TW201801900A - Article transfer apparatus which can stably transfer articles and change the intervals between articles even when articles such as IC wafers are transported at a high speed - Google Patents

Abstract

An article transfer apparatus which can stably transfer articles and change intervals between articles even when the articles such as IC wafers are transported at a high speed. The article transfer apparatus (10) comprises: a first handler (30) which transports an article (6) to a receiving part (B1) at a certain transport velocity (V1), a rotary drive (80), an odd number of collectors (72) which move toward the receiving part (B1) to collect the article (6) and transfer the article (6) from the receiving part (B1) to a delivering part (B2) by revolving the rotary drive (80), a second handler (50) which transports the article (6) from the collectors (72) at a transport velocity (V2), a speed controller (92) which controls the peripheral velocity of the collectors (72), synchronized with the time the collectors (72) pass the receiving part (B1) to control the peripheral velocity of the collectors (72) to be the velocity (V1), and synchronized with the time the collectors (72) pass the delivering part (B2) to control the peripheral velocity of the collectors (72) to be velocity (V2).

Description

Article transfer device

The present invention relates to an article transfer device that transfers articles that are sequentially delivered and changes the interval between those articles during transfer.

The symbols used in Patent Document 1 are indicated by brackets, and the technique of Patent Document 1 will be described. The tablet manufacturing apparatus of Patent Document 1 is a device for manufacturing a tablet (95) in which an IC chip (4) is embedded. The supply source of the IC chip (4) is a carrier tape (7). That is, the plurality of IC chips (4) are arranged on the carrier tape (7) in such a manner that they are aligned along the length direction of the carrier tape (7). The carrier tape (7) is wound around the tape reel (10). The carrier tape (7) is pulled out from the tape reel (10), and the IC chips (4) are sequentially supplied. The tablet manufacturing apparatus of Patent Document 1 is provided with a supply device (3) that supplies the IC wafer (4) to a predetermined place by intermittently transporting the carrier tape (7). Further, in the tablet manufacturing apparatus of Patent Document 1, it is provided that two IC chips (4) are picked up from the carrier tape (7) and transferred to the tablet press (2) when the carrier tape (7) is stopped from being transported. ) Transfer robot arm (20, 49, 21, 70). This tablet press (2) is provided with a plurality of acetabular parts (78) and IC chips arranged in a circumferential direction. (4) The robot arms (20, 49, 21, 70) are transferred to these acetabular parts (78), respectively. The powder (90) is also supplied to the mortar (78). When the powder (90) is solidified by the tablet press (2), the IC chip (4) is embedded in the tablet (95). status.

[Learning Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Laid-Open Publication No. 2014-138954 (JP 2014-138954 A)

However, the tablet manufacturing apparatus of Patent Document 1 has a disadvantage that it is not suitable for high-speed tablet processing because the operation is intermittent.

And the interval of the IC chip (4) in the downstream process after the transfer of the IC chip (4) is equivalent to the interval of the IC chip (4) in the carrier tape (7) before the transfer, because it is inconvenient to handle Therefore, it may be difficult to perform processing such as tabletting. Therefore, there is a requirement that the interval of the transferred IC wafer (4) is suitable for processing, and there is a requirement for transferring the IC wafer (4).

The present invention is made in view of the above-mentioned circumstances. The problem to be solved by the present invention is that, even if an article such as an IC chip is transferred at a high speed, the article can be stably transferred and the interval between the articles can be changed. Ground transfer.

In order to solve the above problems, the article transfer device includes: a first conveyor that sequentially feeds a plurality of articles to a predetermined collection place at a certain first conveying speed; and a rotary drive machine; and The linear trajectory of the article being transported by the first conveyor is drawn around the circular trajectory of the receiving place by the rotation driver, and the article is picked up in the receiving place. Revolve 1 or plural pick-up units that are transferred from the aforementioned pick-up place to the specified delivery place; and the items that are transferred by the pick-up unit will be directed to the tangential direction of the circular trajectory in the delivery place, and A second conveyer that conveys at a predetermined second conveyance speed that is different from the first conveyance speed; and a speed control section that controls the peripheral speed of the pickup section by controlling the rotary drive machine; The time point of the pick-up point is synchronized. The speed control unit controls the peripheral speed of the pick-up portion to be equal to the first conveyance speed, and the time when the pick-up portion passes the delivery point. At the point synchronization, the speed control unit controls the peripheral speed of the pickup unit to be equal to the second conveyance speed.

Other features of the present invention will become apparent from the description and drawings described later.

According to the present invention, the article can be stabilized by the pickup section. Pick up on the ground and stably place the item on the second conveyor. When an article is transferred from the first conveyor to the second conveyor, the interval between the articles can be changed. In addition, since the pick-up process, transfer process, and placement process of an article can be performed continuously and repeatedly, it is possible to cope with the increase in speed of a downstream process.

