KR20140112420A

KR20140112420A - Method and apparatus for conveying workpieces

Info

Publication number: KR20140112420A
Application number: KR1020140027864A
Authority: KR
Inventors: 유이치 다자와
Original assignee: 아키무 가부시키가이샤
Priority date: 2013-03-11
Filing date: 2014-03-10
Publication date: 2014-09-23
Also published as: JP5370949B1; TWI627122B; JP2014172739A; KR101587885B1; CN104053350B; TW201505949A; CN104053350A

Abstract

The object of the present invention is to transport a plurality of unaligned workpieces in a short time. In the means for solving the problem, the workpiece carrier device (1) comprises a holding / 12b, 12c, 12d, 12e, 12f, 12g, 12h and one adsorption nozzle 12a to 12h independently rising and falling between the lift height and the lift height elevating from the holding / And the remaining suction nozzles 12a to 12h can be raised or lowered from the raised height to the partially elevable or not possible state or the partially elevated and unloaded state and all the suction nozzles 12a to 12h can be elevated or lowered And a lifting and lowering flange 202 for lifting the lifting and lowering suction nozzles 12a to 12h by raising and lowering the lifting and lowering mechanism.

Description

[0001] METHOD AND APPARATUS FOR CONVEYING WORKPIECES [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveying method and apparatus for conveying a work to a predetermined position in the assembly of an electronic part or the like.

In a line for assembling a workpiece and manufacturing an electronic component or the like, the workpiece is taken out from the tray on which the workpiece is stocked and is transported to a predetermined position. When a multi-nozzle head having a plurality of suction nozzles is used, a plurality of workpieces can be conveyed at the same time by sucking a plurality of workpieces at the same time. Further, the time required for conveyance can be shortened (see Patent Document 1).

Patent Document 1: JP-A-2008-147313

However, when the workpiece is not aligned on the tray, the plurality of workpieces can not be sucked at the same time and can not be transported at the same time. In other words, it is not possible to shorten the time required for conveyance.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a conveying method and apparatus capable of conveying a plurality of unaligned works in a short time.

As a result of intensive studies by the present inventors, the above object is achieved by the following means.

(1) According to the present invention, there are provided a plurality of holding means for independently ascending and descending between a holding and releasing height for holding or releasing a work and a rising height rising from the holding and releasing height, A partly-elevatable state in which the supporting means can be raised and lowered and a remaining part of the holding means is made impossible in the elevation height, and an elevating / lowering state in which all the elevating and lowering- And a raising and lowering means for raising and lowering the holding means capable of raising and lowering by raising and lowering the raising and lowering means.

(2) In the present invention, it is preferable that the elevation restricting means includes a stopper stopping the elevation height by directly or indirectly hitting the plurality of holding means located at the elevation height. Is a work carrier.

(3) In the present invention, it is preferable that the stopper is provided with a plurality of effective portions for enabling the retaining means to be engaged and a plurality of releasing portions for releasing the engagement of the retaining means, And a part of the workpiece is transferred to the workpiece carrying device. The workpiece carrier device according to (2), wherein the partly movable, partially movable,

(4) In the present invention, it is preferable that the stopper includes the plurality of effective portions and the plurality of releasing portions arranged in the circumferential direction in the horizontal plane, and rotates itself in the horizontal plane, State and the fully-elevatable state are switched.

(5) In the present invention, the stopper is the work carrier described in (3) or (4), wherein the plurality of effective portions and the plurality of releasing portions are arranged alternately.

(6) In the present invention, it is preferable that the plurality of holding means is rotatably provided about a vertical axis, and the elevation restricting means is interposed between each of the holding means and the stopper, (2) to (5), further comprising a plurality of rotating bodies that rotate as they rotate about the axis of rotation and reduce the frictional force between the holding means and the stopper.

(7) In the present invention, it is preferable that, when the holding means supports the holding means, the elevation limiting means is brought into the partially elevatable or partially unembroWable state and then the elevating means is lowered, (1) to (6), characterized by further comprising a control unit for lowering the retaining / releasing height of the retaining / releasing height of a part of the retaining / releasing means.

(8) In the present invention, it is preferable that, in the case where the holding means releases the holding means, the control unit causes all the holding means to descend by lowering the elevator means after bringing the elevator limiting means into the fully elevatable state And all of the holding means is set to the holding / releasing height.

(9) In the work carrier according to any one of (1) to (6), when the holding means supports the holding means, the elevating / And a part of the holding means is lowered to the holding / releasing height by lowering the elevating means after the state is made impossible.

(10) According to the present invention, in the case where the holding means releases the holding means, all of the holding means are lowered by lowering the elevating means after bringing the elevation limiting means into the fully elevable state, (9), wherein the holding means is the holding / releasing height.

According to the present invention, it is possible to obtain an excellent effect that a plurality of unaligned works can be transported in a short time.

1 is a front view of a work carrier according to a first embodiment of the present invention.
2 is a plan view showing the suction nozzle and the air piping.
Fig. 3 is a front view showing the structure of the nozzle head, Fig. 3 (A) shows a state where the suction nozzle is located at the holding / releasing height, (B) shows a state in which the suction nozzle is located at a rising height, (C) shows a state in which one adsorption nozzle is located at the holding / releasing height and the other adsorption nozzle is located at the elevation height.
Fig. 4 is a plan view for explaining the state of the ascending / descending means. Fig. 4 (A) shows a state in which some of the objects can be raised and lowered, and Fig.
5 is a block diagram showing the functional configuration of the control unit.
Fig. 6 is a plan view of a line to which the workpiece transport device is applied.
Fig. 7 is a front view of a workpiece carrier according to a second embodiment of the present invention. Fig.
Fig. 8 is a front view showing the structure of the nozzle head, Fig. 8 (A) shows a state in which the suction nozzle is located at the holding / releasing height, Fig. 8 , And (C) are positioned at the holding / releasing height of one adsorption nozzle and the remaining adsorption nozzles are positioned at the elevation height.
Fig. 9 is a plan view for explaining the state of the lifting / lowering means. Fig. 9 (A) shows a state in which some lifting / lowering is possible, and a part in which no lifting / lowering is possible.
10 is a plan view showing the nozzle rotating mechanism.
11 is a block diagram showing a functional configuration of the control unit.
Fig. 12 is a front view showing a modified example of the workpiece conveying apparatus, Fig. 12 (A) showing a modification of the first embodiment, and Fig. 12 (B) showing a modification of the second embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the directions will be described with reference to the X-axis, Y-axis, and Z-axis shown in the drawings. The X axis and the Y axis are horizontal axes approximately perpendicular to each other, and the Z axis is a vertical axis perpendicular to the X axis and the Y axis. In the drawings, some of the configurations and cross-sections of hatching are omitted as appropriate to simplify the drawing. In addition, the size of each configuration may be exaggerated in each drawing.

1 is a front view of a work carrier 1 according to a first embodiment of the present invention. Fig. 2 is a plan view showing the suction nozzles 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h and air pipes 13a, 13b, 13c, 13d, 13e, 13f, 13g, 13h. 3 is a front view showing the structure of the nozzle head 100. Fig. 3 (A) shows a state in which the suction nozzles 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h are located at the holding / releasing height. Fig. 3 (B) shows a state in which the adsorption nozzles 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h are located at a rising height. 3C shows a state in which one adsorption nozzle 12a is located at the holding and releasing height and the other adsorption nozzles 12b, 12c, 12d, 12e, 12f, 12g, FIG. 4 is a plan view for explaining the state of the elevation restricting mechanism 210. Fig. Fig. 4 (A) shows a state in which some of the objects can be raised and lowered. Fig. 4 (B) shows a state in which all of them can be raised and lowered. 5 is a block diagram showing the functional configuration of the control unit 300. As shown in Fig.

The work transport apparatus 1 shown in Figs. 1 and 2 is used when transporting a work 10 (see Fig. 6) provided on a line for manufacturing an electronic part or the like. More specifically, the workpiece conveying apparatus 1 includes a nozzle head 100 for holding the workpiece 10, a head moving mechanism (not shown) for moving the nozzle head 100 in the Y-axis direction, and a control unit 300 5) and the like.

Each part of the work transfer apparatus 1 is controlled by the control unit 300 in a general manner. That is, each part of the work transfer apparatus 1 operates under the control of the control unit 300, and the operation status thereof is managed by the control unit 300.

The nozzle head 100 includes a head body 110 and a plurality of (eight in this embodiment) suction nozzles 12a, 12b, 12c, 12d, 12e, 12f, 12g A lift mechanism 200 for lifting and lowering the plurality of suction nozzles 12a to 12h independently of each other and a lifting and lowering mechanism for restricting lifting and lowering of the suction nozzles 12a to 12h by the lifting mechanism 200 (Eight in this embodiment) air pipes 13a, 13b, 13c, 13d, 13e, 13f, 13g, and 13h connected to the suction nozzles 12a to 12h and the suction nozzles 12a to 12h, .

The head main body 110 is arranged to move in the Y-axis direction by the above-described head moving mechanism. Thereby, the nozzle head 100 becomes movable in the Y-axis direction. The head body 110 is arranged so that its height does not change.

The plurality of adsorption nozzles 12a to 12h are disposed with their tips directed downward. Further, the plurality of suction nozzles 12a to 12h suck the workpiece 10 individually at the tips of the suction nozzles 12a to 12h, respectively. Namely, each of the plurality of suction nozzles 12a to 12h holds the work 10 individually. The plurality of suction nozzles 12a to 12h independently move up and down between the holding / releasing height for holding or releasing the workpiece 10 and the rising height from the holding / releasing height thereof.

Each of the plurality of air pipes 13a to 13h is made of a flexible material so as to follow the lifting and lowering of the suction nozzles 12a to 12h. The plurality of air pipes 13a to 13h are connected to a pump unit (not shown) for generating a vacuum pressure, and deliver the vacuum pressure to the corresponding suction nozzles 12a to 12h, respectively.

