WO2023229030A1 - Component conveyance device - Google Patents

Component conveyance device Download PDF

Info

Publication number
WO2023229030A1
WO2023229030A1 PCT/JP2023/019739 JP2023019739W WO2023229030A1 WO 2023229030 A1 WO2023229030 A1 WO 2023229030A1 JP 2023019739 W JP2023019739 W JP 2023019739W WO 2023229030 A1 WO2023229030 A1 WO 2023229030A1
Authority
WO
WIPO (PCT)
Prior art keywords
electronic component
component
electronic
contact
movable piece
Prior art date
Application number
PCT/JP2023/019739
Other languages
French (fr)
Japanese (ja)
Inventor
日出夫 南
Original Assignee
上野精機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2022208473A external-priority patent/JP7440854B2/en
Application filed by 上野精機株式会社 filed Critical 上野精機株式会社
Publication of WO2023229030A1 publication Critical patent/WO2023229030A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/244—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
    • B65G47/841—Devices having endless travelling belts or chains equipped with article-engaging elements
    • B65G47/842—Devices having endless travelling belts or chains equipped with article-engaging elements the article-engaging elements being grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • the present invention relates to a component transport device that transports electronic components.
  • the electronic components are positioned before the processing.
  • a position correction device that acquires the electronic component from the collet is attached to the sides of the electronic component in four directions (0°
  • the electronic component is positioned by bringing the member (engaging member) into contact with the electronic component from each of the following positions: 90° position, 180° position, and 270° position.
  • four members are brought into contact with the electronic component from different directions at the same timing, but the electronic component may be positioned by bringing the members into contact with the electronic component one by one from different directions. .
  • electronic components with polarity such as diodes and some inductors
  • the collet picks up electronic components whose orientation has not been adjusted in advance.
  • it is possible to adjust the orientation of the electronic components by installing a rotating stage that retrieves the electronic components from the collet, rotates them, and returns the electronic components to the collet.
  • the present disclosure relates to a component conveying device that can efficiently adjust the position and/or orientation of an electronic component without the components sandwiching the electronic component.
  • a component conveyance device includes a rotating body to which a component support part that sucks electronic components is attached, and the electronic components are conveyed by repeatedly moving and pausing by intermittent rotation of the rotating body. do.
  • the component transport device includes N arrangement adjustment mechanisms that contact the electronic component at each of the N temporary stop positions of the electronic component to adjust either or both the position and orientation of the electronic component.
  • the N arrangement adjustment mechanisms as a whole make contact with the electronic component from at least four sides.
  • N is a natural number of 2 or more.
  • the component transport device contacts the electronic component at each of N (N ⁇ 2) temporary stop positions of the electronic component to adjust the position and/or orientation of the electronic component. Since the N placement adjustment mechanisms make contact with the electronic component from at least four sides, adjustment of the position and/or orientation of the electronic component is distributed among the multiple placement adjustment mechanisms. This adjustment can be made efficiently. Further, in order to complete the positioning of electronic components in a short time with one arrangement adjustment mechanism, it is not necessary to position the electronic components by sandwiching them.
  • FIG. 1 is a partially omitted plan view of a component transport device according to a first embodiment of the present invention. It is a partially omitted front view of the same component conveyance device.
  • FIGS. 3(A) and 3(B) are explanatory diagrams of the arrangement adjustment mechanism of the component transport device, respectively.
  • FIGS. 4(A) to 4(C) are explanatory views showing how electronic components are positioned at the first component stop position of the component transport device.
  • FIGS. 5(A) to 5(C) are explanatory diagrams each showing how the electronic component is positioned at the second component stop position of the component transport device.
  • FIGS. 6A and 6B are explanatory diagrams of one arrangement adjustment mechanism according to the first modification, respectively.
  • FIGS. 7A and 7B are explanatory diagrams of the other arrangement adjustment mechanism according to the modification.
  • FIG. 8(A) and FIG. 8(B) are respectively explanatory diagrams of the arrangement adjustment mechanism according to the second modification.
  • FIG. 2 is a partially omitted plan view of a component conveyance device according to a second embodiment of the present invention.
  • FIGS. 10(A) to 10(D) are explanatory diagrams each showing how the electronic component is positioned at the first component stopping position of the component transport device.
  • FIGS. 11(A) to 11(D) are explanatory diagrams showing how electronic components are positioned at the second component stop position of the component transport device.
  • a component conveyance device 10 includes a rotating body 12 to which a component support section 11 for sucking electronic components W is attached. This is a device that transports electronic components W by repeating movement and temporary stops through 12 intermittent rotations. This will be explained in detail below.
  • the component transport device 10 includes a component moving unit 13 that has a rotating body 12 to which a plurality of component supports 11 are attached and that moves an electronic component W, and a component moving unit 13 that moves an electronic component W.
  • a component moving unit 13 that moves an electronic component W.
  • N two in this embodiment
  • arrangement adjustment mechanisms 14 and 15 that adjust the position and orientation of the electronic component W that has been sucked.
  • N is a natural number of 2 or more.
  • the electronic component W for example, a diode, a transistor, a capacitor, an inductor, or an IC (Integrated Circuit) can be used.
  • the component moving unit 13 includes a motor 19 fixed to a plate 18 placed on a base 17, and the motor 19 is connected to a horizontally arranged disc-shaped rotating body 12. ing.
  • M component support portions 11 (M ⁇ N) are attached to the rotating body 12 at equal pitches along the outer periphery.
  • Each component support part 11 that is long in the vertical direction is attached to the rotating body 12 so as to be able to move up and down (an example of being able to move forward and backward) while penetrating the rotating body 12, and is adapted to the intermittent rotational drive of the rotating body 12 by the operation of the motor 19. It moves intermittently.
  • each component support section 11 is a suction nozzle, which suctions the electronic component W at its lower end using vacuum pressure (negative pressure), and releases the suctioned electronic component W by exposing it to the atmosphere or by breaking the vacuum. do.
  • each component support portion 11 is equipped with a coil spring 21 that applies an upward force to the lowered component support portion 11.
  • a disk-shaped plate 23 fixed to a support member 22 and kept horizontal is provided above the rotating body 12.
  • a plurality of holding members 25 are attached to the outer periphery of the plate material 23, each having a motor 24 fixed thereto.
  • a movable body 26 is attached to each holding member 25 so as to be movable up and down, and a coil spring 28 is provided below each motor 24 to apply an upward force to the movable body 26 that has been lowered.
  • the motor 24 is connected to an output shaft 29 that is moved up and down by the drive of the motor 24 .
  • the movable body 26 is pushed down by the output shaft 29 and lowered, and as the output shaft 29 rises, the movable body 26 is raised by the upward force applied from the coil spring 28.
  • the movable body 26 may be pushed down with a different design from this embodiment, such as by using a cam and a cam follower instead of the output shaft 29.
  • each component support 11, and the electronic component W attracted to the component support 11 are rotated by an angle corresponding to the arrangement pitch of the component support 11 every time the motor 19 is driven (the axis of the rotating body 12 is (clockwise rotation around the center).
  • Each movable body 26 (including the motor 24, component holder 25, output shaft 29, etc.) has M component stopping positions (electronic They are arranged above K (M ⁇ K ⁇ N) part stop positions among the temporary stop positions of the part W.
  • Each movable body 26 descends and pushes down the component support 11 temporarily stopped at the component stop position, thereby lowering the electronic component W attracted to the component support 11 .
  • the arrangement adjustment mechanisms 14 and 15 are each arranged below the electronic components W temporarily stopped at two (an example of N) component stopping positions with the movable body 26 arranged above. There is. Note that in FIG. 2, the arrangement adjustment mechanisms 14 and 15 are not illustrated. Hereinafter, the component stopping positions above the arrangement adjustment mechanisms 14 and 15 will be referred to as a "first component stopping position" and a “second component stopping position", respectively.
  • the placement adjustment mechanism 14 includes a component mounting member 30 disposed directly below the electronic component W temporarily stopped at the first component stop position, a rotary cam 31, a cam follower 32, 33 and movable pieces 34 and 35.
  • the rotary cam 31 has a circular shape in which a part of the outer periphery is cut off when viewed from above (hereinafter, the cut outer periphery area is referred to as the "center approach area 31a"), and is rotated by the driving force of a motor (not shown). do.
  • the cam followers 32 and 33 are maintained in contact with the rotary cam 31 by the elastic force of an elastic member (not shown).
  • the movable piece 34 is designed to horizontally move integrally with the cam follower 32, and the movable piece 35 is designed to horizontally move integrally with the cam follower 33.
  • the movable piece 34 and the cam follower 32 are arranged at 180 degrees with respect to the center of the rotary cam 31, and as shown in FIG. Approach the center of the cam 31.
  • the movable piece 35 and the cam follower 33 are arranged at a 90° position with respect to the center of the rotary cam 31, and as shown in FIG. Approach the center of the cam 31.
  • the arrangement adjustment mechanism 15 is rotated by a component mounting member 36 disposed directly below the electronic component W temporarily stopped at the second component stop position and a driving force of a motor (not shown).
  • cam followers 38 and 39 that are in close contact with the rotary cam 37 by the elastic force of an elastic member (not shown), a movable piece 40 that moves horizontally together with the cam follower 38, and a movable piece 41 that moves horizontally together with the cam follower 39.
  • the rotary cam 37 has a circular shape in which a part of the outer periphery is cut off when viewed from above (hereinafter, the cut outer periphery area will be referred to as "center approach area 37a").
  • the movable piece 40 and the cam follower 38 are arranged at a 270° position with respect to the center of the rotary cam 37, and as shown in FIG. Approach the center of the cam 37.
  • the movable piece 41 and the cam follower 39 are arranged at a 0° position with respect to the center of the rotary cam 37, and as shown in FIG. Approach the center of the cam 37.
  • the component support part 11 which has temporarily stopped together with the electronic component W at the first component stop position, descends together with the electronic component W that is being sucked (moves the electronic component W closer to the component placement member 30), and The component W is released, and as shown in FIG. 4(A), the electronic component W is placed on the component placement member 30 and raised. Thereby, the electronic component W is arranged at a position on the component mounting member 30 corresponding to the center region of the rotary cam 31. At this time, the cam followers 32 and 33 are not in contact with the center approaching region 31a of the rotary cam 31.
  • the movable pieces 35 and 34 sequentially approach the electronic component W from two directions with a substantially 90° position difference and come into contact with the electronic component W (however, the electronic component W Depending on the position, one or both of the movable pieces 34, 35 may not come into contact with the electronic component W).
  • the component support section 11 which has been temporarily stopped at the first component stop position, descends to approach the electronic component W on the component placement member 30, attracts the electronic component W, and ascends.
  • the component support section 11 and the electronic component W move from the first component stopping position to the second component stopping position, and are temporarily stopped at the second component stopping position.
  • the component support part 11 which has temporarily stopped together with the electronic component W at the second component stop position, descends together with the electronic component W that is being sucked (moves the electronic component W closer to the component placement member 36), and The electronic component W is released, and as shown in FIG. 5(A), the electronic component W is placed on the component placement member 36 and raised. Thereby, the electronic component W is arranged at a position on the component mounting member 36 corresponding to the center region of the rotary cam 37. At this time, the cam followers 38 and 39 are not in contact with the center approaching region 37a of the rotary cam 37.
  • the adjustment of the position and orientation of the electronic component W at the second component stop position is completed, the adjustment of the position and orientation of the electronic component W as a whole is completed, and the electronic component W is placed at the reference position. . Therefore, at the second component stop position, the movable pieces 40 and 41 approach and come into contact with the electronic component W from two directions that are substantially 90 degrees apart (however, depending on the position of the electronic component W, the movable pieces 40 and 41 40, 41 or both do not contact the electronic component W).
  • the component support part 11 that has been temporarily stopped at the second component stop position descends and approaches the electronic component W on the component placement member 36, attracts the electronic component W, and ascends, and the rotating body 12 As a result of the rotation, the electronic component W moves from the second component stop position together with the electronic component W.
  • the component transport device 10 acquires the electronic component W and brings it into a state where it is sucked by the component support section 11, it is assumed that there are variations in the position and orientation of the electronic component W.
  • the arrangement adjustment mechanisms 14 and 15 are arranged in the first, first, and third positions, respectively. At the second component stop position, only the position adjustment of the electronic component W is performed.
  • One, two, three, or four of the movable pieces 34, 35, 40, and 41 come into contact with the electronic component W depending on the position of the electronic component W. Therefore, it can be said that the movable pieces 34, 35, 40, and 41 approach the electronic component W from at least four directions, and come into contact with at least one of them.
  • the placement adjustment mechanisms 14 and 15 perform positioning of the electronic components W in a distributed manner, and complete the positioning of the electronic components W as a whole, compared to the case where the positioning of the electronic components is completed with one placement adjustment mechanism.
  • the number of electronic components W that can be positioned per unit time increases.
  • the electronic component W is perpendicular to the adsorbed surface j that is adsorbed to the component support 11, and is located at an ⁇ ° position, an ⁇ +90° position, and an ⁇ +180° position.
  • the arrangement adjustment mechanism 14 has side wall portions p, q, r, and s corresponding to the position and ⁇ +270° position, respectively, and the arrangement adjustment mechanism 14 includes movable bodies 35 and 34 that correspond to the side wall portions q and r of the electronic component W, respectively.
  • the arrangement adjustment mechanism 15 includes movable bodies 40 and 41 corresponding to the side walls s and p of the electronic component W, respectively.
  • the support moving unit 42 arranged so that the mechanisms 14 and 15 can come into contact is mainly composed of a motor 24, a holding member 25, a movable body 26, a coil spring 28, and an output shaft 29.
  • two consecutive component stopping positions are defined as the first and second component stopping positions (component stopping positions with arrangement adjustment mechanisms 14 and 15 arranged); A component stopping position may be provided between the component stopping positions in which no placement adjustment mechanism is provided.
  • the arrangement adjustment mechanism 14 brings the movable pieces 34 and 35 (the movable pieces 40 and 41 for the arrangement adjustment mechanism 15) into contact with the electronic component W at different timings. Needless to say, this is not limited to a plurality of approaches to the electronic component W at the same timing from different directions (excluding two directions sandwiching the electronic component W, for example, the 0° position and the 180° position).
  • a first arrangement adjustment mechanism including a movable piece may be employed. 6(A), FIG. 6(B), FIG. 7(A), and FIG. 7(B), a plurality of movable pieces approaching the electronic component W at the same timing from substantially orthogonal different directions are shown.
  • the arrangement adjustment mechanisms 50 and 51 according to the first modified example will be described.
  • the arrangement adjustment mechanisms 50 and 51 are similar in structure to the arrangement adjustment mechanisms 14 and 15, and are arranged at the first and second component stopping positions, respectively.
  • the rotary cam 31 of the arrangement adjustment mechanism 14 is provided with one center approach region 31a
  • the rotary cam 37 of the arrangement adjustment mechanism 15 is provided with one center approach region 37a
  • the rotary cam of the arrangement adjustment mechanism 50 is provided with one center approach region 31a.
  • 52 is provided with two center approach areas 52a and 52b as shown in FIGS. 6A and 6B
  • the rotary cam 53 of the arrangement adjustment mechanism 51 is provided with As shown in FIG. 7(B), two center approach areas 53a and 53b are provided.
  • the arrangement adjustment mechanism 50 includes, in addition to the rotary cam 52, a component mounting member 54 disposed directly below the temporarily stopped electronic component W, and a component mounting member 54 (not shown). It includes cam followers 55 and 56 that are maintained in close contact with the rotary cam 52 by the elastic force of the elastic member, a movable piece 57 that moves horizontally together with the cam follower 55, and a movable piece 58 that moves horizontally together with the cam follower 56.
  • the center approaching regions 52a and 52b are provided so as to have a substantially 90° positional difference.
  • the movable piece 57 and the cam follower 55 are arranged at a 0° position with respect to the center of the rotary cam 52, and the movable piece 58 and the cam follower 56 are arranged at a substantially 90° position with respect to the center of the rotary cam 52 (i.e. , the movable pieces 57 and 58 are arranged at positions that do not have a 180° position difference and are not opposed to each other).
  • the movable pieces 57 and 58 are arranged at positions that do not have a 180° position difference and are not opposed to each other.
  • the movable piece 57 approaches the electronic component W on the component mounting member 54 at the timing when the cam follower 55 contacts the center approach area 52a, and depending on the position of the electronic component W, Contact W.
  • the movable piece 58 approaches the electronic component W on the component mounting member 54 at the timing when the cam follower 56 contacts the center approach area 52b, and comes into contact with the electronic component W depending on the position of the electronic component W.
  • the arrangement adjustment mechanism 51 includes, in addition to the rotary cam 53, a component mounting member 60 disposed directly below the temporarily stopped electronic component W, and a component mounting member 60 (not shown). It is equipped with cam followers 61 and 62 that are maintained in close contact with the rotary cam 53 by the elastic force of the elastic member, a movable piece 63 that moves horizontally with the cam follower 61, and a movable piece 64 that moves horizontally with the cam follower 62, and the arrangement can be adjusted.
  • the mechanism 50 further adjusts the position and orientation of the electronic component W whose position and orientation have been adjusted.
  • the center approach areas 53a and 53b are provided with a 90° positional difference.
  • the movable piece 64 and the cam follower 62 are arranged at a 180° position with respect to the center of the rotary cam 53, and the movable piece 63 and the cam follower 61 are arranged at a 270° position with the center of the rotary cam 53 as a reference (that is, the movable piece 63 and 64 are not arranged at positions with a 180° position difference).
  • the movable piece 64 approaches the electronic component W on the component mounting member 60 at the timing when the cam follower 62 contacts the center approach area 53a, and depending on the position of the electronic component W, the electronic component Contact W.
  • the movable piece 63 approaches the electronic component W on the component mounting member 60 at the timing when the cam follower 61 contacts the center approach area 53b, and comes into contact with the electronic component W depending on the position of the electronic component W.
  • each component support part 66 fixed to the rotating body 65 at equal intervals is a suction nozzle that is long in the vertical direction.
  • electronic components W can be suctioned. Due to the intermittent rotation of the rotating body 65, the component support section 66 is conveyed together with the electronic component W that has been sucked, while repeatedly moving and stopping at a predetermined height.
  • first motor In the vicinity of one temporary stop position of the electronic component W, there are two motors (not shown) (hereinafter, the two motors are respectively referred to as “first motor” and “second motor”), and the rotational force of the first motor is applied.
  • first motor In the vicinity of one temporary stop position of the electronic component W, there are two motors (hereinafter, the two motors are respectively referred to as “first motor” and “second motor"), and the rotational force of the first motor is applied.
  • first motor receives the rotational force of the second motor
  • second motor receives the rotational force of the second motor
  • rod-shaped movable piece 69 attached to the rotating shaft 67
  • rod-shaped movable piece attached to the rotating shaft 68 A placement adjustment mechanism 71 comprising 70 is provided.
  • the movable piece 69 is disposed on the downstream side in the moving direction of the electronic component W with respect to the temporary stop position of the electronic component W, and the movable piece 70 is disposed on the upstream side in the moving direction of the electronic component W with respect to the temporary stop position of the electronic component W. has been done.
  • the movable pieces 69 and 70 are placed at a position lower than the electronic component W that is moving integrally with the component support section 66 (as shown in FIG. 8A). It is in a horizontal state at a position where it cannot come into contact with the component W.
  • a position where the moving electronic component W cannot be contacted will be referred to as a retracted position.
  • the movable piece 69 rotates 90 degrees clockwise together with the rotating shaft 67 due to the operation of the first motor and returns to the vertical state, as shown in FIG. 8(B). After that, by the operation of the first motor, the rotary shaft 67 rotates counterclockwise by 90 degrees and returns to the horizontal state.
  • the movable piece 70 is rotated counterclockwise together with the rotating shaft 68 by the operation of the second motor.
  • the second motor rotates 90 degrees clockwise together with the rotating shaft 68 to return to the horizontal state.
  • one or both of the movable pieces 69 and 70 which are in a vertical state, come into contact with the electronic component W that is attracted to the component support section 66, and the parts of the electronic component W are moved.
  • the position of the electronic component W in the moving direction (conveying direction) with respect to the support portion 66 is adjusted.
  • Both the movable pieces 69 and 70 are arranged vertically and are placed in a position where they can come into contact with any of the moving electronic components W.
  • a position that can come into contact with the electronic component W will be referred to as an interference position. Therefore, in this modification, a portion (movable pieces 69, 70) of the arrangement adjustment mechanism 71 moves and comes into contact with the electronic component W placed at the temporary stop position.
  • a force applying section is configured that includes a motor that applies rotational force to the rotational shaft 67 to move the movable piece 69 between the retracted position and the interference position, and has a motor that applies rotational force to the rotational shaft 68.
  • a force applying section that moves the movable piece 70 between the retracted position and the interference position is configured.
  • the above-mentioned arrangement adjustment mechanisms 14 and 15 are arranged at retracted positions where the movable pieces 34, 35, 40, and 41 cannot come into contact with the moving electronic components W, and move to the interference position to prevent the electronic components from moving. Adjust the position and orientation of W.
  • a placement adjustment mechanism having the same configuration as the placement adjustment mechanism 71 is also provided near other temporary stop positions of the electronic component W. While the placement adjustment mechanism 71 adjusts the position of the electronic component W in the moving direction, the placement adjustment mechanism has two rotations so as to adjust the position of the electronic component W in a direction orthogonal to the moving direction in plan view.
  • a shaft and two movable pieces are arranged.
  • the arrangement adjustment mechanism also has a part (two movable pieces) that moves and contacts the electronic component W placed at the temporary stop position, and has a rotating shaft and a motor to move the movable pieces to the retracted position and the interference position.
  • a force imparting section is configured to move the force between the two.
  • a placement adjustment mechanism that receives the electronic component W from the component support section 66 in a state where it is placed in the retracted position, adjusts the position of the electronic component W at the interference position, and returns it to the component support section 66 can be used together with the placement adjustment mechanism 71.
  • at least one arrangement adjustment mechanism 71 is disposed at the interference position and has movable pieces 69, 70 that come into contact with the electronic component W and a force applying part that moves the movable pieces 69, 70 between the retracted position and the interference position. That will happen.
  • the electronic component W' transported by the component transport device 80 is a rectangular parallelepiped, as shown in FIGS.
  • a marker M indicating the orientation of the electronic component W' is attached to one side in the direction.
  • the electronic component W' needs to have the marker M placed on the center side of the rotating body 12 when viewed from above in order to measure electrical characteristics and the like.
  • the component supporting section 11 of the component transport device 80 acquires the electronic component W' from the outside (for example, a linear feeder) with the marker M disposed on the center side of the rotating body 12 when viewed from above
  • the electronic component W' is obtained with the marker M disposed on the outer circumferential side (opposite the center side) of the rotating body 12 when viewed from above.
  • the component conveying device 80 has a position downstream of the electronic component W' in the conveying direction of the electronic component W' at a position where the electronic component W' is acquired from the outside, and a position where the electronic component W' is oriented in the vicinity of four temporary stop positions of the electronic component W'.
  • Arrangement adjustment mechanisms 81 and 82 for adjustment and arrangement adjustment mechanisms 83 and 84 for adjusting the position and orientation of the electronic component W' are provided, respectively.
  • the four temporary stop positions of the electronic component W' the one where the placement adjustment mechanism 81 is placed nearby is referred to as the first temporary stop position, and the one where the placement adjustment mechanism 82 is placed nearby is referred to as the second temporary stop position.
  • the temporary stop position is defined as a third temporary stop position where the placement adjustment mechanism 83 is placed nearby, and the fourth temporary stop position is placed where the placement adjustment mechanism 84 is placed nearby.
  • the arrangement adjustment mechanisms 81, 82, 83, and 84 are arranged in order toward the downstream side in the transport direction of the electronic component W', and the arrangement adjustment mechanism 81 is placed on the upstream side in the transport direction of the electronic component W', which is attracted to the component support section 11.
  • An imaging section (not shown) is provided to take an image of the electronic component W', and the orientation of the electronic component W' is detected based on the image taken by the imaging section.
  • the arrangement adjustment mechanism 81 includes a vertically disposed rotating shaft 85 to which rotational force of a motor (not shown) (hereinafter referred to as motor Q) is applied, and a movable piece 86 fixed to the rotating shaft 85.
  • the movable piece 86 has a rectangular parallelepiped shape and includes a free roller 87.
  • the movable piece 86 is provided at the same height position as the electronic component W' attracted to the component support portion 11.
  • the rotating shaft 85 and the movable piece 86 are arranged on the outer circumferential side of the rotating body 12 with respect to the first temporary stop position in plan view.
  • the arrangement adjustment mechanism 82 includes a movable piece 88 that moves horizontally forward and backward by applying force from an air cylinder (hereinafter referred to as air cylinder S) not shown. What moves the movable piece 88 back and forth need not be the air cylinder S.
  • the movable piece 88 may be moved forward and backward using a drive mechanism consisting of a motor and a ball screw.
  • the movable piece 88 has a rectangular parallelepiped shape, is provided at the same height position as the electronic component W' adsorbed on the component support part 11, and moves around the outer periphery of the rotating body 12 based on the second temporary stop position when viewed from above. placed on the side.
  • the virtual circle R (a virtual circle including the circumference of the virtual circle R and its inner area) is placed in a non-contact position and at the same height as the virtual circle R. It comes into contact with a virtual circle P including a virtual circle R arranged concentrically with R (a virtual circle that is an enlarged version of the virtual circle R and includes the circumference of the virtual circle P and its inner region).
  • the electronic component W' When the electronic component W' whose marker M is determined to be disposed on the outer circumferential side of the rotating body 12 in plan view based on the captured image is temporarily stopped at the first pause position, the electronic component W' is disposed at the retracted position.
  • the movable piece 86 rotates around the rotating shaft 85 when viewed from above by the operation of the motor Q.
  • the free roller 87 contacts a portion of the electronic component W' on the outer peripheral side of the rotary body 12 from the portion of the electronic component W' that is attracted to the component support section 11, and thereby attracts the electronic component W' to the component support section 11. Rotate about 90 degrees counterclockwise when viewed from above, centering on the part shown.
  • the side of the electronic component W' to which the marker M is attached is placed on the downstream side in the moving direction of the electronic component W'.
  • the movable piece 86 is arranged at the interference position while the free roller 87 is in contact with the electronic component W', and after rotating the electronic component W' by about 90 degrees, is returned to the retracted position by the operation of the motor Q.
  • the rotation axis 85 is parallel to the axis (rotation axis) of the rotating body 12. Therefore, in this embodiment, the motor Q is a force applying unit that rotates the movable piece 86 about the rotating shaft 85 parallel to the axis of the rotating body 12.
  • the downstream part of the electronic component W' in the moving direction (the side where the marker M is attached) is contacted with the electronic component W' from the part that is attracted to the component supporting part 11, and the electronic component W' is reversed when viewed from above, centering on the part that is attracted to the component support part 11. Rotate approximately 90 degrees clockwise (interference position).
  • the electronic component W' rotated by the movable piece 88 has its longitudinal direction aligned with the radial direction of the virtual circle R, and the side marked with the marker M is arranged on the center side of the virtual circle R (rotating body 12 in plan view).
  • the state will be as follows. After rotating the electronic component W' by about 90 degrees, the air cylinder S is operated to return it to the retracted position.
  • the air cylinder S is a force applying unit that linearly moves the movable piece 88.
  • the arrangement adjustment mechanism 83 includes a movable piece 89 disposed at the retracted position and an air cylinder (hereinafter referred to as a first It has an air cylinder).
  • the movable piece 89 is located at the same height as the electronic component W' and is placed in a retracted position, so that it is in a state where it is not in contact with the virtual circle R and is in contact with the virtual plane P.
  • the movable piece 89 includes a side wall portion 90 that can contact a surface disposed on the outer peripheral side of the virtual circle R of the electronic component W', and a side wall portion 91 that can contact a surface disposed on the downstream side in the moving direction of the electronic component W'. has.
  • the arrangement adjustment mechanism 84 includes a movable piece 92 disposed at the retracted position and an air cylinder (hereinafter referred to as a second air cylinder) not shown that horizontally moves the movable piece 92 back and forth while the electronic component W' is moving. are doing.
  • the movable piece 92 is located at the same height as the electronic component W', is placed in a retracted position, and is located directly below the rotating body 12 (that is, in contact with the imaginary circle R).
  • the movable piece 92 has a side wall portion 93 that can come into contact with a surface placed on the center side of the virtual circle R of the electronic component W', and a side wall portion 94 that can make contact with a surface placed on the upstream side in the moving direction of the electronic component W'. has.
  • the movable piece 89 which was placed at the retracted position, becomes horizontal due to the operation of the first air cylinder. and placed in the interference position. Due to the position of the electronic component W' relative to the component support 11, the movable piece 89 disposed at the interference position causes the side wall portion 90 to come into contact with a surface disposed on the outer circumferential side of the virtual circle R, so that the movable piece 89 moves in the moving direction of the electronic component W'.
  • the side wall portion 91 contacts a surface disposed on the downstream side (depending on the position of the electronic component W', only one of the side wall portions 90 and 91 may contact the electronic component W', or both side walls 90 and 91 may contact the electronic component W'). ). As a result, the position and orientation of the electronic component W' are adjusted by the placement adjustment mechanism 82, and then the movable piece 89 is returned from the interference position to the retracted position by the operation of the first air cylinder.
  • the movable piece 92 that was placed in the retracted position is moved horizontally by the operation of the second air cylinder. and placed in the interference position. Due to the position of the electronic component W' relative to the component support 11, the movable piece 92 disposed at the interference position has the side wall portion 93 in contact with a surface disposed on the center side of the virtual circle R, and the moving direction of the electronic component W' The side wall portion 94 contacts the surface disposed on the upstream side (depending on the position of the electronic component W', only one of the side wall portions 93 and 94 may contact the electronic component W', or both may contact the electronic component W' ). As a result, the position and orientation of the electronic component W' are adjusted by the placement adjustment mechanism 83, and then the movable piece 92 is returned from the interference position to the retracted position by the operation of the second air cylinder.
  • the movable pieces 89 and 92 may be moved linearly by a drive mechanism having a motor and a ball screw instead of an air cylinder.
  • the arrangement adjustment mechanisms 81 and 82 adjust the orientation only for the electronic component W' for which the marker M is determined to be arranged on the outer circumferential side of the rotating body 12 in plan view based on the captured image.
  • placement adjustment mechanisms 83 and 84 adjust the positions and orientations of all electronic components W'.
  • the rotating body does not need to be horizontally arranged. It can be designed so that the rotating body is arranged vertically and rotates around a horizontal axis.
  • the support part moving unit does not need to be provided at all of the temporary stop positions of the N electronic components provided with the arrangement adjustment mechanism, and may be provided at at least one location.
  • the component support portion may be attached to the rotating body so as to be movable in the radial direction of the rotating body.
  • the entire alignment mechanism may be designed to move and contact the electronic component placed in the pause position.
  • the arrangement adjustment mechanism does not need to have a cam and a cam follower; for example, a ball screw that moves the movable piece can be used instead of the cam and cam follower.
  • four position adjustment mechanisms are provided at four temporary stop positions of the electronic component, and each position is adjusted to the ⁇ ° position, ⁇ +90° position, ⁇ +180° position, and ⁇ +270° position with respect to the electronic component.
  • the electronic component may be positioned by approaching from the front.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