1‧‧‧ Reel

2‧‧‧ Article Containment Tape

3‧‧‧ bearing belt

4‧‧‧ cover tape

5‧‧‧ Containment recess

6‧‧‧ items

7‧‧‧feed hole

10‧‧‧ Article transfer device

20‧‧‧frame

30‧‧‧The first porter

31‧‧‧rotation axis

32 ~ 38‧‧‧roller

39‧‧‧ take-up reel

40‧‧‧ Reel

41‧‧‧ Take-up motor

42‧‧‧ support

45‧‧‧roller

47‧‧‧ roller

48‧‧‧ Motor

49‧‧‧Tape Reel

50‧‧‧Second Porter

51‧‧‧wheel

52‧‧‧wheel

53‧‧‧Belt

54‧‧‧Receiving Department

60‧‧‧Drive

70‧‧‧ transfer head

71‧‧‧Turntable

72‧‧‧Pick up department

80‧‧‧ Rotary Drive

91‧‧‧ fixed speed control circuit

92‧‧‧speed control circuit (speed control section)

95‧‧‧ centering mechanism

99‧‧‧Processing machine

B1‧‧‧ Pickup

B2‧‧‧ Delivery

P1‧‧‧ Interval before transfer

P2‧‧‧After transfer

T1‧‧‧Item arrival cycle

T2‧‧‧Arrival period

T3‧‧‧ collection cycle

T4‧‧‧ Delivery cycle

T5‧‧‧cycle

V1‧‧‧Conveying speed (first conveying speed)

V2‧‧‧Conveying speed (second conveying speed)

t1 ~ t6‧‧‧Time

[Fig. 1] A perspective view of an article transfer device.

[Fig. 2] A perspective view of an article transfer device.

[Fig. 3] A perspective view of a tape reel and an adhesive tape wound thereon.

[Fig. 4] A plan view of a carrier tape, a transfer head, and a belt.

[Fig. 5] A plan view of a carrier belt, a transfer head, and a belt.

[FIG. 6] A graph showing changes in the peripheral speed of the pickup section.

[FIG. 7] A graph showing changes in the peripheral speed of the pickup section in the modification.

At least the following matters will become apparent from the description of the manual and the drawings described later.

An article transfer device includes: a first conveyer that sequentially supplies a plurality of items toward a predetermined collection place at a certain first conveying speed; and a rotary drive; and that is to be conveyed by the first conveyer The trajectory of the object is drawn in a circular trajectory contacting the aforementioned collection place by the aforementioned rotary drive The motive is revolved, and the item is picked up in the aforementioned pick-up place, and the picked-up item is transferred from the aforementioned pick-up place to the specified delivery place by revolving one or more pick-up parts; and the pick-up part is moved by the aforementioned pick-up part The second carrier that is carried at a certain second transport speed different from the first transport speed in the tangential direction of the circular trajectory in the delivery place; and is controlled by the rotation drive machine And a speed control unit that controls the peripheral speed of the pickup unit; synchronized with the point in time at which the pickup unit passes the pick-up point, the speed control unit controls the peripheral speed of the pickup unit and the first conveyance speed to be equal to The pick-up section is synchronized at the time point of the delivery point, and the speed control section controls the peripheral speed of the pick-up section to be equal to the second conveyance speed.

As described above, at the point in time when the pickup section passes through the pick-up point, since the peripheral speed of the pickup section is equal to the conveyance speed of the first conveyor, the articles conveyed by the first conveyor are stably picked up toward the pickup section. .

At the time when the pick-up section passes the delivery point, since the peripheral speed of the pick-up section is equal to the conveyance speed of the second conveyor, the articles picked up by the pick-up section are stably placed on the second conveyor.

Since the conveyance speed of the first conveyer and the conveyance speed of the second conveyer are different, the interval between the articles conveyed by the first conveyer and the interval between the articles conveyed by the second conveyer are different.

Preferably, in the article transfer device, the number of the pickup sections is a plural number of 3 or more, and the pickup sections are arranged at equal intervals along the circular trajectory.

Preferably, in the article transfer device, the speed control section is a first constant speed control that starts to maintain the peripheral speed of the pickup section at the first conveyance speed before the time when the pickup section passes the pickup point. The speed control unit terminates the first constant speed control after a time point when the pickup unit passes the collection point and before a time point when the pickup unit passes the delivery point.

According to the article transfer device as described above, from the time point before the pickup section passes through the pickup point to the time point after that time point, because the peripheral speed of the pickup section is maintained equal to the transport speed of the first conveyor, Therefore, the pickup of the articles produced by the pickup section is more stable.

Preferably, in the article transfer device, before the time when the pickup section passes the delivery point, the speed control section is a second constant speed control that starts to maintain the peripheral speed of the pickup section at the second conveyance speed. The speed control unit terminates the second fixed speed control after a time point when the pickup unit passes the delivery point and before a time point when the pickup unit passes the pickup point.

According to the article transfer device as described above, from the time before the pickup section passes the aforementioned delivery point to the time after that time point, because the peripheral speed of the pickup section is maintained equal to the transport speed of the second conveyor, Therefore, the articles picked up by the picking section are more stably placed on the second conveyor.

Preferably, for the article transfer device, from the end time point of the first constant speed control to the start time point of the second constant speed processing, the speed control unit is configured to change the peripheral speed of the pickup unit from The first conveyance speed is shifted toward the second conveyance speed.

According to the article transfer device as described above, the change in the peripheral speed of the pickup section does not become a pulse wave shape, and the peripheral speed of the pickup section is accurately controlled at the second conveyance speed. The change in the peripheral speed of the pick-up section is moderated, and the inertial force generated by the article is not increased by the change in the peripheral speed, and the article can be prevented from falling off the pick-up section.

