JP3046283B2 - Apparatus and method for assembling inkjet head and inkjet head - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ink jet head assembling apparatus and assembling method, in which a top plate member having nozzles corresponding to each heater is mounted on a heater board on which a plurality of heaters are formed. The present invention relates to a method and an inkjet head.

[0002]

2. Description of the Related Art In recent years, when ink is ejected and printed on paper, the ink is heated to form a bubble, and a print head for printing by a so-called bubble jet method is advantageous in improving the printing accuracy. Therefore, it has been developed and put into practical use.

[0003] In an assembling apparatus for assembling such a bubble jet type print head, a heater for heating the ink and an ink heated and boiled by this heater to form a bubble-like ink toward the paper are used. And the discharge hole of
It must be accurately positioned on the order of microns.
That is, a heater board on which a number of heaters are formed,
A top plate having an orifice plate having a large number of discharge holes must be positioned on the order of microns. For example, a printing accuracy of about 360 dpi (dots pe
In order to achieve high precision (r inch), 64 ejection holes must be arranged at regular intervals within a range of about 4.5 mm, and the arrangement pitch at this time is a fine value of about 70 μm. It becomes something.

The formation of the discharge holes at such minute intervals is as follows.
For example, by using an ultra-precision processing device such as a laser processing machine, the orifice plate attached to the front surface of the top plate member can form a discharge hole with a predetermined allowable high precision. When the heater is formed, the heater can be formed on the heater board with a predetermined high precision by using an ultra-precision etching technique.

[0005] Under such circumstances, when assembling the print head of the bubble jet system, the position of the heater on the heater board and the position of the discharge hole formed in the orifice plate are accurately matched. The top plate must be placed on the heater board and fixed.

Here, a conventional ink jet head assembling apparatus for positioning the top plate and the heater board with high accuracy as described above will be described with reference to FIG.

In the conventional ink jet head assembling apparatus shown in FIG. 35, in order to accurately position the heater board 102 and the orifice plate 108, the front and upper sides of the assembly jig 416 are provided. , A first ITV camera 440 for viewing the discharge holes formed in the orifice plate 108 from the front,
2nd ITV camera 4 which looks at the heater on the upper surface of 2 from above
42 are arranged. And these first and second
From the information on the positions of the ejection holes read by the ITV cameras 440 and 442 and the information on the positions of the heaters.
04 and the heater board 102 are accurately positioned.

That is, in the above-described conventional assembling apparatus, the operation of mounting the top plate 104 on the heater board 102 is performed in the following procedure. First, the second
The position of the heater board 102 is measured by the ITV camera 442 of FIG. Next, the top plate 104 having the orifice plate 108 is held by the hand 427 and placed on the heater board 102. Next, the position of the discharge hole of the orifice plate 108 is measured by the first ITV camera. Next, the hand 427 performs the first and second IT operations.
Based on the position information from the V cameras 440 and 442, the top plate 104 is accurately adjusted with respect to the heater board 102 in the x direction (the direction perpendicular to the paper surface) and the y direction. Then, with the top plate 104 positioned with respect to the heater board 102, a leaf spring for fixing the top plate 104 to the heater board 102 is mounted from above the heater board 102, and the heater board of the top plate 104 The operation of attaching to 102 ends.

Here, in a conventional assembling apparatus performing such an assembling operation, when a leaf spring for fixing the top plate 104 is attached to the heater board 102, the hand 42 is used.
If it is attempted to mount the leaf spring from above the heater board 102 with the top plate 104 being positioned with respect to the heater board 102 in step 7, the hand 427 hinders the plate spring and the top plate 104 and the heater board 102. 102 cannot be attached. On the other hand, if it is attempted to mount the leaf spring after releasing the holding state of the hand 427 and retracting the hand 427 from above the top plate 104, there is no restriction on the positional relationship between the top plate 104 and the heater board 102. Therefore, when the leaf spring is mounted, there is a possibility that the top plate 104 and the heater board 102 are displaced with the mounting operation of the leaf spring.

A second IT is provided above the top plate 104.
Since the V camera 442 is arranged, the second IT
The V camera 442 also hinders the mounting of the leaf spring.

For this reason, in the conventional assembling apparatus, when the top plate 104 is mounted on the heater board 102, a small amount of an ultraviolet-curing adhesive S is dropped on the heater board 102, and the ceiling plate 104 is placed on the top. The plate 104 is placed, and the top plate 10
After the position of the substrate 4 is adjusted with respect to the heater board 102, a method of curing the ultraviolet curable adhesive and temporarily fixing the adhesive is performed. That is, by temporarily fixing the top plate 104 to the heater board 102 with an adhesive, even if the hand 427 for holding the position of the top plate 104 is retracted, the top plate 104 and the heater board 102 do not shift. And the second ITV when attaching the leaf spring
When the top board 104 and the heater board 102 are moved to a position where the camera 442 does not interfere, the top board 104 and the heater board 102 are not shifted.

[0012]

However, in the above-mentioned conventional assembling apparatus, as described above, the top plate 104
When the heater is mounted on the heater board 102, it is temporarily fixed with an ultraviolet-curable adhesive, so that it takes a long time to cure the ultraviolet-curable adhesive, and there is a problem that the productivity is reduced. Was.

The step of placing the top plate 104 on the heater board 102, the step of measuring the position of the top plate 104 and the position of the heater board 102, including the step of curing the ultraviolet-curable adhesive, Since the steps of adjusting the position with respect to the heater board 102 are performed sequentially, there is a problem that it takes much time to assemble one print head, and the productivity is reduced.
To compensate for this decrease in productivity, the top plate 104
It is necessary to prepare a number of expensive assembling apparatuses including a precise stage for adjusting the position of the heater board 102 and the ITV camera, and the like, and there is a problem that the investment amount of the manufacturing line becomes high.

Accordingly, the present invention has been made in view of the above-mentioned problems, and a main object of the present invention is to provide an ink jet head assembling apparatus capable of improving productivity without preparing many expensive assembling apparatuses. And an assembling method and an inkjet head.

Another object of the present invention is to eliminate the step of temporarily fixing the top plate and the heater board with an ultraviolet-curable adhesive to assemble an ink jet head capable of improving productivity. An apparatus, an assembling method, and an inkjet head are provided.

[0016]

In order to solve the above-mentioned problems and to achieve the object, an ink jet head assembling apparatus according to the present invention comprises a head nozzle of an ink jet head which discharges ink in a predetermined pattern. An assembling apparatus for an inkjet head, comprising: a heater board having a plurality of heaters for heating ink; and a top plate member having a plurality of ejection holes from which ink heated by a corresponding heater is ejected. An index table that rotates about the center axis of the index table and is stopped and positioned at a predetermined rotation angle on the circumference, a plurality of work holding jigs arranged on the index table, and an outer side of the index table, The index table is arranged at a position facing the work holding jig indexed at each predetermined rotation angle by stopping the rotation of the index table. A plurality of work stations, wherein the plurality of work stations transfer a completed work in which the top plate member is assembled to the heater board from the work holding jig on the index table to a completed work storage tray. A first work station having first transfer means for transferring and transferring an unfinished work having a heater board from the unfinished work storage tray onto the work holding jig; and a heater board for the unfinished work. A second work station having first position detecting means for detecting the position of the top plate member, and second transfer means for transferring the top plate member from the top plate member storage tray onto the heater board; Second position detection means for detecting the position of the plate member; position information of the heater board detected by the first position detection means; and second position detection A position adjusting means for calculating a relative position between the heater board and the top plate member from position information of the top plate member detected by a step, and moving the top plate member to a predetermined relative position. A third work station having a fixing means for fixing the heater board at the predetermined relative position and a top plate member on the heater board.

In the apparatus for assembling an ink jet head according to the present invention, each of the work holding jigs on the index table holds the top plate member mounted on the heater board on the heater board. And a state in which the index table is not held by a switching means arranged outside the index table.

Further, in the ink jet head assembling apparatus according to the present invention, the switching means is arranged at least in each of the first to fourth work stations.

In the apparatus for assembling an ink jet head according to the present invention, the position calibration of the first position detecting means and the second position detecting means is performed every time a predetermined number of head nozzles are assembled. Is further provided.

Further, the method of assembling an ink jet head according to the present invention is characterized in that the head nozzle of the ink jet head which discharges ink in a predetermined pattern is rotated around a predetermined central axis and is rotated by a predetermined rotation angle on a circumference. An index table to be stopped and positioned, a plurality of work holding jigs arranged on the index table, and the outside of the index table, the index being determined for each of the predetermined rotation angles by stopping rotation of the index table. Using an assembling apparatus having a plurality of work stations arranged at positions facing the work holding jig, a heater board having a plurality of heaters for heating ink, and discharging ink heated by the corresponding heaters Of an inkjet head assembled from a top plate member with a plurality of ejection holes A positioning step of rotating and stopping the index table at the predetermined rotation angle after the step of each work station; and a first work station of the plurality of work stations, Then, the state where the top plate member is positioned and fixed on the work holding jig is released, and the completed work on the work holding jig is transferred to a completed work storage tray. A first step of transferring an unfinished work having a heater board from the completed work storage tray onto the work holding jig, and holding the transferred unfinished work on the work holding jig; In the second of the work stations, the position of the heater board is detected by the first position detecting means, and the top plate member is stored. A second step of transferring a top plate member from the tray onto the heater board and setting the top plate member holding means on the index table to a state of holding the top plate, and a second step of the plurality of work stations In the third work station, the position of the top plate member is detected by second position detection means, and the relative position between the heater board and the top plate member calculated from the detection values of the first and second position detection means. A third step of moving the top plate member such that a relative position between the heater board and the top plate member becomes a predetermined relative position based on a position, and a fourth operation of the plurality of work stations And a fourth step of fixing the top plate member positioned in the third step on the heater board in the station.

In the method of assembling an ink jet head according to the present invention, the fourth step is a step of setting a means for holding an upper portion of the top plate member in the top plate member holding means to a non-holding state. A second sub-step of fixing the top plate member to the heater board by a holding spring;
And a sub-step of

In the method for assembling an ink jet head according to the present invention, each time a predetermined number of head nozzles are assembled, the position of the first position detecting means and the position of the second position detecting means are calibrated. Is further provided.

Further, the ink jet head according to the present invention is characterized by being assembled by the assembling method according to any one of claims 5 to 7.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The construction of an embodiment of an ink jet head assembling apparatus 10 according to the present invention will be described below. [Description of Inkjet Cartridge 150 and Head Nozzle 100] First, the schematic structure of an inkjet cartridge 150 on which the head nozzle 100 is assembled by the assembling apparatus 10 according to the present invention will be described with reference to FIGS.

This ink jet cartridge 150
Is schematically constituted by an ink tank 152 and a head nozzle 100 as shown in FIG. Further, as shown in FIG. 2 and FIG.
01 and a heater board 102 positioned on the base plate 101 and provided with a heater 112 for heating ink.
And a common liquid chamber positioned on the heater board 102 for partitioning a plurality of ink flow paths, a common liquid chamber for distributing ink to each ink flow path, and a supply of ink to the common liquid chamber. A top plate 104 having a cylindrical ink receiving port 118 and the like, and a discharge port 10 which is integrally attached to a front surface of the top plate 104 and corresponds to each ink flow path.
And an orifice plate 108 having a plurality of 6.

In this embodiment, the discharge ports 106 are arranged at regular intervals over a length of about 4.5 mm, and are discharged on the heater board 102 as shown in FIG. The heaters 112 are formed at the same intervals as the intervals between the outlets 106. The print density of the head nozzle 100 is about 360 dpi (dots
per inch). [Description of Assembling Apparatus 10] Hereinafter, an assembling apparatus 10 for the head nozzle 100, which is a feature of the present invention, that is, an assembly for assembling the top plate 104 having the groove formed thereon on the heater board 102 accurately. The configuration of the assembling apparatus 10 and the assembling method will be described in detail with reference to FIGS. <Description of Overall Configuration of Assembling Apparatus 10> FIG.
FIG. 6 is a plan view showing the entire configuration of the camera shown in FIG. 5, and FIG. 6 is a perspective view of FIG. Referring to FIGS. 5 and 6,
The overall configuration of the assembling apparatus 10 will be described.

