the fixed member, and the slide rail extends parallel to the first direction. The connecting member is connected between the first slider and the first buckle and between the second slider and the second buckle.

[0018] In one or more embodiments of the present disclosure, the pressing assembly further includes a torsion spring and a contact member. The torsion spring is disposed on the pivot portion. The contact member is disposed on one side of the two pressure rods close to the fixing frame and is located between the two pressure rods. The two pressure rods clamp the contact member together and clamp an angle.

[0019] In one or more embodiments of the present disclosure, the two pressure rods are configured to rotate along an axis parallel to the first direction.

[0020] In one or more embodiments of the present disclosure, the clamping device further includes a bearing portion and a plurality of level sensors. The bearing portion is disposed at the ends of the first buckle member and the second buckle member away from the fixing member and has a bearing surface configured to bear at least one bearing plate. The bearing portion disposed on the first buckle member and the bearing portion disposed on the second buckle member protrude toward each other along a first direction. The bearing portion disposed on the first buckle member and the bearing portion disposed on the second buckle member face each other. The level sensor is disposed on the first buckle member and the second buckle member and is configured to emit light along the first direction, and the level sensor is higher than the bearing surface.

[0021] In one or more embodiments of the present disclosure, the automated carrier tray handling device further comprises a control element configured to: when the clamping device moves downward and the level sensor senses that at least one carrier tray is above the light through light, control the actuating element to actuate the first buckle member and the second buckle member to move toward each other in a first direction to clamp at least one carrier tray.

[0022] In one or more embodiments of the present disclosure, the clamping device further includes one or more distance measuring sensors disposed on the fixing frame and configured to emit light along a third direction different from the first direction.

[0023] In one or more embodiments of the present disclosure, the automated carrier plate handling device further comprises a control element configured to stop actuating the robot arm when the clamping device clamps at least one carrier plate and the actual values ​​sensed by the one or more distance measuring sensors through the reflection of light through at least one carrier plate do not match the predetermined values.

[0024] In one or more embodiments of the present disclosure, the clamping device further includes an elastic pressure block and a touch pressure sensor. The elastic pressure block is disposed at one end of the first buckle member and the second buckle member away from the fixing member. The touch pressure sensor is disposed on the first buckle member and the second buckle member and is disposed adjacent to the elastic pressure block.

[0025] In one or more embodiments of the present disclosure, the automated carrier plate transport device further comprises a control element configured to stop controlling the mechanical arm to drive the clamping device to move downward when the clamping device moves downward and the elastic pressure block triggers the touch pressure sensor.

[0026] In summary, in the clamping device and the automated tray handling device disclosed in the present invention, since the clamping device includes a first buckle and a second buckle that can move toward and away from each other to clamp the tray, the automated tray handling device can carry a large number of stacked trays (for example, more than twenty trays at a time), thereby replacing the traditional manual handling. In the clamping device and the automated tray handling device disclosed in the present invention, since the clamping device includes a pressing component, the automated tray handling device can have better stability and safety when taking and placing the tray, and it is not easy to make the stacked tray shake. In the clamping device and the automated tray handling device disclosed in the present invention, if it is necessary to respond to various needs in the factory, the design of the clamping device can be changed at any time according to the above needs without changing the overall structure of the automated tray handling device, which has the advantage of high design freedom. In the clamping device and the automated tray handling device disclosed in the present invention, since the automated tray handling device includes an automated control element, the automated tray handling device can be applied to the final test (Final Test) smart test factory, which can effectively track the placement of the batch of goods and reduce the time for personnel to find the batch of goods. The clamping device and the automatic carrier plate transport device disclosed in the present invention do not need to modify the existing structure of the final test sorting handler (FT Handler) in the factory, so the introduction cost can be greatly reduced.

[0027] The above description is only used to illustrate the problem to be solved by the present disclosure, the technical means to solve the problem, and the effects produced, etc. The specific details of the present disclosure will be described in detail in the following implementation methods and related drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to make the above and other objects, features, advantages and embodiments of the present disclosure more clearly understood, the accompanying drawings are described as follows:

[0029] Figure 1 A three-dimensional view of an automated tray handling device according to one embodiment of the present disclosure is shown.

[0030] Figure 2 Another perspective view of an automated tray handling device according to one embodiment of the present disclosure is shown.

[0031] Figure 3 A functional block diagram of an automated tray handling device according to one embodiment of the present disclosure is shown.

[0032] Figure 4 A flow chart of a control method of an automatic tray transport device according to one embodiment of the present disclosure is shown.

[0033] Figure 5 A three-dimensional view of a clamping device according to an embodiment of the present disclosure is shown.

[0034] Figure 6 A cross-sectional view of a pressing component according to another embodiment of the present disclosure is shown.

[0035] Figure 7 A cross-sectional view of a pressing component according to another embodiment of the present disclosure is shown.

[0036] Figure 8 An embodiment of the present disclosure is shown based on Figure 5 A partial enlarged view of the clamping device.

[0037] Fig. 9 A cross-sectional view of a clamping device in a first state according to an embodiment of the present disclosure is shown.

[0038] Fig.10 A cross-sectional view of a clamping device in a second state according to an embodiment of the present disclosure is shown.

[0039] Fig.11 A cross-sectional view of a clamping device in a second state according to another embodiment of the present disclosure is shown.

[0040] Fig.12 A schematic diagram showing a clamping device in a first state clamping a carrier plate according to an embodiment of the present disclosure is shown.

[0041] Fig.13 A side view of a clamping device clamping a carrier tray in a first state according to an embodiment of the present disclosure is shown.

[0042] Fig.14 A schematic diagram showing a clamping device in a second state clamping a carrier plate according to an embodiment of the present disclosure is shown.

[0043] Fig.15 A side view of a clamping device in a second state clamping a carrier tray according to an embodiment of the present disclosure is shown.

[0044] Fig.16 A partial enlarged view of a clamping device according to an embodiment of the present disclosure is shown.

[0045] Fig.17 Another partially enlarged view of a clamping device according to an embodiment of the present disclosure is shown.

