WO2014049863A1 - Dispositif de travail - Google Patents

Dispositif de travail Download PDF

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Publication number
WO2014049863A1
WO2014049863A1 PCT/JP2012/075216 JP2012075216W WO2014049863A1 WO 2014049863 A1 WO2014049863 A1 WO 2014049863A1 JP 2012075216 W JP2012075216 W JP 2012075216W WO 2014049863 A1 WO2014049863 A1 WO 2014049863A1
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WO
WIPO (PCT)
Prior art keywords
male screw
work
temporary storage
head
movable
Prior art date
Application number
PCT/JP2012/075216
Other languages
English (en)
Japanese (ja)
Inventor
加藤　正樹
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to PCT/JP2012/075216 priority Critical patent/WO2014049863A1/fr
Priority to JP2014538056A priority patent/JP6198743B2/ja
Priority to CN201280076043.7A priority patent/CN104661791B/zh
Publication of WO2014049863A1 publication Critical patent/WO2014049863A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines

Definitions

  • the present invention relates to a work device, and more particularly to replenishment of objects necessary for work.
  • Patent Document 1 describes an apparatus for assembling a plurality of members by tightening male screw members.
  • the male screw member is sent from the supply unit to the chuck unit one by one through the hose, the relay unit, and the hose by the pressurized air, and is held by the advancement of the driver bit.
  • a work device that performs a predetermined work on a work target is (a) a device main body, (b) a work head that performs the work, and (c) the work head and the device main body.
  • a motion imparting device that imparts a motion necessary for the work to the work head and (d) a storage device that is supported by the device main body and stores an object necessary for performing the work, e) provided in a movable part that performs at least a part of the motion imparted to the work head by the motion imparting device together with the work head, and the amount required for work by the work head is less than the storage capacity of the storage device.
  • the work head uses an object supplied by a temporary storage unit that performs at least a part of the movement, and the work head is separated from the storage device, the work head is moved and the movable range of the work head is limited by the connection member. There is no limit.
  • the amount stored in the temporary storage unit is smaller than the storage capacity of the storage device, the mass to be moved is smaller than when the storage device itself is moved together with the work head, and the temporary storage unit Since the work head stores an amount sufficient to perform a plurality of operations, it is not necessary to replenish the temporary storage unit frequently.
  • the temporary storage unit can be arranged closer to the work head than the storage device, what is necessary for the work is quickly supplied and the work is performed efficiently.
  • the claimable invention should be construed in consideration of the description accompanying each section, the description of the embodiment, the prior art, the common general technical knowledge, and the like.
  • An aspect in which a constituent element is added and an aspect in which the constituent element is deleted from the aspect of each section can be an aspect of the claimable invention.
  • a working device that performs a predetermined work on a work object, The device body; A working head for performing the work; An exercise applying device that is provided between the working head and the apparatus main body, and applies an exercise necessary for the work to the working head; A storage device that is supported by the device main body and stores items necessary for performing the work;
  • the work head is provided in a movable part that performs at least a part of the motion imparted to the work head by the work imparting device together with the work head, and requires less work than the storage capacity of the storage device.
  • a temporary storage unit for temporary storage With the temporary storage unit disconnected from the storage device, the work head is caused to perform the operation by the material stored in the temporary storage unit, and the temporary storage unit is configured to transfer the necessary items from the storage device to the temporary storage unit. And a control device that performs replenishment in a replenishable state.
  • the storage device may be provided above the work head or may be provided below.
  • a storage device that takes into account whether the work itself is a solid or a fluid, supply form from the storage device to the temporary storage unit, ease of supply to the storage device by workers, etc. Should be determined.
  • the motion imparting device includes a movable member that is movable in the X-axis and Y-axis directions orthogonal to each other in one plane and movable in the Z-axis direction perpendicular to the one plane.
  • the member is provided with a first connection portion connected to the temporary storage portion, and the control device controls the exercise applying device, whereby the first connection portion is connected to a second connection portion connected to the storage device.
  • the working device according to item (1) including a connection / separation control unit that generates a connection state and a separation state separated from the second connection unit.
  • the first connection portion is opposed to the second connection portion by movement in the X-axis direction and the Y-axis direction, and is moved closer to and away from the second connection portion by movement in the Z-axis direction.
  • the temporary storage section is provided in a second movable member that is relatively movable with respect to the first movable member as the movable member provided with the first connection section.
  • Work equipment (5) The working device according to (4), wherein the temporary storage unit is connected to the first connection unit via a flexible hose.
  • (6) The working device according to any one of (1) to (5), wherein a material necessary for performing the work is a fluid.
  • the working device according to any one of (1) to (5), wherein the object necessary for executing the work is a solid.
  • the work object is a solid material, and the work apparatus is further supported by the apparatus main body and the work object after the work is performed by the work head and before the work is performed.
  • the control device causes at least a part of replenishment from the storage device to the temporary storage unit to be performed in parallel with the work related change operation of the work object by the work object change related device (1) to (7).
  • the working device according to any one of items.
  • the work object replacement-related apparatus includes, for example, a work object transport device that carries a work object into and out of the work area by the work head, and a work object holding apparatus that holds the work object in the work area.
  • a device and a position correcting device for correcting the position of the work object are included.
  • the work head does not work during shift-related operations, and by performing replenishment in parallel, the work unexecutable time for replenishment is reduced, and the work efficiency improvement effect by providing a temporary storage unit can be enjoyed effectively Can do.
  • the working device described in the next section is particularly effective.
  • the temporary storage unit has a capacity capable of storing an object necessary for the work more than an amount necessary for the work on at least one work object, and the control device is configured to temporarily store the temporary work from the storage device.
  • the work device according to item (8), wherein all of the replenishment to the storage unit is performed in parallel with the work related change operation of the work object by the work object change related device. It is avoided that work is stopped for replenishment.
  • the working device according to any one of (7) to (9), wherein the working head is a screw fastening working head for assembling a plurality of members by fastening a male screw member, and the solid matter is the male screw member. .
  • the working head is A male screw member rotating member having an engaging portion that engages with the head of the male screw member;
  • a male screw member rotating member drive device for advancing the male screw member rotating member to engage the head of the male screw member and rotating the male screw member of the male screw member into the female screw hole;
  • the male screw members sequentially supplied one by one from the temporary storage unit are held in a state where the head thereof faces the male screw member rotating member, and the male screw member is allowed to advance with the advancement of the male screw member rotating member.
  • the working device according to item (10) including a male screw member holding portion.
  • the motion imparting device includes a movable member that is movable in the X-axis and Y-axis directions orthogonal to each other in one plane and movable in the Z-axis direction perpendicular to the one plane.
  • the member is provided with a first connection portion connected to the temporary storage portion, and the control device controls the exercise applying device, whereby the first connection portion is connected to a second connection portion connected to the storage device.
  • a connection / separation control unit that generates a connection state and a separated state separated from the second connection unit, and the temporary storage unit and the working head are movable members provided with the first connection unit Provided on a second movable member that can move relative to a certain first movable member in the Z-axis direction, and the motion imparting device moves the second movable member relative to the first movable member in the Z-axis direction.
  • Second movable Including wood mobile device (11) working apparatus according to item. During the work, the work head is moved in the Z-axis direction with respect to the first connection part, so that the first connection part is prevented from interfering with the work object.
  • the second movable member constitutes the head body of the work head and the temporary storage unit is provided in the work head.
  • the work head and the temporary storage unit are particularly close to each other, so that the necessary items for performing the work can be supplied more quickly.
  • the configuration described in each of the items (12) to (20) can be applied to solids other than the male screw member by replacing “male screw member” with “solid”.
  • the temporary storage unit is provided on the second movable member so as to be movable together with the male screw member holding unit, and a part of the storage unit stores a plurality of male screw members,
  • the working device according to item (12) including an individual supply device that sequentially supplies male screw members one by one to the male screw member holding portion.
  • the working device includes a pinch-type delivery device that delivers male screw members to the temporary storage unit one by one at intervals.
  • a counter that counts the number of male screw members that are sent one by one from the pinch type delivery device;
  • the work apparatus according to item (14), further comprising: a transmission stop instruction unit that instructs the scissor-type transmission device to stop transmission when the count value of the counter reaches a set value.
  • the motion imparting device includes a movable member that is movable in the X-axis and Y-axis directions orthogonal to each other in one plane and movable in the Z-axis direction perpendicular to the one plane.
  • the member is provided with a first connection portion connected to the temporary storage portion, and the control device controls the exercise applying device, whereby the first connection portion is connected to a second connection portion connected to the storage device.
  • a first movable unit including a connection / separation control unit that generates a connection state and a separated state separated from the second connection unit, and wherein the temporary storage unit is a movable member provided with the first connection unit
  • the working head is provided on a second movable member that is movable relative to the first movable member in the Z-axis direction, and the motion imparting device moves the second movable member to the first movable member.
  • Z axis direction with respect to It includes a second movable member moving device for relatively moving (11) the working device according to claim.
  • the storage device includes a batch delivery device that aligns a plurality of male screw members and sends the plurality of male screw members at a time, while the temporary storage unit is attached to the first movable member.
  • a plurality of male screw members that are opposed to the delivery device and that can receive a plurality of male screw members that are collectively delivered from the collective delivery device are provided in a collective manner.
  • the working device according to item (16) including individual supply devices that sequentially supply the male screw member holding portions one by one. By batch delivery, a plurality of male screw members can be replenished at once.
  • the batch delivery device aligns the plurality of male screw members along a straight line, and the temporary storage device is coaxially opposed to the batch delivery device and places the plurality of male screw members on a straight line.
  • the individual supply device is Two male screw members arranged in a row are arranged at the front side of the row and spaced apart from each other, and each of the two male screw members is movable to an advance prevention position for preventing the advancement of the male screw member and an advance allowance position for allowing the advancement.
  • a biasing device that biases a plurality of male screw members arranged in a row in a direction toward the first blocking member;
  • An air ejection part for ejecting pressurized air between the first blocking member and the second blocking member;
  • the working device according to (13) or (17), comprising: a blocking member driving device that selectively moves the first blocking member and the second blocking member to a forward allowable position.
  • the urging device acts on the space between the first blocking member and the second blocking member by the ejection of air from the air ejection portion at the tail of the plurality of male screw members arranged in a row.
  • the working device including an air pressure acting portion that applies an air pressure higher than the air pressure.
