JP2013103807A - Workpiece transfer device - Google Patents

Workpiece transfer device Download PDF

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JP2013103807A
JP2013103807A JP2011249216A JP2011249216A JP2013103807A JP 2013103807 A JP2013103807 A JP 2013103807A JP 2011249216 A JP2011249216 A JP 2011249216A JP 2011249216 A JP2011249216 A JP 2011249216A JP 2013103807 A JP2013103807 A JP 2013103807A
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workpiece
suction head
stop mechanism
air cylinder
conveyor
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Sumio Fujita
純男 藤田
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Nippon Steel and Sumikin Electronics Devices Inc
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Nippon Steel and Sumikin Electronics Devices Inc
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Abstract

PROBLEM TO BE SOLVED: To provide an inexpensive workpiece transfer device allowing simple setting adjustment capable of sucking and transferring sequentially workpieces in a stacked state varying in height.SOLUTION: The workpiece transfer device 10 dropping the workpieces 12 to be laid includes an adsorption head descending abutting stop mechanism 18, and an adsorption head descending adjacent part stop mechanism 19, the abutting stop mechanism includes a shock absorber 20, a support plate 21, and a transmission type sensor, and comprises a mechanism for stopping electrification to a solenoid of a solenoid valve 23 of an air cylinder 16 based on a signal detected by the sensor, the adjacent part stop mechanism includes a rising end switch 24 and a descending end switch 25, in the air cylinder, and comprises a mechanism for releasing the stop by the electrification and the adsorption at the same time, the rising end switch 24 is started during an operation of the abutting stop mechanism to stop the descending end switch 25, and the electrification for the rising end and descending end switches 24, 25 is started during an operation of the adjacent part stop mechanism to absorb the workpiece 12, and to be laid at a movable prescribed position.

Description

本発明は、装置内に組み込んで様々な電子装置として機能させる半導体素子等を搭載させるための焼成済のセラミック配線基板や、セラミック基板に銅板を貼り合わせたＤＣＢ（ダイレクト・カッパー・ボンド）基板等の様々なワークを作製するために用いられるワーク移載装置に関する。   The present invention relates to a fired ceramic wiring board for mounting semiconductor elements or the like that are incorporated in the apparatus and function as various electronic devices, a DCB (direct copper bond) board in which a copper plate is bonded to a ceramic board, and the like. The present invention relates to a workpiece transfer apparatus used for manufacturing various workpieces.

従来から、セラミック配線基板や、セラミック基板に銅板を貼り合わせたＤＣＢ基板等のようなワークは、様々な部材を用いて作製する作製工程が複雑で工程中に様々な製造ライン間の移載が必要となっている。また、それぞれの製造ラインにおける作製のためにかかる時間は、工程毎で異なるためそれぞれの時間に合わせたラインへの移載が必要となり、様々な制御システムが必要となっている。更には、このセラミック配線基板や、ＤＣＢ基板等のワークの移載は、ワークの形態がセラミックグリーンシートを焼成した焼成済の基板を基本としているので、基板に反り等が発生することとなり、段積みにされたそれぞれの基板を正確に認識しての移載が必要となっている。そして、このセラミック配線基板や、ＤＣＢ基板等のワークの移載では、段積みにされた基板を、ベルトコンベアのような動くテーブル上に複数枚が重ならないように一枚毎移載させることが必要な工程を有している。   Conventionally, a work such as a ceramic wiring board or a DCB board in which a copper plate is bonded to a ceramic board has a complicated production process using various members, and transfer between various production lines can be performed during the process. It is necessary. In addition, since the time required for production in each production line varies depending on the process, it is necessary to transfer to the line in accordance with each time, and various control systems are necessary. Furthermore, since the transfer of the work such as the ceramic wiring board or the DCB board is based on the fired board obtained by firing the ceramic green sheet, the board is warped and the like. It is necessary to accurately transfer each stacked substrate. In transferring the work such as the ceramic wiring board and the DCB board, the stacked boards may be transferred one by one so that a plurality of boards do not overlap on a moving table such as a belt conveyor. It has the necessary steps.

図５（Ａ）、（Ｂ）を参照しながら、上記のような背景における従来のワーク移載装置を説明する。ここで、図５（Ａ）は、従来のワーク移載装置の正面図と側面図であり、図５（Ｂ）は、従来のワーク移載装置のワークの移載状態の説明図である。
図５（Ａ）、（Ｂ）に示すように、従来のワーク移載装置５０は、移載を開始させる位置に段積みにされたワーク５１を供給するまでのワーク供給ユニット５２と、供給されたワーク５１のそれぞれを移載先に搬送して載置するまでのワーク移載ユニット５３とで構成されている。上記のワーク供給ユニット５２は、段積みにされたワーク５１を所定位置に送り出すためのコンベヤ５４と、送り出されてきた段積みにされたワーク５１を収納するためのコ字状に３方を囲うようにしたワーク供給部５５と、ワーク供給部５５に段積み状にセットされたワーク５１を下方から上方に持ち上げるためのリフター５６と、ワーク供給部５５の上方の所定の位置にリフター５６で持ち上げられてくる段積みにされた最上段の位置にあるワーク５１の存在を認識するための上昇端センサ５７とを有し、段積みにされたワーク５１の最上段の位置にあるワーク５１を上昇端センサ５７で決められた所定の位置に順次持ち上げるようにしている。また、上記のワーク移載ユニット５３は、ワーク供給部５５に設ける上昇端センサ５７で認識された所定の位置で停止している最上段のワーク５１を上方から所定位置まで下降させて吸着把持するためのワーク吸着部５８と、ワーク吸着部５８を上昇、又は下降させると共に、移載先まで水平方向に延設させるシャフト５９を介して横方向にスライドさせるための駆動部６０とを有し、段積みにされた最上段の位置にあるワーク５１を順次移載先の駆動中のベルトコンベヤ６１上にワーク５１同士が重ならないようにして、順次載置するようにしている。 With reference to FIGS. 5A and 5B, a conventional workpiece transfer apparatus in the background as described above will be described. Here, FIG. 5A is a front view and a side view of a conventional workpiece transfer device, and FIG. 5B is an explanatory diagram of a workpiece transfer state of the conventional workpiece transfer device.
As shown in FIGS. 5A and 5B, the conventional workpiece transfer apparatus 50 is supplied with a workpiece supply unit 52 until the workpieces 51 stacked in a position to start transfer are supplied. The workpiece transfer unit 53 is configured to transport and place each of the workpieces 51 to the transfer destination. The workpiece supply unit 52 surrounds the conveyor 54 for feeding the stacked workpieces 51 to a predetermined position and the U-shape for storing the stacked workpieces 51 that have been sent out. The workpiece supply unit 55 configured as described above, the lifter 56 for lifting the workpieces 51 set in a stacked manner on the workpiece supply unit 55 from below to the upper side, and the lifter 56 lifts the workpiece 51 to a predetermined position above the workpiece supply unit 55. And an ascending end sensor 57 for recognizing the presence of the workpiece 51 at the uppermost stacked position, and lifts the workpiece 51 at the uppermost position of the stacked workpieces 51. The sensor is sequentially lifted to a predetermined position determined by the end sensor 57. Further, the workpiece transfer unit 53 lowers and holds the uppermost workpiece 51 stopped at a predetermined position recognized by the rising end sensor 57 provided in the workpiece supply unit 55 from above to a predetermined position. A workpiece suction portion 58 for driving and a drive portion 60 for moving the workpiece suction portion 58 upward or downward and sliding it laterally through a shaft 59 extending horizontally to the transfer destination, The workpieces 51 in the uppermost stacked position are sequentially placed on the belt conveyor 61 that is driving the transfer destination so that the workpieces 51 do not overlap each other.

しかしながら、上記のような従来のワーク移載装置は、ワーク移載ユニットのリフターと、上昇端センサを用い、リフターで上昇させ、上昇端センサで位置決めされた位置のワークを、ワーク移載ユニットのワーク吸着部で吸着して移載する機構であり、移載にリフターを用いているので、装置が複雑となり、しかも装置自体が高価となり、製品のコストアップとなっている。また、上記のような従来のワーク移載装置では、セラミック配線基板や、ＤＣＢ基板等のようなワークに反りがあり、段積み状にセットされた上方側のワークに行くにつれて反りの程度が倍加され平行度がわるくなって、上昇端センサでの検知ができない場合が発生している。更に、上記のような従来のワーク移載装置では、ワークを上昇端センサで検知できたとしても、ワーク自体が反りによって平行度がわるく、下降の距離を予め設定しているワーク吸着部の吸着パッドと、ワーク上面との間に当接漏れの部分が発生し、そこから空気が漏れてワークの吸着ができない場合が発生している。   However, the conventional workpiece transfer device as described above uses the lifter of the workpiece transfer unit and the rising end sensor, lifts the lifter, and moves the workpiece positioned at the rising end sensor to the workpiece transfer unit. This is a mechanism for transferring by suction at the work suction part. Since a lifter is used for transfer, the apparatus becomes complicated, the apparatus itself is expensive, and the cost of the product is increased. Further, in the conventional workpiece transfer apparatus as described above, there is a warp in the work such as a ceramic wiring board or a DCB board, and the degree of the warpage is doubled as it goes to the upper work set in a stacked form. In some cases, the parallelism becomes poor and the rising edge sensor cannot be detected. Further, in the conventional workpiece transfer apparatus as described above, even if the workpiece can be detected by the rising edge sensor, the workpiece itself has a parallelism due to warpage, and the workpiece adsorption unit that sets the lowering distance in advance is attracted. A portion of contact leakage occurs between the pad and the upper surface of the workpiece, and there is a case where air cannot leak and the workpiece cannot be adsorbed.

そこで、ワーク移載装置には、部品移載装置という発明の名称のもとに、吸着ノズルを有しかつ吸着ノズルを昇降させる吸着ヘッドと、複数の吸着ヘッドを支持するヘッドユニットと、ヘッドユニットを部品供給部の上方から部品載置部の上方に移動させる移動装置とを備えた部品移載装置において、吸着ノズルは、筒状に形成され吸着ヘッドの下端部に取り付けられる本体と、電子部品と接触する吸着面を有し、本体の中空部内に昇降自在かつ上下方向の軸線回りの回動が規制された状態で挿入された吸着部材と、この吸着部材の下降方向における最下端の位置を規制する下端位置規制手段と、吸着部材を下方と回転方向とに付勢するコイルばねとを備えた電子部品吸着ノズルにおいて、吸着部材にコイルばねの下端部を支承する受け部を設け、コイルばねを本体を巻回するように受け部と本体との間に弾装した電子部品吸着ノズルで構成されているのが提案されている（例えば、特許文献１参照）。
この提案によれば、部品移載装置は、電子部品の高さが所定の高さより高くなったとしても、衝撃を確実に緩和することができる電子部品吸着ノズルで電子部品を吸着して移載させることができるとしている。 Therefore, the workpiece transfer device includes a suction head that has a suction nozzle and moves the suction nozzle up and down, a head unit that supports a plurality of suction heads, and a head unit under the name of the invention of a component transfer device. In the component transfer device including the moving device that moves the component supply unit from the component supply unit to the component placement unit, the suction nozzle is formed in a cylindrical shape and attached to the lower end of the suction head, and the electronic component A suction member inserted into the hollow portion of the main body in a state where it can be moved up and down and the rotation about the vertical axis is restricted, and the position of the lowest end in the lowering direction of the suction member An electronic component suction nozzle comprising a lower end position regulating means for regulating and a coil spring for biasing the suction member downward and in a rotation direction, wherein a receiving portion for supporting the lower end portion of the coil spring on the suction member is provided. Only, the coil spring is constituted by an electronic component suction nozzles elastically interposed between the receiving portion and the main body so as to wind the main body has been proposed (e.g., see Patent Document 1).
According to this proposal, even if the height of the electronic component is higher than the predetermined height, the component transfer device sucks and transfers the electronic component with the electronic component suction nozzle that can surely reduce the impact. It can be made to.

特開２００６−３１０５４８号公報JP 2006-310548 A

しかしながら、前述したような従来のワーク移載装置は、次のような問題がある。
（１）特開２００６−３１０５４８号公報で開示されるようなワーク移載装置は、略所定の高さ位置に置かれたワークを上方からワークに衝撃を与えることなく吸着するものであり、段積み状態のワークを最上段から吸着させて移載し、段積み状態の吸着されるワークの位置が順次下がっていくような場合には、いずれワークを吸着できなくなる位置が発生することとなり、このワーク移載装置での移載ができなくなる。
（２）また、特開２００６−３１０５４８号公報で開示されるようなワーク移載装置は、リフターを用いて、ワークが吸着される位置を順次変化させる場合には、装置が複雑化し、装置の設定調整が難しくなる上に、装置自体が高価となって、この装置を用いた製品のコストアップを引き起こすこととなっている。
本発明は、このような事情に鑑みてなされたものであって、高さが変動する段積み状態のワークを上方から下降して最上段のワークから順次吸着し移載することができる設定調整が簡単で、安価なワーク移載装置を提供することを目的とする。 However, the conventional workpiece transfer apparatus as described above has the following problems.
(1) A workpiece transfer apparatus as disclosed in Japanese Patent Application Laid-Open No. 2006-310548 adsorbs a workpiece placed at a substantially predetermined height position without giving an impact to the workpiece from above. If the stacked workpieces are picked up from the uppermost stage and transferred, and the positions of the stacked workpieces to be picked up gradually, there will be a position where the workpiece cannot be picked up. It becomes impossible to transfer with the workpiece transfer device.
(2) In addition, a workpiece transfer device as disclosed in Japanese Patent Application Laid-Open No. 2006-310548 is complicated when the position where the workpiece is sucked is changed sequentially using a lifter. Setting adjustment becomes difficult, and the device itself is expensive, which causes an increase in the cost of products using this device.
The present invention has been made in view of such circumstances, and is a setting adjustment capable of lowering a stacked workpiece having a variable height from above and sequentially sucking and transferring the workpiece from the uppermost workpiece. It is an object to provide a workpiece transfer device that is simple and inexpensive.

前記目的に沿う本発明に係るワーク移載装置は、間歇的に可動する第１のコンベヤ上に複数枚を重ね合わせ段積み状態にして載置するワークを所定位置に移動させ、複数枚の上方側から一枚毎吸着し、吸着した状態で上方に上昇させた後、水平方向に設けられるガイド棒を介して横方向にスライドさせる駆動体で水平移動させ、連続的に可動する第２のコンベヤ上の近接部まで下降させて第２のコンベヤ上に落下載置させるのを繰り返して複数枚のワークを順次移載するワーク移載装置であって、ワーク移載装置は、駆動体で縦方向に保持され無段階的に下降するエアシリンダを介して、第１のコンベヤ上に載置するワークに吸着ヘッドが当接して停止しワークを吸着する吸着ヘッド下降当接停止機構と、エアシリンダを介して下降する吸着ヘッドで吸着したワークを第２のコンベヤに当接する前の近接部で停止しワークの吸着を解除する吸着ヘッド下降近接部停止機構を有し、吸着ヘッド下降当接停止機構は、先端に取り付ける吸着ヘッドがワークと当接してワークにかかる衝撃を緩衝させる緩衝器と、緩衝器の中央部を挟持し頂部を上面に突出させて保持しエアシリンダを介して下降又は上昇させる支持板と、支持板上に取り付けられて緩衝器の頂部の動きを検知する透過型センサを備え、吸着ヘッドのワークへの当接での緩衝器の頂部の透過形センサによる検知で出力する信号で、吸着ヘッドの下降や、上昇のためのエアシリンダの動きを制御している電磁弁のソレノイドへの通電を止めるようなプログラムで行われる機構からなると共に、吸着ヘッド下降近接部停止機構は、駆動体で縦方向に保持され先端部で支持板を支持するエアシリンダに、吸着ヘッドの先端が第１のコンベヤ上に段積み状態で載置する最上段のワークより高くなる所定の上昇端位置でエアシリンダが停止できる上昇端スイッチと、第２のコンベヤ上にワークが当接する前の落下させる所定の下降端位置でエアシリンダが停止できる下降端スイッチを備え、下降端スイッチの通電によるエアシリンダの停止と同時に吸着ヘッドの吸引を解除する機構からなり、吸着ヘッド下降当接停止機構の作動中は、上昇端スイッチの通電を起動させた状態で下降端スイッチの通電を停止し、吸着ヘッド下降近接部停止機構の作動中は、上昇端スイッチ及び下降端スイッチの通電を起動させ、段積み状態のそれぞれの高さ位置が異なるワークへの衝撃を緩衝させて吸着すると共に、可動する所定位置にワークを接触させることなく載置する。   The workpiece transfer device according to the present invention that meets the above-mentioned object moves a workpiece to be placed in a stacked state on a first conveyor that is intermittently movable, and moves the workpiece to a predetermined position. A second conveyor that is moved continuously by a drive body that is sucked one by one from the side, raised upward in the sucked state, and then horizontally slid through a guide rod provided in the horizontal direction. A workpiece transfer device for transferring a plurality of workpieces sequentially by repeatedly descending to the upper proximity portion and dropping and placing on the second conveyor. The workpiece transfer device is driven in the vertical direction A suction head lowering contact stop mechanism in which the suction head comes into contact with and stops the work placed on the first conveyor through the air cylinder held in a stepless manner, and the air cylinder Adsorption descending through A suction head lowering proximity stop mechanism that stops the workpiece sucked by the head at the proximity portion before coming into contact with the second conveyor and releases the suction of the workpiece is attached to the tip. A shock absorber that abuts against the workpiece when the suction head abuts against the workpiece, a support plate that holds the central portion of the shock absorber, holds the top portion protruding from the upper surface, and lowers or rises via the air cylinder; It is equipped with a transmission type sensor that is mounted on the plate and detects the movement of the top of the shock absorber, and is a signal that is output by detection by the transmission type sensor at the top of the shock absorber when the suction head is in contact with the workpiece. It consists of a mechanism that is implemented by a program that stops energization of the solenoid of the solenoid valve that controls the movement of the air cylinder for lowering and raising, and the suction head lowering proximity stop mechanism is A predetermined rising end position where the tip of the suction head is higher than the uppermost workpiece placed in a stacked state on the first conveyor in the air cylinder held in the vertical direction by the driving body and supporting the support plate at the tip. The air cylinder can be stopped by a rising end switch, and a lower end switch that can stop the air cylinder at a predetermined lower end position where the workpiece is dropped before contacting the work on the second conveyor. When the suction head descending contact stop mechanism is in operation, the energization of the lower end switch is stopped while the suction head lowering contact stop mechanism is activated, and the suction head is lowered. During the operation of the proximity stop mechanism, the energization of the rising end switch and the lowering end switch is activated, and shocks to workpieces with different height positions in the stacked state are buffered. The workpiece is placed without being brought into contact with the movable predetermined position.

上記のワーク移載装置は、間歇的に可動する第１のコンベヤ上に複数枚を重ね合わせ段積み状態にして載置するワークを所定位置に移動させ、複数枚の上方側から一枚毎吸着し、吸着した状態で上方に上昇させた後、水平方向に設けられるガイド棒を介して横方向にスライドさせる駆動体で水平移動させ、連続的に可動する第２のコンベヤ上の近接部まで下降させて第２のコンベヤ上に落下載置させるのを繰り返して複数枚のワークを順次移載するワーク移載装置であって、ワーク移載装置は、駆動体で縦方向に保持され無段階的に下降するエアシリンダを介して、第１のコンベヤ上に載置するワークに吸着ヘッドが当接して停止しワークを吸着する吸着ヘッド下降当接停止機構と、エアシリンダを介して下降する吸着ヘッドで吸着したワークを第２のコンベヤに当接する前の近接部で停止しワークの吸着を解除する吸着ヘッド下降近接部停止機構を有し、吸着ヘッド下降当接停止機構は、先端に取り付ける吸着ヘッドがワークと当接してワークにかかる衝撃を緩衝させる緩衝器と、緩衝器の中央部を挟持し頂部を上面に突出させて保持しエアシリンダを介して下降又は上昇させる支持板と、支持板上に取り付けられて緩衝器の頂部の動きを検知する透過型センサを備え、吸着ヘッドのワークへの当接での緩衝器の頂部の透過形センサによる検知で出力する信号で、吸着ヘッドの下降や、上昇のためのエアシリンダの動きを制御している電磁弁のソレノイドへの通電を止めるようなプログラムで行われる機構からなると共に、吸着ヘッド下降近接部停止機構は、駆動体で縦方向に保持され先端部で支持板を支持するエアシリンダに、吸着ヘッドの先端が第１のコンベヤ上に段積み状態で載置する最上段のワークより高くなる所定の上昇端位置でエアシリンダが停止できる上昇端スイッチと、第２のコンベヤ上にワークが当接する前の落下させる所定の下降端位置でエアシリンダが停止できる下降端スイッチを備え、下降端スイッチの通電によるエアシリンダの停止と同時に吸着ヘッドの吸引を解除する機構からなり、吸着ヘッド下降当接停止機構の作動中は、上昇端スイッチの通電を起動させた状態で下降端スイッチの通電を停止し、吸着ヘッド下降近接部停止機構の作動中は、上昇端スイッチ及び下降端スイッチの通電を起動させ、段積み状態のそれぞれの高さ位置が異なるワークへの衝撃を緩衝させて吸着すると共に、可動する所定位置にワークを接触させることなく載置するので、第１のコンベア上に載置された段積み状態の高さが順次変化していく最上段のワークを３位置オートポートブロックのダブルソレノイドで行う電磁弁で衝撃を緩衝させて確実に吸着し、上昇端スイッチで停止する位置まで上昇させた後、水平移動させたそれぞれのワークを下降端スイッチで停止する位置まで下降させ第２のコンベヤ上に当接させる前に落下させて吸着時の高さと異なる高さであっても載置させることができ、設定調整が簡単で、安価なワーク移載装置を提供することができる。   The workpiece transfer device moves a plurality of stacked workpieces on a first conveyor that moves intermittently to a predetermined position, and picks up the workpieces one by one from the upper side. Then, it is lifted upward in the adsorbed state, then horizontally moved by a driving body that is slid laterally through a guide rod provided in the horizontal direction, and lowered to the adjacent portion on the second conveyor that is continuously movable A workpiece transfer device that sequentially transfers a plurality of workpieces by repeatedly dropping and placing on the second conveyor, and the workpiece transfer device is held in a vertical direction by a driving body and is steplessly transferred. A suction head descending contact stop mechanism that sucks and stops the suction head abutting on the workpiece placed on the first conveyor via the air cylinder that descends to the first conveyor, and a suction head that descends via the air cylinder The word adsorbed by Has a suction head lowering proximity stop mechanism that stops the suction of the workpiece and stops the suction of the workpiece. The suction head lowering contact stop mechanism has a suction head attached to the tip that contacts the workpiece. A shock absorber that contacts and cushions the shock applied to the workpiece; a support plate that holds the central portion of the shock absorber and holds the top portion protruding from the upper surface; and is lowered or raised via an air cylinder; and mounted on the support plate This is a signal that is detected by the transmission sensor at the top of the shock absorber when it comes into contact with the work of the suction head to detect the movement of the top of the shock absorber. This mechanism is implemented by a program that stops energization of the solenoid of the solenoid valve that controls the movement of the air cylinder, and the suction head lowering proximity stop mechanism is maintained in the vertical direction by the driver. The air cylinder that stops the air cylinder at a predetermined rising end position where the tip of the suction head is higher than the uppermost workpiece placed in a stacked state on the first conveyor is mounted on the air cylinder that supports the support plate at the tip. An end switch and a lower end switch that can stop the air cylinder at a predetermined lower end position where the workpiece is dropped before contacting the work on the second conveyor. It consists of a mechanism that releases suction, and while the suction head lowering contact stop mechanism is in operation, the lower end switch is deenergized with the upper end switch energized, and the suction head lowering proximity stop mechanism is in operation. Activates the energization of the ascending end switch and the descending end switch, and absorbs and absorbs shocks to workpieces having different height positions in the stacked state, Since the workpieces are placed at a predetermined movable position without contacting them, the uppermost workpiece placed on the first conveyor, the height of the stacked state of which is sequentially changed, is doubled with a three-position auto port block. After the shock is buffered and securely absorbed by the solenoid valve operated by the solenoid, it is raised to the position where it stops with the rising end switch, and then each horizontally moved workpiece is lowered to the position where it stops with the lower end switch. It is possible to provide an inexpensive workpiece transfer device that can be dropped before being brought into contact with the conveyor and placed at a height different from the height at the time of suction, can be easily adjusted and adjusted.

（Ａ）〜（Ｃ）はそれぞれ本発明の一実施の形態に係るワーク移載装置の作動状況の説明図である。(A)-(C) are each explanatory drawings of the operating condition of the workpiece transfer apparatus which concerns on one embodiment of this invention. （Ａ）、（Ｂ）はそれぞれ同ワーク移載装置の吸着ヘッド下降当接停止機構の説明図である。(A), (B) is explanatory drawing of the adsorption head downward contact stop mechanism of the said workpiece transfer apparatus, respectively. （Ａ）〜（Ｃ）はそれぞれ同ワーク移載装置の吸着ヘッド下降当接停止機構のダブルソレノイドの電磁弁の説明図である。(A)-(C) is explanatory drawing of the solenoid valve of the double solenoid of the attraction | suction head downward contact stop mechanism of the said workpiece transfer apparatus, respectively. （Ａ）、（Ｂ）はそれぞれ同ワーク移載装置の吸着ヘッド下降近接部停止機構の説明図である。(A), (B) is explanatory drawing of the adsorption | suction head descending proximity part stop mechanism of the said workpiece transfer apparatus, respectively. （Ａ）、（Ｂ）はそれぞれ従来のワーク移載装置の説明図である。(A), (B) is explanatory drawing of the conventional workpiece transfer apparatus, respectively.

続いて、添付した図面を参照しつつ、本発明を具体化した実施の形態について説明し、本発明の理解に供する。
図１（Ａ）に示すように、本発明の一実施の形態に係るワーク移載装置１０では、第１のコンベヤ１１上に複数枚を重ね合わせて段積み状態として載置するワーク１２を第１のコンベヤ１１を間歇的に可動させて所定位置に移動させ、所定位置で停止している複数枚のワーク１２の上方側からワーク１２を一枚毎吸着している。このワーク移載装置１０で用いられるワーク１２は、ワーク１２の形態がセラミック配線基板や、セラミック基板に銅板を貼り合わせたＤＣＢ基板等のようなセラミックグリーンシートを焼成した焼成済の大型の四角形平板状の基板を基本としている。 Next, embodiments of the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention.
As shown in FIG. 1 (A), in the workpiece transfer apparatus 10 according to an embodiment of the present invention, a plurality of workpieces 12 placed on the first conveyor 11 in a stacked state are placed on the first conveyor 11. One conveyor 11 is intermittently moved and moved to a predetermined position, and the workpieces 12 are sucked one by one from above the plurality of workpieces 12 stopped at the predetermined position. The workpiece 12 used in the workpiece transfer apparatus 10 is a fired large square flat plate obtained by firing a ceramic green sheet such as a ceramic wiring substrate or a DCB substrate in which a copper plate is bonded to a ceramic substrate. It is based on a shaped substrate.

そして、図１（Ｂ）に示すように、ワーク移載装置１０では、ワーク１２を吸着した状態で上方に上昇させた後、水平方向に設けられたガイド棒１３を介して横方向にスライドさせる駆動体１４で水平移動させている。   As shown in FIG. 1 (B), in the workpiece transfer apparatus 10, after the workpiece 12 is lifted upward in a state of being attracted, it is slid in the lateral direction via the guide rod 13 provided in the horizontal direction. The driver 14 is moved horizontally.

更に、図１（Ｃ）に示すように、ワーク移載装置１０では、連続的に可動する第２のコンベヤ１５に当接しない近接部にワーク１２を吸着した状態で下降させてそこから落下させるようにして載置させている。そして、ワーク移載装置１０では、この作動を繰り返すことで、複数枚のワーク１２を連続的に可動する第２のコンベヤ１５上に平面的に１枚づつ順次並べるようにして移載させている。   Further, as shown in FIG. 1C, in the workpiece transfer apparatus 10, the workpiece 12 is lowered while being adsorbed to a proximity portion that does not contact the continuously movable second conveyor 15, and dropped from there. In this way, it is placed. In the workpiece transfer device 10, by repeating this operation, a plurality of workpieces 12 are transferred so as to be sequentially arranged one by one on the second conveyor 15 that is continuously movable. .

上記のワーク移載装置１０は、駆動体１４で縦方向に保持され無段階的に下降するエアシリンダ１６を介して、第１のコンベヤ１１上に載置する最上段のワーク１２に吸着ヘッド１７が当接して停止すると共に、最上段のワーク１２を吸着する吸着ヘッド下降当接停止機構１８を有している（図１（Ａ）参照）。また、上記のワーク移載装置１０は、上記のエアシリンダ１６を介して下降する吸着ヘッド１７で吸着したワーク１２を第２のコンベヤ１５に当接する前の近接部で停止し、ワーク１２の吸着ヘッド１７での吸着を解除する吸着ヘッド下降近接部停止機構１９を有している（図１（Ｃ）参照）。なお、上記のワーク移載装置１０は、吸着ヘッド下降当接停止機構１８が第１のコンベヤ１１の上方で作動し、吸着ヘッド下降近接部停止機構１９が第２のコンベヤ１１の上方で作動するので、それぞれの機構の作動時には、通常、水平方向に２本を平行して延設させたガイド棒１３を介して横方向にスライドさせる駆動体１４で水平移動させるようになっている（図１（Ｂ）参照）。   The workpiece transfer device 10 has a suction head 17 attached to the uppermost workpiece 12 placed on the first conveyor 11 via an air cylinder 16 that is held in a vertical direction by a driving body 14 and descends steplessly. And a suction head lowering contact stop mechanism 18 that sucks the uppermost workpiece 12 (see FIG. 1A). Further, the workpiece transfer device 10 stops the workpiece 12 sucked by the suction head 17 descending via the air cylinder 16 at a proximity portion before coming into contact with the second conveyor 15, and sucks the workpiece 12. A suction head lowering proximity stopping mechanism 19 that releases suction by the head 17 is provided (see FIG. 1C). In the workpiece transfer device 10, the suction head lowering contact stop mechanism 18 operates above the first conveyor 11, and the suction head lowering proximity stop mechanism 19 operates above the second conveyor 11. Therefore, when each mechanism is operated, it is normally moved horizontally by the driving body 14 that is slid in the horizontal direction via the guide rod 13 that is extended in parallel in the horizontal direction (FIG. 1). (See (B)).

図２（Ａ）に示すように、上記の吸着ヘッド下降当接停止機構１８は、先端に取り付ける吸着ヘッド１７がワーク１２と当接してワーク１２にかかる衝撃を緩衝させる緩衝器２０を備えている。この緩衝器２０は、その構造を限定するものではないが、通常、吸着ヘッド１７の支持棒をバネ状体で支えるような構造をしており、上記の衝撃をバネ状体で緩衝できるようにしている。また、吸着ヘッド下降当接停止機構１８は、上記の緩衝器２０の長さ方向の中央部を挟持し、緩衝器２０の頂部を上面に突出させて保持する四角形状の支持板２１を備えている。そして、この支持板２１には、上記のエアシリンダ１６がシリンダロッドの先端を支持板２１に固定し、本体を駆動体１４に垂直に挿通させるようにして嵌合させて連結され、駆動体１４を基点とするエアシリンダ１６を介して支持板２１を下降、又は上昇をさせることができるようになっている。更に、吸着ヘッド下降当接停止機構１８は、支持板２１上に取り付けられて、吸着ヘッド１７のワーク１２への当接によって上方に突出してくる緩衝器２０の頂部の動きを検知する透過形センサ２２を備えている。この透過形センサ２２は、緩衝器２０の頂部の動きを検知できる所定の高さの位置に発信部と受信部が対向するようにして設けられている。そして、図２（Ｂ）に示すように、この吸着ヘッド下降当接停止機構１８は、吸着ヘッド１７のワーク１２への当接による緩衝器２０の頂部の透過形センサ２２による検知で信号を出力すると、吸着ヘッド１７の下降や、上昇のためのエアシリンダ１６の動きを制御している電磁弁２３（図３参照）のソレノイドへの通電を止めるようなプログラムで行われている。   As shown in FIG. 2A, the suction head descending contact stop mechanism 18 includes a shock absorber 20 that abuts the suction head 17 attached to the tip of the suction head 17 against the work 12 to buffer the impact applied to the work 12. . The shock absorber 20 is not limited in its structure, but normally has a structure in which the support rod of the suction head 17 is supported by a spring-like body so that the shock can be buffered by the spring-like body. ing. Further, the suction head lowering contact stop mechanism 18 includes a square support plate 21 that holds the central portion of the shock absorber 20 in the length direction and holds the top portion of the shock absorber 20 protruding from the upper surface. Yes. The air cylinder 16 is connected to the support plate 21 by fitting the tip of the cylinder rod to the support plate 21 and fitting the main body vertically through the drive body 14. The support plate 21 can be lowered or raised via the air cylinder 16 starting from the above. Further, the suction head lowering contact stop mechanism 18 is mounted on the support plate 21 and detects a movement of the top of the shock absorber 20 protruding upward by the contact of the suction head 17 with the work 12. 22 is provided. The transmission sensor 22 is provided so that the transmitter and the receiver face each other at a predetermined height at which the movement of the top of the shock absorber 20 can be detected. As shown in FIG. 2B, the suction head lowering contact stop mechanism 18 outputs a signal upon detection by the transmission sensor 22 at the top of the shock absorber 20 by the contact of the suction head 17 with the work 12. Then, the program is performed to stop energization of the solenoid of the electromagnetic valve 23 (see FIG. 3) that controls the lowering of the suction head 17 and the movement of the air cylinder 16 for the upward movement.

ここで、図３（Ａ）〜（Ｃ）を参照しながら、上記の吸着ヘッド下降当接停止機構１８で使用されるエアシリンダ１６の電磁弁２３を説明する。この吸着ヘッド下降当接停止機構１８では、電磁弁２３に３位置オートポートブロックのダブルソレノイドからなるものが使われている。図３（Ａ）に示すように、このダブルソレノイドの電磁弁２３は、３位置オールポートブロックのため両方のソレノイドを非通電にすると、ソレノイドがスプリングにより中間位置のブロックタイプとなり、Ｐ、Ａ、Ｂ、Ｒ１、Ｒ２の通路を閉じることとなる。これによって、エアシリンダ１６は、シリンダロッドのストローク途中の状態で簡易的に停止させることができ、中間停止の状態とすることができるようになっている。また、図３（Ｂ）、（Ｃ）に示すように、ダブルソレノイドの電磁弁２３は、３位置の両方のソレノイドのいずれか一方を通電状態とし、他方を非通電にすると、両方のソレノイドのいずれか一方のブロックタイプとなり、エアシリンダ１６を下降させたり、上昇させたりすることができるようになっている。 Here, the electromagnetic valve 23 of the air cylinder 16 used in the suction head lowering contact stop mechanism 18 will be described with reference to FIGS. 3 (A) to 3 (C). In this suction head lowering contact stop mechanism 18, a solenoid valve 23 composed of a double solenoid of a 3-position auto port block is used. As shown in FIG. 3A, the solenoid valve 23 of this double solenoid is a three-position all-port block, and when both solenoids are de-energized, the solenoid becomes a block type in an intermediate position by a spring, and P, A, The passages of B, R 1 and R 2 will be closed. As a result, the air cylinder 16 can be easily stopped in the middle of the stroke of the cylinder rod, and can be brought into an intermediate stop state. As shown in FIGS. 3B and 3C, when the solenoid valve 23 of the double solenoid is energized in one of both solenoids at three positions and de-energized in the other, both solenoids Either one of the block types is used, and the air cylinder 16 can be lowered or raised.

この吸着ヘッド下降当接停止機構１８と共に、図４（Ａ）に示すように、上記の吸着ヘッド下降近接部停止機構１９は、シリンダロッドの先端を支持板２１に固定し、本体を駆動体１４に垂直に挿通させるようにして嵌合させて連結されているエアシリンダ１６に、第１のコンベヤ１１上に段積み状態で載置する最初の最上段のワーク１２より高くなる所定の上昇端位置で吸着ヘッド１７の先端が停止できる上昇端スイッチ２４を備えている。また、図４（Ｂ）に示すように、上記の吸着ヘッド下降近接部停止機構１９は、エアシリンダ１６に、吸着ヘッド１７で吸引して運ばれてきたワーク１２が第２のコンベヤ１５上に当接する前の落下させる所定の下降端位置でワーク１２が停止できる下降端スイッチ２５を備えている。そして、上記の吸着ヘッド下降近接部停止機構１９は、下降端スイッチ２５の通電によるエアシリンダ１６の停止と同時に吸着ヘッド１７の吸引を解除する機構からなっている。   As shown in FIG. 4A, the suction head lowering proximity stop mechanism 19 together with the suction head lowering contact stop mechanism 18 fixes the tip of the cylinder rod to the support plate 21 and the main body as the driver 14. A predetermined ascending end position that is higher than the first uppermost work 12 placed on the first conveyor 11 in a stacked state in the air cylinder 16 that is fitted and connected so as to be vertically inserted therethrough. And a rising end switch 24 that can stop the tip of the suction head 17. Further, as shown in FIG. 4B, the suction head descending proximity stop mechanism 19 is configured such that the workpiece 12 sucked and carried by the suction head 17 is put on the second conveyor 15. A descending end switch 25 is provided that can stop the workpiece 12 at a predetermined descending end position to be dropped before the contact. The suction head lowering proximity stop mechanism 19 includes a mechanism that releases the suction of the suction head 17 simultaneously with the stop of the air cylinder 16 by energization of the lower end switch 25.

上記のワーク移載装置１０では、吸着ヘッド下降当接停止機構１８の作動中は上記の上昇端スイッチ２４の通電を起動させた状態で下降端スイッチ２５の通電を停止し、吸着ヘッド下降近接部停止機構１９の作動中は上昇端スイッチ２４、及び下降端スイッチ２５の通電を起動させている。そして、上記のワーク移載装置１０では、段積み状態のそれぞれの高さ位置が異なるワーク１２への衝撃を緩衝させて吸着すると共に、可動する所定位置にワーク１２を接触させることなく載置している。   In the workpiece transfer device 10 described above, the energization of the lower end switch 25 is stopped while the energization of the ascent end switch 24 is activated during the operation of the attraction head lowering contact stop mechanism 18, and the attraction head lowering proximity portion. While the stop mechanism 19 is in operation, the energization of the rising end switch 24 and the falling end switch 25 is activated. In the workpiece transfer device 10 described above, the impact on the workpieces 12 having different height positions in the stacked state is buffered and adsorbed, and the workpieces 12 are placed without contacting the movable positions. ing.

本発明は、段積み状態の高さが異なるワークを上方から１個毎吸引して移動させ、動くコンベヤ上に当接させることなく載置することができるワーク移載装置であって、焼成済のセラミック配線基板や、セラミック基板に銅板を貼り合わせたＤＣＢ基板等の製作工程中のワーク移載装置として用いることができる。   The present invention is a workpiece transfer device capable of sucking and moving workpieces with different heights in a stacked state one by one from above and placing them on a moving conveyor without firing. It can be used as a workpiece transfer device in the manufacturing process of a ceramic wiring board or a DCB board in which a copper plate is bonded to a ceramic board.

１０：ワーク移載装置、１１：第１のコンベヤ、１２：ワーク、１３：ガイド棒、１４：駆動体、１５：第２のコンベヤ、１６：エアシリンダ、１７：吸着ヘッド、１８：吸着ヘッド下降当接停止機構、１９：吸着ヘッド下降近接部停止機構、２０：緩衝器、２１：支持板、２２：透過型センサ、２３：電磁弁、２４：上昇端スイッチ、２５：下降端スイッチ   10: workpiece transfer device, 11: first conveyor, 12: workpiece, 13: guide rod, 14: driving body, 15: second conveyor, 16: air cylinder, 17: suction head, 18: lowering of suction head Contact stop mechanism, 19: suction head lowering proximity stop mechanism, 20: shock absorber, 21: support plate, 22: transmissive sensor, 23: solenoid valve, 24: ascent end switch, 25: descending end switch

Claims (1)

間歇的に可動する第１のコンベヤ上に複数枚を重ね合わせ段積み状態にして載置するワークを所定位置に移動させ、前記複数枚の上方側から一枚毎吸着し、吸着した状態で上方に上昇させた後、水平方向に設けられるガイド棒を介して横方向にスライドさせる駆動体で水平移動させ、連続的に可動する第２のコンベヤ上の近接部まで下降させて前記第２のコンベヤ上に落下載置させるのを繰り返して前記複数枚の前記ワークを順次移載するワーク移載装置であって、
前記ワーク移載装置は、前記駆動体で縦方向に保持され無段階的に下降するエアシリンダを介して、前記第１のコンベヤ上に載置する前記ワークに吸着ヘッドが当接して停止し前記ワークを吸着する吸着ヘッド下降当接停止機構と、前記エアシリンダを介して下降する前記吸着ヘッドで吸着した前記ワークを前記第２のコンベヤに当接する前の近接部で停止し前記ワークの吸着を解除する吸着ヘッド下降近接部停止機構を有し、
前記吸着ヘッド下降当接停止機構は、先端に取り付ける前記吸着ヘッドが前記ワークと当接して該ワークにかかる衝撃を緩衝させる緩衝器と、該緩衝器の中央部を挟持し頂部を上面に突出させて保持し前記エアシリンダを介して下降又は上昇させる支持板と、該支持板上に取り付けられて前記緩衝器の頂部の動きを検知する透過型センサを備え、前記吸着ヘッドの前記ワークへの当接での前記緩衝器の頂部の前記透過形センサによる検知で出力する信号で、前記吸着ヘッドの下降や、上昇のための前記エアシリンダの動きを制御している電磁弁のソレノイドへの通電を止めるようなプログラムで行われる機構からなると共に、前記吸着ヘッド下降近接部停止機構は、前記駆動体で縦方向に保持され先端部で前記支持板を支持する前記エアシリンダに、前記吸着ヘッドの先端が前記第１のコンベヤ上に段積み状態で載置する最上段の前記ワークより高くなる所定の上昇端位置で前記エアシリンダが停止できる上昇端スイッチと、前記第２のコンベヤ上に前記ワークが当接する前の落下させる所定の下降端位置で前記エアシリンダが停止できる下降端スイッチを備え、該下降端スイッチの通電による前記エアシリンダの停止と同時に前記吸着ヘッドの吸引を解除する機構からなり、前記吸着ヘッド下降当接停止機構の作動中は、前記上昇端スイッチの通電を起動させた状態で前記下降端スイッチの通電を停止し、前記吸着ヘッド下降近接部停止機構の作動中は、前記上昇端スイッチ及び前記下降端スイッチの通電を起動させ、前記段積み状態のそれぞれの高さ位置が異なる前記ワークへの衝撃を緩衝させて吸着すると共に、可動する所定位置に前記ワークを接触させることなく載置することを特徴とするワーク移載装置。 A plurality of sheets are stacked and stacked on the first conveyor that is intermittently moved, and the work to be placed is moved to a predetermined position. The second conveyor is moved horizontally by a drive body that is slid horizontally through a guide rod provided in the horizontal direction, and is lowered to a proximity portion on the second conveyor that is continuously movable. A workpiece transfer device that sequentially transfers the plurality of workpieces by repeatedly dropping and placing on the workpiece,
The workpiece transfer device is stopped when the suction head comes into contact with the workpiece placed on the first conveyor via an air cylinder that is held in the vertical direction by the driving body and descends steplessly. A suction head lowering / abutting stop mechanism for sucking a workpiece and the workpiece sucked by the suction head descending via the air cylinder are stopped at a proximity portion before abutting on the second conveyor to suck the workpiece. It has a suction head lowering proximity part stop mechanism to release,
The suction head lowering contact stop mechanism is configured such that the suction head attached to the tip abuts against the work and cushions an impact applied to the work, and sandwiches the central portion of the shock absorber so that the top protrudes upward. A support plate that is held and lowered or raised via the air cylinder, and a transmission type sensor that is mounted on the support plate and detects the movement of the top of the shock absorber. A signal output by detection by the transmission type sensor at the top of the shock absorber in contact with the solenoid head that controls the lowering of the suction head and the movement of the air cylinder for lifting. The suction head lowering proximity stop mechanism is a mechanism that is held by a program that stops and is held in the vertical direction by the driving body and supports the support plate at the tip. A lift end switch that can stop the air cylinder at a predetermined lift end position where the tip of the suction head is higher than the uppermost workpiece placed in a stacked state on the first conveyor; A lower end switch that can stop the air cylinder at a predetermined lower end position where the workpiece is dropped before contacting the workpiece on the conveyor, and at the same time when the air cylinder is stopped by energization of the lower end switch, While the suction head lowering contact stop mechanism is in operation, the lowering end switch is deenergized while the suction head lowering contact stop mechanism is in operation, and the suction head lowering proximity stop is stopped. During the operation of the mechanism, energization of the rising end switch and the lowering end switch is activated, and the height positions of the stacked states are different from each other. Together to adsorb the shock by shock, work transfer apparatus characterized by placing without contacting the workpiece in position to the movable.
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CN105834316A (en) * 2016-05-31 2016-08-10 佛山市联智新创科技有限公司 Automatic steel plate grabbing and conveying mechanism
CN107363185A (en) * 2016-05-31 2017-11-21 赵令臣 A kind of method of work of the automatic gripping conveyor structure of steel plate
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CN110318170A (en) * 2018-03-30 2019-10-11 天津宝盈电脑机械有限公司 A kind of crawl device for pilling of quilter
CN108573780A (en) * 2018-06-19 2018-09-25 杭州良淋电子科技股份有限公司 Flexible flat cable lineation machine
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CN114570848A (en) * 2022-04-06 2022-06-03 厦门市克成五金制品有限公司 Multi-machine linkage line and operation method thereof
CN114570848B (en) * 2022-04-06 2024-06-04 厦门市克成精密金属工业有限公司 Multi-machine linkage line and operation method thereof
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