JP2012176843A - Part conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a part conveying device capable of well conveying even ultrasmall parts by cooling the heat generated by a rotating driving device.SOLUTION: The part conveying device has a rotating base member 30, a plate-like arm 20 supporting the base member 30, part holding members 42 plurally arranged along in the peripheral detection of the base member 30, reciprocating in the rotary shaft direction of the base member 30, and holding the parts, the rotating driving device 60 fixed to an arm 20 and rotating and driving the bass member 30, and a cooling means 150 for cooling the rotating driving device 60, further the cooling means 150 has a cooling passage 151 through which cooling medium passes, the heat generated by the rotating driving device 60 is taken by the cooling medium passing through the cooling passage 151.

Description

  The present invention relates to a rotary type component conveying apparatus suitable for conveying extremely small components.

  2. Description of the Related Art Conventionally, a rotary component conveying device as disclosed in Patent Document 1 has been developed. The component conveying device includes a base, a plate-like arm that is swingably disposed with respect to the base, a substantially disk-like base member that is rotatably supported by the arm, and an outer peripheral surface of the base member. And a motor (rotary drive device) that is fixed to the lower surface of the arm and rotates the base member.

JP 2009-196739

  In the above-mentioned component conveying device, the component holding module rotates integrally with the base member by the driving force of the motor during component conveyance, but the motor generates heat, and this heat may cause slight deformation of the arm. is there. This type of component conveying apparatus may target extremely small components, and in that case, there is a concern that even a slight deformation may affect the position of the component held by the component holding module.

  In view of such circumstances, the present invention intends to provide a component transport device that can cool the heat generated by the rotary drive device and transport components well.

  In order to solve the above-described problems, a component conveying device according to the present invention includes a rotating base member, a plate-like arm that supports the base member, and a plurality of members disposed along a circumferential direction of the base member. A component holding member that reciprocates in the direction of the rotation axis of the member and holds the component; a rotary drive device that is fixed to the arm and rotationally drives the base member; and a cooling means that cools the arm or the rotary drive device The cooling means has a cooling passage through which a cooling medium flows, and the cooling medium flows through the cooling passage to take away heat generated by the rotary drive device.

  In addition, it is preferable that the cooling medium is a liquid, and the cooling passage for the liquid to pass through is formed in the arm. In this case, the cooling means includes a tank that stores the cooling medium, a tube that connects the tank and the cooling passage formed inside the arm, a heat sink that dissipates heat, and the tank and the heat sink. And a Peltier element that moves heat of the cooling medium in the tank to the heat sink.

  The cooling medium is a gas, and further includes a cylinder disposed so as to cover an outer periphery of the rotation driving device, and the gas passes through a gap between the cylinder and the rotation driving device. The cooling passage is preferably used. In this case, it is preferable that the cooling means has a configuration in which a circumferential airflow is generated in the cooling passage as the base member rotates.

  According to the component conveying device of the present invention, the cooling means takes away the heat generated by the rotary drive device, and the influence of the heat on the position of the component held by the component holding member is eliminated. In addition, it is possible to achieve an excellent effect that it can be transported well.

It is a typical front view of the components conveying apparatus which concerns on 1st Embodiment of this invention. It is a typical front view of the main-body part of the components conveying apparatus which concerns on 1st Embodiment of this invention. It is a typical left view of the main-body part of the components conveying apparatus which concerns on 1st Embodiment of this invention, Comprising: The state which has a base member etc. in an operation position is shown. It is a typical left view of the main-body part of the components conveying apparatus which concerns on 1st Embodiment of this invention, Comprising: The state which has a base member etc. in a retracted position is shown. It is a typical top view of the main-body part of the components conveying apparatus which concerns on 1st Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram of the component conveying apparatus which concerns on 1st Embodiment of this invention, Comprising: (a) is a top view of a base member and a component holding module, (b) is the sectional drawing. (A), (b) is typical figure which shows the cross-section of the component holding module of the component conveying apparatus which concerns on 1st Embodiment of this invention, and a guide mechanism. (A), (b) is a schematic diagram which shows the cross-sectional structure of the component holding module of the component conveying apparatus which concerns on 1st Embodiment of this invention, the guide mechanism, and an external urging | biasing apparatus. It is a typical top view of a part of base member and cooling device of a parts conveying device concerning a 1st embodiment of the present invention. It is a typical top view which shows operation | movement of the components conveying apparatus which concerns on 1st Embodiment of this invention. It is typical sectional drawing which shows the principal part of the components conveying apparatus which concerns on 2nd Embodiment of this invention, Comprising: (a) is a longitudinal cross-sectional view which shows the structure of a cooling means, (b) is A- of (a). It is A arrow sectional drawing. It is typical sectional drawing and the side view which show the other modification of the components conveying apparatus of this invention. It is a typical front view which shows the other modification of the components conveying apparatus of this invention.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  [First Embodiment] As shown in FIG. 1, a component transport apparatus 1 according to a first embodiment takes out components placed in a bulk state (randomly collected state) on a receiving tray 2a of a component supply device 2. The height of the part is temporarily lowered in the middle, and then a predetermined inspection is performed on the inspection table. Thereafter, the part is lifted and conveyed to the alignment tray 3a of the component carry-out device 3, and the part is aligned. It is placed in an aligned state on 3a.

  As shown in FIGS. 1 to 5, the component conveying apparatus 1 includes a base 10, an arm 20 that is swingably disposed with respect to the base 10, and a base that is rotatably disposed on the arm 20. The member 30, a plurality (four here) of component holding modules 40 arranged along the circumferential direction on the outer peripheral surface of the base member 30, and a plurality of (here two) externals arranged on the arm 20 The biasing device 50, the base member rotation driving device 60 that rotates the base member 30, the component inspection means 70 disposed on the front side of the center of the upper surface of the base 10, and the swinging means 80 that swings the arm 20. A central control device 90 that controls the entire component conveying device 1, a cylindrical fixing member (tubular body) 100 that is fixedly arranged on the arm 20 side so as to cover the outer periphery of the base member rotation driving device 60, Guide mechanism 120 arranged on the member 100 side It is configured to include a cooling device (cooling means) 150 for cooling the base member rotary drive 60.

