JP6198743B2

JP6198743B2 - Work equipment

Info

Publication number: JP6198743B2
Application number: JP2014538056A
Authority: JP
Inventors: 加藤　正樹; 正樹加藤
Original assignee: Fuji Machine Manufacturing Co Ltd
Current assignee: Fuji Corp
Priority date: 2012-09-28
Filing date: 2012-09-28
Publication date: 2017-09-20
Anticipated expiration: 2032-09-28
Also published as: JPWO2014049863A1; CN104661791B; CN104661791A; WO2014049863A1

Description

本発明は作業装置に関するものであり、特に、作業に必要な物の補給に関する。 The present invention relates to a working device, and more particularly to replenishment of objects necessary for work.

下記の特許文献１には、雄ねじ部材の締付けによる複数の部材の組付けを行う装置が記載されている。この装置において雄ねじ部材は、供給ユニットから加圧エアによりホース，中継ユニットおよびホースを経て１個ずつチャックユニットへ送られて保持され、ドライバビットの前進により締め付けられる。 The following Patent Document 1 describes an apparatus for assembling a plurality of members by tightening male screw members. In this apparatus, the male screw member is sent from the supply unit to the chuck unit one by one through the hose, the relay unit, and the hose by the pressurized air, and is held by the advancement of the driver bit.

特開２０００−５９４９号公報JP 2000-5949 A

しかしながら、特許文献１に記載の装置には、チャックユニットと供給ユニットとが常時ホース等の接続部材により接続されているため、チャックユニットが移動させられるものである場合には、接続部材により移動形態と移動可能範囲との少なくとも一方が制限される不利がある。移動可能範囲を広くしようとすればホースが長くなり、その長いホースが邪魔になるという別の問題が生じる。本発明の課題は、この問題を解決することである。 However, since the chuck unit and the supply unit are always connected to each other by a connecting member such as a hose in the apparatus described in Patent Document 1, if the chuck unit is to be moved, the moving form is set by the connecting member. There is a disadvantage that at least one of the movable range is restricted. If the movable range is widened, another problem arises that the hose becomes long and the long hose gets in the way. The object of the present invention is to solve this problem.

上記課題を解決するために、本発明の作業装置は、
作業対象物に対して雄ねじ部材の締付け作業を行う作業装置であって、
装置本体と、
前記締付け作業を行う作業ヘッドと、
スライドを有し、そのスライドを一平面内において互いに直交するＸ軸方向およびＹ軸方向に移動させるＸ軸方向移動装置およびＹ軸方向移動装置と、
前記スライドに保持されるとともに前記作業ヘッドを保持して、その作業ヘッドを、前記一平面に直角なＺ軸方向に移動させるＺ軸方向移動装置と、
前記装置本体に支持され、雄ねじ部材を貯蔵する貯蔵装置と、
雄ねじ部材を、前記貯蔵装置の貯蔵容量より少ないが前記作業ヘッドが複数回の前記締付け作業を行うに足る量、一時的に貯蔵し、前記作業ヘッドとともに前記Ｚ軸方向移動装置によってＺ軸方向に移動させられる一時貯蔵部と、
その一時貯蔵部を前記貯蔵装置から切り離した状態で、その一時貯蔵部に貯蔵された雄ねじ部材により前記作業ヘッドに前記締付け作業を行わせるとともに、その一時貯蔵部へ前記貯蔵装置から雄ねじ部材の補給が可能な状態として補給を行わせる制御装置と
を含み、
前記Ｚ軸方向移動装置が、第１可動部材と、その第１可動部材をＺ軸方向に移動させる第１可動部材移動装置と、第２可動部材と、前記第１可動部材上に設けられて前記第２可動部材を前記第１可動部材に対して相対的にＺ軸方向に移動させる第２可動部材移動装置とを含み、
前記作業ヘッドと前記一時貯蔵部とが前記第２可動部材に相対移動不能に保持され、その一方で、前記一時貯蔵部の前記貯蔵装置への接続部が前記第１可動部材に設けられ、その接続部と前記一部貯蔵部とが、可撓性を有する接続部材によって接続され、
前記作業ヘッド，前記一時貯蔵部，前記Ｚ軸方向移動装置とがユニット化され、そのユニットが、前記スライドに対して着脱可能とされるとともに、締付け作業において用いられて雄ねじ部材の頭部に係合する係合部を有する雄ねじ部材回転部材の種類を異にする別の作業ヘッドがユニット化されたユニットと、吸着ノズルによって部品を保持する別の作業ヘッドがユニット化されたユニットとのいずれとも交換可能とされたことを特徴とする。 In order to solve the above problems, the working device of the present invention provides:
A working device that performs a work of tightening a male screw member on a work object,
The device body;
A working head for performing the tightening work;
An X-axis direction moving device and a Y-axis direction moving device having a slide and moving the slide in the X-axis direction and the Y-axis direction orthogonal to each other in one plane;
A Z-axis direction moving device that is held by the slide and holds the working head, and moves the working head in a Z-axis direction perpendicular to the one plane;
A storage device that is supported by the device body and stores a male screw member;
The male screw member is temporarily stored in an amount smaller than the storage capacity of the storage device but sufficient for the working head to perform the tightening operation a plurality of times, and is moved in the Z-axis direction by the Z-axis moving device together with the working head. With temporary storage moved,
In a state where the temporary storage unit is separated from the storage device, the work head is caused to perform the tightening operation by the male screw member stored in the temporary storage unit, and the male screw member is replenished from the storage device to the temporary storage unit. And a control device that performs replenishment in a possible state,
The Z-axis direction moving device is provided on the first movable member, a first movable member moving device that moves the first movable member in the Z-axis direction, a second movable member, and the first movable member. A second movable member moving device for moving the second movable member in the Z-axis direction relative to the first movable member;
The working head and the temporary storage unit are held in the second movable member so as not to move relative to each other, while a connection part of the temporary storage unit to the storage device is provided in the first movable member, The connecting portion and the partial storage portion are connected by a flexible connecting member,
The working head, the temporary storage unit, and the Z-axis direction moving device are unitized, and the unit can be attached to and detached from the slide, and is used in a tightening operation to engage with the head of the male screw member. any of a unit-specific working heads having different are unitized type male screw member rotating member, and other work head is unitized unit for holding the component by the suction nozzle having an engaging portion for engagement It is characterized by being exchangeable.

作業ヘッドは、自身とともに移動させられる一時貯蔵部により供給される雄ねじ部材を使用し、貯蔵装置から切り離された状態で作業を行うため、接続部材により作業ヘッドの移動形態や移動可能範囲が制限されることがない。しかも、一時貯蔵部に貯蔵される雄ねじ部材の量は貯蔵装置の貯蔵容量よりは少ないため、貯蔵装置自体を作業ヘッドと共に移動させる場合に比較して、移動させるべき質量が小さくて済み、かつ、一時貯蔵部には作業ヘッドが複数回の作業を行うに足る量が貯蔵されるため、一時貯蔵部への補給を頻繁に行う必要がない。
その上、一時貯蔵部の方が貯蔵装置より作業ヘッドの近くに配置し得るため、作業に必要なものが迅速に供給されて能率良く作業が行われる。 The working head uses a male screw member supplied by a temporary storage unit that is moved together with the working head, and works in a state separated from the storage device. Therefore, the movement form and movable range of the working head are limited by the connecting member. There is nothing to do. In addition, since the amount of the male screw member stored in the temporary storage unit is smaller than the storage capacity of the storage device, the mass to be moved is smaller than when the storage device itself is moved together with the work head, and Since the temporary storage unit stores an amount sufficient for the work head to perform a plurality of operations, it is not necessary to replenish the temporary storage unit frequently.
In addition, since the temporary storage unit can be arranged closer to the work head than the storage device, what is necessary for the work is quickly supplied and the work is performed efficiently.

発明の態様Aspects of the Invention

以下に、本願において特許請求が可能と認識されている発明（以下、「請求可能発明」という場合がある。「請求可能発明」は、特許請求の範囲に記載の発明である「本発明」ないし「本願発明」のみならず、それの下位概念発明あるいは上位概念発明を含み得、別概念の発明を含むこともある。）の態様をいくつか例示し、それらについて説明する。各態様は請求項と同様に、項に区分し、各項に番号を付し、必要に応じて他の項の番号を引用する形式で記載する。これは、あくまでも請求可能発明の理解を容易にするためであり、請求可能発明を構成する構成要素の組み合わせを、以下の各項に記載されたものに限定する趣旨ではない。つまり、請求可能発明は、各項に付随する記載，実施形態の記載，従来技術，技術常識等を参酌して解釈されるべきであり、その解釈に従う限りにおいて、各項の態様にさらに他の構成要素を付加した態様も、また、各項の態様から構成要素を削除した態様も、請求可能発明の一態様となり得るのである。 In the following, the inventions that are recognized as being claimable in the present application (hereinafter referred to as “claimable inventions”. “Claimable inventions” are “present inventions” or “present inventions” as claimed in claims. Some embodiments of the present invention may be included as well as subordinate concept inventions or superordinate concept inventions thereof, and may include other concept inventions. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combinations of the constituent elements constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description accompanying each section, the description of the embodiment, the prior art, the common general technical knowledge, and the like. An aspect in which a constituent element is added and an aspect in which the constituent element is deleted from the aspect of each section can be an aspect of the claimable invention.

（１）作業対象物に対して予め定められた作業を行う作業装置であって、
装置本体と、
前記作業を行う作業ヘッドと、
その作業ヘッドと前記装置本体との間に設けられ、作業ヘッドに前記作業に必要な運動を付与する運動付与装置と、
前記装置本体に支持され、前記作業の実行に必要な物を貯蔵する貯蔵装置と、
前記運動付与装置により前記作業ヘッドに付与される運動の少なくとも一部を作業ヘッドと共に行う可動部に設けられ、前記作業ヘッドによる作業に必要な物を、前記貯蔵装置の貯蔵容量より少ないが作業ヘッドが複数回の作業を行うに足る量、一時的に貯蔵する一時貯蔵部と、
その一時貯蔵部を前記貯蔵装置から切り離した状態で、その一時貯蔵部に貯蔵された物により前記作業ヘッドに前記作業を行わせるとともに、一時貯蔵部へ前記貯蔵装置から前記作業に必要な物の補給が可能な状態として補給を行わせる制御装置と
を含むことを特徴とする作業装置。
貯蔵装置は作業ヘッドより上方に設けられてもよく、下方に設けられてもよい。作業の実行に必要な物自体が固形物であるか流動物であるか、貯蔵装置から一時貯蔵部への供給形態、作業者等による貯蔵装置への供給の容易さ等を考慮して貯蔵装置の配設位置が決められるべきなのである。
（２）前記運動付与装置が、一平面内において互いに直交するＸ軸およびＹ軸の方向に移動可能であるとともに、その一平面に直角なＺ軸方向に移動可能な可動部材を含み、その可動部材に前記一時貯蔵部に連なる第１接続部が設けられ、前記制御装置が、前記運動付与装置を制御することにより、前記第１接続部が前記貯蔵装置に連なる第２接続部に接続された接続状態と第２接続部から離間させられた離間状態とを生じさせる接続・離間制御部を含む(1)項に記載の作業装置。
第１接続部は、Ｘ軸方向およびＹ軸方向の移動により第２接続部に対向させられ、Ｚ軸方向の移動により第２接続部に対して接近、離間させられる。
（３）前記一時貯蔵部が、前記第１接続部が設けられた前記可動部材に設けられた(2)項に記載の作業装置。
（４）前記一時貯蔵部が、前記第１接続部が設けられた前記可動部材としての第1可動部材に対して相対的に移動可能な第2可動部材に設けられた(2)項に記載の作業装置。
（５）前記一時貯蔵部が可撓性を有するホースを介して前記第１接続部に接続された(4)項に記載の作業装置。
（６）前記作業の実行に必要な物が流動物である(1)項ないし(5)項のいずれかに記載の作業装置。
流動物には、例えば、接着剤，クリーム状はんだ，フラックス等の高粘性流体や洗浄液等の液体がある。
（７）前記作業の実行に必要な物が固形物である(1)項ないし(5)項のいずれかに記載の作業装置。
（８）前記作業対象物が固形物であり、当該作業装置が、さらに、前記装置本体に支持され、前記作業ヘッドにより作業が行われた後の前記作業対象物と、作業が行われる前の作業対象物との交替に必要な動作を行う作業対象物交替関連装置を含み、かつ、
前記制御装置が、前記貯蔵装置から前記一時貯蔵部への補給の少なくとも一部を、前記作業対象物交替関連装置による作業対象物の交替関連動作と並行して行わせる(1)項ないし (7)項のいずれかに記載の作業装置。
作業対象物交替関連装置には、例えば、作業ヘッドによる作業領域へ作業対象物を搬入し、その作業領域から搬出する作業対象物搬送装置や、作業領域において作業対象物を保持する作業対象物保持装置や、作業対象物の位置を修正する位置修正装置が含まれる。交替関連動作時には作業ヘッドは作業を行わず、並行して補給を行うことにより、補給のための作業実行不可時間が低減され、一時貯蔵部を設けることによる作業能率向上効果を有効に享受することができる。次項に記載の作業装置では特に有効である。
（９）前記一時貯蔵部が、前記作業に必要な物を、少なくとも１つの作業対象物に対する作業に必要な量より多く貯蔵可能な容量を有し、前記制御装置が、前記貯蔵装置から前記一時貯蔵部への補給のすべてを、前記作業対象物交替関連装置による作業対象物の交替関連動作と並行して行わせる(8)項に記載の作業装置。
補給のために作業が停止されることが回避される。
（１０）前記作業ヘッドが複数の部材を雄ねじ部材の締付けによって組み付けるねじ締め作業ヘッドであり、前記固形物が前記雄ねじ部材である(7)項ないし(9)項のいずれかに記載の作業装置。
（１１）前記作業ヘッドが、
雄ねじ部材の頭部に係合する係合部を有する雄ねじ部材回転部材と、
その雄ねじ部材回転部材を前進させて雄ねじ部材の頭部に係合させるとともに、回転させて雄ねじ部材の雄ねじ部を雌ねじ穴に螺合させる雄ねじ部材回転部材駆動装置と、
前記一時貯蔵部から１個ずつ順次供給される雄ねじ部材をそれの頭部が前記雄ねじ部材回転部材に対向する状態で保持するとともに、その雄ねじ部材の前記雄ねじ部材回転部材の前進に伴う前進を許容する雄ねじ部材保持部と
を含む(10)項に記載の作業装置。
（１２）前記運動付与装置が、一平面内において互いに直交するＸ軸およびＹ軸の方向に移動可能であるとともに、その一平面に直角なＺ軸方向に移動可能な可動部材を含み、その可動部材に前記一時貯蔵部に連なる第１接続部が設けられ、前記制御装置が、前記運動付与装置を制御することにより、前記第１接続部が前記貯蔵装置に連なる第２接続部に接続された接続状態と第２接続部から離間させられた離間状態とを生じさせる接続・離間制御部を含み、かつ、前記一時貯蔵部および前記作業ヘッドが、前記第１接続部が設けられた可動部材である第１可動部材に対してＺ軸方向に相対移動可能な第２可動部材に設けられるとともに、前記運動付与装置が前記第２可動部材を前記第１可動部材に対してＺ軸方向に相対移動させる第２可動部材移動装置を含む(11)項に記載の作業装置。
作業時に作業ヘッドが第１接続部に対してＺ軸方向に移動させられ、第１接続部が作業対象物と干渉することが回避される。第２可動部材が作業ヘッドのヘッド本体を構成し、一時貯蔵部が作業ヘッドに設けられていると考えることもできる。作業ヘッドと一時貯蔵部とが特に近く、作業の実行に必要な物の供給がより迅速に行われる。
(12)項ないし(20)項の各々に記載の構成は、「雄ねじ部材」を「固形物」と読み替えて、雄ねじ部材以外の固形物に対しても採用可能である。
（１３）前記一時貯蔵部が前記第２可動部材に前記雄ねじ部材保持部と共に移動可能に設けられ、その一部貯蔵部が、雄ねじ部材を複数個貯蔵するものであり、かつ、それら複数個の雄ねじ部材を１個ずつ順次前記雄ねじ部材保持部へ供給する個別供給装置を含む(12)項に記載の作業装置。
（１４）前記貯蔵装置が、雄ねじ部材を１個ずつ間隔をあけて前記一時貯蔵部へ送出するさみだれ式送出装置を含む(12)項または(13)項に記載の作業装置。
（１５）さらに、
前記さみだれ式送出装置から１個ずつ間隔をあけて送られて来る雄ねじ部材の数をカウントするカウンタと、
そのカウンタのカウント値が設定値に達したとき、前記さみだれ式送出装置に対して送出停止を指示する送出停止指示部と
を含む(14)項に記載の作業装置。
（１６）前記運動付与装置が、一平面内において互いに直交するＸ軸およびＹ軸の方向に移動可能であるとともに、その一平面に直角なＺ軸方向に移動可能な可動部材を含み、その可動部材に前記一時貯蔵部に連なる第１接続部が設けられ、前記制御装置が、前記運動付与装置を制御することにより、前記第１接続部が前記貯蔵装置に連なる第２接続部に接続された接続状態と第２接続部から離間させられた離間状態とを生じさせる接続・離間制御部を含み、かつ、前記一時貯蔵部が、前記第１接続部が設けられた可動部材である第１可動部材に設けられ、前記作業ヘッドが前記第１可動部材に対してＺ軸方向に相対移動可能な第２可動部材に設けられるとともに、前記運動付与装置が前記第２可動部材を前記第１可動部材に対してＺ軸方向に相対移動させる第２可動部材移動装置を含む(11)項に記載の作業装置。
（１７）前記貯蔵装置が、雄ねじ部材を複数個整列させるとともに、それら複数個の雄ねじ部材を一括して送出する一括送出装置を備える一方、前記一時貯蔵部が前記第１可動部材に、前記一括送出装置と対向し、その一括送出装置から一括して送出される複数個の雄ねじ部材を一括して受け入れ可能な状態で設けられ、かつ、その一括して受け入れた複数個の雄ねじ部材を１個ずつ順次前記雄ねじ部材保持部へ供給する個別供給装置を含む(16)項に記載の作業装置。
一括送出により、複数個の雄ねじ部材の補給が一挙に、迅速に行われる。
（１８）前記一括送出装置が、前記複数個の雄ねじ部材を一直線に沿って整列させるものであり、前記一時貯蔵装置がその一括送出装置に同軸に対向して前記複数個の雄ねじ部材を一直線上に整列した状態で一括して受け入れるものである(17)項に記載の作業装置。
一括送出，一括受入れが特に容易となる。
（１９）前記個別供給装置が、
一列に並んだ複数個の雄ねじ部材の列の先頭側に互いに間隔をあけて配設され、それぞれ雄ねじ部材の前進を阻止する前進阻止位置と前進を許容する前進許容位置とに移動可能な２つの阻止部材であって、雄ねじ部材の進行方向における上流側の第１阻止部材および下流側の第２阻止部材と、
一列に並んだ複数個の雄ねじ部材を前記第１阻止部材に向かう向きに付勢する付勢装置と、
前記第１阻止部材と前記第２阻止部材との間に加圧したエアを噴出させるエア噴出部と、
前記第１阻止部材および第２阻止部材を択一的に前進許容位置へ移動させる阻止部材駆動装置と
を含む(13)項または(17)項に記載の作業装置。
（２０）前記付勢装置が、一列に並んだ複数個の雄ねじ部材の後尾に前記エア噴出部からのエアの噴出により前記第１阻止部材と前記第２阻止部材との間の空間に作用するエア圧より高いエア圧を作用させるエア圧作用部を含む(19)項に記載の作業装置。
（２１）前記一時貯蔵部が、
流動物を収容する流動物収容室と、
その流動物収容室の最下部に設けられた吐出口と、
前記流動物収容室内の流動物を加圧して前記吐出口から所望量ずつ吐出させる加圧装置とを含む(6)項に記載の作業装置。
（２２）さらに、前記吐出口に連なる吐出ノズルを含み、かつ、前記運動付与装置が、一平面内において互いに直交するＸ軸およびＹ軸の方向に移動可能であるとともに、その一平面に直角なＺ軸方向に移動可能な可動部材を含み、その可動部材に前記一時貯蔵部に連なる第１接続部が設けられ、前記制御装置が、前記運動付与装置を制御することにより、前記第１接続部が前記貯蔵装置に連なる第２接続部に接続された接続状態と第２接続部から離間させられた離間状態とを生じさせる接続・離間制御部を含み、それら両接続部の離間状態において少なくとも前記Ｘ軸およびＹ軸方向の移動により前記吐出ノズルを作業対象物の所望部分に対向させ、所望量の流動物を吐出させる一方、前記両接続部の接続状態において前記貯蔵装置から前記一時貯蔵部へ流動物を補給させるものである(21)項に記載の作業装置。
前記(2)項ないし(6)項，(8)項，(9)項およびそれらの項に関連する説明の各々に記載の事項や、(12)項，(16)項をはじめとする複数の項に記載の事項のうち雄ねじ部材をはじめとする固形物に特有の事項を除く事項は上記(21)項，(22)項に記載の作業装置にも適用可能である。(1) A working device that performs a predetermined work on a work object,
The device body;
A working head for performing the work;
An exercise applying device that is provided between the working head and the apparatus main body, and applies an exercise necessary for the work to the working head;
A storage device that is supported by the device main body and stores items necessary for performing the work;
The work head is provided in a movable part that performs at least a part of the motion imparted to the work head by the work imparting device together with the work head, and requires less work than the storage capacity of the storage device. An amount sufficient to perform multiple operations, a temporary storage unit for temporary storage,
With the temporary storage unit disconnected from the storage device, the work head is caused to perform the operation by the material stored in the temporary storage unit, and the temporary storage unit is configured to transfer the necessary items from the storage device to the temporary storage unit. And a control device that performs replenishment in a replenishable state.
The storage device may be provided above the work head or may be provided below. A storage device that takes into account whether the work itself is a solid or a fluid, supply form from the storage device to the temporary storage unit, ease of supply to the storage device by workers, etc. Should be determined.
(2) The motion imparting device includes a movable member that is movable in the X-axis and Y-axis directions orthogonal to each other in one plane and movable in the Z-axis direction perpendicular to the one plane. The member is provided with a first connection portion connected to the temporary storage portion, and the control device controls the exercise applying device, whereby the first connection portion is connected to a second connection portion connected to the storage device. The working device according to item (1), including a connection / separation control unit that generates a connection state and a separation state separated from the second connection unit.
The first connection portion is opposed to the second connection portion by movement in the X-axis direction and the Y-axis direction, and is moved closer to and away from the second connection portion by movement in the Z-axis direction.
(3) The working device according to (2), wherein the temporary storage unit is provided in the movable member provided with the first connection unit.
(4) The temporary storage section is provided in a second movable member that is relatively movable with respect to the first movable member as the movable member provided with the first connection section. Work equipment.
(5) The working device according to (4), wherein the temporary storage unit is connected to the first connection unit via a flexible hose.
(6) The working device according to any one of (1) to (5), wherein a material necessary for performing the work is a fluid.
Examples of the fluid include high-viscosity fluids such as adhesives, cream-like solder, and flux, and liquids such as cleaning liquids.
(7) The working device according to any one of (1) to (5), wherein the object necessary for executing the work is a solid.
(8) The work object is a solid material, and the work apparatus is further supported by the apparatus main body and the work object after the work is performed by the work head and before the work is performed. Including work object replacement-related devices that perform operations necessary for replacement with work objects; and
The control device causes at least a part of replenishment from the storage device to the temporary storage unit to be performed in parallel with the work related change operation of the work object by the work object change related device (1) to (7). ) The working device according to any one of items.
The work object replacement-related apparatus includes, for example, a work object transport device that carries a work object into and out of the work area by the work head, and a work object holding apparatus that holds the work object in the work area. A device and a position correcting device for correcting the position of the work object are included. The work head does not work during shift-related operations, and by performing replenishment in parallel, the work unexecutable time for replenishment is reduced, and the work efficiency improvement effect by providing a temporary storage unit can be enjoyed effectively Can do. The working device described in the next section is particularly effective.
(9) The temporary storage unit has a capacity capable of storing an object necessary for the work more than an amount necessary for the work on at least one work object, and the control device is configured to temporarily store the temporary work from the storage device. The work device according to item (8), wherein all of the replenishment to the storage unit is performed in parallel with the work related change operation of the work object by the work object change related device.
It is avoided that work is stopped for replenishment.
(10) The working device according to any one of (7) to (9), wherein the working head is a screw fastening working head for assembling a plurality of members by fastening a male screw member, and the solid matter is the male screw member. .
(11) The working head is
A male screw member rotating member having an engaging portion that engages with the head of the male screw member;
A male screw member rotating member drive device for advancing the male screw member rotating member to engage the head of the male screw member and rotating the male screw member of the male screw member into the female screw hole;
The male screw members sequentially supplied one by one from the temporary storage unit are held in a state where the head thereof faces the male screw member rotating member, and the male screw member is allowed to advance with the advancement of the male screw member rotating member. The working device according to item (10), including a male screw member holding portion.
(12) The motion imparting device includes a movable member that is movable in the X-axis and Y-axis directions orthogonal to each other in one plane and movable in the Z-axis direction perpendicular to the one plane. The member is provided with a first connection portion connected to the temporary storage portion, and the control device controls the exercise applying device, whereby the first connection portion is connected to a second connection portion connected to the storage device. A connection / separation control unit that generates a connection state and a separated state separated from the second connection unit, and the temporary storage unit and the working head are movable members provided with the first connection unit Provided on a second movable member that can move relative to a certain first movable member in the Z-axis direction, and the motion imparting device moves the second movable member relative to the first movable member in the Z-axis direction. Second movable Including wood mobile device (11) working apparatus according to item.
During the work, the work head is moved in the Z-axis direction with respect to the first connection part, so that the first connection part is prevented from interfering with the work object. It can also be considered that the second movable member constitutes the head body of the work head and the temporary storage unit is provided in the work head. The work head and the temporary storage unit are particularly close to each other, so that the necessary items for performing the work can be supplied more quickly.
The configuration described in each of the items (12) to (20) can be applied to solids other than the male screw member by replacing “male screw member” with “solid”.
(13) The temporary storage unit is provided on the second movable member so as to be movable together with the male screw member holding unit, and a part of the storage unit stores a plurality of male screw members, The working device according to item (12), including an individual supply device that sequentially supplies male screw members one by one to the male screw member holding portion.
(14) The working device according to (12) or (13), wherein the storage device includes a pinch-type delivery device that delivers male screw members to the temporary storage unit one by one at intervals.
(15) Furthermore,
A counter that counts the number of male screw members that are sent one by one from the pinch type delivery device;
The work apparatus according to item (14), further comprising: a transmission stop instruction unit that instructs the scissor-type transmission device to stop transmission when the count value of the counter reaches a set value.
(16) The motion imparting device includes a movable member that is movable in the X-axis and Y-axis directions orthogonal to each other in one plane and movable in the Z-axis direction perpendicular to the one plane. The member is provided with a first connection portion connected to the temporary storage portion, and the control device controls the exercise applying device, whereby the first connection portion is connected to a second connection portion connected to the storage device. A first movable unit including a connection / separation control unit that generates a connection state and a separated state separated from the second connection unit, and wherein the temporary storage unit is a movable member provided with the first connection unit The working head is provided on a second movable member that is movable relative to the first movable member in the Z-axis direction, and the motion imparting device moves the second movable member to the first movable member. Z axis direction with respect to It includes a second movable member moving device for relatively moving (11) the working device according to claim.
(17) The storage device includes a batch delivery device that aligns a plurality of male screw members and sends the plurality of male screw members at a time, while the temporary storage unit is attached to the first movable member. A plurality of male screw members that are opposed to the delivery device and that can receive a plurality of male screw members that are collectively delivered from the collective delivery device are provided in a collective manner. The working device according to item (16), including individual supply devices that sequentially supply the male screw member holding portions one by one.
By batch delivery, a plurality of male screw members can be replenished at once.
(18) The batch delivery device aligns the plurality of male screw members along a straight line, and the temporary storage device coaxially faces the batch delivery device so that the plurality of male screw members are aligned. The working device according to item (17), which is received in a lump in a state of being aligned with each other.
Batch sending and batch receiving are particularly easy.
(19) The individual supply device is
Two male screw members arranged in a row are arranged at the front side of the row and spaced apart from each other, and each of the two male screw members is movable to an advance prevention position for preventing the advancement of the male screw member and an advance allowance position for allowing the advancement. A blocking member, an upstream first blocking member and a downstream second blocking member in the traveling direction of the male screw member;
A biasing device that biases a plurality of male screw members arranged in a row in a direction toward the first blocking member;
An air ejection part for ejecting pressurized air between the first blocking member and the second blocking member;
The working device according to (13) or (17), comprising: a blocking member driving device that selectively moves the first blocking member and the second blocking member to a forward allowable position.
(20) The urging device acts on the space between the first blocking member and the second blocking member by the ejection of air from the air ejection portion at the tail of the plurality of male screw members arranged in a row. The working device according to item (19), including an air pressure acting portion that applies an air pressure higher than the air pressure.
(21) The temporary storage unit is
A fluid storage chamber for storing the fluid,
A discharge port provided at the bottom of the fluid containing chamber;
The working device according to item (6), including a pressurizing device that pressurizes the fluid in the fluid containing chamber and discharges the fluid by a desired amount from the discharge port.
(22) Further, the apparatus includes a discharge nozzle connected to the discharge port, and the motion imparting device is movable in the X-axis and Y-axis directions orthogonal to each other in one plane and is perpendicular to the one plane. A movable member that is movable in the Z-axis direction is provided, and the movable member is provided with a first connection portion that is connected to the temporary storage unit, and the control device controls the exercise applying device, whereby the first connection portion Includes a connection / separation control unit that generates a connection state connected to the second connection part connected to the storage device and a separation state separated from the second connection part, and at least the above-described connection state in the separation state of both the connection parts While the discharge nozzle is opposed to a desired portion of the work object by moving in the X-axis and Y-axis directions, a desired amount of fluid is discharged, while the connection state of the two connection portions is the front of the storage device. It is intended to replenish the fluids to the temporary storage unit (21) working apparatus according to item.
Items (2) to (6), (8), (9) and the explanations related to those items, and multiple items including (12) and (16) Of the items described in the item (2), items other than those specific to the solid material including the male screw member can be applied to the work device described in the items (21) and (22).

請求可能発明の一実施形態である組付装置を概略的に示す平面図である。It is a top view which shows roughly the assembly | attachment apparatus which is one Embodiment of claimable invention. 上記組付装置において組み付けられるメイン回路基板およびサブ回路基板を概略的に示す平面図である。It is a top view which shows roughly the main circuit board and sub circuit board which are assembled | attached in the said assembly apparatus. 上記組付装置のヘッド移動装置等を示す側面図である。It is a side view which shows the head moving apparatus etc. of the said assembly apparatus. 上記ねじ締め作業ヘッドおよび一時貯蔵装置を示す正面図（一部断面）である。It is a front view (partial cross section) which shows the said screw fastening operation head and a temporary storage apparatus. 上記一時貯蔵装置の個別供給装置のシャッタを示す平面図である。It is a top view which shows the shutter of the separate supply apparatus of the said temporary storage apparatus. 上記個別供給装置の係合板を示す平面図である。It is a top view which shows the engaging plate of the said separate supply apparatus. 上記組付装置の一時貯蔵装置への雄ねじ部材の補給を説明する図である。It is a figure explaining replenishment of the external thread member to the temporary storage apparatus of the said assembly apparatus. 別の実施形態である組付装置を示す側面図である。It is a side view which shows the assembly apparatus which is another embodiment. 図８に示す組付装置のねじ締め作業ヘッドおよび一時貯蔵装置等を示す平面図である。It is a top view which shows the screw fastening operation | work head of the assembling apparatus shown in FIG. 8, a temporary storage apparatus, etc. FIG. 上記ねじ締め作業ヘッドを示す正面図（一部断面）である。It is a front view (partial cross section) which shows the said screw fastening operation head. 上記一時貯蔵装置等を示す正面図（一部断面）である。It is a front view (partial cross section) which shows the said temporary storage apparatus. 上記ねじ締め作業ヘッドの雄ねじ部材保持部に設けられたセンサ等を示す底面図である。It is a bottom view which shows the sensor etc. which were provided in the external thread member holding | maintenance part of the said screw fastening operation head. 上記一時貯蔵装置の個別供給装置の係合板を示す平面図である。It is a top view which shows the engaging plate of the separate supply apparatus of the said temporary storage apparatus. 上記一時貯蔵装置の押上装置の押上部材および雄ねじ部材供給ユニットの押上装置の押上部材を示す平面図である。It is a top view which shows the pushing-up member of the raising apparatus of the said temporary storage apparatus, and the raising member of the raising apparatus of a male screw member supply unit. 上記一時貯蔵装置に貯蔵された雄ねじ部材の最後の１個が上昇させられた状態を示す正面図（一部断面）である。It is a front view (partial cross section) which shows the state where the last one of the male screw members stored in the temporary storage device was raised. 上記一時貯蔵装置への雄ねじ部材の補給を説明する図である。It is a figure explaining replenishment of the external thread member to the said temporary storage apparatus. さらに別の実施形態である塗布装置を概略的に示す正面図（一部断面）である。It is a front view (partial cross section) which shows roughly the coating device which is another embodiment.

以下、請求可能発明のいくつかの実施形態を、図を参照しつつ説明する。なお、請求可能発明は、下記実施形態の他、当業者の知識に基づいて種々の変更を施した態様で実施することができる。 Several embodiments of the claimable invention will be described below with reference to the drawings. In addition to the following embodiment, the claimable invention can be implemented in variously modified forms based on the knowledge of those skilled in the art.

図１には、請求可能発明の一実施形態である作業装置たる組付装置が図示されている。本組付装置においては、図２に示すように、例えば、作業対象物としての第１部材たるメイン回路基板１０（以後、メイン基板１０と略称する）に、別の部材である第２部材としてのサブ回路基板（以後、サブ基板１２と略称する）１２が、少なくとも１つ、ここでは複数、例えば、４個の雄ねじ部材１４により組み付けられる。雄ねじ部材１４は、図４に示すように、頭部１６および雄ねじ部１８を有し、頭部１８にはプラス溝状の被係合部２０が設けられ、サブ基板１２の貫通穴２２を通ってメイン基板１０の雌ねじ穴（図示省略）に螺合される。１個の雄ねじ部材１４の締付けが１作業であり、メイン基板１０に対して必要な作業は複数作業、ここでは４作業である。 FIG. 1 shows an assembling apparatus which is an embodiment of the claimable invention. In the assembling apparatus, as shown in FIG. 2, for example, a main circuit board 10 (hereinafter, abbreviated as main board 10) as a first member as a work object is used as a second member as another member. Sub circuit boards (hereinafter abbreviated as sub boards 12) 12 are assembled by at least one, here a plurality of, for example, four male screw members 14. As shown in FIG. 4, the male screw member 14 has a head portion 16 and a male screw portion 18. A positive groove-like engaged portion 20 is provided on the head portion 18 and passes through the through hole 22 of the sub-board 12. Then, the main board 10 is screwed into a female screw hole (not shown). The tightening of one male screw member 14 is one work, and the work required for the main board 10 is a plurality of work, here, four work.

本組付装置は、図１に示すように、装置本体３０，ねじ締め作業ヘッド３２，運動付与装置としてのヘッド移動装置３４，それぞれ貯蔵装置たる複数の雄ねじ部材供給ユニット３６（以後、供給ユニット３６と略称する），一時貯蔵装置３８，作業対象物搬送装置たる基板搬送装置４０，作業対象物保持装置たる基板保持装置４２および制御装置４４を含む。 As shown in FIG. 1, the assembling apparatus includes an apparatus main body 30, a screw tightening work head 32, a head moving device 34 as a motion imparting device, and a plurality of male screw member supply units 36 each serving as a storage device (hereinafter referred to as supply unit 36). A temporary storage device 38, a substrate transfer device 40 that is a work object transfer device, a substrate holding device 42 that is a work object holding device, and a control device 44.

基板搬送装置４０は、メイン基板１０を水平な一方向に搬送する。基板保持装置４２は基板搬送装置４０の途中に設けられ、所定の組付位置に停止させられたメイン基板１０を水平方向に位置決めして保持する。本実施形態においては、基板搬送装置４０によるメイン基板１０の搬送方向に平行な方向をＸ軸方向、基板保持装置４２に保持されたメイン基板１０の被組付面に平行な一平面である水平面内においてＸ軸方向と直交する方向をＹ軸方向、上記一平面に直角な方向であって鉛直方向をＺ軸方向とする。 The substrate transport device 40 transports the main substrate 10 in one horizontal direction. The substrate holding device 42 is provided in the middle of the substrate transfer device 40 and positions and holds the main substrate 10 stopped at a predetermined assembly position in the horizontal direction. In the present embodiment, a horizontal plane that is a plane parallel to the assembly surface of the main substrate 10 held by the substrate holding device 42, the direction parallel to the transfer direction of the main substrate 10 by the substrate transfer device 40 is the X-axis direction. The direction perpendicular to the X-axis direction is the Y-axis direction, the direction perpendicular to the one plane and the vertical direction is the Z-axis direction.

供給ユニット３６は装置本体３０に設けられ、貯蔵室に貯蔵された多数の雄ねじ部材１４を１個ずつ、エアにより圧送し、接続部５０（図３参照）から間隔をあけて送り出すさみだれ式送出装置（図示省略）を含む。複数の供給ユニット３６が供給する各雄ねじ部材１４の種類は同じものとされているが、異ならせてもよい。この種の供給ユニットは既に知られており、詳細な図示および説明は省略する。 The supply unit 36 is provided in the apparatus main body 30, and feeds a large number of male screw members 14 stored in the storage chamber one by one by air, and sends them out at intervals from the connection portion 50 (see FIG. 3). (Not shown). The types of the male screw members 14 supplied by the plurality of supply units 36 are the same, but may be different. This type of supply unit is already known, and detailed illustration and description thereof will be omitted.

ヘッド移動装置３４は、図１に示すように、Ｘ軸方向移動装置７０，Ｙ軸方向移動装置７２，Ｚ軸方向移動装置７４を含む。Ｙ軸方向移動装置７２は、Ｙ軸スライド８０およびＹ軸スライド移動装置８２を含み、Ｘ軸方向移動装置７０はＹ軸スライド８０上に設けられ、Ｘ軸スライド８４およびＸ軸スライド移動装置８６を含む。 As shown in FIG. 1, the head moving device 34 includes an X-axis direction moving device 70, a Y-axis direction moving device 72, and a Z-axis direction moving device 74. The Y-axis direction moving device 72 includes a Y-axis slide 80 and a Y-axis slide moving device 82, and the X-axis direction moving device 70 is provided on the Y-axis slide 80, and the X-axis slide 84 and the X-axis slide moving device 86 are installed. Including.

Ｚ軸方向移動装置７４は、図３に示すようにＸ軸スライド８４上に設けられ、本体９８，第１可動部材たる第１Ｚ軸スライド１００，第１可動部材移動装置たる第１Ｚ軸スライド移動装置１０２，第２可動部材たる第２Ｚ軸スライド１０４，第２可動部材移動装置たる第２Ｚ軸スライド移動装置１０６を含む。第１Ｚ軸スライド移動装置１０２は流体圧アクチュエータの一種であるエアシリンダ１１０を駆動源とし、第１Ｚ軸スライド１００は上昇端位置と下降端位置とに移動させられる。第２Ｚ軸スライド移動装置１０６は第１Ｚ軸スライド１００上に設けられ、駆動源たる電動モータ１２０，送りねじ１２２，ナット１２４を含み、第２Ｚ軸スライド１０４は第１Ｚ軸スライド１００に対して相対的にＺ軸方向の任意の位置へ移動させられる。 3, the Z-axis direction moving device 74 is provided on the X-axis slide 84 as shown in FIG. 3, and the main body 98, the first Z-axis slide 100 as the first movable member, and the first Z-axis slide moving device as the first movable member moving device. 102, a second Z-axis slide 104 serving as a second movable member, and a second Z-axis slide moving device 106 serving as a second movable member moving device. The first Z-axis slide moving device 102 uses an air cylinder 110, which is a kind of fluid pressure actuator, as a drive source, and the first Z-axis slide 100 is moved to an ascending end position and a descending end position. The second Z-axis slide moving device 106 is provided on the first Z-axis slide 100 and includes an electric motor 120 as a drive source, a feed screw 122, and a nut 124. The second Z-axis slide 104 is relative to the first Z-axis slide 100. To any position in the Z-axis direction.

図４に示すように、第２Ｚ軸スライド１０４にねじ締め作業ヘッド３２および一時貯蔵装置３８が相対移動不能に保持されている。ねじ締め作業ヘッド３２および一時貯蔵装置３８については下方を前方、上方を後方とする。ねじ締め作業ヘッド３２は雄ねじ部材回転部材たるドライバビット１５０，雄ねじ部材回転部材駆動装置たるドライバビット駆動装置１５２および雄ねじ部材保持部１５４を含む。ドライバビット１５０は雄ねじ部材１４の頭部１６の被係合部２０に係合する係合部１５６を備え、ドライバビット駆動装置１５２により回転させられるとともに軸方向に進退させられる。 As shown in FIG. 4, the screw tightening operation head 32 and the temporary storage device 38 are held on the second Z-axis slide 104 so as not to move relative to each other. Regarding the screw tightening operation head 32 and the temporary storage device 38, the lower side is the front and the upper side is the rear. The screw tightening operation head 32 includes a driver bit 150 as a male screw member rotating member, a driver bit driving device 152 as a male screw member rotating member driving device, and a male screw member holding portion 154. The driver bit 150 includes an engaging portion 156 that engages with the engaged portion 20 of the head portion 16 of the male screw member 14, and is rotated by the driver bit driving device 152 and advanced and retracted in the axial direction.

雄ねじ部材保持部１５４は、円筒状の本体部１６０と一対の保持体１６２とを含む。本体部１６０は、後退端位置ないし非作動位置にあるドライバビット１５０より下方へ突出させられ、それぞれ板状を成す一対の保持体１６２は、本体部１６０の突出端部の直径方向に隔たった２個所にそれぞれ、弾性材料製、例えば合成樹脂製の接続部材１６４により、互いに平行な水平軸線まわりに回動可能に取り付けられている。一対の保持体１６２は、本体部１６０から下方へ延び出させられるとともに、下方ほど互いに接近する向きに傾斜させられ、一対の保持体１６２の各下端部が最も接近した保持位置において、雄ねじ部材１４の頭部１６に下方から係合し、雄ねじ部材１４をそれの頭部１６がドライバビット１５０に対向する状態で保持する。なお、保持体１６２は軸により本体部１６０に回動可能に取り付け、スプリングおよびストッパにより保持位置に位置させるようにしてもよい。 The male screw member holding portion 154 includes a cylindrical main body portion 160 and a pair of holding bodies 162. The main body 160 is protruded downward from the driver bit 150 in the retracted end position or the non-operating position, and a pair of holding bodies 162 each having a plate shape are separated by 2 in the diameter direction of the protruding end of the main body 160. Each part is attached by a connecting member 164 made of an elastic material, for example, a synthetic resin, so as to be rotatable around horizontal axes parallel to each other. The pair of holding bodies 162 extend downward from the main body 160 and are inclined so as to approach each other toward the lower side, and the male screw member 14 at the holding position where the lower end portions of the pair of holding bodies 162 are closest to each other. The head 16 is engaged from below, and the male screw member 14 is held with the head 16 facing the driver bit 150. The holding body 162 may be rotatably attached to the main body 160 by a shaft and may be positioned at the holding position by a spring and a stopper.

一時貯蔵装置３８は、図４に示すように、貯蔵部材たる貯蔵器１７０および個別供給装置１７２を含み、一時貯蔵部を構成し、雄ねじ部材保持部１５４と共に移動可能である。貯蔵器１７０内には、横断面形状が円形を成し、上下方向に貫通する雄ねじ貯蔵路１７４（以後、貯蔵路１７４と略称する）が設けられている。雄ねじ部材１４の雄ねじ部１８の先端および頭部１６の頂面はそれぞれ平面状を成し、隣接する２個の雄ねじ部材１４の一方の雄ねじ部１８の、他方の雄ねじ部材１４の頭部１６に対する当接により、貯蔵路１７４には複数の雄ねじ部材１４が上下方向に一列に並んだ姿勢で収容される。貯蔵路１７４は、供給ユニット３６の貯蔵室における雄ねじ部材１４の最大収容数（収容容量）より少ないが、少なくとも１枚、本実施形態においては複数枚のメイン基板１０に対してサブ基板１２の固定を行うことができる数、収容可能な長さを有する。 As shown in FIG. 4, the temporary storage device 38 includes a storage 170 serving as a storage member and an individual supply device 172, constitutes a temporary storage unit, and is movable together with the male screw member holding unit 154. The reservoir 170 is provided with a male screw storage path 174 (hereinafter abbreviated as a storage path 174) having a circular cross-sectional shape and penetrating in the vertical direction. The front end of the male screw portion 18 of the male screw member 14 and the top surface of the head portion 16 are each flat, and one male screw portion 18 of two adjacent male screw members 14 with respect to the head portion 16 of the other male screw member 14. Due to the contact, a plurality of male screw members 14 are accommodated in the storage path 174 in a posture arranged in a line in the vertical direction. Although the storage path 174 is smaller than the maximum accommodation number (accommodation capacity) of the male screw member 14 in the storage chamber of the supply unit 36, at least one, in this embodiment, the sub board 12 is fixed to the plurality of main boards 10. Have a length that can be accommodated.

貯蔵器１７０の上端部には、開閉部材たるシャッタ１８０が設けられている。シャッタ１８０には、図５に示すように、貯蔵路１７４の直径と同じ直径の開口１８２が形成され、開閉部材駆動装置たるエアシリンダ１８４により、開口１８２が貯蔵路１７４から外れ、貯蔵路１７４を閉じる閉位置と、開口１８２の位置が貯蔵路１７４と一致し、貯蔵路１７４を上方に開く開位置とに移動させられる。 A shutter 180 serving as an opening / closing member is provided at the upper end of the reservoir 170. As shown in FIG. 5, the shutter 180 has an opening 182 having the same diameter as that of the storage path 174, and the opening 182 is detached from the storage path 174 by the air cylinder 184 that is an opening / closing member driving device. The closed position is closed, and the position of the opening 182 coincides with the storage path 174, and the storage path 174 is moved upward.

貯蔵器１７０の先端部である下端部には、第１阻止部材たる係合板１９０および第２阻止部材たるシャッタ１９２が設けられている。係合板１９０は、図６に示すように、貯蔵路１７４の直径と同じ直径の開口１９４と、開口１９４から延び出させられ、雄ねじ部材１４の雄ねじ部１８の直径よりやや大きい幅の切欠１９６とが設けられている。係合板１９０はエアシリンダ１９８により、切欠１９６が貯蔵路１７４内に位置し、雄ねじ部１８が嵌入させられるとともに、切欠１９６を画定する部分が頭部１６に係合して雄ねじ部材１４の前進を阻止する前進阻止位置と、開口１９４が貯蔵路１７４と一致し、雄ねじ部材１４の前進を許容する前進許容位置とに移動させられる。 An engaging plate 190 that is a first blocking member and a shutter 192 that is a second blocking member are provided at the lower end, which is the tip of the reservoir 170. As shown in FIG. 6, the engagement plate 190 has an opening 194 having the same diameter as that of the storage path 174, and a notch 196 extending from the opening 194 and having a width slightly larger than the diameter of the male screw portion 18 of the male screw member 14. Is provided. The engagement plate 190 is moved by the air cylinder 198 so that the notch 196 is positioned in the storage path 174 and the male screw portion 18 is fitted therein. It is moved to the advance prevention position for preventing and the advance allowance position where the opening 194 coincides with the storage path 174 and the advancement of the male screw member 14 is allowed.

シャッタ１９２は、前記シャッタ１８０と同様に構成され、図４に示すように、雄ねじ部材１４の貯蔵路１７４内における進行方向、本実施形態においては上から下へ向かう方向において係合板１９０の下流側に設けられ、エアシリンダ２００により、開口２０２が貯蔵路１７４から外れて雄ねじ部材１４の前進を阻止する前進阻止位置と、開口２０２が貯蔵路１７４と一致して雄ねじ部材１４の前進を許容する前進許容位置とに移動させられる。本実施形態においてはエアシリンダ１９８，２００が阻止部材駆動装置を構成している。係合板１９０，シャッタ１９２が前進阻止位置に位置する状態では、貯蔵路１７４内の先頭の雄ねじ部材１４が係合板１９０，シャッタ１９２間に位置し、係合板１９０により前進を阻止された２個目以降の雄ねじ部材１４から切り離された状態とされる。 The shutter 192 is configured in the same manner as the shutter 180, and, as shown in FIG. 4, the downstream side of the engagement plate 190 in the traveling direction of the male screw member 14 in the storage path 174, in this embodiment, from the top to the bottom. And an advance prevention position where the opening 202 is disengaged from the storage path 174 and prevents the male screw member 14 from moving forward, and the opening 202 coincides with the storage path 174 and allows the male screw member 14 to advance. It is moved to the allowable position. In the present embodiment, the air cylinders 198 and 200 constitute a blocking member driving device. In a state in which the engagement plate 190 and the shutter 192 are positioned at the forward movement preventing position, the second male screw member 14 in the storage path 174 is positioned between the engagement plate 190 and the shutter 192 and the forward movement is prevented by the engagement plate 190. It is set as the state cut | disconnected from the male screw member 14 after that.

貯蔵路１７４の係合板１９０，シャッタ１９２の間の部分には、図４に示すようにポート２０８が設けられてエア噴出部を構成し、加圧したエアを噴出させる。また、貯蔵路１７４のシャッタ１８０が設けられた部分の下側にはポート２１０が設けられてエア圧作用部を構成し、貯蔵路１７４に一列に並んで収容された複数個の雄ねじ部材１４の後尾に、係合板１９０，シャッタ１９２の間の空間に作用するエア圧より高いエア圧を作用させ、係合板１９０に向かう向きに付勢するようにされている。この高圧エアはシャッタ１８０が閉位置にある間は常時作用させられ、複数の雄ねじ部材１４が貯蔵路１７４内で弾んだりすることが回避されるとともに、係合板１９０が開かれれば下方へ押し下げられる。 As shown in FIG. 4, a port 208 is provided in a portion between the engagement plate 190 and the shutter 192 of the storage path 174 to form an air ejection portion, and pressurized air is ejected. In addition, a port 210 is provided below the portion of the storage path 174 where the shutter 180 is provided to form an air pressure acting portion, and a plurality of male screw members 14 accommodated in a line in the storage path 174 are arranged. An air pressure higher than the air pressure acting on the space between the engagement plate 190 and the shutter 192 is applied to the tail, and urged toward the engagement plate 190. The high-pressure air is always acted while the shutter 180 is in the closed position, so that the plurality of male screw members 14 are prevented from bouncing in the storage path 174 and pushed downward when the engagement plate 190 is opened. .

また、貯蔵器１７０の上端部には、図４に示すように、シャッタ１８０より下側の部分にセンサ２２０が設けられている。センサ２２０は、例えば、反射型あるいは透過型の光電センサ，静電容量式センサ，誘導型センサ等、非接触センサにより構成される。センサ２２０は、本実施形態においては、雄ねじ部材１４を検出する状態ではＯＮ信号を出力し、検出しない状態ではＯＦＦ信号を出力するように構成されている。貯蔵器１７０の係合板１９０とシャッタ１９２との間の部分にはセンサ２２２が設けられ、それらの間における前記先頭の雄ねじ部材１４の有無を検出するようにされている。センサ２２２は、本実施形態においては、センサ２２０と同様に、非接触センサにより構成されている。 Further, as shown in FIG. 4, a sensor 220 is provided at the upper portion of the reservoir 170 at a portion below the shutter 180. The sensor 220 is configured by a non-contact sensor such as a reflective or transmissive photoelectric sensor, a capacitive sensor, an inductive sensor, or the like. In this embodiment, the sensor 220 is configured to output an ON signal when the male screw member 14 is detected, and output an OFF signal when the male screw member 14 is not detected. A sensor 222 is provided at a portion between the engagement plate 190 and the shutter 192 of the reservoir 170 so as to detect the presence or absence of the leading male screw member 14 between them. In the present embodiment, the sensor 222 is configured by a non-contact sensor, similar to the sensor 220.

貯蔵路１７４の下端は、接続部材たるパイプ２３０により、雄ねじ部材保持部１５４の本体部１６０の、後退端位置に位置するドライバビット１５０と保持体１６２との間の部分に接続されている。 The lower end of the storage path 174 is connected to a portion of the main body 160 of the male screw member holding portion 154 between the driver bit 150 and the holding body 162 by a pipe 230 serving as a connecting member.

前記第１Ｚ軸スライド１００には、図３に示すように上下方向に貫通して通路２４０が形成されている。通路２４０は横断面形状が円形を成し、その下端部には接続部２４２が設けられ、上端部は接続部材たる可撓性を有するホース２４４によって貯蔵路１７４の上端に接続されている。なお、本実施形態においてはねじ締め作業ヘッド３２および一時貯蔵装置３８はＺ軸方向移動装置７４と共にユニット化され、Ｘ軸スライド８４に対して着脱可能とされており、ドライバビット１５０の種類を異にする別のユニットや、雄ねじ部材１４の締付けとは異なる作業を行う作業ヘッドを備えたユニット、例えば、電子回路部品を負圧により吸着する吸着ノズルを含む部品保持ヘッドを備えたユニット等と交換可能とされている。 As shown in FIG. 3, a passage 240 is formed in the first Z-axis slide 100 so as to penetrate in the vertical direction. The passage 240 has a circular cross-sectional shape, and a connection portion 242 is provided at the lower end portion thereof, and the upper end portion is connected to the upper end of the storage passage 174 by a flexible hose 244 serving as a connection member. In the present embodiment, the screw tightening work head 32 and the temporary storage device 38 are unitized together with the Z-axis direction moving device 74 and can be attached to and detached from the X-axis slide 84, and the type of the driver bit 150 is different. Replaced with another unit, or a unit having a work head that performs a work different from the tightening of the male screw member 14, such as a unit having a component holding head including a suction nozzle that sucks electronic circuit components by negative pressure It is possible.

前記制御装置４４は、図１に示すようにコンピュータ２５０を主体として構成され、ヘッド移動装置３４，供給ユニット３６，基板搬送装置４０等、組付装置を構成する各種装置の駆動源等を制御する。コンピュータ２５０には前記センサ２２０，２２２等の出力信号等が入力される。 As shown in FIG. 1, the control device 44 is mainly composed of a computer 250, and controls drive sources and the like of various devices constituting the assembly device such as the head moving device 34, the supply unit 36, and the substrate transport device 40. . An output signal from the sensors 220 and 222 is input to the computer 250.

以上のように構成された組付装置には、サブ基板１２が位置決めされた状態で載せられたメイン基板１０が基板搬送装置４０により搬入され、組付位置において停止後、基板保持装置４２により位置決めされて保持される。その状態でねじ締め作業ヘッド３２および一時貯蔵装置３８が水平方向に移動させられ、ドライバビット１５０がサブ基板１２の貫通穴２２の上方へ移動させられる。ねじ締め作業時には、接続部２４２が接続部５０から離間させられている。そして、第２Ｚ軸スライド１０４が第１Ｚ軸スライド１００に対して下降させられ、ねじ締め作業ヘッド３２が貫通穴２２に接近させられ、所定距離、上方に位置させられる。 In the assembling apparatus configured as described above, the main board 10 placed with the sub board 12 positioned is loaded by the board conveying apparatus 40, stopped at the assembling position, and then positioned by the board holding apparatus 42. Being held. In this state, the screw tightening head 32 and the temporary storage device 38 are moved in the horizontal direction, and the driver bit 150 is moved above the through hole 22 of the sub-board 12. During the screw tightening operation, the connection portion 242 is separated from the connection portion 50. Then, the second Z-axis slide 104 is lowered with respect to the first Z-axis slide 100, and the screw tightening operation head 32 is brought close to the through hole 22, and is positioned upward by a predetermined distance.

この状態でドライバビット１５０が回転させられつつ下降させられ、係合部１５６が、保持体１６２に保持された雄ねじ部材１４の被係合部２０に係合し、雄ねじ部材１４を回転させつつ下降させ、サブ基板１２の貫通穴２２を通ってメイン基板１０の雌ねじ穴に螺合させる。一対の保持体１６２は、接続部材１６４の弾性変形により互いに離間する向きに回動して雄ねじ部材１４の下降を許容し、雄ねじ部材１４は保持体１６２から外れて雌ねじ穴に螺合される。保持体１６２は接続部材１６４の弾性復元力により、雄ねじ部材１４を受ける保持位置へ戻される。 In this state, the driver bit 150 is lowered while being rotated, and the engaging portion 156 is engaged with the engaged portion 20 of the male screw member 14 held by the holding body 162 and is lowered while rotating the male screw member 14. And is screwed into the female screw hole of the main board 10 through the through hole 22 of the sub board 12. The pair of holding bodies 162 rotate away from each other by elastic deformation of the connecting member 164 to allow the male screw member 14 to descend, and the male screw member 14 is detached from the holding body 162 and screwed into the female screw hole. The holding body 162 is returned to the holding position for receiving the male screw member 14 by the elastic restoring force of the connecting member 164.

雄ねじ部材１４の締付け後、ドライバビット１５０が非駆動位置へ後退させられるとともに、ねじ締め作業ヘッド３２が第２Ｚ軸スライド１０４の上昇により上昇させられ、ヘッド移動装置３４により一時貯蔵装置３８と共に水平方向に移動させられて次の締付け位置へ移動させられる。ねじ締め作業ヘッド３２がねじ締め動作を行う領域がねじ締め作業ヘッド３２による作業領域である。ねじ締め作業ヘッド３２の移動の間にシャッタ１９２が前進許容位置へ移動させられるとともに、係合板１９０，シャッタ１９２間にエアが供給され、先頭の雄ねじ部材１４のみがパイプ２３０を通って雄ねじ部材保持部１５４へ送られ、保持体１６２に保持される。そして、シャッタ１９２が前進阻止位置へ移動させられた後、係合板１９０が前進許容位置へ移動させられ、貯蔵路１７４内の雄ねじ部材１４が前進させられ、シャッタ１９２により受けられる。その状態で係合板１９０が前進阻止位置へ移動させられる。この移動は切欠１９６に雄ねじ部１８が嵌入することにより許容される。なお、係合板１９０が前進許容位置へ移動させられて雄ねじ部材１４が前進させられたはずであるにもかかわらず、センサ２２２の検出信号がＯＦＦであれば、コンピュータ２５０により表示装置等の報知装置を用いて異常の発生が報知される。シャッタ１９２が開かれて雄ねじ部材１４が雄ねじ部材保持部１５４へ送られたはずであるにもかかわらず、センサ２２２の検出信号がＯＮである場合にも異常の発生が報知される。また、組付装置の組付動作が禁止される。 After the male screw member 14 is tightened, the driver bit 150 is retracted to the non-driving position, and the screw tightening head 32 is lifted by the ascent of the second Z-axis slide 104, and is moved horizontally along with the temporary storage device 38 by the head moving device 34. To the next tightening position. A region where the screw tightening work head 32 performs the screw tightening operation is a work region by the screw tightening work head 32. While the screwing operation head 32 is moved, the shutter 192 is moved to the advance allowance position, and air is supplied between the engagement plate 190 and the shutter 192, and only the leading male screw member 14 passes through the pipe 230 and holds the male screw member. Sent to the unit 154 and held by the holding body 162. Then, after the shutter 192 is moved to the advance prevention position, the engagement plate 190 is moved to the advance allowance position, the male screw member 14 in the storage path 174 is advanced, and is received by the shutter 192. In this state, the engagement plate 190 is moved to the advance prevention position. This movement is allowed by fitting the male screw portion 18 into the notch 196. If the detection signal of the sensor 222 is OFF even though the engagement plate 190 has been moved to the advance allowable position and the male screw member 14 should have been advanced, a notification device such as a display device is displayed by the computer 250. The occurrence of abnormality is notified using. Even when the shutter 192 is opened and the male screw member 14 should have been sent to the male screw member holding portion 154, the occurrence of an abnormality is also notified when the detection signal of the sensor 222 is ON. Further, the assembling operation of the assembling apparatus is prohibited.

コンピュータ２５０においてカウンタにより、使用された雄ねじ部材１４の数がカウントされ、貯蔵器１７０における雄ねじ部材１４の残数が取得される。残数は、供給ユニット３６から貯蔵器１７０への雄ねじ部材１４の供給直後において貯蔵器１７０に貯蔵されている雄ねじ部材１４の総数（この数を貯蔵初期数と称する）から使用数を引くことにより得られる。 The counter of the computer 250 counts the number of used male screw members 14 and obtains the remaining number of male screw members 14 in the reservoir 170. The remaining number is obtained by subtracting the number of uses from the total number of male screw members 14 stored in the reservoir 170 immediately after the supply of the male screw member 14 from the supply unit 36 to the reservoir 170 (this number is referred to as the initial storage number). can get.

貯蔵初期数は、本実施形態においては、１枚のメイン基板１０に対するサブ基板１２の組付けに必要な数、ここでは４個より多く、少なくとも１枚、本実施形態においては複数枚のメイン基板１０についてサブ基板１２の組付けが丁度可能な数（４の倍数）であり、かつ、供給ユニット３６から貯蔵器１７０への雄ねじ部材１４の供給が、基板保持装置４２によるメイン基板１０の保持解放，基板搬送装置４０によるメイン基板１０の搬出，次にサブ基板１２の固定が行われるメイン基板１０の搬入，保持が行われる間に終了する数であり、貯蔵路１７４内に収容可能な数とされている。この収容可能数は、本実施形態では、シャッタ１８０による貯蔵路１７４の開閉を妨げず、センサ２２０には到達しない数である。 In this embodiment, the initial storage number is the number necessary for assembling the sub-board 12 to one main board 10, more than four here, at least one, and in this embodiment, a plurality of main boards. 10, the number of sub-boards 12 can be just assembled (multiple of 4), and the supply of the male screw member 14 from the supply unit 36 to the reservoir 170 is the holding release of the main board 10 by the board holding device 42. , The number of the main substrate 10 unloaded by the substrate transfer device 40, and then the main substrate 10 being fixed and the sub-substrate 12 fixed, and the number of the substrate can be accommodated in the storage path 174. Has been. In this embodiment, the number that can be accommodated is a number that does not prevent the shutter 220 from opening and closing the storage path 174 and does not reach the sensor 220.

供給ユニット３６による雄ねじ部材１４の補給は、本実施形態においては、メイン基板１０についてサブ基板１２の固定が終了した時点における残数が設定数以下になった場合、例えば、１枚のメイン基板１０についての全部のサブ基板１２の固定に必要な数より少なく、１枚のメイン基板１０に予定された全部の作業の完了が不可能となったときに行われる。本実施形態では、前述のように貯蔵初期数が複数枚のメイン基板１０についての組付けが丁度可能な数とされているため、設定数は０であり、補給は、残数０の状態で、すべてがメイン基板１０の保持解放，搬出，搬入，保持と並行して行われることとなる。なお、残数が１になり、最後の雄ねじ部材１４が雄ねじ部材保持部１５４へ送られた状態ではセンサ２２２がＯＦＦ信号を発するが、これは異常ではなく、無視される。 In the present embodiment, the replenishment of the male screw member 14 by the supply unit 36 is performed when the remaining number at the time when the fixing of the sub-board 12 to the main board 10 is less than the set number, for example, one main board 10. This is performed when it is less than the number necessary for fixing all the sub-boards 12 and it is impossible to complete all the operations scheduled for one main board 10. In the present embodiment, as described above, the initial storage number is set to a number that allows the assembly of the plurality of main boards 10, so that the set number is 0 and the replenishment is in the remaining number 0 state. All of this is performed in parallel with the holding and releasing, carrying out, carrying in, and holding of the main board 10. When the remaining number is 1 and the last male screw member 14 is sent to the male screw member holding portion 154, the sensor 222 generates an OFF signal, but this is not abnormal and is ignored.

補給時には一時貯蔵装置３８はヘッド移動装置３４により複数の供給ユニット３６のうちの１つへ移動させられ、接続部２４２が接続部５０上に位置させられるとともに、第１Ｚ軸スライド１００の下降により下降させられ、図７に示すように接続部５０に接続される。その状態で供給ユニット３６から雄ねじ部材１４が１個ずつ送り出される。この際、シャッタ１８０は開位置に、係合板１９０は前進許容位置に、シャッタ１９２は前進阻止位置にそれぞれ位置させられており、雄ねじ部材１４は接続部５０，２４２，通路２４０，ホース２４４を通って貯蔵路１７４内に進入し、上下に一列に並んだ状態で貯蔵される。 At the time of replenishment, the temporary storage device 38 is moved to one of the plurality of supply units 36 by the head moving device 34, the connecting portion 242 is positioned on the connecting portion 50, and lowered by the lowering of the first Z-axis slide 100. And connected to the connecting portion 50 as shown in FIG. In this state, the male screw members 14 are sent out one by one from the supply unit 36. At this time, the shutter 180 is located in the open position, the engagement plate 190 is located in the advancement-permitted position, and the shutter 192 is located in the advancement prevention position. The male screw member 14 passes through the connection portions 50 and 242, the passage 240, and the hose 244. Then, it enters the storage path 174 and is stored in a line in the vertical direction.

雄ねじ部材１４が貯蔵路１７４内に進入する毎にセンサ２２０の信号がＯＦＦからＯＮに変わり、さらにＯＮからＯＦＦに変わることにより、進入した雄ねじ部材１４の数がコンピュータ２５０においてカウントされる。カウント値が設定値になれば、コンピュータ２５０により、供給ユニット３６のさみだれ式送出装置に対して送出停止が指示される。この設定値は、指示出力から実際に送出が停止されるまでの遅れを考慮し、供給ユニット３６から貯蔵器１７０への補給が予定された雄ねじ部材１４の数（ここでは貯蔵初期数に等しい数）より少なく、補給予定数の雄ねじ部材１４の最後のものが送り出された状態で送出が停止される数に設定されている。 Each time the male screw member 14 enters the storage path 174, the signal of the sensor 220 changes from OFF to ON, and further changes from ON to OFF, so that the number of male screw members 14 that have entered is counted in the computer 250. When the count value reaches the set value, the computer 250 instructs the pinch type sending device of the supply unit 36 to stop sending. This set value takes into account the delay from the instruction output until the delivery is actually stopped, and the number of male screw members 14 scheduled to be supplied from the supply unit 36 to the reservoir 170 (here, a number equal to the initial storage number). ) Is set to a number that is less than the number of male screw members 14 to be replenished and is stopped in a state where the last one has been sent out.

送出停止後、第１Ｚ軸スライド１００が上昇させられ、接続部２４２が接続部５０から切り離される。また、最後の雄ねじ部材１４の貯蔵路１７４内への進入がカウントされたならばシャッタ１８０が閉位置へ移動させられ、係合板１９０が前進阻止位置へ移動させられる。続いてシャッタ１９２の前進許容位置への移動により先頭の雄ねじ部材１４が雄ねじ部材保持部１５４へ送られ、組付けが再開される。本組付装置においては、一時貯蔵装置３８およびねじ締め作業ヘッド３２が第２Ｚ軸スライド１０４に設けられているため、ねじ締め作業ヘッド３２と一時貯蔵装置３８とが特に近く、一時貯蔵装置３８からねじ締め作業ヘッド３２への雄ねじ部材１４の供給がより迅速に行われる。また、供給ユニット３６は複数あり、そのうちの１つについて貯蔵室への雄ねじ部材１４の補給が行われる場合でも、別の供給ユニット３６により一時貯蔵装置３８に対して雄ねじ部材１４を供給することができ、組付け作業の中断が回避される。 After stopping the feeding, the first Z-axis slide 100 is raised and the connection portion 242 is disconnected from the connection portion 50. In addition, if the last male screw member 14 enters the storage path 174, the shutter 180 is moved to the closed position, and the engagement plate 190 is moved to the advance prevention position. Subsequently, the leading male screw member 14 is sent to the male screw member holding portion 154 by the movement of the shutter 192 to the forward movement allowable position, and the assembly is resumed. In this assembling apparatus, since the temporary storage device 38 and the screw tightening work head 32 are provided on the second Z-axis slide 104, the screw tightening work head 32 and the temporary storage device 38 are particularly close to each other. The male screw member 14 is supplied to the screw tightening head 32 more quickly. Further, there are a plurality of supply units 36, and even when one of them is supplied with the male screw member 14 to the storage chamber, the male screw member 14 can be supplied to the temporary storage device 38 by another supply unit 36. And the interruption of assembly work is avoided.

別の実施形態を説明する。なお、上記実施形態の組付装置の構成要素と同じ作用を成す部分については同じ符号を付して対応関係を示し、説明を省略する。
本組付装置においては、図８に示すように、第１Ｚ軸スライド３００に一時貯蔵装置３０２が設けられて一時貯蔵部を構成し、第２Ｚ軸スライド３０４にねじ締め作業ヘッド３０６が設けられている。なお、本第１Ｚ軸スライド３００は、図９に示すように複数の部材により構成されている。一時貯蔵装置３０２は、図１１に示すように、貯蔵器３１０および個別供給装置３１２を含み、貯蔵器３１０を上下方向に貫通して設けられた雄ねじ部材貯蔵路３１４の上端部はホース３１６によってねじ締め作業ヘッド３０６の雄ねじ部材保持部１５４の本体部１６０に接続されている（図１１参照）。本実施形態においては、上下方向において上方を前方、下方を後方とする。雄ねじ部材保持部１５４の本体部１６０の下端部には、図１２に示すようにセンサ３１８が設けられている。センサ３１８は、例えば、前記センサ２２０，２２２と同様に非接触センサにより構成され、保持体１６２に雄ねじ部材１４が保持されているか否かを検出し、保持されているべきときに保持されていなければ、センサ３１８の検出信号に基づいて報知等が行われる。Another embodiment will be described. In addition, about the part which comprises the same effect | action as the component of the assembly apparatus of the said embodiment, the same code | symbol is attached | subjected, a corresponding relationship is shown, and description is abbreviate | omitted.
In this assembling apparatus, as shown in FIG. 8, a temporary storage device 302 is provided on the first Z-axis slide 300 to form a temporary storage unit, and a screw tightening work head 306 is provided on the second Z-axis slide 304. Yes. The first Z-axis slide 300 includes a plurality of members as shown in FIG. As shown in FIG. 11, the temporary storage device 302 includes a storage device 310 and an individual supply device 312, and an upper end portion of a male screw member storage path 314 provided through the storage device 310 in the vertical direction is screwed by a hose 316. It is connected to the main body 160 of the male screw member holding part 154 of the fastening work head 306 (see FIG. 11). In the present embodiment, the upper direction is the front and the lower direction is the rear in the vertical direction. A sensor 318 is provided at the lower end of the main body 160 of the male screw member holding portion 154 as shown in FIG. The sensor 318 is constituted by, for example, a non-contact sensor like the sensors 220 and 222, and detects whether or not the male screw member 14 is held by the holding body 162, and should be held when it should be held. For example, notification or the like is performed based on the detection signal of the sensor 318.

図１１に示すように、貯蔵器３１０の上端部に第２阻止部材たるシャッタ３３０が設けられ、エアシリンダ３３２により、貯蔵路３１４を閉じる前進阻止位置と、開口３３４が貯蔵路３１４と一致して貯蔵路３１４を開く前進許容位置とに移動させられる。貯蔵器３１０にはまた、貯蔵路３１４内における雄ねじ部材１４の進行方向、本実施形態においては下から上に向かう方向においてシャッタ３３０より上流側の部分に第１阻止部材たる係合板３３６が設けられている。係合板３３６はエアシリンダ３３８により、図１３に示すように、開口３４０が貯蔵路３１４から外れ、切欠３４２が貯蔵路３１４内に位置する前進阻止位置と、図１６に示すように、開口３４０が貯蔵路３１４と一致する前進許容位置とに移動させられる。係合板３３６内には、図１３に示すようにエア通路３４４が一対形成され、係合板３３６の切欠３４２を画定する部分に上向きに開口させられて、シャッタ３３０と係合板３３６との間に加圧したエアを噴出させるエア噴出部を構成し、雄ねじ部材１４の頭部１６に、その下側から上向きに加圧エアを作用させ、ホース３１６へ送り出す。さらに、貯蔵器３１０のシャッタ３３０と係合板３３６との間の部分にセンサ３４８が設けられ、前記センサ２２２と同様に機能させられる。 As shown in FIG. 11, a shutter 330 as a second blocking member is provided at the upper end portion of the reservoir 310, and the forward blocking position where the storage path 314 is closed by the air cylinder 332 and the opening 334 coincide with the storage path 314. The storage path 314 is moved to an advance allowable position for opening. The reservoir 310 is also provided with an engagement plate 336 serving as a first blocking member at a portion upstream of the shutter 330 in the traveling direction of the male screw member 14 in the storage path 314, in this embodiment from the bottom to the top. ing. As shown in FIG. 13, the engagement plate 336 is moved forward by the air cylinder 338 so that the opening 340 is disengaged from the storage path 314 and the notch 342 is positioned in the storage path 314. As shown in FIG. It is moved to the advance allowable position coinciding with the storage path 314. A pair of air passages 344 are formed in the engagement plate 336 as shown in FIG. 13 and are opened upward at a portion defining the notch 342 of the engagement plate 336 so as to be added between the shutter 330 and the engagement plate 336. An air ejecting portion for ejecting the pressurized air is configured, and pressurized air is applied to the head 16 of the male screw member 14 upward from the lower side, and is sent to the hose 316. Further, a sensor 348 is provided in a portion between the shutter 330 and the engagement plate 336 of the reservoir 310 and functions in the same manner as the sensor 222.

貯蔵路３１４内に上下に一列に並び、一直線上に整列した状態で収容された雄ねじ部材１４は、図１１に示す押上装置３６０により押し上げられる。押上装置３６０は、本実施形態においては、押上部材３６２および押上部材駆動装置３６４を含み、付勢装置を構成している。押上部材３６２は、図１４に示すように、貯蔵路３１４の直径より小さい幅の板状を成し、先端部に突部状の押上部３６６を備え、貯蔵器３１０に上下方向に設けられた切欠３６８内に位置させられて、上下方向に移動可能とされている。押上部材駆動装置３６４は、図１１に示すように、エアシリンダ３７０，プーリ３７２，ワイヤ３７４を含み、ピストンロッド３７６の伸縮によるワイヤ３７４の移動により、押上部材３６２が昇降させられる。押上装置３６０は、図９に示すエアシリンダ３７８を駆動源とする押上装置移動装置３８０により水平方向に移動させられて貯蔵器３１０に接近，離間させられ、押上部材３６２が、押上部３６６が貯蔵路３１４内に位置する押上位置と、貯蔵路３１４から退避させられた退避位置とに移動させられる。 The male screw members 14 accommodated in a state of being aligned in a line in the storage path 314 in the vertical direction are pushed up by the push-up device 360 shown in FIG. In the present embodiment, the push-up device 360 includes a push-up member 362 and a push-up member driving device 364, and constitutes an urging device. As shown in FIG. 14, the push-up member 362 has a plate shape with a width smaller than the diameter of the storage path 314, and has a protruding push-up portion 366 at the tip, and is provided in the reservoir 310 in the vertical direction. It is positioned in the notch 368 and is movable in the vertical direction. As shown in FIG. 11, the push-up member driving device 364 includes an air cylinder 370, a pulley 372, and a wire 374, and the push-up member 362 is moved up and down by movement of the wire 374 due to expansion and contraction of the piston rod 376. The push-up device 360 is moved in the horizontal direction by the push-up device moving device 380 using the air cylinder 378 shown in FIG. 9 as a drive source, and is moved closer to and away from the reservoir 310. The push-up member 362 is stored in the push-up portion 366. It is moved to the push-up position located in the path 314 and the retracted position retracted from the storage path 314.

本組付装置の雄ねじ部材供給ユニット４００は、図１６に示すように、一括送出装置４０２および接続部４０４を備えている。一括送出装置４０２は、押上装置４０８含む。押上装置４０８は押上部材４１０および押上部材駆動装置４１２を含む。押上部材４１０は、図１４に示すように平面視の形状がコの字形を成し、一対の押上部４１４が整列路４１５内に位置させられ、下降端位置に位置する押上部材４１０の押上部４１４上に、複数個の雄ねじ部材１４がＺ軸方向に平行な一直線に沿って整列させられる。押上部材駆動装置４１２は押上部材駆動装置３６４と同様に構成されている。接続部４０４には、図１６に示すように、整列路４１５に続く送出口４１６および押上部４１４のＺ軸方向の移動を許容する一対の切欠４１８が設けられている。なお、接続部４０４は、その一部が、送出口４１６および一対の切欠４１８の一方において断面にされて図示されている。 As shown in FIG. 16, the male screw member supply unit 400 of the assembling apparatus includes a batch delivery device 402 and a connection portion 404. The batch sending device 402 includes a push-up device 408. The lifting device 408 includes a lifting member 410 and a lifting member driving device 412. As shown in FIG. 14, the push-up member 410 has a U-shape in plan view, the pair of push-up portions 414 are positioned in the alignment path 415, and the push-up portion of the push-up member 410 located at the lower end position A plurality of male screw members 14 are aligned on 414 along a straight line parallel to the Z-axis direction. The lifting member driving device 412 is configured in the same manner as the lifting member driving device 364. As shown in FIG. 16, the connection portion 404 is provided with a pair of notches 418 that allow movement of the delivery port 416 and the push-up portion 414 following the alignment path 415 in the Z-axis direction. Note that a part of the connection portion 404 is shown in cross section at one of the delivery port 416 and the pair of notches 418.

貯蔵器３１０の下端部には、図１１に示すように、下面および側面に開口し、貯蔵路３１４と直交する一対の切欠４２０が設けられ、図１４に示すように、一対の押上部４１４が押上部材３６２と干渉することなく、貯蔵路３１４内に進入することが許容されるようにされている。貯蔵器３１０の下端部が接続部４２２を構成している。なお、図１１等においては、貯蔵器３１０が切欠３６８および一対の切欠４２０の一方において断面にされて図示されている。 As shown in FIG. 11, a pair of notches 420 are provided at the lower end of the reservoir 310 so as to open on the bottom and side surfaces and orthogonal to the storage path 314, and as shown in FIG. It is allowed to enter the storage path 314 without interfering with the push-up member 362. The lower end portion of the reservoir 310 constitutes the connection portion 422. In FIG. 11 and the like, the reservoir 310 is shown in cross section at one of the notch 368 and the pair of notches 420.

本組付装置においては、シャッタ３３０，係合板３３６が択一的に前進許容位置へ移動させられ、シャッタ３３０，係合板３３６間の先頭の雄ねじ部材１４が加圧エアの噴出によりホース３１６を通ってねじ締め作業ヘッド３０６の雄ねじ部材保持部１５４へ送られることと、押上部材３６２が上昇して雄ねじ部材１４を押し上げることとが行われる。貯蔵路３１４内の最後尾の雄ねじ部材１４は、図１５に示すように、押上部３６６によってシャッタ３３０に当接させられるが、係合板３３６は切欠３４２により押上部３６６との干渉を回避されて前進阻止位置へ移動させられ、エア通路３４４から加圧エアを噴出し、最後の雄ねじ部材１４を送り出す。最後の雄ねじ部材１４が送り出されれば、図１６に示すように押上部材３６２が下降端位置へ下降させられるとともに、退避位置へ移動させられ、押上部３６６が貯蔵路３１４から抜け出させられる。また、シャッタ３３０が前進阻止位置、係合板３３６が前進許容位置へ移動させられる。 In this assembling apparatus, the shutter 330 and the engagement plate 336 are selectively moved to the advance allowable position, and the leading male screw member 14 between the shutter 330 and the engagement plate 336 passes through the hose 316 by the injection of pressurized air. Then, it is sent to the male screw member holding portion 154 of the screw tightening operation head 306 and the push-up member 362 is raised to push up the male screw member 14. As shown in FIG. 15, the last male screw member 14 in the storage path 314 is brought into contact with the shutter 330 by the push-up portion 366, but the engagement plate 336 is prevented from being interfered with the push-up portion 366 by the notch 342. It is moved to the forward stop position, the pressurized air is ejected from the air passage 344, and the last male screw member 14 is sent out. When the last male screw member 14 is sent out, the push-up member 362 is lowered to the lower end position as shown in FIG. 16 and is moved to the retracted position, so that the push-up portion 366 is removed from the storage path 314. Further, the shutter 330 is moved to the advance prevention position, and the engagement plate 336 is moved to the advance allowance position.

雄ねじ部材１４の補給時には、ヘッド移動装置３４により一時貯蔵装置３０２が供給ユニット４００へ移動させられ、貯蔵路３１４が整列路４１５に同軸に対向させられるとともに下降させられ、図１６に示すように接続部４２２が接続部４０４に接続される。その状態で供給ユニット４００の押上部材４１０が上昇させられ、整列路４１５内に整列させられた複数の雄ねじ部材１４を押し上げ、上下に一列に整列したままの姿勢で貯蔵路３１４内へ送り込む。図１６に示すように、押上部材４１０は切欠４２０内に進入して貯蔵器３１０内に入り、複数の雄ねじ部材１４は一括して貯蔵器３１０により受け入れられ、先頭の雄ねじ部材１４がシャッタ３３０に当接させられる。その状態で押上部材３６２が押上位置へ移動させられ、押上部３６６が一対の押上部４１４の間へ進入させられ、雄ねじ部材１４を押上可能な状態となる。その状態で押上部材４１０が下降させられて貯蔵器３１０から抜け出させられ、供給ユニット４００へ戻される。また、図１１に示すように、係合板３３６が前進阻止位置へ移動させられ、先頭の雄ねじ部材１４がねじ締め作業ヘッド３０６へ送られるようにされる。そして、第１Ｚ軸スライド１００が上昇させられて接続部４２２が接続部４０４から離間させられ、ねじ締め作業ヘッド３０６および一時貯蔵装置３０２が水平方向へ移動させられて作業が再開される。本実施形態の組付装置においては、第１Ｚ軸スライド３００に一時貯蔵装置３０２が設けられ、供給ユニット４００においてＺ軸方向に平行な一直線に沿って整列させられた複数個の雄ねじ部材１４が、供給ユニット４００から一時貯蔵装置３０２へ一括して送り出され、一直線上に整列した状態で貯蔵器３１０のＺ軸方向に平行に延びる一直線状の貯蔵路３１４に一括して受け入れられるため、複数個の雄ねじ部材１４の補給が一挙に、迅速に行われて補給時間が短くて済むとともに、一括送出，一括受入れが特に容易に行われる。 When the male screw member 14 is replenished, the temporary storage device 302 is moved to the supply unit 400 by the head moving device 34, the storage path 314 is coaxially opposed to the alignment path 415 and lowered, and the connection is made as shown in FIG. The unit 422 is connected to the connection unit 404. In this state, the push-up member 410 of the supply unit 400 is raised, the plurality of male screw members 14 aligned in the alignment path 415 are pushed up, and are fed into the storage path 314 in a state where they are aligned vertically. As shown in FIG. 16, the push-up member 410 enters the notch 420 and enters the reservoir 310, the plurality of male screw members 14 are collectively received by the reservoir 310, and the leading male screw member 14 is moved to the shutter 330. Abutted. In this state, the push-up member 362 is moved to the push-up position, the push-up portion 366 is moved between the pair of push-up portions 414, and the male screw member 14 can be pushed up. In this state, the push-up member 410 is lowered to be removed from the reservoir 310 and returned to the supply unit 400. Further, as shown in FIG. 11, the engagement plate 336 is moved to the advance prevention position, and the leading male screw member 14 is sent to the screw tightening operation head 306. Then, the first Z-axis slide 100 is raised to separate the connection portion 422 from the connection portion 404, and the screw tightening operation head 306 and the temporary storage device 302 are moved in the horizontal direction to resume the operation. In the assembling apparatus of the present embodiment, the first Z-axis slide 300 is provided with the temporary storage device 302, and the plurality of male screw members 14 aligned along a straight line parallel to the Z-axis direction in the supply unit 400 are: Since the supply unit 400 is collectively sent to the temporary storage device 302 and received in a straight line storage path 314 extending in parallel with the Z-axis direction of the reservoir 310 in a state of being aligned in a straight line, The male screw member 14 can be replenished quickly and with a short replenishment time, and batch delivery and batch acceptance are particularly easy.

さらに別の実施形態を図１７に示す。本実施形態の作業装置たる塗布装置においては流動物たる接着剤５００が回路基板に塗布される。作業ヘッドたる塗布ヘッド５０４は、流動物収容室たる接着剤収容室５０６と、吐出口５０８と、加圧装置５１０とを含む一時貯蔵部５１２と吐出ノズル５１３とを備え、Ｘ軸方向移動装置，Ｙ軸方向移動装置，Ｚ軸方向移動装置を含む運動付与装置たるヘッド移動装置（図示省略）により移動させられる。本Ｚ軸方向移動装置はＺ軸スライドを１つ備え、そのＺ軸スライドに塗布ヘッド５０４が搭載されている。 Yet another embodiment is shown in FIG. In the coating apparatus that is the working apparatus of the present embodiment, the adhesive 500 that is a fluid is applied to the circuit board. An application head 504 as a working head includes an adhesive storage chamber 506 as a fluid storage chamber, a discharge port 508, a temporary storage unit 512 including a pressurizing device 510, and a discharge nozzle 513, and an X-axis direction moving device, It is moved by a head moving device (not shown) as a motion applying device including a Y-axis direction moving device and a Z-axis direction moving device. This Z-axis direction moving device includes one Z-axis slide, and a coating head 504 is mounted on the Z-axis slide.

吐出口５０８は接着剤収容室５０６の最下部に設けられ、吐出ノズル５１３は吐出口５０８に連なり、接着剤収容室５０６から下方へ延び出す状態で設けられている。加圧装置５１０によって供給される加圧エアにより、フロート５１４を介して接着剤収容室５０６内の接着剤が加圧され、吐出口５０８を経て吐出ノズル５１３から、プログラム等によって予め設定されている所望量ずつ吐出され、回路基板に塗布される。接着剤収容室５０６の下端部にはコネクタ５１８が設けられ、接続部を構成している。このコネクタ５１８には、上記加圧時に接着剤収容室５０６内の接着剤がコネクタ５１８から流出することを防止する逆止弁（図示省略）が設けられている。塗布装置の本体には接着剤貯蔵装置５３０が設けられている。接着剤貯蔵装置５３０は接続部たるコネクタ５３２を有する。 The discharge port 508 is provided at the lowermost part of the adhesive storage chamber 506, and the discharge nozzle 513 is connected to the discharge port 508 and is provided in a state of extending downward from the adhesive storage chamber 506. The adhesive in the adhesive storage chamber 506 is pressurized by the pressurized air supplied by the pressurizing device 510 via the float 514, and preset by a program or the like from the discharge nozzle 513 through the discharge port 508. A desired amount is discharged and applied to the circuit board. A connector 518 is provided at the lower end portion of the adhesive accommodating chamber 506 to constitute a connection portion. The connector 518 is provided with a check valve (not shown) that prevents the adhesive in the adhesive storage chamber 506 from flowing out of the connector 518 during the pressurization. An adhesive storage device 530 is provided in the main body of the coating device. The adhesive storage device 530 includes a connector 532 serving as a connection portion.

塗布ヘッド５０４は、コネクタ５１８，５３２の離間状態において、ヘッド移動装置により水平方向に移動させられるとともに下降させられ、回路基板の所望部分であって、プログラム等によって予め定められている塗布位置に対向させられ、設定量の接着剤を塗布する。接着剤収容室５０６内の接着剤５００の量が不足すれば、塗布ヘッド５０４は接着剤貯蔵装置５３０へ移動させられるとともに下降させられ、コネクタ５１８がコネクタ５３２に接続され、接着剤貯蔵装置５３０から接着剤収容室５０６へ接着剤５００が補給される。この際、吐出ノズル５１３の先端開口は、接着剤貯蔵装置５３０と共に設けられた閉塞装置５３４により塞がれ、接着剤５００の漏れが回避される。補給後、塗布ヘッド５０４が上昇させられてコネクタ５１８，５３２が離間させられ、塗布が再開される。 The coating head 504 is moved and lowered in the horizontal direction by the head moving device in the separated state of the connectors 518 and 532, and faces a coating position that is a desired portion of the circuit board and is predetermined by a program or the like. And apply a set amount of adhesive. If the amount of the adhesive 500 in the adhesive storage chamber 506 is insufficient, the coating head 504 is moved and lowered to the adhesive storage device 530, and the connector 518 is connected to the connector 532, and the adhesive storage device 530 The adhesive 500 is supplied to the adhesive storage chamber 506. At this time, the front end opening of the discharge nozzle 513 is closed by the closing device 534 provided together with the adhesive storage device 530, and leakage of the adhesive 500 is avoided. After replenishment, the coating head 504 is raised, the connectors 518 and 532 are separated, and coating is resumed.

なお、作業ヘッドは複数設けてもよい。複数の作業ヘッドは同じものでもよく、異なるものでもよい。後者の場合、例えば、作業の種類は雄ねじ部材の締付けであって同じであるが、雄ねじ部材の種類が異なるものとされる場合や、作業の種類が異なる場合がある。 A plurality of work heads may be provided. The plurality of work heads may be the same or different. In the latter case, for example, the type of work is tightening of the male screw member and is the same, but the type of male screw member may be different, or the type of work may be different.

また、雄ねじ部材を雄ねじ部の先端部をテーパ部とし、別の雄ねじ部材の頭部の溝状の被係合部に嵌入させられて一列に整列した状態に保たれるようにしてもよい。 Alternatively, the male screw member may have a tapered portion at the tip of the male screw portion, and may be fitted into a groove-like engaged portion at the head of another male screw member so as to be kept in a line.

３２：ねじ締め作業ヘッド３８，３０２：一時貯蔵装置３０６：ねじ締め作業ヘッド５０４：塗布ヘッド 32: Screw tightening operation head 38, 302: Temporary storage device 306: Screw tightening operation head 504: Application head

Claims

作業対象物に対して雄ねじ部材の締付け作業を行う作業装置であって、
装置本体と、
前記締付け作業を行う作業ヘッドと、
スライドを有し、そのスライドを一平面内において互いに直交するＸ軸方向およびＹ軸方向に移動させるＸ軸方向移動装置およびＹ軸方向移動装置と、
前記スライドに保持されるとともに前記作業ヘッドを保持して、その作業ヘッドを、前記一平面に直角なＺ軸方向に移動させるＺ軸方向移動装置と、
前記装置本体に支持され、雄ねじ部材を貯蔵する貯蔵装置と、
雄ねじ部材を、前記貯蔵装置の貯蔵容量より少ないが前記作業ヘッドが複数回の前記締付け作業を行うに足る量、一時的に貯蔵し、前記作業ヘッドとともに前記Ｚ軸方向移動装置によってＺ軸方向に移動させられる一時貯蔵部と、
その一時貯蔵部を前記貯蔵装置から切り離した状態で、その一時貯蔵部に貯蔵された雄ねじ部材により前記作業ヘッドに前記締付け作業を行わせるとともに、その一時貯蔵部へ前記貯蔵装置から雄ねじ部材の補給が可能な状態として補給を行わせる制御装置と
を含み、
前記Ｚ軸方向移動装置が、第１可動部材と、その第１可動部材をＺ軸方向に移動させる第１可動部材移動装置と、第２可動部材と、前記第１可動部材上に設けられて前記第２可動部材を前記第１可動部材に対して相対的にＺ軸方向に移動させる第２可動部材移動装置とを含み、
前記作業ヘッドと前記一時貯蔵部とが前記第２可動部材に相対移動不能に保持され、その一方で、前記一時貯蔵部の前記貯蔵装置への接続部が前記第１可動部材に設けられ、その接続部と前記一部貯蔵部とが、可撓性を有する接続部材によって接続され、
前記作業ヘッド，前記一時貯蔵部，前記Ｚ軸方向移動装置がユニット化され、そのユニットが、前記スライドに対して着脱可能とされるとともに、締付け作業において用いられて雄ねじ部材の頭部に係合する係合部を有する雄ねじ部材回転部材の種類を異にする別の作業ヘッドがユニット化されたユニットと、吸着ノズルによって部品を保持する別の作業ヘッドがユニット化されたユニットとのいずれとも交換可能とされた作業装置。 A working device that performs a work of tightening a male screw member on a work object,
The device body;
A working head for performing the tightening work;
An X-axis direction moving device and a Y-axis direction moving device having a slide and moving the slide in the X-axis direction and the Y-axis direction orthogonal to each other in one plane;
A Z-axis direction moving device that is held by the slide and holds the working head, and moves the working head in a Z-axis direction perpendicular to the one plane;
A storage device that is supported by the device body and stores a male screw member;
The male screw member is temporarily stored in an amount smaller than the storage capacity of the storage device but sufficient for the working head to perform the tightening operation a plurality of times, and is moved in the Z-axis direction by the Z-axis moving device together with the working head. With temporary storage moved,
In a state where the temporary storage unit is separated from the storage device, the work head is caused to perform the tightening operation by the male screw member stored in the temporary storage unit, and the male screw member is replenished from the storage device to the temporary storage unit. And a control device that performs replenishment in a possible state,
The Z-axis direction moving device is provided on the first movable member, a first movable member moving device that moves the first movable member in the Z-axis direction, a second movable member, and the first movable member. A second movable member moving device for moving the second movable member in the Z-axis direction relative to the first movable member;
The working head and the temporary storage unit are held in the second movable member so as not to move relative to each other, while a connection part of the temporary storage unit to the storage device is provided in the first movable member, The connecting portion and the partial storage portion are connected by a flexible connecting member,
The work head, the temporary storage unit, and the Z-axis direction moving device are unitized, and the unit can be attached to and detached from the slide, and is used in a tightening operation to engage with the head of a male screw member. with any exchange of a unit-specific working head having different types of male screw member rotating member is unitized having an engaging portion, and the other work head is unitized unit for holding the component by suction nozzles Work equipment made possible.

前記貯蔵装置の前記一時貯蔵部への接続部の上方に前記一時貯蔵部の接続部が位置決めされてそれら接続部どうしが接続された状態で、雄ねじ部材が、前記貯蔵装置から前記一時貯貯蔵部に送出されてその一時貯蔵部へ補給されるように構成された請求項１に記載の作業装置。 In a state in which the temporary their connecting portions to each other connecting portion of the temporary storage portions above the connection portion is positioned on the reservoir is connected before Symbol storage device, the male screw member, the one o'clock貯貯built from the storage device The working device according to claim 1, wherein the working device is configured to be sent to a part and replenished to the temporary storage part.

前記制御装置が、
前記Ｘ軸方向移動装置、前記Ｙ軸方向移動装置および前記Ｚ軸方向移動装置を制御することにより、前記貯蔵装置の接続部が前記一時貯蔵部の接続部に接続された接続状態と、前記一時貯蔵部の接続部から離間させられた離間状態とを生じさせる接続・離間制御部を含む請求項２に記載の作業装置。 The control device is
By controlling the X-axis direction moving device, the Y-axis direction moving device, and the Z-axis direction moving device, a connection state in which a connection portion of the storage device is connected to a connection portion of the temporary storage portion, and the temporary The working device according to claim 2, further comprising a connection / separation control unit that generates a separated state separated from the connection unit of the storage unit.

当該作業装置が、さらに、前記締付け作業が行われた後の作業対象物と、前記締付け作業が行われる前の作業対象物との交替に必要な動作を行う作業対象物交替関連装置を含み、
前記制御装置が、前記一時貯蔵部への補給の少なくとも一部を、前記作業対象物交替関連装置による作業対象物の交替関連動作と並行して行わせる請求項１ないし３のいずれかに記載の作業装置。 The work device further includes a work object replacement-related device that performs an operation necessary for replacement of the work object after the tightening work is performed and the work object before the tightening work is performed,
The said control apparatus makes at least one part of replenishment to the said temporary storage part perform in parallel with the change relevant operation | work of the work target object by the said work target object change related apparatus. Work equipment.

前記作業ヘッドが、
前記雄ねじ部材回転部材を前進させて雄ねじ部材の頭部に係合させるとともに、回転させて雄ねじ部材の雄ねじ部を雌ねじ穴に螺合させる雄ねじ部材回転部材駆動装置と、
前記一時貯蔵部から１個ずつ順次供給される雄ねじ部材をそれの頭部が前記雄ねじ部材回転部材に対向する状態で保持するとともに、その雄ねじ部材の前記雄ねじ部材回転部材の前進に伴う前進を許容する雄ねじ部材保持部と
を含み、前記一時貯蔵部が雄ねじ部材を複数個貯蔵するものであり、かつ、それら複数個の雄ねじ部材を１個ずつ順次前記雄ねじ部材保持部へ供給する個別供給装置を含む請求項１ないし４のいずれかに記載の作業装置。 The working head is
A male screw member rotating member driving device for advancing the male screw member rotating member to engage the head of the male screw member and rotating the male screw portion of the male screw member into the female screw hole;
The male screw members sequentially supplied one by one from the temporary storage unit are held in a state where the head thereof faces the male screw member rotating member, and the male screw member is allowed to advance with the advancement of the male screw member rotating member. An individual supply device, wherein the temporary storage unit stores a plurality of male screw members, and sequentially supplies the plurality of male screw members one by one to the male screw member holding unit. The working device according to any one of claims 1 to 4, further comprising: