CN102673954A - Component conveying device - Google Patents
Component conveying device Download PDFInfo
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- CN102673954A CN102673954A CN201210025007XA CN201210025007A CN102673954A CN 102673954 A CN102673954 A CN 102673954A CN 201210025007X A CN201210025007X A CN 201210025007XA CN 201210025007 A CN201210025007 A CN 201210025007A CN 102673954 A CN102673954 A CN 102673954A
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- maintaining part
- zone
- handling device
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Abstract
The invention relates to a rotary component conveying device which adopts a simple structure to increase the rotary axial movement motion. In the component conveying device (1), a plurality of holding portions (42) are arranged on a rotary base member (30) along a circumferential direction and the holding portions (42) freely reciprocate along a spin axis direction. Moreover, a guide mechanism (120) is arranged on a fixation member (200) side and cooperated with the holding portions (42) to move the holding portions (42) along the spin axis direction. When the component is transported from a moving-in area to a moving-out area under rotation interlock with the base member (30), the electronic component moves upwards and downwards by the guide mechanism (120).
Description
Technical field
The present invention relates to electronic unit, will be assembled in the parts Handling device that the parts sheet on this electronic unit is carried.
Background technology
In the past, had turntable (turn table), index table revolvers such as (index table) as the parts Handling device.Rotary parts Handling device is because handling efficiency is high, so must the high speed handling article etc. using under the situation.Following parts Handling device is for example disclosed in patent documentation 1: on the bench board of rotation, along circumferentially disposing maintaining part, carry out rotation through driving this maintaining part, can in carrying, the posture to parts control.And; In this parts Handling device; Maintaining part is configured to and can on above-below direction (axial rotary), back and forth moves freely with respect to bench board; Through the outside force application apparatus of the percussive of fixed configurations outside bench board, to this maintaining part application of force, make maintaining part to move up and down at above-below direction.
Common moving into the zone and taking out of the outside force application apparatus of area configurations in this parts Handling device at parts.At this moment, moving into the zone, maintaining part is being descended and holding member, at that time, making maintaining part return original height, making the bench board rotation afterwards, parts are being transported to take out of the zone through outside force application apparatus.Taking out of the zone, also maintaining part is being descended and the relieving parts through outside force application apparatus.In the carrying way, can the posture of adjustment component on hand of rotation.
Patent documentation 1:JP spy opens 2009-196739 number.
But, in such parts Handling device in the past,, then make the time that maintaining part is moved back and forth through outside force application apparatus elongated if will make the shift motion of maintaining part on above-below direction (axis of rotation direction) that is arranged on the bench board become big.During this, bench board is temporarily stopped, therefore having the low problem of handling efficiency.
In addition, in the carrying way, need temporarily make under the situation of parts up-and-down movement, must bench board temporarily stopped, making the maintaining part up-and-down movement.The frequency gets higher that bench board temporarily stops to appear in the result, the problem that handling efficiency is lower.
Summary of the invention
The present invention proposes in view of such problem, and its purpose is to provide a kind of can make the shift motion on the above-below direction become big parts Handling device.
Conscientiously research through contriver of the present invention has reached above-mentioned purpose through following means.
That is, the of the present invention a kind of parts Handling device that achieves the above object is characterized in that; Have: base component, with respect to stationary member rotation, maintaining part; A plurality of along circumferentially disposing of said base component, can on the axis of rotation direction of said base component, move back and forth freely, and can holding member; Guide is configured in said stationary member side, is used for the said maintaining part that guiding is rotated with said base component on said axis of rotation direction; At the said parts that the zone is kept by said maintaining part of moving into of parts, with the rotation interlock of said base component by to said parts take out of the zone carrying time, said guide makes said parts at the enterprising line displacement of said axis of rotation direction.
The parts Handling device that preferably achieves the above object is characterised in that; Said guide has guide surface; This guide surface is configured in stationary member one side, and the motion track of the said parts that kept with said maintaining part is abreast along circumferential extension, and at the enterprising line displacement of said axis of rotation direction; Said maintaining part connects on one side along circumferentially being directed with said guide surface on one side, thereby on said axis of rotation direction, can carry out displacement.
The parts Handling device that preferably achieves the above object is characterised in that; Said guide surface said move into the zone and said take out of the zone above be configured to following state: with respect to the motion track of the said parts that said maintaining part kept, skew has taken place in said guide surface diametrically.
The parts Handling device that preferably achieves the above object is characterised in that; Also have the standby parts and take the unit; These standby parts are taken the unit and are taken the said parts in the standby in the said zone of moving into; Avoiding interfering spatial portion along being formed with between a plurality of said maintaining part that circumferentially is provided on the said base component, this is avoided interfering spatial portion to be used for taking the unit through said standby parts and takes being in the said said parts of moving into the zone.
The parts Handling device that preferably achieves the above object is characterised in that, on the part of said guide surface, is formed with movable area, and displacement is carried out in said movable area other zones with respect to said guide surface on said axis of rotation direction independently.
The parts Handling device that preferably achieves the above object is characterised in that; Also has axial driver element; This axial driver element disposes with the said movable area of said guide surface on the motion track of said maintaining part accordingly; Through said maintaining part or said movable area are applied external force, this maintaining part is moved on said axis of rotation direction with said movable area.
