TW202112634A - 工件搬送裝置及工件搬送方法 - Google Patents

工件搬送裝置及工件搬送方法 Download PDF

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TW202112634A
TW202112634A TW108137578A TW108137578A TW202112634A TW 202112634 A TW202112634 A TW 202112634A TW 108137578 A TW108137578 A TW 108137578A TW 108137578 A TW108137578 A TW 108137578A TW 202112634 A TW202112634 A TW 202112634A
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藤本博
小島智幸
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日商東京威爾斯股份有限公司
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Abstract

[課題]使來自工件進料器之工件正確且快速移送至移載載台上。 [解決手段]工件搬送裝置(10)係具備：旋轉載台(1)；與旋轉載台(1)同步旋轉的吸附噴嘴裝置(20)。吸附噴嘴裝置(20)具有裝置本體(21)、及複數個吸附噴嘴(22)。吸附噴嘴(22)包含：噴嘴本體(22a)、及相對於噴嘴本體(22a)可於上下方向移動的噴嘴(25)。

Description

工件搬送裝置及工件搬送方法
本揭示關於對裝置元件進行搬送的工件搬送裝置及工件搬送方法。
已知有對裝置元件(以下亦稱為工件)進行搬送，於次一工程中對裝置元件進行檢測之工件搬送方法。
該情況下，首先，工件藉由工件進料器被搬送，藉由工件進料器被搬送的工件係藉由吸附噴嘴等依序移載於移載載台上。之後，於次一工程中對移載載台上之工件實施性能檢測或外觀檢測。 [先前技術文獻] [專利文獻]
[專利文獻1]特開2008-260594號公報
[發明所欲解決之課題]
但是，習知技術上，針對經由工件進料器搬送的工件，一邊在移載載台上高精度地進行定位，一邊快速移載的工件搬送裝置及工件搬送方法乃未開發，此為實情。
本揭示係考慮到這樣的點而完成者，目的在於提供針對經由工件進料器搬送的工件一邊高精度地進行定位，一邊快速移載的工件搬送裝置及工件搬送方法。 [用以解決課題的手段]
本揭示之工件搬送裝置，係具備：旋轉自如之旋轉載台，在該旋轉載台之外周緣形成有用於收納工件的複數個口袋；及吸附噴嘴裝置，係設置於上述旋轉載台上，且與上述旋轉載台同步旋轉；上述吸附噴嘴裝置具有：旋轉自如之裝置本體；及複數個吸附噴嘴，其被保持於該裝置本體，而且設置於與各口袋對應的位置，用於吸附上述工件；各吸附噴嘴成為可以在上下方向移動，使上述口袋內之上述工件從上述口袋往下方下降。 本揭示之工件搬送裝置中，係於上述旋轉載台之下方設置有，具有收納上述口袋內之上述工件的複數個工件收納部之移載載台、具有黏著層的黏著板或裝配基板。
本揭示之工件搬送裝置中，於上述旋轉載台連接有使上述工件移載至上述口袋內的工件進料器。
本揭示之工件搬送裝置中，上述口袋係在上述旋轉載台之外周緣貫穿上下方向而設置。
