Automatic loading / unloading system and docking device for circuit board production lines
The automatic loading and unloading system with AGVs, elevators, and lateral transport units addresses the height mismatch issue, allowing AGVs to replace conveyors, enhancing flexibility and efficiency in circuit board production.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Utility models
- Current Assignee / Owner
- Filing Date
- 2026-02-05
- Publication Date
- 2026-04-02
AI Technical Summary
Conventional conveyors are fixed and cannot accommodate height differences between loading and unloading platforms, limiting the use of automated guided vehicles (AGVs) in circuit board production lines, restricting flexibility and equipment arrangement.
An automatic loading and unloading system combining AGVs with elevators and lateral transport units, allowing height adjustment and lateral movement of goods, enabling seamless transfer between production line equipment and AGVs.
Enables the replacement of conventional conveyors with AGVs, simplifying equipment layout and enhancing production process flexibility by accommodating height differences and improving transfer efficiency.
Smart Images
Figure 0003255362000001_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to article conveying equipment, and particularly to an automated material docking device for conveying semi-finished printed circuit boards between different equipment in a production line.
Background Art
[0002] In the manufacture of circuit boards, a single-layer circuit board is formed by thermocompression bonding a copper foil to the surface of a prepreg and then etching the copper foil to form wiring. Currently, the mainstream circuit boards are multi-layer circuit boards. A prepreg and a copper foil are further laminated on the single-layer circuit board, and then thermocompression bonding and etching are performed again to form a two-layer circuit board. Further, if necessary, the above-mentioned steps are repeated to form a multi-layer circuit board. Specifically, before performing the thermocompression operation, the raw materials to be thermocompression bonded are laminated on a rigid metal base plate, and then the metal base plate and the circuit board raw materials laminated thereon are conveyed to a thermocompression machine by a conveyor for thermocompression operation.
[0003] Since the conveying path of the conveyor is usually fixedly installed on the floor and difficult to move, the space in the factory is divided into a plurality of compartments that are difficult to communicate with each other, making it difficult to arrange other equipment and reducing the degree of freedom in adjusting the production process. Therefore, as the technology of automated guided vehicles matures, there is an increasing tendency in factories to adopt automated guided vehicles instead of conventional conveyors.
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, there are significant differences in the height of the loading and unloading platforms of each piece of equipment installed on the production line. Conventional conveyors are large and fixed in place, allowing their input and output ends to be raised and lowered significantly to match the height of the loading and unloading platforms of the equipment. In contrast, automated guided vehicles (AGVs) are limited by their dimensional constraints, and their range of motion for lifting items is restricted, making them unable to accommodate the height differences between loading and unloading platforms of each piece of equipment. For this reason, it is difficult to completely replace conventional conveyors with AGVs alone.
[0005] Therefore, conventional circuit board production lines have room for improvement. [Means for solving the problem]
[0006] In view of the shortcomings and deficiencies of the prior art described above, the present invention provides an automatic loading and unloading system for a circuit board production line and a docking device therefor, for improving the conventional circuit board production line.
[0007] To achieve the above objective, the docking device for a circuit board production line according to the present invention is configured in combination with an automated guided vehicle (AGV) to form an automated loading and unloading system, which loads goods into the production line equipment and receives the goods from the production line equipment. The AGV has a loading section for placing the goods, and the docking device for a circuit board production line comprises two elevators and two lateral transport units. One of the two elevators is positioned to correspond to the loading platform of the production line equipment, and the other elevator is positioned to correspond to the unloading platform of the production line equipment. Each elevator has a lifting table for placing the goods, and a transport vehicle passage is formed in the lifting table into which the AGV can enter. The transport vehicle passage penetrates the lifting table vertically, and a transport vehicle entrance is formed on one side edge of the lifting table. The width of the transport vehicle passage is set to be narrower than the width of the goods. The automated guided vehicle is configured to move into the guided vehicle passage through the guided vehicle entrance of the lifting table, and each of the lifting machines is controlled to raise or lower the lifting table, and the height of the lifting table is configured to correspond to the corresponding loading platform or loading platform, and each of the lifting machines is controlled to raise or lower the lifting table, and the height of the lifting table is configured to correspond to the automated guided vehicle, and the two lateral transport units are each provided on the lifting tables of the two lifting machines, and each lateral transport unit has at least one power transfer member for moving the articles laterally on the lifting table, and the at least one power transfer member is configured to move the articles from the lifting table to the loading platform of the production line equipment, or move the articles from the loading platform of the production line equipment to the lifting table.