The parts Handling device that preferably achieves the above object is characterised in that said axial driver element is configured in said zone and the said zone of taking out of moved at least respectively.
The parts Handling device that preferably achieves the above object is characterised in that to have the force application apparatus that is used to keep the butt state between said maintaining part and said guide on said maintaining part or the said base component.
The parts Handling device that preferably achieves the above object is characterised in that; Said guide has the zone that descends, and this declines zone makes said maintaining part be in said receiving area and the said said maintaining part of aspect ratio when taking out of in the interregional way to be in that said to move into regional and said height when taking out of the zone low.
The parts Handling device that preferably achieves the above object is characterised in that, said guide make said maintaining part be in said height when moving into the zone and said maintaining part to be in said height when taking out of the zone different.
The parts Handling device that preferably achieves the above object is characterised in that also have filming apparatus, and this filming apparatus is taken the said parts that kept by said maintaining part from the direction perpendicular to the said axis of rotation.
The parts Handling device that preferably achieves the above object is characterised in that to have a plurality of said filming apparatus, and a plurality of said filming apparatus are from taking same said parts perpendicular to a plurality of directions of the said axis of rotation.
The parts Handling device that preferably achieves the above object is characterised in that said filming apparatus is the X ray filming apparatus.
According to the present invention, can play that to suppress handling efficiency low and increase the effect of the excellence of the shift motion of parts on the S. A. direction.
Description of drawings
Fig. 1 is the front view of the Handling device of embodiment of the present invention.
Fig. 2 is the left view of Handling device.
Fig. 3 is the birds-eye view of Handling device.
Fig. 4 A is the birds-eye view that base component and parts keep module, and Fig. 4 B is the cutaway view that base component and parts keep module.
Fig. 5 A, 5B are that the expression parts keep module and the cross section structure of guide and the figure of outside force application apparatus.
Fig. 6 A, 6B are that the expression parts keep module and the cross section structure of guide and the figure of outside force application apparatus.
Fig. 7 is the left view that expression base component 30 moves to the state of retreating position.
Fig. 8 A-8F is the birds-eye view of the action of expression Handling device.
Fig. 9 A, 9B are the figure of other structure example of the Handling device of this embodiment of expression.
Figure 10 is the figure of other structure example of the Handling device of this embodiment of expression.
The specific embodiment
Below, with reference to description of drawings embodiment of the present invention.
Below, the example of the embodiment that present invention will be described in detail with reference to the accompanying.
Fig. 1 is the front view of the Handling device 1 of embodiment of the present invention, and Fig. 2 is the left view of Handling device 1, and Fig. 3 is the birds-eye view of Handling device 1.In addition, all directions in the following explanation, the direction when looking observation Handling device 1 with the master in principle is a benchmark.
With regard to this Handling device 1; Take out and carry and carry the parts of putting on assembly supply device 2 with (bulk) in bulk state; On the way make after temporary transient decline of height of parts,, parts are risen in the fixed inspection of the inspection enterprising professional etiquette of bench board; And be transported to the arrangement charging tray 3a of parts conveyance device 3, in addition parts are carried to put with ordered state and arranging on the charging tray 3a.Shown in Fig. 1～3, Handling device 1 has: base station 10; Arm 20, its swing is provided on the base station 10 freely; The base component 30 of rotating table (turret table) shape, its rotation is provided on the arm 20 freely; 4 parts keep module 40, on the outer peripheral face that circumferentially is provided in base component 30; 2 outside force application apparatus (axially driver element) 50, it is provided on the arm 20; Base component rotary drive unit 60, it is used to make base component 30 rotations; Barrel-contoured stationary member 100, its fixed configurations be in arm 20 sides, and the periphery that separates with gap base component 30 covers; Guide 120, it is configured in this stationary member 100 sides; Parts inspection unit 70, it is provided in the central forward side (central authorities and near user's a side) of base station 10 upper surfaces; Swing unit 80, it is used to make arm 20 swings; Central control unit 90, it is used to control Handling device 1 integral body.
The member of the arm shape that arm 20 extends to front side (the place ahead) from arm support 11a above pedestal 10.On arm 20, rotation maintains base component 30 freely, and is equipped with base component rotary drive unit 60, outside force application apparatus 50 and stationary member 100.
Fig. 4 A is the birds-eye view that base component 30 and parts keep module 40, and Fig. 4 B is the cutaway view that base component 30 and parts keep module 40.Shown in Fig. 4 A, parts keep module 40 to be arranged on highlightedly on the outer peripheral face of base component 30 roughly cylindraceous toward the outer side, and space 90 degree.In this embodiment, keep the member of 40 of modules to remove (or excision) and form and avoid interfering spatial portion 31 each parts.Avoid interfering the function of spatial portion 31 to narrate at the back.In addition, parts keep module 40 through not especially graphic bolt etc. can be provided on the base component 30 with installing and removing easily.In addition, show through laterally highlightedly arrangement components keep module 40, and between it, constitute the situation of avoiding interfering spatial portion 31, but for example, also can on the part of base component 30, cut out opening, with this opening as avoiding interfering spatial portion 31.