In FIGS. 5 and 6, a gantry 12 serving as a base of the assembling apparatus 10 is mounted on a floor surface of a factory or the like.
Is mounted. At a substantially central portion of the upper surface of the gantry 12, a high-precision rotary index table 14 (hereinafter, simply referred to as an index table) that rotates in a horizontal plane is mounted. This index table 14
Is configured such that a disk-shaped rotary table having a diameter of 400 mm is mounted on a columnar column having a diameter of 250 mm. In a position surrounding the index table 14 on the gantry 12, the circumference is equally divided at 90-degree intervals.
The first to fourth work stations 16, 18, 20,
22 are arranged. In FIG. 5, the work station located on the upper side is the first work station 16,
90 degrees clockwise from the first work station 16.
The second work station 18 is located at a position rotated by 90 degrees, the third work station 20 is located at a position further rotated by 90 degrees, and the fourth work station 22 is located at a position further rotated by 90 degrees. The index table 14 stores the first to fourth work stations 16 to 16.
Rotational positioning (indexing) is performed at 90-degree intervals corresponding to the 22 positions, and the positioning accuracy (indexing accuracy) is set to an extremely high accuracy of ± 1 ″.

At the center of the index table 14,
A rotary mechanism 23 for supplying compressed air to an air cylinder or the like on the index table 14 and extracting electric signals from sensors disposed on the index table 14 is provided.

On the outer peripheral portion of the upper surface of the index table 14, four clamp jigs 2 for clamping the base plate 101 on which the heater board 102 is mounted are provided.
4 are arranged at 90 degree intervals corresponding to the first to fourth work stations 16 to 22, respectively.

In the first work station 16, the work, specifically the heater board 102, which has been conveyed from left to right in the figure by the conveyance belt 26 disposed adjacent to the first work station 16. Is mounted on the clamp jig 24 from the pallet 27 by an NC auto hand 72 described later. At the same time, the finished product removed from the clamp jig 24 is transferred to the pallet 27 on the transport belt 26. Note that a return belt 28 for returning an empty pallet 27 is provided next to the transport belt 26.

Next, in the second work station 18, the heater board 1 clamped on the clamp jig 24
02 is measured, and the top plate 104 is supplied onto the heater board 102. In order to measure the position of the heater board 102, the first station 18 is provided with a first I
A TV camera 30 is provided. The first ITV camera 30 is attached to a support 34 via a stage 32 that moves the first ITV camera 30 up and down in order to focus on the upper surface of the heater board 102.

At the third work station 20, the work of adjusting the position of the top plate 104 supplied at the second work station 18 with respect to the heater board 102 is performed. In order to adjust the position of the top plate 102, the third work station 20 includes a second ITV camera 36 for viewing the position of the discharge port 106 formed in the orifice plate 108 of the top plate 104 from the front, This second ITV camera 36
A position adjustment mechanism 38 for actually adjusting the position of the top plate 104 based on visual information from the user, and a pressing mechanism 39 for abutting the top plate 104 against the position adjustment mechanism 38.
And are arranged. The second ITV camera 36 is mounted on the gantry 12 via a stage 40 that moves the ITV camera 36 in the horizontal direction in order to focus on the surface of the orifice plate 108 of the top plate 104. In addition, the position adjusting mechanism 38 includes an adjustment rod 42 for contacting the top plate 104 and pushing the top plate 104, and a stage 4 for moving the adjustment rod 42 to a desired position.
And 4.

At the fourth work station 22, the work for fixing the top plate 104 positioned at the third work station 20 to the heater board 102 (base plate 101) is performed. In order to fix the top plate 104 to the heater board 102, the fourth work station 22 includes a top plate 104.
An auto-hand 46 for mounting a holding spring 120 (to be described in detail later) for fixing the
And a supply mechanism 48 for supplying the presser spring 120 to the holding member 120. The auto hand 46 has a finger 47 at the tip. The supply mechanism 48 includes a vibrating ball feeder 50, a vibrating linear feeder 52,
And one separating mechanism 54. These are arranged on a gantry 55. And the auto hand 46
Is the pressing spring 120 separated by the single separating mechanism 54.
Is sucked by the finger 47, transported to the position of the clamp jig 24, and mounted on the top plate 104 and the base plate 101.

Next, at the right side of the gantry 12, the gantry 5
6 are arranged, and the top plate 10
The tray stocker 60 which accommodates many trays 58 accommodating the tray 4 is placed. The tray 58 is supplied from the tray stocker 60 to a position on the left side of the tray stocker 60 as necessary. Then, the top plate 104 is moved from the tray 58 to the 1
It is taken out individually.

At a position adjacent to the second work station 18 on the gantry 12, a temporary positioning table 62 for temporarily positioning the top plate 104 is arranged. After the top plate 104 is taken out of the tray 58 by the fingers 68 of the NC auto hand 70, it is temporarily placed on the temporary positioning table 62. The top plate 104 placed on the temporary positioning table 62 is mounted on the gantry 1 via a stage 64 movable in a horizontal plane.
By means of the fingers 66 arranged on the second stage 2, they are conveyed onto the clamp jig 24 from the temporary positioning table 62 and placed on the heater board 102. At this time, the top plate 104
Is positioned on the temporary positioning table with high precision, and the position is adjusted in accordance with the position of the heater board 102 by the movement of the stage 64 in the middle of the transporting process based on the determined position. Therefore, when the top plate 104 is placed on the heater board 102,
The top plate 104 is positioned substantially accurately with respect to the heater board 102.

Next, the transport belt 26 and the return belt 2
An NC auto-hand 70 having a finger 68 at the tip is disposed at a position facing the gantry 12 with respect to the frame 8. The NC auto hand 70 is mounted on the mounting table 7.
1, and is mounted on a gantry 76. And
One finger of the top plate 104 stored in the tray 58 is gripped by the fingers 68 of the NC auto hand 70 and placed on the temporary positioning table 62 described above.

On the left side of the NC auto hand 70, a base plate 101 on which a heater board 102 is mounted is mounted on a clamp jig 24 indexed from the pallet 27 to a position corresponding to the first work station 16. The NC auto hand 72 for supplying the pressure is supplied. N
A finger 73 is provided at the tip of the C auto hand 72. Then, the NC auto hand 72 also performs an operation of removing the finished product from the clamp jig 24 and transferring it to the pallet 27. The NC auto hand 72 is mounted on a gantry 76 via a mounting base 74.

A control device 78 for controlling the operation of the entire assembling apparatus 10 and an image for analyzing images taken by the first and second ITV cameras 30 and 36 are provided outside the gantry 12. An image processing device 80 is provided. <Configuration near Index Table> Next, FIG.
FIG. 7 is a partially enlarged view showing an index table in FIG. 6 in an enlarged manner.

In FIG. 7, the index table 14
The rotating mechanism 23 disposed at the center of the electrode 23 includes a ring-shaped electrode 23a stacked in a plurality of stages as shown in the figure and a contact (not shown) arranged to be in contact with the outer peripheral surface of the electrode 23a. It is schematically configured. Then, even if the index table 14 rotates and the ring-shaped electrode 23a rotates, the contact is always in contact with the electrode 23a. The rotation mechanism 23 exchanges electric signals between sensors on the index table 14 and the outside. The rotating mechanism 23 has a function of supplying compressed air to an air cylinder disposed on the index table 14 in addition to the function as the electric contact.

On the temporary positioning table 62, two actuators 62a and 62b are arranged.
The top plate 104 is temporarily positioned on the temporary positioning table 62 by the two actuators 62a and 62b.

Further, in the assembling apparatus 10, the base plate 101 on which the heater board 102 is mounted is clamped on the clamp jig 24 in the first work station 16 as described above, and the heater The top plate 104 is placed on the board 102, and the top plate 104 is placed on the heater board 102.
An upper holding member 82 and a front holding member 84 (see FIG. 8) for clamping upward are provided on the clamp jig 24. As described later in detail, the upper pressing member 82 and the front pressing member 84 are provided outside the index table 14, that is, the first driving mechanism 86 disposed on the gantry 12.
And the second drive mechanism 88.

The first drive mechanism 86 and the second drive mechanism 8
8 is disposed at a position corresponding to the second work station 18 as shown. Further, the first drive mechanism 86
Are arranged at positions corresponding to the fourth work station 22 in addition to the second work station 18. The second drive mechanism 88 is also provided at a position corresponding to the first work station 16. <Description of Clamp Jig> Next, Index Table 1
The structure of the clamp jig 24 disposed on the top 4 will be described with reference to FIGS. Here, for convenience of explanation, it is assumed that the x-axis, the y-axis, and the z-axis are defined as shown in FIG.

In FIG. 8, a base plate 202 serving as a base of the clamp jig 24 is provided with an index table 1.
4 is fixed to the upper surface. A substantially rectangular parallelepiped jig body 204 is fixed to the upper surface of the base plate 202, and the base plate 101 on which the heater board 102 is mounted is clamped to the upper surface of the jig body 204. 8, three positioning pins 206a and 206b for positioning the base plate 101 with respect to the jig main body 204 are provided on the upper surface of the jig main body 204, as shown in FIG. , 206c are arranged.

Jig body 204 on base plate 202
Posts 208, 210 are provided upright at the left and right positions. An x-direction clamp lever 212 for urging the base plate 101 in the direction along the x-axis and pressing against the positioning pins 206a and 206b is rotatable in a horizontal plane on the upper surface of the column 208 among these two columns. Attached to. The x-direction clamp lever 212 is driven by an air cylinder 216 attached to a support substrate 215 erected on the base plate 202 to rotate counterclockwise as viewed from above, thereby positioning the base plate 101. Press against pins 206a, 206b. The x-direction clamp lever 212 is urged by a spring (not shown) so as to rotate in the clockwise direction.
In a state where the air cylinder 216 is not operating (a state where the piston rod is retracted), the rear surface of the air cylinder 216
And is positioned in contact with the tip of the piston rod.

Further, the base plate 1
01 in the direction along the y-axis, and the positioning pin 206c
A y-direction clamp lever 214 for pressing the lever is rotatably mounted in a horizontal plane. The y-direction clamp lever 214 is connected to the air cylinder 22 mounted on a support substrate 218 erected on the base plate 202.
0, the base plate 101 is driven to rotate in a counterclockwise rotation direction when viewed from above, and presses the base plate 101 against the positioning pin 206c. The y-direction clamp lever 214 is urged by a spring (not shown) to rotate clockwise, and in a state where the air cylinder 220 is not operating (a state where the piston rod is retracted). The back surface is in contact with the tip of the piston rod of the air cylinder 220 and is positioned.

Also, at the positions on both sides of the jig body 204,
Support portions 222a and 222b are formed. These support portions 222a and 222b are provided with z-direction clamp levers 224a and 224b, respectively, with rotating shafts 226a and 226b.
It is mounted so as to be rotatable in a vertical plane around the center. The distal ends of the piston rods of the air cylinders 228a and 228b mounted on the base plate 202 are connected to the rear ends of these z-direction clamp levers 224a and 224b. Therefore, the air cylinders 228a, 228a
When the piston rod 28b is operated in the retracting direction, the distal ends of the z-direction clamp levers 224a and 224b are raised, and the base plate 101 is in an unclamped state with respect to the jig main body 204. Also, the air cylinder 228
When the piston rods 228a and 228b are operated in the pushing direction, the z-direction clamp levers 224a and 224b are operated.
Is lowered, the base plate 101 is pressed onto the jig main body 204 and clamped.

Further, a support portion 222c is formed behind the jig body 204, and the support portion 222c has
A z-direction clamp lever 224c is rotatably mounted in a vertical plane by a rotation shaft 226c. The distal end of a piston rod of an air cylinder 228c mounted on the base plate 202 is connected to the rear end of the z-direction clamp lever 224c. Therefore, when the piston rod of the air cylinder 228c is operated in the retracting direction, the distal end of the z-direction clamp lever 224c rises, and the unclamped state is set. When the piston rod of the air cylinder 228c is operated in the pushing direction, the tip of the z-direction clamp lever 224c is lowered, and the base plate 101 is pressed against the jig body 204 and clamped.