  <Base> The base 10 is a substantially rectangular parallelepiped member. Inside the base 10, a central control device 90, a power supply device (not shown) and the like are arranged. As shown in FIGS. 3 and 4, a column member 11 is disposed at the back end of the upper surface of the base 10, and an arm 20 is operable (swingable) at the upper end of the column member 11. A supporting arm bracket 11a is provided.

  In the present embodiment, as shown in FIG. 2, a receiving area 12 that accepts a part that conveys the left part of the upper surface of the base 10 is set, and a right part of the upper surface of the base 10 is set as a carry-out area 13 that is a part transfer destination is doing. Further, the central front side portion of the upper surface of the base 10 on which the component inspection means 70 is disposed is used as a component inspection region 14. A receiving tray 2 a of the component supply device 2 is disposed in the receiving area 12, and an alignment tray 3 a of the component unloading apparatus 3 is disposed in the unloading area 13. Details of the component supply device 2 and the component carry-out device 3 will be described later.

  <Arm> The arm 20 is a plate-like member, and is swingably supported by the arm bracket 11a as described above. The arm 20 swings between an operating position facing the upper surface of the base 10 (see FIG. 3) and a retracted position opening the upper surface of the base 10 (see FIG. 4). A base member 30, a base member rotation driving device 60, and a fixing member 100 are attached to the lower surface of the arm 20, and a motor 53 (described later) of the external biasing device 50 is attached to the upper surface of the arm 20. ,

  <Base member> The base member 30 is a substantially cylindrical or substantially disk-shaped rotatable member (turret table), and the central axis of rotation is in the vertical direction at the operation position where the parts can be conveyed. As shown in FIG. 1 to 3 show a state in which the base member 30 is in the operating position. The base member 30 is configured such that all the component holding modules 40 pass above the receiving area 12, the component inspection area 14, and the carry-out area 13 when rotated at the operating position. Further, in the operation position, when any one of the component holding modules 40 is in a position facing the receiving area 12, any of the other component holding modules 40 faces the component inspection area 14, and yet another component holding module 40 is configured to be at a position facing the carry-out area 13.

  As shown in FIG. 6A, component holding modules 40 are provided on the outer peripheral surface of the base member 30 so as to project outward at equal intervals (here, at intervals of 90 degrees). In the present embodiment, the interference avoidance space 31 is formed by eliminating (or notching) members between the component holding modules 40. The function of the interference avoidance space 31 will be described later.

  A hollow shaft 32 projects from the center of the upper surface of the base member 30 as shown in FIGS. 6 (a) and 6 (b). The hollow shaft 32 is a center of rotation of the base member 30 and is a portion that is rotatably supported by the arm 20. The hollow shaft 32 has a double structure in which a large-diameter outer pipe 32a and a small-diameter inner pipe 32b are coaxially arranged. A gap between the outer pipe 32 a and the inner pipe 32 b of the hollow shaft 32 is a part of a passage connecting a vacuum pump (not shown) serving as a low pressure source and the component holding module 40. An air pipe 34 connected to a vacuum pump via a swivel joint 33 is connected to the upper end portion of the hollow shaft 32.

  A central air chamber 35 that is coaxially connected to the gap between the outer pipe 32a and the inner pipe 32b is formed at the center of the base member 30. Further, from the central air chamber 35, each component holding module 40 is formed. Four suction passages 36 individually connected to each other are formed radially. In the middle of each suction passage 36, a switching valve 37 for switching communication / blocking between the component holding module 40 and the vacuum pump is provided. Thereby, in this embodiment, it is possible to switch each component holding module 40 and the connection and interruption | blocking of a vacuum pump separately. Although the switching valve 37 in the present embodiment is configured from an electromagnetic valve that moves the valve body by a solenoid, the switching valve 37 may have other configurations as long as it is electrically driven. .

  Further, inside the base member 30, a switching valve 37 is controlled to control a suction nozzle switching control device 91 that controls suction / release of components by a suction nozzle 42a, which will be described later, and a holding portion rotation driving means 43, which will be described later. A holding unit rotation control device 92 is provided. The suction nozzle switching control device 91 and the holding unit rotation control device 92 are control devices including a CPU, a ROM, a RAM, and the like. The suction nozzle switching control device 91 and the holding unit rotation control device 92 are electrically connected to the switching valve 37 and the holding unit rotation driving means 43, respectively, and electrically connected to the central control device 90 by wiring not shown. Has been. The wiring connecting the central control device 90, the suction nozzle switching control device 91, and the holding portion rotation control device 92 is connected via a slip ring 38 disposed at the tip of the hollow shaft 32. The wiring between the slip ring 38, the suction nozzle switching control device 91 and the holding portion rotation control device 92 is passed through the inside of the inner pipe 32 b of the hollow shaft 32.

  <Component Holding Module> As shown in FIGS. 7A and 7B, the component holding module 40 includes a housing 41 and a holding portion (component holding member) 42 that is rotatably arranged on the housing 41, respectively. And holding part rotation driving means 43 for rotating the holding part 42 in rotation.

  The component holding module 40 is disposed on the base member 30 so as to be easily detachable by a bolt or the like (not shown). In the present embodiment, as shown in FIG. 6A, the above-described interference avoidance space 31 is formed between adjacent component holding modules 40 by arranging the component holding modules 40 so as to protrude outward. For example, it is also possible to cut out an opening in a part of the base member 30 and use the opening as the interference avoidance space 31.

  Returning to FIGS. 7A and 7B, the housing 41 holds the holding portion 42 and the holding portion rotation driving means 43 inside, and is detachably fixed to the base member 30 with bolts or the like.

  The holding part 42 is an elongated cylindrical member in which a suction nozzle 42a is disposed at a tip directed downward. The holding part 42 is supported by the housing 41 so as to be rotatable (spinned) around a central axis parallel to the rotation axis of the base member 30 and to be reciprocally movable along the central axis (spinning axis) direction. Inside the holding part 42, a suction passage 42b connected to the suction nozzle 42a is formed. The suction passage 42b is connected to a switching valve 37 disposed in the base member 30 by a tube-like pipe 42c connected to the shaft end.

