KR20120059595A - Operating device - Google Patents

Abstract

INDUSTRIAL APPLICABILITY The present invention can also be used as a semi-automatic apparatus (desktop robot) for manually attaching and detaching a workpiece, even as a fully automatic work device having a conveyance mechanism for conveying a workpiece, which can flexibly cope with the amount of production. To provide a working device. The work device of the present invention is a fully automatic work device including a mount provided with a conveying unit for transporting a work, and a table work device unit detachably attached to the mount. The work device unit includes a work piece. And a work holding part for holding the work piece, a work head, and a relative moving mechanism for relatively moving the work holding part and the work head, and being able to perform a desired work on a work held by the work holding part alone. Furthermore, it has a conveyance position which communicates with a conveyance unit, and a work position which is spaced apart from a conveyance unit, and performs a desired operation | work to a workpiece | work, It is characterized by the above-mentioned.

Description

Work device {OPERATING DEVICE}

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a work device that performs a desired work on a work, and includes, for example, a semi-automated work device having a table-top robot that performs a desired work on a work that has been manually inserted, and a semi-automated work device. It is possible to arrange | position so that it is possible, and it is related with the fully automatic work apparatus which has a conveying unit.

In the present specification, the fully automatic work device refers to a work device in which fully loaded work of the workpiece into the work place, work on the work in the work place, and carrying out of the work from the work place are performed automatically. As a specific example, an apparatus is taken out from a magazine containing a plurality of workpieces, and after carrying out a desired work on the workpiece, the apparatus automatically carrying out a process of repeatedly storing the workpiece after the work in the magazine, or an apparatus carried in the previous process. Disclosed is an apparatus for automatically repeating a step of carrying out a desired work on a workpiece and then carrying it out to the apparatus of the next step.

A work device is used to perform a desired work such as liquid application, lubrication, pin press, assembly, soldering, screwing, or the like at a desired position of a work object called a work piece.

For example, Patent Document 1 discloses a work device that performs a work of applying a liquid material to a workpiece.

The work device includes a loader for applying a liquid material to a workpiece, a magazine table for mounting a magazine up and down, and a loader for supplying the workpiece stored in the magazine to the coating device main body, and for mounting a magazine. It has an unloader which moves a magazine table up and down, and accommodates the workpiece discharged from an applicator main body to a magazine, arrange | positioning a loader and an unloader on both sides of the said applicator main body, and also to several magazine tables. It is a liquid material applying apparatus arrange | positioned with respect to the perpendicular direction.

Like the apparatus disclosed in Patent Document 1, the workpiece is automatically taken out from the magazine containing the workpiece, the workpiece is automatically conveyed to the workpiece table, and then set in the workpiece table to perform a desired work on the workpiece by the work device. An apparatus for automatically and continuously performing a series of operations conveyed and stored in a magazine is called fully automatic.

Like a device embedded in a manufacturing line, a device which automatically and continuously performs a series of operations for carrying out a workpiece from a device in a previous step, carrying out a desired work, and then taking out a finished work piece to a device in a next step is also electronic. Is a homogeneous device.

In addition, this kind of liquid material applying apparatus is generally a floor installation type work apparatus installed directly on the bottom surface.

Patent Document 2 discloses an apparatus for applying (supplying) a liquid material to a well on a microplate.

The work device is supported by a base table provided with a Y-direction moving means for moving a work table on which a work piece (microplate) is mounted in the Y direction, and two props provided near the rear end portions of both sides of the base table. X-direction moving means for moving the table upwards, Z-direction moving means mounted on the X-direction moving means and moving in the Z direction, a syringe holder installed on the Z-direction moving means, and a liquid material mounted on the syringe holder It is a liquid supply apparatus which consists of the syringe which stored | discharged and the nozzle which discharges the liquid material attached to the lower end part of the syringe so that it may communicate with a syringe, and is a table-top work robot.

The table-type work robot is generally installed or mounted on a table or work table and used.

Patent Document 3 discloses another aspect of the tabletop work device.

This work apparatus is comprised so that a guide mechanism may be supported on a base via a support column, and robot drive parts, such as a tool mounting stand and a driver unit, move along this guide mechanism in a horizontal direction.

In Patent Document 3, it is disclosed that the tabletop robot device is used for supporting, for example, screw fastening, soldering, cleaning, assembling, liquid application, oiling, pin pressing, and the like. For example, as a screw fastening device, On the upper part of the tool mount, a horizontal part is formed, and a screw supply stocker is formed as a supply part for holding what is necessary in each work process, and a large number of small screws are accommodated in the screw supply stocker. Disclosed is an apparatus which is supplied to a tip of a driver unit via an induction pipe and is subjected to a predetermined screw fastening.

