Self-propelled substrate feeding and discharging system

Abstract

A self-propelled substrate feeding and discharging system is suitable for carrying a plurality of substrates and comprises a material box and a first self-propelled vehicle. The material box comprises a material rack and a plurality of material frames. The material frame is suitable for containing the base plate. And the first self-propelled vehicle is electrically driven and is used for carrying the material box and taking and placing the substrate from the material frame. The first self-propelled vehicle comprises a vehicle body unit, a conveying unit and a robot arm. The conveying unit comprises a conveying belt set used for moving the material boxes into or out of the vehicle body unit and a pulling and placing device used for taking and using one material frame. The pulling and releasing device is provided with at least one pair of telescopic cylinder sets arranged at intervals. And the robot arm is used for taking and placing the base plate of the material frame taken by the pulling and placing device. The robot arm comprises two electric clamping jaws. And each electric clamping jaw is provided with a plurality of paws. Automatic feeding and discharging can be achieved, manual operation is not needed, manpower is saved, and the production efficiency is good.

Description

Technical Field

[0001] This invention relates to a system for conveying plates, and more particularly to a self-propelled substrate loading and unloading system. Background Technology

[0002] Existing multi-axis drilling machines use independent servo control for each axis, which can improve drilling accuracy and perform drilling operations on multiple substrates simultaneously, resulting in high production efficiency.

[0003] Although the multi-axis drilling machine has the above advantages, the loading and unloading of the multi-axis drilling machine still relies on manual handling of the substrate, which not only wastes manpower and has low production efficiency, but also may cause misplacement. Summary of the Invention

[0004] The purpose of this invention is to provide a self-propelled substrate loading and unloading system that can save manpower.

[0005] The self-propelled substrate loading and unloading system of the present invention is suitable for transporting multiple substrates. The self-propelled substrate loading and unloading system includes a material box and a first self-propelled trolley.

[0006] The material box includes a material rack and a plurality of material frames that can be movably mounted on the material rack. The material frames are adapted to hold the substrate.

[0007] The first self-propelled vehicle is electrically driven and used to transport the material box and pick up and place the substrate from the material frame. The first self-propelled vehicle includes a vehicle body unit, a conveying unit, and a robotic arm. The vehicle body unit is electrically driven and travels along a material receiving and feeding path. The conveying unit is disposed on the top side of the vehicle body unit. The conveying unit includes a conveyor belt assembly for moving the material box into or out of the vehicle body unit, and a pull-and-place device for picking up one of the material frames. The pull-and-place device is movable relative to the material box and has at least one pair of spaced-apart telescopic cylinders. The robotic arm is disposed on the top side of the vehicle body unit and is electrically driven. The robotic arm is used to pick up and place the substrate from the material frame picked up by the pull-and-place device. The robotic arm includes two spaced-apart, electrically driven, electrically movable grippers that can move closer or further apart. Each of the electrically driven grippers has multiple spaced-apart hand grippers.

[0008] The self-propelled substrate loading and unloading system of the present invention includes a material rack having a frame and multiple pairs of partitions spaced apart on the frame. Each pair of partitions is spaced apart and opposite each other in the left-right direction and defines a slot. Each material frame is movably installed in the slot in the up-down direction. At least one pair of telescopic cylinder groups of the pulling and releasing device are spaced apart in the left-right direction. Each telescopic cylinder group has at least one material block that can move up and down.

[0009] The self-propelled substrate loading and unloading system of the present invention includes a frame, two protruding pins spaced apart on the top side of the frame, and two telescopic rails on the left and right sides of the frame. The protruding pins are used to abut against the material block of at least one pair of telescopic cylinders. The telescopic rails of each frame are respectively slidably mounted on the corresponding pair of partitions.

[0010] The self-propelled substrate loading and unloading system of the present invention further includes a conveying unit disposed on the vehicle body unit. The conveying unit has two spaced slide rails, two slide tables slidably disposed on the slide rails and respectively provided for at least one pair of telescopic cylinder groups of the pulling and releasing device, and at least one displacement driver for driving the slide tables to move.

[0011] The self-propelled substrate loading and unloading system of the present invention further includes two electrically driven grippers respectively disposed on the electrically driven grippers. Each of the electrically driven grippers has two pressure blocks that can move relative to two of the grippers of the corresponding electrically driven grippers. The pressure blocks and the two grippers are used to clamp the substrate.

[0012] The self-propelled substrate loading and unloading system of the present invention further includes each of the electric grippers having a linkage structure for mounting the pressure block, and a pressure driver for driving the linkage structure to move in order to move the pressure block.

[0013] The self-propelled substrate loading and unloading system of the present invention further includes two relatively movable slides for each of the electric grippers, and a gripping driver for driving the slides to move, wherein the gripper is driven by the slides.

[0014] The self-propelled substrate loading and unloading system of the present invention further includes a second self-propelled vehicle, which is electrically driven and used to carry the material box. The second self-propelled vehicle includes at least one feeder belt group, which is used to dock with the conveyor belt group of the first self-propelled vehicle and move the material box into or out of the first self-propelled vehicle.

[0015] The self-propelled substrate loading and unloading system of the present invention includes a second self-propelled vehicle comprising two feeding belt groups arranged in opposite directions. Each feeding belt group has two feeding belts spaced apart and used to carry the material box, and a feeding motor used to drive the feeding belts to rotate synchronously.

[0016] The self-propelled substrate loading and unloading system of the present invention further includes a turntable for the feeding belt group, wherein the turntable can be electrically driven to rotate and drive the feeding belt group to turn.

[0017] The beneficial effects of this invention are as follows: the vehicle body unit of the electrically driven first self-propelled vehicle can automatically transport the material box, and the electric gripper of the robot arm, in conjunction with the pull-and-place device, can pick up and place the substrate in the material box. By electrically controlling the first self-propelled vehicle to travel along the feeding path and automatically load and unload the substrate, no manual operation is required, resulting in labor savings, high production efficiency, and high product yield. Attached Figure Description

[0018] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the accompanying drawings, wherein:

[0019] Figure 1 This is a three-dimensional schematic diagram illustrating that an embodiment of the self-propelled substrate loading and unloading system of the present invention is applicable to loading and unloading a processing machine;

[0020] Figure 2 This is a side view schematic diagram of the embodiment described;

[0021] Figure 3 This is an incomplete perspective view illustrating a vehicle body unit, a conveying unit, and a material box placed in the conveying unit of a first self-propelled vehicle according to the embodiment described above.

[0022] Figure 4 yes Figure 3 Rear view diagram;

[0023] Figure 5 This is a perspective view of the material box;

[0024] Figure 6 This is a cross-sectional view of one of the material racks of the said material box;

[0025] Figure 7 It is similar to Figure 3 A three-dimensional view is provided, but the material box is omitted from the view.

[0026] Figure 8 Viewing it from another angle Figure 7 An incomplete 3D image;

[0027] Figure 9 This is a schematic diagram illustrating the alternating lifting and lowering of the two pairs of telescopic cylinders of the conveying unit;

[0028] Figure 10 This is a front view illustrating that a robotic arm of the first self-propelled vehicle is mounted on the vehicle body unit;

[0029] Figure 11 This is a 3D diagram illustrating the two electrically driven grippers and two electrically driven pressure grippers of the robot arm.

[0030] Figure 12This is a side view diagram, illustrating that the electric gripper has not yet gripped a substrate;

[0031] Figure 13 It is similar to Figure 12 A schematic diagram illustrating how the electric gripper grasps the substrate;

[0032] Figure 14 This is a side view illustrating the connection relationship between the electric gripper and the electric pressure gripper;

[0033] Figure 15 This is a three-dimensional schematic diagram illustrating how the electric gripper and the electric pressure gripper cooperate to clamp the substrate;

[0034] Figure 16 This is a perspective view illustrating a second self-propelled vehicle of the described embodiment;

[0035] Figure 17 The diagram illustrates one variation of the second self-propelled vehicle. Detailed Implementation

[0036] Before the invention is described in detail, it should be noted that similar elements are represented by the same numbers in the following description.

