CN104053350B - Method of conveying workpiece and device - Google Patents
Method of conveying workpiece and device Download PDFInfo
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- CN104053350B CN104053350B CN201410088062.2A CN201410088062A CN104053350B CN 104053350 B CN104053350 B CN 104053350B CN 201410088062 A CN201410088062 A CN 201410088062A CN 104053350 B CN104053350 B CN 104053350B
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- holding
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- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
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Abstract
The present invention provides method of conveying workpiece and device, can transport multiple workpiece of non-proper alignment in a short time.Work carrying device（1）Have：Multiple suction nozzles（12a~12h）, keeping workpiece（10）Or it releases holding/releasing height of the holding and is independently lifted between the lifting height after holding/releasing height rising；Lift limiting member（210）, remaining suction nozzle is made jacking condition and can not can not to make the suction nozzle being known as in a part of liftable/part that lifting height is lifted a suction nozzle is enable to be lifted（12a~12h）Switch between the whole liftable states that can be lifted；Lift flange（202）, allow to the suction nozzle of lifting by making itself lifting（12a~12h）It is lifted.
Description
Technical field
The present invention relates in the assembling of electronic unit etc., by the transport method and device of work transporting to specified position.
Background technology
It manufactures in the production line of electronic unit etc., workpiece is taken out from the pallet for preserving workpiece and transports in assembled workpiece
To specified position.When using more nozzle heads with multiple suction nozzles（multi-nozzle head）When, it is multiple by adsorbing simultaneously
Workpiece can utilize primary conveyance to transport multiple workpiece together.Thereby, it is possible to shorten conveyance the time it takes（With reference to patent
Document 1）.
Patent document 1：Japanese Unexamined Patent Publication 2008-147313 bulletins
But when the non-proper alignment of workpiece is when on pallet, it is impossible to while multiple workpiece are adsorbed, so as to one go forward side by side
Row conveyance.I.e., it is impossible to shorten conveyance the time it takes.
Invention content
The present invention is to complete in view of the above problems, and its purpose is to provide can transport not neat row in a short time
The transport method and device of multiple workpiece of row.
It is studied by the effort of the present inventor, above-mentioned purpose is realized by the following method.
（1）The present invention relates to a kind of Work carrying devices, which is characterized in that has：Multiple holding members are keeping workpiece
Or it releases holding/releasing height of the holding and is independently carried out between the lifting height after the holding/releasing height rising
Lifting；Limiting member is lifted, makes the remaining holding member not a part of holding member is enable to be lifted
Jacking condition and it can not make all holdings in a part of liftable/part that the lifting height is lifted
Whole liftable states that component can be lifted；Lift component allows to the guarantor of lifting by making itself lifting
Component is held to be lifted.
（2）The invention further relates to such as above-mentioned（1）The Work carrying device, which is characterized in that the lifting limitation structure
Part has, and directly or indirectly hooking makes multiple institutes positioned at multiple holding members of the lifting height to the stop part
Holding member is stated to stop on the lifting height.
（3）The invention further relates to such as above-mentioned（2）The Work carrying device, which is characterized in that the stop part has
Make to the effective multiple effective portions of the hooking of the holding member and release multiple releasing portion to the hooking of the holding member,
By moving the multiple effective portion and the multiple releasing portion come to a part of liftable/part not liftable shape
State is switched over whole liftable states.
（4）The invention further relates to such as above-mentioned（3）The Work carrying device, which is characterized in that
The multiple effective portion and the multiple releasing portion is configured in interior circumferencial direction to the stop part along the horizontal plane, passes through
Making itself to rotate in the horizontal plane can not jacking condition and whole liftable shape to a part of liftable/part
State switches over.
（5）The invention further relates to such as above-mentioned（3）Or（4）The Work carrying device, which is characterized in that the stop part
It is arranged alternately with the multiple effective portion and the multiple releasing portion.
（6）The invention further relates to such as above-mentioned（2）Extremely（5）Any one of described in Work carrying device, which is characterized in that it is more
Each described holding member in a holding member can be rotated around vertical axis, and the lifting limiting member has multiple
Rotary body, each described holding member that the multiple rotary body is located at respectively in all holding members stop with described
Between block piece, moreover, the multiple rotary body is rotated with the holding member around the rotation of vertical axis, thus reducing should
Frictional force between holding member and the stop part.
（7）The invention further relates to such as above-mentioned（1）Extremely（6）Any one of described in Work carrying device, which is characterized in that tool
There is control unit, when the holding member carries out the holding, described control unit makes the lifting limiting member become institute
The lift component can not be declined after jacking condition by stating a part of liftable/part, thus make a part of holding
Component declines and a part of holding member is made to be located at the holding/releasing height.
（8）The invention further relates to such as above-mentioned（7）The Work carrying device, which is characterized in that in the holding member
When carrying out the releasing, it is described as making after whole liftable states that described control unit makes the lifting limiting member
Lift component declines, thus decline all holding member and make all holding members be located at it is described keep/
Release height.
（9）The invention further relates to a kind of method of conveying workpiece, which is characterized in that above-mentioned（1）Extremely（6）Any one of described in
Work carrying device in, the holding member carry out the holding when, make it is described lifting limiting member become described one
Divide liftable/part that can not decline the lift component after jacking condition, thus make under a part of holding member
It drops and a part of holding member is made to be located at the holding/releasing height.
（10）The invention further relates to such as above-mentioned（9）The method of conveying workpiece, which is characterized in that in the holding member
When carrying out the releasing, make under the lift component after the lifting limiting member is made to become whole liftable states
Thus drop makes all holding members be located at the holding/releasing height decline the desired holding member.
In accordance with the invention it is possible to play following good result：That is, the multiple of non-proper alignment can be transported in a short time
Workpiece.