[0046]

Main component symbol description

[0047] 100: Automated tray handling device 110: Transport carrier

[0048] 112,210: Carrying platform 114,220: Placement rack

[0049] 1142,222: Track 1144,224: Clip mechanism

[0050] 120: Robotic arm 130: Clamping device

[0051] 131: Actuating element 132: First buckle member

[0052] 1322: first frame 1324: first cover

[0053] 133: second buckle member 1332: second frame

[0054] 1334: Second cover plate 134: Fixing member

[0055] 1342,1343: Slide rail 135: Fixed frame

[0056] 136: Pressing assembly 1361: Pressing rod

[0057] 1362: pressing part 1363: pivoting part

[0058] 1364: Torsion spring 1365: Contact piece

[0059] 137: Lateral movement assembly 1371,1375: Connecting piece

[0060] 1372: First slider 1373: Second slider

[0061] 1374: Guide rod 138: Bearing part

[0062] 138a: bearing surface 139: elastic pressing block

[0063] 200: Display rack C: Control components

[0064] CM: Control Method DMS: Distance Measuring Sensor

[0065] EL: Elastomer EP: Elastic telescopic rod

[0066] HS: Level sensor L: Light

[0067] PD: Pressing direction PL: Rod body

[0068] RC: Rotatable joint S1: First form

[0069] S101, S102, S103: Step S2: Second state

[0070] SD: telescopic direction TPS: touch pressure sensor

[0071] TR: Carrier plate TRa: Top surface

[0072] X, Y, Z: direction θ1: first angle

[0073] θ2: Second angle DETAILED DESCRIPTION

[0074] The following will disclose multiple embodiments of the present disclosure with the accompanying drawings. For the purpose of clear description, many practical details will be described together in the following description. However, it should be understood that these practical details should not be used to limit the present disclosure. That is, in some embodiments of the present disclosure, these practical details are not necessary. In addition, in order to simplify the drawings, some existing conventional structures and elements will be depicted in a simple schematic manner in the drawings. The same reference numerals will be used to represent the same or similar elements in all drawings.

[0075] The structure, function and connection relationship between the components included in the automated tray transport device 100 of this embodiment will be described in detail below.

[0076] Please refer to Figure 1 . Figure 1 FIG. 1 is a perspective view of an automated tray handling device 100 according to an embodiment of the present disclosure. Figure 1 As shown, the automated tray transport device 100 is configured to accommodate a tray TR and to transport the tray TR placed on the display rack 200. In this embodiment, the automated tray transport device 100 includes a transport carrier 110, a robot arm 120, and a clamping device 130. The robot arm 120 is rotatably connected to the transport carrier 110. The clamping device 130 is rotatably connected to an end of the robot arm 120 away from the transport carrier 110 and is configured to clamp at least one tray TR. Figure 1 As shown, the clamping device 130 further includes an actuating element 131, a first buckle member 132 and a second buckle member 133. The actuating element 131 is configured to actuate the first buckle member 132 and the second buckle member 133, so that the first buckle member 132 and the second buckle member 133 can clamp the carrier plate TR. The detailed structure, function and connection relationship between the above elements will be described below.

[0077] In some embodiments, the transport vehicle 110 may be, for example, an Automatic Guided Vehicle (AGV) or other automated powertrains.

[0078] In some embodiments, the tray TR is, for example, a carrier or a container for carrying a plurality of integrated circuits (not shown).

[0079] In some embodiments, the actuating element 131 may be, for example, a cylinder, a hydraulic cylinder, an electric cylinder, or other suitable actuating elements.

[0080] Please refer to Figure 2 . Figure 2 FIG. 4 is another perspective view of the automated tray handling device 100 according to one embodiment of the present disclosure. Figure 2 The structure of the automated tray handling device 100 and the display rack 200 is shown in more detail. Figure 2 As shown, in this embodiment, the automated tray handling device 100 further includes one or more platforms 112 and a plurality of racks 114. The platform 112 is disposed on the transport vehicle 110. The racks 114 are disposed on the platform 112. The racks 114 include a plurality of rails 1142 and a plurality of clamping mechanisms 1144. The rails 1142 are disposed on the transport vehicle 110. More specifically, the rails 1142 are disposed on the platform 112. The clamping mechanisms 1144 are slidably connected to the rails 1142 and are configured to clamp the tray TR. Figure 2 As shown, in this embodiment, the display rack 200 further includes a carrier platform 210 and a plurality of racks 220. The racks 220 are disposed on the carrier platform 210. The racks 220 include a plurality of rails 222 and a plurality of clipping mechanisms 224. The rails 222 are disposed on the carrier platform 210. The clipping mechanisms 224 are slidably connected to the rails 222 and are configured to clip the carrier tray TR. The clipping mechanisms 1144 and 224 can prevent the carrier tray TR from jumping off the racks 114 and 220 when the transport carrier 110 is running, thereby causing the integrated circuit to fall.

[0081] Please refer to Figure 3 as well as Figure 4 . Figure 3 FIG. 1 is a functional block diagram of an automated tray handling device 100 according to an embodiment of the present disclosure. Figure 4 FIG. 1 is a flow chart of a control method CM of an automated tray transport device 100 according to an embodiment of the present disclosure. Figure 3 As shown, the automated tray handling device 100 further includes a control element C. The control element C is electrically or communicatively connected to the transport carrier 110, the robot arm 120, and the actuator 131. Specifically, the control method CM of the automated tray handling device 100 is controlled by the control element C. Figure 4 As shown, the control method CM of the automated carrier plate transport device 100 includes step S101, step S102 and step S103. For a better understanding of step S101 and step S102, please refer to Figure 1 as well as Figure 2 To better understand step S103, please refer to Figures 12 to 17 .

[0082] The following will describe in detail the steps S101 , S102 and S103 of the control method CM of the automated tray transporting device 100 .

[0083] Step S101: Control the transport vehicle 110 to move to a target location.

[0084] In this embodiment, the control element C controls the automatic carrier plate handling device 100 to move to the target position. Figure 1 as well as Figure 2 As shown, the target location is a location adjacent to the display shelf 200. Figure 1 as well as Figure 2 As shown, the display rack 200 is configured to accommodate the carrier tray TR.

[0085] In some embodiments, the display rack 200 may be, for example, a temporary storage area for placing the carrier tray TR located in a final test sorting handler (FTHandler).

[0086] Step S102 : actuating the robot arm 120 to move the clamping device 130 to be adjacent to at least one carrier tray TR.

[0087] Please continue to refer to Figure 1 as well as Figure 2 In this embodiment, step S102 is performed after step S101. Figure 1 as well as Figure 2 As shown, after the control element C controls the transport carrier 110 to move to the target position, the control element C actuates the robot arm 120 to move the clamping device 130 adjacent to the carrier plate TR. For example, the carrier plate TR may be a carrier plate TR placed on the carrier platform 210 of the display rack 200. Figure 1 as well as Figure 2 As shown, in some embodiments, when an operator wants to transport a tray TR placed on the carrying platform 210 of a display rack 200 through the automated tray transport device 100, the operator can actuate the robotic arm 120 through the control element C, and the robotic arm 120 drives the clamping device 130 to be adjacent to the tray TR placed on the carrying platform 210 of the display rack 200. For example, the tray TR can be the tray TR placed on the carrying platform 112 of the automated tray transport device 100. Figure 1 as well as Figure 2As shown, in some embodiments, when an operator wants to transport a carrier tray TR placed on the carrier platform 112 of the automated carrier tray transporting device 100 through the automated carrier tray transporting device 100, the operator can actuate the robotic arm 120 through the control element C, and the robotic arm 120 drives the clamping device 130 to be adjacent to the carrier tray TR placed on the carrier platform 112 of the automated carrier tray transporting device 100.