  • the temporary storage unit is A fluid storage chamber for storing the fluid, A discharge port provided at the bottom of the fluid containing chamber;
  • the working device according to item (6) including a pressurizing device that pressurizes the fluid in the fluid containing chamber and discharges the fluid by a desired amount from the discharge port.
  • the apparatus includes a discharge nozzle connected to the discharge port, and the motion imparting device is movable in the X-axis and Y-axis directions orthogonal to each other in one plane and is perpendicular to the one plane.
  • a movable member that is movable in the Z-axis direction is provided, and the movable member is provided with a first connection portion that is connected to the temporary storage unit, and the control device controls the exercise applying device, whereby the first connection portion Includes a connection / separation control unit that generates a connection state connected to the second connection part connected to the storage device and a separation state separated from the second connection part, and at least the above-described connection state in the separation state of both the connection parts While the discharge nozzle is opposed to a desired portion of the work object by moving in the X-axis and Y-axis directions, a desired amount of fluid is discharged, while the connection state of the two connection portions is the front of the storage device.
  • FIG. 8 It is a top view which shows the screw fastening operation
  • FIG. It is a front view (partial cross section) which shows the said screw fastening operation head. It is a front view (partial cross section) which shows the said temporary storage apparatus. It is a bottom view which shows the sensor etc. which were provided in the external thread member holding
  • FIG. 1 shows an assembling apparatus as a working apparatus according to an embodiment of the claimable invention.
  • a main circuit board 10 (hereinafter, abbreviated as main board 10) as a first member as a work object is used as a second member as another member.
  • Sub circuit boards (hereinafter abbreviated as sub boards 12) 12 are assembled by at least one, here a plurality of, for example, four male screw members 14.
  • the male screw member 14 has a head portion 16 and a male screw portion 18.
  • a positive groove-like engaged portion 20 is provided on the head portion 18 and passes through the through hole 22 of the sub-board 12.
  • the main board 10 is screwed into a female screw hole (not shown).
  • the tightening of one male screw member 14 is one work, and the work required for the main board 10 is a plurality of work, here, four work.
  • the assembling apparatus includes an apparatus main body 30, a screw tightening work head 32, a head moving device 34 as a motion imparting device, and a plurality of male screw member supply units 36 each serving as a storage device (hereinafter referred to as supply unit 36).
  • a temporary storage device 38 a substrate transfer device 40 that is a work object transfer device, a substrate holding device 42 that is a work object holding device, and a control device 44.
  • the substrate transfer device 40 transfers the main substrate 10 in one horizontal direction.
  • the substrate holding device 42 is provided in the middle of the substrate transfer device 40 and positions and holds the main substrate 10 stopped at a predetermined assembly position in the horizontal direction.
  • a horizontal plane that is a plane parallel to the assembly surface of the main substrate 10 held by the substrate holding device 42, the direction parallel to the transfer direction of the main substrate 10 by the substrate transfer device 40 is the X axis direction.
  • the direction perpendicular to the X-axis direction is the Y-axis direction
  • the direction perpendicular to the one plane and the vertical direction is the Z-axis direction.
  • the supply unit 36 is provided in the apparatus main body 30, and feeds a large number of male screw members 14 stored in the storage chamber one by one by air, and sends them out at intervals from the connection portion 50 (see FIG. 3). (Not shown).
  • the types of the male screw members 14 supplied by the plurality of supply units 36 are the same, but may be different. This type of supply unit is already known, and detailed illustration and description thereof will be omitted.
  • the head moving device 34 includes an X-axis direction moving device 70, a Y-axis direction moving device 72, and a Z-axis direction moving device 74.
  • the Y-axis direction moving device 72 includes a Y-axis slide 80 and a Y-axis slide moving device 82, and the X-axis direction moving device 70 is provided on the Y-axis slide 80, and the X-axis slide 84 and the X-axis slide moving device 86 are installed. Including.
  • the Z-axis direction moving device 74 is provided on the X-axis slide 84 as shown in FIG. 3, and the main body 98, the first Z-axis slide 100 as the first movable member, and the first Z-axis slide moving device as the first movable member moving device. 102, a second Z-axis slide 104 serving as a second movable member, and a second Z-axis slide moving device 106 serving as a second movable member moving device.
  • the first Z-axis slide moving device 102 uses an air cylinder 110, which is a kind of fluid pressure actuator, as a drive source, and the first Z-axis slide 100 is moved to an ascending end position and a descending end position.
  • the second Z-axis slide moving device 106 is provided on the first Z-axis slide 100 and includes an electric motor 120 as a drive source, a feed screw 122, and a nut 124.
  • the second Z-axis slide 104 is relative to the first Z-axis slide 100. To any position in the Z-axis direction.
  • the screw tightening operation head 32 and the temporary storage device 38 are held on the second Z-axis slide 104 so as not to move relative to each other.
  • the lower side is the front and the upper side is the rear.
  • the screw tightening operation head 32 includes a driver bit 150 as a male screw member rotating member, a driver bit driving device 152 as a male screw member rotating member driving device, and a male screw member holding portion 154.
  • the driver bit 150 includes an engaging portion 156 that engages with the engaged portion 20 of the head portion 16 of the male screw member 14, and is rotated by the driver bit driving device 152 and advanced and retracted in the axial direction.