  The suction nozzle 42a is provided so as to face the upper surface of the base 10 in the operation position. The communication / blocking between the vacuum pump and the suction nozzle 42a is switched by the switching valve 37, and the suction nozzle 42a is configured to be open to the atmosphere at the time of blocking. That is, when the vacuum pump and the suction nozzle 42a are communicated with each other by the switching valve 37, the holding unit 42 sucks and holds (holds) a component by the suction nozzle 42a, and the switching valve 37 causes the vacuum pump and the suction nozzle 42a to be sucked. When shut off, the parts held by the suction nozzle 42a are released.

  A bracket 44 is disposed at the base end portion (upper end portion) of the holding portion 42. The bracket 44 extends along the radial direction of the base member 30 and is engaged with the holding portion 42 in the central axis direction (vertical direction). Further, the bracket 44 allows the holding portion 42 to rotate. That is, the bracket 44 does not rotate even when the holding portion 42 rotates, but when the bracket 44 reciprocates in the vertical direction, the holding portion 42 also reciprocates in the central axis direction. A pressure receiving member 44 a that receives pressure from the external urging device 50 protrudes from the upper surface of the bracket 44. A cam follower 110 is disposed on the inner side in the radial direction of the bracket 44. The cam follower 110 will be described in detail later. Further, the bracket 44 is always urged downward from the housing 41 by an internal urging device 45 serving as a tension spring.

  The holding part rotation driving means 43 includes a motor 43 a fixed to the housing 41 and a transmission mechanism 43 b that transmits the rotational driving force of the motor 43 a to the holding part 42.

  In the present embodiment, the motor 43a is formed of a stepping motor, and is electrically connected to the holding unit rotation control device 92 via a wiring and a connector (not shown).

  The transmission mechanism 43b includes a drive gear 43b1 fixed to the output shaft of the motor 43a and a driven gear 43b2 coaxially fixed to the holding portion 42 so as to decelerate the rotation speed of the motor 43a with a predetermined reduction ratio. It is configured. Note that the transmission mechanism 43b may be configured by three or more gear trains, or may be configured by a belt transmission mechanism, a chain transmission mechanism, or the like.

  The holding part 42 rotates by being driven by the holding part rotation driving means 43, and in this embodiment, by rotating the holding part 42 in this manner, the posture of the component sucked and held by the suction nozzle 42a is adjusted. ing.

  <External Energizing Device> As shown in FIGS. 8A and 8B, the external urging device 50 includes an elongated cylindrical guide member 51 disposed on the arm 20 with the tip directed toward the pressure receiving member 44a. A slender bar-shaped pressing member 52 inserted into the guide member 51, a motor 53 fixed to the upper surface of the arm 20, and a cam 54 fixed to the output shaft of the motor 53, and is configured to receive pressure. An external force is applied to the member 44 a to push down the holding portion 42 together with the bracket 44.

  Specifically, the pressing member 52 has a distal end directed to the pressure receiving member 44 a and a proximal end connected to the cam 54. And it is comprised so that it may reciprocate in the up-down direction (direction which adjoins and separates with respect to the pressure receiving member 44a) with rotation of the cam 54 driven by the motor 53. FIG. The cam profile of the cam 54 may be set as appropriate according to the conveyance speed of the conveyance device 1 and the like.

  When the pressing member 52 moves in the direction approaching the pressure receiving member 44a, the tip of the pressing member 52 abuts on the pressure receiving member 44a, and the pressing spring 124 disposed in the movable region 122A of the guide surface 122 of the guide mechanism 120 described later. An external force that exceeds the urging force is applied to the pressure receiving member 44a. Then, as shown in FIG. 8B, the holding portion 42 is moved along the rotation axis of the holding portion 42 together with the bracket 44. Further, when the pressing member 52 returns to the original position as the cam 54 rotates, the bracket 44 and the holding portion 42 automatically return to the state shown in FIG. 8A by the urging force of the pressing spring 124. ing.

  In the present embodiment, the external urging devices 50 are arranged at positions where the pressure receiving member 44a of the component holding module 40 located at the position facing the receiving area 12 and the unloading area 13 can be pressed in the operation position. Further, the movable area 122 </ b> A of the guide surface 122 is also formed at a position corresponding to the receiving area 12 and the carrying-out area 13.

  <Base Member Rotation Drive Device> The base member rotation drive device 60 is attached to the lower surface of the arm 20 and is positioned between the arm 20 and the base member 30. In the present embodiment, the base member rotation driving device 60 is a DD motor including a stator fixed to the arm 20 and a cylindrical rotor that rotates on the outer periphery of the stator. A through hole is formed in the center portion of the stator in the axial direction (see FIG. 6B). The base member 30 is fixed to the rotor in a state where the hollow shaft 32 is inserted into the through hole.

  <Part Inspection Unit> The component inspection unit 70 includes first and second X-ray inspection apparatuses 70A and 70B as shown in FIG. This component inspection means 70 irradiates X-rays from the side surface in the component inspection region 14 and inspects the internal structure of the component nondestructively. As will be described in detail later, in the present embodiment, the guide mechanism 120 forms a descending region in which the height of the component is once lowered in the middle of the receiving region 12 and the unloading region 13. Therefore, the X-rays irradiated to the side surfaces of the components do not interfere with the components held by the other holding portions 42 and the holding portions 42 themselves. As a result, the X-ray first and second light receiving portions 70 </ b> C and 70 </ b> D can be disposed outside the movement locus of the holding portion 42. The component inspection means 70 is electrically connected to the central controller 90, and the imaging timing is controlled by the central controller 90.

  In the present embodiment, in order to further increase the safety, the imaging directions (arrows P, P) of the first and second X-ray inspection apparatuses 70A and 70B in a state where the holding unit 42 exists in the component inspection region 14 are used. The other holding portions 42 are not present on the extended line in the direction indicated by Q). That is, when setting the imaging directions of the first and second X-ray inspection apparatuses 70A and 70B, the direction in which the other holding units 42 do not interfere is selected.