[0088] like Figure 1 as well as Figure 2 As shown, in some embodiments, the robot arm 120 includes joints that rotate with different directions as rotation axes. The present disclosure is not intended to limit the number of the above joints.

[0089] In some embodiments, each tray TR placed on the platform 210 of the display rack 200 or on the platform 112 of the automated tray handling device 100 is stacked. Specifically, a plurality of trays TR are placed on the platform 210 of the display rack 200 or on the platform 112 of the automated tray handling device 100 in a "stack" unit. Figure 1 as well as Figure 2 As shown, for example, a stack of carrier trays TR may be placed on each placement rack 114 or placement rack 220. In some embodiments, each stack of carrier trays TR may include any number of carrier trays TR.

[0090] The structure and function of each component included in the clamping device 130 of this embodiment and the connection relationship between the components will be described in detail below.

[0091] Please refer to Figure 5 . Figure 5 FIG. 1 is a perspective view of a clamping device 130 according to an embodiment of the present disclosure. Figure 5 As shown, in this embodiment, the clamping device 130 further includes a rotatable joint RC, a fixing member 134, a fixing frame 135, a pressing assembly 136, and a lateral movement assembly 137. The fixing member 134 is connected to the rotatable joint RC. The rotatable joint RC is rotatable relative to the robot arm 120 and is configured to allow the clamping device 130 to connect with the robot arm 120. In other words, the fixing member 134 is connected to the robot arm 120 via the rotatable joint RC. Since the rotatable joint RC is rotatable relative to the robot arm 120, the state of the clamping device 130 in space can be more flexibly controlled by the control element C. Figure 5As shown, the first buckle member 132 and the second buckle member 133 are connected to opposite sides of the fixing member 134 and are arranged in a first direction (e.g., direction X). The fixing frame 135 is fixed to the fixing member 134. The pressing assembly 136 is connected to the fixing frame 135. The lateral moving assembly 137 is connected between the first buckle member 132 and the fixing member 134 and between the second buckle member 133 and the fixing member 134. The lateral moving assembly 137 is configured to allow the first buckle member 132 and the second buckle member 133 to move toward each other and move away from each other in the first direction (e.g., direction X).

[0092] like Figure 5 As shown, in some embodiments, the clamping device 130 includes two fixing members 134 , and the actuating element 131 is located between the two fixing members 134 .

[0093] like Figure 5 As shown, in some embodiments, the clamping device 130 includes two fixing frames 135, and the two fixing frames 135 are respectively connected to the two fixing members 134. It should be noted that, Figure 5 Only one fixing bracket 135 can be seen from the perspective of FIG. 1 , and the other fixing bracket 135 is actually located on the back side of the actuating element 131 .

[0094] like Figure 5 As shown, in this embodiment, the pressing assembly 136 further includes a pressure rod 1361 and a pressing portion 1362. In some embodiments, the pressing assembly 136 may include two pressure rods 1361 and two pressing portions 1362, and one of the pressing portions 1362 is connected to one of the pressure rods 1361, and the other pressing portion 1362 is connected to the other pressure rod 1361. The two pressure rods 1361 are respectively connected to the fixed frame 135. The two pressing portions 1362 are respectively connected to the ends of the two pressure rods 1361 away from the fixed frame 135 and are configured to press the carrier plate TR. In some embodiments, the two pressing portions 1362 are respectively pivotally connected to the ends of the two pressure rods 1361 away from the fixed frame 135. In some embodiments, the two pressing portions 1362 are configured to move on the carrier plate TR along the second direction (for example, direction Y) and rotate around an axis parallel to the first direction (for example, direction X) when pressing the carrier plate TR. The operation of the two pressing portions 1362 will be described in detail below.

[0095] Please refer to Figure 6 as well as Figure 7 . Figure 6 as well as Figure 7 FIG. 1 is a cross-sectional view of a pressing component 136 according to another embodiment of the present disclosure. Figure 6 as well as Figure 7 As shown, in some embodiments, each pressure rod 1361 can be, for example, an elastic telescopic rod. In some embodiments, each pressure rod 1361 includes two rod bodies PL and an elastomer EL. One of the rod bodies PL is connected to the fixing frame 135, and the other rod body PL is connected to the pressing portion 1362. In some embodiments, the rod bodies PL are fitted with each other. The elastomer EL is arranged in the rod body PL connected to the fixing frame 135. In some embodiments where the pressure rod 1361 includes the elastomer EL, the elastic restoring force provided by the elastomer EL can enhance the effect of the pressing portion 1362 pressing the carrier plate TR. In more detail, the elastomer EL provides resistance when the rod body PL is compressed along the telescopic direction SD. When the pressing portion 1362 abuts against the carrier plate TR, the rod body PL connected to the pressing portion 1362 compresses the elastomer EL, and the elastic restoring force provided by the elastomer EL causes the pressing portion 1362 to press down the carrier plate TR along the pressing direction PD, so that the carrier plate TR can be stably transported during transportation.

[0096] In some embodiments, the pressing portion 1362 may be a roller pivotally connected to the pressing rod 1361 .

[0097] like Figure 5 As shown, in some embodiments, the clamping device 130 further includes a distance measuring sensor DMS disposed on the fixing frame 135. The distance measuring sensor DMS is configured to emit light L along a third direction (e.g., direction Z) that is different from the first direction (e.g., direction X) or the second direction (e.g., direction Y). In some embodiments, the number of the distance measuring sensors DMS may be two. In some embodiments in which the number of the distance measuring sensors DMS is two, the two distance measuring sensors DMS are respectively disposed on opposite sides of the actuating element 131. Moreover, in a top view, the two distance measuring sensors DMS may be disposed along a diagonal direction. For example, one of the distance measuring sensors DMS is located on one side of the actuating element 131 and is close to the second buckle 133, and the other distance measuring sensor DMS is located on the other side of the actuating element 131 and is close to the first buckle 132.

