JP4869177B2 - Continuous processing equipment - Google Patents

Description

  The present invention relates to a continuous processing apparatus that sequentially performs a plurality of processes on a workpiece while conveying the workpiece.

As a continuous processing device that sequentially performs a plurality of processes on a workpiece while conveying the workpiece, it constitutes a conveyance unit having a plurality of chucks on the same straight line, and on the side of the path on which the plurality of chucks are arranged. A lens module assembling apparatus has been proposed in which a plurality of processing areas are provided on the side, and the workpiece is transferred from the upstream side to the downstream side by the transfer unit, and the workpiece is transferred onto the stage of each processing station during that time. The position of the workpiece transferred to the processing station is corrected at each processing station as the stage moves in the biaxial direction (see Patent Document 1).
JP 2006-198712 A

  However, the continuous processing apparatus disclosed in Patent Document 1 has a problem in that the processing speed is low by the time required for transfer because the workpiece on the transfer path is transferred onto the stage for each processing station. Further, the continuous processing apparatus disclosed in Patent Document 1 has a problem in that the apparatus configuration is complicated because it is necessary to provide a stage driven in two axial directions for each processing station.

  In view of the above problems, an object of the present invention is to provide a continuous processing apparatus capable of sequentially performing a plurality of processes on a workpiece while conveying the workpiece at a high processing speed with a simple configuration.

In order to solve the above-mentioned problems, in the present invention, a conveyance path extending in the conveyance direction of a processing object, three or more stages of treatment stations set at positions separated in the conveyance direction, and the plurality of stages of treatment stations And a plurality of processing means for processing the object to be processed, each processing station is set on the transport path, and at least three transport means are provided along the transport path. Each conveying means is provided for conveying one holding mechanism for holding the object to be processed, and for moving the holding mechanism within a moving range including the processing station and defining a position in the conveying direction at the processing station. a drive mechanism, each holding mechanism is the guided in the conveying direction by a common guide is provided along said conveying path, said In the two transporting units, the first transporting range of the holding mechanism of the first transporting unit disposed on the most upstream side in the transporting direction and the second transporting unit adjacent to the downstream side of the transporting direction of the first transporting unit The second movement range of the holding mechanism partially overlaps in the conveyance direction, and the second movement range and the third conveyance means adjacent to the downstream side of the second conveyance means in the conveyance direction. The third movement range of the holding mechanism partially overlaps in the conveyance direction, the first movement range and the third movement range are separated in the conveyance direction, and the three conveyance means are The processing object is transferred by transferring the processing object between the first transporting means and the second transporting means and between the second transporting means and the third transporting means. It is transported along a path.

  In the continuous processing apparatus to which the present invention is applied, since a plurality of processing stations are set on the transport path, the processing means can perform processing without moving the processing object to a position off the transport path. Can do. In addition, the transport means moves the holding mechanism that holds the processing object in the transport direction to define the position of the processing object in the transport direction at the processing station. And a separate positioning mechanism is not required. Furthermore, since the processing object is transferred along the transfer path by delivering the processing object between two transfer means adjacent in the transfer direction, the transfer means transfers the processing object at the processing station. Since both the function of performing positioning in and the function of transporting the object to be processed along the transport path are carried out, the configuration can be simplified. Therefore, according to the present invention, a plurality of processes can be sequentially performed on a workpiece while conveying the workpiece with a simple configuration and a high processing speed.

  In the present invention, a configuration in which the conveyance path extends linearly can be employed. Further, the present invention may be applied when the transport path extends in an arc shape.

  In the present invention, the processing object includes one or more workpieces to be processed by the processing means, and a pallet on which the workpiece is mounted, and the holding mechanism holds the workpiece via the pallet. And the structure to convey can be employ | adopted. In addition, the present invention may be applied when the processing object is a workpiece itself.

In the present invention, the release between the two conveyor means, the movement range of the hold mechanism that put in the conveying direction overlap, the retention of the in between the two conveying means, the front of the transport means the processing object After that, it is possible to adopt a configuration in which the subsequent transport means holds the processing object. If comprised in this way, in a some conveyance means, the structure in which a holding mechanism hold | maintains the same location of a process target object can be employ | adopted, and the location hold | maintained with a holding mechanism with respect to a process target object is formed in many places. There are advantages such as no need.

  In the present invention, the conveying path is in contact with the processing object after the preceding conveying means releases the holding of the processing object and until the subsequent conveying means holds the processing object. It is preferable that misalignment prevention means for preventing misalignment of the processing object is configured by suction of the processing object, gripping of the processing object, and the like. With such a configuration, even when a configuration is adopted in which the transporting device in the subsequent stage holds the processing object after the transporting device in the previous stage releases the holding of the processing object between the two transporting means. The position of the processing object can be prevented from shifting after the transfer means releases the holding of the processing object until the subsequent conveying means holds the processing object. Transport and processing can be performed reliably.

  In the present invention, the transport drive mechanism can employ a configuration having a linear motor including a stator extending along the transport path and a mover mounted on the holding mechanism side.

  In this case, a plurality of the stators are provided corresponding to the plurality of transport means, and at least two stators adjacent in the transport direction overlap with each other in the transport direction. A configuration including a stator is adopted. If comprised in this way, the structure which the movement range of the said holding mechanism in the said conveyance direction overlaps between two conveyance means can be implement | achieved easily.

