JP6422237B2 - Workpiece transfer method and workpiece transfer device - Google Patents

Description

  The present invention relates to a workpiece transfer method for selecting a predetermined workpiece from a plurality of chip parts (works) supplied in a disparate state from a manufacturing process, an inspection process, etc., and aligning and transferring the workpiece to an accommodation tray. The present invention relates to a workpiece transfer device.

  In the appearance inspection process for small electronic parts (chip parts) and the mounting process on the circuit board, various types of chip parts to be inspected or mounted are sorted by type and size, and then transferred to a dedicated tray. Work to change is necessary. In order to perform such work automatically and efficiently, various work transfer devices are used.

  Conventionally, as such an apparatus, a pickup unit having a suction nozzle is provided between the supply side and the storage side of the workpiece made of the chip parts and the like, and the workpieces sucked on the supply side are placed one by one on the storage side. Many are equipped with a structure for transporting and accommodating.

  Patent Documents 1 and 2 disclose a component mounting (mounting) apparatus in which a chip component (work) is sucked by a suction nozzle and transferred onto a mounting substrate. The suction nozzle is attached to a movable head member, and is provided with a camera that images downward. The camera moves together with the head member, thereby recognizing the shape of the work sucked by the suction nozzle and moving toward a predetermined position on the mounting board for mounting (mounting). Yes.

  Patent Document 3 discloses a workpiece transfer device that transfers a workpiece such as a chip component supplied by a rotating conveyance table into a carrier tape. The workpiece transfer device includes a suction head that sucks a workpiece transported by the transport table, and an actuator that moves the suction head in the vertical direction.

JP-A-5-6912 JP 2003-133799 A JP 2004-18054 A

  As disclosed in Patent Documents 1 to 3, there are many ones configured such that a workpiece is sucked from a supply side by a suction nozzle and mounted on a mounting board or transferred into a carrier tape. However, in any case, the work attracted by the suction nozzle is regularly delivered on the supply side. For this reason, it is necessary to handle applications that select a workpiece that can be picked up and whose posture is easy to correct from those supplied in a disjointed state where the front and back of the workpiece are reversed or the workpieces overlap each other. I can't. In addition, it has not been assumed in the conventional workpiece transfer apparatus that a variety of workpieces having different shapes and sizes are supplied in a mixed manner. Furthermore, the work transfer side has a fixed mounting surface or storage space, such as a mounting board or carrier tape, and does not support flexible storage with different storage arrangements. .

  Accordingly, an object of the present invention is to select and pick up a predetermined workpiece from the same type or various types of multi-shape workpieces supplied in a separated state, and the posture of the workpiece according to the arrangement form on the side to be accommodated It is intended to provide a workpiece transfer method and a workpiece transfer device capable of transferring while correcting the above.

In order to solve the above-described problem, the workpiece transfer method of the present invention selects and picks up a predetermined workpiece from a plurality of workpieces that are randomly supplied and conveyed to the workpiece supply path, and the picked-up workpiece is transferred to the workpiece. In the method of transferring a work to be transported to the storage unit, the work in the monitoring area provided in the work supply path is monitored from above, the work to be picked up is selected from the monitored work, and the picked work is picked up at the same time , and it performs the position detection of the picked-up work by the pickup position.

The workpiece transfer apparatus according to the present invention is installed above a workpiece supply path through which a plurality of workpieces are randomly supplied and conveyed, a monitoring area provided in the workpiece supply path for monitoring the plurality of workpieces, and a monitoring area. A selected single camera, a workpiece selecting means for selecting a workpiece to be picked up from a plurality of workpieces monitored by the single camera, a pickup unit for picking up the selected workpiece, and picking up by the single camera Workpiece position detecting means for detecting the position of the workpiece thus detected at the pickup position, workpiece posture correcting means for correcting the posture of the workpiece so that the position-detected workpiece corresponds to the workpiece accommodating portion, and the workpiece whose posture has been corrected And a workpiece conveying means for conveying the workpiece to the workpiece accommodating portion.

  According to the workpiece transfer method of the present invention, the workpiece to be picked up is selected from the workpieces monitored from above in the monitoring area provided in the workpiece supply path, and the position detection of the workpiece is simultaneously performed when the selected workpiece is picked up. Therefore, a predetermined workpiece can be accurately selected and picked up from a plurality of workpieces that are randomly conveyed on the workpiece supply path.