Preferably, in the article transfer device, from the end time point of the second constant speed control to the start time point of the first constant speed processing, the speed control unit is configured to change the peripheral speed of the pickup unit from The second conveyance speed is shifted toward the first conveyance speed.

According to the article transfer device as described above, the change in the peripheral speed of the pickup section does not become a pulse wave shape, and the peripheral speed of the pickup section is accurately controlled at the first conveying speed. In addition, it is possible to prevent the article from falling out of the pickup portion.

And the peripheral speed of the pick-up section is sequentially changed at a certain speed (first conveying speed), variable speed (from the first conveying speed to the second conveying speed), a constant speed (second conveying speed), and a variable speed (from the second conveying speed). During the change to the first conveying speed), there is no dwell period during which the pickup section is temporarily stopped.

[Example]

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, in the embodiments described below, there are various technical limitations for implementing the present invention, and the scope of the present invention is not limited to the following embodiments and illustrated examples.

FIG. 1 is a perspective view showing the front side of the article transfer device 10 as viewed from the upper side and the left side. FIG. 2 is a perspective view showing the rear side of the article transfer device 10 as viewed from the upper side and the left side.

This article transfer device 10 sequentially transfers articles that are sequentially sent out at equal intervals to the second transfer path along the first transfer path of the first transfer machine 30. Those articles are arranged at different intervals along the second conveyance path of the second conveyer 50.

The carrier tape 3 shown in FIG. 3 is sent out so that a plurality of articles 6 are supplied to the first conveyance path. The cover tape 4 is bonded to the carrier tape 3 to constitute the article storage tape 2. The carrier tape 3 and the cover tape 4 are made of resin or paper made of an elongated strip shape having a constant width. In the carrier tape 3, a plurality of accommodating recesses 5 are formed at equal intervals along the longitudinal direction of the carrier tape 3. The cover tape 4 is bonded to the carrier tape 3 so as to cover the storage recesses 5. And, in the one end side in the width direction of the carrier tape 3, the plurality of feeding holes 7 are formed at equal intervals along the length direction of the carrier tape 3.

The article 6 is accommodated in the accommodation recess 5. The article 6 is, for example, an IC wafer. However, the article 6 to be conveyed by the article storage tape 2 is not limited to an IC chip, for example, other electronic parts such as active elements and driven elements, or small pieces other than electronic parts.

The article storage tape 2 is wound around the tape reel 1. Such a tape reel 1 is mounted on the article transfer device 10 shown in FIGS. 1 and 2. The article transfer device 10 includes a frame 20, a first conveyer 30, a second conveyer 50, a drive device 60, a transfer head 70, and a rotary drive machine. 80 and so on.

The first conveyor 30 is a person who sequentially feeds the articles 6 toward the receiving place B1 (refer to FIGS. 4 and 5) by transferring the article storage tape 2 at a constant speed. The transfer head 70 is a person who sequentially transfers the articles 6 from the first conveyor 30 to the second conveyor 50. That is, the transfer head 70 picks up the articles 6 toward the receiving place B1 in sequence, and sequentially lowers the articles 6 at the delivery place B2. The second conveyer 50 sequentially feeds the articles 6 that have been transferred to the delivery place B2 by the transfer head 70 to the downstream.

The first conveyor 30 includes a rotation shaft 31, rollers 32 to 38, a take-up reel 39, a take-up shaft 40, a take-up motor 41, an adhesive tape support portion 42, and the like.

The rotation shaft 31 is rotatably mounted on the central portion of the machine frame 20, and the center of the tape reel 1 is mounted on the rotation shaft 31. The tape reel 1 is rotatably provided with the rotation shaft 31 as a center. . The roller 32 is rotatably attached to the housing 20 in the upper right middle of the rotation shaft 31. The rollers 33 to 35 are rotatably mounted on the upper part of the chassis 20, and the rollers 33 to 35 are arranged from right to left in this order. The rollers 36 to 38 are rotatably mounted on the left portion of the chassis 20, and the rollers 36 to 38 are arranged from top to bottom in this order. At the lower right of the roller 38, the take-up motor 41 is attached to the frame 20. The take-up shaft 40 is directly connected to the take-up motor 41, and the center of the take-up reel 39 is detachably mounted on the take-up shaft 40.

Rollers 45 to 47 are rotatably mounted on the frame 20 on the rollers 34, and the rollers 45 to 47 are arranged from bottom to top in this order. The winding motor 48 is mounted on the roller 47 20. The take-up reel 49 is detachably attached to an output shaft of the take-up motor 48.

The article accommodating tape 2 led out from the tape reel 1 is guided by these rollers 32 to 34 in the order of the rollers 32, 33, and 34. A release plate is provided above the roller 34, and the cover tape 4 is folded back by the release plate, so that the cover tape 4 is peeled from the carrier tape 3. The peeled cover tape 4 is guided by rollers 45 to 47 in the order of roller 45, roller 46, and roller 47, and is wound around a take-up reel 49.

The peeled carrier tape 3 is hung from a roller 34 to a roller 35. The carrier tape 3 is guided by the rollers 36 to 38 in the order of the roller 36, the roller 37, and the roller 38, and is wound around the take-up reel 39.

