JP2009073637A - Workpiece transporting device and workpiece transporting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece transporting device and a workpiece transporting method capable of transporting fine workpieces in vacuum without using a conventional pick-and-place type transportation. <P>SOLUTION: A workpiece transporting device and a workpiece transporting method comprise a main body having a main pipeline inside thereof, a vacuum port communicated with one end of the main pipeline, an air discharge port communicated with the other end thereof, and a supply port communicated with an intermediate part thereof. A suction pipe having a suction opening in one end thereof is connected to the vacuum port in the other end thereof through a joint, and a discharge pipe having a discharge opening in one end thereof is connected to the air discharge pipe in the other end thereof through a joint. The supply port is communicated with a high-pressure gas source, and high-pressure gas is fed into the main pipeline from the supply port so as to generate the negative pressure inside of the vacuum port, and a workpiece is thereby sucked from the suction opening, passed through the main pipeline, and discharged from the discharge opening for transportation. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a work transfer device and a work transfer method, and more particularly, a work transfer device and a work transfer that sucks a work from a suction port, passes through a main pipeline, and discharges the work from a discharge port to a desired location. Regarding the method.

  As a typical method for conveying a workpiece, conveyance by vacuum suction or conveyance by chucking can be mentioned. In the case of the conveyance method by chucking, there is a problem that there is a high possibility that the workpiece is damaged because the chuck for performing the conveyance directly contacts the workpiece. On the other hand, in the case of the conveyance method by vacuum suction, since the vacuum pad using rubber or resin contacts the workpiece for conveyance, the possibility of damage to the workpiece is extremely low.

  Here, there is a workpiece transfer device 100 shown in Patent Document 1 as a conventional example of a transfer device that transfers a workpiece by vacuum suction (see FIG. 7). The workpiece transfer apparatus 100 continuously rotates a nozzle 128 that vacuum-sucks the electronic component 108 around the rotation shaft 103, and in the pickup station S <b> 1 where the nozzle 128 picks up the electronic component 108, the nozzle 128 is rotated in the rotation direction of the rotation shaft 103. By rotating in the direction opposite to N1, the horizontal rotation of the nozzle 128 is substantially stopped. Therefore, a mechanism for picking up the electronic component 108 is provided by driving the nozzle lifting / lowering device 130A to cause the nozzle 128 to move down and up. Thereby, parts can be conveyed while the head is continuously rotated at a high speed.

JP-A-8-32288

  However, especially when the workpiece is an electronic component, as a result of the miniaturization of the workpiece (as an example, the size is about 0.4 mm × 0.2 mm), suction by a vacuum pad is becoming difficult. In the future, when the work is further miniaturized, it is expected that the conventional transfer method using vacuum suction using a vacuum pad will be unable to transfer. Therefore, realization of a transport apparatus and a transport method capable of transporting a fine workpiece has been demanded.

  The present invention has been made in view of the above circumstances, and is a workpiece transfer device and a workpiece transfer method that enable vacuum transfer of a fine workpiece without using the so-called pick-and-place type transfer by vacuum suction and transfer. In particular, it is an object of the present invention to provide a workpiece transfer apparatus and a workpiece transfer method capable of sequentially transferring a plurality of workpieces one by one.

  The present invention solves the above-described problems by the solving means described below.

  A workpiece transfer device according to the present invention is a workpiece transfer device that transfers a workpiece sucked from a suction port by discharging the workpiece from a discharge port, and includes a main body having a main pipeline therein and one end of the main pipeline. A vacuum port that communicates with the main pipe, an exhaust port that communicates with the other end of the main pipe, and a supply port that communicates with a middle portion of the main pipe. The vacuum port includes the suction port at one end. The suction pipe having the other end side is connected via a joint, and the exhaust port is connected to the exhaust pipe having the discharge port on one end side via the joint, and the supply port is The high-pressure gas communicates with the high-pressure gas source, and high-pressure gas is fed from the supply port into the main pipe line and exhausted from the exhaust port, whereby the inside of the vacuum port is made negative pressure.

  Further, at least one of the suction pipe and the discharge pipe is configured using a flexible tube.

