JP2574928Y2 - Plate transfer equipment - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device, and more particularly, to a plate transfer device for transferring a plate by lowering the same.

[0002]

2. Description of the Related Art For example, an optical appearance inspection apparatus that optically scans a printed wiring board and processes an obtained image to determine the presence or absence of a defect is used for the appearance inspection of the printed wiring board. Have been. When loading and unloading a printed wiring board with respect to such an optical appearance inspection apparatus, it is necessary to place the printed wiring board in a predetermined posture at a predetermined inspection position of the optical appearance inspection apparatus. The operator handles the printed wiring board by hand.

[0003] In the above-mentioned conventional configuration, the operator needs to handle the printed wiring boards one by one by hand, which complicates the work and does not improve the work efficiency. Therefore, the present inventor has considered a configuration in which a printed wiring board is loaded and unloaded to and from an optical appearance inspection system using a robot arm.
There, the mounting table on which the printed wiring boards were stacked,
The robot arm is transferred from the carriage to the base of the robot arm, and the robot arm supplies the printed wiring boards one by one to the optical visual inspection device from the transferred mounting table.

In the improvement proposed by the inventor of the present application, when the mounting table is transferred from the carriage to the base of the robot arm, it is necessary to smoothly transfer the mounting table. An object of the present invention is to make it possible to smoothly transfer a plate-shaped object when it is moved down. Also, in the above-mentioned improvement plan, in order to accurately position and load the printed wiring board with respect to the optical visual inspection device, it is necessary to accurately transfer the printed wiring board from the trolley to the base of the robot arm. It needs to be positioned and transferred. Therefore, a positioning hole is provided on the mounting table on which the printed wiring board is mounted, and a taper pin for positioning is provided on the base, and the mounting table is lowered onto the base with the taper pins roughly aligned so that they face the holes. Then, the positioning is performed such that the hole of the mounting table is fitted into the tapered pin while being guided by the tapered surface of the tapered pin. However, when positioning with such pins and holes, if the mounting table is not supported so that it can be moved in the horizontal direction when both are fitted, the tapered surface and the edges of the holes may be rubbed and worn, or the pins may be worn. Since it is considered that the mounting table is broken, it is necessary to temporarily move the mounting table by free bearings only temporarily at the time of transfer from the carriage to the base. For this reason, by lowering the work table with the free bearing disposed between the mounting table and the work table, the mounting table is transferred from the bogie to the free bearing, and then the free bearing is lowered at a low speed, In this state, it is configured to fit into the taper pin.

Accordingly, the operator lowers the free bearing at a low speed after confirming that the mounting table has been transferred to the free bearing while confirming the positional relationship between the hole of the mounting table and the tapered pin of the base. The free bearings at a low speed. However, if the driving means for lowering the free bearing at a low speed is provided, the size of the device for that purpose is increased, and the cost is increased. In addition, the work of lowering the free bearing at a low speed after confirming that the mounting table has been transferred to the free bearing as described above can not keep an eye on the free bearing and requires careful attention. It was troublesome.

In view of the above, another object of the present invention is to facilitate the operation of transferring a plate-like object by positioning it with a taper pin, to enable smooth transfer, and to increase the size of the apparatus. An object of the present invention is to provide a plate-like object transfer device that does not have any problem.

[0007]

A plate according to the first invention.
The transfer device lowers the first mounting portion by the lowering means,
The plate-like object placed on the first placement unit is transferred to the second placement unit
An apparatus, comprising: a sub-mounting unit, a sub-descent unit, and an interlocking mechanism.
It has. The sub-mounting section is movable up and down, and the first mounting
Receiving the plate-like object placed on the first placement part during the descent of the first placement part
Temporarily support. The secondary descent means lowers the secondary placing section
Then, the temporarily placed plate-like object is transferred to the second placement portion.
You. The interlocking mechanism is such that the sub-mounting section is
When the secondary descent means is linked to the descent means so as to descend
In addition, the sub-descent speed of the sub-mounting part accompanying the descent of the first mounting part
The speed is set lower than the main descent speed of the first placing portion.