Description of the drawings
Fig. 1 is the front view of the Work carrying device of the first embodiment of the present invention；
Fig. 2 is the vertical view for showing suction nozzle and air line；
Fig. 3 is the front view for the structure for showing nozzle head, wherein, Fig. 3's（A）Show that suction nozzle is located at holding/releasing height
State, Fig. 3's（B）Show that suction nozzle is located at the state of lifting height, Fig. 3's（C）It is high to show that a suction nozzle is located at holding/releasing
Degree and remaining suction nozzle are located at the state of lifting height；
Fig. 4 A and Fig. 4 B are the vertical views for illustrating the state for lifting limiting member, wherein, Fig. 4 A show that a part can
The not liftable state of lifting/part, Fig. 4 B show all liftable states；
Fig. 5 is the block diagram for the functional structure for showing control unit；
Fig. 6 is the vertical view for the production line for having used Work carrying device；
Fig. 7 is the front view of the Work carrying device of second embodiment of the present invention；
Fig. 8 is the front view for the structure for showing nozzle head, wherein, Fig. 8's（A）Show that suction nozzle is located at holding/releasing height
State, Fig. 8's（B）Show that suction nozzle is located at the state of lifting height, Fig. 8's（C）It is high to show that a suction nozzle is located at holding/releasing
Degree and remaining suction nozzle are located at the state of lifting height；
Fig. 9 A and Fig. 9 B are the vertical views for illustrating the state for lifting limiting member, wherein, Fig. 9 A show that a part can
The not liftable state of lifting/part, Fig. 9 B show all liftable states；
Figure 10 is the vertical view for showing suction nozzle rotating mechanism；
Figure 11 is the block diagram for the functional structure for showing control unit；
Figure 12 A and Figure 12 B are the front views for the variation for showing Work carrying device, wherein, Figure 12 A show the first implementation
The variation of mode, Figure 12 B show the variation of second embodiment.
The explanation of reference numeral
1、2：Work carrying device；
10：Workpiece；
12a、12b、12c、12d、12e、12f、12g、12h：Suction nozzle；
202：Lift flange（Lift component）；
210：Lift limiting mechanism（Lift limiting member）；
211：Stop part；
22a~22g：Effective portion；
23a~23i：Releasing portion；
230：Lift flange（Lift component）；
300：Control unit；
52a、52b、52c、52d、52e：Suction nozzle；
56a、56b、56c、56d、56e：Hooking rotary body（Rotary body）；
602：Lift flange（Lift component）；
610：Lift limiting mechanism（Lift limiting member）；
611：Stop part（stopper）；
62a~62g：Effective portion；
63a~63i：Releasing portion；
650：Suction nozzle rotating mechanism；
700：Control unit.
Specific embodiment
Hereinafter, the example for the embodiment that present invention will be described in detail with reference to the accompanying.In addition, in the following description, to scheme
Shown in X-axis, Y-axis, carry out direction on the basis of Z axis.X-axis and Y-axis are the trunnion axis being generally perpendicular to each other, and Z axis is
The vertical axis vertical with X-axis and Y-axis.Moreover, it in the various figures, suitably omits a part of structure and the hatching in section is shown
Diagram, so as to simplify attached drawing.In addition, in the various figures, there is a situation where the size for enlargedly showing each structure.
Fig. 1 is the front view of the Work carrying device 1 of the first embodiment of the present invention.Fig. 2 be show suction nozzle 12a,
The vertical view of 12b, 12c, 12d, 12e, 12f, 12g, 12h and air line 13a, 13b, 13c, 13d, 13e, 13f, 13g, 13h
Figure.Fig. 3 is the front view for the structure for showing nozzle head 100.Fig. 3's（A）Show suction nozzle 12a, 12b, 12c, 12d, 12e, 12f,
12g, 12h are located at the state of holding/releasing height.Fig. 3's（B）Show suction nozzle 12a, 12b, 12c, 12d, 12e, 12f, 12g,
12h is located at the state of lifting height.Fig. 3's（C）Show that a suction nozzle 12a is located at holding/releasing height and remaining suction nozzle
12b, 12c, 12d, 12e, 12f, 12g, 12h are located at the state of lifting height.Fig. 4 A and Fig. 4 B are for illustrating to lift limitation machine
The vertical view of the state of structure 210.Fig. 4 A show the not liftable state of a part of liftable/part.Fig. 4 B show all may be used
The state of lifting.Fig. 5 is the block diagram for the functional structure for showing control unit 300.
Fig. 1 and Work carrying device shown in Fig. 21 are arranged on the production line of manufacture electronic unit etc., and are being removed
Send workpiece 10（With reference to Fig. 6）When use.It keeps the nozzle head 100 of workpiece 10 specifically, Work carrying device 1 has, make this
The head moving mechanism that nozzle head 100 is moved to Y direction（Illustration omitted）And control unit 300（With reference to Fig. 5）Deng.
Each section of Work carrying device 1 is controlled the control of unit 300 on the whole.That is, Work carrying device 1
Each section acts under the control of control unit 300, and its running-active status is managed by control unit 300.
Nozzle head 100 is independently lifted multiple with head main body 110, relative to this main body 110（In this embodiment party
It is eight in formula）Suction nozzle 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h, make above-mentioned multiple suction nozzle 12a~12h mutual indepedent
Elevating mechanism 200 that ground is lifted limits lifting limiting mechanism of the elevating mechanism 200 to the lifting of suction nozzle 12a~12h
It 210 and is connect with each suction nozzle 12a~12h and generates the multiple of negative pressure（It is eight in the present embodiment）Air line
13a、13b、13c、13d、13e、13f、13g、13h。
Head main body 110 is configured in a manner of being moved in the Y-axis direction by above-mentioned head moving mechanism.Nozzle head as a result,
100 can move in the Y-axis direction.This main body 110 is configured in a manner that height is constant.
Multiple suction nozzle 12a~12h respectively by top downward in a manner of be configured.In addition, multiple suction nozzle 12a~12h points
Not Li Yong its top attract workpiece 10 each independently.That is, multiple suction nozzle 12a~12h keep workpiece 10 each independently respectively.
These multiple suction nozzle 12a~12h keep workpiece 10 or release holding/releasing height of the holding with it is high from the holding/releasing
It is independently lifted between lifting height after degree rising.
Multiple air line 13a~13h are made of respectively flexible material, and follow the liter of suction nozzle 12a~12h
It drops and bends.These multiple air line 13a~13h respectively with generate negative pressure pump unit（Illustration omitted）Connection, Er Qiexiang
Corresponding suction nozzle 12a~12h transmits the negative pressure.
What elevating mechanism 200 shown in Fig. 3 was integrally lifted with the lifting shaft 201 lifted, with the lifting shaft 201
It lifts flange 202, lift the rotary shaft with 203 as the lifting motor 203 of power source, mounted on the motor（It omits
Reference numeral）On the lifting cam 204 that is rotated and the lifting is converted into lifting shaft 201 with the rotation of cam 204
Power power converting member 205.
201 cylindrical form of lifting shaft, and be configured along vertical direction.It lifts flange 202 and utilizes the flange portion of itself
（Omit reference numeral）Support suction nozzle 12a~12h from below.The lifting flange 202 plays a role as lift component, that is, logical
Crossing makes itself to lift, come make not becoming unable to when lift limiting mechanism 210 enough liftable suction nozzle 12a~12h lifted into
Row lifting.
Lifting is configured with motor 203 in a manner that the height of opposite head main body 110 is constant.In addition, lifting motor
203 with rotary shaft（Omit reference numeral）Mode in the horizontal direction is configured.Pulse electricity may be used in the lifting motor 203
Motivation（It is preferred that servomotor）Deng.Lifting with the shape of cam 204 in eccentric ovate, moreover, the lifting with cam 204 around
Lifting in the horizontal direction is rotated with the rotary shaft of motor 203.The lifting supports power to convert from below with cam 204
Component 205, and lift power converting member 205 by rotation.As a result, lifting cam 204 makes lifting shaft 201 and lifting
Flange 202 lifts.
Lifting limiting mechanism 210 can switch between following two states：That is, make in suction nozzle 12a~12h only
One suction nozzle（Such as suction nozzle 12a）It can lift and make remaining suction nozzle（Such as suction nozzle 12b~12h）Can not lifting height into
A part of liftable/part of row lifting can not jacking condition（With reference to Fig. 3's（C）With Fig. 4 A）；Make all suction nozzle 12a~
Whole liftable states that 12h can be lifted（With reference to Fig. 3's（A）With Fig. 4 B）.
Specifically, lifting limiting mechanism 210 has the stop part 211 rotated around lifting shaft 201, in the stop part 211
Around in a manner of being mutually separated by equal intervals be mounted on each suction nozzle 12a~12h on multiple hooking piece 14a, 14b, 14c,
14d、14e、14f、14g、14h（With reference to Fig. 4 A and Fig. 4 B）, as the lifting limitation motor 216 of power source and to backstop
Part 211 transmits the dynamic conveyor belt 217 of the power of lifting limitation motor 216.
Stop part 211 is with the following functions：That is, via hooking piece 14a~14h, hooking is located at the more of lifting height indirectly
A suction nozzle 12a~12h and multiple suction nozzle 12a~12h is made to stop on lifting height.Specifically, stop part 211 include with
Under each component：The axle portion 212 of cylindrical shape on lifting shaft 201, the outside from the lower ora terminalis of axle portion 212 to horizontal direction
The top plate portion 213 of the hollow disc shape of bending, the cylindrical portion 214 being bent downwards from the outer peripheral edge of the top plate portion 213 and from
The circular flange part 215 of the lower ora terminalis of the cylindrical portion 214 lateral bend outside horizontal direction.
Stop part 211 is configured in a manner that the height of opposite head main body 110 is constant.The stop part 211 is in the cunning of axle portion 212
Wheel（Omit reference numeral）The upper dynamic conveyer belt 217 of hooking, and rotated with the operation of the dynamic conveyor belt.It is that is, convex
Edge 215 is rotated with the operation of dynamic conveyor belt.Pulse motor etc. may be used in lifting limitation motor 216.
As shown in Figure 4 A and 4 B shown in FIG., flange part 215 is divided into multiple（It is 16 in the present embodiment）Region.Tool
For body, flange part 215 is effectively multiple to the hooking of hooking suction nozzle 12a~12h with making（It is seven in the present embodiment
It is a）Effective portion 22a, 22b, 22c, 22d, 22e, 22f, 22g and releasing are multiple to the hooking of suction nozzle 12a~12h（In this implementation
It is nine in mode）Releasing portion 23a, 23b, 23c, 23d, 23e, 23f, 23g, 23h, 23i.More specifically, flange part 215 is handed over
Multiple effective portion 22a~22g and multiple releasing portion 23a~23i are alternately configured.That is, flange part 215 be configured in the following order it is more
A effective portion 22a~22g and multiple releasing portion 23a~23i：Releasing portion 23a, effective portion 22a, releasing portion 23b, effective portion 22b,
Releasing portion 23c, effective portion 22c, releasing portion 23d, effective portion 22d, releasing portion 23e, effective portion 22e, releasing portion 23f, effective portion
22f, releasing portion 23g, effective portion 22g, releasing portion 23h, releasing portion 23i.
Multiple effective portion 22a~22g respectively by hooking hooking piece 14a, 14b, 14c, 14d, 14e, 14f, 14g, 14h come
Hooking suction nozzle 12a~12h indirectly.Multiple releasing portion 23a~23i respectively will not hooking hooking piece 14a, 14b, 14c, 14d,
14e、14f、14g、14h.That is, multiple releasing portion 23a~23i respectively will not hooking suction nozzle 12a~12h.