  • the male screw member holding part 154 includes a cylindrical main body part 160 and a pair of holding bodies 162.
  • the main body 160 is protruded downward from the driver bit 150 in the retracted end position or the non-operating position, and a pair of holding bodies 162 each having a plate shape are separated by 2 in the diameter direction of the protruding end of the main body 160.
  • Each part is attached by a connecting member 164 made of an elastic material, for example, a synthetic resin, so as to be rotatable around horizontal axes parallel to each other.
  • the pair of holding bodies 162 extend downward from the main body 160 and are inclined so as to approach each other toward the lower side, and the male screw member 14 at the holding position where the lower end portions of the pair of holding bodies 162 are closest to each other.
  • the head 16 is engaged from below, and the male screw member 14 is held with the head 16 facing the driver bit 150.
  • the holding body 162 may be rotatably attached to the main body 160 by a shaft and may be positioned at the holding position by a spring and a stopper.
  • the temporary storage device 38 includes a storage 170 serving as a storage member and an individual supply device 172, constitutes a temporary storage unit, and is movable together with the male screw member holding unit 154.
  • the reservoir 170 is provided with a male screw storage path 174 (hereinafter abbreviated as a storage path 174) having a circular cross-sectional shape and penetrating in the vertical direction.
  • the front end of the male screw portion 18 of the male screw member 14 and the top surface of the head portion 16 are each flat, and one male screw portion 18 of two adjacent male screw members 14 with respect to the head portion 16 of the other male screw member 14.
  • a plurality of male screw members 14 are accommodated in the storage path 174 in a posture arranged in a line in the vertical direction.
  • the storage path 174 is smaller than the maximum accommodation number (accommodation capacity) of the male screw member 14 in the storage chamber of the supply unit 36, at least one, in this embodiment, the sub board 12 is fixed to the plurality of main boards 10. Have a length that can be accommodated.
  • a shutter 180 serving as an opening / closing member is provided at the upper end of the reservoir 170.
  • the shutter 180 has an opening 182 having the same diameter as that of the storage path 174, and the opening 182 is detached from the storage path 174 by the air cylinder 184 that is an opening / closing member driving device.
  • the closed position is closed, and the position of the opening 182 coincides with the storage path 174, and the storage path 174 is moved upward.
  • An engaging plate 190 as a first blocking member and a shutter 192 as a second blocking member are provided at the lower end, which is the tip of the reservoir 170.
  • the engagement plate 190 has an opening 194 having the same diameter as that of the storage path 174, and a notch 196 extending from the opening 194 and having a width slightly larger than the diameter of the male screw portion 18 of the male screw member 14. Is provided.
  • the engagement plate 190 is moved by the air cylinder 198 so that the notch 196 is positioned in the storage path 174 and the male screw portion 18 is inserted, and the portion defining the notch 196 is engaged with the head 16 to advance the male screw member 14. It is moved to the advance prevention position for preventing and the advance allowance position where the opening 194 coincides with the storage path 174 and the advancement of the male screw member 14 is allowed.
  • the shutter 192 is configured in the same manner as the shutter 180, and, as shown in FIG. 4, the downstream side of the engagement plate 190 in the traveling direction of the male screw member 14 in the storage path 174, in this embodiment, from the top to the bottom. And an advance prevention position where the opening 202 is disengaged from the storage path 174 and prevents the male screw member 14 from moving forward, and the opening 202 coincides with the storage path 174 and allows the male screw member 14 to advance. It is moved to the allowable position.
  • the air cylinders 198 and 200 constitute a blocking member driving device.
  • the second male screw member 14 in the storage path 174 is positioned between the engagement plate 190 and the shutter 192 and the forward movement is prevented by the engagement plate 190. It is set as the state cut
  • a port 208 is provided in a portion between the engagement plate 190 and the shutter 192 of the storage path 174 to form an air ejection portion, and pressurized air is ejected.
  • a port 210 is provided below the portion of the storage path 174 where the shutter 180 is provided to form an air pressure acting portion, and a plurality of male screw members 14 accommodated in a line in the storage path 174 are arranged.
  • An air pressure higher than the air pressure acting on the space between the engagement plate 190 and the shutter 192 is applied to the tail, and urged toward the engagement plate 190.
  • the high-pressure air is always acted while the shutter 180 is in the closed position, so that the plurality of male screw members 14 are prevented from bouncing in the storage path 174 and pushed downward when the engagement plate 190 is opened. .
  • a sensor 220 is provided at the upper end of the reservoir 170 at a portion below the shutter 180.
  • the sensor 220 is configured by a non-contact sensor such as a reflective or transmissive photoelectric sensor, a capacitive sensor, an inductive sensor, or the like.
  • the sensor 220 is configured to output an ON signal when the male screw member 14 is detected, and output an OFF signal when the male screw member 14 is not detected.
  • a sensor 222 is provided at a portion between the engagement plate 190 and the shutter 192 of the reservoir 170 so as to detect the presence or absence of the leading male screw member 14 between them.
  • the sensor 222 is configured by a non-contact sensor, similar to the sensor 220.
  • the lower end of the storage path 174 is connected to a portion of the main body 160 of the male screw member holding portion 154 between the driver bit 150 and the holding body 162 by a pipe 230 serving as a connecting member.