  In the present invention, a plurality of the stators are provided corresponding to the plurality of transport means, and at least three of the stators adjacent in the transport direction overlap in the transport direction. Including two stators, and of the three stators, two stators located on both sides in the transport direction are arranged on the same side with respect to the stator located in the center in the transport direction. preferable. If comprised in this way, since the space which arrange | positions a stator may be narrow, size reduction of a continuous processing apparatus can be achieved. Moreover, since the distance between the area | region where the stator is arrange | positioned, and a conveyance path can be narrowed, a holding mechanism can be reduced in size.

  In the present invention, the conveyance path includes a conveyance surface composed of a sliding plane on which the processing object slides, a conveyance surface composed of a pseudo plane defined by a plurality of convex portions, a conveyance surface defined by a rolling element, and the above It is preferable to include any one of the conveyance surfaces that are conveyed in a state where the processing object is floated. If comprised in this way, the resistance at the time of conveying a process target object can be reduced, and even when a small drive mechanism for conveyance is used, a process target object can be smoothly conveyed.

  In the present invention, the holding mechanism includes an engaging portion that can advance and retreat toward the processing object, and the state in which the processing object is held and the held state are released by the advancement and retraction of the engaging portion. It is preferable. For example, it is preferable that the holding mechanism is provided with a pin that can be advanced and retracted toward the processing object as an engaging portion, and the processing object is provided with a hole into which the pin fits. If comprised in this way, the said holding mechanism can hold | maintain a process target object reliably with a simple structure.

  In the present invention, the plurality of processing means includes left and right support columns sandwiching the transport path on both sides, a beam unit supported by the support columns so as to intersect the transport direction at a position facing the transport path, and It is preferable that a portal processing mechanism including a processing unit supported by the beam portion is included. If comprised in this way, size reduction of a continuous processing apparatus can be achieved.

  In the present invention, the plurality of processing means include a plurality of the gate-type processing mechanisms, and the plurality of portal-type processing mechanisms include a driving device that drives the processing unit in a direction in which the beam portion extends. It is preferable that the portal type robot provided with is included. With this configuration, it is possible to perform processing at a plurality of locations and processing with high positional accuracy on the workpiece, and even when a plurality of workpieces are arranged in the direction in which the beam portion extends on one pallet. The processing can be performed on each of the plurality of workpieces.

  In the continuous processing apparatus to which the present invention is applied, since a plurality of processing stations are set on the transport path, the processing means can perform processing without moving the processing object to a position off the transport path. Can do. In addition, the transport means moves the holding mechanism that holds the processing object in the transport direction to define the position of the processing object in the transport direction at the processing station. And a separate positioning mechanism is not required. Furthermore, since the processing object is transferred along the transfer path by delivering the processing object between two transfer means adjacent in the transfer direction, the transfer means transfers the processing object at the processing station. Since both the function of performing positioning in and the function of transporting the object to be processed along the transport path are carried out, the configuration can be simplified. Therefore, according to the present invention, a plurality of processes can be sequentially performed on a workpiece while conveying the workpiece with a simple configuration and a high processing speed.

  Embodiments of the present invention will be described below with reference to the drawings. In the following description, an example is a continuous processing apparatus of the type in which a plurality of processes are sequentially performed on the workpiece while conveying the workpiece in the X-axis direction, with the directions orthogonal to each other being the X-axis, Y-axis, and Z-axis. explain. The Y-axis direction is the width direction of the continuous processing apparatus, and the Z-axis direction is the height (up and down) direction of the continuous processing apparatus. Therefore, in the continuous processing apparatus described below, the conveyance path extends linearly in the X-axis direction.

  FIG. 1 is an explanatory diagram showing a planar layout of a continuous processing apparatus to which the present invention is applied. 2, 3 and 4 are perspective views of the continuous processing apparatus to which the present invention is applied as viewed obliquely from the loading station side (upstream side), and the continuous processing apparatus cut along the intermediate processing station. FIG. 3 is a cross-sectional view when viewed from the unloading station side (downstream side) and a perspective view showing a state in which a processing device and the like are omitted from the state shown in FIG. 2. 5 (a) and 5 (b) are perspective views showing the transport mechanism used in the continuous processing apparatus to which the present invention is applied, respectively, and a part of the transport mechanism (holding mechanism side) is removed from the base. It is a perspective view which shows a mode. 6 (a), 6 (b), and 6 (c) are explanatory views of a holding mechanism used in a continuous processing apparatus to which the present invention is applied, an explanatory view showing a state in which a work is mounted on a pallet, and the holding mechanism is a pallet. It is sectional drawing which shows a mode that the workpiece | work was hold | maintained via.

  1 to 4, a continuous processing apparatus 1 to which the present invention is applied is located on a base 10 at a position separated from a transport path 2 extending in a transport direction (X-axis direction) of a processing target 9 in the X-axis direction. Three set processing stations 3A, 3B, 3C and three processing mechanisms 7A, 7B, 7C (processing means) provided corresponding to each of the three processing stations 3A, 3B, 3C are provided. The processing object 9 thrown in from the carry-in station 11 side is sequentially transferred to a predetermined stage in the first stage processing station 3A, the second stage processing station 3B, and the third stage processing station 3C. After the processing is performed, the paper is discharged from the carry-out station 12 side.

  In this embodiment, three stages of processing stations 3A, 3B, 3C are set on the transport path 2, and three transport devices 4A, 4B, 4C (corresponding to each of the three processing mechanisms 7A, 7B, 7C ( Conveying means) is configured.