In a situation shown in fig. 4 a, effective portion 22a is located at position corresponding with hooking piece 14a and makes to suction nozzle 12a's
Hooking is effective.Similarly, effective portion 22b is located at position corresponding with hooking piece 14b and makes effective to the hooking of suction nozzle 12b.And
And effective portion 22c is located at position corresponding with hooking piece 13c and makes effective to the hooking of suction nozzle 12c.In addition, effectively portion 22d
Make effective to the hooking of suction nozzle 12d in position corresponding with hooking piece 14d.In addition, effectively portion 22e is located at and hooking piece 14e
Corresponding position and make effective to the hooking of suction nozzle 12e.Moreover, effectively portion 22f is located at position corresponding with hooking piece 14f and makes
It is effective to the hooking of suction nozzle 12f.In addition, effectively portion 22g is located at position corresponding with hooking piece 14g and makes the hook to suction nozzle 12g
Hang with effect.In addition, releasing portion 23i is located at position corresponding with hooking piece 14h and releases the hooking to suction nozzle 12h.
It can only be lifted and remaining suction nozzle 12a~12g cannot be upper there are one suction nozzle 12h that is, Fig. 4 A are shown
A part of liftable/part that rise is lifted can not jacking condition.In addition, in Fig. 4 A and Fig. 4 B, in hooking
Profile drawing line is so as to illustrate the effective of hooking with the mode distinguished is released on effective suction nozzle.
Under state shown in Fig. 4 B, releasing portion 23a is located at position corresponding with hooking piece 14a and releases to suction nozzle 12a's
Hooking.Similarly, releasing portion 23b is located at position corresponding with hooking piece 14b and releases the hooking to suction nozzle 12b.Moreover, it releases
Portion 23c is located at position corresponding with hooking piece 14c and releases the hooking to suction nozzle 12c.In addition, releasing portion 23d is located at and hooking
The corresponding positions of piece 14d and release the hooking to suction nozzle 12d.In addition, releasing portion 23e is located at position corresponding with hooking piece 14e
And release the hooking to suction nozzle 12e.Moreover, releasing portion 23f is located at position corresponding with hooking piece 14f and releases to suction nozzle 12f
Hooking.In addition, releasing portion 23g is located at position corresponding with hooking piece 14g and releases the hooking to suction nozzle 12g.In addition, it releases
Portion 23h is located at position corresponding with hooking piece 14h and releases the hooking to suction nozzle 12h.
That is, Fig. 4 B show whole liftable states that all suction nozzle 12a~12h can be lifted.
Above stop part 211 makes multiple effective portion 22a~22g and multiple solutions by the way that itself is made to rotate in the horizontal plane
Except portion 23a~23i is moved, so as to can not be shown in jacking condition and Fig. 4 B in a part of liftable/part shown in Fig. 4 A
It is switched between whole liftable states.
Control unit 300 is by CPU, RAM and ROM etc.（Equal illustration omitted）It forms, performs various controls.CPU is so-called
Central processing unit, realize various functions by performing various programs.RAM is used as the operating area of CPU.
The program that ROM storages are performed by CPU.
As shown in figure 5, control unit 300 has the following component as the functional structure after execution program：That is, sensing
Test section 301, head moving mechanism control unit 302, elevating mechanism control unit 303, lifting limiting mechanism control unit 304 and pump are single
First control unit 305 etc..
Sensing detection portion 301 always obtains the various sensings being detected to the state of each section of Work carrying device 1
Device（Illustration omitted）The various sensors being detected with the state to workpiece 10（Illustration omitted）Sensing detecting data, and
The sensing detecting data is transferred to head moving mechanism control unit 302, elevating mechanism control unit 303, lifting limiting mechanism control
Portion 304 and pump unit control unit 305.
Head moving mechanism control unit 302 controls head to move with reference to the sensing detecting data obtained by sensing detection portion 301
Mechanism（Illustration omitted）So that nozzle head 100 is in target location.
Moreover, elevating mechanism control unit 303 controls lifting with reference to the sensing detecting data obtained by sensing detection portion 301
Mechanism 200 so that suction nozzle 12a~12h is in object height.
In addition, lifting limiting mechanism control unit 304 is controlled with reference to the sensing detecting data obtained by sensing detection portion 301
Lift limiting mechanism 210 so that suction nozzle 12a~12h is in object height.
In addition, pump unit control unit 305 controls pump unit with reference to the sensing detecting data obtained by sensing detection portion 301
（Illustration omitted）So that suction nozzle 12a~12h keeps workpiece 10 or releases this and be maintained as dbjective state.
For example, in the case where suction nozzle 12a~12h singly keeps workpiece 10, lifting limiting mechanism control unit 304
The lifting limiting mechanism 210 is controlled, makes lifting limiting mechanism 210 can not jacking condition as a part of liftable/part（Ginseng
According to Fig. 4 A）.Moreover, elevating mechanism control unit 303 controls elevating mechanism 200 so that lifting flange 202 declines.As a result, in suction nozzle
In 12a~12h, only there are one suction nozzles（For example, suction nozzle 12a）Decline, in suction nozzle 12a~12h, the only suction nozzle（Example
Such as, suction nozzle 12a）Positioned at holding/releasing height.Then, pump unit control unit 305 controls pump unit（Illustration omitted）So that
The suction nozzle（For example, suction nozzle 12a）Top generate negative pressure.Workpiece 10 is maintained at suction nozzle as a result,（For example, suction nozzle 12a）Top
End.Moreover, elevating mechanism control unit 303 controls elevating mechanism 200 so that lifting flange 202 rises.It lifts and is maintained at as a result,
Suction nozzle（For example, suction nozzle 12a）Top workpiece 10.For other suction nozzles（For example, suction nozzle 12b~12h）It carries out successively in this way
Control.
In addition, in the case where suction nozzle 12a~12h keeps workpiece 10 together, lifting limiting mechanism control unit 304 controls should
Limiting mechanism 210 is lifted, lifting limiting mechanism 210 is made to become whole liftable states（With reference to Fig. 4 B）.Moreover, elevating mechanism control
Portion 303 processed controls elevating mechanism 200 so that lifting flange 202 declines.All suction nozzle 12a~12h decline as a result, all suction nozzles
12a~12h is located at holding/releasing height.Then, pump unit control unit 305 controls pump unit（Illustration omitted）So that in suction nozzle
The top of 12a~12h generates negative pressure.Workpiece 10 is maintained to the top of suction nozzle 12a~12h as a result,.Moreover, elevating mechanism control
Portion 303 processed controls elevating mechanism 200 so that lifting flange 202 rises.The top for being maintained at suction nozzle 12a~12h is lifted as a result,
Workpiece 10.