  • a passage 240 is formed so as to penetrate in the vertical direction as shown in FIG.
  • the passage 240 has a circular cross-sectional shape, and a connection portion 242 is provided at the lower end portion thereof, and the upper end portion is connected to the upper end of the storage passage 174 by a flexible hose 244 serving as a connection member.
  • the screw tightening work head 32 and the temporary storage device 38 are unitized together with the Z-axis direction moving device 74 and can be attached to and detached from the X-axis slide 84, and the type of the driver bit 150 is different.
  • a unit having a work head that performs a work different from the tightening of the male screw member 14 such as a unit having a component holding head including a suction nozzle that sucks electronic circuit components by negative pressure It is possible.
  • control device 44 is mainly composed of a computer 250, and controls drive sources and the like of various devices constituting the assembly device such as the head moving device 34, the supply unit 36, and the substrate transport device 40. .
  • An output signal from the sensors 220 and 222 is input to the computer 250.
  • the main board 10 placed with the sub board 12 positioned is loaded by the board conveying apparatus 40, stopped at the assembling position, and then positioned by the board holding apparatus 42. Being held.
  • the screw tightening head 32 and the temporary storage device 38 are moved in the horizontal direction, and the driver bit 150 is moved above the through hole 22 of the sub-board 12.
  • the connection portion 242 is separated from the connection portion 50.
  • the second Z-axis slide 104 is lowered with respect to the first Z-axis slide 100, and the screw tightening operation head 32 is brought close to the through hole 22, and is positioned upward by a predetermined distance.
  • the driver bit 150 is lowered while being rotated, and the engaging portion 156 is engaged with the engaged portion 20 of the male screw member 14 held by the holding body 162 and is lowered while rotating the male screw member 14. And is screwed into the female screw hole of the main board 10 through the through hole 22 of the sub board 12.
  • the pair of holding bodies 162 rotate away from each other by elastic deformation of the connecting member 164 to allow the male screw member 14 to descend, and the male screw member 14 is detached from the holding body 162 and screwed into the female screw hole.
  • the holding body 162 is returned to the holding position for receiving the male screw member 14 by the elastic restoring force of the connecting member 164.
  • the driver bit 150 is retracted to the non-driving position, and the screw tightening head 32 is lifted by the ascent of the second Z-axis slide 104, and is moved horizontally along with the temporary storage device 38 by the head moving device 34.
  • a region where the screw tightening work head 32 performs the screw tightening operation is a work region by the screw tightening work head 32.
  • the shutter 192 is moved to the advance allowance position, and air is supplied between the engagement plate 190 and the shutter 192, and only the leading male screw member 14 passes through the pipe 230 and holds the male screw member. Sent to the unit 154 and held by the holding body 162.
  • the engagement plate 190 is moved to the advance allowance position, the male screw member 14 in the storage path 174 is advanced, and is received by the shutter 192. In this state, the engagement plate 190 is moved to the advance prevention position. This movement is allowed by fitting the male screw portion 18 into the notch 196. If the detection signal of the sensor 222 is OFF even though the engagement plate 190 has been moved to the advance allowable position and the male screw member 14 should have been advanced, a notification device such as a display device is displayed by the computer 250. The occurrence of abnormality is notified using.
  • the number of used male screw members 14 is counted by a counter, and the remaining number of male screw members 14 in the reservoir 170 is obtained.
  • the remaining number is obtained by subtracting the number of uses from the total number of male screw members 14 stored in the reservoir 170 immediately after the supply of the male screw member 14 from the supply unit 36 to the reservoir 170 (this number is referred to as the initial storage number). can get.
  • the initial storage number is the number necessary for assembling the sub-board 12 to one main board 10, more than four here, at least one, and in this embodiment, a plurality of main boards.
  • the number of sub-boards 12 can be just assembled (multiple of 4), and the supply of the male screw member 14 from the supply unit 36 to the reservoir 170 is the holding release of the main board 10 by the board holding device 42.
  • the number of the main substrate 10 unloaded by the substrate transfer device 40, and then the main substrate 10 being fixed and the sub-substrate 12 fixed, and the number of the substrate can be accommodated in the storage path 174.
  • the number that can be accommodated is a number that does not prevent the shutter 220 from opening and closing the storage path 174 and does not reach the sensor 220.
  • the replenishment of the male screw member 14 by the supply unit 36 is performed when the remaining number at the time when the fixing of the sub-board 12 to the main board 10 is less than the set number, for example, one main board 10. This is performed when it is less than the number necessary for fixing all the sub-boards 12 and it is impossible to complete all the operations scheduled for one main board 10.
  • the initial storage number is set to a number that allows the assembly of the plurality of main boards 10, so that the set number is 0 and the replenishment is in the remaining number 0 state. All of this is performed in parallel with the holding and releasing, carrying out, carrying in, and holding of the main board 10.
  • the sensor 222 When the remaining number is 1 and the last male screw member 14 is sent to the male screw member holding portion 154, the sensor 222 generates an OFF signal, but this is not abnormal and is ignored.
  • the temporary storage device 38 is moved to one of the plurality of supply units 36 by the head moving device 34, the connecting portion 242 is positioned on the connecting portion 50, and lowered by the lowering of the first Z-axis slide 100. And connected to the connecting portion 50 as shown in FIG. In this state, the male screw members 14 are sent out one by one from the supply unit 36.