Like the apparatus disclosed in Patent Document 2 and Patent Document 3, the work piece is manually taken out of the storage case, pallet, etc. before the work, the work is set manually on the work table in the same manner, and the work device is used for the work piece. After the work is performed, the device for manually separating the work on the work table from the work table is called a semi-automatic type. In the semi-automatic work device, the work device performs work on the workpiece, but the setting / separation of the work table and the work start instruction of the work device need to be performed by the worker. Do.

The table-type work robot which does not have a workpiece conveyance function is used as a semi-automatic type.

As described above, the work device includes a desk-type semi-automatic work device that is installed or mounted on a work table or table, or a fully automatic work device that is larger than a table size that is directly installed on a floor. One of the criteria for choosing whether to use a fully automatic or semi-automatic work tool is production.

The fully automatic work device can automatically produce the product without passing through the operator's hands, thereby producing a high quality product. On the other hand, the apparatus becomes large and requires a large space for installation. In addition, in the case of producing a variety of varieties, because the device becomes large, it takes time and effort for replacement. Therefore, the fully automatic work device is suitable for the production of large quantities of a single product.

The semi-automatic work device can be made into a compact device that can be used on the table, so that the space for production can be effectively used, and the change of the variety can be easily performed. On the other hand, since the operator needs to intervene in the setting of the workpiece, unevenness may occur in the precision of the workpiece mounting position, and in order to achieve the product quality manufactured by the fully automatic work device, the operator needs skill. In addition, it is inferior to a fully automatic work device in terms of production efficiency. Therefore, the semi-automatic work device is suitable for small quantity production of many kinds.

Japanese Laid-Open Patent Publication No. 2003-145022 Japanese Laid-Open Patent Publication No. 2005-061957 Japanese Patent Application Laid-Open No. 08-229478

Conventionally, the semi-automatic apparatus and the fully automatic apparatus are suitably selected and used according to the production quantity, and it was necessary to purchase a apparatus every time. Moreover, it was necessary to set manufacturing conditions in each apparatus, and the time-consuming work was required. However, in recent years, due to diversification of market demands, shortening of product life cycles, and the like, flexible production, such as a response to a change in production and a variety of varieties, is required in a production site.

Therefore, this invention solves the said problem, and can also use it as a semi-automatic apparatus (desktop robot) which attaches and detaches a workpiece manually as a fully automatic work apparatus which has a workpiece as a conveyance mechanism, It is an object to provide a work device that can cope.

1st invention is a fully automatic work device provided with the mount provided with the conveyance unit which conveys a workpiece, and the table type work device unit detachably attached to a mount, A table work device unit hold | maintains a workpiece | work and a workpiece holding portion, and a working head, with a relative movement mechanism for relatively moving the workpiece holding portion and the work head, and also capable of performing the desired operation on the workpiece, which sole portion holding the workpiece held, and the workpiece holding portion, It is a working apparatus characterized by having a conveyance position which communicates with a conveyance unit, and a work position which is spaced apart from a conveyance unit, and performs a desired operation | work on a workpiece | work.

2nd invention is equipped with the workpiece holding part which hold | maintains a workpiece | work, a working head, and the relative movement mechanism which moves a workpiece holding part and a working head relatively, and can perform desired work on the workpiece hold | maintained by a workpiece holding part on a tabletop. A semi-automatic work device, wherein the device is detachably installed in a device including a mount and a transport unit for transporting a workpiece installed on the mount, the transport position at which the work holding portion communicates with the transport unit, and the transport unit. It is a work device which can constitute a fully automatic work device by moving a work position spaced apart from and performing a desired work on a workpiece.

According to a third aspect of the present invention, there is provided a table-type work comprising a mount provided with a conveying unit for conveying a work, a work holding part for holding a work, a work head, and a relative moving mechanism for relatively moving the work holding part and the work head. The apparatus unit can be detachably mounted on a mount, and the work holding part can constitute a fully automatic work device by moving a conveying position in contact with the conveying unit and a working position spaced apart from the conveying unit to perform a desired work on the workpiece. Working device.

In 4th invention, in any one of 1st thru | or 3rd invention, the said conveyance unit is provided with the upstream conveyance rail and downstream delivery rail which were spaced apart, and the said workpiece holding part is upstream in the said conveyance position. A side conveyance rail and a downstream delivery rail are connected.

5th invention is a 4th invention WHEREIN: The said workpiece holding part is provided with the locking mechanism which hangs a workpiece | work to a communication rail and a communication rail.

6th invention is a 5th invention WHEREIN: The said conveying unit is equipped with the reciprocating conveyance part which conveys a workpiece from the said upstream conveyance rail to the said downstream delivery rail.