Next, in front of the jig main body 204 (on the outer peripheral side of the index table), support substrates 230a and 230b
Are fixed, and these support substrates 230a, 230
The front holding member 84 is rotatably supported between the members b through a rotation shaft 232. This front holding member 84
Is a top plate 104 placed on the upper surface of the heater board 102
Press down on the orifice plate 108 from the front,
It has a function of clamping the top plate 104 on the heater board 102. The front holding member 84 is connected to the rotating shaft 2.
32, and a pressing spring 84b attached to the front pressing member body 84a.
And a click spring 84c attached to the lower end of the front holding member body 84a.

The state shown in FIG. 8 shows a state in which the top plate 104 has been released from the clamping state of the top plate 104 by the front pressing member 84. The triangular portion of the lower end of the click spring 84c is bent on the base plate 202. The posture of the front holding member 84 is maintained by dropping into the first groove 234a of the grooved plate 234 attached to the first holding member 84. FIG. 11 is a view of the state of the front pressing member 84 viewed from the side.
Is shown by a two-dot chain line.

On the other hand, on the gantry 12, as described above, the front holding member 84 is driven to switch between a state where the top plate 104 is clamped to the heater board 102 and a state where the clamp is released. A two drive mechanism 88 is attached. The second drive mechanism 88 is roughly composed of a support substrate 88a fixed on the gantry 12, and two air cylinders 88b and 88c attached to the support substrate 88a. That is, when the piston rod is pushed out by operating the air cylinder 88b disposed on the upper side, the front holding member 84 is pushed by the tip of the piston rod and rotates around the rotation shaft 232 as a fulcrum,
The upper end is moved in the direction indicated by arrow C. By this operation, the orifice plate 108 of the top plate 104
The pressing spring 84b is pressed against the heater board 102 by the distal end and clamped (shown by a solid line in FIG. 11). Further, with the rotation of the front pressing member 84, the lower end of the click spring 84c is moved to the first groove 2 of the grooved plate 234.
34a, falls into the second groove 234b,
The front holding member 84 is held in a state where the top plate 104 is clamped.

The air cylinder 88 disposed on the lower side
When the piston rod is pushed out by the operation of c, the front holding member 84 is pushed by the tip of the piston rod and rotates around the rotation shaft 232 as a fulcrum, and the upper end thereof is indicated by an arrow D. In an unclamped state as shown in FIG.

The second drive mechanism 88 is connected to the first work station 16 and the second work station 18 on the gantry 12.
It is arranged at the position corresponding to.

Next, an upper pressing mechanism for pressing the top plate 104 against the heater board 102 from above will be described with reference to FIG. 8 and FIG. 11 which is a sectional side view of FIG. I do.

A substantially cylindrical guide cylinder 236 is fixed to the side of the jig main body 204 with its central axis extending vertically. A slide shaft 238 is fitted in the guide cylinder 236, and the upper holding member 82 described above is attached to the upper end of the slide shaft 238. The upper pressing member 82 is provided with an upper pressing member main body 8 fixed to the upper end of the slide shaft 238.
2a and a pressing spring 82b attached to the tip of the upper pressing member main body 82a.

At a portion slightly below the upper end of the slide shaft 238, the slide shaft 23 extends along the horizontal direction.
8, a positioning pin 240 is attached to the upper end of the guide cylinder 236, and grooves 236a and 236 orthogonal to each other engage with the positioning pin 240.
b is formed. When the positioning pin 240 falls into one of the two grooves 236a and 236b,
The rotation of the upper holding member 82 in the horizontal plane is regulated.

Here, in the state shown in FIG. 8, the positioning pin 240 has fallen into one of the grooves 236a, and the upper pressing member 82 presses the top plate 104 to the heater board 102 by the pressing spring 82b at the tip. (Clamp position). From this state, the slide shaft 238 is once slid upward, the positioning pin 240 is disengaged from the groove 236a, and then the upper holding member 82 is rotated clockwise as viewed from above.
By rotating the positioning pin 240 into the groove 240b by rotating it by 0 degrees, the upper pressing member 82 is held in a state where the pressing of the top plate 104 is released as shown by a two-dot chain line in FIG. (Retreat position).

The mechanism for rotating the upper holding member 82 between the clamp position and the retracted position will be further described.

At the lower end of the slide shaft 238, a coupling member 242 composed of a disk-shaped main body 242a and a cross-shaped projection 242b formed to protrude downward from the main body 242a is attached. I have. The coupling member 242 is configured to engage with a cross-shaped recess of the coupling member 252 provided on the first drive mechanism 86 disposed on the gantry 12.

Here, the above configuration will be described in more detail with reference to FIG. In FIG. 11, the guide cylinder 236
A compression spring 246 is mounted between the lower end of the slide shaft 238 and a fixing ring 244 attached to the slide shaft 238. The slide shaft 238 is formed by the compression spring 246.
Is constantly biased downward with respect to the guide cylinder 236.
The slide shaft 2 is driven by the urging force of the compression spring 246.
The fixing pin 240 attached to the two
6a and 236b, the rotation of the upper pressing member 82 in the horizontal direction is restricted. The compression spring 24
6 is set to be larger than the urging force of the pressing spring 82b, so that when the upper pressing member 82 is located at the clamp position shown in FIG.
The reference numeral 40 is dropped into the groove 236b, and the top plate 104 is pressed against the heater board 102 by the urging force generated by the bending of the pressing spring 82b.

On the other hand, as described above, the first
A driving mechanism 86 is provided, and the first driving mechanism 86
Is composed of a main body 248 fixed to the gantry 12, and a rotary air cylinder 250 attached to the main body 248 with the central axis thereof extending along the vertical direction. The rotary air cylinder 250 has a function of vertically moving the piston rod 250a and a function of rotating the piston rod 250a.

The coupling member 252 having the cross-shaped recess as described above is attached to the tip of the piston rod 250a of the rotary air cylinder 250. As shown, when the piston rod 250a of the rotary air cylinder 250 is retracted, the slide shaft 238
Is located at the lowered position by the urging force of
Numeral 40 is in a state of being dropped into one of the grooves 236a and 236b. Then, from this state, when the rotary air cylinder 250 operates and the piston rod 250a is pushed upward, the coupling member 252 rises through the through hole 14c formed in the index table 14, and the coupling member 252 rises. 252 and coupling member 242
Are engaged. Then, the piston rod 250a and the slide shaft 238 can be integrally rotated. At the same time, the slide shaft 238 rises against the urging force of the compression spring 246 due to the rise of the piston rod 250a, and the positioning pin 240 moves the grooves 236a, 23.
6b, the slide shaft 238 becomes rotatable. In this state, the piston rod 250a of the rotary air cylinder 250 is rotated by 90 degrees, and the piston rod 250 is retracted again, whereby the upper holding member 82 is moved to the clamp position and the retreat position,
Positioned.

The first drive mechanism 86 is mounted on the gantry 12
It is arranged at a position corresponding to the second work station 18 and the fourth work station 22 above. <Schematic description of top plate mounting operation> In the assembling apparatus 10 configured as described above, the base plate 1 of the top plate 104
01 (heater board 102) is generally performed by the following procedure.

First, at the second work station 18, when the top plate 104 is placed on the heater board 102, the first and second drive mechanisms 86 and 88 operate to operate the upper holding member 82 and the front holding member 82. With 84, the top plate 104 is clamped on the heater board 102. After this clamping operation is completed, the top plate 104 is
2, the first and second driving mechanisms 86 and 88 are disengaged from the index table 14, and the index table 14 is in a rotatable state. is there.

In this state, the index table 14 is rotated, and the clamp jig 24 on which the top plate 104 and the heater board 102 are placed is moved to a position corresponding to the third work station 20 and positioned. Then, in the third work station 20, the top plate 104 is kept pressed against the heater board 102 by the upper pressing member 82 and the front pressing member 84, and the position adjusting mechanism 38 is , The position is finely adjusted. Upper holding member 82 and front holding member 84
Means that the top plate 104 is pressed against the heater board 102 by a spring force.
02 can be slightly moved, and the position of the top plate 104 can be adjusted.

When the position adjustment of the top plate 104 with respect to the heater board 102 is completed in the third work station 20, the index table 14 is rotated, and the clamp jig 24 is moved to a position corresponding to the fourth work station 22. . And this fourth work station 2
In 2, first, the first drive mechanism 86 operates to retract the upper pressing member 82 from above the top plate 104. next,
The holding spring 120 is moved to the base plate 1 by the auto hand 46.
01, and the top plate 104 is fixed to the heater board 102. Thereafter, the clamp jig 24 is moved to a position corresponding to the first work station 16. Then, the second drive mechanism 88 operates to move the front holding member 84 to the top plate 10.
4. Withdraw from the position where 4 is clamped.

As described above, in the assembling apparatus 10 of the embodiment, the member for actually clamping the top plate 104 is provided on the clamp jig 24 on the index table 14, and the mechanism for driving the member for clamping is provided. It is provided outside the index table 14. <Description of Third Working Station> Next, FIG.
FIG. 2 is a plan view partially showing a configuration of a work station 20.

In FIG. 12, the position on the gantry 12 in front of the clamp jig 24 is the second position for observing the position of the discharge port 106 formed in the orifice plate 108 of the top plate 104 as described above. The objective lens 36a of the ITV camera 36 is arranged. The objective lens 36a
A position adjustment mechanism 38 for positioning the position of the top plate 104 with respect to the heater board 102 is disposed at a position on the left pedestal 12. This position adjusting mechanism 38
As described above, the stage 44 includes the stage 44 disposed on the gantry 12 and movable along the x-axis, and the adjustment rod 42 attached to the stage 44.

At the position on the right side of the objective lens 36a, a pressing mechanism 39 for abutting the top plate 104 against the adjustment rod 42 is arranged. The pressing mechanism 39 includes a y-direction slide table 260 disposed on the gantry 12 and sliding in the y direction, an x-direction slide table 262 disposed on the y-direction slide table 260 and sliding in the x direction, This x-direction slide table 2
62 and a leaf spring 264 attached to the plate spring 264. Therefore, the leaf spring 264 is moved by the x-direction slide table 262 and the y-direction
It is movable in the y direction, and when the index table 14 rotates, it is retracted to a position away from the clamp jig 24 as shown. Then, after the index table 14 stops and the clamp jig 24 is positioned at a position corresponding to the third work station 20, the leaf spring 264 is first moved in the y direction (upward in the drawing), 24 to the right side of the top plate 104. Then, the leaf spring 264 is moved in the x direction (left direction) from there, and pushes the top plate 104 from the right side to the left side in the figure, and adjusts the left end surface of the top plate 104 to the adjustment rod 4.
2 and press it against the tip.

At this time, the adjusting rod 42 of the position adjusting mechanism 38
When the left end surface of the top plate 104 abuts on the end surface,
The position of the top plate 104 is adjusted so as to be slightly shifted leftward from the desired position. Therefore, the position adjusting mechanism 38 adjusts the position of the top plate 104 to a desired position with respect to the heater board 102 by moving the adjusting rod 44 to the right by a small amount. In this way, the top plate 104 is accurately positioned with respect to the heater board. <Description of Arrangement of Air Cylinder> Next, FIG. 13 is a diagram schematically showing the arrangement of the air cylinder in the assembling apparatus 10.

First, at the first work station 16, air cylinders 88 b and 88 c constituting a second drive mechanism 88 for driving the front holding member 84 are arranged.

In the second working station 18, similarly to the first working station 16, air cylinders 88 b and 88 c constituting a second driving mechanism 88 are arranged, and a rotary air cylinder constituting a first driving mechanism 86 is provided. A cylinder 250 is arranged.