At least one of the rollers 32 to 38 and the rollers 45 to 46 is a driving roller driven by a driving device 60 provided in the housing 20. The driving rollers among the rollers 32 to 38 and the rollers 45 to 46 are rollers with sprocket wheels, and the teeth of the sprocket are hooked by the feeding holes 7 of the article storage tape 2 and driven by the driving roller The rotation of the child causes the article storage tape 2 to be sent out. The driving device 60 is controlled at a constant speed. The article storage tape 2 and the peeled carrier tape 3 and the cover tape 4 are sent out at a constant speed by the driving device 60.

The winding motor 41 is, for example, a torque motor. As the diameter of the carrier tape 3 wound toward the winding reel 39 becomes larger, the rotation speed of the winding motor 41 decreases. The winding motor 48 is the same as the winding motor 41.

When the cover tape 4 is peeled on the upper side of the roller 34, the upper side of the accommodation recessed part 5 is opened, and the article 6 in the accommodation recessed part 5 is exposed. The path of the carrier belt 3 from the roller 34 to the roller 35 is the first conveyance By the way, the carrier tape 3 is sent out from the roller 34 toward the roller 35 to the left, so that the exposed articles 6 are sequentially conveyed from the roller 34 toward the roller 35. Between the roller 34 and the roller 35, the article 6 is taken out from the storage recess 5 by the transfer head 70 described later.

Between the roller 34 and the roller 35, an adhesive tape support portion 42 is provided. The tape support portion 42 supports the carrier tape 3 from below, and attracts the carrier tape 3 by a negative pressure. Therefore, the posture of the carrier tape 3 is stable.

The attractive force of the carrier tape 3 generated by the adhesive tape support portion 42 is such a degree that it does not hinder the feeding of the carrier tape 3. Therefore, even if the carrier tape 3 being transported is attracted by the tape support portion 42, the carrier tape 3 can slide on the tape support portion 42.

The second conveyor 50 is a conveyor of a belt conveyor type. The second conveyor 50 includes a pulley 51, a pulley 52, a belt 53, and a plurality of receiving portions 54.

The pulley 51 is rotatably provided on the upper left side of the rear side of the casing 20, and the pulley 52 is rotatably provided on the upper left side of the rear side of the casing 20. The belt 53 is an endless (endless) belt made of stainless steel. The belt 53 is suspended between the pulley 51 and the pulley 52. The right side of the belt 53 is folded back to the left by the pulley 51, and the left side of the belt 53 is folded back to the right by the pulley 52.

A plurality of receiving portions 54 are provided on the outer peripheral surface of the belt 53 as the transfer end point of the article 6. These receiving portions 54 are arranged at regular intervals along the longitudinal direction of the belt 53. The receiving section 54 The pickup unit 72 receives the item 6. More specifically, the receiving section 54 is an adsorption nozzle that supports the article 6 received from the pickup section 72 by suctioning the article 6 under a negative pressure.

The path of the belt 53 suspended from the pulley 52 on the upper side of the pulleys 51 and 52 is the second conveyance path. The position of the rack between the upper sides of the pulleys 51 and 52 in the belt 53 (hereinafter referred to as the upper portion of the belt 53) is parallel to the position of the rack between the rollers 34 and 35 in the carrier belt 3 and is the same height. Moreover, the pulley 51 is disposed further to the right than the roller 34, the pulley 52 is disposed further to the left than the roller 53, and the portion of the carrier belt 3 suspended between the rollers 34 and 35 and the belt 53 The upper part is side by side. A transfer head 70 is provided above the gap between the rollers 34 and 35 and the upper portion of the belt 53 in the carrier belt 3, and a rotary drive 80 is provided below the gap.

The pulley 51 is connected to the driving device 60, and the driving device 60 rotates the pulley 51. As a result, the belt 53 is carried at a constant speed. The direction of conveyance of the upper part of the belt 53 is opposite to the direction of conveyance of the portion hung between the rollers 34 and 35 in the carrier belt 3. That is, the upper part of the belt 53 is conveyed to the right from the pulley 52 toward the pulley 51.

The driving device 60 is provided with a motor and a first transmission mechanism (for example, a belt transmission mechanism) that transmits the power of the motor to the pulley 51, and the power of the motor toward the rollers 32 to 38 and the rollers 45 to 46. A second transmission mechanism (such as a belt transmission mechanism) for driving a roller. The first transmission mechanism is a speed reducer or a speed increaser, and the same is true for the second transmission mechanism. The conveying speed of the carrier belt 3 by the driving device 60 is It is slower than the conveyance speed of the belt 53 produced by the driving device 60. The motor of the driving device 60 is controlled at a constant speed by a constant speed control circuit 91.

4 and 5 are plan views showing the carrier belt 3 during the transportation on the first transportation path and the belt 53 during the transportation on the second transportation path. As shown in FIGS. 4 and 5, the interval between the articles 6 arranged on the carrier tape 3 is shown as P1 [mm], and the interval between the receiving portions 54 of the belt 53 is shown as P2 [mm]. The interval between the accommodation recesses 5 is also P1. Hereinafter, the conveyance speed of the carrier tape 3 generated by the drive device 60 is shown as V1 [mm / sec], and the conveyance speed of the belt 53 produced by the drive device 60 is shown as V2 [mm / sec]. The conveying speeds V1 and V2 are constant (but V1 <V2).

