TWI627122B - Workpiece handling method and device - Google Patents

Abstract

An object of the present invention is to transport a plurality of workpieces that are not arranged in a short time.

The workpiece conveying device (1) of the solution includes a plurality of suction nozzles that can independently lift and lower between the holding and releasing heights of the holding or releasing of the workpiece (10) and the rising height after the lifting of the holding and releasing heights ( 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h); for a local suction that can only raise and lower one nozzle (12a~12h) but the other nozzles (12a~12h) are at a rising height and cannot be raised and lowered The lifting and lowering mechanism (210) capable of changing and lowering all the nozzles (12a~12h) can be lifted and lowered, and the lifting nozzle can be lifted and lowered by itself (12a~) 12h) Lifting lifting flange (202).

Description

Workpiece handling method and device

The present invention relates to a transport method and apparatus for transporting a workpiece to a designated position during assembly of an electronic component or the like.

In the production line for assembling an electronic component or the like by assembling a workpiece, the workpiece is taken out from the tray in which the workpiece is stored, and then transported to a designated position. When a multi-nozzle having a plurality of nozzles is used, a plurality of workpieces can be handled as a whole by simultaneously adsorbing a plurality of workpieces. Further, it is possible to shorten the time required for transportation (see Patent Document 1).

[Advanced technical literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2008-147313

However, when the workpiece on the tray is not formed into an array state At this time, it is impossible to adsorb a plurality of workpieces at the same time, and it is not possible to carry a plurality of workpieces at a time. That is, the time required for transportation cannot be shortened.

The present invention has been made in view of the above problems, and it is an object of the invention to provide a conveying method and apparatus capable of conveying a plurality of workpieces that are not arranged in a short time.

According to the earnest research by the present inventors, the above object can be attained by the following means.

(1) The workpiece transfer device according to the present invention is characterized in that it includes a plurality of holding means for independently raising and lowering between a holding and releasing height for performing holding or releasing of the workpiece and a rising height from the holding and releasing height; It is possible to convert only a part of the above-mentioned holding means up and down, but the remaining holding means can be raised and lowered at the above-mentioned rising height and can not be raised and lowered, and the local lifting and lowering state and all of the holding means can be raised and lowered. And a lifting and lowering means for lifting and lowering the holding means by means of lifting and lowering, wherein the lifting and lowering means has a plurality of holding means for directly or indirectly hooking the rising height to maintain the plurality of The brake is stopped at the above-mentioned raising height, and the brake is configured to include a plurality of effective portions that can hook the holding means; and a plurality of canceling portions that cancel the hooking of the holding means, and are configured to be borrowed The partial energy can be caused by the movement of the complex effective portion and the complex canceling portion Cum partial drop down state and not all of the above can be converted down state of the brake, or more The complex effective portion and the complex canceling portion are alternately arranged.

(2) The workpiece conveying device according to the above aspect, wherein the brake is disposed in a circumferential direction of the horizontal plane in the plurality of effective portions and the plurality of canceling portions. The configuration is such that the local energy rise and fall and the partial non-elevating state and the all of the above-described up and down states are converted by the rotation in the horizontal plane.

(3) The workpiece conveying device according to the above aspect (1) or (2), wherein the plurality of holding means are provided to be rotatable about a vertical axis, the lifting limit The means includes a plurality of rotating bodies, and the plurality of rotating bodies are disposed between each of the holding means and the brake, and rotates as the holding means rotates about a vertical axis, thereby reducing the holding means and The friction between the above brakes.

(4) The workpiece conveying device according to the above aspect (1) or (2), further comprising: a control unit configured to perform the holding when the holding means performs the holding The lifting and lowering means is configured to lower the lifting means after the partial energy lifting and the partial lowering and lowering state, thereby lowering a portion of the holding means and positioning the holding means at the holding and releasing height.

(5) The workpiece conveying device according to the above aspect (3), further comprising: a control unit configured to adjust the lifting and lowering hand when the holding means performs the holding The segment is such that the local energy can be raised and lowered and the partial lifting state is lowered, and then the lifting means is lowered to lower a portion of the holding means and the holding means of the portion is located at the holding and releasing height.

(6) The workpiece conveying device according to the above aspect of the invention, wherein the control unit is configured to: when the holding means performs the releasing, the lifting and lowering means is all of the above After the lifting state, the lifting means is lowered to thereby lower all of the holding means and the all-part holding means is positioned at the holding and releasing height.

(7) The workpiece conveying device according to the above aspect of the invention, wherein the control unit is configured to: when the holding means performs the releasing, the lifting and lowering means is all of the above-described After the lifting state, the lifting means is lowered to thereby lower all of the holding means and the all-part holding means is positioned at the holding and releasing height.

(8) The workpiece transporting method according to any one of the preceding claims, wherein the lifting and lowering means is the above-described holding means when the holding means performs the holding After the local energy lifting and the partial non-lifting state, the lifting means is lowered to thereby lower a part of the holding means and the holding means of the part is located at the holding and releasing height.

(9) The method of conveying a workpiece according to the above aspect of the invention, characterized in that, in the method of transporting the workpiece according to the item (8), the lifting and lowering means is After the down state, the lifting means is lowered to thereby lower all of the holding means and the all-part holding means is positioned at the holding and releasing height.

According to the present invention, it is possible to obtain an excellent effect of being able to carry a plurality of workpieces which are not arranged in a short time.