[0008] To achieve the above objective, the docking device for a circuit board production line according to the present invention is configured in combination with an automated guided vehicle (AGV) to form an automated loading and unloading system, the automated loading and unloading system cooperates with the production line equipment, the AGV has a loading section for placing articles, the docking device has a lifting machine and a lateral transport unit that are positioned on the loading and unloading platform of the production line equipment, the lifting machine has a lifting table for placing articles, the lifting table has a transport vehicle passage formed therein that the AGV can enter, the transport vehicle passage penetrates the lifting table vertically and has a transport vehicle entrance on one side edge of the lifting table, the width of the transport vehicle passage is set to be narrower than the width of the article, and the AGV moves the lifting table The elevator is configured to move into the transport vehicle passage via the transport vehicle entrance, and is controlled to raise and lower the lifting table, so that the height of the lifting table corresponds to the loading and unloading platform, and the elevator is configured to raise and lower the lifting table, so that the height of the lifting table corresponds to the automated guided vehicle, and the lateral transport unit is provided on the lifting table and has at least one power transfer member for moving the article laterally on the lifting table, and the power transfer member is configured to move the article from the lifting table to the loading and unloading platform of the production line equipment, or to move the article from the loading and unloading platform of the production line equipment onto the lifting table.
[0009] To achieve the above objective, the automatic loading and unloading system for a circuit board production line according to the present invention cooperates with the production line equipment and comprises a docking device and an automated guided vehicle (AGV), the docking device having two elevators and two lateral transport units, one of the two elevators corresponding to the loading platform of the production line equipment and the other elevator corresponding to the unloading platform of the production line equipment, each elevator has a lifting table for placing articles, the lifting table has a transport vehicle passage into which the AGV can enter, the transport vehicle passage penetrates the lifting table vertically and a transport vehicle entrance is formed on one side edge of the lifting table, the width of the transport vehicle passage is set to be narrower than the width of the article, and each elevator is controlled to raise and lower the lifting table, and the height of the lifting table is set to the corresponding loading platform Alternatively, the two lateral transport units are configured to correspond to the loading platform, and each of the two lateral transport units is provided on the lifting table of the two elevators, and each lateral transport unit has at least one power transfer member for moving the article laterally on the lifting table, and the at least one power transfer member is configured to move the article from the lifting table to the loading platform of the production line equipment, or to move the article from the loading platform of the production line equipment to the lifting table, and the automated guided vehicle has a loading section for placing the article, and is configured to move into the corresponding automated guided vehicle passage through the vehicle access point of the lifting table of either of the elevators, and each elevator is configured to raise or lower the lifting table and adjust the height of the lifting table to correspond to the automated guided vehicle.
[0010] To achieve the above objective, the present invention provides an automated loading and unloading system for a circuit board production line that works in cooperation with the production line equipment and comprises a docking device and an automated guided vehicle (AGV). The docking device comprises a lifting device and a lateral transport unit. The lifting device is positioned to correspond to the loading and unloading platform of the production line equipment and has a lifting table for placing items. The lifting table has a transport vehicle passage into which the AGV can enter. The transport vehicle passage penetrates the lifting table vertically and has a transport vehicle entrance on one side edge of the lifting table. The width of the transport vehicle passage is set to be narrower than the width of the item. The lifting device is controlled to raise and lower the lifting table, and the height of the lifting table is adjusted to correspond to the loading and unloading platform. The lateral transport unit is configured to correspond to a table and is provided on the lifting table and has at least one power transfer member for moving the article laterally on the lifting table, the at least one power transfer member is configured to move the article from the lifting table to the loading / unloading platform of the production line equipment, or to move the article from the loading / unloading platform of the production line equipment to the lifting table, the automated guided vehicle has a loading section for placing the article and is configured to move into the guided vehicle passage through the guided vehicle entrance of the lifting table, and the lifting mechanism is controlled to raise and lower the lifting table and adjust the height of the lifting table to correspond to the automated guided vehicle.
[0011] This invention can handle loading and / or unloading of goods in accordance with different types of production line equipment. Taking a production line equipped with a single loading / unloading platform as an example, when loading is performed, first, an automated guided vehicle (AGV) carrying the goods moves into the vehicle aisle of the lifting table, positioning the goods above the lifting table. Then, the lifting table rises, and because the width of the vehicle aisle is narrower than the width of the goods, the goods are lifted by the lifting table and separated from the AGV. After the lifting table rises to a height corresponding to the loading / unloading platform of the production line equipment, the goods are moved to the loading / unloading platform by a lateral transport unit, thereby completing the loading operation of the goods.
[0012] When performing unloading operations, the loading operations described above should be performed in the reverse direction. The loading / unloading platform is not limited to having both loading and unloading functions simultaneously; it may have only one of these functions.
[0013] Furthermore, this invention can also be applied to production line equipment equipped with independent loading and unloading platforms. In this case, the docking device of this invention is equipped with two elevators, which are positioned correspondingly to the loading and unloading platforms of the production line equipment, and perform loading and unloading operations, respectively. [Effects of the Invention]
[0014] According to this invention, by providing an elevator and a lateral transport unit, it becomes possible to raise and lower the height of goods over a wide range, and to transfer goods between automated guided vehicles and production line equipment. As a result, it becomes possible to remove conventional conveyors in factories and use automated guided vehicles for loading and unloading goods, simplifying equipment layout and improving the flexibility of adjusting the production process. [Brief explanation of the drawing]
[0015] [Figure 1] This is a schematic top view of the first embodiment of the present invention. [Figure 2] This is a schematic front view of the first embodiment of the present invention. [Figure 3] This is a schematic side view showing the state in which the automated guided vehicle (AGV) is positioned on the vehicle entrance side of the lifting table in the first embodiment of the present invention. [Figure 4] This is a schematic side view showing the state in which the automated guided vehicle (AGV) has entered the AGV passage of the lifting table in the first embodiment of the present invention. [Figure 5] This is a schematic side view showing the state in which the top cover transfer machine places the process top cover over an article in the first embodiment of the present invention. [Figure 6]This is a schematic side view showing the state in which the lateral transport unit moves an item to the loading platform in the first embodiment of the present invention. [Figure 7] This is a schematic top view of a second embodiment of the present invention. [Modes for carrying out the invention]
[0016] The following will describe in more detail, with reference to the drawings, the technical means employed by the present invention to achieve its predetermined objectives, based on preferred embodiments of the present invention.
[0017] Referring to Figures 1 to 3, the automatic loading and unloading system for a circuit board production line of the present invention is used to load items B to be processed into production line equipment E and to receive items B from production line equipment E after processing is complete. The automatic loading and unloading system for a circuit board production line includes a docking device 60 and an automated guided vehicle V.
[0018] The docking device 60 comprises two lifting machines 61 and two lateral transport units 62, and more preferably, a top cover mounting platform 63 and a top cover transfer machine 64.
[0019] Of the two elevators 61, one elevator 61 corresponds to the loading platform E1 of the production line equipment E, and the other elevator 61 corresponds to the unloading platform E2 of the production line equipment E. Here, "corresponding to a location" means that they are arranged adjacent to each other in the horizontal direction. In this embodiment, the production line equipment E has independent loading platforms E1 and unloading platforms E2 (which can be considered as loading / unloading platforms), so the number of elevators 61 and lateral transport units 62 is two each. On the other hand, in the second embodiment (see Figure 7), if the corresponding production line equipment E has only a single loading / unloading platform E3, the number of elevators 61 and lateral transport units 62 is one each, and the elevator 61 corresponds to the loading / unloading platform E3.