  • the shutter 180 is located in the open position, the engagement plate 190 is located in the advancement-permitted position, and the shutter 192 is located in the advancement prevention position.
  • the male screw member 14 passes through the connection portions 50 and 242, the passage 240, and the hose 244. Then, it enters the storage path 174 and is stored in a line in the vertical direction.
  • the signal of the sensor 220 changes from OFF to ON, and further changes from ON to OFF, whereby the number of male screw members 14 that have entered is counted in the computer 250.
  • the computer 250 instructs the pinch type sending device of the supply unit 36 to stop sending.
  • This set value takes into account the delay from the instruction output until the delivery is actually stopped, and the number of male screw members 14 scheduled to be supplied from the supply unit 36 to the reservoir 170 (here, a number equal to the initial storage number). ) Is set to a number that is less than the number of male screw members 14 to be replenished and is stopped in a state where the last one has been sent out.
  • the first Z-axis slide 100 is raised, and the connecting portion 242 is disconnected from the connecting portion 50.
  • the shutter 180 is moved to the closed position, and the engagement plate 190 is moved to the advance prevention position.
  • the leading male screw member 14 is sent to the male screw member holding portion 154 by the movement of the shutter 192 to the forward movement allowable position, and the assembly is resumed.
  • the temporary storage device 38 and the screw tightening work head 32 are provided on the second Z-axis slide 104, the screw tightening work head 32 and the temporary storage device 38 are particularly close to each other.
  • the male screw member 14 is supplied to the screw tightening head 32 more quickly. Further, there are a plurality of supply units 36, and even when one of them is supplied with the male screw member 14 to the storage chamber, the male screw member 14 can be supplied to the temporary storage device 38 by another supply unit 36. And the interruption of assembly work is avoided.
  • a temporary storage device 302 is provided on the first Z-axis slide 300 to form a temporary storage unit, and a screw tightening work head 306 is provided on the second Z-axis slide 304.
  • the first Z-axis slide 300 includes a plurality of members as shown in FIG. As shown in FIG.
  • the temporary storage device 302 includes a storage device 310 and an individual supply device 312, and an upper end portion of a male screw member storage path 314 provided through the storage device 310 in the vertical direction is screwed by a hose 316. It is connected to the main body 160 of the male screw member holding part 154 of the fastening work head 306 (see FIG. 11).
  • the upper direction is the front and the lower direction is the rear in the vertical direction.
  • a sensor 318 is provided at the lower end of the main body 160 of the male screw member holding portion 154 as shown in FIG.
  • the sensor 318 is constituted by, for example, a non-contact sensor like the sensors 220 and 222, and detects whether or not the male screw member 14 is held by the holding body 162, and should be held when it should be held. For example, notification or the like is performed based on the detection signal of the sensor 318.
  • a shutter 330 as a second blocking member is provided at the upper end portion of the reservoir 310, and the forward blocking position where the storage path 314 is closed by the air cylinder 332 and the opening 334 coincide with the storage path 314.
  • the storage path 314 is moved to an advance allowable position for opening.
  • the reservoir 310 is also provided with an engagement plate 336 serving as a first blocking member at a portion upstream of the shutter 330 in the traveling direction of the male screw member 14 in the storage path 314, in this embodiment from the bottom to the top. ing.
  • the engagement plate 336 is moved forward by the air cylinder 338 so that the opening 340 is disengaged from the storage path 314 and the notch 342 is positioned in the storage path 314.
  • a pair of air passages 344 are formed in the engagement plate 336 as shown in FIG. 13 and are opened upward at a portion defining the notch 342 of the engagement plate 336 so as to be added between the shutter 330 and the engagement plate 336.
  • An air ejecting portion for ejecting the pressurized air is configured, and pressurized air is applied to the head 16 of the male screw member 14 upward from the lower side, and is sent to the hose 316.
  • a sensor 348 is provided in a portion between the shutter 330 and the engagement plate 336 of the reservoir 310 and functions in the same manner as the sensor 222.
  • the push-up device 360 includes a push-up member 362 and a push-up member driving device 364, and constitutes an urging device.
  • the push-up member 362 has a plate shape with a width smaller than the diameter of the storage path 314, and has a protruding push-up portion 366 at the tip, and is provided in the reservoir 310 in the vertical direction. It is positioned in the notch 368 and is movable in the vertical direction. As shown in FIG.
  • the push-up member driving device 364 includes an air cylinder 370, a pulley 372, and a wire 374, and the push-up member 362 is moved up and down by movement of the wire 374 due to expansion and contraction of the piston rod 376.
  • the push-up device 360 is moved in the horizontal direction by the push-up device moving device 380 using the air cylinder 378 shown in FIG. 9 as a drive source, and is moved closer to and away from the reservoir 310.
  • the push-up member 362 is stored in the push-up portion 366. It is moved to the push-up position located in the path 314 and the retracted position retracted from the storage path 314.
  • the male screw member supply unit 400 of the present assembling apparatus includes a batch delivery device 402 and a connecting portion 404 as shown in FIG.
  • the batch sending device 402 includes a push-up device 408.