[0008] The plate-like object transfer device according to the second invention comprises a first device .
The loading section is lowered relative to the second loading section to perform the first loading.
When transferring the plate-like object placed on the placing section to the second placing section,
A table provided on one of the plate and the second mounting portion
The pin is fitted with the pin hole provided on the other side to determine the position.
This is a device designed to transfer while
And a sub-mounting section. The tilting arm has a base
2 Rotatably supported by the mounting section and the tip is the first
The first mounting part is disposed so as to be able to contact the mounting part, and the first mounting part
It tilts in conjunction with descending relative to it. Secondary mounting
Part is mounted between the base and tip of the tilting arm and tilts
It descends according to the tilt of the arm, and from the first placing part that descends
To temporarily support the plate-like object so that it can move horizontally.
The plate-like object received from the first placing part to the second placing part
I do.

[0009]

With the plate-like object transfer device according to the first invention, the first loading
The plate-like object placed on the placement section is transferred to the second placement section. No.
1 The placing section descends at the main descending speed by the descending means. This
The plate placed on the first placement part during the descent of the first placement part
The object is transferred to the sub-mounting part. And the sub-mounting part is
It descends by descending means.
The plate-like object is transferred from the second mounting portion to the second mounting portion. At this time,
The means is interlocked with the lowering means for lowering the first receiver,
As a result, the sub-descent speed of the sub-mounting section is reduced
Slower than speed. For this reason, the plate-like object is
Phase of sub-mounting part and second mounting part when transferring to second mounting part
The anti-speed is higher than the relative speed between the first mounting portion and the second mounting portion.
small. Therefore, when transferring a plate-like object,
Work is performed smoothly, and the impact at the time of transfer is relatively small.

In the plate-like object transfer device according to the second invention,
The plate-shaped object placed on the first placement part is placed on the first placement part with the second placement part.
Transferred to the second mounting part while lowering relative to the part
It is. At this time, the first mounting portion is positioned relative to the second mounting portion.
When it descends, the tilting arm tilts in conjunction with it
You. The tilting arm continues to tilt, and its tip is the first mounting portion.
Contact, the tilting arm becomes the relative descent speed of the first placing part.
Tilt at a speed according to. At this time, the base of the tilting arm
Since the sub-mounting part is mounted between the
The lowering speed of the tip of the tilting arm (the lowering speed of the first mounting unit)
Descends relative to the second mounting part at a speed lower than
Will do. The sub-mounting section is a first mounting section.
Temporarily receive a plate-like object from
Deliver to the second mounting part while supporting. Therefore, plate-like
A sub-mounting part for transferring an object from the sub-mounting part to the second mounting part;
The relative speed with respect to the second mounting portion is different from that of the first mounting portion and the second mounting portion.
Less than the relative speed of Therefore, when transferring a plate
, The transfer operation is performed smoothly,
Is relatively small.

Since the plate-like object descends while being supported by the sub-mounting portion so as to be movable in the horizontal direction, the positioning between the plate-like object and the second mounting portion is made up of the tapered pin and the pin hole. In operation, the plate-like object can move in the horizontal direction as the edge of the pin hole is guided on the tapered surface of the taper pin, and both are smoothly fitted and positioned.

[0012]

[0013]

1, a printed wiring board appearance inspection system employing an embodiment of the present invention includes an optical appearance inspection apparatus 1 disposed at the center and a loading robot arm disposed at one side thereof. It mainly comprises a device 2 and an unloading robot arm device 3 arranged on the other side.
Carts 4 and 5 are arranged in both robot arm devices 2 and 3.