The lifting mechanism 200 shown in Figs. 3 (A), 3 (B) and 3 (C) includes a lifting shaft 201 for lifting and lowering the lifting shaft 202 A lift cam 204 mounted on a rotary shaft (not shown) of the motor lift 203 for rotating the lift cam 204 and a lift cam 201 to the power of the power converting member 205. [

The lifting shaft 201 has a cylindrical shape and is disposed along the vertical direction. The lifting flange 202 supports the suction nozzles 12a to 12h from below in its flange portion (not shown). The elevating flange 202 functions as elevating means for elevating and lowering the elevating suction nozzles 12a to 12h which are not elevated by the elevating and lowering restricting mechanism 210 by raising and lowering the elevating flange 202 itself.

The elevating motor 203 is disposed so that its height does not change with respect to the head body 110. The elevating motor 203 is arranged so that its rotational axis (not shown) follows the horizontal direction. As the elevating motor 203, a pulse motor (preferably a servo motor) or the like can be employed. The elevating cam 204 is shaped like an egg whose shape is eccentric and rotates about the rotation axis of the elevating motor 203 along the horizontal direction. The lifting cam 204 supports the power conversion member 205 from below and rotates the power conversion member 205 up and down. As a result, the lifting cam 204 lifts the lifting shaft 201 and the lifting flange 202.

The lifting and lowering restricting mechanism 210 allows only one adsorption nozzle 12a to 12h (for example, the adsorption nozzle 12a) to be elevated and the other adsorption nozzles 12a to 12h (for example, the adsorption nozzles 12b to 12h (See Fig. 3 (C) and Fig. 4 (A)) and all of the suction nozzles 12a to 12h which are capable of ascending and descending (See Fig. 3 (A) and Fig. 4 (B)).

Specifically, the lifting and lowering mechanism 210 includes a stopper 211 that rotates around the lifting shaft 201 and a plurality of lifting and lowering mechanisms 210 and 220 which are mounted on the respective suction nozzles 12a to 12h so as to be equally spaced from each other around the stopper 211. [ (See FIGS. 4A and 4B) and the elevating and lowering restricting motor 216 serving as a power source, and a pair of lifting and lowering motors 216, And a power transmission belt 217 for transmitting the power of the restriction motor 216 to the stopper 211. [

The stopper 211 has a function of interrupting the plurality of suction nozzles 12a to 12h positioned at the elevation height by interposing the stop pieces 14a to 14h and stopping the suction nozzles 12a to 12h at the elevation height. More specifically, the stopper 211 includes a cylindrical shaft portion 212 fitted in the lifting shaft 201, a top plate portion 213 in the form of a hollow disk bent outward in the horizontal direction from the bottom edge of the shaft portion 212, A cylindrical portion 214 bent downward from the outer peripheral edge of the cylindrical portion 213 and an annular flange portion 215 bent outward in the horizontal direction from the lower edge of the cylindrical portion 214. [

The stopper 211 is disposed so as not to be changed in height with respect to the head body 110. The stopper 211 is engaged with a power transmission belt 217 on a pulley (not shown) of the shaft portion 212 and rotates in accordance with the running of the power transmission belt. That is, the flange portion 215 rotates in accordance with the running of the power transmission belt. A pulse motor or the like can be used as the elevation limiting motor 216.

As shown in Figs. 4 (A) and 4 (B), the flange portion 215 is divided into a plurality of regions (16 in this embodiment). Specifically, the flange portion 215 is provided with a plurality of (seven in this embodiment) effective portions 22a, 22b, 22c, 22d, 22e, 22f, and 22g for effecting engagement of the suction nozzles 12a to 12h, 23b, 23c, 23d, 23e, 23f, 23g, 23h and 23i for releasing the engagement of the nozzles 12a to 12h. More specifically, the flange portion 215 alternately arranges the plurality of effective portions 22a to 22g and the plurality of the release portions 23a to 23i. The flange portion 215 includes a plurality of the effective portions 22a to 22g and the plurality of release portions 23a to 23i as the release portion 23a, the effective portion 22a, the release portion 23b, the effective portion 22b, The releasing portion 23c, the effective portion 22c, the releasing portion 23d, the effective portion 22d, the releasing portion 23e, the effective portion 22e, the releasing portion 23f, the effective portion 22f, An effective portion 22g, a releasing portion 23h, and a releasing portion 23i in this order.

The plurality of effective portions 22a to 22g each hook the suction nozzles 12a to 12h indirectly by hanging the stop pieces 14a, 14b, 14c, 14d, 14e, 14f, 14g and 14h. The plurality of releasing portions 23a to 23i do not hook the stop pieces 14a, 14b, 14c, 14d, 14e, 14f, 14g, and 14h, respectively. In other words, the plurality of release portions 23a to 23i do not attract the suction nozzles 12a to 12h, respectively.

