JP3800671B2 - Object transfer device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an improvement in an object conveying apparatus for conveying an object such as a printed wiring board in a predetermined direction.
[0002]
[Prior art]
For example, in a component mounting apparatus, when an electronic component is mounted on a printed wiring board that is an object, a transport device as shown in FIG.
[0003]
The transport apparatus of FIG. 6 includes a carry-in conveyor 1, a work table 2, and a carry-out conveyor 3. A work table 2 is disposed between the carry-in conveyor 1 and the carry-out conveyor 3, and the work table 2 is movable.
In FIG. 6A, the work table 2 is at a position approaching the carry-in conveyor 1. When the printed wiring board 4 on the carry-in conveyor 1 is moved to the work table 2 as shown in FIG. 6B, the work table 2 moves to the first step as shown in FIG. As shown in (D), the work table 2 moves to the second step.
Then, as shown in FIG. 6E, the work table 2 moves to the third step. In this way, the work table 2 moves to the first to third steps, whereby predetermined electronic components are mounted on the printed wiring board 4.
[0004]
Next, as shown in FIG. 6F, the work table 2 moves so as to approach the carry-in conveyor 1, and the carry-out conveyor 3 approaches the work table 2, so that the work table 2 is positioned at the transfer position. In this case, the carry-out conveyor 3 cannot approach the work table 2 unless the carry-out conveyor 3 moves a large distance L. This is because, as shown in FIGS. 6A to 6E, the carry-out conveyor 3 is positioned away from the standby position P <b> 1 that does not interfere with the movement of the work table 2.
Thereafter, as shown in FIG. 6G, the printed wiring board 4 on the work table 2 is carried out to the carry-out side conveyor 3, and as shown in FIG. Move to the next device.
[0005]
[Problems to be solved by the invention]
Thus, in the conventional transfer apparatus, the moving distance of the carry-out side conveyor is very large as L as shown in FIG. 6 (E), so the carry-out side conveyor 3 in FIG. It takes considerable time to move to the unloading position P2 in (F). For this reason, there is a problem that the time for carrying out the printed wiring board cannot be shortened and the time for the printed wiring board transport process cannot be shortened.
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problems and to provide an object conveying apparatus that can quickly convey an object to be conveyed.
[0006]
[Means for Solving the Problems]
The above object is achieved, according to the present invention, when performing the predetermined processing on the object, and the object holding means holds and moves an object, and pairs to an object on the object holding means more a head for mounting process consisting of steps, and the object carrying means for carrying an object to the object holding means, in order to unload from the object holding means an object mounting process is finished, movable and the object carry-out means, a moving range memory data movement range of the object holding means each time the each step is completed among the mounting process comprising a plurality of steps by the head for one object held in the object holding means It is achieved by an object conveying apparatus comprising: control means for controlling the object carry-out means to be close to the object holding means within a range that does not interfere with the object holding means by monitoring on the basis.
[0007]
In the present invention, the object holding means holds and moves the object when performing a predetermined process on the object.
The object carrying-in means carries the object into the object holding means. The object unloading means can unload the object that has been processed on the object holding means. In this case, the object carry-out means can move relative to the object holding means.
Control means, so as to close to the object holding means in a range not interfering with the object holding means the position of the object carrying-out means by monitoring based on the moving range memory data movement range of the object holding means Can be controlled .
As a result, when the object is to be transferred from the object holding means to the object unloading means, the object unloading means can always be close to the object holding means. The object can be moved in the shortest possible time.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings.
The embodiment described below is a preferred specific example of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these forms.
[0009]
FIG. 1 shows an object conveying apparatus 10 according to the present invention. The object conveying apparatus 10 and a component operating apparatus 90 constitute a component mounting apparatus 150.
First, the component operation device 90 includes a holding head 91, a vacuum suction unit 92, an operation unit 93, and the like. The holding head 91 can suck and hold the electronic component PA by the operation of the vacuum suction means 92. The operating means 93 can position the holding head 91 by moving it in the arrow Z direction.
The electronic component PA is an electronic component such as a bare chip.
[0010]
Next, the object transport apparatus 10 includes an object carry-in means 20, an object carry-out means 40, an object holding means 60, and the like.
These object carry-in means 20, object carry-out means 40 and object holding means 60 are arranged on the base 11.
The object carry-in means 20 is fixed to the base 11 using a support column 21. The object carrying-in means 20 includes two guide rails 22 and 22. These guide rails 22 and 22 are parallel and directed in the X direction. The guide rails 22 and 22 are supported by a support 23, and the support 23 is supported by a support column 21. A sensor 25 is provided on the front side of the object carry-in means 20 to confirm the exit end of the printed wiring board PB that is the object. This sensor 25 is connected to the control unit 100.
The guide rails 22 and 22 are configured to guide the printed wiring board PB in the X1 direction. For example, a pair of feed claws 26 and 26 are used for guiding the printed wiring board PB. The feed claws 26, 26 can be moved by means not shown to feed the printed wiring board PB in the X1 direction.
[0011]
Next, the object carrying-out means 40 will be described.
The object carry-out means 40 includes a table 41, a motor 42, two guide rails 44, and the like.
The guide rails 44 and 44 are supported by a support 45, respectively. The support 45 is fixed to the table 41. The table 41 can be moved and positioned along the rail 46 by rotating the feed screw 43 of the motor 42.
[0012]
The object holding means 60 is capable of holding the printed wiring board PB and appropriately moving and positioning in the X and Y directions. The object holding means 60 includes guide rails 62, 62, a table 63, a stage 64, and the like. The table 63 supports guide rails 62 and 62, and the table 63 is placed on the stage 64.
[0013]
The stage 64 has a guide rail 65, and when the motor 66 is operated, the feed screw 67 rotates. As the feed screw 67 rotates, the table 63 can be moved and positioned along the guide rails 65 and 65 in the Y direction. On the other hand, when the motor 69 rotates, a feed screw not shown in the figure rotates. The stage 64 can be positioned by moving in the X direction along the guide rail 68 by rotating the feed screw not shown in this figure . The guide rails 62, 62, the guide rail 44 of the object carry-out means 40, and the guide rails 22, 22 of the object carry-in means 20 are both oriented parallel to the X direction. Moreover, the heights of the guide rails 22, 62, 44 are substantially the same.
[0014]
The control unit 100 can send a control signal to the motors 66, 69, and 42 described above. Based on the drive control pulse signals PS1 and PS2 sent to the motors 66 and 69, the control unit 100 knows the positions of the table 63 and the guide rail 62 of the object holding means 60 in the X and Y coordinates. it can. Similarly, the motor 42 can be driven by a driving pulse signal PS3 provided from the control unit 100, but the control unit 100 can know the position of the table 41 in the X direction based on the pulse signal PS3.
[0015]
In FIG. 2, the object carrying-in means 20, the object carrying-out means 40, and the object holding means 60 are schematically shown in a plane. As the object carry-in means 20, as described above, a conveyor unit that carries the printed wiring board (object) PB along the flow direction X1 of the object to the object holding means 60 side can be adopted. Similarly, the object carrying-out means 40 can adopt a conveyor unit.
The object holding means 60 is also called a work table, and can be moved and positioned in the X and Y directions in the space between the object carry-in means 20 and the object carry-out means 40.
[0016]
As shown in FIG. 3, the control unit 100 includes a memory 190, and the memory 190 stores data on the movement range of the object holding unit 60 in advance. The data of the movement range of the object holding means 60 is obtained from the movement distance of the table 63 and the stage 64 in the X and Y directions.
[0017]
Next, an operation example of the above-described object transport device 10 will be described.
FIG. 3 is a flowchart showing an example of the operation of the object transport device 10 in FIG. 1, and FIG. 5 is a plan view showing an operation example of the object transport device 10 in FIG.