The optical appearance inspection apparatus 1 is an apparatus that scans a printed wiring board using a reflection light source or a transmission light source and performs pattern recognition processing on an obtained image to visually inspect a printed wiring board for defects. is there. The apparatus 1 is provided with an inspection table 6 for placing and inspecting a printed wiring board to be inspected. The pair of the loading robot arm device 2 and the trolley 4 and the pair of the unloading robot arm device 3 and the trolley 5 are the optical visual inspection device 1.
, The configuration of the loading robot arm device 2 and the trolley 4 and the mounting table (plate-like) on which a large number of printed wiring boards 13 are aligned and loaded.
The operation of transferring the object 50 (see FIGS. 4 and 8) from the state supported by the carriage 4 to the loading robot arm device 2 will be described in detail.

2 and 3, the robot arm device 2 includes a base 10 and a robot arm 11 projecting upward from the base 10. The robot arm 11
Controlled and driven by a control unit (not shown) including a microcomputer housed in the base 10, the printed wiring boards 13 are suctioned and transferred one by one by the suction pad 12 at the tip.

The front side portion of the base 10 (FIGS. 2 and 3)
Is provided with a storage section 14 for the carriage 4. The storage section 14 has a U-shape that opens toward the apparatus when viewed from above (see FIG. 2), and the carriage 4 can be pushed into the storage section 14 from an open section in front of the apparatus.
Four lifting mechanisms 15 to 18 are provided at approximately four corners of an upper inside portion of the storage unit 14. Each lifting mechanism 15-1
8 has the same structure except its mounting direction. In addition, a pair of lifting / lowering mechanisms 1 disposed on the front side of the apparatus.
The pivot arms 5 and 16 are attached so that a pivot arm 20 described later has its tip directed toward the inner side of the apparatus. Further, the pair of lifting mechanisms 17 and 18 disposed on the back side of the apparatus are attached such that the pivot arm 20 has its tip directed toward the front side of the apparatus.

Since the lifting mechanisms 15 to 18 have the same structure, only the lifting mechanism 15 will be described in detail below. As shown in FIG. 4, the lifting mechanism 15 is
(Second mounting portion) 14a via a bracket 21. As shown in FIGS. 5 and 6, the lifting mechanism 15 includes a base block 22 fixed to a bracket 21 (FIG. 4) and a pivot arm (an interlocking mechanism, a tilting mechanism) whose base is rotatably supported by the base block 22. Arm) 2
0 and, connecting block 2, which is assembled to the pivot arm 20 at a location between the proximal and the distal end portion of the pin ball Ttoamu 20
4 and a free bearing (sub-mounting portion) 23 fixed to the upper end of the connection block.

The base block 22 includes a pivot arm 20.
And a support shaft 26 passing through the notch 25. The base of the pivot arm 20 is rotatably supported on the support shaft 26 in the notch 25. A torsion spring 27 is fitted into the support shaft 26 in the notch 25. One end of the torsion spring 27 is locked to the base block 22 and the other end is locked to the pivot arm 20, so that the tip of the pivot arm 20 is constantly elastically urged upward. The distal end of the pivot arm 20, a lower end base block 22, the connection block 24, pin ball Ttoamu 20
A pair of rollers 32 are rotatably supported so as to protrude below the respective lower ends of the rollers.

Guide rails 30 extending in the vertical direction are provided on both sides of the connecting block 24. The front end of the base block 22 is provided with three pairs of guide rollers 2 projecting into the notch 25 so as to guide the guide rail 30 with the guide rail 30 interposed therebetween and move the connecting block 24 only in the vertical direction.
8 is provided rotatably. Also, connecting block 2
In FIG. 4, a pressing roller 31 is provided above the pivot arm 20. The pressing roller 31 is rotatably supported by the connection block 24, and has a lower end pressed against the pivot arm 20. Connecting block 24
The free bearing 23 fixed to the upper end has a bearing body 23a whose top is located higher than the upper end of a positioning pin 52 described later when no load is applied to the upper end. In addition, connecting block
24, guide roller 28 and guide rail 30
The sub bearing for lowering the free bearing 23 as the sub mounting portion
A descent means is provided.