According to a sixth invention, in the sixth invention, an unloader is disposed further downstream of the downstream side delivery rail, and the workpiece is stored in the unloader by a pressing member of the reciprocating carrier.

In 8th invention, in any one of the 1st-7th invention, the said conveying unit is provided so that attachment or detachment is possible to the said mount.

According to the present invention, it is not necessary to align a plurality of different devices according to the production mode such as the production amount or the small quantity / large quantity of various kinds.

In addition, since only the table work device unit can be used away from the mount, the working conditions for the workpiece can be used as it is, so that adjustment time and adjustment work are rarely required.

In addition, since only the tabletop work unit having a damaged or consumed work head can be detached from the mount, even if the tabletop work unit fails, production can be continued by replacing only the tabletop work unit. The stop time can be shortened. In particular, in the case of a work device incorporated in a manufacturing line, since it is not necessary to disconnect or disconnect the transfer unit from another adjacent device, the time and effort required for the repair work can be greatly reduced.

1 is an overall view of a work device according to a first embodiment of the present invention.
FIG. 2 is a schematic diagram of a tabletop work device unit relating to the apparatus of FIG. 1. FIG.
3 is a schematic view of a work table relating to the tabletop work device unit of FIG. 2.
4 is an explanatory diagram for explaining the operation of the backup unit according to the work table of FIG.
5 is a schematic view of a conveying unit relating to the apparatus of FIG. 1.
6 is a schematic diagram of a loader, an unloader, a conveyance rail and the like according to the apparatus of FIG. 1.
It is explanatory drawing (1/8) explaining the conveyance aspect of the workpiece | work of the apparatus of FIG.
It is explanatory drawing (2/8) explaining the conveyance aspect of the workpiece | work of the apparatus of FIG.
It is explanatory drawing (3/8) explaining the conveyance aspect of the workpiece | work of the apparatus of FIG.
It is explanatory drawing (4/8) explaining the conveyance aspect of the workpiece | work of the apparatus of FIG.
FIG. 7E is an explanatory diagram (5/8) illustrating a conveyance aspect of a workpiece of the apparatus of FIG. 1. FIG.
It is explanatory drawing (6/8) explaining the conveyance aspect of the workpiece | work of the apparatus of FIG.
It is explanatory drawing (7/8) explaining the conveyance aspect of the workpiece | work of the apparatus of FIG.
It is explanatory drawing (8/8) explaining the conveyance aspect of the workpiece | work of the apparatus of FIG.
8 is a control block diagram of the apparatus of FIG.
It is explanatory drawing explaining the aspect at the time of removing a desk-type work device unit from the apparatus of FIG.
FIG. 10 is an explanatory diagram for explaining an example of use of the table-type work device unit after separation from the device of FIG. 1. FIG.
It is explanatory drawing explaining the connection aspect of a main body and a desktop type work device unit.
12 is a schematic perspective view of a block connecting the main body and the tabletop work device unit.
It is explanatory drawing explaining another connection aspect of a main body and a table-type work device unit.
14 is a schematic perspective view of the position adjusting unit.
It is explanatory drawing explaining the joining aspect of a guide and a main body.

EMBODIMENT OF THE INVENTION The form for implementing this invention is demonstrated as an example of the liquid material application apparatus which apply | coats a liquid material to the lead frame which is a workpiece | work.

The working apparatus of this embodiment uses the main body 10 in which the conveying unit 30 was installed, and the table-type working apparatus unit 50 as a main component.

On the mount of the main body 10, the conveying unit 30 which conveys a workpiece is provided. It is preferable to provide the conveyance unit 30 to a mount stand in view of maintainability, ease of carrying in and out of the desk-type work device unit 50, and the like.

At the most upstream of the conveying unit 30, the loader part which accommodates the workpiece | work which is not completed is arrange | positioned, and the unloader part which accommodates the workpiece | work which completed the operation | work is arrange | positioned at the most downstream of the conveyance unit 30. In the midstream of the conveying unit 30, one or more table-type work device units 50 are disposed, and carrying the workpieces before the work into the table-type work device unit 50 by the conveying unit 30, and Carry-out of the workpiece | work after the work | work from the table-type work device unit 50 is performed.

The table-type work device unit 50 may be separated from the main body 10 and used alone. When using the table-type work device unit 50 alone, the work piece is attached and detached manually. That is, the table-type work device unit 50 is provided with a work head, a workpiece holding part, and an XYZ direction moving mechanism, and can be used alone as a semi-automatic work device.

