JP6395587B2 - Transfer device, work system, device and holding unit - Google Patents

Description

The present invention, transfer feeder, work system, an apparatus and holding unit.

  When working on one surface and the other surface of a workpiece, there is one that transports the workpiece, positions it at a predetermined work position, inverts the workpiece at the work position, and performs work on each surface. . For example, Patent Document 1 is provided with a reversing machine for reversing a work, and a holding means for holding the work is carried into a reversing machine via a loader and work is performed on both surfaces of the work. The technology to carry out through is described. Patent Document 2 describes a technique in which a workpiece is directly received from a conveyance rail that conveys the workpiece, and includes a reversing drum that reverses the workpiece, and the work is performed while the workpiece is reversed by the reversing drum.

Japanese Patent Publication No. 07-108490 Japanese Patent No. 2978860

  In the technique described in Patent Document 1, when a work is performed on a work, the work is positioned at a work position. However, the work is placed on a reversing machine one by one via a loader and an unloader and reversed. , Work efficiency decreases. Moreover, in the technique described in Patent Document 2, the workpiece is directly moved from the conveyance rail to the reversing drum. However, the conveyance rail and the reversing drum are separate devices, which increases the size of the entire device.

  Accordingly, an object of the present invention is to provide a technique that contributes to downsizing of an apparatus and performs work by positioning while inverting a work efficiently.

The present invention provides a transfer device that transfers a holding unit that holds the workpiece with one surface of the workpiece exposed, and reverses the holding unit at a predetermined position to expose the other surface of the workpiece. A traveling unit including a traveling body that travels in a predetermined direction, at least one support member that is fixed to the traveling body and supports the holding unit, and a guide unit that guides the holding unit, The holding unit is provided on a main body portion that holds at least a part of the other surface of the workpiece, a connected portion extending from the main body portion, and a distal end side of the connected portion, A guided portion guided by the guide unit, and the support member is fixed to the traveling body, and is provided integrally with the fixed portion, and rotatably supports the holding unit. The guide unit regulates movement of the traveling body in a direction orthogonal to the traveling direction, a reversing unit that reverses the main body unit, a guide unit that guides the guided unit, and the guide unit. The travel body is an endless travel member, the travel unit further includes a circulation drive mechanism for circulatingly driving the endless travel member, and the endless travel member is predetermined in the longitudinal direction thereof. A groove portion formed at intervals is provided, and the fixing portion includes a fitting portion that engages with the groove portion by engaging the endless traveling member and the restricting portion from the short side direction .

Further, the present invention transfers the holding unit that holds the workpiece with one surface of the workpiece exposed, and reverses the holding unit at a predetermined position to expose the other surface of the workpiece. An apparatus, comprising: a traveling unit including a traveling body that travels in a predetermined direction; at least one support member that is fixed to the traveling body and supports the holding unit; and a guide unit that guides the holding unit. The holding unit is provided on a main body portion that holds at least a part of the other surface of the workpiece, a connected portion extending from the main body portion, and a distal end side of the connected portion. A guided portion guided by the guide unit, and the support member is fixed to the traveling body, and is provided integrally with the fixed portion, so that the holding unit is rotatable. And a bearing unit for supporting the guide unit, a reversing unit for inverting the main body unit, a guide unit for guiding the guided unit, and movement of the traveling body in a direction orthogonal to the traveling direction. A regulating part for regulating , the traveling body is an endless traveling member, the traveling unit further includes a circulation drive mechanism for circulatingly driving the endless traveling member, and the reversing unit includes the guided part. One guide member for guiding, and another guide member for guiding the guided portion, wherein the guided portion includes a rolling coupling portion including first and second rolling elements guided by the guiding portion. The one guide member includes a one guide portion that guides the first rolling element downward from a guide surface of the guide portion so as to reverse the main body portion, and the other guide member includes the one guide portion and Collaborate In order to invert the serial body portion, and guiding the first rolling elements, characterized in that it comprises the other guide portion provided continuously to the guide surface.

  ADVANTAGE OF THE INVENTION According to this invention, while contributing to size reduction of an apparatus, it can position and work while inverting a workpiece | work efficiently.

1 is a front view of a work system according to an embodiment of the present invention. The top view of a work system. The perspective view of the transfer apparatus which concerns on one Embodiment of this invention. The perspective view which shows a part of transfer apparatus. (A) And (B) is the top view and side view of a holding | maintenance unit, (C) is the partial side view seen from the A direction of (A). The exploded perspective view of a holding unit. (A) is a perspective view of a support member, (B) is a sectional view, (C) is an exploded perspective view, (D) is an exploded side view, and (E) is a side view. Sectional drawing which shows the engagement state of a supporting member, a holding | maintenance unit, and a traveling body. Explanatory drawing explaining the operation | movement which a holding unit reverses. The perspective view of the transfer apparatus which concerns on other embodiment. The expansion perspective view of the transfer device concerning other embodiments.

  Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. In the drawings, the same reference numerals indicate the same elements, and the vertical and horizontal directions with respect to the paper surface are used as the vertical and horizontal directions of the apparatus in the present embodiment in the description in the text.

<Working system 1>
FIG. 1 shows a front view of a work system 1 according to an embodiment of the present invention. FIG. 2 shows a top view of the work system 1. The work system 1 performs work on both surfaces of the workpiece W by inverting the workpiece W while the workpiece W having one surface and the other surface is being conveyed. Examples of the workpiece W include an electronic substrate such as a printed board, an electronic component such as a semiconductor device, and the like. Examples of the work to be performed on both surfaces of the work W include an inspection work by the imaging device 11, a printing work by an ink jet printer, a component mounting work, and the like. In the present embodiment, an example is shown in which an electronic substrate is employed as the workpiece W, and an inspection operation by the imaging device 11 is employed as the operation, but is not limited thereto.

  The work system 1 shown in FIG. 1 includes a transfer device 100 that transfers a work W, a work unit 10 that performs work on one surface and the other surface of the work W, and a work W that is transferred to the transfer device 100. First and second transfer devices 20 and 30 to be provided.

<Outline of transfer device 100>
The transfer device 100 transfers a plurality of holding units 120 that hold the workpiece W with one surface of the workpiece W exposed, and also inverts the workpiece W at a predetermined position to expose the other surface of the workpiece W. Let The transfer device 100 further includes a traveling body 111 that is an endless traveling member that circulates and holds the holding unit 120 in the transfer device 100, and a traveling unit 110 that is a circulation drive mechanism that circulates and drives the traveling body 111. The holding unit 120 is circulated and transferred in the transfer device 100 by the traveling body 111 and is guided and transferred by a guide unit 140 described later.

<Work unit 10>
The work unit 10 includes an imaging device 11 as a work tool that performs work on both surfaces of the workpiece W and a work movement mechanism 12 that moves the imaging device 11 (work tool). In this embodiment, the example which employ | adopted the imaging device 11 which image | photographs the surface of the workpiece | work W as a work tool is shown. As the imaging device 11, for example, a vision sensor such as a line sensor camera or an area sensor camera can be employed. Moreover, as the imaging device 11, an optical sensor capable of detecting visible light, infrared light, ultraviolet light, or the like can be employed, and an image sensor composed of a CCD, CMOS sensor, or the like may be employed. For example, it is possible to employ the imaging device 11 that can capture an image in the imaging region SR indicated by a two-dot chain line circle in FIG.

  As illustrated in FIG. 1, the work unit 10 has an imaging device 11 disposed above the transfer device 100. The imaging device 11 can be moved by the work movement mechanism 12 in the M1 direction in the drawing, which is a direction parallel to the transfer direction of the workpiece W in the transfer device 100 (the X direction in FIGS. 1 and 2). Further, in order to enable the imaging device 11 to photograph the workpiece W stopped or passed in the first work area WA1 and the second work area WA2 set in the transfer device 100, the first work position WP1 corresponding to each area. The second working position WP2 can be reciprocated. Note that the movement of the imaging device 11 is not limited to reciprocation, and may be movement in only one direction. The first work position WP1 is a position corresponding to the first work area WA1 in which work is performed on one surface of the workpiece W to be imaged. The second work position WP2 is a position corresponding to the second work area WA2 in which work is performed on the other surface of the workpiece W. Note that a first reversal area IA1 for reversing a workpiece W described later is set between the first work area WA1 and the second work area WA2. A second inversion area IA2 is set on the downstream side of the second work area WA2 (downstream in the workpiece W transfer direction).

<Transfer device 20, 30>
On the left side of the transfer device 100 in FIG. 1, a first transfer device 20 that transfers the workpiece W from the first transfer path TP <b> 1 to the transfer device 100 is disposed. The first transport path TP1 transports the workpiece W from the left side in the X direction in FIG. 1 to the right side. The first transfer device 20 includes a first arm portion 21 that grips the workpiece W that has flowed on the first transport path TP1, and the first arm portion 21 in the M2 direction in the X direction and the M3 direction in the Z direction in FIG. And a first drive mechanism 22 that moves to the first position. After gripping the workpiece W on the first transport path TP1, the first arm unit 21 rises in the M3 direction, moves to the right in the M2 direction, descends in the M3 direction, and is held in the transfer device 100 described later. The workpiece W is placed on the unit 120.

  On the right side in FIG. 1 of the transfer device 100, a second transfer device 30 for transferring the workpiece W from the holding unit 120 in the transfer device 100 to the second transport path TP2 is disposed. The second transfer device 30 includes a second arm portion 31 that grips a workpiece W that has been inspected, which will be described later, and the second arm portion 31 in the M4 direction that is the Z direction and the M5 direction that is the X direction in FIG. And a second drive mechanism 32 to be moved. After gripping the workpiece W on the holding unit 120, the second arm portion 31 rises in the M4 direction, moves to the right in the M5 direction, descends in the M4 direction, and moves onto the second transport path TP2. W is placed. As shown in FIG. 2, the second transport path TP2 transports the workpiece W in the Y direction in FIG.

<Operation of work system 1>
The operation of the work system 1 will be described below. Referring again to FIG. 1, the workpiece W transferred to the right side in the X direction on the first transfer path TP <b> 1 by the transfer device (not shown) is gripped by the first arm portion 21 of the first transfer device 20. . The first arm unit 21 moves to the transfer device 100 while holding the workpiece W, and transfers the workpiece W onto the holding unit 120 located at the left end position P1 in the drawing within the transfer device 100. The transferred work W is held by the holding unit 120. The holding unit 120 holding the workpiece W is transferred to the right side in the X direction by the traveling body 111. When the holding unit 120 reaches a position P2 corresponding to the first work area WA1, one surface of the work W is photographed by the imaging device 11 located at the first work position WP1.

  Next, the holding unit 120 is inverted in the first inversion area IA1, and the holding unit 120 reaches the second work area WA2. At this time, the other surface of the workpiece W is exposed upward through an opening 121d (described later) in the holding unit 120. Further, after the work in the first work area WA1 is completed, the imaging device 11 moves to the right in the M1 direction and reaches the second work position WP2 indicated by a two-dot chain line in FIGS. Accordingly, when the holding unit 120 reaches the position P3 corresponding to the second work area WA2, the other surface of the workpiece W is imaged by the imaging device 11. After passing through the second work area WA2, the holding unit 120 is reversed again in the second inversion area IA2. Accordingly, the workpiece W is in a state in which the same surface (one surface) as that held by the first arm portion 21 of the first transfer device 20 faces upward. Next, when the holding unit 120 reaches the right end position P4 in the drawing in the transfer device 100, the second arm portion 31 of the second transfer device 30 takes out the workpiece W from the holding unit 120. The second arm portion 31 that grips the workpiece W transfers the workpiece W to the second transport path TP2. The workpiece W placed on the second transport path TP2 is transported in the Y direction shown in FIG. 2 by a transfer unit (not shown). The direction in which the imaging device 11 moves is not limited to the direction in which the holding unit 120 moves. The imaging device 11 can move in parallel with the movement direction of the holding unit 120, in other words, in both directions in the M1 direction in FIG.

<Details of transfer device 100>
With reference to FIG.3 and FIG.4, the transfer apparatus 100 which concerns on 1st embodiment is demonstrated. The transfer device 100 includes a housing 101, a traveling unit 110 that constitutes a circulation drive mechanism (for example, a belt drive mechanism and a chain drive mechanism), a holding unit 120, a support member 130 that supports the holding unit 120, and a holding unit. And a guide unit 140 for guiding 120. The transfer device 100 transfers the holding unit 120 that holds the workpiece W with one surface of the workpiece W exposed, and reverses the holding unit 120 at a predetermined position to expose the other surface of the workpiece W. . The housing 101 includes a bottom wall 101a and a pair of first and second side walls 101b and 101c standing from the bottom wall 101a. In the present embodiment, the casing 101 is configured to include the bottom wall 101a and the pair of side walls 101b and 101c. However, the present invention is not limited to this, and the traveling unit 110 and the like can be arranged. The bottom plate 101a may not be provided, and a form including a frame may be used.

<Travel unit 110>
The traveling unit 110 will be described with reference to FIG. 4 is a view in which the holding unit 120 and the support member 130 are not shown in the transfer device 100 shown in FIG. In the present embodiment, the traveling unit 110 includes a pair of endless traveling bodies 111 and a plurality of rolling members 112a, 112b. . . And a drive mechanism 113 (see FIG. 2) for driving the rolling member 112a and a drive shaft 114 connected to the drive mechanism 113 to constitute a circulation drive mechanism.

  In the housing | casing 101 inner side of the 1st side wall 101b of the back side in FIG. 4, the 1st driving body 111a which is one of a pair of traveling bodies 111, and the 1st drive side rolling which is a part of several rolling members The member 112a and the first driven side rolling member 112b are arranged. Further, a drive mechanism 113 is disposed outside the housing 101 of the first side wall 101b on the back side in FIG. 4 (see FIG. 2). A second traveling body 111b, which is the other of the pair of traveling bodies 111, and a rolling member (not shown) are disposed inside the housing 101 of the second side wall 101c on the front side in FIG. Therefore, the pair of traveling bodies 111 and the plurality of rolling members 112a, 112b. . . Is disposed on each of the first side wall 101b and the second side wall 101c. In addition, the number and arrangement | positioning of a traveling body, a rolling member, and a drive mechanism are not limited to what is shown in FIG. 4, The number and arrangement | positioning may be changed suitably. The belt member employed as the traveling body is a toothed belt member in which a plurality of groove portions (valley portions 111v described later) formed continuously in the short side direction of the inner surface are provided at predetermined intervals in the longitudinal direction. The pulley employed as a rolling member that supports the toothed belt member in a rollable manner has a plurality of tooth portions that engage with a groove portion (a trough portion 111v to be described later) of the toothed belt member on the outer peripheral surface at a predetermined interval. It is a toothed pulley provided in.

  The first traveling body 111a is an endless annular member, and includes a plurality of grooves formed on the inner surface at predetermined intervals in the longitudinal direction. The first traveling body 111a can be exemplified by an endless toothed belt, for example.