[0098] Please refer to Figure 8 . Figure 8 According to one embodiment of the present disclosure, Figure 5 A partial enlarged view of the clamping device 130. Figure 5 as well as Figure 8As shown, in this embodiment, the fixing member 134 further includes a plurality of slide rails 1342 and a plurality of slide rails 1343, and the lateral movement assembly 137 further includes a plurality of connecting members 1371, a plurality of first sliders 1372 and a plurality of second sliders 1373. For the sake of simplicity, the outlines of some connecting members 1371 are drawn with dotted lines. In some embodiments, the slide rail 1342 is located on one side of the fixing member 134 close to the first buckle member 132, and the slide rail 1343 is located on the other side of the fixing member 134 close to the second buckle member 133. Figure 8 As shown, in some embodiments, the plurality of slide rails 1342 and the plurality of slide rails 1343 respectively protrude outward from the outer surface of the fixing member 134. In some embodiments, the plurality of slide rails 1342 and the plurality of slide rails 1343 extend parallel to the first direction (eg, direction X). Figure 8 As shown, the first slider 1372 is slidably connected to the slide rail 1342, and the second slider 1373 is slidably connected to the slide rail 1343. Figure 8 As shown, some of the connecting members 1371 are connected between the first slider 1372 and the first buckle member 132, and other connecting members 1371 are connected between the second slider 1373 and the second buckle member 133. Through the above-mentioned structural configuration, the first buckle member 132 and the second buckle member 133 can move toward each other and move away from each other at a substantially same speed in a first direction (e.g., direction X). The design of the above-mentioned slide rail and slider can make the first buckle member 132 and the second buckle member 133 move toward each other and move away from each other more stably, and avoid the first buckle member 132 and the second buckle member 133 from tilting and shaking when they move toward each other and move away from each other.

[0099] In some embodiments, the slide rails 1342 and 1343 of the fixing member 134 are modified into slide grooves so that the first slider 1372 and the second slider 1373 are respectively connected to the above-mentioned grooves, which is also within the spirit and scope of the present disclosure.

[0100] Please refer to Fig. 9 . Fig. 9 FIG. 1 is a cross-sectional view of a clamping device 130 in a first state S1 according to an embodiment of the present disclosure. Fig. 9 As shown, in this embodiment, the pressing assembly 136 further includes a pivot portion 1363, a torsion spring 1364 and a contact member 1365. The pivot portion 1363 is located between the fixing frame 135 and the two pressing portions 1362, and the two pressing rods 1361 are pivotally connected to the pivot portion 1363. The torsion spring 1364 is disposed on the pivot portion 1363. The contact member 1365 is disposed on one side of the two pressing rods 1361 close to the fixing frame 135 and is located between the two pressing rods 1361. Fig. 9As shown, the two pressing rods 1361 pivotally connected to the pivoting portion 1363 rotate along an axis parallel to the first direction (eg, direction X). Fig. 9 As shown, when the clamping device 130 is in the first state S1, the two pressure rods 1361 are sandwiched at a first angle θ1. In detail, the two pressure rods 1361 jointly clamp the contact member 1365 and are sandwiched at the first angle θ1. In some embodiments, the two pressure rods 1361 are jointly clamped by the elastic restoring force of the torsion spring 1364. Since the clamping device 130 includes a contact member 1365 sandwiched between the two pressure rods 1361, when the two pressure rods 1361 are close to each other due to the elastic restoring force of the torsion spring 1364, the two pressure rods 1361 can be blocked by the contact member 1365 to avoid direct collision and damage. In addition, the contact member 1365 pre-clamps the two pressure rods 1361 at an angle, so that when the two pressure rods 1361 press the carrier TR through the pressing portion 1362, the two pressure rods 1361 can be smoothly opened.

[0101] Please refer to Fig.10 . Fig.10 FIG. 1 is a cross-sectional view of a clamping device 130 in a second state S2 according to an embodiment of the present disclosure. Fig.10 As shown, when the clamping device 130 is in the second state S2, the two pressure rods 1361 are sandwiched at a second angle θ2. In detail, the two pressure rods 1361 are sandwiched at the second angle θ2 without clamping the contact member 1365, and the second angle θ2 is greater than the first angle θ1. In some embodiments, the two pressure rods 1361 are moved away from each other by an external force, and thus do not clamp the contact member 1365. Specifically, when the pressing portion 1362 is subjected to an external force in a bottom-up direction (e.g., direction Z) (e.g., an operator manually pulls up or pushes against an object), the two pressure rods 1361 pivoted to the pivoting portion 1363 open and sandwich the second angle θ2. In this case, the two pressure rods 1361 are subjected to the elastic restoring force of the torsion spring 1364 but do not contact the contact member 1365.

[0102] In some embodiments, the torsion spring 1364 may also be replaced by any structure or means that enables the two pressure rods 1361 to clamp the contact member 1365 together.

[0103] In some embodiments, the contact member 1365 may be, for example, a roller. In some embodiments, the outer surface of the contact member 1365 may include, for example, rubber or other materials that can buffer external force impact.

[0104] Please refer to Fig.11 . Fig.11FIG. 1 is a cross-sectional view of a clamping device 130 in a second state S2 according to another embodiment of the present disclosure. In this embodiment, the contact member 1365 serves as a buffer member. Fig.11 As shown, an elastic telescopic rod EP is provided between the contact piece 1365 and the fixing frame 135. Each elastic telescopic rod EP includes a rod body PL and an elastomer EL. The rod body PL is connected between the contact piece 1365 and the fixing frame 135. The elastomer EL is arranged in the rod body PL. In the usage scenario, when there are many carrying trays TR to be transported, the contact piece 1365 can provide downward pressure along the pressing direction PD to abut the carrying tray TR in the center of the carrying tray TR through the elastic telescopic rod EP of the elastomer EL that is telescoped along the telescopic direction SD. In this case, the contact piece 1365 abutting the center of the carrying tray TR and the several pressing parts 1362 abutting on the two side edges of the carrying tray TR press down and fix the carrying tray TR at multiple points, so that the carrying tray TR can be stably transported during transportation.

[0105] The step S103 of the control method CM of this embodiment will be described in detail below.

[0106] Step S103 : controlling the actuating element 131 to actuate the first locking member 132 and the second locking member 133 to move toward each other so as to clamp at least one carrier tray TR.

[0107] Please refer to Fig.12 . Fig.12 FIG. 1 is a schematic diagram of a clamping device 130 in a first state S1 clamping a carrier plate TR according to an embodiment of the present disclosure. Fig.12 As shown, in this embodiment, the first buckle member 132 and the second buckle member 133 are configured to move toward each other to clamp the carrier TR. In detail, when the first buckle member 132 and the second buckle member 133 jointly clamp, for example, a carrier TR, the clamping device 130 is in the first state S1. When the clamping device 130 is in the first state S1, the two pressing portions 1362 press against the top surface TRa of the carrier TR, and the two pressing rods 1361 pivotally connected to the pivoting portion 1363 are opened, so that the two pressing rods 1361 clamp the first angle θ1.

[0108] In some embodiments, the two pressing portions 1362 specifically press against the side edge of the top surface TRa of the carrier tray TR. Since the edge of the carrier tray TR is designed as a protruding frame, when several carrier trays TR are stacked, the frames of each carrier tray TR will contact each other. Therefore, when the two pressing portions 1362 press against the frame of the carrier tray TR, the downward force transmission will be more stable and will not press against the integrated circuit (not shown) loaded in the carrier tray TR.

[0109] Please refer to Fig.13 . Fig.13FIG. 1 is a side view of a clamping device 130 clamping a carrier plate TR in a first state S1 according to an embodiment of the present disclosure. Fig.13 As shown, the clamping device 130 further includes a bearing portion 138. In the present embodiment, the clamping device 130 includes two bearing portions 138. The two bearing portions 138 are respectively disposed at the ends of the first buckle 132 and the second buckle 133 away from the fixing member 134. The bearing portion 138 has a bearing surface 138a configured to carry the above-mentioned carrier TR. In some embodiments, the bearing portion 138 disposed on the first buckle 132 and the bearing portion 138 disposed on the second buckle 133 protrude toward each other along a first direction (e.g., direction X). In some embodiments, the bearing portion 138 disposed on the first buckle 132 and the bearing portion 138 disposed on the second buckle 133 face each other. Since the clamping device 130 includes the bearing portion 138, the bearing portion 138 can not only carry the carrier TR, but also prevent the carrier TR from slipping off the clamping device 130.

[0110] Please continue to refer to Fig.13 .like Fig.13 As shown, the light L emitted by the distance sensor DMS is blocked by the carrier plate TR. The distance sensor DMS can sense the actual value through the reflection of the light L by the top surface TRa of the carrier plate TR. In some embodiments, the operator can input several predetermined values ​​corresponding to the number of carrier plates TR clamped by the clamping device 130 in the control element C in advance. For example, these predetermined values ​​refer to the values ​​that the distance sensor DMS should theoretically sense when the clamping device 130 clamps a certain number of carrier plates TR. In more detail, the distance sensor DMS can measure the straight-line distance between the top surface TRa of the carrier plate TR closest to the distance sensor DMS and the distance sensor DMS, and obtain the above-mentioned actual value. This actual value can reflect how many carrier plates TR are currently clamped by the clamping device 130. As mentioned above, since the operator has input the above-mentioned predetermined values ​​in advance, the control element C can determine whether to actuate the robot arm 120 based on the actual value sensed by the distance sensor DMS and the theoretical predetermined value.

[0111] In some embodiments, the predetermined value may be a value or a range of values. In an embodiment where the predetermined value is a value, if the actual value is equal to the predetermined value, the control element C determines that the actual value is consistent with the predetermined value. In an embodiment where the predetermined value is a range of values, if the actual value falls within the range of values ​​of the predetermined value, the control element C determines that the actual value is consistent with the predetermined value.

[0112] In some embodiments where the clamping device 130 includes only one distance measuring sensor DMS, the operator can pre-set in the control element C how many carrier plates TR the clamping device 130 is expected to clamp in a single operation. Then, the clamping device 130 clamps a certain number of carrier plates TR through the first buckle 132 and the second buckle 133, and the distance measuring sensor DMS senses the actual value. When the control element C determines that the actual value is consistent with the predetermined value, it means that the number of carrier plates TR clamped by the clamping device 130 is consistent with the number of carrier plates TR expected to be clamped or that the carrier plates TR are horizontally stacked on each other in the clamping device 130, then the control element C continues to actuate the robot arm 120 to complete the operation of transporting the carrier plates TR performed by the operator. When the control element C determines that the actual value does not match the predetermined value, which means that the number of carrier plates TR clamped by the clamping device 130 does not match the expected number of carrier plates TR to be clamped or that the carrier plates TR are not horizontally stacked with each other in the clamping device 130, the control element C stops actuating the robot arm 120 to interrupt the operation of transporting the carrier plates TR performed by the operator.

[0113] In some embodiments where the clamping device 130 only includes a plurality of distance measuring sensors DMS, the clamping device 130 clamps a certain number of carrier plates TR through the first buckle 132 and the second buckle 133, and each of the plurality of distance measuring sensors DMS senses an actual value. When the control element C determines that the plurality of actual values ​​of the plurality of distance measuring sensors DMS are the same, it means that the carrier plates TR are horizontally stacked with each other in the clamping device 130, and the control element C continues to actuate the robot arm 120 to complete the operation of transporting the carrier plates TR performed by the operator. When the control element C determines that the plurality of actual values ​​of the plurality of distance measuring sensors DMS are different, it means that the carrier plates TR are not horizontally stacked with each other in the clamping device 130, and the control element C stops actuating the robot arm 120 to interrupt the operation of transporting the carrier plates TR performed by the operator.

[0114] Through the above structural configuration, such as Fig.12 as well as Fig.13As shown, after the control element C executes step S102 to move the clamping device 130 to a position adjacent to the carrier plate TR, the control element C controls the actuating element 131 to actuate the first buckle member 132 and the second buckle member 133 to move toward each other to clamp the carrier plate TR. When the first buckle member 132 and the second buckle member 133 clamp, for example, a carrier plate TR, the pressing portion 1362 presses the top surface TRa of the carrier plate TR, and the two pressure rods 1361 are sandwiched at a first angle θ1. In addition, the distance measuring sensor DMS senses the actual value when the clamping device 130 clamps, for example, a carrier plate TR, and the control element C determines based on the actual value and the predetermined value to actuate and stop actuating the robot arm 120 to achieve the purpose of foolproofing.

[0115] In the use scenario, when the clamping device 130 is moved by the robot arm 120 to a position adjacent to a carrier TR to be transported (for example, the clamping device 130 is located directly above the above-mentioned carrier TR), the control element C controls the clamping device 130 to move downward so that the carrier TR is located between the first buckle 132 and the second buckle 133. While the clamping device 130 moves downward, the carrier TR contacts the pressing portion 1362, so that the pressing portion 1362 presses the carrier TR and the two pressure rods 1361 are sandwiched at a first angle θ1. This ensures that the automated carrier transport device 100 has better stability and safety when picking up and placing the carrier TR, and it is not easy to cause the stacked carrier TR to shake.