本揭示之工件搬送裝置中，上述移載載台、上述黏著板或上述裝配基板係在水平面上可於X-Y方向移動。
本揭示之工件搬送裝置中，於上述旋轉載台之上述口袋之上緣端部設置有，朝上述口袋內方突出，且將上述吸附噴嘴與上述口袋內密閉的突出板。
本揭示之工件搬送方法，係使用上述工件搬送裝置的工件搬送方法，其具備：使上述旋轉載台停止，使上述工件收納於上述口袋內的工程；藉由與上述口袋對應的上述吸附噴嘴對上述口袋內之上述工件進行吸附的工程；在藉由上述吸附噴嘴吸附有上述口袋內之上述工件之狀態下使上述旋轉載台與上述吸附噴嘴裝置旋轉的工程；及使上述旋轉載台與上述吸附噴嘴之旋轉停止之後，下降上述吸附噴嘴而使吸附於上述吸附噴嘴的上述工件從上述口袋往下方下降的工程。 [發明效果]
依據以上之本揭示，可以對工件進行高精度定位之同時快速移載。
＜實施形態＞
以下，參照圖面說明本揭示之實施形態。圖1至圖8係表示本揭示之實施形態之圖。
於此，圖1係表示本揭示的工件搬送裝置之概略斜視圖，圖2係表示旋轉載台之平面圖，圖3係表示為了方便而將樹脂製板去除了的旋轉載台之平面圖，圖4係表示旋轉載台之側剖面圖，圖5係表示從工件進料器搬送至旋轉載台的工件之圖，圖6A至圖6C係表示旋轉載台之口袋內之工件之動作之圖，圖7係表示將旋轉載台之口袋內之工件移載至移載載台的狀態之圖，圖8係表示移載載台之平面圖。
如圖1至圖8所示，工件搬送裝置10係對裝置元件等之工件W進行搬送之同時，高精度地進行定位並移載者。
這樣的工件搬送裝置10，係具備：旋轉自如之圓形狀旋轉載台1，在旋轉載台1之外周緣設置有用於收納工件W的複數個口袋2；及設置於旋轉載台1上，且與旋轉載台1同步旋轉的吸附噴嘴裝置20。
又，在旋轉載台1之一側連接有，對工件W進行搬送之同時，將該工件W移載至旋轉載台1之口袋2內的由直線狀之線性進料器形成的工件進料器11。該工件進料器11係藉由工件進料器支撐機構11a進行支撐。再者，於旋轉載台1下方設置有具有複數個工件收納部31的移載載台30，旋轉載台1之口袋2內所收納的工件W係被移載至該複數個工件收納部31。
其中，旋轉載台1係透過驅動軸38藉由旋轉載台上方之驅動部7支撐成為旋轉自如，該驅動軸38被收納於固定側之驅動盒7A內。又，於旋轉載台1上，在旋轉載台1之外周緣分開各90°而設置有收納工件W的4個口袋2。又，各口袋2係在旋轉載台1之外周緣在上下方向貫穿旋轉載台1而設置。
又，吸附噴嘴裝置20具備：連結於從驅動部7朝下方延伸的驅動軸38，且與旋轉載台1同步旋轉的裝置本體21；及保持於該裝置本體21的4個吸附噴嘴22。其中，裝置本體21係如上述般連結於安裝於旋轉載台1之中央部的驅動軸38，該驅動軸38係朝上方延伸而到達驅動部7。
又，裝置本體21，係連結於驅動軸38，而且具有從上方觀察時構成“十”字之形狀的4根手柄21a，在各手柄21a之前端設置有吸附噴嘴22。
各吸附噴嘴22具有噴嘴本體22a、及設置於該噴嘴本體22a之下端的噴嘴25，各噴嘴25相對於噴嘴本體22a可於上下方向移動。又，各吸附噴嘴22之噴嘴25，在吸附動作中在其下端可以吸附工件W，在吸附動作停止之情況下，噴嘴25無法吸附工件W。
但是各吸附噴嘴22係如上述般設置於裝置本體21之4根手柄21a之前端，因此合計4個吸附噴嘴22被設置於裝置本體21。各吸附噴嘴22，係在旋轉載台1之上方，以各吸附噴嘴22之噴嘴25來到與旋轉載台1之口袋2對應的位置的方式被配置。