  The conveyance path 2 includes a conveyance surface 20 defined by a roller unit 21 including a plurality of rollers rotatable around an axis extending in the Y-axis direction, and the processing target 9 is conveyed on the conveyance surface 20. . The width dimension of the roller unit 21 (dimension in the Y-axis direction) is shorter than the width dimension of the conveyance path 2 (dimension in the Y-axis direction) and the width dimension of the processing target 9 (dimension in the Y-axis direction). In this embodiment, the conveyance path 2 is divided into two in the width direction (Y-axis direction), and a plurality of roller units 21 are arranged at predetermined intervals along the longitudinal direction with respect to the one side region. With respect to the other side area of the path 2, a plurality of roller units 21 are arranged at predetermined intervals at positions shifted in the longitudinal direction of the transport path 2 with respect to the roller units 21 arranged in the one side area. ing.

  As shown in FIGS. 1 to 4 and FIGS. 5 (a) and 5 (b), each of the three transfer devices 4A, 4B, and 4C includes holding mechanisms 6A, 6B, and 6C that hold the processing target 9, and this The holding mechanisms 6A, 6B, and 6C are moved in the X-axis direction to include transport drive mechanisms 5A, 5B, and 5C that define positions in the transport direction at the processing stations 3A, 3B, and 3C. A rail-shaped guide 45 that guides the movement of the holding mechanisms 6A, 6B, and 6C in the X-axis direction is provided in common to the three transfer devices 4A, 4B, and 4C. Each of the conveying devices 4A, 4B, and 4C includes plates 55A, 55B, and 55C in which a plurality of flat plates are connected. In the plates 55A, 55B, and 55C, on the lower surface side of the substantially central portion in the Y-axis direction. Linear guides 58A, 58B, and 58C are fixed. The linear guides 58A, 58B, and 58C are engaged with the guide 45 so as to be movable in the X-axis direction. Further, in the transport devices 4A, 4B, and 4C, holding mechanisms 6A, 6B, and 6C are configured in portions near the transport path 2 of the plates 55A, 55B, and 55C. In this embodiment, the three transfer devices 4A, 4B, and 4C are mounted on the common plate 40, and the plate 40 is mounted on the base 10 in this state. Note that the holding mechanism side and the base side of the transport devices 4A, 4B, and 4C are integrally configured by the engagement of the linear guides 58A, 58B, and 58C and the guide 45 that are movable in the X-axis direction.

  In any of the three transport devices 4A, 4B, and 4C, the transport drive mechanisms 5A, 5B, and 5C are on the side of the stators 51A, 51B, and 51C extending along the transport path 2 and the holding mechanisms 6A, 6B, and 6C. Linear motors 50A, 50B, and 50C having movers 53A, 53B, and 53C mounted on the motor. That is, the movable elements 53A, 53B, and 53C are mounted on the holding mechanisms 6A, 6B, and 6C side by being fixed to the plates 55A, 55B, and 55C. The stators 51A, 51B, 51C are provided with permanent magnets in which N poles and S poles are alternately formed in the X-axis direction, while the movers 53A, 53B, 53C are provided with coils wound around a stator core. ing. Stator 51A, 51B, 51C is provided corresponding to each of three conveyance apparatus 4A, 4B, 4C, and in three stator 51A, 51B, 51C, the stators adjacent in the X-axis direction are Some overlap in the X-axis direction. That is, among the three stators 51A, 51B, and 51C, the stator 51A arranged on the most upstream side in the X-axis direction is partly in the X-axis direction with the stator 51B arranged in the center in the X-axis direction. The stator 51B that is arranged in parallel in the Y-axis direction so as to overlap and that is arranged in the center in the X-axis direction partially overlaps with the stator 51C that is arranged on the most downstream side in the X-axis direction in the X-axis direction. As shown in FIG.

  For this reason, the movement ranges of the holding mechanisms 6A, 6B, 6C of the three transfer devices 4A, 4B, 4C are arranged on the most upstream side in the X-axis direction as indicated by arrows X1, X2, X3 (see FIG. 1). The movement range X1 of the holding mechanism 6A partially overlaps the movement range X2 of the holding mechanism 6B arranged in the center in the X-axis direction in the X-axis direction, and the holding range arranged in the center in the X-axis direction. The movement range X2 of the mechanism 6B partially overlaps the movement range X3 of the holding mechanism 6C arranged on the most downstream side in the X-axis direction.

  Of the three stators 51A, 51B, 51C, the two stators 51A, 51C located on both sides in the X-axis direction are the same in the width direction with respect to the stator 51B located in the center in the X-axis direction. In this embodiment, in the present embodiment, they are arranged on the same side in the width direction sandwiched between the conveyance path 2 and the stator 51B located at the center. For this reason, among the three transport devices 4A, 4B, and 4C, the plates 55A and 55C of the transport devices 4A and 4C positioned on both sides in the X-axis direction are the plates 55B of the transport device 4B positioned in the center in the X-axis direction. In comparison, the dimension in the Y-axis direction is short.

  In the three transport apparatuses 4A, 4B, and 4C having such a configuration, the transport drive mechanisms 5A, 5B, and 5C are controlled independently, and the holding mechanisms 6A, 6B, and 6C are driven in the X-axis direction at a predetermined timing. To do. In the transfer apparatuses 4A, 4B, and 4C, the holding mechanisms 6A, 6B, and 6C are driven only in the X-axis direction and cannot be driven in the Y-axis direction and the Z-axis direction.