  • the lifting device 408 includes a lifting member 410 and a lifting member driving device 412.
  • the push-up member 410 has a U-shape in plan view
  • the pair of push-up portions 414 are positioned in the alignment path 415
  • a plurality of male screw members 14 are aligned on 414 along a straight line parallel to the Z-axis direction.
  • the lifting member driving device 412 is configured in the same manner as the lifting member driving device 364. As shown in FIG.
  • connection portion 404 is provided with a pair of notches 418 that allow movement of the delivery port 416 and the push-up portion 414 following the alignment path 415 in the Z-axis direction. Note that a part of the connection portion 404 is shown in cross section at one of the delivery port 416 and the pair of notches 418.
  • a pair of notches 420 are provided at the lower end of the reservoir 310 so as to open on the bottom and side surfaces and orthogonal to the storage path 314, and as shown in FIG. It is allowed to enter the storage path 314 without interfering with the push-up member 362.
  • the lower end portion of the reservoir 310 constitutes the connection portion 422.
  • the reservoir 310 is shown in cross section at one of the notch 368 and the pair of notches 420.
  • the shutter 330 and the engagement plate 336 are selectively moved to the advance allowable position, and the leading male screw member 14 between the shutter 330 and the engagement plate 336 passes through the hose 316 by the injection of pressurized air. Then, it is sent to the male screw member holding portion 154 of the screw tightening operation head 306 and the push-up member 362 is raised to push up the male screw member 14. As shown in FIG. 15, the last male screw member 14 in the storage path 314 is brought into contact with the shutter 330 by the push-up portion 366, but the engagement plate 336 is prevented from being interfered with the push-up portion 366 by the notch 342.
  • the pressurized air is ejected from the air passage 344, and the last male screw member 14 is sent out.
  • the push-up member 362 is lowered to the lower end position as shown in FIG. 16 and is moved to the retracted position, so that the push-up portion 366 is removed from the storage path 314.
  • the shutter 330 is moved to the advance prevention position, and the engagement plate 336 is moved to the advance allowance position.
  • the temporary storage device 302 is moved to the supply unit 400 by the head moving device 34, the storage path 314 is coaxially opposed to the alignment path 415 and lowered, and the connection is made as shown in FIG.
  • the unit 422 is connected to the connection unit 404.
  • the push-up member 410 of the supply unit 400 is raised, the plurality of male screw members 14 aligned in the alignment path 415 are pushed up, and are fed into the storage path 314 in a state where they are aligned vertically. As shown in FIG.
  • the push-up member 410 enters the notch 420 and enters the reservoir 310, the plurality of male screw members 14 are collectively received by the reservoir 310, and the leading male screw member 14 is moved to the shutter 330. Abutted.
  • the push-up member 362 is moved to the push-up position, the push-up portion 366 is moved between the pair of push-up portions 414, and the male screw member 14 can be pushed up.
  • the push-up member 410 is lowered to be removed from the reservoir 310 and returned to the supply unit 400.
  • the engagement plate 336 is moved to the advance prevention position, and the leading male screw member 14 is sent to the screw tightening operation head 306.
  • the first Z-axis slide 100 is raised to separate the connection portion 422 from the connection portion 404, and the screw tightening operation head 306 and the temporary storage device 302 are moved in the horizontal direction to resume the operation.
  • the first Z-axis slide 300 is provided with the temporary storage device 302, and the plurality of male screw members 14 aligned along a straight line parallel to the Z-axis direction in the supply unit 400 are: Since the supply unit 400 is collectively sent to the temporary storage device 302 and received in a straight line storage path 314 extending in parallel with the Z-axis direction of the reservoir 310 in a state of being aligned in a straight line, The male screw member 14 can be replenished quickly and with a short replenishment time, and batch delivery and batch acceptance are particularly easy.
  • An application head 504 as a working head includes an adhesive storage chamber 506 as a fluid storage chamber, a discharge port 508, a temporary storage unit 512 including a pressurizing device 510, and a discharge nozzle 513, and an X-axis direction moving device, It is moved by a head moving device (not shown) as a motion applying device including a Y-axis direction moving device and a Z-axis direction moving device.
  • This Z-axis direction moving device includes one Z-axis slide, and a coating head 504 is mounted on the Z-axis slide.
  • the discharge port 508 is provided at the lowermost part of the adhesive storage chamber 506, and the discharge nozzle 513 is connected to the discharge port 508 and is provided in a state of extending downward from the adhesive storage chamber 506.
  • the adhesive in the adhesive storage chamber 506 is pressurized by the pressurized air supplied by the pressurizing device 510 via the float 514, and preset by a program or the like from the discharge nozzle 513 through the discharge port 508. A desired amount is discharged and applied to the circuit board.
  • a connector 518 is provided at the lower end portion of the adhesive accommodating chamber 506 to constitute a connection portion.
  • the connector 518 is provided with a check valve (not shown) that prevents the adhesive in the adhesive storage chamber 506 from flowing out of the connector 518 during the pressurization.
  • An adhesive storage device 530 is provided in the main body of the coating device.
  • the adhesive storage device 530 includes a connector 532 serving as a connection portion.