  <Oscillating means> As shown in FIGS. 3 to 5, the oscillating means 80 includes a motor 82, a screw shaft 84 connected to the output shaft of the motor 82, a nut 86 disposed on the arm 20, And a nut bracket 88 that is fixed above the rear end of the arm 20. The base member 30 is moved from the operating position to the retracted position integrally with the arm 20 by rotating the arm 20 by approximately 90 degrees. .

  The motor 82 is, for example, a stepping motor, and is disposed on the back surface of the column member 11 with the output shaft facing upward via a motor bracket 82a.

  The screw shaft 84 is a rod-like member having a screw formed on the outer peripheral surface, and is coaxially connected to the output shaft of the motor 82.

  The nut 86 includes a female screw that is screwed with the male screw of the screw shaft 84, and is rotatably disposed above the rear end of the arm 20 via a nut bracket 88. The nut 86 moves linearly along the screw shaft 84 when the screw shaft 84 is driven by the motor 82 and rotates. That is, by driving the motor 82 and rotating the screw shaft 84 in one direction and moving the nut 86 downward, the base member 30 is raised toward the retracted position integrally with the arm 20, and conversely, the screw shaft By rotating 84 in the reverse direction and moving the nut 86 upward, the base member 30 can be lowered toward the operating position integrally with the arm 20.

  As described above, since the arm 20 swings with the rotation of the screw shaft 84, the swinging means 80 allows the base member 30 to swing smoothly integrally with the arm 20 while having a simple configuration. Can do.

  In the present embodiment, the base member 30 is largely separated from the base 10 by moving to the retracted position, and the lower surface of the base member 30 and the tip of the suction nozzle 42a of the component holding module 40 are opened sideways. It is configured. Thereby, the maintenance of the suction nozzle 42a and the maintenance of the component supply device 2, the component carry-out device 3, the component inspection means 70 and the like arranged on the base 10 can be easily performed.

  <Central control device> The central control device 90 is a control device including a CPU, a ROM, a RAM, and the like, and directly controls the external urging device 50, the base member rotation driving device 60, the component inspection means 70, etc. Control information is transmitted to the nozzle switching control device 91 and the holding portion rotation control device 92, and the four switching valves 37 and the four holding portion rotation driving means 43 are individually controlled.

  <Fixing member> The fixing member 100 is a cylindrical member that is fixed to the arm 20 and extends downward, and is disposed with a gap from the inner base member rotation driving device 60.

  <Guide Mechanism> The guide mechanism 120 includes a guide surface 122 that comes into contact with the cam follower 110 described above. The guide surface 122 is formed in a ring shape using a step formed in the circumferential direction on the outer peripheral surface of the fixing member 100.

  The guide surface 122 extends in the circumferential direction along the movement locus of the holding portion 42 and is bent or curved toward the rotation axis direction of the holding portion 42. Therefore, when the cam follower 110 is driven with respect to the guide surface 122, the cam follower 110 is displaced in the axial direction due to the bending or bending of the guide surface 122. As a result, the holding portion 42 is displaced in the rotation axis direction while being engaged with the guide surface 122 and guided in the circumferential direction.

  That is, the cam follower 110 is in contact with the guide mechanism 120 provided on the outer peripheral surface of the fixed member 100, and the guide mechanism 120 is engaged with the holding portion 42 that rotates together with the base member 30 via the cam follower 110 and the bracket 44. Will do. As a result, the guide mechanism 120 can displace the holding portion 42 in the rotation axis direction.

  Further, as shown in FIGS. 8A and 8B, a movable region 122 </ b> A is formed on a part of the guide surface 122. This movable region 122A can be displaced independently of the remaining region of the guide surface 122 in the direction of the rotation axis. A pressing spring 124, which is a kind of urging member, is disposed on the back surface side (lower side) of the movable region 122A on the guide surface 122. By pushing up the movable region 122A by this pressing spring 124, the movable region 122A and The heights of the remaining areas are matched (see FIG. 7A). By pushing down the movable region 122A against the urging force of the pressing spring 124, only the movable region 122A is displaced in the rotation axis direction (see FIG. 7B). The place where the movable region 122A is formed corresponds to the installation position of the external biasing device 50. When the external biasing device 50 biases the bracket 44 downward, the cam follower 110 biases the movable region 122A downward in conjunction with this. When the movable region 122A is displaced downward by this urging force, the bracket 44 is also displaced downward together with the cam follower 110. When the urging force by the external urging device 50 is released, the urging force of the pressing spring 124 automatically returns the bracket 44 and the movable region 122A to the original position.

  As described above, since the bracket 44 is constantly urged downward from the housing 41 by the internal urging device 45, the cam follower 110 is always pressed against the guide surface 122, and the guide surface 122 and the cam follower 110 are It is possible to avoid separation. As a result, the position (height) of the holding portion 42 in the rotation axis direction is determined by the engagement state between the cam follower 110 and the guide surface 122.

  Note that the urging force of the pressing spring 124 disposed in the movable region 122A of the guide surface 122 is stronger than the urging force of the tension spring of the internal urging device 45. Therefore, even if the cam follower 110 is positioned in the movable region 122A, the movable region 122A is not displaced unless urged by the external urging device 50.

  The guide surface 122 is arranged above the receiving area 12 and the carry-out area 13 in a state offset radially inward from the movement locus of the electronic component held by the holding unit 42. Of course, it can also be offset radially outward.

  <Cooling Device> As shown in FIG. 1, the cooling device 150 includes a cooling passage 151 formed in the arm 20, a tank 152 for storing a liquid cooling medium flowing in the cooling passage 151, and a cooling passage 151. A tube 153 that connects the tank 152, a heat sink 154 that dissipates heat, a Peltier element 155 that is disposed between the tank 152 and the heat sink 154 and moves heat of the cooling medium in the tank 152 to the heat sink 154, A cooling fan 156 that is installed in the heat sink 154 and introduces cooling air into the heat sink 154 and a pump (not shown) that circulates the cooling medium in the cooling passage 151 are configured. In this embodiment, cooling water is used as the cooling medium. However, the liquid cooling medium is not limited to water.