又，旋轉載台1係按照每一口袋2之配置間距(90°間距)斷續地旋轉。又，於旋轉載台1之上面設置有樹脂製板5，於該樹脂製板5設置有與口袋2對應的開口5a。樹脂製板5之開口5a，從平面觀察時呈矩形狀，旋轉載台1之口袋2從平面觀察時亦呈矩形狀。樹脂製板5之開口5a之平面形狀小於口袋2之平面矩形狀。因此樹脂製板5係從口袋2之上端緣朝向口袋2之內方從3邊突出(參照圖2及圖3)。該情況下，如圖2所示，樹脂製板5之開口5a及口袋2，從平面觀察時係在旋轉載台1之外周緣側呈開口。
如此般，樹脂製板5係從口袋2之上端緣朝向口袋2之內方突出，因此樹脂製板5作為從口袋2之上端緣朝向口袋2之內方突出的突出板而發揮功能。
該情況下，從口袋2之上端緣朝向口袋2之內方突出的樹脂製板5，可以將口袋2之上端緣以及吸附噴嘴22之噴嘴密閉，藉此，可以提升口袋2內之密閉度。
又，上述本實施形態中示出在旋轉載台1上設置有樹脂製板5之例，但口袋2內之密閉度可以確保之情況下，該樹脂製板5未必一定要設置。
接著，參照圖5至圖7說明旋轉載台1與工件進料器11間之連接部之構造。如圖5至圖7所示，在旋轉載台1之口袋2內，在其半徑方向內方設置有藉由吸附作用將工件W吸入口袋2內的吸附部8。
該情況下，口袋2內之吸附部8係設置於口袋2之內側緣之隅部(參照圖2及圖3)。又，吸附部8連接於組裝在後述之裝載器底座13內的吸附機構(未圖示)，藉由該吸附機構進行吸附作用。
又，在旋轉載台1之口袋2內設置有，對工件W是否收納於口袋2內之正確的位置進行光學檢測的工件檢測部9。
但是，在旋轉載台1與工件進料器11間之連接部，為了使工件W從工件進料器11順利地移行至旋轉載台1之口袋2側而安裝有從上方覆蓋工件W的頂蓋12。
又，在旋轉載台1與工件進料器11間之連接部設置有，將從工件進料器11移行至旋轉載台1之口袋2側之工件W從下方進行支撐的裝載器底座13。
接著，參照圖7及圖8說明配置於旋轉載台1之下方的移載載台30。移載載台30具有藉由區劃壁32被區劃為格子狀的多個工件收納部31。
又，移載載台30係在旋轉載台1之下方可以在水平面上沿著X-Y方向移動。如此般，藉由移載載台30在水平面上沿著X-Y方向移動，而使收納於旋轉載台1之口袋2內且經由旋轉載台1被搬送的工件W，透過吸附噴嘴22下降，而可以收納於移載載台30之期待之工件收納部31內。
接著說明由這樣的構成形成的本實施之形態之作用。
首先，如圖1及圖6A所示，裝置元件等之工件W從工件進料器11被收納於旋轉載台1之中之工件進料器11側之口袋2內。該情況下，旋轉載台1停止旋轉。又，從工件進料器11內輸出之工件W，係在工件進料器11與旋轉載台1之間之連接部中，藉由裝載器底座13進行支撐，而且藉由頂蓋12從上方覆蓋。
接著，藉由控制部35使設置於旋轉載台1之上方的吸附噴嘴裝置20之中之與收納有工件W的口袋2對應的吸附噴嘴22之噴嘴25下降而進入口袋2內，在稍微進入了口袋2內之狀態下使噴嘴25停止。
該情況下，口袋2之上端緣之中，在旋轉載台1之除了其外周緣側之邊以外的3邊中，樹脂製板5朝向口袋2之內方突出。因此藉由噴嘴25與樹脂製板5密閉口袋2之上端緣。
接著，藉由裝載器底座13之吸附機構作動口袋2內之吸附部8，以將工件W吸附至口袋2內的方式產生氣流。該情況下，如上述般口袋2之上端緣被噴嘴25與樹脂製板5密閉，因此口袋2內可以有效地設為吸引狀態，可以提高該口袋2內之吸引狀態。
如上述般，口袋2內成為吸引狀態之後，如圖6B所示，藉由頂蓋12與裝載器底座13使從工件進料器11輸出之工件W從上下方向被導引，被吸入吸引狀態之口袋2內。