1, 2‧‧‧ workpiece handling device

10‧‧‧Workpiece

12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h‧ ‧ nozzle

202‧‧‧ lifting flange (lifting means)

210‧‧‧ Lifting restriction mechanism (lifting restriction means)

211‧‧‧ brake

22a~22g‧‧‧effective department

23a~23i‧‧‧Removal Department

230‧‧‧ lifting flange (lifting means)

300‧‧‧Control unit

52a, 52b, 52c, 52d, 52e‧‧ ‧ nozzle

56a, 56b, 56c, 56d, 56e‧‧‧ hooked rotating body (rotating body)

602‧‧‧ lifting flange (lifting means)

610‧‧‧ Lifting restriction mechanism (lifting restriction means)

611‧‧‧ brake

62a~62g‧‧‧effective department

63a~63i‧‧‧Removal Department

650‧‧‧ nozzle rotating mechanism

700‧‧‧Control unit

Fig. 1 is a front elevational view showing a workpiece transfer device according to a first embodiment of the present invention.

Fig. 2 is a top view showing the nozzle and the air pipe.

Fig. 3 is a front view showing the structure of the nozzle head, wherein (A) shows a state in which the nozzle is in the holding and releasing height, (B) shows a state in which the nozzle is at the rising height, and (C) shows a state in which the nozzle (C) shows a state. The nozzle is located in a state in which the cum release height is released and the remaining nozzles are at the ascending height.

Fig. 4 is a top view for explaining the state of the lifting and lowering means, (A) is a view showing a local energy lifting and a partial lowering and lowering state, and (B) is a view showing a state in which all can be raised and lowered.

Fig. 5 is a block diagram showing the functional configuration of the control unit.

Figure 6 is a top view of a production line using a workpiece handling device.

Fig. 7 is a front elevational view showing a workpiece conveying device according to a second embodiment of the present invention.

Figure 8 is a front view showing the configuration of the nozzle head, and (A) is a view showing The suction nozzle is in a state of holding and releasing the height, (B) is a state in which the suction nozzle is at the rising height, and (C) is a state in which one suction nozzle is located at the holding and releasing height and the remaining suction nozzles are at the rising height.

Fig. 9 is a top view for explaining the state of the lifting and lowering means, (A) is a view showing a local energy lifting and a partial lowering state, and (B) is a view showing a state in which all can be raised and lowered.

Fig. 10 is a top view showing the nozzle rotating mechanism.

Figure 11 is a block diagram showing the functional configuration of the control unit.

Fig. 12 is a front view showing a modification of the workpiece conveying device, wherein (A) is a modification of the first embodiment, and (B) is a modification of the second embodiment.

[Embodiment of the Invention]

Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. In addition, in the following description, the direction is demonstrated based on the X-axis, Y-axis, and Z-axis of illustration. The X-axis and the Y-axis are horizontal axes that are substantially at right angles to each other, and the Z-axis is a vertical axis that is at right angles to the X-axis and the Y-axis. In the drawings, a part of the configuration and a hatching of the cross-sectional views are omitted as appropriate, thereby simplifying the drawing. Further, in each of the drawings, the size of each configuration may be exaggerated.

Fig. 1 is a front elevational view showing a workpiece conveying device 1 according to a first embodiment of the present invention. Fig. 2 is a view showing nozzles 12a, 12b, 12c, 12d, 12e, 12f, 12g, and 12h and air pipes 13a, 13b, 13c, and 13d, The above figures of 13e, 13f, 13g, 13h. Fig. 3 is a front view showing the structure of the nozzle head 100. The third (A) diagram shows a state in which the suction nozzles 12a, 12b, 12c, 12d, 12e, 12f, 12g, and 12h are located at the holding and releasing heights. Fig. 3(B) shows a state in which the suction nozzles 12a, 12b, 12c, 12d, 12e, 12f, 12g, and 12h are at the rising height. Fig. 3(C) is a view showing a state in which one suction nozzle 12a is at the holding and releasing height and the remaining suction nozzles 12b, 12c, 12d, 12e, 12f, 12g, and 12h are at the rising height. Fig. 4 is a top view for explaining the state of the lift restricting mechanism 210. Figure 4(A) shows the local energy rise and fall and the partial unliftable state. Fig. 4(B) shows the state in which all can be raised and lowered. Fig. 5 is a block diagram showing the functional configuration of the control unit 300.

The workpiece conveying device 1 shown in FIGS. 1 and 2 is a production line for manufacturing electronic parts and the like, and is used when the workpiece 10 is conveyed (see FIG. 6). Specifically, the workpiece conveying device 1 includes a nozzle head 100 for holding the workpiece 10, a nozzle head moving mechanism (not shown) that moves the nozzle head 100 in the Y-axis direction, and a control unit 300 (see Figure 5).

The respective parts of the workpiece handling device 1 are collectively controlled by the control unit 300. That is, each part of the workpiece conveying device 1 is operated under the control of the control unit 300, and its operation is managed by the control unit 300.

The nozzle head 100 includes a plurality of (eight in the present embodiment) nozzles 12a, 12b, 12c, 12d, 12e, 12f, 12g, and 12h that independently rise and lower the nozzle head body 110; Multiple nozzle 12A to 12h, a lifting mechanism 200 that independently moves up and down; a lifting and lowering mechanism 210 that restricts the lifting and lowering of the suction nozzles 12a to 12h of the lifting mechanism 200; and a plurality of negative pressures that are connected to the respective suction nozzles 12a to 12h and generate a negative pressure In the embodiment, eight air pipes 13a, 13b, 13c, 13d, 13e, 13f, 13g, and 13h are provided.