The third work station 20 has an x-direction slide table 262 and a y-direction slide table 262 constituting a pressing mechanism 39.
Air cylinders 262a and 262b for driving the direction slide table 260 are arranged.

In the fourth working station, a rotary air cylinder 250 constituting the first drive mechanism 86 is arranged. <Structure of Assembling Finger 47 of Holding Spring 120> Next, the structure of the assembling finger 47 of the holding spring 120 will be described with reference to FIGS.

FIG. 14 is a side sectional view showing the structure of the assembly finger 47. In FIG. 14, the main body 270 of the finger 47 is formed in a shape extending in the vertical direction, and a through hole is formed on the center axis thereof. The diameter of this through hole is changed in three stages, and a substantially cylindrical pushing member 272 is slidably mounted in the vertical direction on the inner peripheral surface of the smallest hole 270a located at the lowest position. I have. A flange portion 272a is formed at the upper end of the pushing member 272, and the flange portion 272a is formed.
Is fitted to the inner peripheral surface of the hole 270b having an intermediate diameter. A female screw portion is formed on the inner peripheral surface of the largest diameter hole 270c located at the uppermost portion of the main body 270, and a stopper member 274 formed with a male screw screwed into the female screw portion. The hole 270c is sealed. A compression spring 276 is disposed between the lower surface of the stopper member 274 and the upper surface of the flange portion 272a of the pushing member 272, and the pushing member 272 is constantly urged downward. And the pushing member 2
The lower surface of the flange portion 272a of the 72
70b, the pushing member 27
2 is prevented from falling off from the main body 270.

On the other hand, the center of the pushing member 272
Through holes of varying diameter are formed. A substantially cylindrical guide rod 27 is provided on the inner peripheral surface of the smallest diameter hole 272a located at the bottom of the pushing member 272.
8 is mounted slidably in the vertical direction. A flange 278a is formed at the upper end of the guide rod 278, and the outer peripheral surface of the flange 278a is fitted to the inner peripheral surface of the hole 272b having an intermediate diameter. Then, the largest diameter hole 272c located at the top of the pushing member 272
A female screw portion is formed on the inner peripheral surface of the hole 272c, and a set screw 280 screwed into the female screw portion forms a hole 272c.
Is sealed. A compression spring 282 is disposed between the lower surface of the set screw 280 and the upper surface of the flange 278a of the guide bar 278, and the guide bar 278 is constantly urged downward. The lower surface of the flange portion 278a of the guide rod 278 abuts against the lower surface of the hole 272b having an intermediate diameter, so that the guide rod 278 does not fall out of the pushing member 272.

The pushing member 272 is formed with a tunnel-shaped hole 272d for adsorbing the holding spring 120 at both sides of the through hole. An upper portion of the hole 272d is provided with a through hole 272 opened on the outer wall of the pushing member 272.
e. On the other hand, the main body 270 has a through hole 270 so as to surround the opening of the through hole 272e.
d is formed. Both ends of this through hole 270d
As shown in FIG. 15, it is sealed by a sealing member 286. The through hole 270d and the through hole 27
A pipe 284 for sucking air from the distal end of the hole 272d is connected through the port 0e. <Mounting operation of holding spring 120> Next, the holding spring 120 is moved to the top plate 10 by the finger 47 configured as described above.
4 and the operation of mounting the base plate 101 will be described with reference to FIGS.

Here, before describing the procedure for mounting the holding spring 120, the shape of the holding spring 120 will be described first.

As shown in FIGS. 16 and 17, the pressing spring 120 is connected to the flat portion 120a formed at the center portion, the upright bent portion 120b connected to both sides thereof, and the upright bent portion 120b. , The hook 12 bent downward
0c and the fall prevention portion 1 connected to the rear portion of the flat portion 120a and bent in a direction falling from the flat portion 120a.
20d. And the plane part 12
A through hole 120e, into which the ink receiving port 118 of the top plate 104 enters, is formed in the center portion of Oa.

Next, the operation of mounting the holding spring 120 will be described.

The mounting operation of the pressing spring 120 is performed in the fourth
This is performed at the work station 22. In the state shown in FIG. 16, the top plate 104 is already accurately positioned with respect to the heater board 102. The upper pressing member 82 is retracted from above the top plate 104, and the top plate 104 is clamped to the heater board 102 from the front of the top plate 104 by only the front pressing member 84.

First, as shown in FIG. 16, air is sucked from the tip of the hole 272 d of the pushing member 272 of the finger 47, and the holding spring 120 is attracted to the tip of the finger 47. At this time, the tip of the guide rod 278 is
20, the position of the holding spring 120 in the horizontal plane with respect to the finger 47 is regulated. Also,
A projection 272f is formed at the tip of the pushing member 272 as shown in FIG.
Abuts against a falling portion 120f formed at the rear end of the holding spring 120 so that the holding spring 120 is prevented from rotating in a horizontal plane.

As described above, the pressing spring 1 is
The finger 47 is lowered with respect to the top plate 104 from the position shown in FIG. At this time, the tip of the guide rod 278 first contacts the upper end of the ink receiving port 118 of the top plate 104, and the top plate 104 is pressed against the heater board 102 from above and clamped. That is, in a state where the tip of the guide rod 278 is in contact with the upper end of the ink receiving port 118, the top plate 104
And the guide rod 278 is clamped to the heater board 102.

When the finger 47 is further lowered from this state, as shown in FIG. 18, the guide rod 278 is pushed up against the urging force of the compression spring 282, and is pushed into the pushing member 272. Accordingly, the upper end of the standing bent portion 120b of the holding spring 120 is
72, the lower end of the hook 120c enters the through hole 101a formed in the base plate 101.

When the finger 47 is further lowered, the lower end of the pushing member 272 pushes down the upright bent portion 120b of the pressing spring 120 downward as shown in FIG. A bent portion 120g formed at the lower end of the portion 120c is hooked on a hook portion 101b formed on the base plate 101, and the holding spring 120 is
It is fixed to the base plate 101. In this state, as shown in FIG. 20, a falling portion 120h formed at the front end of the presser spring 120 comes into contact with the upper surface of the top plate 104, and the top plate 104 is placed on the base plate 101 (heater board 102) from above. ). Thereafter, the finger 47 is retracted from above the top plate 104, and the pressing spring 1
The mounting operation of No. 20 is completed. In this way, the holding spring 120 is attached to the top plate 104 and the base plate 101.

FIG. 21 is a perspective view showing a state in which the holding spring 120 is attached to the top plate 104 and the base plate 101. <Calibration Parts> In the assembling apparatus 10 of the embodiment, the first ITV camera 30 photographs the heater board 102 from above at the second work station 18, detects the position of the heater board 102, and detects the position based on the position information. At the third work station 20, the top plate 1 is moved by the second ITV camera 36.
The top plate 104 is positioned with respect to the heater board while photographing the camera 04 from the front. for that reason,
It is necessary that the positional relationship between the first ITV camera 30 and the second ITV camera 36 be accurately grasped. for that reason,
In the assembling apparatus 10 according to the embodiment, the calibration work of these two ITV cameras 30 and 36 is performed every predetermined cycle. Hereinafter, the calibration parts used for this calibration work will be described.

FIG. 23 is a perspective view showing the structure of the calibration component.

The calibration component 290 comprises a main body 290a formed in the same shape as the base plate 101, and a calibration section 290b formed on the main body 290a. The calibration section 290b is formed in substantially the same shape as the heater board 102, and has a groove 290c at a position corresponding to the heater 112 on the heater board 102. This groove 29
0c between the first ITV camera 30 and the second
By shooting with the TV camera 36, these ITV
Calibration of the positions of the cameras 30 and 36 is performed. Calibration part 2
The reference numeral 90 is normally disposed at a standby position outside the index table 14, and is carried from this standby position to the clamp jig 24 on the index table 14 by the NC auto hand 72 every predetermined calibration cycle. Calibration part 2
Since the main body 290a of the 90 is formed in the same shape as the base plate 101, the calibration component 290 is clamped on the clamp jig 24 just like the base plate 101. Then, while the index table 14 rotates and the clamp jig 24 moves between the first work station 16 and the fourth work station 22, the calibration work of the first and second ITV cameras 30, 36 is performed. . When the index table 14 makes one rotation and the clamp jig 24 returns to the first work station 16, the calibration component 290 is returned to the original standby position. [Description of Operation of Assembling Apparatus 10] The operation of the assembling apparatus 10 configured as described above will be described below. <Overall Operation> FIG. 23 is a flowchart showing the overall operation of the assembling apparatus 10. Referring to FIG. 23, assembling apparatus 1
The general operation of the whole 0 will be described. Steps surrounded by double lines in the figure indicate subroutines, and the detailed contents thereof will be described in detail after describing the entire operation.

When the assembling apparatus 10 is started, first,
In the first work station 18, step S12
In (2), the completed product (having the top plate 104 mounted on the heater board 102) that has already been assembled is transferred from the clamp jig 24 to the pallet 27 on the transport belt 26.
Is discharged. At the same time, the unfinished base plate 101
Is placed on the clamp jig 24 from the pallet 27.

In parallel with the operation of the first work station 16, in the second work station 18, the position of the heater board 102 is measured by the first ITV camera 30 in step S16. When the operation of measuring the position of the heater board 102 is completed, step S
At 18, an operation of placing the top plate 104 on the heater board 102 is performed.

Further, in the third work station 20, in step S20, the top plate 20 is
By 9, an operation of abutting against the adjustment rod 42 of the position adjustment mechanism 38 is performed. When this abutment operation is completed, in step S22, an operation of adjusting the position of the top plate 104 with respect to the heater board 102 while measuring the position of the top plate 104 with the second ITV camera 36 is performed.

In the fourth work station 22, in step S24, the work of mounting the pressing spring 120 on the top plate 104 and the base plate 101 is performed.

The first work station 16 to the fourth work station 16
The operation of the work station 22 is performed in parallel,
When the work of each work station is completed, a completion signal indicating that the work has been completed is output from each work station. Based on the completion signals output from these work stations, the control device 78 determines in step S26 whether all the work in the first to fourth work stations 16 to 22 has been completed. In step S26, when all the operations of the first to fourth work stations 16 to 22 have been completed, the control device 78 rotates the index table 14 by 90 degrees.

In parallel with the rotation of the index table 14, in step S28, the base plate 101 supplied onto the clamp jig 24 is clamped. In step S32, the control device 78 determines whether the rotation operation of the index table 14 and the clamping operation of the base plate 101 have both been completed. In step S32, if the above two operations have been completed, one cycle of operation has been completed, and the clamp jig 2 on which the finished product is placed is placed at the position of the first work station 16.
4 has been calculated. Then, returning to the start, each work station repeats the same operation again, so that finished products are discharged onto the pallet 27 one after another. <Description of Subroutine> Next, each subroutine will be described in detail. In the following description, one clamp jig among the four clamp jigs arranged on the index table 14 will be noted, and this clamp jig moves from the first work station to the fourth work station. The contents of each subroutine will be described according to the flow of the assembly work during the operation. << Explanation of the operation of the first work station >> (Finished product discharge and unfinished product supply) First, before explaining the flow chart showing the operation of the finished product discharge and unfinished product supply, the completed product discharge and unfinished product supply will be described. The basic operation of supply will be described.

First, referring to FIG.
The base plate 101 to which is attached is transported by the pallet 27 from the left to the right of the transport belt 26 in FIG.
2 at a position corresponding to the first work station 16. On the pallet 27, as shown in FIG.
Four positioning portions 32a to 32d for positioning the base plate 101 are provided.
The unfinished base plate 101 (B) to which the mounting plate 4 is mounted has two positioning portions 32a,
32c. On the remaining two positioning portions 32b and 32d, a finished product B '(base plate 101 to which the top plate 104 is already attached) removed from the clamp jig 24 as described later is placed.