[0020] Each elevator 61 has a lifting table 611. The lifting table 611 is used to place the article B and forms a carrier passage 612 (see FIG. 1). The carrier passage 612 penetrates the lifting table 611 in the vertical direction and forms a carrier entrance 613 at one side edge of the lifting table 611. The width W1 of the carrier passage 612 (see FIG. 1) is set to be narrower than the width W2 of the article B (see FIG. 1).
[0021] FIGS. 3 to 4 show the operation in which the automated guided vehicle V moves into the carrier passage 612 of the lifting table 611, and FIGS. 4 to 5 show the operation in which the upper cover transfer machine 64 covers the process upper cover B1 over the article B. Referring to FIGS. 3 to 5, the elevator 61 is controlled to raise and lower the lifting table 611 so that the height of the lifting table 611 corresponds to the corresponding loading table E1 or unloading table E2 (see FIG. 5). Further, the elevator 61 is controlled to raise and lower the lifting table 611 so that the height of the lifting table 611 corresponds to the automated guided vehicle V (see FIGS. 3 and 4). The correspondence of the height here refers to a state in which the automated guided vehicle V in a state where the article B is placed can enter into the carrier passage 612. Specifically, it is a state in which the height of the table surface of the lifting table 611 is slightly lower than the height of the upper surface of the placement portion V1 provided on the automated guided vehicle V.
[0022] FIGS. 5 to 6 show the operation in which the lateral transfer unit 62 moves the article B to the loading table E1. Referring to FIGS. 1, 5, and 6, the two aforementioned lateral transfer units 62 are provided on the two lifting tables 611 of the two elevators 61, respectively. Each lateral transfer unit 62 has at least one powered transfer member 621. The at least one powered transfer member 621 can move the article B laterally on the lifting table 611 (see FIGS. 5 and 6), whereby the article B can be moved from the lifting table 611 to the loading table E1 of the production line facility E, or the article B can be moved from the unloading table E2 of the production line facility E onto the lifting table 611.
[0023] In this embodiment, there are multiple power transfer members 621, and each power transfer member 621 is a roller that can be rotated by control. These power transfer members 621 are arranged on both sides of the transport vehicle passage 612.
[0024] Referring to Figures 1, 4, and 5, the aforementioned top cover mounting base 63 can accommodate multiple process top covers B1. In this embodiment, the production line equipment E is a hot press, and the article B is covered by the process top covers B1 before being fed into the hot press, during the hot press operation.
[0025] Each of the aforementioned top cover transfer machines 64 has a top cover gripper 641, which can grip one of the multiple process top covers B1 on the top cover mounting table 63. The top cover transfer machine 64 is controlled to move the top cover gripper 641 between the top cover mounting table 63 and the two lifting tables 611 of the two lifting machines 61, thereby covering one of the process top covers B1 with the item B on the lifting table 611 corresponding to the loading table E1, and transferring the process top cover B1 on the item B on the lifting table 611 corresponding to the unloading table E2 to the top cover mounting table 63. In this embodiment, the top cover transfer machine 64 is a robot arm and the top cover gripper 641 is a chuck, both of which are off-the-shelf components according to the prior art.
[0026] Referring to Figures 1, 3, and 4, the aforementioned loading section V1 of the automated guided vehicle V is used to load the item B and is movable into the vehicle passage 612 via the vehicle entrance 613 of the lifting table 611. In this embodiment, the width W3 (see Figure 1) of the loading section V1 of the automated guided vehicle V is set to be narrower than the width W1 of the vehicle passage 612. Therefore, if the height of the lifting table 611 corresponds to the loading section V1, the automated guided vehicle V can enter the vehicle passage 612.
[0027] This invention is preferably used in combination with a heat press (i.e., production line equipment E). The automated guided vehicle V receives an article B from an automated loading device different from this invention, and the article B includes a bottom plate and multiple layers of raw materials for circuit boards stacked on the bottom plate and awaiting heat press treatment. After the lifting table 611 is lowered to a table surface height slightly lower than the bottom surface of the article B, the automated guided vehicle V moves into the transport vehicle passage 612, and then the lifting table 611 lifts the article B to the height of the loading platform E1, and the lateral transport unit 62 moves the article B to the loading platform E1.