The nozzle head main body 110 is disposed to be movable in the Y-axis direction by the above-described nozzle head moving mechanism. In this way, the nozzle head 100 can move in the Y-axis direction. The nozzle head main body 110 is arranged to have a constant height.

The plurality of suction nozzles 12a to 12h are each arranged such that their front ends are directed downward. Further, the plurality of suction nozzles 12a to 12h each individually sucks the workpiece 10 at the tip end thereof. That is, the plurality of suction nozzles 12a to 12h hold the workpiece 10 separately. The plurality of suction nozzles 12a to 12h are independently lifted and lowered between the holding and releasing heights of the holding and releasing of the workpiece 10 and the rising height after the holding and releasing heights are raised.

The plurality of air pipes 13a to 13h are each formed of a material having flexibility, and are configured to be able to follow the lifting and lowering of the suction nozzles 12a to 12h. The plurality of air pipes 13a to 13h are connected to a pumping unit (not shown) that generates a negative pressure, and the negative pressure is transmitted to the corresponding suction nozzles 12a to 12h.

The elevating mechanism 200 shown in the third (A), third (B), and third (C) views includes: a lifting and lowering shaft 201 that rises and falls, and a lifting flange 202 that moves up and down integrally with the lifting shaft 201; a lifting motor 203 for the source; a rotating shaft (not shown) attached to the lifting motor 203 The rotating lifting cam 204; and the power conversion member 205 that can convert the rotation of the lifting cam 204 into the power of the lifting shaft 201.

The lifting shaft 201 has a cylindrical shape and is formed in a vertical direction. The lifting flange 202 supports the suction nozzles 12a to 12h from below by flange portions (omitted symbols). The lifting flange 202 is lifted and lowered by means of the lifting and lowering means, so that the suction nozzles 12a to 12h can be lifted and lowered without being lifted and lowered by the restriction of the lifting and lowering mechanism 210.

The lifting motor 203 is disposed such that its height does not change to the nozzle head main body 110. Moreover, the raising/lowering motor 203 is arrange|positioned by the rotation axis (omitted symbol) along the horizontal direction. For the lifting motor 203, a pulse motor (preferably a servo motor) or the like can be used. The lifting cam 204 has an eccentric egg shape and is configured to rotate about a rotation axis of the lifting motor 203 in the horizontal direction. The lifting cam 204 supports the power conversion member 205 from below and rotates the power conversion member 205 to move up and down. As a result, the lifting cam 204 can raise and lower the lifting shaft 201 and the lifting flange 202.

The lifting and lowering mechanism 210 is a local energy lifting and localizing portion in which only one of the suction nozzles 12a to 12h (for example, the suction nozzle 12a) is capable of lifting and lowering the remaining suction nozzles 12a to 12h (for example, the suction nozzles 12b to 12h) at a rising height and cannot be raised or lowered. Cannot be lifted and lowered [Refer to Figure 3(C) and Figure 4(A)] and all lifts that can be raised and lowered by all nozzles 12a~12h [Refer to Figures 3(A) and 4(B)] .

Specifically, the lift restricting mechanism 210 includes: a brake 211 that rotates around the lift shaft 201; and the brake 211 is surrounded by each other The plurality of hooking pieces 14a, 14b, 14c, 14d, 14e, 14f, 14g, 14h are attached to the respective suction nozzles 12a to 12h in an equally spaced state [see FIGS. 4(A) and 4(B)]; The lift regulating motor 216 is a power source; and the power of the lift restricting motor 216 can be transmitted to the power transmission belt 217 of the brake 211.

The brake 211 has a function of indirectly hooking the plurality of suction nozzles 12a to 12h at the rising position through the hooking pieces 14a to 14h to stop the plurality of suction nozzles 12a to 12h at the rising height. Specifically, the brake 211 is a cylindrical disk portion 212 that is fitted into the cylindrical shape of the lift shaft 201, and a hollow disk-shaped top plate portion 213 that is bent outward from the lower end edge of the shaft portion 212 in the horizontal direction; The cylindrical portion 214 whose outer peripheral edge of the portion 213 is bent downward is formed, and an annular flange portion 215 which is bent outward from the lower end edge of the cylindrical portion 214 in the horizontal direction.

The brake 211 is disposed such that its height does not change to the nozzle head main body 110. In the brake 211, a power transmission belt 217 is hooked on a pulley (not shown) of the shaft portion 212, and rotates as the power transmission belt travels. That is, the travel of the power transmission belt causes the flange portion 215 to rotate. Further, a pulse motor or the like can be employed for the lift restriction motor 216.

As shown in the fourth (A) and fourth (B) drawings, the flange portion 215 is divided into a plurality of regions (16 in the present embodiment). Specifically, the flange portion 215 includes a plurality of (seven in the present embodiment) effective portions 22a, 22b, 22c, 22d, 22e, 22f, and 22g that can be hooked by the suction nozzles 12a to 12h; And the hooks 12a~12h are hooked and released The plurality of (ninth in the present embodiment) releasing portions 23a, 23b, 23c, 23d, 23e, 23f, 23g, 23h, and 23i. More specifically, the flange portion 215 is alternately arranged with the plurality of effective portions 22a to 22g and the plurality of canceling portions 23a to 23i. In other words, the flange portion 215 has the plurality of effective portions 22a to 22g and the plurality of canceling portions 23a to 23i arranged in the following order, that is, the releasing portion 23a, the effective portion 22a, the releasing portion 23b, the effective portion 22b, and the releasing portion 23c, The effective portion 22c, the releasing portion 23d, the effective portion 22d, the releasing portion 23e, the effective portion 22e, the releasing portion 23f, the effective portion 22f, the releasing portion 23g, the effective portion 22g, the releasing portion 23h, and the releasing portion 23i.

The plurality of effective portions 22a to 22g are hooked on the hooking pieces 14a, 14b, 14c, 14d, 14e, 14f, 14g, and 14h to indirectly hook the suction nozzles 12a to 12h. The plurality of canceling portions 23a to 23i do not hook the hook sheets 14a, 14b, 14c, 14d, 14e, 14f, 14g, and 14h. In other words, the plurality of canceling sections 23a to 23i do not hook the nozzles 12a to 12h.

In the state shown in Fig. 4(A), the effective portion 22a is positioned to correspond to the hooking piece 14a so that the hooking of the suction nozzle 12a is effective. Similarly, the effective portion 22b is positioned to correspond to the hooking piece 14b so that the hooking of the suction nozzle 12b is effective. Next, the effective portion 22c is positioned to correspond to the hooking piece 14c so that the hooking of the suction nozzle 12c is effective. Further, the effective portion 22d is positioned to correspond to the hooking piece 14d so that the hooking of the suction nozzle 12d is effective. Further, the effective portion 22e is positioned to correspond to the hooking piece 14e so that the hooking of the suction nozzle 12e is effective. Next, the effective portion 22f is positioned to correspond to the hooking piece 14f so that the hooking of the suction nozzle 12f is effective. Further, the effective portion 22g is positioned to correspond to the hooking piece 14g so that the hooking of the suction nozzle 12g is effective. In addition, the releasing portion 23i It is located at the position corresponding to the hook piece 14h so that the hook of the nozzle 12h is released.

That is, the fourth (A) diagram shows that only one of the suction nozzles 12h is capable of raising and lowering the remaining suction nozzles 12a to 12g so as to be at a rising height and cannot be lifted and lowered, and the local energy can not be raised or lowered. In addition, in the fourth (A) and the fourth (B), the hatching of the effective nozzle is marked, thereby distinguishing between the effective and the cancel of the hook.

In the state shown in Fig. 4(B), the releasing portion 23a is located at a position corresponding to the hooking piece 14a to release the hooking of the suction nozzle 12a. Similarly, the releasing portion 23b is located at a position corresponding to the hooking piece 14b to release the hook of the suction nozzle 12b. Next, the releasing portion 23c is located at a position corresponding to the hooking piece 14c to release the hook of the suction nozzle 12c. Further, the releasing portion 23d is located at a position corresponding to the hooking piece 14d to release the hook of the suction nozzle 12d. Further, the releasing portion 23e is located at a position corresponding to the hooking piece 14e to release the hooking of the suction nozzle 12e. Next, the releasing portion 23f is located at a position corresponding to the hooking piece 14f to release the hook of the suction nozzle 12f. Further, the releasing portion 23g is located at a position corresponding to the hooking piece 14g to release the hook of the suction nozzle 12g. Further, the releasing portion 23h is located at a position corresponding to the hooking piece 14h to release the hook of the nozzle 12h.

That is, the fourth (B) diagram shows that all of the suction nozzles 12a to 12h are in a state in which they can be raised and lowered.

The above-described brake 211 moves the plurality of effective portions 22a to 22g and the plurality of canceling portions 23a to 23i by rotation in the horizontal plane, whereby the local energy lifting and the local lifting and lowering state shown in the fourth (A) diagram are All of the states shown in Fig. 4(B) can be converted up and down.

Control unit 300, by CPU, RAM, ROM, etc. It is composed of a small diagram) and various controls are executed. The CPU is a so-called central processing unit that executes various programs to implement various functions. RAM is used as a work area for the CPU. The ROM is a program to be executed by the memory CPU.

As shown in FIG. 5, the control unit 300 is configured as a function after execution of the program, and includes a sensing unit 301, a nozzle moving mechanism control unit 302, a lifting mechanism control unit 303, a lifting and lowering mechanism control unit 304, and a pump. The unit control unit 305 and the like.

The sensor unit 301 is a sensor that acquires various sensors (not shown) for detecting the state of each part of the workpiece transport device 1 or various sensors (not shown) for detecting the state of the workpiece 10, and The obtained sensing data is transmitted to the nozzle head movement mechanism control unit 302, the elevation mechanism control unit 303, the elevation restriction mechanism control unit 304, and the pump unit control unit 305.

The nozzle head movement mechanism control unit 302 controls the nozzle head moving mechanism (not shown) with reference to the sensing data acquired by the sensor unit 301 so that the nozzle head 100 is positioned at the target position.

Next, the elevating mechanism control unit 303 controls the elevating mechanism 200 to bring the suction nozzles 12a to 12h to the target height by referring to the sensing data acquired by the sensing unit 301.

Further, the lift restriction mechanism control unit 304 controls the lift restriction mechanism 210 to cause the suction nozzles 12a to 12h to be positioned at the target height, with reference to the sensed data acquired by the sensor unit 301.

In addition, the pump unit control unit 305 is a reference sensing unit. The sensing data acquired by 301 controls the pumping unit (not shown) to maintain or release the workpiece 10 of the suction nozzles 12a to 12h in a target state.