This will be described in more detail. In FIG. 24A showing a state in which the pallet 27 has been transported to a position corresponding to the first work station 16, the one denoted by reference numeral B is the unfinished base plate 101. Here, the finger 73 attached to the tip of the NC auto hand 72 sucks the unfinished base plate 101 and supplies it to the clamp jig 24, and sucks the finished product from the clamp jig 24. A second finger 73b to be placed on the pallet 27. The first finger 73a and the second finger 73b are arranged adjacent to each other, and as shown by a two-dot chain line in the figure, when the first finger 73a is located at a position corresponding to the positioning portion 32a, The second finger 73b is located at a position corresponding to the positioning portion 32b. That is, the suction operation of the unfinished product B and the discharge operation of the finished product B 'can be performed by one positioning.

Therefore, during the normal cycle, the finger 7
3 is positioned on the pallet 27 in a state where the finished product B 'completed in the previous processing cycle is sucked,
Above, the unfinished product B is picked up from the positioning portion 32a by the first finger 73a, and at the same time, the second finger 73 is picked up.
The finished product B 'adsorbed by b is moved to the positioning section 32b. Thereafter, the finger 73 is moved onto the clamp jig 24, and the second finger 73b is positioned at a position immediately above the finished product B '. Then, the second finger 73b sucks the completed product B ', and removes the completed product B' from the clamp jig 24. Next, the second finger 73b is retracted from a position directly above the clamp jig 24, the first finger 73a is positioned at a position directly above the clamp jig 24, and the unfinished product B is placed on the clamp jig 24. Placed on That is, the operation of supplying the unfinished product B to the clamp jig 24 and the operation of discharging the finished product B 'to the pallet 27 are performed simultaneously. Therefore, when this operation is completed, the pallet 2
7 is in a state as shown in FIG.

The same operation is performed on the unfinished product B arranged in the positioning portion 32c, so that the finished product B 'is placed on the pallet 27 as shown in FIG. Only two are placed. Then, the pallet 27 is sent to the next step. Here, pallet 2
7 has a configuration in which two workpieces are placed. This is because two workpieces are taken in relation to the processing machine in the next process. In the case of this embodiment only, one workpiece is taken. no problem. Further, the simultaneous placing operation of the unfinished product B and the finished product B 'on the pallet 27 is performed in order to shorten the tact time.
The storage operation may be performed by one finger.

By the operation as described above, the finished product B 'is placed on the pallet 27 and the unfinished product B is supplied from the pallet 27.

Under such a premise, the operation of discharging the finished product and supplying the unfinished product in the first work station 16 will be described with reference to the flowchart shown in FIG.

First, when one cycle of the assembling operation is completed, the index table 14 is rotated 90 degrees clockwise in FIG. 5, and the clamp jig 24 is moved from the fourth work station 22 to the first work station 16. Positioned. At this time, the upper holding member 84 that clamps the top plate 104 from above is attached to the fourth work station 2.
At 2, it has already been set to the retracted position. This operation will be described later at the same time when the operation in the fourth work station 22 is described.

Next, in step S102, the gantry 1
The air cylinder 88c of the second drive mechanism 88 disposed on the second work station 16 corresponding to the first work station 16 is operated, and the piston rod is pushed out. Is rotated in the direction of arrow D. As a result, the holding spring 84b retracts from the orifice plate 108 of the top plate 104, and the top plate 104 enters an unclamped state. At this time NC
The auto hand 72 sucks the unfinished base plate 101 (unfinished product shown in FIG. 25B) from the pallet 27 by the first finger 73a, and stands by above the clamp jig 24.

Next, in step S104, the NC
The auto hand 72 descends and the NC auto hand 7
The second second finger 73b starts sucking the completed product (the top plate 104 is attached to the base plate 101) on the clamp jig 24. At the same time as the start of this suction operation,
Air cylinders 216, 2 arranged on clamp jig 24
The piston rods 20, 20, 228a, 228b, 228c (see FIG. 8) are retracted, and the clamped state of the base plate 101 is released. Therefore, the finished product is removed from the clamp jig 24 by the second finger 73b of the NC auto hand 72.

Next, in step S106, after the fingers 73 (the first finger 73a and the second finger 73b) of the NC auto hand 72 once rise, the first finger 73a that has absorbed the unfinished base plate 101 is clamped. It is positioned just above the tool 24. Then, when the fingers 73 are lowered again and the unfinished base plate 101 comes into contact with the clamp jig 24, the suction of the unfinished base plate 101 is released. With this operation, the unfinished base plate 101 is placed on the clamp jig 24.

When the operation of placing the unfinished base plate 101 is completed, the finger 73 is set to NC in step S108.
It is raised by the operation of the automatic hand 72, moves to the position of the pallet 27, and places the finished product on the pallet 27.
Thereafter, the NC auto hand 72 outputs a completion signal indicating that the work in the first work station 16 has been completed, and returns to the start. (Positioning of Base Plate 101) Next, the operation of positioning the unfinished base plate 101 on the clamp jig 24 will be described with reference to the flowchart shown in FIG. 26 and FIGS.

First, in step S120, FIG.
The air cylinder 216 shown in FIG. 9 operates to push the piston rod forward. As a result, the x-direction clamp lever 212 rotates in the counterclockwise direction to press the base plate 101 against the positioning pins 206a and 206b, thereby performing the x-direction positioning.

Next, in step S122, the air cylinder 220 is operated, and the y-direction clamp lever 214 is operated.
Is rotated counterclockwise. Thus, the base plate 101 is pressed by the y-direction clamp lever 214 and pressed against the positioning pins 206c, thereby performing the positioning in the y-direction.

Next, in step S124, the piston rod of the air cylinder 216 is retracted to perform x.
The clamped state by the direction clamp lever 212 is temporarily released.

Next, in step S126, the piston rod of the air cylinder 216 is pushed out, and the base plate 101 is again pressed against the positioning pins 206a and 206b by the x-direction clamp lever 212. The operation of positioning the base plate 101 with respect to the clamp jig 24 is performed by the operations of these steps S120 to S126. As described above, after the clamping in the y direction, the clamping in the x direction is once released, and the clamping operation in the x direction is performed again, thereby reproducing the positioning accuracy when the base plate 101 is positioned on the clamp jig 24. The performance is improved.

When the positioning in the x-direction and the y-direction is completed by the above-described operation, in step S128, the air cylinders 228a, 228b, and 228c are operated.
The z-direction clamp levers 224a, 224b, 224c rotate around the rotation shafts 226a, 226b, 226c, respectively, and the base plate 101 is clamped in the z-direction.

Thus, the clamp jig 2 for the base plate 101
The positioning operation for No. 4 is completed. << Description of operation during movement from first work station to second work station >> Next, index table 14
Is performed, but as described above, the air cylinders 216, 220, 228a,
The supply of compressed air to 228b and 228c is performed via a rotation mechanism 23 disposed at the center of the index table 14. Therefore, even while the index table 14 is rotating, the air cylinders 216, 220, 228a, 22
8b and 228c are supplied with compressed air, and these can be operated. Therefore, in order to reduce the tact time, the above-described positioning operation is started when the index table 14 is stopped, and is continuously performed while the index table 14 is rotating. Therefore, as soon as the base plate 101 is placed on the clamp jig 24 and the fingers 73 are retracted from the clamp jig 24, the index table 14 can be rotated immediately. However, the index table cannot rotate until all the operations of the other second to fourth work stations 18 to 22 are completed.
4, the index table 14 does not start rotating at the same time. << Description of Operation of Second Working Station >> Next, an assembling operation in the second working station 18 will be described. As described above, while moving from the first work station 16 to the second work station 18, the base plate 101 is positioned with respect to the clamp jig 24 and the clamp jig 2.
When the position 4 is stopped at the position corresponding to the second work station 18, the base plate 101 is clamped while being positioned with respect to the clamp jig 24. (Measurement of Position of Heater Board) The operation of measuring the position of the heater board 102 will be described with reference to the flowchart shown in FIG.

First, in step S130, the jig number of the clamp jig 24 currently positioned at the position of the second work station 18 is checked.

Since the height information of the clamp jig corresponding to each jig number has already been stored in the storage section in the control device 78, in step S132, this clamp jig 2
The reference position data of each clamp jig based on the height information of No. 4 is called from the storage unit.

In step S134, the stage 32 is moved up and down based on the reference position data so that the first ITV camera 30 comes to the reference position with respect to the clamp jig 24.

In step S136, the first ITV camera 30 positioned at the reference position captures an image of the heater board 102 mounted on the base plate 101, and an auto focus unit (not shown) outputs an image from the ITV camera 30. The focus position is detected based on the signal.

In step S138, the control device 78
The stage 32 is moved based on the detection signal from the autofocus unit, and the focus of the ITV camera 30 is adjusted to the heater 112 on the surface of the heater board 102. At this time, the vertical movement amount of the stage 32 is measured and stored in the storage unit as height information of the surface of the heater board 102.

Next, in step S140, the first ITV
With the camera 30 focused on the surface of the heater board 102, the first ITV camera 30
The surface of the heater board 102 is photographed.

In step S142, the image information photographed by the first ITV camera 30 is stored in the image processing device 80.
To be transmitted.

Here, the image processing device 80 is composed of various signal converters, performs operations such as calculation of the position of the center of gravity of the captured image, edge detection, etc., and measures the position of a specific object in the captured image. It is configured to perform. And
In the present embodiment, the image processing apparatus 80 includes the x of the heater 112 formed on the surface of the heater board 102.
The position in the y direction is measured.

An identification mark is formed on the heater board 102 at a position corresponding to the specific heater 112,
Thus, the position of the specific heater 112 can be measured. In this embodiment, this specific heater is set as the first-most heater in FIG. 3 (the leftmost heater as viewed from the direction of the arrow), and this heater is hereinafter referred to as a first heater. The reference numeral 112a is assigned. The positioning accuracy of the index table 14, the shape accuracy of the clamp jig 24, the shape accuracy of the base plate 101, and the heater board 102 with respect to the base plate 101
Is determined by the position of the first heater 112a and the position of the first heater 112a.
So that the positional deviation of the first ITV camera 30 from the ITV camera 30 in the xy direction is 1/10 or less of the field of view of the first ITV camera 30.
The identification mark is set to the first IT
There is no deviation from the field of view of the V camera 30.

In step S144, the image processing device 80
Thus, the position of the first heater 112a in the xy directions is measured.

At step S146, step S144 is executed.
The data of the position in the xy direction measured in step is stored in the storage unit.

Then, in step S148, a supply OK signal indicating that the top plate 104 may be supplied to the control device 78 is output, and the position measurement operation of the heater board 102 ends. (Explanation of Supply Operation of Top Plate 104) The top plate 104 is stored in a tray 58 in which positioning portions are formed two-dimensionally (see FIG. 5).
The sheets are sequentially fed one by one from 0 to a predetermined position.

The supply operation of the top plate 104 will be described with reference to the flowchart shown in FIG.

In step S150, the top plate 104 is sucked from the tray 58 by the finger 68 attached to the tip of the NC auto hand 70, and the temporary positioning table 62
Supplied above. After the top plate 104 has been positioned on the temporary positioning table 62 by the actuators 62a and 62b, the stage 64 is movable in the xyz directions.
Is sucked by the finger 66 attached to the tip of the. Then, it is supplied onto the heater board 102 on the clamp jig 24 positioned at a position corresponding to the second work station 18. At this time, the stage 64 holds the heater board 102 measured in step S144.
The position is finely corrected in accordance with the position data (the position data of the first heater 112a), and is placed on the heater board 102.

In steps S152 and S154, the stage 64 is retracted from the index table 14 and a supply end signal indicating that the supply of the tabletop 104 has been completed is output.

In step S156, the stage 64 moves to the temporary positioning position.

Next, in step S158, the air cylinder 88b is operated to move the front holding member 84 to the arrow C in FIG.
The orifice plate 108 of the top plate 104 is pressed against the heater board 102 by the pressing spring 84b.

In step S160, the rotary air cylinder 250 is operated to raise the piston rod 250a, rotate it by 90 degrees, and then lower it again. By this operation, the coupling member 252 attached to the distal end of the piston rod 250a is engaged with the coupling 242 of the upper holding mechanism, and the upper holding member 82 is rotated from the retracted position to the clamp position, and is moved. The holding spring 82b of the member 82 is connected to the ink receiving port 11 of the top plate.
8 will be held just above.

The top plate 104 is clamped on the heater board 102 by the pressing action of the pressing springs 82b and 84b (the state shown in FIG. 11).

Then, in step S162, a work end signal is output, and the operation of the second work station 18 ends. ｝ Description of operation during movement from second work station to third work station｝ Operation of measuring position of heater board 102 and operation of clamping top plate 104 on heater board 102 at second work station 18 Is completed, the index table 14 is rotated, and the clamp jig 24 is moved toward the third work station 20.

During the rotation of the index table 14, the position x1 of the first heater 112a measured in the second work station 18 in the x direction and the first heater 11
The adjustment rod 4 of the position adjustment mechanism 38 is a difference (x1−x0) + α = Δ (where α = 5 to 10 μm) from the position x0 of 2a (this is the origin position in the x direction of the first heater 112a).
2 are shifted.

Here, for example, when (x1-x0) is a positive value, in FIG. 9, the heater board 102 moves leftward to |
x1-x0 |
In order to match the position of the heater board 102 with the position of the top plate 104, the top plate 104 is also moved in the left direction in the drawing to | x1-x0.
| It is necessary to shift only. Therefore, the adjustment rod 42 needs to be shifted to the left in FIG. 13 by the shift amount | x1-x0 |. However, in a later step, when the top plate 104 is pressed against the tip of the adjustment rod 42 by the pressing mechanism 39, the top plate 104 is
2 and presser springs 82b and 84b pressing against top plate 1
When the pressing of the pressing mechanism 39 is released due to the influence of the frictional force between the top plate 04 and the bending of these springs, the position of the top plate 104 in contact with the tip of the adjustment rod 42 in FIG. Return slightly to the right, and
It is conceivable that a gap of several microns is formed between the tip and the tip of the adjustment rod 42. If the gap is larger than the adjustment amount, the top plate 104 does not move with respect to the heater board 102 even if the adjustment rod 42 is moved, and the position of the top plate cannot be adjusted. Therefore, in consideration of the value of the gap, the shift amount of the adjustment rod 42 is α (5 to 10 μm).
m) is added.

Further, while the index table 14 is rotating, the first work station
Position y1 of heater 112a and first heater 11 in design
2a by the difference (y1-y0) from the position y0 of the second ITV
The camera 36 is moved by the stage 40. Similarly, the stage 40 is moved based on the position data (z-direction position data) in the height direction of the heater board 102 measured at the second work station 18, and the height position of the second ITV camera 36 is set. (Position in the z direction) is adjusted. << Description of Operation of Third Working Station >> In the third working station 20, the operation of pressing the top plate 104 against the adjustment rod 42 (the operation of shifting the top plate) and the position of the top plate 104 using the adjustment rod are performed. Adjustment operation is performed. (Sliding operation of top plate) The shifting operation of the top plate 104 will be described with reference to the flowchart shown in FIG. 29 and FIG.

The operation of step S170 has already been completed while the index table 14 is rotating.

In step S172, the pressing mechanism 39
The leaf spring 264 is moved by the y-direction slide table 260 to a position on the right side of the top plate 104.

Next, at step S174, the leaf spring 264 is set.
Is moved in the x-direction by the x-direction slide table 262, pushes the top plate 104, and moves the top plate 104
2 against the tip.

Next, in step S176, the leaf spring 26
4 is retracted from the position above the clamp jig 24 by the operation of the x-direction slide table 262 and the y-direction slide table 260.

Thus, the one-sided operation of the top plate 104 is completed. (Description of Position Adjusting Operation of Top Plate 104)
The position adjusting operation will be described with reference to the flowchart shown in FIG. 30 and FIG.

The position adjustment operation of the second ITV camera 36 in steps S180 and S182 has already been performed during the rotation operation of the index table 14, and the retreat operation of the leaf spring 264 in step S184 is
4 is executed at the end of the one-sided operation.

In step S186, the second ITV camera 36 photographs the orifice plate 108 of the top plate 104.

At this time, the position of the second ITV camera 36 in the y direction has already been adjusted corresponding to the position of the heater board 102 in step S182, but the adjusted position is the second work station 18 Is calculated based on the position information of the first heater 112a measured in the step (a). Therefore, the position where the second ITV camera 36 is positioned depends on the actual orifice plate 10.
8 is slightly different from the position where the surface is focused.
Therefore, the focus of the second ITV camera 36 does not exactly match the surface of the orifice plate 108, but this has no practical effect for the following two reasons.

The first reason is that the second ITV camera 3
The sixth objective lens 36a has a depth of focus of about several microns (about 5 μm in this embodiment) and 1 μm
It is not necessary to focus on the accuracy. The second reason is that, as described later, in this embodiment, the position of the discharge port 106 is detected by calculating the center of gravity of the hole of the discharge port 106. In the calculation of the position, it is known from the experimental results that the accuracy of the calculation result does not decrease even if the subject is slightly defocused.

Next, in step S188, the second IT
The image information captured by the V camera 36 is transmitted to the image processing device 80.

In step S190, the image processing device 80
Thereby, the operation of measuring the position of the discharge port 106 of the top plate 104 is performed.

Here, in this step, the first heater 1
The position of the specific outlet 106 corresponding to 12a is measured, and a method of detecting the specific outlet 106 will be described. In this embodiment, since the first heater 112a is the heater located at the end on the heater board 102, the specific discharge port 106 here is similarly located at the end on the top plate 104. 1st discharge port 1
06a.

First, the position of the second ITV camera 36 is
The center position (design value) of the first heater 112 is the second I
It is set so as to be at the center of the field of view of the TV camera 36. Therefore, the second ITV camera 36 is connected to the first heater 1
In other words, the ejection port 106 located near the center position of No. 12 is imaged.

Here, based on the position data of the first heater 112a measured at the second work station 18, the image processing device 80 determines the position of the discharge port 106 closest to the first heater 112a on the screen. Is measured. Then, it is detected whether or not the discharge port 106 is located at a position one pitch to the left of the discharge port 106 closest to the first heater 112a.

If the discharge port 106 does not exist at the position on the left side of this one pitch, it is determined that the discharge port 106 closest to the first heater 112a is the end discharge port, that is, the first discharge port 106a. I do. Then, the previously measured position data is used as the position data of the first discharge port 106a.

The discharge port 106 is located at the left of one pitch.
Is detected, it is detected whether or not the discharge port 106 exists at a position one pitch further to the left. If the ejection port 106 does not exist at this position, it is determined that the ejection port 106 detected last is the end ejection port, that is, the first ejection port 106a.

Further, if the discharge ports 106 exist in the entire field of view of the second ITV camera 36, an error occurs. However, in practice, as described above, before measuring the position of the discharge port 106, the top plate 104 is moved so that the position of the first discharge port 106a is within one pitch with respect to the position of the first heater 112a. Since they are offset, there is almost no possibility of an error.

Note that, as described above, the second ITV camera 36
In order for the position of the first discharge port 106a and the position of the first discharge port 106a to coincide with each other to the extent that no error occurs, the dimensional accuracy of the first discharge port 106a with respect to the outer shape of the top plate 104 must be adjusted.
And the mounting accuracy of the heater board 102 to the base plate 101 needs to be set to one third or less of one pitch.

As described above, the position of a specific discharge port, that is, the position of the first discharge port 106a can be detected.

Next, in step S192, step S
Position data of the first discharge port 106a detected at 190;
The position data of the first heater 112a measured at the second work station 18 is compared with the position data of the first heater 112a, and the amount of these positional deviations is calculated.

In step S194, it is determined whether or not the amount of displacement is within the target standard value. If the positional deviation is within the target standard value, the process proceeds to step S198. If the positional deviation is outside the target standard value, step S1 is performed.
Proceeding to 96, the position adjustment operation of the top plate 104 is performed.

Now, the operation of adjusting the position of the top plate 104 will be described.

The position adjusting operation of the top plate 104 is performed by the adjusting rod 42.
Is moved by the stage 44 in the right direction in FIG. This movement amount is set as an adjustment amount (the above-described positional deviation amount) × a coefficient (coefficient ≦ 1).

The reason why the actual moving amount of the adjusting rod is set to be smaller than the adjusting amount is as follows.

Since the top plate 104 is formed of a resin material, the top plate 104 is easily deformed.
If both sides are clamped and moved, there is a possibility that a positional shift may occur when the clamped state is released. Therefore, in this embodiment, a method is adopted in which the top plate 104 is pushed from one direction and positioned so as not to cause a displacement due to the deformation of the top plate 104. Therefore, the top plate 104 is pushed too much by the adjustment rod 42 and the top plate 10
If 4 has passed the target position, it is necessary to return to the above-described step of shifting by the pressing mechanism 39 and to perform the position adjustment of the top plate 104 again. Therefore, in this embodiment, the amount of movement of the adjustment rod is set slightly smaller than the amount of adjustment so that the top plate 104 does not pass beyond the target position.

When the first position adjustment is completed, the flow returns to step S186, and the second ITV camera 3
The position of the adjusted first discharge port 106a is measured by the image processing device 80 based on the image information from Step 6. Then, the first heater 1 measured in step S194
If the amount of displacement between 12a and the first discharge port 106a is within the target standard value, the adjustment is stopped.

If the positional deviation amount is outside the target standard value again, the same position adjusting operation is performed again.
In this way, steps S186 to S194 are repeated until the positional deviation amount falls within the target standard value, and when the positional deviation amount falls within the target standard value, the process proceeds to step S198.

In step S198, the adjusting rod 42 is retracted from the top plate 104.

Then, in step S200, the position of the first discharge port 106a is measured again. Here, the position of the first discharge port 106a is measured by adjusting the adjustment rod 42 with the top plate 10.
This is because, when the top plate 104 is separated from the top plate 4, the top plate 104 may be returned due to bending of the pressing springs 62b and 64b, frictional force, and the like, causing a positional shift (backlash).

In step S202, step S200
It is determined whether or not the displacement amount of the first discharge port 106a measured in the step is within the target standard value. Here, if the amount of positional deviation is within the target standard value, the operation of adjusting the position of the tabletop 104 ends, and the process proceeds to step S208.

In step S208, a completion signal indicating that the operation of the third work station 20 has been completed is transmitted, and the process returns to the start.

If the positional deviation amount is out of the target standard value in step S202, the process proceeds to step S204, and the operation for correcting the backlash is performed.

Hereinafter, the operation of correcting the backlash will be described. First, the position of the first discharge port 106a after the top plate 104 is returned by the bending or frictional force of the holding spring is Bx, the amount by which the adjustment rod 42 is retracted is Cx, and the first position before the adjustment rod 42 is retracted is Cx. The position of the discharge port 106a is Tx, and the target position is Mx. When the sign of each value is determined in this way,
The amount of movement of the adjustment rod 42 when the position of the top plate 104 is adjusted again is {(Bx−Tx) + (Bx−Mx)} × coefficient + Cx where (Bx−Tx): backlash amount, coefficient ≦ 1
It is. Is set. In this manner, the amount of movement of the adjustment rod 42 is set, and the adjustment is repeated until the amount of displacement of the first discharge port 106a falls within the target standard value (step S204, step S204).
Step S206). Here, if the backlash is not corrected, the positional deviation amount may not always converge within the standard value.

When the position of the top plate 104 is adjusted, the top plate 104 is held by the holding springs 82b and 84b.
It is still held down. In other words, the top plate 104 generates the frictional force between these springs and the top plate 104 or the top plate 1 due to the urging force of the pressing springs 82b and 84b.
It is held by the frictional force between the heater board 104 and the heater board 102. Therefore, these members can be moved to the next fourth work station 22 while maintaining the positional relationship between the heater board 102 and the top plate 104 without performing temporary fixing using an ultraviolet curable adhesive or the like. it can. << Description of Operation of Fourth Work Station >> When the position adjustment operation of the top plate 104 is completed at the third work station 20,
With the index table 14 rotated and the top plate 104 clamped by the holding springs 62b and 64b,
The clamp jig 24 is positioned at the fourth station 22. Then, at the fourth station 22, the top plate 104
Spring 120 for fixing the base to the base plate 101
Is mounted on the base plate 101.

