JP6831602B1 - Electronic component transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently transport an electronic component. SOLUTION: An electronic component transporting device according to one aspect of the present disclosure is for delivering electronic components between a rotary transport unit that transports electronic components along a circular orbit for transport and a rotary transport unit. In the first movable range including the delivery position, a first drive unit that moves a plurality of electronic component accommodating bodies in two directions intersecting each other on a plane perpendicular to the central axis of the transport circular orbit, and a first including the delivery position. It includes a second drive unit that moves the accommodating bodies in two directions intersecting each other on a plane perpendicular to the central axis within a movable range. [Selection diagram] Fig. 3

Description

The present disclosure relates to a transport device for electronic components.

Patent Document 1 discloses an article transfer device including a rotary index table in which a plurality of work stations are arranged around the rotary index table, and a vacuum suction head that sucks an article at a specific station and releases the article at another station. .. In this article transfer device, an XY table is arranged at one station. The XY table has a tray on which electronic components are arranged and stored, and the electronic components are sequentially arrived at the descent point of the vacuum suction head one by one. Patent Document 2 discloses a mounting member supply device including an alignment tray in which a plurality of recesses arranged in a matrix are formed on the upper surface, and an alignment tray moving means composed of an XY table.

Japanese Unexamined Patent Publication No. 56-12724 Japanese Unexamined Patent Publication No. 2016-92427

The present disclosure provides a transfer device useful for efficiently transporting electronic components.

The electronic component transport device according to one aspect of the present disclosure includes a rotary transport unit that transports electronic components along a circular orbit for transport, and a delivery position for delivering the electronic component between the rotary transport units. In the first movable range, the first drive unit that moves the accommodating bodies of a plurality of electronic components in two directions intersecting each other on the plane perpendicular to the central axis of the transport circular orbit, and the second movable range including the delivery position. A second drive unit for moving the housing in two directions intersecting each other on a plane perpendicular to the central axis is provided.

According to the present disclosure, a transport device useful for efficiently transporting electronic components is provided.

FIG. 1 is a plan view schematically illustrating a transfer device for electronic components. FIG. 2 is a side view schematically illustrating the parts recovery unit. FIG. 3 is a plan view schematically illustrating the parts recovery unit. FIG. 4 is a block diagram illustrating a functional configuration of the controller. FIG. 5 is a block diagram illustrating a hardware configuration of the controller. FIG. 6 is a flowchart illustrating a parts collection procedure. FIG. 7A is a schematic plan view for explaining the transport operation of the housing. FIG. 7B is a schematic plan view for explaining the following operation of the housing. 8 (a) and 8 (b) are schematic side views for explaining an example of the replacement operation of the housing. FIG. 9 is a flowchart illustrating a procedure for replacing the housing by one of the driving units. FIG. 10A is a schematic plan view for explaining a procedure for exchanging the housing. FIG. 10B is a schematic side view for explaining the procedure for replacing the housing. FIG. 11A is a schematic plan view for explaining the transport operation of the housing. FIG. 11B is a schematic plan view for explaining the following operation of the housing. FIG. 12 is a schematic plan view for explaining an example of the replacement operation of the housing. FIG. 13 is a flowchart illustrating a procedure for replacing the housing by the other driving unit. FIG. 14A is a schematic plan view for explaining a procedure for exchanging the housing. FIG. 14B is a schematic side view for explaining the procedure for replacing the housing. FIG. 15 is a flowchart showing another example of the parts collection procedure. 16 (a) and 16 (b) are schematic side views for explaining an example of the replacement operation of the housing. 17 (a) and 17 (b) are schematic plan views for explaining an example of the replacement operation of the housing. FIG. 18 is a schematic side view for explaining an example of the replacement operation of the housing.

Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same function are designated by the same reference numerals, and duplicate description will be omitted. The drawings show the XYZ Cartesian coordinate system as needed. For example, the X-axis and the Y-axis are in the horizontal direction, and the Z-axis is in the vertical direction.

[Transport device]
The electronic component transfer device 1 according to the present embodiment is used for a so-called die sorter or the like (electronic component processing device). The transport device 1 (electronic component processing device) transports the electronic component W formed in the previous process such as dicing, and after performing processing such as visual inspection, electrical characteristic inspection, and marking, the tray, sheet, and tape. , And a device for packing in a container such as a container tube. As shown in FIGS. 1 and 2, the transfer device 1 includes a rotary transfer unit 10 (rotary transfer unit), a plurality of processing units 30, and a controller 100.

The rotary transport unit 10 transports the electronic component W along the circular orbit CR (circular orbit for transfer). The electronic component W to be transported may have two main surfaces Wa and Wb parallel to each other. The shape of the electronic component W may be rectangular when viewed from the direction perpendicular to the main surface Wa and the main surface Wb. The rotary transfer unit 10 includes a turntable 12, a plurality of holding units 14, a swivel drive unit 16, and a plurality of elevating drive units 18.

The turntable 12 is provided so as to be rotatable around the vertical central axis Ax. The plurality of holding portions 14 are arranged at equal intervals along the circumference centered on the central axis Ax, and are fixed to the turntable 12. Each of the plurality of holding portions 14 holds the electronic component W. The holding unit 14 may hold the electronic component W by any method. Specific examples of the method of holding the electronic component W include vacuum suction, electrostatic suction, and gripping. For example, the holding portion 14 vacuum-sucks either the main surface Wa or Wb (for example, the main surface Wa) from one side in the direction perpendicular to the turntable 12 (the direction parallel to the central axis Ax).

As an example, the holding portion 14 has a suction nozzle 22, a holder 24, and a spring 26, as shown in FIG. The suction nozzle 22 vacuum sucks the main surface Wa of the electronic component W from above. For example, the suction nozzle 22 is arranged vertically on the turntable 12, and the lower end portion of the suction nozzle 22 is opened vertically downward. The holder 24 is fixed to the outer peripheral portion of the turntable 12 and holds the suction nozzle 22 so as to be able to move up and down. The spring 26 resists the lowering of the suction nozzle 22 due to its elasticity. When a downward external force is applied to the upper end of the suction nozzle 22, the spring 26 elastically deforms in response to the lowering of the suction nozzle 22, and when the downward external force disappears, the spring 26 elastically returns to the height before lowering the suction nozzle 22. Push it back.

The swivel drive unit 16 uses an electric motor as a power source, for example, and swivels the turntable 12 around the central axis Ax by a direct drive without a gear. As a result, the plurality of holding portions 14 move around the horizontal circular orbit CR centered on the central axis Ax. The swivel drive unit 16 is controlled so as to repeatedly rotate and stop the turntable 12 at the same pitch as the angle pitch between the adjacent holding units 14 (the angle pitch around the central axis Ax). Hereinafter, a plurality of positions where a plurality of holding portions 14 (lower end portions of the suction nozzle 22) are arranged when the swivel drive unit 16 stops the turntable 12 are referred to as “plurality of stop positions SP”.

The plurality of elevating drive units 18 individually elevate and elevate the suction nozzles 22 of the plurality of holding units 14. Note that the elevating drive unit 18 is omitted in FIG. 1, and one of the plurality of elevating drive units 18 is shown in FIG. 2. The plurality of elevating drive units 18 are fixed above the plurality of stop positions SP so as not to rotate together with the turntable 12. The elevating drive unit 18 applies a downward force to the upper end portion of the suction nozzle 22 by using, for example, an electric motor or an air cylinder as a power source in a state where the holding unit 14 is located below the holding unit 14. As a result, the suction nozzle 22 is lowered. When the elevating drive unit 18 releases the state in which the upper end portion of the suction nozzle 22 is applied with a downward force, the suction nozzle 22 rises to the height before lowering due to the elasticity of the spring 26.

The plurality of processing units 30 are provided so as to correspond to some of the stop position SPs among all the stop position SPs. The processing unit 30 may be provided at all the stop positions SP. Each processing unit 30 performs a predetermined process on the electronic component W arranged at the stop position SP (the stop position SP corresponding to the processing unit 30). The "processing" here includes any act of changing the state of the electronic component W. For example, marking the electronic component W, holding the electronic component W in the holding unit 14, and collecting the electronic component W released by the holding unit 14 correspond to "processing". In addition, correcting the holding position of the electronic component W by the holding unit 14 also corresponds to “processing”. Further, executing some kind of inspection on the electronic component W also corresponds to "processing" because the inspection data changes the unknown state to the known state of the inspection data.

