JP7157954B2 - working equipment - Google Patents

Description

The present invention relates to working devices.

For example, there is known a component mounting apparatus that collectively adjusts the postures of a plurality of works and mounts a component on each of the plurality of works whose postures have been adjusted using a mounting head (see, for example, Patent Document 1).

JP 2018-56450 A

However, the apparatus of Patent Document 1 still has room for improvement in terms of improving productivity.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to solve the above problems and to provide a working device capable of improving productivity.

In order to achieve the above object, a working device according to one aspect of the present invention includes:
A working device comprising a working part for working on a work fixed to a work fixing part of a pallet having a work fixing part rotatable about a first axis,
a first rotary drive unit having an engaging portion that engages with the work fixing portion from below the pallet, and rotating the work fixing portion around the first axis by rotating the engaging portion; ,
an engaging separation portion that engages the engaging portion with the work fixing portion or separates it from the work fixing portion;
a second rotary drive section that rotates the pallet about a second axis orthogonal to the first axis when the engagement section of the first rotary drive section is separated from the workpiece fixing section;
Prepare.

According to the working device of the present invention, productivity can be improved.

FIG. 1 is a block diagram showing a schematic configuration of an example of a component mounting system according to Embodiment 1 of the present invention. FIG. 2A is a diagram showing an example of the operation of the component mounting system according to Embodiment 1 of the present invention. 2B is a diagram showing an example of the operation of the component mounting system according to Embodiment 1 of the present invention; FIG. FIG. 2C is a diagram showing an example of the operation of the component mounting system according to Embodiment 1 of the present invention. FIG. 2D is a diagram showing an example of the operation of the component mounting system according to Embodiment 1 of the present invention. FIG. 3 is a perspective view showing a schematic configuration of one example of the carrier system. FIG. 4 is a perspective view showing a schematic configuration of an example of the carrier system with the work removed. FIG. 5 is a perspective view showing a schematic configuration of an example of the carrier system with the work fixing portion removed. 6 is a plan view of the carrier system of FIG. 4; FIG. 7 is a view of the carrier system of FIG. 4 seen from the direction opposite to the transport direction. FIG. 8 is a front view of an example of a workpiece fixing portion. FIG. 9 is a perspective view showing a schematic configuration of an example of a carrier. 10 is a schematic enlarged view of the Z1 portion of the carrier system of FIG. 4; FIG. FIG. 11A is a diagram showing an example of a process of removing a pallet from a carrier; FIG. 11B is a diagram showing an example of the process of removing the pallet from the carrier. FIG. 11C is a diagram showing an example of the process of removing the pallet from the carrier. FIG. 12 is a perspective view showing a schematic configuration of an example of a working device. FIG. 13 is a perspective view showing a schematic configuration of an example of the working device with the pallet removed. FIG. 14 is a front view showing a schematic configuration of an example of the first driving section; FIG. 15 is an enlarged perspective view showing a schematic configuration of an example of the first driving section. FIG. 16 is an enlarged perspective view showing a schematic configuration of an example of the first driving section with the pallet removed. 17 is an exploded perspective view of the first driving section shown in FIG. 16. FIG. FIG. 18 is a schematic cross-sectional view of an example of the first drive section cut along a plane passing through the first axis. FIG. 19 is a bottom perspective view of an example of a work fixing portion. FIG. 20 is a diagram showing an example of a detection mechanism. FIG. 21 is a bottom perspective view of an example brake. FIG. 22 is a cross-sectional perspective view of an example brake. FIG. 23A is a diagram showing an example of brake operation. FIG. 23B is a diagram showing an example of brake operation. FIG. 24A is a diagram showing an example of the operation of the brake operating section; FIG. 24B is a diagram showing an example of the operation of the brake operating section; FIG. 25 is a diagram showing an example of a brake holding structure. FIG. 26 is a perspective view of an example of the second driving section. FIG. 27 is a perspective view of an example of the second driving section with the pallet removed. FIG. 28 is a front view of an example of a second driving section; 29 is an enlarged perspective view of the Z2 portion of the second driving section of FIG. 26. FIG. FIG. 30 is a perspective view of an example of an elevating unit. FIG. 31 is a front view of an example of an elevator. FIG. 32 is a partial cross-sectional view showing an example of the connection structure of the first driving section and the lifting section. FIG. 33 is a perspective view showing an example of a working device provided with a pallet attaching/detaching mechanism. 34A is a diagram showing an example of the operation of the first positioning pin; FIG. 34B is a diagram showing an example of the operation of the first positioning pin; FIG. 35A is an enlarged perspective view showing an example of the operation of the first positioning pin; FIG. 35B is an enlarged perspective view showing an example of the operation of the first positioning pin; FIG. FIG. 36A is a diagram showing an example of the action of removing the pallet from the carrier. FIG. 36B is a diagram showing an example of the action of removing the pallet from the carrier. FIG. 36C is a diagram showing an example of the action of removing the pallet from the carrier. FIG. 37A is a diagram showing an example of the operation of sliding the carrier. FIG. 37B is a diagram showing an example of the operation of sliding the carrier. FIG. 38 is a diagram showing an example of a flowchart of a component mounting method. FIG. 39A is a partially enlarged perspective view of an example of the operation of the first driving section; FIG. 39B is a partially enlarged perspective view of an example of the operation of the first driving section; FIG. 39C is a partially enlarged perspective view of an example of the operation of the first driving section; FIG. 39D is a partially enlarged perspective view of an example of the operation of the first driving section; FIG. 40A is a diagram explaining an example of the operation of the first driving unit; FIG. 40B is a diagram explaining an example of the operation of the first drive unit; FIG. 40C is a diagram explaining an example of the operation of the first drive unit; FIG. 40D is a diagram explaining an example of the operation of the first drive unit; FIG. 40E is a diagram explaining an example of the operation of the first drive unit;

The working device of the first aspect of the present invention includes:
A working device comprising a working part for working on a work fixed to a work fixing part of a pallet having a work fixing part rotatable about a first axis,
a first rotary drive unit having an engaging portion that engages with the work fixing portion from below the pallet, and rotating the work fixing portion around the first axis by rotating the engaging portion; ,
an engaging separation portion that engages the engaging portion with the work fixing portion or separates it from the work fixing portion;
a second rotary drive section that rotates the pallet about a second axis orthogonal to the first axis when the engagement section of the first rotary drive section is separated from the workpiece fixing section;
Prepare.

In the working device of the second aspect of the present invention, the pallet has a plurality of workpiece fixing parts,
A plurality of engaging portions may be arranged below the plurality of work fixing portions.

In the working device of the third aspect of the present invention, the plurality of engaging portions may be arranged along the direction in which the second axis extends.

The working device according to the fourth aspect of the present invention may further include a drive source for rotating the plurality of engaging portions.

The working device according to the fifth aspect of the present invention further comprises a brake attached to the work fixing portion and suppressing rotation of the work fixing portion about the first shaft with respect to the pallet. good too.

In the working device according to the sixth aspect of the present invention, the brake is detachable from the work fixing portion,
The working device may include a brake attachment/detachment part for attaching/detaching the brake to/from the workpiece fixing part.

The working device according to the seventh aspect of the present invention may further include a brake holding section that holds the brake separated from the work fixing section.

In the working device according to the eighth aspect of the present invention, the lower surface of the work fixing portion is provided with a centering hole provided at the center of the work fixing portion,
The engaging portion is
A centering pin may be arranged on the first shaft and inserted into the centering hole of the workpiece fixing portion.

The working device according to the ninth aspect of the present invention may further include an engagement state detection section that detects an engagement state between the engagement section and the workpiece fixing section.

In the working device according to the tenth aspect of the present invention, the working section includes at least one of a mounting head for mounting a component, a coating head for coating solder or adhesive, and an inspection head for inspecting the mounting state of the component. may contain one.

Embodiments of the present disclosure will be described below with reference to the accompanying drawings. Also, in each drawing, each element is exaggerated for ease of explanation.

(Embodiment 1)
FIG. 1 is a block diagram showing a schematic configuration of an example of a component mounting system 1 according to Embodiment 1 of the present invention. As shown in FIG. 1 , the component mounting system 1 includes a carrier system 2 used for transporting workpieces, a working device 3 , a reflow device 4 , and a transport device 99 for transporting the carrier system 2 . The transport device 99 includes a conveyor equipped with the work device 3 or the reflow device 4, a relay conveyor arranged between each device, a transfer robot, or the like. A component mounting system 1 is a system that mounts components on a work having a plurality of mounting surfaces. The work has a three-dimensional shape with a plurality of inclined mounting surfaces. For example, the workpiece has one or more mounting surfaces that are inclined with respect to the transport surface transported by carrier system 2 .

The work device 3 performs a predetermined work on the work by means of the work unit 97 . In the first embodiment, the working device 3 picks up the component supplied from the feeder 98 a of the component supply section 98 with the mounting head (working section) 97 . The working head 97 moves to the mounting surface of the workpiece while sucking the component, and mounts the component on the mounting surface of the workpiece. That is, the work device 3 functions as a component mounting device that mounts components on the work. Solder is applied in advance to the mounting surface of the workpiece.

The reflow device 4 melts the solder by heating the work on which the component is attached by the working device 3 . Thereby, the parts attached to the workpiece are soldered.

These devices are controlled by a controller (not shown). For example, the control unit includes a memory that stores programs that cause these devices to function, and a processor such as a CPU (Central Processing Unit).

Next, an example of a series of operations of the component mounting system 1 will be briefly described with reference to FIGS. 2A to 2D. A detailed description of the carrier system 2 and the work device 3, which are components of the component mounting system 1, will be given later. 2A-2D show an example of the operation of the component mounting system 1. FIG. The X, Y, and Z directions in the drawing indicate the depth direction, width direction, and height direction of the component mounting system 1, respectively. Note that the XY plane indicates a horizontal plane. 2A to 2D, illustration of the reflow device 4 is omitted.

As shown in FIG. 2A , the carrier system 2 includes a work fixing portion 6 that fixes the work 5 , a pallet 7 that holds the work fixing portion 6 , and a carrier 8 that holds the pallet 7 .

In Embodiment 1, a plurality of workpiece fixing portions 6 are arranged on the pallet 7 . Therefore, the pallet 7 holds a plurality of works 5 by a plurality of work fixing portions 6 . Specifically, three works 5 are arranged on the pallet 7 along the transport direction D1. Carrier 8 also holds two pallets 7 . The two pallets are arranged side by side in a direction (X direction) orthogonal to the transport direction D1 on a horizontal plane (XY plane).

A conveyor 9 conveys the carrier system 2 carrying the work 5 to the work device 3 . Specifically, the work device 3 drives the conveyor 9 to transport the carrier system 2 in the transport direction D1.

As shown in FIG. 2B, work device 3 stops conveyor 9 when carrier system 2 is above work device 3 . Pallet 7 is then removed from carrier 8 and attached to working device 3 .

As shown in FIG. 2C , the work device 3 changes the posture of the work 5 and mounts the component on the mounting surface of the work 5 . Specifically, the work device 3 rotates the work 5 about the first axis AX1, and then rotates the work 5 about the second axis AX2 orthogonal to the first axis AX1. Thereby, the posture of the workpiece 5 is changed. In Embodiment 1, the first axis AX1 is an axis extending in the height direction (Z direction) of the work device 3 . The second axis AX2 is an axis extending in the width direction (Y direction) of the work device 3 . In other words, the second axis AX2 is an axis extending along the transport direction D1.