The mounting operation of the pressing spring 120 will be described with reference to the flowchart shown in FIG. 31, and FIGS. 9, 16 to 20.

First, in step S210, the gantry 1
By operating the first drive mechanism 86 disposed on the upper part 2, the upper holding member 82 is retracted to the retracted position shown by the two-dot chain line in FIG. As a result, there is no member that can be an obstacle above the top plate 104, so that the pressing spring 120 can be mounted on the base plate 101 from above the top plate 104.

Next, in step S212, the assembling finger 47 adsorbs the pressing spring 120 taken out by the separating mechanism 54, and the pressing spring 120 is moved to the base by the operation shown in FIGS. Board 10
Attach to 1.

When this mounting operation is completed, step S2
At 14, the assembly finger 47 is retracted from above the clamp jig.

Then, in step S216, a completion signal indicating that the operation of the fourth work station 22 has been completed is output, and the process returns to the start.

Thus, one cycle of the assembling operation from the first work station 16 to the fourth work station 22 is completed.

In the above description, the operation has been described in order from the first work station 16 to the fourth work station 22. However, when the assembling apparatus 10 is actually operating, the first work station 16 to the fourth work station 22 are not operated. Each work station up to four work stations 22 is working at the same time.
It corresponds to the tact time of the work station that takes the longest time from the fourth work station to the fourth work station. << Description of Position Calibration Work of Two ITV Cameras >> In the assembling apparatus 10 of this embodiment, as described above, the first ITV camera 30 is disposed at the second work station 18 and the third work station 20 is provided with the first ITV camera 30. 2 ITV cameras 3
6, the calibration operation for detecting the relative position of these two ITV cameras must be performed. Hereinafter, this calibration operation will be described with reference to FIG.

The assembling apparatus 10 of this embodiment is programmed to automatically enter the calibration mode every time a fixed number of head nozzles 100 each having the top plate 104 attached to the base plate 101 are produced. Also, the above-mentioned fixed number can be changed by setting initial parameters.

In the calibration mode, the NC auto hand 7
2 is a calibration component 2 on the first finger 73 a of the finger 73.
90 is adsorbed and placed on the clamp jig 24. The calibration component 290 is clamped on the clamp jig 24 in exactly the same manner as the base plate 101, and is indexed to the second work station 18.

In the second work station 18, the calibration unit 2
The first ITV camera 30 is focused on the upper surface 290d of the 90b. Then, the first ITV camera 30 captures an image of the groove 290c from above, and the image information is sent to the image processing device 80, and the position of the groove 290c is measured by the image processing device 80. At this time, the position of the front edge 290e of the calibration unit 290b is also measured. In the calibration mode, the clamp jig 24 is indexed to the third work station 20 without the top plate 104 being supplied at the second work station 18.

At the third work station 20, the focus of the second ITV camera 36 is adjusted to the surface of the front edge 290e based on the position data of the front edge 290e of the calibration section 290b measured at the second work station 18. Can be matched.
Then, the groove 290c is photographed by the second ITV camera 36, and the image information is sent to the image processing device 80,
The position of the groove 290c is measured from the front.

Based on the position data of the groove 290c measured at the second work station 18 and the position data of the groove 290c measured at the third work station, the first ITV camera 30 and the second ITV camera 36 are used.
Is calculated. An allowable value is set in advance for the shift amount, and if the calculated shift amount is within the allowable value, a program is executed so that the position measurement data of the second ITV camera 36 is corrected based on the shift amount. Are set. Then, after this calibration operation, the position data measured by the second ITV camera 36 is corrected based on the correction parameters.

On the other hand, if the calculated deviation exceeds the allowable value, an indicator lamp (not shown) attached to the assembling apparatus 10 is turned on to notify the operator of the abnormality, and the assembling apparatus 10 Stopped.

When the deviation between the two cameras measured at the third work station 20 is within the allowable value and the correction parameter is set, the clamp jig 24 is indexed to the fourth work station 22. In the fourth work station 22, no work is performed, and at the same time when the work in the other first to third work stations 16 to 20 is completed, the calibration parts 29
The clamp jig 24 on which “0” is placed is indexed to the first work station 16. And the calibration part 290 is NC
Returned to the original standby position by the auto hand 72, the first
The position calibration operation of the ITV camera 30 and the second ITV camera 36 ends.

At this time, the pallet 2
7, the next unfinished base plate 101 is sucked and moved onto the clamp jig 24, and the operation of discharging the calibration component 290 and supplying the unfinished base plate 101 is performed continuously. Thereby, the time loss of the assembling operation is reduced. Calibration parts 29
Since the NC auto hand 72 temporarily moves to the standby position of the calibration component 290 when the zero
The cycle time of No. 2 is slightly longer than usual. {Description of Jig Parameter Calibration Operation} Next, the jig parameter calibration operation will be described. In the assembling apparatus 10 of this embodiment, based on the position data measured by the first ITV camera 30 arranged at the second work station 18 and the second ITV camera 36 arranged at the third work station 20. Since the position of the top plate 104 is adjusted, if the clamp jig 24 is not displaced when the clamp jig 24 moves from the second work station 18 to the third work station 20, the relative positions of the four clamp jigs 24 are adjusted. Should not be so tightly adjusted. However, actually, the clamp jig 24
If the position is shifted, the following problem occurs.

First, the first problem is that the range in which the first ITV camera 30 can focus is limited by the heater board 1.
02 is almost the same as the height variation of the clamp jig 24, and the variation of the height of the clamp jig 24 cannot be corrected. A second problem is that the visual field ranges of the first ITV camera 30 and the second ITV camera 36 are shifted due to a long-term change in the position of the clamp jig 24 over time.
Therefore, in this assembling apparatus 10, the calibration component 290
The jig parameters can be calibrated by using the method.

First, the first calibration is performed manually.
At this time, the clamp jig 2 on the index table 14
4 is mounted on the index table 14 in a state where a certain degree of accuracy has been obtained. Calibration parts 29
0 is placed on the clamp jig 24 and clamped, and then the clamp jig 24 is indexed to the second work station 18.
Automatic focusing of the first ITV camera 30 is performed. At this time, if the surface 290d of the calibration component 290 is out of focus, the position of the clamp jig 24 is adjusted again. After this position adjustment is completed, the first ITV camera 30
Perform automatic focusing. At this time, when the surface 290d of the calibration component 290 is in focus, the position data in the z direction of the stage 32 at that time is used as the height reference correction value of the clamp jig 24, and thereafter, this height The automatic focusing of the first ITV camera 30 is performed based on the reference correction value. Such an operation solves the first problem described above.

Next, after performing the automatic focusing of the first ITV camera 30 as described above, the position of the groove 290c of the calibration part 290 in the xy direction is measured, and this position data is also used as a reference correction value in the program. Set to. Thus, the setting of the jig parameters for one clamp jig 24 is completed. Similarly, the jig parameters are set for the remaining three clamp jigs 24. By this operation, it is not necessary to precisely adjust the positions of the four clamp jigs 24 in hardware, and the position of the clamp jigs 24 can be corrected in software.

Next, in order to solve the second problem, in the assembling apparatus 10, the jig parameters are automatically calibrated every time a fixed number of operations are completed during the assembling operation. I have. The predetermined number of operations can be set arbitrarily in advance.

When this automatic parameter calibration is performed, the calibration component 290 is clamped by the clamp jig 24 and indexed to the second work station 18. After the clamp jig 24 has been indexed to the second work station 18, automatic focusing of the first ITV camera 30 is performed. The z of the first ITV camera 30 measured at this time
If the position data in the direction is within a preset reference value, the position data is set in the program as a new height reference correction value. Next, the groove 2 of the calibration part 290
The position in the xy direction of 90c is measured, and if the position data is within a preset allowable value, the position data is set in the program as a reference correction value. With the above operation, the calibration of the jig parameters for one clamp jig 24 is completed, and the third and fourth work stations 2
At 0 and 22, no operation is performed, and the operation is returned to the first work station 16.

Then, the calibration component 290 is supplied to the clamp jig 24 arranged at the next position, and the calibration operation is continued. In this manner, all the calibration operations of the four clamp jigs 24 are performed. [Other Embodiments] In the above-described embodiment, an example will be described in which the index table is stopped at four locations every 90 degrees and assembling work is performed at four work stations arranged corresponding to these stop positions. However, a five-split or six-split assembling apparatus in which an assembling work is added after the fourth working station is also conceivable.

Therefore, in this other embodiment, the driving portion of the clamp lever for clamping the base plate 101 is disposed outside the index table, and the base plate 101 is set at the first work station, and At the work station, the base plate 101 is positioned.
Measurement of the position of the heater board and the top plate 10 at the work station
4 and supply the top plate 10 at the fourth work station.
A description will be given of a five-division type assembling apparatus that performs the position measurement and the position adjustment of No. 4 and performs the assembling work of the holding spring 120 at the fifth work station.

The configuration of another embodiment will be described with reference to FIGS. 32, 33 and 34.

FIG. 32 shows an assembling apparatus 500 according to another embodiment.
FIG. 2 is a plan view schematically showing the configuration of FIG. An index table 514 is arranged on the upper surface of the gantry 512, and five clamp jigs 516 are arranged on the upper surface of the index table 514. The work station located on the upper side in the figure is a first work station 518,
On the gantry 512, the second work station 520 to the fifth work station 526 are arranged in order from the first work station 518 in the clockwise direction.

Then, at the third work station 522, a first ITV camera 530 for measuring the position of the heater board 102 is arranged in a state of being attached to a support 532 via a stage (not shown). I have. The stage 536 to which the finger 534 for supplying the top plate 104 is attached is disposed at a position corresponding to the third work station 522 together with the stock unit 538. These detailed configurations are the same as in the above-described embodiment.

The fourth work station 524 has a top plate 1
The second ITV camera 550 for measuring the position of 04
And a position adjusting mechanism 552, and a vibration type ball feeder 554 for supplying the pressing spring 120 and an assembling auto hand 556 are arranged at the fifth work station 526.

Next, FIG. 33 is a plan view showing the structure of the clamp jig 516. FIG.

On the upper surface of the jig body 560, clamp levers 562 and 564 formed in a substantially L-shape are respectively provided with shafts 56 and 564.
It is rotatably mounted in a horizontal plane around 6,568. Tension springs 570 and 572 are attached to one ends of the clamp levers 562 and 564, respectively. One end of each of the tension springs 570 and 572 is fixed to the fixing portions 574 and 576. Therefore, the clamp levers 562 and 564 are urged by the tension springs 570 and 572 in the counterclockwise direction, and the other ends of the clamp levers 562 and 564 come into contact with the base plate 101, so that the base plate 101 is pressed against the positioning pins 577a, 577b, 577c.

The slide shafts 578, 580 have hemispherical abutting portions 578a, 580a at one end, and are provided with mounting members 582a, 582b, 584a, 58.
4b, it is slidably attached to the jig body 560 along the y-axis direction. Further, these slide shafts 578 and 580 are provided with tension springs 57.
It is urged upward in the figure by a spring (not shown) weaker than 0,572.
a, 580a are always kept in contact with the clamp levers 562, 564, respectively. The air cylinder 58 is located at a position outside the index table 514 of the first and second work stations 518 and 520.
6,588 are arranged, and these air cylinders 5
86, 588 operate, the clamp lever 5
62, 564 are rotated clockwise, and the base plate 10
1 is released.

Further, as shown in FIG. 34 which is a side sectional view of the clamp jig 516, the clamp lever 590a having a hemispherical projection at the tip end is provided on the upper surface of the jig body 560.
590b is rotatably supported in a vertical plane by shafts 592a, 592b. These clamp levers 590a and 590b are respectively provided with torsion springs 594.
a, 594b, the base plate 101 is moved to the jig main body 560.
It is biased in the direction of pressing upward. Rods 596a and 596b having a stepped portion at the center are inserted into through holes formed in the jig body 560 and the index table 514.