  According to the workpiece transfer device of the present invention, by providing the workpiece selection means and the workpiece position detection means, it is possible to accurately select a predetermined workpiece from a plurality of workpieces that are randomly supplied and conveyed, Position detection at the time of pickup can also be performed accurately. Then, the workpiece posture correcting means can correct the posture of the workpiece by associating the picked-up workpiece with the receiving portion based on the detection result, and moves the workpiece posture to the predetermined receiving portion by the shortest distance by the workpiece conveying means. Can be replaced.

  Further, by simultaneously detecting the distribution state of the workpiece in the monitoring area and the position detection of the workpiece to be picked up by a single camera provided above the monitoring area, it is possible to execute from the pickup to the accommodation in a single operation. .

It is a flowchart which shows all the processes in the workpiece transfer method which concerns on this invention. It is a block diagram which shows the structure of the workpiece transfer apparatus which concerns on this invention. It is a side view which shows the whole structure of the said workpiece transfer apparatus. It is a top view of the said workpiece transfer apparatus. It is a top view of the pick-up part of the said workpiece transfer apparatus. It is AA sectional drawing of the said pick-up part. It is an example of a picture of a work monitored in a monitoring area. It is explanatory drawing which shows the selection process of a workpiece | work. It is explanatory drawing which shows the pick-up process of a workpiece | work. It is explanatory drawing which shows the attitude | position correction process of a workpiece | work. It is explanatory drawing which shows the accommodation process of a workpiece | work. It is explanatory drawing which shows the example of the accommodation process corresponding to a multi-product multi-shaped workpiece | work.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a workpiece transfer method and a workpiece transfer device according to the present invention will be described in detail with reference to the accompanying drawings. The present invention picks up chip parts selected from a plurality of chip parts supplied in a random state from manufacturing processes, inspection processes, etc., and arranges and transfers them to a predetermined place such as a storage tray. The present invention relates to a method and an apparatus. In this embodiment, in a circuit board mounting process, etc., a plurality of electronic components necessary for mounting are collected and put together, and transferred in a state where they are aligned on a dedicated tray so that they can be easily mounted by a chip mounter. It is supposed to be replaced. Here, the chip parts to be transferred are minute electronic parts such as various semiconductors and LEDs, and these will all be described as “work”. “Randomly supplied” includes a case where there are a plurality of workpieces having the same shape, size, etc., and a case where a plurality of multi-product, multi-shape workpieces having different shapes, sizes, etc. are mixed. It is assumed that it is in a state. In addition, as an example, a workpiece to be “sorted” is a workpiece whose shape, size, or the like matches that of a workpiece registered in advance as a pickup target from among the plurality of workpieces that circulate in a monitoring area, which will be described later. In this selection, items that have the pick-up surface as the mounting surface (back surface) and those that overlap with other workpieces and cannot be confirmed as a whole are excluded. The case where it is done is also included.

  As shown in FIG. 1, in the workpiece transfer method of the present invention, a workpiece supply step (P1) in which a plurality of workpieces are randomly placed on a workpiece supply path at a time, and the workpieces are circulated while being distributed so as not to overlap each other. ), And a workpiece selection step (P2) for confirming the distribution state of a plurality of workpieces passing through the monitoring area set on the workpiece supply path, and identifying workpieces to be picked up from these, and picking up the identified workpieces A pick-up step (P3), a work position detection step (P4) for recognizing an image of the position and posture of the work at the time of pick-up, and a position and posture of the picked-up work set in advance. The workpiece posture correction step (P5) for correcting the workpiece to correspond to the workpiece, and transporting the workpiece toward the container while correcting the workpiece. A workpiece transfer step (P6), and a workpiece accommodation step (P7) for housing by moving the housing portion toward the pick-up position.