In the state shown in Fig. 4 (A), the effective portion 22a is located at a position corresponding to the locking piece 14a, and the engagement of the suction nozzle 12a is effective. Likewise, the effective portion 22b is located at a position corresponding to the stop piece 14b, so that the engagement of the suction nozzle 12b is effective. The effective part 22c is located at a position corresponding to the stop piece 14c, and the engagement of the suction nozzle 12c is effective. Further, the effective portion 22d is located at a position corresponding to the stop piece 14d, so that the engagement of the suction nozzle 12d is effective. Further, the effective portion 22e is located at a position corresponding to the stop piece 14e, so that the engagement of the suction nozzle 12e is effective. The effective portion 22f is located at a position corresponding to the stop piece 14f, so that the engagement of the suction nozzle 12f is effective. Further, the effective portion 22g is located at a position corresponding to the stop piece 14g, so that the engagement of the suction nozzle 12g is effective. Further, the release portion 23i is located at a position corresponding to the stop piece 14h to release the engagement of the suction nozzle 12h.

That is, FIG. 4A shows a state in which only one adsorption nozzle 12h is movable up and down, and the other adsorption nozzles 12a to 12g are not movable up and down. 4 (A) and 4 (B), hatching is performed on the suction nozzles for which the engagement is effective, thereby distinguishing between validation and release of the engagement.

In the state shown in Fig. 4 (B), the release portion 23a is located at a position corresponding to the locking piece 14a, and the engagement of the suction nozzle 12a is released. Likewise, the release portion 23b is located at a position corresponding to the stop piece 14b to release the engagement of the suction nozzle 12b. The release portion 23c is located at a position corresponding to the stop piece 14c to release the engagement of the suction nozzle 12c. The release portion 23d is located at a position corresponding to the stop piece 14d to release the engagement of the suction nozzle 12d. Further, the release portion 23e is located at a position corresponding to the stop piece 14e to release the engagement of the suction nozzle 12e. The release portion 23f is located at a position corresponding to the stop piece 14f to release the engagement of the suction nozzle 12f. The release portion 23g is located at a position corresponding to the stop piece 14g to release the engagement of the suction nozzle 12g. Further, the release portion 23h is located at a position corresponding to the stop piece 14h to release the engagement of the suction nozzle 12h.

That is, FIG. 4B shows a state in which all of the suction nozzles 12a to 12h can be moved up and down.

The stopper 211 described above rotates itself in the horizontal plane to move the plurality of effective portions 22a to 22g and the plurality of release portions 23a to 23i, - Switches between the partially unavailable state and the fully-elevatable state shown in Fig. 4 (B).

The control unit 300 is composed of a CPU, a RAM, a ROM, and the like (both not shown) and executes various controls. The CPU is a so-called central processing unit, and various programs are executed to realize various functions. The RAM is used as a working area of the CPU. The ROM stores a program executed by the CPU.

5, the control unit 300 includes a sensing unit 301, a head moving mechanism control unit 302, a lifting mechanism control unit 303, a lifting / restraining mechanism control unit 304, A pump unit control unit 305, and the like.

The sensing unit 301 always acquires sensing data of various sensors (not shown) for detecting the state of each part of the work carrying apparatus 1 and various sensors (not shown) for detecting the state of the work 10, The lifting mechanism control unit 303, the lifting / restricting mechanism control unit 304, and the pump unit control unit 305, as shown in Fig.

The head moving mechanism control unit 302 refers to the sensing data obtained by the sensing unit 301 and controls the head moving mechanism (not shown) so that the nozzle head 100 is positioned at a desired position.

The lifting mechanism control unit 303 refers to the sensing data acquired by the sensing unit 301 and controls the lifting mechanism 200 so that the suction nozzles 12a to 12h are at desired heights.

The elevation restraining mechanism control section 304 refers to the sensing data obtained by the sensing section 301 and controls the elevation restraining mechanism 210 so that the suction nozzles 12a to 12h are at desired heights.

Further, the pump unit control unit 305 refers to the sensing data obtained by the sensing unit 301, and controls the pump unit (not shown) so that the holding or release of the workpiece 10 by the suction nozzles 12a to 12h is aimed ).

For example, in the case where the suction nozzles 12a to 12h hold the workpiece 10 one by one, the elevating and lowering restricting mechanism control section 304 controls the elevating and lowering restricting mechanism 210 to partially elevate and lower, (See Fig. 2A). The lifting mechanism control unit 303 controls the lifting mechanism 200 so that the lifting flange 202 is lowered. Thus, only one adsorption nozzle 12a to 12h (for example, the adsorption nozzle 12a) descends and only one of the adsorption nozzles 12a to 12h (for example, the adsorption nozzle 12a) Lt; / RTI > Thereafter, the pump unit control unit 305 controls the pump unit (not shown) so that the vacuum pressure is generated at the tip of the suction nozzles 12a to 12h (for example, the suction nozzle 12a). Whereby the workpiece 10 is held at the tip of the suction nozzles 12a to 12h (for example, the suction nozzle 12a). The lifting mechanism control unit 303 controls the lifting mechanism 200 so that the lifting flange 202 is lifted. Thereby, the workpiece 10 held at the tip of the suction nozzles 12a to 12h (for example, the suction nozzle 12a) is lifted. This control is performed in turn for the other adsorption nozzles 12a to 12h (for example, the adsorption nozzles 12b to 12h).