In FIGS. 7 and 8, the truck 4 is
0 and a support table (first mounting
Part) 41 mainly. Wheels 42 are rotatably provided on the lower surface of the base 40. Also, the base 40
A handlebar 43 protruding upward is attached to the near side (left side in FIGS. 7 and 8). Support table 41
Are arranged in parallel with the base 40, and a support block 44 is attached to the upper surface thereof. Support block 44
Is smaller than the support table 41 when viewed in the direction of FIG. The upper end of the support block 44, the lower surface of the horizontal displacement prevention pins 70 protruding upward are projected for positioning the substrate mounting table 50 of the substrate mounting table 50 with respect to the support block 44 An insertion hole 80 is formed in the support block 44 at a position corresponding to the displacement prevention pin 70, and the substrate placement is carried out at a predetermined position on the support block 44 by fitting the displacement prevention pin 70. The mounting table 50 is mounted. The upper end of the displacement prevention pin 70 protruding from the support block 44 is a tapered portion 70a that tapers upward. The mounting table 50 projects in a peripheral direction beyond the support block 44 when viewed from above.

A link bar 46 is provided between the base 40 and the support 41 to move the support 41 up and down in parallel. The hydraulic cylinder 47 provided between the link bar 46 and the base 40 expands and contracts, so that the link bar 46 can move the support base 41 up and down. In the vicinity of the handlebar 43, the platform 40 has a pump-up lever 48 and a release lever 49.
Are provided. Here, the pump up lever 4
8, the hydraulic cylinder 47 is extended to raise the support base 41, and the release lever 49 is operated to release the supply of the hydraulic pressure to the hydraulic cylinder 47, thereby gradually increasing the support base 41. Can be lowered.

At four corners of the mounting table 50, positioning holes 51 (FIG. 4) for performing horizontal positioning are formed. Further, at a position corresponding to the positioning hole 51,
A positioning pin 52 protruding upward is provided on the frame 14a of the storage unit 14. The upper end of the positioning pin 52 is a tapered portion 52a protruding upward. In addition,
The relationship between the length of the protrusion of the position shift prevention pin 70 and the length of the protrusion of the positioning pin 52 is such that the tapered portion 52a at the end of the positioning pin 52 The more the substrate mounting table 50 is inserted into the positioning hole 51 formed in the mounting table 50,
The position preventing pin 70 is configured to protrude longer than the positioning pin 52 so that the tapered portion 70a at the tip of the position preventing pin 70 remains partially in the insertion hole 80 until the position is lowered. I have. With this configuration, when the substrate mounting table 50 is supported by the free bearings 23, the positioning pins 52 are still in contact with the substrate mounting table 50.
When the substrate mounting table 50 is not inserted at all into the positioning hole 51, the external movement of the substrate mounting table 50 exceeds the extent that the horizontal movement should be allowed by the free bearing 23 for the positioning operation with the positioning pin 52. It can be expected to prevent inadvertent horizontal movement.

The storage portion 14 has a U-shape as described above, but inside the open portion, when the truck 4 is pushed into the storage portion 14, the base portion of the There is provided a positioning roller 55 which is in contact with and guides the side surface of the shutter 40, and which determines the pushing direction thereof in the left-right direction. Also, on the inner wall of the opening, on the wall surface in the pushing direction of the cart 4, it comes into contact with the front surface of the platform 40 of the cart 4,
A positioning stopper 56 for positioning the carriage 4 in the front-rear direction with respect to the pushing direction is provided. When the cart 4 is pushed into the storage section 14, the cart 4 is moved by the positioning roller 55 and the positioning stopper 56.
Are positioned as described below.

Next, the operation of the above embodiment will be described. As shown in FIGS. 7 and 8, while the mounting table 50 on which the printed wiring boards 13 are mounted in a stacked state is supported on the support block 44, the carriage 4 is stored in the storage unit 1 of the robot arm device 2.
4 is housed as shown by a two-dot chain line in FIGS. At this time, the cart 4 and the storage section 14 are
The positioning pin 52 and the positioning stopper 56 are positioned so that at least the tip of the positioning pin 52 faces the positioning hole 51. Prior to this, the hydraulic cylinder 4 is operated by operating the pump up lever 48 and the release lever 49.
7 is adjusted so that the lifting mechanism 15 (16 to 18) is located between the support table 41 and the mounting table 50 as shown in FIG.

Next, the release lever 49 is operated to gradually release the hydraulic pressure of the hydraulic cylinder 47, and the support table 41 is lowered. As a result, the mounting table 50 descends, and its lower surface first contacts the bearing body 23a of the free bearing 23. When the mounting table 50 continues to descend, the free bearing 23 is pressed downward and the free bearing 23 is connected. Press roller 31 provided in block 24
Pressing the upper surface of pin ball Ttoamu 20 downwardly through,
As a result, pin ball Ttoamu 20 against the torsion spring 27 is caused to tilt in a direction to lower the tip. As a result, the roller 3 provided at the end of the pivot arm 20
2 moves downward and contacts the upper surface of the support base 41. Here, the pressing roller 32 in contact with the support table 41 is
By 1, since it is restricted from moving in the below the level of the support base 41, pin ball Ttoamu 20, so that tilting at a rate in the range corresponding to the descent progresses of the support base 41.

By the way, connecting block 24 by a guide roller 28 provided in the base block 22, the position for pressing the pressing roller 31 Gapi Bo Tsu <br/> Toamu 20 provided in the connecting block 24, pin because they are assembled such that the longitudinally intermediate portion of the ball Ttoamu 20, connecting block 24 of the pin ball Ttoamu 20 distal roller 32
Can only descend at a lower rate than does. Therefore, the free bearing 23 provided on the connection block 24 is restricted so as to be able to descend only at a lower speed than the support base 41. As a result, the free bearing 23a
The mounting table 50 abutting on the support table 41 is lowered from the instruction block 44 while being supported by the free bearing 23 because the support block 44 that descends integrally with the support table 41 descends before the free bearing 23a. And separate. The mounting table 50 after the separation is free bearing 23
And can move in the horizontal direction. When a horizontal force is applied, it moves in that direction. However, at this time, since the tapered portion 70a at the tip of the displacement prevention pin 70 is partially left in the insertion hole 80,
The mounting table 50 is prevented from being inadvertently moved horizontally beyond the extent to which horizontal movement should be allowed by the free bearings 23 for the positioning operation with the positioning pins 52, and does not roll down.

Subsequently, when the support table 41 further descends, the mounting table 50 supported by the free bearing 23 descending at a lower speed than the lowering speed of the support table 41 is moved to the positioning hole 51 of the mounting table 50 and the positioning of the frame 14a. When the pins 52 are fitted, they are placed on the frame 14a in a state where they are accurately positioned. At this time, the positioning holes 5
1 and the positioning pin 52 are fitted, the mounting table 50
Are horizontally movably supported by the free bearing 23, so that the positioning holes 51 and the positioning pins 52 are provided.
Even if the positional relationship between them is slightly shifted in the horizontal direction, the mounting table 50 moves in the horizontal direction so that the positioning holes 51 are engaged with the positioning pins 52 while being guided by the tapered portions 52a of the positioning pins 52. Is positioned smoothly. Further, when positioning is performed by fitting the tapered portion 52a of the positioning pin 52 into the positioning hole 51, the lowering speed of the free bearing 23 is low. The edge is not damaged due to wear or the like.

Subsequently, when the support table 41 further descends, the support table 41 is separated from the roller 32 of the pivot arm 20, so that the carriage 4 can be extracted from the storage section 14 of the robot arm device 2. The printed wiring board 13 on the mounting table 50 mounted on the robot arm device 2 is supplied one by one to the inspection table 6 of the optical visual inspection device 1 by the suction pad 12 of the robot arm 11. In the optical appearance inspection device 1, the printed wiring board 13 supplied to the inspection table 6 is
Is optically scanned, and the presence or absence of a defect in its appearance is inspected by image processing. Printed wiring board 13 for which inspection has been completed
Are unloaded from the inspection table 6 by the robot arm 11 of the unloading robot arm device 3 and are stacked on the mounting table 50 on the side of the cart 5.

When carrying out the mounting table 50 from the robot arm device 2, first, the carriage 4 is inserted into the storage section 14 with the support table 41 lowered. Then, the support table 41 is raised by operating the pump up lever 48. As a result,
The support 41 first contacts the roller 32 of the pivot arm 20. When the support table 41 is further raised, the free bearing 23 rises via the pivot arm 20 and lifts the mounting table 50. As a result, the positioning pins 52 of the frame 14a come out of the positioning holes 51 of the mounting table 50.

When the support table 41 is further raised, based on the relationship between the pivot arm 20 and the connection block 24,
Since the rising speed of the free bearing 23 is lower than the rising speed of the support table 41, the support block 44 will eventually come into contact with the lower end surface of the mounting table 50. The insertion hole 80 and the misalignment prevention pin 7 are also provided between the support block 44 and the mounting table 50.
0 is provided, whereby the mounting table 50 is mounted on the support block 44 in a state where it is positioned. Also in this case, since the free bearing 23 supports the mounting table 50 so as to be movable in the horizontal direction, the positioning operation performed by the engagement between the hole and the pin is easily and smoothly completed.

When the support table 41 is further raised, the free bearing 23 in contact with the mounting table 50 rises in synchronism therewith, so that the roller 32 of the pivot arm 20 rises faster than the support table 41 rises. The speed becomes higher, and the roller 32 moves away from the support table 41. Finally, the free bearing 23 separates from the mounting table 50 and is in the state shown in FIG. In this state, if the carriage 4 is pulled out of the storage section 14, the mounting table 50 can be taken out with the mounting table 50 placed on the carriage 4, as shown in FIGS.

In the above-described embodiment, the pivot arm 20 and the free bearing 23
Since the elevating speed of the mounting table 50 is controlled through such means, a complicated control system and drive system are not required, and the size and cost of the apparatus can be reduced. Further, since the lowering speed of the mounting table 50 is changed by using a mechanism such as the pivot arm 20 and the connecting block 24, it is not necessary for the operator to delicately operate the elevating speed.

Furthermore, in the above embodiment, in positioning the tray 50 with the taper pin 52, and to the free bearing 23 is temporarily supported automatically mounting table 50 via the pin ball Ttoamu 20 etc. from the operator simply manipulated to lower the support base 41 of the carriage 4, automatically causes the mounting table 50 is supported lifting against free bearing 23, and thereafter, when lowering the free bearing 23 at a low speed A series of operations described above are performed. In the meantime, the operator simply operates the release lever 49 of the cart 4 to support the support table 41.
It is enough to lower From the state where the mounting table 50 is supported by the support table 41 of the carriage 4 via the support block 44, it is necessary to operate so as to lower the free bearing while confirming each time that the mounting table 50 is supported by the free bearing 23. Absent.

In the above embodiment, when the lower surface of the substrate mounting table 50 has not yet contacted the free bearing 23 (the state shown in FIG. 4), the upper end of the free bearing 23 is higher than the upper end of the positioning pin 52. Although configured at a higher level, the configuration may be reversed. In the case of the reverse configuration, the tip of the positioning pin 50 must be at least slightly inserted into the positioning hole 51 of the substrate mounting table 50 before the substrate mounting table 50 is supported by the free bearing 23 and can move horizontally. Therefore, the substrate mounting table 50 is allowed to move horizontally by the free bearing 23 for the positioning operation with the positioning pins 52 due to some external vibration or the like without using the position shift pins 70 as described above. It is possible to prevent the horizontal movement from being performed carelessly.

In the above embodiment, the support 4 of the carriage 4
1 is described, the case where the mounting table 50 supported by the support table 41 via the support block 44 is transferred onto the frame 14a of the loading robot arm 2 has been described. The support base 41 of the cart 4 does not move up and down, and the frame 14a of the loading robot arm 2 is
A structure may be employed in which the carriage 4 is raised and lowered so as to rise from a position below the support table 41 to an upper position.

[0036]

The plate-like object transfer device according to the first invention has a first
When transferring a plate-like object from the receiver to the second receiver,
The plate-like object is transferred via the
Sub-descent speed was made slower than the main descent speed of the first placing part
Therefore, when transferring the plate-like material from the sub-mounting portion to the second mounting portion,
The relative speed between the sub placement unit and the second placement unit is the same as the first placement unit and the second placement unit.
2 It becomes smaller than the relative speed with respect to the mounting portion. Therefore,
Enables smooth transfer without impact during transfer
Become. Further, since there is no need to provide a drive unit such as a dedicated motor for driving the sub-mounting unit at a low speed, the apparatus is not increased in size and inexpensive.

In the plate transfer apparatus according to the second invention,
The plate-shaped object placed on the first placement part is placed on the first placement part with the second placement part.
Transferred to the second mounting part while lowering relative to the part
It is. At this time, the sub-mounting section provided on the tilt arm
Due to the action of the tilting arm, the lowering speed of the first placing portion
As it descends relatively to the second placing part at a slow speed,
When transferring plate-like objects, the transfer operation is performed smoothly.
You. In addition, the plate-like object transferred to the sub-mounting unit moves in the horizontal direction.
Since the positioning can be performed by using the taper pin and the pin hole between the plate-shaped object and the second mounting portion in this state, the positioning transfer operation can be easily performed. .

Also, there is no need to provide a drive means such as a dedicated motor for driving the sub-mounting section at a low speed so that the tapered portion of the pin or the edge of the hole is not damaged by wear or the like. It is inexpensive without increasing the size of the operation.

[Brief description of the drawings]

FIG. 1 is a schematic front view of an optical visual inspection system to which an embodiment of the present invention is applied.

FIG. 2 is a schematic plan view of the robot arm device.

FIG. 3 is a schematic side view of the robot arm device.

FIG. 4 is a partially cutaway side view in a state where the robot arm device and the bogie are combined.

FIG. 5 is a plan view of a lifting mechanism.

FIG. 6 is a side view of the lifting mechanism.

FIG. 7 is a plan view of the cart.

FIG. 8 is a side view of the cart.

[Explanation of symbols]

 2,3 Robot arm device 4,5 trolley 15-18 Elevating mechanism 20 Pivot arm 23 Free bearing 24 Connecting block 41 Holding table 50 Mounting table 51 Positioning hole 52 Positioning pin

Claims (2)

(57) [Scope of request for utility model registration] (1) Lowering a first mounting portion by lowering means,
A plate-like object transfer device for transferring a plate-like object placed on the first placement portion to a second placement portion, wherein the plate-like material transfer device is vertically movable and is placed on the first placement portion. Plate
A sub-mounting portion that receives and temporarily supports the first mounting portion during descent , and the plate that is temporarily lowered by lowering the sub-mounting portion.
Sub-descent means for transferring the object to the second mounting portion, and the sub- mounting portion descends with the lowering of the first mounting portion
When the sub-descent means is linked to the descent means,
In addition, the sub-mounting section is moved downward with the lowering of the first mounting section.
An interlocking mechanism for lowering the lower speed than the main descending speed of the first mounting portion ; 2. The first mounting portion is relatively positioned with respect to the second mounting portion.
The plate-like object placed on the first placing portion by lowering is placed on the second placing portion.
When transferring to the placing portion, the plate-like object and the second placing portion
The taper pin provided on one side and the pin provided on the other side
And transfer it while positioning and fitting
A plate-like object transfer device, wherein a base portion is rotatably supported by the second mounting portion.
The tip is disposed so as to be able to contact the first mounting portion, and the first
When the receiver is lowered relative to the second receiver,
A tilting arm that tilts in conjunction with the tilting arm, the tilting arm being mounted between a base and a tip of the tilting arm;
The first placing device which descends and descends according to the tilt of the moving arm
Temporarily supports the plate-like object from the part so that it can move horizontally.
Together with the plate-like object received from the first mounting portion.
2. A plate-like object transfer device, comprising: a sub-mounting unit for transferring to a mounting unit.