JP5586191B2 - Work equipment - Google Patents

Description

The present invention relates to a work device that performs a desired work on a workpiece, for example, a semi-automatic work device having a desktop robot that performs a desired work on a manually loaded work, and the semi-automatic work device being detachable. The present invention relates to a fully automatic working apparatus that can be arranged and has a transport unit.
In this specification, the fully automatic work device refers to a work device in which the work is carried into the work place, the work on the work at the work place, and the work is carried out from the work place in a fully automatic manner. As an apparatus for automatically repeating a process of taking a work from a magazine in which a plurality of works are stored, performing a desired work on the work, and storing the work after the work in the magazine, or an apparatus for a previous process An apparatus is disclosed that automatically repeats the process of carrying out a desired work on a workpiece that has been carried in from the above, and then carrying it out to the next process apparatus.

  A working device is used to perform a desired work such as liquid application, lubrication, pin press-fitting, assembly, soldering, and screw tightening at a desired position of a work object called a work.

For example, Patent Document 1 discloses a working device that performs a work of applying a liquid material to a workpiece.
This working apparatus includes a coating apparatus main body for applying a liquid agent to a work, a loader for moving a magazine table on which a magazine is placed up and down to supply the work stored in the magazine to the coating apparatus main body, and a magazine. An unloader that moves the magazine table to be moved up and down to store the work discharged from the coating apparatus main body into the magazine, and the loader and the unloader are arranged on both sides of the coating apparatus main body, and a plurality of magazine tables Is a liquid material applicator disposed in a vertical direction.
As in the device disclosed in Patent Document 1, a workpiece is automatically taken out from a magazine storing workpieces, the workpiece is automatically conveyed to the workpiece table, and then set on the workpiece table. A device that automatically and continuously performs a series of operations in which a workpiece is transported and stored in a magazine after the operation is performed is called a fully automatic type.
Like a device built in a production line, a series of operations such as loading a workpiece from a device in the previous process, carrying out the desired work, and then transferring the completed workpiece to the device in the next process is automatically performed. The apparatus that performs automatically is also a fully automatic apparatus.
In addition, this type of liquid material application device is generally a floor-mounted work device that is directly installed on the floor surface.

An apparatus for applying (supplying) a liquid material to wells on a microplate is disclosed in Patent Document 2.
This working device is supported by a base table on which a Y-direction moving means for moving a work table on which a work (microplate) is placed is moved in the Y direction and two support columns installed near the rear end portions on both sides of the base table. The X-direction moving means that moves above the work table, the Z-direction moving means mounted on the X-direction moving means, the syringe holder installed in the Z-direction moving means, and the liquid material mounted on the syringe holder are stored. It is a liquid supply apparatus comprised with a syringe and the nozzle which discharges the liquid material attached to the lower end part of the syringe so that it may communicate with a syringe, and is a desktop type work robot.
A desktop work robot is generally installed or placed on a table or work table.

Patent Document 3 discloses another aspect of a desktop work device.
In this working apparatus, a guide mechanism is supported on a base via a support column, and a robot drive unit such as a tool mounting base and a driver unit moves in the lateral direction along the guide mechanism.
In Patent Document 3, it is disclosed that a desktop robot apparatus is used for supporting screw tightening, soldering, cleaning, assembly, liquid application, oiling, pin press-fitting, etc., for example, as a screw tightening apparatus. In the upper part of the tool mount, a horizontal part is formed, and a screw supply stocker is provided as a supply part that holds what is necessary in each work process, and the screw supply stocker contains a large number of small screws, An apparatus is disclosed in which the small screw is supplied to the tip of the driver unit via a guide tube and a predetermined screw is tightened.

As in the devices disclosed in Patent Document 2 and Patent Document 3, the work is manually taken out from the storage case or pallet before work, and the work is set manually on the work table, and the work device is desired for the work. A device that manually removes the work that has been performed from the work table after performing the above work is called a semi-automatic type. In the semi-automatic work device, work is performed on the work by the work device, but it is necessary for the operator to set / remove the work to the work table and to start work on the work device. Different.
A desktop work robot that does not have a workpiece transfer function is used as a semi-automatic type.

As described above, the work equipment is a desktop-size semi-automatic work equipment that is used by being installed or placed on a work table or table, or a size that is larger than the desktop-type size that is used by being installed directly on the floor. One of the criteria for selecting whether to use a fully automatic work device or a semi-automatic work device is the production volume.
The fully-automatic work device can automatically perform production without intervention of an operator, and can produce a high-quality product. On the other hand, the apparatus becomes large and requires a large space for installation. In addition, when a variety of products are produced, the apparatus becomes large and time and labor are required for changing the setup. Therefore, the fully automatic work device is suitable for single-product mass production.
The semi-automatic work device can be a compact device that can be used on a table, can effectively use the space for production, and can easily change the setup when changing the product type. On the other hand, since it is necessary for the operator to go through the set of workpieces, the accuracy of the workpiece mounting position may vary, and in order to achieve the product quality manufactured by the fully automatic type work equipment, Cost. In terms of production efficiency, it is not inferior to a fully automatic working device. Therefore, the semi-automatic work device is suitable for high- mix low-volume production.

