JPH0649434U - Plate transfer device - Google Patents

Abstract

(57) [Summary] [Purpose] To allow smooth transfer of plate-like objects. [Structure] This transfer device is a device that lowers and mounts a mounting table 50 from a descentable holding table 41 to a robot arm device 2 having a positioning pin 52. This device includes a free bearing 23, a pivot arm 20,
And a connection block 24. Free bearing 2
3 is for receiving the mounting table 50 from the descending supporting table 41 and temporarily holding the supporting table 50 so as to be movable in the horizontal direction. The tip of the pivot arm 20 comes into contact with the holding base 41, so that the free bearing 23 is lowered at a speed lower than the lowering speed of the holding base 41. The connection block 24 connects the free bearing 23 to an intermediate portion of the pivot arm 20.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a transfer device, and more particularly to a plate-shaped object transfer device that lowers and transfers a plate-shaped object.

[0002]

[Prior art and its problems]

 For example, for visual inspection of a printed wiring board, an optical visual inspection apparatus is used that optically scans the printed wiring board and processes the obtained image to determine the presence or absence of defects. When loading and unloading a printed wiring board to such an optical appearance inspection device, it is necessary to place the printed wiring board in a predetermined posture at a predetermined inspection position of the optical appearance inspection device. The operator handles the printed wiring board by hand.

In the above-mentioned conventional configuration, the operator needs to handle the printed wiring boards one by one, the work is complicated, and the work efficiency is not improved. Therefore, the inventor of the present application considered a configuration for loading and unloading the printed wiring board with respect to the optical appearance inspection system using a robot arm. There, the mounting table on which the printed wiring boards are stacked is transferred from the cart to the base of the robot arm, and the robot arm supplies the printed wiring boards to the optical appearance inspection device one by one from the transferred mounting table. To do.

According to the improvement proposed by the inventor of the present application, when the mounting table is transferred from the cart to the base of the robot arm, it is necessary to transfer the table smoothly. An object of the present invention is to enable smooth transfer when a plate-like object is lowered and transferred. Further, in the above-mentioned improvement plan, in order to accurately position and load the printed wiring board with respect to the optical appearance inspection device, the printed wiring board should be accurately positioned when it is transferred from the carriage to the base of the robot arm. It is necessary to position and transfer to. For this reason, the mounting table on which the printed wiring board is mounted is provided with positioning holes, and the base is provided with positioning taper pins. The mounting table is mounted on the base with the taper pins roughly aligned so as to face the holes. The taper pin was positioned so that the taper pin was guided by the taper surface so that the hole of the mounting table was fitted into the taper pin. However, when performing positioning with such pins and holes, if the mounting table is not supported so that it can move in the horizontal direction when both are fitted, the taper surface and the edges of the holes will rub against each other, and the pins will wear out. It is possible that the mounting table can be horizontally moved by free bearings only when transferring from the dolly to the base because it may break. For this reason, by lowering the work table with the free bearings placed between the work table and the work table, the work table is transferred from the cart to the free bearing, and then the free bearing is lowered at a low speed. In this state, it is configured to fit into the taper pin.

Therefore, the operator lowers the free bear ring at a low speed after confirming that the mounting table has been transferred to the free bearing while confirming the positional relationship between the hole of the mounting table and the taper pin of the base. I was operating the drive means to lower the free bearing at a low speed. However, if the drive means for lowering the free bearing at a low speed is provided in this way, the device for that purpose becomes large and the cost becomes high. Also, it is impossible to keep an eye on the free bearing when performing the work of lowering the free bearing at a low speed after confirming that the mounting table has been transferred to the free bearing as described above. It was a troublesome thing.

Therefore, another object of the present invention is to facilitate the work of positioning and moving the plate-like object by using the taper pin when transferring the plate-like object, to enable smooth transfer, and to enlarge the apparatus. It is to provide a plate-like object transfer device that does not have such a problem.

