CN103894347B - Separator and parts check device - Google Patents

Abstract

The present invention relates to separator and parts check device, these parts check that device possesses: base station, this base station has the inspection socket being pressed electronic unit；Supply unit, this supply unit is installed on base station, and electronic unit is transported to inspection socket；And vertically moving arm, this vertically moves arm and is arranged on supply unit, and presses electronic unit at inspection socket。Possessing the pressurized arm mechanism being attached on base station, this pressurized arm mechanism engages by air cylinder with pressing electronic unit, and the air cylinder displacement relative to base station is pressed in locking。

Description

Separator and parts check device

The divisional application of patent application that the application is the applying date is on 07 27th, 2012, application number is 201210265172.2, denomination of invention is " separator and parts check device "。

Technical field

The present invention relates to the separator (Handler) that object conveyor is carried, particularly relate to be transported to object conveyor area pressed, and carry out the separator pressed at this area pressed, and the parts possessing this separator check device。

Background technology

In the past, as described in patent document 1, it is known to check that the parts of the electrical characteristics of electronic unit check device。Checking at this base part and device uses separator, for the electronic unit of object conveyor being transported to the inspection socket of area pressed, and electronic unit being embedded in this inspection socket。

Above-mentioned separator is provided with: in order to adsorb adsorption section and the pressing motor of electronic unit, this pressing motor is in order to be embedded into the electronic unit adsorbed by this adsorption section in inspection socket。And, when the electronic unit before checking being checked with inspection socket, when adsorption section is adsorbed with electronic unit, driving above-mentioned motor, the terminal of electronic unit is embedded in the terminal of inspection socket。Now, owing to the terminal of the terminal of electronic unit and inspection socket is for electrically connecting, it is therefore desirable to what electronic unit applied regulation press pressure, apply this by above-mentioned motor and press pressure。

On the other hand, in recent years, there is the trend increased in the number of the electronic unit embedded in inspection socket, therefore with the output of above-mentioned motor, it is impossible to the connection each electronic unit applying in multiple electronic units being enough to realize between above-mentioned terminal by pressure。For this, in above-mentioned separator install pressing pneumatic cylinder, and this pneumatic cylinder electronic unit is applied more than above-mentioned motor apply by pressure。Adopt this type of pneumatic cylinder pressing electronic unit, it is possible to reliably connect by between above-mentioned terminal such that it is able to check electronic unit accurately。

Patent documentation 1: Japanese Patent Laid-Open 2010-101776 publication

But, as it has been described above, because be formed in connection in each terminal on electronic unit need to apply regulation by pressure, if therefore the number of terminals of electronic unit or the number of electronic unit increase, then require also can increase by pressure in above-mentioned pneumatic cylinder。On the other hand, if the pressure of pressing of this pneumatic cylinder increases, then the counteracting force carrying out self-check socket also can increase naturally。And, support the parts of above-mentioned pneumatic cylinder and in order to move the guide rail of pneumatic cylinder, it is necessary to there is the rigidity that will not deform because of above-mentioned counteracting force。But, the rigidity of this base part and guide rail to be strengthened, the maximization that is difficult to avoid that there is the delivery section of these parts and guide rail and re-quantization。

Additionally, problems is as it has been described above, be not limited only to the separator using motor with pneumatic cylinder pressing electronic unit, it also it is the common problem of the separator pressing object conveyor with the more than one press section arranged in delivery section。

Summary of the invention

The present invention makes in view of above-mentioned practical situation, its object is to provide a kind of and press in the separator of object conveyor in the delivery section by object conveyor is carried, maximizing and re-quantization separator of delivery section can be suppressed, and the parts possessing this separator check device。

Technical scheme one, separator possesses: base station；Delivery section, object conveyor is carried by this delivery section；And compression zone, this compression zone is attached on above-mentioned base station, and above-mentioned delivery section is provided with press section, and above-mentioned object conveyor is pressed by this press section to above-mentioned base station, is provided with holding section on above-mentioned compression zone, and this holding section engages with a part for above-mentioned press section。

When the pressing power produced by press section acts on object conveyor, resist this by the reaction force acts of pressure in delivery section。Adopt aforesaid way, act on delivery section by the part in the counteracting force of pressure, and remainder acts on base station via the holding section being arranged on compression zone。In other words, will not all acting on delivery section by whole counteracting forces of pressure, the part of this counteracting force can be distributed on base station。Thus, although press pressure pressing object conveyor with desired, and the rigidity required for delivery section only needs to bear and is sufficient to by the partial reaction power of pressure。Therefore, it is possible to suppress the maximization of delivery section and re-quantization。

The another way of the present invention is, above-mentioned press section possesses: the 1st press section, and above-mentioned object conveyor is pressed by the 1st press section to above-mentioned base station；And the 2nd press section, above-mentioned 1st press section is pressed by the 2nd press section to above-mentioned base station, and the above-mentioned holding section of above-mentioned compression zone is movable, in order to engage with the protuberance in the part being arranged at above-mentioned 2nd press section。

According to above-mentioned composition, in the 1st press section constituting press section and the 2nd press section, the holding section of compression zone is movable, in order to engage with the protuberance in the part being arranged on the 2nd press section。Therefore, above-mentioned engaging can suppress the 2nd press section to be defeated back by the pressing of the 1st press section。Further, it is applied to being determined by pressure on object conveyor by the mechanical type engaging of compression zone and the 2nd press section, it is possible to suppress to press pressure oscillation。

The another way of the present invention, it is preferable that above-mentioned press section possesses the 1st press section, above-mentioned object conveyor is pressed by the 1st press section to above-mentioned base station；And the 2nd press section, the 1st press section is pressed by the 2nd press section to above-mentioned base station, and the above-mentioned holding section of above-mentioned compression zone is movable, the engaging of the protuberance of a part in order to release and be arranged at above-mentioned 2nd press section。

According to above-mentioned composition, constituting the 1st press section of press section with the 2nd press section, the holding section of compression zone is movable, the engaging of the protuberance of a part in order to release and be arranged at the 2nd press section。Therefore, above-mentioned engaging can suppress the 2nd press section to be defeated back by the pressing of the 1st press section, it addition, release this engaging, the movement of press section is just not easily susceptible to the impact of protuberance。Further, being determined by pressure on object conveyor it is applied to by compression zone and the 2nd press section mechanical type engaging, it is possible to suppressing should by pressure oscillation。

The another way of the present invention, it is preferable that above-mentioned 1st press section is by air cylinder, above-mentioned 2nd press section comprise makes above-mentioned by air cylinder rise and decline motor, above-mentioned 1st press section press pressure more than above-mentioned 2nd press section by pressure。

Would generally be increased by the operating pressure of air cylinder by what apply by air cylinder by pressure, for instance can increase by the compressed-air actuated pressure supplied by air cylinder because of rising。In aforesaid way, it is necessary to relatively large is made up of by air cylinder this by the 1st press section of pressure。Therefore, with driven by motor apply relatively large by compared with the structure of pressure, it is possible to simplify the structure of delivery section, and then simplify the structure of separator。It addition, with the 1st press section compared with the situation that motor is constituted, it is easier to increase be applied on object conveyor by pressure。

The another way of the present invention, it is preferable that possess control above-mentioned motor-driven motor controling part, above-mentioned motor controling part when above-mentioned by air cylinder press above-mentioned object conveyor, drive above-mentioned motor by direct torque。

Use motor that object conveyor is pressed, it is possible to by least one in the position control of motor and direct torque is carried out。Additionally, position control refers to that the position of rotation controlling motor is so that being in assigned position by air cylinder。And direct torque refers to that control motor produces torque, in order to what object conveyor applied regulation presses pressure。

Here, above-mentioned by air cylinder to press pressure more big, the counteracting force to this pressing cylinder support side, the load namely above-mentioned motor applied is also more big。Now, if by above-mentioned position control driving motor, as long as then the output of motor is less than above-mentioned counteracting force, the position of rotation of motor would not arrive target rotational position。And, the driving electric current of motor continues to increase, and motor internal can be applied over load。

For this point, aforesaid way be when by air cylinder when being applied on object conveyor by pressure, by direct torque drive motor。Therefore, even if this being pushed back by the support side of air cylinder by air cylinder elongation, as long as motor output regulation torque, this motor would not be applied over load。

The another way of the present invention, it is preferable that possess the above-mentioned motor-driven motor controling part of control, above-mentioned motor controling part presses before above-mentioned object conveyor by air cylinder above-mentioned, drives above-mentioned motor by direct torque。

According to aforesaid way, when object conveyor being applied press pressure by air cylinder, motor is driven by direct torque。Therefore, motor will not be brought over load, and be applied on object conveyor by pressure stability。

The another way of the present invention, it is preferable that above-mentioned holding section is a pair mutually opposing moveable arm, above-mentioned a pair moveable arm the position that above-mentioned protuberance engages and from above-mentioned ledge from position between displacement。

Adopting aforesaid way, a pair mutually opposing moveable arm engages with the protuberance being arranged at press section, is respectively acting on a pair mutually opposing moveable arm from press section by the counteracting force of pressure。With from press section by compared with the reaction force acts of the pressure mode in a place, it is possible to expand the dispersion range of this counteracting force, and then the rigidity needed for compression zone and base station can be suppressed。

The another way of the present invention, it is preferable that above-mentioned delivery section has the state adsorbing multiple above-mentioned object conveyors, above-mentioned press section has the state pressing multiple above-mentioned object conveyors。

In the mode with the state pressing multiple object conveyors, have along with the number of object conveyor increases, be applied to multiple object conveyor all on the state also naturally increased by pressure。Now, have corresponding to be applied on whole connecting object by pressure, the state that also naturally should increase by the counteracting force of pressure。For this point, adopting aforesaid way, as described above, a part for the counteracting force of increase is distributed on base station。Thereby, it is possible to suppress the maximization of delivery section with becoming apparent from and re-quantization。

Technical scheme two, parts check that device possesses base station；Delivery section, these delivery section conveying electronic parts；Compression zone, this compression zone is attached on above-mentioned base station；And inspection socket, this inspection socket is arranged on above-mentioned base station, above-mentioned delivery section is provided with press section, above-mentioned electronic unit is pressed by this press section to the above-mentioned inspection socket of above-mentioned base station, being provided with holding section on above-mentioned compression zone, this holding section engages with a part for above-mentioned press section。

When the pressing power produced by press section acts on electronic unit, resist this by the reaction force acts of pressure in delivery section。According to aforesaid way, act on delivery section by the part in the counteracting force of pressure, and remainder acts on base station via the holding section being arranged on compression zone。In other words, will not all acting on delivery section by whole counteracting forces of pressure, this counteracting force of part can be distributed on base station。Thus, press pressure pressing object conveyor with desired, and the rigidity required for delivery section only needs to bear and is sufficient to by the partial reaction power of pressure。Therefore, it is possible to suppress the maximization of delivery section and re-quantization。

Accompanying drawing explanation

Fig. 1 indicates that the parts of the present invention check the diagrammatic top view being monolithically fabricated of an embodiment of device。

Fig. 2 indicates that the side view of the side surface configurations of the 1st supply unit in the separator possessing these parts inspection device and pressurized arm mechanism。

Fig. 3 indicates that the block diagram that the electricity of this separator is constituted。

Fig. 4 indicates that the sequential chart of the driving condition of the various motors that this separator possesses。

Fig. 5 indicates that the figure of the 1st supply unit and the duty of pressurized arm mechanism, is the figure planar configuration of (a) the 1st supply unit and pressurized arm mechanism and (b) edge face structure represented accordingly。

Fig. 6 indicates that the figure of the 1st supply unit and the duty of pressurized arm mechanism, is the figure planar configuration of (a) the 1st supply unit and pressurized arm mechanism and (b) edge face structure represented accordingly。

Fig. 7 indicates that the figure of the 1st supply unit and the duty of pressurized arm mechanism, is the figure planar configuration of (a) the 1st supply unit and pressurized arm mechanism and (b) edge face structure represented accordingly。

Fig. 8 indicates that the figure of the 1st supply unit and the duty of pressurized arm mechanism, is the figure planar configuration of (a) the 1st supply unit and pressurized arm mechanism and (b) edge face structure represented accordingly。

Fig. 9 indicates that the figure of the 1st supply unit and the duty of pressurized arm mechanism, is the figure planar configuration of (a) the 1st supply unit and pressurized arm mechanism and (b) edge face structure represented accordingly。

Figure 10 indicates that the figure of the 1st supply unit and the duty of pressurized arm mechanism, is the figure planar configuration of (a) the 1st supply unit and pressurized arm mechanism and (b) edge face structure represented accordingly。

Figure 11 indicates that the figure of the 1st supply unit and the duty of pressurized arm mechanism, is the figure planar configuration of (a) the 1st supply unit and pressurized arm mechanism and (b) edge face structure represented accordingly。

Figure 12 indicates that the figure of the 1st supply unit and the duty of pressurized arm mechanism, is the figure planar configuration of (a) the 1st supply unit and pressurized arm mechanism and (b) edge face structure represented accordingly。

Detailed description of the invention

Referring to Fig. 1～Figure 12, illustrate separator and the parts of the present invention are checked the embodiment that device embodies。Illustrate that parts check the composition of device with reference first to Fig. 1。

Parts check the composition of device

As it is shown in figure 1, on the base station 11 that parts check the possessed separator 10 of device, the mounting surface 11a being provided with various mechanical hand is configured as upper surface, and the major part of this mounting surface 11a is all capped parts 12 and is covered。By these coating members 12 with the mounting surface 11a space impaled that is conveying space, from parts, its humidity and temperature are by checking that the dry air that device is externally supplied is maintained at setting。

Arranging four conveyer belts that an oriented direction extends on the mounting surface 11a of base station 11, the orientation of this conveyer belt is orthogonal with the conveying direction of this conveyer belt。In four conveyer belts, the orientation of conveyer belt that is the side of X-direction are provided with two supplies conveyer belt C1, C2, and at opposite side, the opposite side in X-direction is provided with two recovery conveyer belt C3, C4。And, in supply with in conveyer belt C1, C2, supply conveyer belt pallet C1a, C2a are carried to inner side from the outside of coating member 12。It addition, in recovery with in conveyer belt C3, C4, recovery conveyer belt pallet C3a, C4a are carried to outside from the inner side of coating member 12。Wherein, supply conveyer belt pallet C1a, C2a receive the multiple electronic unit T before as the inspection of object conveyor, and recovery conveyer belt pallet C3a, C4a receive the multiple electronic unit T after checking。

On the mounting surface 11a of above-mentioned base station 11, be provided with the opposed supply mechanical hand of X-direction 20 with reclaim mechanical hand 40。Supply mechanical hand 20 is arranged on the Y-direction of supply conveyer belt C1, C2, reclaims mechanical hand 40 and is arranged on the Y-direction of recovery conveyer belt C3, C4。

Supply mechanical hand 20 has the fixing axle along Y-direction extension that is the fixing guide rail 21 of supply side；The movable axis linked with the fixing guide rail 21 of supply side that is supply side movable guiding rail 22；And link with supply side movable guiding rail 22, and along the supply manipulator unit 23 that supply side movable guiding rail 22 moves。

Supply side movable guiding rail 22 is from the fixing guide rail 21 of supply side to reclaiming the movable axis that mechanical hand 40 side extends, and can be attached at advancing and return on the fixing guide rail 21 of supply side relative to the fixing guide rail 21 of supply side in the Y direction。Supply manipulator unit 23 is disposed on the end effector of the mounting surface 11a side of supply side movable guiding rail 22, can be attached on supply side movable guiding rail 22 with advancing and return in X-direction relative to supply side movable guiding rail 22。It addition, supply manipulator unit 23 is attached on supply side movable guiding rail 22, it is possible to decline from supply side movable guiding rail 22 to mounting surface 11a, it is possible to be laterally supplied to side movable guiding rail 22 from mounting surface 11a and rise。

And, supply side movable guiding rail 22 is along the fixing guide rail 21 of supply side, and to supply conveyer belt C1, C2 side shifting, and supply manipulator unit 23 moves to the top of supply conveyer belt pallet C1a, C2a along supply side movable guiding rail 22。Thus, the electronic unit T being positioned on supply conveyer belt pallet C1a, C2a is supplied to and adsorbs by manipulator unit 23, is picked up afterwards on supply conveyer belt pallet C1a, C2a。And, supply side movable guiding rail 22 leaves supply conveyer belt C1, C2 from this state along the fixing guide rail 21 of supply side, is supplied to and is fed into the assigned position in above-mentioned conveying space with the electronic unit T of manipulator unit 23 absorption。

Reclaim mechanical hand 40 identical with supply mechanical hand 20, there is the fixing axle extended in the Y direction that is reclaim the fixing guide rail 41 in side；With the movable axis that is the recovery side movable guiding rail 42 that reclaim fixing guide rail 41 link in side；And link with reclaiming side movable guiding rail 42, and along reclaiming the recovery manipulator unit 43 that side movable guiding rail 42 moves in the X direction。

Recovery side movable guiding rail 42 is from reclaiming the movable axis that the fixing guide rail 41 in side extends to supply mechanical hand 20 side, can be attached at advancing and return on the fixing guide rail 41 in recovery side relative to the fixing guide rail 41 in recovery side in the Y direction。Recovery manipulator unit 43 is disposed on reclaiming the end effector of the mounting surface 11a side of side movable guiding rail 42, can be attached at advancing and return on recovery side movable guiding rail 42 relative to reclaiming side movable guiding rail 42 in X-direction。It addition, recovery manipulator unit 43 is attached on recovery side movable guiding rail 42, it is possible to decline from reclaiming side movable guiding rail 42 to mounting surface 11a, it is possible to laterally reclaim side movable guiding rail 42 from mounting surface 11a and rise。

Reclaim side movable guiding rail 42 along reclaiming the fixing guide rail 41 in side to recovery conveyer belt C3, C4 side shifting, and recovery manipulator unit 43 moves to the top of recovery conveyer belt pallet C3a, C4a along recovery side movable guiding rail 42。Thus, it is recovered the electronic unit T adsorbed by manipulator unit 43 to be placed on recovery conveyer belt pallet C3a, C4a。

It is fixed on the approximate centre of the X-direction of this medial surface along the conveying 31 that Y-direction extends at the medial surface of coating member 12。The 1st traverse mechanism (shuttle) 32 being arranged below extending in X direction at the both ends of this conveying 31 and the 2nd traverse mechanism 37 extended in X direction equally。

1st traverse mechanism 32 is attached on the 1st traverse mechanism guide rail 32c, 1st traverse mechanism guide rail 32c is fixedly installed on mounting surface 11a, and extend in X direction, 1st traverse mechanism 32 is slided in X direction, and overlaps with any one party in supply side movable guiding rail 22 and recovery side movable guiding rail 42 in X-direction。Supply traverse mechanism pallet 32a is fixed on above-mentioned supply mechanical hand 20 side in the 1st traverse mechanism 32, and recovery traverse mechanism pallet 32b is fixed on above-mentioned recovery mechanical hand 40 side in the 1st traverse mechanism 32。Supply traverse mechanism pallet 32a receives the multiple electronic unit T before the inspection of object conveyor, recovery traverse mechanism pallet 32b receives the multiple electronic unit T after checking。

2nd traverse mechanism 37 is also attached on the 2nd traverse mechanism guide rail 37c, 2nd traverse mechanism guide rail 37c is fixedly installed on mounting surface 11a, and extend in X direction, 2nd traverse mechanism 37 is slided in X direction, and overlaps with any one party in supply side movable guiding rail 22 and recovery side movable guiding rail 42 in the X direction。Supply traverse mechanism pallet 37a is fixed on above-mentioned supply mechanical hand 20 side in the 2nd traverse mechanism 37, it addition, recovery traverse mechanism pallet 37b is fixed on above-mentioned recovery mechanical hand 40 side in the 2nd traverse mechanism 37。Supply traverse mechanism pallet 37a receives the multiple electronic unit T before the inspection of object conveyor, it addition, recovery traverse mechanism pallet 37b receives the multiple electronic unit T after checking。

In mounting surface 11a, the substantial middle at conveying space is provided with the rectangular aperture of through mounting surface 11a, and is embedded with the inspection socket (Socket) 33 as connecting object when checking multiple electronic unit T simultaneously in this rectangular aperture。Inspection socket 33 is the socket in order to embedded electronic parts T, is attached to check on the not shown inspection unit of this electronic unit T。Inspection unit is the device separate with the separator being accommodated within base station 11, collectively forms parts with separator and checks device。

The upper surface of inspection socket 33 is concavely provided with inspection recess (pocket) 33a, this inspection recess 33a can receive multiple electronic unit T simultaneously, it addition, be concavely provided with in the bottom surface of inspection recess 33a can be chimeric with the male terminal of electronic unit T multiple female terminals。The male terminal that electronic unit T has is embedded into the female terminal of inspection recess 33a such that it is able to check the electrical characteristics of this electronic unit T。Wherein, the terminal that inspection recess 33a has is connected with inspection unit, and this inspection unit is separately mounted in base station 11, and the terminal that electronic unit T has is connected with the inspection circuit in inspection unit by the inspection recess 33a terminal having。The result of the inspection obtained by inspection socket 33 exports separator 10 from this inspection unit。

The 1st supply unit the 34 and the 2nd supply unit 38 constituting delivery section is attached on above-mentioned conveying 31 in the Y direction side by side。

1st supply unit 34, between the 1st traverse mechanism 32 and inspection are with socket 33, advance along Y-direction and returns。The bottom of the 1st supply unit 34 declines along Z-direction between conveying 31 and mounting surface 11a and rises。Then, the bottom of electronic unit T the 1st supply unit 34 being accommodated in supply traverse mechanism pallet 32a is kept by the 1st supply unit 34, and the electronic unit T of maintenance is transported to inspection socket 33, is embedded in inspection socket 33 by this electronic unit T。It addition, the electronic unit T being embedded in inspection socket 33 is taken out by the 1st supply unit 34 bottom of the 1st supply unit 34, the electronic unit T of taking-up is placed in recovery traverse mechanism pallet 32b。

2nd supply unit 38, between the 2nd traverse mechanism 37 and inspection are with socket 33, advance along Y-direction and returns。The bottom of the 2nd supply unit 38, between conveying 31 and mounting surface 11a, declines along Z-direction and rises。And, the bottom of electronic unit T the 2nd supply unit 38 being positioned on supply traverse mechanism pallet 37a is kept by the 2nd supply unit 38, the electronic unit T of maintenance is transported in inspection socket 33, this electronic unit T is embedded in inspection socket 33。It addition, the 2nd supply unit 38 takes out the electronic unit T embedded in inspection socket 33 with the bottom of the 2nd supply unit 38, the electronic unit T of taking-up is placed in recovery traverse mechanism pallet 37b。

Additionally, in mounting surface 11a, in the inspection both sides in X-direction of socket 33, be fixedly installed a pair pressurized arm mechanism 35,36 constituting compression zone。

Parts check the effect of device

In above-mentioned separator 10, first, the electronic unit T before inspection is transferred load to supply conveyer belt pallet C1a, C2a from external device (ED)。Then, the electronic unit T before driving supply conveyer belt C1, C2, order to check is moved in conveying space。If being transported in conveying space by the electronic unit T before checking, then supply side movable guiding rail 22 can move to above supply conveyer belt C1, C2 along the fixing guide rail 21 of supply side。Then supply manipulator unit 23 moves to the surface of supply conveyer belt pallet C1a, C2a, keeps electronic unit T, then supply side movable guiding rail 22 moves above the 1st traverse mechanism 32 along the fixing guide rail 21 of supply side。

Then, if supply side movable guiding rail 22 arrives above the 1st traverse mechanism 32, then supply manipulator unit 23 moves to above the 1st traverse mechanism 32, and the 1st traverse mechanism 32 is slided, and makes manipulator unit 23 be positioned at the surface of supply traverse mechanism pallet 32a。Thus, the electronic unit T before the inspection that supply manipulator unit 23 keeps from supply manipulator unit 23 transfer to supply traverse mechanism pallet 32a。

If check before electronic unit T by transfer to supply with on traverse mechanism pallet 32a, then the 1st supply unit 34 moves to above the 1st traverse mechanism 32, and the 1st traverse mechanism 32 is slided, make the lower end part of the 1st supply unit 34 in the surface of supply traverse mechanism pallet 32a。Then, the bottom of the 1st supply unit 34 declines to supply traverse mechanism pallet 32a, and the electronic unit T before transfer inspection on supply traverse mechanism pallet 32a is held in the bottom of the 1st supply unit 34。Then, the 1st supply unit 34 moves to above inspection socket 33, and the electronic unit T before inspection is transported to the surface of inspection socket 33。And then, the bottom of electronic unit T and the 1 supply unit 34 before inspection declines jointly, thus the male terminal of electronic unit T is embedded into the female terminal of inspection recess 33a。

If the electronic unit T before so checking is embedded in inspection socket 33, then for starting to check that the inspection commencing signal of electronic unit T exports inspection unit from separator 10, thus, by inspection unit, check electronic unit T。

Thereafter, if representing, electronic unit T checks that the inspection end signal terminated exports separator 10 from inspection unit, electronic unit T after then checking is when being held in the 1st supply unit 34, rising on the bottom of the 1st supply unit 34, the electronic unit T after thus checking is taken out from inspection with in socket 33。Then, the 1st supply unit 34 moves over above the 1st traverse mechanism 32 from inspection socket 33, and the 1st traverse mechanism 32 is slided, and makes the 1st supply unit 34 be positioned at the top of recovery traverse mechanism pallet 32b。And then, if the bottom of the 1st supply unit 34 declines, releasing the maintenance to electronic unit T, then the electronic unit T after checking is transferred load on recovery traverse mechanism pallet 32b from the 1st supply unit 34。

If the electronic unit T after checking is by transfer to recovery with on traverse mechanism pallet 32b, then recovery side movable guiding rail 42 moves to above the 1st traverse mechanism 32 along reclaiming the fixing guide rail 41 in side。And then, if reclaiming side movable guiding rail 42 and moving to above the 1st traverse mechanism 32, then recovery manipulator unit 43 moves to above the 1st traverse mechanism 32, and the 1st traverse mechanism 32 is slided, and makes recovery manipulator unit 43 be positioned at the surface of recovery traverse mechanism pallet 32b。Then, it is held in recovery manipulator unit 43 by the electronic unit T after the inspection in transfer to recovery traverse mechanism pallet 32b。

If the electronic unit T after checking is held in recovery manipulator unit 43, then reclaims side movable guiding rail 42 and move over above recovery conveyer belt C3, C4 from the 1st traverse mechanism 32。Then recovery manipulator unit 43 moves to the surface of recovery conveyer belt pallet C3a, C4a, and the electronic unit T after inspection, when being pressed inspection result classification, is transferred load on recovery conveyer belt pallet C3a, C4a。

Additionally, between supply mechanical hand the 20 and the 2nd traverse mechanism 37, also and identical between above-mentioned supply mechanical hand the 20 and the 1st traverse mechanism 32, transfer check before electronic unit T。It addition, between the 2nd traverse mechanism the 37 and the 2nd supply unit 38, also and identical between above-mentioned 1st traverse mechanism the 32 and the 1st supply unit 34, transfer check before electronic unit T and electronic unit T after checking。And then, in the 2nd traverse mechanism 37 and reclaim between mechanical hand 40, also and in above-mentioned 1st traverse mechanism 32 and reclaim between mechanical hand 40 identical, transfer check after electronic unit T。

The detailed composition of separator

Referring to Fig. 2, the composition of the 1st supply unit the 34 and the 2nd supply unit 38 that separator 10 is possessed is described in detail。Wherein, although the 1st supply unit the 34 and the 2nd supply unit 38, the traverse mechanism with the coupling position of conveying 31 with as mobile target is mutually different, but the composition for pressing electronic unit T is identical, therefore following description the 1st supply unit 34, omits the explanation to the 2nd supply unit 38。It addition, Fig. 2 is the end view drawing of the peripheral construction observing the 1st supply unit 34 from conveyor belt side, represent that the 1st supply unit 34 is configured at the state directly over inspection socket 33。

1st supply unit 34 and above-mentioned conveying 31 link, and the 1st supply unit 34 is in order to carry the electronic unit T before inspection。What constitute the 1st supply unit 34 moves horizontally arm 51 can link in the way of advancing along conveying 31 and return。Vertically move arm 52 relative to moving horizontally arm 51, can be attached at, in the way of rising and declining, the bottom moving horizontally arm 51。Move horizontally rotating by Medium-voltage Motor 51M in arm 51 by being arranged on, make to vertically move arm 52 and 51 rise and decline relative to moving horizontally arm。Additionally, pressure-bearing plate 52a in the Y direction, be fixedly installed on the bottom vertically moving arm 52 throughout whole width, this pressure-bearing plate 52a is the protuberance prominent to X-direction, it addition, linking towards mounting surface 11a with the bottom vertically moving arm 52 by air cylinder 53 by pressure work。Here, constitute the 1st press section by air cylinder 53, by Medium-voltage Motor 51M, vertically move arm 52 and pressure-bearing plate 52a composition the 2nd press section。And, the 1st press section and the 2nd composition press section, press section。

Not shown compression air supply unit is connected with by air cylinder 53。Compression air supply unit such as has, and is provided with the air supply system that possesses of facility that parts check device and the valve etc. of the compressed-air actuated supply controlling this air supply system。Air supply system is that relative pressure during reference pressure is such as the compression air of 0.5MPa for giving atmospheric pressure。Extend in z-direction because of compression air supply unit supply compression air by air cylinder 53, because the compression air of this supply is shunk in z-direction by aerofluxus。

Multiple adsorption sections 54 are attached at the bottom by air cylinder 53, and the plurality of adsorption section 54 is such as the end effector that can be adsorbed electronic unit T by vac sorb。Adsorption section 54 is such as made up of absorption nozzle and the vacuum pump etc. that is connected with this nozzle。

In the X-direction both sides of the inspection socket 33 of above-mentioned mounting surface 11a, across inspection socket 33, it is equipped with mutually opposing pressurized arm mechanism 35,36。Pressurized arm mechanism 35,36 have be fixedly installed on mounting surface 11a supporting mass 35a, 36a, by can be linked in the way of advancing in X direction and returning the upper surface of this supporting mass 35a, 36a by pressure arm 35b, 36b。It is and the pressure-bearing plate 52a holding section engaged that this pressure-bearing plate 52a is a part for press section by pressure arm 35b, 36b。

The arm cylinder (armcylinder) being connected to not shown compression air supply unit is attached at by pressure arm 35b, 36b。Compression air supply unit is such as with to be connected to above-mentioned be identical composition by the compression air supply unit of air cylinder 53。Then, if the 1st supply unit 34 is arranged in the surface of inspection socket 33, and supply compression air to the arm cylinder by pressure arm 35b, 36b, then close to each other in the X direction by pressure arm 35b, 36b, should be displaced on the clamped position that can be fastened on pressure-bearing plate 52a by pressure arm 35b, 36b。If it addition, from this state, the compression air in arm cylinder by aerofluxus, is then separated from each other by pressure arm 35b, 36b in the X direction, should by pressure arm 35b, 36b be displaced to on the pressure-bearing plate 52a separation point position separated。So, the structure movable by pressure arm 35b, 36b is utilized, it is possible to make to be engaged with pressure-bearing plate 52a by pressure arm 35b, 36b, or release this engaging。

The electricity composition of separator

With reference to Fig. 3, electrically constituting of above-mentioned separator 10 is illustrated。The control device 60 that above-mentioned separator 10 possesses, to have central processor (CPU), is constituted centered by the microcomputer of nonvolatile memory (ROM) and volatile memory (RAM)。Control device 60 based on the various data being stored in above-mentioned ROM and RAM and program, implement the various controls relevant to the action of separator 10。

Make conveyer belt motor MC rotate the belt-driven portion 61 driven and be connected to control device 60。The encoder EMC of the position of rotation of detection conveyer belt motor MC is connected to belt-driven portion 61。Belt-driven portion 61, based on the position of rotation from the position command with the conveyer belt motor MC from encoder EMC input that control device 60 input, generates the driving electric current of conveyer belt motor MC, and, this driving electric current is exported conveyer belt motor MC。Conveyer belt motor MC, by carrying out the rotation corresponding to above-mentioned driving electric current, drives above-mentioned conveyer belt C1～C4。Wherein, above-mentioned belt-driven portion 61 and conveyer belt motor MC are configured by each conveyer belt C1～C4, and, each conveyer belt motor MC is configured by encoder EMC。

Make guide rail motor MX rotate the movable guiding rail drive division 62 driven and be connected to control device 60。The encoder EMX of the position of rotation of detection guide rail motor MX is connected to movable guiding rail drive division 62。Movable guiding rail drive division 62, based on from the position command and the position of rotation from encoder EMX input that control device 60 input, generates the driving electric current of guide rail motor MX, and, this driving electric current is exported guide rail motor MX。Guide rail motor MX carries out the rotation corresponding to the above-mentioned driving electric current inputted, thus making above-mentioned movable guiding rail 22,42 advance along fixing guide rail 21,41 and return。Wherein, above-mentioned movable guiding rail drive division 62 and guide rail motor MX for each supply side movable guiding rail 22 and reclaim side movable guiding rail 42 and arrange, it addition, encoder EMX is configured for each guide rail motor MX。

Make traverse mechanism motor MS rotate the traverse mechanism drive division 63 driven and be connected to control device 60。The encoder EMS of the position of rotation of detection traverse mechanism motor MS is connected to traverse mechanism drive division 63。Traverse mechanism drive division 63, based on from the position command and the position of rotation from encoder EMS input that control device 60 input, generates the driving electric current of traverse mechanism motor MS, and this driving electric current is exported traverse mechanism motor MS。Traverse mechanism motor MS carries out the rotation corresponding to the above-mentioned driving electric current inputted, thus making traverse mechanism 32,37 slide along above-mentioned guide rail 32c, 37c。Wherein, above-mentioned traverse mechanism drive division 63 and traverse mechanism motor MS are configured for each 1st traverse mechanism the 32 and the 2nd traverse mechanism 37, and encoder EMS is configured for each traverse mechanism motor MS。

Control device 60 to be connected with the manipulator unit drive division 64 with mechanical hand motor driving part 64a and suction valve drive division 64b。Wherein, the encoder EMZ of the position of rotation of inspecting manipuator motor MZ is connected to mechanical hand motor driving part 64a。Mechanical hand motor driving part 64a, based on from the position command and the position of rotation from encoder EMZ input that control device 60 input, generates the driving electric current of mechanical hand motor MZ, and this driving electric current is exported mechanical hand motor MZ。Mechanical hand motor MZ carries out the rotation corresponding to the above-mentioned driving electric current inputted, thus making above-mentioned manipulator unit 23,43 rise and declining。

Suction valve drive division 64b is connected to the attraction sensor ESV1 of the burst size of the suction valve SV1 detecting the front end being arranged at manipulator unit 23,43。Suction valve drive division 64b, based on from the opening degree instruction and the burst size from attraction sensor ESV1 input that control device 60 input, generates the driving signal of suction valve SV1, and this driving signal is exported suction valve SV1。Suction valve SV1 carries out the switch of the above-mentioned driving signal corresponding to input, attracts above-mentioned electronic unit T thereby through the captivation corresponding with its burst size。Wherein, above-mentioned manipulator unit drive division 64, mechanical hand motor MZ and suction valve SV1 are configured for each of supply manipulator unit 23 and recovery manipulator unit 43, it addition, encoder EMZ, attract sensor ESV1 to be configured for each of mechanical hand motor MZ and suction valve SV1。

Supply unit drive division 65 is connected to control device 60, and this supply unit drive division 65 has conveying motor driving part 65a, constitutes the pressing motor driving part 65b of motor controling part, constitutes the pressing air cylinder driven portion 65c and suction valve drive division 65d in cylinder control portion。

Conveying motor driving part 65a is connected to the encoder EMY of the position of rotation of detection conveying motor MY。Conveying motor driving part 65a, based on from the position command and the position of rotation from encoder EMY input that control device 60 input, generates the driving electric current of conveying motor MY, and, this driving electric current is exported conveying motor MY。Conveying motor MY carries out the rotation corresponding to the above-mentioned driving electric current inputted, thus making above-mentioned supply unit 34,38 advance along above-mentioned conveying 31 and return。Wherein, above-mentioned conveying motor driving part 65a is configured for each of the 1st supply unit the 34 and the 2nd supply unit 38, it addition, encoder EMY also to the 1st supply unit the 34 and the 2nd supply unit 38, each is configured。

It is connected to the encoder E51M detected by the position of rotation of Medium-voltage Motor 51M at pressing motor driving part 65b。Pressing motor driving part 65b, based on from the position command and the position of rotation from encoder E51M input that control device 60 input, generates the driving electric current pressing Medium-voltage Motor 51M, and exports this driving electric current by Medium-voltage Motor 51M。Carry out the rotation corresponding to the above-mentioned driving electric current inputted by Medium-voltage Motor 51M, rise so that vertically moving arm 52 and decline。

Measure by the current measurement portion I51M driving current actual value of Medium-voltage Motor 51M it addition, be connected at pressing motor driving part 65b。Pressing motor driving part 65b, based on from the torque instruction and the measured value from current measurement portion I51M input that control device 60 input, generates the driving electric current pressing Medium-voltage Motor 51M, and, this driving electric current is exported by Medium-voltage Motor 51M。The rotation corresponding to the above-mentioned driving electric current inputted is carried out, thus order vertically moves arm 52 and rises and decline by Medium-voltage Motor 51M。

That is, controlling device 60 selects position control mode and torque control model as by the method driving control of Medium-voltage Motor 51M。Wherein, position control mode is to control by the driving of Medium-voltage Motor 51M according to above-mentioned position command, so that the method that the adsorption section 54 being connected to the end of above-mentioned supply unit 34,38 is positioned at assigned position。On the other hand, torque control model is to control to drive so that by by the torque method that maintains prescribed level rotating generation of Medium-voltage Motor 51M by Medium-voltage Motor 51M according to above-mentioned torque instruction。Wherein, for the 1st supply unit the 34 and the 2nd supply unit 38, each is configured above-mentioned pressing motor driving part 65b, it addition, current measurement portion I51M also for the 1st supply unit the 34 and the 2nd supply unit 38, each is configured。

Pressing air cylinder driven portion 65c, based on from controlling the driving instruction that device 60 inputs, generates in order to be supplied to by operating pressure by the driving signal of air cylinder 53, and, this respectively drive signal export by air cylinder 53。And then, by air cylinder 53 according to being used for making the driving signal of its elongation extend, thus applying press pressure on electronic unit T, and, according to being used for making the driving signal of its contraction shrink, thus electronic unit T is pressed pressure by releasing。Wherein, to the 1st supply unit the 34 and the 2nd supply unit 38, each is configured above-mentioned pressing air cylinder driven portion 65c。

The attraction sensor ESV2 of the burst size of detection suction valve SV2 it is connected at suction valve drive division 65d。Suction valve drive division 65d, based on from the opening degree instruction and the burst size from attraction sensor ESV2 input that control device 60 input, generates the driving signal of suction valve SV2, and, this driving signal is exported suction valve SV2。And then, suction valve SV2, with the captivation corresponding to its burst size, attracts above-mentioned electronic unit T。Wherein, to the 1st supply unit the 34 and the 2nd supply unit 38, each is configured suction valve drive division 65d。It addition, attract sensor ESV2 that each suction valve SV2 is configured。

Control device 60 be connected to make above-mentioned by pressure arm 35b, 36b displacement by pressure arm drive division 66。By pressure arm drive division 66 based on from the driving instruction controlling device 60 input, generating the driving signal in order to operating pressure to be supplied to arm cylinder 35s, 36s by pressure arm 35b, 36b, and, this driving signal is exported arm cylinder 35s, 36s。And then, arm cylinder 35s, 36s are according in order to make driving signal that pressurized arm 35b, 36b be subjected to displacement extend, thus order is displaced to above-mentioned clamped position by pressure arm 35b, 36b。On the other hand, arm cylinder 35s, 36s are according in order to make its driving signal shunk shrink, thus order is moved on above-mentioned separation point position by pressure arm 35b, 36b。

The effect of separator

It follows that according to above-mentioned composition, the type of drive of the electronic unit T the being transferred unit maintenance various motors when being embedded in inspection socket 33 and the type of drive of various cylinders are described with reference to Fig. 4～Figure 12。Embedded mode by the 1st supply unit 34 and the chimeric mode by the 2nd supply unit 38, the supply source of electronic unit T is different with the conveying direction of electronic unit T, but in addition all mutually the same, the therefore aforesaid way of following 1st supply unit 34 by way of example only。

Fig. 4 illustrates the position command for conveying motor MY and the action of the 1st supply unit 34 simply, and illustrates simply for by the position command of Medium-voltage Motor 51M, torque instruction and the action and the control model that vertically move arm 52。And, in Fig. 5～Figure 12, in the type of drive of the type of drive of the 1st supply unit 34 of each moment T0～T10 shown in Fig. 4 and pressurized arm mechanism 35,36, represent in the way of these planar configuration are corresponding with edge face structure。

Supply unit arranges period: T0-T1

First, as shown in Figure 4, device 60 is controlled to conveying motor driving part 65a outgoing position instruction。Now, the position command of device 60 output is controlled for the adsorption section 54 of the 1st supply unit 34 to be moved to the top of inspection socket 33 from the surface of supply traverse mechanism pallet 32a。And then, conveying motor driving part 65a produces the driving electric current of the position of rotation based on conveying motor MY and above-mentioned position command, and this driving electric current exports conveying motor MY。Thus, conveying motor MY starts to rotate to prescribed direction from moment T0, and the 1st supply unit 34 advances to inspection socket 33, until the adsorption section 54 of the 1st supply unit 34 remains electronic unit T and arrives the surface (referring to Fig. 5 (a)) of inspection socket 33。

Additionally, arrange period at above-mentioned supply unit, control device 60 to pressing motor driving part 65b outgoing position instruction, so that the bottom vertically moving arm 52 maintains uppermost position。And then, pressing motor driving part 65b generates driving electric current based on by the position of rotation of Medium-voltage Motor 51M and above-mentioned position command, exports this driving electric current by Medium-voltage Motor 51M。Thus, pressing motor driving part 65b suppresses to press the rotation of Medium-voltage Motor 51M。

And, period is set at above-mentioned supply unit, controls device 60 and pressing releasing instruction is exported pressing air cylinder driven portion 65c, so that operating pressure is not supplied to by air cylinder 53。Thus, pressing air cylinder driven portion 65c releases instruction based on pressing and generates driving signal, thus, is not supplied to by operating pressure by air cylinder 53, thus minima (referring to Fig. 5 (b)) being maintained by the elongation of air cylinder 53。

And then, as it has been described above, the bottom vertically moving arm 52 maintains uppermost position, and maintain minima by the elongation of air cylinder 53, with this, adsorption section 54 is arranged in its uppermost position。Wherein, the uppermost position of so-called adsorption section 54 be move horizontally arm 51 along conveying 31 move time, the position that adsorption section 54 and miscellaneous part will not collide。

During decline, pressing: T1-T3

If adsorption section 54 arrives the surface of inspection socket 33, then as shown in Figure 4, device 60 is controlled at moment T1 to pressing motor driving part 65b outgoing position instruction, so that the electronic unit T of adsorbed portion 54 absorption is incorporated in inspection socket 33。Now, control device 60 and export the position command under above-mentioned position control mode。And then, pressing motor driving part 65b generates driving electric current based on by the position of rotation of Medium-voltage Motor 51M and above-mentioned position command, exports this driving electric current by Medium-voltage Motor 51M。Thus, start to rotate to prescribed direction from moment T1 by Medium-voltage Motor 51M, vertically move arm 52 and decline until electronic unit T is incorporated in inspection socket 33。

And then, it being received in inspection socket 33 at moment T2, electronic unit T, be then performed continuously over the position control by Medium-voltage Motor 51M, adsorption section 54 declines further, so that the position of adsorption section 54 is positioned at assigned position。Thus, that carrys out self-pressing motor 51M is applied on electronic unit T (referring to Fig. 6 (a) (b)) by pressure。

Wherein, during above-mentioned decline, pressing, control device 60 to conveying motor driving part 65a outgoing position instruction, so that the 1st supply unit 34 maintains the position of Y-direction。And, conveying motor driving part 65a generates driving electric current based on the position of rotation of conveying motor MY with above-mentioned position command, this driving electric current exports conveying motor MY, it is suppressed that the rotation of this conveying motor MY。

During being driven by pressure arm: T3-T4

If electronic unit T is located in inspection socket 33, then as shown in Figure 4, control device 60 at moment T3, to by pressure arm drive division 66 output engaging instruction so that pressurized arm mechanism 35,36 be displaced to above-mentioned clamped position by pressure arm 35b, 36b。

And then, generated the driving signal based on above-mentioned engaging instruction by pressure arm drive division 66, this driving signal is exported arm cylinder 35s, 36s。Thus, arm cylinder 35s, 36s extend, and are displaced to clamped position (referring to Fig. 7 (a) (b)) by pressure arm 35b, 36b。

During being driven by pressure arm, control device 60 to conveying motor driving part 65a outgoing position instruction, so that the 1st supply unit 34 maintains the position of Y-direction。And then, conveying motor driving part 65a generates driving electric current based on the position of rotation of conveying motor MY with above-mentioned position command, and this driving electric current exports conveying motor MY, it is suppressed that the rotation of conveying motor MY。

And, during this is driven by pressure arm, control device 60 to pressing motor driving part 65b outgoing position instruction, so that carrying out being applied on electronic unit T by pressure Fbase of self-pressing motor 51M。And then, pressing motor driving part 65b generates driving electric current based on by the position of rotation of Medium-voltage Motor 51M and above-mentioned position command, exports this driving electric current by Medium-voltage Motor 51M, makes the position of adsorption section 54 drop to assigned position。Wherein, this is set in advance by test etc. by pressure Fbase, is the strength by electronic unit T is enough positioned inspection recess 33a place by pressure Fbase, and will not cause that electronic unit T and inspection socket 33 deform because of this by pressure Fbase。

During direct torque: T4-T5

If being displaced to clamped position by pressure arm 35b, 35b, then control device 60 as shown in Figure 4 at moment T4, export the torque instruction under torque control model to pressing motor driving part 65b。Now, control device 60 and export torque instruction, so that more than above-mentioned being applied on electronic unit T by pressure Fcon by pressure Fbase。And then, pressing motor driving part 65b generates driving electric current based on the measured value of current measurement portion I51M with torque instruction, exports this driving electric current by Medium-voltage Motor 51M。

Thus, continue to rotate to prescribed direction from moment T4 by Medium-voltage Motor 51M, by Medium-voltage Motor 51M output regulation torque, apply above-mentioned pressing power Fcon to electronic unit T, inspection socket 33 is carried out the location (referring to Fig. 8 (a)) of electronic unit T。

During above-mentioned direct torque, control device 60 to conveying motor driving part 65a outgoing position instruction, so that the 1st supply unit 34 maintains the position of Y-direction。And then, control device 60 to by pressure arm drive division 66 output engaging instruction, to maintain the elongation of arm cylinder 35s, 36s。

And then, conveying motor driving part 65a suppresses the rotation of conveying motor MY, and, the elongation of arm cylinder 35s, 36s is maintained by pressure arm drive division 66。Then, pressing motor driving part 65b is by pressure Fcon, to continue pressing electronic unit T(referring to Fig. 8 (b))。

During cylinder pressing: T5-T6

If electronic unit T is after being pressed by pressure Fcon, then as shown in Figure 4, to control device 60 at moment T5 to pressing air cylinder driven portion 65c output pressing instruction, so that supplying operating pressure to by air cylinder 53。Then, pressing air cylinder driven portion 65c generates based on pressing instruction and drives signal, and this driving signal is exported compressed-air supply system。Thus, pressing air cylinder driven portion 65c supplies operating pressure to by air cylinder 53, and, apply further by pressure Fhigh to electronic unit T。

Should be the above-mentioned power big by pressure Fbase of ratio by pressure Fhigh, and be by this pressing by pressure Fhigh, electronic unit T and the power of inspection socket 33 deformation will not be made。And then by being applied to such on electronic unit T by pressure Fhigh, make the male terminal of electronic unit T reliably electrically connect with the female terminal of inspection socket 33。

Then, if being supplied to by operating pressure by air cylinder 53, then device 60 is controlled to inspection unit output in order to start the inspection commencing signal checked。

Now, opposing is applied by the counteracting force of pressure Fhigh to the arm 52 that vertically moves of the support side of the 1st supply unit 34。Thus, vertically move arm 52 and pushed back conveying 31 side so that this pressure-bearing plate 52a with engaged by pressure arm 35b, 36b (with reference to Fig. 9 (a) (b))。

Therefore, by produce by air cylinder 53 by the counteracting force of pressure, one part acts on the 1st supply unit 34, and its remainder acts on base station 11 via pressurized arm mechanism 35,36。In other words, vertically move arm 52 and pushed back because of the elongation by air cylinder 53, by the size that the elongation of air cylinder 53 is suppressed by pressurized arm mechanism 35,36, be at least suppressed and vertically moved the degree that arm 52 is pushed back。Therefore, although being applied in electronic unit T on by pressure Fcon by pressure more than what vertically move that arm 52 produces, but what electronic unit T was subject to will not all act on the 1st supply unit 34 by whole counteracting forces of pressure, and a part for this counteracting force is distributed on base station 11。Thus, although press pressure pressing electronic unit T with desired, but the rigidity required for the 1st supply unit 34 can be born this and is sufficient to by a part for the counteracting force of pressure。Therefore, it is possible to suppress the maximization of the 1st supply unit 34 and re-quantization。

By the way, in the mode of pressurized arm mechanism 35,36 mandatory provision, according to the type of drive by Medium-voltage Motor 51M, can not changed by the elongation of air cylinder 53 at the elongation by air cylinder 53 yet。And, although be torque control model by the driving of Medium-voltage Motor 51M, but with by pressure-bearing plate 52a with the incompatible regulation of mechanical type card by pressure arm 35b, 36b by compared with the mode of pressure, its also can change by pressure electronic unit T。For this point, in aforesaid way, be set to the value of regulation because of pressure-bearing plate 52a and the engaging by pressure arm 35b, 36b by the elongation of air cylinder 53, therefore to electronic unit T to press pressure also very stable。

During above-mentioned cylinder presses, identical with during direct torque before, control device 60 to conveying motor driving part 65a outgoing position instruction, to maintain the 1st supply unit 34 position in the Y direction。And, control device 60 to by pressure arm drive division 66 output engaging instruction, to maintain the elongation of arm cylinder 35s, 36s。And then, as it has been described above, control device 60 to export torque instruction to pressing motor driving part 65b, can to press by air cylinder 53 by pressure Fcon so that pressing Medium-voltage Motor 51M。

Then, conveying motor driving part 65a suppresses the rotation of conveying motor MY, and, the elongation of arm cylinder 35s, 36s is maintained by pressure arm drive division 66。And then, pressing motor driving part 65b continues to press air cylinder 53 by pressure Fcon。

By the way, using can by implementing by least one mode in the position control of Medium-voltage Motor 51M and direct torque by Medium-voltage Motor 51M pressing electronic unit T。Here, by air cylinder 53 to press pressure more big, this is pressed the counteracting force of support side of air cylinder 53, namely to also more big by the load of Medium-voltage Motor 51M etc.。Now, press Medium-voltage Motor 51M if being driven by above-mentioned position control mode, then press the output of Medium-voltage Motor 51M less than above-mentioned counteracting force, would not achieve the goal position of rotation by the position of rotation of Medium-voltage Motor 51M。And then, continue to increase by the driving electric current of Medium-voltage Motor 51M, can give and apply excessive load by the inside of Medium-voltage Motor 51M。

For this point, above-mentioned cylinder press during, when by air cylinder 53 when being applied on electronic unit T by pressure, driven by torque control model by Medium-voltage Motor 51M。Therefore, push back even if arm 52 will be vertically moved by the elongation of air cylinder 53, as long as by the torque of Medium-voltage Motor 51M output regulation, would not at this by Medium-voltage Motor 51M applies excessive load。

During cylinder pressing releases: T6-T7

If the inspection of electronic unit T being terminated at inspection unit, then export to start to reclaim the inspection end signal of electronic unit T from inspection unit to controlling device 60。Then, control device 60 and release instruction at moment T6 to pressing air cylinder driven portion 65c output pressing as shown in Figure 4, so that shrinking by air cylinder 53。Thus, pressing air cylinder driven portion 65c based on pressing release instruction generate drive signal, release produce because of the elongation by air cylinder 53 by pressure。Thus, the counteracting force for the 1st supply unit 34 diminishes, thus the pressure-bearing plate 52a vertically moving arm 52 is also released from (with reference to Figure 10 (a) (b)) with the engaging by pressure arm 35b, 36b。

Additionally, during the pressing of above-mentioned cylinder releases, control device 60 to conveying motor driving part 65a outgoing position instruction, to maintain the 1st supply unit 34 position in the Y direction。It addition, control device 60 to by pressure arm drive division 66 output engaging instruction, to maintain the elongation of arm cylinder 35s, 36s。And then, as it has been described above, control device 60 to export torque instruction to pressing motor driving part 65b, can to press electronic unit T by pressure Fcon so that pressing Medium-voltage Motor 51M。

Then, conveying motor driving part 65a suppresses the rotation of conveying motor MY, and, the elongation of arm cylinder 35s, 36s is maintained by pressure arm drive division 66。And then, pressing motor driving part 65b is to continue pressing electronic unit T by pressure Fcon。

During position control: T7-T8

If being released from by the pressing implemented by air cylinder 53, then control device 60 as shown in Figure 4, at moment T7, to pressing motor driving part 65b outgoing position instruction。Then, pressing motor driving part 65b generates driving electric current based on by the position of rotation of Medium-voltage Motor 51M and above-mentioned position command, exports this driving electric current by Medium-voltage Motor 51M。Thus, start to rotate to prescribed direction by Medium-voltage Motor 51M, thus starting to press electronic unit T(referring to Figure 11 (a) (b) by pressure Fbase)。

During above-mentioned position control, control device 60 to conveying motor driving part 65a outgoing position instruction, to maintain the 1st supply unit 34 position in the Y direction。And, control device 60 to by pressure arm drive division 66 output engaging instruction, to maintain the elongation of arm cylinder 35s, 36s。

And then, conveying motor driving part 65a suppresses the rotation of conveying motor MY, and, the elongation of arm cylinder 35s, 36s is maintained by pressure arm drive division 66。

During being released by pressure arm: T8-T9

If being driven by position control by Medium-voltage Motor 51M, then as shown in Figure 4, controlling device 60 at moment T8, releasing instruction to by pressure arm drive division 66 output engaging, so that being returned on separation point position by pressure arm 35b, 36b。Then, being generated by pressure arm drive division 66 and release the driving signal of instruction based on engaging and export, arm cylinder 35s, 36s shrink, and are returned to separation point position (referring to Figure 12 (a) (b)) by pressure arm 35b, 36b。

It addition, during above-mentioned pressurized arm mechanism releases, control device 60 to conveying motor driving part 65a outgoing position instruction, to maintain the 1st supply unit 34 position in the Y direction。And, control device 60 to pressing motor driving part 65b outgoing position instruction, so that electronic unit T is pressed power Fbase pressing。

And then, conveying motor driving part 65a suppresses the rotation of conveying motor MY, and, pressing motor driving part 65b suppresses to press the rotation of Medium-voltage Motor 51M。

During rising: T9-T10

If being returned to separation point position by pressure arm 35b, 36b, then as shown in Figure 4, control device 60 at moment T9, to pressing motor driving part 65b outgoing position instruction, so that the bottom vertically moving arm 52 returns to uppermost position。Then, pressing motor driving part 65b generates driving electric current based on by the position of rotation of Medium-voltage Motor 51M and above-mentioned position command, exports this driving electric current by Medium-voltage Motor 51M。Thus, by Medium-voltage Motor 51M to moment T9 before opposite direction rotate, order vertically moves arm 52 and returns to uppermost position。

Then, if the bottom vertically moving arm 52 arrives uppermost position, then as shown in Figure 4, device 60 is controlled at moment T10 to conveying motor driving part 65a outgoing position instruction, so that the adsorption section 54 of the 1st supply unit 34 is configured at the surface of recovery traverse mechanism pallet 32b。Then, conveying motor driving part 65a generates driving electric current based on the position of rotation of conveying motor MY with above-mentioned position command, and this driving electric current exports conveying motor MY。Thus, conveying motor MY starts to rotate to prescribed direction from moment T10, and the 1st supply unit 34 returns to the 1st traverse mechanism, till the electronic unit T of adsorbed portion 54 absorption arrives the recovery surface with traverse mechanism pallet 32b。

As it has been described above, adopt above-mentioned embodiment, it is possible to obtain effect particularized below。

(1) by produce by air cylinder 53 by the counteracting force of pressure, one part acts on supply unit 34,38 and conveying 31, and its remainder acts on base station 11 via pressurized arm mechanism 35,36。In other words, not being all act on supply unit 34,38 by whole counteracting forces of pressure, a part for this counteracting force is distributed on base station 11。Thus, although press pressure pressing electronic unit T with desired, and the rigidity required for supply unit 34,38 only needs to bear and is sufficient to by the partial reaction power of pressure。Therefore, it is possible to suppress the maximization of supply unit 34,38 and re-quantization。

(2) pressing electronic unit T vertically move arm 52 with by air cylinder 53, pressurized arm mechanism 35,36 only be arranged on the pressure-bearing plate 52a vertically moved on arm 52 and engage。Therefore, it is possible to suppress because of making to vertically move arm 52 by pressure and pushed back by air cylinder 53。Further, it is possible to suppress be applied on electronic unit T by pressure oscillation。

(3) supply unit 34,38 have with relatively large by pressure press electronic unit T by air cylinder 53, therefore with driven by motor apply relatively large by compared with the composition of pressure, the composition of supply unit 34,38 can be simplified, and then simplify the composition of separator 10。It addition, with replace by compared with the composition of air cylinder 53 with motor, it is possible to easily increase be applied on electronic unit T by pressure。

(4) when by air cylinder 53 when being applied on electronic unit T by pressure, driven by direct torque by Medium-voltage Motor 51M。Therefore, push back even if arm 52 will be vertically moved by the elongation of air cylinder 53, as long as by the torque of Medium-voltage Motor 51M output regulation, this motor would not be applied excessive load。

(5), when applying to press pressure on electronic unit T by air cylinder 53, it is driven by direct torque by Medium-voltage Motor 51M。Therefore, excessive load will not be applied to by Medium-voltage Motor 51M, and electronic unit T is applied to press pressure also more stable。

(6) come self-pressing cylinder 53 by the reaction force acts of pressure in mutually opposing a pair by pressure arm 35b, 36b。Therefore, come with opposing self-pressing cylinder 53 by the reaction force acts of pressure compared with the mode at a place of mounting surface 11a, it is possible to expand the dispersion range of this counteracting force, and then suppress the rigidity needed for pressurized arm mechanism 35,36 and base station 11。

(7) if press the aforesaid way of multiple electronic unit T simultaneously, then inspection socket 33 can increase by nature by pressure on the whole it is applied to, thus also can naturally should increase therewith by the counteracting force of pressure。Therefore, it is suppressed that maximization and the re-quantization effect of supply unit 34,38 become apparent from。

Additionally, above-mentioned embodiment can suitably change as follows and implement。

Object conveyor is except above-mentioned electronic unit T, it is also possible to be the various parts such as optics, precision machinery parts, as long as the article being transferred and pressing。Such object conveyor also is able to obtain the effect identical with above-mentioned (1)～(7)。

Maintaining part keeps the mode of object conveyor to be not limited to the mode of above-mentioned absorption object conveyor, such as, can also be the mode holding object conveyor, as long as can keep being placed in the object conveyor of above-mentioned various pallet and the object conveyor being kept being pressed against the mode checking socket 33。The mode of such maintenance also is able to obtain the effect identical with above-mentioned (1)～(7)。

Separator 10 may not be the structure carrying simultaneously and pressing multiple electronic unit T。As long as at least have the state carrying multiple electronic unit T simultaneously, and press the state of multiple electronic unit T simultaneously。Adopt this composition, there is the state increased by pressure applied on whole inspection socket 33, therefore there is this state also increased therewith by the counteracting force of pressure。Therefore, it is suppressed that maximize and the re-quantization effect of supply unit 34,38 will be apparent from。

The number of the object conveyor of one supply unit conveying can also be one。Such composition also is able to obtain the effect identical with above-mentioned (1)～(6)。

Can also being the composition of pressure-bearing plate 52a and one pressurized arm mechanism engaging, such composition also can obtain and above-mentioned (1)～(5), the effect that (7) are identical, it addition, the quantity of pressurized arm mechanism is few, it is possible to simplifies the composition of separator 10。

Can also be adopted as the 1st press section by air cylinder 53 when electronic unit T is applied by pressure, apply this by while pressure, what constitute the 2nd press section presses Medium-voltage Motor 51M with the powered composition of torque control model。Such composition also is able to obtain and above-mentioned (1)～(4), (6), the effect that (7) are identical, and can press the air cylinder 53 powered moment and by Medium-voltage Motor 51M with the powered timing synchronization of torque control model with shared control signals order。The air cylinder 53 powered moment is pressed and by Medium-voltage Motor 51M with the torque control model powered moment thus, it is possible to easily integrate。

Can also adopt by air cylinder 53 to electronic unit T apply by pressure time, pressed the mode of Medium-voltage Motor 51M by position control driving。Such composition also can obtain and above-mentioned (1)～(3), the effect that (5)～(7) are identical, and, can omit in order to measure by the current measurement portion I51M driving electric current of Medium-voltage Motor 51M。

It is not limited to supply the compressed-air actuated composition of authorized pressure via valve by air cylinder, it is also possible to be for the composition giving the air that authorized pressure compresses by electric-gas pressure regulator valve。It addition, be not limited to give the cylinder of operating pressure by compressing air by air cylinder, it is also possible to be the hydraulic cylinder being given operating pressure by oil pressure。

The composition of supply unit 34,38 can also be have the pressing motor different from by Medium-voltage Motor 51M to replace by air cylinder 53, and such composition also is able to obtain the effect identical with above-mentioned (1), (2), (6), (7)。

The composition of supply unit 34,38 can also be only by pressing object conveyor by air cylinder 53。Such composition also is able to obtain the effect identical with above-mentioned (1), (2), (6), (7)。

Supply unit 34,38 can not also have by air cylinder 53, only by implementing the pressing to object conveyor by Medium-voltage Motor 51M。Such composition also is able to obtain the effect identical with above-mentioned (1), (2), (6), (7), and, the composition of supply unit can be simplified。

The pressure-bearing plate 52a engaged with by pressure arm 35b, 36b is not limited to be arranged at the lower end vertically moving arm 52, it is also possible to be arranged at than vertically moving the lower end of arm 52 closer to moving horizontally arm 51 side。

Can also adopt pressure-bearing plate is arranged on vertically move arm with by air cylinder, and the composition that pressurized arm mechanism 35,36 engages with this both sides' pressure-bearing plate。Such composition can also obtain the effect identical with above-mentioned (1), (3)～(7), because by Medium-voltage Motor 51M and the size by the produced quantity that can be born this pressure-bearing plate by the counteracting force of pressure more reliably by pressurized arm mechanism 35,36 of air cylinder 53。

Can also adopting to possess by air cylinder and be attached at cylinder main body and the plunger on adsorption section, pressure-bearing plate is arranged on the composition on cylinder main body。Such composition also can obtain the effect identical with above-mentioned (1), (3)～(7)。

Can also by the mechanism beyond arm cylinder 35s, 36s by pressure arm 35b, 36b, for instance drive with other mechanisms such as motor-driven mechanisms。

Can also adopt and be fixed on supporting mass 35a, 36a by pressure arm 35b, 36b at its clamped position, between by pressure arm 35b, 36b and inspection with socket 33, the composition that can make the pressure-bearing plate 52a gap moved along Y-direction is set。Adopt such composition, fixed by the lower section of pressure arm 35b, 36b, carry out moving into and taking out of of the electronic unit T to inspection socket 33, and, be pressed the pressure-bearing plate 52a that the counteracting force of power pushes back and engage with by pressure arm 35b, 36b。It addition, because the mechanism movably required by pressure arm 35b, 36b can be omitted, the composition by pressure arm 35b, 36b therefore can be simplified。

The composition of following action can also be by by pressure arm 35b, 36b and pressure-bearing plate 52a。That is, pressure-bearing plate 52a is from Y-direction to being moved by the gap between pressure arm 35b, 36b and inspection socket 33 on clamped position。Then, pressure-bearing plate 52a with engaged by pressure arm 35b, 36b after, be displaced on separation point position by pressure arm 35b, 36b。And then, pressure-bearing plate 52a moves along Z-direction。

Adopt such action, the 1st supply unit 34 when pressing electronic unit T, it is possible to save the period being moved on clamped position by pressure arm 35b, 36b that order is positioned on separation point position, i.e. the period from above-mentioned moment T3 to moment T4。Additionally, be subject to pressure arm 35b, 36b of being displaced on separation point position can be displaced to clamped position at any time。

The composition of following action can also be by by pressure arm 35b, 36b and pressure-bearing plate 52a。That is, pressure-bearing plate 52a moves between pressure arm 35b, 36b from Z-direction to being positioned at being subject to separation point position, is moved to clamped position by pressure arm 35b, 36b。Then, pressure-bearing plate 52a with engaged by pressure arm 35b, 36b after, pressure-bearing plate 52a moves from by the gap between pressure arm 35b, 36b and inspection socket 33 to Y-direction, thus release and the engaging by pressure arm 35b, 36b。

According to such action, when being pressed electronic unit T by the 1st supply unit 34, it is possible to save the period being moved on separation point position by pressure arm 35b, 36b that order is displaced on clamped position, i.e. save the period of above-mentioned moment T8 to moment T9。It addition, be displaced to can being displaced on separation point position by pressure arm 35b, 36b of clamped position in any time after pressure-bearing plate 52a releases。

A part for press section can also be movable composition, in order to engage with the holding section of the compression zone fixed, alternatively, it is also possible to be that movable composition is to release the engaging with holding section。

Compression zone may be embodied as by the suppression press section composition to a side shifting in opposite direction with pressing that rubs contacting generation with press section。And then, the contact site of compression zone and press section also can in the lower end of press section。Now, it is also possible to be that recess is set on press section, and the structure of protuberance is set on compression zone, or protuberance is set on press section, and the structure of recess is set on compression zone。The friction produced between these recess and protuberances can suppress the movement of press section largely。As long as compression zone can engage produced counteracting force when press section is pressed object conveyor and push back。

Above-mentioned employing be by air cylinder 53 by pressure more than by Medium-voltage Motor 51M by the composition of pressure, it is also possible to be by Medium-voltage Motor 51M by pressure more than by air cylinder 53 by pressure constitute or by Medium-voltage Motor 51M by pressure and the composition equal by pressure by air cylinder 53。

Separator 10 has the pressurized arm mechanism 35,36 bearing counteracting force when electronic unit T is embedded in inspection socket 33 by the 1st supply unit 34。But being not limited to this situation, separator 10 can also have the pressurized arm mechanism of the counteracting force bearing the 1st supply unit 34 when supply traverse mechanism pallet 32a, recovery traverse mechanism pallet 37b or conveyer belt pallet C1a, C2a, C3a, C4a etc. press electronic unit T。

Can also is that by Medium-voltage Motor 51M by pressure more than by air cylinder 53 by pressure constitute or by Medium-voltage Motor 51M by pressure and the composition equal by pressure by air cylinder 53。

Set forth above supply side movable guiding rail 22 and moved relative to the fixing guide rail 21 of the supply side fixed, and, reclaim side movable guiding rail 42 and reclaimed, relative to what fix, the mode that the fixing guide rail 41 in side moves but it also may adopt the composition that the movable guiding rail that both can move relative to the single fixing guide rail fixed is set。Now, it is preferable that fixing guide rail in above-mentioned coating member 12, with the upper surface of base station 11 extends in X direction abreast, formed throughout the substantially full duration of X-direction of base station 11。Additionally, it is preferred that 2 movable guiding rails are in coating member 12, be arranged on opposition side across above-mentioned conveying 31。

The number of units of the supply unit that separator 10 has is not limited to 2, and 1 or 3 can also。

The electronic unit T being accommodated in supply traverse mechanism pallet 32a can also be adopted to be transported to inspection socket 33 and the mode that the electronic unit T being accommodated in inspection socket 33 is pressed by the 2nd supply unit 38 by the 1st supply unit 34。As long as conveying object conveyor, and press the mode of this object conveyor。

Separator is not limited to check that the parts of object conveyor check device, as long as be used to the device of conveying and the pressing implementing object conveyor。

Description of reference numerals:

10 ... separator, 11 ... base station, 11a ... mounting surface, 12 ... coating member, 20 ... supply mechanical hand, 21 ... supply side fixes guide rail, 22 ... supply side movable guiding rail, 23 ... supply manipulator unit, 31 ... conveying, 32 ... the 1st traverse mechanism, 32a, 37a ... traverse mechanism pallet, 32b are used in supply, 37b ... reclaim and use traverse mechanism pallet, 32c ... the 1st traverse mechanism guide rail, 33 ... inspection socket, 33a ... inspection recess, 34 ... the 1st supply unit, 35, 36 ... pressurized arm mechanism, 35a, 36a ... supporting mass, 35b, 36b ... by pressure arm, 35s, 36s ... arm cylinder, 37 ... the 2nd traverse mechanism, 37c ... the 1st traverse mechanism guide rail, 38 ... the 2nd supply unit, 40 ... reclaim mechanical hand, 41 ... reclaim the fixing guide rail in side, 42 ... reclaim side movable guiding rail, 43 ... recovery manipulator unit, 51 ... move horizontally arm, 51M ... by Medium-voltage Motor, 52 ... vertically move arm, 52a ... pressure-bearing plate, 53 ... by air cylinder, 54 ... adsorption section, 60 ... control device, 61 ... belt-driven portion, 62 ... guide rail drive division, 63 ... traverse mechanism drive division, 64 ... manipulator unit drive division, 64a ... mechanical hand motor driving part, 64b ... suction valve drive division, 65 ... supply unit drive division, 65a ... conveying motor driving part, 65b ... pressing motor driving part, 65c ... pressing air cylinder driven portion, 65d ... suction valve drive division, 66 ... by pressure arm drive division, C1, C2, C3, C4 ... conveyer belt, C1a, C2a, C3a, C4a ... conveyer belt pallet, E51M, EMC, EMS, EMX, EMY, EMZ ... encoder, ESV1, ESV2 ... attract sensor, MC ... conveyer belt motor, MS ... traverse mechanism motor, MX ... guide rail motor, MY ... conveying motor, MZ ... mechanical hand motor, SV1, SV2 ... suction valve, T ... electronic unit。

Claims (9)

1. a separator, it is characterised in that possess:

Base station；

Delivery section, object conveyor is carried by this delivery section；And

Compression zone, possesses this compression zone on above-mentioned base station,

Being provided with press section in above-mentioned delivery section, above-mentioned object conveyor is pressed by this press section to above-mentioned base station,

Being provided with abutting part on above-mentioned compression zone, this abutting part abuts with above-mentioned press section,

Above-mentioned abutting part abuts in the pressing direction of this press section with above-mentioned press section。

2. separator according to claim 1, it is characterised in that

Above-mentioned press section possesses:

1st press section, above-mentioned object conveyor is pressed by the 1st press section to above-mentioned base station；And

2nd press section, above-mentioned 1st press section is pressed by the 2nd press section to above-mentioned base station,

The above-mentioned abutting part of above-mentioned compression zone can move to the direction abutted with the protuberance being arranged at above-mentioned 2nd press section。

3. separator according to claim 2, it is characterised in that

Above-mentioned press section possesses:

1st press section, above-mentioned object conveyor is pressed by the 1st press section to above-mentioned base station；And

2nd press section, above-mentioned 1st press section is pressed by the 2nd press section to above-mentioned base station,

The above-mentioned abutting part of above-mentioned compression zone can be arranged at the ledge of above-mentioned 2nd press section from direction move。

4. separator according to claim 3, it is characterised in that

Above-mentioned 1st press section is by air cylinder,

Above-mentioned 2nd press section comprises makes the above-mentioned motor rising by air cylinder and declining,

Above-mentioned 1st press section press pressure more than above-mentioned 2nd press section by pressure。

5. separator according to claim 4, it is characterised in that

Possess the motor controling part of the driving controlling above-mentioned motor,

Above-mentioned motor controling part when above-mentioned by air cylinder press above-mentioned object conveyor, drive above-mentioned motor by direct torque。

6. the separator according to claim 4 or 5, it is characterised in that

Possess the motor controling part of the driving controlling above-mentioned motor,

Above-mentioned motor controling part presses before above-mentioned object conveyor by air cylinder above-mentioned, drives above-mentioned motor by direct torque。

7. separator as claimed in any of claims 2 to 5, it is characterised in that

Above-mentioned abutting part is a pair mutually opposing moveable arm,

Above-mentioned a pair moveable arm the position abutted with above-mentioned protuberance and and above-mentioned ledge from position between displacement。

8. separator as claimed in any of claims 1 to 5, it is characterised in that

Above-mentioned delivery section has the state adsorbing multiple above-mentioned object conveyors,

Above-mentioned press section has the state pressing multiple above-mentioned object conveyors。

9. parts check device, it is characterised in that possess:

Base station；

Delivery section, these delivery section conveying electronic parts；

Compression zone, this compression zone is attached on above-mentioned base station；And

Inspection socket, this inspection socket is arranged on above-mentioned base station,

Being provided with press section in above-mentioned delivery section, above-mentioned electronic unit is pressed by this press section to the above-mentioned inspection socket of above-mentioned base station,

Being provided with abutting part on above-mentioned compression zone, this abutting part abuts with above-mentioned press section,

Above-mentioned abutting part abuts in the pressing direction of this press section with above-mentioned press section。