Feeding and discharging system and laser processing system

Abstract

The utility model relates to a feeding and discharging system and a laser processing system, the feeding and discharging system comprises a mechanical arm and a material gripper, and the mechanical arm is movably arranged on the ground and / or a suspended ceiling, so that the material gripper can be driven to move among a plurality of ultrafast laser processing devices. The material gripper comprises a rotating assembly and a plurality of material picking and placing pieces, the material picking and placing pieces are distributed in the circumferential direction of the mechanical arm, the mechanical arm drives the rotating assembly to move so as to drive at least one material picking and placing piece to pick and place the machined materials, and the other material picking and placing pieces carry and place the materials to be machined. According to the scheme, when the rotating assembly drives the multiple material picking and placing pieces to rotate in the circumferential direction of the tail end of the mechanical arm, picking and placing of machined materials and carrying and placing of to-be-machined materials are achieved at the same time, and the feeding and discharging efficiency of the ultrafast laser machining equipment can be greatly improved.

Description

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202411989591.X, filed on December 27, 2024, entitled “Loading and Unloading System and Laser Processing System”, and also claims priority to Chinese patent application No. 202423307672.5, filed on December 27, 2024, entitled “Material Handle”, both of which are incorporated herein by reference in their entirety. Technical Field

[0003] This application relates to the field of material handling technology, and in particular to a loading and unloading system and a laser processing system. Background Technology

[0004] In the manufacturing process, ultrafast laser processing equipment is typically used to process and assemble received materials to form the required components or products. A manufacturing workshop usually houses multiple ultrafast laser processing machines, which can perform the same or different processing steps to meet specific requirements.

[0005] For ultrafast laser processing equipment to operate effectively, it is necessary to supply materials to the equipment and collect the processed materials. Currently, each ultrafast laser processing unit is typically equipped with a loading module and a unloading module. When loading is needed, workers move the materials to be processed from the loading module to the ultrafast laser processing unit; when unloading is needed, workers move the processed materials from the ultrafast laser processing unit to the unloading module. This method suffers from low loading and unloading efficiency. Utility Model Content

[0006] Therefore, it is necessary to provide a loading / unloading system and a laser processing system to address the problem of low loading / unloading efficiency in ultrafast laser processing equipment, so as to improve the loading / unloading efficiency.

[0007] A loading and unloading system is provided for loading and unloading multiple ultrafast laser processing devices. The system includes a robotic arm and a material gripper. The robotic arm is movably mounted on the ground and / or ceiling and can move between the multiple ultrafast laser processing devices. The material gripper includes a rotating assembly and multiple material pick-and-place components. The rotating assembly is connected to the end of the robotic arm, and the multiple material pick-and-place components are respectively connected to the rotating assembly. The rotating assembly drives the multiple material pick-and-place components to rotate circumferentially along the end of the robotic arm to load and unload the multiple ultrafast laser processing devices.

[0008] When loading and unloading materials onto multiple ultrafast laser processing devices, at least one of the material pick-and-place components in the multiple material grippers is used to pick up and place processed materials, while the remaining material pick-and-place components in the multiple material grippers are used to carry and place materials to be processed.

[0009] In one embodiment, the loading and unloading system further includes a moving component, one end of the robotic arm is connected to the moving component, and the robotic arm is movably mounted on the ground and / or ceiling via the moving component.

[0010] In one embodiment, the loading and unloading of multiple ultrafast laser processing devices includes: the robotic arm moving to a position to load and unload two ultrafast laser processing devices that are positioned opposite each other; the robotic arm moving to a next position to load and unload another set of two ultrafast laser processing devices that are positioned opposite each other.

[0011] In one embodiment, the loading and unloading system further includes an obstacle detection device disposed on the robotic arm. The obstacle detection device is used to detect obstacle information on the travel path of the robotic arm, and the obstacle information is used to adjust the working state of the robotic arm.

[0012] In one embodiment, the loading and unloading system further includes a camera element disposed on the robotic arm, the camera element being used to detect whether the picked-up processed material is abnormal.

[0013] In one embodiment, the loading and unloading system further includes a material platform, which includes a first material storage section and a second material storage section. The first material storage section is used to store materials to be processed, and the second material storage section is used to store processed materials.

[0014] In one embodiment, the feed table is connected to the moving assembly, and the feed table and the robotic arm move together between multiple ultrafast laser processing devices via the moving assembly.

[0015] In one embodiment, a material table is fixedly disposed in the area where one or more of the laser processing devices are located, and the robotic arm is also used to move between the ultrafast laser processing devices and the material table via the moving component.

[0016] In one embodiment, the material station further includes a third material storage section, with a separator provided between the two materials to be processed. After one of the materials to be processed is removed, the separator is removed and stored in the third material storage section; and / or, after a processed material is stored in the second material storage section, the separator is removed from the third material storage section and placed in the processed material.

[0017] A laser processing system includes an ultrafast laser processing device and the aforementioned loading and unloading system.

[0018] The aforementioned loading / unloading system and laser processing system include a robotic arm and a material gripper. The robotic arm is movably mounted on the ground and / or ceiling, enabling it to move the material gripper between multiple ultrafast laser processing devices. The material gripper includes a rotating assembly and multiple material pick-and-place components, distributed circumferentially along the robotic arm. The robotic arm drives the rotating assembly to move, causing at least one material pick-and-place component to pick up and place processed material, while the remaining components carry and place material to be processed. This design allows for the simultaneous picking up and placing of processed material, as well as the carrying and placement of material to be processed, while the rotating assembly drives multiple material pick-and-place components to rotate circumferentially along the end of the robotic arm. This significantly improves the loading / unloading efficiency of the ultrafast laser processing equipment. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the loading and unloading system structure in one embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the loading and unloading system structure in another embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the loading and unloading system structure in another embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the structure of a laser processing system in one embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the structure of a laser processing system in another embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the structure of the laser processing system in another embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the laser processing system in another embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the material platform structure in one embodiment of this application;

[0028] Figure 9 This is a schematic diagram of an application scenario of the loading and unloading system in one embodiment of this application.

[0029] Explanation of reference numerals in the attached figures:

[0030] 10-Material gripper, 110-Robotic arm, 120-Material pickup and placement component, 130-Rotating assembly, 140-Rotating component, 150-Connector; 1401-Support, 1402-Rotating shaft, 1201-Material pickup and placement surface; 300-Moving assembly, 400-Ultrafast laser processing equipment, 500-Guide rail, 600-Ceiling; 100-Material platform, 410-First material storage section, 420-Second material storage section, 430-Third material storage section. Detailed Implementation

[0031] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of this application.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0033] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0034] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0035] It is understandable that "at least one" refers to one or more, and "multiple" refers to two or more. "At least a part of an element" refers to part or all of an element.

[0036] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0037] This application provides a loading and unloading system for ultrafast laser processing equipment, used to load and unload materials from the equipment. Figure 1 As shown, the loading and unloading system includes a robotic arm 110 and a material gripper 10. The robotic arm 110 is movably mounted on the ground and / or ceiling and can move between multiple ultrafast laser processing devices. The material gripper 10 includes a rotating assembly 130 and multiple material pick-and-place components 120. The rotating assembly 130 is connected to the end of the robotic arm 110, and the multiple material pick-and-place components 120 are respectively connected to the rotating assembly 130. The rotating assembly 130 is used to drive the multiple material pick-and-place components 120 to rotate circumferentially along the end of the robotic arm 110 to load and unload materials from the multiple ultrafast laser processing devices. When loading and unloading materials from the multiple ultrafast laser processing devices, at least one material pick-and-place component 120 of the multiple material grippers 10 is used to pick up and place processed materials, and the remaining material pick-and-place components 120 of the multiple material grippers 10 are used to carry and place materials to be processed.