A specific example of the processing unit 30 is a component supply unit 40. The component supply unit 40 transports an accommodating body accommodating a plurality of electronic components W to the vicinity of any of the stop positions SP. The accommodating body has a plurality of accommodating cells each accommodating a plurality of electronic components W. The component supply unit 40 arranges the accommodation cell on the accommodation body at the delivery position RP1 located vertically below the corresponding stop position SP, for example. The delivery position RP1 is a position for delivering the electronic component W between the component supply unit 40 and the rotary transfer unit 10 (a position for the component supply unit 40 to deliver the electronic component W to the rotary transfer unit 10). .. As an example, the holding portion 14 (suction nozzle 22) located at the stop position SP moves vertically downward, and the moved holding portion 14 moves the electronic component W of the accommodating cell located at the delivery position RP1 of the accommodating body. To receive. As a result, the electronic component W is supplied from the component supply unit 40 to the rotary transfer unit 10. The housing for the component supply unit 40 also includes a sheet to which a plurality of electronic components W are attached. That is, it is also included in "accommodation" that the sheet holds the electronic component W by the adhesive force. In this case, the attachment position of each electronic component W on the sheet corresponds to the above-mentioned "accommodation cell".

Another example of the processing unit 30 is the parts recovery unit 50. The component recovery unit 50 transports an accommodating body capable of accommodating a plurality of electronic components W to the vicinity of any of the stop positions SP. The parts recovery unit 50 arranges the accommodation cell on the accommodation body at the delivery position RP2 located vertically below the corresponding stop position SP, for example. The delivery position RP2 is a position for delivering the electronic component W between the component recovery unit 50 and the rotary transfer unit 10 (a position for the component recovery unit 50 to receive the electronic component W from the rotary transfer unit 10). .. As an example, the holding portion 14 (suction nozzle 22) located at the stop position SP moves vertically downward, and the moved holding portion 14 delivers the electronic component W to the accommodating cell located at the delivery position RP2. As a result, the electronic component W is recovered from the rotary transfer unit 10 to the component recovery unit 50.

Other examples of the processing unit 30 include a position correction unit, an appearance inspection unit, an electrical characteristic inspection unit, a marking unit, a defective product recovery unit, and the like. The position correction unit corrects the holding position of the electronic component W by the holding unit 14. The visual inspection unit inspects the appearance of the electronic component W based on the captured image of the electronic component W. The electrical characteristic inspection unit inspects the electrical characteristics of the electronic component W. Specific examples of electrical characteristics include electrical resistance between terminals, capacitance, and the like. The marking unit marks the electronic component W by laser marking or the like. The defective product collection unit collects the electronic component W having an abnormality in any of the inspections in a box or the like.

Hereinafter, the configuration of the component recovery unit 50 for collecting the electronic component W in the storage tray 90, which is an example of the storage body, will be described. As shown in FIG. 3, the storage tray 90 is configured to be able to store a plurality of electronic components W in a two-dimensionally arranged state. For example, the storage tray 90 has a plurality of recesses 92 arranged in a matrix as a plurality of storage cells. The recess 92 is formed in a size capable of accommodating the electronic component W. The recess 92 may be formed in a shape (for example, a rectangular parallelepiped shape) according to the outer shape of the electronic component W. By accommodating the plurality of electronic components W in the plurality of recesses 92, the accommodating tray 90 accommodates the plurality of electronic components W. As shown in FIGS. 2 and 3, the component recovery unit 50 includes a first drive unit 60 and a second drive unit 70.

The first drive unit 60 moves the accommodation tray 90 in two directions intersecting each other on the plane perpendicular to the central axis Ax of the circular orbit CR in the first movable range AR1 including the delivery position RP2. The first movable range AR1 is a range (area) in which the first driving unit 60 can move the accommodation tray 90. The first drive unit 60 moves the storage tray 90 along one line in a plane perpendicular to the central axis Ax (a plane along the turntable 12), and along the other line perpendicular to the line. Move the storage tray 90. In the example shown in FIGS. 2 and 3, the first drive unit 60 moves the accommodation tray 90 along the X axis and the accommodation tray 90 along the Y axis in the XY plane. In the following, the direction from the central axis Ax to the delivery position RP2 is referred to as the “Y-axis negative direction”, and the direction from the delivery position RP2 toward the central axis Ax is referred to as the “Y-axis positive direction”. One direction along the tangent of the circular orbit CR at the delivery position RP2 (leftward on the paper in FIG. 3) is defined as the "X-axis negative direction", and the other direction along the tangent of the circular orbit CR at the delivery position RP2 (Fig. 3). 3) The right direction of the paper is defined as the "X-axis positive direction".

The first drive unit 60 includes, for example, a holding unit 62, an elevating drive unit 64, and horizontal drive units 66 and 68. The holding unit 62 holds the storage tray 90 to be transported. For example, the holding portion 62 is arranged below the storage tray 90, and holds the storage tray 90 so that the arrangement direction of the plurality of recesses 92 is along a plane perpendicular to the central axis Ax. As an example, the holding portion 62 holds the storage tray 90 so that the row direction of the arrangement directions of the plurality of recesses 92 is along the X axis and the column direction of the arrangement directions is along the Y axis. The elevating drive unit 64 elevates (moves) the accommodating tray 90 along a line (Z axis) parallel to the central axis Ax. For example, the elevating drive unit 64 is provided below the holding unit 62 and raises and lowers the holding unit 62. As a result, the storage tray 90 on the holding portion 62 moves up and down. Specific examples of the elevating drive unit 64 include an elevating actuator powered by an electric motor.

The horizontal drive unit 66 and the horizontal drive unit 68 move the accommodation tray 90 in two directions intersecting each other in a plane perpendicular to the central axis Ax. For example, the horizontal drive unit 66 extends parallel to the Y axis under the elevating drive unit 64, and moves the elevating drive unit 64 along the Y axis (in the positive direction of the Y axis or in the negative direction of the Y axis). As a result, the accommodation tray 90 on the holding unit 62 and the elevating drive unit 64 moves along the Y axis. The horizontal drive unit 68 extends parallel to the X-axis under the horizontal drive unit 66 and moves the horizontal drive unit 66 along the X-axis (in the positive direction of the X-axis or in the negative direction of the X-axis). As a result, the accommodation tray 90 on the holding unit 62, the elevating drive unit 64, and the horizontal drive unit 66 moves along the X axis. Specific examples of the horizontal drive units 66 and 68 include a linear actuator powered by an electric motor.

The second drive unit 70 moves the accommodation tray 90 in two directions intersecting each other on a plane perpendicular to the central axis Ax in the second movable range AR2 including the delivery position RP2. The second movable range AR2 is a range (area) in which the second drive unit 70 can move the accommodation tray 90. The second movable range AR2 is a wider range than the first movable range AR1 in a plan view (viewed from vertically above). For example, the second movable range AR2 includes a range that overlaps (all) of the first movable range AR1 when viewed from above, and a range that is adjacent to the first movable range AR1 on the outside centered on the central axis Ax. There is.

The second drive unit 70 moves the storage tray 90 along one line and moves the storage tray 90 along the other line perpendicular to the line, for example, in a plane perpendicular to the central axis Ax. In the example shown in FIGS. 2 and 3, the second drive unit 70 moves the storage tray 90 along the X-axis and moves the storage tray 90 along the Y-axis in the XY plane.

The second drive unit 70 has, for example, a holding unit 72, an elevating drive unit 74, and horizontal drive units 76 and 78. The holding unit 72 holds the storage tray 90 to be transported. For example, the holding portion 72 is arranged below the storage tray 90, and holds the storage tray 90 so that the arrangement direction of the plurality of recesses 92 is along a plane perpendicular to the central axis Ax. As an example, the holding portion 62 holds the storage tray 90 so that the row direction of the arrangement directions of the plurality of recesses 92 is along the X axis and the column direction of the arrangement directions is along the Y axis. The elevating drive unit 74 moves the accommodating tray 90 up and down (moves) along a line (Z axis) parallel to the central axis Ax. For example, the elevating drive unit 74 is provided below the holding unit 72 to elevate and elevate the holding unit 62. As a result, the storage tray 90 on the holding portion 72 moves up and down. Specific examples of the elevating drive unit 64 include an elevating actuator powered by an electric motor.