It is preferable to provide the work holding | maintenance part which comprises the conveyance mechanism in cooperation with the conveyance unit 30 in the table-type work device unit 50. For example, the conveyance rail A80 is provided in the upstream side of the tabletop work unit 50, and the conveyance rail C82 is provided downstream, and the workpiece holding part of the tabletop work unit 50 is a workpiece | work. The structure is comprised by the conveyance rail B81 which has a locking mechanism. By setting it as such a structure, it becomes possible to carry out the workpiece between the conveyance unit 30 and the table-type work device unit 50, without providing a separate workpiece carrying in / out device.

According to the apparatus of the present invention described above, when a small amount of production is produced by the table-type work device unit, when the production amount is increased, the table-type work device unit is simply mounted on the device body to produce the same. Condition adjustment time of a job, adjustment work can be minimized.

In addition, in this embodiment, although the structural example of the apparatus of the type accommodated in a magazine after apply | coating the workpiece discharged from the magazine was demonstrated, it can also be used as an apparatus structure integrated in the manufacturing line in which several apparatus is connected and comprised. Of course it is.

In addition, in this embodiment, although the coating apparatus which apply | coats a liquid material to a workpiece | work was illustrated, it cannot be overemphasized that this invention is not limited to a coating apparatus.

In addition, arbitrary forms can also be employ | adopted about the arrangement pattern of a conveyance rail. For example, this invention is applicable also to the apparatus which consists of a loader, the magazine A, the conveyance rail A, and the conveyance rail B, and does not have the conveyance rail C, the unloader, and the magazine B. FIG. That is, the workpiece | work A applied by the conveyance rail B returns the conveyance rail A again, returns to the magazine A of the loader A, and after that, the workpiece | work B to apply | coat is next taken out from the magazine A, and a conveyance rail Even if it is an apparatus of the type to which a workpiece | work is conveyed like A conveyed by the conveyance rail B through A, this invention can be applied. At this time, of course, the workpiece loading position and the workpiece discharge position are the same positions.

Hereinafter, although an Example demonstrates the detail of this invention, this invention is not limited by an Example.

Example

[Overview of Work Device]

Embodiment 1 relates to a liquid material application device for applying a liquid material to a lead frame that is a work, and includes a main body 10 provided with an operation box 29 and a transfer unit 30, and a table-type work device unit 50. Is the main component.

The work of this embodiment is a lead frame in which a plurality of devices are arranged in a lattice shape, and a hole is formed in the upper right part.

[Body (10)]

The main body 10 is a plate supported by the transfer unit 30 and the operation box 29 provided in front of the base A (11), and the two side plates 12 behind the base A 11 ( 13) is configured by a touch panel 14 and a dispense controller 15. In addition, the control unit A 90 is provided below the base A 11. In the center of the base A 11, the desk type work device unit 50 is provided.

[Table Work Device Unit 50]

The table-type work device unit 50 is movable in the X-direction by the X-direction moving mechanism 53 and the X-direction moving mechanism 53 supported by the strut 52 extending upward of the base B 51. Plate 55 and base B, which are movable in the Z direction by the Z-direction moving mechanism 54 and the Z-direction moving mechanism 54, on which the discharge head 56, the CCD camera 57, and the laser displacement meter 58 are installed. (51) On the right side of the work table 60 movable in the Y direction by the Y-direction moving mechanism 59 disposed in the center, the Y-direction moving mechanism 59, and the base B 51, an operation switch 61 is provided. It is composed by.

The control part B91 which is not shown in figure is provided in the base B51.

The control unit B 91 can record the application program, and the pressing or unshown application program of the operation switch 61 programs an operation sequence for applying the application to a desired position on the workpiece. The operation of the X moving direction means 53, the Y moving mechanism 59, and the Z moving mechanism 54 can be controlled, and the operation of the dispense controller 15 and the backup unit 63 described later can be controlled.

The application program can be executed by receiving a signal from the connector. When the program is executed, the X direction movement mechanism 53, the Y direction movement mechanism 59, the Z direction movement mechanism 54, the dispense controller 15, and the backup unit 63 are operated in accordance with the procedure described in the program. do.

Moreover, the control part B91 is connected with the control part A mentioned later, and can transmit and receive a signal with the control part A. FIG.

The discharge head 56 has a nozzle 17 in communication with a syringe 16 that stores a liquid material, and communicates with the dispense controller 15 through a tube 18. The liquid material is discharged from the nozzle 17 by pressurizing the liquid material in the syringe 16 with the pressure adjusted by the dispense controller 15 for a desired time.

[Work table (60)]

As shown in FIG. 3, the work table 60 includes a stage 62, a support 64 provided on the stage 62, a connector 65 supported by the support 64, and a connector. It is comprised by the conveyance rail B81 by which the two rail members are fixed by 65, and the backup unit 63 located below the conveyance rail B81, and provided in the stage 62. As shown in FIG.