The transfer head 70 and the rotary drive 80 will be described with reference to FIGS. 1, 2, 4 and 5. The rotary drive machine 80 is a spindle motor and is mounted on the machine frame 20 (refer to FIG. 1). The output shaft of the rotary driving machine 80 projects upward through a gap between the carrier belt 3 and the upper portion of the belt 53 suspended between the rollers 34 and 35. The output shaft of the rotary drive machine 80 is directly connected to the center of the rotary disk 71 of the transfer head 70, and the transfer head 70 is rotated by the rotary drive 80. The speed of the rotary drive 80 is controlled by a speed control circuit 92.

The transfer head 70 includes a rotating disk 71 and an odd-numbered pickup unit 72. If the number of the pick-up portions 72 is odd, one may be used, and three or more may be used. In the drawing, the number of the pick-up portions 72 is nine.

The pick-up portion 72 is located in a radial direction from the center of the rotary disk 71 A position away from the outside is provided on the rotary disk 71. When the rotary disk 71 is rotated by the rotary driving machine 80, the pickup unit 72 is rotated around the output shaft of the rotary driving machine 80 as a center. The pickup unit 72 is a suction nozzle provided downward from the rotary disk 71. When the number of the pick-up portions 72 is plural, the pick-up portions 72 are arranged at equal intervals along the circumferential direction, and the pick-up portions 72 are arranged along a circle centered on the output axis of the rotary drive 80.

Viewed from above, the linear trajectory drawn by the article 6 carried by the carrier tape 3 is a connection of the circular trajectory drawn by the revolving pickup unit 72. The contact point between the linear trajectory and the circular trajectory is the receiving place B1.

Furthermore, when viewed from above, the linear trajectory drawn by the receiving portion 54 carried by the belt 53 is a connection of the circular trajectory drawn by the revolving pickup portion 72. The contact point between the linear trajectory and the circular trajectory is the delivery point B2.

The linear trajectory of the article 6 conveyed by the carrier belt 3 and the linear trajectory of the receiving portion 54 conveyed by the belt 53 are parallel to each other. Further, as seen from the above, the receiving shaft B1, the delivery shaft B2, and the output shafts of the rotary drive 80 are aligned on a straight line.

The direction of rotation of the rotary disk 71 generated by the rotary drive 80 is a combination of the direction in which the carrier belt 3 is transported and the direction in which the belt 53 is transported. That is, the direction of the peripheral speed vector of the pick-up section 72 in the pick-up point B1 is the same as the direction of the conveyance of the carrier tape 3, and the direction of the peripheral speed vector of the pick-up section 72 in the pick-up point B2 is the same as the direction of the carrier tape 3 The direction is the same. In FIGS. 4 and 5, the carrier belt 3 is conveyed from right to left, the belt 53 is conveyed from left to right, and the rotary disk 71 is rotated clockwise.

The pick-up portion 72 is provided so as to be movable up and down with respect to the rotary disk 71. The cam follower is integrally mounted in the pick-up portion 72, and the cam follower is in sliding contact with the non-rotating disc-shaped cam above the rotating disk 71. The pick-up portion 72 is urged downward by a spring. As the pick-up portion 72 orbits corresponding to the height of the sliding surface 74 of the cam contacted by the cam follower, the orbiting motion of the pick-up portion 72 is driven by the cam. The moving member and the cam are converted into a lifting movement of the pickup portion 72. Specifically, if the picking portion 72 approaches the receiving place B1 by turning, the height of the sliding surface 74 of the cam becomes lower, so the picking portion 72 is lowered by the spring force of the spring, and the picking portion 72 is far away from the receiving place. In B1, since the height of the sliding contact surface 74 of the cam becomes high, the pickup portion 72 rises against the elastic force of the spring. Further, if the pick-up portion 72 approaches the delivery point B2 by turning, the height of the sliding surface 74 of the cam becomes lower, so the pick-up portion 72 is lowered by the spring force, and the pickup portion 72 is far away from the delivery point B2. If the height of the sliding contact surface 74 of the cam becomes high, the pickup portion 72 rises against the elastic force of the spring.

The pick-up section 72 passes through the receiving place B1 in order by revolving. Similarly, the pickup unit 72 passes through the delivery place B2 in order. Here, because the number of pickup sections 72 is odd (further the number of pickup sections 72 is plural, because these pickup sections 72 are arranged at equal intervals), the pickup section 72 will not pass through the receiving place B1 and delivery at the same time. At B2. And The time point at which the pickup unit 72 passes the receiving place B1 is reversed in phase with respect to the time point at which the pickup unit 72 passes the delivery place B2. That is, from when the pickup unit 72 passes through the receiving place B1 until the next time the pickup unit 72 passes through the receiving place B1, the pickup unit 72 passes through the delivery place B2.