Alternatively, when suction nozzle 12a~12h releases the holding to workpiece 10 together, lifting limiting mechanism control unit 304 controls
The lifting limiting mechanism 210 so that lifting limiting mechanism 210 becomes whole liftable states（With reference to Fig. 4 B）.Moreover, elevator
Structure control unit 303 controls elevating mechanism 200 so that lifting flange 202 declines.All suction nozzle 12a~12h decline as a result, own
Suction nozzle 12a~12h is located at holding/releasing height.Then, pump unit control unit 305 controls pump unit（Illustration omitted）, release and inhale
The negative pressure on the top of mouth 12a~12h.Holding of the top of suction nozzle 12a~12h to workpiece 10 is released as a result,.Moreover, elevator
Structure control unit 303 controls elevating mechanism 200 so that lifting flange 202 rises.Suction nozzle 12a~12h is raised off as a result,
Workpiece 10.
In addition, although explanation is omitted, suction nozzle 12a~12h can also singly release the holding to workpiece 10.
Next, the production line 400 for having used Work carrying device 1 is illustrated based on Fig. 6.Fig. 6 is to have used work
The vertical view of the production line 400 of part carrying device 1.
Production line 400 shown in fig. 6 is the inspection line of the workpiece 10 whens manufacturing electronic unit etc..On the production line 400,
Workpiece 10 is supplied to check device 420 and receives desired check.Specifically, production line 400 has conveyance supply tray
411 supply tray carrying manipulator 410, as supply manipulator play a role Work carrying device 1, check device 420,
The Work carrying device 1 and the collecting pallet carrying manipulator of conveyance collecting pallet 431 to play a role as storage manipulator
430。
Supply tray carrying manipulator 410 transports supply tray 411 in the X-axis direction.Supply tray 411, which has, to be arranged in
Rectangular multiple receiving portions 412 of X-direction and Y direction.These multiple receiving portions 412 are than workpiece 10 big one respectively
The hole of circle, for accommodating workpiece 10.The supply tray 411 that multiple workpiece 10 are accommodated in receiving portion 412 is supplied to pallet and removes
Manipulator 410 is sent to transport to specified position.
The work on supply tray 411 is singly kept as the Work carrying device 1 that plays a role of supply manipulator
Part 10 simultaneously amounts to eight workpiece 10 of holding.Moreover, Work carrying device 1 transports in the Y-axis direction towards check device 420
Workpiece 10.Then, Work carrying device 1 releases the holding to workpiece 10 in check device 420.
Check device 420 is continuously configured with multiple inspection desks 421 in a manner of drawing circumference.By being used as supply manipulator
The Work carrying device 1 to play a role is configured with multiple workpiece 10 on these multiple inspection desks 421.It is configured with multiple workpiece
10 inspection desk 421 follow adjacent inspection desk 421 by draw circumferentially in a manner of travel, thus by multiple workpiece 10 transport to
Specified position.
Keep the workpiece 10 on inspection desk 421 together as the Work carrying device 1 that plays a role of storage manipulator.And
And Work carrying device 1 transports workpiece 10 from check device 420 along Y direction.Then, Work carrying device 1 is held in the palm in storage
The holding to workpiece 10 is released in disk 431.
In addition, Work carrying device 1, which is directed to, is judged as the workpiece 10 checked again by check device 420, again
Put into pallet（Illustration omitted）Holding of the middle releasing to workpiece 10.In this way, inspection dress will be put into again by putting into pallet preservation again
Put 420 workpiece 10.
Collecting pallet carrying manipulator 430 transports collecting pallet 431 in the X-axis direction.Identically with supply tray 411,
Collecting pallet 431 has the rectangular multiple receiving portions 432 for being arranged in X-direction and Y direction.These multiple receiving portions
432 be the hole enclosed than workpiece 10 big one respectively, for accommodating workpiece 10.The collecting pallet 431 for accommodating multiple workpiece 10 is received
Tray conveying manipulator 430 of receiving is transported to specified position.
As described above, the Work carrying device 1 of present embodiment has：Multiple suction nozzle 12a~12h are keeping workpiece 10
Or it releases holding/releasing height of the holding and is independently lifted between the lifting height after holding/releasing height rising；
Limiting mechanism 210 is lifted, is switched between following two states：That is, make the only one suction nozzle in suction nozzle 12a~12h（Example
Such as, suction nozzle 12a）It can be lifted and make remaining suction nozzle（For example, suction nozzle 12b~12h）It cannot be risen in lifting height
A part of liftable/part of drop can not jacking condition with enabling what all suction nozzle 12a~12h were lifted all may be used
Jacking condition；Flange 202 is lifted, is lifted liftable suction nozzle 12a~12h by making itself lifting.
Therefore, by make lifting limiting mechanism 210 as a part of liftable/part can not jacking condition it is multiple to make
Suction nozzle 12a~12h is lifted successively one by one.It is right with workpiece 10 successively by the suction nozzle 12a~12h for making to be lifted
Should, even multiple workpiece 10 of non-proper alignment can also be maintained successively.In addition, releasing the holding to workpiece 10
When, by the way that lifting limiting mechanism 210 is made to become whole liftable states, whole suction nozzle 12a~12h can be made to be risen together
Drop.That is, the holding to all workpiece 10 can be released together.Thus, it is possible to transport multiple works of non-proper alignment in a short time
Part 10.
Moreover, lifting limiting mechanism 210 has stop part 211, directly or indirectly hooking is located at the stop part 211
Multiple suction nozzles on lifting height and multiple suction nozzle is made to stop on lifting height.Therefore, it is possible to real using simple construction
Now lift limiting mechanism 210.
In addition, stop part 211 has the effective multiple effective portion 22a~22g of hooking for making suction nozzle 12a~12h and releasing
To multiple releasing portion 23a~23i of the hooking of suction nozzle 12a~12h.Stop part 211 passes through the multiple effective portion 22a~22g of movement
With multiple releasing portion 23a~23i come to a part of liftable/part can not jacking condition cut with whole liftable states
It changes.It can not jacking condition and whole liftable shapes therefore, it is possible to switch a part of liftable/part using simple action
State.
In addition, multiple effective portion 22a~22g and multiple releasing portion is configured in interior circumferencial direction to stop part 211 along the horizontal plane
23a~23i, and by itself is made to rotate in the horizontal plane come to a part of liftable/part can not jacking condition with it is complete
Portion's liftable state switching.Therefore, compared with the situation of stop part linear movement, compact constitution realization lifting limit can be utilized
Mechanism 210 processed.It in addition, can recycle the suction nozzle 12a~12h lifted.Therefore, for singly to lift
Suction nozzle 12a~12h, proceeded by from which of suction nozzle 12a~12h suction nozzles.
Moreover, stop part 211 is alternately configured with multiple effective portion 22a~22g and multiple releasing portion 23a~23i.That is,
Stop part 211 is configured to the multiple effective portion 22a~22g and multiple releasing portion 23a~23i that are simply arranged in order.Therefore,
Simpler constitution realization can be utilized to lift limiting mechanism 210.
Fig. 7 is the front view of the Work carrying device 2 of second embodiment of the present invention.Fig. 8 shows nozzle head 500
The front view of structure.Fig. 8's（A）Show that suction nozzle 52a, 52b, 52c, 52d, 52e are located at the state of holding/releasing height.Fig. 8's
（B）Show that suction nozzle 52a, 52b, 52c, 52d, 52e are located at the state of lifting height.Fig. 9 A and Fig. 9 B are for illustrating lifting limitation
The vertical view of the state of mechanism 610.Fig. 9 A show that a part of liftable/part can not jacking condition.Fig. 9 B show all may be used
Jacking condition.Figure 10 is the vertical view for showing suction nozzle rotating mechanism 650.Figure 11 is the functional structure for showing control unit 700
Block diagram
In addition, being illustrated just for the characteristic of the Work carrying device 2 of second embodiment, and suitably omit
To the explanation of structure identical with first embodiment, effect and effect.
Work carrying device 2 shown in Fig. 7 has nozzle head 500, head moving mechanism（Illustration omitted）And control unit
700（With reference to Figure 11）Deng.
Nozzle head 500 has head main body 510, multiple（It is five in the present embodiment）Suction nozzle 52a, 52b, 52c, 52d,
52e, it elevating mechanism 600, lifts limiting mechanism 610, is multiple（It is five in the present embodiment）Air line 53a, 53b,
53c、53d、53e（With reference to Fig. 9 A and Fig. 9 B）And suction nozzle rotating mechanism 650.
Fig. 8's（A）With Fig. 8's（B）Shown elevating mechanism 600 has lifting shaft 601, plays a role as lift component
Lifting flange 602, lifting motor 603, lifting is with cam 604 and power converting member 605.
Lift limiting mechanism 610 have stop part 611, around the stop part 611 in a manner of equally spaced with each suction
Multiple hooking piece 54a, 54b that mouth 52a~52e is configured accordingly, 54c, 54d, 54e, multiple hooking piece 54a are separately installed with
Multiple arm 55a, 55b of~54e, 55c, 55d, 55e, be free rotatably mounted at respectively these multiple arm 55a, 55b, 55c,
Hooking rotary body 56a, 56b, 56c, 56d, 56e of the upper simultaneously hooking suction nozzle 52a~52e of 55d, 55e（With reference to Fig. 9 A and Fig. 9 B）, rise
Lower limit system motor 616 and dynamic conveyor belt 617.
Stop part 611 is with the following functions：That is, via hooking piece 54a~54e, arm 55a~55e and hooking rotary body
56a~56e, indirectly hooking be located at multiple suction nozzle 52a~52e of lifting height and stop at multiple suction nozzle 52a~52e
On lifting height.Specifically, stop part 611 includes axle portion 612, top plate portion 613, cylindrical portion 614 and flange part 615.
As shown in fig. 9 a and fig. 9b, flange part 615 has multiple（It is seven in the present embodiment）Effective portion 62a,
62b, 62c, 62d, 62e, 62f, 62g and multiple（It is nine in the present embodiment）Releasing portion 63a, 63b, 63c, 63d,
63e、63f、63g、63h、63i。
Fig. 9 A are shown can only be lifted there are one suction nozzle 52e and remaining suction nozzle 52a~52d cannot be in upper raising
Spending a part of liftable/part lifted can not jacking condition.In addition, in Fig. 9 A and Fig. 9 B, with effective in hooking
Suction nozzle on profile drawing line so as to the effective of hooking and release the mode that distinguishes and illustrate.
Fig. 9 B show whole liftable states that whole suction nozzle 52a~52e can be lifted.
Above stop part 611 can not jacking condition and Fig. 9 B in a part of liftable/part shown in Fig. 9 A
It is switched between shown whole liftable states.
Each in multiple hooking rotary body 56a, 56b, 56c, 56d, 56e is with suction nozzle 52a~52e around vertical axis
Rotation rotated, and thus reduces the frictional force between suction nozzle 52a~52e and stop part 611.
As shown in Figure 10, suction nozzle rotating mechanism 650 is multiple with integrally being rotated with multiple suction nozzle 52a~52e（At this
It is five in embodiment）Driven gear 65a, 65b, 65c, 65d, 65e and these multiple driven gear 65a~65e and deploying
The drive gear 656 put, the cricoid gear band for being hooked on multiple driven gear 65a~65e and drive gear 656 and running
657th, make gear band（gear belt）The 657 multiple guide gears being in close contact with driven gear 65a~65e（guide
gear）66a, 66b, 66c, 66d, the suction nozzle rotation motor as power source（Illustration omitted）And base portion 662.