This component conveyance device has a rotary body which has attached thereto a component supporting part for suctioning an electronic component W, and conveys the electronic component by repeating movement thereof and suspension of the movement through intermittent rotation of the rotary body. The component conveyance device is equipped with N-number of placement adjusting mechanisms that position the electronic component at N-number of suspension positions by coming into contact with the electronic component. All the N-number of placement adjustment mechanisms come into contact with the electronic component at least from four sides. N is a natural number of 2 or more.

Description

部品搬送装置Parts conveyance device
　本発明は、電子部品を搬送する部品搬送装置に関する。 The present invention relates to a component transport device that transports electronic components.
　電子部品を搬送しながら電子部品に対し外観検査や電気検査等の処理を行う設備においては、当該処理の前に電子部品の位置決めが行われる。例えば、電子部品の表面をコレットで吸着して搬送する設備では、引用文献１に記載されているように、コレットから電子部品を取得した位置補正装置が、電子部品の側面に４方（０°位置、９０°位置、１８０°位置及び２７０°位置それぞれ）から部材（係合部材）を接触させて電子部品を位置決めする。引用文献１の例では、同タイミングで電子部品に異なる方向から４つの部材を接触させているが、電子部品に異なる方向から部材を１つずつ接触させて電子部品を位置決めするようにしてもよい。 In equipment that performs processing such as visual inspection and electrical inspection on electronic components while transporting them, the electronic components are positioned before the processing. For example, in equipment that transports electronic components by suctioning the surface of the electronic component with a collet, as described in Cited Document 1, a position correction device that acquires the electronic component from the collet is attached to the sides of the electronic component in four directions (0° The electronic component is positioned by bringing the member (engaging member) into contact with the electronic component from each of the following positions: 90° position, 180° position, and 270° position. In the example of cited document 1, four members are brought into contact with the electronic component from different directions at the same timing, but the electronic component may be positioned by bringing the members into contact with the electronic component one by one from different directions. .
　しかしながら、衝撃に弱い電子部品には、電子部品を挟むように、例えば０°位置及び１８０°位置から同タイミングで、電子部品に部材を接触させるのは避けるべきである。また、同規格の電子部品であっても、厳密には電子部品それぞれの大きさに個体差が存在することから、電子部品を挟むように電子部品に部材を接触させると、基準寸法よりも大きい電子部品に対しては、基準寸法以下の大きさの電子部品に比べ大きな負荷がかかり、電子部品に破損等を生じさせる要因となり得る。更に、４つの部材をそれぞれ異なるタイミングで電子部品に接触させる場合、電子部品の位置決めにかかる時間が長くなるという課題がある。 However, for electronic components that are susceptible to shocks, it should be avoided to bring members into contact with the electronic component at the same timing, for example from the 0° position and the 180° position, so as to sandwich the electronic component. In addition, even if the electronic components are of the same standard, strictly speaking, there are individual differences in the size of each electronic component, so if a member is brought into contact with an electronic component in such a way as to sandwich the electronic component, it may be larger than the standard size. A larger load is applied to electronic components than electronic components whose size is smaller than the standard size, which may cause damage to the electronic components. Furthermore, when the four members are brought into contact with the electronic component at different timings, there is a problem that it takes a long time to position the electronic component.
　また、ダイオードや一部のインダクタのように極性を有する電子部品は、例えば、コレットで搬送中に電気特性測定がなさる際や、コレットからキャリアテープのポケットに供給される際に、所定の向きに配されている必要がある。この点、設備によっては、事前に向き調整がなされていない電子部品をコレットが取得する。このような設備では、コレットから電子部品を取得し回転して電子部品をコレットに戻す回転ステージを設けて、電子部品の向きを調整することが可能であるが、回転ステージ上で電子部品を挟んで回転ステージに対し電子部品を固定する場合、電子部品に想定外の負荷がかかることが懸念される。 Additionally, electronic components with polarity, such as diodes and some inductors, must be oriented in a predetermined direction, for example, when measuring electrical characteristics while being transported by a collet, or when being fed from a collet to a carrier tape pocket. must be placed. In this regard, depending on the equipment, the collet picks up electronic components whose orientation has not been adjusted in advance. In such equipment, it is possible to adjust the orientation of the electronic components by installing a rotating stage that retrieves the electronic components from the collet, rotates them, and returns the electronic components to the collet. When electronic components are fixed to a rotating stage, there is a concern that an unexpected load may be applied to the electronic components.
日本国特開平０６－０３７１３４号公報Japanese Patent Application Publication No. 06-037134
　本開示は、部材が電子部品を挟むことなく、効率的に電子部品の位置及び向きのいずれか一方又は双方を調整可能な部品搬送装置、に関する。 The present disclosure relates to a component conveying device that can efficiently adjust the position and/or orientation of an electronic component without the components sandwiching the electronic component.
　本開示によれば、部品搬送装置は、電子部品を吸着する部品支持部が取り付けられた回転体を有し、該回転体の間欠的な回転により前記電子部品を移動及び一時停止の繰り返しで搬送する。部品搬送装置は、電子部品のＮ個の一時停止位置でそれぞれ、電子部品に接触して該電子部品の位置及び向きのいずれか一方又は双方を調整するＮ個の配置調整機構を備える。Ｎ個の配置調整機構全体で電子部品に対し少なくとも４方から接触する。但し、Ｎは２以上の自然数である。 According to the present disclosure, a component conveyance device includes a rotating body to which a component support part that sucks electronic components is attached, and the electronic components are conveyed by repeatedly moving and pausing by intermittent rotation of the rotating body. do. The component transport device includes N arrangement adjustment mechanisms that contact the electronic component at each of the N temporary stop positions of the electronic component to adjust either or both the position and orientation of the electronic component. The N arrangement adjustment mechanisms as a whole make contact with the electronic component from at least four sides. However, N is a natural number of 2 or more.
　本開示によれば、部品搬送装置は、電子部品のＮ個（Ｎ≧２）の一時停止位置でそれぞれ、電子部品に接触して電子部品の位置及び向きのいずれか一方又は双方を調整するＮ個の配置調整機構を備え、Ｎ個の配置調整機構全体で電子部品に対し少なくとも４方から接触するので、電子部品の位置又は向きのいずれか一方又は双方の調整を複数の配置調整機構で分散して行うことができ、当該調整を効率的になすことが可能である。また、１つの配置調整機構で電子部品の位置決めを短時間で完了させるべく、電子部品を挟むようにして位置決めする必要はない。 According to the present disclosure, the component transport device contacts the electronic component at each of N (N≧2) temporary stop positions of the electronic component to adjust the position and/or orientation of the electronic component. Since the N placement adjustment mechanisms make contact with the electronic component from at least four sides, adjustment of the position and/or orientation of the electronic component is distributed among the multiple placement adjustment mechanisms. This adjustment can be made efficiently. Further, in order to complete the positioning of electronic components in a short time with one arrangement adjustment mechanism, it is not necessary to position the electronic components by sandwiching them.
本発明の第１の実施の形態に係る部品搬送装置の一部省略平面図である。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a partially omitted plan view of a component transport device according to a first embodiment of the present invention. 同部品搬送装置の一部省略正面図である。It is a partially omitted front view of the same component conveyance device. 図３（Ａ）および図３（Ｂ）はそれぞれ、同部品搬送装置の配置調整機構の説明図である。FIGS. 3(A) and 3(B) are explanatory diagrams of the arrangement adjustment mechanism of the component transport device, respectively. 図４（Ａ）～図４（Ｃ）はそれぞれ、同部品搬送装置の第１の部品停止位置における電子部品の位置決めの様子を示す説明図である。FIGS. 4(A) to 4(C) are explanatory views showing how electronic components are positioned at the first component stop position of the component transport device. 図５（Ａ）～図５（Ｃ）はそれぞれ、同部品搬送装置の第２の部品停止位置における電子部品の位置決めの様子を示す説明図である。FIGS. 5(A) to 5(C) are explanatory diagrams each showing how the electronic component is positioned at the second component stop position of the component transport device. 図６（Ａ）および図６（Ｂ）はそれぞれ、第１の変形例に係る一方の配置調整機構の説明図である。FIGS. 6A and 6B are explanatory diagrams of one arrangement adjustment mechanism according to the first modification, respectively. 図７（Ａ）および図７（Ｂ）はそれぞれ、同変形例に係る他方の配置調整機構の説明図である。FIGS. 7A and 7B are explanatory diagrams of the other arrangement adjustment mechanism according to the modification. 図８（Ａ）および図８（Ｂ）はそれぞれ、第２の変形例に係る配置調整機構の説明図である。FIG. 8(A) and FIG. 8(B) are respectively explanatory diagrams of the arrangement adjustment mechanism according to the second modification. 本発明の第２の実施の形態に係る部品搬送装置の一部省略平面図である。FIG. 2 is a partially omitted plan view of a component conveyance device according to a second embodiment of the present invention. 図１０（Ａ）～図１０（Ｄ）はそれぞれ、同部品搬送装置の第１の部品停止位置における電子部品の位置決めの様子を示す説明図である。FIGS. 10(A) to 10(D) are explanatory diagrams each showing how the electronic component is positioned at the first component stopping position of the component transport device. 図１１（Ａ）～図１１（Ｄ）はそれぞれ、同部品搬送装置の第２の部品停止位置における電子部品の位置決めの様子を示す説明図である。FIGS. 11(A) to 11(D) are explanatory diagrams showing how electronic components are positioned at the second component stop position of the component transport device.
　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き説明し、本発明の理解に供する。図１、図２に示すように、本発明の第１の実施の形態に係る部品搬送装置１０は、電子部品Ｗを吸着する部品支持部１１が取り付けられた回転体１２を有し、回転体１２の間欠的な回転により電子部品Ｗを移動及び一時停止の繰り返しで搬送する装置である。以下、詳細に説明する。 Next, embodiments embodying the present invention will be described with reference to the attached drawings to provide an understanding of the present invention. As shown in FIGS. 1 and 2, a component conveyance device 10 according to a first embodiment of the present invention includes a rotating body 12 to which a component support section 11 for sucking electronic components W is attached. This is a device that transports electronic components W by repeating movement and temporary stops through 12 intermittent rotations. This will be explained in detail below.
　部品搬送装置１０は、図１、図２に示すように、複数の部品支持部１１が取り付けられた回転体１２を有して電子部品Ｗを移動させる部品移動ユニット１３と、部品支持部１１に吸着された電子部品Ｗの位置及び向きを調整するＮ個（本実施の形態では２つ）の配置調整機構１４、１５とを備えている。但し、Ｎは２以上の自然数である。電子部品Ｗとして、例えば、ダイオード、トランジスタ、コンデンサ、インダクタ、ＩＣ（Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）を採用することができる。 As shown in FIGS. 1 and 2, the component transport device 10 includes a component moving unit 13 that has a rotating body 12 to which a plurality of component supports 11 are attached and that moves an electronic component W, and a component moving unit 13 that moves an electronic component W. It includes N (two in this embodiment) arrangement adjustment mechanisms 14 and 15 that adjust the position and orientation of the electronic component W that has been sucked. However, N is a natural number of 2 or more. As the electronic component W, for example, a diode, a transistor, a capacitor, an inductor, or an IC (Integrated Circuit) can be used.
　部品移動ユニット１３は、図２に示すように、ベース台１７に載置されている板材１８に固定されたモータ１９を具備し、モータ１９は水平配置された円盤状の回転体１２に連結されている。回転体１２には、図１、図２に示すように、外周に沿ってＭ個（Ｍ≧Ｎ）の部品支持部１１が等ピッチで取り付けられている。鉛直方向に長い各部品支持部１１は、回転体１２を貫通した状態で回転体１２に昇降可能（進退可能の一例）に取り付けられ、モータ１９の作動による回転体１２の間欠的な回転駆動に伴って間欠的に移動する。 As shown in FIG. 2, the component moving unit 13 includes a motor 19 fixed to a plate 18 placed on a base 17, and the motor 19 is connected to a horizontally arranged disc-shaped rotating body 12. ing. As shown in FIGS. 1 and 2, M component support portions 11 (M≧N) are attached to the rotating body 12 at equal pitches along the outer periphery. Each component support part 11 that is long in the vertical direction is attached to the rotating body 12 so as to be able to move up and down (an example of being able to move forward and backward) while penetrating the rotating body 12, and is adapted to the intermittent rotational drive of the rotating body 12 by the operation of the motor 19. It moves intermittently.
　本実施の形態において、各部品支持部１１は、吸着ノズルであり、真空圧（負圧）によって下端部で電子部品Ｗを吸着し、吸着している電子部品Ｗを大気開放もしくは真空破壊によって解放する。各部品支持部１１には、図２に示すように、下降した部品支持部１１に上向きの力を作用させるコイルばね２１が装着されている。回転体１２の上方には、支持部材２２に固定されて水平に保たれた円盤状の板材２３が設けられている。板材２３の外周には、それぞれモータ２４が固定された複数の保持部材２５が取り付けられている。 In this embodiment, each component support section 11 is a suction nozzle, which suctions the electronic component W at its lower end using vacuum pressure (negative pressure), and releases the suctioned electronic component W by exposing it to the atmosphere or by breaking the vacuum. do. As shown in FIG. 2, each component support portion 11 is equipped with a coil spring 21 that applies an upward force to the lowered component support portion 11. A disk-shaped plate 23 fixed to a support member 22 and kept horizontal is provided above the rotating body 12. A plurality of holding members 25 are attached to the outer periphery of the plate material 23, each having a motor 24 fixed thereto.
　各保持部材２５には可動体２６が昇降自在に装着され、各モータ２４の下方には、下降した可動体２６に対し上向きの力を与えるコイルばね２８が設けられている。本実施の形態では、モータ２４に、モータ２４の駆動によって昇降する出力軸２９が連結されている。可動体２６は、出力軸２９に押し下げられて下降し、出力軸２９の上昇に伴い、コイルばね２８から付与される上向きの力によって上昇する。なお、出力軸２９の代わりにカム及びカムフォロアを採用する等、本実施の形態とは別の設計で可動体２６を押し下げるようにしてもよいことは言うまでもない。 A movable body 26 is attached to each holding member 25 so as to be movable up and down, and a coil spring 28 is provided below each motor 24 to apply an upward force to the movable body 26 that has been lowered. In this embodiment, the motor 24 is connected to an output shaft 29 that is moved up and down by the drive of the motor 24 . The movable body 26 is pushed down by the output shaft 29 and lowered, and as the output shaft 29 rises, the movable body 26 is raised by the upward force applied from the coil spring 28. It goes without saying that the movable body 26 may be pushed down with a different design from this embodiment, such as by using a cam and a cam follower instead of the output shaft 29.