On the other hand, by carrying the carrier tape 3, the articles 6 are sequentially sent toward the receiving place B1. The period T1 [sec] from the time when some articles 6 arrive at the receiving place B1 (refer to FIG. 4) to the time when the next item 6 arrives at the receiving place B1 by the carrying of the carrier tape 3. A value obtained by dividing the conveyance speed V1 of the carrier tape 3 by the interval P1 of the articles 6 (T1 = P1 / V1). In addition, the period T2 [sec.] From the time point when the receiving portion 54 reaches the delivery point B2 (refer to FIG. 5) to the time point when the next receiving portion 54 reaches the delivery point B2 by the conveyance of the belt 53. [sec] ] Is a value obtained by dividing the conveying speed V2 of the belt 53 by the interval P2 of the receiving portion 54 (T2 = P2 / V2). Here, the transport speeds V1 and V2 and the intervals P1 and P2 are set such that the period T1 and the period T2 become equal. In the following, the "cycle T1" is called "article arrival cycle T1" and the "cycle T2" is called "receiving unit arrival cycle T2".

The period T3 [sec] from the time point when the pickup unit 72 passes the receiving place B1 to the time point when the next time the pickup unit 72 passes the receiving place B1 is made equal to the article arrival period T1, so that the rotary drive 80 The speed control circuit 92 is speed-controlled. Therefore, the time point at which the article 6 arrives at the pickup point B1 is synchronized with the time point at which the pickup unit 72 passes the pickup point B1 (refer to FIG. 4). In addition, the pick-up portion 72 is configured to load the article 6 from the receiving recess 5 of the carrier tape 3 when the pick-up portion B1 passes. Press and hold while picking up item 6. In the following, the "cycle T3" will be referred to as the "receiving cycle T3".

The period T4 [sec] from the time when the picking section 72 passes through the delivery point B2 to the time when the next picking section 72 passes the delivery point B2 is made equal to the cycle T2 of the receiving section, and the rotary drive 80 The speed is controlled by the speed control circuit 92. Therefore, the time when the receiving unit 54 reaches the delivery point B2 is synchronized with the time when the pickup unit 72 passes through the delivery point B2 (refer to FIG. 5). In addition, the pick-up unit 72 releases the negative pressure at the time of passing the delivery point B2, and delivers the article 6 to the receiving portion 54. The delivery cycle T4 and the collection cycle T3 are equal to each other. In the following, the "cycle T4" will be referred to as the "delivery cycle T4".

The rotation speed [1 / sec] of the rotation driving machine 60 is not constant, and the speed control circuit 92 periodically changes the rotation speed of the rotation driving machine 80. FIG. 6 shows a change in the rotation speed of the rotary driver 60. In FIG. 6, the vertical axis indicates the conversion of the rotational speed of the rotary drive 60 into the peripheral speed [mm / sec] of the pickup unit 72, and the horizontal axis indicates the display time. As shown in FIG. 6, the period T5 of the change in the rotation speed of the rotary driving machine 60 is equivalent to any one of the periods T1 to T4.

In synchronization with the time point t1 at which the picking section 72 passes the pick-up point B1, the speed control circuit 92 controls the speed of the rotary driving machine 80 to the minimum speed, so that the peripheral speed of the picking section 72 is equal to the carrying speed V1 of the carrier belt 3.地 控制。 Control.

After the pick-up unit 72 passes the pick-up point B1, the speed control circuit 92 accelerates and controls the rotary drive 80. Thereafter, it is delivered through the pickup unit 72 At time t2 at B2, the speed control circuit 92 controls the speed of the rotary drive 80 to the maximum speed, and controls the peripheral speed of the pickup unit 72 and the conveying speed V2 of the belt 53 to be equal. Thereafter, after the pickup unit 72 passes the delivery point B2, the speed control circuit 92 decelerates and controls the rotary drive 80.

Here, the rising time point t3 of the speed of the rotary drive machine 80 (at the start of acceleration control) is not synchronized with the time point t1 of the pickup unit 72 passing through the pick-up point B1, but the speed of the rotary drive machine 80 is limited by the speed for a predetermined period of time. The control circuit 92 is controlled at a constant speed. Specifically, the speed control circuit 92 starts the constant speed control (time t6) before the pickup unit 72 passes the pickup point B1. At the time point t1, the speed control circuit 92 uses the rotary drive machine 80 until the predetermined period elapses. The constant speed control keeps the peripheral speed of the pickup unit 72 at V1. After the time point t1 at which the pickup unit 72 passes the receiving point B1, the speed control circuit 92 starts acceleration control (refer to time point t3).

In addition, the time t5 (at the start of deceleration control) of the speed of the rotary drive machine 80 is not synchronized with the time point t2 of the pickup unit 72 passing the delivery point B2, but the speed of the rotary drive machine 80 is controlled by the speed control circuit 92 for a predetermined period of time. Be controlled by fixed speed. Specifically, the speed control circuit 92 starts the constant speed control (time t4) before the pickup unit 72 passes the delivery point B2 at time t2, and the speed control circuit 92 uses the rotary drive machine 80 until a predetermined period has elapsed. The constant speed control keeps the peripheral speed of the pickup unit 72 at V2. After the time point t2 at which the pickup unit 72 passes the delivery point B2, the speed control circuit 92 starts the deceleration control (time point t5). Reference).