[0037] See Figure 1 and Figure 2 An embodiment of the self-propelled substrate loading and unloading system of the present invention is applicable to carrying multiple substrates 91 (see Figure 4 The substrate 91 is then fed to a processing machine 9 for loading and unloading. The processing machine 9, for example but not limited to, is a six-axis drilling machine capable of processing six substrates 91 simultaneously. The substrate 91, for example but not limited to, is a printed circuit board (PCB). In practical applications, the self-propelled substrate loading and unloading system of the present invention can transfer the substrate 91 back and forth between multiple processing machines 9 (i.e., one-to-many), or multiple self-propelled substrate loading and unloading systems can transfer the substrate 91 between multiple processing machines 9 (i.e., many-to-many).

[0038] An embodiment of the self-propelled substrate loading and unloading system includes multiple material boxes 100, a first self-propelled vehicle 200, and a second self-propelled vehicle 300.

[0039] See Figures 3 to 5 Each of the aforementioned cassettes 100 is used to hold the substrate 91. To clearly show the connection relationship of each component, only one substrate 91 is shown schematically in the accompanying drawings. Furthermore, for ease of viewing, [the remaining text is incomplete and likely refers to a different topic]. Figure 3 , Figure 4Robotic arm 6 is omitted. Each of the material boxes 100 includes a material rack 11 and a plurality of material frames 12 that can be movably mounted on the material rack 11. In this embodiment, each of the material boxes 100 includes seven material frames 12. Each material frame 12 can have various sizes to match the size of the substrate 91.

[0040] See Figures 4 to 6 The material rack 11 has a rectangular hollow frame 111 and multiple pairs of spaced-apart partitions 112. Each pair of partitions 112 is spaced apart from each other in a left-right direction X and defines a slot 110. Each partition 112 is a long plate with a U-shaped cross-section and is inclined and fixed to the frame 111 in a front-back direction Y. In this embodiment, each material box 100 has seven slots 110, numbered #1 to #7. Each slot 110 extends in a vertical direction Z, and more specifically, each slot 110 is slightly inclined in the front-back direction Y.

[0041] The material frame 12 is slidably mounted in the slot 110. Each material frame 12 is suitable for holding one of the substrates 91 and is slidably mounted on a corresponding pair of partitions 112. In this embodiment, the material box 100 is upright, and the material frame 12 and the substrate 91 are placed vertically on the material rack 11. In this embodiment, since each partition 112 is inclined, when the material frame 12 is placed from top to bottom into the partition 112 of the material rack 11, the material frame 12 can automatically slide into the slot 110 by its own weight without external force, thus making material loading more convenient.

[0042] In some embodiments, the material box 100 may also be horizontal, and the material frame 12 and the substrate 91 are placed horizontally on the material rack 11.

[0043] Each of the material frames 12 has a plate-shaped frame 121, two protruding pins 122 spaced apart on the top side of the frame 121, and two telescopic rails 123 disposed on the left and right sides of the frame 121. In this embodiment, the frame 121 is a hollow plate with a U-shaped notch on the top side, thus having the advantages of weight reduction and convenient quick handling. Furthermore, in case of an abnormality, personnel can manually remove or place the substrate 91 through the U-shaped notch of the frame 121. The protruding pins 122 are respectively fixed to the left and right sides of the frame 121 and are higher than the telescopic rails 123. The telescopic rails 123 of each material frame 12 are slidably mounted on the corresponding partition member 112. In fact, the telescopic rails 123 and the corresponding partition member 112 of each material frame 12 are a combination of existing three-section ball bearing slide rails.

[0044] See Figure 1 , Figure 2 and Figure 4 The first self-propelled vehicle 200 is electrically driven and is used to transport one of the material boxes 100 to the processing machine 9, and to remove or place the substrate 91 from the material frame 12 of the material box 100. The first self-propelled vehicle 200 includes a vehicle body unit 4, a conveying unit 5, and a robotic arm 6.

[0045] The vehicle unit 4 is electrically driven and travels along a material handling path. Specifically, the vehicle unit 4 is an existing Automated Guided Vehicle (AGV), which avoids obstacles through intelligent electronic control and travels to a designated location along the material handling path. The vehicle unit 4 has a base 41 and a walking device 42 mounted on the bottom side of the base 41. The walking device 42 is a combination of rollers and is electrically driven to roll and move. In some embodiments, a Manufacturing Execution System (MES) 92 can be used for machine allocation, planning of the material handling path, and digital programming of production operations. Barcode scanning technology is used to obtain data of the substrate 91, such as, but not limited to, the processing application programming name, batch number, board thickness, size, and quantity. This allows the first self-propelled vehicle 200 to travel along the material handling path to the designated location and complete the automatic loading and unloading of the substrate 91. Through information exchange, the entire manufacturing process is monitored, tracked, and recorded in real time, offering advantages such as unmanned operation, digitalization, and high operational accuracy.

[0046] See Figure 3 , Figure 4 and Figure 7 The conveying unit 5 is disposed on the top side of the base 41 of the vehicle body unit 4. The conveying unit 5 includes a conveyor belt assembly 51 for moving the material box 100 into or out of the vehicle body unit 4, a carrying device 52 disposed on the vehicle body unit 4, and a pulling and releasing device 53 for intermittently picking up the material box 100 from the material frame 12.

[0047] See Figure 4 , Figure 7 and Figure 8In this embodiment, the conveyor belt assembly 51 includes two conveyor belts 511 spaced apart in the left-right direction X, a drive rod 512 connecting the conveyor belts 511 along the left-right direction X, an electrically driven conveyor motor 513, and a belt 514 rotatably sleeved between the conveyor motor 513 and the drive rod 512. The conveyor motor 513, through the linkage between the belt 514 and the drive rod 512, can drive the conveyor belts 511 to rotate synchronously, moving the material box 100 into or out of the vehicle body unit 4 along the front-rear direction Y. In some embodiments, the conveyor belt 511 can be a single belt; simply increasing the width of the conveyor belt 511 is sufficient to transport the material box 100, thus eliminating the need for the drive rod 512 and the belt 514.

[0048] Furthermore, each of the conveyor belts 511 has a side baffle 515 disposed on the outer side and a limiting block 516 disposed on the inner end. The side baffle 515 and the limiting block 516 can guide the material box 100 to move into the conveyor belt 511 and be accurately positioned.

[0049] The conveying device 52 has two slide groups 521 spaced apart on the outer side of the conveyor belt 511, and at least one displacement driver 522 for driving the slide groups 521. In this embodiment, the conveying device 52 has one displacement driver 522. Each slide group 521 is a conventional screw slide group, and has a slide rail 523 extending along the front-rear direction Y, and a slide 524 sliding on the slide rail 523. The displacement driver 522 is a servo motor, and is connected to single-axis servo reducers 526 on the left and right sides through a dual-axis servo reducer 525, and then powered to the slide group 521, so that the displacement driver 522 can drive the slide 524 to move synchronously back and forth. In this embodiment, the displacement driver 522 can convert the mechanical displacement into an encoded address to provide position feedback through a built-in encoder, thus enabling precise control of the displacement of the slide 524. The aforementioned encoder is a technology that converts commonly used rotational quantities and mechanical displacements into digital codes. Since those skilled in the art can deduce the extended details based on the above description, no further explanation is needed.

[0050] See Figure 3 , Figure 4 and Figure 7The pull-out device 53 is mounted on the conveying device 52 and is driven by the conveying device 52 to move relative to the material box 100 placed on the conveyor belt assembly 51 along the front-back direction Y. As mentioned above, the conveying device 52 can precisely control the displacement of the slide table 524 through the electronic control of the servo motor. Therefore, the pull-out device 53 can sequentially move along the seven slots 110 of the material box 100 (see... Figure 6 Intermittent movement. In some embodiments, the conveying device 52 can be omitted, as long as the encoder is built into the conveyor motor 513 of the conveyor belt group 51, the conveying distance of the conveyor belt 511 can be controlled, and the moving distance of the material box 100 relative to the pull-out device 53 can be determined, so that the pull-out device 53 can move intermittently relative to the seven slots 110 of the material box 100.