  As shown in FIG. 9, the cooling passage 151 is formed in the arm 20 by connecting an inlet port 151 a and an outlet port 151 b so as to be substantially U-shaped in a top view, for example. In this embodiment, the cooling passage 151 is formed by drilling the inside of the arm 20 later. For example, two straight passages are penetrated in the depth direction of the arm 20, one straight passage is penetrated in the width direction of the arm 20 so as to communicate with the passage, and a seal material is provided at the end of each passage. It is preferable to form a bent one-way cooling passage 151 by enclosing 157. However, the shape and formation method of the cooling passage 151 are not limited to this, and can be designed appropriately. The heat sink 154 is provided with fins to improve performance.

  In the present embodiment, the cooling device 150 is controlled by a control device (not shown) and is operated during the operation of the component conveying device 1. However, the cooling device 150 may be controlled by the central control device 90. Of course, it is possible to simply provide only a switch and manually control the on / off of the cooling device 150.

  Further, the cooling device 150 may be configured not to include the cooling fan 156, for example, and at least a liquid cooling medium can be circulated in the arm 20 to dissipate the heat at a position away from the component conveying device 1 main body. If so, the design can be appropriately changed to another structure.

  <Part Supply Device> As shown in FIGS. 2 and 5, the component supply device 2 includes a substantially square-shaped receiving tray 2 a and a tray moving unit 2 b configured to move the receiving tray 2 a, for example, an XY table. And standby part imaging means 2c disposed on the arm 20.

  The receiving tray 2a is disposed on the tray moving means 2b. Although not shown, the tray moving unit 2b is configured by combining linear motion devices driven by a motor at right angles to each other. The tray moving means 2b in this embodiment is capable of moving the receiving tray 2a in the vertical direction and the horizontal direction in FIG. The standby part image pickup means 2c is disposed at a position where the part in the receiving area 12 is picked up from above while being placed on the receiving tray 2a in the operating position. The tray moving unit 2b and the standby part imaging unit 2c are electrically connected to the central controller 90.

  The parts supply device 2 receives a plurality of parts placed on the receiving tray 2a in a bulk state from the outside in the supply area 15 shown on the left side of FIG. 5 by moving the receiving tray 2a by the tray moving means 2b. Transport to area 12. That is, the component supply device 2 also functions as a transport device that transports components. The component supply device 2 conveys the plurality of components to the receiving area 12, images the plurality of components in the receiving area 12 by the standby component imaging unit 2 c, and transmits the image information to the central control device 90. The central controller 90 analyzes the received image information and appropriately selects one of a plurality of components included in the image information. Then, the tray moving unit 2b is controlled so as to arrange the selected one part at a position where the suction nozzle 42a can suck. The tray moving means 2b moves the receiving tray 2a based on the control of the central control device 90, and adjusts the position so that the selected component can be appropriately sucked by the suction nozzle 42a. That is, the component supply device 2 also functions as an alignment device that adjusts the position of the component with respect to the suction nozzle 42a.

  Since the standby part imaging unit 2c is disposed directly above the receiving area 12, when the part holding module 40 is located at a position facing the receiving area 12, the standby part imaging means 2c is obstructed by the part holding module 40 and is received by the receiving tray 2a. The upper part cannot be imaged. Therefore, the standby component imaging unit 2c moves the component holding module 40 holding the component from the receiving region 12 to the component inspection region 14 while the base member 30 is rotating, and the next component holding module 40 moves to the receiving region 12. Take images while arriving. That is, the standby part imaging unit 2c can image the parts on the receiving tray 2a from above using the timing when the parts holding module 40 does not exist above the receiving area 12 and the unloading area 13.

  Between the two component holding modules 40, as described above, the interference avoiding space 31 is formed by notching a large part and removing the member, and the guide surface 122 of the guide mechanism 120 is also offset radially inward. Therefore, it is possible to avoid interference between the guide surface 122 and the imaging area of the standby part imaging unit 2c, and the standby part imaging unit 2c can image components on the receiving tray 2a from above through the interference avoidance space 31. it can. In addition, because the position of the component relative to the suction nozzle 42a can be finely adjusted, even a component placed in a bulk state can be appropriately attracted to the suction nozzle 42a and transported. Become. In addition, the interference avoidance space part 31 is not limited to the notch which excluded the member at all, For example, you may be comprised from the member which can permeate | transmit light, such as glass.

  <Part Unloading Device> The component unloading device 3 includes a substantially rectangular alignment tray 3a and a tray moving means 3b configured to move the alignment tray 3a, for example, an XY table.

  The alignment tray 3a is a tray in which a plurality of recesses 3h arranged in a matrix are formed on the upper surface, and is arranged on the tray moving means 3b.

  Although not shown, the tray moving unit 3b is configured by combining linear motion devices driven by a motor at right angles to each other. The tray moving means 3b in this embodiment can move the alignment tray 3a in the vertical direction and the horizontal direction in FIG.

  The tray moving means 3b is controlled by the central control device 90, and the alignment tray 3a is arranged so that one of the plurality of recesses 3h is sequentially positioned immediately below the suction nozzle 42a of the component holding module 40 in the carry-out area 13. Move. That is, after a part released from the suction nozzle 42a in the carry-out area 13 is accommodated in the recess 3h, the recess 3h in which a part to be conveyed next is accommodated is directly below the suction nozzle 42a that reaches the carry-out area 13 next. The operation of arranging at the position to be repeated is repeated, and the parts are accommodated in all the recesses 3h. The alignment tray 3a in which the parts are accommodated in all the recesses 3h is carried, for example, to the next inspection process.

  <Operation of Component Conveying Device> Next, the operation of the component conveying device 1 will be described. FIGS. 10A to 10F are plan views showing the operation of the component conveying apparatus 1.

  First, as shown in FIG. 10A, the tray moving means 2 b moves the receiving tray 2 a on which a plurality of components are placed in the supply area 15 to the receiving area 12. Then, as shown in FIG. 10B, the central controller 90 controls the base member rotation driving device 60 to rotate the base member 30 approximately 45 degrees counterclockwise. While the base member 30 is rotating, the standby part imaging means 2c images the parts on the receiving tray 2a, and based on this image information, the central controller 90 drives the tray moving means 2b to move the receiving tray 2a. The central control device 90 further rotates the base member 30 by approximately 45 degrees, and positions the suction nozzle 42a of the component holding means 40 on the selected one component in the receiving area 12, as shown in FIG. Let

  Next, the central control device 90 controls the base member rotation driving device 60 to temporarily stop the base member 30 at the position of FIG. 10C and controls the external biasing device 50 to be in the receiving area 12. The holding part 42 of the component holding means 40 is lowered, and the component is sucked and held by the suction nozzle 42a. Thereafter, the pressing by the external urging device 50 is released, and the holding portion 42 is returned to the original position.

  Next, the base member 30 is rotated approximately 90 degrees and temporarily stopped at the position shown in FIG. As a result, the part previously taken out from the receiving tray 2 a is conveyed to the part inspection area 14. At this time, the holding portion 42 descends along the guide surface 122 of the guide mechanism 120 and becomes the lowest position in the component inspection region 14. While the base member 30 is stationary, the component inspection means 70 performs X-ray imaging of the component held by the suction nozzle 42a.

  After completion of imaging, the base member 30 is further rotated by approximately 90 degrees, and the posture of the component held by rotating the holding portion 42 is controlled as shown in FIG. Pause again at the position. The part that has been X-rayed earlier arrives on the carry-out area 13 while rising along the guide surface 122. While the base member 30 is stationary, the external urging device 50 lowers the holding portion 42 of the component holding means 40 in the carry-out area 13 to release the component held by the suction nozzle 42a, thereby forming the recess 3h. To accommodate. Thereafter, the pressing by the external urging device 50 is released, and the holding portion 42 is returned to the original position.

  During operation of the component conveying device 1, the central controller 90 drives the pump of the cooling device 150 to circulate the cooling water in the cooling passage 151. Since the arm 20 is in contact with the base member rotation driving device 60, the cooling water in the cooling passage 151 formed inside the arm 20 efficiently takes the heat of the base member rotation driving device 60. The cooling water that has been heated and heated is stored in the tank 152 through the tube 153. Since the Peltier element 155 is disposed on the bottom surface of the tank 152, the Peltier element 155 moves the heat absorbed from the surface in contact with the bottom surface of the tank 152 to the opposite surface, and the heat sink 154 dissipates this heat. . At this time, the cooling air introduced into the heat sink 154 by the cooling fan 156 is increased to increase the cooling effect, and at the same time, the surface area is increased by the fins provided on the heat sink 154, and the cooling effect is also increased in this respect.

  <Effect> As described above, the parts conveying apparatus 1 according to the present embodiment is placed in a bulk state on the receiving tray 2a by repeating the operations shown in FIGS. 10 (a) to 10 (f). The components are taken out one by one and transported, and after non-destructive inspection by X-ray imaging, they are placed in an aligned state on the alignment tray 3a. In the component conveying apparatus 1, by using the guide surface 122 of the guide mechanism 120 and displacing the holding unit 42 in the direction of the rotation axis during rotation, the purpose is achieved in the receiving region 12, the component inspection region 14, and the unloading region 13. Since it can approach to height beforehand, the movement stroke by the external urging | biasing apparatus 50 can be made very small. As a result, it is possible to increase the inspection speed and conveyance speed of parts.

  Further, since the guide surface 122 is offset in the radial direction with respect to the component transport path, the component transport device 1 avoids interference with the guide surface 122 when capturing the component using the standby component imaging unit 2c. ing. In particular, an interference avoidance space portion 31 for imaging a component in the receiving area 12 by the standby component imaging means 2c is also formed between the holding portions. For this reason, while the base member 30 is rotating, the components in the receiving area 12 can be imaged without being obstructed by the base member 30, the component holding module 40, the guide surface 122, and the like. Thereby, based on the image information imaged by the standby component imaging means 2c, it is possible to correct the position of the component in the receiving area 12 to a position where the suction nozzle 42a can appropriately suck. Parts placed in bulk on the receiving tray 2a can be reliably sucked and held.

  Further, the guide surface 122 includes a movable region 122A and is independently displaced in the rotation axis direction. As a result, by further displacing the holding portion 42 in the direction of the rotation axis together with the cam follower 110, it is possible to quickly realize the suction and release of components.

  Further, since the guide surface 122 is formed so that the holding portion 42 is at the lowest position between the receiving area 12 and the carry-out area 13, for example, in the X-ray inspection of parts as in the present embodiment, It is possible to avoid interference with these parts and the suction nozzle 42a.

  Furthermore, since the holding portion 42 is provided with a biasing device (internal biasing device 45) for maintaining the contact state between the cam follower 110 and the guide mechanism 120, the cam follower 110 and the guide mechanism 120 are separated from each other. Thus, the positioning accuracy of the holding portion 42 can be increased.

  Further, since the external urging device 50 that applies an external force to a part of the holding portion 42 from the outside of the base member 30 is provided only in a necessary place, an actuator or the like for moving the holding portion 42 is used as the base member. 30 or the component holding module 40 is not necessary. Further, when the structure using the external urging device 50 is employed, the temporary stop time of the base member 30 increases if the movement stroke is increased. However, by securing a necessary movement stroke in advance by the guide mechanism 120, the movement stroke of the external biasing device 50 can be reduced, so that the temporary stop time of the base member 30 can be shortened. As a result, the three advantages of a simple structure, a large movement stroke, and an increase in the conveyance speed can be achieved extremely reasonably.

  The receiving area 12 is provided with a receiving tray 2a on which a plurality of parts are placed in a bulk state, and the unloading area 13 is provided with an alignment tray 3a on which a plurality of parts are placed in an aligned state. Then, the parts taken out from the receiving tray 2a are transported to the alignment tray 3a after adjusting the posture, and placed in an aligned state on the alignment tray 3a. For this reason, the parts in a bulk state can be aligned on the alignment tray 3a at high speed, and the production efficiency and inspection efficiency of the parts can be improved.

  In addition, since the component conveying device 1 includes the cooling device 150, the cooling device 150 can remove heat generated by the base member rotation driving device 60 and prevent the arm 20 from being deformed due to the influence of the heat. it can. Therefore, the position of the component held by the holding portion 42 is not shifted due to the deformation of the arm 20, the accuracy of the position is improved, and even a very small component can be transported satisfactorily.

  Further, the components other than the cooling passage 151 of the cooling device 150 are externally attached to the main body portion of the component conveying device 1, and the cooling passage 151 can be formed by piercing the arm 20 later. Therefore, it is possible to equip an existing parts conveying apparatus with a cooling device 150.

  2ND EMBODIMENT Next, the components conveying apparatus 200 of 2nd Embodiment is demonstrated using Fig.11 (a) and (b). The component conveying device 200 of the second embodiment is different from the component conveying device 1 of the first embodiment in the configuration of the cooling means for cooling the base member rotation driving device 60. Therefore, hereinafter, the configuration of the cooling unit will be mainly described, and the same configuration as that of the first embodiment is denoted by the same reference numeral and the description thereof is appropriately omitted.

  The component conveying device 200 of the present embodiment does not include the external cooling device 150 unlike the component conveying device 1 of the first embodiment, and the space (gap between the base member rotation driving device 60 and the fixing member 100 ′). ) Is a cooling passage 201, and cooling air as a cooling medium is circulated through the cooling passage 211 to constitute the cooling means 210.

  A guide passage 213 that connects the outside of the apparatus and the cooling passage 211 is formed inside the arm 20. An intake port 215 is provided at the end of the guide passage 213 on the outside of the apparatus, and one end of a tube 217 is connected to the intake port 215. For example, an air compressor (not shown) is connected to the other end of the tube 217. Further, at least one opening 219 functioning as an exhaust port is formed in the outer peripheral wall of the fixing member 100 ′.

  With such a configuration, after the air compressor is driven to introduce cooling air into the cooling passage 211 via the intake port 215 and the guide passage 213, the heat generated by the base member rotation driving device 60 is taken away by the cooling air. By exhausting from the opening 219, the base member rotation drive device 60 can be cooled with a simple configuration. At this time, the cooling air can be efficiently circulated around the base member rotation drive device 60 by utilizing the fact that a circumferential air flow is generated in the cooling passage 211 as the base member 30 rotates.

  In addition, if a cooling medium is low temperature air, it is preferable at the point which a cooling effect increases. Further, the cooling medium is not limited to air but may be other gas (for example, nitrogen gas or oxygen gas).

  [Others] Although the embodiment of the present invention has been described above, the component conveying apparatus of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention. Of course, it can be added.

  For example, the component conveying apparatus 1 of the first embodiment includes the fixing member 100, the cam follower 110, and the guide mechanism 120, and is configured to minimize the vertical movement stroke necessary for holding / releasing the component. However, it is good also as a structure which excluded these components.

  Moreover, although the component conveying apparatus 1,200 which concerns on the said 1st and 2nd embodiment is provided with the four component holding modules 40, the number of the component holding modules 40 is not limited to this, Other number of component holding modules 40 may be provided.

  Moreover, although the holding | maintenance part 42 has orient | assigned the suction nozzle 42a to the downward direction, it is not limited to this, You may face the suction nozzle 42a to the side or upward. Furthermore, the holding part 42 is not limited to the one provided with the suction nozzle 42a, and may have a structure that grips a component by air driving, for example.

  In addition, the base member 30 is disposed so that the central axis of rotation in the driving position is in the vertical direction. However, the present invention is not limited to this, and the central axis of rotation in the driving position is horizontal or oblique. It may be arranged so that. Further, the base member 30 may have a shape other than the shape shown in the present embodiment.

  Moreover, the arm 20 is not limited to what is arrange | positioned at the base 10, The thing arrange | positioned at another member and the thing installed independently may be sufficient. Furthermore, the arm 20 may be configured to be able to perform an operation other than swinging. For example, the arm 20 may be configured to swing after linearly moving upward, or to swing or rotate about a plurality of different rotation axes.

  Moreover, in the said embodiment, when the cam follower 110 existed in the movable area | region 122A in the guide mechanism 120, the structure which presses the bracket 44 with the external urging | biasing apparatus 50 was shown, However, This invention is not limited to this. For example, as shown in FIG. 12, the movable region 122A has a groove structure that sandwiches the cam follower 110 from above and below, and the external urging device 50 urges the movable region 122A to move the bracket 44 up and down. You may do it. At this time, the pressing spring 124 may be disposed on the external biasing device 50 side. That is, there is no particular limitation on the portion or structure that the external biasing device 50 presses.

  Further, the positions (including the height position) of the receiving area 12, the unloading area 13 and the part inspection area 14 are not limited to the positions shown in the above embodiment, and the receiving area 12, the unloading area 13 and the component inspection area. You may make it arrange | position the area | region 14 in another position. Furthermore, an area for processing and assembling parts and inspecting may be provided in the middle of conveyance. For example, as shown in FIG. 13, it is also preferable that the height of the holding portion 42 be different between the receiving area 12 and the unloading area 13 by the guide mechanism 120. If it does in this way, when receiving tray 2a and alignment tray 3a are enlarged, interference between trays can be avoided in the height direction. Further, even when the height positions of the receiving area 12 and the unloading area 13 are greatly different in this way, the tip of the holding portion 42 can be brought close to the respective heights during the transport process using the guide mechanism 120. The vertical stroke required to hold / release parts can be minimized. That is, the operation time of the external urging device 50 can be shortened, and this also improves the conveyance efficiency.

  In addition, the rotation of the base member 30 is not limited to intermittent rotation that stops every 90 degrees, and the component holding module 40 is in a position that opposes the receiving region 12, the unloading region 13, and the component inspection region 14. In this case, the base member 30 may be continuously rotated at a low speed.

  Furthermore, in the said embodiment, although the case where components were mounted in the bulk state was shown in the components supply apparatus 2, this invention is not limited to it, Another supply method may be sufficient. For example, the component supply device may be a so-called transfer device, and may include a temporary alignment tray that includes alignment recesses for aligning components temporarily. It is also preferable that the temporary alignment tray is vibrated up and down, left and right or tilted so that the parts in the bulk state are aligned with the alignment recesses, and then the parts are supplied to the conveying device.

  In addition, various parts can be conceived in the present invention, and it is particularly preferable to apply to a crystal piece. In spite of being easily damaged by an external force, the crystal piece is required to be conveyed at a high speed due to the advanced manufacturing process. Therefore, according to the turret transport device of the present embodiment, it is possible to automatically control the holding posture of each crystal piece during rotation, thereby realizing high-speed transfer while reducing damage to the crystal piece. it can. In addition, since each suction nozzle can be rotated individually (independently), the posture control of one component does not affect the conveyance of other components, so that reliable conveyance can be realized.

  The component conveying apparatus of the present invention can be used in the field of manufacturing electronic equipment, electronic components or other various articles, or physical distribution.

DESCRIPTION OF SYMBOLS 1,200 Component conveying apparatus 2 Component supply apparatus 2a Receiving tray 2b Tray moving means 2c Standby part imaging means 3 Parts unloading apparatus 3a Alignment tray 3b Tray moving means 3h Recess 10 Base 11 Pillar member 12 Receiving area 13 Unloading area 14 Parts inspection Region 15 Supply region 20 Arm 30 Base member 31 Interference avoidance space 32 Hollow shaft 33 Swivel joint 34 Air piping 35 Central air chamber 36 Suction passage 37 Switching valve 38 Slip ring 40 Component holding module 41 Housing 42 Holding portion (component holding member)
42a Suction nozzle 42b Suction passage 42c Piping 43 Holding portion rotation driving means 43a Motor 43b Transmission mechanism 44 Bracket 44a Pressure receiving member 45 Internal biasing device (tension spring)
50 External biasing device (axial driving means)
51 Guide member 52 Pressing member 53 Motor 54 Cam 60 Base member rotation drive device (rotation drive device)
70 parts inspection means 70A first X-ray inspection apparatus 70B second X-ray inspection apparatus 70C first light receiving section 70D second light receiving section 80 swing means 82 motor 82a motor bracket 84 screw shaft 86 nut 88 nut bracket 90 central controller 91 suction nozzle Switching control device 92 Holding unit rotation control device 100 Fixing member (cylinder)
DESCRIPTION OF SYMBOLS 110 Cam follower 120 Guide mechanism 122 Guide surface 122A Movable area | region 124 Pressing spring 150 Cooling device (cooling means)
151 Cooling path 152 Tank 153 Tube 154 Heat sink 155 Peltier element 156 Fan 210 Cooling means 211 Cooling path 213 Guide path 215 Intake port 217 Tube 219 Opening

In order to solve the above-described problems, a component conveying device according to the present invention includes a base member that rotates about a rotation shaft that extends downward from above, a plate-like arm that supports the base member on its lower surface, A plurality of components arranged along the circumferential direction, reciprocating in the direction of the rotation axis of the base member, and holding a component; a motor fixed to a lower surface of the arm and driving the base member; and Standby component imaging means for imaging the posture of the component, and arm cooling means for cooling the arm, and the component holding member rotates around the base member by the rotation of the base member, and more than the arm. The rotating track of the component holding member formed below has a projecting portion that projects from the arm, and the standby component imaging means is positioned above the projecting portion. A receiving region is provided below the projecting portion and directly below the standby component imaging means, where the component holding member starts to hold the component, and is adjacent in the rotation direction of itself. The component holding member is separated so as to secure an imaging optical path connecting the receiving area and the standby component imaging unit, and the arm cooling unit is formed inside the arm and has a cooling medium passage through which a cooling medium flows. And the heat is dissipated from the arm when the cooling medium flows in the cooling medium passage.

The arm cooling means includes a tank that stores the cooling medium, a tube that connects the tank and the cooling medium passage formed inside the arm, a heat sink that dissipates heat, and the tank and the heat sink. And a Peltier element that moves heat of the cooling medium in the tank to the heat sink. Further, a motor cooling means for cooling the motor, said motor cooling means includes a disposed the cylindrical body so as to cover the outer periphery of the motor, the clearance between said cylinder motor A cooling gas passage through which a cooling gas as a cooling medium passes is formed, an inlet of the cooling gas is provided in the gap on the end side in the longitudinal direction of the cylindrical body, and the cooling gas flow path is formed on a side surface of the cylindrical body Preferably, the outlet is located upstream of the outlet in the rotation direction of the base member.

Claims (5)

A rotating base member;
A plate-like arm that supports the base member;
A plurality of parts arranged along the circumferential direction of the base member, reciprocating in the direction of the rotation axis of the base member, and holding a part;
A rotational drive device fixed to the arm and rotationally driving the base member;
Cooling means for cooling the arm or the rotary drive device,
The cooling means is
A component conveying apparatus comprising: a cooling passage through which a cooling medium flows, and taking away heat generated by the rotary drive device by the cooling medium flowing through the cooling passage. The cooling medium is a liquid;
The component conveying apparatus according to claim 1, wherein the cooling passage for allowing the liquid to pass through is formed inside the arm. The cooling means is
A tank for storing the cooling medium;
A tube connecting the tank and the cooling passage formed in the arm;
A heat sink that dissipates heat,
The component conveying apparatus according to claim 2, further comprising: a Peltier element that is disposed between the tank and the heat sink and moves heat of the cooling medium in the tank to the heat sink. A cylinder disposed to cover the outer periphery of the rotary drive device;
The cooling medium is a gas;
The component conveying device according to claim 1, wherein a gap between the cylindrical body and the rotation driving device is the cooling passage through which the gas passes. The cooling means is
The component conveying device according to claim 4, wherein a circumferential airflow is generated in the cooling passage along with the rotation of the base member.

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