  In this embodiment, the three transfer devices 4A, 4B, 4C are all air cylinder devices 60A, 60B, 60C shown in FIG. 6 (a) at portions close to the transfer path 2 of the plates of the holding mechanisms 6A, 6B, 6C. And a movable plate 66 that is driven in the vertical direction (Z-axis direction) by the air cylinder devices 60A, 60B, and 60C. From the lower surface of the movable plate 66, three round rod-like engagement pins 67 and 68 are provided. 69 project, and these engagement pins 67, 68, 69 are provided side by side in the X-axis direction. On the other hand, as shown in FIG. 6B, the processing object 9 includes a plurality of workpieces W on which various processes are sequentially performed, and a pallet 90 on which the plurality of workpieces W are mounted. 3, the three engaging pins 67, 68, and 69 of the holding mechanisms 6 </ b> A, 6 </ b> B, and 6 </ b> C are fitted to the end portions located on the holding mechanisms 6 </ b> A, 6 </ b> B, and 6 </ b> C side when the movable plate 66 is lowered. Engagement holes 91, 92, and 93 are formed. Therefore, in the holding mechanism 6A, 6B, 6C, when the movable plate 60 is lowered by the drive by the air cylinder devices 60A, 60B, 60C from the state where the movable plate 66 is in the upper position, as shown in FIG. Engagement pins 67, 68, 69 fit into the engagement holes 91, 92, 93. Therefore, the processing object 9 can move in the X-axis direction together with the transfer devices 4A, 4B, and 4C. Further, in the holding mechanisms 6A, 6B, 6C, when the movable plate 66 is lifted by driving by the air cylinder devices 60A, 60B, 60C and the engaging pins 67, 68, 69 are removed from the engaging holes 91, 92, 93, The holding of the processing object 9 by the transfer devices 4A, 4B, 4C is released.

  At the lower end portions of the engagement pins 67, 68, 69, the edge portions are chamfered, and the opening edges of the engagement holes 91, 92, 93 are also tapered. Further, the pallet 90 is formed with chucks 96 that respectively hold a plurality of workpieces W, and each of the plurality of workpieces W is held at a predetermined position on the pallet 90.

  Of the three engagement holes 91, 92, 93 formed in the pallet 90, the engagement hole 91 located on the most downstream side in the X-axis direction is a circular hole into which the engagement pin 67 fits. The engagement hole 93 located on the most upstream side in the X-axis direction is a long hole extending in the X-axis direction. Therefore, even if a clearance is provided between the engagement pins 67, 68, 69 and the engagement holes 91, 92, 93, the engagement pin 69 is engaged if the engagement pin 67 fits into the engagement hole 91. The fitting hole 93 can be securely fitted and the orientation of the pallet 90 can be defined.

  Further, the engagement pins 68 and the engagement holes 92 that are formed second from the upstream side in the X-axis direction have their center positions shifted in the X direction. Further, the engagement holes 91, 92, 93 are opened on the same plane of the pallet 90, but the engagement pin 68 is shorter than the other two engagement pins 67, 69. Therefore, when the two engagement pins 67 and 69 are fitted in the engagement holes 91 and 93, respectively, the tapered portion 68a of the lower end portion of the engagement pin 68 is formed at the opening edge of the engagement hole 92. Since it contacts the tapered surface 92 a, the pallet 90 is pressed toward the transport surface 20. Therefore, the pallet 90 is prevented from floating, and the position of the pallet 90 in the Z-axis direction, that is, the position of the workpiece W in the Z-axis direction is defined.

  As shown in FIG. 2, the three processing mechanisms 7A, 7B, and 7C all have left and right support portions 77A and 77B that stand up at positions sandwiching the conveyance path 2 and the stators 51A, 51B, and 51C on both sides in the Y-axis direction. , 77C, 78A, 78B, and 78C, and beam portions 76A and 76B that are supported by the column portions 77A, 77B, 77C, 78A, 78B, and 78C so as to be orthogonal to the X-axis direction at positions facing the conveyance path 2 , 76C and a processing unit 8A, 8B, 8C supported by the beam portions 76A, 76B, 76C.

  In the present embodiment, among the three processing mechanisms 7A, 7B, and 7C, in the processing mechanism 7A disposed on the upstream side in the X-axis direction, a Z-axis driving device 72A configured by an air cylinder device is configured with respect to the beam portion 76A. At the lower end of the output shaft of the Z-axis drive device 72A, a welding head for temporarily fixing parts by welding on the workpiece W is mounted as a processing unit 8A. As the Z-axis drive device 72A, a linear motor or a feed screw mechanism may be used in addition to the air cylinder device.

  As shown in FIGS. 2 and 3, in the processing mechanism 7B arranged second from the upstream side in the X-axis direction, a Y-axis driving device 73B made of a linear motor is formed on the beam portion 76B, and fixed. A mover 732B is held in the child 731B. In the beam portion 76B, a guide rail 75B extending in the Y-axis direction is formed below the stator 731B. In the Y-axis drive device 73B, the coil wound around the stator core of the mover 732B is formed. By controlling energization, the mover 732B is driven in the Y-axis direction while being guided by the guide rail 75B. In addition, the mover 732B is configured with a Z-axis drive device 72B composed of a feed screw mechanism or the like, and UV is attached to a part temporarily fixed on the workpiece W at the lower end portion of the output shaft of the Z-axis drive device 72B. A dispenser for applying a curable adhesive is mounted as the processing unit 8B. In addition to the linear motor, an air cylinder device or a feed screw mechanism may be used as the Y-axis drive device 73B, and as the Z-axis drive device 72B, a linear motor or an air cylinder device is used in addition to the feed screw mechanism. May be.