  In addition, a discharge port control mechanism is provided that moves the position of the discharge port so that a plurality of workpieces sucked from the suction port are sequentially stored in a predetermined location one by one.

  In addition, a suction port control mechanism for moving the position of the suction port so as to sequentially suck a plurality of works housed in a predetermined place one by one is provided.

  In addition, there is provided an on-off valve for feeding and shutting off the high-pressure gas so as to suck a plurality of workpieces one by one sequentially.

  It is preferable that the main pipeline is formed in a straight shape.

  Furthermore, the main body is formed with a first nozzle portion on the upstream side of the main pipeline that is a conveyance path for the workpiece, and a second nozzle portion on the downstream side, and the first nozzle portion and the first nozzle portion. An opening that communicates with the supply port is provided between the second nozzle and the high-pressure gas is fed into the main pipeline from the opening toward the downstream side. .

  In addition, a pressure reducing valve for adjusting the pressure of the high-pressure gas fed into the main pipeline is provided.

  In addition, a throttle valve for adjusting a flow rate of the high-pressure gas fed into the main pipeline is provided.

  Further, the throttle valve is the first nozzle portion, and the first nozzle portion has a threaded portion on the outer periphery, and is screwed to the threaded portion for being provided in the main body, so that It is configured to be able to advance and retreat.

  The workpiece transfer device according to the present invention is a workpiece transfer method for transferring a workpiece using the workpiece transfer device, and sends high-pressure gas from the supply port to the main pipeline and from the exhaust port. By evacuating and making the inside of the vacuum port have a negative pressure, the workpiece is sucked from the suction port, passed through the main pipeline, discharged from the discharge port, and conveyed to a desired location. .

  According to the first aspect, the workpiece is sucked from the suction port by the suction force generated in the suction port of the suction pipe due to the negative pressure in the vacuum port, passes through the vacuum port, and is conveyed into the main pipeline. At the same time, the conveyance force generated by the flow of the high-pressure gas in the main pipe line is added, so that the work is conveyed to the discharge port of the discharge pipe. Thereby, even a fine work that cannot be picked and placed can be transported to a desired location. Furthermore, since the conveyance speed is high, the conveyance time can be shortened.

  According to the second aspect, by configuring the transport path using a flexible tube, the refracting portion is eliminated, and the workpiece can be caught and clogged on the transport path. Further, when the suction port control mechanism or the discharge port control mechanism is provided, the suction pipe or the discharge pipe can be easily followed without being refracted.

  According to the third aspect, it is possible to discharge a plurality of sucked and conveyed workpieces one by one at a predetermined time interval to a predetermined location, and preferably used as a workpiece conveying device in a production line or the like. Is possible.

  According to claim 4, it is possible to suck a plurality of works housed in a predetermined place one by one at a predetermined time interval, and can be suitably used as a work transfer device in a production line or the like. Become.

  According to the fifth aspect, the on-off valve enables the high-pressure gas to be fed / blocked, and further, by performing the high-pressure gas feeding / cut-off control under a predetermined time interval and pressure / flow rate setting, An action for sucking a plurality of workpieces one by one in sequence can be generated.

  According to the sixth aspect, it is possible to prevent the workpiece from being caught and clogged on the conveyance path.

  According to the seventh aspect, it is possible to generate a negative pressure in the vacuum port which is a source of the workpiece suction force. In addition, it is possible to generate a high-pressure gas flow in the main pipeline downstream from the opening, thereby generating a work conveying force.

  According to claim 8 and claim 9, while monitoring the situation where the workpiece is being conveyed, precise pressure adjustment and flow rate adjustment can be performed at hand according to the atmospheric condition, the operation status of the equipment, and the workpiece configuration. It becomes possible.

  According to the tenth aspect, by configuring the throttle valve and the first nozzle part as one structure, it becomes possible to adjust the flow rate of the high-pressure gas using the first nozzle part as the throttle valve. Compactness and space saving during installation are possible.