[0116] like Fig.13 as well as Fig.15 As shown, in some other embodiments, the lateral movement assembly 137 further includes two guide rods 1374 and two connecting members 1375. The two guide rods 1374 are disposed on the actuating element 131, and the two guide rods 1374 are actuated by the actuating element 131 to move toward each other and move away from each other. One of the connecting members 1375 is connected between the guide rod 1374 and the first buckle member 132, and the other connecting member 1375 is connected between the guide rod 1374 and the second buckle member 133. In more detail, when the actuating element 131 is actuated, the two guide rods 1374 drive the two connecting members 1375 respectively, and the two connecting members 1375 simultaneously drive the first buckle member 132 and the second buckle member 133 respectively, so that the first buckle member 132 and the second buckle member 133 are opened and closed. Through the design of the connecting member 1371, the first slider 1372, the second slider 1373, the slide rail 1342 and the slide rail 1343, the first buckle member 132 and the second buckle member 133 can be fixed by the connecting member 1371 located on both sides respectively, so that the movement of the first buckle member 132 and the second buckle member 133 is more stable.

[0117] Please refer to Fig.14 . Fig.14FIG. 1 is a schematic diagram of a clamping device 130 in a second state S2 clamping a carrier plate TR according to an embodiment of the present disclosure. Fig.14 As shown, in this embodiment, the first buckle member 132 and the second buckle member 133 are configured to move toward each other to clamp a plurality of carrier trays TR. In detail, when the first buckle member 132 and the second buckle member 133 jointly clamp a plurality of carrier trays TR (for example, more than twenty carrier trays TR), the clamping device 130 is in the second state S2. When the clamping device 130 is in the second state S2, the two pressing portions 1362 press against the top surface TRa of the carrier tray TR, and the two pressing rods 1361 pivotally connected to the pivoting portion 1363 are opened, so that the two pressing rods 1361 clamp the second angle θ2.

[0118] Please refer to Fig.15 . Fig.15 FIG. 1 is a side view of a clamping device 130 clamping a carrier plate TR in a second state S2 according to an embodiment of the present disclosure. Fig.15 The structural configuration of the clamping device 130 shown is similar to Fig.13 The structure and configuration of the clamping device 130 shown in the figure are similar, so it will not be repeated here. The difference is that when the clamping device 130 is in the second state S2, the contact member 1365 abuts against the top surface TRa of the carrier plate TR. Fig.15 shown.

[0119] Through the above structural configuration, such as Fig.14 as well as Fig.15 As shown, after the control element C executes step S102 to move the clamping device 130 to a position adjacent to the carrier plate TR, the control element C controls the actuating element 131 to actuate the first buckle member 132 and the second buckle member 133 to move toward each other to clamp a plurality of carrier plates TR. When the first buckle member 132 and the second buckle member 133 clamp, for example, more than twenty carrier plates TR, the pressing portion 1362 presses the top surface TRa of the carrier plate TR, and the two pressure rods 1361 are sandwiched at a second angle θ2, and at the same time, the contact member 1365 can press against the top surface TRa of the carrier plate TR. In addition, the distance measuring sensor DMS senses the actual value when the clamping device 130 clamps, for example, more than twenty carrier plates TR, and the control element C determines based on the actual value and the predetermined value to actuate and stop actuating the robot arm 120.

[0120] In the use scenario, when the clamping device 130 is moved by the robot arm 120 to a position adjacent to the plurality of carrier trays TR to be transported (for example, the clamping device 130 is located directly above the plurality of carrier trays TR), the control element C controls the clamping device 130 to move downward so that the carrier tray TR is located between the first buckle 132 and the second buckle 133. While the clamping device 130 moves downward, the carrier tray TR contacts the pressing portion 1362, so that the pressing portion 1362 presses the carrier tray TR and the two pressing rods 1361 are sandwiched at a second angle θ2. Furthermore, when the number of the plurality of carrier trays TR is greater than a certain number, the carrier tray TR contacts the contact member 1365, so that the contact member 1365 presses against the carrier tray TR. In some embodiments, when the contact member 1365 abuts against the carrier plate TR, the reaction force fed back to the control element C by the contact member 1365 or the distance detection of the carrier plate TR by the distance sensor DMS can be used to control the clamping device 130 to stop moving downward, so as to avoid damaging the carrier plate TR due to the continuous downward movement of the clamping device 130. This can not only ensure that the automated carrier plate handling device 100 has better stability and safety when placing and picking up the carrier plate TR, but also prevent the clamping device 130 from clamping too many carrier plates TR at a time.

[0121] In some embodiments, Fig.13 as well as Fig.15 As shown, when the carrier tray TR is clamped by the first buckle 132 and the second buckle 133, the carrier tray TR located at the bottom does not contact the bearing surface 138a of the bearing portion 138. In some other embodiments, when the carrier tray TR is clamped by the first buckle 132 and the second buckle 133, the carrier tray TR located at the bottom contacts the bearing surface 138a of the bearing portion 138. For example, during the process of the automated carrier tray transporting device 100 transporting the carrier tray TR, if the clamping force between the first buckle 132 and the second buckle 133 is insufficient to maintain the carrier tray TR being tightly clamped thereto, one or more carrier trays TR will slide downward due to gravity, so that the bearing portion 138 can receive one or more carrier trays TR, and the carrier tray TR located at the bottom contacts the bearing surface 138a of the bearing portion 138.

[0122] Please refer to Fig.16 . Fig.16 FIG. 1 is a partial enlarged view of a clamping device 130 according to an embodiment of the present disclosure. Fig.16As shown, in this embodiment, the first buckle member 132 further includes a first frame 1322 and a first cover 1324. In some embodiments, the first frame 1322 has an opening, and the first cover 1324 covers the opening of the first frame 1322. The second buckle member 133 further includes a second frame 1332 and a second cover 1334. In some embodiments, the second frame 1332 also has an opening, and the second cover 1334 covers the opening of the second frame 1332. Fig.16 As shown, in the present embodiment, the clamping device 130 further includes an elastic pressure block 139 and a touch pressure sensor TPS. The elastic pressure block 139 is disposed at one end of the first buckle member 132 and the second buckle member 133 away from the fixing member 134. The touch pressure sensor TPS is disposed on the first buckle member 132 and the second buckle member 133 and is disposed adjacent to the elastic pressure block 139. Specifically, when the elastic pressure block 139 touches an object, the elastic pressure block 139 triggers the touch pressure sensor TPS. The touch pressure sensor TPS is electrically connected to the control element C. The touch pressure sensor TPS is configured to detect whether the clamping device 130 is misaligned relative to the carrier plate TR to be transported. This will be described in detail below.

[0123] Please continue to refer to Fig.16 When the clamping device 130 continues to move downward and causes the carrier tray TR to be transported at the top to pass between the first buckle 132 and the second buckle 133, the elastic pressure block 139 does not touch the carrier tray TR at the top, which means that the clamping device 130 is aligned with the carrier tray TR to be transported, so that the carrier tray TR will not be touched by the elastic pressure block 139 or interfered by the carrier portion 138 during the continuous downward movement of the clamping device 130. When the clamping device 130 continues to move downward and causes the elastic pressure block 139 to touch the carrier tray TR at the top, it means that the clamping device 130 is misaligned with the carrier tray TR to be transported, so that the carrier tray TR to be transported will be touched by the elastic pressure block 139 or interfered by the carrier portion 138 during the continuous downward movement of the clamping device 130, so that the carrier tray TR to be transported cannot pass between the first buckle 132 and the second buckle 133 during the continuous downward movement of the clamping device 130.