The conveyance rail B 81 is arrange | positioned so that each recessed part of the two rail members whose cross-sectional shape may be U-shaped, may face each other, and the preferable space | interval is maintained in order to convey a workpiece | work.

The backup unit 63 has a fixing plate 43 which is movable up and down. As shown in FIG. 4, the backup unit 63 contacts the lower surface of the work A 20 with the fixing plate 43 and raises the work A 20 with the transfer rail B 81 by raising the work plate 20. To fix it.

[Conveying unit 30]

As shown in FIG. 5, the conveying unit 30 is comprised from the loader part 31, the unloader part 32, the conveyance rail A 80, the conveyance rail C 82, and the reciprocating conveyance part 33. As shown in FIG. .

The loader part 31 can install the magazine A34 which can accommodate 20 lead frames as a workpiece | work, and moves the magazine A34 up and down by the lifting means (lift mechanism) which is not shown in figure, The lead frames are sent out one by one to the conveyance rail A (80). The unloader part 32 is equipped with the same magazine B35 as the loader part 31, and accommodates a lead frame one by one by the lifting means which is not shown in figure which moves the magazine B35 up and down. do.

The conveyance rail A 80 is fixed to the loader part 31 and is connected by the conveyance rail C 82 and the rail coupler 41 which were fixed to the unloader part 32. The rail coupler 41 is fixed to the outer surface side portions of the conveyance rail A 80 and the conveyance rail C 82.

The conveyance rail A 80 and the conveyance rail C 82 are spaced apart by the length substantially the same as the length of the conveyance rail B 81. The conveyance rail B 81 is arrange | positioned between this conveyance rail A 80 and the conveyance rail C 82, and the workpiece conveyance from the loader part 31 to the unloader part 32 is attained.

As shown in FIG. 6, the reciprocation conveyance part 33 is the conveyance plate 44 which moves to an X direction by the conveyance drive mechanism (conveyance drive means) 36, and the pin mounting tool fixed to the conveyance plate 44. As shown in FIG. The pin A 37 and the pin B 38 are mounted so as to be movable in the vertical direction through the 39.

In the pin fitting port 39, the pin A 37 is arranged on the loader section 31 side (magazine A 34 side), and the pin B 38 is placed on the unloader section 32 side (magazine B 35 side). ) Is installed. Moreover, the drawing board (pressure member) 40 is provided in the pin mounting opening 39 to which the pin B 38 is mounted in the workpiece | work delivery direction whole surface of the pin mounting opening 39.

The control unit A 90 performs control of the transfer unit 30. The control part A 90 controls the vertical movement of each lifting means for moving the loader part 31 and the unloader part 32 in the vertical direction, and the conveyance drive mechanism 36 for moving the conveying plate 44 in the X direction. Is controlled to move in the X direction, and the vertical movement of the pin A 37 and the pin B 38 is controlled. In addition, the control unit A 90 communicates with the control unit B 91 of the table-type work device unit 50 a signal applied to hand over the workpiece (see FIG. 8).

[action]

The operation of the apparatus will be described with reference to Figs. 7A to 7H. In addition, in FIG. 7A-7H, the coupling tool 65 which connects each conveyance rail is not shown.

? Loader part-carrying rail A-carrying rail B

The worker installs the magazine A 34 which accommodates the workpiece before application to the loader part 31 previously, and installs the empty magazine B 35 which collect | recovers the workpiece | work after application | coating to the unloader part 32. As shown in FIG. At this time, the work table 60 of the table-type work device unit 50 is waiting for the work loading position 70. Since the worktable 60 is located in this workpiece loading position 70, the conveyance rail B 81 on the worktable 60 extends with the conveyance rail A 80 and the conveyance rail C 82, and conveys The workpiece is transported from the rail A 80 to the transport rail B 81.

The operator starts the application work by instructing the worker to start work from the operation box 29.

 As shown in FIG. 7B, first, the magazine A 80 of the loader portion 31 moves to the position of discharging the workpiece of the uppermost first stage of the magazine A 80, and then the pusher 42 is moved. The work A 20 is extruded in the X direction (right direction) toward the conveyance rail A 80 by a prescribed amount. Next, by raising the pin A 37 with respect to the work A 20 extruded from the loader part 31, the pin A 37 is inserted into the hole 21 formed in the right end of the work A 20. .

Subsequently, as shown in FIG. 7C, the transport drive mechanism 36 is operated to drive the work A 20 with the pin A 37 inserted thereinto, and the transport rail A 80 on the X direction (the right side of the drawing). Direction), and it moves to the conveyance rail B81. When the work A 20 has moved to the transport rail B 81, the transport drive mechanism 36 is stopped to stop the movement of the work A 20.