[0038] Specifically, the material to be processed refers to material that has not yet been processed by the ultrafast laser processing equipment and is awaiting feeding into it. After receiving the material, the ultrafast laser processing equipment can process it to form a processed material. The robotic arm 110 typically includes multiple joints. After receiving operation commands through sensors or external control devices, the robotic arm 110 performs motion planning based on the received commands, determining the motion trajectory and speed of each joint. Then, motors drive each joint to move along the planned trajectory to achieve the expected operation. Furthermore, the robotic arm 110 can also receive feedback on its actual motion state through sensors, adjusting its operation based on the feedback to improve the accuracy of the operation.

[0039] In this embodiment, the ground refers to the ground between the ultrafast laser processing devices. When the robotic arm 110 is positioned on the ground between the ultrafast laser processing devices, it can be located at the center of two relatively opposite ultrafast laser processing devices, so that when the robotic arm 110 moves to a position, it can load and unload materials for two or more ultrafast laser processing devices. Alternatively, it can be positioned in other locations, as long as it can ensure that it can load and unload materials for multiple ultrafast laser processing devices.

[0040] It is understandable that the robotic arm 110 can be set up on the ground and can reach the location of at least two ultrafast laser processing devices. This setup makes the robotic arm 110 easy to move and easy to monitor and maintain.

[0041] The robotic arm 110 being installed on the ceiling refers to its placement on the ceiling of the location where the ultrafast laser processing equipment is located. The location refers to a room with storage space, including workshops or factories. Workshops or factories typically store two or more ultrafast laser processing devices and can also accommodate personnel. Since there is no ultrafast laser processing equipment installed on the ceiling, the placement of the robotic arm 110 is not limited and can be determined according to actual needs. Optimally, the robotic arm 110 is positioned at the center of two oppositely positioned ultrafast laser processing devices.

[0042] Similarly, the robotic arm 110 can be installed solely on the ceiling of the location where the ultrafast laser processing equipment is situated. The robotic arm 110 moves along the ceiling, extending outwards to load and unload materials from multiple ultrafast laser processing units. This installation method reduces the floor space required, thus improving the space utilization rate of the workspace.

[0043] In other embodiments, at least two robotic arms 110 are provided, with robotic arms 110 installed on both the ground and the ceiling. In this case, the robotic arm 110 that moves on the ground or on the ceiling can be selected as needed to load and unload materials for the ultrafast laser processing equipment, meeting diverse needs. Furthermore, the robotic arms 110 that move on the ground and on the ceiling can be controlled to simultaneously load and unload materials for different ultrafast laser processing equipment, improving loading and unloading efficiency and meeting the ultrafast processing requirements of the ultrafast laser processing equipment.

[0044] The robotic arm 110 is equipped with a material gripper 10. When the robotic arm 110 moves, it drives the material gripper 10 to move. After the material gripper 10 reaches the target position, the robotic arm 110 can drive the rotating component 130 to move. The rotating component 130 can drive each material pick-up and place-down component 120 to rotate around the circumference of the robotic arm 110. After the robotic arm 110 drives the material gripper 10 to the target pick-up and place-down position, the material pick-up and place-down component 120 can perform pick-up and / or release actions to pick up and place processed materials or materials to be processed.

[0045] When loading is required, the robotic arm 110 drives the rotating assembly 130 to bring at least one material pick-up / placement component 120 closer to the material. The material pick-up / placement component 120 closest to the material picks up the material to be processed. Then, the robotic arm 110 continues to control the material gripper 10 to move to the ultrafast laser processing equipment and releases the picked-up material to complete the loading process of the ultrafast laser processing equipment. When unloading is required, the robotic arm 110 drives the material gripper 10 to move to the ultrafast laser processing equipment. The robotic arm 110 then drives the rotating assembly 130 to bring at least one material pick-up / placement component 120 closer to the material. The material pick-up / placement component 120 closest to the material picks up the material from the ultrafast laser processing equipment. Then, the robotic arm 110 continues to control the material gripper 10 to move to a certain position and releases the processed material it is carrying, completing the unloading process of the ultrafast laser processing equipment.

[0046] When simultaneous loading and unloading are required, the robotic arm 110 drives the rotating assembly 130 to bring the material pick-and-place component 120 closer to the ultrafast laser processing equipment. At least one material pick-and-place component 120 among the multiple material grippers 10 picks up the processed material from the ultrafast laser processing equipment, and at the same time, at least one material pick-and-place component 120 places the material to be processed onto the ultrafast laser processing equipment. The ultrafast laser processing equipment used to pick up the processed material and the equipment used to place the material to be processed can be the same ultrafast laser processing equipment or different ultrafast laser processing equipment; there is no specific limitation.

[0047] The end effector of a robotic arm 110 is provided with at least one material gripper 10, and the material gripper 10 includes at least one rotating component 130 and at least two material pick-and-place components 120. It is understood that the number of material pick-and-place components 120 can be two (e.g., ...). Figure 1 As shown), three, four (as shown) Figure 2 (As shown), five, six or more, are not limited here. The material pick-and-place unit 120 can be used only for picking up and placing materials to be processed, or only for picking up and placing processed materials, or it can be used for both picking up and placing materials to be processed and picking up and placing processed materials, depending on actual needs.

[0048] Each material pick-and-place component 120 is distributed circumferentially along the robotic arm 110. The circumferential direction of the robotic arm 110 is perpendicular to its axial direction. The robotic arm 110 may include multiple rotating shafts, and each material pick-and-place component 120 may be distributed circumferentially along one of these rotating shafts, with the circumferential direction of the robotic arm 110 perpendicular to the axial direction of that rotating shaft. Alternatively, the distribution of each material pick-and-place component 120 along the circumferential direction of the robotic arm 110 allows each component to be connected to the end of the robotic arm 110 via a common connecting shaft, the extension direction of which may be parallel to the axial direction of the robotic arm 110. Thus, each material pick-and-place component 120 can change position circumferentially within the robotic arm 110, enabling loading and / or unloading of materials using different material pick-and-place components 120 during the loading and unloading of materials for the ultrafast laser processing equipment. Multiple materials can be loaded and unloaded simultaneously using one robotic arm 110 and one material gripper 10, increasing the probability of successful loading and unloading.

[0049] In this embodiment, the material gripper 10 includes a rotating assembly 130 and at least two material pick-and-place components 120 connected to the rotating assembly 130. Each material pick-and-place component 120 is distributed circumferentially along the robotic arm 110. Thus, by providing the rotating assembly 130 and multiple material pick-and-place components 120 in the material gripper 10, when the robotic arm 110 drives the rotating assembly 130 to move, it can drive each material pick-and-place component 120 to place the carried material onto or pick up the material from the ultrafast laser processing equipment. By using multiple material pick-and-place components 120 to pick up and place materials, the loading and unloading efficiency can be improved.

[0050] In one exemplary embodiment, the rotating assembly 130 is connected to the end of the robotic arm 110.

[0051] Specifically, the end effector of the robotic arm 110 refers to the end of the robotic arm 110 that is closest to the object being acted upon. The object being acted upon can be material, including material to be processed and material that has already been processed.

[0052] The rotating assembly 130 is connected to the end of the robotic arm 110 and can be rotatably connected to the end of the robotic arm 110, allowing it to rotate circumferentially along the robotic arm 110. Each material pick-and-place component 120 is connected to the rotating assembly 130. When the robotic arm 110 drives the rotating assembly 130 to rotate, it can drive each material pick-and-place component 120 to rotate circumferentially along the robotic arm 110, thereby changing the position of each material pick-and-place component 120 to control whether the material pick-and-place component 120 picks up or does not pick up materials.

[0053] The structure of the rotating assembly 130 is not unique; exemplaryly, in one embodiment, such as... Figure 1As shown, the rotating assembly 130 includes a rotating component 140 and a connecting component 150. The material pick-and-place component 120 is connected to the rotating component 140 via the connecting component 150. The first end of the connecting component 150 is connected to the material pick-and-place component 120, and the second end of the connecting component 150 is connected to the rotating component 140. The rotating component 140 can be connected to the end of the robotic arm 110 and rotatably connected to the end of the robotic arm 110 to rotate circumferentially along the robotic arm 110. When the rotating component 140 rotates, it drives the connecting component 150 to rotate, thereby driving the material pick-and-place component 120 connected to the connecting component 150 to rotate, so that each material pick-and-place component 120 rotates circumferentially along the robotic arm 110.

[0054] In an expandable manner, the first end of the connector 150 can be detachably connected to the material pick-and-place component 120, so as to replace the corresponding material pick-and-place component 120 in different usage scenarios. The second end of the connector 150 can be fixedly connected to the rotating component 140, so that when the rotating component 140 drives the connector 150 to move, the positions of the rotating component 140 and the connector 150 can remain relatively fixed.

[0055] In this embodiment, the rotating assembly 130 includes a rotating component 140 and a connecting component 150. The robotic arm 110 drives the rotating component 140 to move, which in turn drives the connecting component 150 to move, thereby driving the material picking and placing component 120 connected to the connecting component 150 to move, so that different material picking and placing components 120 can realize loading and unloading.

[0056] In one exemplary embodiment, such as Figure 2 As shown, the rotating component 140 includes multiple branches 1401, which are spaced apart. Each branch 1401 corresponds to a material pick-up and drop-off component 120, or multiple branches 1401 correspond to one material pick-up and drop-off component 120.

[0057] When the rotating component moves, its multiple supports 1401 also move simultaneously, thereby driving the material pick-and-place component 120, which is mounted on the supports 1401, to move. The supports 1401 are spaced apart, meaning there is a certain interval between two supports 1401. The shape of the supports 1401 is not limited; for example, it can be rod-shaped.

[0058] The arrangement of the branch 1401 and the material pick-and-place component 120 is not unique. In the first example embodiment, such as Figure 1 and Figure 2 As shown, the branches 1401 and material pick-and-place components 120 are arranged in a one-to-one correspondence, with one material pick-and-place component 120 on each branch 1401, which can increase the number of material pick-and-place components 120. In the embodiment of the second example, as... Figure 3As shown, multiple branches 1401 correspond to one material pick-up and drop-off component 120. Through multiple branches 1401, a material pick-up and drop-off component 120 with a larger area can be set up, which is convenient for picking up and dropping materials with a larger area and helps to expand the application range of the material gripper 10.

[0059] Furthermore, the rotating assembly 130 may also include a rotating shaft 1402, with each support 1401 spaced apart circumferentially on the rotating shaft. The rotating shaft 1402 rotates circumferentially on the robotic arm 110, and the circumferential direction of the rotating shaft 1402 is the same as that of the robotic arm 110. When the rotating shaft 1402 rotates, it can drive each support 1401 to rotate circumferentially on the rotating shaft, thereby causing the material pick-and-place member 120 connected to each support 1401 to move circumferentially on the robotic arm 110.

[0060] It is understood that the structure of the rotating assembly 130 may also be different in other embodiments, and is not limited here. Expandably, the rotating assembly 130 may also include a motor connected to the rotating shaft for driving the rotating shaft to rotate. By setting the motor, the position of each material pick-and-place component 120 can be controlled electrically, making it convenient to use.

[0061] In this embodiment, the rotating component includes multiple supports 1401, which are spaced apart. Each support 1401 corresponds to a material pick-and-place component 120, or multiple supports 1401 correspond to one material pick-and-place component 120. This expands the applicability of the material gripper 10 and improves its working performance.

[0062] In one exemplary embodiment, such as Figure 2 As shown, the shape of the material pickup surface 1201 of the material pickup component 120 is the same as the shape of the material.

[0063] The material pick-up and place surface 1201 refers to a panel used for picking up or placing materials. When the shape of the material pick-up and place surface 1201 is the same as the shape of the material, it can provide a shape-matching accommodating space for the material. Therefore, when the material pick-up and place surface 1201 picks up or places materials, it helps to improve the fixation effect of the materials.

[0064] For example, when the material is rectangular, the material picking surface 1201 of the material picking component 120 can be set to a rectangle; when the material is circular, the material picking surface 1201 of the material picking component 120 can be set to a circle; other shape correspondences are similar and will not be elaborated here.

[0065] In this embodiment, the shape of the material pickup surface 1201 of the material pickup component 120 is the same as the shape of the material, which can improve the material's capacity and fixation, and help keep the material in a fixed position.

[0066] In one exemplary embodiment, a material pick-and-place unit 120 may carry at least one material, or multiple material pick-and-place units 120 may collectively carry one material.

[0067] "One material pick-and-place unit 120 can carry at least one material" means that one material pick-and-place unit 120 can carry one material, or one material pick-and-place unit 120 can carry two or more materials. When one material pick-and-place unit 120 carries one material, different material pick-and-place units 120 can carry different materials, which helps to reduce the possibility of one material pick-and-place unit 120 carrying the wrong material. When one material pick-and-place unit 120 carries multiple materials, it can carry a larger number of materials, which helps to improve loading and unloading efficiency.

[0068] Multiple material pick-and-place components 120 can jointly carry one material, meaning that two material pick-and-place components 120, three material pick-and-place components 120, or more material pick-and-place components 120 can jointly carry one material. When multiple material pick-and-place components 120 can jointly carry one material, larger-sized materials can be carried, expanding the applicability of the material gripper 10.

[0069] The area of ​​the material pickup / placement surface may be the same as or different from the material area; no specific limitation is imposed. In an exemplary embodiment, the material pickup / placement component 120 includes a material pickup / placement surface 1201. When one material pickup / placement component 120 can carry one material, the area of ​​the material pickup / placement surface 1201 is not greater than the maximum surface area of ​​the material; when one material pickup / placement component 120 can carry multiple materials, the area of ​​the material pickup / placement surface 1201 is not less than the sum of the maximum surface areas of the multiple materials; when multiple material pickup / placement components 120 can jointly carry one material, the sum of the areas of the multiple material pickup / placement surfaces 1201 is not greater than the maximum surface area of ​​the material.

[0070] The material pick-up / placement surface 1201 refers to a panel used for picking up or placing materials. The area of ​​the panel can be varied and implemented in several ways.

[0071] In a first optional embodiment, when a material pick-up and dropper 120 can carry one material, the area of ​​the material pick-up and dropper surface 1201 is not greater than the maximum surface area of ​​the material. There can be multiple types of materials, and the maximum surface area of ​​a material refers to the area of ​​the largest surface among all types of materials. The area of ​​the material pick-up and dropper surface 1201 not being greater than the maximum surface area of ​​the material means that the area of ​​the material pick-up and dropper surface 1201 is less than or equal to the maximum surface area of ​​the material. Therefore, when the material pick-up and dropper surface picks up a material, it can pick up the material regardless of which surface it picks up, thus saving the area of ​​the material pick-up and dropper surface.

[0072] In a second optional embodiment, when a material pick-up and dropper 120 can carry multiple materials, the area of ​​the material pick-up and dropper surface 1201 is not less than the sum of the maximum surface areas of the multiple materials. "The area of ​​the material pick-up and dropper surface 1201 is not less than the sum of the maximum surface areas of the multiple materials" means that the area of ​​the material pick-up and dropper surface 1201 is greater than or equal to the sum of the maximum surface areas of the multiple materials. Materials can be of various types, and the maximum surface area of ​​a material refers to the area of ​​the largest surface among the various materials. When a material pick-up and dropper 120 can carry multiple materials, the area of ​​the material pick-up and dropper surface 1201 is not less than the sum of the maximum surface areas of the multiple materials. Therefore, when the material pick-up and dropper surface 1201 picks up a material, regardless of which surface of which material is picked up, it can pick up each material and provide sufficient space to accommodate multiple materials.

