JP6556477B2 - Parts holding nozzle - Google Patents

Description

  The present invention relates to a component holding nozzle.

  Conventionally, a component holding nozzle that sucks and holds a component is known (for example, Patent Document 1).

JP-A-8-150586

  In this type of component holding nozzle, for example, it is significant if a component holding nozzle that can more reliably adsorb components regardless of the location of the components is obtained.

The component holding nozzle of the present invention has four wall portions that form an air passage having a rectangular cross section, and four end portions that are located at respective ends of the four wall portions and are arranged in a rectangular frame shape. In the front end portion, a quadrangular first opening surrounded by the four end portions is provided, and the body and a pair of opposite end portions of the four end portions are spanned in the width direction. And a belt which is bridged so as to be movable in the longitudinal direction between another pair of end portions facing each other, wherein the belt has a plurality of through-holes smaller than the first opening. A second opening is provided at intervals in the longitudinal direction, and the plurality of second openings includes a plurality of second openings having at least one of a size and a position in the width direction different from each other. Each including a square of the first opening It provided to be able to overlap closer to the inside of the corner.

  According to the present invention, a component holding nozzle capable of adsorbing components more reliably is obtained.

FIG. 1 is an exemplary perspective view of a robot arm to which the component holding nozzle of the embodiment is mounted. FIG. 2 is an exemplary perspective view of the component holding nozzle of the embodiment. FIG. 3 is an exemplary perspective view including a partial cross-section of the component holding nozzle of the embodiment. FIG. 4 is an exemplary cross-sectional view of a part of the component holding nozzle of the embodiment. FIG. 5 is an exemplary view of the tip of the body of the component holding nozzle according to the embodiment as seen from the axial direction. FIG. 6 is an exemplary view of the tip of the component holding nozzle according to the embodiment as seen from the axial direction. FIG. 7 is an exemplary plan view of the belt of the component holding nozzle of the embodiment. FIG. 8 is an exemplary perspective view of a robot arm to which the component holding nozzle according to the embodiment is mounted, and is a diagram showing a state immediately before holding a component housed in a corner of the container. FIG. 9 is an exemplary perspective view of the component holding nozzle and the robot arm according to the embodiment, and is a perspective view of the state immediately before holding the component accommodated in the corner of the container as viewed from below the container. FIG. 10 is an exemplary plan view of a belt of a component holding nozzle according to a modified example of the embodiment. FIG. 11 is an exemplary cross-sectional view of a part of a component holding nozzle according to a modification of the embodiment.

  Hereinafter, exemplary embodiments of the present invention are disclosed. The configuration and control of the embodiment shown below, and the operation and result (effect) brought about by the configuration and control are examples. The present invention can be realized by means other than the configuration and control disclosed in the following embodiments, and various effects (including derivative effects) obtained by the basic configuration and control can be obtained. is there.

  An air passage (opening) (not shown) is provided inside the component holding nozzle 100 illustrated in FIG. An opening end 102 a of the air passage is provided at the tip end portion 100 a of the component holding nozzle 100. The component holding nozzle 100 sucks air from the opening end 102a into the internal air passage, thereby sucking the component in contact with the distal end surface 100b and holding the sucked state to hold the component. When the suction of air is stopped, the part is released from the tip 100a. That is, the component holding nozzle 100 can switch between the holding state and the released state of the component by switching between air suction and suction stop.

  The component holding nozzle 100 can be supported by a transport mechanism such as the robot arm 10, for example. In the embodiment, the robot arm 10 includes a deformable arm including a plurality of movable parts that are rotatably connected to each other with a plurality of rotation axes Ax, and the position of the component holding nozzle 100 supported by the tip of the arm. Or the posture, angle, etc. can be changed. Therefore, parts can be carried by controlling the robot arm 10 and the part holding nozzle 100 by a control unit (not shown). That is, the component holding nozzle 100 picks up the component at the start point position, the robot arm 10 moves the component by moving the component holding nozzle 100 holding the component, and the component holding nozzle 100 releases the component at the end point position. Thus, the part is carried from the start point position to the end point position. The transport mechanism is not limited to the robot arm 10 and can be configured in various forms. The component holding nozzle 100 can also be referred to as a hand or a robot hand.

