Plate multi-dimensional steering equipment

Abstract

The utility model discloses multi-dimensional steering equipment for plates. The multi-dimensional steering equipment comprises a steering device and a turnover device arranged above the steering device. The steering device is used for bearing a plate. The steering device comprises a lifting mechanism, a turnover mechanism arranged on the lifting mechanism and a clamping mechanism arranged on the turnover mechanism. The clamping mechanism comprises a frame and a plurality of clamping jaws arranged on the frame. When the turnover mechanism and the clamping mechanism descend to the position of the plate through the lifting mechanism and the multiple clamping jaws jointly clamp the annular invalid section of the plate, the turnover mechanism and the clamping mechanism can ascend through the lifting mechanism, and the plate is clamped by the clamping jaws. And the turnover mechanism can drive the clamping mechanism and the plate to rotate by a preset turnover angle. Therefore, on the premise that the plates are not damaged, the plate multi-dimensional steering equipment can rapidly achieve position adjustment, taking and placing of the plates.

Description

Technical Field

[0001] The utility model relates to a picking and placing device, in particular to a multi-dimensional turning device for plates. Background Art

[0002] Most of the existing plate picking and placing devices use vacuum suction cups to perform picking and placing operations on plates. However, vacuum suction cups often have problems of abnormal clamping due to poor establishment of vacuum force, and the existing plate picking and placing devices are limited by the use of vacuum suction cups and cannot pick and place plates quickly, which invisibly reduces the overall efficiency.

[0003] Therefore, the applicant believes that the above defects can be improved. After painstaking research and in combination with the application of scientific principles, a utility model with reasonable design and effective improvement of the above defects is finally proposed. Summary of the Utility Model

[0004] The utility model provides a multi-dimensional turning device for plates, which can effectively improve the defects that may occur in existing plate picking and placing devices.

[0005] An embodiment of the utility model discloses a multi-dimensional turning device for plates, which includes: a turning device for receiving a plate transmitted from a transfer device, and the plate includes an annular invalid section located at the periphery; and a flipping device arranged above the turning device along a height direction, and the turning device includes: a lifting mechanism capable of moving relative to the turning device along the height direction; a flipping mechanism arranged on the lifting mechanism; and a clamping mechanism including: a frame arranged on the flipping mechanism along a transverse rotating shaft in the vertical height direction, so that the clamping mechanism can be rotated by the flipping mechanism with the transverse rotating shaft as the axis; and a plurality of clamping jaws arranged on the frame and located on opposite sides of the transverse rotating shaft, and the plurality of clamping jaws jointly define an operation area; wherein, the flipping mechanism and the clamping mechanism can be lowered to a low point position through the lifting mechanism, so that the plate located on the turning device falls into the operation area, and the plurality of clamping jaws can be used to jointly clamp the annular invalid section of the plate; wherein, when the plurality of clamping jaws jointly clamp the annular invalid section and are located at the low point position, the flipping mechanism and the clamping mechanism can be raised to a high point position through the lifting mechanism, so that the flipping mechanism can drive the clamping mechanism and the plate to rotate a preset flipping angle.

[0006] Optionally, the frame includes: a connecting beam arranged on the flipping mechanism along the transverse rotating shaft; and two side arms respectively connected to two ends of the connecting beam; wherein, at least two clamping jaws arranged at intervals are arranged on the inner side of each side arm, and at least two clamping jaws arranged on each side arm can adjust their relative positions to each other.

[0007] Optionally, each jaw includes a base disposed on the frame, an upper clamping portion pivotally connected to the base, and a lower clamping portion pivotally connected to the base; wherein, when the sheet falls onto the working area, the upper clamping portion and the lower clamping portion of each jaw can rotate towards each other to clamp the annular invalid section.

[0008] Optionally, when the multi-dimensional turning device of the sheet rotates the sheet to a preset turning angle, the turning mechanism and the clamping mechanism can be lowered to the low point position through the lifting mechanism, so that the multiple jaws can leave the sheet to place the sheet on the turning device.

[0009] Optionally, the multi-dimensional turning device of the sheet further includes: a workbench, the turning device is disposed on the workbench; and a structural base fixed to the workbench, and the lifting mechanism is fixed to the structural base.

[0010] Optionally, the turning device includes: a carrier; and a plurality of ejector pins vertically disposed on the carrier; wherein, when the turning device receives the sheet, the plurality of ejector pins abut against the bottom edge of the annular invalid section of the sheet.

[0011] Optionally, the turning device includes: a turning mechanism disposed on the carrier along a longitudinal rotating shaft parallel to the height direction, so that the carrier can be rotated by the turning mechanism with the longitudinal rotating shaft as the axis; and two alignment mechanisms movably disposed on the carrier; wherein, when the turning device receives the sheet, any one of the alignment mechanisms abuts against two of the side edges of the annular invalid section, and the other alignment mechanism abuts against the other two of the side edges of the annular invalid section, and the turning mechanism can drive the carrier and the sheet to rotate a preset turning angle.

[0012] Optionally, each alignment mechanism includes two sliders movably disposed on the carrier and a plurality of guide wheels respectively fixed to the two sliders; wherein, when the turning device receives the sheet, each alignment mechanism can move relative to the carrier through the two sliders, so that the plurality of guide wheels abut against the annular invalid section.

[0013] Optionally, the multi-dimensional turning device of the sheet further includes an independent turning device, the structure of which is equivalent to that of the turning device, and the independent turning device is used to receive another sheet transmitted from the transfer device.

[0014] Optionally, the independent turning device is located below the turning device, and the turning device cannot obtain another sheet located on the independent turning device.

[0015] In summary, the multi-dimensional turning device of the sheet disclosed in the embodiments of the present invention can, through the structural cooperation of the turning device and the turning device, enable the turning device to clamp the sheet located on the turning device through the clamping mechanism and turn the sheet by a preset turning angle, thereby quickly realizing the position adjustment and picking and placing of the sheet without damaging the sheet, so as to improve the overall operation efficiency.

[0016] To further understand the features and technical content of the present utility model, please refer to the following detailed description and drawings related to the present utility model. However, these descriptions and drawings are only used to illustrate the present utility model and do not impose any limitation on the protection scope of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic diagram of the multi-dimensional turning device for a sheet material in the first embodiment of the present utility model.

[0018] Figure 2 For Figure 1 it is a three-dimensional schematic diagram of the turning device in

[0019] Figure 3 For Figure 2 it is another three-dimensional schematic diagram of the turning device in

[0020] Figure 4 For Figure 1 it is an enlarged schematic diagram of region IV in

[0021] Figure 5 For Figure 1 it is a schematic diagram of the subsequent actions of the multi-dimensional turning device for a sheet material in

[0022] Figure 6 For Figure 5 it is a schematic diagram of the subsequent actions of the multi-dimensional turning device for a sheet material in

[0023] Figure 7 For Figure 6 it is a schematic diagram of the subsequent actions of the multi-dimensional turning device for a sheet material in

[0024] Figure 8 For Figure 7 it is a schematic diagram of the subsequent actions of the multi-dimensional turning device for a sheet material in

[0025] Figure 9 For Figure 8 it is a schematic diagram of the subsequent actions of the multi-dimensional turning device for a sheet material in

[0026] Figure 10 It is a three-dimensional schematic diagram of the multi-dimensional turning device for a sheet material in the second embodiment of the present utility model.

[0027] Figure 11 For Figure 10 it is an operation schematic diagram of the independent turning device in DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The following is to illustrate the implementation mode of the "sheet multi-dimensional steering device" disclosed by the present utility model through specific specific embodiments. Those skilled in the art can understand the advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present utility model. In addition, the drawings of the present utility model are only simple schematic illustrations and are not drawn according to actual dimensions, and this is stated in advance. The following implementation modes will further detail the related technical content of the present utility model, but the disclosed content is not intended to limit the protection scope of the present utility model.

[0029] It should be understood that although terms such as "first", "second", "third", etc. may be used herein to describe various components or features, these components or features should not be limited by these terms. These terms are mainly used to distinguish one component from another component, or one feature from another feature. In addition, the term "or" used herein should, depending on the actual situation, possibly include any one or a combination of more of the associated listed items.