First, as shown in FIG. 5A, a printed wiring board PB, which is one of the objects , is placed on the object carrying means 20. The object holding means 60 is located close to the object carry-in means 20 side. The object carry-out means 40 is positioned at the standby position PW according to a command from the control means 100 as in step S1 of FIG.
[0018]
Next, as shown in FIG. 5B, the feed claws 26 and 26 of the object carry-in means 20 in FIG. 1 are operated to move the printed wiring board PB from the object carry-in means 20 onto the object holding means 60. To do.
As shown in step S2 of FIG. 5C and FIG. 3, the control unit 100 sets the object holding means 60 based on the movement range data (X, Y data) of the memory 190 of the control unit 100 of FIG. Pulses PS1 and PS2 are given to 66 and 69 to move to the first step. At this point, the electronic component PA of FIG. 1 is mounted at a predetermined position on the printed wiring board PB. At this time, it is determined whether or not all of the predetermined number of steps (for example, 1 to 3 steps) have been completed (step S3). Otherwise, the process proceeds to step S4. Here, the control unit 100 calculates the current movement range of the object holding means 60 from the number of pulses PS1 and PS2. In this case, the calculation is performed based on the movement range data (X, Y direction) of the object holding means from the memory 190 of the control unit 100, and the object carry-out means 40 is moved to the object as shown in FIG. In step S5, it is determined whether or not the object can be moved and moved closer to the holding unit 60. If so, the object carry-out unit 40 is moved closer to the object holding unit 60 (step S6).
[0019]
Next, as shown in FIG. 5D, the object holding means 60 moves to the next second step in the same manner as the first step. Even in this state, the holding head 91 of FIG. 1 mounts another electronic component PA at a predetermined position of the printed wiring board PB (step S2). In step S3, it is determined whether or not the work is finished. If not, the control unit 100 calculates the movement range of the object holding means 60 (step S4).
Then, in step S5, it is determined whether the object carry-out means 40 can move to the object holding means 60 side. If so, the object carry-out means 40 is brought close to the object holding means 60 side (step S6).
[0020]
Next, as shown in FIG. 5E, the object holding means 60 further moves to the third step, and the electronic component PA is arranged at a predetermined position on the printed wiring board PB (step S2).
At this time, it is determined whether the work is finished (step S3). Since this is not the case, the control unit 100 calculates the movement range of the object holding means 60 based on the movement range of the object movement means 60 from the memory 190. (Step S4). As a result, when the object unloading means 40 can move to the object holding means 60 (step S5), the object unloading means 40 is moved to the object holding means 60 side (step S6).
[0021]
By doing in this way, even if the object holding means 60 moves to the first step to the third step, in each step, the object carry-out means 40 moves from the standby position PW to the object holding means 60 side. It can be positioned at a close position.
In this operation example, the work is completed in the first to third steps. Therefore, the work is finished in step S3, the state shown in FIG. 5F is reached, and the object carry-out means 40 approaches the object holding means 60. And it will be in a state of being lined up in series. Therefore, the claws 26 and 26 in FIG. 1 are operated, and the printed wiring board PB on which the part PA in the object holding means 60 is mounted is moved to the object carry-out means 40 side as shown in FIG. Then, the object carry-out means 40 moves in the X1 direction to the apparatus side in the subsequent process as shown in FIG.
As described above, a series of component mounting operations is completed.
[0022]
In the embodiment described above, the control unit 100 moves the object holding unit 60 by applying the pulse signals PS1 and PS2 to the motors 66 and 69 in FIG. 1 based on the movement range memory data in the memory 190. On the basis of the movement range memory data, the control unit 100 operates the motor 42 within the range where the table 41 does not fall within the movement range of the object holding means 60, and appropriately sets the object carrying means 40 to the object holding means 60. Can be positioned close to every third step.