The outstanding quill shaft 32 that is provided with at the center of the upper surface of base component 30.This quill shaft 32 becomes the centre of gration of base component 30 and becomes rotation and remains on the part on the arm 20 freely.In addition, quill shaft 32 is the outboard tube 32a in big footpath and the coaxial double-decker that sets of inside tube 32b of path.The outboard tube 32a of quill shaft 32 and gap between inside tube 32b become the part that the vacuum pump (omitting diagram) that makes as low pressure source and parts keep the path that module 40 links to each other.Upper end at quill shaft 32 is connected with the tracheae 34 that is connected with vacuum pump via swivel coupling (swivel joint) 33.
Inside at base component 30; Central part be formed with and outboard tube 32a and inside tube 32b between gap bonded assembly central authorities air chamber 35 coaxially; And be and be formed with 4 attraction paths 36 radially, said 4 attraction paths 36 are connected to each parts from this central authorities' air chamber 35 individually respectively and keep module 40.In the way of each attraction path 36, be equipped with transfer valve 37 respectively, 37 pairs of parts of this transfer valve keep the connected state/partition state between modules 40 and vacuum pump to switch.Thereby, in this embodiment, can distinguish the connected state/partition state that switches individually between each parts maintenance module 40 and vacuum pump.Transfer valve 37 in this embodiment is made up of the electromagnetic valve that spool is moved through screw actuator.In addition, transfer valve 37 can adopt other structure so long as got final product by electrically operated structure.
Inside at base component 30 also is equipped with: suction nozzle switching control 91, it controls transfer valve 37, come to through after the action of the suction nozzle 42a absorption/relieving parts stated control; Maintaining part is from rotation control apparatus 92, the maintaining part rotation driver element of stating after its control 43.Suction nozzle switching control 91 and maintaining part are the control setups with CPU, ROM and RAM etc. from rotation control apparatus 92.Suction nozzle switching control 91 and maintaining part are electrically connected with transfer valve 37 and maintaining part rotation driver element 43 respectively through not graphic especially wiring from rotation control apparatus 92, and are electrically connected with central control unit 90.Central control unit 90 and suction nozzle switching control 91 and maintaining part are carried out the bonded assembly wiring from 92 of rotation control apparatus to be connected via the current colector 38 of the leading section that is provided in quill shaft 32.Current colector 38 and suction nozzle switching control 91 and maintaining part are passed from the inside tube 32b inside that is routed in quill shaft 32 of 92 of rotation control apparatus.
Fig. 5 A and 5B are that the expression parts keep the cross section structure of module 40 and the figure of outside force application apparatus 50.As shown in the figure, parts maintenance module 40 has housing 41, rotation and is provided in the maintaining part 42 on the housing 41, the maintaining part rotation driver element 43 that driving maintaining part 42 makes its rotation freely.
About housing 41, maintain maintaining part 42 and maintaining part rotation driver element 43 in inside, and can be fixed on the base component 30 with installing and removing through bolt etc.
Maintaining part 42 is equipped with the elongated cylindrical structural member of suction nozzle 42a at the front end below in figure.Maintaining part 42 can be rotated (rotation) around the center shaft parallel with the axis of rotation of base component 30 freely, and is kept by housing 41 with the mode that can move back and forth along center shaft (axis of rotation) direction freely.The inside of maintaining part 42 forms the attraction path 42b that links to each other with suction nozzle 42a.The pipe arrangement of the hose-like of the attraction path 42a of maintaining part 42 through being connected axle head is connected with transfer valve 37 on being provided in base component 30.
Maintaining part rotation driver element 43 comprises motor 43a that is fixed on the housing 41 and the transmission mechanism 43b that is used for the rotary driving force of motor 43a is passed to maintaining part 42.In this embodiment, motor 43a is made up of stepper motor.Motor 43a is electrically connected from rotation control apparatus 92 with maintaining part via not graphic especially wiring and adaptor union.Transmission mechanism 43b comprises the driven wheel 43b1 on the output shaft that is fixed on motor 43a and is fixed on the driven gear 43b2 on the maintaining part 42 coaxially, slows down with the reduction ratio of the regulation rotating speed with motor 43a.In addition, transmission mechanism 43b can be made up of the train of gears more than 3, also can be made up of band transmission mechanism, chain transmission mechanism etc.
Maintaining part 42 is driven and rotation by this maintaining part rotation driver element 43.In this embodiment, through making maintaining part 42 rotations like this, the posture of coming absorption to be remained on the parts on the suction nozzle 42a is adjusted.
Base end part (upper end among the figure) in maintaining part 42 is connected with support 44.Support 44 is in the upper end of maintaining part 42, along radially setting of base component 30.Support 44 is gone up at the central axis direction (above-below direction) of maintaining part 42 and is cooperated with maintaining part 42.In addition, support 44 allows maintaining part 42 to carry out rotation.That is, even maintaining part 42 rotations, support 44 can not rotate yet, but under the situation that support 44 moves back and forth along above-below direction, maintaining part 42 also moves back and forth along center shaft (axis of rotation) direction.
Radially inner side at support 44 disposes cam follower (cam follower) 110.This cam follower 110 connects with the guide 120 that is configured on the stationary member 100.Stationary member 100 is the cylindrical members that are fixed on the arm 20 and extend to downside, and the mode that separates the gap with the base component rotary drive unit (DD motor) 60 with the inboard disposes.Outer peripheral face at stationary member 100 disposes guide 120.This guide 120 matches with maintaining part 42 through cam follower 110 and support 44, and wherein, maintaining part 42 can be with base component 30 rotations.As a result, guide 120 can make maintaining part 42 at the enterprising line displacement of axis of rotation direction.
Specifically, this guide 120 has the guide surface 122 that connects with cam follower 110.This guide surface 122 utilizes the ladder difference on the outer peripheral face that circumferentially is formed on stationary member 100 and forms ring-type.This guide surface 122 upwards extends in week along the motion track of maintaining part 42, and bends or bending towards the axis of rotation direction of maintaining part 42.Thereby when cam follower 110 was directed and moves with respect to guide surface 122, bending or bending through guide surface 122 made cam follower 110 displacement in the axial direction.As a result, maintaining part 42 matches with guide surface 122 on one side and upwards is directed in week, on one side at axis of rotation direction top offset.
In addition, shown in Fig. 6 A, 6B, on the part of this guide surface 122, be formed with movable area 122A.This movable area 122A can be with respect to all the other zones of guide surface 122 (with reference to Fig. 5 A, 5B) independently at axis of rotation direction top offset.The inside side (downside) at the movable area 122A of guide surface 122 disposes a kind of stage clip 124 as force application component, lifts movable area 122A through this stage clip 124, thereby makes movable area 122A consistent with the height of guide surface 122 (with reference to Fig. 6 A).Depress movable area 122A through the application force that overcomes stage clip 124, thereby only movable area 122A is at axis of rotation direction top offset (with reference to Fig. 6 B).Under the situation that forms this movable area 122A, match with outside force application apparatus 50.When outside force application apparatus 50 to downside during to support 44 application of forces, interlock with it, cam follower 110 to downside to the movable area 122A application of force.When making movable area 122A to the downside displacement through this application force, support 44 also with cam follower 110 to the downside displacement.When removing the state of the application of force through outside force application apparatus 50, by the application force of stage clip 124, support 44 restores extremely original position automatically with movable area 122A.
The inside force application apparatus 45 that support 44 always is used as extension spring from housing 41 to the downside application of force.Thus, the cam follower 110 of support 44 is pressed against on the guide surface 122 always, thereby can avoid guide surface 122 to separate with cam follower 110.As a result, the position (highly) of maintaining part 42 on axis of rotation direction is by the mated condition decision of cam follower 110 and guide surface 122.In addition, at the outstanding compression member 44a that is provided with of the upper surface of support 44.50 pairs of these compression members of outside force application apparatus 44a applies external force, comes to push support 44 to downside.In addition, compare with the application force of the extension spring of inner force application apparatus 45, the application force of stage clip 124 of movable area 122A that is configured in guide surface 122 is big.Thereby even cam follower 110 is positioned at movable area 122A, if outside force application apparatus 50 application of force not, then movable area 122A can displacement.
Outside force application apparatus 50 has: elongated guiding elements cylindraceous 51, and its front end is towards compression member 44a and be provided on the arm 20; Elongated bar-shaped pressing member 52, it passes the inside of guiding elements 51; Motor 53, it is provided in the upper surface of arm 20; Cam (cam) 54, it is fixed on the output shaft of motor 53.The front end of pressing member 52 is towards compression member 44a, and its cardinal extremity is connected with cam 54.And pressing member 52 is along with the rotation of the cam 54 that is driven by motor 53, the above-below direction in the figure (near or leave the direction of compression member 44a) move back and forth.The camb contour of cam 54 needs only according to suitably settings such as the transporting velocitys of Handling device 1.
Pressing member 52 is through moving to the direction near compression member 44a, and its front end is connected on the compression member 44a, and compression member 44a is applied than is configured in the big external force of application force of the stage clip 124 on the movable area 122A of guide surface 122.And, shown in Fig. 6 B, maintaining part 42 is moved with the axis of rotation of support 44 along maintaining part 42.And when pressing member 52 turned back to original position along with the rotation of cam 54, support 44 and maintaining part 42 were because the application force of stage clip 124 and reset into the state of Fig. 6 A automatically.
This guide surface 122 move into zone 12 and take out of zone 13 above be configured to following state: the motion track of the electronic unit that is kept with respect to maintaining part 42, this guide surface 122 squints to radially inner side.Certainly, this guide surface 122 is squinted to radial outside.If like this, the shooting area interference that then can avoid guide surface 122 and standby parts to take unit 2c.As a result, the standby parts are taken the opportunity that unit 2c can utilize does not have parts to keep module 40, take from upper side and move into the parts on the charging tray 2a.The detailed content of taking is narrated at the back.
Return Fig. 1～Fig. 3; In this embodiment; Outside force application apparatus 50 is provided in the position of the compression member 44a that can push the parts maintenance module 40 that is positioned at ad-hoc location respectively, and wherein, this ad-hoc location refers in the running position and moves into zone 12 and take out of position in opposite directions, zone 13.In addition, the movable area 122A of guide surface 122 also is formed on and moves into zone 12 and takes out of 13 cooresponding positions, zone.
Base component rotary drive unit 60 is fixed on the lower surface among the figure of arm 20, between arm 20 and base component 30.In this embodiment, base component rotary drive unit 60 is by the DD motor that is fixed on the stator on the arm 20 and constitutes at the tubular rotor of the outer revolution of stator.At the central part of stator, be formed with through hole in the axial direction.Base component 30 is fixed on the rotor with the state that quill shaft 32 is inserted in this through hole.
Parts inspection unit 70 is made up of first and second X ray checking device 70A, 70B in this embodiment.This parts inspection unit 70 shines X ray from the side in parts inspection area 14, with the inner structure of nondestructive mode inspection part.As stated, in this embodiment, guide 120 is being moved into zone 12 and is being taken out of in the way in 13 in zone, forms the decline zone of the height reduction that temporarily makes parts.Thereby the X ray that shines the side of parts can itself not interfered with parts that kept by other maintaining part 42 and maintaining part 42.As a result, shown in Fig. 6 A, 6B, can be with first and second light accepting part 70C of X ray, the outside that 70D is configured in the motion track of maintaining part 42.This parts inspection unit 70 is electrically connected with central control unit 90, through central control unit 90 control right moments for camera.In addition; In this embodiment; In order further to strengthen safety, be positioned in maintaining part 42 under the state of parts inspection area 14, other maintaining part 42 is not on the extended line of shooting direction (arrow P, Q) of this first and second X ray checking device 70A, 70B.That is to say, when setting the shooting direction (arrow P, Q) of first and second X ray checking device 70A, 70B, the selected direction that can not interfere with other maintaining part 42.
Fig. 7 is that expression makes base component 30 move to the left view of the state of retreating position.Swing unit 80 can make base component 30 between running position (with reference to Fig. 2) and retreating position, move; Wherein, The running position finger keep module 40 for move into zone 12, take out of the position of zone 13 and parts inspection area 14 state in opposite directions, said retreating position finger keep module 40 for move into zone 12, take out of not in opposite directions the position of state of zone 13 and parts inspection area 14.Specifically, swing unit 80 makes arm 20 rotate about 90 degree, thereby makes base component 30 move to retreating position from the running position.Nut 86 and motor 82 rotate or swing along with the rotation of arm 20, thereby swing unit 80 is simple in structure, and arm 20 is rotated swimmingly.In this embodiment, through moving to retreating position, make base component 30 leave base station 10 out and away, and make the front end of the lower surface of base component 30 and the suction nozzle 42a that parts keep module 40 open towards the side.If like this, then can easily safeguard suction nozzle 42a, and the arrangement charging tray 3, parts inspection unit 70 etc. of safeguarding the assembly supply device 2 that is provided on the base station 10, parts conveyance device 3.
Return Fig. 1～3; Central control unit 90 is the control setups with CPU, ROM and RAM etc.; Can direct control outside force application apparatus 50, base component rotary drive unit 60 and parts inspection unit 70 etc.; And send control information from rotation control apparatus 92 to suction nozzle switching control 91 and maintaining part, control 4 transfer valves 37 and 4 maintaining part rotation driver elements 43 respectively individually.
The standby parts take unit 2c be provided in move into zone 12 directly over, thereby parts keep module 40 be positioned at the situation of moving into position in opposite directions, zone 12 under, kept module 40 to disturb and can not take the parts of moving on the charging tray 2a by parts.Thereby; The standby parts are taken unit 2c and in base component 30 rotations, are taken; That is, keep module 40 to move to parts inspection area 14 from moving into zone 12 at the parts that maintain parts, and next parts keep module 40 to reach moving into zone 12 during take.As stated; Keep between the module 40 at 2 parts; Remove member through excising on a large scale; Form and avoid interfering spatial portion 31, and the guide surface 122 of guide 120 can be moved into the parts on the charging tray 2a also to the radially inner side skew through avoiding interfering spatial portion 31 to be taken from the top so the standby parts are taken unit 2c.Thus, can trimming part with respect to the position of suction nozzle 42a, even thereby carry the parts of putting with state in bulk, it suitably is adsorbed on the suction nozzle 42a, carry.In addition, avoid interfering spatial portion 31 to be not limited to the excision modes that member is all removed, for example can constitute by the member that glass etc. can see through light.
The arrangement charging tray 3a of parts conveyance device 3 is the charging trays that are formed with a plurality of recess 3h that are rectangular configuration at upper surface, for example is provided on the arrangement charging tray mobile unit 3b that is made up of the X-Y bench board.Arranging charging tray mobile unit 3b and omitted diagram, is to make up squarely by the direct acting device of motor driven to constitute.The arrangement charging tray mobile unit 3b of this embodiment can move arrangement charging tray 3a along above-below direction among Fig. 3 and left and right directions.
Arrange charging tray mobile unit 3b by central control unit 90 controls, make and arrange charging tray 3a and move so that among a plurality of recess 3h 1 is positioned at the mode that is under the suction nozzle 42a that the parts of taking out of zone 13 keep module 40 successively.Promptly; Carry out following action repeatedly and come ccontaining parts in whole recess 3h; This action is: take out of at regional 13 o'clock being in; After the parts of decontroling from suction nozzle 42a are contained in the recess 3h, will be used for the ccontaining recess 3h that next time is handled upside down the parts that come be configured in the next one to arrive the suction nozzle 42a that takes out of zone 13 under the position.The arrangement charging tray 3a that is equipped with parts among whole recess 3h for example is moved to inspection operation of back etc.
The action of Handling device 1 then, is described.Fig. 8 A～8F is the birds-eye view of the action of expression Handling device 1.
At first, shown in Fig. 8 A, assembly supply device 2 makes in the supply area charging tray 2a that moves into that put a plurality of parts in 15 years move to and move into zone 12.Then, shown in Fig. 8 B, base component 30 rotates about 45 degree along the anticlockwise direction among the figure.Under this state, in base component 30 rotations, the standby parts are taken unit 2c shooting and are moved into the parts on the charging tray 2a, and charging tray mobile unit 2b moves charging tray 2b based on this graphicinformation.When base component 30 rotations about 45 were spent, shown in Fig. 8 C, the suction nozzle 42a of parts holding unit 40 was positioned in the top of moving into selecteed 1 parts in the zone 12.Under the state of this Fig. 8 C, base component 30 temporarily stops, and outside force application apparatus 50 descends the maintaining part 42 that is positioned at the parts holding unit 40 of moving into zone 12, through suction nozzle 42a absorption and holding member.Then, removing pushing of outside force application apparatus 50 makes maintaining part 42 reset into original position.
Then, about 90 degree of base component 30 rotations are temporarily static in the position of Fig. 8 D.Thus, the parts that just taken out from charging tray 2b are moved to parts inspection area 14.At this moment, maintaining part 42 descends along the guide surface 122 of guide 120, is arranged in the minimum position of parts inspection area 14.Base component 30 static during, 70 pairs of parts that kept by suction nozzle 42a of parts inspection unit carry out X ray and take.After finishing to take, base component 30 rotates about 90 degree again, will become the state of Fig. 8 E, and temporarily static at this.Just carried out the parts that X ray takes and risen along guide surface 122 on one side, arrive the top of taking out of zone 13 on one side.In 30 quiescent periods of base component, outside force application apparatus 50 makes and is positioned at the maintaining part 42 of taking out of zone 13 parts holding unit 40 and descends, and decontrols the parts that suction nozzle 42a kept and it is contained among the recess 3h.Then, removing pushing of outside force application apparatus 50 restores maintaining part 42.
As stated; The Handling device 1 of this embodiment carries out above-mentioned action repeatedly; Carry the parts of putting moving on the charging tray 2a thereby take out one by one and carry, and after carrying out the nondestructive inspection of taking through X ray, carry to put with ordered state and arranging on the charging tray 3a with state in bulk.In Handling device 1; In rotation; Utilize the guide surface 122 of guide 120 to make maintaining part 42 at axis of rotation direction top offset; Thereby can make maintaining part 42 moving into zone 12, parts inspection area 14, taking out of zone 13,, thereby can narrow down to the stroke that moves through outside force application apparatus 50 very short in advance near height as purpose.As a result, can improve inspection speed, the transporting velocity of parts.
And about this Handling device 1, skew has taken place with respect to the carrying track of parts in guide surface 122 diametrically, thereby when utilizing the standby parts to take unit 2c shooting parts, can avoid and guide surface 122 interference.Especially, between maintaining part 42, be formed for through the standby parts take unit 2c take be in the parts of moving into zone 12 avoid interfering spatial portion 31.Therefore, in base component 30 rotations, can not kept interference such as module 40, guide surface 122, be in the parts of moving into zone 12 and can take by base component 30, parts.Thus; Can take the captured graphicinformation of unit 2c based on the standby parts; To be in the position component of moving into zone 12 and be modified to the position that suction nozzle 42a is suitably adsorbed, thereby can adsorb reliably and keep to carry the parts of putting moving on the charging tray 2a with state in bulk.
And this guide surface 122 has movable area 122A, and movable area 122A can displacement independently on axis of rotation direction.As a result, through make maintaining part 42 with cam follower 110 at axis of rotation direction top offset, can adsorb or decontrol parts apace.
In addition, guide surface 122 forms and makes maintaining part 42 between moving into zone 12 and taking out of regional 13, be positioned at minimum position, thereby as this embodiment, parts is being carried out in the X-ray examination, can avoid parts, suction nozzle interference with other.
In addition; Because this Handling device 1 maintaining part 42 or base component 30 are provided with the force application apparatus (inner force application apparatus 45) of the butt state that is used to keep maintaining part 42 and guide 120; So can avoid cam follower 110 to separate, can improve the accuracy of positioning of maintaining part 42 with guide 120.
In addition; The axial driver element of maintaining part is limited to the situation that needs are arranged; Owing to have from the outside of base component 30 the outside force application apparatus 50 that the part of maintaining part 42 is applied external force, thereby need not keep not setting on the module 40 and be used to make actuator that maintaining part 42 moves etc. at base component 30 or parts.In addition, when having adopted the structure of utilizing outside force application apparatus 50, if will increase shift motion, then the temporary transient rest time of base component 30 is elongated.But, guarantee the shift motion of needs in advance through this guide 120, thereby can shorten the shift motion of outside force application apparatus 50, thereby can shorten the temporary transient rest time of base component 30.As a result, can the utmost point reasonably realize simple structure, big shift motion and accelerate these 3 advantages of transporting velocity.
In addition; Handling device 1 move into zone 12 be equipped with state in bulk carry put a plurality of parts move into charging tray 2a; Be equipped with ordered state and carry the arrangement charging tray 3a that puts a plurality of parts taking out of zone 13; Arrange charging tray 3a from the parts of moving into charging tray 2a taking-up through being transported to after the posture adjustment, carry to put with ordered state and arranging on the charging tray 3a.Therefore, can the parts of state in bulk be arranged at high speed on the arrangement charging tray 3a.Thus, can improve production efficiency, the checking efficiency of parts.
In addition, the Handling device 1 of this embodiment has 4 parts and keeps module 40, but the invention is not restricted to this, and the parts that can have other number keep module 40.
In addition, maintaining part 42 makes suction nozzle 42a towards the below, but is not limited thereto, and can make suction nozzle 42a towards the side or the top.And maintaining part 42 is not limited to the structure with suction nozzle 42a, for example also can be the structure of controlling parts through air driven.
In addition, base component 30 sets to making central axis in running position rotation in above-below direction, but is not limited thereto, and also can be provided so to make the central axis of the rotation in the running position cross direction of tilt in horizontal direction.In addition, base component 30 can be the shape except the shape shown in this embodiment.
In addition, arm 20 is not limited to be provided in the mode on the base station 10, also can be provided on other the member, perhaps is provided with independently.And arm 20 can be the structure that can carry out the action except swing.For example, can make arm 20 carry out straight line towards the top and swing after moving, be that the center is swung or rotated with a plurality of different S. A.s perhaps.
In addition, in this embodiment, show when the movable area 122A of guide 120 has cam follower 110, push the structure of support 44 by outside force application apparatus 50, but the invention is not restricted to this.For example shown in Fig. 9 A, Fig. 9 B, movable area 122A can form the groove structure that cam follower 110 is sandwiched from up and down, and 50 pairs of these movable area of outside force application apparatus 122A application of force makes support 44 up-and-down movements.At this moment, can stage clip 124 be configured in outside force application apparatus 50 sides.That is, outside force application apparatus 50 position of pushing and structure limit especially.
In addition, move into zone 12, take out of zone 13 and the position (comprising height and position) of parts inspection area 14 is not limited to the position shown in this embodiment, can be with moving into zone 12, taking out of zone 13 and parts inspection area 14 and be configured in other position.And, can the zone of processing assembling or inspection part etc. be arranged in the carrying way.For example shown in Figure 10, the height that preferably makes maintaining part 42 through guide 120 is being moved into zone 12 and to take out of regional 13 different.If like this, then, can on short transverse, avoid charging tray to interfere with each other making when moving into charging tray 2a and arranging charging tray 3a and maximize.In addition; Move under the situation big of zone 12 making like this with taking out of zone 13 height and position difference; Can also utilize in the operation front end that guide 120 makes maintaining part 42 near separately height in carrying, thereby the stroke of maintenance/needed up-and-down movement of relieving parts is minimized.That is, the opening time of outside force application apparatus 50 can be shortened, handling efficiency can also be improved thus.
In addition; The rotation of base component 30 is not limited to whenever revolve turn 90 degrees carries out rotation interval of rest; Can keep module 40 to be in and move into zone 12, take out of under the zone 13 and the situation of position in opposite directions, parts inspection area 14 at parts, make base component 30 continue low speed rotation.
And, in this embodiment, illustrated and in assembly supply device 2, carried the situation of putting parts, but the invention is not restricted to this with state in bulk, also can be other supply method.For example, assembly supply device is the so-called device that is sprinkled into, and can have temporary transient arrangement charging tray, and said temporary transient arrangement charging tray row shape ground has temporary transient arrangement recess with arrangement of parts.Preferably through making this temporary transient charging tray of arranging vibrate up and down or tilts, after the arrangement of parts of state in bulk is in the arrangement recess, parts are supplied to Handling device.
In addition, the parts of carrying can be various parts in the present invention, especially preferably are applicable to crystal wafer (crystal blank).The carrying of crystal wafer is though easily because of external force sustains damage, also require to realize carrying at a high speed in order to accelerate Fabrication procedure.Thereby, according to the turntable Handling device of this embodiment, can in rotation, automatically control the maintenance posture of each crystal wafer, thereby can reduce damage crystal wafer, can also carry at a high speed.In addition,, rotates each suction nozzle because can distinguishing separately (independence), thus can not have influence on the carrying of other parts to the ability of posture control of parts, thus can carry reliably.
More than, embodiment of the present invention has been described, but Handling device of the present invention is not limited to above-mentioned embodiment, can in the scope that does not break away from aim of the present invention, carry out various changes certainly.
The present invention can use in the manufacturing of electronic machine, electronic unit or other various article or the field of circulation.
Claims (13)
1. a parts Handling device is characterized in that,
Have:
Base component, with respect to the stationary member rotation,
Maintaining part, a plurality of along circumferentially disposing of said base component, can on the axis of rotation direction of said base component, move back and forth freely, and can holding member,
Guide is configured in said stationary member side, is used for the said maintaining part that guiding is rotated with said base component on said axis of rotation direction;
At the said parts that the zone is kept by said maintaining part of moving into of parts, with the rotation interlock of said base component by to said parts take out of the zone carrying time, said guide makes said parts at the enterprising line displacement of said axis of rotation direction.
2. parts Handling device as claimed in claim 1 is characterized in that,
Said guide has guide surface, and this guide surface is configured in stationary member one side, and the motion track of the said parts that kept with said maintaining part is abreast along circumferential extension, and on said axis of rotation direction, can carry out displacement,
Said maintaining part connects on one side along circumferentially being directed, thus at the enterprising line displacement of said axis of rotation direction with said guide surface on one side.
3. parts Handling device as claimed in claim 2; It is characterized in that; Said guide surface said move into the zone and said take out of the zone above be configured to following state: with respect to the motion track of the said parts that said maintaining part kept, skew has taken place in this guide surface diametrically.
4. parts Handling device as claimed in claim 3 is characterized in that,
Also have the standby parts and take the unit, these standby parts are taken the unit and are taken the said parts in the standby in the said zone of moving into,
Avoiding interfering spatial portion along being formed with between a plurality of said maintaining part that circumferentially is provided on the said base component, this is avoided interfering spatial portion to be used for taking the unit through said standby parts and takes being positioned at the said said parts of moving into the zone.
5. like each described parts Handling device in the claim 2～4; It is characterized in that; On the part of said guide surface, be formed with movable area, displacement is carried out in said movable area other zones with respect to said guide surface on said axis of rotation direction independently.
6. parts Handling device as claimed in claim 5; It is characterized in that; Also has axial driver element; This axial driver element disposes with the said movable area of said guide surface on the motion track of said maintaining part accordingly, through said maintaining part or said movable area are applied external force, this maintaining part is moved on said axis of rotation direction with said movable area.
7. parts Handling device as claimed in claim 6 is characterized in that, said axial driver element is configured in said zone and the said zone of taking out of moved at least respectively.
8. like each described parts Handling device in the claim 1～7, it is characterized in that having the force application apparatus that is used to keep the butt state between said maintaining part and said guide on said maintaining part or the said base component.
9. like each described parts Handling device in the claim 1～8; It is characterized in that; Said guide has the zone that descends, and this declines zone makes said maintaining part be in said receiving area and the said said maintaining part of aspect ratio when taking out of in the interregional way to be in that said to move into regional and said height when taking out of the zone low.
10. like each described parts Handling device in the claim 1～9, it is characterized in that, said guide make said maintaining part be in said height when moving into the zone and said maintaining part to be in said height when taking out of the zone different.
11. like each described parts Handling device in the claim 1～10, it is characterized in that also having filming apparatus, this filming apparatus is taken the said parts that kept by said maintaining part from the direction perpendicular to the said axis of rotation.
12. parts Handling device as claimed in claim 11 is characterized in that, has a plurality of said filming apparatus, a plurality of said filming apparatus are from taking same said parts perpendicular to a plurality of directions of the said axis of rotation.
13., it is characterized in that said filming apparatus is the X ray filming apparatus like claim 11 or 12 described parts Handling devices.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011017435A JP5083701B2 (en) | 2011-01-31 | 2011-01-31 | Parts conveyor |
| JP2011-017435 | 2011-01-31 |
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| Publication Number | Publication Date |
|---|---|
| CN102673954A true CN102673954A (en) | 2012-09-19 |
| CN102673954B CN102673954B (en) | 2016-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210025007.XA Active CN102673954B (en) | 2011-01-31 | 2012-01-31 | Conveying device for a part |
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| Country | Link |
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| JP (1) | JP5083701B2 (en) |
| CN (1) | CN102673954B (en) |
Cited By (1)
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| CN109219570A (en) * | 2017-03-24 | 2019-01-15 | 中外炉工业株式会社 | Can carry out crawling the handling device of modified strip material |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014055835A (en) * | 2012-09-12 | 2014-03-27 | Shibuya Kogyo Co Ltd | Article classification device |
| WO2014112041A1 (en) * | 2013-01-15 | 2014-07-24 | 上野精機株式会社 | Posture correction device, electronic component conveyance device, and electronic component transfer device |
| WO2014118996A1 (en) * | 2013-02-04 | 2014-08-07 | 上野精機株式会社 | Electronic parts transport device |
| JP7009836B2 (en) | 2017-08-24 | 2022-01-26 | Tdk株式会社 | Parts suction transfer machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2012158401A (en) | 2012-08-23 |
| CN102673954B (en) | 2016-11-09 |
| JP5083701B2 (en) | 2012-11-28 |
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