As described above, when the picking section 72 picks up the article 6 at the pick-up point B1, the peripheral speed of the picking section 72 is equal to the carrying speed V1 of the carrier tape 3, so the article 6 is stably picked up by the picking section 72. That is, it is possible to prevent picking errors and suction errors, and the posture of the picked-up article 6 is also stable. The direction, posture, and position of the article 6 sucked by the pick-up portion 72 are designed as expected. In particular, during a certain period from time point t6 to time point t3, because the peripheral speed of the pick-up section 72 is maintained at the conveying speed V1 of the carrier belt 3, the pick-up of the articles 6 generated by the pick-up section 72 is Stability is further improved.

Similarly, when the picking section 72 places the article 6 on the receiving section 54 at the delivery point B2, the peripheral speed of the picking section 72 is equal to the conveying speed V2 of the belt 53, so the article 6 is stably supported by the receiving section. 54.

Moreover, during the period from time point t3 to time point t4, because the peripheral speed of the pickup section 72 is gradually increased by acceleration control, the peripheral speed of the pickup section 72 is accurately controlled at the speed V2 at time point t4. . Similarly, the peripheral speed of the pickup portion 72 is accurately controlled at the speed V1 at the time point t6. Therefore, the rotation drive machine 80 is a dwell period without being temporarily stopped, and the rotary disk 71 and the pickup unit 72 are continuously operated. Further, the change in the peripheral speed of the pick-up portion 72 is moderated, and the inertial force generated in the article 6 is not increased by the change in the peripheral speed, and the article 6 can be prevented from falling out of the pickup portion 72.

As shown in Fig. 1, on the downstream side of the delivery point B2, There is a centering mechanism 95 that adjusts the center of the article 6 supported by the receiving portion 54 toward the center of the receiving portion 54. The centering mechanism 95 is composed of two star-shaped rollers in which a plurality of recessed portions entered by the article 6 are formed on the outer peripheral portion.

Further, a processing machine 99 is provided on the downstream side of the centering mechanism 95 to perform a predetermined process on the article 6. The processing performed by the processor 99 is, for example, transfer of the article 6, placement of the article 6, embedding of the article 6 toward a tablet, or the like. Here, although the processing cycle of the processing machine 99 is equivalent to any one of the cycles T1 to T5, the article 6 can be sent to the processing machine 99 at an interval P2, and the article 6 can be continuously processed under conditions suitable for the processing machine 99. Processing. In other words, it becomes possible to continuously process without affecting the pitch of the articles 6 of the carrier tape.

As mentioned above, although the form for implementing this invention was demonstrated, the said Example is only for easy understanding of this invention, and does not limit this invention to an interpreter. The present invention can be modified and improved without departing from the spirit thereof, and the present invention includes equivalents thereof. Changes from the above embodiments will be described below. It is also possible to apply each change point described below in combination.

In the above embodiment, the carrying speed V1 of the carrier belt 3 generated by the driving device 60 is lower than the carrying speed V2 of the belt 53 generated by the driving device 60. For this, the conveying speed V1 of the carrier belt 3 generated by the driving device 60 may be faster than the conveying speed V2 of the belt 53 generated by the driving device 60. In this case, the interval P1 of the articles 6 arranged on the carrier tape 3 is wider than the interval P2 of the receiving portion 54. Further, during a period from the time point t3 to the time point t4 shown in FIG. 7, the speed control unit 92 is configured to decelerate and control the rotary drive 80. in During the period from the time point t4 to the time point t5, the speed control unit 92 controls the rotational speed of the rotary drive machine 80 to maintain the peripheral speed of the pickup unit 72 at the conveyance speed V2 of the second conveyer 50. During the period from time point t5 to time point t6, the speed control unit 92 accelerates and controls the rotary drive machine 80. During the period from time point t6 to time point t3, the speed control unit 92 controls the rotational speed of the rotary drive machine 80 to maintain the peripheral speed of the pickup unit 72 at the conveyance speed V1 of the first conveyor 30. . The time point t1 in FIG. 7 is the time point at which the pickup unit 72 passes the collection point B1, and the time point t2 is the time point at which the pickup unit 72 passes the delivery point B2.

In the embodiment described above, the number of transfer heads 70 is one. For this, the plurality of transfer heads 70 may be aligned in the left-right direction along the tape support portion 42. Here, if the number of transfer heads 70 is set to n (but n is a positive number of 2 or more), each transfer head 70 picks up (n-1) items 6 each time the articles 6 are carried by the carrier tape 3 , (N-1) items 6 are picked up each time toward the receiving portion 54. The articles 6 picked up by the adjacent transfer heads 70 are adjacent to the carrier tape 3, and the adjacent transfer heads 70 are adjacent to the receiving portions 54 on which the articles 6 are placed. In this case, the interval P1 described with reference to FIGS. 4 and 5 is the interval between the (n-1) items 6 and the interval P2 is the interval between the (n-1) receiving portions 54. Furthermore, the article arrival cycle T1 is also the arrival cycle of every (n-1) articles 6, and the receiving section arrival cycle T2 is also the arrival cycle of (n-1) receiving sections 54.

In the above-mentioned embodiment, although the item 6 is removed from the pickup portion 72 It is delivered toward the receiving section 54, but it may be placed directly on the belt 53 from the pickup section 72.