  The first traveling body 111a is stretched over the first drive side rolling member 112a and the first driven side rolling member 112b. The first drive side rolling member 112a and the first driven side rolling member 112b are both rolling members having the same shape, and are engaged with the grooves formed on the inner surface of the first traveling body 111a. The tooth part 112c is provided on the outer peripheral surface. Furthermore, step portions 112d that are continuously formed in the circumferential direction are formed at both axial ends on the outer peripheral side of the first drive side rolling member 112a and the first driven side rolling member 112b. In other words, the width in the axial direction of the outer peripheral surface on which the teeth 112c and the teeth 112c are formed is narrower than the width of the central portion that is pivotally supported. Further, the width of the outer peripheral surface of the rolling members 112a and 112b is set to be narrower than the width of the first traveling body 111a. By doing so, a part of a support member 130 (latching portion) to be described later that is locked to the traveling body can move without interfering with the rolling members 112a and 112b in a state in which it is engaged with the traveling body 111. it can.

  The first drive-side rolling member 112a and the first driven-side rolling member 112b are disposed inside the housing 101 of the first side wall 101b and spaced apart from each other in the longitudinal direction of the first side wall 101b. The first drive-side rolling member 112a is attached to the shaft 114, and the shaft 114 is rotatably supported on the pair of side walls 101b and 101c. The shaft 114 includes a driven pulley 113c that is disposed so that one end portion on the first side wall 101b side protrudes through the first side wall 101b, and a driving force is transmitted to the projected end portion. As shown in FIG. 2, the drive mechanism 113 includes a drive motor 113a, a drive pulley 113b connected to the drive motor 113a, a driven pulley 113c attached to the shaft 114, a drive pulley 113b, and a driven pulley. And a drive belt 113d for connecting to 113c. Therefore, in this embodiment, the rotational driving force input from the drive mechanism 113 is transmitted to the first drive-side rolling member 112a, and the first traveling body 111a is driven to circulate. Further, the drive mechanism 113 is driven by a drive control unit (not shown) to move within a predetermined movement range (distance between the holding units 120 arranged adjacent to each other), and after a predetermined movement, Intermittent movement control that repeats the time (time required for work by the work unit 10) and the stop state is performed. In the present embodiment, the drive mechanism 113 is exemplified by a motor and a pulley. However, the present invention is not limited to this, and for example, a drive mechanism or a drive motor 113a that combines gears is used as the first drive mechanism 113. A direct drive mechanism directly connected to the drive-side rolling member 112a may be used.

  In addition, although illustration is omitted, the second traveling body 111b and the rolling member spanning the second traveling body 111b have the same configuration as the first traveling body 111a, the first driving side rolling member 112a, and the first driven side rolling member 112b. Can be adopted. The second traveling body 111b also travels in a predetermined direction on a plane parallel to the second side wall 101c. A driving shaft 114 is connected to a rolling member (not shown) around which the second traveling body 111b is wound and the first driving side rolling member 112a. The drive shaft 114 drives the first traveling body 111a and the second traveling body 111b disposed opposite to each other symmetrically. Therefore, the first traveling body 111a and the second traveling body 111b are driven to circulate in synchronization with each other via the common drive shaft 114.

<Holding unit 120>
As shown in FIG. 3, some of the holding units 120 are arranged so as to be bridged between the first side wall 101 b and the second side wall 101 c while holding the workpiece W indicated by a two-dot chain line. Here, with reference to FIG.5 and FIG.6, the detail of the holding | maintenance unit 120 is demonstrated. FIG. 5A shows a top view of the holding unit 120 including the support member 130. FIG. 5B shows a side view of the holding unit 120 including the support member 130. FIG. 5C is a side view of a part of the holding unit 120 and the support member 130 as viewed from the direction of arrow A in FIG. 5A, and the lower part of the support member 130 is engaged with the traveling body 111. It is taken as a sectional view for explaining a state. FIG. 6 is an exploded perspective view of the holding unit 120.

  The holding unit 120 is provided at the main body 121 that holds the workpiece W, the connected portion 122 that extends from the main body 121, and the distal end side of the connected portion 122, and is guided by a guide unit 140 described later. Parts 123a and 123b. The main body 121 includes a rectangular frame 121a having an open center so that at least a part of the other surface of the workpiece W placed on the main body 121 is exposed. The frame 121a is a plate-like member whose outer shape is rectangular in plan view, and a rectangular opening 121d is formed at the center thereof. The main body 121 includes a plurality of first and second workpiece support members 121b (121b1, 121b2) that support the workpiece W on the frame 121a at portions facing the corners of the opening 121d on the frame 121a, And a plurality of movable holding members 121c for fixing W on the first and second workpiece support members 121b. The main body 121 includes a pair of support wall portions 121f provided with insertion holes 121e through which the coupled portions 122 are inserted and fixed at both ends in the longitudinal direction of the frame 121a. In the present embodiment, the shapes of the frame 121a and the opening 121d are rectangular or rectangular when viewed from above, but are not limited thereto, and can be appropriately changed according to the shape of the workpiece W or the like.

<First and second workpiece support members 121b>
The main body 121 includes a first work support member 121b1 and a second work support member 121b2 that respectively guide and support the work W at four corners of the opening 121d of the frame 121a. The two first workpiece support members 121b1 are arranged to face each other in the short direction of the main body 121, and are arranged at a total of four locations. The two second workpiece support members 121b2 are arranged to face each other in the longitudinal direction of the main body 121, and are arranged at a total of four locations. The first and second workpiece support members 121b1 and 121b2 are rectangular parallelepipeds having upper surfaces formed on flat surfaces, and provided with guide protrusions 121b3 for guiding and positioning the workpiece W when the workpiece W is placed on the upper surface. . In this embodiment, the position arrange | positioned on the main-body part 121 differs with respect to the opening part 121d with respect to the 1st work support member 121b1 and the 2nd work support member 121b2. As shown in FIG. 5A, the end portion of the first work support member 121b1 is disposed along the edge of the opening 121d. On the other hand, a part of the second work support member 121b2 protrudes inward from the outline of the opening 121d. Further, as shown in FIG. 5A, the guide protrusions 121b3 of the first work support member 121b1 and the second work support member 121b2 are arranged at positions facing the edge of the opening 121d on the upper surface of the rectangular parallelepiped. When the workpiece W is placed on the first and second workpiece support members 121b1 and 121b2, the workpiece W is one of the rectangular parallelepiped of the second workpiece support member 121b2 protruding inward of the opening 121d. The first and second workpiece support members 121b1 and 121b2 are placed on the placement portion provided on the upper surface of the portion while being guided by the guide protrusions 121b3.

<Movable holding member 121c>
The movable holding members 121c are arranged at two locations so as to face each other in the longitudinal direction of the main body 121. The movable holding member 121c includes a fixed base part 121c1 fixed to the frame 121a, a movable part 121c2 rotatably connected to the fixed base part 121c1, and a convex part 121c3 for rotating the movable part 121c2. . The movable portion 121c2 is connected to the fixed base portion 121c1 through an axis extending in the short direction of the frame 121a, and has an upper surface covering the upper portion of the fixed base portion 121c1, a pair of side surfaces, and a front side toward the lower side from the upper surface. It is the shape provided with the inclination part (front surface) 121c4 inclined and contact | abutted to the workpiece | work W. FIG. At the end of the movable portion 121c2 on the side of the support wall 121f, the release portion R attached to the first and second arm portions 21 and 31 of the first and second transfer devices 20 and 30 described above is moved downward. A convex part 121c3 to be pushed is provided.

  The operation of the movable holding member 121c will be described with reference to the movable holding member 121c on the right side of FIG. In FIG. 5B, illustration of the first and second workpiece support members 121b1 and 121b2 disposed on the front side of the right movable holding member 121c used in the description is omitted. In addition, a state in which a movable holding member 121c described later holds the workpiece W is shown as a partially enlarged view. When holding the workpiece W on the movable holding member 121c, for example, a case is assumed where the first arm portion 21 holding the workpiece W descends vertically from above the holding unit 120. At this time, on the convex portion 121c3 of the movable holding member 121c, the release portion R provided on the first arm portion 21 descends downward from the upper side in the arrow B direction in FIG. It abuts on 121c3 and pushes down the convex part 121c3 downward in the figure. Then, the movable portion 121c2 of the movable holding portion 121c tilts about the rotation axis in the direction indicated by the arrow C in FIG. 5B so that the end portion on the opening 121d side rises. At this time, the inclined portion 121c4 provided in the movable portion 121c2 is inclined so that the inclined portions 121c4 and 121c4 that face each other so as to be able to accommodate the workpiece W are warped so that the distance between the two is widened. The workpiece W that has descended from above with 21 is positioned between the inclined portions 121c4 and 121c4, and is placed on the placement portion serving as the upper surface of the second workpiece support member 121b1. Next, when the first arm portion 21 releases the holding of the workpiece W and moves upward and leaves the holding unit 120, the releasing portion R of the first arm portion 21 pushes down the convex portion 121c3 of the movable portion 121c2 downward in the drawing. Operation is released. An urging member such as a spring (not shown) is disposed in the movable portion 121c2, and the urging force of the urging member causes the movable portion 121c2 to rotate in a direction opposite to the arrow C direction in FIG. It returns to its original state by turning around the moving axis. At this time, the workpiece W is pressed against the mounting portion on the upper surface of the second workpiece support member 121b2 when a part of the inclined portion 121c4 abuts (specifically, the opposed inclined portions 121c4 and 121c4 abut each other). Held. In addition, when taking out the workpiece | work W from the holding | maintenance unit 120, the above process is performed in reverse order.

<Support Wall 121f and Connected Portion 122>
The connected portion 122 is inserted and fixed in the insertion hole 121e of the support wall portion 121f. The coupled portion 122 is a columnar member. A pair of the support wall portion 121f and the connected portion 122 are arranged in a state where the axial centers of the connected portions 122 and 122 are aligned with the longitudinal end portion of the main body portion 121. The coupled portion 122 and the main body 121 including the support wall 121f and the frame 121a are fixed to each other and integrated. A support member 130 described later is connected to the coupled portion 122. A bearing step 122a that defines an inner ring position of a bearing B (described later) in the support member 130 with respect to the guided portion is provided on the coupled portion 122 between the supporting member 130 and guided portions 123a and 123b (described later). Is formed. A spacer S that defines the position of the inner ring of the bearing B in the support member 130 relative to the support wall portion 121f is attached on the coupled portion 122 on the opposite side of the bearing step portion 122a with the support member 130 interposed therebetween.

<Guided parts 123a and 123b>
Guided portions 123 a and 123 b are provided at the outer ends of the connected portions 122 and 122 of the holding unit 120. Therefore, the connected parts 122 and 122 and the guided parts 123a and 123b are respectively provided at opposing ends of the main body part 121 in a direction perpendicular to the traveling direction parallel to the respective transport surfaces on which the holding unit 120 moves. In the present embodiment, the first guided portion 123a that reverses the holding unit 120 and the second guided portion 123b that does not contribute to the reversing operation in cooperation with the reversing portion 142 of the guiding unit 140 described later. It is provided with various types of guided portions 123a and 123b.

  The 1st guided part 123a is provided with rolling connection part 123a3 provided with the 1st and 2nd rolling elements 123a1 and 123a2 guided to the guidance unit 140 mentioned below. The rolling coupling portion 123a3 is a plate-like member having a rectangular shape in plan view, and the coupled portion 122 is connected to the middle portion in the longitudinal direction, and the first rolling body 123a1 and the second rolling body 123a2 are respectively disposed on both sides in the longitudinal direction. Provided. Therefore, the first rolling element 123a1 and the second rolling element 123a2 are provided at the rolling coupling part 123a3 so as to be symmetrical with respect to the coupled part 122 and separated from each other by a predetermined distance. The first guided portion 123a is rotatably supported by a support member 130, which will be described later, with the coupled portion 122 as a rotation axis. The second guided portion 123 b includes a single rolling element that is arranged coaxially with the coupled portion 122.

<Support member 130>
The details of the support member 130 will be described with reference to FIGS. 5 and 6 and FIG. FIG. 7A is a perspective view of the support member 130. FIG. 7B is a cross-sectional view of the support member 130. FIG. 7C is an exploded perspective view in which the support member 130 is disassembled. FIG. 7D is a view (side view) as viewed in the direction D of FIG. 7C. FIG. 7E is a view taken along the line E-E in FIG.

  The support member 130 includes a bearing B that rotatably supports the coupled portion 122 of the holding unit 120 and is fixed to the traveling body 111. By doing so, the support member 130 can support the holding unit 120 that holds the workpiece W while traveling together with the traveling body 111 traveling in a predetermined traveling direction. And the holding unit 120 is also moved because the support member 130 moves with the movement of the traveling body 111.

  Referring to FIG. 7A, the support member 130 is provided integrally with a bearing portion 131 on which a bearing B described later that rotatably supports the coupled portion 122 of the holding unit 120 is mounted, and the bearing portion 131. And fixed portions 132 and 132 fixed to the traveling body 111. The bearing portion 131 includes an insertion opening portion 131a through which the coupled portion 122 can be inserted in the axial direction at the center portion in a side view shown in FIG. Further, the outer shape of the bearing portion 131 in FIG. 7E is a shape having a thickness in the axial direction, with the upper half of the center portion of the insertion opening 131a being circular (semicircular) and the lower half being rectangular. It has become. In other words, as shown in FIG. 7 (E), the bearing 131 is a solid having a half-rounded rectangular shape in plan view and having an insertion opening 131a concentric with the semicircular portion inside.

  The fixing portions 132 and 132 are provided so as to protrude from the semi-rectangular portion of the bearing portion 131. Specifically, at both ends in the axial direction (thickness direction) of the support member 130, a pair of projecting portions (base portions) 133 are provided at the center of the lower end portion 132d of the semi-rectangular portion. Each protrusion 133, 133 is a tapered protrusion, and protrusions 134, 134 are provided on opposite surfaces, respectively. Each protrusion 134 is a protrusion having a trapezoidal shape in plan view, and a surface facing each other is a regulated portion 132a, and a portion facing the lower end portion 132d in the semi-rectangular portion is a fitting portion 132b. The traveling body 111 is mounted between the fixed portions 132, that is, in a portion surrounded by the lower end portion 132d, the projecting portion 133, and the fitting portions 132b in the semi-rectangular portion. Specifically, both end portions of the traveling body 111 are defined by the protrusion 133, the upper surface of the traveling body 111 is defined by the lower end portion 132d, and the lower surface of the traveling body 111 is defined by the fitting portion 132b. In the case of the present embodiment, the fixing portion 132 is engaged so as to sandwich the traveling body 111 from its short direction.

  FIG. 7B shows a longitudinal sectional view of the support member 130. Inside the support member 130, two bearings B and B through which the coupled portion 122 is inserted are disposed adjacent to each other. In the present embodiment, the two bearings B and B are arranged side by side, but the present invention is not limited to this, and one bearing may be adopted. In addition, although the bearing B may be one, the load tolerance of a thrust direction can be improved by using two. As shown in FIG. 7B, inside the insertion opening 131a of the bearing 131, a holding step 131b having a smaller diameter than the insertion opening 131a extends from the first divided portion 130a to the second divided portion 130b described later. Formed. The axial length of the holding step portion 131b is the same as the total length of the axial lengths of the bearings B and B, and the bearing B (with one axial side and the outer peripheral surface thereof) is seated on the holding step portion 131b. It is sandwiched between the first divided portion 130a and the second divided portion 130b. The bearing step 122a formed in the coupled portion 122 shown in FIG. 6 abuts on one axial portion of the bearing B (specifically, one side portion of the inner ring) and is attached to the coupled portion 122. One end of the spacer S is in contact with the other side of the bearing B (specifically, the other side of the inner ring) and the other end is in contact with the support wall 121f.

  FIG. 7C shows an exploded perspective view of the support member 130. In the present embodiment, the support member 130 is non-equally divided by a plane orthogonal to the axial direction of the insertion opening 131a, and includes a first divided portion 130a on one side and a second divided portion 130b on the other side. This is because the support member 130 is divided in the width direction perpendicular to the traveling direction of the traveling body 111 when the supporting member 130 is mounted on the traveling body. In addition, the plane on which the support member 130 is divided is set (divided in an unequal manner) offset from the center of the support member 130 to one end portion. Therefore, as shown in FIG. 7D, the axial width of the first divided portion 130a is set longer than the axial width of the second divided portion 130b. Specifically, the axial width of the second divided portion 130b is set to be shorter than the axial length of the bearing B to be mounted. The support member 130 is divided into unequal parts such as the first divided part 130a and the second divided part 130b, so that one bearing B is arranged inside each (abuts against the outer peripheral surface of the bearing B). In addition, the central axes of the respective insertion openings 131a and 131a provided in the first divided portion 130a and the second divided portion 130b can be reliably aligned with each other.

  When the support member 130 is attached to the traveling body 111, the first divided portion 130 a and the second divided portion 130 b are attached so as to be sandwiched from the width direction of the traveling body 111. The 1st division part 130a and the 2nd division part 130b are fastened with fastening members, such as a screw, suitably in the state where they were mutually attached. At this time, the fixing part 132 formed in each of the first divided part 130a and the second divided part 130b becomes one holding part and the other holding part that hold the traveling body 111 in the width direction. A regulated portion 132a formed below the fixed portion 132 in FIG. 7A is engaged so as to sandwich a part of a regulating member 143 that is a regulating portion of a guide unit 140 described later, and the traveling body 111 travels. The movement of the support member 130 in a direction orthogonal to the direction is restricted, and a guide for straight travel is performed. Further, as shown in FIG. 5C, the fitting formed in the fixed portion 132 (the upper portion thereof) as shown in the partial cross-sectional view (lower portion) of the traveling body 111 and the support member 130 fixed to the traveling body 111. The part 132b is engaged with the traveling body 111 from the short side direction, and fits with the trough part 111v of the traveling body 111. Accordingly, the lower end portion 132d of the bearing portion 131 of the support member 130 contacts the smooth surface that is the surface of the traveling body 111, and the fitting portion 132b enters and transports the trough portion 111v of the toothed surface that is the back surface of the traveling body 111. Prevents misalignment. Further, the regulated portion 132a of the fixed portion 132 is in sliding contact with a side portion of a regulating member 143, which will be described later, thereby regulating the movement of the support member 130 in a direction orthogonal to the traveling direction of the traveling body 111 (defining the position). .

  In the present embodiment, both the first divided portion 130a and the second divided portion 130b are members having a width capable of holding the bearing B, but the holding step portion 131b holding the bearing B is one of the divided members. The holding step portion 131b may not be provided on the other divided member. Moreover, in this embodiment, although the support member 130 illustrated the structure provided with the 1st division part 130a and the 2nd division part 130b divided | segmented by the plane orthogonal to an axial direction, the support member 130 is a figure, for example. You may provide the division member cut | disconnected and divided | segmented by the DD line in 7 (D). That is, the support member 130 includes the upper half of the bearing portion 131 by dividing the bearing portion 131 in a plane parallel to the traveling direction, including the short direction of the traveling body 111 around the rotation axis of the bearing B. The structure provided with a division part and the 2nd division part provided with the lower half of the bearing part, and the fixing | fixed part 132 may be sufficient. By carrying out like this, the 1st division part accommodates the upper part of bearing B, and the 2nd division part accommodates the lower part of bearing B. Thereby, the holding unit 120 attached to the bearing B or the bearing B can be removed simply by dividing the first divided portion and the second divided portion without separating the fixed portion 132 from the traveling body 111. Maintenance becomes easy. Further, the traveling body 111 may be formed of a member that can be bent (for example, a resin member, an elastic member, or the like). By using the traveling body 111 made of such a material, the traveling body 111 can be bent and deformed and attached (held) to the fitting portion 132b of the fixing portion 132.

<Guide unit 140>
Referring to FIG. 4 again, the guide unit 140 will be described by taking the guide unit 140 disposed on the first side wall 101b on the back side in FIG. 4 as an example. The guide unit 140 includes a guide part 141 that guides the first guided part 123a of the holding unit 120, a reversing part 142 that reverses the main body part 121 of the holding unit 120 in cooperation with the first guided part 123a, and travel. And a regulating member 143 that regulates movement of the support member 130 in a direction orthogonal to the direction.

  The guide part 141 is arrange | positioned at the housing | casing inner surface of the 1st side wall 101b. Here, the 1st drive side rolling member 112a and the 1st driven side rolling member 112b are spaced apart from the housing | casing inner surface of the 1st side wall 101b, and are arrange | positioned rotatably. Therefore, the guide part 141 is a housing inner surface of the first side wall 101b and is disposed between the first side wall 101b and the first drive side and passive side rolling members 112a and 112b. The guide portion 141 includes a first guide portion 141a disposed adjacent to the first drive side rolling member 112a, a second guide portion 141b disposed adjacent to the first driven side rolling member 112b, and travel. And a third guide portion 141c disposed below the body 111. The first guide portion 141a and the second guide portion 141b are respectively a curved portion corresponding to a portion of the traveling body 111 wound around the first drive side and passive side rolling members 112a and 112b, and the traveling body 111. And a linear portion corresponding to the upper linear portion between the first drive side and passive side rolling members 112a and 112b. The third guide portion 141c is a linear member, and is disposed below the lower straight portion of the traveling body 111 and includes a straight portion corresponding to the lower straight portion of the traveling body 111.

  In the back guide unit 140 in FIG. 4, between the first guide portion 141a and the second guide portion 141b, and between the first drive side and the passive side rolling members 112a and 112b. A reversing unit 142 is disposed at the position. For example, the reversing unit 142 is set in a region corresponding to the first reversal region IA1 and the second reversal region IA2 when applied to the work system shown in FIGS. The reversing part 142 has one guide member 144 provided with one guide part 142a for guiding the first rolling element 123a1 of the first guided part 123a, and the other provided with the other guide part 142b for guiding the first rolling element 123a1. A guide member 145. The other guide member 145 is provided between the first guide part 141a and the second guide part 141b. The other guide portion 142b, which is a V-shaped guide surface, forms a surface that is continuous with the upper surface of the first guide portion 141a and the upper surface of the second guide portion 141b. On the other hand, the guide member 144 has an inverted triangular shape and includes a V-shaped one guide portion 142a corresponding to the other guide portion 142b. The first rolling element 123a1 is guided to roll by being sandwiched between the one guide part 142a and the other guide part 142b. A guide groove is formed by the one guide portion 142a and the other guide portion 142b, and the one guide portion 142a and the other guide portion 142b have a descending guide surface and an ascending guide surface, respectively.

  When the holding unit 120 that moves together with the traveling body 111 that circulates continuously enters the reversing portion 142, the first rolling body 123a1 of the first guided portion 123a described later includes one guide portion 142a and the other guide portion 142b. It contacts the guide surface on the down side. Thereafter, the first rolling element 123a1 moves downward while being sandwiched between the one guide part 142a and the other guide part 142b, so that the holding unit 120 that has been in a horizontal state is gradually tilted and stands upright. Next, the first rolling element 123a1 is brought into contact with the upward guide surfaces of the one guide part 142a and the other guide part 142b. Thereafter, the first rolling element 123a1 moves upward while being sandwiched between the one guide part 142a and the other guide part 142b, so that the holding unit 120 that has been in the upright state gradually tilts and is reversed from the original state. Return to level.

  In the present embodiment, in order to prevent an inadvertent free movement in the reversing part 142 of the holding unit 120, the idle rotation restricting part faces the guide surfaces of the one guide part 142a and the other guide part 142b of the reversing part 142. The guide member 144 and the other guide member 145 are provided so as to be spaced apart from each other. The idle rotation restricting part restricts idle movement during the guide movement of the first rolling element 123a1 by the first and second guide parts 142a and 142b. The guide restricting portion may not be provided as long as the support member 130 is provided with an anti-spinning function (for example, a brake function by the biasing member).

  The restricting member 143 is provided below the straight portion of the traveling body 111 traveling on the upper side, and is engaged with the fixing portion 132 of the support member 130 fixed to the traveling body 111. The width of the regulating member 143 in the horizontal plane is set shorter than the width of the traveling body 111, and can be set to the same length as the width of the stepped portion 112d formed on the outer peripheral surface of the rolling member described above, for example. . In the present embodiment, the restricting member 143 is disposed over the entire region below the linear portion on the upper side of the traveling body 111 wound around the first drive side and driven side rolling members 112a and 112b. In addition, the regulating member 143 is not limited to the one that is disposed over the entire lower portion of the linear portion on the upper side of the traveling body 111, and may be disposed at least in a work area where the work unit 10 performs work. In the transfer device 100 shown in FIGS. 1 and 2 in the present embodiment, an example in which the reversing unit 142 is provided in two places has been shown, but in FIGS. 3 and 4, in order to simplify the description, The example which provided the inversion part in one place is shown. Further, in the present embodiment, the reversing unit 142 may be provided in the guide unit 140 to which the first guided portion 123a is guided in consideration of the operation of reversal driving described later. For example, the front side in FIG. The guide unit 140 on the second side wall 101c side may not be provided.

<Attachment of Support Member 130 to Traveling Body 111>
With reference to FIG. 8, the positional relationship between the support member 130 attached to the traveling body 111 and the guide portion 141 and the regulating member 143 of the guide unit 140 will be described. FIG. 8 is a cross-sectional view of an apparatus adjacent to the support member 130 on the first guided portion 123a side of the holding unit 120 in the transfer device 100. The fixing portion 132 of the support member 130 shows a state in which the regulated portion 132 a is in sliding contact with the side surface of the regulating member 143 and the fitting portion 132 b is fixed to the traveling body 111. Then, the first rolling element 123a1 of the first guided portion 123a is placed on the guide portion 141. In this way, according to the present embodiment, the support member 130 engages with the traveling body and slides against the restriction member 143 to restrict the movement of the holding unit 120. As a result, the holding unit 120 can be reversed during movement of the traveling body 111, which will be described later, and the position of the working position in the direction orthogonal to the conveying direction of the holding unit can be regulated, contributing to downsizing of the apparatus. It is possible to perform the work by positioning the work while inverting the work efficiently. In the present embodiment, the surfaces of the regulated portion 132a and the fitting portion 132b on the regulating member 143 side are continuous planes, but may be provided with different steps.

<Inversion drive operation>
With reference to FIG. 9, the operation | movement by which the main-body part 121 of the holding | maintenance unit 120 is reversed is demonstrated in detail. FIG. 9 schematically shows one guide part 142a and the other guide part 142b of the reversing part 142 shown in FIG. In FIG. 9, the main body 121 of the holding unit 120, the first rolling element 123a1 and the second rolling element 123a2 of the first guided part 123a are indicated by solid lines, and the support member 130 is indicated by a two-dot chain line. The holding unit 120 is shown as an upper surface US and a lower surface LS as illustrated in order to facilitate understanding of the inverted state. Further, the support member 130 is fixed to a traveling body 111 (not shown), and moves horizontally in the direction of arrow F (from the left side to the right side in the figure).

  The state shown in ST1 of FIG. 9 shows a state where the holding unit 120 moving in the direction of arrow F in the drawing has reached (moved) from the second guide part 141b to the reverse part 142 (reverse guide start state). At this time, the first and second rolling elements 123a1 and 123a2 of the first guided portion 123a both move on the upper surface of the second guide portion 141b.

  The state shown in ST2 of FIG. 9 is a state in which the first bearing portion 123a1 located on the front side in the running direction of the holding unit 120 is in contact with the one guide portion 142a and the other guide portion 142b, that is, the one guide portion 142a and the other guide. In the state of being sandwiched by the downward guide surface of the portion 142b, the support member 130 is moved in the direction of the arrow F in the drawing to be guided downward (downward in the drawing along the one guide portion 142a). ) At this time, since the first guided portion 123a can rotate relative to the support member 130, the support member 130 fixed to the traveling body 111 can continue to move horizontally in the figure. Further, the main body 121 of the holding unit 120 fixed integrally with the first guided portion 123 a starts to tilt gradually as the support member 130 moves. Therefore, the upper surface US starts to tilt so as to gradually rise from the horizontal state (reversal start).

  The state shown in ST3 of FIG. 9 is that the first bearing portion 123a1 moved downward along the one guide portion 142a and the other guide portion 142b reaches the end point position of the one guide portion 142a (the lowest point position of the reversing portion 142). The state where the movement is completed (upright state) is shown. At this time, the second bearing portion 123a2 of the first guided portion 123a is positioned above the end position of the one guide portion 142a. That is, the first guided portion 123 a, that is, the main body 121 is in an upright state perpendicular to the horizontal plane of the guide portion 142. At this time, the upper surface US of the main body 121 is in a state of facing forward in the direction of arrow F in the drawing.

  The state shown in ST4 of FIG. 9 is that the support member 130 is further moved, so that the first bearing portion 123a1 is moved while being sandwiched by the guide surfaces on the upside of the one guide portion 142a and the other guide portion 142b. . At this time, the first bearing portion 123a1 is guided by the one guide portion 142a and the other guide portion 142b and moved from below to above. As a result, the main body 121 that has been tilted so as to get up from the horizontal state and is in an upright state is tilted so as to gradually fall forward. As a result, the upper surface US of the main body 121 faces downward, and the lower surface LS of the main body 121 faces upward.

  The state shown in ST5 of FIG. 9 is a state where the support member 130 continues to move further and the tilting of the main body part 121 to fall forward is completed, and returns to the horizontal state after being reversed from the original horizontal state. At this time, the lower surface LS of the main body 121 is directed upward and is in a horizontal state. Of course, the upper surface US of the main body 121 is in a horizontal state facing downward.

  As described above, according to the present embodiment, the reversing part 142 and the first guided part 123a cooperate with the movement of the support member 130, thereby reversing the main body part 121 holding the workpiece W. Can do. In addition, a series of reversing operations of the holding unit 120 in the present embodiment is performed when the driving mechanism 113 is in the driving state of the intermittent movement operation. Further, in the present embodiment, when the holding unit 120 performs the reversing operation at the reversing unit 142, the holding unit 120 is guided by engaging the fixing unit 132 of the support member 130 with the regulating member 143. Movement (rolling or meandering) in a direction perpendicular to the conveying direction on the horizontal plane is restricted.

<Other Embodiments of Inversion Unit>
10 and 11 show a reversing unit 150 according to another embodiment. As illustrated in FIG. 10, the reversing unit 150 is disposed adjacent to the guide unit 141 in the same manner as the reversing unit 142 in the one embodiment. In this embodiment, the two inversion parts 150a and 150b are arranged side by side. In addition, the traveling unit 110, the holding unit 120, and the support member 130 of the transfer device 100 have the same configuration as that of the above-described embodiment.

  As illustrated in FIG. 11, the reversing unit 150 includes a reversing body 151, a reversing driving unit 152 that rotates the reversing body 151, and a frame that attaches the reversing body 151 and the reversing driving unit 152 to the first side wall 101 b of the housing 101. A body 153 and a stopper 154 (stopper members 154a and 154b and a buffer member 154c) provided on the frame body 153 are provided. The reversing unit 150 in the present embodiment is configured such that a part of the first side wall 101b is notched and the reversing unit 150 is disposed. The reversing body 150 includes one guide portion 151a and the other guide portion 151b, has a rounded rectangular shape as a whole, and has a predetermined thickness in the thickness direction of the first side wall 101b. On the other hand, the guide surface of the guide portion 151a and the guide surface of the other guide portion 151b are opposed to each other and are arranged in parallel with a space therebetween. Between these two guide surfaces, the first and second rolling elements 123a1, 123a2 in the holding unit 120 are guided, sandwiched and held. The reversing body 151 is between a pair of guide surfaces arranged in parallel and is rotatable in the directions of arrows G and H in the figure with respect to an axis A11 passing through the center of the reversing body. It is rotated by a rotation drive unit 152 arranged adjacent to the outside direction. The reversing drive unit 152 rotates the reversing body 151 counterclockwise from the state in which the guide surface of the guide portion 141 and the guide surface of the other guide portion 151b are continuously arranged in parallel in the guide direction (the state shown in FIG. 11). It can be rotated 180 ° (in the direction of arrow G) or clockwise (in the direction of arrow H). As a result, the guide surface of the guide portion 141 and the guide surface of the one guide portion 151a of the reversing body 151 are continuously arranged in parallel in the guide direction. In the rotating body 151, at the end of the rotation by the rotation driving unit 152, one of the guide surfaces of the one guide portion 151a and the other guide portion 151b is arranged on the same plane as the guide surface of the guide portion 141.

  The reversing body 151 includes flat portions 151c parallel to the guide surfaces of the one guide portion 151a and the other guide portion 151b at both ends in the vertical direction in FIG. Further, the reversing body 151 is on the one guide portion 151a side (upper side in FIG. 11) in the vertical direction, and is a boundary between the rounded corner portion and the rectangular portion on the downstream side in the transport direction (right side in the arrow J direction in FIG. 11). In addition, a notch 151d extending in the circumferential direction is formed at a position on the reversal drive unit 152 side (the back side in FIG. 11). In correspondence with the notch 151d, two stopper members 154a and 154b for restricting the reversal of the reversing portion 151 are disposed on the frame 153 located above the reversing body 151 in the drawing. Two stopper members 154a and 154b are installed apart from each other in the transport direction (the direction of arrow J in FIG. 11). The outer peripheral surfaces of the stopper members 154a and 154b are cut off by external threads, and can be moved in the axial direction of the stopper member by being screwed into and rotated by the internal threads provided on the frame body 153. The distance from 151c can be adjusted. In the present embodiment, the stopper member 154a on the left side in the drawing is in contact with the flat portion 151c of the reversing body 151, thereby defining or adjusting the position of the rotation limit of the reversing body 151, and the guide surface of the guide portion 141. And function as a regulating member or an adjusting member for adjusting the surface of the one and the other guide portions 151a and 151b with the guide surfaces. For example, the reversing body 151 rotates in the arrow H direction from the position of the reversing body 151 in which the guide surface of the guide portion 141 and the guide surface of the other guide portion 151b shown in FIG. To prevent. On the other hand, when the reversing body 151 rotates in the direction of arrow G, the stopper member 154b passes through the notch 151d, so that the stopper member 154b and the reversing body 151 (planar portion 151c) do not collide. . In addition, a buffer member 154c made of resin or the like is disposed at the lower end of the stopper member 154a. In addition, as a drive source of the inversion drive part 152, an electric motor and an actuator can be illustrated.

<Inversion drive operation>
As shown in FIG. 10, when the traveling body 111 moves the holding unit 120 in the arrow J direction, the upstream side is the first reversing unit 150a and the downstream side is the second reversing unit 150b.

<Operation of First Inversion Unit 150a>
First, the traveling body 111 is driven, and the holding unit 120 that holds the unworked workpiece W is disposed on the first reversing unit 150a. At this time, the first and second bearing portions 123a1 and 123a2 of the first guided portion 123a of the holding unit 120 are spaces between the one guide surface 151a and the other guide surface 151b of the reversing body 151 of the first reversing portion 150a. Is housed in. Further, the support member 130 is regulated in a direction orthogonal to the conveyance direction parallel to the conveyance surface with the fixing portion 132 engaged with the restriction member 143, and the holding unit 120 is included in the reversal body 151 of the first reversal portion 150 a. In the state where is placed, the movement of the traveling body 111 is stopped. Moreover, the position of the direction orthogonal to a conveyance surface is controlled because one side of the 1st rolling element 123a1 and the 2nd rolling element 123a2 of the 1st to-be-guided part 123a contact | abuts the other guide surface 151b of the inversion body 151. In addition, the holding unit 120 is maintained in a parallel state. In this manner, for example, the work unit 10 shown in FIG. 1 performs work on one surface of the workpiece W while the position of the holding unit 120 is regulated.

  Next, in a state where the movement of the traveling body 111 is stopped, the reversing drive unit 152 of the first reversing unit 150a rotates the reversing body 151 by 180 °, for example, in the direction of arrow G in FIG. Then, the holding unit 120 is turned upside down and exposed with the other surface of the workpiece W facing upward. In addition, the support member 130 is regulated in a direction orthogonal to the conveyance direction parallel to the conveyance surface when the fixing portion 132 is engaged with the regulation member 143, and the first rolling element 123 a 1 of the first guided portion 123 a The other side of the two rolling elements 123a2 is in contact with one guide surface 151a of the reversing body 151, whereby the position in the direction orthogonal to the transport surface is restricted and the holding unit 120 is maintained in a parallel state. In this state, the work unit 10 performs work on the other surface of the work W. Thus, the inspection is completed for both surfaces of the target workpiece W.

<Operation of Second Inversion Unit 150b>
Next, the traveling body 111 is driven, and the work W for which the work has been completed is transferred to the adjacent second reversing unit 150b. The second inversion unit 150b can perform the same operation as the first inversion unit 150a. The second reversing unit 150b can reverse the holding unit 120 in accordance with the state of the holding unit 120 transferred to the second reversing unit 150b in order to perform further work on the work W that has been completed. .

  As described above, in the present embodiment, the holding unit 120 can be reversed without moving in the transport direction with a single reversing unit. For this reason, it is possible to perform work on each surface of the workpiece W at one place without moving the imaging device 11, and further contribute to downsizing of the device, and work by positioning the workpiece while inverting the workpiece efficiently. It can be performed. Further, the reversing operation may be performed according to the work content, or the reversing operation may not be performed.

DESCRIPTION OF SYMBOLS 1 Work system, 10 Work unit, 100 Transfer device, 110 Traveling unit, 111 Traveling body, 120 Holding unit, 121 Main body part, 122 Connected part, 123 Guided part, 123a1 First rolling element, 123a2 Second rolling element, 123a3 Rolling connection portion, 130 Support member, 130a First divided portion, 130b Second divided portion, 131 Bearing portion, 131b Fitting portion, 132 Fixed portion, 132a Restricted portion, 140 Guide unit, 141 Guide portion, 142, 150 reversing part, 142a one guide part, 142b other guide part, 143 regulating member, 151 reversing body, 152 reversing drive part, W work

Claims (13)

A transfer device that transfers the holding unit that holds the workpiece with one surface of the workpiece exposed, and reverses the holding unit at a predetermined position to expose the other surface of the workpiece,
A traveling unit including a traveling body traveling in a predetermined direction;
At least one support member fixed to the traveling body and supporting the holding unit;
A guide unit for guiding the holding unit;
With
The holding unit is
A main body that holds at least a part of the other surface of the workpiece exposed;
A connected portion extending from the main body,
A guided portion that is provided on the distal end side of the coupled portion and is guided by the guiding unit;
With
The support member is
A fixing portion fixed to the traveling body;
A bearing portion provided integrally with the fixed portion and rotatably supporting the holding unit;
With
The guide unit is
An inversion part for inverting the main body part;
A guide unit for guiding the guided unit;
A restricting portion for restricting movement of the traveling body in a direction orthogonal to the traveling direction;
Equipped with a,
The traveling body is an endless traveling member,
The traveling unit further includes a circulation drive mechanism for circulatingly driving the endless traveling member,
The endless travel member includes grooves formed at predetermined intervals in the longitudinal direction thereof,
The said fixing | fixed part is provided with the fitting part which engages the said endless traveling member and the said control part from the transversal direction, and fits with the said groove part . Wherein the support member, the transfer device according to claim 1, characterized in that it comprises a first divided member and the second divided member divided in a plane perpendicular to the transverse direction of the endless traveling member. The said bearing part is provided with the 1st division member divided | segmented by the plane parallel to the transversal direction of the said endless traveling member centering on a rotating shaft, and the 2nd division member provided with the said fixing | fixed part. 2. The transfer device according to 1 . The reversing unit further includes a reversing body including one guide member and the other guide member, and a reversing driving unit that rotates the reversing body,
The transfer device according to claim 3 , wherein the guide surface of the one guide member and the guide surface of the other guide member are opposed to each other and arranged in parallel with a gap therebetween. A transfer device that transfers the holding unit that holds the workpiece with one surface of the workpiece exposed, and reverses the holding unit at a predetermined position to expose the other surface of the workpiece,
A traveling unit including a traveling body traveling in a predetermined direction;
At least one support member fixed to the traveling body and supporting the holding unit;
A guide unit for guiding the holding unit;
With
The holding unit is
A main body that holds at least a part of the other surface of the workpiece exposed;
A connected portion extending from the main body,
A guided portion that is provided on the distal end side of the coupled portion and is guided by the guiding unit;
With
The support member is
A fixing portion fixed to the traveling body;
A bearing portion provided integrally with the fixed portion and rotatably supporting the holding unit;
With
The guide unit is
An inversion part for inverting the main body part;
A guide unit for guiding the guided unit;
A restricting portion for restricting movement of the traveling body in a direction orthogonal to the traveling direction;
Equipped with a,
The traveling body is an endless traveling member,
The traveling unit further includes a circulation drive mechanism for circulatingly driving the endless traveling member,
The inversion part is
One guide member for guiding the guided portion;
The other guide member for guiding the guided portion;
With
The guided portion is
Comprising a rolling coupling part comprising first and second rolling elements guided by the guide part;
The one guide member includes a first guide part that guides the first rolling element downward from a guide surface of the guide part in order to reverse the main body part,
The other guide member includes the other guide portion that is provided continuously with the guide surface by guiding the first rolling element so as to invert the body portion in cooperation with the one guide portion. Transfer device. The restricting portion is disposed below the support member,
The transfer device according to claim 5 , wherein the fixing portion includes a regulated portion that is in sliding contact with a part of the regulating portion. Before SL and the above the first rolling elements second rolling elements, so that by a predetermined distance apart from each other to be symmetrical with respect to the rotation axis of the object connection portion rotatably supported by the bearing unit, the rolling The transfer device according to claim 5 , wherein the transfer device is provided in the connecting portion. The main body includes a rectangular frame having an opening at the center, a support member that supports the work on the frame, and a movable holding member that fixes the work on the support member. The transfer device according to any one of claims 1 to 7 . The holding unit includes a pair of guided portions and the support member at opposite ends of the main body portion in a direction orthogonal to a traveling direction parallel to the conveyance surface,
The traveling unit includes a pair of endless traveling members to which fixed portions of the pair of support members are respectively fixed;
The guide unit, as claimed in any one of claims 1 to 8, characterized in that it comprises a pair of guide portions of the pair of guided portions adjacent to the pair of endless traveling members respectively engaged Transfer device. A transfer device according to any one of claims 1 to 9 ;
A work unit that performs work on one surface and the other surface of the workpiece held by the holding unit;
With
The work system, wherein the restriction unit is disposed in a work area of the work unit. The work unit includes a work tool for performing work on the surface of the work,
A work movement mechanism that moves the work tool from a first work position that works on one surface of the work arranged in the traveling direction to a second work position that works on the other surface of the work;
The work system according to claim 10 , further comprising: A device for transferring the holding unit that holds the workpiece with one surface of the workpiece exposed, and for reversing the holding unit at a predetermined position to expose the other surface of the workpiece,
A traveling unit including a traveling body traveling in a predetermined direction;
At least one support member fixed to the traveling body and supporting the holding unit;
A guide unit for guiding the holding unit;
With
The support member is
A fixing portion fixed to the traveling body;
A bearing portion provided integrally with the fixed portion and rotatably supporting the holding unit;
With
The guide unit is
A reversing unit for reversing the main body unit that holds the holding unit in a state where at least a part of the other surface of the workpiece is exposed;
A guide portion for guiding a guided portion provided on a distal end side of a connected portion extending from the main body portion of the holding unit;
A restricting portion for restricting movement of the traveling body in a direction orthogonal to the traveling direction;
With
The traveling body is an endless traveling member,
The traveling unit further includes a circulation drive mechanism for circulatingly driving the endless traveling member,
The endless travel member includes grooves formed at predetermined intervals in the longitudinal direction thereof,
The said fixing | fixed part is equipped with the fitting part which engages with the said groove part by engaging the said endless traveling member and the said control part from the transversal direction . A holding unit constituting a transfer device,
The transfer device is
A device for transferring the holding unit that holds the workpiece in a state where one surface of the workpiece is exposed, and for reversing the holding unit at a predetermined position to expose the other surface of the workpiece,
A traveling unit including a traveling body traveling in a predetermined direction;
At least one support member fixed to the traveling body and supporting the holding unit;
A guide unit for guiding the holding unit;
With
The holding unit is
A main body that holds at least a part of the other surface of the workpiece exposed;
A connected portion extending from the main body,
A guided portion that is provided on the distal end side of the coupled portion and is guided by the guiding unit;
With
The support member is
A fixing portion fixed to the traveling body;
A bearing portion provided integrally with the fixed portion and rotatably supporting the holding unit;
With
The guide unit is
An inversion part for inverting the main body part;
A guide unit for guiding the guided unit;
A restricting portion for restricting movement of the traveling body in a direction orthogonal to the traveling direction;
With
The traveling body is an endless traveling member,
The traveling unit further includes a circulation drive mechanism for circulatingly driving the endless traveling member,
The inversion part is
One guide member for guiding the guided portion;
The other guide member for guiding the guided portion;
With
The guided portion is
Comprising a rolling coupling part comprising first and second rolling elements guided by the guide part;
The one guide member includes a first guide part that guides the first rolling element downward from a guide surface of the guide part in order to reverse the main body part,
The other guide member includes the other guide portion that is provided continuously with the guide surface by guiding the first rolling element so as to invert the body portion in cooperation with the one guide portion. And holding unit .

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