[0030] [Embodiment 1]

[0031] Please refer to Figures 1 to 9 as shown, which is Embodiment 1 of the present utility model. As Figures 1 to 4 shown, this embodiment discloses a sheet multi-dimensional steering device 100, which is used to adjust the orientation of a sheet B. Among them, the thickness of the sheet B can be between 0.2 millimeters (mm) and 3.4 millimeters, and the type of the sheet B can be adjusted and changed according to actual needs. For example, the sheet B can be a copper foil substrate, a glass substrate, or a composite substrate (such as: a glass copper foil composite substrate), etc.

[0032] More specifically, in this embodiment, the sheet B includes an annular invalid section B1 located at the periphery and a transverse invalid section B2 located within the annular invalid section B1. In addition, the sheet B can further include a longitudinal invalid section B3 located within the annular invalid section B1 and intersecting the transverse invalid section B2 according to actual needs. Among them, the annular invalid section B1, the transverse invalid section B2, and the longitudinal invalid section B3 refer to the sections of the sheet B that are not related to operation, which is beneficial for the sheet multi-dimensional steering device 100 to obtain. Furthermore, the width of the annular invalid section B1 can be optionally between 5 millimeters and 15 millimeters, and the width of the transverse invalid section B2 (or the longitudinal invalid section B3) can be optionally between 3 millimeters and 15 millimeters, but the present utility model is not limited thereto.

[0033] In this embodiment, the multi-dimensional turning device 100 for the plate includes a workbench 1, a structure base 2 fixed to the workbench 1, a turning device 3 disposed on the workbench 1 and adjacent to the structure base 2, and a flipping device 4 fixed to the structure base 2 and disposed above the turning device 3 (that is, the flipping device 4 is vertically arranged above the turning device 3 along a height direction H, so as to effectively reduce the overall floor space), but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the turning device 3 and the flipping device 4 may also be installed on other components different from the workbench 1 and the structure base 2 according to actual needs.

[0034] The turning device 3 is used to receive the plate B transmitted from a transfer device 200 (such as a robotic arm), and the turning mechanism 33 can rotate the plate B (horizontally) by a preset turning angle (such as 90 degrees, 180 degrees, or 270 degrees). It should be noted that on the premise of being able to rotate the plate B by the preset turning angle, the structure of the turning device 3 can be adjusted and changed according to actual needs. For the sake of easy understanding, only one implementation manner of the turning device 3 is described below, but the present invention is not limited thereto.

[0035] The turning device 3 includes a carrier 31, a plurality of ejector pins 32 vertically arranged on the carrier 31, a turning mechanism 33 connected to the carrier 31, and two alignment mechanisms 34 movably arranged on the carrier 31. Among them, when the turning device 3 receives the plate B, the plurality of ejector pins 32 abut against the bottom edge of the annular invalid section B1 of the plate B (and the transverse invalid section B2 or the longitudinal invalid section B3). It should be noted that the plurality of ejector pins 32 can be made of antistatic material, so that static electricity can be eliminated when they contact the plate B, to prevent the plate B from becoming a defective product due to electrostatic breakdown.

[0036] Furthermore, the turning mechanism 33 is fixed to the workbench 1, and the turning mechanism 33 is arranged on the carrier 31 along a longitudinal rotation axis C1 parallel to the height direction H, so that the carrier 31 can be rotated by the turning mechanism 33 with the longitudinal rotation axis C1 as the axis. In this embodiment, the turning mechanism 33 includes a turning motor 331 and a turning speed reducer 332 connected between the turning motor 331 and the carrier 31, so that the turning motor 331 can rotate the carrier 31 through the turning speed reducer 332, but the present invention is not limited thereto.

[0037] In this embodiment, the two alignment mechanisms 34 have substantially the same structure, and the two alignment mechanisms 34 are substantially rotationally symmetric by 180 degrees (2-fold rotational symmetry) with respect to the longitudinal rotation axis C1. However, the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the structures of the two alignment mechanisms 34 may also vary slightly according to actual requirements. In this embodiment, each alignment mechanism 34 includes two sliders 341 movably disposed on the stage 31 and a plurality of guide wheels 342 respectively fixed to the two sliders 341, so that the plurality of guide wheels 342 of each alignment mechanism 34 can be expanded outward or retracted inward through the two sliders 341.