[0028] After item B completes the heat and pressure treatment within the production line equipment E, item B is transported to the discharge platform E2 by the production line equipment E. At this time, the lifting table 611 and the lateral transport unit 62 corresponding to the discharge platform E2 work together to transfer the heat and pressure treated item B to the automated guided vehicle V, which then transports it to the equipment for the next process in the production line.
[0029] As described above, this invention, by providing a lifting device 61 and a lateral transport unit 62, allows for a large increase in the height of the article B, and enables the transfer of the article B between the automated guided vehicle V and the production line equipment E. As a result, the factory can remove conventional conveyors and perform loading and unloading operations using the automated guided vehicle V, improving the flexibility of equipment layout and increasing the flexibility of production process adjustments. [Explanation of Symbols]
[0030] 60 Docking device 61 Elevators 611 Height-adjustable table 612 Transport vehicle aisle 613 Transport vehicle entrance 62 Lateral conveying unit 621 Power transfer member 63 Upper lid mounting stand 64 Top lid transfer machine 641 Top lid gripper B Goods B1 Upper lid for process E Production line equipment E1 Loading platform E2 Unloading platform E3 Loading / unloading platform V Automated Guided Vehicle V1 Mounting section W1 width W2 width W3 width
Claims
1. A docking device for a circuit board production line, which is configured in combination with an automated loading / unloading system, and which loads goods into and receives the goods from the production line equipment using the automated loading / unloading system, The aforementioned automated guided vehicle has a mounting section for placing the article, The docking device for the circuit board production line comprises two elevators and two lateral transport units. One of the two elevators is positioned to correspond to the loading platform of the production line equipment, and the other elevator is positioned to correspond to the unloading platform of the production line equipment. Each of the elevators has a lifting table for placing the article, and the lifting table has a transport vehicle passage into which the automated guided vehicle (AGV) can enter, the transport vehicle passage penetrates the lifting table vertically, and a transport vehicle entrance is formed on one side edge of the lifting table, the width of the transport vehicle passage is set to be narrower than the width of the article, and the AGV is configured to move into the transport vehicle passage through the transport vehicle entrance of the lifting table. Each of the elevators is controlled to raise or lower the lifting table, and is configured to adjust the height of the lifting table to correspond to the corresponding loading platform or unloading platform. Each of the aforementioned elevators is controlled to raise or lower the lifting table, and is configured to adjust the height of the lifting table to correspond to the automated guided vehicle. The two lateral transport units are each mounted on the lifting tables of the two elevators, and each lateral transport unit has at least one power transfer member for moving the article laterally on the lifting table. The at least one power transfer member is configured to move the article from the lifting table to the loading platform of the production line equipment, or to move the article from the unloading platform of the production line equipment onto the lifting table. A docking device for circuit board production lines.
2. It further comprises a top cover mounting platform for placing multiple process top covers, and a top cover transfer machine, The lid transfer machine has a lid gripper for gripping one of the multiple process lids on the lid placement platform, The docking device for a circuit board production line according to claim 1, wherein the top cover transfer machine is controlled to move the top cover gripper between the top cover mounting base and the two lifting tables of the two lifting machines, thereby covering one of the plurality of process top covers with the article on the lifting table corresponding to the loading base, and transferring the process top cover on the article on the lifting table corresponding to the unloading base to the top cover mounting base.
3. The docking device for a circuit board production line according to claim 1 or 2, wherein the number of at least one power transfer member in each of the lateral transport units is multiple, and each power transfer member is a roller.
4. The docking device for a circuit board production line according to claim 3, wherein the plurality of power transfer members in each of the lateral transport units are arranged on both sides of the transport vehicle passage.