When the adsorption nozzles 12a to 12h hold the work 10 at the same time, the elevation restraining mechanism control unit 304 controls the elevation restraining mechanism 210 such that all the elevation restraining mechanisms 210 are in the elevatable state (see FIG. 4B) And controls the elevation restricting mechanism (210). The lifting mechanism control unit 303 controls the lifting mechanism 200 so that the lifting flange 202 is lowered. As a result, all of the adsorption nozzles 12a to 12h descend, and all of the adsorption nozzles 12a to 12h are located at the holding and releasing heights. Then, the pump unit control unit 305 controls the pump unit (not shown) so that a vacuum pressure is generated at the tips of the suction nozzles 12a to 12h. As a result, the workpiece 10 is held at the tips of the suction nozzles 12a to 12h. The lifting mechanism control unit 303 controls the lifting mechanism 200 so that the lifting flange 202 is lifted. Thereby, the workpiece 10 held at the tips of the suction nozzles 12a to 12h is lifted.

Or when the suction nozzles 12a to 12h release the holding of the work 10 all at once, the elevation restricting mechanism control unit 304 controls the elevation restricting mechanism 210 to move up and down And controls the elevation restricting mechanism 210 so that the elevation restricting mechanism 210 is located. The lifting mechanism control unit 303 controls the lifting mechanism 200 so that the lifting flange 202 is lowered. As a result, all of the adsorption nozzles 12a to 12h descend, and all of the adsorption nozzles 12a to 12h are located at the holding and releasing heights. Then, the pump unit control unit 305 controls the pump unit (not shown) to release the vacuum pressure at the tip of the suction nozzles 12a to 12h. As a result, the holding of the work 10 at the tips of the suction nozzles 12a to 12h is released. The lifting mechanism control unit 303 controls the lifting mechanism 200 so that the lifting flange 202 is lifted. Whereby the suction nozzles 12a to 12h are lifted and retracted from the work 10. [

Although not described, it is also possible to release the holding of the workpiece 10 one by one by the suction nozzles 12a to 12h.

Next, the line 400 to which the work carrier 1 is applied will be described with reference to Fig. 6 is a plan view of the line 400 to which the work transfer apparatus 1 is applied.

The line 400 shown in Fig. 6 is an inspection line of the work 10 when manufacturing electronic parts and the like. In this line 400, the workpiece 10 is supplied to the inspection apparatus 420 and desired inspection is performed. Specifically, the line 400 includes a supply tray transport robot 410 for transporting the supply tray 411, a work transfer apparatus 1 serving as a supply robot, an inspection apparatus 420, A work transfer device 1 and a storage tray transfer robot 430 for transferring the storage tray 431. [

The feed tray conveying robot 410 conveys the feed tray 411 in the X-axis direction. The supply tray 411 has a plurality of accommodating portions 412 arranged in a matrix in the X-axis direction and the Y-axis direction. Each of the plurality of accommodating portions 412 is larger than the work 10, and accommodates the work 10. The supply tray 411 accommodating the plurality of workpieces 10 in the accommodating portion 412 is transported to a predetermined position by the supply tray transport robot 410.

The workpiece carrier 1 serving as a supply robot holds up to eight workpieces 10 on the supply tray 411 one by one. Then, the work carrying apparatus 1 carries the work 10 in the Y-axis direction toward the inspection apparatus 420. Thereafter, the work transfer apparatus 1 releases the holding of the work 10 from the inspection apparatus 420.

The inspection apparatus 420 is continuously arranged such that a plurality of inspection tables 421 are drawn around the circumference. In the plurality of inspection tables 421, a plurality of workpieces 10 are arranged by a workpiece conveyance device 1 serving as a supply robot. The inspection table 421 on which a plurality of works 10 are arranged travels to draw a circumference while following the inspection table 421 on the side and transports the plurality of works 10 to a predetermined position.

The work transfer apparatus 1 functioning as a storage robot holds the work 10 on the inspection table 421 at one time. Then, the work carrier 1 carries the work 10 from the inspection apparatus 420 in the Y-axis direction. Thereafter, the work carrying apparatus 1 releases holding of the work 10 on the receiving tray 431.

Further, the work carrying apparatus 1 releases the holding of the work 10 from the re-insertion tray (not shown) with respect to the work 10 judged to be inspected again by the inspection apparatus 420. [ In this way, the work 10 charged into the inspection apparatus 420 is stocked in the re-insertion tray again.

The storage tray transport robot 430 transports the storage tray 431 in the X axis direction. The conveyance tray 431 has a plurality of accommodating portions 432 arranged in a matrix in the X-axis direction and the Y-axis direction, like the supply tray 411. Each of the plurality of accommodating portions 432 is a larger hole than the work 10 and accommodates the work 10. The storage tray 431 containing a plurality of workpieces 10 is transported to a predetermined position by the storage tray transport robot 430.

As described above, the workpiece conveying apparatus 1 according to the present embodiment independently ascends and descends between the holding / releasing height for holding or releasing the work 10 and the rising height rising from the holding / releasing height Only the plurality of suction nozzles 12a to 12h and one suction nozzle 12a to 12h (for example, suction nozzle 12a) can be raised and lowered and the remaining suction nozzles 12a to 12h (for example, 12b to 12h) capable of being raised or lowered at a rising height, a lift limiting mechanism (210) for switching all of the liftable states in which some of the suction nozzles (12a to 12h) And an elevating flange 202 for elevating the elevating and lowering attracting nozzles 12a to 12h by raising and lowering the elevating flanges 202a and 202b.

For this reason, the lifting / lowering mechanism 210 is partly lifted and lowered, and partly lifted and lowered, and the plurality of suction nozzles 12a to 12h are lifted and lowered one by one. The plurality of workpieces 10 which are not aligned can be held in succession by corresponding sequentially the adsorption nozzles 12a to 12h which move up and down with respect to the workpiece 10. [ In the case of releasing the holding of the work 10, all of the suction nozzles 12a to 12h are moved up and down all at once by putting the elevation restricting mechanism 210 in a fully movable state. That is, the holding of all the work pieces 10 can be canceled at once. Furthermore, it is possible to transport a plurality of workpieces 10 that are not aligned in a short time.

The lifting and lowering mechanism 210 is provided with a stopper 211 for stopping the suction nozzles 12a to 12h positioned at the raised height directly or indirectly at an elevated height. Therefore, the elevation restraining mechanism 210 can be realized with a simple structure.

The stopper 211 also has a plurality of effective portions 22a to 22g for enabling the attraction of the suction nozzles 12a to 12h and a plurality of release portions 23a to 23i for releasing the engagement of the suction nozzles 12a to 12h, . The stopper 211 changes the state of partially elevable, partially inaccessible or fully movable by moving the plurality of effective portions 22a to 22g and the plurality of release portions 23a to 23i. Therefore, it is possible to switch between a partly elevatable, partially unstable, and fully elevatable state by a simple operation.

The stopper 211 further includes a plurality of effective portions 22a to 22g and a plurality of release portions 23a to 23i arranged in the circumferential direction in the horizontal plane, Some of the unabradable state and the fully-elevable state are switched. Therefore, the elevation restraining mechanism 210 can be realized with a compact structure as compared with the case where the stopper moves linearly. Further, the suction nozzles 12a to 12h which ascend and descend are circulated. Therefore, the adsorption nozzles 12a to 12h which are raised and lowered one by one may be started from any of the adsorption nozzles 12a to 12h.

The stopper 211 is formed by alternately arranging a plurality of effective portions 22a to 22g and a plurality of releasing portions 23a to 23i. That is, the stopper 211 is formed by arranging the plurality of effective portions 22a to 22g and the plurality of releasing portions 23a to 23i in a simple order. Therefore, the elevation restricting mechanism 210 can be realized with a simpler structure.

Fig. 7 is a front view of the work carrying apparatus 2 according to the second embodiment of the present invention. Fig. 8 is a front view showing the configuration of the nozzle head 500. Fig. Fig. 8 (A) shows a state in which the suction nozzles 52a, 52b, 52c, 52d and 52e are located at the holding / releasing height. Fig. 8B shows a state in which the suction nozzles 52a, 52b, 52c, 52d, and 52e are positioned at a rising height. 9 is a plan view for explaining the state of the elevation restricting mechanism 610. Fig. 9 (A) shows a partly elevatable / partially elevatable / unembedded state. Fig. 9 (B) shows a state in which all of them can be raised and lowered. 10 is a plan view showing the nozzle rotating mechanism 650. Fig. Fig. 11 is a block diagram showing the functional configuration of the control unit 700. Fig.

In addition, only the characteristic parts of the work transport apparatus 2 according to the second embodiment will be described, and the description of the structure, operation and effect similar to those of the first embodiment will be appropriately omitted.

7 includes a nozzle head 500, a head moving mechanism (not shown), a control unit 700 (see Fig. 11), and the like.

The nozzle head 500 includes a head body 510 and a plurality of (five in this embodiment) suction nozzles 52a, 52b, 52c, 52d and 52e, a lifting mechanism 600, a lifting and restricting mechanism 610, (Five in this embodiment) air pipes 53a, 53b, 53c, 53d, and 53e (see Figs. 9A and 9B) and a nozzle rotating mechanism 650. Fig.

The elevating mechanism 600 shown in Figs. 8A and 8B includes an elevating shaft 601, an elevating flange 602 functioning as elevating means, a elevating motor 603, And a power conversion member 605. The power conversion member 605 includes a cam 604,

The elevation restricting mechanism 610 includes a stopper 611 and a plurality of locking pieces 54a, 54b, 54c, 54c arranged corresponding to the respective suction nozzles 52a to 52e so as to be equally spaced from each other around the stopper 611, 55b, 55c, 55d, and 55e, and the arms 55a, 55b, 55c, 55d, and 55e on which the plurality of locking pieces 54a to 54e are mounted, 56a, 56b, 56c, 56d, 56e (see Figs. 9 (A) and 9 (B)) which are rotatably mounted on the respective suction nozzles 52a to 52e, A motor 616 and a power transmission belt 617 are provided.