? Run of the application program

After the work A 20 is stopped, the pin A 37 is lowered, and the work transfer completion signal is transmitted from the controller A 90 to the table-type work device unit 50. When the control part B91 of the table-type work unit 50 receives the said signal, it executes the desired application | coating program memorize | stored in the control part B91 previously. Here, first, the backup unit 63 of the work table 60 is operated to raise the fixed plate 43. When the fixing plate 43 is raised, the work A 20 is clamped to the upper surface of the fixing plate 43 and the lower surface of the conveying rail B 81 and fixed to the fixing plate 43 and the conveying rail B 81 ( 3b). After the work A 20 is fixed with respect to the fixing plate 43 and the conveying rail B 81, the table-type work device unit 50 moves the work to the pattern making work position 72 (see FIG. 7E). ), The X direction movement mechanism 53, the Y direction movement mechanism 59, the Z direction movement mechanism 54, and the dispense controller 15 to operate the desired amount of liquid material on the workpiece A 20 in a desired pattern. Apply.

When application | coating by the said application program is completed, control part B91 of the table-type work device unit 50 will move the worktable 60 to the workpiece | work carrying out position 71, and apply | coating completion signal to the control part A90. (See FIG. 7F). Here, in this embodiment, although the workpiece | work carrying in position 70 and the workpiece | work carrying out position 71 are the same position, it is a matter of course that the workpiece | work carrying in position 70 and the workpiece | work carrying out position 71 may be different positions. For example, in the case where the separation distance between the conveying rail A and the conveying rail C is large, the workpiece loading position is a position where the conveying rail B is adjacent to the conveying rail A, but is separated from the conveying rail C, and the workpiece conveying position is the conveying rail Although B is adjacent to the conveyance rail C, it becomes a position spaced apart from the conveyance rail A, and a workpiece loading position and a workpiece carrying position differ.

<< atmosphere of work B (22) >>

As shown in FIG. 7E and FIG. 7F, while the table-type work device unit 50 is performing a pattern production work, the loader part 31 and the reciprocating conveyance part 33 are the workpiece | work which a pattern manufacturing work will be performed next. B22 is moved to the conveyance rail A80, and preparation for efficient application | coating is performed. That is, the loader portion 31 is operated to the position where the work B 22 is discharged, and the pusher 42 is operated to send the work B 12 to the transfer rail A 80 by the prescribed amount. Thereafter, the transport drive mechanism 36 is operated to move the pin A 37 in the direction of the loader portion 31 (leftward direction), to raise the pin A 37, and to provide a hole in the work B 22. The pin A 37 is inserted through the B 23. Subsequently, the conveyance drive mechanism 36 is moved in the unloader direction (right direction), and the pin B 38 is moved to a position that can be inserted into the hole A 21 of the work A 20 at the work take-out position. Wait The work B 22 penetrated and inserted into the pin A 37 is sent out on the conveyance rail A according to the movement of the unloading direction (right direction) of the conveyance drive mechanism 36, and is waiting on the conveyance rail A 80. do. Thus, the conveyance rail A80 plays the role of the application | coating waiting station of the workpiece | work to be apply | coated next. And pin B38 is descending at the time of waiting.

Carrying rail B-Carrying rail C-Unloader part

When the control unit A receives the application completion signal from the control unit B, the control unit A starts the operation of collecting the applied work A 20 to the magazine B 35. In the workpiece unloading position 71, the fixing plate 43 of the backup unit 63 is lowered to release the clamping fixation on the workpiece A 20. Next, the pin B 38 is raised to insert the pin B 38 through the hole 21 of the work A 20.

As shown in FIG. 7G, the work A 20 is moved to the transport rail C 82 by operating the transport drive mechanism 36 to move the pin B 38 in the unloader portion 32 direction (the right direction in the drawing). ) Is moved to the conveyance rail C 82 by sliding the image. At this time, the work B 22 is moved to the conveyance rail B 81 by the pin A 37. After being conveyed to the conveyance rail C 82, the pin B 38 is lowered.

As shown in FIG. 7H, the conveyance drive mechanism 36 is operated, and the take-out plate 40 is loaded to a position where the take-out plate 40 becomes the loader side from the rear end of the work A 20 (the left end of the drawing). It moves to the direction of the part 31 (left direction of drawing), and then the take-out board 40 is unloaded by the conveyance drive mechanism 36 from the rear end (left end of drawing) of the workpiece | work A20. By moving in the direction of 32 (rightward direction in the drawing), the drawing plate 40 extrudes the rear end of the work A 20, and stores the work A 20 in the magazine B 35 of the unloader 32. do. At this time, the magazine B 35 of the unloader part 32 moves to the position which accommodates a workpiece | work by a lifting means, and is waiting. The lead plate 40 is provided at a position where the pin B 38 does not interfere with the unloader end of the workpiece (right end of the drawing) when the pin B 38 penetrates through the hole of the workpiece.