Drive gear 656 is rotated using the driving of suction nozzle rotation motor.Multiple driven gear 65a~65e lead to
It crosses the operation of gear band 657 and is rotated with being connected with drive gear 656.That is, with multiple driven gear 65a~65e integrally
Multiple suction nozzle 52a~52e of rotation are rotated with being connected using the operation of gear band 657 with drive gear 656.Suction nozzle rotation is used
Motor running is recycled with the rotation by drive gear 656.Multiple guide gear 66a~66d configuration is by gear band
657 are clamped into the position between multiple driven gear 65a~65e.These multiple guide gear 66a~66d are with gear band
657 operation and rotate.That is, multiple guide gear 66a~66d will not interfere the trouble-free operation of gear band 657.Base portion 662 with
It is configured relative to the constant mode of the height of head main body 510.
As shown in figure 11, control unit 700 has as the functional structure after execution program with lower member：That is, sensing
Test section 701, head moving mechanism control unit 702, elevating mechanism control unit 703, lifting limiting mechanism control unit 704, pump unit
Control unit 705 and suction nozzle rotating mechanism control unit 706 etc..
Sensing detection portion 701 always obtains various sensors（Illustration omitted）Sensing detecting data, and will acquired in
Sensing detecting data be transferred to head moving mechanism control unit 702, elevating mechanism control unit 703, lifting limiting mechanism control unit
704th, pump unit control unit 705 and suction nozzle rotating mechanism control unit 706.
Suction nozzle rotating mechanism control unit 706 controls suction nozzle with reference to the sensing detecting data obtained by sensing detection portion 701
Rotating mechanism 650 so that suction nozzle 52a~52e is in target direction.
Specifically, suction nozzle rotating mechanism control unit 706 controls elevating mechanism 600 to cause in elevating mechanism control unit 703
Before lifting the decline of flange 602, control suction nozzle rotating mechanism 650.In addition, suction nozzle rotating mechanism control unit 706 is in elevating mechanism
Control unit 703 controls elevating mechanism 600 so that after the lifting rising of flange 602, controls suction nozzle rotating mechanism 650.
As described above, in the Work carrying device 2 of present embodiment, set in a manner of it can be rotated around vertical axis more
Each in a suction nozzle 52a~52e.Moreover, lifting limiting mechanism 610 has multiple hooking rotary body 56a~56e, this is more
A hooking rotary body 56a~56e respectively between each suction nozzle 52a~52e and stop part 611, and with suction nozzle 52a~
52e is rotated around the rotation of vertical axis, and thus, it is possible to reduce the friction between suction nozzle 52a~52e and stop part 611
Power.
Therefore, it is possible to reduce the multiple suction nozzle 52a~52e rotated around vertical axis the and multiple suction nozzle 52a of hooking indirectly~
Frictional force between the stop part 611 of each suction nozzle in 52e.Thereby, it is possible to successfully carry out suction nozzle 52a~52e around lead
The rotation of vertical axis.
The present invention is not limited in the respective embodiments described above, but can be in without departing from the spirit and technological thought range
Interior carry out various modifications.
That is, in the respective embodiments described above, can suitably change the configuration of each structure, size, shape, material, direction,
Quantity etc..For example, configuration and quantity of suction nozzle etc. can be enumerated.In addition, as one realized by lifting limiting mechanism 210
Point liftable/part can not jacking condition, there was only a suction nozzle in suction nozzle 12a~12h（For example, suction nozzle 12a）It can
It is lifted and remaining suction nozzle（For example, suction nozzle 12b~12h）It cannot be carried out for the state that lifting height is lifted
Illustrate, but the present invention a part of liftable/part can not jacking condition be not limited to that.That is, one of the present invention
Point liftable/part can not jacking condition be a part of suction nozzle（For example, two suction nozzles 12a, 12b）Can be lifted and
Remaining suction nozzle（For example, remaining suction nozzle 12c~12h）It cannot be in the state that lifting height is lifted.
Alternatively, in the respective embodiments described above, the structure of other embodiment can also be applied in appropriate range.
Alternatively, in the respective embodiments described above, with stop part 211, the 611 multiple suction nozzle 12a~12h of hooking, 52a indirectly
It is illustrated in case of~52e, but stop part 211,611 can also the directly multiple suction nozzle 12a~12h of hooking, 52a
~52e.
Alternatively, in the respective embodiments described above, using the situation that suction nozzle 12a~12h, 52a~52e decline due to dead weight as
Example is illustrated, but the present invention is not limited to this, and suction nozzle 12a~12h, 52a~52e can also be by being applied by spring etc.
Power component apply active force and energetically decline.
Specifically, in the variation of first embodiment, as illustrated in fig. 12, to suction nozzle 12a~12h（It is in diagram
12a）The helical spring 18 to exert a force downwards is arranged on each in suction nozzle 12a~12h.Similarly, in the second embodiment party
In the variation of formula, as shown in Figure 12 B, to suction nozzle 52a~52e（It is 52a in diagram）The helical spring 58 to exert a force downwards is set
It puts on each in suction nozzle 52a~52e.
Industrial applicability
The Work carrying device of the present invention can be in the manufacture or logistics of electronic equipment, electronic unit or other various articles
It is used in the fields of grade.
Claims (9)
1. a kind of Work carrying device, which is characterized in that have：
Multiple holding members, keep workpiece or release holding/releasing height of the holding with from the holding/releasing height
It is independently lifted between lifting height after rising；
Lift limiting member, a part of holding member is enable to be lifted and prevent the remaining holding member from
Enough a part of liftable/parts lifted in the lifting height can not jacking condition with making all holding structures
Switch between whole liftable states that part can be lifted；
Lift component, by the way that itself lifting is made to be lifted to allow to the holding member of lifting,
The lifting limiting member has stop part, which directly or indirectly hooking can be located at the lifting height
Multiple holding members so that multiple holding members is stopped on the lifting height,
Each described holding member in multiple holding members can be rotated around vertical axis,
The lifting limiting member has multiple rotary bodies, and the multiple rotary body is located in all holding members respectively
Each described holding member and the stop part between, moreover, the multiple rotary body with the holding member around vertical
The rotation of axis is rotated, and thus, it is possible to reduce the frictional force between the holding member and the stop part.