[0007]

[Means for Solving the Problems]

 A plate-shaped object conveying device according to a first invention is a device for transferring a plate-shaped object from a first placing part to a second placing part. This apparatus is capable of lowering the first placing part, a sub-mounting part that receives and supports the plate-like object from the first placing part, and the sub-mounting part can be lowered. The sub-descent means and the interlocking mechanism for interlocking the descent means and the sub-descent means are provided. The interlocking mechanism is configured to make the descending speed of the sub descending means accompanying the descending of the descending means smaller than the descending speed of the descending means.

A plate-like object conveying device according to a second invention is a device for transferring a plate-like object from a first placing part to a second placing part, and in particular, it is placed on the first placing part. The transfer of the plate-shaped object to the second mounting portion is performed by positioning the taper pin attached to either the plate-shaped object or the second mounting portion into the pin hole formed in the other. The transfer device is configured to transfer the first mounting part and the second mounting part so that the first mounting part lowers relative to the second mounting part. The second mounting portion of the first mounting portion is supported by the ascending / descending means for relatively ascending / descending between the mounting portions, the base portion being tiltably supported by the second mounting portion, and the tip contacting the first mounting portion. The tilting arm that tilts downwards in conjunction with the relative lowering of the tilting arm and the tilting arm at a position between the base and the tip of the tilting arm are attached to the tilting arm to allow horizontal movement of the plate-like object. And a sub-mounting part for supporting the sub-mounting part.

[0009]

[Action]

 In the plate-shaped object conveying device according to the first invention, when the plate-shaped object is moved down and transferred from the first mounting part to the second mounting part, the first mounting part is lowered by the descending means. As a result, the sub-mounting portion comes into contact with the lower surface of the plate-shaped object of the first mounting portion. Further, the sub-mounting part is lowered by the sub-descent means. The sub-descent means and the descent means are linked by an interlocking mechanism. Since the interlocking mechanism is configured to make the descending speed of the sub descending means accompanying the descending of the descending means smaller than the descending speed of the descending means, the plate-like object is transferred from the sub-mounting section to the second mounting section. When mounting, the relative speed between the sub-mounting section and the second mounting section becomes small, and the transfer operation is smoothly performed without giving an impact during transfer.

In the plate-shaped object conveying device according to the second invention, the elevating means moves the first placing part and the second placing part so that the first placing part is relatively lowered with respect to the second placing part. When the parts are moved up and down relative to each other, the sub-mounting part comes into contact with the lower surface of the plate-shaped object of the first mounting part, and the sub-mounting part is pressed downward, and the tilting arm tilts in the direction in which the tip lowers. To be When the first placing part continues to descend, the tip of the tilting arm contacts the first placing part, and the tilting arm responds to the progress of the relative lowering of the first placing part with respect to the second placing part. Tilt at a range of speeds. In such a tilting motion, since the sub-mounting part is assembled to the tilting arm at a position between the base part and the front end of the tilting arm, the sub-mounting part is smaller than the tip of the tilting arm is lowered. You can only descend. Therefore, the sub-mounting section descends at a slower speed than the first mounting section, and the weight of the plate-like object gradually shifts from the first mounting section to the sub-mounting section.

Since the plate-like object descends in the state of being supported by the sub-mounting portion so as to be movable in the horizontal direction, the plate-like material is formed of a taper pin and a pin hole between the plate-like material and the second mounting portion. In the positioning operation, the plate-like object can move horizontally as the edge of the pin hole is guided by the tapered surface of the taper pin, and both are smoothly inserted and positioned.

Further, when the first placing section continues to descend and the sub placing section descends, the sub placing section becomes lower than the second placing section, and the second placing section supports the plate-like object. Then, the plate-like object is transferred to the second mounting section.

[0013]

【Example】

 Referring to FIG. 1, a printed wiring board appearance inspection system to which an embodiment of the present invention is applied includes an optical appearance inspection apparatus 1 arranged at the center, a robot arm apparatus 2 for loading and a robot arm apparatus 2 for loading arranged on one side thereof. An unloading robot arm device 3 arranged on the other side is mainly provided. Carts 4 and 5 are arranged on both robot arm devices 2 and 3, respectively.