5. A docking device for a circuit board production line, which is configured in combination with an automated loading / unloading system and the automated loading / unloading system cooperates with production line equipment, The aforementioned automated guided vehicle has a loading section for placing articles, The docking device comprises a lifting mechanism positioned to correspond to the loading / unloading platform of the production line equipment, and a lateral transport unit. The elevator has a lifting table for placing the article, and the lifting table has a transport vehicle passage into which the automated guided vehicle (AGV) can enter, the transport vehicle passage penetrates the lifting table vertically, and a transport vehicle entrance is formed on one side edge of the lifting table, the width of the transport vehicle passage is set to be narrower than the width of the article, and the AGV is configured to move into the transport vehicle passage through the transport vehicle entrance of the lifting table. The elevator is controlled to raise and lower the lifting table, and is configured to adjust the height of the lifting table to correspond to the loading / unloading platform. The elevator is controlled to raise and lower the lifting table, and is configured to adjust the height of the lifting table to correspond to the automated guided vehicle. The lateral transport unit is provided on the lifting table and has at least one power transfer member for moving the article laterally on the lifting table. The power transfer member is configured to move the article from the lifting table to the loading / unloading platform of the production line equipment, or to move the article from the loading / unloading platform of the production line equipment onto the lifting table. A docking device for circuit board production lines.
6. It further comprises a top cover mounting platform for placing multiple process top covers, and a top cover transfer machine, The lid transfer machine has a lid gripper for gripping one of the multiple process lids on the lid placement platform, The docking device for a circuit board production line according to claim 5, wherein the top cover transfer machine is controlled to move the top cover gripper between the top cover mounting base and the lifting table, and to place one of the plurality of process top covers over the article on the lifting table.
7. An automated loading and unloading system for a circuit board production line that works in conjunction with production line equipment, The aforementioned automated loading and unloading system comprises a docking device and an automated guided vehicle. The docking device comprises two elevators and two lateral transport units. One of the two elevators is positioned to correspond to the loading platform of the production line equipment, and the other elevator is positioned to correspond to the unloading platform of the production line equipment. Each of the elevators has a lifting table for placing articles, and a transport vehicle passage is formed in the lifting table through which the automated guided vehicle can enter. The transport vehicle passage penetrates the lifting table vertically, and a transport vehicle entrance is formed on one side edge of the lifting table. The width of the transport vehicle passage is set to be narrower than the width of the article. Each of the elevators is controlled to raise or lower the lifting table, and is configured to adjust the height of the lifting table to correspond to the corresponding loading platform or unloading platform. The two lateral transport units are each mounted on the lifting tables of the two elevators, and each lateral transport unit has at least one power transfer member for moving the article laterally on the lifting table. The at least one power transfer member is configured to move the article from the lifting table to the loading platform of the production line equipment, or to move the article from the unloading platform of the production line equipment onto the lifting table. The automated guided vehicle has a loading section for placing the article and is configured to move into the corresponding guided vehicle passage through the guided vehicle entrance of the lifting table of one of the lifting machines. Each of the aforementioned elevators is controlled to raise or lower the lifting table, and is configured to adjust the height of the lifting table to correspond to the automated guided vehicle. An automated loading and unloading system for circuit board production lines.
8. An automated loading and unloading system for a circuit board production line that works in conjunction with production line equipment, The aforementioned automated loading and unloading system comprises a docking device and an automated guided vehicle. The docking device comprises a lifting mechanism and a lateral transport unit. The elevator is positioned to correspond to the loading / unloading platform of the production line equipment and has a lifting table for placing goods. The lifting table has a transport vehicle passage through which the automated guided vehicle can enter. The transport vehicle passage penetrates the lifting table vertically, and a transport vehicle entrance is formed on one side edge of the lifting table. The width of the transport vehicle passage is set to be narrower than the width of the goods. The elevator is controlled to raise and lower the lifting table, and is configured to adjust the height of the lifting table to correspond to the corresponding loading / unloading platform. The lateral transport unit is provided on the lifting table and has at least one power transfer member for moving the article laterally on the lifting table. The at least one power transfer member is configured to move the article from the lifting table to the loading / unloading platform of the production line equipment, or to move the article from the loading / unloading platform of the production line equipment onto the lifting table. The automated guided vehicle has a loading section for placing the articles and is configured to move into the guided vehicle passage via the guided vehicle entrance of the lifting table. The elevator is controlled to raise and lower the lifting table, and is configured to adjust the height of the lifting table to correspond to the automated guided vehicle. An automated loading and unloading system for circuit board production lines.