  According to the eleventh aspect, the problem that conveyance by vacuum suction becomes difficult when the workpiece generated in the conventional pick-and-place type conveyance is fine, and the fine workpiece is sucked by the suction port. At the same time, a transport method is realized in which the workpiece is transported to a desired location by being discharged from the discharge port after passing through the main body.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram illustrating an example of a workpiece transfer apparatus 1 according to an embodiment of the present invention. FIG. 2 is a schematic diagram illustrating the configuration of the suction port control mechanism 15 of the workpiece transfer apparatus 1. FIG. 3 is a schematic diagram showing the configuration of the discharge port control mechanism 25 of the workpiece transfer apparatus 1. FIG. 4 is a schematic view showing a second embodiment of the workpiece transfer apparatus 1 according to the present invention. FIG. 5 is a schematic view showing a third embodiment of the workpiece transfer apparatus 1 according to the present invention. FIG. 6 is a schematic view showing a fourth embodiment of the workpiece transfer apparatus 1 according to the present invention. In each figure, arrow P indicates the flow direction of the high-pressure gas at the supply port, arrow V indicates the flow direction of the suctioned gas at the vacuum port, and arrow E indicates the high-pressure gas and suctioned at the exhaust port. Shows the flow direction of the combined gas.

  As shown in FIG. 1, a workpiece transfer device 1 according to the present invention includes a main pipeline 4 inside a main body 3. One end of the main conduit 4 communicates with the vacuum port 11 and the other end communicates with the exhaust port 21. In addition, a supply port 31 that communicates with a midway portion of the main pipeline 4 is provided. Here, it is preferable that the main pipeline 4 serving as the conveyance path of the workpiece 2 is formed in a straight shape. Thereby, it can prevent that the workpiece | work 2 is caught on a path | route at the time of conveyance, or clogging.

  The vacuum port 11 side (hereinafter referred to as “upstream side”) of the main pipeline 4 is formed in the first nozzle portion 5, and the exhaust port 21 side (hereinafter referred to as “downstream side”) is formed in the second nozzle portion 6. Is done. Furthermore, an opening 7 communicating with the supply port 31 is provided between the first nozzle portion 5 and the second nozzle portion 6. As an example, the first nozzle portion 5 and the second nozzle portion 6 are formed using a metal material such as stainless steel or brass. From the viewpoint of preventing the workpiece 2 from being damaged, a film such as a resin may be provided inside, or the whole may be formed of a resin material.

  As described above, the supply port 31 has one end communicating with the opening 7 provided in the middle of the main pipeline 4 and the other end communicating with the high-pressure gas source 32. Here, the high-pressure gas source 32 includes a mechanism capable of delivering the high-pressure gas 10 and is, for example, an air compressor, a high-pressure gas cylinder, or the like. The high-pressure gas 10 is air as an example, but may be an inert gas or the like. With this configuration, the high-pressure gas 10 delivered from the high-pressure gas source 32 is sent into the main pipeline 4 through the opening 7.

  Here, as shown in FIG. 1, the opening 7 constitutes a flow path for the high-pressure gas 10 from the supply port 31 through the outer periphery of the first nozzle part 5 into the second nozzle part 6. , Formed in a shape opening toward the exhaust port 21. Thereby, the high-pressure gas 10 is sent into the main pipe line 4 from the opening 7 toward the downstream side, and is sent out toward the exhaust port 21. As an example, an on-off valve 34 that feeds and shuts off the high-pressure gas 10 is provided between the supply port 31 and the high-pressure gas source 32.

  On the other hand, as shown in FIG. 1, a suction pipe 12 is connected to the vacuum port 11 via a joint 14. The suction pipe 12 includes a suction port 13 at the end opposite to the vacuum port 11 side.

  Here, for example, the workpiece transfer device 1 freely moves the position of the suction port 13 so as to sequentially suck a plurality of workpieces 2 housed in predetermined places in a housing means such as a work tray. FIG. 2 shows a configuration example (an example using a robot arm) in the case where the suction port control mechanism 15 capable of performing the above is provided. For example, in order to use as an apparatus for transporting electronic components (workpieces) in an electronic device production line or the like, a plurality of workpieces housed in or placed at a predetermined location or transported are predetermined. In many cases, it is necessary to suck one by one at intervals of the time. In this regard, the workpiece transfer device 1 according to the present invention can suck a plurality of workpieces 2 housed in a predetermined location one by one at predetermined time intervals, and is suitable as a workpiece transfer device in a production line or the like. Can be used.

  The suction pipe 12 is preferably configured using a flexible tube. By eliminating the refracting portion, it is possible to prevent the workpiece 2 from being caught and clogged on the conveyance path. Further, when the suction port control mechanism 15 is provided, the suction pipe 12 can be easily followed without being refracted in accordance with the movement of the suction port 13.

  Note that the suction pipe 12 and the suction port 13 may be fixed, and the storage means such as the work tray may be sequentially moved, and the workpiece transfer apparatus 1 may be constructed as a series of systems.

  Further, as shown in FIG. 1, a discharge pipe 22 is connected to the exhaust port 21 via a joint 24. The discharge pipe 22 includes a discharge port 23 at the end opposite to the exhaust port 21 side.

  Here, the position of the discharge port 23 is set so that the workpiece transfer device 1 sequentially stores, for example, a plurality of workpieces 2 sucked from the suction port 13 one by one in a predetermined location in a storage unit such as a work station. FIG. 3 shows a configuration example (example using a robot arm) in the case of including a discharge port control mechanism 25 that can be moved freely. For example, in order to use as an apparatus for transporting electronic components (workpieces) in an electronic device production line or the like, a plurality of sucked and transported workpieces are placed one by one at a predetermined time interval. In many cases, it is necessary to discharge the water. In this regard, the workpiece transfer device 1 according to the present invention enables a plurality of workpieces 2 that have been sucked and transferred to be discharged to a predetermined location one by one at a predetermined time interval. It can be suitably used as the device 1.

  The discharge pipe 22 is preferably configured using a flexible tube. By eliminating the refracting portion, it is possible to prevent the workpiece 2 from being caught and clogged on the conveyance path. Further, when the discharge port control mechanism 25 is provided, the discharge pipe 22 can be easily followed without being refracted as the discharge port 23 moves.

  Note that the discharge pipe 22 and the discharge port 23 may be fixed, and the storage unit such as the work station may be sequentially moved so that the workpiece transfer apparatus 1 is constructed as a series of systems.

  The operation of the workpiece transfer apparatus 1 having the above configuration, that is, the operation when the workpiece 2 is transferred will be described.

First, the on-off valve 34 is opened, and the high-pressure gas 10 is sent from the high-pressure gas source 32 toward the supply port 31. Here, the on-off valve 34 may be used for mere opening / closing, but a plurality of workpieces 2 can be controlled by controlling the feeding / shut-off of the high-pressure gas 10 at a predetermined time interval and pressure / flow rate setting. It is also possible to produce an action for suctioning one by one.
Next, the high-pressure gas 10 is sent into the main pipeline 4 from the opening 7 toward the downstream side, sent toward the exhaust port 21, and exhausted from the discharge port 23 of the discharge pipe 22. Thereby, the inside of the vacuum port 11 becomes a negative pressure.
Next, by making the vacuum port 11 have a negative pressure, the suction pipe 12 communicating with the vacuum port 11 also has a negative pressure. As a result, a suction force is generated at the suction port 13 at the tip of the suction pipe 12. The workpiece 2 is sucked from the suction port 13 by the suction force, passes through the vacuum port 11, and is conveyed into the main pipeline 4. In the main pipeline 4, a conveying force is generated from the upstream side to around the opening 7 by the suction force due to the negative pressure. On the other hand, since the flow of the high-pressure gas 10 occurs in the path that passes through the opening 7 and reaches the downstream side, a conveying force is generated by the flow. Therefore, the work 2 is conveyed to the discharge port 23 via the exhaust port 21 and the discharge pipe 22.

  As described above, the workpiece transfer device 1 according to the present invention sucks the workpiece 2 and passes it through the main body 3 without discharging it from the discharge port 23 without using the conventional pick-and-place transfer. Thus, a mechanism for carrying the workpiece 2 to a desired location is realized.

  As a result, it is possible to solve the problem that the conveyance by vacuum suction becomes difficult when the workpiece is fine, which has occurred in the conventional conveyance apparatus. In particular, there is a remarkable effect that it is possible to realize a mechanism that sequentially conveys a plurality of works 2 one by one.