JP 2003-145022 A JP 2005-061957 A Japanese Patent Laid-Open No. 08-229478

Conventionally, a semi-automatic type device or a fully automatic type device is appropriately selected and used according to the production amount, and it is necessary to purchase the device each time. In addition, it is necessary to set manufacturing conditions in each apparatus, which requires time-consuming work. However, in recent years, under the influence of diversifying market needs and shortening of the product life cycle, production sites are required to respond flexibly to responding to changes in production volume and diversifying product types.
Therefore, the present invention solves the above-described problems, and can be used as a fully automatic working device having a mechanism for transporting a workpiece, or as a semi-automatic device (desktop robot) for manually attaching and detaching a workpiece. It is an object of the present invention to provide a working apparatus that can flexibly handle the above.

A first aspect of the present invention is a fully automatic work device comprising a gantry on which a transport unit for transporting a work is disposed, and a tabletop work device unit detachably disposed on the gantry, the tabletop work device unit, a workpiece holding portion for holding a workpiece, a working head, equipped with a relative movement mechanism for relatively moving the work and the work holder head and the workpiece holding portion alone as a detached semi-automatic working device from cradle that can be the desired work on the workpiece to hold, and the workpiece holding portion, possess a transport position in communication with the transport unit, and a working position for the desired work apart from the transport unit to the work, conveying It is a working device characterized in that a transport mechanism is configured in conjunction with a unit .
According to a second aspect of the present invention, there is provided a work holding unit that holds a work, a work head, a relative movement mechanism that relatively moves the work holding unit and the work head, and a work that is held by the work holding unit alone on a table. A semi-automatic work device capable of performing a desired work, the semi-automatic work device is detachably disposed on a device including a gantry and a transport unit that conveys a work disposed on the gantry, The work holding unit moves between the transport position where it communicates with the transport unit and the work position where the work is separated from the transport unit and performs a desired work on the work, and the transport mechanism is configured in conjunction with the transport unit to form a fully automatic type. can configure the working device, the semi-automatic operational device is, the work of the workpiece holding portion alone desorbed from the gantry is maintained at the working device, characterized in that it is possible to a desired working That.
3rd invention is equipped with the mount by which the conveyance unit which conveys a workpiece | work was arrange | positioned, and provided with the relative movement mechanism which relatively moves the workpiece holding part which hold | maintains a workpiece | work, a work head, and a work holding part and a work head. The tabletop work unit can be detachably mounted on the gantry, and the work holder moves between the transport position where it communicates with the transport unit and the work position where the work is separated from the transport unit and where the desired work is performed on the work By configuring the transfer mechanism in conjunction with the transfer unit, a fully automatic work device can be configured. The desktop work device unit is detached from the gantry and is held as a semi-automatic work device by a single work holding unit. A work device characterized in that a desired work can be performed on a work to be performed.
According to a fourth aspect of the present invention, in the first or third aspect of the invention, the tabletop working apparatus unit includes an operation switch and a control unit.
According to a fifth invention, in the second invention, the semi-automatic work device has an operation switch and a control unit.
According to a sixth invention, in the first, second, or third invention, the relative movement mechanism includes a first movement mechanism capable of moving the head in a first horizontal direction and a vertical direction, and the work holding unit. 2, a second movement mechanism that is movable in the horizontal direction, wherein the work holding unit is movable between the transport position and the work position by the second movement mechanism.
According to a seventh invention, in any one of the first to sixth inventions, the work holding portion includes a locking mechanism for locking the work.
An eighth invention is characterized in that, in any one of the first to seventh inventions, the transport unit includes a transport rail, and the work holding portion communicates with the transport rail at the transport position.
According to a ninth invention, in any one of the first to eighth inventions, the transport unit includes an upstream transport rail and a downstream transport rail that are spaced apart from each other. A holding part connects the upstream conveyance rail and the downstream conveyance rail.
According to a tenth aspect, in the eighth aspect, the work holding unit includes a communication rail and a locking mechanism for locking the work to the communication rail.
An eleventh invention is characterized in that, in the ninth invention, the work holding portion includes a connecting rail and a locking mechanism for locking the work to the connecting rail.
In a twelfth aspect based on the eleventh aspect, the transport unit includes a reciprocating transport unit that transports a workpiece from the upstream transport rail to the downstream transport rail.
In a thirteenth aspect based on the tenth or eleventh aspect, the transport unit includes a reciprocal transport unit that transports a work between the transport rail and the communication rail, and the reciprocal transport unit is a work on the communication rail. Is moved along the connecting rail.
In a fourteenth aspect based on the twelfth or thirteenth aspect, the present invention further comprises an unloader section disposed downstream of the downstream transport rail, and the work is stored in the unloader section by a pressing member of the reciprocating transport section. Features.
According to a fifteenth aspect, in any one of the first to fourteenth aspects, the transport unit is detachably disposed on the gantry.

According to the present invention, it is not necessary to prepare a plurality of different devices depending on the production form such as the production amount and the small quantity / multiple quantity production type.
Further, since only the desktop work device unit can be detached from the gantry and used, the work conditions for the workpiece can be used as they are, and adjustment time and adjustment work are hardly required.
Furthermore, only the desktop work unit with a work head that is severely damaged or worn out can be removed from the gantry, so even if the desktop work device unit breaks down, only the desktop work device unit can be replaced. Since production can be continued, production stop time can be shortened. In particular, in the case of a working device incorporated in a production line, it is not necessary to disconnect or connect the other adjacent device to the transport unit, so that the time and labor required for repair work can be greatly reduced. it can.

1 is an overall view of a working device according to Embodiment 1 of the present invention. FIG. 2 is a schematic view of a desktop work device unit according to the apparatus of FIG. 1. It is the schematic of the work table concerning the desktop type work apparatus unit of FIG. It is explanatory drawing explaining the action | operation of the backup unit concerning the work table of FIG. It is the schematic of the conveyance unit concerning the apparatus of FIG. It is the schematic of the loader part concerning the apparatus of FIG. 1, an unloader part, a conveyance rail, etc. It is explanatory drawing (1/8) explaining the mode of conveyance of the workpiece | work of the apparatus of FIG. It is explanatory drawing (2/8) explaining the aspect of conveyance of the workpiece | work of the apparatus of FIG. It is explanatory drawing (3/8) explaining the aspect of conveyance of the workpiece | work of the apparatus of FIG. It is explanatory drawing (4/8) explaining the mode of conveyance of the workpiece | work of the apparatus of FIG. It is explanatory drawing (5/8) explaining the aspect of conveyance of the workpiece | work of the apparatus of FIG. It is explanatory drawing (6/8) explaining the aspect of conveyance of the workpiece | work of the apparatus of FIG. It is explanatory drawing (7/8) explaining the aspect of conveyance of the workpiece | work of the apparatus of FIG. It is explanatory drawing (8/8) explaining the aspect of conveyance of the workpiece | work of the apparatus of FIG. It is a control block diagram concerning the apparatus of FIG. It is explanatory drawing explaining an aspect when a desktop type work apparatus unit is isolate | separated from the apparatus of FIG. It is explanatory drawing explaining the usage example of the desktop type work apparatus unit after isolate | separating from the apparatus of FIG. It is explanatory drawing explaining the connection aspect of a main body and a desktop type work apparatus unit. It is a schematic perspective view of the block which connects a main body and a desktop type work apparatus unit. It is explanatory drawing explaining the other connection aspect of a main body and a desktop type work apparatus unit. It is a schematic perspective view of a position adjustment unit. It is explanatory drawing explaining the aspect of joining of a guide and a main body.

An embodiment for carrying out the present invention will be described with reference to an example of a liquid material application apparatus that applies a liquid material to a lead frame that is a workpiece.
The work device of the present embodiment includes a main body 10 on which the transport unit 30 is disposed and a tabletop work device unit 50 as main components.
On the gantry of the main body 10, a transport unit 30 that transports the workpiece is provided. It is preferable that the transport unit 30 is detachably disposed on the gantry from the viewpoints of maintainability, ease of loading and unloading the desktop work device unit 50, and the like.
A loader unit that stores a work that has not been completed is disposed at the uppermost stream of the transport unit 30, and an unloader unit that stores a work that has been completed is disposed at the most downstream of the transport unit 30. . One or more tabletop work device units 50 are arranged in the middle of the transfer unit 30, and the work before the work is carried into the tabletop work device unit 50 and the work from the tabletop work device unit 50 by the transfer unit 30. The work is unloaded.

The desktop work device unit 50 can be detached from the main body 10 and used alone. When the desktop work device unit 50 is used alone, the work is attached and detached manually. That is, the desktop work device unit 50 includes a work head, a work holding unit, and an XYZ direction moving mechanism, and can be used alone as a semi-automatic work device.
The tabletop work unit 50 is preferably provided with a work holding part that constitutes a transfer mechanism in conjunction with the transfer unit 30. For example, the conveyance rail A80 is provided on the upstream side of the tabletop work apparatus unit 50, and the conveyance rail C82 is provided on the downstream side, and the work holding portion of the tabletop work apparatus unit 50 is configured by the conveyance rail B81 having a work locking mechanism. Disclosed. With such a configuration, it is possible to transfer workpieces between the transfer unit 30 and the desktop work device unit 50 without providing a separate workpiece loading / unloading device.

  According to the apparatus of the present invention described above, it is also possible to produce with a desktop work device unit at the time of small-scale production, and when the production amount is increased, a desktop work device unit is easily mounted on the device body. Similarly, the work condition adjustment time for the work and the adjustment work can be minimized.

Further, in the present embodiment, the configuration example of the type of apparatus that stores the work discharged from the magazine in the magazine after the application work has been described, but the apparatus configuration that is incorporated in a manufacturing line configured by connecting a plurality of apparatuses in series. Of course it can be used as
Moreover, in this Embodiment, although the coating device which apply | coats a liquid material to a workpiece | work was illustrated, it cannot be overemphasized that this invention is not limited to a coating device.
In addition, an arbitrary form can be adopted for the arrangement pattern of the transport rails. For example, the present invention can be used for an apparatus that includes a loader, a magazine A, a transport rail A, and a transport rail B, and does not include the transport rail C, the unloader, and the magazine B. That is, the workpiece A applied by the conveyance rail B returns to the magazine A of the loader A again after returning from the conveyance rail A, and then the workpiece B to be applied next is taken out from the magazine A. The present invention can also be applied to an apparatus of a type in which a workpiece is conveyed, such as being conveyed to the conveyance rail B via the conveyance rail A. At this time, it goes without saying that the workpiece loading position and the workpiece discharging position are the same position.

  Hereinafter, details of the present invention will be described with reference to examples, but the present invention is not limited to the examples.

[Outline of work equipment]
The first embodiment relates to a liquid material application device that applies a liquid material to a lead frame that is a workpiece, and includes a main body 10 in which an operation box 29 and a conveyance unit 30 are disposed, and a tabletop work device unit 50 as main components. And
The workpiece of this embodiment is a lead frame in which a plurality of devices are arranged in a lattice shape, and a hole is formed at the upper right end.

[Main unit 10]
The main body 10 includes a transport unit 30 and an operation box 29 disposed in front of a base (frame) A11, and a touch panel 14 and a dispense controller 15 on a plate 13 supported by two side plates 12 behind the base A11. Composed. A control unit A90 is disposed below the base A11. A desktop work device unit 50 is disposed in the center of the base A11.

[Desktop work unit 50]
The tabletop work device unit 50 includes an X-direction moving mechanism 53 supported by a support column 52 extending above the base B 51, a Z-direction moving mechanism 54 movable in the X direction by the X-direction moving mechanism 53, and a Z-direction moving mechanism. 54, which is movable in the Z direction by the discharge head 56, the CCD camera 57 and the laser displacement meter 58, the Y direction moving mechanism 59 disposed at the center of the base B 51, and the Y direction moving mechanism 59. The work table 60 is movable in the direction, and the operation switch 61 is provided on the right side of the base B51.
A control unit B91 (not shown) is disposed in the base B51.
The control unit B91 can record a coating program, and the pressing of the operation switch 61 or the coating program (not shown) is a program of an operation sequence for performing coating at a desired position on the workpiece, and X movement It is possible to control the operation of the direction means 53, the Y direction moving mechanism 59 and the Z direction moving mechanism 54, the operation of the dispense controller 15 and a backup unit 63 which will be described later.
The application program can be executed by receiving a signal from the connector. When the program is executed, the X-direction moving mechanism 53, the Y-direction moving mechanism 59, the Z-direction moving mechanism 54, the dispense controller 15, and the backup unit 63 operate according to the procedure described in the program.
The control unit B91 is connected to the control unit A described later, and can transmit and receive signals to and from the control unit A.
The discharge head 56 has a nozzle 17 that communicates with the syringe 16 that stores the liquid material, and communicates with the dispense controller 15 via the tube 18. By pressurizing the liquid material in the syringe 16 for a desired time with air adjusted by the dispense controller 15, the liquid material is discharged from the nozzle 17.

[Work Table 60]
As shown in FIG. 3, the work table 60 includes a stage 62, a support tool 64 disposed on the stage 62, a connection tool 65 supported by the support tool 64, and a second rail member formed by the connection tool 65. The transport rail B81 is fixed, and the backup unit 63 is disposed below the transport rail B81 and disposed on the stage 62.
Conveying rails B81, each recess of the second rail member is a cross-sectional shape U are arranged so as to face each other, and a suitable spacing to convey a workpiece is held.
The backup unit 63 has a fixed plate 43 that can move up and down. As shown in FIG. 4, the backup unit 63 brings the fixing plate 43 into contact with the lower surface of the work A20 and raises the work A20 so that the work A20 is closely attached to the transport rail B81.

[Conveyance unit 30]
As shown in FIG. 5, the transport unit 30 includes a loader unit 31, an unloader unit 32, a transport rail A 80 and a transport rail C 82, and a reciprocating transport unit 33.
The loader unit 31 can be installed with a magazine A34 that can store 20 lead frames as workpieces, and the magazine A34 is moved up and down by an elevating means (elevating mechanism) (not shown) to sequentially move the lead frames one by one. It sends out to the conveyance rail A80. The unloader unit 32 can be installed with the same magazine B35 as the loader unit 31, and stores the lead frames one by one in order by lifting means (not shown) that moves the magazine B35 up and down.
The transport rail A80 is fixed to the loader unit 31, and is connected to the transport rail C82 fixed to the unloader unit 32 by the rail connector 41. The rail connector 41 is fixed to the outer surface side portions of the transport rail A80 and the transport rail C82.
The transport rail A80 and the transport rail C82 are spaced apart from each other by substantially the same length as the transport rail B81. By disposing the transport rail B81 between the transport rail A80 and the transport rail C82, the work can be transported from the loader unit 31 to the unloader unit 32.

As shown in FIG. 6, the reciprocating conveyance unit 33 moves in the vertical direction via a conveyance plate 44 that moves in the X direction by a conveyance drive mechanism (conveyance drive means) 36, and a pin attachment 39 fixed to the conveyance plate 44. It consists of a pin A37 and a pin B38 that can be attached.
A pin A 37 is attached to the loader portion 31 side (magazine A 34 side), and a pin B 38 is attached to the unloader portion 32 side (magazine B 35 side). Further, the pin attachment 39 to which the pin B38 is attached is provided with a payout plate (pressing member) 40 on the front surface of the pin attachment 39 in the work feeding direction.

  The control unit A90 controls the transport unit 30. The control unit A90 controls the vertical movement of each lifting means that moves the loader unit 31 and the unloader unit 32 in the vertical direction, and the X direction movement control of the conveyance drive mechanism 36 that moves the conveyance plate 44 in the X direction. The vertical movement control of A37 and pin B38 is performed. Further, the control unit A90 communicates with the control unit B91 of the tabletop work apparatus unit 50 about a signal relating to workpiece transfer (see FIG. 8).

[Operation]
The operation of the apparatus will be described with reference to FIGS. In FIG 7a to 7h, the digit in supporting a respective conveying rails are not shown.

≪Loader section ~ transport rail A ~ transport rail B≫
The operator previously installs in the loader unit 31 a magazine A34 for storing the workpiece before application, and installs an empty magazine B35 in the unloader unit 32 for collecting the workpiece after application. At this time, the work table 60 of the desktop work device unit 50 stands by at the work carry-in position 70. Since the work table 60 is positioned at the work loading position 70, the transport rail B81 on the work table 60 is connected to the transport rail A80 and the transport rail C82, and the work is transported from the transport rail A80 to the transport rail B81. It becomes possible.

When the operator gives an instruction to start work from the operation box 29, the present apparatus starts the coating work.
As shown in FIG. 7b, first, the magazine A80 of the loader unit 31 moves to a position where the uppermost first stage work of the magazine A80 is ejected, and then the pusher 42 moves the work A20 toward the transport rail A80 by a specified amount. To the X direction (right direction). Subsequently, by raising the pin A37 with respect to the work A20 pushed out from the loader unit 31, the pin A37 is inserted into the hole 21 provided at the right end of the work A20.
After that, as shown in FIG. 7c, the transport driving mechanism 36 is operated, and the work A20 having the pin A37 inserted is slid in the X direction (right direction in the drawing) on the transport rail A80 and moved to the transport rail B81. Let When the workpiece A20 moves to the conveyance rail B81, the conveyance drive mechanism 36 is stopped to stop the movement of the workpiece A20.

≪Execution of application program≫
After the work A20 is stopped, the pin A37 is lowered, and a work transfer completion signal is transmitted from the control unit A90 to the tabletop work unit 50. When the control unit B91 of the tabletop work unit 50 receives the signal, a desired application program stored in the control unit B91 in advance is executed. Here, first, the backup unit 63 of the work table 60 is operated to raise the fixed plate 43. When the fixing plate 43 is increased, the workpiece A20 is Semagi to the fixed plate 43 upper surface and the carrier rails B81 lower surface is fixed to the fixed plate 43 and transfer rail B81 (see FIG. 4 b).
After the work A20 is fixed to the fixed plate 43 and the transport rail B81, the tabletop work apparatus unit 50 moves the work to the pattern production work position 72 (see FIG. 7e), and moves the X direction moving mechanism 53 and the Y direction. The mechanism 59, the Z-direction moving mechanism 54, and the dispense controller 15 are operated to apply a desired amount of liquid material on the workpiece A20 in a desired pattern.

  When the application by the application program is completed, the control unit B91 of the tabletop work unit 50 moves the work table 60 to the work carry-out position 71 and transmits an application completion signal to the control unit A90 (see FIG. 7f). Here, in the present embodiment, the work carry-in position 70 and the work carry-out position 71 are the same position, but it goes without saying that the work carry-in position 70 and the work carry-out position 71 may be different positions. For example, when the separation distance between the conveyance rail A and the conveyance rail C is large, the workpiece loading position is a position where the conveyance rail B is adjacent to the conveyance rail A but separated from the conveyance rail C, and the workpiece unloading position is the conveyance rail. Although B is adjacent to the transport rail C but is separated from the transport rail A, the workpiece loading position and the workpiece unloading position are different.

<< Waiting for work B22 >>
As shown in FIGS. 7e and 7f, while the tabletop work device unit 50 is performing the pattern production operation, the loader unit 31 and the reciprocating conveyance unit 33 transfer the workpiece B22 on which the pattern production operation is performed next to the conveyance rail. It is moved to A80, and preparations are made for efficient application work. That is, the loader unit 31 is operated to a position where the work B22 is discharged, and the pusher 42 is operated to feed the work B12 to the transport rail A80 by a specified amount. Then, the conveyance drive mechanism 36 is operated, the pin A37 is moved in the direction of the loader unit 31 (left direction), the pin A37 is raised, and the pin A37 is inserted into the hole B23 of the work B22. Subsequently, the transport drive mechanism 36 is moved in the unloader direction (right direction), and the pin B38 is moved to a position where it can be inserted into the hole A21 of the work A20 at the work unloading position, and is put on standby. The workpiece B22 inserted through the pin A37 is sent out onto the transport rail A by the movement of the transport drive mechanism 36 in the unloader direction (right direction) and stands by on the transport rail A80. As described above, the transport rail A80 serves as a coating standby station for a workpiece to be coated next. During standby, the pin B38 is lowered.

≪Conveying rail B ~ Conveying rail C ~ Unloader part≫
When receiving the application completion signal from the control unit B, the control unit A starts an operation of collecting the applied workpiece A20 in the magazine B35. At the work carry-out position 71, the fixing plate 43 of the backup unit 63 is lowered to release the tight attachment to the work A20. Next, the pin B38 is raised, and the pin B38 is inserted into the hole 21 of the workpiece A20.
As shown in FIG. 7g, the conveyance drive mechanism 36 is operated to move the pin B38 in the direction of the unloader section 32 (right direction in the figure), so that the workpiece A20 is slid on the conveyance rail B81 and transferred to the conveyance rail C82. To do. At this time, the workpiece B22 is moved to the transport rail B81 by the pin A37. After the transfer to the transport rail C82, the pin B38 is lowered.

  As shown in FIG. 7h, by operating the transport drive mechanism 36, the payout plate 40 is moved toward the loader unit 31 (shown in the drawing) until the payout plate 40 is closer to the loader than the rear end (left end in the figure) of the workpiece A20. Next, the payout plate 40 is moved in the direction of the unloader section 32 (right direction in the figure) by the transport drive mechanism 36 from the rear end (left end in the figure) of the workpiece A20. The plate 40 pushes the rear end of the workpiece A20, and stores the workpiece A20 in the magazine B35 of the unloader section 32. At this time, the magazine B35 of the unloader section 32 is moved to a position for storing the workpiece by the lifting means and is on standby. Further, the payout plate 40 is provided at a position where it does not interfere with the unloader side tip (right end in the figure) of the workpiece when the pin B38 penetrates the hole of the workpiece.

  In parallel with the above work, when the workpiece B22 is moved to the conveyance rail B81 by the pin A37, the pin A37 is lowered and the fixing plate 43 of the backup unit 63 is raised to be fixed to the conveyance rail B81. Similarly, a pattern production operation is performed. That is, while the work A20 is being stored in the unloader 32, the tabletop work device unit 50 can apply the work to the work B22. Further, while the pattern making operation is being performed on the work B22, the work A20 is stored in the magazine B35, and the work to be applied next to the work B22 is moved to the transport rail A80.

  The above operation is repeated until all the workpieces stored in the magazine A34 of the loader unit 31 are completed, all the workpieces are stored in the magazine B35 of the unloader 32, and the automatic operation ends.

[Removable]
The tabletop work device unit 50 is formed by inserting four pins disposed on the bottom surface of the tabletop work device unit 50 into the holes 86 of the four blocks 85 fixed on the base A11 of the main body 10. 10 and fixed (see FIGS. 11 and 12).
When separating the tabletop work device unit 50 from the main body 10, the tabletop work device unit 50 is lifted upward, and the pins on the bottom surface of the tabletop work device unit 50 are removed from the block 85 of the main body 10.
In the first embodiment, the tabletop work device unit 50 can be carried out from the back side of the main body 10 through the area surrounded by the side plate 12 and the top plate 13. It goes without saying that the top plate 13 is provided at a height that does not interfere when the desktop work device unit 50 is carried out. A carry-out port may be provided in the base A11 of the main body 10.

Further, as shown in FIG. 13, the desktop work device unit 50 can be positioned and fixed to the main body 10. That is, the tabletop work device unit 50 is placed so that the corner side surface of the tabletop work device unit 50 is positioned in the vicinity of the guide 68 fixed on the base A11 of the main body 10, and then the position adjustment unit 87. Thus, the corner side surface of the desktop work unit 50 can be pressed against the guide 68 to be positioned and fixed. Here, the position adjustment unit 87 has a configuration in which a screw 88 having a large diameter at the tip penetrates an L-shaped plate, and the tip surface of the large diameter portion 89 at the tip of the screw 88 is a side surface of the desktop work device unit 50. Abut. The large-diameter portion 89 is preferably made of a soft material such as rubber or plastic so as not to damage the tabletop work unit 50.
In addition, when a caster is provided on the bottom surface of the tabletop work apparatus unit 50, the tabletop work apparatus on the base A11 of the main body 10 is used when the position adjustment unit 87 is operated to press the tabletop work apparatus unit 50 against the guide 68. It is preferable because the unit 50 can be easily moved.

Further, the position adjustment unit 87 is preferably fixed to the base A <b> 11 of the main body 10 through the attachment hole 67 after the desktop work device unit 50 is placed in the vicinity of the guide 68. When the table-type work device unit 50 is carried into the main body 10, the table-type work device unit 50 is moved from the back side of the main body 10 to the vicinity of the position adjustment unit 87 through the region surrounded by the side plate 12 and the top plate 13. This is because there is no need to lift 50.
When carrying out the tabletop work unit 50, the position adjustment unit 87 is removed from the base A11 in advance, so that the tabletop work unit 50 is lifted from the rear surface of the main body 10 without lifting the table type work unit 50 as in the case of loading. 50 can be carried out.

Although the transport unit 30 of this embodiment is directly disposed on the base A11, the transport unit 30 may be disposed via a member such as a plate that is detachably provided on the base A11. By adopting such a configuration, it is preferable because the transport unit 30 can be easily separated integrally from the main body 10 and maintenance of the transport unit 30 can be easily performed.
Further, if the member such as the plate is removed from the main body A11, the tabletop work device unit 50 can be carried in and out from the front surface of the main body.

In the present embodiment, a type of conveyance system in which pins are inserted into holes provided in the workpiece and the workpiece is conveyed is exemplified, but it is needless to say that the present invention is not limited to this conveyance method.
For example, (1) a conveyance system that conveys a work by sandwiching the work by a clip unit that sandwiches the work instead of a pin in the present embodiment, when holes 21 and 23 are not provided in the work, (2) A belt conveyance system in which a work is placed on a rotating belt and conveyed is disclosed.

[Use as semi-automatic device]
The desktop work device unit 50 detached from the main body 10 can be operated as a semi-automatic device. An example of a usage mode of the desktop work device unit 50 after being detached from the main body 10 is shown in FIG.
When the tabletop work device unit 50 is operated as a semi-automatic device, an operator manually sets a work on the work table 60. That is, the worker sets a work on the transport rail B81 of the work table 60, and fixes the work by the backup unit 63 to perform the application work. Similarly, when the work is removed from the work table 60, it is manually performed.

  The program stored (recorded) in the control unit B91 of the desktop work device unit 50 is input by an external input means such as a PC via a connector (not shown). If the desktop robot unit 50 is attached to the main body 10 and connected to the control unit A90, it is possible to input from the monitor (touch panel) 14.

  In the present invention, an arbitrary working head can be selected and used from a discharge head, a cutting tool, a cleaning device, an assembly tool, a screw fastening driver, a UV irradiator, a solder tool, lubrication, a press-fitting tool, and the like.

10 Main body 11 Base A (frame)
12 Side plate 13 Top plate 14 Monitor (touch panel)
15 Dispense controller 16 Syringe 17 Nozzle 18 Tube 20 Work A
21 hole A
22 Work B
23 Hole B
29 Operation Box 30 Transport Unit 31 Loader 32 Unloader 33 Reciprocating Transport 34 Magazine A
35 Magazine B
36 Conveyance drive mechanism (conveyance drive means)
37 pin A
38 pin B
39 Pin fitting 40 Discharge plate (pushing member)
41 Rail connector 42 Pusher 43 Fixed plate 44 Transport plate 50 Desktop work unit (work robot unit)
51 Base B
52 support 53 X direction moving mechanism (X direction moving means)
54 Z direction moving mechanism (Z direction moving means)
55 Plate 56 Discharge head 57 CCD camera 58 Laser displacement meter 59 Y direction moving mechanism (Y direction moving means)
60 work table 61 operation switch 62 stage 63 backup unit 64 support tool 65 coupling tool 67 mounting hole 68 guide 70 work carry-in position 71 work carry-out position 72 pattern production work position 80 transport rail A
81 Transport rail B
82 Transport rail C
85 Block 86 Hole 87 Position adjustment unit 88 Adjustment screw 89 Large diameter part 90 Control part A
91 Controller B

Claims (15)

A fully automatic working device comprising a gantry provided with a conveying unit for conveying a work and a tabletop working device unit detachably arranged on the gantry,
Tabletop working device unit, and a work holder for holding the workpiece, a working head, equipped with a relative movement mechanism for relatively moving the work and the work holder head, and, alone as desorbed with semi-automatic working device from the gantry A desired work can be performed on the work held by the work holding unit, and
Workpiece holding portion, it possesses a transport position in communication with the transport unit, and a working position for the desired work apart from the transport unit to the work, and characterized in that it constitutes a transport mechanism in conjunction with the transport unit Work equipment. A work holding unit for holding a work, a work head, a relative movement mechanism for moving the work holding unit and the work head relative to each other, and performing a desired work on the work held by the work holding unit alone on a table. A semi-automatic work device that can
The semi-automatic work device is detachably disposed in a device including a gantry and a conveyance unit that conveys a workpiece disposed on the gantry, a workpiece holding unit communicates with the conveyance unit, a conveyance position, and a conveyance unit A fully automatic working device can be configured by moving a work position to perform a desired work on the work while being separated from each other and configuring a transport mechanism in conjunction with the transport unit ,
A working device characterized in that the semi-automatic working device can be detached from the gantry and can perform a desired work on the work held by the work holding unit alone. It has a gantry with a transport unit that transports workpieces,
A table type work device unit comprising a work holding unit for holding a work, a work head, and a relative movement mechanism for moving the work holding unit and the work head relative to each other can be detachably disposed on the gantry.
The work holding unit moves between the transport position where it communicates with the transport unit and the work position where the work is separated from the transport unit and performs a desired work on the work, and the transport mechanism is configured in conjunction with the transport unit to form a fully automatic type. Work equipment can be configured,
A work device characterized in that a desktop work device unit can be detached from a gantry and can perform a desired work on a work held by a work holding unit as a semi-automatic work device.   The work apparatus according to claim 1, wherein the desktop work apparatus unit includes an operation switch and a control unit.   The working apparatus according to claim 2, wherein the semi-automatic working apparatus includes an operation switch and a control unit. The relative movement mechanism includes: a first movement mechanism capable of moving the head in a first horizontal direction and a vertical direction; and a second movement mechanism capable of moving the work holding portion in a second horizontal direction. Prepared,
The work apparatus according to claim 1, wherein the work holding unit is movable between the transfer position and the work position by a second moving mechanism.   The work apparatus according to claim 1, wherein the work holding unit includes a locking mechanism that locks the work. The transport unit includes a transport rail;
The work apparatus according to claim 1, wherein the work holding unit communicates with a transport rail at the transport position. The transport unit includes an upstream transport rail and a downstream transport rail that are spaced apart from each other,
The work apparatus according to any one of claims 1 to 8, wherein the work holding unit communicates the upstream side transport rail and the downstream side transport rail at the transport position.   The work device according to claim 8, wherein the work holding unit includes a connection rail and a locking mechanism for locking the work to the communication rail.   The work apparatus according to claim 9, wherein the work holding unit includes a connection rail and a locking mechanism for locking the work to the communication rail.   The working device according to claim 11, wherein the transport unit includes a reciprocating transport unit that transports a workpiece from the upstream transport rail to the downstream transport rail. The transport unit includes a reciprocating transport unit that transports a workpiece between the transport rail and the communication rail,
The working device according to claim 10 or 11, wherein the reciprocating conveyance unit moves a workpiece on the connection rail along the connection rail. In addition, an unloader portion disposed downstream of the downstream side transport rail,
The work apparatus according to claim 12 or 13, wherein the work is stored in the unloader portion by a pressing member of the reciprocating conveyance portion.   The working device according to claim 1, wherein the transport unit is detachably disposed on the gantry.