201119747 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種對工件執行所需作業的作業裝置，例如 具有手動對所投入工件執行所需作業之桌上型機器人的半 自動型作業裝置，以及可裝卸自如地配置該半自動型作業裝 置，且具有搬送單元的全自動型作業裝置。 本說明書中，所謂「全自動型作業裝置」係指可以全自動 執行對作業場所的工件搬入、在作業場所中對工件的作業、 從作業場所中將工件搬出的作業裝置，具體例係有揭示一種 裝置，係可重複進行由收納有複數工件的匣盒中取出工件， 經對上述工件執行所需作業後，再將經作業後工件收納於匣 盒中等步驟的裝置，或者，可重複進行對就從前一步驟的裝 置搬入之工件，執行所需作業後，再搬出至下一步驟的裝置 中之步驟的裝置。 【先前技術】 為了在被稱為「工件」的作業對象物位於預定位置，施行 諸如液體塗佈、注油、插銷壓入、組裝、焊接、螺絲緊固等 所需作業，而使用作業裝置。 例如專利文獻1有揭示對工件施行液材塗佈作業的作業 裝置。 該作業裝置係一種液材塗佈裝置，具備有：塗佈裝置本 體、裝載機、及卸載機，該塗佈裝置本體係對工件施行液劑 099129236 201119747 塗佈；該裝載機係將載置匣盒的匣盒桌進行上下移動，而將 匣盒中所收納的工件供應給塗佈裝置本體；該卸載機係將載 置匣盒的匣盒桌進行上下移動，而將從塗佈裝置本體所排 出的工件收納於匣盒中；其中，裝載機與卸載機係配置於 上述塗佈裝置本體的兩側，且對複數匣盒桌配設於垂直方 向。 如專利文獻1所揭示的裝置，從收納有工件的匣盒自動地 取出工件，再將工件自動搬送至工件桌後，便安裝於工件 桌，經利用作業裝置對工件施行所需作業後，再將工件搬送 至匣盒中並收納，將自動執行此一連串作業的裝置稱為「全 自動型」。 如製造生產線所組裝的裝置，從前一步驟的裝置搬入工 件，經執行所需作業後，再將完成作業之工件搬出至下一步 驟裝置的一連串作業，能自動連續執行的裝置亦屬於「全自 動型裝置」。 再者，此種液材塗佈裝置一般係有如直接設置於地面的地 板設置型作業裝置。 專利文獻2有揭示在微量盤上的井中塗佈（供應）液體材料 的裝置。 該作業裝置係一種液體供應裝置，且屬於桌上型作業機器 人，所具備的元件係包括有：基座台、X方向移動手段、Z 方向移動手段、注射器座、注射器、及喷嘴。該基座台係設 099129236 4 201119747 有Y方向移動手段’使用以載置工件(微量盤)的卫件桌進行 Υ方向移動；該X方向移動手段係由在基座台兩側後端部 附近所設置的二支才主支撐，並在工件桌上方進行移動；該Ζ 方向移動手段係搭载於X方向移動手段；該注射器座係設 — ; 向移動手段’·該注射器係搭載注射器座並儲存有 液體材料，該噴嘴係在注射H下側端部安裝成與注射器呈連 通’以吐出液體材料。 桌上型作業機器人—般係設置或載置於桌或作業台上來 使用。 專利文獻3所揭示係桌上型作業裝置的另一態樣。 該作業裝置係構成為在基台上經由支樓機柱來支撲導件 機構，並沿該導件機構佶 i 戍偁便工具女裝台及螺絲起子單元等機器 人驅動部進行横向移動。 專利文獻3所揭示的桌上機器人裝置，特別係使用支援為 進行諸如螺絲緊固、焊接、洗淨、組裝、㈣㈣、注油、 插銷壓入等而使用’例如有揭示一種作為螺絲緊固裝置，係 在工具安裝台的上部形成水平部，幻㈣在各作業步驟保持 必要物質的供應部，設置有_供應儲存機，在螺絲供應儲 存機收容辣小麟，削、螺絲㈣料管供應至螺絲起子 單元的前端，並執行既定螺絲緊固的裂置。 如專利文獻2及專利文獻3所揭示的裂置，在作業前手動 將工件從收納盒或托板等取出，同樣料畴工件安裝於作 099129236 5 201119747 業桌，經利用作業裝置對工件執行所需作業後，再以手動將 已施行作業的工件，從作業桌中拆卸的裝置，將此裝置稱「半 自動型」。半自動型作業裝置係相對於工件的作業而使作業 裝置執行，但作業者必須執行工件對作業桌的安裝/拆卸及 作業裝置之作業開始指示，就此點而言不同於全自動型。 不具有工件搬送機能的桌上型作業機器人將當作半自動 型使用。 依如上述，作業裝置係有如：設置或載置於作業台或桌上 使用的桌上型尺寸之半自動型作業裝置，或者，直接設置於 地板使用且尺寸大於桌上型尺寸的全自動型作業裝置，但欲 選擇使用全自動型作業裝置、或使用半自動型作業裝置的基 準之一，則視生產量。 全自動型作業裝置係在不經由作業者的手而可自動地執 行生產，且可製造高品質製品。另一方面，該裝置係呈大型， 在設置上需要大空間。又，當生產其他品種時，因為裝置較 為龐大，因而在進行層別更換便需要時間與勞力。所以，全 自動型作業裝置便傾向於單品種多量生產。 半自動型作業裝置係形成能在桌上使用的小巧裝置，可有 效地活用為進行生產的空間，且品種切換時等層別更換亦較 容易實施。另一方面，因為必須經由作業者進行工件安裝， 因而會有工件安裝位置精度不均，導致為求能達依全自動型 作業裝置所製造的製品品質，而要求作業者熟練。又，就生 099129236 6 201119747 產效率的觀點，全自動型作業裝置並不差。所以，半自動型 作業裝置傾向於其他品種少量生產。 [先行技術文獻] [專利文獻] 專利文獻1 :日本專利特開2003-145022號公報 專利文獻2 :日本專利特開2005-061957號公報 專利文獻3:曰本專利特開平08-229478號公報 【發明内容】 (發明所欲解決之問題） 習知，配合生產量適當選擇使用半自動型裝置或全自動型 裝置，此時便必須購買裝置。又，在各個裝置中必須執行製 造條件設定，而為必須耗費時間的作業。但是，近年受市場 需求的多樣化、製品壽命週期縮短化等的影響，就生產現場 已要求能因應生產量變化、與因應品種多樣化等而彈性地因 應。 於是，就解決上述課題，本發明目的在於提供一種可使用 為具有工件搬送機構的全自動型作業用裝置，亦可使用為依 手動進行工件裝卸的半自動型裝置（桌上型機器人），而可彈 性地因應生產量的作業裝置。 (解決問題之手段） 第1發明的作業裝置，係具備有：配設有用以搬送工件之 搬送單元之台架；與可裝卸自如地配設於台架之桌上型作業 099129236 7 201119747 裝置單元的全自動型作業裳置;其特徵在於:桌上型作業裝 置單元係具備有：用以保持工件的工件保持部、作業頭:、以 及使工件保持部與作#頭進行相對移動的相對移動機構； 且’可單獨地對由工件保持部所保持的工件進行所需作業， 及工:保持部係具有：與搬送單元連接的搬送位置、及離開 搬运早元並對卫件施行所需作業的作業位置。 第2考X明的作業裝置’係具備有：用以保持工件的工件保 持部、作業頭、及使卫件保持部與作業頭進行相對移動的相 對移動機構’且能在桌上對工件保持部所騎的工件施行所 需作業的半自_作業裝置；其龍在於：將該裝置可裝卸 自如地配設於具備有台架、與用以搬送配設在台架上工件的 搬送單元之I置，且卫件保持部係藉由在與搬送單元連接的 搬送位置、及離開搬送單元並對工件執行所需作業的作業位 置間進行移動，而可構成全自動型作業裝置。 第I明的作業裝置’係具備配設有用以搬送工件之搬送 單兀的台架，並可將桌上型作業裝置單元可裝卸自如地配設 於台架上，該桌上型作業裝置單元具備有：用以保持工件之 工件保持部、作業頭、及使工件保持部與作業頭相對移動之 相對移動機構；其中，工件保持部係在與搬送單元連接的搬 送位置、及離開搬送單元並對工件執行所需作業的作業位置 間進行移動，而可構成全自動型作業裝置。 第4發明係就第1至3項中任一項發明中，上述搬送單元 099129236 201119747 具備有離開配設的上游側搬送滑軌、與下游侧配送滑軌，並 在上述搬送位置，由上述工件保持部連接上游側搬送滑執與 下游側配送滑執。 第5發明係就第4發明中，上述工件保持部具備有：連接 滑軌、與用以將工件卡止於連接滑軌的卡止機構。 第6發明係就第5發明中，上述搬送單元具備有往復搬送 部，以將工件從上述上游側搬送滑執搬送至上述下游側配送 滑軌。 第7發明係就第6發明中，更進一步具備有配置於上述下 游側配送滑軌下游的卸載機部，利用上述往復搬送部所具有 的推壓構件，而將工件收納於卸載機部。 第8發明係就第1至7項中任一項發明中，上述搬送單元 係可裝卸自如地配設於上述台架。 (發明效果） 根據本發明，不需要配合生產量與多品種少量/短品種多 量等生產形態，而整合複數不同的裝置。 再者，僅使桌上作業裝置單元脫離台架便可使用，因而可 直接沿用對工件施行的作業條件，幾乎不需要調整時間、調 整作業。 再者，因為可僅將具備破損或磨損嚴重之作業頭的桌上型 作業單元從台架拆卸，因而即便桌上型作業裝置單元出現故 障時，亦可僅更換桌上型作業裝置單元便可繼續生產，因而 099129236 9 201119747 可縮短生產停止bL特別制於製造生產線所絲之作業 裝置的情況’因為不須解除與相鄰之另—裝置與搬送單元間 的連結或連接’因而可大幅削減修復作#所需要的時間與勞 力 【實施方式】 將液體材料塗佈於屬於卫件的導線架塗佈的液體材料塗 佈裝置為例’說明實施本發明的形態。 本實施形㈣作錄置的主要構成要件係配設有搬送單 元30的本體10、以及桌上型作業裝置單元5〇。 在本體1〇的台架上設置有用以搬送工件的搬送單元30。 從保養性、及桌上型作業裝置單元5()的搬出搬人容易性等 觀點，搬送單元3G較佳係騎自如地配設於台架。 在搬送單元30的最上游配設有收納未完成作業之工件的 裝載機部’並在搬送單元3G的最下游配置收納完成作業之 工件的卸載機部。在搬送單元3〇的中游配置有丨以上的桌 置單元5〇,利用搬送單元Μ執行作業前的工件 入桌上型作業裝置單元％、 5〇搬出經作業後的巧。 ㈣u作以置早疋 當L=d!元5。亦可脫離本體1〇而依單體使用。 依手動執行。；，1疋50係依單體使用時’工件的裝卸可 工件保持部、以及^型作業U單元5G具備有作業頭、 099129236 yz方向移動機構，並可依單體作為半 10 201119747 自動型作業裝置使用。 :連動 上型作掌梦罢留- 列如有揭不一種在桌 游側上Γ的上游側設置搬送滑軌—並在下 又置搬廷滑軌C82 牡 則1，構成桌上 二I +止機構的搬送滑軌 構造，便疋5G的工件保持部。藉由此種 送單元30 “仃㈣卫件搬出搬人裝置的情況下’在搬 …、上型作㈣置單元5〇間進行卫件的取放。 //乂上所說明的本發明裝置，在少量生產時可利用桌上 里作業裝置％元進行生產，#生產量增加時而在 體 單地搭載桌上型作業裝置單元、進行生產時，亦同樣 對工件進行作業的條件調整時間、調整作業設定至最小。 再者，本實施形態中，對將從匣盒中所排出的工件施行塗 佈作業後，再收納於匣盒之形式的裝置構成例進行說明，但 當然亦可利用作為在由複數装置連設構成的製造生產線所 組裝之裝置構成。 再者’本實施形態中’雖例示對工件施行液體材料塗佈的 塗佈裝置，惟本發明當然並不僅侷限於塗佈裝置。 除此之外，相關搬送滑軌的配置圖案亦是可採用任音形 態。例如由裝載機、匣盒A、搬送滑軌A、及搬送滑軌Β 構成，但並未設有搬送滑轨C、卸載機及匣盒Β的骏置，亦 可利用本發明。即’經利用搬送滑軌Β施行塗佈作業的工 099129236 11 201119747 件A，再度重返搬送滑執a並返回裝載機A的匣盒A，然 後，將接著應施行塗佈作業的工件B從匣盒A取出，並經 由搬送滑軌A搬送至搬送滑執B，依此進行工件搬送形式 的裝置，亦可適用本發明。此時，工件搬入位置與工件排出 位置當然係相同位置。 以下，對本發明的詳細内容，利用實施例進行說明，惟本 發明並不受任一實施例的限制。 [實施例] [作業裝置概要] 實施例1係關於對屬於工件的導線架施行液體材料塗佈 的液體材料塗佈裝置，且將配設有操作箱29與搬送單元3〇 的本體10、以及桌上型作業裝置單元5〇設為主要構成要件。 本實施例的工件係配置複數裝置的導線架成格子狀，在右 上端部形成孔。 [本體10] 本體10係由在基座（台架)AH前方所配設的搬送單元3〇 及操作箱29、以及在由基座A11後方的兩側板12所支撐之 板13上配設觸控面板14及配料控制器15而構成。又，在 基座A11的下方配設控制部A90。在基座Aii的中央配設 桌上型作業裝置單元50。 [桌上型作業裝置單元50] 桌上型作業裴置單元5〇係由X方向移動機構53、2方向 099129236 12 201119747 移動機構54、吐出頭56、平板55、Y方向移動機構59、作 業桌60、以及操作開關61構成。該X方向移動機構53係 由朝基座Β51上方延伸出的支柱52而支撐。該Ζ方向移動 機構54係利用X方向移動機構53而可在X方向進行移動； 吐出頭56係利用Ζ方向移動機構54而可在Ζ方向上進行 移動；該平板55配設有CCD照相機57及雷射位移計58。 該Υ方向移動機構59係配置於基座Β51中央。該作業桌 60係利用Υ方向移動機構59而可在Υ方向上進行移動。 該操作開關61係配置於基座Β51的右側。 在基座Β51内配設未圖示控制部Β91。 控制部Β91可記錄塗佈程式，操作開關61的按鍵或未圖 示塗佈程式，係將為能在工件上所需位置施行塗佈的動作序 列予以程式化，可對X移動方向手段53、Υ方向移動機構 59及Ζ方向移動機構54的動作，以及配料控制器15及後 述補強單元63的動作進行控制。 藉由從連接器接收信號，便可執行上述塗佈程式。若執行 程式，便依照程式中所記載的順序，使X方向移動機構53、 Υ方向移動機構59、Ζ方向移動機構54、配料控制器15、 以及上述補強單元63動作。 再者，控制部Β91係連接於後述控制部A，可在與控制 部A間進行信號的傳送接收。 吐出頭56係設有與用以儲存液體材料的注射器16連通之 099129236 13 201119747 喷嘴π，且經由管路18而與配料控制器、15連通。利用經 配料控制器15調壓的空氣，將注射器16内的液體材料施行 所需時間加壓，便構成從噴嘴17中〇土出液體材料狀態。 [作業桌60] 如圖3所示，作業桌6〇係由：載台62、支撐具料、連結 具65、搬送滑執B81、及補強單元63構成。該支撐具64 係配設於載台62上。該連結具65係由支撐具64支撐。該 搬送滑轨B81係利用連結具65而將該滑轨構件予以固定。 該補強單元63係位於上述搬送滑軌B81下方且配設於載台 62 ° 搬送滑軌B81係截面形狀呈；7字的二滑執構件，配置成 各自的凹部相互呈對向，且保持有為進行工件搬送用的適當 間隔。 補強單元63具有可上下移動的固定平板43。如圖4所 示，補強單元63係使固定平板43抵接於工件A20的下面， 藉由使其上昇，便與搬送滑軌B81將工件A20予以夾設並 固定。 [搬送單元30] 如圖5所示，搬送單元30係由：裝載機部31、卸載機部 32、搬送滑執A80、搬送滑軌C82、以及往復搬送部33構 成。 裝載機部31係可設置匣盒A34，該匣盒A34可收納20 099129236 14 201119747 片屬於工件的導線架，藉由使匣盒A34利用未圖示昇降手 段（昇降機構）進行上下移動，便可將導線架每次1片地依序 饋送出至搬送滑軌A80。卸載機部32係可設置與裝載機部 31同樣的匣盒B35，利用使匣盒B35進行上下移動的未圖 示昇降手段，便可將導線架每次1片地依序收納。 搬送滑軌A80係固定於裝載機部31，利用滑軌連接具41 而與固定於卸載機部32的搬送滑執C82連接。滑軌連結具 41係固定於搬送滑軌A80及搬送滑軌C82的外面側部。 搬送滑軌A80與搬送滑執C82係依大致與搬送滑軌B81 的長度等長且以離開配置。藉由在該搬送滑轨A80與搬送 滑軌C82之間配置搬送滑軌B81，工件便可從裝載機部31 搬送至卸載機部32。 如圖6所示，往復搬送部33係由搬送板44、銷A37及鎖 B38構成。該搬送板44係利用搬送驅動機構(搬送驅動手 段)36，而在X方向移動。