The horizontal drive unit 76 and the horizontal drive unit 78 move the accommodation tray 90 in two directions intersecting each other in a plane perpendicular to the central axis Ax. For example, the horizontal drive unit 76 extends under the elevating drive unit 74 in parallel with the Y axis, and moves the elevating drive unit 74 along the Y axis (in the positive direction of the Y axis or in the negative direction of the Y axis). As a result, the accommodation tray 90 on the holding portion 72 and the elevating drive portion 74 moves along the Y axis. The horizontal drive unit 78 extends parallel to the X-axis under the horizontal drive unit 76, and moves the horizontal drive unit 76 along the X-axis (in the positive direction of the X-axis or in the negative direction of the X-axis). As a result, the accommodation tray 90 on the holding unit 72, the elevating drive unit 74, and the horizontal drive unit 76 moves along the X axis. Specific examples of the horizontal drive units 76 and 78 include a linear actuator powered by an electric motor.

In the Y-axis direction, the horizontal drive unit 78 of the second drive unit 70 is provided at a position different from that of the horizontal drive unit 68 of the first drive unit 60. For example, the horizontal drive unit 78 is arranged at a position farther from the central axis Ax than the horizontal drive unit 68 (the distance from the central axis Ax to the horizontal drive unit 78 is from the central axis Ax to the horizontal drive unit 68). Longer than the distance). Further, the horizontal drive unit 78 is arranged so that the horizontal drive unit 76 does not overlap with the horizontal drive unit 66 in the Y-axis direction.

Corresponding to this arrangement, the holding portion 72 of the second driving unit 70 is configured to hold the accommodating tray 90 at a position offset in the positive direction of the Y axis from the elevating driving unit 74. For example, the holding portion 72 has a main body portion 72a and an extension portion (extension arm) 72b. The main body 72a is arranged below the storage tray 90 and holds the storage tray 90. The extension portion 72b extends from above the elevating drive portion 74 in the positive direction of the Y axis and is connected to the main body portion 72a. The extension portion 72b has a length capable of moving the storage tray 90 on the main body portion 72a by the horizontal drive portions 76 and 78 over the entire area of the first movable region R1. With this configuration, the storage tray 90 on the holding unit 72 can be moved to the entire area of the first movable region R1 without interfering with the horizontal driving units 66 and 68 of the first driving unit 60. In this way, the first drive unit 60 and the second drive unit 70 are arranged side by side along the direction away from the central axis Ax, and the second drive unit 70 extends onto the first drive unit 60. The space from the central axis Ax to the first drive unit 60 is expanded by the configuration for holding the storage tray 90. As a result, a space for arranging the other processing units 30 of the parts recovery unit 50 is secured around the turntable 12.

As shown in FIG. 3, in the transport device 1, a tray storage portion 94 is provided at one end of the first movable range AR1 and the second movable range AR2 in the X-axis direction. The tray storage unit 94 stores a plurality of storage trays 90. The tray storage unit 94 supports a plurality of storage trays 90 in a state in which a plurality of electronic components W are housed, and a plurality of storage trays 90 in a state in which a plurality of electronic components W are not housed. For example, the tray storage unit 94 includes an empty tray storage unit 98 that stores a plurality of storage trays 90 in a state in which a plurality of electronic components W are not stored, and a plurality of storage trays in a state in which a plurality of electronic components W are stored. It has full tray storage units 96a and 96b for storing 90. In the Y-axis direction, the full tray storage unit 96a is provided at a position corresponding to the horizontal drive unit 68, the full tray storage unit 96b is provided at a position corresponding to the horizontal drive unit 78, and the empty tray storage unit 98 is provided for full tray storage. It is provided between the portions 96a and 96b.

The controller 100 controls the transport device 1. For example, in the delivery position RP2, the first drive unit 60 moves the storage tray 90 in the negative direction of the X-axis, and the controller 100 uses the second drive unit 70 to move the storage tray 90 in the negative direction of the X-axis at the delivery position RP2. The direction parallel to the central axis Ax by the first drive unit 60 so as to move the tray 90 and arrange the storage tray 90 in an avoidance area where collision avoidance with another storage tray 90 at the delivery position RP2 is possible ( For example, it is configured to move the accommodation tray 90 in the Z-axis negative direction) and to move the accommodation tray 90 in the X-axis positive direction by the first drive unit 60 in the avoidance region. ..

As shown in FIG. 4, the controller 100 has a rotary transfer control unit 101 and an accommodating body transfer control unit 102 (transfer control unit) as a functional configuration (hereinafter, referred to as “functional block”). The housing transfer control unit 102 includes a progressive transfer control unit 104, a retract control unit 106, and an exchange control unit 108. The processes executed by the rotary transfer control unit 101 and the housing transfer control unit 102 (forward transfer control unit 104, evacuation control unit 106, and exchange control unit 108) correspond to the processes executed by the controller 100.

The rotation transfer control unit 101 intermittently rotates the turntable 12 by the rotation drive unit 16 to sequentially arrange the plurality of holding units 14 at the stop position SP above the delivery position RP2. The rotation transfer control unit 101 moves the holding unit 14 arranged at the stop position SP downward by the elevating drive unit 18, and arranges the electronic component W held by the holding unit 14 in the recess 92 of the delivery position RP2. Later, the holding of the electronic component W by the holding unit 14 is released. As a result, the electronic component W is delivered to the recess 92. The rotation transfer control unit 101 repeats the above operation every time the holding unit 14 is arranged at the stop position SP. As a result, a plurality of electronic components W are sequentially arranged at the delivery position RP2.

The housing body transport control unit 102 delivers by controlling the first drive unit 60 and the second drive unit 70 in order to collect the plurality of electronic components W arranged in order at the delivery position RP2 in the storage tray 90. The storage tray 90 is conveyed to the position RP2, and the storage tray 90 is moved at the delivery position RP2. The housing body transport control unit 102 transports the storage tray 90 to the delivery position RP2 by the first drive unit 60, moves the storage tray 90 to the delivery position RP2, and transports the storage tray 90 to the delivery position RP2 by the second drive unit 70. The operation and the movement at the delivery position RP2 are alternately and repeatedly executed. In the following, for convenience of explanation, the storage tray 90 to be transported by the first drive unit 60 will be referred to as “storage tray 90A”, and the storage tray 90 to be transported by the second drive unit 70 will be referred to as “storage tray 90B”. ". When the electronic component W is accommodated in the other accommodating tray 90 following the one accommodating tray 90, the one accommodating tray 90 in which the electronic component W is accommodating first is referred to as a "preceding accommodating tray". The other storage tray 90 in which the electronic component W is stored following the storage tray is referred to as a "subsequent storage tray".

The progressive transfer control unit 104 sequentially arranges the recesses 92 of the accommodation tray 90 in the delivery position RP2 in synchronization with the timing when the rotary transfer control unit 101 arranges the holding unit 14 at the stop position SP above the delivery position RP2. Controls the first drive unit 60 or the second drive unit 70. At this time, the progressive transport control unit 104 moves the storage tray 90 one pitch at a time in one direction perpendicular to the central axis Ax (hereinafter, referred to as “forward feed direction”) and in a direction perpendicular to the forward feed direction. , The first drive unit 60 or the second drive unit 70 is controlled. One pitch here is the pitch between adjacent recesses 92. For example, the progressive transfer control unit 104 sets the negative direction of the X-axis as the forward direction, and while moving the storage tray 90 by one pitch in the negative direction of the X-axis, the storage tray 90 is moved by one pitch in the positive direction of the Y-axis or the negative direction of the Y-axis. The first drive unit 60 or the second drive unit 70 is controlled so as to move.

As an example, when the progressive transfer control unit 104 starts accepting the electronic component W into the accommodating tray 90A, the first recess 92 (the recess 92 accommodating the first electronic component W) is first moved to the delivery position RP2. The first drive unit 60 is controlled so as to be arranged. The first recess 92 is, for example, the recess 92 in the first column counting from the negative direction of the X axis and the first row (upper left corner of the paper in FIG. 3) counting from the positive direction of the Y axis. After the electronic component W is accommodated in the recess 92 in the first row and the first column, the progressive transport control unit 104 arranges the recesses 92 in the second and subsequent rows in the first column in the delivery position RP2 in the column direction. The accommodation tray 90A is moved by the horizontal drive unit 66 in the negative direction of the Y-axis by the pitch of the adjacent recesses 92.