The stopper 611 has a structure in which a plurality of suction nozzles 52a to 52e positioned at a rising height are indirectly provided by interposing the stop pieces 54a to 54e, the arms 55a to 55e and the locking rotors 56a to 56e To stop at the elevation height. More specifically, the stopper 611 includes a shaft portion 612, a top plate portion 613, a cylindrical portion 614, and a flange portion 615.

As shown in Figs. 9A and 9B, the flange portion 615 includes a plurality of (seven in this embodiment) effective portions 62a, 62b, 62c, 62d, 62e, 62f, 62g 63a, 63b, 63c, 63d, 63e, 63f, 63g, 63h, 63i, respectively, and a plurality of (nine in this embodiment)

9A shows a state in which only one suction nozzle 52e is movable up and down and the remaining suction nozzles 52a to 52d are in a partially raised and lowered state and in a partially non-liftable state in which the elevation height is made impossible. 9 (A) and 9 (B), hatching is performed on a suction nozzle for which the engagement is effective to distinguish between validation and release of the engagement.

FIG. 9B shows a state in which all of the suction nozzles 52a to 52e can be moved up and down.

The above-described stopper 611 switches between the partially elevable state and the partially elevable state as shown in Fig. 9A and the fully elevable state as shown in Fig. 9B.

Each of the plurality of the locking rotors 56a, 56b, 56c, 56d, and 56e rotates itself as the suction nozzles 52a to 52e rotate about the vertical axis, thereby rotating the suction nozzles 52a to 52e and the stopper 611, Thereby reducing the frictional force between them.

10, the nozzle rotating mechanism 650 includes a plurality of (five in this embodiment) driven gears 65a, 65b, 65c, and 65d that rotate integrally with the plurality of suction nozzles 52a to 52e And drive gears 656 arranged side by side with the plurality of driven gears 65a to 65e and a plurality of driven gears 65a to 65e and drive gears 656, A plurality of guide gears 66a, 66b, 66c and 66d for bringing the gear belt 657 into close contact with the driven gears 65a to 65e and a nozzle returning motor (not shown) serving as a power source, And a base 662.

The driving gear 656 rotates by driving the nozzle rotation motor. The plurality of driven gears 65a to 65e are rotated in association with the drive gear 656 by the travel of the gear belt 657. That is, the plurality of suction nozzles 52a to 52e, which rotate integrally with the plurality of driven gears 65a to 65e, rotate in association with the drive gear 656 by running the gear belt 657. The nozzle rotation motor runs so as to circulate by the rotation of the drive gear 656. The plurality of guide gears 66a to 66d are disposed at positions where the gearbelt 657 is sandwiched between the plurality of driven gears 65a to 65e. The plurality of guide gears 66a to 66d rotate together with the travel of the gear belt 657. [ That is, the plurality of guide gears 66a to 66d do not hinder the smooth running of the gear belt 657. The base 662 is disposed so that its height does not change with respect to the head body 510.

11, the control unit 700 includes a sensing unit 701, a head moving mechanism control unit 702, a lifting mechanism control unit 703, and a lifting and restraining mechanism control unit 704 A pump unit control unit 705, a nozzle rotation mechanism control unit 706, and the like.

The sensing unit 701 always acquires sensing data of various sensors (not shown) and controls the head movement mechanism control unit 702, the elevation mechanism control unit 703, the elevation restriction mechanism control unit 704, the pump unit control unit 705, And sends it to the rotation mechanism control unit 706.

The nozzle rotation mechanism control unit 706 controls the nozzle rotation mechanism 650 so that the suction nozzles 52a to 52e are in a desired direction with reference to the sensing data acquired by the sensing unit 701. [

More specifically, the nozzle rotation mechanism control unit 706 controls the nozzle rotation mechanism 650 before the elevation mechanism control unit 703 controls the elevation mechanism 600 such that the elevation flange 602 is lowered. The nozzle rotating mechanism control unit 706 controls the nozzle rotating mechanism 650 after the elevating mechanism control unit 703 controls the elevating mechanism 600 so that the elevating flange 602 is raised.

As described above, each of the plurality of suction nozzles 52a to 52e in the work transport apparatus 2 according to the present embodiment is rotatably installed around the vertical axis. The lifting and lowering mechanism 610 is interposed between each of the suction nozzles 52a to 52e and the stopper 611 so as to rotate as the suction nozzles 52a to 52e rotate around the vertical axis so that the suction nozzles 52a to 52e, And a plurality of locking rotors 56a to 56e for reducing the frictional force between the stopper 611 and the stopper 611.