2. Work carrying device as described in claim 1, which is characterized in that
The stop part has and makes effective multiple effective portions to the hooking of the holding member and release to the holding member
Hooking multiple releasing portion,
By the way that the multiple effective portion is made with the multiple releasing portion to move that a part of liftable/part can not be risen
Drop state is switched over whole liftable states.
3. Work carrying device as claimed in claim 2, which is characterized in that
The multiple effective portion and the multiple releasing portion is configured in interior circumferencial direction to the stop part along the horizontal plane, by make from
In horizontal plane inward turning transfer to a part of liftable/part can not jacking condition and whole liftable states into
Row switching.
4. Work carrying device as claimed in claim 2, which is characterized in that
The stop part is arranged alternately with the multiple effective portion and the multiple releasing portion.
5. Work carrying device as claimed in claim 3, which is characterized in that
The stop part is arranged alternately with the multiple effective portion and the multiple releasing portion.
6. the Work carrying device as described in any one of claim 1 to 5, which is characterized in that
With control unit, when the holding member carries out the holding, described control unit makes the lifting limiting member
It can not decline the lift component after jacking condition as a part of liftable/part, thus make a part of institute
Holding member is stated to decline and a part of holding member is made to be located at the holding/releasing height.
7. Work carrying device as claimed in claim 6, which is characterized in that
When the holding member carries out the releasing, described control unit makes the lifting limiting member all may be used as described
Decline the lift component after jacking condition, all holding members is thus made to decline and make all holdings
Component is located at the holding/releasing height.
8. a kind of method of conveying workpiece, which is characterized in that
In the Work carrying device described in any one of claim 1 to 5, when the holding member carries out the holding,
The lifting limiting member is made, which to become a part of liftable/part, to be made under the lift component after jacking condition
Thus drop makes a part of holding member decline and a part of holding member is made to be located at the holding/releasing height.
9. method of conveying workpiece as claimed in claim 8, which is characterized in that
When the holding member carries out the releasing, after making the lifting limiting member as whole liftable states
Decline the lift component, thus decline all holding members and make all holding members positioned at described
Holding/releasing height.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-047877 | 2013-03-11 | ||
| JP2013047877A JP5370949B1 (en) | 2013-03-11 | 2013-03-11 | Work conveying method and apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104053350A CN104053350A (en) | 2014-09-17 |
| CN104053350B true CN104053350B (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410088062.2A Active CN104053350B (en) | 2013-03-11 | 2014-03-11 | Method of conveying workpiece and device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5370949B1 (en) |
| KR (1) | KR101587885B1 (en) |
| CN (1) | CN104053350B (en) |
| TW (1) | TWI627122B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662818B (en) * | 2017-10-26 | 2023-06-23 | 苏州均华精密机械有限公司 | Full-automatic high-speed disc filling machine |
| CN108190499B (en) * | 2018-01-24 | 2024-03-19 | 广东顺力智能物流装备股份有限公司 | Conveying device |
| KR102180211B1 (en) * | 2019-01-07 | 2020-11-18 | 주식회사 아바코 | Apparatus for Lifting Substrate of Mask Aligner |
| CN111765984A (en) * | 2019-04-02 | 2020-10-13 | 亚企睦自动设备有限公司 | Component handling system |
| JP6817648B1 (en) * | 2019-09-20 | 2021-01-20 | 上野精機株式会社 | Electronic component processing equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04239200A (en) * | 1991-01-11 | 1992-08-27 | Sanyo Electric Co Ltd | Electronic part automatic mount device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1140989A (en) * | 1997-07-22 | 1999-02-12 | Matsushita Electric Ind Co Ltd | Electronic component mounting device |
| KR100627054B1 (en) * | 2004-09-06 | 2006-09-25 | 삼성테크윈 주식회사 | Head assembly for chip mounter |
| KR100651816B1 (en) * | 2005-01-14 | 2006-12-01 | 삼성테크윈 주식회사 | Head module for chip mounter and chip mounter including the same |
| WO2008023560A1 (en) * | 2006-08-21 | 2008-02-28 | Kabushiki Kaisha Yaskawa Denki | Double arm robot |
| JP2008147313A (en) | 2006-12-07 | 2008-06-26 | Matsushita Electric Ind Co Ltd | Mounting condition determining method |
| JP5017148B2 (en) * | 2008-03-06 | 2012-09-05 | ユニ・チャーム株式会社 | Processing equipment |
| JP5062130B2 (en) * | 2008-10-03 | 2012-10-31 | パナソニック株式会社 | Component mounter |
| CN202412277U (en) * | 2012-02-01 | 2012-09-05 | 昆山华恒焊接股份有限公司 | Conveying robot system |
-
2013
- 2013-03-11 JP JP2013047877A patent/JP5370949B1/en active Active
-
2014
- 2014-03-10 KR KR1020140027864A patent/KR101587885B1/en active IP Right Grant
- 2014-03-11 TW TW103108398A patent/TWI627122B/en active
- 2014-03-11 CN CN201410088062.2A patent/CN104053350B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04239200A (en) * | 1991-01-11 | 1992-08-27 | Sanyo Electric Co Ltd | Electronic part automatic mount device |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20140112420A (en) | 2014-09-23 |
| JP5370949B1 (en) | 2013-12-18 |
| TW201505949A (en) | 2015-02-16 |
| TWI627122B (en) | 2018-06-21 |
| KR101587885B1 (en) | 2016-01-22 |
| CN104053350A (en) | 2014-09-17 |
| JP2014172739A (en) | 2014-09-22 |
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