The work device 3 rotates the work 5 and mounts the component on the mounting surface of the work 5 with a mounting head (not shown). At this time, the carrier 8 remains arranged above the work device 3 . That is, in the carrier system 2 , the work device 3 can rotate the work 5 and mount components on the mounting surface of the work 5 without moving the carrier 8 to another location.

When the working device 3 completes the mounting of the parts on the workpiece 5 , the pallet 7 is removed from the working device 3 and attached to the carrier 8 .

As shown in FIG. 2D, the work device 3 drives the conveyor 9 to transport the carrier system 2 in the transport direction D2. Thereby, the carrier system 2 is transported to the reflow device 4 .

The reflow device 4 melts the solder by heating the workpiece 5 on which the component is mounted by the working device 3 together with the carrier system 2 . Thereby, the parts attached to the workpiece 5 are soldered.

These devices are controlled by a controller (not shown). For example, the control unit includes a memory that stores a program that causes these devices to function, and a processing circuit that corresponds to a processor such as a CPU (Central Processing Unit).

[Carrier system]
Carrier system 2 will be described in detail.

FIG. 3 is a perspective view showing a schematic configuration of an example of the carrier system 2. As shown in FIG. FIG. 4 is a perspective view showing a schematic configuration of an example of the carrier system 2 with the work 5 removed. FIG. 5 is a perspective view showing a schematic configuration of an example of the carrier system 2 with the work fixing portion 6 removed. 6 is a plan view of the carrier system 2 of FIG. 4. FIG. FIG. 7 is a view of the carrier system 2 of FIG. 4 viewed from the direction opposite to the transport direction D1.

As shown in FIGS. 3 to 7, the carrier system 2 includes a work fixing portion 6 that fixes the work 5, a pallet 7 that rotatably holds the work fixing portion 6, and a carrier 8 that holds the pallet 7. FIG.

<Work fixing part>
FIG. 8 shows a front view of an example of the work fixing portion 6. As shown in FIG. As shown in FIG. 8 , the workpiece fixing section 6 includes a mounting table 10 on which the workpiece 5 is mounted, and a projecting portion 11 projecting downward from the lower surface of the mounting table 10 . In Embodiment 1, the projecting portion 11 functions as a mounting portion to which a brake, which will be described later, is mounted. In this specification, the projecting portion 11 may be referred to as the mounting portion 11 .

The mounting table 10 is formed in a disc shape. A workpiece 5 is fixed on the upper surface of the mounting table 10 . For example, the work 5 is fixed to the work fixing portion 6 by magnetic force. Alternatively, the work 5 may be fixed to the work fixing portion 6 with screws.

The protrusion 11 protrudes downward from the center of the lower surface of the mounting table 10 . The projecting portion 11 is formed in a cylindrical shape. A side wall of the protruding portion 11 is formed with a brake mounting recess 12 in which a brake, which will be described later, is mounted.

As shown in FIGS. 4 and 5 , the workpiece fixing portion 6 is arranged in the through hole 13 of the pallet 7 . Specifically, the diameter of the protrusion 11 is smaller than the diameter of the through hole 13 of the pallet 7 , while the diameter of the mounting table 10 is larger than the through hole 13 of the pallet 7 . Therefore, the lower surface of the mounting table 10 is supported by the upper surface of the pallet 7 while the projecting portion 11 of the pallet 7 is inserted into the through hole 13 . Therefore, in the state where the work fixing portion 6 is attached to the pallet 7 , the protruding portion 11 protrudes below the lower surface of the pallet 7 . The projecting portion 11 has an outer shape concentric with the through hole 13 of the pallet 7 .

<Palette>
As shown in FIGS. 4 to 6, the pallet 7 has a through hole 13 penetrating vertically, and rotatably holds the workpiece fixing portion 6 arranged in the through hole 13 . The pallet 7 arranges the projecting portion 11 of the work fixing portion 6 in the through hole 13 and holds the work fixing portion 6 rotatably about the first axis AX1. The through hole 13 is formed in a circular shape when viewed from above. In the first embodiment, the pallet 7 has a plurality of through holes 13 provided along the transport direction D1 in order to collectively work on a plurality of works 5 . A workpiece fixing portion 6 is arranged in each of the plurality of through holes 13 . That is, a plurality of work fixing portions 6 are arranged on the pallet 7 along the transport direction D1.

The pallet 7 is formed of a plate member having a longitudinal direction. The longitudinal direction of the pallet 7 is the same direction as the transport direction D1 (Y direction) of the carrier 8 .

The pallet 7 has a held portion 14 held by the carrier 8 . The held portion 14 is formed of a plate-like member extending in the lateral direction (X direction) of the pallet 7 . In other words, the held portion 14 is formed of a plate-shaped member extending in a direction (X direction) orthogonal to the transport direction D1 on a horizontal plane (XY plane). The held portions 14 are arranged at both ends of the pallet 7 in the longitudinal direction (X direction).

The held portion 14 is provided with a first positioning hole 16 for positioning the pallet 7 on the carrier 8 . The first positioning hole 16 is a hole penetrating through the held portion 14 in the vertical direction (Z direction). Specifically, the first positioning hole 16 is provided on one end side of the held portion 14 in the longitudinal direction (X direction).

The pallet 7 is provided with second positioning holes 17 that are used when the pallet 7 is attached to the work device 3 . The second positioning holes 17 are used to position the pallet 7 on the working device 3 . The second positioning holes 17 are holes that penetrate the pallet 7 in the vertical direction (Z direction), and are provided at both ends of the pallet 7 in the longitudinal direction (Y direction). Specifically, the second positioning holes 17 are provided in central portions at both ends of the pallet 7 in the longitudinal direction (Y direction).

The first positioning hole 16 and the second positioning hole 17 are formed in a circular shape when viewed from above.

Between the portion of the pallet 7 where the through hole 13 is formed and the held portion 14, a reduced portion 15 that reduces the width of the pallet 7 is provided. The width of the pallet 7 means the length of the pallet 7 in the lateral direction (X direction). The width of the reduced portion 15 is smaller than the width of the portion where the through hole 13 is formed and the width of the held portion 14 . That is, the X-direction length of the reduced portion 15 is shorter than the X-direction length of the portion where the through hole 13 is formed, and shorter than the X-direction length of the held portion 14 .

<Carrier>
As shown in FIGS. 4-6, the carrier 8 has a pair of guides 18 and a holder 19 that holds the pallet 7 between the pair of guides 18 . A pair of guides 18 are formed of L-shaped members and placed on the conveyor 9 . The holding portion 19 extends in a direction (X direction) intersecting the transport direction D1 on a horizontal plane (XY plane) between the pair of guides 18 . The holding portion 19 is formed of a plate-like member extending in a direction (X direction) intersecting the conveying direction D1. The holding portion 19 holds the held portion 14 of the pallet 7 .

FIG. 9 is a perspective view showing a schematic configuration of an example of the carrier 8. As shown in FIG. As shown in FIG. 9, the holding portion 19 has a pair of holding pieces facing each other. The pair of holding pieces are formed of plate-like members and are arranged with a gap larger than the width of the reduced portion 15 of the pallet 7 . Also, the distance between the two holding pieces is smaller than the width (the length in the X direction) of the held portion 14 .

The holding part 19 has a first positioning pin 20 inserted into the first positioning hole 16 of the pallet 7 . The first positioning pin 20 is a cylindrical pin that protrudes upward from the upper surface of the holding portion 19 . In Embodiment 1, the first positioning pin 20 is provided on either one of the two holding pieces of the holding portion 19 .

FIG. 10 shows a schematic enlarged view of the Z1 portion of the carrier system 2 of FIG. As shown in FIG. 10 , the holding portion 19 positions and holds the pallet 7 on the carrier 8 by inserting the first positioning pin 20 into the first positioning hole 16 of the held portion 14 .

As shown in FIGS. 4 to 6 and 9, the carrier 8 has connecting portions 21 that connect the pair of guides 18 . The connecting portion 21 is formed of a plate-like member extending in a direction (X direction) perpendicular to the transport direction D1 on a horizontal plane (XY plane). The connecting portion 21 is arranged outside the pallet 7 and the holding portion 19 in the transport direction D1. The connecting portion 21 is arranged at a predetermined distance from the holding portion 19 in the transport direction D1. The predetermined distance is a distance larger than the length of the held portion 14 of the pallet 7 in the lateral direction (Y direction), that is, the length of the held portion 14 in the transport direction D1. Thus, an opening 22 is formed between the connecting portion 21 of the carrier 8 and the holding portion 19 so that the held portion 14 of the pallet 7 can pass through in the vertical direction.

Further, as shown in FIG. 7, the connecting portion 21 is bent upward. In Embodiment 1, at least the connecting portion 21 on the extension line in the longitudinal direction (Y direction) of the pallet 7 is bent upward. Specifically, the connecting portion 21 is formed by recessing a plate-like member upward. By bending the connecting portion 21 upward in this manner, the connecting portion 21 and the rotating shaft 77 are prevented from interfering with each other when the pallet holding portion 72 lifts the pallet 7 from the carrier 8 .

As shown in FIGS. 4 to 7 and 9, in the first embodiment, the carrier 8 includes two pallets 7 arranged side by side in a direction (X direction) perpendicular to the transport direction D1 on a horizontal plane (XY plane). holding A reinforcement 23 is provided between the two pallets to increase the mechanical strength of the carrier 8 . The reinforcing portion 23 is formed of a plate-like member that connects between the pair of connecting portions 21 .

An opening 24 is formed in a region surrounded by the guide 18 and the holding portion 19 in the carrier 8 . The opening 24 has a size that allows the pallet 7 to pass through in the vertical direction (Z direction) when the pallet 7 slides relative to the carrier 8 in the transport direction D1. Further, the opening 24 has a size such that the work 5 and the pallet 7 do not come into contact with the carrier 8 even when the work fixing portion 6 and the pallet 7 are rotated when working on the work 5 .

The slide movement of the pallet 7 relative to the carrier 8 is performed by a slide portion that moves the carrier 8 in the direction opposite to the transport direction D1. As shown in FIGS. 6 and 9, the carrier 8 is provided with a third positioning hole 25 for positioning the carrier 8 on the slide portion. The slide portion will be described later.

11A-11C show an example of steps for removing the pallet 7 from the carrier 8. FIG. As shown in FIG. 11A, the pallet 7 held by the carrier 8 is lifted upward D3. As a result, the first positioning pin 20 provided on the holding portion 19 of the carrier 8 is removed from the first positioning hole 16 of the pallet 7 .

As shown in FIG. 11B, by moving the carrier 8 in a direction D4 opposite to the transport direction D1, the pallet 7 is slid relative to the carrier 8 in the transport direction D1. As a result, at one end of the pallet 7 , the held portion 14 is positioned in the opening 22 and the reduced portion 15 is positioned between the two holding pieces of the holding portion 19 . Also, the remaining part of the pallet 7 is located in the opening 24 .

The pallet 7 is removed from the carrier 8 through the openings 22 and 24 by moving the pallet 7 in the downward direction D5 as shown in FIG. 11C.

When attaching the pallet 7 to the carrier 8, the procedure shown in FIGS. 11A to 11C is reversed.

Specifically, the pallet 7 is moved upward from below the carrier 8 . At this time, at one end of the pallet 7 , the held portion 14 passes through the opening 22 and the reduced portion 15 passes between the two holding pieces of the holding portion 19 . Also, the remainder of the pallet 7 passes through the opening 24 . The pallet 7 is thereby arranged inside the carrier 8 .