Therefore, since the operation of carrying out the printed wiring board PB from the object holding means 60 to the object carrying out means 40 can be performed in a short time, the time in the assembly process of the printed wiring board PB can be shortened.
In addition, it is possible to shorten the conveyance time of the object conveying apparatus that needs to ensure a large movement range of the object holding means 60 that is a work table. Also, the smaller the size of the printed wiring board PB that is the work, the shorter the transport time.
[0023]
Thus, in the embodiment of the present invention, the control unit 100 monitors the movement range of the object holding means 60 that is a work table based on the movement range memory data, so that the object carry-out means 40 is the target. The object unloading means 40 can be brought closer to the object holding means 60 side within a range that does not interfere with the object holding means 60.
Moreover, as shown in FIG. 3, in the object holding means 60, the control unit 100 calculates the movement range of the object holding means 60 every time one data is completed, and the object carry-out means 40 makes the object holding means 40 The object carry-out means 40 can be moved to a position closest to the object holding means 60 so as not to enter the movement range of 60.
[0024]
Incidentally, as an example, in FIG. 5 (C), the object holding means 60 is moved from the initial position IP of the front end portion 60F of the object holding means 60, for example, in the moving distance R1 minutes X1 direction as shown in FIG. 4 However, at this time, the distance RR remains as compared with the maximum movement range RM of the object holding means 60. Therefore, the control unit 100, the position BP of the front end portion 40F of the object carrying-out means 40, the distance by moving in the direction of the RT amount X2, the object carrying-out means 40 the front portion 40F, the object holding means 60 The predetermined gap CL can be left close to the front end portion 60F.
In FIG. 5D, the object holding means 60 has moved from the initial position IP by the moving distance R2, but even in this case, the position BP of the front end portion 40F of the object unloading means 40 is By moving the distance RT1, the gap CL can be opened and approached.
The same applies to FIG. 6E, and the front end 60F of the object holding means 60 has moved in the direction X1 of the movement distance R3 from the initial position IP. Even in this case, the object carry-out means The position BP of the front end portion 40F of 40 can be close to the front end portion 60F of the object holding means 60, leaving a gap CL.
[0025]
By the way, the present invention is not limited to the above embodiment.
For example, in the above-described embodiment, the workpiece (object) is a printed wiring board, but the present invention is not limited to this, and may be another type such as a liquid crystal display panel or the like. Of course, the component to be mounted on the object is not limited to an electronic component, but may be another type of component.
[0026]
【The invention's effect】
As described above, according to the present invention, an object to be transported can be transported quickly.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an object conveying apparatus of the present invention.
FIG. 2 is a plan view schematically showing a conveyance device for an object.
FIG. 3 is a flowchart showing an operation example of an object conveying apparatus.
FIG. 4 is a diagram illustrating an example of movement of an object holding unit.
FIG. 5 is a view showing a flow of a positional relationship among an object carry-in means, an object holding means, and an object carry-out means.
FIG. 6 is a diagram illustrating an operation of a conventional transport device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Object conveying apparatus, 20 ... Object carrying-in means (carry-in side conveyor), 40 ... Object carrying-out means (carry-out side conveyor), 60 ... Object holding means (work table) , 100 ... control unit (control means)

Claims (2)

Object holding means for holding and moving the object when performing predetermined processing on the object;
A head for mounting the process comprising a plurality of steps against one object on said object holding means,
Object carrying means for carrying the one object into the object holding means;
In order to carry out the one object after the mounting process from the object holding means, a movable object carrying means,
The range of movement of the object holding means is set as the movement range memory data each time each of the mounting processes including the plurality of steps by the head with respect to the one object held by the object holding means is completed. Control means for controlling the object carry-out means to be close to the object holding means within a range that does not interfere with the object holding means by monitoring on the basis;
An apparatus for conveying an object, comprising:   The said target object is a printed wiring board for mounting | wearing with an electronic component, The conveying apparatus of the target object of Claim 1.

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