  Furthermore, since the work 2 is transported by the action generated by the high-pressure gas 10, that is, the vacuum suction force and the pumping force, the transport speed is high, and the transport time can be greatly shortened.

Next, FIG. 4 shows a second embodiment of the workpiece transfer apparatus 1 according to the present invention.
As shown in the figure, a pressure reducing valve 38 for adjusting the pressure of the high-pressure gas 10 fed into the main pipeline 4 is provided. In particular, in this embodiment, the pressure reducing valve 38 is provided in the middle of the main body from the supply port 31 to the main pipeline 4. That is, while the conventional configuration is such that the pressure reducing valve is provided separately from the main body, the configuration in which the pressure reducing valve 38 is incorporated in the main body 3 is realized.

  In particular, in the case of the fine workpiece 2, even a small pressure difference affects the workpiece suction force and the workpiece conveyance speed, and also greatly affects the possibility of damage to the workpiece. Therefore, a very precise pressure adjustment is required for the high-pressure gas 10. In that regard, by providing a configuration in which the pressure reducing valve 38 is incorporated in the main body, while monitoring the situation in which the workpiece 2 is actually being transported, depending on the atmospheric conditions from time to time, the operating status of the equipment, and the workpiece form, Being able to perform precise pressure adjustment at hand has a very useful effect.

Next, FIG. 5 shows a third embodiment of the workpiece transfer apparatus 1 according to the present invention.
As shown in the figure, a throttle valve 36 for adjusting the flow rate of the high-pressure gas 10 fed into the main pipeline 4 is provided. In particular, in this embodiment, the throttle valve 36 is provided in the middle portion from the supply port 31 to the main pipeline 4 in the main body 3. That is, in the past, a throttle valve is provided separately from the main body, but a configuration in which the throttle valve 36 is incorporated in the main body 3 is realized.

  In particular, in the case of a fine workpiece 2, even a small flow rate difference affects the workpiece suction force and the workpiece conveyance speed, and also greatly affects the possibility of workpiece damage. Therefore, a very precise flow rate adjustment is required for the high-pressure gas 10. In that regard, by providing a configuration in which the throttle valve 36 is incorporated in the main body, while monitoring the situation in which the workpiece 2 is actually being conveyed, depending on the atmospheric conditions from time to time, the operating status of the equipment, and the workpiece form, Being able to precisely adjust the flow rate at hand has a very useful effect.

Next, FIG. 6 shows a fourth embodiment of the workpiece transfer apparatus 1 according to the present invention.
Although the point provided with the throttle valve which adjusts the flow volume of the high pressure gas 10 sent into the main pipe line 4 is the same as that of the said 3rd Example, in 4th Example, as throttle valve 36 ', 1st Nozzle portion 5 is used. That is, the first nozzle portion 5 is provided with a screw portion 5a on the outer periphery. Further, the main body 3 is provided with a female screw portion 3a, and the first nozzle portion 5 is configured to be able to advance and retreat in the longitudinal direction of the main pipeline 4 by screwing the male screw portion 5a and the female screw portion 3a. Is done.

  By providing the above-described configuration, the third embodiment according to the present invention described above has a configuration in which the throttle valve 36 and the first nozzle portion 5 are provided in different parts, respectively. One configuration is possible. More specifically, the first nozzle portion 5 is configured to be rotatable with a screw configuration, the portion (orifice) that restricts the amount of the high-pressure gas 10 being fed is varied, and the effective sectional area is increased or decreased to With this structure, the flow rate of the high-pressure gas 10 can be adjusted using the first nozzle portion as the throttle valve 36 '. As a result, it is possible to make the apparatus compact and save space during installation.

  As described above, according to the work transfer device and the work transfer method according to the present invention, even a fine work that cannot be picked and placed by the conventional method is directly passed through the main pipeline. It becomes possible to do. In particular, a plurality of workpieces can be sucked and discharged one by one at a predetermined time interval, and can be suitably used in a production line or the like. In addition, since the work transfer speed is high, the transfer time can be greatly shortened.