Next, by sliding the carrier 8 in the transport direction D1, the pallet 7 is slid relative to the carrier 8 in the direction opposite to the transport direction D1. Then, the pallet 7 is moved downward so that the first positioning pins 20 of the holding portions 19 of the carrier 8 are inserted into the first positioning holes 16 of the pallet 7 .

In this way the pallet 7 can be attached to the carrier 8 . With such a configuration, the pallet 7 can be removed from and attached to the carrier 8 without moving the carrier 8 to another location.

[Work device]
The working device 3 will be described in detail.

FIG. 12 is a perspective view showing a schematic configuration of an example of the working device 3. As shown in FIG. FIG. 13 is a perspective view showing a schematic configuration of an example of the work device 3 with the pallet 7 removed. As shown in FIGS. 12 and 13 , the work device 3 includes a first driving section 30, a second driving section 31, an elevating section 32, and a fixed base 80. As shown in FIGS.

The lifting section 32 is installed on the fixed base 80 . The elevating section 32 includes an elevating support section 81 connected to the fixed base 80 , an elevating base 82 supported by the elevating support section 81 , and an elevating motor 83 for elevating the elevating base 82 . The lifting support portion 81 has a lifting bearing portion 81a, a lifting shaft 81b movable in the vertical direction D13 inside the lifting bearing portion 81a, and a lifting mechanism 81c. The lifting mechanism 81 c lifts and lowers the lifting base 82 with respect to the fixed base 80 when driven by the lifting motor 83 . The second drive unit 31 is mounted on the elevation base 82 and moves up and down together with the elevation base 82 . On the other hand, the first driving section 30 is mounted on a support base 84 fixed to the fixed base 80 .

The work device 3 includes a work section 97 that works on the work 5 . The working unit 97 includes, for example, a mounting head that mounts components on the mounting surface of the work 5 , a coating head that applies solder or adhesive to the mounting surface of the work 5 , and an inspection head that inspects the mounting state of the components on the work 5 . At least one of them is included. Elements constituting the working device 3 are not limited to these.

In Embodiment 1, the work device 3 has a plurality of first drive portions 30 at positions corresponding to the plurality of work fixing portions 6 . Specifically, the work device 3 has six first drive units 30 . The six first drive units 30 are arranged below the plurality of work fixing units 6 . Further, the plurality of first drive units 30 are arranged along the direction in which the second axis AX2 extends, that is, along the transport direction D1.

The working device 3 rotates the work fixing portion 6 held on the pallet 7 around the first axis AX1 by the first driving portion 30 . In addition, the work device 3 rotates the pallet 7 around the second axis AX2 by the second driving section 31 . Note that the first driving section 30 and the second driving section 31 operate independently. That is, the first driving section 30 and the second driving section 31 operate separately from each other.

The working device 3 also has a brake 33 that suppresses the rotation of the workpiece fixing portion 6 . While the second drive unit 31 rotates the pallet 7 around the second axis AX2, the brake 33 suppresses the rotation of the workpiece fixing unit 6 relative to the pallet 7 around the first axis AX1.

<First drive unit>
FIG. 14 is a diagram showing a schematic configuration of an example of the first driving section 30. As shown in FIG. FIG. 15 is an enlarged perspective view showing a schematic configuration of an example of the first driving section 30 with the pallet 7 attached. FIG. 16 is an enlarged perspective view showing a schematic configuration of an example of the first driving section 30 with the pallet 7 removed. 17 is an exploded perspective view of the first driving section 30 shown in FIG. 16. FIG. FIG. 18 is a schematic cross-sectional view of an example of the first drive section 30 cut along a plane passing through the first axis AX1. 15 to 18 omit illustration of some elements in order to simplify the explanation.

As shown in FIGS. 14 to 18, the first driving section 30 has a mechanism for rotating the workpiece 5 about the first axis AX1. The first drive section 30 includes a first rotation drive section that engages with the workpiece fixing section 6 to rotate about the first axis AX1 and the first axis AX1. The first rotary drive section has an engaging section 34, a first motor 38, and a first transmission mechanism. The first transmission mechanism transmits the power of the first motor 38 to the engaging portion 34, and in the first embodiment, it is composed of the rotating shaft 49, the toothed pulley 39, the toothed belt 40, and the like.

Specifically, the first drive section 30 includes an engaging section 34 , a shaft section 35 , a brake operating section 36 , a brake operating bar 37 and a first motor 38 . The first driving section 30 also includes a toothed pulley 39 and a toothed belt 40 as a pulley mechanism for transmitting the rotation of the first motor 38 to the shaft section 35 . An air cylinder 41 is attached to the lower end of the first driving portion 30 to move the engaging portion 34 in the vertical direction (Z direction). Elements constituting the first drive unit 30 are not limited to these.

The engaging portion 34 engages the workpiece fixing portion 6 from below the pallet 7 . In Embodiment 1, the pallet 7 has a plurality of workpiece fixing portions 6. As shown in FIG. Therefore, a plurality of engaging portions 34 are arranged below the plurality of work fixing portions 6 . The plurality of engaging portions 34 are arranged along the direction in which the second axis AX2 extends.

The engaging portion 34 has a cylindrical shape and engages with the workpiece fixing portion 6 by means of an engaging mechanism. As an engaging mechanism, the engaging portion 34 has a centering pin 42 and an eccentric pin 43 that engage with the workpiece fixing portion 6, as shown in FIGS.

The centering pin 42 protrudes upward at the center of the upper surface of the engaging portion 34 . That is, the centering pin 42 is arranged on the first axis AX1 on the upper surface of the engaging portion 34 . The eccentric pin 43 protrudes upward at a position away from the center of the upper surface of the engaging portion 34 . That is, the eccentric pin 43 is arranged on the upper surface of the engaging portion 34 at a position eccentric from the first axis AX1. The centering pin 42 and the eccentric pin 43 have a cylindrical shape.

FIG. 19 is a bottom perspective view of an example of the work fixing portion 6. FIG. As shown in FIG. 19, the projecting portion (mounting portion) 11 of the workpiece fixing portion 6 is provided with a centering hole 44 and an eccentric hole 45 . The centering hole 44 is provided in the center of the workpiece fixing portion 6 . The centering hole 44 is provided upward from the lower surface of the projecting portion 11 . The centering hole 44 has a circular shape when the projecting portion 11 is viewed from below. The eccentric hole 45 is provided at a position eccentric from the center of the workpiece fixing portion 6 . The eccentric hole 45 is provided upward from the lower surface of the projecting portion 11 . In Embodiment 1, the eccentric hole 45 is formed by a groove penetrating the side wall of the projecting portion 11 .

As shown in FIG. 18, the engagement between the engaging portion 34 and the workpiece fixing portion 6 is achieved by inserting the centering pin 42 and the eccentric pin 43 of the engaging portion 34 into the centering hole 44 and the eccentric hole of the workpiece fixing portion 6, respectively. 45. Specifically, by moving the pallet 7 downward by the elevating section 32 , the engaging section 34 rises relative to the pallet 7 . As a result, the centering pin 42 of the engaging portion 34 is inserted into the centering hole 44 of the work fixing portion 6 and the eccentric pin 43 is inserted into the eccentric hole 45 .

By rotating the engaging portion 34 about the first axis AX1 while the engaging portion 34 and the work fixing portion 6 are engaged with each other, the work fixing portion 6 rotates with respect to the pallet 7 . Since the centering pin 42 of the engaging portion 34 is arranged on the first axis AX<b>1 , the centering pin 42 becomes the center of rotation of the workpiece fixing portion 6 .

The eccentric pin 43 of the engaging portion 34 is located away from the centering pin 42 and away from the center of rotation. Therefore, when the engaging portion 34 rotates, the eccentric pin 43 turns around the centering pin 42 . As a result, the workpiece fixing portion 6 rotates around the centering pin 42 of the engaging portion 34 as the center of rotation. That is, the rotation of the engaging portion 34 causes the workpiece fixing portion 6 to rotate about the first axis AX1.

The engaging portion 34 has a first housing hole 46a for vertically holding the centering pin 42 and a second housing hole 46b for vertically holding the eccentric pin 43. As shown in FIG. In Embodiment 1, the first receiving hole 46a and the second receiving hole 46b are holes provided downward from the upper surface of the engaging portion 34 . In FIG. 20, pins 46c and 46d pass through the middle portion of the first housing hole 46a and the middle portion of the second housing hole 46b. An elastic body 46e is arranged between the centering pin 42 and the pin 46c to urge the centering pin 42 upward. An elastic body 46f is arranged between the eccentric pin 43 and the pin 46d to urge the eccentric pin 43 upward. The centering pin 42 is positioned above the first receiving hole 46a by the biasing force of the elastic body 46e. The eccentric pin 43 is also positioned above the second receiving hole 46b by the biasing force of the elastic body 46f.

When the engaging portion 34 and the work fixing portion 6 are normally engaged, the centering pin 42 is inserted into the centering hole 44 of the work fixing portion 6 and the eccentric pin 43 is inserted into the eccentric hole 45 . When the engagement portion 34 and the work fixing portion 6 are not properly engaged, the centering pin 42 or the eccentric pin 43 is pushed down by the lower surface of the work fixing portion 6 .

As described above, when the engaging portion 34 and the work fixing portion 6 are not properly engaged, the centering pin 42 and the eccentric pin 43 move downward in the first receiving hole 46a and the second receiving hole 46b, respectively. Moving. As a result, it is possible to prevent the parts from being damaged when the engaging portion 34 and the workpiece fixing portion 6 are not properly engaged.

The work device 3 includes an engagement state detection section that detects the engagement state between the engagement section 34 and the workpiece fixing section. The engagement state detector detects whether the centering pin 42 and/or the eccentric pin 43 has been inserted or accommodated normally.

FIG. 20 is a diagram showing an example of an engagement state detector. As shown in FIG. 20, the engaging portion 34 is provided with a detection hole 47 that communicates between the first receiving hole 46a and the second receiving hole 46b. The detection hole 47 communicates the lower part of the first accommodation hole 46a and the lower part of the second accommodation hole 46b in the width direction (Y direction) of the working device 3. As shown in FIG.

The working device 3 detects whether the centering pin 42 is moving downward in the first receiving hole 46a or whether the eccentric pin 43 is moving downward in the second receiving hole 46b. A sensor 48 is provided. In Embodiment 1, a photoelectric sensor is used as an example of the detection sensor 48 . Note that the detection sensor 48 is not limited to a photoelectric sensor.

The detection sensor 48 includes a light projecting portion 48a that projects light and a light receiving portion 48b that receives light. The light-projecting portion 48a and the light-receiving portion 48b are arranged in the direction in which the detection hole 47 extends (the Y direction), and face each other with the detection hole 47 interposed therebetween. Therefore, the light projected from the light projecting portion 48a passes through the detection hole 47 and enters the light receiving portion 48b. The detection sensor 48 detects whether the insertion of either the centering pin 42 or the eccentric pin 43 has failed by detecting the amount of light received by the light receiving portion 48b relative to the amount of light projected from the light projecting portion 48a. detect whether or not If the centering pin 42 or the eccentric pin 43 fails to be inserted and moves downward, the light projected from the light projecting portion 48a is blocked by the centering pin 42 or the eccentric pin 43, and the light is detected by the light receiving portion 48b. I can't. This makes it possible to determine whether or not the engagement between the engaging portion 34 and the workpiece fixing portion 6 has succeeded. The detection sensor 48 functions as an engagement state detection section that detects the engagement state between the engagement section 34 and the workpiece fixing section 6 . The engagement state is whether or not the engagement portion 34 is normally engaged with the workpiece fixing portion 6 .

When the detection sensor 48 detects that the engagement portion 34 and the workpiece fixing portion 6 are not properly engaged, that is, the engagement state is abnormal, the first driving portion 30 can stop operating. .

As shown in FIGS. 14 to 18, the shaft portion 35 is connected to the engaging portion 34 and transmits to the engaging portion 34 a force to rotate about the first axis AX1. Also, the shaft portion 35 transmits a force that moves the engaging portion 34 in the vertical direction. As shown in FIGS. 17 and 18, the shaft portion 35 includes a rotating shaft 49 connected to the engaging portion 34 and a bearing portion 50 supporting the rotating shaft 49 rotatably and vertically movably.

The rotating shaft 49 is made of a round bar. The upper end of the rotating shaft 49 is inserted into a hole provided on the lower surface of the engaging portion 34 . Thereby, the rotating shaft 49 and the engaging portion 34 are connected. A lower end of the rotating shaft 49 is connected to the air cylinder 41 .

The bearing portion 50 has a cylindrical shape with a lower flange portion 50a. Further, the flange portion 50a is fixed by bolts to a support base 84 of the lifting portion 32, which will be described later.

The bearing portion 50 holds the rotating shaft 49 inside. The bearing portion 50 supports the rotating shaft 49 so as to be rotatable around the first axis AX1. Further, the bearing portion 50 supports the rotating shaft 49 so as to be slidable in the vertical direction (Z direction). Specifically, as shown in FIG. 18, the bearing portion 50 holds a shaft holder 50c rotatable about the first axis AX1 in a through hole 50b penetrating in the direction of the first axis AX1. Further, the shaft holder 50c holds the rotary shaft 49 in a state in which it can move vertically along the first axis AX and cannot rotate with respect to the shaft holder 50c. Thus, the bearing portion 50 supports the rotary shaft 49 via the shaft holder 50c so as to be rotatable about the first axis AX1 and slidable in the vertical direction (Z direction).

As shown in FIG. 18, the shaft holder 50c penetrates the bearing portion 50. As shown in FIG. The lower end of the shaft holder 50c is located below the support base 84. As shown in FIG. A toothed pulley 39 is attached to the lower end of the shaft holder 50c.

As shown in FIG. 14, rotation of the rotary shaft 49 is performed by transmission of rotation of the first motor 38 by a pulley mechanism. The rotating shaft 49 is connected to the rotating shaft of the first motor 38 via the toothed pulley 39 and the toothed belt 40 . When the rotating shaft of the first motor 38 rotates, the rotating force is transmitted to the rotating shaft 49 by the toothed pulley 39 and the toothed belt 40 . Thereby, the rotary shaft 49 can rotate around the first axis AX1. Further, the rotation of the rotating shaft 49 is transmitted to the engaging portion 34, and the engaging portion 34 rotates around the first axis AX1.

As shown in FIGS. 14 and 15, the vertical movement of the rotating shaft 49 is performed by an air cylinder 41 connected to the lower end of the rotating shaft 49 . The air cylinder 41 moves the rotary shaft 49 in the vertical direction D6 by moving the rotary shaft 49 in the vertical direction D6. As a result, the engaging portion 34 connected to the upper end of the rotating shaft 49 moves in the vertical direction D6.

In Embodiment 1, the engaging portion 34 is separated from the workpiece fixing portion 6 by moving the rotating shaft 49 downward by the air cylinder 41 . As a result, the engaging portion 34 moves downward, the centering pin 42 and the eccentric pin 43 are removed from the centering hole 44 and the eccentric hole 45, respectively, and the engagement between the engaging portion 34 and the workpiece fixing portion 6 is released. be done.

The air cylinder 41 , the brake operating portion 36 and the brake operating bar 37 function as a brake mounting mechanism for mounting the brake 33 . Specifically, the brake 33 is operated by attaching the brake 33 to the attachment portion 11 of the workpiece fixing portion 6 . The air cylinder 41 , the brake operating portion 36 and the brake operating bar 37 also function as a brake separating mechanism portion for separating the brake 33 from the workpiece fixing portion 6 . Specifically, the brake operating portion 36 and the brake operating bar 37 release the operation of the brake 33 by separating the brake 33 from the mounting portion 11 of the workpiece fixing portion 6 . Thus, in Embodiment 1, the brake operating portion 36 and the brake operating bar 37 serve both as a mechanism for attaching the brake 33 to the work fixing portion 6 and a mechanism for separating the brake 33 from the work fixing portion 6. . That is, it functions as a brake separation mechanism portion and a brake mounting mechanism portion.

Before describing the brake actuating portion 36 and the brake actuating bar 37, the brake 33 will be described.

As shown in FIGS. 14 and 15 , the brake 33 is attached to the work fixing portion 6 to prevent the work fixing portion 6 from rotating with respect to the pallet 7 . Specifically, the brake 33 allows the work fixing part 6 to rotate with respect to the pallet 7 when the first driving part 30 rotates the work fixing part 6 about the first axis AX1. . On the other hand, the brake 33 prevents the workpiece fixing portion 6 from rotating with respect to the pallet 7 when the second driving portion 31 rotates the pallet 7 around the second axis AX2.

As shown in FIGS. 17 and 18, the brake 33 has a plurality of annularly connected brake elements 51 and an elastic member 52 that biases the plurality of brake elements 51 toward each other. 17, illustration of part of the elastic member 52 is omitted.

Each of the plurality of brake elements 51 is formed in an arc shape. In Embodiment 1, the annular brake 33 is formed by connecting the three brake elements 51 .

The elastic member 52 is arranged inside the braking element 51 and urges the plurality of braking elements 51 toward each other. The direction in which the plurality of brake elements 51 approach each other is the circumferential direction of the brake 33 . The elastic member 52 is, for example, a coil spring. An elastic member 52 is arranged inside the plurality of brake elements and connects the plurality of brake elements respectively. In Embodiment 1, three elastic members 52 are arranged to connect three braking elements 51 .

The inner walls of the plurality of brake elements 51 are provided with brake mounting protrusions 53 that protrude radially inward of the brake 33 . The brake mounting projection 53 is annularly provided along the inner circumference of the plurality of brake elements 51 . In the brake 33 , the projecting portion (mounting portion) 11 of the workpiece fixing portion 6 is arranged inside the brake 33 . When the brake 33 is actuated, the brake mounting projection 53 engages with the brake mounting recess 12 provided in the mounting portion 11 of the work fixing portion 6 (see FIGS. 24A and 24B).

Brake groove portions 54 that are recessed radially inward of the brake 33 are provided on the outer walls of the plurality of brake elements 51 . The brake groove portion 54 is annularly provided along the outer circumference of the plurality of brake elements 51 . A brake holding portion, which will be described later, is engaged with the brake groove portion 54 .

FIG. 21 is a bottom perspective view of one example of the brake 33. FIG. 22 is a cross-sectional perspective view of an example of the brake 33. FIG. As shown in FIGS. 21 and 22, brake holes 55 into which the brake operating portions 36 are inserted are provided in the lower surfaces of the plurality of brake elements 51, respectively. The brake hole 55 is formed in an arc shape when the brake 33 is viewed from below. In Embodiment 1, three brake holes 55 are concentrically provided at intervals of 120°.

The width of the brake hole 55 decreases from the bottom surface to the top surface of the brake element 51 . Specifically, the inner wall forming the brake hole 55 includes an inclined surface 56 . In Embodiment 1, the inclined surface 56 is an inner wall positioned on the outer peripheral side of the brake element 51 among the inner walls forming the brake hole 55 . The inclined surface 56 is inclined radially inward of the brake 33 .

23A and 23B are diagrams showing an example of the operation of the brake 33. FIG. FIG. 23A shows an example of the state when the brake 33 is not operating. FIG. 23B shows an example of the state when the brake 33 is operating.

As shown in FIG. 23A , when the brake 33 is not actuated, the brake 33 widens the distance between adjacent braking elements 51 against the biasing force of the elastic member 52 . Specifically, by inserting the brake operating portion 36 into the brake hole 55 , the plurality of brake elements 51 move radially outward D<b>7 of the brake 33 . In this manner, the plurality of braking elements 51 widen the distance between adjacent braking elements 51 against the biasing force of the elastic member 52 . As a result, the inner diameter Da1 of the brake 33 is increased, and the brake 33 is disengaged from the mounting portion 11 of the workpiece fixing portion 6 arranged inside the brake 33 .

As shown in FIG. 23B , when the brake 33 is actuated, the brake 33 narrows the distance between adjacent brake elements 51 by the biasing force of the elastic member 52 . Specifically, when the brake operating portion 36 is pulled out from the brake hole 55 , the biasing force of the elastic member 52 narrows the interval between the adjacent brake elements 51 . As a result, the plurality of brake elements 51 move radially inward D8 of the brake 33 to reduce the inner diameter Da1 of the brake 33 to the inner diameter Da2. As a result, the workpiece fixing portion 6 arranged inside the brake 33 and the brake 33 are engaged.

Next, the brake operating section 36 will be described. As shown in FIG. 17, the brake operating portion 36 is formed of an annular member having an opening 36a extending vertically through the center. The brake operating portion 36 has a roller portion 57 on the upper surface of an annular member. The roller portion 57 has two rollers attached to an arc-shaped member. The roller portion 57 is inserted into a brake hole 55 provided on the lower surface of the brake element 51 of the brake 33 . Therefore, the roller portion 57 is arranged corresponding to the position of the brake hole 55 . In Embodiment 1, the three roller portions 57 are concentrically arranged at intervals of 120°. The opening 36a is large enough for the engaging portion 34 to pass through, and allows the engaging portion 34 to engage with the workpiece fixing portion 6 through the opening 36a.

The brake operating part 36 releases the operation of the brake 33 by inserting the roller part 57 into the brake hole 55 . Also, the brake operating portion 36 operates the brake 33 by pulling out the roller portion 57 from the brake hole 55 .

24A and 24B are diagrams showing an example of the operation of the brake operating section 36. FIG. FIG. 24A shows a state in which the brake 33 is released. FIG. 24B shows the state in which the brake 33 is operating. As shown in FIG. 24A , the brake operating part 36 inserts the roller part 57 into the brake hole 55 below the brake 33 . At this time, the roller portion 57 is inserted into the brake hole 55 while the roller of the roller portion 57 is in contact with the inclined surface 56 of the brake hole 55 . As a result, the brake element 51 moves toward the radially outer side D<b>9 of the brake 33 , and the brake mounting projection 53 is pulled out of the brake mounting recess 12 of the work fixing portion 6 . Thereby, the plurality of brake elements 51 of the brake 33 are separated from the mounting portion 11 of the workpiece fixing portion 6 . By inserting the roller portion 57 of the brake operating portion 36 into the brake hole 55 in this manner, the operation of the brake 33 is released.

As shown in FIG. 24B , the brake operating portion 36 is moved downward D10 and the roller portion 57 is pulled out from the brake hole 55 . As a result, the brake element 51 moves toward the radially inner side D11 of the brake 33 by the biasing force of the elastic member 52 and is pressed against the mounting portion 11 of the workpiece fixing portion 6 arranged inside the brake 33 . At this time, the brake mounting projection 53 engages with the brake mounting recess 12 of the workpiece fixing portion 6 . In this manner, the brake 33 is actuated by pulling the roller portion 57 of the brake actuating portion 36 out of the brake hole 55 .

In addition, the plurality of braking elements 51 are subjected to an upward force D<b>12 by the biasing force of the elastic member 52 . Thereby, the multiple braking elements 51 are pressed against the lower surface of the pallet 7 .

Thus, the brake 33 is actuated by pulling the roller portion 57 of the brake actuating portion 36 out of the brake hole 55 . When the brake 33 is in an operating state, the brake 33 is pressed against the mounting portion (projecting portion 11 ) of the workpiece fixing portion 6 and the lower surface of the pallet 7 by the biasing force of the elastic member 52 . As a result, the brake 33 can suppress rotation of the workpiece fixing portion 6 with respect to the pallet 7 .

As described above, when the roller portion 57 of the brake operating portion 36 is inserted into the brake hole 55, the brake 33 is separated from the mounting portion 11 of the workpiece fixing portion 6 by widening the interval between the adjacent brake elements 51. do. As a result, the operation of the brake 33 is released, allowing the workpiece fixing portion 6 to rotate with respect to the pallet 7 . On the other hand, when the roller portion 57 of the brake operating portion 36 is pulled out from the brake hole 55 , the brake 33 is mounted on the mounting portion 11 of the workpiece fixing portion 6 by narrowing the distance between the plurality of adjacent brake elements 51 . As a result, the brake 33 is actuated to prevent the workpiece fixing portion 6 from rotating with respect to the pallet 7 .

As shown in FIGS. 16 and 40A, the bearing portion 50 has a brake actuation bar 37 . The brake operating bar 37 is arranged on the flange portion 50 a of the bearing portion 50 .

The brake actuation bar 37 is formed of a bar whose length is variable in the vertical direction. As shown in FIG. 17, the brake actuation bar 37 includes a cylindrical member 59, a cylindrical member 60 slidable inside the cylindrical member 59, and disposed inside the cylindrical member 59 so that the cylindrical member 60 is attached upward. and an elastic body 37a (see FIGS. 40A to 40E). By vertically sliding the cylindrical member 60 inside the cylindrical member 59, the length of the brake operating bar 37 can be changed. Also, the cylindrical member 60 is urged upward by an elastic body. A support portion 60a for supporting the brake operating portion 36 is provided at the upper end of the columnar member 60. As shown in FIG. The support portion 60a has a pin 60b that is inserted into a receiving hole 58 formed in the lower surface of the brake operating portion 36. As shown in FIG. When the brake 33 is operated or while the brake 33 is attached to the workpiece fixing section 6, the brake operating section 36 is temporarily supported by the support section 60a.

In Embodiment 1, the first drive section 30 has three brake actuation bars 37 . The three brake actuation bars 37 are concentrically arranged at intervals of 120°.

A pin 61 is arranged on the side wall near the upper end of the cylindrical member 60 . A pin 61 supports an annular member 62 . That is, the cylindrical member 60 is connected with the annular member 62 by the pin 61 . In Embodiment 1, one annular member 62 is supported by three cylindrical members 60 surrounding it, and it can be said that the three cylindrical members 60 are connected via one annular member 62 . Therefore, the three columnar members 60 are vertically movable together with the annular member 62 .

The annular member 62 is a member that surrounds the outer wall of the engaging portion 34 . That is, the engaging portion 34 is arranged inside the annular member 62 . The lower portion of the engaging portion 34 is smaller than the inner diameter of the annular member 62 , but the upper portion of the engaging portion 34 is a large diameter portion 34 a larger than the inner diameter of the annular member 62 . The annular member 62 is pushed upward together with the cylindrical member 60 by the elastic body 37a, but the upper limit is up to the position where the annular member 62 abuts against the large diameter portion 34a. The outer wall of is provided with an insertion hole 63 into which the pin 61 of the cylindrical member 60 is inserted. By inserting the pin 61 of the cylindrical member 60 into the insertion hole 63 of the annular member 62 , the annular member 62 and the cylindrical member 60 are engaged.

FIG. 25 is a diagram showing an example of a brake holding structure. FIG. 25 shows a state in which two brakes 33 are removed from the pallet 7 and four brakes 33 are attached for explanation. As shown in FIG. 25, the brake 33 is held by a brake holding portion 64. As shown in FIG. The brake holding portion 64 includes a brake holding plate 65 and a plurality of brake holding bars 66 that support the brake holding plate 65 .

The brake holding plate 65 is formed of a rectangular plate member. Further, the brake holding plate 65 has a brake mounting hole 67 penetrating in the vertical direction (Z direction). In Embodiment 1, the brake holding plate 65 is provided with three brake mounting holes 67 . The brake mounting hole 67 is formed in a circular shape when viewed in the vertical direction.

The edge of the brake mounting hole 67 of the brake holding plate 65 engages the brake groove 54 provided in the side wall of the brake 33 . The diameter of the brake mounting hole 67 is smaller than the outer diameter of the brake 33 when the brake 33 is not actuated (see FIG. 23A), and is smaller than the outer diameter of the brake 33 when the brake 33 is actuated (see FIG. 23B). larger than the outer diameter of With this configuration, the brake holding plate 65 engages the brake groove portion 54 of the brake 33 in the brake mounting hole 67 when the brake 33 is not operated. On the other hand, when the brake 33 is operating, the outer diameter of the brake 33 becomes smaller than the diameter of the brake mounting hole 67, and the engagement between the brake groove portion 54 and the brake holding plate 65 is released within the brake mounting hole 67. .

40A shows a state in which the brake holding plate 65 holds the brake 33. FIG. Brake retaining plate 65 has a plurality of brake retaining bars 66 . A plurality of brake holding bars 66 pass through the bottom portion 70 a of the driving base 70 and the lifting base 82 of the lifting portion 32 , and their lower ends 66 a reach above the support base 84 . The brake holding bar 66 is held vertically movably by a guide portion 70g provided on the bottom portion 70a. The brake holding bar 66 also holds a coil spring 66b between the lower end 66a and the bottom 70a. The brake holding bar 66 is always urged downward by the repulsive force of the coil spring 66b. That is, the brake holding plate 65 is biased downward by the coil spring 66b together with the brake 33 held thereon.

As shown in FIG. 40A, the brake operating portion 36 rests on the bottom portion 70a. A roller portion 57 is inserted into the brake hole 55 of the brake 33 held by the brake holding plate 65 . In order to keep the brake holding plate 65 holding the brake 33 , it is necessary to prevent the roller portion 57 of the brake operating portion 36 from slipping out of the brake hole 55 . This is because the outer diameter of the brake 33 becomes smaller than the diameter of the brake mounting hole 67 when the brake 33 is actuated. The aforementioned coil spring 66b has a function of pressing the brake 33 held by the brake holding plate 65 against the brake operating portion 36. As shown in FIG.

As shown in FIG. 40A , through holes 70 h and 82 h through which the bearing portion 50 can pass are formed in the bottom portion 70 a and the lift base 82 . The through holes 70h and 82h are shaped and sized so that the engaging portion 34 and the brake operating bar 37 can pass through them. When the bottom portion 70a and the lifting base 82 are lowered by the elevating portion 32, which will be described later, the pin 60b is inserted into the receiving hole 58 of the brake operating portion 36 placed on the bottom portion 70a, and the member supporting the brake operating portion 36 is moved from the bottom portion 70a. It switches to the cylindrical member 60 (see FIG. 40B). Further, when the bottom portion 70a and the lift base 82 are lowered, the centering pin 42 and the eccentric pin 43 of the engaging portion 34 are inserted into the centering hole 44 and the eccentric hole 45 of the work fixing portion 6 which have descended together (Fig. 40C). reference).

The first motor 38 and the air cylinder 41 are drive sources that drive the first drive section 30 . In Embodiment 1, the first motor 38 rotates the rotary shaft 49 of the shaft portion 35 via the toothed pulley 39 and the toothed belt 40 . That is, the first driving section 30 rotates the workpiece fixing section 6 around the first axis AX1 by the rotation of the first motor 38 . In Embodiment 1, the first motor 38 rotates the engaging portion 34 of each of the plurality of first drive portions 30 .

The air cylinder 41 moves the engaging portion 34 downward to separate the engaging portion 34 from the workpiece fixing portion 6 . Specifically, after the work fixing portion 6 finishes rotating, the air cylinder 41 moves the engaging portion 34 downward so that the engaging portion 34 descends relative to the pallet 7 . As a result, the centering pin 42 and the eccentric pin 43 of the engaging portion 34 are pulled out from the centering hole 44 and the eccentric hole 45 of the work fixing portion 6, and the engagement between the engaging portion 34 and the work fixing portion 6 is released. When the engaging portion 34 and the work fixing portion 6 are disengaged, the work fixing portion 6 can be separated from the first driving portion 30 . When the engaging portion 34 is lowered by the air cylinder 41, the annular member 62 is also pushed down by the large diameter portion 34a, and the columnar member 60 connected thereto also descends. When the cylindrical member 60 descends, the brake operating part 36 supported by the support part 60 a also descends, and the roller part 57 is pulled out from the brake hole 55 . The force with which the elastic member 52 of the brake 33 pulls the brake element 51 also acts on the roller portion 57 by the inclined surface 56 of the brake hole 55 , but the direction of this force is the direction of pushing the roller portion 57 out of the brake hole 55 . Accordingly, when the support portion 60a descends, the brake operating portion 36 also descends, and as a result, the roller portion 57 is pulled out from the brake hole 55 and the brake 33 is operated. Conversely, when the engaging portion 34 is lifted by the air cylinder 41, the engaging portion 34 and the workpiece fixing portion 6 are engaged, and the elastic body 37a of the brake operating portion 36 pushes up the brake operating portion 36, thereby Portion 57 is inserted into brake hole 55 . Thereby, the operation of the brake 33 is released. That is, the air cylinder 41 , the brake operating portion 36 and the brake operating bar 37 also function as a brake drive mechanism for operating the brake 33 .

In the first embodiment, the working device 3 attaches and detaches the brake 33 to and from the workpiece fixing portion 6 by the air cylinder 41 and the brake operating portion 36 . Thus, in Embodiment 1, the air cylinder 41 and the brake operating portion 36 constitute a brake attachment/detachment portion.

<Second drive unit>
FIG. 26 is a perspective view of an example of the second driving section 31. As shown in FIG. FIG. 27 is a perspective view of an example of the second driving section 31 with the pallet 7 removed. FIG. 28 is a front view of an example of the second driving section 31. FIG. 26 to 28 also show elements other than the second driving section 31 for the sake of ease of explanation.

As shown in FIGS. 26 to 28, the second driving section 31 has a mechanism for rotating the workpiece 5 about the second axis AX2. The second driving portion 31 rotates the pallet 7 about a second axis AX2 orthogonal to the first axis AX1 when the engaging portion 34 of the first rotating driving portion is separated from the workpiece fixing portion 6. Includes rotary drive. The second rotation driving section includes a pallet holding section 72, a second motor 73, and a second transmission mechanism. The second transmission mechanism includes a rotating shaft portion 71 that transmits the power of the second motor 73 to the pallet holding portion 72, a relay shaft 74, toothed pulleys 74a, 75a, 75b, 75c, and toothed belts 76a, 76b. .

Specifically, the second drive section 31 has a drive base 70 , a rotating shaft section 71 , a pallet holding section 72 and a second motor 73 . The second driving section 31 also includes a second transmission mechanism that transmits the rotation of the second motor 73 to the pallet holding section 72 . As the second transmission mechanism, a rotary shaft portion 71, a relay shaft 74, toothed pulleys 74a, 75a, 75b, 75c, and toothed belts 76a, 76b are provided.

The drive base 70 is a member that serves as the base of the second drive section 31 . The driving base 70 is fixed on the lifting base 82 of the lifting section 32 . The driving base 70 has a plate-like bottom portion 70a and a pair of side walls 70b and 70c extending upward from the upper surface of the bottom portion 70a. In Embodiment 1, the bottom portion 70 a is formed of a plate-like member having a longitudinal direction in the transport direction D<b>1 , that is, the Y direction of the second driving portion 31 . The side walls 70b, 70c are respectively located at the longitudinal ends of the bottom portion 70a and are located opposite each other.

The rotating shaft portion 71 is rotatably held by the side walls 70 b and 70 c of the drive base 70 and rotated by the second motor 73 . The rotating shaft portion 71 has a rotating shaft 77 extending on the second axis AX2. A rotating shaft 77 of the rotating shaft portion 71 passes through the side walls 70b and 70c. The rotating shaft portion 71 is connected to the second motor 73 via a relay shaft 74, toothed pulleys 75a and 75b, and toothed belts 76a and 76b. Rotation of the second motor 73 is transmitted to the rotary shaft portion 71 via the relay shaft 74, toothed pulleys 75a and 75b, and toothed belts 76a and 76b, thereby rotating the rotary shaft 77 around the second axis AX2. do.

In Embodiment 1, the side wall 70b of the driving base 70 holds two first rotating shaft portions 71a, and the side wall 70c holds two second rotating shaft portions 71b. The first rotating shaft portion 71a and the second rotating shaft portion 71b are arranged to face each other. In this specification, the first rotating shaft portion 71 a and the second rotating shaft portion 71 b are referred to as the rotating shaft portion 71 .

The pallet holding portion 72 is attached to the tip of the rotating shaft portion 71 and holds the pallet 7 . Specifically, the pallet holding part 72 is attached to the tip of the rotating shaft arranged inside the side walls 70 b and 70 c of the driving base 70 in the rotating shaft part 71 . The pallet holding part 72 has a mounting surface 72a on which the pallet 7 is mounted. The pallet holding portion 72 is formed of, for example, an L-shaped member.

A second positioning pin 78 for positioning the pallet 7 is provided on the mounting surface 72a. The second positioning pin 78 is a cylindrical pin that protrudes upward from the mounting surface 72a.

29 is an enlarged perspective view of the Z2 portion of the second driving section 31 of FIG. 26. FIG. As shown in FIG. 29, the second positioning pin 78 is inserted into the second positioning hole 17 of the pallet 7. As shown in FIG. With the second positioning pins 78 inserted into the second positioning holes 17 of the pallet 7 in this manner, the pallet 7 is mounted on the mounting surface 72 a of the pallet holding portion 72 . As a result, movement of the pallet 7 is suppressed except in the upward direction. The pallet holding portion 72 may hold the pallet 7 using magnetic force or negative pressure.

The second driving section 31 rotates the rotating shaft 77 of the rotating shaft section 71 by the second motor 73 while the pallet 7 is held by the pallet holding section 72 . Thereby, the pallet 7 can be rotated around the second axis AX2.

The second motor 73 is a drive source that rotates the rotating shaft portion 71 . The rotation of the second motor 73 is transmitted to the rotating shaft portion 71 via the relay shaft 74, toothed pulleys 74a, 75a, 75b and toothed belts 76a, 76b.

<Elevator>
FIG. 30 is a perspective view of an example of the lifting section 32. As shown in FIG. FIG. 31 is a front view of an example of the lifting section 32. FIG. 30 and 31, the first driving section 30 and/or the second driving section 31 are illustrated for ease of explanation. As shown in FIGS. 30 and 31, the lifting section 32 lifts and lowers the fixed base 80, the lifting support section 81 connected to the fixed base 80, the lifting base 82 supported by the lifting support section 81, and the lifting base 82. A lift motor 83 is provided.

In addition, the element which comprises the raising/lowering part 32 is not limited to these.

The fixed base 80 is a fixed plate-like member. The elevating section 32 elevates the elevating base 82 with respect to the fixed base 80 .

The lifting support part 81 is connected to the fixed base 80 and supports the lifting base 82 . The lifting support part 81 has a lifting shaft 81b that can move in the vertical direction D13 inside the lifting bearing part 81a, and a lifting mechanism 81c.

The lift bearing portion 81 a has a cylindrical shape and is arranged so as to pass through the fixed base 80 . The elevating shaft 81b has a cylindrical shape and can move in the vertical direction (Z direction) inside the elevating bearing portion 81a. The upper end of the elevation shaft 81b is connected to the elevation base 82 . The lifting mechanism 81 c includes a vertically extending feed screw and a nut screwed onto the feed screw. When the lift motor 83 rotates the feed screw, the lift base 82 connected to the nut is lifted.

The lifting motor 83 is a driving source connected to the lifting base 82 and moves the lifting base 82 in the vertical direction D13.

The elevating base 82 is a plate-like member that elevates in the vertical direction D13. The elevating base 82 includes a second driving section 31 . Specifically, the drive base 70 of the second drive section 31 is fixed to the elevation base 82 with screws or the like. Therefore, when the lifting base 82 moves in the vertical direction D13, the second driving section 31 also moves in the vertical direction D13. Further, when the pallet 7 is held by the pallet holding portion 72 of the second driving portion 31, the pallet 7 can be raised and lowered by raising and lowering the elevation base 82. As shown in FIG. As a result, the pallet 7 and the work fixing portion 6 are vertically moved with respect to the engaging portion 34 of the first driving portion 30 , and the work fixing portion 6 is engaged with the engaging portion 34 or the work fixing portion 6 is moved. The brake 33 can be lowered to a position where the work of attaching and detaching the brake 33 can be performed.

A support base 84 is arranged between the fixed base 80 and the lifting base 82 . Specifically, support base 84 is fixedly attached to fixed base 80 by a plurality of bars. The first driving section 30 is attached to the support base 84 .

The lifting section 32 functions as an engagement separation section that separates the engagement section 34 from the workpiece fixing section 6 . In Embodiment 1, the engagement/separation section includes the elevation section 32 , the air cylinder 41 , and the rotating shaft 49 . In this specification, the elevating section 32 is referred to as the first elevating section 32, and the elevating mechanism composed of the air cylinder 41 and the rotating shaft 49 is referred to as the second elevating section. That is, in Embodiment 1, the engagement/separation section is composed of the first elevating section 32 and the second elevating section. Specifically, the engagement between the engaging portion 34 of the first driving portion 30 and the work fixing portion 6 is performed by the first lifting portion 32, and the separation between the engaging portion 34 and the work fixing portion 6 is performed by the second lifting portion 32. Dept.

In addition, the lifting section 32 positions the mounting surface of the workpiece 5 parallel to the conveying surface by the second rotation driving section at a height at which the mounting head (working section) 97 can mount the component.

FIG. 32 is a partial cross-sectional view showing an example of the connection structure of the first driving section 30 and the lifting section 32. As shown in FIG. As shown in FIG. 32, the bearing portion 50 of the first drive portion 30 is connected to the support base 84 by screws. For example, the flange portion 50a of the bearing portion 50 and the support base 84 are connected.

Thus, in the lifting section 32, the lifting motor 83 moves the lifting base 82 in the vertical direction D13 with respect to the fixed base 80 and the supporting base 84. As shown in FIG. Thereby, the second driving section 31 can be moved up and down relative to the conveyor 9 , the first driving section 30 and the brake holding section 64 .

In Embodiment 1, the work device 3 has a pallet attaching/detaching mechanism that removes the pallet 7 from the carrier 8 and attaches the pallet 7 to the second driving section 31 . FIG. 33 is a perspective view showing an example of a working device 3 having a pallet attaching/detaching mechanism. As shown in FIG. 33, the pallet attachment/detachment mechanism is realized by the lift section 32 and the slide section 90. As shown in FIG.

As shown in FIGS. 11A to 11C, the pallet 7 is removed from the carrier 8 by lifting the pallet 7 upward, sliding the pallet 7 relative to the carrier 8 in the transport direction D1, and then removing the pallet 7 from the carrier 8. As shown in FIGS. This is done by moving 7 downward. On the other hand, the attachment of the pallet 7 to the carrier 8 is carried out in the reverse order of removal.

The elevating unit 32 moves the pallet 7 vertically by elevating the elevating base 82 . Specifically, the pallet 7 is held by a pallet holding portion 72 of the second driving portion 31 , and the second driving portion 31 is supported by an elevating base 82 . Therefore, the pallet 7 can be moved up and down together with the second driving section 31 by raising and lowering the elevation base 82 .

The slide portion 90 slides the pallet 7 relative to the carrier 8 by sliding the carrier 8 . As shown in FIG. 33, the slide portion 90 is attached to the support base 84 . The slide portion 90 has a third positioning pin 91 and a lift pin 92 that are inserted into the third positioning holes 25 of the carrier 8 . Further, the slide portion 90 has a mechanism capable of moving the third positioning pin 91 and the lift pin 92 upward. Specifically, an air cylinder 93 is provided. When the carrier 8 is conveyed above the slide portion 90 by the conveyor 9, the air cylinder 93 is operated to move the third positioning pin 91 and the lift pin 92 upward. As a result, the third positioning pin 91 and the lift pin 92 slightly lift the carrier 8 from the conveyor 9 and the third positioning pin 91 is inserted into the third positioning hole 25 . The slide portion 90 slides the carrier 8 while the third positioning pin 91 is inserted into the third positioning hole 25 of the carrier 8 . The slide portion 90 has an actuator (not shown) that slides a member to which an air cylinder 93 is attached. By operating the actuator, the pallet 7 is moved relative to the carrier 8 .

The third positioning pin 91 has a vertically movable mechanism. The third positioning pin 91 moves upward and is inserted into the third positioning hole 25 when the carrier 8 is conveyed to the work device 3 . Further, the third positioning pin 91 remains inserted in the third positioning hole 25 until the pallet 7 is returned to the carrier 8, and moves downward when the carrier system is unloaded from the work device 3. It is pulled out from the positioning hole 25 .

34A and 34B are diagrams showing an example of the operation of the third positioning pin 91. FIG. 35A and 35B are enlarged perspective views showing an example of the operation of the third positioning pin 91. FIG. As shown in FIGS. 34A and 35A, when the carrier 8 is conveyed to the work device 3 by the conveyor 9, the slide portion 90 moves the third positioning pin 91 upward D14. Thereby, the third positioning pin 91 is inserted into the third positioning hole 25 of the carrier 8 as shown in FIGS. 34B and 35B.

36A to 36C are diagrams showing an example of the operation of removing the pallet 7 from the carrier 8. FIG. 36A to 36C are enlarged views of the periphery of the second positioning hole 17 of the pallet 7. FIG. As shown in FIG. 36A , the lifting section 32 moves the lifting base 82 in the upward direction D15 so that the second positioning pins 78 of the pallet holding section 72 of the second driving section 31 are aligned with the second positioning holes 17 of the pallet 7 . insert.

As shown in FIG. 36B , the elevating section 32 further elevates the elevating base 82 while the second positioning pin 78 is inserted into the second positioning hole 17 . As a result, the pallet 7 is lifted from the carrier 8 and the first positioning pins 20 of the carrier 8 are removed from the first positioning holes 16 of the pallet 7 .

Next, the pallet 7 is moved in the transport direction D16 relative to the carrier 8 by sliding the carrier 8 in the direction D17 opposite to the transport direction D16 by the slide portion 90 . This disengages the pallet 7 from the carrier 8 as shown in FIG. 36C.

37A and 37B are diagrams showing an example of the operation of sliding the carrier 8. FIG. 37A and 37B show diagrams of the work device 3 viewed from above. As shown in FIG. 37A, the slide portion 90 moves the carrier 8 in a direction D17 opposite to the transport direction D16. Thereby, as shown in FIG. 37B, the slide portion 90 places the pallet 7 in the openings 22 and 24 . Specifically, the held portion 14 of the pallet 7 is arranged in the opening 22 , the reduced portion 15 is arranged between the two holding pieces of the holding portion 19 , and the rest is arranged in the opening 24 .

In the state shown in FIG. 37B , the lift section 32 moves the lift base 82 downward to move the pallet 7 below the carrier 8 . At this time, the pallet 7 moves downward through the openings 22 and 24 and is removed from the carrier 8 .

[Operation of component mounting system]
Next, an example of the operation of the component mounting system 1, that is, an example of a component mounting method will be described in detail.

FIG. 38 shows an example of a flowchart of a component mounting method. Note that the flowchart of FIG. 38 is an example of the component mounting method, and is not limited to these steps.

As shown in FIG. 38, in step ST1, the conveyor 9 conveys the carrier 8 holding the pallet 7 to the working device 3. As shown in FIG. Specifically, as shown in FIG. 2A, the conveyor 9 of the work device 3 moves the carrier 8 in the transport direction D1. As shown in FIG. 2B, when the carrier 8 moves above the working device 3, the conveyor 9 stops. A workpiece fixing portion 6 to which the workpiece 5 is fixed is rotatably held on the pallet 7 .

In step ST2, the pallet 7 is removed from the carrier 8 and attached to the work device 3 by the lifting section 32 and the sliding section 90. As shown in FIG.

As shown in FIGS. 34A to 34B and FIGS. 35A to 35B, the slide portion 90 moves the third positioning pin 91 in the upward direction D14 and inserts the third positioning pin 91 into the third positioning hole 25 of the carrier 8. As shown in FIGS. Thereby, the carrier 8 can be positioned above the work device 3 .

As shown in FIGS. 36A to 36C, the elevating section 32 elevates the elevating base 82 to elevate the second driving section 31 . Thereby, the second positioning pin 78 of the pallet holding portion 72 of the second driving portion 31 is inserted into the second positioning hole 17 of the pallet 7 . The lifting section 32 further lifts the lifting base 82 , lifts the held section 14 of the pallet 7 from the holding section 19 of the carrier 8 , and removes the first positioning pin 20 of the carrier 8 from the first positioning hole 16 of the pallet 7 .

The slide unit 90 moves the pallet 7 in the transport direction D16 relative to the carrier 8 by moving the carrier 8 in the transport direction D17 and the opposite direction D17. As a result, as shown in FIGS. 37A and 37B, the held portion 14 of the pallet 7 is arranged in the opening 22, the reduced portion 15 is arranged between the two holding pieces of the holding portion 19, and the other portions are It is arranged in the opening 24 .

The lifting section 32 moves the pallet 7 downward through the openings 22 and 24 of the carrier 8 by moving the lifting base 82 downward. This removes the pallet 7 from the carrier 8 .

The pallet 7 is held by the pallet holding portion 72 with the second positioning pin 78 of the pallet holding portion 72 of the second driving portion 31 inserted into the second positioning hole 17 of the pallet 7 . That is, the pallet 7 is held by the second drive section 31 . As a result, the pallet 7 is attached to the working device 3 .

In step ST3, the first driving section 30 is engaged with the work fixing section 6, and if necessary, the first driving section 30 rotates the work fixing section 6 around the first axis AX1. Further, in step ST4, the brake 33 is attached to the workpiece fixing portion 6 by the first driving portion 30. As shown in FIG.

Steps ST3 and ST4 will be described in detail using FIGS. 39A to 39D and FIGS. 40A to 40E. 39A to 39D are partial enlarged perspective views of an example of the operation of the first driving section 30. FIG. 40A to 40E are diagrams explaining an example of the operation of the first driving section 30. FIG.

As shown in FIGS. 39A and 40A, the pallet 7 is positioned above the first drive section 30 after it has been removed from the carrier 8 . That is, after the pallet 7 is removed from the carrier 8, the first driving section 30 and the workpiece fixing section 6 are separated.

The brake 33 is held by a brake holding plate 65 and arranged above the engaging portion 34 of the first driving portion 30 . Specifically, the brake 33 is held by engaging the brake holding plate 65 with the brake groove portion 54 of the brake 33 .

A roller portion 57 of the brake operating portion 36 is inserted into the brake hole 55 of the brake 33 . Therefore, the brake 33 is not operated. The brake actuation part 36 is supported by the drive base 70 of the second drive part 31 and is separate from the brake actuation bar 37 .

As shown in FIGS. 39B and 40B, the lifting section 32 moves the lifting base 82 together with the driving base 70 of the second driving section 31 in the downward direction D18. Also, prior to this, the air cylinder 41 of the first driving portion 30 is operated to raise the engaging portion 34 . Thereby, the workpiece fixing portion 6 is attached to the first driving portion 30 .

The pallet 7 is held by a pallet holding portion 72 of the second driving portion 31 . Therefore, when the driving base 70 of the second driving section 31 moves downward D18, the pallet 7 also moves downward D18. On the other hand, the first driving section 30 is not connected to the lift base 82 but is supported by the support base 84 . Therefore, when the pallet 7 moves in the downward direction D<b>18 as the lift base 82 and the driving base 70 descend, the first driving section 30 moves upward relative to the pallet 7 . As a result, the engaging portion 34 of the first driving portion 30 engages the workpiece fixing portion 6 from below the pallet 7 .

Since the brake holding plate 65 descends as the elevation base 82 and the drive base 70 descend, the brake 33 also descends. When the lower end 66a of the brake holding bar 66 lands on the upper surface of the support base 84, the brake holding plate 65 stops descending. As a result, the brake 33 is held at a predetermined height position by the brake holding plate 65 and does not descend from the predetermined height position.

In addition, the brake actuating portion 36 also descends as the elevation base 82 and the drive base 70 descend. engage. Specifically, a pin 60b provided on a support portion 60a of a cylindrical member 60 is inserted into a receiving hole 58 provided on the lower surface of the brake operating portion 36. As shown in FIG. When the brake actuation portion 36 and the cylindrical member 60 are engaged, the brake actuation portion 36 is supported by the brake actuation bar 37 . The cylindrical member 60 is urged upward by an elastic body inside the cylindrical member 59 . Therefore, the brake operating portion 36 is supported while being pushed upward by the brake operating bar 37 . As a result, the state in which the roller portion 57 is inserted into the brake hole 55 of the brake 33 can be maintained.

As shown in FIGS. 39C and 40C , when the lifting base 82 and the driving base 70 continue to descend, the pallet 7 descends to a height where the brake mounting recess 12 of the work fixing portion 6 is positioned inside the brake 33. . As a result, the engaging portion 34 of the first driving portion 30 engages the workpiece fixing portion 6 from below the pallet 7 . Specifically, the centering pin 42 and the eccentric pin 43 of the engaging portion 34 are inserted into the centering hole 44 and the eccentric hole 45 of the workpiece fixing portion 6, respectively. The centering pin 42 is arranged on the first axis AX1. Therefore, by inserting the centering pin 42 into the centering hole 44 , the centering pin 42 can function as the center of rotation of the workpiece fixing portion 6 .

Next, the first driving section 30 rotates the rotating shaft 49 of the shaft section 35 by the first motor 38, and rotates the engaging section 34 connected to the rotating shaft 49 (see FIG. 14). As a result, the eccentric pin 43 turns around the centering pin 42 , and the workpiece fixing portion 6 engaged with the engaging portion 34 rotates about the centering pin 42 of the engaging portion 34 . That is, the rotation of the engaging portion 34 causes the workpiece fixing portion 6 to rotate about the first axis AX1. As a result, of the mounting surfaces of the workpiece 5 fixed to the workpiece fixing portion 6, the mounting surface on which work is planned is adjusted so as to be parallel to the second axis AX2. If the mounting surface on which the work is to be performed is parallel to the second axis AX2 when the engaging portion 34 is engaged with the work fixing portion 6, there is no need to rotate the engaging portion 34, and this work is performed. can be skipped.

As shown in FIG. 40D , when the rotation of the work fixing portion 6 by the first driving portion 30 is completed, the brake 33 is attached to the work fixing portion 6 . Specifically, the first drive unit 30 moves the rotary shaft 49 downward by the air cylinder 41 (see FIG. 14). As a result, the engaging portion 34 connected to the upper end of the rotating shaft 49 is moved downward D19.

When the engaging portion 34 moves downward D<b>19 , the centering pin 42 and the eccentric pin 43 of the engaging portion 34 are pulled out from the centering hole 44 and the eccentric hole 45 . As a result, the engagement between the engaging portion 34 and the workpiece fixing portion 6 is released, and the engaging portion 34 is separated from the workpiece fixing portion 6 .

Further, when the engaging portion 34 moves downward D19, the annular member 62 is also pushed downward D19 by the large diameter portion 34a of the engaging portion 34. As shown in FIG. Since the annular member 62 is connected to the cylindrical member 60 by the pin 61, the support portion 60a also descends. As a result, the brake operating portion 36 also moves downward D19.

When the brake operating portion 36 moves downward D<b>19 , the roller portion 57 is pulled downward from the brake hole 55 of the brake 33 . When the roller portion 57 is pulled out from the brake hole 55, the brake 33 operates (see FIGS. 24A and 24B). When the brake 33 is actuated, the plurality of braking elements 51 of the brake 33 move toward the radially inner side D20 of the brake 33 . As a result, the engagement between the brake groove portion 54 and the brake holding plate 65 is released, the brake 33 is separated from the brake holding plate 65 , and the brake 33 is mounted on the mounting portion 11 of the workpiece fixing portion 6 .

Specifically, when the brake 33 is actuated, the brake mounting projection 53 provided inside the brake 33 engages the brake mounting recess 12 of the work fixing portion 6 . Also, the plurality of braking elements 51 are pressed against the mounting portion (protruding portion) 11 of the workpiece fixing portion 6 and the lower surface of the pallet 7 by the elastic member 52 (see FIG. 24B). As a result, the brake 33 is attached to the work fixing portion 6 to suppress the rotation of the work fixing portion 6 with respect to the pallet 7 . That is, by attaching the brake 33 to the work fixing portion 6, rotation of the work fixing portion 6 about the first axis AX1 is suppressed.

Thus, when the brake 33 is operated, the brake 33 is separated from the brake holding plate 65 and attached to the workpiece fixing portion 6 .

As shown in FIGS. 39D and 40E, the lifting section 32 moves the pallet 7 in the upward direction D21 by moving the lifting base 82 and the drive base 70 in the upward direction D21. As a result, the workpiece fixing portion 6 is separated from the first driving portion 30 while the brake 33 is attached.

In this way, after the work fixing portion 6 is rotated around the first axis AX1 by the first driving portion 30, the brake 33 is attached to the work fixing portion 6, and the work fixing portion 6 is rotated by the first driving portion. Separated from 30.

Returning to FIG. 38, in step ST5, the pallet 7 is rotated around the second axis AX2 by the second driving section 31 (see FIG. 26). When the pallet 7 is rotated, the rotation of the workpiece fixing portion 6 with respect to the pallet 7 is suppressed. Therefore, even if the pallet 7 is rotated, the workpiece fixing portion 6 is prevented from rotating about the first axis AX1, and the shift can be suppressed. As a result, the mounting surface of the workpiece 5 is oriented in a direction in which the working portion 97 can work. Specifically, the mounting surface of the work 5 is made parallel to the conveying surface. In addition, the elevation unit 32 adjusts the height of the mounting surface of the work 5 to a height at which the working unit can work. Specifically, the mounting surface of the workpiece 5 is positioned at a height within a predetermined range from the conveying surface.

In step ST6, the component is attached to the workpiece 5 fixed to the workpiece fixing part 6 by the working part. The work part is, for example, a mounting head that mounts a component on the workpiece 5 . As shown in FIG. 2C , after rotating the workpiece 5 by the first driving section 30 and the second driving section 31 , the working section mounts the component on the mounting surface of the workpiece 5 .

At step ST7, it is determined whether or not there is another mounting surface that requires work. If there is a required mounting surface, the process returns to step ST3. If there is no necessary mounting surface, the process proceeds to step ST8.

In step ST8, the brake 33 is separated from the workpiece fixing section 6 by the brake operating section 36. As shown in FIG. In step ST8, the brake 33 is separated from the workpiece fixing portion 6 by performing the steps of FIGS. 39A to 39D and FIGS. 40A to 40F described in steps ST3 and ST4 in reverse order. Specifically, by inserting the brake operating portion 36 into the brake hole 55 of the brake 33 , the operation of the brake 33 is released and the brake 33 is separated from the workpiece fixing portion 6 . The separated brake 33 is held by a brake holding plate 65 .

In step ST9, the pallet 7 is attached to the carrier 8 by the lifting section 32 and the sliding section 90. As shown in FIG. In step ST9, the pallet 7 is removed from the working device 3 and attached to the carrier 8 by the lifting section 32 and the sliding section 90. As shown in FIG. In step ST9, the pallet 7 is held by the carrier 8 by performing the steps described in step ST2 in reverse order.

In step ST10, the carrier system 2 conveys the carrier 8 to the reflow device 4. As shown in FIG. Specifically, when the pallet 7 is attached to the carrier 8 , the slide portion 90 moves the third positioning pin 91 downward and pulls out the third positioning pin 91 from the third positioning hole 25 of the carrier 8 . After that, as shown in FIG. 2D , the work device 3 drives the conveyor 9 to convey the carrier 8 to the reflow device 4 .

In step ST11, the parts attached to the workpiece 5 are soldered by the reflow device 4. FIG. The reflow device 4 melts the solder by heating the work on which the component is attached by the working device 3 . Thereby, the parts attached to the workpiece are soldered.

Thus, in the component mounting method, components are mounted on the workpiece 5 by performing steps ST1 to ST11.

[effect]
According to the component mounting system 1, productivity can be improved by the above configuration. In addition, even when the carrier system 2 and the work device 3 constituting the component mounting system 1 are used alone, the effect of improving productivity can be obtained.

The carrier system 2 is conveyed by the conveyor 9 in a state in which the work 5 is fixed to the work fixing portion 6 to which the brake 33 is detachable, so that the operation of the work device 3 in the subsequent stage can be performed efficiently.

In the work device 3, the first driving section 30 and the second driving section 31 can independently rotate the workpiece 5 around the first axis AX1 and the second axis AX2. Thereby, the workpiece 5 can be efficiently rotated. In addition, since the space for rotating the workpiece 5 can be reduced compared to a configuration in which a plurality of rotating shafts are interlocked to rotate the workpiece 5, the size of the apparatus can be reduced.

In addition, although Embodiment 1 described an example of the configuration of the component mounting system 1 that mounts components on six works 5, the present invention is not limited to this. The component mounting system may be configured to mount components on one or more works 5 .

In Embodiment 1, an example in which the carrier system 2 includes the workpiece fixing section 6, the pallet 7, and the carrier 8 has been described, but the elements constituting the carrier system 2 are not limited to these. The elements constituting the carrier system 2 described in Embodiment 1 are examples, and some of these elements may be deleted, and other elements may be added.

In Embodiment 1, an example in which the work device 3 includes the work unit 97, the first drive unit 30, the second drive unit 31, and the lifting unit 32 has been described, but the elements constituting the work device 3 are not limited to these. . The elements constituting the work device 3 described in Embodiment 1 are merely examples, and some of these elements may be omitted, or other elements may be added.

Moreover, although the working device 3 has been described as a component mounting device having a mounting head for mounting components on the mounting surface of the workpiece 5, it is not limited to this. The working device 3 may be an applicator equipped with a coating head for coating solder or adhesive, an inspection device equipped with an inspection head for inspecting the mounting state of components, or a combination of these devices.

In Embodiment 1, an example in which the engagement separation section is configured by the first elevating section 32 and the second elevating section including the air cylinder 41 and the rotating shaft 49 has been described, but the present invention is not limited to this. That is, in the first embodiment, the engagement and separation between the engaging portion 34 and the workpiece fixing portion 6 are described as an example in which different mechanisms are used, but the present invention is not limited to this. The engagement and separation between the engagement portion 34 and the workpiece fixing portion 6 may be performed by the same mechanism. For example, the engagement/separation section may be configured with only the first elevating section 32 or only with the second elevating section.

In Embodiment 1, an example in which the brake 33 is arranged above the first drive unit 30 of the work device 3 has been described, but the present invention is not limited to this. The brake 33 may be placed at any position in the component mounting system 1 as long as it is attached to the work fixing section 6 after the first driving section 30 completes the rotation of the work fixing section 6 .

Embodiment 1 describes an example in which the air cylinder 41, the brake operating portion 36, and the brake operating bar 37 function as a brake mounting mechanism portion and a brake separating mechanism portion. That is, in Embodiment 1, an example is described in which the brake attachment mechanism also functions as a brake separation mechanism. However, the component mounting system 1 may have separate brake mounting mechanism and brake separation mechanism. In this case, the brake separation mechanism section may separate the brake 33 from the work fixing section 6 before the work 5 is conveyed to the reflow device 4 .

In Embodiment 1, an example of a method including steps ST1 to ST11 has been described as a component mounting method, but the present invention is not limited to this. Some of these steps ST1-ST11 may be deleted. Moreover, another step may be added to the component mounting method.

Although the present invention has been fully described in connection with preferred embodiments and with reference to the accompanying drawings, various variations and modifications will become apparent to those skilled in the art. Such variations and modifications are to be included therein insofar as they do not depart from the scope of the invention as set forth in the appended claims.

INDUSTRIAL APPLICABILITY A working device according to the present invention is useful, for example, as a component mounting device for a component mounting system that mounts components on a work having a plurality of mounting surfaces inclined with respect to a conveying surface.

REFERENCE SIGNS LIST 1 component mounting system 2 carrier system 3 working device 4 reflow device 5 workpiece 6 workpiece fixing portion 7 pallet 8 carrier 9 conveyor 10 mounting table 11 projecting portion (mounting portion)
12 brake mounting recess 13 through hole 14 held portion 15 reduction portion 16 first positioning hole 17 second positioning hole 18 guide 19 holding portion 20 first positioning pin 21 connecting portion 22 opening 23 reinforcing portion 24 opening 25 third positioning hole 30 First driving part 31 Second driving part 32 Lifting part 33 Brake 34 Engagement part 34a Large diameter part 35 Shaft part 36 Brake operation part 36a Opening 37 Brake operation bar 37a Elastic body 38 First motor 39 Toothed pulley 40 Toothed belt 41 air cylinder 42 centering pin 43 eccentric pin 44 centering hole 45 eccentric hole 46a first accommodation hole 46b second accommodation hole 46c pin 46d pin 46e elastic body 46f elastic body 47 detection hole 48 detection sensor 48a light emitting part 48b light receiving part 49 Rotating shaft 50 Bearing portion 50a Flange portion 50b Through hole 50c Shaft holder 51 Brake element 52 Elastic member 53 Brake mounting convex portion 54 Brake groove portion 55 Brake hole 56 Inclined surface 57 Roller portion 58 Receiving hole 59 Cylindrical member 60 Cylindrical member 60a Support Part 60b Pin 61 Pin 62 Annular Member 63 Insertion Hole 64 Brake Holding Part 65 Brake Holding Plate 66 Brake Holding Bar 67 Brake Mounting Hole 70 Drive Base 70a Bottom Part 70b, 70c Side Wall 70g Guide Part 70h Through Hole 71 Rotational Shaft Part 71a First Rotation Shaft portion 71b Second rotating shaft portion 72 Pallet holding portion 73 Second motor 74 Relay shaft 74a Toothed pulleys 75a, 75b, 75c Toothed pulleys 76a, 76b Toothed belt 77 Rotating shaft 78 Second positioning pin 80 Fixed base 81 Lifting Support portion 81a Elevation bearing portion 81b Elevation shaft 82 Elevation base 83 Elevation motor 84 Support base 85 Through hole 90 Slide portion 91 Third positioning pin 97 Working portion 98 Parts supply portion 98a Feeder 99 Conveying device AX1 First axis AX2 Second axis

Claims (10)

A working device comprising a working part for working on a work fixed to a work fixing part of a pallet having a work fixing part rotatable about a first axis,
a first rotary drive unit having an engaging portion that engages with the work fixing portion from below the pallet, and rotating the work fixing portion around the first axis by rotating the engaging portion; ,
an engaging separation portion that engages the engaging portion with the work fixing portion or separates it from the work fixing portion;
a second rotary drive section that rotates the pallet about a second axis orthogonal to the first axis when the engagement section of the first rotary drive section is separated from the workpiece fixing section;
A work device comprising: The pallet has a plurality of workpiece fixing parts,
A plurality of engaging portions are arranged below the plurality of work fixing portions,
The work device according to claim 1. The working device according to claim 2, wherein the plurality of engaging portions are arranged along the extending direction of the second axis. 4. The working device according to claim 2, further comprising a drive source for rotating said plurality of engaging portions. Furthermore,
2. The working device according to claim 1, further comprising a brake mounted on said work fixing part and suppressing rotation of said work fixing part about said first axis with respect to said pallet. The brake is detachable with respect to the workpiece fixing portion,
6. The working device according to claim 5, further comprising a brake attachment/detachment portion for attaching/detaching the brake to/from the workpiece fixing portion. 7. The working device according to claim 6, further comprising a brake holding portion that holds the brake separated from the work fixing portion. A centering hole provided in the center of the work fixing portion is provided on the lower surface of the work fixing portion,
The engaging portion is
2. The working device according to claim 1, further comprising a centering pin arranged on the first shaft and inserted into the centering hole of the workpiece fixing portion. 2. The working device according to claim 1, further comprising an engagement state detection section for detecting an engagement state between said engagement section and said workpiece fixing section. 10. The working unit includes at least one of a mounting head for mounting a component, a coating head for applying solder or adhesive, and an inspection head for inspecting the mounting state of the component. The work device according to item 1.

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