[0124] In some other embodiments, anti-slip members (not shown) are provided on the opposite surfaces of the first buckle member 132 and the second buckle member 133. For example, the anti-slip member may be provided on the first frame 1322 and the second frame 1332. Alternatively, the anti-slip member may be provided on the first cover plate 1324 and the second cover plate 1334. In some embodiments, the anti-slip member may be a soft material such as rubber, a cushion, or the like. When the first buckle member 132 and the second buckle member 133 clamp the carrier plate TR, the anti-slip member and the carrier plate TR are in contact with each other. In addition to increasing the friction between the first buckle member 132 and the second buckle member 133 and the carrier plate TR, the anti-slip member may also absorb vibrations and provide buffering, so that the clamping of the carrier plate TR is more stable.

[0125] Please refer to Fig.17 . Fig.17 FIG. 1 is another partially enlarged view of a clamping device 130 according to an embodiment of the present disclosure. For the sake of simplicity, Fig.17 The first frame 1322 and the supporting portion 138 disposed on the first buckle member 132 are omitted. Fig.17 As shown, in this embodiment, the clamping device 130 further includes a plurality of level sensors HS. The level sensors HS are disposed on the first buckle member 132 and the second buckle member 133 and are configured to emit light L along a first direction (e.g., direction X). In some embodiments, the level sensor HS is higher than the bearing surface 138a of the bearing portion 138. The level sensor HS is electrically connected to the control element C. The level sensor HS is configured for the control element C to determine whether it is in a condition where the actuating element 131 can be controlled to actuate the first buckle member 132 and the second buckle member 133 to move toward each other. This will be described in detail below.

[0126] like Fig.16 as well as Fig.17 As shown, in some embodiments, the first frame 1322 and the second frame 1332 are hollow and have a receiving space (not shown). In some embodiments, the elastic pressing block 139, the touch pressure sensor TPS and the level sensor HS are all disposed in the receiving space of the first frame 1322 and the second frame 1332.

[0127] Through the above structural configuration, such as Fig.16 as well as Fig.17As shown, after the control element C executes step S102 to move the clamping device 130 to a position adjacent to the carrier plate TR, the control element C controls the clamping device 130 to continue to move downward. When the clamping device 130 is aligned relative to the carrier plate TR to be transported, the elastic pressure block 139 does not touch the carrier plate TR located at the top and does not trigger the touch pressure sensor TPS. When the clamping device 130 is misaligned relative to the carrier plate TR to be transported, the elastic pressure block 139 touches the carrier plate TR located at the top. When the clamping device 130 moves downward and the elastic pressure block 139 triggers the touch pressure sensor TPS, the touch pressure sensor TPS sends a warning signal to the control element C, and the control element C then stops controlling the robot arm 120 to drive the clamping device 130 to move downward, and stops the actuating element 131 from actuating the first buckle 132 and the second buckle 133. Next, under the premise that the clamping device 130 is normally aligned with the carrier TR to be transported, when the control element C continues to control the clamping device 130 to move downward, the light L emitted by the horizontal sensor HS is blocked by the carrier TR to be transported. Next, when the clamping device 130 continues to move downward, and the horizontal sensor HS continues to sense through the light L that the carrier TR to be transported is located above the light L (specifically, the light L stops being blocked by the carrier TR to be transported), the control element C controls the actuating element 131 to actuate the first buckle member 132 and the second buckle member 133 to move toward each other in the first direction (for example, direction X) to clamp the carrier TR to be transported. Since the horizontal sensor HS, the elastic pressure block 139 and the touch pressure sensor TPS continuously detect the carrier TR, the automated carrier handling device 100 can not only confirm whether the first buckle clamp 132 and the second buckle clamp 133 are clamped to the carrier TR normally, but also can simultaneously confirm whether the first buckle clamp 132 and the second buckle clamp 133 are in a crooked and non-horizontal clamping state. This ensures that when the automated carrier handling device 100 takes and places the carrier TR, the control element C will not control the clamping device 130 to forcibly press down and damage the carrier TR, and ensures that the first buckle clamp 132 and the second buckle clamp 133 are actuated to clamp only after the carrier portion 138 has exceeded all the carrier TRs to be transported, so that the clamping device 130 can completely clamp the entire stack of carrier TRs.

[0128] From the above detailed description of the specific implementation methods of the present disclosure, it can be clearly seen that in the clamping device and the automated tray handling device of the present disclosure, since the clamping device includes a first buckle and a second buckle that can move toward and away from each other to clamp the tray, the automated tray handling device can carry a large number of stacked trays (for example, more than twenty trays at a time), thereby replacing traditional manual handling. In the clamping device and the automated tray handling device of the present disclosure, since the clamping device includes a pressing component, the automated tray handling device can have better stability and safety when taking and placing the trays, and the stacked trays are not easily shaken. In the clamping device and the automated tray handling device of the present disclosure, if it is necessary to respond to various needs within the factory, the design of the clamping device can be changed at any time according to the above needs without changing the overall structure of the automated tray handling device, which has the advantage of high design freedom. In the clamping device and the automatic tray handling device disclosed in the present invention, since the automatic tray handling device includes an automatic control element, the automatic tray handling device can be applied to the final test (Final Test) intelligent test factory, which can effectively track the placement of the batch of goods and reduce the time for personnel to find the batch of goods. The clamping device and the automatic tray handling device disclosed in the present invention do not require additional modification of the current architecture of the existing final test sorting processor (FT Handler) in the factory, so the introduction cost can be greatly reduced.

[0129] Although the present disclosure has been disclosed in the above embodiments, it is not intended to limit the present disclosure. Anyone skilled in the art may make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be determined by the claims.

Claims

1. A clamping device for clamping at least one carrier plate, characterized in that: Include: Fixings; A fixing frame, fixed to the fixing member; A first buckle member and a second buckle member are connected to opposite sides of the fixing member and arranged in a first direction; an actuating element configured to actuate the first buckle member and the second buckle member to move toward and away from each other in the first direction; as well as The pressing component comprises: Two pressure rods are respectively connected to the fixing frame; Two pressing portions, respectively connected to the ends of the two pressing rods away from the fixing frame and configured to press the at least one carrying plate; as well as The pivoting portion is located between the fixing frame and one of the two pressing portions, and the two pressing rods are pivotally connected to the pivoting portion.