  Although the present invention has been described with respect to a fine work, it is needless to say that the technical idea of the present invention can be applied to a work conveying apparatus or the like that is not a fine shape.

It is the schematic which shows the example of the workpiece conveyance apparatus which concerns on embodiment of this invention. It is the schematic which shows the structure of the suction-port control mechanism of the workpiece conveyance apparatus of FIG. It is the schematic which shows the structure of the discharge port control mechanism of the workpiece conveyance apparatus of FIG. It is the schematic which shows the 2nd Example of the workpiece conveyance apparatus which concerns on this invention. It is the schematic which shows the 3rd Example of the workpiece conveyance apparatus which concerns on this invention. It is the schematic which shows the 4th Example of the workpiece conveyance apparatus which concerns on this invention. It is the schematic which shows the example of the workpiece conveyance apparatus which concerns on the conventional embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Work conveying apparatus 2 Work 3 Main body 4 Main pipe line 5 1st nozzle part 6 2nd nozzle part 7 Opening part 10 High pressure gas 11 Vacuum port 12 Suction pipe 13 Suction port 14 Joint 15 Suction port control mechanism 21 Exhaust port 22 Ejection Pipe 23 Discharge port 24 Joint 25 Discharge port control mechanism 31 Supply port 32 High-pressure gas source 34 On-off valve 36, 36 'Throttle valve 38 Pressure reducing valve

Claims (11)

A workpiece transfer device that transfers the workpiece by discharging the workpiece sucked from the suction port from the discharge port,
A main body having a main pipeline inside;
A vacuum port communicating with one end of the main pipeline;
An exhaust port communicating with the other end of the main pipeline;
A supply port communicating with a midway part of the main pipeline,
A suction pipe having the suction port on one end side is connected to the vacuum port via a joint on the other end side,
A discharge pipe having the discharge port on one end side is connected to the exhaust port via a joint on the other end side,
The supply port communicates with a high pressure gas source;
A work conveying apparatus characterized in that high-pressure gas is fed into the main pipe line from the supply port and exhausted from the exhaust port so that the vacuum port has a negative pressure. The workpiece conveying apparatus according to claim 1, wherein at least one of the suction pipe and the discharge pipe is configured using a flexible tube. The discharge port control mechanism which moves the position of the said discharge port so that the some workpiece | work sucked from the said suction port may be accommodated one by one in a predetermined location one by one is provided. Work transfer device. The suction port control mechanism which moves the position of the said suction port so that the several workpiece | work accommodated in the predetermined location may be sequentially attracted | sucked one by one is provided. Work transfer device. The work conveying apparatus according to any one of claims 1 to 4, further comprising an on-off valve that feeds and shuts off the high-pressure gas so as to sequentially suck a plurality of works one by one. The workpiece transfer apparatus according to claim 1, wherein the main pipeline is formed in a straight shape. The main body is formed with a first nozzle portion on the upstream side of the main pipeline, which is a conveyance path for the workpiece, and a second nozzle portion on the downstream side, and the first nozzle portion and the second nozzle portion. An opening communicating with the supply port is provided between the nozzle portion,
The work conveying apparatus according to any one of claims 1 to 6, wherein the high-pressure gas is fed into the main pipeline from the opening toward the downstream side. The work conveyance device according to any one of claims 1 to 7, further comprising a pressure reducing valve that adjusts a pressure of the high-pressure gas fed into the main pipeline. The work conveying apparatus according to claim 1, further comprising a throttle valve that adjusts a flow rate of the high-pressure gas fed into the main pipeline. The throttle valve is the first nozzle part,
The said 1st nozzle part has a thread part in outer periphery, and since it is provided in the said main body, it is screwed together with a thread part, and is comprised so that it can advance / retreat to a longitudinal direction. Work transfer device. A workpiece transfer method for transferring a workpiece using the workpiece transfer device according to any one of claims 1 to 10,
A high-pressure gas is fed from the supply port into the main pipeline, and exhausted from the exhaust port to make the inside of the vacuum port a negative pressure, thereby sucking a work from the suction port, A work conveying method, characterized in that the workpiece is conveyed, discharged from the discharge port, and conveyed to a desired location.

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