Air cylinders 598, 600 are arranged at positions below the index table 14 corresponding to the first and second work stations 518, 520, respectively.
By operating these air cylinders 598 and 600, the clamp levers 590a and 590b are respectively pushed up, and the clamped state of the base plate 101 is released.
Although not shown here, the clamp lever 590c
A similar mechanism is also provided for.

In this embodiment, the base plate 101
Index table 514
Since it is done with an air cylinder arranged outside,
There is no need to arrange piping or the like for guiding compressed air to the air cylinder on the index table 514. Further, since it is not necessary to arrange an air cylinder for each clamp jig 24 on the index table 514, the number of air cylinders can be reduced, and the cost of the assembling apparatus can be reduced. However, on the other hand, index table 5
Since the positioning of the base plate 101 cannot be performed during the rotation of 14, the attempt to position the base plate 101 with respect to the clamp jig 24 only at the first work station 518 also has a problem that the tact time becomes long. .

Therefore, in this embodiment, in the first working station 518, the air cylinders 586, 58
8,598,600 are quickly operated, and the base plate 101
Only the temporary positioning of the second work station 5
At 20, the air cylinders 586, 588, 598, 6
00 is operated slowly to precisely position the base plate 101.

In this way, it is possible to prevent the takt time of only one work station from being lengthened and the takt time of the entire assembling apparatus 500 from being prolonged.

The present invention can be applied to a modification or modification of the above embodiment without departing from the gist of the invention.

[0203]

As described above, according to the present invention, the steps of assembling the ink jet head are performed in parallel, so that the productivity can be improved.

Further, by disposing a mechanism for switching between a holding state in which the top plate is held on the heater board and a non-holding state in which the holding state is released, outside the index table, a plurality of mechanisms on the index table are provided. Since it is not necessary to arrange a switching mechanism for each clamp jig, the number of these driving mechanisms can be reduced, and the cost of the apparatus can be reduced.

[0205]

[Brief description of the drawings]

FIG. 1 is a perspective view showing a schematic structure of an ink jet cartridge.

FIG. 2 is a perspective view showing a structure of a head nozzle portion.

FIG. 3 is an exploded perspective view showing a structure of a head nozzle portion.

FIG. 4 is a plan view showing a structure of a heater board.

FIG. 5 is a plan view showing an overall configuration of an embodiment of an inkjet head assembling apparatus according to the present invention.

6 is a perspective view of the assembling apparatus of the inkjet head shown in FIG. 5 as viewed obliquely from above.

FIG. 7 is an enlarged partial view showing an index table in FIG. 6;

FIG. 8 is a perspective view showing a structure of a clamp jig.

9 is a plan view of FIG. 8 as viewed from above.

FIG. 10 is a front view of the clamp jig viewed from the outer peripheral side of the index table.

FIG. 11 is a side sectional view of FIG. 8 viewed from the direction of arrow E;

FIG. 12 is a plan view partially showing a configuration of a third work station.

FIG. 13 is a diagram schematically showing an arrangement state of air cylinders in the assembling apparatus of one embodiment.

FIG. 14 is a cross-sectional view showing a configuration of an assembly finger.

FIG. 15 is a side view of an assembly finger.

FIG. 16

FIG.

FIG.

FIG.

FIG. 20 is a view for explaining the mounting operation of the holding spring.

FIG. 21 is a perspective view showing a state in which a holding spring is attached to a base plate.

FIG. 22 is a perspective view showing the structure of a calibration component.

FIG. 23 is a flowchart showing an overall operation of the assembling apparatus of one embodiment.

FIG. 24 is a diagram for explaining an operation of taking in an unfinished product from a pallet and an operation of discharging a finished product to a pallet;

FIG. 25 is a flowchart illustrating an unfinished product supply operation and a completed product discharge operation in the first work station.

FIG. 26 is a flowchart illustrating a positioning operation of a base plate.

FIG. 27 is a flowchart illustrating a position measurement operation of the heater board.

FIG. 28 is a flowchart illustrating a top plate supply operation.

FIG. 29 is a flowchart for explaining a top plate shifting operation.

FIG. 30 is a flowchart illustrating a top plate position adjustment operation.

FIG. 31 is a flowchart illustrating a mounting operation of a pressing spring.

FIG. 32 is a plan view showing the structure of an inkjet head assembling apparatus according to another embodiment.

FIG. 33 is a plan view showing a structure of a clamp jig used in an inkjet head assembling apparatus according to another embodiment.

FIG. 34 is a front view of the jig shown in FIG. 33 as viewed from the near side.

FIG. 35 is a side view showing the structure of a conventional inkjet head assembling apparatus.

[Explanation of symbols]

 REFERENCE SIGNS LIST 10 assembling apparatus 12 gantry 14 index table 16 first work station 18 second work station 20 third work station 22 fourth work station 23 rotation mechanism 24 clamp jig 26 transport belt 27 pallet 28 return belt 30 first ITV camera 32 Stage 34 support 36 second ITV camera 38 position adjustment mechanism 39 pressing mechanism 40 stage 42 adjustment rod 44 stage 46 auto hand 47 assembling finger 48 supply mechanism 50 vibrating ball feeder 52 vibrating linear feeder 54 one separating mechanism 56 mount 58 Tray 60 Tray stocker 62 Temporary positioning table 64 Stage 66 Finger 68 Finger 70 NC auto-hand 72 NC auto-hand 74 Mounting base 76 Mounting base 78 Control unit Reference Signs List 80 Image processing device 82 Upper pressing member 84 Front pressing member 86 First driving mechanism 88 Second driving mechanism 100 Head nozzle 101 Base plate 102 Heater board 104 Top plate 106 Discharge port 108 Orifice plate 112 Heater 118 Ink receiving port 120 Press spring 150 Ink jet Cartridge 152 ink tank 202 base plate 204 jig body 206a, 206b, 206c positioning pin 208 support 210 support 212 x-direction clamp lever 214 y-direction clamp lever 215 support substrate 216 air cylinder 218 support substrate 220 air cylinder 222 support members 224a, 224b, 224c z-direction clamp lever 226a, 226b, 226c Rotating shaft 228a, 228b, 228c Air cylinder 230 a, 230b Support substrate 232 Rotary shaft 234 Grooved plate 234a First groove 234b Second groove 236 Guide cylinder 236a, 236b Groove 238 Slide shaft 240 Positioning pin 242 Coupling member 244 Fixing ring 246 Compression spring 248 Body 250 Rotary air cylinder 252 coupling member 260 y-direction slide table 262 x-direction slide table 264 leaf spring 270 main body 272 push-in member 274 stopper member 276 compression spring 278 guide rod 280 set screw 282 compression spring 284 pipe 286 sealing member 290 calibration component 500 assembly device 512 Mount 514 Index table 516 Clamp jig 518 First work station 520 Second work station 522 Third work station 524 Fourth work station 526 Fifth work station 530 First ITV camera 532 Support post 534 Finger 536 Stage 538 Stock unit 550 Second ITV camera 552 Position adjustment mechanism 554 Vibration type ball feeder 556 Assembly auto hand 560 Jig body 562 564 Clamp lever 566, 568 Shaft 570, 572 Tension spring 574, 576 Fixing portion 577a, 577b, 577c Positioning pin 578, 580 Slide shaft 582a, 582b Mounting member 584a, 584b Mounting member 586, 588 Air cylinder 590a, 590a Clamp lever 59 , 592b Shaft 594a, 594b Torsion spring 596a, 596b Rod 598,600 Air cylinder

Continuation of the front page (72) Inventor Masatoshi Kato 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Tsuyoshi Baba 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (56) References JP-A-5-293726 (JP, A) JP-B-49-31507 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23P 21/00 301 B23P 21 / 00 307

Claims (8)

(57) [Claims] An ink jet head that discharges ink in a predetermined pattern includes a head nozzle provided with a plurality of heaters for heating the ink, and a plurality of discharges from which the ink heated by the corresponding heater is discharged. An ink jet head assembling apparatus assembled from a top plate member having a hole, comprising: an index table that rotates around a predetermined central axis and is stopped and positioned at each predetermined rotation angle on a circumference; A plurality of work holding jigs arranged thereon, and a plurality of work holding jigs arranged outside the index table and opposed to the work holding jigs indexed at the predetermined rotation angle by the rotation stop of the index table. And a plurality of work stations, wherein the plurality of work stations include the top plate on the heater board. The completed work with the assembled material is transferred from the work holding jig on the index table to the completed work storage tray, and the unfinished work having the heater board is transferred from the unfinished work storage tray onto the work holding jig. A first work station having first transfer means for transferring, and a first work station for detecting a position of a heater board of the unfinished work.
A second work station having position detecting means, a second transfer means for transferring the top plate member from the top plate member storage tray onto the heater board, and detecting a position of the top plate member Second position detection means;
From the position information of the heater board detected by the first position detecting means and the position information of the top plate member detected by the second position detecting means, the relative position of the heater board and the top plate member And a third work station having a positioning means for moving the top plate member to a predetermined relative position; a heater board at the predetermined relative position; A fourth work station having fixing means for fixing the plate member and the plate member. 2. Each of the work holding jigs on the index table has a state in which the top plate member transferred to the heater board is held on the heater board and a state in which the top plate member is not held, the outside of the index table. 2. The apparatus for assembling an ink jet head according to claim 1, further comprising a top plate member holding unit that is switched by a switching unit disposed in the printer. 3. The apparatus according to claim 2, wherein the switching means is arranged at least in each of the first to fourth work stations. 4. The apparatus according to claim 1, further comprising: a position calibrating means for performing position calibration of said first position detecting means and said second position detecting means each time a predetermined number of said head nozzles are assembled. The apparatus for assembling an ink jet head according to claim 1. 5. An index table which rotates a head nozzle of an ink jet head for discharging ink in a predetermined pattern around a predetermined central axis and stops at a predetermined rotation angle on a circumference, and said index table. A plurality of work holding jigs arranged above, and a plurality of work holding jigs are arranged outside the index table, at positions facing the work holding jigs indexed at the predetermined rotation angle by the rotation stop of the index table. Using an assembling apparatus having a plurality of work stations, a heater board having a plurality of heaters for heating ink, and a top plate member having a plurality of ejection holes from which ink heated by the corresponding heaters is ejected The method for assembling an inkjet head to be assembled, wherein after the process of each work station is completed, A positioning step of rotating and stopping the dex table at the predetermined rotation angle; and, in a first work station among the plurality of work stations, the completed work in which the top plate member is positioned and fixed on the heater board. Release the state of holding on the work holding jig, transfer the completed work on the work holding jig to the completed work storage tray, and remove the unfinished work having the heater board from the unfinished work storage tray. A first step of transferring the unfinished work transferred onto the work holding jig and holding the transferred unfinished work on the work holding jig; and a second work station among the plurality of work stations, (1) detecting the position of the heater board by the position detecting means, transferring the top plate member from the top plate member storage tray onto the heater board, A second step of bringing the top plate member holding means on the index table into a state of holding the top plate, and at a third work station among the plurality of work stations, the top plate is detected by a second position detection means. A relative position between the heater board and the top plate member is detected based on a relative position between the heater board and the top plate member calculated from a detection value of the first and second position detecting means. A third step of moving the top plate member so that the top plate member is at a predetermined relative position; and a fourth work station of the plurality of work stations, wherein the top plate member positioned in the third step And a fourth step of fixing the head on the heater board. 6. The fourth step includes: a first sub-step of bringing a means for holding an upper portion of the top plate member out of the top plate member holding means into a non-holding state; The method according to claim 5, further comprising a second sub-step of fixing a member to the heater board. 7. The method according to claim 1, further comprising a position calibration step of performing position calibration of said first position detecting means and said second position detecting means every time a predetermined number of said head nozzles are assembled. The method for assembling an inkjet head according to claim 5. 8. An ink jet head assembled by the assembly method according to claim 5. Description: