JP2020007131A - Attitude changing device and working device - Google Patents

Abstract

To vertically change an attitude of a component in a simple constitution.SOLUTION: An attitude changing device comprises: a first stage and a second stage arranged on both sides sandwiching a rotational axis; a first rotating device for rotating the first stage; a second rotating device for rotating the second stage; and a control device. The control device, when attitude changing of a component mounted on the first stage is required, rotates the second stage to a first direction till the second stage becomes vertical to the first stage, and, while keeping a state where the first stage is vertical to the second stage, rotates the first stage and the second stage to a second direction reverse to the first direction till the second stage becomes horizontal, and rotates the first stage to the first direction till the first stage becomes horizontal.SELECTED DRAWING: Figure 7

Description

  This specification discloses a posture conversion device and a working device.

  Conventionally, this type of attitude conversion device includes a first holder (first stage) and a second holder (second stage) that are symmetrically arranged with respect to a rotation axis, and a first holder that is a rotation axis. Comprising a reversing unit including a first drive unit that rotates about and a second drive unit that rotates the second holder about an axis of rotation in synchronization with and independently of the first drive unit. Has been proposed (for example, see Patent Document 1). The first holder and the second holder are arranged in a row along the axis of rotation and include a plurality of recesses each holding a component. The number of the plurality of concave portions arranged in a row is equal to or greater than the number of components arranged in the width direction of the tray. The reversing unit can perform reversal processing on components arranged in the width direction of the tray at once.

JP 2014-129167 A

  However, the above-described reversing unit can reverse the component by 180 degrees, but cannot change the orientation of the component vertically.

  An object of the present disclosure is to provide a posture changing device capable of vertically changing the posture of a component with a simple configuration.

  The present disclosure employs the following means to achieve the above-described main object.

The present disclosure
An attitude conversion device for converting the attitude of a part,
A first stage and a second stage, each having a mounting surface on which a plurality of components are mounted, and disposed on both sides of the rotation axis;
A first rotating device that rotates the first stage around the rotation axis;
A second rotating device for rotating the second stage around the rotation axis;
When a posture change of the component placed on the first stage is requested, the second stage moves toward the first stage until the second stage is perpendicular to the first stage. Controlling the second rotating device to rotate in the direction, while maintaining the state where the first stage and the second stage are vertical, the first stage and the second stage until the second stage is horizontal. Controlling the first rotating device and the second rotating device so that the second stage rotates in a second direction opposite to the first direction; and adjusting the first stage until the first stage is horizontal. A control device that controls the first rotating device so that the first rotating device rotates in the first direction;
The gist is to provide

  The posture conversion device according to the present disclosure includes a first stage and a second stage disposed on both sides of a rotation axis, a first rotation device for rotating the first stage, and a second rotation device for rotating the second stage. And a control device. When the posture change of the component placed on the first stage is requested, the control device moves the second stage toward the first stage so that the second stage is perpendicular to the first stage. Rotate in the direction. Next, the control device controls the first stage and the second stage in the opposite direction to the first direction so that the second stage is horizontal while maintaining the state where the first stage and the second stage are vertical. Rotate in the second direction. Then, the control device rotates the first stage in the first direction so as to be horizontal. As a result, the components mounted on the first stage are vertically changed in posture and mounted on the second stage. Therefore, the posture changing device can change the posture of the component vertically with a simple configuration. Here, “horizontal” is not limited to perfect horizontal, but may be substantially horizontal. Further, “vertical” is not limited to completely vertical, and may be substantially vertical.

FIG. 2 is a schematic configuration diagram of a working device 1. FIG. 2 is a schematic configuration diagram of a work robot 20. FIG. 2 is an external perspective view of the attitude conversion device 10. FIG. 2 is an external perspective view of the attitude conversion device 10. FIG. 2 is an external perspective view of the attitude conversion device 10. FIG. 4 is an explanatory diagram showing an electrical connection relationship of a control device 50. 5 is a flowchart illustrating an example of a posture conversion process performed by a control device. FIG. 8 is an explanatory diagram illustrating a state of a part posture change. FIG. 8 is an explanatory diagram illustrating a state of a part posture change. FIG. 8 is an explanatory diagram illustrating a state of a part posture change. FIG. 8 is an explanatory diagram illustrating a state of a part posture change.

  Next, embodiments for implementing the present disclosure will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of the working device 1. FIG. 2 is a schematic configuration diagram of the work robot 20. 3 to 5 are external perspective views of the posture changing device 10. FIG. 6 is an explanatory diagram showing an electrical connection relationship of the control device 50. In the drawings, the up-down direction is a direction parallel to the vertical direction, and the front-rear direction and the left-right direction are directions orthogonal to each other and parallel to the horizontal direction orthogonal to the vertical direction.

  The work apparatus 1 picks up a component P and mounts it on a substrate S as a work performed on a work. As shown in FIG. 1, the working device 1 includes a pedestal 2, a board transfer device 3, a component supply device 5, a posture conversion device 10, a work robot 20, and a control device 50 (FIG. 6) for controlling the entire system. Reference).

  The substrate transfer device 3 is a belt conveyor device, and is installed at the center of the pedestal 2 in the Y direction so as to extend in the X direction. The component supply device 5 includes a stage on which the work robot 20 mounts components so as to be picked up, a hopper that accommodates a large number of components, and sends out the accommodated components onto the stage.

  The posture conversion device 10 converts the posture of a rectangular parallelepiped component by 90 degrees, and is installed adjacent to the component supply device 5 in the present embodiment. As shown in FIGS. 3 to 5, the attitude conversion device 10 includes two stages (a first stage 11 and a second stage 12) and two rotation devices (first rotations) that respectively rotate the corresponding stages by 90 degrees. Device 13 and a second rotating device 14), and a support 15 that supports two stages and two rotating devices.

  The first stage 11 is a flat rectangular parallelepiped member, and is rotatably supported by a rotation axis AX1 provided on one long side 11s.

  The second stage 12 is a member having the same shape as the first stage 11, and is rotatably supported by a rotation axis AX2 provided on a long side portion 12s facing the long side portion 11s of the first stage 11. The long sides 11s of the first stage 11 and the long sides 12s of the second stage 12 are engaged with a step so that the rotation axes AX1 and AX2 are coaxially arranged.

  As shown in FIG. 6, the first rotating device 13 has a first rotary cylinder 13a and a solenoid valve 13b that supplies and discharges air pressure to and from the first rotary cylinder 13a. In the present embodiment, the first rotary cylinder 13a is configured as a rack and pinion type rotary cylinder, and is capable of rotating the first stage 11 within a range of 90 degrees by a stopper.

  As shown in FIG. 6, the second rotating device 14 has a second rotary cylinder 14a and a solenoid valve 14b that supplies and discharges air pressure to and from the second rotary cylinder 14a. In the present embodiment, the second rotary cylinder 14a is configured as a rack and pinion type rotary cylinder, and can rotate the second stage 12 within a range of 90 degrees by a stopper.

  The first stage 11 and the second stage 12 can be opened and closed by a first rotating device 13 and a second rotating device 14 so that the opening angle between the two is within a range of 90 to 180 degrees. That is, the posture conversion device 10 is configured such that the first stage 11 and the second stage 12 are both in a horizontal posture (see FIG. 3), the first stage 11 is in a horizontal posture, and the second stage 12 is in a vertical posture. 4 (see FIG. 4) and a state where the first stage 11 is in a vertical posture and the second stage 12 is in a horizontal posture (see FIG. 5).

  The work robot 20 picks up the component supplied by the component supply device 5 and mounts the component on the substrate S, or picks up the component supplied by the component supply device 5 and temporarily places the component on the posture conversion device 10 to change the posture. The orientation of the component is changed by 90 degrees by the device 10, and then the component is picked up again and mounted on the substrate S. As shown in FIG. 2, the work robot 20 is a five-axis vertical articulated robot in the present embodiment. The work robot 10 is installed on the opposite side of the pedestal 2 from the component supply device 5 and the posture changing device 10 with the substrate transfer device 3 interposed therebetween. The work robot 20 includes a plurality of arms (a distal arm 21, intermediate arms 22, 23, and a proximal arm 24) connected in series, a base 25, a plurality of joints 31 to 35, and each joint 31 to 35. The motor includes drive motors 31a to 35a (see FIG. 6) and encoders 31b to 35b (see FIG. 6) for detecting rotation angles of the joints 31 to 35. The base arm 24 is attached to the base 25 via a joint 35 so as to be horizontally pivotable. The distal arm 21, the intermediate arms 22, 23, and the proximal arm 24 are vertically rotatably connected via corresponding joints 32 to 34. The distal arm 21 has a joint (also referred to as a wrist) 31 rotatable around an axis along the longitudinal direction at a longitudinal distal end portion. A holding member 40 as an end effector device is attached to a wrist 31 of the distal arm 21. As the holding member 40, a suction nozzle, a mechanical chuck, an electromagnetic chuck, or the like can be used. Further, a camera 36 for capturing an image of a component to be mounted is also attached to the distal end arm 21.

  The control device 50 is configured as a microprocessor mainly including a CPU, and includes, in addition to the CPU, a ROM for storing a processing program, a RAM as a work memory, an input / output port, and the like. As shown in FIG. 6, a detection signal from the encoders 31b to 35b, an imaging signal from the camera 36, and the like are input to the control device 50 via an input port. The control device 50 outputs control signals to the board transfer device 3, the component supply device 5, the attitude conversion device 10 (electromagnetic valves 13b and 14b), the work robot 20 (motors 31a to 35a, and the camera 36). Has been output through.

  Next, the operation of the working device 1 thus configured will be described. In particular, an operation when the posture of the component P supplied by the component supply device 5 is changed by the posture conversion device 10 will be described. FIG. 7 is a flowchart illustrating an example of a posture conversion process performed by the control device 50. This process is executed when the mounting of the component P with the posture change is instructed. Hereinafter, the posture conversion process of FIG. 7 will be described with reference to FIGS.

  When the posture conversion process is executed, first, the control device 50 controls the motors 31a to 35a of the work robot 20 so that the component P supplied by the component supply device 5 is picked up (step S100). In this process, the component P on the stage of the component supply device 5 is imaged by the camera 36, the position and orientation of the component P are recognized based on the obtained image, and a target position is set. Is controlled by controlling the motors 31a to 35a and the holding member 40 so as to be picked up. Subsequently, the control device 50 controls the motors 31a to 35a so that the picked-up component P is placed on the first stage 11 of the attitude conversion device 10 (Step S110). In this process, as shown in FIG. 8, the position where one side (long side) of the component P is along the rotation axis AX1 of the first stage 11 and the opposite side (long side) is on the opposite side to the second stage 12. The control is performed by controlling the motors 31a to 35a and the holding member 40 so that the parts P are aligned. Then, control device 50 determines whether or not the number of components P placed on first stage 11 has reached a predetermined number (step S120). If the controller 50 determines that the number of components P placed on the first stage 11 has not reached the predetermined number, the controller 50 picks up the next component P and aligns it on the first stage 11 in steps S100 and S110. repeat.

  When determining that the number of components P placed on the first stage 11 has reached the predetermined number, the control device 50 rotates the second stage 12 by 90 degrees until the second stage 12 is in the vertical posture as shown in FIG. The second rotating device 14 (the solenoid valve 14b) is controlled to rotate forward (rotate counterclockwise in the figure) (step S130). Next, as shown in FIG. 10, the control device 50 simultaneously rotates the first stage 11 and the second stage 12 by 90 degrees until the first stage 11 is in the vertical position and the second stage 12 is in the horizontal position. The first rotating device 13 (the solenoid valve 13b) and the second rotating device 14 (the solenoid valve 14b) are controlled so as to rotate (clockwise in the figure) (step S140). As a result, the plurality of components P on the first stage 11 are placed on the second stage 12 after being changed in posture by 90 degrees. Then, as shown in FIG. 11, the control device 50 controls the first rotating device so that the first stage 11 rotates forward by 90 degrees (rotates counterclockwise in the drawing) until the first stage 11 assumes the horizontal posture. 13 (the solenoid valve 13b) is controlled (step S150), and the posture conversion process ends.

  Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure will be described. That is, the first stage 11 of the embodiment corresponds to the first stage of the present disclosure, the second stage 12 corresponds to the second stage, the first rotating device 13 corresponds to the first rotating device, and the second rotating device 14 corresponds to the second rotating device, and the control device 50 corresponds to the control device. The work robot 20 corresponds to an articulated robot.

  It is needless to say that the present invention is not limited to the above-described embodiment at all, and can be implemented in various modes as long as it belongs to the technical scope of the present disclosure.

  For example, in the above-described embodiment, the first rotating device 13 and the second rotating device 14 are configured by the rotary cylinder and the solenoid valve, but may be configured by a motor.

  In the above-described embodiment, the component supply device 5 and the posture conversion device 10 are configured as separate devices, but may be configured as a component supply device in which the posture conversion unit is integrated.

  In the above-described embodiment, the working device 1 picks up the components whose posture has been changed by the posture changing device 10 and mounts them on the substrate S. However, the work apparatus 1 may perform any operation on the part P whose posture has been changed, such as picking up the part P whose posture has been changed by the posture conversion device 10 and placing the part P on the tray T. It is also applicable to work.

  As described above, the posture conversion device of the present disclosure is a posture conversion device (10) that changes the posture of a component, has a mounting surface on which a plurality of components are mounted, and includes a rotation axis (AX1). , AX2), a first stage (11) and a second stage (12) arranged on both sides, a first rotating device (13) for rotating the first stage, and a second stage for rotating the second stage. When a two-rotation device (14) and a posture change of a component placed on the first stage are required, the second stage is moved until the second stage is perpendicular to the first stage. The second rotating device is controlled so as to rotate in a first direction toward the first stage, and the second stage is horizontally moved while maintaining the first stage and the second stage in a vertical state. Until the first stage and the The first rotating device and the second rotating device are controlled such that the two stages rotate in a second direction opposite to the first direction, and the first stage is rotated until the first stage becomes horizontal. A control device (50) for controlling the first rotating device to rotate in the first direction.

  According to the posture conversion device of the present disclosure, by rotating the first stage and the second stage, the components mounted on the first stage are vertically changed in posture and mounted on the second stage. You. Therefore, the posture changing device can change the posture of the component vertically with a simple configuration.

  In the posture conversion device of the present disclosure, the first stage (11) and the second stage (12) are each rotatable between a vertically closed position and a horizontally opened position, and The first rotating device (13) and the second rotating device (14) may be configured to be able to rotate corresponding stages in the first direction and the second direction using air pressure, respectively. In this case, the posture changing device can change the posture of the component without requiring electrical wiring.

  The gist of the present disclosure is that the working device of the present disclosure includes the above-described posture changing device (10), and an articulated robot (work robot 20) that works on a part whose posture has been changed by the posture changing device. I do.

  Further, in the working device according to the present disclosure, the articulated robot (the working robot 20) includes a plurality of parts (P) on the first stage (11) such that one side of each part is along the rotation axis (AX1). When the plurality of components are posture-converted by the posture conversion device (10), the operation may be performed on the plurality of components whose posture has been converted. In this case, there is no need to provide a dedicated mechanism for aligning the components on the first stage of the attitude conversion device.

  INDUSTRIAL APPLICABILITY The present disclosure can be used in a manufacturing industry of a posture conversion device and a working device.

  DESCRIPTION OF SYMBOLS 1 Working device, 2 pedestals, 3 substrate transfer devices, 5 component supply devices, 10 attitude conversion devices, 11 first stage, 12 second stage, 13 first rotating device, 13a first rotary cylinder, 13b solenoid valve, 14th 2 rotation device, 14a second rotary cylinder, 14b solenoid valve, 15 support base, 20 work robot, 21 tip arm, 22, 23 intermediate arm, 24 base arm, 25 base, 31-35 joints, 31a-35a motor , 31b-35b encoder, 36 camera, 40 holding member, 50 control device, S board, P part, AX1, AX2 rotation axis.

Claims (4)

An attitude conversion device for converting the attitude of a part,
A first stage and a second stage, each having a mounting surface on which a plurality of components are mounted, and disposed on both sides of the rotation axis;
A first rotating device that rotates the first stage around the rotation axis;
A second rotating device for rotating the second stage around the rotation axis;
When a posture change of the component placed on the first stage is requested, the second stage moves toward the first stage until the second stage is perpendicular to the first stage. Controlling the second rotating device to rotate in the direction, while maintaining the state where the first stage and the second stage are vertical, the first stage and the second stage until the second stage is horizontal. Controlling the first rotating device and the second rotating device so that the second stage rotates in a second direction opposite to the first direction; and adjusting the first stage until the first stage is horizontal. A control device that controls the first rotation device so that the first rotation device rotates in the first direction;
A posture conversion device comprising: The attitude conversion device according to claim 1,
The first stage and the second stage are each rotatable between a vertically closed position and a horizontally open position,
The first rotating device and the second rotating device are each capable of rotating a corresponding stage in the first direction and the second direction using air pressure,
Attitude conversion device. An attitude conversion device according to claim 1 or 2,
An articulated robot that performs operations on the parts whose posture has been converted by the posture conversion device,
Working device provided with. The working device according to claim 3,
The articulated robot arranges and mounts a plurality of components on the first stage such that one side of each component is along the rotation axis. Work on the converted plurality of parts;
Working equipment.

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