In parallel with the above operation, when the work B 22 is moved to the transport rail B 81 by the pin A 37, the work B 22 lowers the pin A 37 and the fixing plate 43 of the backup unit 63. Up, it is fixed to the conveyance rail B 81, and the pattern preparation work is performed similarly to the workpiece | work A20. That is, while the work which accommodates the workpiece | work A 20 in the unloader 32 is performed, the table-type work device unit 50 can apply | coat the workpiece | work B22. In addition, while performing the pattern production operation | work on the workpiece | work B 22, the workpiece | work A20 is accommodated in the magazine B35, and the workpiece | work applied after the workpiece | work B22 is conveyed rail A80. Move to

The above operation is repeated until all the workpieces stored in the magazine A 34 of the loader part 31 are finished, and all the workpieces are stored in the magazine B 35 of the unloader 32, and the automatic operation ends.

[Detachment]

The table-type work device unit 50 is provided on the bottom surface of the table-type work device unit 50 in the hole 86 of the four blocks 85 fixed on the base A 11 of the main body 10. By inserting four pins, they are connected to and fixed with the main body 10 (see FIGS. 11 and 12).

When removing the table-type work unit 50 from the main body 10, lift the table-type work unit 50 upwards and push the pins of the bottom of the table-top work unit 50 to the main body 10. Pull out from block 85.

In the first embodiment, the table-type work device unit 50 can be carried out from the rear side of the main body 10 through the area surrounded by the side plate 12 and the ceiling plate 13. It goes without saying that the ceiling plate 13 is provided at a height that does not interfere when the desktop work device unit 50 is carried out. In addition, you may provide a delivery outlet in the base A11 of the main body 10. FIG.

In addition, as shown in FIG. 13, the table-type work device unit 50 can also be fixed to the main body 10 by positioning. That is, the table-type work device unit 50 is mounted so that the corner side surface of the table-type work device unit 50 is located near the guide 68 fixed on the base A 11 of the main body 10, Thereafter, the position adjusting unit 87 may press the corner portion side surface of the table-type work device unit 50 to the guide 68 for positioning and fixing. Here, the position adjustment unit 87 is a structure in which the screw 88 whose diameter is large in the tip is penetrated through the L-shaped plate, and the tip end surface of the large diameter part 89 of the tip of the screw 88 has a table-like operation. Abuts on the side of the device unit 50. The large diameter portion 89 is preferable because it does not damage the table-type work device unit 50 as long as it is a soft material such as rubber or plastic.

And when the caster is provided in the bottom surface of the table-type work device unit 50, when operating the position adjustment unit 87 and pushing down the table-type work device unit 50 to the guide 68, the main body 10 etc. It is preferable to move the table-type work device unit 50 on the base A 11 of ().

In addition, the position adjusting unit 87 mounts the table-type work device unit 50 in the vicinity of the guide 68, and then fixes the position adjusting unit 87 to the base A 11 of the main body 10 through the mounting hole 67. It is preferable. In bringing the table-type work device unit 50 into the main body 10, the position adjusting unit 87 passes through an area surrounded by the side plate 12 and the ceiling plate 13 from the back side of the main body 10. This is because it is not necessary to lift the table-type work device unit 50 in the movement to the vicinity.

When carrying out the table-type work device unit 50, by separating the position adjustment unit 87 from the base A 11 beforehand, the main body without lifting the table-type work device unit 50 as in the case of carrying in, is carried out. The table-type work device unit 50 can be carried out from the back surface of (10).

Although the conveyance unit 30 of this embodiment is provided directly on the base A11, you may provide the conveyance unit 30 via members, such as a plate detachably attached to the base A11. By adopting such a configuration, the conveying unit 30 can be easily separated from the main body 10 and the maintenance of the conveying unit 30 can be easily performed.

Moreover, if the member, such as a plate, is removed from the main body A11, the tabletop work device unit 50 can be carried in and out from the front surface of a main body.

In this embodiment, although the conveying method of the type which inserts a pin into the hole formed in the workpiece | work and conveys a workpiece | work was illustrated, it is a matter of course that it is not limited to this conveyance method.