[0051] The pull-out device 53 has two mounting seats 531 respectively fixed on the slide table 524, and at least one pair of telescopic cylinder assemblies 532 spaced apart from each mounting seat 531. Each mounting seat 531 is L-shaped. In this embodiment, the pull-out device 53 has two pairs of telescopic cylinder assemblies 532 adjacent in the front-rear direction Y, that is, the pull-out device 53 has a total of four telescopic cylinder assemblies 532. Each pair of telescopic cylinder assemblies 532 is spaced apart in the left-right direction X. In some embodiments, the pull-out device 53 may have one pair of telescopic cylinder assemblies 532.

[0052] Each of the telescopic cylinder assemblies 532 has a telescopic cylinder 533 capable of telescopically extending and retracting along the vertical direction Z, and a feed rod 534 connected to the top side of the telescopic cylinder 533. The feed rod 534 extends along the vertical direction Z and has at least one material block 535. In this embodiment, the feed rod 534 has two material blocks 535 spaced vertically apart. The telescopic cylinder 533 is a servo electric cylinder, electrically driven, and capable of moving the feed rod 534 up and down along the vertical direction Z, allowing the material block 535 to move up and down. In some embodiments, the feed rod 534 has only one material block 535.

[0053] Normally, the telescopic cylinders 533 are initially in an unextended position (i.e., in a lowered state). Only after the conveying device 52 moves the pulling and releasing device 53 to the designated slot 110 will one of the corresponding pairs of telescopic cylinders 533 extend (i.e., in an ascending state).

[0054] See Figure 9To allow the first self-propelled vehicle 200 to simultaneously load and unload materials from the processing machine 9, for example, the material frame 12 in slot #1 is empty, while the unprocessed substrate 91 is placed in the material frames 12 in slots #2 to #7. For easier viewing, in... Figure 9 The robotic arm 6 and the processing machine 9 are omitted from the text. The numbering of the slot 110 can be found in [reference needed]. Figure 6 .

[0055] like Figure 4 and Figure 9 As shown on the left side (1), when the pull-out device 53 moves to the first slot 110 of the material box 100, the telescopic cylinder 533 of the pair of telescopic cylinder groups 532 extends slightly and drives the top side of the material block 535 to contact the protrusion 122 of the material frame 12 placed in the slot 110 numbered #1, so that the protrusion 122 abuts against the material block 535. Then, the telescopic cylinder 533 of the pair of telescopic cylinder groups 532 continues to extend, which can drive the material frame 12 in the slot 110 numbered #1 to rise and rise out of the material rack 11, so that the material frame 12 is exposed. At this time, the processed substrate 91 can be removed from the processing machine 9 (see Figure 1 The first shaft is moved out and placed in the raised material frame 12.

[0056] like Figure 9 As shown on the right side (2), next, the telescopic cylinder 533 of the telescopic cylinder assembly 532 drives the material frame 12 in slot 110 numbered #1 to descend, and the other pair of telescopic cylinder assemblies 532 drives the material frame 12 in slot 110 numbered #2 to rise, and takes out the unprocessed substrate 91 placed in the material frame 12 and puts it into the processing machine 9 (see Figure 1 The first axis of the machine 9 is used for processing. Then, the substrate 91 processed by the second axis of the machine 9 is placed into the material frame 12 in slot 110 numbered #2, and the material frame 12 in slot 110 numbered #2 descends. In this way, the loading and unloading of the material box 100 in slots 110 numbered #1 to #7 can be completed.

[0057] Since the pull-and-release device 53 of this embodiment has two pairs of telescopic cylinder groups 532 adjacent in the front-to-back direction Y, after the material is fed into slot 110 numbered #1, the slide 524 of the conveying device 52 does not need to move. It can simply use the other pair of telescopic cylinder groups 532 to lift and lower, thus retrieving the material frame 12 in slot 110 numbered #2. Therefore, this embodiment has the advantages of rapid lifting and lowering, reducing the number of movements of the pull-and-release device 53, shortening loading and unloading time, and improving production efficiency. It should be noted that the two pairs of telescopic cylinder groups 532 do not rise simultaneously; their lifting and lowering states are staggered.