For example, when the suction nozzles 12a to 12h hold the workpiece 10 one by one, the lifting and lowering restriction mechanism control unit 304 controls the lifting and lowering restriction mechanism 210 to make the lifting and lowering restriction mechanism 210 a local energy lifting and a partial lowering and lowering state [Ref. 4 (A) ) Figure]. Next, the elevating mechanism control unit 303 controls the elevating mechanism 200 to lower the elevating flange 202. As a result, only one of the suction nozzles 12a to 12h (for example, the suction nozzle 12a) is lowered, and the one suction nozzles 12a to 12h (for example, the suction nozzle 12a) are positioned at the holding and releasing height. Then, the pump unit control unit 305 controls the pump unit (not shown) to generate a negative pressure at the tip end of the suction nozzles 12a to 12h (for example, the suction nozzle 12a). As a result, the workpiece 10 is held at the front end of the suction nozzles 12a to 12h (for example, the suction nozzle 12a). Next, the elevating mechanism control unit 303 controls the elevating mechanism 200 to raise the elevating flange 202. As a result, the workpiece 10 held at the front end of the suction nozzles 12a to 12h (for example, the suction nozzle 12a) is lifted up. The above control is performed on the other nozzles 12a to 12h (for example, the suction nozzles 12b to 12h) in this order.

Further, when the suction nozzles 12a to 12h hold the workpiece 10 as a whole, the lift restriction mechanism control unit 304 controls the elevation control mechanism 210 to cause the elevation control mechanism 210 to be fully lifted and lowered (see Fig. 4(B)]. Next, the elevating mechanism control unit 303 controls the elevating mechanism 200 to lower the elevating flange 202. As a result, all of the nozzles 12a to 12h are lowered, and all of the nozzles 12a to 12h are positioned at the holding and releasing heights. Then, the pump unit control unit 305 controls the pump unit (not shown) to generate a negative pressure at the tip end of the suction nozzles 12a to 12h. In this way, at the front end of the nozzles 12a~12h The workpiece 10 will remain. Next, the elevating mechanism control unit 303 controls the elevating mechanism 200 to raise the elevating flange 202. As a result, the workpiece 10 held at the front end of the suction nozzles 12a to 12h is lifted.

Alternatively, when the holding of the workpiece 10 by the suction nozzles 12a to 12h is to be released as a whole, the lifting and lowering restriction mechanism control unit 304 controls the lifting and lowering restriction mechanism 210 so that the lifting and lowering restriction mechanism 210 can be fully raised and lowered (refer to Fig. 4(B)). ]. Next, the elevating mechanism control unit 303 controls the elevating mechanism 200 to lower the elevating flange 202. As a result, all of the nozzles 12a to 12h are lowered, and all of the nozzles 12a to 12h are positioned at the holding and releasing heights. Then, the pump unit control unit 305 controls the pump unit (not shown) to release the negative pressure at the front end of the suction nozzles 12a to 12h. As a result, the holding of the workpiece 10 at the tip end of the suction nozzles 12a to 12h is released. Next, the elevating mechanism control unit 303 controls the elevating mechanism 200 to raise the elevating flange 202. As a result, the nozzles 12a-12h are lifted off the workpiece 10.

Further, although the description is omitted, the holding of the workpieces 10 by the suction nozzles 12a to 12h can be released one by one.

Next, the production line 400 to which the workpiece conveying device 1 is applied will be described based on Fig. 6 . Fig. 6 is a top view of the production line 400 to which the workpiece handling device 1 is applied.

The production line 400 shown in Fig. 6 is an inspection line of the workpiece 10 at the time of manufacture of an electronic component or the like. In the production line 400, the workpiece 10 is supplied to the inspection device 420 for the desired inspection. Specifically, the production line 400 includes a supply tray transport robot 410 that transports the supply tray 411, and a workpiece transport device 1 that functions as a supply robot; The device 420 is a workpiece transport device 1 that functions as a storage robot, and a storage tray transport robot 430 that transports the storage tray 431.

The supply tray transfer robot 410 transports the supply tray 411 in the X-axis direction. The supply tray 411 is provided with a plurality of housing portions 412 arranged in a matrix in the X-axis direction and the Y-axis direction. The plurality of accommodating portions 412 are respectively larger than the workpiece 10 to receive the workpiece 10. The plurality of workpieces 10 are housed in the supply tray 411 of the accommodating portion 412, and are transported to the designated position by the supply tray transport robot 410.

The workpiece conveying device 1 functioning as a supply robot holds the workpieces 10 on the supply tray 411 one by one, and holds up to eight workpieces 10 in total. Next, the workpiece conveyance device 1 conveys the workpiece 10 toward the inspection device 420 in the Y-axis direction. Then, the workpiece conveying device 1 releases the holding of the workpiece 10 at the inspection device 420.

The inspection device 420 is provided with a plurality of inspection platforms 421 that are formed in a continuous shape along the circumference. In the plurality of inspection platforms 421, a plurality of workpieces 10 are disposed by the workpiece conveying device 1 that functions as a supply robot. The inspection platform 421 in which the plurality of workpieces 10 are disposed is moved in the circumferential direction while following the inspection platform 421 adjacent thereto, thereby transporting the plurality of workpieces 10 to a designated position.

The workpiece transfer device 1 functioning as a storage robot holds the entire workpiece 10 on the inspection platform 421. Next, the workpiece transfer device 1 transports the workpiece 10 from the inspection device 420 in the Y-axis direction. Then, the workpiece conveying device 1 releases the workpiece 10 on the storage tray 431.

In addition, the workpiece handling device 1 is determined to be re-required The workpiece 10 inspected by the inspection device 420 is reinserted into the tray (not shown) to release the workpiece 10. As described above, the re-loading tray stores the workpiece 10 to be reintroduced into the inspection device 420.

The storage tray transport robot 430 transports the storage tray 431 in the X-axis direction. Similarly to the supply tray 411, the transport tray 431 includes a plurality of housing portions 432 arranged in a matrix in the X-axis direction and the Y-axis direction. The plurality of accommodating portions 432 are respectively larger than the workpiece 10 to accommodate the workpiece 10. The storage tray 431 in which the plurality of workpieces 10 are accommodated is transported to the designated position by the storage tray transport robot 430.

As described above, the workpiece transfer device 1 according to the present embodiment includes a plurality of values that can be independently raised and lowered between the holding and releasing heights of the holding or releasing of the workpiece 10 and the rising height from the holding and releasing height. The nozzles 12a~12h; the local energy lifting and lowering that can only raise and lower one of the nozzles 12a~12h (for example, the suction nozzle 12a) but the other nozzles 12a~12h (for example, the nozzles 12b~12h) are raised and cannot be raised and lowered a lifting and lowering mechanism 210 capable of changing and lowering all of the suction nozzles 12a to 12h, and capable of lifting and lowering, and a lifting flange capable of lifting and lowering the suction nozzles 12a to 12h by lifting 202.

Therefore, the lift restricting mechanism 210 can raise and lower the partial suction nozzles 12a to 12h one by one in order to locally lift and lower the partial liftable state. The plurality of nozzles 12a to 12h that are lifted and lowered in accordance with the workpiece 10 are sequentially held, whereby the plurality of workpieces 10 that are not arranged can be held in order. Further, when the holding of the workpiece 10 is released, all of the suction nozzles 12a to 12h can be made as long as the lifting and lowering restriction mechanism 210 is fully movable. Body lift. That is, the holding of all the workpieces 10 can be released as a whole. Further, it is possible to carry the plurality of workpieces 10 that are not arranged in a short time.

Next, the lift restricting mechanism 210 is provided with a brake 211 that can directly or indirectly hook the plurality of suction nozzles 12a to 12h at the rising height to stop the plurality of suction nozzles 12a to 12h at the rising height. Therefore, the lift restricting mechanism 210 can be realized with a simple configuration.

Further, the brake 211 includes a plurality of effective portions 22a to 22g that can hook the suction nozzles 12a to 12h, and a plurality of release portions 23a to 23i for hooking the suction nozzles 12a to 12h. The brake 211 converts the local energy rise and fall and the partial unreachable state and all of the liftable state by moving the plurality of effective portions 22a to 22g and the plurality of canceling portions 23a to 23i. Therefore, with a simple action, it is possible to convert the local energy lifting and the local non-lifting state and all the lifting states.

Further, the brake 211 is configured such that the plurality of effective portions 22a to 22g and the plurality of canceling portions 23a to 23i are arranged along the circumferential direction in the horizontal plane, and the local energy lifting and the local lifting and lowering state are switched by the rotation in the horizontal plane itself. And all can be raised and lowered. Therefore, the lift restricting mechanism 210 can be realized with a simple structure as compared with the form in which the brake moves linearly. Further, the lifting nozzles 12a to 12h are circulating. Therefore, it is possible to raise and lower the suction nozzles 12a to 12h one by one from the arbitrary suction nozzles 12a to 12h.

Next, the brake 211 is configured such that the plurality of effective portions 22a to 22g and the plurality of canceling portions 23a to 23i are alternately arranged. That is, the brake 211 is configured such that the plurality of effective portions 22a to 22g and the complex are arranged in a simple order. The number canceling units 23a to 23i. Therefore, the lift restricting mechanism 210 can be realized with a simpler configuration.

Fig. 7 is a front elevational view showing the workpiece conveying device 2 according to the second embodiment of the present invention. Fig. 8 is a front elevational view showing the configuration of the nozzle head 500. Fig. 8(A) shows a state in which the suction nozzles 52a, 52b, 52c, 52d, and 52e are located at the holding and releasing heights. Fig. 8(B) shows a state in which the suction nozzles 52a, 52b, 52c, 52d, and 52e are at the rising height. Fig. 9 is a top view for explaining the state of the lift restricting mechanism 610. Figure 9(A) shows the local energy rise and fall and the partial unliftable state. Fig. 9(B) shows the state in which all can be raised and lowered. Fig. 10 is a top view showing the nozzle rotating mechanism 650. Fig. 11 is a block diagram showing the functional configuration of the control unit 700.

In addition, only the features of the workpiece conveyance device 2 according to the second embodiment will be described, and the same configurations, operations, and effects as those of the first embodiment will be appropriately omitted.

The workpiece conveying device 2 shown in Fig. 7 includes a nozzle head 500, a nozzle head moving mechanism (not shown), and a control unit 700 (see Fig. 11).

The nozzle head 500 includes a nozzle head main body 510 and a plurality of (five in the present embodiment) nozzles 52a, 52b, 52c, 52d, and 52e, a lifting mechanism 600, a lifting and lowering mechanism 610, and a plurality of (in the present embodiment, 5) air pipes 53a, 53b, 53c, 53d, 53e [see FIGS. 9(A) and 9(B)] and a nozzle rotating mechanism 650.

The lifting mechanism 600 shown in Figs. 8(A) and 8(B) is provided with a lifting shaft 601 and a lifting flange functioning as a lifting means 602, a lifting motor 603, a lifting cam 604, and a power conversion member 605.

The lift restricting mechanism 610 includes a brake 611, and a plurality of hooking pieces 54a, 54b, 54c, and 54d that are disposed corresponding to the respective suction nozzles 52a, 52b, 52c, 52d, and 52e in a state of being spaced apart from each other around the brake 611. And 54e; respectively, the plurality of arms 55a, 55b, 55c, 55d, 55e of the plurality of hooking pieces 54a to 54e are attached; respectively, and are respectively rotatably mounted on the plurality of arms 55a, 55b, 55c, 55d, 55e and are used as hooks The hooking rotors 56a, 56b, 56c, 56d, and 56e for the suction nozzles 52a to 52e (see FIGS. 9(A) and 9(B)); and the lift restricting motor 616 and the power transmission belt 617 .

The brake 611 has a plurality of suction nozzles 52a to 52e at a rising height directly hooked by the hooking pieces 54a to 54e, the arms 55a to 55e, and the hooking rotating bodies 56a to 56e to stop the plurality of suction nozzles 52a to 52e. The function of rising height. Specifically, the brake 611 is composed of a shaft portion 612, a top plate portion 613, a cylindrical portion 614, and a flange portion 615.

The flange portion 615 shown in FIGS. 9(A) and 9(B) includes a plurality of (seven in the present embodiment) effective portions 62a, 62b, 62c, 62d, 62e, 62f, and 62g; The plurality of (ninth in the present embodiment) releasing portions 63a, 63b, 63c, 63d, 63e, 63f, 63g, 63h, 63i.

The figure 9(A) shows that only one of the suction nozzles 52e is capable of lifting and lowering, but the other suction nozzles 52a to 52d are at a rising height and cannot be raised and lowered, and the local energy can be raised and lowered and partially lowered. In addition, the 9th (A) and 9th (B) In the figure, the hatching is marked for the effective nozzle, and the difference between the icon is valid and released.

Fig. 9(B) is a view showing a state in which all of the suction nozzles 52a to 52e can be raised and lowered.

The above-described brake 611 is a conversion between the local energy lifting and the partial non-lifting state shown in Fig. 9(A) and the all-lifting state shown in Fig. 9(B).

The plurality of hooking rotating bodies 56a, 56b, 56c, 56d, 56e are each rotated as the nozzles 52a to 52e rotate about the vertical axis, thereby reducing the friction between the suction nozzles 52a to 52e and the brake 611. .

As shown in Fig. 10, the nozzle rotating mechanism 650 includes a plurality of (five in the present embodiment) driven gears 65a, 65b, 65c, 65d, and 65e that rotate integrally with the plurality of suction nozzles 52a to 52e; The drive gear 656 arranged in the plurality of driven gears 65a to 65e; the ring gear belt 657 which is hooked on the plurality of driven gears 65a to 65e and the drive gear 656; the gear belt 657 is closely attached to the driven gear 65a The plurality of guide gears 66a, 66b, 66c, and 66d of the ?65e; and a nozzle rotating motor (not shown) serving as a power source, and a base 662.

The drive gear 656 is rotated by the drive of the nozzle rotation motor. The plurality of driven gears 65a to 65e are rotated by the drive gear 656 by the travel of the gear belt 657. In other words, the plurality of suction nozzles 52a to 52e that rotate integrally with the plurality of driven gears 65a to 65e are linked to the drive gear 656 to rotate by the travel of the gear belt 657. The nozzle rotation motor is circulated and driven by the rotation of the drive gear 656. Complex guide The lead gears 66a to 66d are arranged such that the gear belt 657 is disposed between the plurality of guide gears 66a to 66d and the plurality of driven gears 65a to 65e. The plurality of guide gears 66a to 66d rotate together with the travel of the gear belt 657. That is, the plurality of guide gears 66a to 66d do not hinder the smooth travel of the gear belt 657. The base 662 is configured such that it does not change in height to the nozzle head body 510.

As shown in FIG. 11, the control unit 700 has a functional configuration after execution of the program, and includes a sensing unit 701, a nozzle moving mechanism control unit 702, a lifting mechanism control unit 703, a lifting and lowering mechanism control unit 704, and a pumping unit. Control unit 705, nozzle rotation mechanism control unit 706, and the like.

The sensor unit 701 frequently acquires sensing data of various sensors (not shown), and transmits the obtained sensing data to the nozzle head moving mechanism control unit 702, the lifting mechanism control unit 703, and the lifting and lowering mechanism. The control unit 704, the pump unit control unit 705, and the nozzle rotation mechanism control unit 706.

The nozzle rotating mechanism control unit 706 controls the nozzle rotating mechanism 650 to make the suction nozzles 52a to 52e the target orientation by referring to the sensing data acquired by the sensing unit 701.

Specifically, the nozzle rotation mechanism control unit 706 controls the nozzle rotation mechanism 650 before the elevation mechanism control unit 703 controls the elevation mechanism 600 to lower the elevation flange 602. Further, the nozzle rotation mechanism control unit 706 controls the nozzle rotation mechanism 650 after the elevation mechanism control unit 703 controls the elevation mechanism 600 to raise the lift flange 602.

As shown in the above description, the workpiece related to this embodiment In the conveying device 2, each of the plurality of suction nozzles 52a to 52e is provided to be rotatable about a vertical axis. Next, the lift restricting mechanism 610 includes a plurality of hooking rotating bodies 56a to 56e, and the plurality of hooking rotating bodies 56a to 56e are provided between each of the suction nozzles 52a to 52e and the stopper 611. The rotation may be formed as the suction nozzles 52a to 52e rotate about the vertical axis, thereby reducing the frictional force between the suction nozzles 52a to 52e and the stopper 611.

Therefore, it is possible to reduce the frictional force between the plurality of suction nozzles 52a to 52e rotating around the vertical axis and the brake 611 indirectly hooking the respective plurality of suction nozzles 52a to 52e. In this way, the rotation of the suction nozzles 52a to 52e about the vertical axis can be smoothly performed.

The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit and scope of the invention.