Furthermore, in the above-mentioned embodiment, the article 6 is placed on the carrier belt 3 and transported toward the receiving place B1, but the article 6 placed on the transported conveyor belt may be transported toward the receiving place B1. In addition, instead of the belt 53, it may be carried by a carrier tape, and the articles 6 may be transferred toward a plurality of receiving recesses (the interval between the recesses is P2) formed in the carrier tape.

In the embodiment described above, although the pickup unit 72 picks up the article 6 by suction (negative pressure), for example, a person who picks up the article 6 by magnetic force, adhesive force, or holding force may be used.

1‧‧‧ Reel

2‧‧‧ Article Containment Tape

3‧‧‧ bearing belt

20‧‧‧frame

30‧‧‧The first porter

31‧‧‧rotation axis

32 ~ 38‧‧‧roller

39‧‧‧ take-up reel

40‧‧‧ Reel

42‧‧‧ support

45‧‧‧roller

46‧‧‧Roller

47‧‧‧ roller

48‧‧‧ Motor

49‧‧‧Tape Reel

50‧‧‧Second Porter

51‧‧‧wheel

52‧‧‧wheel

53‧‧‧Belt

54‧‧‧Receiving Department

60‧‧‧Drive

70‧‧‧ transfer head

80‧‧‧ Rotary Drive

91‧‧‧ fixed speed control circuit

92‧‧‧speed control circuit (speed control section)

95‧‧‧ centering mechanism

99‧‧‧Processing machine

Claims (7)

An article transfer device includes: a first conveyer that sequentially supplies a plurality of items toward a predetermined collection place at a certain first conveying speed; and a rotary drive; and that is to be conveyed by the first conveyer The trajectory of the track of the item is drawn around the circular trajectory contacted by the aforementioned collection place by the aforementioned rotary driver, the article is picked up in the aforementioned collection place, and the picked item is transferred from the aforementioned collection place by revolving To one or more pick-up sections at a predetermined delivery point; and the items to be transferred by the pick-up section, toward a tangential direction of the circular trajectory in the delivery point, by a certain distance different from the first conveying speed. A second conveyer conveyed at a second conveying speed; and a speed control section that controls a peripheral speed of the pickup section by controlling the rotary drive machine; synchronized with a time point at which the pickup section passes the pickup point, the speed The control unit controls the peripheral speed of the pickup unit to be equal to the first conveying speed, and synchronizes with the time point at which the pickup unit passes the delivery point. The speed control unit is The circumferential speed of the second conveying speed control of the pickup section equally. For example, the article transfer device according to item 1 of the patent application scope, wherein the number of the pick-up sections is a plural number of 3 or more, and these pick-up sections are arranged at equal intervals along the circular trajectory. For example, the article transfer device according to item 1 of the patent application scope, wherein the speed control unit starts to maintain the peripheral speed of the pickup unit at the first conveying speed before the time when the pickup unit passes the collection point. The speed control is performed by the speed control unit after the time point at which the pickup unit passes the pickup point and before the time point at which the pickup unit passes the delivery point. For example, the article transfer device according to item 1 of the patent application scope, wherein the speed control unit starts to maintain the peripheral speed of the pickup unit at the second conveying speed before the time when the pickup unit passes the delivery point. The speed control section terminates the fixed speed control after a time point when the pickup section passes the delivery point and before a time point when the pickup section passes the pickup point. For example, the article transfer device according to item 1 of the patent application scope, wherein the speed control section starts to maintain the peripheral speed of the pickup section at the first conveying speed before the time when the pickup section passes the pickup point. Constant speed control, after the time point when the pickup section passes the collection point and before the time point when the pickup section passes the delivery point, the speed control section ends the first constant speed control and the delivery section passes the delivery Before the time point, the speed control unit is a second constant speed control that starts to maintain the peripheral speed of the pickup unit at the second conveying speed. After the time point when the pickup unit passes the delivery point and the pickup unit passes Before the time point of the collection point, the speed control unit ends the second constant speed control, from the end time point of the first constant speed control to the second constant speed. Between the start time of the processing, the speed control unit changes the peripheral speed of the pickup unit from the first conveyance speed to the second conveyance speed. For example, the article transfer device according to item 5 of the scope of the patent application, wherein the speed control unit is configured to transfer the pickup unit from an end time point of the second constant speed control to a start time point of the first constant speed processing. The peripheral speed is changed from the second conveyance speed to the first conveyance speed. For example, the article transfer device according to item 1 of the patent application scope, wherein the speed control section starts to maintain the peripheral speed of the pickup section at the first conveying speed before the time when the pickup section passes the pickup point. Constant speed control, after the time point when the pickup section passes the collection point and before the time point when the pickup section passes the delivery point, the speed control section ends the first fixed speed control, and the speed control section ends the time when the pickup section passes the delivery point. Before the time point, the speed control unit is the second constant speed control that starts to maintain the peripheral speed of the pickup unit at the second conveying speed. After the time point when the pickup unit passes the delivery point and the pickup unit passes the The speed control unit ended the second fixed speed control before the time point of the collection point. From the end time point of the second fixed speed control to the start time point of the first fixed speed process, the speed control unit is The peripheral speed of the pickup unit is changed from the second conveyance speed to the first conveyance speed.