Therefore, the frictional force between the plurality of suction nozzles 52a to 52e rotating around the vertical axis and the stopper 611 for indirectly applying the suction nozzles 52a to 52e to each other can be reduced. This makes it possible to smoothly rotate the suction nozzles 52a to 52e around the vertical axis.

The present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the spirit and scope of the invention.

That is, the arrangement, size, shape, material, direction, quantity and the like of each component in the above embodiments can be appropriately changed. For example, the arrangement and quantity of the adsorption nozzle. In addition, only one suction nozzle 12a to 12h (for example, the suction nozzle 12a) can be raised and lowered by the elevation restricting mechanism 210, and the remaining suction nozzles 12a to 12h (For example, the suction nozzles 12b to 12h) can not be lifted at an elevated height. However, the present invention is not limited thereto. In other words, in the partially elevable and partially elevable states of the present invention, some of the adsorption nozzles (for example, two adsorption nozzles 12a and 12b) can be raised and lowered and the remaining adsorption nozzles To 12h) can not be elevated at a rising height.

Alternatively, the configurations of the other embodiments in the above-described embodiments may be applied as far as possible.

The stoppers 211 and 611 in the above embodiments indirectly apply a plurality of suction nozzles 12a to 12h and 52a to 52e to the suction nozzles 12a to 12h, , (52a to 52e)) may be directly hooked.

In the above embodiments, the suction nozzles (12a to 12h) (52a to 52e) are descended by their own weights. However, the present invention is not limited to this, It may be positively lowered.

Specifically, in the modification of the first embodiment, as shown in Fig. 12 (A), a coil spring 18 for downwardly pressing the suction nozzles 12a to 12h (shown in Fig. 12a) To 12h). Similarly, in the modified example of the second embodiment, a coil spring 58 for downwardly pushing the suction nozzles 52a to 52e (shown in Fig. 52a) downward is provided as shown in Fig. 12 (B) 52e.

The work transport apparatus of the present invention can be used in the manufacture of electronic devices, electronic parts or other various articles, or in the field of logistics.

1, 2 work transfer device
10 Work
12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h.
202 Lifting flange (lifting means)
210 Lift limiter (lift limiter)
211 Stopper
22a to 22g Effective part
23a to 23i,
230 Lifting flange (lifting means)
300 control unit
52a, 52b, 52c, 52d, 52e adsorption nozzles
56a, 56b, 56c, 56d, and 56e An engagement rotation body (rotation body)
602 Lifting flange (lifting means)
610 Lifting / restricting mechanism (lifting / restricting means)
611 stopper
62a to 62g Effective part
63a to 63i,
650 nozzle rotation mechanism
700 control unit

Claims

A plurality of holding means for independently lifting and lowering between a holding and releasing height for holding or releasing the work and a rising height rising from the holding and releasing height,
A partly elevatable state in which some of the holding means can be raised and lowered and a remaining part of the holding means is made impossible in the elevation height; An ascending / descending restriction means for switching,
And elevating means for elevating and lowering said holding means capable of ascending and descending by raising and lowering itself.

The method according to claim 1,
Wherein the elevation restricting means includes a stopper for stopping the elevation height by directly or indirectly hitting the plurality of holding means located at the elevation height.

The method of claim 2,
Wherein the stopper includes a plurality of effective portions for making engagement of the holding means and a plurality of releasing portions for releasing the engagement of the holding means, and by moving the plurality of effective portions and the plurality of releasing portions Wherein said switching means switches between said partial elevation possible state and partially elevable state and said fully elevable state.

The method of claim 3,
Wherein the stopper includes the plurality of effective portions and the plurality of releasing portions arranged along the circumferential direction in the horizontal plane and rotates itself in a horizontal plane so that the partial liftable state, And the workpiece is transferred.

The method according to claim 3 or 4,
Wherein the stopper is constituted by alternately arranging the plurality of effective portions and the plurality of release portions.

The method according to any one of claims 2 to 5,
Each of the plurality of holding means is rotatably installed around a vertical axis,
The lifting and lowering restricting means includes a plurality of rotating bodies interposed between each of the holding means and the stopper so as to reduce the frictional force between the holding means and the stopper as the holding means rotates about the vertical axis And a workpiece carrying device.

The method according to any one of claims 1 to 6,
When the holding means supports the holding means, the elevating / lowering means is lowered after the elevating / lowering restricting means is brought into the partially elevatable / partially unembroachable state so that a part of the holding means is lowered, To the holding / releasing height of the workpiece carrier.

The method of claim 7,
The control unit causes all of the holding means to be lowered by lowering the elevating means after bringing the elevation limiting means into the fully elevable state when the holding means releases the releasing means, And the holding / releasing height is set to the holding / releasing height.

The work transport apparatus according to any one of claims 1 to 6, wherein when the holding and holding means holds the elevation limiting means, the elevating / lowering means is lowered And a part of the holding means is lowered to the holding / releasing height.

The method of claim 9,
Wherein when the holding means releases the holding means, all the holding means are lowered by lowering the elevator means after bringing the elevation limiting means into the fully elevable state, The height of the workpiece is increased.