接著，工件W進入口袋2內之後，工件檢測部9檢測出工件W已進入口袋2內。來自工件檢測部9之信號被傳送至控制部35，控制部35依據來自工件檢測部9之信號而使吸附噴嘴22之噴嘴25動作，將工件W吸附於噴嘴25之下端(參照圖6C)。
之後，如圖1所示，控制部35使驅動部7動作，使旋轉載台1與吸附噴嘴裝置20旋轉90°。
在該期間，被收納於旋轉載台1之口袋2內且藉由吸附噴嘴22之噴嘴25吸附保持的工件W，亦與旋轉載台1同時旋轉90°。
之後，旋轉載台1及吸附噴嘴裝置20停止旋轉，同樣地使工件W從工件進料器11被收納於旋轉載台1之中之工件進料器11側之口袋2內。
接著，使旋轉載台1與吸附噴嘴裝置20進一步旋轉90°，使最初被收納於工件進料器11側之口袋2內的工件W到達相對於工件進料器11旋轉180°之位置。之後，旋轉載台1之及吸附噴嘴裝置20停止旋轉。
此時，來到相對於工件進料器11旋轉180°之位置的吸附噴嘴22之噴嘴25，以其下端將工件W吸附保持於口袋2內。接著，藉由控制部35使吸附噴嘴22之噴嘴25進一步下降，噴嘴25進一步下降而貫穿口袋2內。在噴嘴25之下端所吸附的工件W到達移載載台30之工件收納部31內時，控制部35停止噴嘴25之下降之同時，停止噴嘴25之吸附作用。
如上述般噴嘴25之下端吸附的工件W正確地被移載至移載載台30之工件收納部31內，之後，藉由控制部35使吸附噴嘴22之噴嘴25朝上方上升。
如上述般藉由到達相對於工件進料器11旋轉180°之位置的吸附噴嘴22，將工件W依序移載至移載載台30之工件收納部31內。該情況下，控制部35可以使移載載台30沿著X-Y方向在水平面上移動，藉此，藉由吸附噴嘴22可以將工件W依序移載至移載載台30之期待之工件收納部31。
又，位於旋轉載台1旋轉270°之位置的吸附噴嘴22，並未特別對工件W進行吸附而處於待機狀態。
藉由依序重複這樣的作用，可以將從工件進料器11送出的工件W，依序移載至移載載台30之期待之工件收納部31內。之後移載載台30被送至次一工程，於次一工程中，從移載載台30內取出工件W，對該工件W進行性能檢測或者外觀檢測。之後以判斷為良品的工件W作為裝置元件使用。
依據以上之本實施形態，可以將從工件進料器11送來的工件W正確定位於旋轉載台1之口袋2內之同時，藉由吸附噴嘴22之噴嘴25進行吸附，可以確實搬送至相對於工件進料器11旋轉180°之位置。又，針對到達相對於工件進料器11已旋轉180°之位置的工件W，僅藉由下降吸附噴嘴22之噴嘴25即可以容易且簡單地收納於載台30內之期待之工件收納部31內。
因此可以將從工件進料器11送來的工件W迅速且高精度地搬送至移載載台30之期待之工件收納部31內。
＜本揭示之變形例＞ 接著，參照圖9說明本揭示之變形例。於圖1至圖8所示實施形態中示出藉由吸附噴嘴裝置20使工件W收納於移載載台30之工件收納部31內，但不限定於此，如圖9所示，藉由吸附噴嘴裝置20將工件W移載至黏著板40上亦可。圖9所示變形例中，針對和圖1至圖8所示實施形態同一之部分附加同一符號並省略詳細說明。圖9中，藉由吸附噴嘴裝置20被移載有工件W的黏著板40，係具有設置於其表面的黏著層40a。
或者，作為設置該黏著板40之取代，而直接藉由吸附噴嘴裝置20將工件W裝配於裝配基板(未圖示)上亦可。
或者，在圖1至圖8所示實施形態或者圖9所示變形例中示出，藉由吸附噴嘴裝置20將到達相對於工件進料器11已旋轉180°之位置的工件W移載至移載載台30(參照圖1至圖8)，或者移載至黏著板40(參照圖9)之例，但不限定於此，將到達相對於工件進料器11已旋轉90°之位置的工件W移載至移載載台30之工件收納部31內，或者移載至黏著板40上亦可。
1:旋轉載台 2:口袋 5:樹脂製板(突出板) 5a:開口 8:吸附部 9:工件檢測部 10:工件搬送裝置 11:工件進料器 20:吸附噴嘴裝置 21:裝置本體 22:吸附噴嘴 25:噴嘴 30:移載載台 31:工件收納部 35:控制部 40:黏著板
[圖1]圖1係表示本揭示的工件搬送裝置之概略斜視圖。 [圖2]圖2係表示旋轉載台之平面圖。 [圖3]圖3係為了方便而去除了樹脂製板的旋轉載台之平面圖。 [圖4]圖4係表示旋轉載台之側剖面圖。 [圖5]圖5係表示從工件進料器搬送至旋轉載台的工件之圖。 [圖6A]圖6A係表示旋轉載台之口袋內之工件之動作之圖。 [圖6B]圖6B係表示旋轉載台之口袋內之工件之動作之圖。 [圖6C]圖6C係表示旋轉載台之口袋內之工件之動作之圖。 [圖7]圖7係表示將旋轉載台之口袋內之工件移載至移載載台的狀態之圖。 [圖8]圖8係表示移載載台之平面圖。 [圖9]圖9係表示本揭示之變形例之圖。
1:旋轉載台
7:驅動部
7A:驅動盒
10:工件搬送裝置
11:工件進料器
11a:工件進料器支撐機構
20:吸附噴嘴裝置
21:裝置本體
21a:手柄
22:吸附噴嘴
22a:噴嘴本體
25:噴嘴
30:移載載台
35:控制部
38:驅動軸

Claims (7)

  1. 一種工件搬送裝置，係具備： 旋轉自如之旋轉載台，在該旋轉載台之外周緣形成有用於收納工件的複數個口袋；及 吸附噴嘴裝置，係設置於上述旋轉載台上，且與上述旋轉載台同步旋轉； 上述吸附噴嘴裝置具有：旋轉自如之裝置本體；及複數個吸附噴嘴，其被保持於該裝置本體，而且設置於與各口袋對應的位置，用於吸附上述工件； 各吸附噴嘴成為可以在上下方向移動，使上述口袋內之上述工件從上述口袋往下方下降。
  2. 如申請專利範圍第1項之工件搬送裝置，其中 於上述旋轉載台之下方設置有：具有收納上述口袋內之上述工件的複數個工件收納部之移載載台、具有黏著層的黏著板、或裝配基板。
  3. 如申請專利範圍第1或2項之工件搬送裝置，其中 於上述旋轉載台連接有使上述工件移載至上述口袋內的工件進料器。
  4. 如申請專利範圍第1至3項中任一項之工件搬送裝置，其中 上述口袋係在上述旋轉載台之外周緣貫穿上下方向而設置。
  5. 如申請專利範圍第2項之工件搬送裝置，其中 上述移載載台、上述黏著板或上述裝配基板係在水平面上可於X-Y方向移動。
  6. 如申請專利範圍第1至5項中任一項之工件搬送裝置，其中 於上述旋轉載台之上述口袋之上緣端部設置有：朝上述口袋內方突出，且將上述吸附噴嘴與上述口袋內密閉的突出板。
  7. 一種工件搬送方法，係使用如申請專利範圍第1項之工件搬送裝置的工件搬送方法，該工件搬送方法具備： 使上述旋轉載台停止，使上述工件收納於上述口袋內的工程； 藉由與上述口袋對應的上述吸附噴嘴對上述口袋內之上述工件進行吸附的工程； 在藉由上述吸附噴嘴吸附有上述口袋內之上述工件之狀態下使上述旋轉載台與上述吸附噴嘴裝置旋轉的工程；及 使上述旋轉載台與上述吸附噴嘴之旋轉停止之後，下降上述吸附噴嘴而使吸附於上述吸附噴嘴的上述工件從上述口袋往下方下降的工程。
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