  As illustrated in FIG. 2, the component holding nozzle 100 includes an extending portion 110 extending in the X direction so as to be able to correspond to the depth of a container or the like in which components are accommodated. In the present embodiment, the extending part 110 is configured in a rectangular parallelepiped shape extending in the X direction, and the component is adsorbed to the distal end part 100 a of the extending part 110. The distal end portion 100 a is an end portion in the X direction of the component holding nozzle 100 and the extending portion 110. The X direction is an example of a first direction. The X direction can also be referred to as the axial direction. In addition, the extended portion 110 may be referred to as a protruding portion.

  The tip end portion 100a of the component holding nozzle 100 is provided with a square tip end surface 100b. The distal end surface 100b extends (expands) along a direction intersecting the X direction, for example, a direction orthogonal to the X direction. In the present embodiment, since the tip surface 100b is planar, even a relatively large component can be held more stably by being abutted against the tip surface 100b. The tip surface 100b is an example of a planar portion. The shape of the distal end surface 100b is not limited to a square shape or a planar shape, and may be, for example, a concave shape or a convex shape, may be another polygonal shape, or may be a minute protrusion or dimple. Etc. may be provided.

  A wall 101 is provided at the tip 100a. In the present embodiment, the front end surface 100 b is the outer surface (surface) of the wall portion 101. A space is provided inside the tip end portion 100a, and the wall portion 101 separates the space inside the component holding nozzle 100 from the outside. The wall portion 101 can be constituted by, for example, a flexible belt 30. A force due to a pressure difference generated by the air flow acts on the sucked parts, and the force presses the belt 30 as the wall portion 101.

  The belt 30 may be configured to be slightly bent or recessed following the surface shape of the component by being pressed by the component. For example, when a component smaller than the width of the front end surface 100b is adsorbed, the belt 30 bends or dents to increase the contact area between the surface 30a of the belt 30 as the front end surface 100b and the component, and the component is more There are cases where it is easy to be held reliably or more stably. Further, when the belt 30 is bent, the gap between the component and the belt 30 may be narrowed, and the negative pressure may be increased. In such a case, since the component is pressed more strongly against the belt 30, the component is more easily held stably.

  Further, the belt 30 may be configured so as not to be recessed or bent as much as possible. For example, if the belt 30 bends in the case of a component larger than the width of the front end surface 100b, the gap between the component and the belt 30 may widen, and the negative pressure may become smaller. In such a case, when the belt 30 is not bent, the components are more easily held.

  As described above, the component holding nozzle 100 is configured in a rectangular parallelepiped shape and has a plurality of side end portions 103a. The side end portion 103 a extends along the X direction and constitutes a ridge line of the rectangular parallelepiped extending portion 110. The side end portion 103a is an example of a corner portion protruding in a direction orthogonal to the X direction. In the present embodiment, the extending portion 110 has a side end portion 103b on the side opposite to the side end portion 103a. Note that the side end portion 103a does not need to be perfectly pointed, and may be configured as a curved surface with a relatively small curvature. Further, the side end portion 103b can be chamfered.

  An opening end 102 a of the air passage is provided in the wall portion 101. The open end 102 a is a circular through hole provided in the wall portion 101. The opening end 102 a is provided in the wall portion 101 near the side end portion 103 a of the extending portion 110. Thereby, when there is a part in the corner of the container, the opening end 102a can be brought close to the corner of the container by bringing the side end 103a close to the corner. Therefore, according to the present embodiment, the components at the corners of the container are also easily attracted.