該銷A37及銷B38係經由在搬送 板44固定的銷安裝具39，而安裝成可朝上下方向移動。 在銷安裝具39中，於裝載機部31側（匣盒A34側）安裝有 銷A37，並於卸載機部32側（匣盒B35側）安裝有錦B38。 且，在安裝有銷B38的銷安裝具39，於銷安裝具39的工件 饋送出方向前面設有搬出板(推壓構件)40。 搬送單元30的控制係由控制部A90執行。控制部A9〇係 執行各昇降手段(其係將裝載機部31與卸載機部32在上下 099129236 15 201119747 方向移動）的上下移動控制，以及搬送驅動機構36(其係將搬 运板44在X方向移動）的X方向移動控制，同時執行銷A37 入銷B38的上下移動控制。且，控制部A9〇係與桌上型作 業裝置單70 5G的控制部B91間進行相關X件取放的信號通 信（參照圖8)。 [動作] 針對本裝置的動作參照圖7&〜711進行說明。另外，圖〜几 中，成為各搬送滑轨的梁(girder)係省略圖示。 《裝載機部〜搬送滑執A〜搬送滑執B》 作業者預先將收納塗佈前工件的匣盒A34設置於裝载機 邛31，且將回收塗佈後工件的空匣盒B35設置於卸載機部 32。此時，桌上型作業裴置單元5〇的作業桌6〇係在工件搬 入位置70呈待機。藉由作業桌60位於該工件搬入位置7〇, 作業桌6 0上的搬送滑軌B 8丨便會與搬送滑執a 8 〇及搬送滑 轨C82連設，俾可進行工件從搬送滑轨A8〇搬送至搬送滑 軌B81 。 月 藉由作業者從操作箱29指示作業開始，本裝置便開始 行塗佈作業。 如圖7b所示，首先，裝載機部31的匣盒A80移動至將 ϋ盒A8G最上部第丨層的工件予以排出之位置，接著，推 進盗42係在X方向（右方向）朝搬送滑執A80僅以規定量推 壓工件A2G。接著，藉由使銷A37相對於從上述|载機^ 099129236 201119747 31推壓出的工件A20上昇，銷A37便插入於工件A20右端 所設置的孔21。 然後，如圖7c所示，使搬送驅動機構36產生動作，便使 經貫入銷A37的工件A20在搬送滑軌A80上朝X方向（圖 中的右方向）進行滑動，並移動至搬送滑軌B81。若工件A2〇 移動至搬送滑執B81，搬送驅動機構36便停止，而使工件 A20的移動停止。 《塗佈程式之執行》 ' •丨卞八⑶悴止復〜州「晬，冉從控制部A9〇對桌 上型作業裝置單元50發送工件移設完成信號。若桌上型作 業單元5〇的控制部顺接收到上述信號，便執行預先在控 記憶的料塗佈程式。此處，首先使作業桌60的 f產生動作’而使固定平板43上昇。若固定平板 下面而固I件侧爽設於固定平板43上面與搬送滑轨㈣ 疋於固疋平板43與搬送滑 在工杜Λ、 月執B81上（參照圖3b)。 〇相對固定平板43及& # 上型作業装置單元5G便將 “滑軌邮固定後，桌 (彖昭圖7以 月圖案製作作業位置72移動 (…圖4並使乂方向移動機構 置移動 Z方向移動機構54及配料控制方向移動機構59、 A20上將所 ° 15產生動作，俾在工件 斤而里的液體材料塗佈 右上述塗佈程式施行的塗 〜、 元5〇的控制部顧便將作業卓成’桌上型作業裝置單 099129236 ^朝工件搬出位置7l移 201119747 動，並將塗佈完成信號傳送至控制部A90(參照圖7f)。此處， 本實施例中，工件搬入位置70與工件搬出位置71係同一位 置，但當然工件搬入位置7 0與工件搬出位置71亦可在不同 位置。例如’當搬送滑轨A與搬送滑軌C間之離開距離較 大的情況’工件搬入位置便成為搬送滑軌B與搬送滑執a 呈相鄰’但與搬送滑軌C呈離開位置；而工件搬出位置成 為搬送滑軌B與搬送滑軌c呈相鄰接，但與搬送滑執a呈 離開位置，工件搬入位置與工件搬出位置呈不同。 《工件B22之待機》 如圖7e與圖7f所示’在桌上型作業裝置單元5〇執行圖 案製作作業的期間中，裝載機部31與往復搬送部33係執行 使接著要執行圖案製作作業的工件B22移動至搬送滑轨 A80，俾可效率佳地執行塗佈作業之準備。即，使裝載機部 31產生動作，並位於排出工件B22位置，使推進器42產生 動作，而將工件B12僅以規定量朝搬送滑軌A80饋進。然 後，使搬送驅動機構36產生動作，並使銷A37朝裝載機部 31方向（左方向）移動，而使銷A37上昇，便使銷A37貫插 入工件B22的孔B23。接著，使搬送驅動機構36朝卸載機 方向（右方向）移動，並移動至銷B38能貫插入位於工件搬出 位置工件A20的孔A21之位置而呈待機。被銷A37所貫插 的工件B22便利用搬送驅動機構36的卸載機方向（右方向） 移動’而被饋送出搬送滑軌A上’並在搬送滑軌A80上呈 099129236 201119747 待機。依此’搬送滑軌綱係扮演成為接續施 件的=待機站作用。另外，在待機時，❹38係下降。 《搬运滑軌B〜搬达滑幸九c〜卸載機部》 若控制部A從控制部^收到塗μ成信號，便開始將 已塗佈之工件Α20回&y g 5 M t 收於l B35的動作。在工件搬 置71，使補強單元63的 JU疋卞极」下降，而解除對工件 A20的夾設固定。接著，使銷β38上昇，並使銷⑽貫插 入工件A20的孔21。 依如圖7g所示’藉由搬送驅動機構％產生動作而使销 B38朝卸載機部32方向（圖+的右方向）移動，便使工件細 在搬送滑軌C82上進行滑動，並移送至搬送滑軌c82。此 時，工件B22係利用銷A37移動至搬送滑軌Β8ι。在移送 至搬送滑執C82後，便使銷B38下降。 如圖7h所示，使搬送驅動機構36產生動作，而使搬出板 40移動至裝載機部31方向（圖中的左方向），並移動至搬出 板40位於工件A20後端（圖中的左端）之裝載機側的位置， 接著，從工件A20的後端（圖中的左端），利用搬送驅動機構 36使搬出板40朝卸載機部32方向（圖中的右方向）移動，而 由搬出板40推壓工件A20後端，便將工件A20收納於知戴 機部32的匣盒B35内。此時，卸載機部32的匣盒B35係 利用昇降手段移動至收納工件的位置並呈待機。又，搬出才反 40係設置於當銷B38貫插工件的孔時，不會與工件靠卸戴 099129236 19 201119747 機側前端（圖中的右端）干涉之位置。 在上述作業並行，若工件B22利用銷A37移動至 、 軌B81，便使銷A37下降，並使補強單元63的固定平=滑 上昇，且固定於搬送滑轨B81 ’再與工件A20 η 、 Μ樣地執杆 工 工 圖案製作作業。即，在執行將工件Α2〇收納於卸 作業期間，桌上型作業裝置單元50係可對工件Β22執〜、 佈作業。又，在對工件Β22執行圖案製作作業期間，仃塗 件Λ20收納於匣盒Β35，並使接續施行工件Β22 將 件移動至搬送滑軌Α80。 以上的動作係重複執行截至在裝載機部31的匣各Α34 收納之全私件結束為止前，待所有#_於^ 4所 的匣盒Β35，便結束自動運轉。 [裝卸] 桌上型作諸置單元5()储由在本體Μ的 所固定四個區塊85之孔86中，嵌插有在桌上型作業裝^ 兀5〇底面所料四_，便與本體料 11與圖12)。 口疋（蒼照圖 當將桌上型作業褒置單元5〇從本體1〇分離時，便將卓上 型作業裝置單元5〇 了便將桌上 5〇底_銷從本體H)的區㈣中拔脫。 置早凡 一]中使桌上型作業裝置單元50從本體1〇的背 面侧’通過包圍側板12與頂板13的區域便可搬出。頂板 099129236 201119747 13當然係設計於不會干涉在桌上型作業裝置單元50搬出時 的高度。另外，亦可在本體10的基座All設計搬出口。 再者，如圖13所示，桌上型作業裝置單元50亦可定位固 定於本體10。即，亦可在本體10的基座All上所固定之導 件68附近，依位於桌上型作業裝置單元50的角部侧面方式 載置桌上型作業裝置單元50,然後，利用位置調整單元87， 將桌上型作業裝置單元50的角部側面壓抵於導件68以定位 且固定。此處，位置調整單元87係構成前端呈粗徑的螺絲 88貫通L字狀板的構造，螺絲88前端粗徑部分89的前端 面係抵接於桌上型作業裝置單元50的側面。若粗徑部分89 係屬於橡膠或塑膠等軟質性材質，則不會傷及桌上型作業裝 置單元50，因而較佳。 另外，若在桌上型作業裝置單元50的底面設置腳輪，當 操作位置調整單元87而將桌上型作業裝置單元50壓抵於導 件68等之時，本體10的基座All上之桌上型作業裝置單 元5 0移動便較為容易，因而較佳。 再者，位置調整單元87最好在將桌上型作業裝置單元50 載置於導件68附近後，經由安裝孔67固定於本體10的基 座All。理由係當將桌上型作業裝置單元50搬入本體10 時，就從本體10的背面側通過包圍側板12與頂板13的區 域，移動至位置調整單元87附近時，便不需要將桌上型作 業裝置單元50舉起。 099129236 21 201119747 在搬出桌上型作業裴置單元5〇之際，藉由預先將位置調 整單το 87從基座A11拆卸，並與搬入時同樣地，不舉起桌 上型作業裝置單元50，而可從本體1〇背面將桌上型作業裝 置單元5〇搬出。 本貝施例的搬送單元30係直接配設於基座All上，但亦 、·、一由在基座A11上農卸自如地設置的平板等構件，來配 设搬送單元30。藉由採用此種構造，便可輕易地將搬送單 兀3〇 —體地從本體1〇分離，俾可輕易地執行搬送單元川 的保養，因而較佳。 再者’料該平板等構件從本體All拆卸，便可將桌上 型作業裝置單元5G從本體前面進行搬出搬入。 本實施例中，例示將銷插入於工件中所設置的孔，來搬送 工件形式的搬送方式’惟當•然不僅侷限於此種搬送方式。 當在工件未設有孔21、23時的有效搬送方式，有揭示例 如⑴：取代本實施例的銷，改為彻夾置工件的夾具手段 將工件予以夹置，並搬駐件的搬送方式；⑺使工件載置 於旋轉皮帶上並進行搬送的皮帶搬送方式。 [利用作為半自動梨裝置] 從本體H)脫離的桌上型作録置單元5()，係可作為半自 動型裝置產生動作。攸本體1〇脫離後的桌上型作業裝置單 元50之使用態樣例，如圖所示。 當將桌上型作業裝置軍亓a 早το 50當作半自動塑裝置並產生動 099129236 22 201119747 作時，可由作業者手動將工件安裝於作業桌⑼。即，由作 ，者將1件安裝於作業桌6G的搬送滑軌㈣，再利用補強 單几63將工件固定且施行塗佈作業。將工件從作業桌 拆卸的情況亦同樣依手動執行。 。在桌上型作業裝置單元5〇的控制部腿所記憶(記錄)的 2式，係㈣未圖示之連接器，從pc等外部輸人手段輸入。 若桌上機器人單元5G係安«於本體1G，並與控制部A90 連接’則亦可從監視器（觸控面板）14輸入。 (產業上之可利用性） 本么月係可選擇利用諸如吐出頭、切削工具、洗淨裝置、 組裝工具、螺絲緊_螺絲起子、uv照射器、焊接工具、 注油、壓入工具等任意作業頭。 【圖式簡單說明】 圖1為本發明實施例1的作業裝置整體圖。 圖2為圖1所示裳置中，桌上型作業裝置單元的概略圖。 圖3為圖2所示桌上型作業裝置單元中，作業桌的概略圖。 圖4為圖3所示作業桌中，說明補強單元動作的說明圖。 圖5為圖i所示裝置中搬送單元的概略圖。 圖6為圖1所示裝置中褒載機部、卸載機部及搬送滑轨等 的概略圖。 圖7&為5兒明圖1所示裝置的工件搬送態樣之說明圖（1/8)。 圖7b為㈣目丨所示裝置的工件搬送態樣之說明圖⑽)。 099129236 23 201119747 圖7c為說明圖1所示裝置的工件搬送態樣之說明圖（3/8)。 圖7d為說明圖1所示裝置的工件搬送態樣之說明圖（4/8)。 圖7e為說明圖1所示裝置的工件搬送態樣之說明圖（5/8)。 圖7f為說明圖1所示裝置的工件搬送態樣之說明圖（6/8)。 圖7g為說明圖1所示裝置的工件搬送態樣之說明圖（7/8)。 圖7h為說明圖1所示裝置的工件搬送態樣之說明圖（8/8)。 圖8為圖1所示裝置的控制方塊圖。 圖9為從圖1所示裝置中，說明將桌上型作業裝置單元予 以分離時的態樣說明圖。 圖10為說明從圖1所示裝置經分離後的桌上型作業裝置 單元使用例說明圖。 圖11為說明本體與桌上型作業裝置單元之連接態樣說明 圖。 圖12為將本體與桌上型作業裝置單元予以連接的區塊之 概略立體示意圖。 圖13為說明本體與桌上型作業裝置單元之其他連接態樣 的說明圖。 圖14為位置調整單元的概略立體示意圖。 圖15為說明導件與本體間之接合態樣說明圖。 【主要元件符號說明】 10 本體 11 基座A(台架） 099129236 24 201119747 12 13 14 15 16 17 18 20 21 22 23 29 30 31 32 33 34 35 36 37 38 39 側板 頂板 監視器（觸控面板）201119747 6. Technical Field of the Invention The present invention relates to a working device for performing a required work on a workpiece, such as a semi-automatic working device having a desktop robot that manually performs a required work on the input workpiece. And a fully automatic type working device in which the semi-automatic working device is detachably arranged and has a transport unit. In the present specification, the "automatic type working device" refers to a working device that can automatically carry out workpiece loading in a work place, work on a workpiece in a work place, and carry out a work piece from a work place, and a specific example is disclosed. A device capable of repeatedly taking out a workpiece from a cassette in which a plurality of workpieces are stored, performing a required operation on the workpiece, and then storing the workpiece after the operation in a cassette, or repeating the pair The apparatus that has been carried out from the apparatus of the previous step, and after performing the required work, is carried out to the step in the apparatus of the next step. [Prior Art] In order to perform a work required such as liquid coating, oiling, pin press-in, assembly, welding, screw fastening, etc., in a work object called a "workpiece", a working device is used. For example, Patent Document 1 discloses a working device for