  FIG. 2 is a block diagram showing the workpiece transfer apparatus 10 for realizing the above steps P1 to P7. The workpiece transfer apparatus 10 includes a workpiece supply path 14, a workpiece input section 17 that randomly inputs workpieces onto the workpiece supply path 14, and a set section 11 that includes a workpiece recovery section 18 that recovers unselected workpieces; A camera 29 that captures the inside of the monitoring area E set on the set unit 11, a pickup unit 12 that picks up a predetermined workpiece from a plurality of workpieces captured by the camera 29, and a plurality of workpiece storage units 32 are provided. An out section 13 having an XY table 30 which is placed on the storage tray 28 and is moved under the workpiece supply path 14 and moved horizontally, a workpiece sorting means for sorting the workpiece, a sorted workpiece The workpiece position detecting means for recognizing the position and posture at the time of pick-up as image information, and the picked-up work in the work accommodating portion 32 Comprising the means of the workpiece conveying means for conveying in a single operation and the shortest distance towards the workpiece attitude correcting unit and the pickup unit 12 is corrected to respond to the position and orientation in the work storing portion 32. Each of these means is program-controlled by a control unit 31 that drives and controls the set unit 11, the pickup unit 12, and the out unit 13.

  3 and 4 show a configuration example of the workpiece transfer apparatus 10. The set unit 11 is a donut-shaped workpiece supply path having a ring-shaped conveyance surface 15 on which the workpiece W is circulated and conveyed on the outer periphery, and a collection surface 16 for collecting the workpiece W discharged from the conveyance surface 15 on the inner periphery. 14, a workpiece loading unit 17 provided at one end on the outer periphery of the transport surface 15, and a workpiece collection unit 18 provided at one end of the collection surface 16. The workpiece supply path 14 is rotated at a constant speed by a drive motor, and a plurality of workpieces W randomly placed on the transport surface 15 are moved by this rotation. The workpiece loading unit 17 discharges a plurality of workpieces W received from the outside such as a manufacturing process and an inspection step to the transport surface 15 and collects unselected workpieces W from one end of the collection surface 16. They are collected in the workpiece loading unit 17 via the tube 19 and loaded again toward the conveying surface 15. The work loading unit 17 is provided with an air nozzle 20 for placing a plurality of works W on the conveying surface 15 while ejecting the works W by air. The air nozzle 20 is set toward the rotation direction (counterclockwise in the drawing) of the workpiece supply path 14 and sequentially feeds the workpieces W along the conveying surface 15 so that the individual workpieces W can be identified and picked up. It is possible to place them at regular intervals so as to be easy. Further, on the workpiece supply path 14, a collection member 21 that is disposed in a direction orthogonal to the rotation direction and scrapes the workpiece W that has moved around the collection surface 16 is provided.

  As shown in FIGS. 3 and 4, the pickup unit 12 is attached to the tip of an arm 25 that extends from below the base portion 22 toward the workpiece supply path 14, and moves on the conveyance surface 15 of the workpiece supply path 14. It is held so that it can be translated and moved up and down. A single camera 29 is attached above the pickup unit 12 via a camera fixing unit 24.

  As shown in FIGS. 5 and 6, the pickup unit 12 includes a cylindrical rotating body 36 having a hollow portion 40, and an adsorption extending from the rotating body 36 through the attachment portion 35 toward the center of the hollow portion 40. A nozzle 27 and a frame 37 that rotatably supports the rotating body 36 are provided. The rotating body 36 is attached so as to be rotatable along the inner surface of the frame 37 via a bearing 44. Further, an airtight passage 39 communicating with the tip of the suction nozzle 27 is sealed between the rotating body 36 and the frame 37 by a sealing material 43, and a suction tube 45 is connected to the suction connection portion 38 provided in the frame 37. To an external suction machine (not shown). As a result, the rotating body 36 can be rotated in a predetermined direction with the workpiece W being sucked by the tip of the suction nozzle 27, and the entire posture of the workpiece at this time is the camera 29 disposed above the hollow portion 40. You can take an image. Since the suction nozzle 27 is attached to the attachment portion 35 via an elastic member (not shown) such as a spring, the impact when the pickup portion 12 is lowered toward the workpiece and sucked. Can be absorbed.

  For example, as shown in FIG. 5, the rotating body 36 transmits the rotational force of the rotating motor 41 provided in the pickup unit 12 by the timing belt 42, thereby rotating the suction nozzle 27 that rotates integrally with the rotating body 36. Can be driven to rotate in any direction and any rotation angle in the clockwise and counterclockwise directions. As a result, no matter what rotational position the picked-up workpiece W is, it can be rotationally corrected from this pickup position so as to have a predetermined rotational direction and rotational angle calculated by the workpiece posture correcting means. .