[0058] like Figure 4 and Figure 7 As shown, in this embodiment, each telescopic cylinder assembly 532 has two material-carrying blocks 535. The upper material-carrying block 535 is suitable for picking up the material frame 12 with a higher height, and the lower material-carrying block 535 is suitable for picking up the material frame 12 with a lower height. Therefore, when switching to the production of products of different sizes, it is not necessary to adjust the height of the material-carrying block 535 to pick up the material frame 12 of different sizes, which has better applicability.

[0059] See Figure 1 , Figure 2 and Figure 10 The robotic arm 6 is mounted on the top side of the vehicle body unit 4 and is electrically driven. For easier viewing, in... Figure 10 omitted in Figure 7 The conveying unit 5 is described above. The robotic arm 6 is used to pick up the substrate 91 (see) of the material frame 12 taken by the pull-and-place device 53. Figure 4 The substrate 91 is fed to the processing machine 9, or the processed substrate 91 is moved from the processing machine 9 into the empty material frame 12 to achieve the purpose of automatic loading and unloading.

[0060] See Figures 10 to 12 The robotic arm 6 includes an arm body 61 mounted on the vehicle body unit 4, two electrically driven, spaced-apart grippers 62 that can move closer or further apart, two electrically driven pressure grippers 63 respectively disposed on the electrically driven grippers 62, and a camera 64 mounted on the top side of the arm body 61.

[0061] See Figures 11 to 13 Each of the electric grippers 62 has two slides 621 that can move relatively left and right, a gripping driver 622 for driving the slides 621, and two gripper seats 623 fixed to the slides 621. The gripper seats 623 are driven by the slides 621 to move relatively closer or further apart. Each gripper seat 623 has three spaced-apart grippers 624. Figure 13 As shown, when the claw seats 623 are relatively close, the claws 624 can clamp the left and right sides of the substrate 91. Figure 12 As shown, when the claw seats 623 are relatively far apart, the grippers 624 can release the substrate 91, achieving the function of loading and unloading. In this embodiment, the claw seats 623 are vertically offset, so the grippers 624 are staggered. However, in some embodiments, the positions of the claw seats 623 can be symmetrically arranged.

[0062] See Figure 11 , Figure 14 and Figure 15The electrically driven grippers 63 are respectively disposed on the gripper bases 623. Each electrically driven gripper 63 is adjacent to two of the grippers 624 on its respective gripper base 623. Each electrically driven gripper 63 has a linkage structure 631 disposed on its respective gripper base 623, two pressure blocks 632 disposed on opposite ends of the linkage structure 631, and a pressure driver 633 for driving the linkage structure 631 to move. The pressure blocks 632 face the two grippers 624 respectively. When the linkage structure 631 moves, it drives the pressure blocks 632 to move, moving closer to or away from the two grippers 624. When the pressure blocks 632 are close to the two grippers 624, they can cooperate with the two grippers 624 to clamp the substrate 91.

[0063] It should be noted that the present invention already has the function of clamping the substrate 91 from both sides by means of the electric gripper 62, and with the assistance of the electric pressure claw 63, the number of front and rear clamping points can be increased, which can further improve the clamping force and thus clamp the substrate 91 more securely. In some embodiments, the electric pressure claw 63 can be omitted.

[0064] The camera 64, for example, is a smart camera containing a CCD sensor, and is used to read the position compensation graphic code (not shown) on the processing machine 9 to compensate for the positional error between the first self-propelled vehicle 200 and the processing machine 9, thereby improving the accuracy of the robotic arm 6 in moving the substrate 91 out of or into the processing machine 9. Visual image integration technology using code reading is existing technology and will not be described further here.

[0065] See Figure 2 and Figure 16 The second self-propelled vehicle 300 is electrically driven and used to carry the material box 100. The second self-propelled vehicle 300 includes a body unit 31 and at least one feeder belt assembly 32. The body unit 31 is an existing Automated Guided Vehicle (AGV), whose components and operation are completely identical to the body unit 4 of the first self-propelled vehicle 200, and is controlled by the manufacturing execution system 92 (see...). Figure 1The control and movement mode is the same, and will not be described again here. In this embodiment, the second self-propelled vehicle 300 includes two oppositely arranged (i.e., back-to-back) feeder belt groups 32. Each feeder belt group 32 is used to dock with the conveyor belt group 51 of the first self-propelled vehicle 200 and move the material box 100 into or out of the first self-propelled vehicle 200. Each feeder belt group 32 has two spaced-apart feeder belts 321 for carrying the material box 100, and a feeder motor 322 for driving the feeder belts 321 to rotate synchronously. In fact, the components, component connections, and operation mode of each feeder belt group 32 are exactly the same as those of the conveyor belt group 51 of the first self-propelled vehicle 200, and will not be described again here.