After the electronic components W are housed in all the recesses 92 in the first row, the progressive transport control unit 104 moves the horizontal drive unit 68 in the forward feed direction (X-axis negative direction) by the pitch of the recesses 92 adjacent to each other in the row direction. Moves the storage tray 90A. Then, the progressive transport control unit 104 is horizontally driven in the Y-axis positive direction by the pitch of the recesses 92 adjacent to each other in the row direction so that the remaining recesses 92 in the second row are sequentially arranged at the delivery position RP2. The storage tray 90A is moved by. After the electronic components W are housed in all the recesses 92 in the second row, the housing body transport control unit 102 is subjected to the horizontal drive unit 68 by the pitch of the recesses 92 adjacent to each other in the forward feed direction (X-axis negative direction). Only move the containment tray 90A.

After that, the progressive transfer control unit 104 causes the first drive unit 60 to continue the same operation as the movement for accommodating the electronic component W in the recesses 92 in the first row and the second row. Hereinafter, this transportation is referred to as "progressive transportation". Upon receiving the electronic component W into the storage tray 90B, the progressive transport control unit 104 controls the second drive unit 70 so as to sequentially feed the storage tray 90B.

When the preceding accommodating tray 90 is sequentially conveyed, the progressive transfer control unit 104 follows the movement of the preceding accommodating tray 90 in the progressive direction and moves the subsequent accommodating tray 90 one pitch at a time in the progressive direction. The first drive unit 60 or the second drive unit 70 may be controlled. Hereinafter, following the movement of the preceding storage tray 90 in the forward feed direction, moving the subsequent storage tray 90 by one pitch in the forward feed direction is referred to as "follow-up transport". For example, the progressive transfer control unit 104 causes the second drive unit 70 to follow and convey the accommodation tray 90B when the first drive unit 60 sequentially conveys the accommodation tray 90A. Further, the progressive transfer control unit 104 causes the first drive unit 60 to follow and convey the accommodation tray 90A when the second drive unit 70 sequentially conveys the accommodation tray 90B. In the follow-up transport, it is not necessary to move the subsequent storage tray 90 in the Y-axis direction. For example, the progressive transfer control unit 104 may control the first drive unit 60 or the second drive unit 70 so that the position of the first recess 92 of the subsequent storage tray 90 is aligned with the delivery position RP2 in the Y-axis direction. Good.

The evacuation control unit 106 first drives the preceding accommodation tray 90 to be retracted from the delivery position RP2 in order to replace the accommodation body arranged at the delivery position RP2 from the preceding accommodation tray 90 to the subsequent accommodation tray 90. It controls the unit 60 or the second drive unit 70. In response to this, the progressive transfer control unit 104 controls the first drive unit 60 or the second drive unit 70 so that the first recess 92 of the subsequent storage tray 90 is arranged at the delivery position RP2. The progressive transport control unit 104 and the evacuation control unit 106 have at least a partial period of moving the preceding storage tray 90 from the delivery position RP2 and a period of moving the first recess 92 of the storage tray 90B to the delivery position RP2. The first drive unit 60 and the second drive unit 70 may be controlled so as to overlap each other.

When retracting the preceding accommodation tray 90 from the delivery position RP2, the evacuation control unit 106 moves the preceding accommodation tray 90 to an avoidance area where collision with the subsequent accommodation tray 90 of the delivery position RP2 can be avoided. It controls the first drive unit 60 or the second drive unit 70.

For example, when the preceding storage tray 90 is the storage tray 90A, the evacuation control unit 106 arranges the storage tray 90A in the first avoidance area where collision with the storage tray 90B at the delivery position RP2 can be avoided. 1 The drive unit 60 moves the accommodation tray 90B in a direction parallel to the central axis Ax. As an example, the evacuation control unit 106 lowers the accommodation tray 90A by the elevating drive unit 64 (moves in the negative direction of the Z axis) so that the accommodation tray 90A is arranged in the first avoidance region located vertically below the delivery position RP2. Let). Alternatively, the retract control unit 106 is centered by the first drive unit 60 so as to move the accommodation tray 90A from the delivery position RP2 in the forward feed direction by the horizontal drive unit 68, and then arrange the accommodation tray 90A in the first avoidance area. The accommodation tray 90 is moved in the direction parallel to the axis Ax (the accommodation tray 90A is lowered by the evacuation drive unit 64).

On the other hand, when the preceding storage tray 90 is the storage tray 90B, the evacuation control unit 106 arranges the storage tray 90B in the second avoidance area (avoidance area) where the collision with the storage tray 90A of the delivery position RP2 can be avoided. As described above, the second drive unit 70 moves the accommodation tray 90B in the direction perpendicular to the central axis Ax. As an example, the evacuation control unit 106 uses the second drive unit 70 to arrange the accommodation tray 90B in the second avoidance area located outside the delivery position RP2 (in the direction away from the central axis Ax). The storage tray 90B is moved in the direction away from the (Y-axis negative direction). Alternatively, the evacuation control unit 106 uses the horizontal drive unit 78 to move the storage tray 90B from the delivery position RP2 in the forward feed direction, and then the horizontal drive unit 76 arranges the storage tray 90B in the second avoidance area. Move 90B (move in the negative direction of the Y axis).

The exchange control unit 108 emptys the storage tray 90 (hereinafter, referred to as “contained storage tray 90”) in which the storage of the electronic component W is completed (for example, the electronic component W is stored in all the recesses 92). The first drive unit 60 or the second drive unit 70 is controlled so as to replace the storage tray 90. For example, the exchange control unit 108 transports the stored storage tray 90 to the tray storage unit 94, and transports the empty storage tray 90 to the start position of the follow-up transport (hereinafter, referred to as “standby position”). 1 Drive unit 60 or 2 drive unit 70 is controlled.

For example, the exchange control unit 108 moves the stored storage tray 90A by the first drive unit 60 in the reverse direction (X-axis forward direction) of the forward feed direction in the first avoidance region. At this time, the storage tray 90A passes below the storage tray 90B (main body 72a) at the delivery position RP2. Further, the exchange control unit 108 places the stored storage tray 90A on the full tray storage unit 96a, controls the first drive unit 60 so as to receive the empty storage tray 90A from the empty tray storage unit 98, and is empty. The first drive unit 60 is controlled so as to convey the accommodation tray 90A to the standby position.

Further, the exchange control unit 108 moves the stored storage tray 90B in the second avoidance area (avoidance area) by the second drive unit 70 in the reverse direction (X-axis forward direction) of the forward feed direction. At this time, the storage tray 90B passes outside the storage tray 90B at the delivery position RP2. Further, the exchange control unit 108 places the stored storage tray 90B on the full tray storage unit 96b, controls the second drive unit 70 so as to receive the empty storage tray 90B from the empty tray storage unit 98, and is empty. The second drive unit 70 is controlled so as to convey the accommodation tray 90B to the standby position.

The controller 100 has a circuit 200 shown in FIG. 5 as a hardware configuration. The circuit 200 includes, for example, one or more processors 202, a memory 204, a storage 206, and an input / output port 208. The storage 206 has a computer-readable storage medium, such as a hard disk or a non-volatile semiconductor memory. The storage 206 stores a program for causing the controller 100 to execute the component collection procedure described later. For example, the storage 206 stores a program for causing the controller 100 to configure the above-mentioned functional block.

The memory 204 temporarily stores the calculation result by the program and the processor loaded from the storage 206. The processor 202 causes the controller 100 to configure the above-mentioned functional block by executing the above-mentioned program in cooperation with the memory. The input / output port 208 receives an electric signal between the plurality of holding units 14, the swivel drive unit 16, the plurality of elevating drive units 18, the first drive unit 60, the second drive unit 70, and the like in accordance with a command from the processor. Output. The circuit 200 is not necessarily limited to the one in which each function is configured by a program. For example, the circuit may have at least a part of its functions configured by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) that integrates the logic circuit.

[Parts collection procedure]
FIG. 6 is a flowchart showing an example of the parts collection procedure. The controller 100 first executes step S01 in a state where the first storage tray 90A is arranged at the delivery position RP2 by the first drive unit 60. In step S01, for example, the controller 100 causes the rotary transfer unit 10 and the component recovery unit 50 to start accommodating the electronic component W in the accommodating tray 90A. As an example, in the accommodating operation (collection operation) of the electronic component W of the accommodating tray 90A, the rotary transport control unit 101 rotates the turntable 12 by the swivel drive unit 16 and holds the electronic component W arranged above the delivery position RP2. The operation including lowering the unit 14 by the elevating drive unit 18 is repeated. The progressive transfer control unit 104 moves the accommodation tray 90A by the first drive unit 60 so that the plurality of recesses 92 of the accommodation tray 90A are sequentially arranged at the delivery position RP2 in synchronization with the repetitive operation.