  As shown in FIGS. 1 and 2, in the processing apparatus 7C arranged on the most downstream side in the X-axis direction, a UV irradiation apparatus is fixed to the beam portion 76C as a processing unit 8C.

(Operation)
In the continuous processing apparatus 1 configured as described above, in order to temporarily fix the workpiece 9 (work W and the pallet 90) in the X-axis direction, apply the adhesive, and cure the adhesive, First, the processing object 9 is loaded into the carry-in station 11. At that time, in the transfer apparatuses 4A, 4B, and 4C, the movable plate 66 of the holding mechanism 6A is in a state of being retracted from the carry-in station 11 to the upstream side in the X-axis direction. When the processing object 9 is loaded into the carry-in station 11, the coil of the mover 53A is supplied with power in the transfer device 4A, and the transfer device 4A moves toward the downstream side in the X-axis direction. When the movable plate 66 of the holding mechanism 6A finishes moving to a position where it overlaps the pallet 90, the conveying device 4A stops, and then the air cylinder device 60A of the holding mechanism 6A operates to lower the movable plate 66. As a result, the three engagement pins 67, 68, 69 of the movable plate 66 are fitted into the three engagement holes 91, 92, 93 of the pallet 90, respectively.

  Next, the transfer device 4A moves toward the downstream side in the X-axis direction, and transfers the processing object 9 to the processing station 3A. At that time, the transfer device 4A aligns the position of the processing object 9 in the X-axis direction with the position directly below the processing unit 8A. Then, the Z-axis drive device 72A is operated to lower the processing unit 8A, and batch processing is performed on all of the plurality of workpieces W. The processing unit 8A may be able to process only a part of the plurality of workpieces W at a time. In this case, after processing only a part of the plurality of workpieces W, the transfer device 4A is processed. However, the processing object 9 is shifted and aligned in the X-axis direction so that the positions of the other workpieces W and the processing unit 8A are aligned, and then the processing by the processing unit 8A is performed.

  When the temporary fixing process is completed, the transfer device 4A moves the processing object 9 in the X-axis direction between the processing station 3A and the processing station 3B (delivery station). Here, the position where the processing in the processing mechanism 7A is completed may be a delivery station between the processing station 3A and the processing station 3B, and in this case, the transfer device 4A does not move the processing object 9. Next, when the air cylinder device 60A of the holding mechanism 6A is operated and the movable plate 66 is raised, the three engagement pins 67, 68, 69 of the movable plate 66 are respectively connected to the three engagement holes 91, 92 of the pallet 90. , 93. As a result, the holding of the processing object 9 by the transport device 4A is released.

  Next, the transfer device 4A moves toward the carry-in station 11, and goes to receive a new object 9 that has already been carried into the carry-in station 11, while the next-stage transfer device 4B is connected to the process station 3A. It moves to the delivery station with the processing station 3B. When the movable plate 66 of the holding mechanism 6B finishes moving to the position where it overlaps the pallet 90, the transport device 4B stops, and then the air cylinder device 60B of the holding mechanism 6B operates to lower the movable plate 66. As a result, the three engagement pins 67, 68, 69 of the movable plate 66 are fitted into the three engagement holes 91, 92, 93 of the pallet 90, respectively.

  Next, the transfer device 4B moves toward the downstream side in the X-axis direction, and transfers the processing object 9 to the processing station 3B. At that time, the transfer device 4B matches the position of the processing object 9 in the X-axis direction with the position of the processing unit 8B in the X-axis direction. In this embodiment, the processing unit 8B applies an adhesive to a plurality of locations that are shifted in the X-axis direction and the Y-axis direction with respect to one workpiece W. Therefore, after the processing unit 8B is lowered by the Z-axis driving device 72B and the adhesive is applied to the workpiece W, the processing unit 8B is raised by the Z-axis driving device 72B, and then the Y-axis driving device 73B. The processing unit 8B and the workpiece W are positioned by the movement of the processing unit 8B in the Y-axis direction and the movement of the processing target 9 in the X-axis direction by the transport device 4B, and then the Z-axis driving device 72B. Thus, the processing unit 8B is lowered and the adhesive is applied to the workpiece W again. After repeating this operation to apply the adhesive to the workpiece W at a plurality of locations, the same adhesive is applied to the next workpiece W by the same operation. Depending on the combination of the movement of the processing unit 8B in the Y-axis direction by the Y-axis drive device 73B and the movement of the processing object 9 in the X-axis direction by the transport device 4B, all the workpieces W on the pallet 90 are moved. It is also possible to apply the adhesive to another part of all the workpieces W on the pallet 90 after all the adhesive is applied to the same part.

  When the adhesive application process is completed, the transfer device 4B moves the processing object 9 in the X-axis direction between the processing station 3B and the processing station 3C (delivery station). Here, the position where the processing in the processing mechanism 7B is completed may be a delivery station between the processing station 3B and the processing station 3C. In this case, the transfer device 4B does not move the processing object 9. Next, the air cylinder device 60B of the holding mechanism 6B operates to raise the movable plate 66, and the three engagement pins 67, 68, 69 of the movable plate 66 are respectively connected to the three engagement holes 91, Exit from 92 and 93. As a result, the holding of the processing object 9 by the transport device 4B is released.

  Next, the transfer device 4B moves to the delivery station between the processing station 3A and the processing station 3B, and goes to receive the processing object 9 that has already been processed in the processing station 3B, while the next stage transfer. The apparatus 4C moves to the transfer station between the processing station 3B and the processing station 3C. When the movable plate 66 of the holding mechanism 6C has moved to the position where it overlaps the pallet 90, the transport device 4C stops, and then the air cylinder device 60C of the holding mechanism 6C operates to lower the movable plate 66. As a result, the three engagement pins 67, 68, 69 of the movable plate 66 are fitted into the three engagement holes 91, 92, 93 of the pallet 90, respectively.

  Next, the transfer device 4C moves toward the downstream side in the X-axis direction, and transfers the processing object 9 to the processing station 3C. At that time, the transfer device 4C aligns the position of the processing object 9 in the X-axis direction with the position directly below the processing unit 8C. Then, the processing unit 8C irradiates the work W with UV light and cures the adhesive.

  When the adhesive coating process is completed, the transport device 4C moves the processing object 9 to the carry-out station 12 in the X-axis direction. Next, the air cylinder device 60 </ b> C of the holding mechanism 6 </ b> C operates to raise the movable plate 66, and the three engagement pins 67, 68, and 69 of the movable plate respectively include the three engagement holes 91 and 92 of the pallet 90. , 93. As a result, the holding of the processing object 9 by the transport device 4C is released. Then, the transfer device 4C moves to the delivery station between the processing station 3B and the processing station 3C, and goes to receive the new processing object 9 that has already been processed in the processing station 3B, while the unloading station 12 The workpiece W is discharged by another robot or the like.

  Since such a series of operations is repeated continuously, the plurality of processing objects 9 (work W and pallet 90) are temporarily fixed to the work W while being sequentially conveyed in the X-axis direction, adhesive is applied, and the adhesive is cured. Can be performed.

(Main effects of this form)
As described above, in the continuous processing apparatus 1 of the present embodiment, since the three stages of processing stations 3A, 3B, and 3C are set on the transport path 2, the position where the processing object 9 is removed from the transport path 2 Even if it is not moved to, processing by the processing mechanisms 7A, 7B, and 7C can be performed. Further, the transport devices 4A, 4B, and 4C move the holding mechanisms 6A, 6B, and 6C that hold the processing object 9 in the transport direction, and the position of the processing object 9 in the X-axis direction at the processing stations 3A, 3B, and 3C. Therefore, the positioning of the processing object 9 in the X-axis direction can be performed by the conveying devices 4A, 4B, and 4C themselves, and another positioning mechanism is not necessary. Further, the processing object 9 is transferred along the transfer path 2 by delivering the processing object 9 between the two transfer apparatuses 4A and 4B adjacent in the X-axis direction and between the transfer apparatuses 4B and 4C. The transfer devices 4A, 4B, and 4C have a function of positioning the processing target 9 in the X-axis direction at the processing stations 3A, 3B, and 3C and a function of transporting the processing target 9 along the transport path 2. Since both are assumed, the configuration can be simplified. Therefore, according to the present embodiment, it is possible to sequentially perform a plurality of processes on the workpiece W while conveying the workpiece W with a simple configuration and a high processing speed.

  In addition, since the movement ranges of the holding mechanisms 6A, 6B, and 6C in the transport direction overlap between the two transport devices 4A and 4B and the transport devices 4B and 4C, between the two transport devices 4A and 4B. Between the transfer device 4B and the transfer device 4C, it is possible to adopt a configuration in which the transport device in the subsequent stage holds the process target object 9 after the transport device in the previous stage releases the hold of the process target object 9. If comprised in this way, in the some conveying apparatus 4A, 4B, 4C, the structure in which holding mechanism 6A, 6B, 6C hold | maintains the same location of the process target object 9 can be employ | adopted. There is an advantage that it is not necessary to form any number of locations held by 6A, 6B, and 6C.

  Further, the transport driving mechanisms 5A, 5B, and 5C include stators 51A, 51B, and 51C extending along the transport path 2 and movable elements 53A, 53B, and 53C mounted on the holding mechanisms 6A, 6B, and 6C. Since the linear motors 50A, 50B, and 50C having the above are used, the transport drive mechanisms 5A, 5B, and 5C can be arranged in a narrow space. Further, in the three stators 51A, 51B, 51C, the two adjacent conveyors in the X-axis direction can be obtained by simply overlapping the stators 51A, 51B adjacent in the X-axis direction and the stators 51B, 51C in the X-axis direction. It is possible to realize a configuration in which the movement ranges of the holding mechanisms 6A, 6B, and 6C in the X-axis direction overlap in the apparatuses 4A and 4B and the transfer apparatuses 4B and 4C.

  Moreover, among the three stators 51A, 51B, 51C, the two stators 51A, 51C located on both sides in the X-axis direction are arranged on the same side with respect to the stator 51B located in the center. Since the space for arranging 51A, 51B, and 51C may be small, the continuous processing apparatus 1 can be downsized. In addition, since the distance between the region where the stators 51A and 51C are arranged and the transport path 2 can be reduced, the dimension in the Y-axis direction of the plates 55A and 55C used for the holding mechanisms 6A and 6C can be shortened. The holding mechanisms 6A and 6C can be downsized.

  In the processing object 9, since a plurality of workpieces W are mounted on the pallet 90, even a small workpiece W can be easily transported and the plurality of workpieces W can be transported collectively. Therefore, the processing efficiency can be increased.

  Further, since the processing mechanisms 7A, 7B, and 7C are configured as a gate-type processing mechanism, the continuous processing apparatus 1 can be reduced in size. Moreover, since the processing mechanism 7B is configured as a portal robot having the Y-axis drive device 73B, it is possible to easily perform processing at a plurality of locations on the workpiece W.