[0066] In actual operation, after the material box 100 of the first self-propelled vehicle 200 is filled with the processed substrate 91, it will dock with the second self-propelled vehicle 300. One of the feed belt groups 32 of the second self-propelled vehicle 300 first receives the material box 100 sent out by the first self-propelled vehicle 200. The second self-propelled vehicle 300 turns around, and the other feed belt group 32 then transports the unprocessed material box 100 into the conveyor belt group 51 of the first self-propelled vehicle 200. By designing two feed belt groups 32, the position for carrying the material box 100 can be increased, and the number of times the second self-propelled vehicle 300 travels back and forth can be reduced, which has the advantage of improving feeding efficiency. Since the order of loading and unloading can be adjusted or changed according to product requirements, it is not limited to this. However, in some embodiments, the second self-propelled vehicle 300 may include only one feed belt group 32.

[0067] The following example illustrates the material loading and unloading process using this invention:

[0068] First, the first self-propelled vehicle 200 carries the material box 100 containing the unprocessed substrate 91 along the feeding path to the assigned processing machine 9.

[0069] Next, the first self-propelled vehicle 200 completes the loading and unloading between the material box 100 and the processing machine 9, and the material box 100 is then filled with the processed substrate 91.

[0070] Next, the second self-propelled vehicle 300, carrying an unprocessed material box 100, docks with the first self-propelled vehicle 200. The empty feed belt assembly 32 of the second self-propelled vehicle 300 first receives the processed material box 100 delivered by the first self-propelled vehicle 200. Finally, the second self-propelled vehicle 300 turns around and delivers the unprocessed material box 100 into the first self-propelled vehicle 200. This process is repeated continuously to perform loading and unloading operations.

[0071] In this embodiment, the first self-propelled vehicle 200 and the second self-propelled vehicle 300, driven by electricity, transport the substrate 91. The conveyor belt group 51, the carrying device 52, the pulling and releasing device 53, the electric gripper 62 and the electric pressing claw 63 are controlled by electric control to pick up and put down materials, thereby achieving fully automated loading and unloading operations.

[0072] See Figure 17 This is a variation of a second self-propelled vehicle 300'. The second self-propelled vehicle 300' also includes a turntable 33 for mounting the feed belt assembly 32. The turntable 33 can be electrically driven to rotate and drive the feed belt assembly 32 to rotate relative to the vehicle body unit 31.

[0073] Since the feed belt assembly 32 can rotate from 0 to 180 degrees relative to the vehicle body unit 31, the second self-propelled vehicle 300' docks with the first self-propelled vehicle 200 (see... Figure 2 And exchange the material box 100 (see Figure 2 When the material box 100 is transported, there is no need to turn around. Simply rotating the turntable 33 will transport the material box 100, which reduces travel time, shortens loading and unloading time, and improves production efficiency.

[0074] In addition, such as Figure 2 As shown, a slewing warning light 7 and various sensors can be installed on the first self-propelled vehicle 200 and the second self-propelled vehicle 300, and an operation prompt sound will be emitted to prevent personnel from stepping into the material receiving and feeding path and causing accidents, thereby improving the safety of operation.

[0075] In summary, the self-propelled substrate loading and unloading system of the present invention uses an electrically driven first self-propelled vehicle 200 to transport the material box 100, and utilizes the electric gripper 62 of the robotic arm 6 to pick up and place the substrate 91 within the material frame 12. The present invention uses electronic control to enable the first self-propelled vehicle 200 to travel along the feeding path and automatically load and unload the substrate 91, achieving unmanned and digitalized production operations. Therefore, the present invention has unexpected benefits such as saving manpower, high production efficiency, and high product yield, thus effectively achieving the objectives of the present invention.

[0076] The above description is merely an embodiment of the present invention and should not be construed as limiting the scope of the present invention. Any simple equivalent changes and modifications made in accordance with the claims and description of the present invention shall still fall within the scope of the present invention.

Claims

1. A self-propelled substrate loading and unloading system, suitable for transporting multiple substrates, characterized in that: The self-propelled substrate loading and unloading system includes: The material box includes a material rack and a plurality of material frames that can be movably mounted on the material rack, the material frames being adapted to hold the substrate; and A first self-propelled vehicle, electrically driven and used to transport the material box and pick up and place the substrate from the material frame, the first self-propelled vehicle comprising: The vehicle unit is electrically driven and travels along the material receiving and feeding path; A conveying unit, disposed on the top side of the vehicle body unit, includes a conveyor belt assembly for moving the material box into or out of the vehicle body unit, and a pull-out device for picking up one of the material frames, the pull-out device being movable relative to the material box and having at least a pair of spaced-apart telescopic cylinder assemblies; and A robotic arm, disposed on the top side of the vehicle body unit and electrically driven, is used to pick up and place the substrate of the material frame picked up by the pull-out device. The robotic arm includes two spaced-apart and electrically driven electric grippers that can move closer or further apart from each other. Each electric gripper has a plurality of spaced-apart hand grippers.

2. The self-propelled substrate loading and unloading system according to claim 1, characterized in that: The material rack has a frame and multiple pairs of partitions spaced apart on the frame. Each pair of partitions is spaced apart from each other in the left-right direction and defines a slot. Each material frame is movably installed in the slot in the up-down direction. At least one pair of telescopic cylinders of the pulling and releasing device are spaced apart in the left-right direction. Each telescopic cylinder has at least one material block that can move up and down.

3. The self-propelled substrate loading and unloading system according to claim 2, characterized in that: Each of the material frames has a frame body, two protruding pins spaced apart on the top side of the frame body, and two telescopic rails on the left and right sides of the frame body. The protruding pins are used to abut against the material block of at least one pair of telescopic cylinder assemblies. The telescopic rails of each material frame are respectively slidably mounted on the corresponding pair of partitions.

4. The self-propelled substrate loading and unloading system according to claim 1, characterized in that: The conveying unit further includes a carrying device disposed on the vehicle body unit. The carrying device has two spaced slide rails, two slides that slide on the slide rails and are respectively provided with at least one pair of telescopic cylinder groups of the pulling and releasing device, and at least one displacement driver for driving the slides to move.

5. The self-propelled substrate loading and unloading system according to claim 1, characterized in that: The robotic arm also includes two electrically driven pressure claws, each of which is disposed on the electrically driven gripper and is electrically driven. Each of the electrically driven pressure claws has two pressure blocks that are movable relative to two of the grippers of the corresponding electrically driven gripper. The pressure blocks and the two grippers are used to clamp the substrate.

6. The self-propelled substrate loading and unloading system according to claim 5, characterized in that: Each of the electric pressure claws also has a linkage structure for setting the pressure block, and a pressure drive for driving the linkage structure to move in order to move the pressure block.

7. The self-propelled substrate loading and unloading system according to claim 1, characterized in that: Each of the electric grippers also has two relatively movable slides and a gripping actuator for driving the slides to move, the gripper being driven by the slides.

8. The self-propelled substrate loading and unloading system according to claim 1, characterized in that: It also includes a second self-propelled vehicle, which is electrically driven and used to carry the material box. The second self-propelled vehicle includes at least one feeder belt assembly, which is used to dock with the conveyor belt assembly of the first self-propelled vehicle and move the material box into or out of the first self-propelled vehicle.

9. The self-propelled substrate loading and unloading system according to claim 8, characterized in that: The second self-propelled vehicle includes two feed belt groups, which are arranged in opposite directions. Each feed belt group has two feed belts spaced apart and used to carry the material box, and a feed motor used to drive the feed belts to rotate synchronously.

10. The self-propelled substrate loading and unloading system according to claim 9, characterized in that: The second self-propelled vehicle also includes a turntable for the feed belt assembly, the turntable being electrically driven to rotate and cause the feed belt assembly to turn.

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