　回転体１２、各部品支持部１１及び部品支持部１１に吸着された電子部品Ｗは、モータ１９の駆動ごとに部品支持部１１の配置ピッチに相当する角度の回転（回転体１２の軸心を中心とした時計回りの回転）をする。各可動体２６（モータ２４、部品保持部２５、出力軸２９等も）は、部品支持部１１と部品支持部１１に吸着された電子部品Ｗとが一時停止するＭ個の部品停止位置（電子部品Ｗの一時停止位置）のうちＫ個（Ｍ≧Ｋ≧Ｎ）の部品停止位置の上方に配されている。各可動体２６は、下降して部品停止位置で一時停止している部品支持部１１を押し下げることによって、当該部品支持部１１に吸着された電子部品Ｗを下降させる。 The rotating body 12, each component support 11, and the electronic component W attracted to the component support 11 are rotated by an angle corresponding to the arrangement pitch of the component support 11 every time the motor 19 is driven (the axis of the rotating body 12 is (clockwise rotation around the center). Each movable body 26 (including the motor 24, component holder 25, output shaft 29, etc.) has M component stopping positions (electronic They are arranged above K (M≧K≧N) part stop positions among the temporary stop positions of the part W. Each movable body 26 descends and pushes down the component support 11 temporarily stopped at the component stop position, thereby lowering the electronic component W attracted to the component support 11 .
　配置調整機構１４、１５はそれぞれ、図１に示すように、上方に可動体２６が配された２個（Ｎ個の一例）の部品停止位置で一時停止した電子部品Ｗの下方に配されている。なお、図２では配置調整機構１４、１５の記載を省略している。以下、配置調整機構１４、１５上方の部品停止位置をそれぞれ、「第１の部品停止位置」及び「第２の部品停止位置」と言う。配置調整機構１４は、図３（Ａ）に示すように、第１の部品停止位置で一時停止した電子部品Ｗの直下に配された部品載置部材３０と、ロータリーカム３１と、カムフォロア３２、３３と、可動片３４、３５を具備している。 As shown in FIG. 1, the arrangement adjustment mechanisms 14 and 15 are each arranged below the electronic components W temporarily stopped at two (an example of N) component stopping positions with the movable body 26 arranged above. There is. Note that in FIG. 2, the arrangement adjustment mechanisms 14 and 15 are not illustrated. Hereinafter, the component stopping positions above the arrangement adjustment mechanisms 14 and 15 will be referred to as a "first component stopping position" and a "second component stopping position", respectively. As shown in FIG. 3A, the placement adjustment mechanism 14 includes a component mounting member 30 disposed directly below the electronic component W temporarily stopped at the first component stop position, a rotary cam 31, a cam follower 32, 33 and movable pieces 34 and 35.
　ロータリーカム３１は平面視して、円形の外周の一部が切り取られた形状であり（以下、切り取られた外周領域を、「中心接近領域３１ａ」と言う）、図示しないモータの駆動力によって回転する。カムフォロア３２、３３は、図示しない弾性部材の弾性力によって、ロータリーカム３１に接触した状態が維持されている。可動片３４はカムフォロア３２と一体的に水平移動するように設計されており、可動片３５はカムフォロア３３と一体的に水平移動するように設計されている。 The rotary cam 31 has a circular shape in which a part of the outer periphery is cut off when viewed from above (hereinafter, the cut outer periphery area is referred to as the "center approach area 31a"), and is rotated by the driving force of a motor (not shown). do. The cam followers 32 and 33 are maintained in contact with the rotary cam 31 by the elastic force of an elastic member (not shown). The movable piece 34 is designed to horizontally move integrally with the cam follower 32, and the movable piece 35 is designed to horizontally move integrally with the cam follower 33.
　可動片３４及びカムフォロア３２は、ロータリーカム３１の中心を基準にして１８０°位置に配されており、図４（Ｃ）に示すように、カムフォロア３２が中心接近領域３１ａに接触する状態で、ロータリーカム３１の中心に接近する。可動片３５及びカムフォロア３３は、ロータリーカム３１の中心を基準にして９０°位置に配されており、図４（Ｂ）に示すように、カムフォロア３３が中心接近領域３１ａに接触する状態で、ロータリーカム３１の中心に接近する。 The movable piece 34 and the cam follower 32 are arranged at 180 degrees with respect to the center of the rotary cam 31, and as shown in FIG. Approach the center of the cam 31. The movable piece 35 and the cam follower 33 are arranged at a 90° position with respect to the center of the rotary cam 31, and as shown in FIG. Approach the center of the cam 31.
　配置調整機構１５は、図３（Ｂ）に示すように、第２の部品停止位置で一時停止した電子部品Ｗの直下に配された部品載置部材３６と、図示しないモータの駆動力によって回転するロータリーカム３７と、図示しない弾性部材の弾性力によってロータリーカム３７に密着したカムフォロア３８、３９と、カムフォロア３８と共に水平移動する可動片４０と、カムフォロア３９と共に水平移動する可動片４１を具備している。ロータリーカム３７は平面視して、円形の外周の一部が切り取られた形状である（以下、切り取られた外周領域を、「中心接近領域３７ａ」と言う）。 As shown in FIG. 3(B), the arrangement adjustment mechanism 15 is rotated by a component mounting member 36 disposed directly below the electronic component W temporarily stopped at the second component stop position and a driving force of a motor (not shown). cam followers 38 and 39 that are in close contact with the rotary cam 37 by the elastic force of an elastic member (not shown), a movable piece 40 that moves horizontally together with the cam follower 38, and a movable piece 41 that moves horizontally together with the cam follower 39. There is. The rotary cam 37 has a circular shape in which a part of the outer periphery is cut off when viewed from above (hereinafter, the cut outer periphery area will be referred to as "center approach area 37a").
　可動片４０及びカムフォロア３８は、ロータリーカム３７の中心を基準にして２７０°位置に配されており、図５（Ｂ）に示すように、カムフォロア３８が中心接近領域３７ａに接触する状態で、ロータリーカム３７の中心に接近する。可動片４１及びカムフォロア３９は、ロータリーカム３７の中心を基準にして０°位置に配されており、図５（Ｃ）に示すように、カムフォロア３９が中心接近領域３７ａに接触する状態で、ロータリーカム３７の中心に接近する。 The movable piece 40 and the cam follower 38 are arranged at a 270° position with respect to the center of the rotary cam 37, and as shown in FIG. Approach the center of the cam 37. The movable piece 41 and the cam follower 39 are arranged at a 0° position with respect to the center of the rotary cam 37, and as shown in FIG. Approach the center of the cam 37.
　次に、配置調整機構１４、１５による電子部品Ｗの位置及び向きの調整（位置決め）について説明する。第１の部品停止位置で電子部品Ｗと共に一時停止した部品支持部１１は、吸着している電子部品Ｗと共に下降し（部品載置部材３０に電子部品Ｗを接近するように移動し）、電子部品Ｗを解放して、図４（Ａ）に示すように、部品載置部材３０上に電子部品Ｗを載置し上昇する。これにより、電子部品Ｗは、ロータリーカム３１の中心領域に対応した部品載置部材３０上の位置に配される。このときカムフォロア３２、３３はロータリーカム３１の中心接近領域３１ａに接触していない。 Next, the adjustment (positioning) of the position and orientation of the electronic component W by the arrangement adjustment mechanisms 14 and 15 will be described. The component support part 11, which has temporarily stopped together with the electronic component W at the first component stop position, descends together with the electronic component W that is being sucked (moves the electronic component W closer to the component placement member 30), and The component W is released, and as shown in FIG. 4(A), the electronic component W is placed on the component placement member 30 and raised. Thereby, the electronic component W is arranged at a position on the component mounting member 30 corresponding to the center region of the rotary cam 31. At this time, the cam followers 32 and 33 are not in contact with the center approaching region 31a of the rotary cam 31.
　この状態からロータリーカム３１が回転し、図４（Ｂ）に示すように、中心接近領域３１ａにカムフォロア３３が接触するようになると、可動片３５及びカムフォロア３３が電子部品Ｗに接近し、電子部品Ｗの位置によっては可動片３５が電子部品Ｗに接触して電子部品Ｗが部品載置部材３０上で移動及び方向転換を行う。その後、ロータリーカム３１の回転の継続によって、図４（Ｃ）に示すように、中心接近領域３１ａにカムフォロア３２が接触するようになると、可動片３４及びカムフォロア３２が電子部品Ｗに接近し、ここでも電子部品Ｗの位置によっては可動片３４が電子部品Ｗに接触して電子部品Ｗが部品載置部材３０上で移動及び方向転換を行う。これによって、第１の部品停止位置での電子部品Ｗの位置及び向きの調整が完了する。従って、第１の部品停止位置では、電子部品Ｗに対し、実質的に９０°位置差となる２方から可動片３５、３４が順次接近し、電子部品Ｗに接触する（但し、電子部品Ｗの位置によっては可動片３４、３５の一方又は双方が電子部品Ｗに接触しない）。 When the rotary cam 31 rotates from this state and the cam follower 33 comes into contact with the center approach area 31a as shown in FIG. 4(B), the movable piece 35 and the cam follower 33 approach the electronic component W, and the electronic component Depending on the position of W, the movable piece 35 comes into contact with the electronic component W, and the electronic component W moves and changes direction on the component mounting member 30. Thereafter, as the rotary cam 31 continues to rotate, the cam follower 32 comes into contact with the center approach area 31a as shown in FIG. However, depending on the position of the electronic component W, the movable piece 34 comes into contact with the electronic component W, and the electronic component W moves and changes direction on the component mounting member 30. This completes the adjustment of the position and orientation of the electronic component W at the first component stop position. Therefore, at the first component stop position, the movable pieces 35 and 34 sequentially approach the electronic component W from two directions with a substantially 90° position difference and come into contact with the electronic component W (however, the electronic component W Depending on the position, one or both of the movable pieces 34, 35 may not come into contact with the electronic component W).
　そして、第１の部品停止位置で一時停止していた部品支持部１１が、下降して部品載置部材３０上の電子部品Ｗに接近し、電子部品Ｗを吸着して上昇する。次に、回転体１２の回転により、部品支持部１１及び電子部品Ｗは第１の部品停止位置から第２の部品停止位置に移動して、第２の部品停止位置で一時停止する。 Then, the component support section 11, which has been temporarily stopped at the first component stop position, descends to approach the electronic component W on the component placement member 30, attracts the electronic component W, and ascends. Next, due to the rotation of the rotating body 12, the component support section 11 and the electronic component W move from the first component stopping position to the second component stopping position, and are temporarily stopped at the second component stopping position.
　第２の部品停止位置で電子部品Ｗと共に一時停止した部品支持部１１は、吸着している電子部品Ｗと共に下降し（部品載置部材３６に電子部品Ｗを接近するように移動し）、電子部品Ｗを解放して、図５（Ａ）に示すように、部品載置部材３６上に電子部品Ｗを載置し上昇する。これにより、電子部品Ｗは、ロータリーカム３７の中心領域に対応した部品載置部材３６上の位置に配される。このときカムフォロア３８、３９はロータリーカム３７の中心接近領域３７ａに接触していない。 The component support part 11, which has temporarily stopped together with the electronic component W at the second component stop position, descends together with the electronic component W that is being sucked (moves the electronic component W closer to the component placement member 36), and The electronic component W is released, and as shown in FIG. 5(A), the electronic component W is placed on the component placement member 36 and raised. Thereby, the electronic component W is arranged at a position on the component mounting member 36 corresponding to the center region of the rotary cam 37. At this time, the cam followers 38 and 39 are not in contact with the center approaching region 37a of the rotary cam 37.
　この状態からロータリーカム３７が回転し、図５（Ｂ）に示すように、中心接近領域３７ａにカムフォロア３８が接触するようになると、可動片４０及びカムフォロア３８が電子部品Ｗに接近し、電子部品Ｗの位置によっては可動片４０が電子部品Ｗに接触して電子部品Ｗが部品載置部材３６上で移動及び方向転換を行う。その後、ロータリーカム３７の回転の継続によって、図５（Ｃ）に示すように、中心接近領域３７ａにカムフォロア３９が接触するようになると、可動片４１及びカムフォロア３９が電子部品Ｗに接近し、電子部品Ｗの位置によっては可動片４１が電子部品Ｗに接触して電子部品Ｗが部品載置部材３６上で移動及び方向転換を行う。 When the rotary cam 37 rotates from this state and the cam follower 38 comes into contact with the center approach area 37a as shown in FIG. 5(B), the movable piece 40 and the cam follower 38 approach the electronic component W, and Depending on the position of W, the movable piece 40 comes into contact with the electronic component W, and the electronic component W moves and changes direction on the component mounting member 36. Thereafter, as the rotary cam 37 continues to rotate, the cam follower 39 comes into contact with the center approach area 37a as shown in FIG. Depending on the position of the component W, the movable piece 41 comes into contact with the electronic component W, and the electronic component W moves and changes direction on the component mounting member 36.
　これによって、第２の部品停止位置での電子部品Ｗの位置及び向きの調整が終わり、全体としての電子部品Ｗの位置及び向きの調整が完了して、電子部品Ｗは基準位置に配される。従って、第２の部品停止位置では、電子部品Ｗに対し、実質的に９０°位置差となる２方から可動片４０、４１が接近し接触する（但し、電子部品Ｗの位置によっては可動片４０、４１の一方又は双方が電子部品Ｗに接触しない）。そして、第２の部品停止位置で一時停止していた部品支持部１１が、下降して部品載置部材３６上の電子部品Ｗに接近し、電子部品Ｗを吸着して上昇し、回転体１２の回転により、電子部品Ｗと共に第２の部品停止位置から移動する。 As a result, the adjustment of the position and orientation of the electronic component W at the second component stop position is completed, the adjustment of the position and orientation of the electronic component W as a whole is completed, and the electronic component W is placed at the reference position. . Therefore, at the second component stop position, the movable pieces 40 and 41 approach and come into contact with the electronic component W from two directions that are substantially 90 degrees apart (however, depending on the position of the electronic component W, the movable pieces 40 and 41 40, 41 or both do not contact the electronic component W). Then, the component support part 11 that has been temporarily stopped at the second component stop position descends and approaches the electronic component W on the component placement member 36, attracts the electronic component W, and ascends, and the rotating body 12 As a result of the rotation, the electronic component W moves from the second component stop position together with the electronic component W.
　本実施の形態では、部品搬送装置１０が電子部品Ｗを取得して部品支持部１１で吸着した状態にする際、電子部品Ｗの位置及び向きにばらつきがあることを前提としている。これに対し、部品搬送装置１０が電子部品Ｗを取得する際、電子部品Ｗの位置にばらつきはあるが電子部品Ｗの向きにばらつきがない場合、配置調整機構１４、１５はそれぞれ、第１、第２の部品停止位置において、電子部品Ｗの位置調整のみを行うこととなる。 In the present embodiment, when the component transport device 10 acquires the electronic component W and brings it into a state where it is sucked by the component support section 11, it is assumed that there are variations in the position and orientation of the electronic component W. On the other hand, when the component transport device 10 acquires the electronic components W, if there are variations in the position of the electronic components W but no variations in the orientation of the electronic components W, the arrangement adjustment mechanisms 14 and 15 are arranged in the first, first, and third positions, respectively. At the second component stop position, only the position adjustment of the electronic component W is performed.
　従って、２個の配置調整機構１４、１５はそれぞれ、第１、第２の部品停止位置（即ち、Ｎ個の配置調整機構はそれぞれ、電子部品ＷのＮ個の一時停止位置）で、電子部品Ｗに接触して、電子部品Ｗの位置調整のみ、あるいは、電子部品Ｗの位置及び向き双方の調整を行い、２個の配置調整機構１４、１５全体（即ち、Ｎ個の配置調整機構全体）で電子部品Ｗに対し少なくとも４方（電子部品を中心として、実質的にα°位置、実質的にα＋９０°位置、実質的にα＋１８０°位置及び実質的にα＋２７０°位置、本実施の形態ではα＝０）から接触する。可動片３４、３５、４０、４１は、電子部品Ｗの位置に応じて、１つ、２つ、３つ又は４つが電子部品Ｗに接触する。よって、可動片３４、３５、４０、４１は電子部品Ｗに対し少なくとも４方から接近し、少なくとも１つが接触すると言える。 Therefore, the two placement adjustment mechanisms 14 and 15 are respectively at the first and second component stop positions (that is, the N placement adjustment mechanisms are N temporary stop positions for the electronic component W), and the electronic component W, and adjusts only the position of the electronic component W or both the position and orientation of the electronic component W, and the two arrangement adjustment mechanisms 14 and 15 as a whole (that is, the entire N arrangement adjustment mechanisms) in at least four directions with respect to the electronic component W (centering on the electronic component, substantially at the α° position, substantially at the α+90° position, substantially at the α+180° position, and substantially at the α+270° position, in this embodiment, α =0) to make contact. One, two, three, or four of the movable pieces 34, 35, 40, and 41 come into contact with the electronic component W depending on the position of the electronic component W. Therefore, it can be said that the movable pieces 34, 35, 40, and 41 approach the electronic component W from at least four directions, and come into contact with at least one of them.
　配置調整機構１４、１５は、それぞれ電子部品Ｗの位置決めを分散して行い、全体で電子部品Ｗの位置決めを完了することから、１つの配置調整機構で電子部品の位置決めを完了する場合に比べ、単位時間当たりに位置決めができる電子部品Ｗの数が多くなる。ここで、電子部品Ｗは、図４（Ａ）、図５（Ａ）に示すように、部品支持部１１に吸着される被吸着面ｊに垂直で、α°位置、α＋９０°位置、α＋１８０°位置及びα＋２７０°位置にそれぞれ対応する側壁部ｐ、ｑ、ｒ、ｓを有し、配置調整機構１４は、電子部品Ｗの側壁部ｑ、ｒにそれぞれ対応する可動体３５、３４を具備し、配置調整機構１５は、電子部品Ｗの側壁部ｓ、ｐにそれぞれ対応する可動体４０、４１を具備していることとなる。 The placement adjustment mechanisms 14 and 15 perform positioning of the electronic components W in a distributed manner, and complete the positioning of the electronic components W as a whole, compared to the case where the positioning of the electronic components is completed with one placement adjustment mechanism. The number of electronic components W that can be positioned per unit time increases. Here, as shown in FIGS. 4(A) and 5(A), the electronic component W is perpendicular to the adsorbed surface j that is adsorbed to the component support 11, and is located at an α° position, an α+90° position, and an α+180° position. The arrangement adjustment mechanism 14 has side wall portions p, q, r, and s corresponding to the position and α+270° position, respectively, and the arrangement adjustment mechanism 14 includes movable bodies 35 and 34 that correspond to the side wall portions q and r of the electronic component W, respectively. The arrangement adjustment mechanism 15 includes movable bodies 40 and 41 corresponding to the side walls s and p of the electronic component W, respectively.
　また、本実施の形態では、電子部品Ｗの２個の一時停止位置で電子部品Ｗを吸着している部品支持部１１に力を作用させて電子部品Ｗと共に移動させ、電子部品Ｗを配置調整機構１４、１５が接触可能な配置にする支持部移動ユニット４２が、図２に示すように、モータ２４、保持部材２５、可動体２６、コイルばね２８及び出力軸２９を主として構成されている。なお、本実施の形態では、連続した２つの部品停止位置を第１、第２の部品停止位置（配置調整機構１４、１５を配して部品停止位置）としているが、第１、第２の部品停止位置の間に配置調整機構を配していない部品停止位置を設けるようにしてもよい。 In addition, in this embodiment, a force is applied to the component support part 11 sucking the electronic component W at the two temporary stop positions of the electronic component W to move the electronic component W together with the electronic component W, thereby adjusting the arrangement of the electronic component W. As shown in FIG. 2, the support moving unit 42 arranged so that the mechanisms 14 and 15 can come into contact is mainly composed of a motor 24, a holding member 25, a movable body 26, a coil spring 28, and an output shaft 29. Note that in this embodiment, two consecutive component stopping positions are defined as the first and second component stopping positions (component stopping positions with arrangement adjustment mechanisms 14 and 15 arranged); A component stopping position may be provided between the component stopping positions in which no placement adjustment mechanism is provided.
　上述した配置調整機構１４（配置調整機構１５についても同じ）はそれぞれ、異なるタイミングで可動片３４、３５（配置調整機構１５については可動片４０、４１）を電子部品Ｗに接触させるものであるが、これに限定されないのは言うまでもなく、異なる方向（但し、電子部品Ｗを挟むようになる２方向、例えば、０°位置及び１８０°位置は除く）から電子部品Ｗに同タイミングで接近する複数の可動片を具備する第１の配置調整機構を採用してもよい。図６（Ａ）、図６（Ｂ）、図７（Ａ）、図７（Ｂ）を参照して、実質的に直交する異なる方向から電子部品Ｗに同タイミングで接近する複数の可動片を具備する第１の変形例に係る配置調整機構５０、５１について説明する。 The arrangement adjustment mechanism 14 (the same applies to the arrangement adjustment mechanism 15) described above brings the movable pieces 34 and 35 (the movable pieces 40 and 41 for the arrangement adjustment mechanism 15) into contact with the electronic component W at different timings. Needless to say, this is not limited to a plurality of approaches to the electronic component W at the same timing from different directions (excluding two directions sandwiching the electronic component W, for example, the 0° position and the 180° position). A first arrangement adjustment mechanism including a movable piece may be employed. 6(A), FIG. 6(B), FIG. 7(A), and FIG. 7(B), a plurality of movable pieces approaching the electronic component W at the same timing from substantially orthogonal different directions are shown. The arrangement adjustment mechanisms 50 and 51 according to the first modified example will be described.
　配置調整機構５０、５１は配置調整機構１４、１５に構造が類似した機構で、それぞれ第１、第２の部品停止位置に配されている。配置調整機構１４のロータリーカム３１に１つの中心接近領域３１ａが設けられ、配置調整機構１５のロータリーカム３７に１つの中心接近領域３７ａが設けられているのに対し、配置調整機構５０のロータリーカム５２には、図６（Ａ）、図６（Ｂ）に示すように、２つの中心接近領域５２ａ、５２ｂが設けられ、配置調整機構５１のロータリーカム５３には、図７（Ａ）、図７（Ｂ）に示すように、２つの中心接近領域５３ａ、５３ｂが設けられている。 The arrangement adjustment mechanisms 50 and 51 are similar in structure to the arrangement adjustment mechanisms 14 and 15, and are arranged at the first and second component stopping positions, respectively. The rotary cam 31 of the arrangement adjustment mechanism 14 is provided with one center approach region 31a, and the rotary cam 37 of the arrangement adjustment mechanism 15 is provided with one center approach region 37a, whereas the rotary cam of the arrangement adjustment mechanism 50 is provided with one center approach region 31a. 52 is provided with two center approach areas 52a and 52b as shown in FIGS. 6A and 6B, and the rotary cam 53 of the arrangement adjustment mechanism 51 is provided with As shown in FIG. 7(B), two center approach areas 53a and 53b are provided.
　配置調整機構５０は、図６（Ａ）、図６（Ｂ）に示すように、ロータリーカム５２に加えて、一時停止した電子部品Ｗの直下に配された部品載置部材５４と、図示しない弾性部材の弾性力によってロータリーカム５２に密着した状態が維持されるカムフォロア５５、５６と、カムフォロア５５と共に水平移動する可動片５７と、カムフォロア５６と共に水平移動する可動片５８を具備している。 As shown in FIGS. 6(A) and 6(B), the arrangement adjustment mechanism 50 includes, in addition to the rotary cam 52, a component mounting member 54 disposed directly below the temporarily stopped electronic component W, and a component mounting member 54 (not shown). It includes cam followers 55 and 56 that are maintained in close contact with the rotary cam 52 by the elastic force of the elastic member, a movable piece 57 that moves horizontally together with the cam follower 55, and a movable piece 58 that moves horizontally together with the cam follower 56.
　ロータリーカム５２において中心接近領域５２ａ、５２ｂは実質的に９０°位置差の関係となるように設けられている。可動片５７及びカムフォロア５５はロータリーカム５２の中心を基準として０°位置に配され、可動片５８及びカムフォロア５６はロータリーカム５２の中心を基準として実質的に９０°位置に配されている（即ち、可動片５７、５８は１８０°位置差とならない位置、非対向となる位置に配されている）。可動片５７は、図６（Ｂ）に示すように、カムフォロア５５が中心接近領域５２ａに接触するタイミングで部品載置部材５４上の電子部品Ｗに接近し、電子部品Ｗの位置によっては電子部品Ｗに接触する。可動片５８は、カムフォロア５６が中心接近領域５２ｂに接触するタイミングで部品載置部材５４上の電子部品Ｗに接近し、電子部品Ｗの位置によっては電子部品Ｗに接触する。 In the rotary cam 52, the center approaching regions 52a and 52b are provided so as to have a substantially 90° positional difference. The movable piece 57 and the cam follower 55 are arranged at a 0° position with respect to the center of the rotary cam 52, and the movable piece 58 and the cam follower 56 are arranged at a substantially 90° position with respect to the center of the rotary cam 52 (i.e. , the movable pieces 57 and 58 are arranged at positions that do not have a 180° position difference and are not opposed to each other). As shown in FIG. 6(B), the movable piece 57 approaches the electronic component W on the component mounting member 54 at the timing when the cam follower 55 contacts the center approach area 52a, and depending on the position of the electronic component W, Contact W. The movable piece 58 approaches the electronic component W on the component mounting member 54 at the timing when the cam follower 56 contacts the center approach area 52b, and comes into contact with the electronic component W depending on the position of the electronic component W.
　配置調整機構５１は、図７（Ａ）、図７（Ｂ）に示すように、ロータリーカム５３に加えて、一時停止した電子部品Ｗの直下に配された部品載置部材６０と、図示しない弾性部材の弾性力によってロータリーカム５３に密着した状態が維持されるカムフォロア６１、６２と、カムフォロア６１と共に水平移動する可動片６３と、カムフォロア６２と共に水平移動する可動片６４を具備して、配置調整機構５０が位置及び向きを調整した電子部品Ｗに対し更に位置及び向きを調整する。 As shown in FIGS. 7(A) and 7(B), the arrangement adjustment mechanism 51 includes, in addition to the rotary cam 53, a component mounting member 60 disposed directly below the temporarily stopped electronic component W, and a component mounting member 60 (not shown). It is equipped with cam followers 61 and 62 that are maintained in close contact with the rotary cam 53 by the elastic force of the elastic member, a movable piece 63 that moves horizontally with the cam follower 61, and a movable piece 64 that moves horizontally with the cam follower 62, and the arrangement can be adjusted. The mechanism 50 further adjusts the position and orientation of the electronic component W whose position and orientation have been adjusted.
　ロータリーカム５３において中心接近領域５３ａ、５３ｂは９０°位置差の関係となるように設けられている。可動片６４及びカムフォロア６２はロータリーカム５３の中心を基準として１８０°位置に配され、可動片６３及びカムフォロア６１はロータリーカム５３の中心を基準として２７０°位置に配されている（即ち、可動片６３、６４は１８０°位置差となる位置に配されていない）。可動片６４は、図７（Ｂ）に示すように、カムフォロア６２が中心接近領域５３ａに接触するタイミングで部品載置部材６０上の電子部品Ｗに接近し、電子部品Ｗの位置によっては電子部品Ｗに接触する。可動片６３は、カムフォロア６１が中心接近領域５３ｂに接触するタイミングで部品載置部材６０上の電子部品Ｗに接近し、電子部品Ｗの位置によっては電子部品Ｗに接触する。 In the rotary cam 53, the center approach areas 53a and 53b are provided with a 90° positional difference. The movable piece 64 and the cam follower 62 are arranged at a 180° position with respect to the center of the rotary cam 53, and the movable piece 63 and the cam follower 61 are arranged at a 270° position with the center of the rotary cam 53 as a reference (that is, the movable piece 63 and 64 are not arranged at positions with a 180° position difference). As shown in FIG. 7(B), the movable piece 64 approaches the electronic component W on the component mounting member 60 at the timing when the cam follower 62 contacts the center approach area 53a, and depending on the position of the electronic component W, the electronic component Contact W. The movable piece 63 approaches the electronic component W on the component mounting member 60 at the timing when the cam follower 61 contacts the center approach area 53b, and comes into contact with the electronic component W depending on the position of the electronic component W.
　また、部品搬送装置１０は、部品支持部１１が回転体１２に対して進退可能であるが、これに限定されない。図８（Ａ）、図８（Ｂ）を参照して、回転体６５に対して部品支持部６６が固定されている第２の変形例について説明する。回転体６５に等間隔で固定された各部品支持部６６は、図８（Ａ）、図８（Ｂ）に示すように、鉛直方向に長い吸着ノズルであり、下端部（一側端部の一例）で電子部品Ｗを吸着できる。回転体６５の間欠的な回転によって、部品支持部６６は吸着した電子部品Ｗと共に所定の高さでの移動及び一時停止を繰り返しながら搬送される。 Further, in the component transport device 10, the component support section 11 can move forward and backward relative to the rotating body 12, but the present invention is not limited to this. A second modification example in which the component support portion 66 is fixed to the rotating body 65 will be described with reference to FIGS. 8(A) and 8(B). As shown in FIGS. 8(A) and 8(B), each component support part 66 fixed to the rotating body 65 at equal intervals is a suction nozzle that is long in the vertical direction. For example, electronic components W can be suctioned. Due to the intermittent rotation of the rotating body 65, the component support section 66 is conveyed together with the electronic component W that has been sucked, while repeatedly moving and stopping at a predetermined height.
　電子部品Ｗの一の一時停止位置の近傍には、図示しない２つのモータ（以下、２つのモータをそれぞれ「第１モータ」及び「第２モータ」と言う）、第１モータの回転力を与えられる水平配置された回転軸６７、第２モータの回転力を与えられる水平配置された回転軸６８、回転軸６７に取り付けられた棒状の可動片６９及び回転軸６８に取り付けられた棒状の可動片７０を備える配置調整機構７１が設けられている。可動片６９は電子部品Ｗの一時停止位置に対し電子部品Ｗの移動方向の下流側に配され、可動片７０は電子部品Ｗの一時停止位置に対し電子部品Ｗの移動方向の上流側に配されている。 In the vicinity of one temporary stop position of the electronic component W, there are two motors (not shown) (hereinafter, the two motors are respectively referred to as "first motor" and "second motor"), and the rotational force of the first motor is applied. a horizontally arranged rotating shaft 67 that receives the rotational force of the second motor, a horizontally arranged rotating shaft 68 that receives the rotational force of the second motor, a rod-shaped movable piece 69 attached to the rotating shaft 67, and a rod-shaped movable piece attached to the rotating shaft 68. A placement adjustment mechanism 71 comprising 70 is provided. The movable piece 69 is disposed on the downstream side in the moving direction of the electronic component W with respect to the temporary stop position of the electronic component W, and the movable piece 70 is disposed on the upstream side in the moving direction of the electronic component W with respect to the temporary stop position of the electronic component W. has been done.
　部品支持部６６及び電子部品Ｗが移動中、可動片６９、７０は、図８（Ａ）に示すように、部品支持部６６と一体的に移動する電子部品Ｗより低い位置（移動中の電子部品Ｗに接触し得ない位置）で水平状態になっている。以下、移動中の電子部品Ｗに接触し得ない位置を退避位置とする。部品支持部６６及び電子部品Ｗが一時停止した際、可動片６９は、図８（Ｂ）に示すように、第１モータの作動により回転軸６７と共に時計回りに９０°回転して鉛直状態となった後、第１モータの作動により回転軸６７と共に反時計回りに９０°回転して水平状態に戻る。 While the component support section 66 and the electronic component W are moving, the movable pieces 69 and 70 are placed at a position lower than the electronic component W that is moving integrally with the component support section 66 (as shown in FIG. 8A). It is in a horizontal state at a position where it cannot come into contact with the component W. Hereinafter, a position where the moving electronic component W cannot be contacted will be referred to as a retracted position. When the component support part 66 and the electronic component W are temporarily stopped, the movable piece 69 rotates 90 degrees clockwise together with the rotating shaft 67 due to the operation of the first motor and returns to the vertical state, as shown in FIG. 8(B). After that, by the operation of the first motor, the rotary shaft 67 rotates counterclockwise by 90 degrees and returns to the horizontal state.
　その後（可動片６９が水平状態に戻った後、又は、可動片６９が鉛直状態から反時計回りに回転し始めた後）、可動片７０は、第２モータの作動により回転軸６８と共に反時計回りに９０°回転して鉛直状態となった後、第２モータの作動により回転軸６８と共に時計回りに９０°回転して水平状態に戻る。一時停止した電子部品Ｗの位置によって、鉛直状態となった可動片６９、７０のいずれか一方又は双方が、部品支持部６６に吸着された状態の電子部品Ｗに接触して電子部品Ｗの部品支持部６６に対する電子部品Ｗの移動方向（搬送方向）の位置を調整する。 After that (after the movable piece 69 returns to the horizontal state or after the movable piece 69 starts rotating counterclockwise from the vertical state), the movable piece 70 is rotated counterclockwise together with the rotating shaft 68 by the operation of the second motor. After rotating 90 degrees in the clockwise direction and becoming vertical, the second motor rotates 90 degrees clockwise together with the rotating shaft 68 to return to the horizontal state. Depending on the position of the temporarily stopped electronic component W, one or both of the movable pieces 69 and 70, which are in a vertical state, come into contact with the electronic component W that is attracted to the component support section 66, and the parts of the electronic component W are moved. The position of the electronic component W in the moving direction (conveying direction) with respect to the support portion 66 is adjusted.
　可動片６９、７０は共に、鉛直に配されて、移動中のいずれかの電子部品Ｗに接触し得る位置に配された状態となる。以下、電子部品Ｗに接触し得る位置を干渉位置とする。従って、本変形例において、配置調整機構７１は、一部（可動片６９、７０）が移動して、一時停止位置に配された電子部品Ｗに接触することとなる。 Both the movable pieces 69 and 70 are arranged vertically and are placed in a position where they can come into contact with any of the moving electronic components W. Hereinafter, a position that can come into contact with the electronic component W will be referred to as an interference position. Therefore, in this modification, a portion (movable pieces 69, 70) of the arrangement adjustment mechanism 71 moves and comes into contact with the electronic component W placed at the temporary stop position.
　また、回転軸６７に回転力を与えるモータを有して、可動片６９を退避位置及び干渉位置の間で移動させる力付与部が構成され、回転軸６８に回転力を与えるモータを有して、可動片７０を退避位置及び干渉位置の間で移動させる力付与部が構成されている。これに対し、上述した配置調整機構１４、１５は、可動片３４、３５、４０、４１が移動中の電子部品Ｗには接触し得ない退避位置に配置され、干渉位置に移動して電子部品Ｗの位置及び向きの調整を行う。 Further, a force applying section is configured that includes a motor that applies rotational force to the rotational shaft 67 to move the movable piece 69 between the retracted position and the interference position, and has a motor that applies rotational force to the rotational shaft 68. , a force applying section that moves the movable piece 70 between the retracted position and the interference position is configured. On the other hand, the above-mentioned arrangement adjustment mechanisms 14 and 15 are arranged at retracted positions where the movable pieces 34, 35, 40, and 41 cannot come into contact with the moving electronic components W, and move to the interference position to prevent the electronic components from moving. Adjust the position and orientation of W.
　電子部品Ｗの他の一時停止位置の近傍にも、配置調整機構７１と同様の構成からなる配置調整機構が設けられている。配置調整機構７１が電子部品Ｗの移動方向の位置を調整するのに対し、当該配置調整機構は電子部品Ｗの移動方向に平面視して直交する方向の位置を調整するように、２つの回転軸及び２つの可動片が配置されている。当該配置調整機構も、一部（２つの可動片）が移動して、一時停止位置に配された電子部品Ｗに接触し、回転軸及びモータを有して、可動片を退避位置及び干渉位置の間で移動させる力付与部が構成されている。 A placement adjustment mechanism having the same configuration as the placement adjustment mechanism 71 is also provided near other temporary stop positions of the electronic component W. While the placement adjustment mechanism 71 adjusts the position of the electronic component W in the moving direction, the placement adjustment mechanism has two rotations so as to adjust the position of the electronic component W in a direction orthogonal to the moving direction in plan view. A shaft and two movable pieces are arranged. The arrangement adjustment mechanism also has a part (two movable pieces) that moves and contacts the electronic component W placed at the temporary stop position, and has a rotating shaft and a motor to move the movable pieces to the retracted position and the interference position. A force imparting section is configured to move the force between the two.
　なお、退避位置に配された状態で部品支持部６６から電子部品Ｗを受取り、電子部品Ｗを干渉位置で位置調整して部品支持部６６に戻す配置調整機構を、配置調整機構７１と共に利用できる。この場合、少なくとも１つの配置調整機構７１が干渉位置に配されて電子部品Ｗに接触する可動片６９、７０及び可動片６９、７０を退避位置及び干渉位置の間で移動させる力付与部を有することとなる。 Note that a placement adjustment mechanism that receives the electronic component W from the component support section 66 in a state where it is placed in the retracted position, adjusts the position of the electronic component W at the interference position, and returns it to the component support section 66 can be used together with the placement adjustment mechanism 71. . In this case, at least one arrangement adjustment mechanism 71 is disposed at the interference position and has movable pieces 69, 70 that come into contact with the electronic component W and a force applying part that moves the movable pieces 69, 70 between the retracted position and the interference position. That will happen.
　また、ここまで説明した配置調整機構１４、１５、７１による電子部品Ｗの向きの調整は、９０°未満の方向転換を前提としたものであるが、電子部品Ｗを９０°以上方向転換することを前提とすることもできる。以下、図９、図１０（Ａ）、図１０（Ｂ）、図１０（Ｃ）、図１０（Ｄ）及び図１１（Ａ）、図１１（Ｂ）、図１１（Ｃ）、図１１（Ｄ）を参照して、電子部品Ｗ’を９０°以上方向転換する本発明の第２の実施の形態に係る部品搬送装置８０について説明する。なお、部品搬送装置８０において、部品搬送装置１０と同様の構成については同じ符号を付して詳しい説明を省略する。 Further, although the adjustment of the orientation of the electronic component W by the arrangement adjustment mechanisms 14, 15, and 71 described so far is based on the premise of changing the direction of the electronic component W by less than 90 degrees, it is not possible to change the direction of the electronic component W by more than 90 degrees. It can also be assumed that 9, FIG. 10(A), FIG. 10(B), FIG. 10(C), FIG. 10(D) and FIG. 11(A), FIG. 11(B), FIG. With reference to D), a component transport device 80 according to a second embodiment of the present invention that changes the direction of an electronic component W' by 90 degrees or more will be described. In the component transport device 80, the same components as those in the component transport device 10 are given the same reference numerals, and detailed description thereof will be omitted.
　部品搬送装置８０によって搬送される電子部品Ｗ’は、図９、図１０（Ａ）、図１０（Ｂ）、図１０（Ｃ）、図１０（Ｄ）に示すように、直方体であり、長手方向一側に電子部品Ｗ’の向きを示すマーカＭが付されている。本実施の形態において、電子部品Ｗ’は、電気特性測定等のために、平面視して、マーカＭが回転体１２の中心側に配されている必要がある。この点、部品搬送装置８０の部品支持部１１は、外部（例えば、リニアフィーダ）から、平面視してマーカＭが回転体１２の中心側に配された状態で電子部品Ｗ’を取得する場合と、平面視してマーカＭが回転体１２の外周側（中心側の反対側）に配された状態で電子部品Ｗ’を取得する場合とがある。 The electronic component W' transported by the component transport device 80 is a rectangular parallelepiped, as shown in FIGS. A marker M indicating the orientation of the electronic component W' is attached to one side in the direction. In the present embodiment, the electronic component W' needs to have the marker M placed on the center side of the rotating body 12 when viewed from above in order to measure electrical characteristics and the like. In this regard, when the component supporting section 11 of the component transport device 80 acquires the electronic component W' from the outside (for example, a linear feeder) with the marker M disposed on the center side of the rotating body 12 when viewed from above, In some cases, the electronic component W' is obtained with the marker M disposed on the outer circumferential side (opposite the center side) of the rotating body 12 when viewed from above.
　部品搬送装置８０は、外部から電子部品Ｗ’を取得する位置の電子部品Ｗ’の搬送方向下流側には、電子部品Ｗ’の４つの一時停止位置の近傍に、電子部品Ｗ’の向きを調整する配置調整機構８１、８２及び電子部品Ｗ’の位置及び向きを調整する配置調整機構８３、８４がそれぞれ設けられている。この電子部品Ｗ’の４つの一時停止位置について、以下、配置調整機構８１が近傍に配されたものを第１の一時停止位置とし、配置調整機構８２が近傍に配されたものを第２の一時停止位置とし、配置調整機構８３が近傍に配されたものを第３の一時停止位置とし、配置調整機構８４が近傍に配されたものを第４の一時停止位置とする。 The component conveying device 80 has a position downstream of the electronic component W' in the conveying direction of the electronic component W' at a position where the electronic component W' is acquired from the outside, and a position where the electronic component W' is oriented in the vicinity of four temporary stop positions of the electronic component W'. Arrangement adjustment mechanisms 81 and 82 for adjustment and arrangement adjustment mechanisms 83 and 84 for adjusting the position and orientation of the electronic component W' are provided, respectively. Regarding the four temporary stop positions of the electronic component W', the one where the placement adjustment mechanism 81 is placed nearby is referred to as the first temporary stop position, and the one where the placement adjustment mechanism 82 is placed nearby is referred to as the second temporary stop position. The temporary stop position is defined as a third temporary stop position where the placement adjustment mechanism 83 is placed nearby, and the fourth temporary stop position is placed where the placement adjustment mechanism 84 is placed nearby.
　配置調整機構８１、８２、８３、８４は電子部品Ｗ’の搬送方向下流側に向けて順に配置され、配置調整機構８１の電子部品Ｗ’の搬送方向上流側には部品支持部１１に吸着された電子部品Ｗ’を撮像する図示しない撮像部が設けられ撮像部の撮像画像を基に、当該電子部品Ｗ’の向きが検出される。 The arrangement adjustment mechanisms 81, 82, 83, and 84 are arranged in order toward the downstream side in the transport direction of the electronic component W', and the arrangement adjustment mechanism 81 is placed on the upstream side in the transport direction of the electronic component W', which is attracted to the component support section 11. An imaging section (not shown) is provided to take an image of the electronic component W', and the orientation of the electronic component W' is detected based on the image taken by the imaging section.
　配置調整機構８１は、図示しないモータ（以下、モータＱと言う）の回転力を与えられる鉛直に配された回転軸８５、及び、回転軸８５に固定された可動片８６を備えている。可動片８６は直方体状であり、フリーローラ８７を具備している。可動片８６は部品支持部１１に吸着された電子部品Ｗ’と同じ高さ位置に設けられている。回転軸８５及び可動片８６は、平面視して、第１の一時停止位置を基準に回転体１２の外周側に配されている。 The arrangement adjustment mechanism 81 includes a vertically disposed rotating shaft 85 to which rotational force of a motor (not shown) (hereinafter referred to as motor Q) is applied, and a movable piece 86 fixed to the rotating shaft 85. The movable piece 86 has a rectangular parallelepiped shape and includes a free roller 87. The movable piece 86 is provided at the same height position as the electronic component W' attracted to the component support portion 11. The rotating shaft 85 and the movable piece 86 are arranged on the outer circumferential side of the rotating body 12 with respect to the first temporary stop position in plan view.
　配置調整機構８２は、図示しないエアシリンダ（以下、これをエアシリンダＳとする）から力を与えられて水平に進退する可動片８８を備えている。可動片８８を進退させるものはエアシリンダＳでなくてもよい。例えば、モータ及びボール螺子からなる駆動機構を用いて可動片８８を進退させてもよい。可動片８８は、直方体状であり、部品支持部１１に吸着された電子部品Ｗ’と同じ高さ位置に設けられ、平面視して、第２の一時停止位置を基準に回転体１２の外周側に配されている。 The arrangement adjustment mechanism 82 includes a movable piece 88 that moves horizontally forward and backward by applying force from an air cylinder (hereinafter referred to as air cylinder S) not shown. What moves the movable piece 88 back and forth need not be the air cylinder S. For example, the movable piece 88 may be moved forward and backward using a drive mechanism consisting of a motor and a ball screw. The movable piece 88 has a rectangular parallelepiped shape, is provided at the same height position as the electronic component W' adsorbed on the component support part 11, and moves around the outer periphery of the rotating body 12 based on the second temporary stop position when viewed from above. placed on the side.
　ここで、電子部品Ｗ’が移動中（回転体１２が回転中）、可動片８６、８８は共に、退避位置に配されて、回転体１２の間欠的な回転によって搬送される電子部品Ｗ’の搬送経路を円周とする仮想円Ｒ（仮想円Ｒの円周及びその内側領域を含む仮想の円体）に非接触、かつ、仮想円Ｒと同一の高さ位置に配置され、仮想円Ｒと同心円状に配置された仮想円Ｒを含む仮想円Ｐ（仮想円Ｒを拡大したもので、仮想円Ｐの円周及びその内側領域を含む仮想の円体）に接触した状態となる。 Here, while the electronic component W' is moving (while the rotating body 12 is rotating), the movable pieces 86 and 88 are both placed in the retracted position, and the electronic component W' is transported by the intermittent rotation of the rotating body 12. The virtual circle R (a virtual circle including the circumference of the virtual circle R and its inner area) is placed in a non-contact position and at the same height as the virtual circle R. It comes into contact with a virtual circle P including a virtual circle R arranged concentrically with R (a virtual circle that is an enlarged version of the virtual circle R and includes the circumference of the virtual circle P and its inner region).
　撮像画像を基にマーカＭが平面視して回転体１２の外周側に配されていると判定された電子部品Ｗ’が、第１の一時停止位置で一時停止すると、退避位置に配されていた可動片８６が、図１０（Ａ）、図１０（Ｂ）、図１０（Ｃ）、図１０（Ｄ）に示すように、モータＱの作動により回転軸８５を中心に、平面視して時計回りに回転し、フリーローラ８７が電子部品Ｗ’の部品支持部１１に吸着されている部分より回転体１２の外周側の部分に接触して、電子部品Ｗ’を部品支持部１１に吸着されている部分を中心に平面視して反時計回りに約９０°回転させる。 When the electronic component W' whose marker M is determined to be disposed on the outer circumferential side of the rotating body 12 in plan view based on the captured image is temporarily stopped at the first pause position, the electronic component W' is disposed at the retracted position. As shown in FIGS. 10(A), 10(B), 10(C), and 10(D), the movable piece 86 rotates around the rotating shaft 85 when viewed from above by the operation of the motor Q. Rotating clockwise, the free roller 87 contacts a portion of the electronic component W' on the outer peripheral side of the rotary body 12 from the portion of the electronic component W' that is attracted to the component support section 11, and thereby attracts the electronic component W' to the component support section 11. Rotate about 90 degrees counterclockwise when viewed from above, centering on the part shown.
　これにより、電子部品Ｗ’はマーカＭが付された側が電子部品Ｗ’の移動方向下流側に配される。可動片８６は、フリーローラ８７が電子部品Ｗ’に接触中、干渉位置に配され、電子部品Ｗ’を約９０°回転させた後、モータＱの作動により退避位置に戻される。ここで、回転軸８５は回転体１２の軸心（回転軸）に対して平行である。従って、本実施の形態では、モータＱが可動片８６を回転体１２の軸心に対して平行な回転軸８５を中心に回転させる力付与部である。 As a result, the side of the electronic component W' to which the marker M is attached is placed on the downstream side in the moving direction of the electronic component W'. The movable piece 86 is arranged at the interference position while the free roller 87 is in contact with the electronic component W', and after rotating the electronic component W' by about 90 degrees, is returned to the retracted position by the operation of the motor Q. Here, the rotation axis 85 is parallel to the axis (rotation axis) of the rotating body 12. Therefore, in this embodiment, the motor Q is a force applying unit that rotates the movable piece 86 about the rotating shaft 85 parallel to the axis of the rotating body 12.
　配置調整機構８１により９０°の方向転換がなされた電子部品Ｗ’が、第２の一時停止位置で一時停止すると、退避位置に配されていた可動片８８が、図１１（Ａ）、図１１（Ｂ）、図１１（Ｃ）、図１１（Ｄ）に示すように、エアシリンダＳの作動により仮想円Ｒの半径方向内側に水平移動し、電子部品Ｗ’の部品支持部１１に吸着されている部分より電子部品Ｗ’の移動方向下流（マーカＭが付されている側）に接触して、電子部品Ｗ’を部品支持部１１に吸着されている部分を中心に平面視して反時計回りに約９０°回転させる（干渉位置）。 When the electronic component W' whose direction has been changed by 90 degrees by the placement adjustment mechanism 81 is temporarily stopped at the second temporary stop position, the movable piece 88 that was placed at the retracted position is moved to the position shown in FIGS. As shown in FIG. 11(B), FIG. 11(C), and FIG. 11(D), the air cylinder S moves horizontally inward in the radial direction of the virtual circle R by the operation of the air cylinder S, and is attracted to the component support portion 11 of the electronic component W'. The downstream part of the electronic component W' in the moving direction (the side where the marker M is attached) is contacted with the electronic component W' from the part that is attracted to the component supporting part 11, and the electronic component W' is reversed when viewed from above, centering on the part that is attracted to the component support part 11. Rotate approximately 90 degrees clockwise (interference position).
　可動片８８に回転させられた電子部品Ｗ’は長手方向が仮想円Ｒの半径方向に一致し、マーカＭを付された側が仮想円Ｒ（平面視して回転体１２）の中心側に配された状態となる。電子部品Ｗ’を約９０°回転させた後、エアシリンダＳの作動により退避位置に戻される。本実施の形態では、エアシリンダＳが可動片８８を直線的に移動させる力付与部である。 The electronic component W' rotated by the movable piece 88 has its longitudinal direction aligned with the radial direction of the virtual circle R, and the side marked with the marker M is arranged on the center side of the virtual circle R (rotating body 12 in plan view). The state will be as follows. After rotating the electronic component W' by about 90 degrees, the air cylinder S is operated to return it to the retracted position. In this embodiment, the air cylinder S is a force applying unit that linearly moves the movable piece 88.
　配置調整機構８３は、図９に示すように、電子部品Ｗ’が移動中、退避位置に配される可動片８９及び可動片８９を水平に進退させる図示しないエアシリンダ（以下、これを第１エアシリンダとする）を有している。可動片８９は電子部品Ｗ’と同一高さに位置し、退避位置に配されて、仮想円Ｒに非接触かつ仮想面Ｐに接触した状態となる。可動片８９は、電子部品Ｗ’の仮想円Ｒの外周側に配された面に接触可能な側壁部９０及び電子部品Ｗ’の移動方向下流側に配された面に接触可能な側壁部９１を有する。 As shown in FIG. 9, the arrangement adjustment mechanism 83 includes a movable piece 89 disposed at the retracted position and an air cylinder (hereinafter referred to as a first It has an air cylinder). The movable piece 89 is located at the same height as the electronic component W' and is placed in a retracted position, so that it is in a state where it is not in contact with the virtual circle R and is in contact with the virtual plane P. The movable piece 89 includes a side wall portion 90 that can contact a surface disposed on the outer peripheral side of the virtual circle R of the electronic component W', and a side wall portion 91 that can contact a surface disposed on the downstream side in the moving direction of the electronic component W'. has.
　配置調整機構８４は、電子部品Ｗ’が移動中、退避位置に配される可動片９２及び可動片９２を水平に進退させる図示しないエアシリンダ（以下、これを第２エアシリンダとする）を有している。可動片９２は電子部品Ｗ’と同一高さに位置し、退避位置に配されて、回転体１２の直下に位置した状態（即ち、仮想円Ｒに接触した状態）となる。可動片９２は、電子部品Ｗ’の仮想円Ｒの中心側に配された面に接触可能な側壁部９３及び電子部品Ｗ’の移動方向上流側に配された面に接触可能な側壁部９４を有する。 The arrangement adjustment mechanism 84 includes a movable piece 92 disposed at the retracted position and an air cylinder (hereinafter referred to as a second air cylinder) not shown that horizontally moves the movable piece 92 back and forth while the electronic component W' is moving. are doing. The movable piece 92 is located at the same height as the electronic component W', is placed in a retracted position, and is located directly below the rotating body 12 (that is, in contact with the imaginary circle R). The movable piece 92 has a side wall portion 93 that can come into contact with a surface placed on the center side of the virtual circle R of the electronic component W', and a side wall portion 94 that can make contact with a surface placed on the upstream side in the moving direction of the electronic component W'. has.
　配置調整機構８２により９０°の方向転換がなされた電子部品Ｗ’が、第３の一時停止位置に一時停止すると、退避位置に配されていた可動片８９が、第１エアシリンダの作動により水平に移動して干渉位置に配される。干渉位置に配された可動片８９は、電子部品Ｗ’の部品支持部１１に対する位置により、仮想円Ｒの外周側に配された面に側壁部９０が接触し、電子部品Ｗ’の移動方向下流側に配された面に側壁部９１が接触する（電子部品Ｗ’の位置によっては、側壁部９０、９１のいずれか一方のみが電子部品Ｗ’に接触したり、双方が電子部品Ｗ’に接触しなかったりする）。これにより、配置調整機構８２による電子部品Ｗ’の位置及び向きの調整がなされ、その後、第１エアシリンダの作動により、可動片８９は干渉位置から退避位置に戻される。 When the electronic component W', whose direction has been changed by 90 degrees by the placement adjustment mechanism 82, temporarily stops at the third temporary stop position, the movable piece 89, which was placed at the retracted position, becomes horizontal due to the operation of the first air cylinder. and placed in the interference position. Due to the position of the electronic component W' relative to the component support 11, the movable piece 89 disposed at the interference position causes the side wall portion 90 to come into contact with a surface disposed on the outer circumferential side of the virtual circle R, so that the movable piece 89 moves in the moving direction of the electronic component W'. The side wall portion 91 contacts a surface disposed on the downstream side (depending on the position of the electronic component W', only one of the side wall portions 90 and 91 may contact the electronic component W', or both side walls 90 and 91 may contact the electronic component W'). ). As a result, the position and orientation of the electronic component W' are adjusted by the placement adjustment mechanism 82, and then the movable piece 89 is returned from the interference position to the retracted position by the operation of the first air cylinder.
　配置調整機構８３による位置及び向きの調整がなされた電子部品Ｗ’が、第４の一時停止位置に一時停止すると、退避位置に配されていた可動片９２が、第２エアシリンダの作動により水平に移動して干渉位置に配される。干渉位置に配された可動片９２は、電子部品Ｗ’の部品支持部１１に対する位置により、仮想円Ｒの中心側に配された面に側壁部９３が接触し、電子部品Ｗ’の移動方向上流側に配された面に側壁部９４が接触する（電子部品Ｗ’の位置によっては、側壁部９３、９４のいずれか一方のみが電子部品Ｗ’に接触したり、双方が電子部品Ｗ’に接触しなかったりする）。これにより、配置調整機構８３による電子部品Ｗ’の位置及び向きの調整がなされ、その後、第２エアシリンダの作動により、可動片９２は干渉位置から退避位置に戻される。 When the electronic component W' whose position and orientation have been adjusted by the placement adjustment mechanism 83 is temporarily stopped at the fourth temporary stop position, the movable piece 92 that was placed in the retracted position is moved horizontally by the operation of the second air cylinder. and placed in the interference position. Due to the position of the electronic component W' relative to the component support 11, the movable piece 92 disposed at the interference position has the side wall portion 93 in contact with a surface disposed on the center side of the virtual circle R, and the moving direction of the electronic component W' The side wall portion 94 contacts the surface disposed on the upstream side (depending on the position of the electronic component W', only one of the side wall portions 93 and 94 may contact the electronic component W', or both may contact the electronic component W' ). As a result, the position and orientation of the electronic component W' are adjusted by the placement adjustment mechanism 83, and then the movable piece 92 is returned from the interference position to the retracted position by the operation of the second air cylinder.
　可動片８９、９２は、エアシリンダではなく、モータ及びボール螺子を有する駆動機構によって直線的に移動するようにしてもよい。配置調整機構８１、８２が、撮像画像を基にマーカＭが平面視して回転体１２の外周側に配されていると判定された電子部品Ｗ’のみに対して向きを調整するのに対し、配置調整機構８３、８４は、全ての電子部品Ｗ’に対して位置及び向きを調整する。 The movable pieces 89 and 92 may be moved linearly by a drive mechanism having a motor and a ball screw instead of an air cylinder. Whereas the arrangement adjustment mechanisms 81 and 82 adjust the orientation only for the electronic component W' for which the marker M is determined to be arranged on the outer circumferential side of the rotating body 12 in plan view based on the captured image. , placement adjustment mechanisms 83 and 84 adjust the positions and orientations of all electronic components W'.
　以上、本発明の実施の形態を説明したが、本発明は、上記した形態に限定されるものでなく、要旨を逸脱しない条件の変更等は全て本発明の適用範囲である。例えば、回転体は水平配置されている必要はない。回転体を鉛直に配し、水平軸を中心に回転するように設計できる。 Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and any changes in conditions that do not depart from the gist are within the scope of the present invention. For example, the rotating body does not need to be horizontally arranged. It can be designed so that the rotating body is arranged vertically and rotates around a horizontal axis.
　また、支持部移動ユニットを設ける場合、支持部移動ユニットは、配置調整機構が設けられたＮ個の電子部品の一時停止位置の全てに設ける必要はなく、少なくとも一箇所に設けるようにしてもよい。更に、部品支持部は回転体に対し、回転体の径方向に進退可能に取り付けられていてもよい。配置調整機構全体が移動して一時停止位置に配された電子部品に接触するように設計してもよい。 In addition, when a support part moving unit is provided, the support part moving unit does not need to be provided at all of the temporary stop positions of the N electronic components provided with the arrangement adjustment mechanism, and may be provided at at least one location. . Furthermore, the component support portion may be attached to the rotating body so as to be movable in the radial direction of the rotating body. The entire alignment mechanism may be designed to move and contact the electronic component placed in the pause position.
　前記第１の実施の形態において、配置調整機構は、カム及びカムフォロアを有さなくてもよく、例えば、可動片を移動させるボール螺子をカム及びカムフォロアの代わりに採用することができる。更に、前記第１の実施の形態において、４つの配置調整機構を電子部品の４つの一時停止位置に設け、それぞれが電子部品に対し、α°位置、α＋９０°位置、α＋１８０°位置及びα＋２７０°位置から接近して電子部品を位置決めするようにしてもよい。 In the first embodiment, the arrangement adjustment mechanism does not need to have a cam and a cam follower; for example, a ball screw that moves the movable piece can be used instead of the cam and cam follower. Furthermore, in the first embodiment, four position adjustment mechanisms are provided at four temporary stop positions of the electronic component, and each position is adjusted to the α° position, α+90° position, α+180° position, and α+270° position with respect to the electronic component. Alternatively, the electronic component may be positioned by approaching from the front.
　本出願は、２０２２年５月２７日出願の日本特許出願（特願２０２２－０８６９２０）および２０２２年１２月２６日出願の日本特許出願（特願２０２２－２０８４７３）に基づくものであり、その内容は本出願の中に参照として援用される。 This application is based on the Japanese patent application (patent application 2022-086920) filed on May 27, 2022 and the Japanese patent application (patent application 2022-208473) filed on December 26, 2022, and the contents are Incorporated into this application by reference.
１０：部品搬送装置、１１：部品支持部、１２：回転体、１３：部品移動ユニット、１４、１５：配置調整機構、１７：ベース台、１８：板材、１９：モータ、２１：コイルばね、２２：支持部材、２３：板材、２４：モータ、２５：保持部材、２６：可動体、２８：コイルばね、２９：出力軸、３０：部品載置部材、３１：ロータリーカム、３１ａ：中心接近領域、３２、３３：カムフォロア、３４、３５：可動片、３６：部品載置部材、３７：ロータリーカム、３７ａ：中心接近領域、３８、３９：カムフォロア、４０、４１：可動片、４２：支持部移動ユニット、５０、５１：配置調整機構、５２：ロータリーカム、５２ａ、５２ｂ：中心接近領域、５３：ロータリーカム、５３ａ、５３ｂ：中心接近領域、５４：部品載置部材、５５、５６：カムフォロア、５７、５８：可動片、６０：部品載置部材、６１、６２：カムフォロア、６３、６４：可動片、６５：回転体、６６：部品支持部、６７、６８：回転軸、６９、７０：可動片、７１：配置調整機構、８０：部品搬送装置、８１、８２、８３、８４：配置調整機構、８５：回転軸、８６：可動片、８７：フリーローラ、８８、８９：可動片、９０、９１：側壁部、９２：可動片、９３、９４：側壁部、Ｍ：マーカ、Ｗ、Ｗ’：電子部品 10: Component transport device, 11: Component support unit, 12: Rotating body, 13: Component moving unit, 14, 15: Arrangement adjustment mechanism, 17: Base stand, 18: Plate material, 19: Motor, 21: Coil spring, 22 : support member, 23: plate material, 24: motor, 25: holding member, 26: movable body, 28: coil spring, 29: output shaft, 30: component placement member, 31: rotary cam, 31a: center approach area, 32, 33: Cam follower, 34, 35: Movable piece, 36: Component placement member, 37: Rotary cam, 37a: Center approach area, 38, 39: Cam follower, 40, 41: Movable piece, 42: Support portion moving unit , 50, 51: Arrangement adjustment mechanism, 52: Rotary cam, 52a, 52b: Center approach area, 53: Rotary cam, 53a, 53b: Center approach area, 54: Component placement member, 55, 56: Cam follower, 57, 58: Movable piece, 60: Component placement member, 61, 62: Cam follower, 63, 64: Movable piece, 65: Rotating body, 66: Component supporter, 67, 68: Rotating shaft, 69, 70: Movable piece, 71: Arrangement adjustment mechanism, 80: Component conveyance device, 81, 82, 83, 84: Arrangement adjustment mechanism, 85: Rotating shaft, 86: Movable piece, 87: Free roller, 88, 89: Movable piece, 90, 91: Side wall part, 92: Movable piece, 93, 94: Side wall part, M: Marker, W, W': Electronic component

Claims (4)

  1. 　電子部品を吸着する部品支持部が取り付けられた回転体を有し、該回転体の間欠的な回転により前記電子部品を移動及び一時停止の繰り返しで搬送する部品搬送装置であって、
    　部品搬送装置は、
    　前記電子部品のＮ個の一時停止位置でそれぞれ、前記電子部品に接触して該電子部品の位置及び向きのいずれか一方又は双方を調整するＮ個の配置調整機構、
    　を備え、
    　前記Ｎ個の配置調整機構全体で前記電子部品に対し少なくとも４方から接触し、
    　Ｎは２以上の自然数である、
    　部品搬送装置。     A component transport device that includes a rotating body to which a component support part that sucks electronic components is attached, and that transports the electronic components by repeatedly moving and pausing by intermittent rotation of the rotating body,
    The parts transport device is
    N arrangement adjustment mechanisms that adjust either or both the position and orientation of the electronic component by contacting the electronic component at each of the N temporary stop positions of the electronic component;
    Equipped with
    The N arrangement adjustment mechanisms as a whole make contact with the electronic component from at least four sides,
    N is a natural number greater than or equal to 2,
    Parts transport device.
  2. 　請求項１記載の部品搬送装置において、
    　前記部品支持部は、前記回転体に進退可能に取り付けられ、
    　前記Ｎ個の一時停止位置の少なくとも一箇所には、該一時停止位置で前記電子部品を吸着している前記部品支持部に力を作用させて該電子部品と共に移動させ、該電子部品を前記配置調整機構が接触可能な配置にする支持部移動ユニットが設けられている、
    　部品搬送装置。     The parts conveying device according to claim 1,
    The component support section is attached to the rotating body so as to be movable back and forth,
    At at least one of the N temporary stop positions, a force is applied to the component support part that is sucking the electronic component at the temporary stop position, and the electronic component is moved together with the electronic component, so that the electronic component is placed in the position. A support moving unit is provided for arranging the adjustment mechanism to be accessible.
    Parts transport device.
  3. 　請求項１記載の部品搬送装置において、
    　前記部品支持部は、前記回転体に対して固定され、前記各配置調整機構は、一部又は全体が移動して、前記一時停止位置に配された前記電子部品に接触する、
    　部品搬送装置。     The parts conveying device according to claim 1,
    The component support portion is fixed to the rotating body, and each placement adjustment mechanism partially or entirely moves to contact the electronic component placed at the temporary stop position.
    Parts transport device.
  4. 　請求項１又は３記載の部品搬送装置において、
    　少なくとも１つの前記配置調整機構は、
    　　移動中のいずれかの前記電子部品に接触し得る干渉位置に配されて前記電子部品に接触する可動片と、
    　　前記可動片を、移動中のいずれの前記電子部品にも接触し得ない退避位置及び前記干渉位置の間で移動させる力付与部と、
    　を有する、
    　部品搬送装置。     The parts conveying device according to claim 1 or 3,
    At least one of the position adjustment mechanisms includes:
    a movable piece that is placed in an interference position that can come into contact with any of the moving electronic components, and that contacts the electronic components;
    a force applying unit that moves the movable piece between a retracted position where it cannot come into contact with any of the moving electronic components and the interference position;
    has,
    Parts transport device.
PCT/JP2023/019739 2022-05-27 2023-05-26 Component conveyance device WO2023229030A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2022086920 2022-05-27
JP2022-086920 2022-05-27
JP2022-208473 2022-12-26
JP2022208473A JP7440854B2 (en) 2022-05-27 2022-12-26 Parts conveyance device

Publications (1)

Publication Number Publication Date
WO2023229030A1 true WO2023229030A1 (en) 2023-11-30

Family

ID=88919492

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/019739 WO2023229030A1 (en) 2022-05-27 2023-05-26 Component conveyance device

Country Status (1)

Country Link
WO (1) WO2023229030A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63202094A (en) * 1987-02-17 1988-08-22 三洋電機株式会社 Parts mounter
WO2013084298A1 (en) * 2011-12-06 2013-06-13 上野精機株式会社 Positioning device and electronic component transportation device provided with same
WO2019156055A1 (en) * 2018-02-09 2019-08-15 上野精機株式会社 Processing device for electronic components

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63202094A (en) * 1987-02-17 1988-08-22 三洋電機株式会社 Parts mounter
WO2013084298A1 (en) * 2011-12-06 2013-06-13 上野精機株式会社 Positioning device and electronic component transportation device provided with same
WO2019156055A1 (en) * 2018-02-09 2019-08-15 上野精機株式会社 Processing device for electronic components

Similar Documents

Publication Publication Date Title
US9618573B2 (en) Test handler that picks up electronic devices for testing and an orientation-changing apparatus for use in a test handler
JP5988530B1 (en) POSITION CORRECTION DEVICE AND ELECTRONIC COMPONENT CONVEYING DEVICE INCLUDING THE SAME
JP4849661B2 (en) Electronic component processing equipment
WO2014087682A1 (en) Transfer device
CN110622285B (en) Electronic component handling apparatus
WO2022126878A1 (en) Crack detection device for curved screen
JP2020183907A (en) Electronic component inspection device
KR20170006343A (en) Apparatus and Method for Bonding Flip Chip
WO2023229030A1 (en) Component conveyance device
JP7440854B2 (en) Parts conveyance device
JP4202102B2 (en) Taping device for semiconductor device
JP5371127B2 (en) Electronic component processing apparatus and processing method thereof
JP2012186505A (en) Component supply device
WO2021141058A1 (en) Electronic component transfer device
JPWO2014087682A1 (en) Transfer equipment
JP2008066472A (en) Composite processor for workpiece
JP4078210B2 (en) Electronic circuit component mounting machine and electronic circuit component mounting method
JP3451225B2 (en) Electronic component taping equipment
JP4518513B2 (en) Wafer table for preparing electrical components and apparatus for mounting components on a substrate
JP7170980B1 (en) Electronic parts processing equipment
JP7197853B1 (en) Electronic parts processing equipment
JP7492221B1 (en) Conveyor
JP7483224B1 (en) Taping Equipment
JP2020107658A (en) Electronic component transfer device
JP3246090U (en) Positioning device and taping machine

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23811902

Country of ref document: EP

Kind code of ref document: A1