The optical appearance inspection apparatus 1 is an apparatus for inspecting the appearance of defects on the printed wiring board by scanning the printed wiring board using a reflection light source or a transmission light source and performing pattern recognition processing on the obtained image. is there. The apparatus 1 is provided with an inspection table 6 for placing and inspecting a printed wiring board to be inspected. Since the pair of loading robot arm device 2 and dolly 4 and the pair of unloading robot arm device 3 and dolly 5 have substantially the same configuration centering on the optical appearance inspection device 1, Hereinafter, the configurations of the loading robot arm device 2 and the carriage 4 and the mounting table 50 on which a large number of printed wiring boards 13 are aligned and loaded are transferred from the state of being supported by the carriage 4 to the loading robot arm device 2. Explain the operation in detail.

In FIGS. 2 and 3, the robot arm device 2 includes a base 10 and a robot arm 11 that projects upward from the base 10. The robot arm 11 is controlled and driven by a control unit (not shown) including a microcomputer housed in the base 10, and the suction pad 12 at the tip of the robot arm 11 sucks and transfers the printed wiring boards 13 one by one. There is.

An accommodating portion 14 for the carriage 4 is provided at a front side portion (a left side portion in FIGS. 2 and 3) of the base 10. The storage unit 14 has a U-shape that opens to the front side of the device when viewed from above (see FIG. 2), and the trolley 4 can be pushed into the storage unit 14 from the opening in front of the device. . Four lifting mechanisms 15 to 18 are provided in the upper part of the inside of the storage portion 14 at approximately four corners thereof. The elevating mechanisms 15 to 18 have the same structure except the mounting direction. The pair of elevating mechanisms 15 and 16 arranged on the front side of the apparatus are attached such that a pivot arm 20 described later has its tip facing the inner side of the apparatus. Further, the pair of lifting mechanisms 17 and 18 arranged on the rear side of the device are attached so that the pivot arm 20 thereof has its tip facing the front side of the device.

Since the lifting mechanisms 15 to 18 have the same structure, only the lifting mechanism 15 will be described in detail below. As shown in FIG. 4, the lifting mechanism 15 is fixed to the frame 14 a of the storage unit 14 via the bracket 21. As shown in FIGS. 5 and 6, the lifting mechanism 15 includes a base block 22 fixed to a bracket 21 (FIG. 4), a pivot arm 20 rotatably supported by the base block 22, and a pivot arm. It mainly has a connecting block 24 assembled to the pivot arm 20 at a position between the base portion and the tip end portion of 20 and a free bearing 23 fixed to the upper end of the connecting block.

The base block 22 has a cutout portion 25 into which the base portion of the pivot arm 20 is inserted, and a support shaft 26 passing through the cutout portion 25. A base of the pivot arm 20 is rotatably supported by a support shaft 26 in the cutout portion 25. Further, a torsion spring 27 is fitted in the support shaft 26 in the cutout portion 25. Since one end of the torsion spring 27 is locked to the base block 22 and the other end is locked to the pivot arm 20, the tip of the pivot arm 20 is always elastically biased upward. A pair of rollers 32 is rotatably supported at the tip of the pivot arm 20 so that the lower end thereof projects below the lower ends of the base block 22, the connecting block 24, and the pivot arm 20.

Guide rails 30 extending in the vertical direction are provided on both side surfaces of the connection block 24. Three pairs of guide rollers 28 projecting into the notches 25 are rotatably provided at the distal end of the base block 22 so that the guide block 30 can be guided and the connecting block 24 can be moved only in the vertical direction. It is provided in. A pressing roller 31 is provided above the pivot arm 20 in the connecting block 24. The pressing roller 31 is rotatably supported by the connecting block 24, and its lower end is in pressure contact with the pivot arm 20. The free bearing 23 fixed to the upper end of the connecting block 24 has a bearing main body 23a whose top is located higher than the upper end of a positioning pin 52 described later in a state where no load is applied to the upper end. ing.

In FIGS. 7 and 8, the carriage 4 mainly has a base 40 and a support base 41 arranged above the base 40. Wheels 42 are rotatably provided on the lower surface of the base 40. A handle bar 43 protruding upward is attached to the front side (left side in FIGS. 7 and 8) of the base 40. The support base 41 is arranged in parallel with the base portion 40, and the support block 44 is attached to the upper surface thereof. The support block 44 is smaller than the support base 41 when viewed in the direction of FIG. On the upper end of the support block 44, a displacement prevention pin 70 protruding upward for horizontally positioning the substrate mounting table 50 with respect to the support block 44 is provided so as to project. An insertion hole 80 is formed on the lower surface of the mounting table 50 at a position corresponding to the displacement prevention pin 70 of the support block 44, and the displacement prevention pin 70 is fitted to the insertion hole 80 so that a predetermined position on the support block 44 is achieved. The substrate mounting table 50 is mounted at the position. The upper end portion of the displacement prevention pin 70 protruding from the support block 44 is a tapered portion 70a that tapers upward. The mounting table 50 projects outward from the support block 44 when viewed from above.

A link bar 46 for vertically moving the support base 41 in parallel is provided between the base portion 40 and the support base 41. Then, the hydraulic cylinder 47 provided between the link bar 46 and the base portion 40 expands and contracts, whereby the link bar 46 can move the support base 41 up and down. A pump up lever 48 and a release lever 49 are provided on the base 40 near the handlebar 43. Here, by operating the pump up lever 48, the hydraulic cylinder 47 is extended to raise the support base 41, and by operating the release lever 49, the supply of hydraulic pressure to the hydraulic cylinder 47 is released. Thus, the support base 41 can be gradually lowered.

Positioning holes 51 (FIG. 4) for positioning in the horizontal direction are formed at the four corners of the mounting table 50. Further, at a position corresponding to the positioning hole 51, the frame 14a of the storage section 14 is provided with a positioning pin 52 protruding upward. The upper end of the positioning pin 52 is a tapered portion 52a protruding upward. It should be noted that the size relationship between the projecting length of the misalignment prevention pin 70 and the projecting length of the positioning pin 52 is the tip of the positioning pin 52 when the substrate mounting table 50 is lowered, as will be described later. The tapered taper portion 70a at the tip of the misregistration prevention pin 70 is inserted into the insertion hole 80 until the substrate mount table 50 is lowered to such an extent that the tapered portion 52a is inserted into the positioning hole 51 formed in the substrate mount table 50. The misalignment prevention pin 70 is configured to project longer than the positioning pin 52 so that a part thereof remains. With this configuration, when the substrate mounting table 50 is supported by the free bearings 23 and the positioning pins 52 are not yet inserted into the positioning holes 51 of the substrate mounting table 50, the substrate mounting table 50 is not supported. However, it can be expected to prevent the horizontal movement of the free bearing 23 from being inadvertently moved due to some external vibration or the like for the positioning operation with the positioning pin 52, beyond the extent that horizontal movement should be allowed.

Although the storage portion 14 has a U-shape as described above, when the carriage 4 is pushed into the storage portion 14 inside the open portion, the base of the carriage 4 is pushed. Positioning rollers 55 are provided that contact and guide the side surfaces of the portion 40 and perform lateral positioning with respect to the pushing direction. In addition, a positioning stopper 56 that contacts the front surface of the base 40 of the carriage 4 and positions the front and rear in the pushing direction of the carriage 4 on the wall surface inside the open portion in the pushing direction of the carriage 4. Is provided. When the carriage 4 is pushed into the storage section 14, the carriage 4 is positioned by the positioning roller 55 and the positioning stopper 56 as described later.

Next, the operation of the above embodiment will be described. As shown in FIGS. 7 and 8, the carriage 4 is placed in the storage portion 14 of the robot arm device 2 in a state where the mounting table 50 on which the printed wiring boards 13 are stacked is supported on the support block 44. , As shown by the chain double-dashed line in FIGS. 2 and 3. At this time, the carriage 4 and the storage portion 14 are positioned by the positioning roller 55 and the positioning stopper 56 so that at least the tip of the positioning pin 52 faces the positioning hole 51. Prior to this, the length of the hydraulic cylinder 47 is adjusted by operating the pump up lever 48 and the release lever 49, and the lifting mechanism 15 (16 to 16) is provided between the support base 41 and the mounting base 50 as shown in FIG. 18) should be positioned.

Next, the release lever 49 is operated to gradually release the hydraulic pressure of the hydraulic cylinder 47 to lower the support base 41. As a result, the mounting table 50 descends, the lower surface thereof first comes into contact with the bearing main body 23a of the free bearing 23, and when the mounting table 50 subsequently descends, the free bearing 23 is pressed downward and the free bearing 23 is connected. The upper side surface of the pivot arm 20 is pressed downward via the pressing roller 31 provided in the block 24, and as a result, the pivot arm 20 is tilted against the torsion spring 27 so that its tip is lowered. As a result, the roller 32 provided at the tip of the pivot arm 20 moves downward and contacts the upper surface of the support base 41. Here, the pressing roller 32 that is in contact with the support base 41 is restricted from moving below the height of the support base 41 by the support base 41, so that the pivot arm 20 moves according to the progress of the lowering of the support base 41. It will tilt at a speed within the specified range.

By the way, in the connecting block 24, the position where the pressing roller 31 provided in the connecting block 24 presses the pivot arm 20 by the guide roller 28 provided in the base block 22 is set to the longitudinal direction of the pivot arm 20. Since it is assembled so as to be an intermediate portion, the connecting block 24 can be lowered only at a lower rate than the roller 32 at the tip of the pivot arm 20 is lowered. Therefore, the free bearing 23 provided in the connecting block 24 is regulated so that it can descend only at a speed lower than that of the support base 41. As a result, the mounting table 50 which is in contact with the free bearing 23a is supported by the free bearing 23 because the support block 44, which is integrally lowered with the support table 41, is lowered before the free bearing 23a. Is lifted from the support block 44 and separated. The mounting table 50 after being separated is only supported by the free bearing 23 and is movable in the horizontal direction. When a horizontal force is applied, the mounting table 50 moves in that direction. However, at this time, since the taper portion 70a at the tip of the displacement prevention pin 70 is partially left in the insertion hole 80, the mounting table 50 is free-bearing 23 for the positioning operation with the positioning pin 52. It is prevented from inadvertently moving horizontally beyond the extent that horizontal movement should be allowed, and it does not fall.

Subsequently, when the supporting table 41 further descends, the mounting table 50 supported by the free bearing 23, which descends at a lower speed than the descending speed of the supporting table 41, is positioned in the positioning hole 51 of the mounting table 50 and the frame 14a. When the positioning pin 52 is fitted, the positioning pin 52 is placed on the frame 14a in a precisely positioned state. At this time, when the positioning hole 51 and the positioning pin 52 are fitted to each other, the mounting table 50 is supported by the free bearing 23 so as to be movable in the horizontal direction, and thus the positional relationship between the positioning hole 51 and the positioning pin 52 is provided. Even if the position is slightly shifted in the horizontal direction, the mounting table 50 moves in the horizontal direction so that the positioning hole 51 is engaged with the positioning pin 52 while being guided by the tapered portion 52a of the positioning pin 52, so that both of them smoothly fit into each other. Be positioned in. Further, when positioning is performed by inserting the tapered portion 52a of the positioning pin 52 and the positioning hole 51, the descending speed of the free bearing 23 is low, so that the tapered portion 52a of the positioning pin 52 and the positioning hole 51 are positioned. The edge will not be damaged due to wear.

Subsequently, when the support base 41 is further lowered, the support base 41 is separated from the roller 32 of the pivot arm 20, so that the carriage 4 can be extracted from the storage portion 14 of the robot arm device 2. The printed wiring boards 13 on the mounting table 50 mounted on the robot arm device 2 are supplied one by one to the inspection table 6 of the optical appearance inspection device 1 by the suction pads 12 of the robot arm 11. In the optical appearance inspection apparatus 1, the printed wiring board 13 supplied to the inspection table 6 is optically scanned and the presence or absence of defects in the appearance is inspected by image processing. The printed wiring board 13 that has been inspected is unloaded from the inspection table 6 by the robot arm 11 of the unloading robot arm device 3 and stacked on the mounting table 50 on the side of the carriage 5.

When carrying out the mounting table 50 from the robot arm device 2, first, the carriage 4 is inserted into the storage portion 14 with the support base 41 lowered. Then, the pump up lever 48 is operated to raise the support base 41. As a result, the support base 41 first contacts the roller 32 of the pivot arm 20. When the support base 41 is further raised, the free bearing 23 is raised via the pivot arm 20 to lift the mounting base 50. As a result, the positioning pin 52 of the frame 14a comes out of the positioning hole 51 of the mounting table 50.

When the support base 41 is further raised, the rising speed of the free bearing 23 is smaller than the rising speed of the support base 41 based on the relationship between the pivot arm 20 and the connecting block 24. Eventually, it contacts the lower end surface of the mounting table 50. The insertion hole 80 and the displacement prevention pin 70 are also provided between the support block 44 and the mounting table 50, whereby the mounting table 50 is mounted on the supporting block 44 in a positioned state. Also in this case, since the free bearing 23 supports the mounting table 50 so as to be movable in the horizontal direction, the positioning operation performed by engaging the hole and the pin is completed easily and smoothly.

When the support base 41 is further raised, the free bearings 23 in contact with the mounting base 50 are raised in synchronization therewith, so that the roller 32 of the pivot arm 20 moves faster than the support base 41. The rising speed becomes higher, and the roller 32 separates from the support base 41. Finally, the free bearing 23 is separated from the mounting table 50 to be in the state shown in FIG. In this state, if the carriage 4 is pulled out from the storage portion 14, the mounting table 50 can be taken out while being placed on the carriage 4 as shown in FIGS. 7 and 8.

In the above-described embodiment, the vertical movement of the support base 41 is used to control the ascending / descending speed of the mounting base 50 via the pivot arm 20, the free bearing 23, etc., so that a complicated control system and drive system are used. Is unnecessary, and the size and cost of the device can be reduced. Further, since the descending speed of the mounting table 50 is changed by using the mechanism such as the pivot arm 20 and the connecting block 24, it is not necessary for the operator to finely operate the ascending / descending speed.

Further, in the above embodiment, when the mounting table 50 is positioned by the taper pin 52, the free bearing 23 automatically and temporarily supports the mounting table 50 via the pivot arm 20 and the like. The operator simply operates the support base 41 of the carriage 4 so that the mounting table 50 is automatically supported by the free bearing 23, and then the free bearing 23 is lowered at a low speed. Then, a series of operations are performed. In the meantime, the operator need only operate the release lever 49 of the carriage 4 to lower the support base 41. Operate to lower the free bearing while confirming that the mounting table 50 is supported by the free bearing 23 from the state where the mounting table 50 is supported by the support table 41 of the cart 4 via the support block 44. You don't have to.

In the above-described embodiment, when the lower surface of the substrate mounting table 50 is not yet in contact with the free bearing 23 (the state shown in FIG. 4), the upper end of the free bearing 23 is closer to the positioning pin 52. Although it is configured to be higher than the upper end of, the configuration may be reversed. In the case of the reverse construction, the tip of the positioning pin 50 must be positioned in the positioning hole 51 of the substrate mounting table 50 at least by the time the substrate mounting table 50 is supported by the free bearing 23 and can be moved horizontally. Even if the positional displacement pin 70 as described above is not used, the substrate mounting table 50 is horizontally moved by the free bearing 23 for the positioning operation with the positioning pin 52 due to some external vibration or the like. It is possible to prevent unintentional horizontal movement beyond the level that should be allowed.

Further, in the above-described embodiment, by lowering the support base 41 of the carriage 4, the mounting base 50 supported by the support base 41 via the support block 44 is moved to the frame 14 a of the loading robot arm 2. Although the case of transferring to the upper side has been described, such a transfer is performed in a structure in which the support base 41 of the carriage 4 does not move up and down, and the frame 14a of the loading robot arm 2 moves upward from a position below the support base 41 of the carriage 4. You may make it the structure which goes up and down so that it may rise to the position of.

In this embodiment, the mounting table 50 of the printed wiring board 13 is a plate-like object within the scope of the utility model registration request, the supporting table 41 is the first mounting section, and the storage section 14 is the same. The frame 14a is the second mounting portion, the free bearing 23 is the sub-mounting portion, the link lever 46 and the hydraulic cylinder 47 are the lowering means and the elevating means of claim 1, and the connecting block 24 and the guide rail. 30 and the guide roller 28 correspond to a sub-lowering means, and the pivot arm 20 corresponds to a continuous mechanism and a tilting arm.

[0037]

[Effect of device]

 The plate-like object conveying device according to the first invention is an interlocking mechanism for interlocking the auxiliary descending means and the descending means so that the descending speed of the auxiliary descending means accompanying the descending of the descending means is smaller than the descending speed of the descending means. Therefore, when the plate-like object is transferred from the sub-mounting section to the second mounting section, the relative speed between the sub-mounting section and the second mounting section becomes small, and the impact during transfer is reduced. Transfer operation can be performed smoothly without giving. Further, since it is not necessary to provide a drive means such as a dedicated motor for driving the sub-mounting portion at a low speed, the device is not enlarged and the cost is low.

In the plate-shaped object conveying device according to the second invention, the tip end of the tilting arm abuts on the first mounting portion, so that the tilting arm moves relative to the second mounting portion of the first mounting portion. The sub-mounting part is associated with the tilting arm at a speed corresponding to the progress of the relative descent, and the sub-mounting part is attached to the tilting arm at a position between the base and the tip of the tilting arm, so that the sub-mounting Since the placing part can be lowered only at a rate lower than the tip of the tilting arm is lowered, the first placing part is relatively lowered with respect to the second placing part. By moving up and down, the plate-like object supported by the first placing section is supported by the sub-depositing section so as to be horizontally movable, and then the plate-like article and the second placing section are moved. A series of movements in which the sub-mounting table is lowered to perform the positioning consisting of the taper pin and the pin hole. The work can be done automatically. Therefore, the operator does not have to confirm that the plate-shaped object is supported by the first placement part and is supported by the sub-placement part, without the need to check each time. Since the plate-shaped body can be temporarily supported by the portion and the positioning including the taper pin and the pin hole can be performed, the positioning and transfer operation can be easily performed.

Further, it is not necessary to provide a driving means such as a dedicated motor for driving the sub-mounting portion at a low speed so that the tapered portion of the pin and the edge of the hole are not damaged due to wear or the like. It is inexpensive without increasing the size of the operation.

[Brief description of drawings]

FIG. 1 is a schematic front view of an optical visual inspection system according to an embodiment of the present invention.

FIG. 2 is a schematic plan view of the robot arm device.

FIG. 3 is a schematic side view of the robot arm device.

FIG. 4 is a partial cutaway side view of a state in which a robot arm device and a carriage are combined.

FIG. 5 is a plan view of a lifting mechanism.

FIG. 6 is a side view of the lifting mechanism.

FIG. 7 is a plan view of the carriage.

FIG. 8 is a side view of the bogie.

[Explanation of symbols]

 2, 3 Robot arm device 4, 5 Truck 15-18 Lifting mechanism 20 Pivot arm 23 Free bearing 24 Connecting block 41 Holding table 50 Mounting table 51 Positioning hole 52 Positioning pin

Claims (2)

[Scope of utility model registration request] 1. A plate-like object transfer device for transferring a plate-like object from a first placing part to a second placing part, the lowering means capable of lowering the first placing part, A sub-mounting part that receives the plate-like object from the first mounting part and temporarily supports it, a sub-descent means that can lower the mount part, and the descent means and the sub-descent means, A plate-like object transfer device comprising: an interlocking mechanism configured to reduce a descending speed of the sub descending means accompanying the descending of the descending means to be lower than a descending speed of the descending means. 2. A taper pin attached to either one of the plate-shaped object and the second mounting portion is used to transfer the plate-shaped material placed on the first mounting portion to the second mounting portion. On the other hand, it is a transfer device that is positioned and transferred by being fitted in a pin hole formed on the other side, so that the first mounting part descends relative to the second mounting part. An elevating means that relatively moves up and down between the first placing portion and the second placing portion, and a base portion that is tiltably supported by the second placing portion and a tip of the base portion abuts the first placing portion. The tilting arm that tilts downwardly in conjunction with the relative lowering of the placing part with respect to the second placing part and the tilting arm at a position between the base and the tip of the tilting arm are assembled to the plate-like object. A plate-like object transfer device comprising: a sub-mounting part that supports the movable part in the horizontal direction.