  As illustrated in FIG. 3, the component holding nozzle 100 includes a suction mechanism 50. The suction mechanism 50 generates a flow of air having a higher flow rate by using the negative pressure generated in the vicinity thereof by blowing out air. Such a suction mechanism 50 can also be referred to as a jet pump. As shown in FIG. 3, the internal space surrounded by the wall portion 21 of the body 20 of the component holding nozzle 100 is an air passage 102. For example, an air outlet (not shown) that blows out air is provided on the inner surface 50a of the cylindrical portion of the air passage 102 or a portion protruding from the inner surface 50a. When air blows out from the air outlet, an air flow Fj is generated in the air passage 102 due to the negative pressure generated by the flow of the blown air. The shape of the nozzle can be adjusted as appropriate. The suction mechanism 50 generates air flow sucked from the open end 102a by supplying air to the outlet of the component holding nozzle 100 via a flexible hose (such as a high pressure hose). Therefore, it is possible to obtain an air flow necessary for adsorbing components by a relatively compact configuration and in a facility provided with an air supply device. As long as the flexible hose can be reached, the suction mechanism 50 can generate an air flow regardless of the position, posture, angle, and the like of the component holding nozzle 100.

  Further, as shown in FIG. 2, a belt 30 is movably supported by the component holding nozzle 100. The belt 30 is moved by the moving mechanism 60. The moving mechanism 60 includes a motor 61, gears 62 and 63, a shaft 64, and the like. The rotation of the motor 61 is transmitted to the shaft 64 through the gears 62 and 63, and one end of the belt 30 is wound up by the rotation of the shaft 64. The motor 61 is configured to be stationary at a specified angle. The motor 61 is, for example, a step motor. A tension applying mechanism 70 is provided at the other end of the belt 30. Further, when the torque for winding the belt 30 to the one end side by the motor 61 is released, the tension applying mechanism 70 can wind the other end side of the belt 30. The tension applying mechanism 70 may include a mainspring or the like, for example. The moving mechanism 60 and the tension applying mechanism 70 can also be referred to as a winding mechanism. The belt 30 is an example of a movable member.

  The moving mechanism 60 and the tension applying mechanism 70 are provided on the base end side (root side) of the extending portion 110. The moving mechanism 60 and the tension applying mechanism 70 are arranged in a direction orthogonal to the X direction, and are positioned with the extending part 110 interposed therebetween. That is, the extending part 110 penetrates between the moving mechanism 60 and the tension applying mechanism 70 in the X direction. The extending part 110 projects in the X direction from between the moving mechanism 60 and the tension applying mechanism 70. With such a configuration, it is possible to suppress the movement mechanism 60 and the tension applying mechanism 70 from interfering with the container when adsorbing the components in the container. Note that the X direction is also the protruding direction of the extension 110.

  As shown in FIGS. 4 and 5, the body 20 has four rectangular walls 21. The four wall portions 21 constitute a hollow portion (space) having a rectangular cross section. This hollow portion is an opening 22 as a part of the air passage 102 in the body 20. One end side in the longitudinal direction (X direction) of the body 20 is opened in a square shape, and an opening end 22 a of the opening 22 is provided. The open end 22a has a quadrangular shape. End portions 21a to 21d in the longitudinal direction of the wall portion 21 are arranged in a rectangular frame shape at the peripheral edge portion of the opening end 22a. The end 21a and the end 21b are linear and parallel to each other, and extend in a direction orthogonal to the X direction. As shown in FIGS. 5 and 6, the belt 30 is spanned and stretched between the end portions 21 a and 21 b, thereby covering the open end 22 a of the body 20 in a rectangular planar shape. As described above, at the tip end portion 100 a of the component holding nozzle 100, at least a part of the tip-side wall portion 101 is constituted by the belt 30. Further, the surface 30a of the belt 30 constitutes the front end surface 100b. The end portions 21 a to 21 d are examples of the tip portion of the body 20.