[0038] Furthermore, as Figure 2 , Figure 3 , and Figure 5 shown, when the steering device 3 receives the sheet B (e.g., a plurality of the ejector pins 32 abut against the annular invalid section B1 of the sheet B), any one of the alignment mechanisms 34 abuts against two side edges of the annular invalid section B1, and the other alignment mechanism 34 abuts against the other two side edges of the annular invalid section B1 (e.g., each alignment mechanism 34 can move relative to the stage 31 through the two sliders 341, so that the plurality of guide wheels 342 abut against the annular invalid section B1 to position the sheet B in the correct position), and the steering mechanism 33 can drive the stage 31 and the sheet B to rotate by the preset steering angle.

[0039] The above content is the structural description of the steering device 3 in this embodiment. The following content will then introduce the structure of the flipping device 4, and then explain the connection relationship between the flipping device 4 and the steering device 3 in due course. Among them, as Figure 1 and Figure 4 shown, the flipping device 4 includes a lifting mechanism 41 fixed to the structure base 2, a flipping mechanism 42 disposed on the lifting mechanism 41, and a clamping mechanism 43 disposed on the flipping mechanism 42.

[0040] The lifting mechanism 41 can move relative to the steering device 3 along the height direction H to synchronously lift and lower the flipping mechanism 42 and the clamping mechanism 43. In this embodiment, the lifting mechanism 41 is illustrated by a lifting electric cylinder, and the flipping mechanism 42 includes a lifting motor 421 installed on the lifting mechanism 41 and a lifting reduction gear 422 connected between the lifting motor 421 and the clamping mechanism 43, so that the lifting motor 421 can rotate the clamping mechanism 43 through the lifting reduction gear 422. However, the present invention is not limited thereto.

[0041] More specifically, the clamping mechanism 43 includes a frame 431 and a plurality of jaws 432 disposed on the frame 431. Among them, the frame 431 is disposed (or pivotally connected) to the flipping mechanism 42 (such as the lifting speed reducer 422) along a transverse rotating shaft C2 perpendicular to the height direction H, so that the clamping mechanism 43 can be rotated by the flipping mechanism 42 with the transverse rotating shaft C2 as the axis. In addition, the clamping mechanism 43 is generally mirror-symmetrically arranged with respect to the transverse rotating shaft C2, but the present invention is not limited thereto.

[0042] In this embodiment, the frame 431 is generally U-shaped and includes a connecting beam 4311 and two side arms 4312 respectively (vertically) connected to both ends of the connecting beam 4311. Among them, the connecting beam 4311 is elongated and perpendicular to the transverse rotating shaft C2, and the approximate center of the connecting beam 4311 is disposed on the flipping mechanism 42 (such as the lifting speed reducer 422) along the transverse rotating shaft C2, and at least two of the jaws 432 are optionally arranged at intervals on the inner side of each side arm 4312, and each side arm 4312 can allow at least two of the jaws 432 arranged thereon to adjust their relative positions.

[0043] In other words, a plurality of the jaws 432 are located on opposite sides of the transverse rotating shaft C2, and at least two of the jaws 432 arranged on one of the side arms 4312 are optionally respectively facing at least two of the jaws 432 arranged on the other side arm 4312, but the present invention is not limited thereto. Furthermore, a plurality of the jaws 432 can jointly define an operating area 433, which is optionally located within the area surrounded by the frame 431.

[0044] Furthermore, each jaw 432 includes a base 4321 disposed on the frame 431, an upper clamping portion 4322 pivotally connected to the base 4321, and a lower clamping portion 4323 pivotally connected to the base 4321. Among them, each jaw 432 can be moved and adjusted along the corresponding side arm 4312 through the base 4321. As Figure 6 shown, when the sheet B falls on the operating area 433, the upper clamping portion 4322 and the lower clamping portion 4323 of each jaw 432 can rotate towards each other to clamp the annular invalid section B1. It should be noted that the upper clamping portion 4322 and the lower clamping portion 4323 of each jaw 432 are optionally made of static conductive material, so that static electricity can be eliminated when contacting the sheet B, so as to prevent the sheet B from becoming a defective product due to static breakdown.

[0045] As described above, the flipping mechanism 42 and the clamping mechanism 43 can be lowered to a low point position (e.g., Figure 5 and Figure 6 as shown) through the lifting mechanism 41, so that the sheet B located on the steering device 3 falls on the working area 433, and a plurality of the jaws 432 can be used to jointly clamp the annular invalid section B1 of the sheet B.

[0046] The structures of the steering device 3 and the flipping device 4 have been described above. The following content will introduce the connection relationship between the steering device 3 and the flipping device 4. Among them, when a plurality of the jaws 432 jointly clamp the annular invalid section B1 and are located at the low point position (e.g., Figure 6 as shown), the flipping mechanism 42 and the clamping mechanism 43 can be raised to a high point position (e.g., Figure 7 as shown) through the lifting mechanism 41, so that the flipping mechanism 42 can drive the clamping mechanism 43 and the sheet B to rotate a preset flipping angle. It should be noted that the preset flipping angle is described as 180 degrees in this embodiment, but the present invention is not limited thereto.

[0047] Therefore, in this embodiment, the multi-dimensional steering device 100 for the sheet can, through the structural cooperation of the steering device 3 and the flipping device 4, enable the flipping device 4 to clamp the sheet B located on the steering device 3 through the clamping mechanism 43 and flip the sheet B by the preset flipping angle, thereby quickly realizing the position adjustment, picking and placing of the sheet B without damaging the sheet B, so as to improve the overall operation efficiency.

[0048] In addition, as Figures 7 to 9 shown, when the multi-dimensional steering device 100 for the sheet rotates the sheet B to the preset flipping angle, the flipping mechanism 42 and the clamping mechanism 43 can be lowered to the low point position through the lifting mechanism 41, so that a plurality of the jaws 432 can leave the sheet B to place the sheet B on the steering device 3 for the transfer device 200 to pick up the flipped sheet B.

[0049] [Embodiment 2]

[0050] Please refer to Figure 10 and Figure 11 shown, which is Embodiment 2 of the present invention. Since this embodiment is similar to the above Embodiment 1, the same parts of the two embodiments will not be described again, and the differences between this embodiment and the above Embodiment 1 are generally described as follows:

[0051] In this embodiment, the multi-dimensional turning device 100 for the sheet material further includes an independent turning device 3a fixed to the workbench 1. The independent turning device 3a is located below the turning device 3, and the structure of the independent turning device 3a is equivalent to that of the turning device 3, so it will not be described in detail herein. Wherein, the independent turning device 3a is used to receive another sheet material B transmitted from the transfer device 200, and the turning device 4 cannot obtain the other sheet material B located on the independent turning device 3a.

[0052] That is to say, the independent turning device 3a can be applied to the other sheet material B that only requires horizontal turning, so as to prevent it from occupying the turning device 3 and causing the turning device 4 to be idle, thereby effectively improving the operation efficiency of the multi-dimensional turning device 100 for the sheet material. Furthermore, in this embodiment, the turning device 4, the turning device 3, and the independent turning device 3a are vertically arranged along the height direction H, so as to reduce the floor space.

[0053] [Technical effects of the embodiments of the present utility model]

[0054] In summary, the multi-dimensional turning device for the sheet material disclosed in the embodiments of the present utility model can, through the structural combination of the turning device and the turning device, enable the turning device to clamp the sheet material located on the turning device through the clamping mechanism and turn the sheet material by a preset turning angle, thereby quickly realizing the position adjustment and picking and placing of the sheet material without damaging the sheet material, so as to improve the overall operation efficiency.

[0055] Furthermore, the multi-dimensional turning device for the sheet material disclosed in the embodiments of the present utility model can also horizontally rotate the sheet material located thereon through the turning device (or the independent turning device), so that the multi-dimensional turning device for the sheet material can complete the horizontal turning and vertical turning of the sheet material in a single-station manner, thereby greatly improving the overall operation efficiency.

[0056] The content disclosed above is only the optional and feasible embodiments of the present utility model, and does not limit the patent scope of the present utility model. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present utility model are included in the patent scope of the present utility model.