  As described above, since the pickup unit 12 has the hollow portion 40 centered on the suction nozzle 27, the single camera 29 installed above the hollow portion 40 causes the pickup portion 12 to move on the workpiece supply path 14. It is possible to peek inside the monitoring area E without any obstacles. As a result, the shape and type of the work W sucked by the suction nozzle 27 can be accurately recognized as image information, and the position of the work W at the time of suction can be quickly detected.

  As the camera 29, a small CCD camera having a large number of pixels and capable of zooming is used so that the external shape of the fine workpiece W can be easily identified. As shown in FIG. 4, the monitoring area E monitored by the camera 29 is set in a range from the inner side to the outer side that crosses the transfer surface 15, and a plurality of workpieces that are transferred and supplied along the transfer surface 15. Can be captured continuously. Thereby, the distribution state of the workpiece W and the position of the workpiece picked up by the suction nozzle 27 can be detected at the same time. And the image imaged with this camera 29 can be always monitored by the monitor 34 with which the control part 31 is equipped. As shown in FIG. 4, the arm 25 extends so as to avoid the monitoring area E, and is set so that the pickup unit 12 is positioned on the right side of the monitoring area E. This position becomes the home position of the pickup unit 12, and while moving to the left side in the figure, the workpiece W1 selected by the workpiece selection means described later is picked up.

  FIG. 7 shows an example of an image in the monitoring area E picked up by the camera 29. With this image, the distribution state of the workpiece flowing on the workpiece supply path 14 is detected, and the selection and position detection of the workpiece to be picked up are performed. The position detection of the workpiece is performed based on the coordinates on the X and Y axes in the monitoring area E, and then the posture correction amount of the workpiece is determined. In the sorting of the workpieces, a number of matching workpieces W1 to W3 are selected as candidates based on the shape information such as the shape and size of the workpiece set in advance by the control unit 31. Next, of the workpieces W1 to W3 selected here, the workpiece W2 whose pickup surface is the back side with the electrode 33 and the workpiece W3 partially overlapping under the workpiece W1 are excluded. . As a result, the work W1 is selected as a pickup target. If there are a plurality of workpieces to be picked up, the workpiece closest to the suction nozzle 27 waiting at the position shown in FIG. 8 is selected.

  FIG. 9 shows a state where the arm 25 is driven and the pickup unit 12 is moved toward the selected workpiece W1. Here, the position of the workpiece W1 immediately after being picked up by the suction nozzle 27 is detected. This position detection is indicated by coordinates on the X and Y axes and an angle on the X and Y axes when the workpiece is picked up. Further, the posture of the workpiece at that time is recognized as image information, and the posture based on the image at the time of pickup is compared with the posture information at the time of accommodation set in advance in the control unit 31 (see FIG. 2). A correction amount for correction is calculated. The calculation of the correction amount is performed substantially simultaneously with the pickup of the workpiece W1 by the suction nozzle 27. Then, as shown in FIG. 10, the rotation angle of the rotating body 36 provided in the pickup unit 12 is determined based on the calculated correction amount, and the posture correction is performed with the workpiece W1 adsorbed so as to match the rotation angle. Is called. The posture correction by the rotation of the pickup unit 12 is performed from the position where the workpiece W1 is picked up until it moves to the storage unit 32. In this way, as shown in FIG. 11, the workpiece transport means moves the picked workpiece W <b> 1 toward the storage tray 28 by a single operation by a single operation while matching the picked workpiece W <b> 1 with the posture at the time of storage.

  As shown in FIG. 11, the out section 13 includes an XY table 30 that is submerged under the work supply path 14 and is slidable in the X-axis direction and the Y-axis direction. A storage tray 28 is set on 30. The storage tray 28 is provided with a plurality of storage portions 32 for arranging the picked-up workpieces W1 in a square arrangement. The accommodating portion 32 is set according to the type and size of the workpiece W1 to be picked up, and grid-like partitions are provided according to the arrangement form. The XY table 30 on which the storage tray 28 is set slides in the XY direction below the work supply path 14 provided in the setting unit 11 so that the storage part in which the work W has already been stored can be retracted. Can be done. Then, the storage tray 28 is moved, and a predetermined storage portion 32 is aligned immediately below the moving position of the suction nozzle 27 that picks up the selected workpiece W. Next, by lowering the arm 25 in this state, the workpiece W picked up in the predetermined accommodating portion 32 can be placed. In the present embodiment, each time the workpiece W is picked up and moved, the empty accommodation portions 32 move one by one in the XY direction. As a result, the suction nozzle 27 moves to the vicinity of the outside of the outer peripheral surface of the workpiece supply path 14 in a state in which the workpiece W is sucked, and can transfer the workpiece W to the accommodating portion 32 located immediately below the workpiece W at the shortest distance. . In this way, the pickup unit 12 reciprocates along the shortest conveyance path that is linear or arcuate so as to cross the conveyance surface 15 by the workpiece conveyance means. Further, as described above, after the workpiece W is attracted from the workpiece supply path 14 by the workpiece posture correction, the posture is corrected to be accommodated in the housing portion 32 while correcting the position and posture of the workpiece W. Therefore, the workpiece W can be transferred to the predetermined storage part of the storage tray 28 in a short time as it is. Note that the posture correction of the workpiece W may be performed at a position picked up by the workpiece conveying means and moved toward a predetermined accommodating portion as it is. In the present embodiment, the storage tray in which the workpieces are arranged in the vertical and horizontal directions is used. However, the arrangement form such as the arrangement in a line as in the case of the carrier tape is arbitrary, and the accommodation portion 32 can be moved in accordance with the arrangement form. .

  In the control unit 31, all operations in the set unit 11, the pickup unit 12 and the out unit 13 are centrally managed, and a program is set so that each of them operates in cooperation. In addition, a plurality of pieces of work information such as the position information and the shape of the work pieces 32 in the storage tray 28 can be registered together with the image information, and any work can be selected as a selection target. can do. After performing such initial settings, a series of processes such as automatically selecting a predetermined work and sequentially transferring it to the empty storage section 32 of the storage tray 28 by simply putting a plurality of works into the set section 11 at once. The operation can be performed continuously.

  FIG. 12 shows an example of workpiece storage when workpieces Wa, Wb, and Wc made of various types and shapes of chips are mixed in set unit 11. In general, each workpiece Wa, Wb, Wc is loaded into the set unit 11 as a unit, and the trays Ta, Tb, Tc to be accommodated are generally accommodated in one unit for each loaded workpiece. In the workpiece transfer apparatus 10 of the present invention, since the workpiece shape and the like can be recognized by the image information by the workpiece selection means, even in a state where different types of workpieces are mixed, the workpiece is transferred to the tray to be accommodated. Corresponding transfer work can be performed automatically. This makes it possible to appropriately sort and transfer the workpiece even when other types of workpieces are mixed with the workpiece supplied from the manufacturing process, the inspection process, or the like.

  In the embodiment shown in FIG. 12, trays Ta, Tb, Tc respectively corresponding to the workpieces Wa, Wb, Wc are prepared, and after all the workpieces Wa are transferred to the tray Ta, the workpieces are changed to the trays Tb, Tc. Transfer work to Wb and Wc can be performed. As described above, even when a wide variety of workpieces of various shapes are supplied together, the workpieces corresponding to the respective trays Ta, Tb, Tc can be selected by the workpiece selecting means. Further, since the XY table 30 is moved to the vicinity of the workpiece pick-up position by the out section 13, the workpieces can be arranged in an arbitrary arrangement configuration such as the trays Ta and Tb and the carrier tape Tc having different arrangement numbers of the vertical and horizontal workpieces. It is possible to transfer.

  As described above, in the workpiece transfer method and apparatus according to the present invention, a predetermined workpiece can be efficiently selected from a plurality of workpieces that are randomly supplied onto the workpiece supply path. It is possible to transfer to a predetermined storage portion of the storage tray in the shortest distance and in a short time while correcting the posture of the workpiece. In addition, a part of the storage tray is slidably disposed so as to sink under the work supply path, and a predetermined storage portion of the storage tray moves near the pickup position. Shortening and downsizing of the entire apparatus will be achieved.

E Monitoring area W, W1, W2, W3 Workpieces Wa, Wb, Wc Workpiece Ta, Tb Tray Tc Carrier tape 10 Workpiece transfer device 11 Set part 12 Pickup part 13 Out part 14 Work supply path 15 Conveying surface 16 Collecting surface 17 Workpiece Input unit 18 Work collection unit 19 Collection tube 20 Air nozzle 21 Collection member 22 Base unit 24 Camera fixing unit 25 Arm 27 Suction nozzle 28 Storage tray 29 Camera 30 XY table 31 Control unit 32 Storage unit 33 Electrode 34 Monitor 35 Mounting unit 36 Rotating body 37 Frame 38 Intake connecting portion 39 Airtight path 40 Hollow portion 41 Rotating motor 42 Timing belt 43 Sealing material 44 Bearing 45 Suction tube

Claims (17)

In the workpiece transfer method of selecting and picking up a predetermined workpiece from a plurality of workpieces that are randomly supplied and conveyed to the workpiece supply path, and conveying the picked-up workpiece to the workpiece container,
Monitor the work in the monitoring area provided in the work supply path from above,
Were selected workpiece to be picked up from the workpiece was monitored simultaneously with the picking up was sorted work, work transfer method characterized by detecting the position of the picked-up work by the pickup position.   The workpiece transfer method according to claim 1, wherein the workpiece monitoring, workpiece selection, and workpiece position detection are performed based on image information recognized by a single camera installed above the monitoring area.   The workpiece transfer method according to claim 1, wherein the workpiece monitoring is performed based on a distribution state of a plurality of workpieces included in a monitoring area, a position and an attitude of each workpiece.   The sorting of the workpiece is performed by previously registering the configuration information of the workpiece to be sorted, and comparing the registered configuration information with the configuration information of the workpiece monitored in the monitoring area. The work transfer method.   The workpiece transfer method according to claim 2, wherein the position detection of the workpiece is indicated by coordinates on the X and Y axes and an angle on the X and Y axes when the workpiece is picked up.   The workpiece transfer method according to claim 1, wherein a posture of the picked-up workpiece is corrected so as to correspond to the workpiece accommodating portion after the position of the workpiece is detected.   The workpiece transfer method according to claim 1, wherein when the picked-up workpiece is transported to the workpiece storage unit, the workpiece storage unit is moved toward the vicinity of the monitoring area of the workpiece supply path along with the movement of the picked-up workpiece.   The workpiece transfer method according to claim 1, wherein the picked-up workpiece is accommodated in a workpiece accommodating portion near a monitoring area of the workpiece supply path. The work transfer method according to claim 1 or 8, wherein the picked-up work is transported from the pick-up position of the work to the work containing part while simultaneously performing posture correction and transport to the work containing part. The work transfer method according to claim 1, wherein the work is supplied and recovered on the work supply path having a ring-shaped transport surface. A workpiece supply path in which a plurality of workpieces are randomly supplied and conveyed;
A monitoring area provided in a work supply path for monitoring the plurality of works;
A single camera installed above the surveillance area;
A workpiece selection means for selecting a workpiece to be picked up from a plurality of workpieces monitored by a single camera;
A pickup section for picking up the selected workpiece;
Workpiece position detection means for detecting the position of the workpiece picked up by the single camera at the pickup position ;
A workpiece posture correcting means for correcting the posture of the workpiece so that the position-detected workpiece corresponds to the workpiece container,
A workpiece transfer apparatus comprising: a workpiece transfer means for transferring the workpiece whose posture has been corrected to the workpiece storage unit. The workpiece according to claim 11 , wherein the pickup unit includes a rotating body having a hollow portion that allows the inside of the monitoring area to be viewed from above, and a suction nozzle that is positioned in the hollow portion of the rotating body and rotates integrally with the rotating body. Transfer device. The rotating body, the workpiece transfer apparatus according to claim 12 which is freely rotatable in any direction. The workpiece transfer according to claim 12 , wherein a frame that rotatably supports the rotating body is disposed on an outer periphery of the rotating body, and an airtight path leading to the suction nozzle is formed between the frame and the rotating body. apparatus. A movable table on which the work accommodating portion is placed,
The workpiece transfer apparatus according to claim 11 , further comprising a table that allows a workpiece storage unit to be buried under the workpiece supply path in the vicinity of the monitoring area of the workpiece supply path. The workpiece supply path has a ring-shaped transfer surface, a workpiece input unit that inputs a plurality of workpieces onto the transfer surface, and a workpiece recovery unit that recovers the workpiece that has circulated on the workpiece supply path and returns the workpiece to the workpiece input unit. The workpiece transfer apparatus according to claim 11 , comprising: The workpiece conveying means, the posture correction and while each of the operation of the transport to work storing unit simultaneously, wherein the picked-up work has a transport path for feeding the work storing portion until in transportable from the pickup position 11. The workpiece transfer device described in 1.

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