The controller 100 then executes step S02. In step S02, for example, the exchange control unit 108 conveys the first storage tray 90B to the standby position near the delivery position RP2 by the second drive unit 70. As an example, as shown in FIG. 7A, the exchange control unit 108 moves the storage tray 90B from the vicinity of the tray storage unit 94 to the standby position by the horizontal drive unit 78. The standby position is set to a position where the succeeding storage tray 90 does not interfere with the preceding storage tray 90 in which the electronic component W is housed at the delivery position RP2 when the succeeding storage tray 90 is moved to that position. To.

Next, the controller 100 executes step S03. In step S03, for example, the progressive transfer control unit 104 starts the follow-up transfer of the accommodation tray 90B by the second drive unit 70. In this follow-up transfer, for example, the second drive unit 70 causes the progressive transfer control unit 104 to follow the progressive transfer of the accommodation tray 90A which is sequentially moved by one pitch in the forward transfer direction in accordance with the collection operation of the electronic component W. The storage tray 90B is sequentially moved in the forward feed direction by the pitch.

The progressive transfer control unit 104 made the storage tray 90B stand by at the standby position until the storage of the electronic component W in the final row of the storage tray 90A was started, and the storage of the electronic component W in the final row was started. Later, the accommodation tray 90B may be moved in the forward feed direction by the second drive unit 70. FIG. 7B illustrates the arrangement of the storage trays 90A and 90B when the storage of the electronic component W in the final row of the storage tray 90A is started. Further, as shown in FIG. 8A, in the progressive transfer control unit 104, when the electronic component W is accommodated in the final example of the accommodating tray 90A, the accommodating tray 90B is placed at the same height position as the accommodating tray 90A. The second drive unit 70 may execute the follow-up transfer of the accommodation tray 90B so as to be positioned.

Next, the controller 100 executes step S04. In step S04, for example, the controller 100 waits until a predetermined number of electronic components W are accommodated in the accommodation tray 90A. For example, the controller 100 causes the rotary transfer unit 10 to continue operations including turning of the turntable 12 and lowering of the holding portion 14 until the electronic component W is accommodated in all the recesses 92 of the accommodating tray 90A, and the accommodating tray 90A. The first drive unit 60 and the second drive unit 70 continue the progressive transfer and the follow-up transfer of the accommodation tray 90B.

Next, the controller 100 executes step S05. In step S05, for example, the evacuation control unit 106 retracts the accommodation tray 90A from the delivery position RP2. As an example, as shown in FIG. 8B, the evacuation control unit 106 uses the evacuation drive unit 64 to arrange the accommodation tray 90A in the first avoidance area EA1 located vertically below the delivery position RP2. Lower the containment tray 90A.

Next, the controller 100 executes step S06. In step S06, the controller 100 causes the rotary transfer unit 10 and the second drive unit 70 to start accommodating the electronic component W in the accommodating tray 90B. At the beginning of step S07, the progressive transport control unit 104 advances the accommodation tray 90B by the horizontal drive unit 78 so that the first recess 92 is arranged at the delivery position RP2, as shown in FIG. 8 (b). Move to. Then, the rotary transfer control unit 101 repeats operations including turning of the turntable 12 and lowering of the holding unit 14. The progressive transfer control unit 104 executes the progressive transfer of the accommodation tray 90B by the second drive unit 70 in synchronization with the repetitive operation. The progressive transfer control unit 104 executes an operation of arranging the first recess 92 at the delivery position RP2 on the second drive unit 70 during a period in which at least a part of the storage tray 90A is retracted in step S05. You may let me.

Next, the controller 100 executes step S07. In step S07, for example, the exchange control unit 108 causes the first drive unit 60 to perform the exchange operation of the accommodation tray 90A. Replacing the storage tray 90A means that the storage tray to be transported held by the first drive unit 60 is changed from the stored storage tray 90A in which the plurality of recesses 92 are already filled with the electronic component W to the empty storage tray 90A. Is to replace it with.

FIG. 9 is a flowchart showing an example of the procedure for replacing the storage tray 90A. In this replacement procedure, the controller 100 first executes step S31. In step S31, for example, the exchange control unit 108 conveys the stored storage tray 90A toward the tray storage unit 94 by the first drive unit 60. As shown in FIGS. 10A and 10B, the exchange control unit 108 moves the accommodation tray 90A in the reverse direction of the forward feed direction by the first drive unit 60 in the first avoidance region EA1 (horizontal). The accommodating tray 90A is moved in the positive direction of the X-axis by the drive unit 68).

Next, the controller 100 executes steps S32 and S33. In step S32, for example, the exchange control unit 108 raises the stored storage tray 90A by the elevating drive unit 64 in the vicinity of the tray storage unit 94. As an example, the exchange control unit 108 raises the stored storage tray 90A by the elevating drive unit 64 to a position as high as the mounting surface of the full tray storage unit 96a. In step S33, for example, the exchange control unit 108 controls the first drive unit 60 so as to transfer the stored storage tray 90A from the holding unit 62 to the full tray storage unit 96a.

Next, the controller 100 executes steps S34 and S35. In step S34, for example, the exchange control unit 108 controls the first drive unit 60 so as to transfer the empty storage tray 90A (new storage tray 90A) from the empty tray storage unit 98 to the holding unit 62. In step S35, for example, the exchange control unit 108 lowers the new storage tray 90A by the elevating drive unit 64 to the same height position as the delivery position RP2.

Next, the controller 100 executes step S36. In step S36, for example, the exchange control unit 108 transports the new storage tray 90A to the standby position near the delivery position RP2 by the first drive unit 60. As an example, as shown in FIG. 11A, the exchange control unit 108 moves the storage tray 90A in the negative direction of the X-axis by the horizontal drive unit 68 from the vicinity of the tray storage unit 94 to the standby position. As described above, a series of replacement operations of the storage tray 90A are performed.

Returning to FIG. 6, after executing step S07, the controller 100 executes step S08. In step S08, for example, the progressive transfer control unit 104 causes the first drive unit 60 to start the follow-up transfer of the accommodation tray 90A. In this follow-up transfer, for example, the first drive unit 60 causes the progressive transfer control unit 104 to follow the progressive transfer of the accommodating tray 90B, which moves sequentially in the forward transfer direction by one pitch as the electronic component W is collected. The storage tray 90A is sequentially moved in the forward feed direction one pitch at a time.

The progressive transfer control unit 104 causes the storage tray 90A to stand by at the standby position until the storage of the electronic component W in the final row of the storage tray 90B is started, and the storage of the electronic component W in the final row is started. Later, the accommodation tray 90A may be moved in the forward feed direction by the first drive unit 60. FIG. 11B illustrates the arrangement of the storage trays 90A and 90B when the electronic component W is stored in the final row of the storage tray 90B. Further, the progressive transfer control unit 104 uses the first drive unit 60 so that the storage tray 90A is positioned at the same height as the storage tray 90B when the electronic component W is stored in the final example of the storage tray 90B. Follow-up transport of the storage tray 90A may be performed.

Next, the controller 100 executes step S09. In step S09, for example, the controller 100 waits until a predetermined number of electronic components W are accommodated in the accommodation tray 90B. For example, the controller 100 causes the rotary transfer unit 10 to continue operations including turning of the turntable 12 and lowering of the holding portion 14 until the electronic component W is accommodated in all the recesses 92 of the accommodating tray 90B, and the accommodating tray 90A. The first drive unit 60 and the second drive unit 70 continue the progressive transfer and the follow-up transfer of the accommodation tray 90B.

Next, the controller 100 executes step S10. In step S10, for example, the evacuation control unit 106 retracts the accommodation tray 90B from the delivery position RP2 by the second drive unit 70. As an example, as shown in FIG. 12, the evacuation control unit 106 is horizontally driven so as to arrange the accommodation tray 90B in the second avoidance area EA2 which is farther (located outside) from the central axis Ax than the delivery position RP2. The storage tray 90B is moved by the portion 76 (moved in the negative direction of the Y axis).

Next, the controller 100 executes step S11. In step S11, the controller 100 causes the rotary transfer unit 10 and the first drive unit 60 to start accommodating the electronic component W in the accommodating tray 90A. At the beginning of step S11, the progressive transfer control unit 104 moves the accommodating tray 90A in the progressive direction by the horizontal drive unit 68 so that the first recess 92 is arranged at the delivery position RP2, as shown in FIG. .. Then, the rotary transfer control unit 101 repeats operations including turning of the turntable 12 and lowering of the holding unit 14. The progressive transfer control unit 104 executes the progressive transfer of the accommodation tray 90A by the first drive unit 60 so that the plurality of recesses 92 of the accommodation tray 90A are sequentially arranged at the delivery position RP2 in synchronization with the repetitive operation. To do. The progressive transfer control unit 104 first drives the operation of arranging the first recess 92 in the accommodation tray 90A at the delivery position RP2 during a period in which the accommodation tray 90B is retracted in step S10 and at least a part thereof overlaps. It may be executed by unit 60.

Next, the controller 100 executes step S12. In step S12, for example, the exchange control unit 108 causes the second drive unit 70 to exchange the accommodation tray 90B. Replacing the storage tray 90B means that the storage tray to be transported held by the second drive unit 70 is changed from the stored storage tray 90B in which the plurality of recesses 92 are already filled with the electronic component W to the empty storage tray 90B. Is to replace it with.

FIG. 13 is a flowchart showing an example of the procedure for replacing the storage tray 90B. In this replacement procedure, the controller 100 first executes step S41. In step S41, for example, the exchange control unit 108 conveys the stored storage tray 90B toward the tray storage unit 94 by the second drive unit 70. As shown in FIGS. 14 (a) and 14 (b), the exchange control unit 108 moves the accommodation tray 90B in the second avoidance region EA2 by the second drive unit 70 in the direction opposite to the forward feed direction (horizontal). The accommodating tray 90B is moved in the positive direction of the X-axis by the drive unit 78). At this time, the exchange control unit 108 may move the accommodation tray 90B by the horizontal drive unit 78 at a position as high as the accommodation tray 90A of the delivery position RP2.

Next, the controller 100 executes steps S42 and S43. In step S42, for example, the exchange control unit 108 raises the stored storage tray 90B by the elevating drive unit 74 in the vicinity of the tray storage unit 94. As an example, the exchange control unit 108 raises the stored storage tray 90B by the elevating drive unit 74 to a position as high as the mounting surface of the full tray storage unit 96b. In step S43, for example, the exchange control unit 108 controls the second drive unit 70 so as to transfer the stored storage tray 90B from the holding unit 72 to the full tray storage unit 96b.

Next, the controller 100 executes steps S44 and S45. In step S44, for example, the exchange control unit 108 controls the second drive unit 70 so as to transfer the empty storage tray 90B (new storage tray 90B) from the empty tray storage unit 98 to the holding unit 72 (main body 72a). To do. In step S45, for example, the exchange control unit 108 lowers the new storage tray 90B by the elevating drive unit 74 to the same height position as the delivery position RP2.

Next, the controller 100 executes step S46. In step S46, for example, the exchange control unit 108 conveys the new storage tray 90B to the standby position near the delivery position RP2 by the second drive unit 70. The transfer to the standby position is performed in the same manner as the operation illustrated in step S02 and FIG. 7A. As described above, the controller 100 performs a series of replacement operations of the accommodation tray 90B.

Returning to FIG. 6, after executing step S12, the controller 100 executes steps S13 and S14. The controller 100 (forward transfer control unit 104) executes steps S13 and S14 in the same manner as in steps S03 and S04, for example. In step S14, for example, when it is determined that the electronic component W is accommodated in all the recesses 92 in the accommodating tray 90A, the controller 100 repeats a series of processes of steps S06 to S14. By repeating the series of processes, the heights of the plurality of storage trays 90 stored (stacked) in the tray storage unit 94 change. The exchange control unit 108 may adjust the amount of raising and lowering the holding units 62 and 72 by the elevating drive units 64 and 74 in the vicinity of the tray accommodating unit 94 according to the change in height.

[Effect of Embodiment]
In the transfer device 1 according to the above embodiment, the transfer position RP1 for transferring the electronic component W between the rotary transfer unit 10 that conveys the electronic component W along the circular orbit CR and the rotary transfer unit 10. In the first movable range AR1 including the RP2, the first drive unit 60 that moves the accommodating tray 90 of the plurality of electronic components W in two directions intersecting each other on the plane perpendicular to the central axis Ax of the circular orbit CR, and the delivery position. In the second movable range AR2 including RP1 and RP2, a second drive unit 70 for moving the accommodation tray 90 in two directions intersecting each other on a plane perpendicular to the central axis Ax is provided.

When the electronic component W is delivered between the rotary transfer unit and the housing, the number of the electronic component W that can be accommodated in the housing is limited, so that it is necessary to replace the housing arranged at the delivery position. It is also conceivable to stop the transportation of the electronic component W by the rotary transfer unit and replace the housing when the housing at the delivery position is replaced. However, in this case, it becomes necessary to stop the rotary transfer unit every time the housing is replaced, and there is a concern that the transfer efficiency of the electronic component W may decrease. On the other hand, in the transport device 1, the first drive unit 60 and the second drive unit 70 move the two accommodating bodies on the plane perpendicular to the central axis Ax, respectively. As a result, while the electronic component W is transferred to and from the rotary transfer unit 10 by the accommodating body held by one driving unit, another accommodating body is accommodated by the other driving unit at a position where it does not take time to replace the accommodating body. You can place your body. Therefore, the time required for replacement can be shortened, so that the electronic component W can be efficiently transported. Therefore, the transport device 1 according to the above embodiment is useful for efficiently transporting the electronic component W.

In the above embodiment, the first drive unit 60 may be configured to move the housing in a direction parallel to the central axis Ax. In this case, when the accommodating body is replaced at the delivery position, the accommodating body can be retracted in the direction perpendicular to the two directions on the plane perpendicular to the central axis Ax, so that the range in which the accommodating body moves by the first drive unit 60 It is possible to reduce the overlap with the area inside the circular orbit.

The transport device 1 according to the above embodiment may further include an accommodating body transport control unit 102 that controls the first drive unit 60 and the second drive unit 70. The housing body transport control unit 102 moves the preceding housing body in the forward feed direction perpendicular to the central axis Ax by the first drive unit 60 at the delivery position, and moves the preceding housing body in the forward feed direction by the second drive unit 70 at the delivery position. Parallel to the central axis Ax by the first drive unit 60 so that the preceding containment is moved and the preceding containment is placed in the first avoidance region where collision avoidance with the subsequent containment at the delivery position is possible. In the first avoidance region, the first driving unit 60 is configured to move the preceding accommodating body in the direction opposite to the forward feeding direction. May be good. In this case, after the preceding accommodating body is retracted from the delivery position, the succeeding accommodating body can be moved to the delivery position to continue the delivery of electronic components to the accommodating body, so that the preceding accommodating body can be moved to the succeeding accommodating body in a short time. It is possible to perform a replacement operation with the containment body. For example, the replacement operation can be performed without changing the repetition timing of the operation including the turning of the turntable 12 by the rotary transfer unit 10 and the lowering by the elevating drive unit 18. Therefore, it is more useful for efficiently transporting the electronic component W.

In the above embodiment, the housing body transport control unit 102 moves the preceding housing body in the forward feed direction by the second drive unit 70 at the delivery position, and moves the preceding housing body in the forward feed direction by the first drive unit 60 at the delivery position. The second drive unit 70 moves the trailing containment away from the central axis Ax so as to move the trailing containment and place the preceding containment in the second avoidance region where collision avoidance with the subsequent containment at the delivery position is possible. It is configured to further execute the movement of the preceding housing in the direction and the movement of the preceding housing in the opposite direction of the forward feed direction by the second drive unit 70 in the second avoidance region. May be good. In this case, in one replacement operation, the preceding accommodating body is moved in the direction away from the central axis Ax, and in the other replacement operation, the preceding accommodating body is retracted in the direction parallel to the central axis Ax. The 60 and the second drive unit 70 reduce the overlapping region between the range in which the accommodation body moves and the inside of the circular orbit. Therefore, it is easy to secure a space for arranging other processing units or the like on the circular orbit.

The transport device 1 according to the above embodiment may further include an accommodating body transport control unit 102 that controls the first drive unit 60 and the second drive unit 70. The housing body transport control unit 102 moves the preceding housing body in the forward feed direction perpendicular to the central axis Ax by the second drive unit 70 at the delivery position, and moves the preceding housing body in the forward feed direction by the first drive unit 60 at the delivery position. The direction perpendicular to the central axis Ax by the second drive unit 70 so as to move the subsequent accommodating body and arrange the preceding accommodating body in an avoidance region capable of avoiding a collision with the succeeding accommodating body at the delivery position. It may be configured to move the preceding accommodating body to the above, and to move the preceding accommodating body in the direction opposite to the forward feed direction by the second driving unit 70 in the avoidance region. In this case, after the preceding accommodating body is retracted from the delivery position, the succeeding accommodating body can be moved to the delivery position to continue the delivery of electronic components to the accommodating body, so that the preceding accommodating body can be moved to the succeeding accommodating body in a short time. It is possible to perform a replacement operation with the containment body. For example, the replacement operation can be performed without changing the repetition timing of the operation including the turning of the turntable 12 by the rotary transfer unit 10 and the lowering by the elevating drive unit 18. Therefore, it is more useful for efficiently transporting the electronic component W.

In the above embodiment, the delivery position may be a position for receiving the electronic component W from the rotary transfer unit 10. The accommodating body transport control unit 102 may control the first drive unit 60 and the second drive unit 70 so that the receiving positions of the plurality of electronic components W in the accommodating body are sequentially arranged at the delivery position RP2. In this case, the efficiency of the collection operation of the electronic component W can be improved.

In the above embodiment, the housing is a storage tray 90 that stores a plurality of electronic components W in a state of being arranged in a matrix. In this case, in order to accommodate the electronic component W in each accommodation cell (recess 92) of the accommodation tray 90, it is necessary to move the accommodation tray 90 in the row direction and the column direction at the delivery position RP2. Since the holding portions 62 and 72 hold the accommodating tray 90 so that the row direction and the column direction are along the two directions of movement by the horizontal drive unit, the accommodating tray 90 is replaced (retracted operation) and moved for accommodating. The operation (forward transfer and follow-up transfer) can be performed by a common horizontal drive unit.

[Modification example]
The retracting operation of the storage trays 90A and 90B from the delivery position RP2 is not limited to the operation illustrated in FIG. FIG. 15 is a flowchart showing another example of the parts collection procedure. This parts recovery procedure differs from the parts recovery procedure illustrated in FIG. 6 in that the controller 100 executes steps S051 and S052 instead of step S05, and executes S101 and S102 instead of step S10. ..

The controller 100 executes step S051 in the retracting operation of the storage tray 90A, and executes step S052 after executing step S06. In step S061, for example, the evacuation control unit 106 retracts the accommodation tray 90A from the delivery position RP2 by the first drive unit 60 in the forward feed direction. As an example, as shown in FIG. 16A, the evacuation control unit 106 moves the storage tray 90A from the delivery position RP2 in the negative direction of the X-axis by the horizontal drive unit 68. Then, in step S06, the progressive transfer control unit 104 moves the accommodation tray 90B in the forward feed direction by the second drive unit 70 so as to arrange the first recess 92 of the accommodation tray 90B in the delivery position RP2. After that, in step S052, for example, as shown in FIG. 16B, the storage tray 90A is arranged in the first avoidance area EA1 at the position where the retract control unit 106 retracts in the forward feed direction. The 90A is moved by the second drive unit 70 (lowered by the evacuation drive unit 74).

The controller 100 executes step S101 in the retracting operation of the storage tray 90B, and executes step S102 after executing step S11. In step S101, for example, the evacuation control unit 106 retracts the accommodation tray 90B from the delivery position RP2 by the second drive unit 70 in the forward feed direction. As an example, as shown in FIG. 17A, the evacuation control unit 106 moves the storage tray 90B from the delivery position RP2 in the negative direction of the X-axis by the horizontal drive unit 78. Then, in step S12, the progressive transfer control unit 104 moves the accommodation tray 90A in the forward feed direction by the first drive unit 60 so as to arrange the first recess 92 of the accommodation tray 90A in the delivery position RP2. After that, in step S102, for example, as shown in FIG. 17B, the accommodation tray 106 arranges the accommodation tray 90B in the second avoidance area EA2 at the position retracted in the forward feed direction. The 90B is moved outward by the second drive unit 70 (moved in the negative direction on the Y axis by the horizontal drive unit 76).

In the follow-up transport according to the above-described embodiment, the progressive transport control unit 104 sets the subsequent storage tray 90 to the first drive unit 60 or the first drive unit 60 or the first storage tray 90 at the same height position as the preceding storage tray 90 arranged at the delivery position RP2. Although it was moved by the two drive units 70, the follow-up transport is not limited to this. The progressive transfer control unit 104 arranges the subsequent accommodation tray 90 (first recess 92) below the delivery position RP2 when the electronic component W is accommodated in the final row of the preceding accommodation tray 90 at the delivery position RP2. As described above, the follow-up transport of the subsequent storage tray 90 may be executed (may be moved in the forward feed direction).

As an example, as shown in FIG. 18, the progressive transfer control unit 104 is arranged by the horizontal drive unit 78 in the forward feed direction so that the first recess 92 of the accommodation tray 90B is arranged below the delivery position RP2. Move 90B. Then, the evacuation control unit 106 retracts the accommodation tray 90A in the forward feed direction by the horizontal drive unit 68, and the progressive transport control unit 104 raises the accommodation tray 90B by the elevating drive unit 74, as in step S051. Similarly, when the electronic component W is accommodated in the accommodating tray 90B, the progressive transfer control unit 104 sets the accommodating tray 90A as the first drive unit so as to arrange the accommodating tray 90A at a position below the delivery position RP2. It may be moved in the forward feed direction by 60.

In the above-described embodiment, the first drive unit 60 and the second drive unit 70 move the storage tray 90 in the direction parallel to the central axis Ax in addition to the direction of the plane perpendicular to the central axis Ax. Although each is configured, the second drive unit 70 does not have to have the elevating drive unit 74. Alternatively, the first drive unit 60 may not have the elevating drive unit 64, and the second drive unit 70 may have the elevating drive unit 74. It is not necessary that the first drive unit 60 does not have the elevating drive unit 64 and the second drive unit 70 does not have the elevating drive unit 74 either.

In the above-described embodiment, when the storage tray 90A is retracted from the delivery position RP2, the retract control unit 106 moves the accommodation tray 90A by the first drive unit 60 in the direction parallel to the central axis Ax. The direction to do is not limited to this. The evacuation control unit 106 arranges the accommodation tray 90A in the avoidance area set closer to the central axis Ax than the delivery position RP2, so that the accommodation tray 90A is directed from the delivery position RP2 toward the central axis Ax (Y-axis positive). It may be retracted by the first drive unit 60 (horizontal drive unit 66) in the direction). In this case, the range in which the first movable range AR1 is located inside the delivery position RP2 closer to the central axis Ax, in addition to the movement range for collecting the electronic component W at the delivery position RP2 when viewed from above. It may be included. When the storage tray 90A is retracted in the direction toward the central axis Ax, the retract control unit 106 moves the accommodation tray 90B away from the central axis Ax by the second drive unit 70 (horizontal drive unit 76) in the retract operation of the accommodation tray 90B. It may be moved in the direction, or the accommodating tray 90B may be lowered by the second drive unit 70 (elevation drive unit 74). The evacuation control unit 106 lowers the accommodation tray 90A by the first drive unit 60 (elevation drive unit 64) in the evacuation operation of the accommodation tray 90A, and lowers the accommodation tray 90A in the evacuation operation of the accommodation tray 90B. 74) may lower the storage tray 90B.

The component supply unit 40 may have a first drive unit 60 and a second drive unit 70, similarly to the component recovery unit 50. The controller 100 may cause the rotary transfer unit 10 and the component supply unit 40 to execute the supply operation of the electronic component W in the same manner as the collection operation of the electronic component W by the component collection unit 50. In this supply operation, the rotary transfer control unit 101 intermittently rotates the turntable 12 by the swivel drive unit 16 to sequentially arrange the plurality of holding units 14 at the stop position SP above the delivery position RP1. The rotary transfer control unit 101 moves the holding unit 14 arranged at the stop position SP downward by the elevating drive unit 18, arranges the holding unit 14 at the delivery position RP1, and then arranges the holding unit 14 at the delivery position RP1. The electronic component W is held by the holding unit 14. As a result, the electronic component W housed in the housing cell is delivered to the holding unit 14. The rotation transfer control unit 101 repeats the above operation every time the holding unit 14 is arranged at the stop position SP. As a result, the holding portions 14 are sequentially arranged at the delivery position RP1.

The accommodating body transport control unit 102 controls the first drive unit 60 and the second drive unit 70 in order to deliver the electronic component W from the accommodating tray 90 to the holding unit 14 which is sequentially moved to the delivery position RP1. The stored storage tray 90 in which the electronic component W is stored is conveyed to the delivery position RP1, and the storage tray 90 is moved at the delivery position RP1. The housing body transport control unit 102 transports the storage tray 90 that has been stored by the first drive unit 60 to the delivery position RP1, moves the storage tray 90 at the delivery position RP1, and stores the storage tray 90 by the second drive unit 70. Transferring the completed storage tray 90 to the delivery position RP1 and moving the storage tray 90 at the delivery position RP1 are alternately and repeatedly executed.

The progressive transfer control unit 104 controls the first drive unit 60 or the second drive unit 70 so that the delivery positions (recesses 92) of the plurality of electronic components W in the accommodation tray 90 are sequentially arranged in the delivery position RP1. When the electronic components W are delivered from all the recesses 92 in the accommodation tray 90 of the delivery position RP1 (when the accommodation tray 90 becomes empty), the accommodation body transfer control unit 102 precedes the accommodation body arranged in the delivery position RP1. The first drive unit 60 and the second drive unit 70 are controlled so as to replace the storage tray 90 of the above with the subsequent storage tray 90. The housing body transport control unit 102, except that the housing to be transported to the delivery position RP1 is the stored storage tray 90 and the housing to be transported from the delivery position RP1 is the empty storage tray 90. (Retract control unit 106) executes the progressive transfer, the follow-up transfer, and the replacement operation (evacuation operation) of the accommodation tray 90 by the first drive unit 60 and the second drive unit 70, similarly to the parts collection unit 50.

In the above modification, the delivery position is the position for passing the electronic component W to the rotary transfer unit 10. The accommodating body transport control unit 102 controls the first drive unit 60 and the second drive unit 70 so that the delivery positions of the plurality of electronic components W in the accommodating body are sequentially arranged at the delivery position RP1. In this case, the efficiency of the supply operation of the electronic component W can be improved.

The accommodating body is not limited to the accommodating tray 90, and may be an adhesive sheet, a wafer sheet, and a carrier tape. In these housings as well, the electronic components W may be stored in a matrix of a plurality of rows and a plurality of columns, as in the storage tray 90. In the above example, the suction nozzle 22 extends along a line parallel to the central axis Ax, but the suction nozzle 22 extends along a line from the central axis Ax toward the outer edge of the turntable 12, and its side end extends. It may be open. In this case, the first drive unit 60 and the second drive unit 70 may each hold the accommodating body in an inverted state (the accommodating body to be transported may spread in a direction parallel to the central axis Ax). .. As described above, the housing body transport control unit 102 may cause the first drive unit 60 and the second drive unit 70 to perform a replacement operation (evacuation operation) of the housing body in the inverted state.

In the above example, the central axis Ax is vertical, but the central axis Ax may be horizontal, and the suction nozzle 22 may extend from the horizontal central axis Ax toward the outer edge of the turntable 12. In this case, the delivery position RP1 or the delivery position RP2 may be set below the stop position SP located at the lowermost end. The accommodating body transport control unit 102 may move the accommodating body by the horizontal drive unit when retracting the preceding accommodating body in the direction parallel to the central axis Ax. On the other hand, the accommodation body transport control unit 102 may move the accommodation body by the elevating drive unit when retracting the preceding accommodation body in the direction perpendicular to the central axis Ax, and the accommodation body transfer control unit 102 may move the accommodation body by the horizontal drive unit. May be evacuated. The central axis Ax may be horizontal, and the accommodation bodies to be transported by the first drive unit 60 and the second drive unit 70 may be inverted accommodation bodies, respectively. In this case, the housing body transport control unit 102 performs a replacement operation (evacuation operation) of the housing body in the inverted state at the delivery position RP2 (delivery position RP1) horizontally aligned with the stop position SP located on the side. The first drive unit 60 and the second drive unit 70 may be executed.

In the above embodiments, the "first" such as the first drive unit 60 and the first movable range AR1 and the "second" such as the second drive unit 70 and the second movable range AR2 are for convenience of explanation. It is attached for the purpose. Therefore, the first drive unit 60 may correspond to the second drive unit, and the first movable range AR1 may correspond to the second movable range. The second drive unit 70 may correspond to the first drive unit, and the second movable range AR2 may correspond to the first movable range.

1 ... Transfer device, 10 ... Rotational transfer unit, 40 ... Parts supply unit, 50 ... Parts recovery unit, 60 ... 1st drive unit, 70 ... 2nd drive unit, 100 ... Controller, 102 ... Container transfer control unit, Ax ... central axis, W ... electronic parts, RP1, RP2 ... delivery position.

Claims (5)

A rotary transport unit that transports electronic components along a circular orbit for transport,
In the first movable range including the delivery position for delivering the electronic component to and from the rotary transport unit, a plurality of the housings of the electronic component are placed on a plane perpendicular to the central axis of the transport circular orbit. The first drive unit that moves in two directions that intersect each other,
A second drive unit that moves the housing in two directions intersecting each other on a plane perpendicular to the central axis in a second movable range including the delivery position.
A transport control unit that controls the first drive unit and the second drive unit is provided.
The first drive unit is configured to move the housing in a direction parallel to the central axis.
The transport control unit
At the delivery position, the first driving unit moves the preceding accommodating body in the forward feed direction perpendicular to the central axis.
At the delivery position, the second drive unit moves the subsequent accommodating body in the forward feed direction, and
The accommodation ahead of the delivery position in a direction parallel to the central axis by the first driving unit so as to arrange the preceding accommodation in a first avoidance region capable of avoiding a collision with the subsequent accommodation. To move the body and
In the first avoidance region, conveying apparatus of the electronic component that is configured to perform, and moving said container prior to the reverse direction of the forward direction by the first drive unit. The transport control unit
At the delivery position, the second drive unit moves the preceding accommodating body in the forward feed direction, and
At the delivery position, the first driving unit moves the subsequent accommodating body in the progressive direction, and
To place the container in the previous line to the second avoidance region capable collision avoidance and connection of the container after the delivery position by the second driver of the previous row in a direction away from the central axis and moving said housing body,
In the second avoidance region, wherein the said moving the container of the previous row in the direction opposite to the forward direction by the second driving unit, and is configured to to further execute, electronic component according to claim 1, wherein Conveyor device. A rotary transport unit that transports electronic components along a circular orbit for transport,
In the first movable range including the delivery position for delivering the electronic component to and from the rotary transport unit, a plurality of the housings of the electronic component are placed on a plane perpendicular to the central axis of the transport circular orbit. The first drive unit that moves in two directions that intersect each other,
A second drive unit that moves the housing in two directions intersecting each other on a plane perpendicular to the central axis in a second movable range including the delivery position.
A transport control unit that controls the first drive unit and the second drive unit is provided.
The transport control unit
At the delivery position, the first driving unit moves the preceding accommodating body in the forward feed direction perpendicular to the central axis.
At the delivery position, the second drive unit moves the subsequent accommodating body in the forward feed direction, and
The first driving unit causes the preceding accommodating body to be placed in a direction perpendicular to the central axis so that the preceding accommodating body is arranged in an avoidance region capable of avoiding a collision with the following accommodating body at the delivery position. To move and
A transport device for electronic components configured to perform, in the avoidance region, the movement of the preceding accommodating body in the direction opposite to the forward feed direction by the first drive unit. The delivery position is a position for receiving the electronic component from the rotary transfer unit.
Any of claims 1 to 3 , wherein the transport control unit controls the first drive unit and the second drive unit so as to sequentially arrange the receiving positions of the plurality of electronic components in the housing body at the delivery positions. The electronic component transfer device according to item 1. The delivery position is a position for delivering the electronic component to the rotary transfer unit.
Any of claims 1 to 3 , wherein the transport control unit controls the first drive unit and the second drive unit so as to sequentially arrange the delivery positions of the plurality of electronic components in the accommodation body at the delivery positions. The electronic component transfer device according to item 1.

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