Claims

1. A multi-dimensional plate turning device, characterized in that: The multi-dimensional plate turning device comprises: a turning device for receiving a plate transmitted from a transfer device, wherein the plate includes an annular ineffective section at the periphery; and A turning device is arranged above the steering device in a height direction, and the steering device comprises: a lifting mechanism capable of moving relative to the steering device along the height direction; a turning mechanism, disposed on the lifting mechanism; and A clamping mechanism, comprising: a frame, disposed on the flip mechanism along a transverse rotation axis perpendicular to the height direction, so that the clamping mechanism can be rotated by the flip mechanism with the transverse rotation axis as the axis; and A plurality of clamping jaws are disposed on the frame and located on opposite sides of the transverse rotating shaft, and the plurality of clamping jaws together define a working area; Wherein, the flipping mechanism and the clamping mechanism can be lowered to a low point position through the lifting mechanism, so that the plate located at the steering device falls into the working area, and the plurality of clamps can be used to clamp the annular ineffective section of the plate together; When the plurality of clamps are clamped together on the annular ineffective section and are located at the low point, the flipping mechanism and the clamping mechanism can be raised to a high point through the lifting mechanism, so that the flipping mechanism can drive the clamping mechanism and the plate to rotate a preset flipping angle.

2. The multi-dimensional plate turning device according to claim 1 is characterized in that: The framework includes: a connecting beam, disposed on the flipping mechanism along the transverse rotation axis; and Two side arms are respectively connected to the two ends of the connecting beam; wherein, at least two clamping jaws are arranged at intervals on the inner side of each side arm, and each side arm can allow at least two clamping jaws arranged thereon to adjust their relative positions to each other.

3. The multi-dimensional plate turning device according to claim 1 is characterized in that: Each of the clamps includes a base disposed on the frame, an upper clamping portion pivotally connected to the base, and a lower clamping portion pivotally connected to the base; wherein, when the plate falls on the working area, the upper clamping portion and the lower clamping portion of each clamp can rotate in a direction approaching each other to clamp on the annular ineffective section.

4. The multi-dimensional plate turning device according to claim 1, characterized in that: When the multi-dimensional plate turning device rotates the plate to the preset flipping angle, the flipping mechanism and the clamping mechanism can be lowered to the low point position through the lifting mechanism so that the multiple clamps can leave the plate to place the plate in the turning device.

5. The multi-dimensional plate turning device according to claim 1, characterized in that: The multi-dimensional plate turning device further comprises: a workbench, the steering device being arranged on the workbench; and A structural base is fixed to the workbench, and the lifting mechanism is fixed to the structural base.

6. The multi-dimensional plate turning device according to claim 1, characterized in that: The steering device comprises: One carrier; as well as A plurality of ejector pins are vertically arranged on the carrier; wherein, when the steering device receives the plate, the plurality of ejector pins abut against the bottom edge of the annular ineffective section of the plate.

7. The multi-dimensional plate turning device according to claim 6, characterized in that: The steering device comprises: a steering mechanism, disposed on the platform along a longitudinal rotation axis parallel to the height direction, so that the platform can be rotated by the steering mechanism with the longitudinal rotation axis as the axis; and Two aligning mechanisms are movably arranged on the carrier; wherein, when the steering device receives the plate, any one of the aligning mechanisms abuts against two side edges of the annular invalid segment, and the other aligning mechanism abuts against another two side edges of the annular invalid segment, and the steering mechanism can drive the carrier and the plate to rotate a preset steering angle.

8. The multi-dimensional plate turning device according to claim 7, characterized in that: Each of the aligning mechanisms includes two sliders movably disposed on the carrier and a plurality of guide wheels respectively fixed to the two sliders; wherein, when the steering device receives the plate, each of the aligning mechanisms can move relative to the carrier through the two sliders, so that the plurality of guide wheels abut against the annular ineffective section.

9. The multi-dimensional plate turning device according to any one of claims 6 to 8, characterized in that: The multi-dimensional plate steering device further includes an independent steering device, which has the same structure as the steering device, and the independent steering device is used to receive another plate transmitted from the transfer device.

10. The multi-dimensional plate turning device according to claim 9, characterized in that: The independent steering device is located below the steering device, and the flipping device cannot obtain the other plate located at the independent steering device.

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