  As shown in FIG. 4, the belt 30 includes a surface 20 a of the wall portions 21 e and 21 f of the body 20 between the end portion 21 a and the moving mechanism 60 and between the end portion 21 b and the tension applying mechanism 70. It is along. When pulled by the moving mechanism 60 or the tension applying mechanism 70, the belt 30 slides along the surfaces 20 a of the wall portions 21 e and 21 f of the body 20. Further, as shown in FIG. 4, the walls 21 e and 21 f are provided with a guide 23 that constitutes a gap G through which the belt 30 passes and guides the belt 30.

  An opening 31 is provided in the belt 30. The opening 31 is a through-hole penetrating the front surface 30a and the back surface 30b (FIG. 4) of the belt 30. The opening 31 is provided in a circular shape. The opening 31 overlaps with the opening 22 (opening end 22a) of the body 20, so that a portion of the opening 22 overlapping with the opening 31 is opened, and the opening 22 overlaps with the opening 31 of the opening 22 (opening end 22a). The part which should not be covered is covered with the belt 30. That is, the opening 31 covers the opening 22 to partially open the opening 22. The opening 31 becomes the opening end 102 a of the component holding nozzle 100.

  As described above, in this embodiment, it is apparent from FIGS. 5 and 6 that the opening 31 constituting the opening end 102a of the air passage 102 is opened near the side end 103a of the extension 110. is there. The opening 31 is located closer to the side end 103a than the center position C between the side end 103a and the side end 103b. The opening 31 is positioned near the corner 22b of the opening end 22a. 5 and 6 is perpendicular to the X direction. The Y direction is an example of the second direction.

  As shown in FIG. 7, the belt 30 is provided with a plurality of openings 31 having different sizes or positions. The plurality of openings 31 are provided at intervals from each other along the longitudinal direction (L direction) of the belt 30. 5-7, it is possible to change the size and position of the opening end 102a (opening 31) in the tip 100a by changing the position overlapping the opening end 22a (opening 22) of the belt 30. I understand.

  When each of the positions P1 to P4 of the belt 30 overlaps the opening end 22a, the opening 31 is opened near the side end 103a. By changing the positions P1 to P4 of the belt 30, the size of the opening 31 opened near the side end portion 103a is changed. In this case, the side end portion 103a is an example of a first side end portion, and the side end portion 103b is an example of a second side end portion. The Y1 direction in FIGS. 5 and 6 is an example of the second direction.

  Further, when the position P5 of the belt 30 overlaps with the opening end 22a, the opening 31 is positioned at the center position C (FIG. 6) of the opening end 22a, that is, approximately at the center of the distal end surface 100b.

  Further, when each of the positions P6 to P9 of the belt 30 overlaps with the opening end 22a, the opening 31 is opened near the side end 103b opposite to the side end 103a. By changing the positions P5 to P9 of the belt 30, the size of the opening 31 opened near the side end 103b is changed. In this case, the side end portion 103b is an example of a first side end portion, and the side end portion 103a is an example of a second side end portion. The Y2 direction in FIGS. 5 and 6 is an example of the second direction.

  When the position P23 of the belt 30 overlaps the opening end 22a, the opening 31 is opened near the side end 103c. Although not shown, it can be understood that the other opening 31 can be positioned near the side end 103c by changing the position of the belt 30. In this case, the side end portion 103c is an example of a first side end portion, and the side end portion 103d is an example of a second side end portion. The Y3 direction in FIGS. 5 and 6 is an example of the second direction.

  When the position P27 of the belt 30 overlaps the opening end 22a, the opening 31 is opened near the side end 103d. Although not shown, it can be understood that the other opening 31 can be positioned near the side end 103d by changing the position of the belt 30. In this case, the side end portion 103d is an example of a first side end portion, and the side end portion 103c is an example of a second side end portion. The Y4 direction in FIGS. 5 and 6 is an example of the second direction.

  The moving mechanism 60 moves the belt 30 to change the position of the belt 30, thereby changing the position of the opening 31 that overlaps the opening 22 and the position of the opening 31 at the opening end 22a. By acquiring the relationship between the position of the belt 30 and the positions of the plurality of openings 31 at the opening end 22a in advance, the control unit (not shown) can enlarge the size of the opening 31 (opening end 102a) according to the command. The moving mechanism 60 can be controlled so that the sheath position is obtained. The moving mechanism 60 may be operated by an actuator other than the motor 61, or may be configured such that the position of the belt 30 can be manually changed. The moving mechanism 60 is an example of a changing mechanism that can change the position or size of the opening end 102a at the opening 31 or the tip end portion 100a.

  5 and 6, the opening end 22a is provided with a plurality of wires 41 configured in a mesh shape. The wire 41 is a linear member extending in a direction orthogonal to the X direction, and crosses the open end 22a. The wire 41 is slightly positioned at the position of the opening end 22a or in the vicinity of the opening end 22a, specifically, on the side opposite to the tip end side in the X direction from the position of the opening end 22a, that is, on the inner side in the X direction of the opening 22. It is provided at a position distant from each other. As shown in FIGS. 5 and 6, the wire 41 overlaps the belt 30. In other words, the belt 30 covers the wire 41.

  When air flows through the air passage 102 by the operation of the suction mechanism 50, the pressure on the back surface 30 b (FIG. 4) of the belt 30 becomes lower than the pressure on the front surface 30 a of the belt 30. A pressing force acts on the downstream side. The wire 41 is located adjacent to or close to the back surface 30b side of the belt 30, supports the belt 30, and prevents the belt 30 from being greatly deformed. The wire 41 is an example of a support part.

  The wire 41 is bridged between a plurality of end portions 21a to 21d constituting the peripheral edge portion of the opening end 22a. That is, the wire 41 is between the two end portions 21a to 21d facing each other in the direction orthogonal to the X direction among the plurality of end portions 21a to 21d, or to the direction orthogonal to the X direction among the end portions 21a to 21d. It is spanned between opposing parts. 5 and 6, the wire 41 spanned between the two end portions 21a and 21b and the wire rod 41 spanned between the two end portions 21c and 21d are orthogonal to each other to form a mesh. Yes. A gap (opening) through which air passes is provided between the plurality of wires 41. With such a configuration, the support portion can be obtained as a relatively simple configuration. Moreover, a support part can be obtained as a comparatively lightweight structure.

  As shown in FIG. 6, the wire 41 is exposed from the opening 31 provided in the belt 30, that is, the opening end 102 a of the air passage 102, and crosses the opening 31. That is, the wire 41 has an exposed portion 41a exposed from the opening end 102a. As described above, the wire 41 is provided in a mesh shape, and as shown in FIG. 5, in the region near the end portions 21 a to 21 d, that is, away from the central portion of the open end 22 a, the open end Compared with the central part of 22a, the mesh | interval of the mesh of the wire 41 is comprised narrowly. Moreover, in the area | region near the corner part 22b of the opening end 22a, the space | interval of the mesh of the wire 41 is comprised narrowly compared with the area | region away from the corner part 22b. The region away from the corner 22b is, for example, a region between the corner 22b and the corner 22b. Specifically, the center of the opening end 22a or each of the ends 21a to 21d. A region close to the center, a region away from each end 21a to 21d, and the like. In the present embodiment, the wire 41 is exposed from the opening 31 even when any of the plurality of openings 31 included in FIG. 7 overlaps the opening end 22a. Such a configuration is possible by arranging the wire 41 in accordance with the arrangement of the opening end 22 a and the opening 31 based on the position of the belt 30. In the present embodiment, at least one wire 41 or two wires 41 intersecting each other are provided for all the arrangements of the openings 31 set by control of the moving mechanism 60 or manually corresponding to the opening end 22a. Since it is provided so as to cross 31, it is possible to prevent the component from being sucked into the air passage 102 from the opening 31. Thus, since the wire 41 has the exposed part 41a exposed from the opening part 31, it functions also as a support part of components. Moreover, since the wire 41 is thin, it is suppressed that an air resistance increases by a support part. The direction in which the wire 41 extends is not limited to FIGS. 5 and 6. For example, the wire 41 can extend in any direction. Moreover, the some wire 41 does not need to orthogonally cross, does not need to cross | intersect, and may be parallel.

  Further, as described above, the back surface 30b of the belt 30 slides along the front surface 20a of the wall portions 21e and 21f. Further, the component P is adsorbed on the surface 30 a of the belt 30. Therefore, in this embodiment, the friction coefficient of the front surface 30a of the belt 30 is set higher than the friction coefficient of the back surface 30b.

  8 and 9 show a state immediately before the component holding nozzle 100 attached to the robot arm 10 sucks the component P located at the corner 200a of the rectangular parallelepiped container 200. FIG. As shown in FIGS. 8 and 9, since the component P is located at the corner 200 a of the bottom surface of the container 200, the central portion of the tip surface 100 b of the component holding nozzle 100 cannot be positioned above the component P. . Therefore, if the opening end 102a is provided at the center of the tip surface 100b, it is difficult to suck the component P by the component holding nozzle 100. In this regard, in the present embodiment, since the opening end 102 a is provided near the side end portion 103 a of the component holding nozzle 100, the opening end 102 a is positioned near the corner portion 200 a of the container 200. Can be located above. Further, even when the part P is located near another corner, as shown in FIG. 7, by changing the position of the belt 30 (P1 to P9, P23, P27, etc.), The opening end 102a (opening 31) can be positioned near the other side ends 103b to 103d. Therefore, according to the component holding nozzle 100 of this embodiment, the component P can be more reliably adsorbed regardless of the position of the component P in the container 200.

  As described above, in the component holding nozzle 100 of the present embodiment, the opening end 102a of the air passage 102 opened to the tip portion 100a in the X direction has the Y1 direction (Y2 direction) orthogonal to the X direction at the tip portion 100a. ) Is located closer to one of the side end portion 103a and the side end portion 103b than the center position C between the side end portion 103a and the side end portion 103b. Therefore, according to the present embodiment, even when the component P is located near the wall of the container 200 or the like, the container is more in comparison with the case where the opening end 102a is located at the center of the distal end portion 100a. The opening end 102a can be disposed near a wall such as 200, and the component P is easily adsorbed. In the Y3 direction (Y4 direction), the opening end 102a is located closer to one of the side end portion 103c and the side end portion 103d than the center position C between the side end portion 103c and the side end portion 103d. Therefore, the same effect can be obtained.

  In the component holding nozzle 100 of the present embodiment, one of the side end portions 103a to 103d is a corner portion protruding in the Y direction, and the opening end 102a is closer to the corner portion than the center position C. Is located. Therefore, according to the present embodiment, even when the component P is located near the corner 200a such as the wall of the container 200, the opening end 102a is located at the center of the tip 100a. As compared with the above, the opening end 102a can be disposed near the corner portion 200a, and the component P is easily adsorbed.

  Further, in the component holding nozzle 100 of the present embodiment, the distal end portion 100a includes a distal end surface 100b (planar portion) extending along the Y direction. Therefore, according to this embodiment, since the component P can be adsorbed in a state where the component P is in contact with the tip end surface 100b, the component P can be held more stably.

  In addition, the component holding nozzle 100 of the present embodiment includes a flexible wall portion 101 (belt 30) that forms a distal end surface 100b (planar portion). Therefore, according to the present embodiment, due to the deformation of the wall portion 101 pressed by the force acting on the component P, the contact area between the component P and the tip surface 100b increases, and the component P can be held more stably. May be possible.

  In addition, the component holding nozzle 100 according to the present embodiment includes a wire 41 (support portion) that overlaps the wall portion 101 (belt 30) and supports the wall portion 101. Therefore, according to the present embodiment, even when a force is applied to the wall portion 101 based on the pressure difference due to the airflow, the deformation of the wall portion 101 can be suppressed by the wire 41. Further, there are cases where the component P can be held more stably by suppressing the deformation of the wall portion 101.

  Further, the component holding nozzle 100 of the present embodiment has a moving mechanism (changing mechanism) that can change the position of the opening end 102a. Therefore, according to the present embodiment, the component P can be held more stably even when the component P is located near a plurality of corners. Further, for example, the configuration of the transport mechanism of the component holding nozzle 100 is simplified or the control of the transport mechanism of the component holding nozzle 100 is easier because it is not necessary to rotate the component holding nozzle 100 about the X-direction axis. There are advantages such as being able to be done.

  Further, the present invention can include various modifications. For example, the opening 31 may have a shape such as a shape in which two slit portions shown in FIG. 10 intersect, or may have another shape such as a square shape, a triangular shape, or a star shape. . Moreover, a support part is not limited to the wire 41, For example, the plate-shaped member provided with one hole or several holes may be sufficient.

  11, in the component holding nozzle 100A, the belt 30 can be configured as an endless belt, and can be configured to rotate around the body 20 by the moving mechanism 60A. In this case, the body 20 is configured such that the air in the air passage 102 flows downstream from the opening 22 c provided in the wall portion 21 that does not contact the belt 30.

  Moreover, the shape of the extending part 110 is not limited to a rectangular parallelepiped shape, and may be, for example, a polygonal shape other than a quadrangle when viewed from the X direction. Further, the component holding nozzle 100 may have a roller-like configuration as a tension applying mechanism. In addition, a movable member other than the belt 30 (for example, a slide plate or a rotary plate provided with an opening 31 (second opening)) may be used.

  As mentioned above, although embodiment and the modification of this invention were illustrated, the said embodiment and modification are examples, Comprising: It is not intending limiting the range of invention. These embodiments and modifications can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. These embodiments and modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof. In addition, the configuration and shape of each embodiment and each modification may be partially exchanged. In addition, specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration and shape, etc. are changed as appropriate. can do.

  DESCRIPTION OF SYMBOLS 100,100A ... Component holding nozzle, 100a ... Tip part, 100b ... Tip end surface (planar part), 101 ... Wall part, 102 ... Air passage, 102a ... Open end, 103a-103d ... Side end part (1st side) End portion, second side end portion, corner portion), 41 ... wire rod (support portion), 60, 60A ... moving mechanism (conveying mechanism, changing mechanism), 70 ... tension applying mechanism (conveying mechanism, changing mechanism), P …parts.

Claims (3)

Four wall portions constituting an air passage having a rectangular cross section, and four end portions located at respective ends of the four wall portions and arranged in a rectangular frame shape, and at the tip portion, the four wall portions A body provided with a rectangular first opening surrounded by an end;
A belt that is bridged in the width direction between a pair of opposite ends among the four ends, and is movably bridged in a longitudinal direction between another pair of opposite ends,
With
The belt is provided with a plurality of second openings, which are through-holes smaller than the first opening, spaced in the longitudinal direction,
The plurality of second openings include a plurality of second openings having at least one of a size and a position in the width direction that are different from each other, and each of the second openings is a rectangular corner of the first opening. A component holding nozzle provided to be able to overlap inside . The belt is provided with a third opening provided closer to the other end than the one end in the width direction of the belt as the second opening, and closer to the one end than the other end. The component holding nozzle according to claim 1, further comprising a fourth opening . The belt has a state in which the third opening is overlapped with the inside of the first square corner of the first opening, and the fourth opening is diagonal to the first corner. The component holding nozzle according to claim 2 , wherein the component holding nozzle is configured to be able to take a state where the second corner portion positioned on the inner side of the second corner portion overlaps with the second corner portion .

Images