2. The clamping device according to claim 1, characterized in that: Further comprising a lateral movement component connected between the first buckle component and the fixing component and between the second buckle component and the fixing component and configured to allow the first buckle component and the second buckle component to move toward and away from each other in the first direction, the lateral movement component further comprising: A first sliding block and a second sliding block are slidably connected to a sliding rail located on the fixing member, and the sliding rail extends parallel to the first direction; and A connecting member is connected between the first sliding block and the first buckling member and between the second sliding block and the second buckling member.

3. The clamping device according to claim 1, characterized in that: The pressing component further comprises: a torsion spring disposed on the pivot portion; and The contact piece is arranged on one side of the two pressure rods close to the fixing frame and is located between the two pressure rods, and the two pressure rods jointly clamp the contact piece to form an angle.

4. The clamping device according to claim 1, characterized in that: The two pressure rods are configured to rotate along an axis parallel to the first direction.

5. The clamping device according to claim 1, characterized in that: Further including: a bearing portion, which is disposed at ends of the first buckle member and the second buckle member away from the fixing member and has a bearing surface configured to bear the at least one bearing plate, and the bearing portion disposed on the first buckle member and the bearing portion disposed on the second buckle member protrude toward each other along the first direction, and the bearing portion disposed on the first buckle member and the bearing portion disposed on the second buckle member face each other; as well as A plurality of level sensors are disposed on the first buckle member and the second buckle member and are configured to emit light along the first direction, and the plurality of level sensors are higher than the carrying surface.

6. The clamping device according to claim 1, characterized in that: Further comprising one or more ranging sensors disposed on the fixing frame and configured to emit light along a third direction different from the first direction.

7. The clamping device according to claim 1, characterized in that: Further including: an elastic pressing block, disposed at one end of the first buckling member and the second buckling member away from the fixing member; and The touch pressure sensor is disposed on the first buckle member and the second buckle member and is adjacent to the elastic pressing block.

8. An automated carrier plate handling device, characterized in that: Include: Transport vehicles; a robotic arm rotatably connected to the transport vehicle; and A clamping device, rotatably connected to an end of the robot arm away from the transport carrier and configured to clamp at least one carrier plate, the clamping device comprising: A fixing member connected to the mechanical arm; A fixing frame, fixed to the fixing member; A first buckle member and a second buckle member are connected to opposite sides of the fixing member and arranged in a first direction; an actuating element configured to actuate the first buckle member and the second buckle member to move toward and away from each other in the first direction; as well as The pressing component comprises: Two pressure rods are respectively connected to the fixing frame; Two pressing portions, respectively connected to the ends of the two pressing rods away from the fixing frame and configured to press the at least one carrying plate; as well as The pivoting portion is located between the fixing frame and one of the two pressing portions, and the two pressing rods are pivotally connected to the pivoting portion.

9. The automated carrier tray handling device according to claim 8, characterized in that: Further comprising a control element, the control element being configured to: Controlling the transport vehicle to move to a target location; by actuating the robot arm to move the clamping device adjacent to the at least one carrier plate; as well as The actuating element is controlled to actuate the first buckling component and the second buckling component to move toward each other in the first direction to clamp the at least one carrier plate.

10. The automated carrier tray handling device according to claim 8, characterized in that: It further comprises a placing rack disposed on the transport carrier and configured to accommodate the at least one carrying tray.

11. The automated carrier tray handling device according to claim 10, characterized in that: The placing rack comprises: A plurality of tracks disposed on the transport vehicle; and A plurality of clamping mechanisms are slidably connected to the plurality of rails and configured to clamp the at least one carrying plate.

12. The automated carrier tray handling device according to claim 10, wherein: It further includes a control element, wherein the control element is configured to control the robot arm to transport the at least one carrier plate to the placement rack.

13. The automated tray handling device according to claim 8, wherein: The clamping device further includes a lateral movement component connected between the first buckle component and the fixing component and between the second buckle component and the fixing component and configured to allow the first buckle component and the second buckle component to move toward and away from each other in the first direction, and the lateral movement component further includes: A first sliding block and a second sliding block are slidably connected to a sliding rail located on the fixing member, and the sliding rail extends parallel to the first direction; and A connecting member is connected between the first sliding block and the first buckling member and between the second sliding block and the second buckling member.

14. The automated tray handling device according to claim 8, wherein: The pressing component further comprises: a torsion spring disposed on the pivot portion; and The contact piece is arranged on one side of the two pressure rods close to the fixing frame and is located between the two pressure rods, and the two pressure rods jointly clamp the contact piece to form an angle.

15. The automated carrier tray handling device according to claim 8, wherein: The two pressure rods are configured to rotate along an axis parallel to the first direction.

16. The automated tray handling device according to claim 8, wherein: The clamping device further comprises: a bearing portion, which is disposed at ends of the first buckle member and the second buckle member away from the fixing member and has a bearing surface configured to bear the at least one bearing plate, and the bearing portion disposed on the first buckle member and the bearing portion disposed on the second buckle member protrude toward each other along the first direction, and the bearing portion disposed on the first buckle member and the bearing portion disposed on the second buckle member face each other; as well as A plurality of level sensors are disposed on the first buckle member and the second buckle member and are configured to emit light along the first direction, and the plurality of level sensors are higher than the carrying surface.

17. The automated carrier tray handling device according to claim 15, wherein: Further comprising a control element, the control element being configured to: When the clamping device moves downward and the multiple level sensors sense that the at least one carrier plate is above the light through the light, the actuating element is controlled to actuate the first buckle member and the second buckle member to move toward each other in the first direction to clamp the at least one carrier plate.

18. The automated tray handling device according to claim 8, wherein: The clamping device further includes one or more distance measuring sensors disposed on the fixing frame and configured to emit light along a third direction different from the first direction.

19. The automated carrier tray handling device according to claim 18, wherein: Further comprising a control element, the control element being configured to: When the clamping device clamps the at least one carrier plate and the actual values ​​sensed by the one or more distance measuring sensors through the reflection of the light through the at least one carrier plate do not match the predetermined values, the robot arm is stopped from being actuated.

20. The automated tray handling device according to claim 8, wherein: The clamping device further comprises: an elastic pressing block, disposed at one end of the first buckling member and the second buckling member away from the fixing member; and The touch pressure sensor is disposed on the first buckle member and the second buckle member and is adjacent to the elastic pressing block.

21. The automated carrier plate handling device according to claim 20, wherein: Further comprising a control element, the control element being configured to: When the clamping device moves downward and the elastic pressing block triggers the touch pressure sensor, the control of the mechanical arm to drive the clamping device to move downward is stopped.

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