That is, in each of the above embodiments, the arrangement, size, shape, material, orientation, number, and the like of the respective configurations can be appropriately changed. For example, the configuration or the number of nozzles can be changed as appropriate. In addition, the local energy lifting and lowering caused by the lifting and lowering mechanism 210 can not be lifted and lowered, although only one nozzle 12a~12h (for example, the nozzle 12a) can be raised and lowered, but the other nozzles 12a-12h (for example, the nozzles 12b~12h) In the case of the state in which the height is raised and the temperature cannot be raised and lowered, the example is described. However, the local energy lifting and the local lifting and lowering state of the present invention are not limited thereto. That is, the local energy lifting and absorbing portion of the present invention cannot be lifted and lowered, as long as the nozzles formed as a part (for example, the two suction nozzles 12a, 12b) are capable of lifting and lowering, but the remaining suction nozzles (for example, the remaining suction nozzles 12c to 12h), It is in a state of rising height and cannot be raised or lowered.

Alternatively, in the above embodiments, the configuration of the other embodiment is applied to the possible range.

Alternatively, in the above embodiments, the brakes 211 and 611 are described as an example in which the plurality of suction nozzles 12a to 12h and 52a to 52e are indirectly hooked. However, the brakes 211 and 611 may be configured to be directly hooked. The plurality of nozzles 12a to 12h and 52a to 52e.

Alternatively, in the above embodiments, the plurality of nozzles 12a to 12h and 52a to 52e have been described as being reduced by their own weight. However, the present invention is not limited thereto, and the plurality of nozzles 12a to 12h, 52a to 52e may be configured such that the spring force caused by a spring pushing member such as a spring is forcibly lowered.

Specifically, in the modification of the first embodiment, as shown in Fig. 12(A), the coil springs 18 that push the suction nozzles 12a to 12h (shown as 12a) downward are provided in the nozzles, respectively. 12a~12h each. Similarly, in the modification of the second embodiment, as shown in Fig. 12(B), coil springs 58 that push the suction nozzles 52a to 52e (shown as 52a) downward are provided in the suction nozzles 52a, respectively. ~52e each.

[Industrial availability]

The workpiece handling device of the present invention can be applied to the field of manufacture or logistics of electronic devices or electronic components and various other articles.

Claims (9)

A workpiece conveying device comprising: a plurality of holding means for independently raising and lowering between a holding and releasing height for performing holding or releasing of a workpiece and a rising height after the holding and releasing height is raised; a part of the above-mentioned holding means for raising and lowering the above-mentioned holding means at the above-mentioned rising height, which is not capable of lifting and lowering, and the local lifting and lowering state, and all of the holding means capable of raising and lowering all of the lifting and lowering states can be converted; And the lifting and lowering means for raising and lowering the holding means by means of lifting and lowering, wherein the lifting and lowering means includes directly or indirectly hooking the plurality of holding means located at the rising height to stop the plurality of holding means from rising a brake having a height, wherein the brake is configured to include a plurality of effective portions that can be hooked by the holding means, and a plurality of canceling portions that cancel the hooking of the holding means, and configured by the plurality of effective portions and The movement of the above-mentioned complex release portion is performed on the above-mentioned local energy lifting and defunct All of the above can not lift state and can be converted down state the brake is effective portion of the complex and the release portion of the complex formed are alternately arranged. The workpiece conveying device according to the first aspect of the invention, wherein the brake is the plurality of effective portions and the plurality of canceling portions It is configured to be arranged along the circumferential direction in the horizontal plane, and is configured to convert the local energy lifting and the local non-lifting state and the above all the up-and-down state by the rotation in the horizontal plane. The workpiece conveying device according to the first or second aspect of the invention, wherein the plurality of holding means are each rotatable about a vertical axis, and the lifting and lowering means includes a plurality of rotating bodies, and the plurality of The rotating body is disposed between each of the holding means and the brake, and rotates as the holding means rotates about the vertical axis, thereby reducing the frictional force between the holding means and the brake. The workpiece conveying device according to the first or second aspect of the invention, wherein the control unit is configured to: when the holding means performs the holding, the lifting and lowering means is the local energy lifting and partial failure After the lifting state, the lifting means is lowered to thereby lower a portion of the holding means and the holding means of the portion is located at the holding and releasing height. The workpiece transfer device according to claim 3, further comprising: a control unit configured to: when the holding means performs the holding, to set the lifting and lowering means to the local energy lifting and the partial non-lifting state The lifting means is lowered to thereby lower a portion of the holding means and to position the holding means at the holding and releasing height. The workpiece conveying device according to the fourth aspect of the invention, wherein the control unit is configured to lower the lifting means after the lifting means performs the releasing, and then lowering the lifting means The holding means is lowered and the all-part holding means is located at the above-mentioned holding and releasing height. The workpiece conveying device according to the fifth aspect of the invention, wherein the control unit is configured to lower the lifting means after the lifting means performs the releasing, and then lowering the lifting means The holding means is lowered and the all-part holding means is located at the above-mentioned holding and releasing height. A workpiece transporting method according to any one of claims 1 to 7, wherein the lifting and lowering means is the local energy lifting and lowering when the holding means performs the holding. After the partial lowering and lowering state, the lifting means is lowered to thereby lower a portion of the holding means and the holding means of the part is located at the holding and releasing height. The method of transporting a workpiece according to the eighth aspect of the invention, wherein the lifting and lowering means is configured to lower the lifting means after the lifting means performs the releasing, thereby lowering all of the holding means And all of the above holding means are located at the above-mentioned holding and releasing height.