As a conveying method effective when the holes 21 and 23 are not formed in the workpiece, for example, (1) the workpiece is sandwiched between the workpieces by clip means for sandwiching the workpiece instead of the pins in this embodiment. The conveying system to convey and the belt conveyance system to which the workpiece is mounted and conveyed on the rotating belt (2) are disclosed.

[Use as a semi-automatic device]

The table-type work device unit 50 separated from the main body 10 can be operated as a semi-automatic device. 10 shows an example of use of the desk-type work device unit 50 after being separated from the main body 10.

When operating the table-type work device unit 50 as a semi-automatic device, the worker manually sets the workpiece on the work table 60. That is, an operator sets a workpiece on the conveyance rail B 81 of the work table 60, and fixes a workpiece | work by the backup unit 63 and performs an application | coating work. Similarly, the work is taken out from the work table 60.

The program stored (recorded) in the control unit B 91 of the desk type work unit 50 is input by an external input means such as a PC through a connector (not shown). If the desktop robot unit 50 is attached to the main body 10 and connected with the control part A 90, it can also input from the monitor (touch panel) 14.

[Industry availability]

In the present invention, any work head can be selected and used from a discharge head, a cutting tool, a cleaning device, an assembly tool, a screw driver, a UV irradiator, a soldering tool, a lubrication tool, a press tool, and the like.

10: Body
11: Base A
12: shroud
13: ceiling
14: Monitor (touch panel)
15: Dispensing Controller
16: syringe
17: nozzle
18: tube
20: Workpiece A
21: hole A
22: workpiece B
23: hole B
29: operation box
30: conveying unit
31: loader
32: Unloader part
33: round trip return
34: magazine A
35: magazine B
36: conveyance drive mechanism (conveyance drive means)
37: Pin A
38: Pin B
39: pin mounting holes
40: drawing board (pressure member)
41: rail connector
42: pusher
43: fixed plate
44: carrier plate
50: tabletop work device unit (work robot unit)
51: base B
52: prop
53: X direction moving mechanism (X direction moving means)
54: Z direction moving mechanism (Z direction moving means)
55: plate
56: discharge head
57: CCD camera
58: laser displacement meter
59: Y-direction moving mechanism (Y-direction moving means)
60: working table
61: operation switch
62: stage
63: backup unit
64: support
65: connector
67: mounting hole
68: guide
70: workpiece loading position
71: workpiece unloading position
72: pattern creation work position
80: conveying rail A
81: conveying rail B
82: conveying rail C
85: block
86: hole
87: position adjustment unit
88: adjustment screw
89: large diameter part
90: control part A
91: control unit B

Claims (8)

A fully automatic work device including a mount provided with a transport unit for transporting a work, and a table-type work device unit detachably attached to the mount.
The table-type work device unit includes a work holding part for holding the work, a work head, and a relative moving mechanism for relatively moving the work holding part and the work head. Capable of doing the desired work on the workpiece, and
The work device, wherein the work holding part has a conveying position in contact with the conveying unit and a working position spaced apart from the conveying unit to perform a desired work on the workpiece. A work holding part for holding a work piece, a work head, and a relative moving mechanism for relatively moving the work holding part and the work head, and capable of performing desired work on the work held by the work holding part on a table. Semi-automatic work device
The apparatus is detachably installed in a device including a mount and a conveying unit for conveying a workpiece provided on the mount, and the work holding part is spaced apart from the conveying position in contact with the conveying unit and the conveying unit. A work device comprising a fully automatic work device by moving a work position to perform a desired work on the workpiece. It is equipped with the mount provided with the conveying unit which conveys a workpiece,
A table-type work device unit having a work holding unit for holding the work, a work head, and a relative moving mechanism for relatively moving the work holding unit and the work head can be detachably installed on a mount.
And the work holding unit constitutes a fully automatic work device by moving a conveying position in contact with the conveying unit and a working position spaced apart from the conveying unit to perform a desired work on the workpiece. 4. The method according to any one of claims 1 to 3,
The said conveying unit is provided with the upstream conveyance rail and downstream delivery rail which were spaced apart,
The work device in which the workpiece holding portion communicates the upstream transport rail and the downstream delivery rail at the transport position. The method of claim 4, wherein
The said workpiece holding part is provided with the said contact rail and the latching mechanism which hangs the said workpiece to the said contact rail. The method of claim 5,
The said conveyance unit is a working apparatus provided with the reciprocation conveyance part which conveys a workpiece from the said upstream conveyance rail to the said downstream delivery rail. The method of claim 6,
An unloader portion disposed downstream of the downstream delivery rail,
The working device which accommodates a workpiece in the said unloader part by the press member which the said reciprocating conveyance part has. The method according to any one of claims 1 to 7,
The conveying unit is a work device that is detachably attached to the mount.

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