[0073] In a third optional embodiment, when multiple material pick-up and drop-off components 120 can jointly carry a single material, the total area of ​​the multiple material pick-up and drop-off surfaces 1201 is not greater than the maximum surface area of ​​the material. The material can be of various types, and the maximum surface area of ​​the material refers to the area of ​​the largest surface among the various types of materials. The total area of ​​the multiple material pick-up and drop-off surfaces 1201 not exceeding the maximum surface area of ​​the material means that the total area of ​​the multiple material pick-up and drop-off surfaces 1201 is less than or equal to the maximum surface area of ​​the material. When multiple material pick-up and drop-off components 120 can jointly carry a single material, and the total area of ​​the multiple material pick-up and drop-off surfaces 1201 is not greater than the maximum surface area of ​​the material, thus, when multiple material pick-up and drop-off surfaces 1201 simultaneously pick up a single material, regardless of which surface of the material is picked up, the material can be picked up, and sufficient accommodating space can be provided for the material.

[0074] In this embodiment, the material pick-and-place component 120 includes a material pick-and-place surface 1201. When one material pick-and-place component 120 can carry one material, the area of ​​the material pick-and-place surface 1201 is not greater than the maximum surface area of ​​the material; when one material pick-and-place component 120 can carry multiple materials, the area of ​​the material pick-and-place surface 1201 is not less than the sum of the maximum surface areas of the multiple materials; when multiple material pick-and-place components 120 can jointly carry one material, the sum of the areas of the multiple material pick-and-place surfaces 1201 is not greater than the maximum surface area of ​​the material. Therefore, the material gripper 10 can provide multiple material pick-and-place options, such as one material pick-and-place surface 1201 picking up one or more materials, or multiple material pick-and-place surfaces 1201 picking up one material, which helps improve the operational reliability of the material gripper 10.

[0075] The specific parameters such as panel thickness and material can be determined according to the type of material, and are not limited here.

[0076] The material pickup and placement surface 1201 is not used in only one way to pick up and place materials to be processed or materials that have already been processed. For example, the material pickup and placement surface 1201 can be combined with a device provided on the material pickup and placement surface 1201 to pick up and place materials to be processed or materials that have already been processed. Alternatively, the material pickup and placement surface 1201 can be a magnetic surface, which is provided with a magnetic attraction device, and the magnetic surface can attract materials containing ferromagnetic materials by magnetic attraction.

[0077] It is understood that in other embodiments, the material pick-and-place component 120 may be of other types, such as grippers, as long as those skilled in the art deem it feasible.

[0078] In one exemplary embodiment, the material pick-and-place component 120 further includes a suction cup for picking up and placing materials.

[0079] The suction cup can be positioned on the material pickup / dispatch surface 1201. The suction cup can pick up and release materials through adsorption, enabling the pickup and release of materials to be processed or already processed. The size, material, and shape of the suction cup can be customized according to actual needs and are not limited here. It is understood that in other embodiments, the disk can also be positioned in other locations, and this is not limited here.

[0080] In this embodiment, the material pick-and-place component 120 also includes a suction cup for picking up and placing materials. Using the suction cup to pick up and place materials enables fast and efficient material handling with minimal damage. It can also adapt to materials of different specifications, shapes, and properties, and offers high reliability.

[0081] Furthermore, the number of suction cups is not unique. For example, in one embodiment, a material pickup / pickup surface 1201 is provided with at least two suction cups. When there are multiple suction cups, a material pickup / pickup surface 1201 can pick up and put up multiple materials at the same time, or multiple suction cups can work together to pick up and put up a large material, which helps to improve the working flexibility of the material pickup / pickup surface 1201.

[0082] The arrangement of the suction cup is not limited. For example, in one embodiment, the suction cup is movably arranged. Movable arrangement means that the position of the suction cup can be adjusted. Exemplarily, the suction cup is movably arranged on the material pickup surface 1201, and its position on the material pickup surface 1201 is adjustable. Therefore, the position of the suction cup can be adjusted to a suitable position according to material parameters such as the size and quantity of the material to be picked up, to meet the material pickup requirements.

[0083] There is no single way to make the suction cup movable; for example, it can be attached to the suction cup. When the position of the suction cup needs to be adjusted, the suction cup can be moved directly, or it can be removed and then attached to the corresponding position.

[0084] In this embodiment, the suction cup is movably disposed. Therefore, the position of the suction cup is adjustable, which can meet the needs of picking up and placing materials of different sizes and quantities.

[0085] In one embodiment, the material gripper 10 further includes a material clamp, which is disposed on the material pick-up and place surface 1201 of the material pick-up and place member 120 and is used to hold materials; the material clamp is a material clamp with adjustable clamping thickness.

[0086] It can be understood that a material clamp includes two opposing clamping members. When the clamping members are clamped, they can hold the material; when the clamping members are released, they can release the material. The distance between the two clamping members is the clamping thickness of the material clamp.

[0087] A material clamp is disposed on the material pickup surface 1201 of the material pickup and placement component 120. The clamping direction of the clamping components is the direction in which the clamping thicknesses of the two clamping components are located. When the clamping direction of the clamping components is parallel to the material pickup surface 1201, the clamping thicknesses of the clamping components are different, resulting in different areas of material that can be clamped. When the clamping direction of the clamping components is perpendicular to the material pickup surface 1201, the clamping thicknesses of the clamping components are different, resulting in different thicknesses of material that can be clamped. It can be understood that when multiple materials are stacked, the different clamping thicknesses of the clamping components result in different numbers of materials that can be clamped. Therefore, under the action of the material clamp, the material pickup surface can simultaneously accommodate multiple pieces of material.

[0088] The method by which a material clamp achieves adjustable clamping thickness is not unique. For example, in one embodiment, the material clamp includes two opposing clamping members, with the ends of the two clamping members furthest from the material connected to the two ends of a retractable member, respectively. When the retractable member is in different extended states, its length varies, resulting in different distances between the two clamping members, thus achieving adjustable clamping thickness. It is understood that in other embodiments, other methods can also be used to achieve adjustable clamping thickness, and this is not limited to these methods.

[0089] To facilitate understanding, this application will be explained and described below with reference to more detailed embodiments. In one embodiment, the loading and unloading system includes a material gripper 10 and a robotic arm 110, wherein the robotic arm 110 is a six-axis robot. The material gripper 10 includes a rotating assembly 130 and at least two material pick-and-place components 120, wherein the material pick-and-place components 120 are material pick-and-place surfaces 1201.

[0090] For example, the end of the robotic arm 110 is provided with four material pick-up and placement surfaces 1201 (in a rectangular shape) or more adjacent to each other. Two of the material pick-up and placement surfaces 1201 are used to carry and place the material to be processed, and the remaining material pick-up and placement surfaces 1201 are used to pick up the processed material.

[0091] Alternatively, the robotic arm 110 has two opposing material pick-up and drop surfaces 1201 at its end. One surface carries and holds multiple pieces of material to be processed, while the other pick-up and drop surface 1201 picks up multiple pieces of already processed material. This method of picking up multiple pieces of material can be achieved by having each material pick-up and drop surface 1201 be relatively large, capable of accommodating multiple pieces of material simultaneously. For example, the material pick-up surface could have two sides, each with a large area, allowing multiple pieces of material to be processed to be placed flat. Alternatively, the material pick-up and drop surfaces 1201 could be specially designed to allow multiple stacked pieces of material to be picked up / gripped simultaneously and released sequentially, piece by piece.

[0092] In one embodiment, such as Figures 4-7 As shown, the loading and unloading system also includes a moving component 300, one end of a robotic arm 110 is connected to the moving component 300, and the robotic arm 110 is movably mounted on the ground and / or ceiling via the moving component 300.

[0093] Specifically, the way in which the robotic arm 110 is moved and set on the ground and / or ceiling is not unique. This embodiment is explained by describing the robotic arm 110 being moved and set on the ground and / or ceiling via the moving component 300.

[0094] The type of moving component 300 is not limited, as long as it can drive the robotic arm 110 to move between the ultrafast laser processing devices 400. For example, the moving component 300 may include a substrate and wheels, with the robotic arm 110 mounted on the substrate and the wheels mounted on the side of the substrate closest to the ground. The wheels can move the robotic arm 110 on the substrate across the ground, allowing the robotic arm 110 to reach different positions of the ultrafast laser processing devices 400, facilitating loading and unloading for different ultrafast laser processing devices 400. The wheel structure is relatively simple and easy to use.

[0095] In this embodiment, the moving component 300 is connected to the robotic arm 110 and is used to drive the robotic arm 110 to move, thereby facilitating the change of the position of the robotic arm 110. This allows the robotic arm 110 to move to different ultrafast laser processing equipment 400 to load and unload materials for the ultrafast laser processing equipment 400, improving loading and unloading efficiency and meeting the ultrafast processing requirements of the ultrafast laser processing equipment 400.

[0096] In one embodiment, loading and unloading multiple ultrafast laser processing devices 400 includes: the robotic arm 110 moving to one position to load and unload two oppositely positioned ultrafast laser processing devices 400; and the robotic arm 110 moving to the next position to load and unload another set of two oppositely positioned ultrafast laser processing devices 400.

[0097] Specifically, in this embodiment, when the material gripper 10 loads and unloads multiple ultrafast laser processing devices 400, it can simultaneously load and unload two ultrafast laser processing devices 400 at the same location. Specifically, it can load one ultrafast laser processing device 400 while unloading another, or it can load and unload either device simultaneously; the specific method is not limited. After the two ultrafast laser processing devices 400 at this location complete loading and unloading, it moves to the next location to load and unload another set of two oppositely positioned ultrafast laser processing devices 400 (again, one device can load while the other unloads, or the same device can both load and unload). This method allows for the loading and unloading of two ultrafast laser processing devices 400 at the same location, resulting in higher loading and unloading efficiency.

[0098] In one embodiment, the loading and unloading system further includes an obstacle detection device, which is disposed on the robotic arm 110. The obstacle detection device is used to detect obstacle information on the travel path of the robotic arm 110, and the obstacle information is used to adjust the working state of the robotic arm 110.

[0099] Specifically, the working state of the robotic arm 110 can include its movement state, such as turning angle and moving speed. An obstacle detection device is installed on the robotic arm 110, and can be installed at different positions on the robotic arm 110. The loading and unloading system also includes a controller, and the obstacle detection device is communicatively connected to the controller via a wire. The obstacle detection device is used to detect obstacle information on the travel path of the robotic arm 110 and send the obstacle information to the controller, which is used to control the working state of the robotic arm 110 based on the obstacle information.

[0100] Obstacle information may include some or all of the following information: whether an obstacle exists, the type of obstacle, the distance to the obstacle, and the size of the obstacle. It may also include other information, which is not limited here.

[0101] The type of obstacle detection device is not unique. For example, the obstacle detection device can be a millimeter-wave radar. During the movement of the robotic arm 110, the millimeter-wave radar sends millimeter-wave signals along the path. If an obstacle exists in the path, the millimeter-wave radar can receive the signal reflected back from the obstacle. The millimeter-wave radar can then forward the received signal to the controller for analysis, thereby enabling obstacle detection. The detection process is simple and has low operating costs. It is understood that in other embodiments, the type of obstacle detection device can also be other, as long as those skilled in the art believe it is feasible.

[0102] The controller is used to control the working state of the robotic arm 110 based on obstacle information. For example, when the controller determines that there is an obstacle on the robotic arm 110's path based on obstacle information, it controls the robotic arm 110 to turn and change its path to bypass the obstacle, thus achieving obstacle avoidance. Alternatively, when the controller determines that there is an obstacle on the robotic arm 110's path based on obstacle information, it controls the robotic arm 110 to decelerate until it stops, avoiding collisions with obstacles and potential damage to the device.

[0103] In this embodiment, the loading and unloading system also includes an obstacle detection device, which is installed on the robotic arm 110 and communicates with the controller. The obstacle detection device is used to detect obstacle information on the travel path of the robotic arm 110 and send the obstacle information to the controller. The controller is used to control the working state of the robotic arm 110 according to the obstacle information. Thus, the robotic arm 110 can effectively avoid obstacles, which is beneficial to improving the working performance and service life of the robotic arm 110.

[0104] In one embodiment, the loading and unloading system further includes a camera element disposed on the robotic arm 110, which is used to detect whether the picked-up processed material is abnormal.

[0105] Specifically, the camera element can acquire image information of the processed material, analyze the image information (e.g., compare the acquired image information with image information of normal processed material), and determine whether the processed material is normal based on the comparison result. The camera element can be a CCD camera or other types.

[0106] In this embodiment, the robotic arm 110 is equipped with a camera element, which is used to detect whether the processed material is abnormal. Thus, the camera element enables the detection of abnormalities in the processed material, which is beneficial for improving production quality. Furthermore, placing the camera element in the robotic arm 110 facilitates its replacement and adjustment. Previously, camera elements were typically located inside the ultrafast laser processing equipment 400. When the camera element needs to be replaced or adjusted, its location inside the ultrafast laser processing equipment 400 is inconvenient for operators. However, placing the camera element in the robotic arm 110 facilitates the operator's replacement and adjustment of the camera element.

[0107] The type of laser in the ultrafast laser processing equipment 400 is not unique. In one exemplary embodiment, the laser in the ultrafast laser processing equipment 400 includes one or both of picosecond lasers and femtosecond lasers.

[0108] A picosecond laser is a laser with a pulse width in the picosecond range, characterized by ultra-short pulse widths, adjustable repetition rates, and high pulse energy. The picosecond pulse width allows for a highly concentrated laser energy within an extremely short time, achieving high-precision processing results. Due to its ultra-short pulse characteristics, a picosecond laser can release a tremendous amount of energy in a very short time. Picosecond lasers are suitable for processing a variety of materials, including metals, non-metals, and brittle materials such as glass and ceramics.

[0109] A femtosecond laser is a type of laser capable of generating ultrashort laser pulses at the femtosecond level. Femtosecond lasers possess extremely high temporal resolution, and their ultrashort pulse characteristics make processing more efficient and precise, with a smaller heat-affected zone.

[0110] In this embodiment, the laser of the ultrafast laser processing equipment 400 includes one or both of picosecond and femtosecond lasers. Both picosecond and femtosecond lasers can achieve ultrafast processing.

[0111] Please see Figure 8 In one embodiment, the loading and unloading system further includes a material platform 100, which includes a first material storage section 410 and a second material storage section 420. The first material storage section 410 is used to store materials to be processed, and the second material storage section 420 is used to store processed materials.

[0112] Specifically, when the robotic arm 110 places the material to be processed into the ultrafast laser processing equipment 400, the robotic arm 110 drives the material gripper 10 to grab the material to be processed from the material table 100 and places the material to be processed into the ultrafast laser processing equipment 400. When the robotic arm 110 picks up the material to be processed from the ultrafast laser processing equipment 400, the robotic arm 110 drives the material gripper 10 to grab the processed material from the ultrafast laser processing equipment 400 and places the processed material into the material table 100.

[0113] The feed table 100 can store both materials to be processed and processed materials. The feed table 100 includes at least two storage sections located in different positions, one for storing materials to be processed and the other for storing processed materials. By using a single feed table 100 to store both materials to be processed and processed materials, separate loading and unloading modules are unnecessary, meeting the ultrafast processing requirements of the ultrafast laser processing equipment 400, and helping to reduce energy consumption and space requirements.

[0114] The type of the first material storage unit 410 is not limited; for example, it can be a material tray or a material box. The material tray is a disc-shaped container with an opening on the top, which facilitates the material gripper 10 in grasping the material to be processed. The top cover of the material box is closable, and when the top cover is closed, it can better protect the stored material to be processed.

[0115] The shape and size of the first material storage section 410 can be determined according to actual needs. To facilitate the storage of materials to be processed, the shape of the first material storage section 410 can match the shape of the materials to be processed; the matching can be identical or similar. For example, if the shape of the materials to be processed is rectangular, the shape of the first material storage section 410 can also be rectangular, or the storage space of the first material storage section 410 can be rectangular, which helps reduce space waste. Furthermore, the size of the first material storage section 410 is larger than the size of the materials to be processed, so that the materials to be processed can be completely housed within the first material storage section 410, which helps to better store and protect the materials to be processed. Alternatively, the size of the first material storage section 410 can also be an integer multiple of the size of the materials to be processed, so that multiple materials to be processed can be stored simultaneously, increasing storage capacity. The number of first material storage sections 410 can be one or more, which can be determined according to the storage requirements of the materials to be processed.

[0116] The type of the second material storage section 420 is not limited; for example, it can be a material tray or a material box. The material tray is a disc-shaped container with an opening on the top, making it easy for the material gripper 10 to place processed materials. The top cover of the material box is closable, and when the top cover is closed, it can better protect the stored processed materials.

[0117] The shape and size of the second material storage section 420 can be determined according to actual needs. To facilitate the storage of processed materials, the shape of the second material storage section 420 can match the shape of the processed materials; the matching can be identical or similar. For example, if the shape of the processed materials is rectangular, the shape of the second material storage section 420 can also be rectangular, or the storage space of the second material storage section 420 can be rectangular, which helps reduce space waste. Furthermore, the size of the second material storage section 420 is larger than the size of the processed materials so that the processed materials can be completely housed within the second material storage section 420, which facilitates better storage and protection of the processed materials. Alternatively, the size of the second material storage section 420 can also be an integer multiple of the size of the processed materials so that multiple processed materials can be stored simultaneously, increasing storage capacity. The number of second material storage sections 420 can be one or more, which can be determined according to the storage requirements of the processed materials.

[0118] In an expandable manner, the type, shape, and size parameters of the second material storage unit 420 can be entirely or partially the same as those of the first material storage unit 410. Since the shape and size of the material before and after processing by the ultrafast laser processing equipment 400 may not change significantly, setting the type, shape, and size parameters of the second material storage unit 420 to be entirely or partially the same as those of the first material storage unit 410 can both meet the storage requirements of the material to be processed and the processed material, and reduce the manufacturing difficulty of the first material storage unit 410 and the second material storage unit 420.

[0119] In this embodiment, the material station 100100 includes a first material storage section 410 and a second material storage section 420. The first material storage section 410 is used to store materials to be processed, and the second material storage section 420 is used to store processed materials. By storing materials to be processed and processed materials separately in different material storage sections, the impact on processing quality and product quality caused by incorrect material placement can be reduced.

[0120] In one embodiment, the feed table 100 is connected to the moving assembly 300, and the feed table 100 and the robotic arm 110 move together between multiple ultrafast laser processing devices 400 via the moving assembly 300.

[0121] Specifically, the robotic arm 110 and the material table 100 can be integrated together and connected to the same moving component 300. When the moving component 300 drives the robotic arm 110 and the material table 100 to move together, the material gripper 10 and the object gripped by the material gripper 10 also move along with the robotic arm 110, and the materials to be processed and the processed materials stored on the material table 100 also move along with the material table 100. In this way, the moving component 300 can drive the robotic arm 110 and the material table 100 to move simultaneously, which facilitates loading and unloading for the ultrafast laser processing equipment 400 and can also reduce the number of moving components 300.

[0122] In this embodiment, the loading and unloading system also includes a moving component 300, which is connected to the robotic arm 110 and the material table 100, and is used to drive the robotic arm 110 and the material table 100 to move together. Thus, the moving component 300 can drive the robotic arm 110 and the material table 100 to move together, facilitating changes in their positions. This allows the robotic arm 110 and the material table 100 to simultaneously move to an ultrafast laser processing device 400 for loading and unloading, improving loading and unloading efficiency, meeting the ultrafast processing requirements of the ultrafast laser processing device 400, and also reducing the occupied volume.

[0123] In one embodiment, a table 100 is fixedly installed in the area where one or more laser processing devices are located, and a robotic arm 110 is also used to move between the ultrafast laser processing device 400 and the table 100 via a moving component 300.

[0124] Specifically, the material platform 100 can also be fixedly installed, with one material platform 100 set up in the area where each ultrafast laser processing equipment 400 is located, so that each material platform 100 can store the materials to be processed and the processed materials corresponding to that ultrafast laser processing equipment 400. Alternatively, one material platform 100 can be set up in the area where several ultrafast laser processing equipment 400 are located, so that one material platform 100 can store the materials to be processed and the processed materials corresponding to multiple ultrafast laser processing equipment 400 at the same time, which helps to reduce the number of material platforms 100, thereby reducing the volume occupied by the material platform 100.

[0125] Please see Figure 8 In one embodiment, the material station 100 further includes a third material storage section 430, with a separator (not shown) provided between two materials to be processed. After one of the materials to be processed is removed, the separator is removed and stored in the third material storage section 430; and / or, after a processed material is stored in the second material storage section 420, the separator is removed from the third material storage section 430 and placed in the processed material.

[0126] Specifically, the function of the separator is to isolate two materials to be processed and / or two processed materials, so as to prevent damage between the two materials to be processed and / or two processed materials.

[0127] Two materials to be processed are provided with a separator. After one or more materials to be processed are removed, the separator is located on top of the materials to be processed. The separator can be removed manually or by a robotic arm 110 and stored in the third material storage section 430. And / or, after one or more processed materials are stored in the second material storage section 420, the separator can be retrieved manually or by the robotic arm 110 from the third material storage section 430 or from the materials to be processed and placed on top of the top processed material. Thus, when placing the next processed material, the processed material is placed on the separator, so that the two processed materials are separated by the separator.

[0128] Taking the use of a spacer to isolate materials to be processed as an example, the type of spacer is not limited and can be determined according to the type of materials to be processed. For example, if the material to be processed is a circuit board, the spacer can be a release liner. Placing release liner between two circuit boards can reduce mutual damage between them. Furthermore, the shape and size of the spacer are not limited and can be determined according to the type of materials to be processed. For example, the shape of the spacer can match the shape of the material to be processed; the matching can be the same or similar, to increase the effective isolation space. The size of the spacer can be greater than or equal to the size of the material to be processed to expand the isolation range and enhance the effect of isolation protection.

[0129] The third material storage section 430 is used to store the isolation components. The type of the third material storage section 430 is not limited; for example, it can be a material tray or a material box. The material tray is a disc-shaped container with an opening on the top for easy access to the isolation components. The top cover of the material box is closable, providing better protection for the stored isolation components when the top cover is closed.

[0130] The shape and size of the third material storage section 430 can be determined according to actual needs. To facilitate the storage of the isolation components, the shape of the third material storage section 430 can match the shape of the isolation components; the matching can be identical or similar. For example, if the isolation component is rectangular, the shape of the third material storage section 430 can also be rectangular, or the storage space of the third material storage section 430 can be rectangular, which helps reduce space waste. Furthermore, the size of the third material storage section 430 is larger than the size of the isolation component so that the isolation component can be completely housed within the third material storage section 430, which facilitates better storage and protection of the isolation component. Alternatively, the size of the third material storage section 430 can also be an integer multiple of the size of the isolation component so that multiple isolation components can be stored simultaneously, increasing storage capacity. The number of third material storage sections 430 can be one or more, which can be determined according to the storage requirements of the isolation components.

[0131] In addition, the isolator can also be used to isolate two processed materials. The method for setting up the isolator when isolating processed materials can refer to the method for isolating materials to be processed. The type, shape, and size of the isolator can be determined according to the type of processed material, and will not be elaborated here. After placing a processed material onto the platform 100, the robotic arm 110 can grab an isolator from the third material storage section 430 and then place the isolator on top of the processed material, so that there is an isolator between the next released processed material and the previously released processed material, thereby effectively reducing mutual damage between the two processed materials.

[0132] In this embodiment, the material platform 100 further includes a third material storage section 430, which is used to store separators. This prevents mutual damage between two materials to be processed and / or already processed materials through the separators.

[0133] In one embodiment, the feed station 100 further includes a fourth material storage unit, whereby the abnormal processed material is stored when the camera element is used to detect an abnormality in the processed material.