performing a liquid material coating operation on a workpiece. The working device is a liquid material coating device, comprising: a coating device body, a loader, and an unloader, wherein the coating device applies a liquid agent 099129236 201119747 to the workpiece; the loader system is placed on the workpiece. The cassette table of the cassette is moved up and down, and the workpiece stored in the cassette is supplied to the coating device body; the unloading machine moves the cassette table on which the cassette is placed up and down, and the main body of the coating device is The discharged workpiece is stored in the cassette; wherein the loader and the unloader are disposed on both sides of the coating apparatus body, and the plurality of cassettes are disposed in a vertical direction. According to the apparatus disclosed in Patent Document 1, the workpiece is automatically taken out from the cassette in which the workpiece is stored, and the workpiece is automatically transferred to the workpiece table, and then mounted on the workpiece table, and after the required work is performed on the workpiece by the working device, The workpiece is transported to the cassette and stored, and the device that automatically performs the series of operations is called "automatic type". For example, if the device assembled in the production line is loaded into the workpiece from the device in the previous step, and after the required work is performed, the workpiece that has been completed is carried out to a series of operations in the next step device, and the device that can be automatically and continuously executed is also fully automatic. Type device". Further, such a liquid material application device is generally provided with a floor-mounted work device which is directly installed on the floor. Patent Document 2 discloses a device for coating (supplying) a liquid material in a well on a microplate. The working device is a liquid supply device and belongs to a desktop working machine. The components included include a base table, an X-direction moving means, a Z-direction moving means, a syringe holder, a syringe, and a nozzle. The base station is equipped with 099129236 4 201119747. The Y-direction moving means 'uses the guard table for placing the workpiece (micro-disc) to move in the Υ direction; the X-direction moving means is near the rear end portions on both sides of the pedestal table The two sets are supported by the main support and moved on the table top; the 方向 direction moving means is mounted on the X-direction moving means; the syringe base is set to - the moving means '. The syringe is equipped with a syringe holder and stored There is a liquid material that is mounted in communication with the syringe at the lower end of the injection H to eject liquid material. Desktop work robots are typically placed or placed on a table or work surface for use. Another aspect of the desktop work apparatus disclosed in Patent Document 3 is disclosed. The working device is configured to support the guide mechanism on the base via the branch machine column, and to move laterally along the robot drive unit such as the guide mechanism 佶 i 工具 tool dressing table and the screwdriver unit. The desktop robot apparatus disclosed in Patent Document 3 uses, in particular, a support for performing such as screw fastening, welding, cleaning, assembly, (4) (four), oiling, pin press-in, etc., for example, a screw fastening device is disclosed. The horizontal part is formed on the upper part of the tool mounting table, and the supply unit of the necessary substance is held in each working step. The supply unit is provided with a supply storage machine, and the screw supply and storage machine is used to receive the spicy small Lin, the cutting and screw (four) material supply to the screw. The front end of the screwdriver unit and perform the cracking of the established screw fastening. As disclosed in Patent Document 2 and Patent Document 3, the workpiece is manually taken out from the storage box or the pallet before the work, and the workpiece is mounted on the table of 099129236 5 201119747, and the workpiece is executed by the working device. After the operation is required, the device that has been manually removed from the work table is manually referred to as a "semi-automatic type". The semi-automatic working device performs the work device with respect to the work of the workpiece, but the operator must perform the attachment/detachment of the work table to the work table and the work start instruction of the work device, which is different from the fully automatic type in this point. A desktop work robot that does not have a workpiece transport function will be used as a semi-automatic type. As described above, the working device is, for example, a desktop-type semi-automatic working device that is placed or placed on a work table or a table, or a fully automatic work that is directly installed on the floor and has a size larger than the desktop size. The device, but one of the criteria for using the fully automatic working device or the semi-automatic working device, depends on the throughput. The fully automatic working device can be automatically produced without the operator's hand, and a high-quality product can be manufactured. On the other hand, the device is large in size and requires a large space for installation. Also, when other varieties are produced, because the apparatus is relatively large, it takes time and labor to perform layer replacement. Therefore, the fully automatic working device tends to be produced in a single product. The semi-automatic working device forms a compact device that can be used on a table, and can be effectively utilized for production space, and layer replacement such as when the product is switched is easier to implement. On the other hand, since the workpiece must be mounted by the operator, the accuracy of the mounting position of the workpiece is uneven, and the quality of the product manufactured by the fully automatic working device is required, and the operator is required to be skilled. In addition, from the point of view of productivity, the fully automatic working device is not bad. Therefore, the semi-automatic working device tends to be produced in small quantities in other varieties. [PRIOR ART DOCUMENT] [Patent Document] Patent Document 1: Japanese Patent Laid-Open Publication No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. DISCLOSURE OF THE INVENTION (Problems to be Solved by the Invention) It is known that a semi-automatic device or a fully automatic device is appropriately selected in accordance with the production amount, and at this time, the device must be purchased. Further, it is necessary to perform the manufacturing condition setting in each device, which is a work that requires time. However, in recent years, due to the diversification of market demand and the shortening of the product life cycle, it has been required to respond flexibly to the production site in response to changes in production volume and diversification of varieties. Therefore, in order to solve the above problems, an object of the present invention is to provide a fully automatic working device that can be used as a workpiece conveying mechanism, or a semi-automatic device (desktop robot) that can be manually attached or detached from a workpiece. A working device that flexibly responds to production quantities. (Means for Solving the Problem) The working device according to the first aspect of the invention includes a gantry in which a transport unit for transporting a workpiece is disposed, and a gantry-type desktop work that is detachably disposed on the gantry 099129236 7 201119747 The fully automatic type working device is characterized in that: the desktop working device unit is provided with: a workpiece holding portion for holding the workpiece, a working head: and a relative movement for moving the workpiece holding portion and the head The mechanism can be used to perform the required work on the workpiece held by the workpiece holding portion, and the holding portion has a transport position connected to the transport unit, and the transporting early element and the required work for the guard. Job location. The second working device "the working device" includes a workpiece holding portion for holding a workpiece, a working head, and a relative moving mechanism for relatively moving the guard holding portion and the working head, and can hold the workpiece on the table. The semi-self-working device for performing the required work on the workpiece that the portion is riding; the dragon is: the device is detachably disposed on the transport unit including the gantry and the workpiece for transporting the workpiece disposed on the gantry The I-position is provided, and the guard holding unit is configured to move between the transport position connected to the transport unit and the work position away from the transport unit and perform the required work on the workpiece, thereby forming a fully automatic work apparatus. The work device of the first aspect includes a gantry in which a transport unit for transporting a workpiece is disposed, and the table-top work unit is detachably disposed on the gantry. A workpiece holding portion for holding a workpiece, a working head, and a relative moving mechanism for relatively moving the workpiece holding portion and the working head; wherein the workpiece holding portion is disposed at a transfer position connected to the transfer unit and away from the transfer unit The work position of the workpiece to perform the required work is moved to form a fully automatic work device. According to a fourth aspect of the invention, the transport unit 099129236, 201119747 includes an upstream side transfer rail that is disposed apart from the downstream side, and a downstream side transfer rail, and the workpiece is transported at the transport position. The holding unit is connected to the upstream side transfer slip and the downstream side transfer slip. According to a fourth aspect of the invention, the workpiece holding portion includes: a connecting rail and a locking mechanism for locking the workpiece to the connecting rail. According to a fifth aspect of the invention, the transport unit includes a reciprocating transport unit for transporting the workpiece from the upstream side to the downstream side transfer rail. According to a sixth aspect of the invention, the unloader unit disposed downstream of the downstream side distribution rail is further provided, and the workpiece is housed in the unloader unit by the pressing member provided in the reciprocating unit. According to a still further aspect of the invention of the invention of the first aspect of the invention of the first aspect, the transfer unit is detachably disposed on the gantry. (Effect of the Invention) According to the present invention, it is not necessary to integrate a production form with a small amount of a small variety/short variety, and to integrate a plurality of different devices. Furthermore, the table unit unit can be used only when it is separated from the gantry, so that the working conditions for the workpiece can be directly used, and the adjustment time and adjustment work are hardly required. Furthermore, since only the table type work unit having the damaged or worn work head can be detached from the gantry, even if the desktop work unit fails, only the table type work unit can be replaced. Continued production, so 099129236 9 201119747 can shorten the production stop bL special case for the production line of the production line 'because there is no need to lift the connection or connection between the adjacent device and the transfer unit' Time and labor required for #[Embodiment] A liquid material application device that applies a liquid material to a lead frame coated with a guard is taken as an example to describe an embodiment of the present invention. The main constituent elements of the fourth embodiment of the present embodiment are the main body 10 of the transport unit 30 and the table-top work unit unit 5'. A transport unit 30 for transporting a workpiece is provided on a gantry of the main body 1〇. The transport unit 3G is preferably arbitrarily disposed on the gantry from the viewpoints of the maintenance and the ease of carrying and unloading of the desktop unit 5 (). At the most upstream of the transport unit 30, a loader unit s that stores a workpiece that has not been completed is disposed, and an unloader unit that stores a workpiece for completion of work is disposed at the most downstream of the transport unit 3G. In the middle of the transport unit 3A, the table unit 5〇 is disposed in the middle of the transport unit 3, and the workpieces before the work are carried out by the transport unit 入 into the desktop work unit units % and 5, and the work is carried out. (4) u do to set early 疋 when L = d! yuan 5. It can also be used separately from the body. Perform manually. ;, 1疋50 series, when used alone, 'the workpiece can be attached and detached, the workpiece holding unit, and the type U unit 5G are equipped with a working head, 099129236 yz direction moving mechanism, and can be used as a half 10 201119747 automatic type operation. The device is used. : Linked to the top of the type of dreams to stay - such as the lack of a kind of transport on the upstream side of the board game side of the transport side of the slide rails - and next move to the court slide rail C82 Mushou 1, constitute the table two I + The mechanism is transported to the slide rail structure, and the workpiece holding portion of the 5G is placed. When the transport unit 30 is used to carry out the transport device, the pick-up device is placed between the transport unit and the top-of-the-line (four) unit 5. The apparatus of the present invention described above is used. In the case of a small amount of production, it is possible to use the work unit on the table to produce the product. When the production amount is increased, the table type work unit is mounted on the body and the production conditions are adjusted. In the present embodiment, an example of a device configuration in which a workpiece discharged from a cassette is applied and then stored in a cassette is described. However, it is of course possible to use In the present embodiment, a coating device for applying a liquid material to a workpiece is exemplified, but the present invention is of course not limited to the coating device. In addition, the arrangement pattern of the relevant transport rails can also be in any form of sound. For example, it is composed of a loader, a cassette A, a transport rail A, and a transport rail ,, but no transport slip is provided. C. The unloader and the 置 Β , , , , , , , , 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 0 0 0 0 0 0 0 0 0 0 Then, the cassette A is taken out from the cassette A and transported to the transfer slide B via the transfer slide A, whereby the workpiece transfer form is performed, and the present invention can also be applied. In this case, the workpiece loading position and the workpiece discharge position are of course the same position. Hereinafter, the details of the present invention will be described by way of examples, but the present invention is not limited by any of the embodiments. The first embodiment relates to a liquid material application device that applies a liquid material coating to a lead frame belonging to a workpiece, and a body 10 in which the operation box 29 and the transfer unit 3 are disposed, and a table type work unit unit 〇 The lead frame of the plurality of devices of the present embodiment is arranged in a lattice shape, and a hole is formed in the upper right end portion. [Main body 10] The main body 10 is provided in front of the base (stand) AH. The transport unit 3 and the operation box 29 and the touch panel 14 and the ingredient controller 15 are disposed on the board 13 supported by the side plates 12 behind the base A11. Further, the base unit A11 is disposed below the base A11. The control unit A90 is provided with a table type work unit unit 50 in the center of the base Aii. [Desktop type work unit 50] The table type work unit 5 is rotated by the X direction moving mechanism 53, 2 direction 099129236 12 201119747 The moving mechanism 54, the discharge head 56, the flat plate 55, the Y-direction moving mechanism 59, the work table 60, and the operation switch 61. The X-direction moving mechanism 53 is supported by a support 52 extending upward from the base cymbal 51. The Ζ direction moving mechanism 54 is movable in the X direction by the X-direction moving mechanism 53. The ejection head 56 is movable in the Ζ direction by the Ζ direction moving mechanism 54. The slab 55 is provided with a CCD camera 57 and a ray. Displacement meter 58. The Υ direction moving mechanism 59 is disposed at the center of the susceptor 51. The work table 60 is movable in the x direction by the Υ direction moving mechanism 59. The operation switch 61 is disposed on the right side of the base cassette 51. A control unit Β91 (not shown) is disposed in the susceptor 51. The control unit 91 can record the application program, and the button of the operation switch 61 or the coating program (not shown) is programmed to be an operation sequence capable of applying a desired position on the workpiece, and the X moving direction means 53 can be The operations of the Υ direction moving mechanism 59 and the Ζ direction moving mechanism 54 and the operations of the ingredient controller 15 and the reinforcing unit 63 described later are controlled. The above coating program can be executed by receiving a signal from the connector. When the program is executed, the X-direction moving mechanism 53, the Υ direction moving mechanism 59, the Ζ direction moving mechanism 54, the ingredient controller 15, and the reinforcing unit 63 are operated in the order described in the program. Further, the control unit 91 is connected to the control unit A, which will be described later, and can transmit and receive signals to and from the control unit A. The spout 56 is provided with a nozzle π that is in communication with a syringe 16 for storing liquid material and is in communication with the batch controller 15, via line 18. The liquid material pressurized by the ingredient controller 15 is used to pressurize the liquid material in the syringe 16 for a desired period of time to form a state in which the liquid material is discharged from the nozzle 17. [Work Table 60] As shown in Fig. 3, the work table 6 is composed of a stage 62, a support material, a connector 65, a transport slip B81, and a reinforcing unit 63. The support 64 is disposed on the stage 62. The attachment 65 is supported by a support 64. The transport rail B81 fixes the slide rail member by the joint 65. The reinforcing unit 63 is disposed below the transport rail B81 and disposed on the stage 62°. The transport rail B81 has a cross-sectional shape of 7 characters; the two sliding members are arranged such that the recesses are opposed to each other and are held. For proper spacing for workpiece transfer. The reinforcing unit 63 has a fixed flat plate 43 that can be moved up and down. As shown in Fig. 4, the reinforcing unit 63 abuts the fixing plate 43 against the lower surface of the workpiece A20, and raises the workpiece A20 by the lifting rail B81. [Transport Unit 30] As shown in Fig. 5, the transport unit 30 is composed of a loader unit 31, an unloader unit 32, a transport slide A80, a transport slide C82, and a reciprocating transport unit 33. The loader unit 31 is provided with a cassette A34 that can accommodate 20 099129236 14 201119747 pieces of lead frames belonging to the workpiece, and the cassette A34 can be moved up and down by a lifting means (lifting mechanism) not shown. The lead frames are sequentially fed one by one to the transfer rail A80 one at a time. The unloader unit 32 can be provided with the same cassette B35 as the loader unit 31, and the lead frame can be sequentially stored one by one by the unillustrated lifting means for moving the cassette B35 up and down. The transport rail A80 is fixed to the loader unit 31, and is connected to the transport slip C82 fixed to the unloader unit 32 by the slide link 41. The rail link 41 is fixed to the outer side portion of the conveyance rail A80 and the conveyance rail C82. The transport rail A80 and the transport slip C82 are arranged to be substantially equal to the length of the transport rail B81. By arranging the transport rails B81 between the transport rails A80 and the transport rails C82, the workpiece can be transported from the loader unit 31 to the unloader unit 32. As shown in Fig. 6, the shuttle transport unit 33 is constituted by a transport plate 44, a pin A37, and a lock B38. The conveyance plate 44 is moved in the X direction by the conveyance drive mechanism (transport drive means) 36. The pin A37 and the pin B38 are attached so as to be movable in the vertical direction via the pin attachment 39 fixed to the transfer plate 44. In the pin attachment 39, a pin A37 is attached to the loader unit 31 side (on the side of the cassette A34), and a bobbin B38 is attached to the unloader unit 32 side (on the side of the cassette B35). Further, in the pin mounting tool 39 to which the pin B38 is attached, a carry-out plate (pressing member) 40 is provided in front of the workpiece feeding direction of the pin mounting tool 39. The control of the transport unit 30 is performed by the control unit A90. The control unit A9 executes the vertical movement control of each of the lifting and lowering means (which moves the loader unit 31 and the unloader unit 32 in the vertical direction of 099129236 15 201119747), and the conveyance drive mechanism 36 (which moves the conveyance plate 44 in the X direction). Move the X-direction movement control while performing the up-and-down movement control of the pin A37. Further, the control unit A9 communicates with the control unit B91 of the desktop-type work device unit 70 5G to perform signal communication (see Fig. 8). [Operation] The operation of the device will be described with reference to Figs. 7 & ～711. In addition, in the figures - a few, the girder which becomes each conveyance rail is abbreviate|omitted. "Loader Unit - Transfer Slip A to Transfer Slip B" The operator sets the cassette A34 that stores the workpiece before coating to the loader cassette 31, and sets the empty cassette B35 for collecting the coated workpiece to The machine unit 32 is unloaded. At this time, the work table 6 of the table type work unit 5 is held in the workpiece loading position 70. When the work table 60 is located at the workpiece loading position 7〇, the transport rail B 8 on the work table 60 is connected to the transport slip a 8 〇 and the transport slide C82, and the workpiece can be transported from the slide rail. The A8 is transported to the transport rail B81. Month By the operator instructing the operation from the operation box 29, the apparatus starts the coating operation. As shown in Fig. 7b, first, the cassette A80 of the loader unit 31 is moved to a position where the workpiece of the uppermost layer of the cassette A8G is discharged, and then the propulsion 42 is moved in the X direction (right direction). The A80 only pushes the workpiece A2G by a predetermined amount. Next, by raising the pin A37 with respect to the workpiece A20 pushed out from the above-mentioned | 099129236 201119747 31, the pin A37 is inserted into the hole 21 provided at the right end of the workpiece A20. Then, as shown in FIG. 7c, the conveyance drive mechanism 36 is actuated, and the workpiece A20 that has passed through the penetration pin A37 is slid in the X direction (the right direction in the drawing) on the conveyance rail A80, and moved to the conveyance rail. B81. When the workpiece A2 is moved to the transport slip B81, the transport drive mechanism 36 is stopped, and the movement of the workpiece A20 is stopped. "Execution of Coating Program" ' 丨卞 ( (3) 悴 复 〜 州 州 州 州 州 州 〜 〜 〜 〜 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 工件 工件 工件 工件 工件When the control unit receives the above-mentioned signal, it executes a material application program for controlling the memory in advance. Here, first, the f of the work table 60 is caused to operate, and the fixed flat plate 43 is raised. It is disposed on the upper surface of the fixed flat plate 43 and the transport slide rail (4), and is disposed on the fixed flat plate 43 and transported on the work cuckoo and the moon B81 (refer to FIG. 3b). 〇 Relative fixed plate 43 and &#上型操作装置 unit 5G After the "slide rails are fixed, the table (彖图图7 is moved by the month pattern production work position 72 (... Figure 4 and the 乂 direction moving mechanism is moved by the Z-direction moving mechanism 54 and the ingredient control direction moving mechanism 59, A20) The action of ° 15 is applied, and the liquid material in the workpiece is coated with the coating unit of the above coating program, and the control unit of the unit 5 is used to take the job into a 'desktop type device single 099129236 ^ Workpiece removal position 7l shift 201119747 And the coating completion signal is transmitted to the control unit A90 (refer to Fig. 7f). Here, in the present embodiment, the workpiece loading position 70 is at the same position as the workpiece carrying position 71, but of course the workpiece loading position 70 and the workpiece carrying position 71 can also be in different positions. For example, 'When the distance between the transport rail A and the transport rail C is large, the workpiece loading position becomes the transport rail B adjacent to the transport slip a' but with the transport slip The rail C is in a leaving position, and the workpiece carrying-out position is such that the transporting rail B is adjacent to the transporting rail c, but is separated from the transporting slide a, and the workpiece loading position is different from the workpiece carrying-out position. As shown in Fig. 7e and Fig. 7f, during the execution of the patterning operation by the desktop unit 5, the loader unit 31 and the reciprocating unit 33 perform the movement of the workpiece B22 to be executed until the pattern creation operation is performed. The slide rail A80 is transported, and the preparation of the coating operation can be performed efficiently. That is, the loader unit 31 is operated, and the position of the workpiece B22 is discharged, so that the pusher 42 is actuated, and the workpiece B12 is only regulated. The amount is fed to the transport rail A80. Then, the transport drive mechanism 36 is actuated, and the pin A37 is moved in the direction of the loader unit 31 (left direction), and the pin A37 is raised to insert the pin A37 into the workpiece B22. Then, the conveyance drive mechanism 36 is moved in the unloader direction (right direction), and moved to the position where the pin B38 is inserted into the hole A21 of the workpiece A20 at the workpiece carry-out position, and stands by. The pin A37 is inserted. The workpiece B22 is conveniently fed by the unloader direction (right direction) of the transport drive mechanism 36 to be fed out on the transport rail A' and stands by on the transport rail A80 at 099129236 201119747. According to this, the transfer rail system plays the role of a standby station. In addition, the ❹38 system is lowered during standby. "Transporting rail B~ moving to slippery nine c~unloading machine section" If the control unit A receives the coating signal from the control unit, it starts to apply the coated workpiece Α20 back & yg 5 M t l B35 action. When the workpiece is moved 71, the JU 」 of the reinforcing unit 63 is lowered, and the workpiece A20 is released and fixed. Next, the pin β38 is raised, and the pin (10) is inserted into the hole 21 of the workpiece A20. As shown in Fig. 7g, the pin B38 is moved in the direction of the unloader unit 32 (the right direction in Fig. +) by the operation of the transport drive mechanism %, so that the workpiece is finely slid on the transport rail C82 and transferred to Transfer the slide rail c82. At this time, the workpiece B22 is moved to the transfer rail Β8 by the pin A37. After being transferred to the transport slip C82, the pin B38 is lowered. As shown in Fig. 7h, the conveyance drive mechanism 36 is actuated, and the carry-out plate 40 is moved to the direction of the loader unit 31 (leftward in the drawing), and moved to the rear end of the workpiece A20 (the left end in the figure) The position on the loader side is then moved from the rear end (the left end in the drawing) of the workpiece A20 to the unloader unit 32 in the direction of the unloader unit 32 (the right direction in the drawing) by the transport drive mechanism 36. The plate 40 presses the rear end of the workpiece A20, and the workpiece A20 is housed in the cassette B35 of the wearer unit 32. At this time, the cassette B35 of the unloader unit 32 is moved to the position where the workpiece is stored by the lifting means and stands by. Further, when the loading is performed, the hole is placed at the position where the pin B38 is inserted into the hole of the workpiece, and the workpiece is not disengaged from the front end of the machine side (the right end in the figure). In parallel with the above operation, if the workpiece B22 is moved to the rail B81 by the pin A37, the pin A37 is lowered, and the fixing unit 63 is fixed flat = slipped up, and fixed to the transport rail B81' and the workpiece A20 η, Μ Plot workmanship pattern production work. That is, during the execution of the storage of the workpiece Α 2 于, the desktop work implement unit 50 can perform the work on the workpiece Β 22 . Further, during the patterning operation of the workpiece Β 22, the 仃 coating member 20 is stored in the cassette Β 35, and the workpiece Β 22 is continuously moved to the transfer rail Α 80. The above operation is repeated until the end of the full container stored in the loader unit 31, and all the boxes Β 35 of the #_于^4 are finished, and the automatic operation is ended. [Loading and unloading] The table-type unit 5 () is stored in the hole 86 of the four blocks 85 fixed in the body cymbal, and is embedded in the bottom surface of the table-top work 兀 5 ,, It is with the body material 11 and Figure 12).疋 疋 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( Unplugged. In the case where the table type work unit unit 50 is passed from the back side of the main body 1', the area surrounding the side plate 12 and the top plate 13 can be carried out. The top plate 099129236 201119747 13 is of course designed to not interfere with the height of the table-type work unit unit 50 when it is carried out. In addition, a transfer port may be designed at the base All of the body 10. Furthermore, as shown in Fig. 13, the desktop unit 50 can also be positioned and fixed to the body 10. That is, the table type work unit unit 50 may be placed in the vicinity of the guide portion 68 fixed to the base unit All of the main body 10 in accordance with the corner side surface of the table type work unit unit 50, and then the position adjustment unit may be used. 87. The corner side of the desktop unit 50 is pressed against the guide 68 to be positioned and fixed. Here, the position adjusting unit 87 has a structure in which the screw 88 having a large diameter at the tip end penetrates the L-shaped plate, and the front end surface of the large diameter portion 89 of the screw 88 abuts against the side surface of the table unit 50. If the large diameter portion 89 is a soft material such as rubber or plastic, the table type work unit 50 is not damaged, which is preferable. Further, when a caster is provided on the bottom surface of the desktop work unit unit 50, when the table type work unit unit 50 is pressed against the guide member 68 or the like by operating the position adjusting unit 87, the table on the base All of the main body 10 It is preferable that the upper working device unit 50 moves relatively easily. Further, the position adjusting unit 87 is preferably fixed to the base A1 of the main body 10 via the mounting hole 67 after the table type working device unit 50 is placed in the vicinity of the guide 68. The reason is that when the table type work implement unit 50 is carried into the main body 10, when the area surrounding the side panel 12 and the top panel 13 is moved from the back side of the main body 10 to the vicinity of the position adjusting unit 87, the desktop work is not required. The device unit 50 is lifted up. 099129236 21 201119747 When the table type work unit 5 is removed, the position adjustment unit το 87 is detached from the susceptor A11 in advance, and the table type work unit unit 50 is not lifted as in the case of loading. The table type work unit unit 5 can be carried out from the back side of the main body 1 . The transport unit 30 of the present embodiment is directly disposed on the susceptor All, but the transport unit 30 is disposed by a member such as a flat plate that is detachably provided on the susceptor A11. By adopting such a configuration, the transport unit can be easily separated from the main body 1〇, and the maintenance of the transport unit can be easily performed, which is preferable. Further, the member such as the flat plate is detached from the main body All, and the table-top work unit 5G can be carried out from the front of the main body. In the present embodiment, the transfer method in which the pin is inserted into the hole provided in the workpiece to convey the workpiece form is exemplified, but it is not limited to this transfer mode. When the workpiece is not provided with the holes 21, 23, the effective transfer method is disclosed, for example, (1): instead of the pin of the embodiment, the jig means for sandwiching the workpiece is placed, and the workpiece is placed, and the transfer method of the transfer member is carried out. (7) A belt transport method in which a workpiece is placed on a rotating belt and transported. [Using as a semi-automatic pear device] The table-type recording unit 5 () which is detached from the main body H) can operate as a semi-automatic device. An example of the usage of the desktop unit 50 after the detachment of the main body 1〇 is as shown in the figure. When the desktop work unit 亓 a early το 50 is used as a semi-automatic plastic device and the motion 099129236 22 201119747 is generated, the workpiece can be manually mounted on the work table (9) by the operator. In other words, one piece is attached to the transfer rail (four) of the work table 6G, and the workpiece is fixed by the reinforcing sheet 63 and the coating operation is performed. The removal of the workpiece from the work table is also performed manually. . In the type of memory (recording) that is stored (recorded) in the leg of the control unit unit 5, the connector (not shown) is input from an external input means such as a pc. When the desktop robot unit 5G is connected to the main body 1G and connected to the control unit A90, it can be input from the monitor (touch panel) 14. (Industrial Applicability) This month, you can choose to use any tools such as spit, cutting tool, cleaning device, assembly tool, screw tightener, uv irradiator, welding tool, oil filling, pressing tool, etc. head. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a general view of a working device according to a first embodiment of the present invention. Fig. 2 is a schematic view showing a table type working device unit in the skirt shown in Fig. 1. Fig. 3 is a schematic view showing a work table in the desktop type work unit shown in Fig. 2; Fig. 4 is an explanatory view showing the operation of the reinforcing unit in the work table shown in Fig. 3. Fig. 5 is a schematic view showing a transport unit in the apparatus shown in Fig. i; Fig. 6 is a schematic view showing a loader unit, an unloader unit, a transfer rail, and the like in the apparatus shown in Fig. 1. Fig. 7 & is an explanatory diagram (1/8) of the workpiece transfer state of the device shown in Fig. 1 . Fig. 7b is an explanatory diagram (10) of the workpiece transfer state of the device shown in (iv). 099129236 23 201119747 Figure 7c is an explanatory view (3/8) illustrating the workpiece transfer state of the apparatus shown in Figure 1. Fig. 7d is an explanatory view (4/8) for explaining a workpiece transfer state of the apparatus shown in Fig. 1. Fig. 7e is an explanatory view (5/8) for explaining a workpiece transfer state of the apparatus shown in Fig. 1. Fig. 7f is an explanatory view (6/8) for explaining a workpiece transfer state of the apparatus shown in Fig. 1. Fig. 7g is an explanatory view (7/8) for explaining the workpiece transfer state of the apparatus shown in Fig. 1. Fig. 7h is an explanatory view (8/8) for explaining a workpiece transfer state of the apparatus shown in Fig. 1. Figure 8 is a control block diagram of the apparatus of Figure 1. Fig. 9 is an explanatory view showing a state in which the table type working device unit is separated from the apparatus shown in Fig. 1. Fig. 10 is an explanatory view showing an example of use of the table type working device unit separated from the apparatus shown in Fig. 1. Fig. 11 is a view for explaining the connection of the main body and the table type working device unit. Fig. 12 is a schematic perspective view showing a block in which a main body and a table type work implement unit are connected. Fig. 13 is an explanatory view showing another connection form of the main body and the table type work implement unit. Fig. 14 is a schematic perspective view showing a position adjusting unit. Fig. 15 is an explanatory view for explaining an engagement state between a guide and a body. [Main component symbol description] 10 Main body 11 Base A (stand) 099129236 24 201119747 12 13 14 15 16 17 18 20 21 22 23 29 30 31 32 33 34 35 36 37 38 39 Side panel Top panel Monitor (touch panel)
配料控制器 注射器 喷嘴 管路 工件A 孔A 工件B 孔B 操作箱 搬送單元 裝載機部 卸載機部 往復搬送部 匣盒A 匣盒BBatching Controller Syringe Nozzle Pipeline Workpiece A Hole A Workpiece B Hole B Operation Box Transfer Unit Loader Unit Unloader Unit Reciprocating Transfer Unit A Box A B Box B
搬送驅動機構(搬送驅動手段) 銷A 銷B 銷安裝具 099129236 25 201119747 40 搬出板(推壓構件） 41 滑轨連結具 42 推進器 43 固定平板 44 搬送板 50 桌上型作業裝置單元(作業機器人單元) 51 基座B 52 支柱 53 X方向移動機構(X方向移動手段） 54 Z方向移動機構(Z方向移動手段） 55 平板 56 吐出頭 57 CCD照相機 58 雷射位移計 59 Y方向移動機構(Y方向移動手段） 60 作業桌 61 操作開關 62 載台 63 補強單元 64 支撐具 65 連結具 67 安裝孔 099129236 26 201119747Transport drive mechanism (transport drive means) Pin A pin B pin mount 099129236 25 201119747 40 Lifting plate (pushing member) 41 Rail link 42 Pusher 43 Fixing plate 44 Transfer plate 50 Desktop unit (job robot) Unit) 51 Base B 52 Pillar 53 X-direction moving mechanism (X-direction moving means) 54 Z-direction moving mechanism (Z-direction moving means) 55 Flat plate 56 Discharge head 57 CCD camera 58 Laser displacement meter 59 Y-direction moving mechanism (Y Directional movement means 60 Work table 61 Operation switch 62 Stage 63 Reinforcement unit 64 Supporting piece 65 Connecting piece 67 Mounting hole 099129236 26 201119747
68 導件 70 工件搬入位置 71 工件搬出位置 72 圖案製作作業位置 80 搬送滑軌A 81 搬送滑軌B 82 搬送滑軌C 85 區塊 86 子L 87 位置調整單元 88 調整螺絲 89 粗徑部分 90 控制部A 91 控制部B 099129236 2768 Guide 70 Workpiece loading position 71 Workpiece carry-out position 72 Pattern work position 80 Transfer slide A 81 Transfer slide B 82 Transfer slide C 85 Block 86 Sub L 87 Position adjustment unit 88 Adjustment screw 89 Large diameter part 90 Control Part A 91 Control Department B 099129236 27