[Other embodiments]
In the above embodiment, the present invention is applied to the continuous processing apparatus 1 for temporarily fixing the object 9 to be treated, applying the adhesive, and curing the adhesive. However, the continuous processing apparatus 1 that performs three or more processes may be used. For example, the present invention may be applied to a continuous processing apparatus other than the continuous processing apparatus 1 for bonding with respect to the content of the processing. In the above embodiment, the three stages of processing stations 3A, 3B, and 3C are provided. However, the present invention may be applied to a continuous processing apparatus that includes four or more stages of processing stations.

  Further, in the transport path 2, a positional deviation occurs in the processing object 9 after the preceding transport device releases the holding of the processing object 9 and before the subsequent transport device holds the processing object 9. For example, as shown by a one-dot chain line in FIG. 1, pins 29 or the like that abut against the processing object 9 and restrict the position are provided on both sides of the conveyance surface 20 as means for preventing misalignment. Also good. As such a misalignment prevention means, in addition to a form using contact with the processing object 9, a form using vacuum suction or magnetic suction of the processing object 9 or a gripping of the processing object 9 such as a chuck mechanism. You may employ | adopt the form using.

  In the above embodiment, a plurality of workpieces W are mounted on the pallet 90, but one workpiece W may be mounted on the pallet 90. In any case, the use of the pallet 90 is effective when a portion to be held with respect to the workpiece W cannot be configured. Further, when the workpiece W is relatively large and the workpiece W itself can hold a stable posture on the conveyance surface 20, the workpiece W itself may be conveyed as the processing object 9 without using the pallet 90. .

    In the said form, although the conveyance path 2 employ | adopted the structure by which the conveyance surface 20 was prescribed | regulated by rolling elements, such as a roller, about the conveyance surface 20, the conveyance surface which consists of a sliding plane where the process target 9 slides, for example, Alternatively, a conveyance surface made of a resin plate such as a polyamide resin may be employed. Moreover, as a conveyance surface, you may employ | adopt the conveyance surface which consists of a pseudo plane prescribed | regulated by the some convex part, for example, the conveyance surface which consists of a resin board in which many convex parts were formed. Further, as the transport surface, a transport surface that is transported in a state in which the processing object 9 is floated, for example, a transport surface that is in a state in which the processing target object 9 is floated by the release of air or magnetic repulsion may be adopted. . Even when any of these configurations is adopted, the resistance when the processing object 9 is transported can be reduced, and the processing object 9 can be transported smoothly even when the small transport driving mechanisms 5A, 5B, and 5C are used. be able to.

  In the above embodiment, engagement using the engagement pins 67, 68, and 69 is used as the holding mechanisms 6A, 6B, and 6C of the transfer devices 4A, 4B, and 4C, but the holding mechanisms 6A, 6B, and 6C and the processing object 9 are used. While one or both of the magnets are provided with magnets, a magnetic material is provided on one or both of the holding mechanisms 6A, 6B, 6C and the processing target 9, and the holding mechanisms 6A, 6B, 6C cause the processing target 9 to move by magnetic attraction. You may employ | adopt the structure to hold | maintain. When such a configuration is adopted, the holding mechanism 6A, 6B, 6C is temporarily separated from the processing target 9 to release the holding of the processing target 9 by the holding mechanism 6A, 6B, 6C. Can do. In this case, the transport surface is preferably made of a nonmagnetic material. Further, a configuration in which the holding mechanisms 6A, 6B, and 6C hold the processing target 9 by vacuum suction or the like may be employed.

  In the above embodiment, the three stators 51A, 51B, 51C are arranged in two rows, but the three stators 51A, 51B, 51C may be arranged in three rows. Further, in the above embodiment, the stators 51A, 51B, and 51C are arranged in each of the plurality of movers 53A, 53B, and 53C. However, even if a common stator is provided for the plurality of movers 53A, 53B, and 53C. Good.

  In the above embodiment, the linear motors 50A, 50B, and 50C are used as the transport drive mechanisms 5A, 5B, and 5C. However, a feed screw mechanism, a rack-pinion mechanism, a belt mechanism, and the like are used as the transport drive mechanisms 5A, 5B, and 5C. May be. Moreover, in the said form, although conveying apparatus 4A, 4B, 4C has been arrange | positioned in the position shifted | deviated with respect to the conveyance path 2 in the Y-axis direction, conveying apparatus 4A, 4B, 4C is Z-axis direction with respect to the conveyance surface 20. You may arrange | position in the position shifted | deviated.

  In the above embodiment, one processing device and one transfer device 4A, 4B, 4C are provided for one processing station 3A, 3B, 3C, but a plurality of processing stations 3A, 3B, 3C are provided. A configuration provided with a processing mechanism or a configuration provided with a plurality of processing mechanisms shared by the two processing stations 3A, 3B, 3C may be adopted. In the above embodiment, it is used that the movement ranges (ranges indicated by arrows X1, X2, and X3) of the holding mechanisms 6A, 6B, and 6C of the three transfer devices 4A, 4B, and 4C partially overlap. The processing object 9 is transferred between the transfer devices 4A, 4B, and 4C. However, if the overlapping portion of the movement range (the range indicated by the arrows X1, X2, and X3) is used as a processing station, two processes are performed. Processing by the mechanism can be performed simultaneously.

  In the above embodiment, the configuration in which the transport path 2 extends linearly is adopted, but the present invention may be applied when the transport path 2 extends in an arc around the Z axis.