[0134] When processed materials become abnormal, the abnormal processed materials are stored in the fourth material storage section. The fourth material storage section can be located in a different position from the first material storage section 410 and the second material storage section 420. The fourth material storage section is used to store the abnormal materials. The type of the fourth material storage section is not limited; for example, it can be a material tray or a material box. The material tray is a disc-shaped container with an opening at the top for easy placement of abnormal materials.

[0135] The type, shape, and size of the fourth material storage unit can be entirely or partially the same as those of the first material storage unit 410 or the second material storage unit 420. Since abnormal materials may originate from materials awaiting processing or already processed materials, setting the type, shape, and size of the fourth material storage unit to be entirely or partially the same as those of the first material storage unit 410 or the second material storage unit 420 satisfies the storage requirements for abnormal materials while reducing the manufacturing difficulty of the fourth material storage unit. The number of fourth material storage units can be one or more, determined according to the storage requirements for abnormal materials.

[0136] In this embodiment, the material station 100 also includes a fourth material storage unit. When the camera element detects an abnormality in the processed material, the abnormal processed material is stored in the fourth material storage unit. The camera element can detect whether the processed material is abnormal, and the fourth material storage unit facilitates the timely recovery of abnormal processed material, thereby improving the quality of the processed material.

[0137] In one exemplary embodiment, such as Figures 4-7 As shown, the loading and unloading system also includes a guide rail 500, which is set on the ground and / or on the ceiling 600, and the moving component 300 moves on the guide rail 500.

[0138] The guide rail 500 can be installed on the ground or on the ceiling 600 of the site, or both. The moving component 300 moves on the guide rail 500 to drive the robotic arm 110 and the material table 100 connected to the moving component 300 to move along the trajectory determined by the guide rail to reach the target position.

[0139] The guide rail 500 is slidably connected to the moving component 300, which can move on the guide rail 500 to allow the robotic arm 110 and the material table 100 to reach different positions of the ultrafast laser processing equipment 400, facilitating loading and unloading for different ultrafast laser processing equipment 400. The guide rail 500 provides a relatively fixed travel path for the robotic arm 110 and the material table 100, and the friction between the guide rail and the robotic arm 110 and the material table 100 is small, which helps to improve the movement efficiency.

[0140] It is understood that the shape of the guide rail 500 can be determined according to the arrangement of the ultrafast laser processing equipment 400. For example, if the ultrafast laser processing equipment 400 is arranged in pairs facing each other, the guide rail can be set on the route connecting the center points of each pair of ultrafast laser processing equipment 400; or, if the ultrafast laser processing equipment 400 is arranged in a straight line, the guide rail 500 can be set on a route parallel to the straight line formed by the ultrafast laser processing equipment 400, and the shape of the guide rail 500 is straight; or, if the ultrafast laser processing equipment 400 is arranged in a ring, the guide rail can be set on the inner or outer ring of the ring route formed by the ultrafast laser processing equipment 400, and the shape of the guide rail is the same as the shape of the ring route.

[0141] In this embodiment, the loading and unloading system also includes guide rails, which are installed on the ground and / or on the ceiling, and the moving component 300 moves on the guide rails. Multiple options for the guide rail's location are provided, and the moving component 300 can drive the robotic arm 110 and the material table 100 to move on the guide rails, meeting different application requirements.

[0142] The arrangement of the ultrafast laser processing equipment 400 is not unique. In one exemplary embodiment, multiple ultrafast laser processing equipment 400 are arranged in at least one linear queue. When there is only one linear queue, the robotic arm 110 moves between the ultrafast laser processing equipment 400 in the linear queue; alternatively, the robotic arm 110 is fixed and moves between the ultrafast laser processing equipment 400 in the linear queue. When there are multiple linear queues, the robotic arm 110 moves between adjacent linear queues; alternatively, the robotic arm 110 is fixed and moves between adjacent linear queues.

[0143] In this context, a linear queue can be understood as a single column. The number of ultrafast laser processing devices 400 included in a linear queue is unlimited; it can be two or more. Within a linear queue, all ultrafast laser processing devices 400 can be arranged in a straight line.

[0144] The number of linear queues varies depending on the number of ultrafast laser processing devices 400 and the number of ultrafast laser processing devices 400 included in a linear queue. For example, there may be one linear queue, in which case all the ultrafast laser processing devices 400 are arranged in a straight line. Alternatively, there may be two linear queues, in which case the two linear queues may be arranged opposite each other or opposite and parallel to each other.

[0145] Depending on the number of linear queues, the movement path of robotic arm 110 will also differ. For example, if there is only one linear queue, robotic arm 110 moves between the ultrafast laser processing devices 400 within the queue, and its movement path includes the area between two different ultrafast laser processing devices 400. If there are multiple linear queues, robotic arm 110 moves between adjacent linear queues, and its movement path can be the area between two adjacent linear queues.

[0146] In this embodiment, multiple ultrafast laser processing devices 400 are arranged in at least one linear queue. When there is only one linear queue, the robotic arm 110 moves between the ultrafast laser processing devices 400 within the queue; alternatively, the robotic arm 110 is fixed while moving between the ultrafast laser processing devices 400 within the queue. When there are multiple linear queues, the robotic arm 110 moves between adjacent linear queues; alternatively, the robotic arm 110 is fixed while moving between adjacent linear queues. With this arrangement, the turning angle of the robotic arm 110 or its movement between the ultrafast laser processing devices 400 can be reduced, simplifying the movement path of the robotic arm 110 or its robotic arm 110. With different numbers of linear queues, the robotic arm 110 or its robotic arm 110 can move along different paths, improving the operational applicability of the robotic arm or its robotic arm 110.

[0147] In one exemplary embodiment, multiple ultrafast laser processing devices 400 are arranged in at least one circular queue. When there is one circular queue, the robotic arm 110 moves between the ultrafast laser processing devices 400 in the circular queue, or the robotic arm 110 is fixed and moves between multiple ultrafast laser processing devices 400 in the circular queue. When there are multiple circular queues, the robotic arm 110 moves between adjacent circular queues, or the robotic arm 110 is fixed and moves between adjacent circular queues.

[0148] In this context, a circular queue can be understood as an arrangement of multiple ultrafast laser devices forming a ring. The number of ultrafast laser processing devices (400) included in a circular queue is unlimited, but generally greater than or equal to three.

[0149] The number of ultrafast laser processing devices 400 varies depending on the number of such devices and the number of ultrafast laser processing devices 400 included in a circular queue.

[0150] The movement path of the robotic arm 110 varies depending on the number of circular queues. For example, when there is only one circular queue, the robotic arm 110 moves between the ultrafast laser processing devices 400 within the queue, and its movement path includes the area between two adjacent ultrafast laser processing devices 400. Alternatively, the robotic arm 110 may be stationary, moving between multiple ultrafast laser processing devices 400 within the circular queue. In this case, the robotic arm 110's movement path also includes the area between two adjacent ultrafast laser processing devices 400.

[0151] When there are multiple circular queues, the robotic arm 110 moves between adjacent circular queues. The movement path of the robotic arm 110 can be the area between two adjacent circular queues. Alternatively, the robotic arm 110 can be fixed, and it moves between adjacent circular queues. The movement path of the robotic arm 110 can also be the area between two adjacent circular queues.

[0152] In this embodiment, multiple ultrafast laser processing devices 400 are arranged in at least one circular queue. When there is only one circular queue, the robotic arm 110 moves between the ultrafast laser processing devices 400 within the queue; alternatively, the robotic arm 110 is fixed and moves between multiple ultrafast laser processing devices 400 within the circular queue. When there are multiple circular queues, the robotic arm 110 moves between adjacent circular queues. Alternatively, the robotic arm 110 is fixed and moves between adjacent circular queues. With this arrangement, the length of the movement path can be shortened when the robotic arm 110 moves between the ultrafast laser processing devices 400. With different numbers of circular queues, the robotic arm 110 can move along different paths, improving its operational applicability.

[0153] In one embodiment, a laser processing system is provided, including an ultrafast laser processing device 400 and a loading / unloading system as described in any of the above embodiments. This laser processing system can achieve ultrafast processing, and the structure of the loading / unloading system is shown in the various embodiments and accompanying drawings. To better understand the technical solution of this application, a detailed explanation is provided below with reference to a specific embodiment.

[0154] In one embodiment, see reference to Figures 1-9 The laser processing system includes a loading and unloading system and multiple ultrafast laser processing devices 400. The loading and unloading system includes a guide rail 500, a robotic arm 110, a material gripper 10, a moving component 300, a material table 100, a controller (not shown), an obstacle detection device (not shown), and a vision inspection device (not shown). The material table 100 includes at least two layer supports. The uppermost layer support includes an adjustment plate and a position adjustment component. A first material storage section 410 or a second material storage section 420 is placed on the adjustment plate. The first material storage section 410 is a material tray for placing materials to be processed, and the second material storage section 420 is a material tray for placing processed materials. The position adjustment component adjusts the angle of the adjustment plate to adjust the angle of the first material storage section 410 or the second material storage section 420.

[0155] The position adjustment assembly is located on the uppermost layer of the support member and is mechanically connected to the adjustment plate, which is provided with a first material storage section 410 or a second material storage section 420. When adjusting the angle of the adjustment plate, the position adjustment assembly can adjust the angle of the first material storage section 410 or the second material storage section 420 provided on the adjustment plate.

[0156] Taking the adjustment of the angle of the first material storage section 410 by the position adjustment component as an example, the angle of the first material storage section 410 refers to the angle of the first material storage section 410 relative to the uppermost layer support.

[0157] The position adjustment component can be a movable device. When the position adjustment component moves, it drives the adjustment plate to move, thereby changing the position of the adjustment plate and the position of the first material storage section 410 or the second material storage section 420 disposed on the adjustment plate. The structure of the position adjustment component is not unique and can be determined according to actual needs. For example, the position adjustment component can be a spring, with one end of the spring disposed on the uppermost layer bracket of the support member and the other end of the spring mechanically connected to the adjustment plate. Thus, when the spring extends or retracts, the distance between the adjustment plate and the support member can be changed, that is, the position of the first material storage section 410 can be changed.

[0158] Since the first material storage section 410 may contain multiple stacked materials to be processed, as the number of materials to be processed increases, the thickness of the remaining stack of materials to be processed will decrease. In this case, the position of the first material storage section 410 can be changed by the position adjustment component, moving the first material storage section 410 closer to the person or device that grasps the materials, thereby improving the convenience of retrieving the materials to be processed. It is understood that the adjustment process of the position adjustment component for the second material storage section 420 is similar to the adjustment process for the first material storage section 410, and will not be described again here.

[0159] In one exemplary embodiment, the uppermost layer support includes a frame, an adjustment plate disposed within the frame, one of the adjustment plate and the frame being fixedly connected to a first end of a position adjustment component, and the other being connected to a second end of the position adjustment component.

[0160] The adjustment plate and frame are connected to different positions of the position adjustment component, and their relative positions can be changed. Depending on the structure of the position adjustment component, the arrangement of the adjustment plate and frame will vary.

[0161] The material station 100 also includes a third material storage section 430 and a fourth material storage section. The third material storage section 430 is a tray for placing separators, which are release papers. The fourth material storage section is an NG (Not From Good) tray for placing damaged materials. The moving assembly 300 can be wheels or guide rails. The vision inspection device includes a CCD camera, and the controller performs AOI (Automated Optical Inspection) inspection based on the image information acquired by the CCD camera.

[0162] Based on the mobile component 300, the robotic arm 110 operates on the ground at the location of the ultrafast laser processing equipment 400, simultaneously loading and unloading multiple ultrafast laser processing equipment 400s. Alternatively, the robotic arm 110 can be mounted on the ceiling of the location via guide rails, extending its arm from the ceiling to load and unload multiple ultrafast laser processing equipment 400s. The arrangement of the multiple ultrafast laser processing equipment 400s is not limited; they can be arranged in pairs facing each other, in a line, or in a ring, etc.

[0163] The robotic arm 110 can move along a predetermined track, or it can automatically determine the movement trajectory through remote control or through feedback information from the obstacle detection device and intelligent processing, thereby adjusting the movement trajectory and related operations in real time.

[0164] The robotic arm 110 works in conjunction with the material table 100, which can be placed on the ground. If the robotic arm 110 is located on the ground, the material table 100 can be integrated with the robotic arm 110, allowing the material table 100 to move along with the robotic arm 110. Alternatively, each ultrafast laser processing machine 400 can be equipped with its own material table 100.

[0165] The material tray 100 is equipped with several components to achieve a variety of functions, including: a tray for materials to be processed, a tray for materials that have been processed, release paper, and a no-go tray. The release paper is used to separate different materials to be processed, such as PCBs (Printed Circuit Boards), to prevent direct friction damage. The no-go tray is used to hold materials that are deemed defective. A CCD camera can be mounted on the material tray 100 to perform AOI (Automated Optical Inspection) after material unloading. A CCD camera can also be mounted on the robotic arm 110 to perform AOI after material unloading.

[0166] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0167] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0168] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A loading and unloading system, characterized by, This loading and unloading system is used for loading and unloading multiple ultrafast laser processing devices. A robotic arm, movably mounted on the ground and / or ceiling, moves between multiple ultrafast laser processing devices; The material gripper includes a rotating assembly and multiple material pick-and-place components. The rotating assembly is connected to the end of the robotic arm, and the multiple material pick-and-place components are respectively connected to the rotating assembly. The rotating assembly is used to drive the multiple material pick-and-place components to rotate circumferentially along the end of the robotic arm to load and unload multiple ultrafast laser processing devices. When loading and unloading materials onto multiple ultrafast laser processing devices, at least one of the material pick-and-place components in the multiple material grippers is used to pick up and place processed materials, while the remaining material pick-and-place components in the multiple material grippers are used to carry and place materials to be processed.

2. The feeding and discharging system according to claim 1, characterized in that, The loading and unloading system also includes a moving component, one end of which is connected to the moving component. The robotic arm is movably mounted on the ground and / or ceiling via the moving component.

3. The loading and unloading system according to claim 1, characterized in that, The loading and unloading of multiple ultrafast laser processing devices includes: The robotic arm moves to a position to load and unload materials for two oppositely positioned ultrafast laser processing devices; The robotic arm moves to the next position to load and unload materials for two opposing ultrafast laser processing devices.

4. The loading and unloading system according to any one of claims 1-3, characterized in that, The loading and unloading system also includes an obstacle detection device, which is installed on the robotic arm. The obstacle detection device is used to detect obstacle information on the travel path of the robotic arm, and the obstacle information is used to adjust the working state of the robotic arm.

5. The loading and unloading system according to any one of claims 1-3, characterized in that, The loading and unloading system also includes a camera element, which is installed on the robotic arm and is used to detect whether the picked-up processed material is abnormal.

6. The loading and unloading system according to claim 2, wherein, The loading and unloading system also includes a material platform, which includes a first material storage section and a second material storage section. The first material storage section is used to store materials to be processed, and the second material storage section is used to store processed materials.

7. The loading and unloading system according to claim 6, characterized in that, The material platform is connected to the moving component, and the material platform and the robotic arm move together between multiple ultrafast laser processing devices via the moving component.

8. The loading and unloading system according to claim 6, characterized in that, A material table is fixedly installed in the area where one or more of the laser processing devices are located, and the robotic arm is also used to move between the ultrafast laser processing devices and the material table via the moving component.

9. The loading and unloading system according to any one of claims 6-8, characterized in that, The material station also includes a third material storage section, and an isolator is provided between the two materials to be processed. After one of the materials to be processed is removed, the isolator is removed and stored in the third material storage section; and / or, after a processed material is stored in the second material storage section, the isolator is removed from the third material storage section and placed on the processed material.

10. A laser processing system characterized by comprising: It includes ultrafast laser processing equipment and the loading and unloading system as described in any one of claims 1-9.

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