  • the coating head 504 is moved and lowered in the horizontal direction by the head moving device in the separated state of the connectors 518 and 532, and faces a coating position that is a desired portion of the circuit board and is predetermined by a program or the like. And apply a set amount of adhesive. If the amount of the adhesive 500 in the adhesive storage chamber 506 is insufficient, the coating head 504 is moved and lowered to the adhesive storage device 530, and the connector 518 is connected to the connector 532, and the adhesive storage device 530 The adhesive 500 is supplied to the adhesive storage chamber 506. At this time, the front end opening of the discharge nozzle 513 is closed by the closing device 534 provided together with the adhesive storage device 530, and leakage of the adhesive 500 is avoided. After replenishment, the coating head 504 is raised, the connectors 518 and 532 are separated, and coating is resumed.
  • a plurality of work heads may be provided.
  • the plurality of work heads may be the same or different. In the latter case, for example, the type of work is tightening of the male screw member and is the same, but the type of male screw member may be different, or the type of work may be different.
  • the male screw member may have a tapered portion at the tip of the male screw portion, and may be fitted into a groove-like engaged portion at the head of another male screw member so as to be kept in a line.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

Dispositif de travail dans lequel les problèmes tels que la restriction du déplacement d'une tête de travail destinée à apporter des objets nécessaires au travail n'ont pas lieu. Une tête de travail (32) à serrage de vis et un appareil de stockage temporaire (38) sont amenés à se déplacer dans les directions d'axe X et d'axe Y, et sont disposés sur un second curseur d'axe Z (104), qui se déplace dans la direction d'axe Z par rapport à un premier curseur d'axe Z. Plusieurs éléments vis mâles (14) sont stockés dans un passage de stockage (174) et sont introduits un par un dans la tête de travail (32) à serrage de vis. La tête de travail (32) à serrage de vis se déplace dans les directions d'axe X, d'axe Y et d'axe Z, et visse les éléments vis mâles (14) dans un objet. Si on a besoin d'un réapprovisionnement en éléments vis mâles (14), l'appareil de stockage temporaire (38) est amené à se déplacer jusqu'à une unité d'alimentation en éléments vis mâles, qui est disposée sur le corps d'un dispositif d'assemblage, et grâce au raccordement d'une partie de raccordement de l'unité d'alimentation à une partie de raccordement disposée sur le premier curseur d'axe Z, les éléments vis mâles (14) traversent un passage et un tuyau (244) disposé sur le premier curseur d'axe Z, et sont introduits dans le passage de stockage (174). L'appareil de stockage temporaire peut être disposé sur le premier curseur d'axe Z.
PCT/JP2012/075216 2012-09-28 2012-09-28 Dispositif de travail WO2014049863A1 (fr)

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PCT/JP2012/075216 WO2014049863A1 (fr) 2012-09-28 2012-09-28 Dispositif de travail
JP2014538056A JP6198743B2 (ja) 2012-09-28 2012-09-28 作業装置
CN201280076043.7A CN104661791B (zh) 2012-09-28 2012-09-28 作业装置

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CN113182826A (zh) * 2021-04-12 2021-07-30 联合汽车电子有限公司 一种螺钉自动预装方法及其装置
WO2021251293A1 (fr) * 2020-06-09 2021-12-16 川崎重工業株式会社 Gabarit d'alimentation en vis, robot à deux bras utilisant ledit gabarit d'alimentation en vis et procédé d'alimentation en vis
EP4066986A1 (fr) * 2021-03-30 2022-10-05 ATS Automation Tooling Systems Inc. Stations de traitement automatisé d'un joint torique et procédés associés

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DE102015210322A1 (de) * 2015-06-03 2016-12-08 Arnold & Shinjo Gmbh & Co. Kg Vorrichtung und Verfahren zum Positionieren von Verbindungselementen
CN107717388A (zh) * 2017-11-14 2018-02-23 苏州泛能电力科技有限公司 一种电连接器护套输送装置
CN108705270A (zh) * 2017-12-31 2018-10-26 芜湖瑞佑工程设备技术有限公司 一种汽车仪表自动压针方法
KR102088818B1 (ko) * 2018-07-02 2020-04-23 한국항공우주산업 주식회사 항공기 파스너 공급장치
CN110524226B (zh) * 2019-09-10 2022-01-07 珠海格力智能装备有限公司 装配设备

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JPH10146553A (ja) * 1996-11-20 1998-06-02 Matsushita Electric Ind Co Ltd 接着剤の塗布装置
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WO2021251293A1 (fr) * 2020-06-09 2021-12-16 川崎重工業株式会社 Gabarit d'alimentation en vis, robot à deux bras utilisant ledit gabarit d'alimentation en vis et procédé d'alimentation en vis
JP7479206B2 (ja) 2020-06-09 2024-05-08 川崎重工業株式会社 ネジ供給治具、当該ネジ供給治具を用いる双腕ロボット、及びネジ供給方法
EP4066986A1 (fr) * 2021-03-30 2022-10-05 ATS Automation Tooling Systems Inc. Stations de traitement automatisé d'un joint torique et procédés associés
CN113182826A (zh) * 2021-04-12 2021-07-30 联合汽车电子有限公司 一种螺钉自动预装方法及其装置

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CN104661791B (zh) 2018-04-13
JP6198743B2 (ja) 2017-09-20
CN104661791A (zh) 2015-05-27

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