It is explanatory drawing which shows the planar layout of the continuous processing apparatus to which this invention is applied. It is the perspective view which looked at the continuous processing apparatus to which this invention is applied from the diagonally upper side of the carrying-in station side (upstream side). It is sectional drawing when the continuous processing apparatus to which this invention is applied is cut | disconnected along an intermediate | middle processing station and it sees from the workpiece carrying-out part mouth side (downstream side). It is a perspective view which shows a mode that the processing apparatus etc. were excluded from the continuous processing apparatus to which this invention is applied. (A), (b) is the perspective view which extracts and shows conveyance apparatus 4A, 4B, 4C used for the continuous processing apparatus to which this invention is applied, respectively, and a part (holding mechanism side) of this conveyance apparatus on a base It is a perspective view which shows a mode that it removed from. (A), (b), (c) is an explanatory view of a holding mechanism used in a continuous processing apparatus to which the present invention is applied, an explanatory view showing a state in which a work is mounted on a pallet, and the holding mechanism via a pallet. It is sectional drawing which shows a mode that the workpiece | work was hold | maintained.

Explanation of symbols

1. ・ Continuous processing device 9 ・ ・ Processing object 2 ・ ・ Transfer paths 3A, 3B, 3C ・ ・ Processing stations 4A, 4B, 4C ・ ・ Conveying device (conveying means)
5A, 5B, 5C ··· Driving drive mechanism 6A, 6B, 6C ··· Holding mechanism 7A, 7B, 7C ··· Processing mechanism (processing means)
8A, 8B, 8C ··· Processing unit 50A, 50B, 50C · · Linear motor 67, 68, 69 · · Engagement pin 90 · · Pallet 91, 92, 93 · · Engagement hole W · · · Work

Claims (12)

A conveyance path extending in the conveyance direction of the object to be processed, three or more stages of processing stations set at positions separated in the conveyance direction, and a plurality of processes for processing the object to be processed at each of the plurality of stages of processing stations In a continuous processing apparatus comprising:
Each processing station is set on the transfer path, and at least three transfer means are provided along the transfer path.
Each transport means includes a holding mechanism for holding the processing object, and a transport driving mechanism for moving the holding mechanism within a moving range including the processing station and defining a position in the transport direction in the processing station. Prepared,
Each holding mechanism is guided in the transport direction by a common guide provided along the transport path,
In the three conveying means, a first movement range of the holding mechanism of the first conveying means arranged on the most upstream side in the conveying direction and a second adjacent to the downstream side of the conveying direction of the first conveying means. The second movement range of the holding mechanism of the conveyance means partially overlaps in the conveyance direction, and a third conveyance adjacent to the second movement range and the downstream side of the second conveyance means in the conveyance direction. The third movement range of the holding mechanism of the means partially overlaps in the transport direction, the first movement range and the third movement range are separated in the transport direction,
The three conveying means perform the transfer of the processing object between the first conveying means and the second conveying means and between the second conveying means and the third conveying means. A continuous processing apparatus for transporting a processing object along the transport path.   The continuous processing apparatus according to claim 1, wherein the conveyance path extends linearly. The processing object includes one or more workpieces to be processed by the processing means, and a pallet on which the workpieces are mounted,
The continuous processing apparatus according to claim 1, wherein the holding mechanism holds and conveys a workpiece via the pallet. 4. The apparatus according to claim 1, wherein, between the two transport units, the transport unit in the subsequent stage holds the processing object after the transport unit in the previous stage releases the holding of the processing object. 5. A continuous processing apparatus according to any of the above sections. In the transport path, after the previous transport unit releases the holding of the processing object, until the subsequent transport unit holds the processing object, a positional shift that prevents the processing object from shifting. 5. The continuous processing apparatus according to claim 4, wherein prevention means is configured. 6. The conveyance drive mechanism includes a linear motor including a stator extending along the conveyance path and a mover mounted on the holding mechanism side. The continuous processing apparatus as described in any one. A plurality of the stators are provided corresponding to the plurality of conveying means,
The continuous processing apparatus according to claim 6, wherein the plurality of stators include at least two stators in which stators adjacent in the transport direction overlap in the transport direction. A plurality of the stators are provided corresponding to the plurality of conveying means,
The plurality of stators includes at least three stators that are adjacent to each other in the transport direction and overlap in the transport direction,
The two stators located on both sides in the transport direction among the three stators are arranged on the same side with respect to the stator located in the center in the transport direction. A continuous processing apparatus according to 1. The conveyance path includes a conveyance surface composed of a sliding plane on which the processing object slides, a conveyance surface composed of a pseudo plane defined by a plurality of convex portions, a conveyance surface defined by rolling elements, and the processing object. The continuous processing apparatus according to any one of claims 1 to 8, further comprising any one of transport surfaces that are transported in a floating state. The holding mechanism includes an engaging portion that can be advanced and retracted toward the processing object, and the state in which the processing object is held and the held state are released by the advance and retreat of the engaging portion. The continuous processing apparatus according to any one of claims 1 to 9. The plurality of processing means include a left and right column part sandwiching the conveyance path on both sides, a beam part supported by the column part so as to intersect the conveyance direction at a position facing the conveyance path, and the beam part The continuous processing apparatus according to any one of claims 1 to 10, further comprising a gate-type processing mechanism including a supported processing unit. The plurality of processing means includes a plurality of the gate-type processing mechanisms,
The plurality of portal processing mechanisms include a portal robot including a driving device that drives the processing unit in a direction in which the beam portion extends. The continuous processing apparatus according to 11.

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