Article moving device

Abstract

To efficiently spread many articles gathered at a central porion on an article loading surface widely in a desired direction.SOLUTION: An article moving device comprises: an article loading unit that has an article loading surface for placing articles thereon and is provided to vibrate; a first actuator that is allowed to vibrate the article loading unit in a first direction parallel with the article loading surface; and a first vibrating unit that includes a first connection member connecting the first actuator to the article loading unit. The first connection member has: a first connecting portion connected within a central area in the first direction of the article loading surface; and a first extension portion continuing to the first connection portion and extending in a direction away from the article loading surface. The first actuator is provided to vibrate the first extension portion at a position distant in a direction perpendicular to the article loading surface from the article loading surface.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an article moving device.

Background Art

[0002] Conventionally, a device is known that vibrates a table (hereinafter referred to as an “article mounting portion”) supported via elastic support means by a vibration means to move a large number of articles placed on the article mounting portion (see, for example, Patent Document 1). Such devices have also been proposed (see, for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the devices disclosed in Patent Document 1 and the like move a large number of articles placed on the article mounting surface of the article mounting portion so as to be in a state suitable for the subsequent processes. The devices disclosed in Patent Document 1 and the like each realize various article moving forms. However, none of the devices can realize a mode of efficiently spreading a large number of articles collected at the central portion of the article mounting portion over a wide range in a desired direction.

[0005] Therefore, an object of the present invention is to efficiently spread a large number of articles collected at the central portion of the article mounting surface over a wide range in a desired direction.

Means for Solving the Problems

[0006] In order to solve the above problems, the article moving device according to the present invention includes an article mounting surface on which an article is mounted, an article mounting portion provided so as to be vibratable, a first actuator that vibrates the article mounting portion in a first direction parallel to the article mounting surface, and a first vibration unit including a first connection member that connects the first actuator to the article mounting portion. The first connection member includes a first connection portion connected within a central region in the first direction of the article mounting surface, and a first extending portion that is continuous with the first connection portion and extends in a direction away from the article mounting surface. The first actuator is provided so as to be able to vibrate the first extending portion at a position away from the article mounting surface in a direction perpendicular to the article mounting surface.

[0007] In the article moving device having the above configuration, a second actuator that vibrates the article mounting portion in a second direction that is parallel to the article mounting surface and different from the first direction, and a second vibration unit including a second connection member that connects the second actuator to the article mounting portion are further provided. The second connection member includes a second connection portion connected within a central region in the second direction of the article mounting surface, and a second extending portion that is continuous with the second connection portion and extends in a direction away from the article mounting surface. The second actuator can be provided so as to be able to vibrate the second extending portion at a position away from the article mounting surface in a direction perpendicular to the article mounting surface.

[0008] Also, in the article moving device having the above configuration, the first direction and the second direction can be orthogonal to each other.

[0009] Furthermore, in the article moving device having the above configuration, the first vibration unit can be attached to the article mounting portion with a first linear motion device that allows relative movement between the first actuator and the article mounting portion other than in the first direction interposed therebetween.

[0010] Further, in the article transfer device having the above configuration, the second vibration unit can be attached to the article mounting unit with a second linear motion device interposed therebetween that allows relative movement between the second actuator other than the second direction and the article mounting unit.

[0011] In the article transfer device having the above configuration, the article mounting unit can be further provided with a third vibration unit having a third actuator that vibrates the article mounting unit in a direction perpendicular to the article mounting surface.

[0012] Further, in the article transfer device having the above configuration, the article mounting unit can be installed on the base unit with a floating mechanism interposed therebetween.

Advantages of the Invention

[0013] According to the invention disclosed in this specification, a large number of articles collected at the central portion of the article mounting surface can be efficiently diffused over a wide range in a desired direction.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, in the drawings, the dimensions, ratios, etc. of each part may not be illustrated so as to exactly match the actual ones. Also, depending on the drawings, details may be omitted.

[0016] (Embodiment) [Article handling system] An article handling system 100 according to an embodiment (hereinafter simply referred to as the "handling system") will be described with reference to FIGS. 1 to 9. FIG. 1(A) is a view of the state where the article mounting part 3 is removed from the article transfer device 1 of the embodiment as viewed from above in the Z-axis direction, and FIG. 1(B) is a front view of the article transfer device 1 of the embodiment. FIG. 2 is a block diagram of the handling system 100 including the article transfer device 1 of the embodiment. FIG. 3(A) is a diagram schematically showing a state where a first tray 3b is attached to a vibration part 3a included in the article mounting part 3, FIG. 3(B) is a plan view of the first tray 3b, and FIG. 3(C) is a plan view of a second tray 203b. FIGS. 4(A) to 4(C) are three views of the Y-direction vibration part 10, FIG. 4(A) is a front view, FIG. 4(B) is a plan view, and FIG. 4(C) is a right side view. FIG. 5(A) is a front view of a first connecting member 12 provided in the article transfer device 1 of the embodiment. FIG. 5(B) is a schematic diagram showing a state where vibration is propagated to the article mounting part 3 via the first connecting member 12. FIG. 5(C) is a front view showing a first connecting member 112 of a modified example, and FIG. 5(D) is a front view showing a first connecting member 212 of still another modified example. FIGS. 6(A) to 6(C) are three views of the first Z-direction vibration part 30A, FIG. 6(A) is a front view, FIG. 6(B) is a plan view, and FIG. 6(C) is a right side view. FIG. 7 is a front view of a floating mechanism 40 provided in the article transfer device 1 of the embodiment. FIGS. 8(A) and 8(B) are two views of a coupling part 41 provided in the floating mechanism 40 shown in FIG. 7, FIG. 8(A) is a front view, and FIG. 8(B) is a right side view. FIGS. 8(C) and 8(D) are exploded perspective views of the coupling part 41. FIGS. 9(A) to 9(D) are four views of a fixing device 50 provided in the article transfer device 1 of the embodiment, FIG. 9(A) is a front view, FIG. 9(B) is a plan view, FIG. 9(C) is a left side view, and FIG. 9(D) is a right side view. FIG. 9(E) is a plan view of a stopper block 54.

[0017] In the following description, the front-back, left-right directions of the article transfer device (hereinafter simply referred to as the "transfer device") 1 are assumed to be set as shown in Fig. 1(A), and the front view depicts the state seen from the front side.

[0018] As shown in Fig. 2, the handling system 100 includes a transfer device 1, a camera device 102, and a pickup device 103. The handling system 100 also includes a control unit 60 that controls these devices. The handling system 100 handles, for example, an electronic component (hereinafter simply referred to as a "component") EC as shown in Fig. 3(B) as an article. The handling system 100 can pick up and convey the component EC. The handling system 100 picks up the loose components EC supplied on the article mounting surface 3b1 of the transfer device 1 with the pickup device 103, and supplies the picked-up component EC to, for example, the assembly process of an electronic device. At this time, the control unit 60 grasps the position of the component EC to be picked up based on the image captured by the camera device 102, and operates the pickup device 103. At this time, if the components EC are overlapping or in close proximity, it is difficult to pick up the component EC by the pickup device 103. Therefore, the control unit 60 operates the transfer device 1 to move the component EC on the article mounting surface 3b1. Hereinafter, the transfer device 1 will be described in detail.

[0019] <Transfer Device> Referring to FIG. 1(B), the moving device 1 includes an article mounting portion 3. Referring to FIGS. 1(A) and 2, the moving device 1 includes a Y-direction vibration exciter 10, an X-direction vibration exciter 20, a first Z-direction vibration exciter 30A, a second Z-direction vibration exciter 30B, a third Z-direction vibration exciter 30C, and a fourth Z-direction vibration exciter 30D. Further, the moving device 1 includes a fixing device 50. Referring to FIG. 1(A), the moving device 1 includes a floating mechanism 40. Here, the X-direction, Y-direction, and Z-direction of the moving device 1 are shown in FIGS. 1(A) and 1(B). The X-direction and Y-direction are orthogonal to each other. The Z-direction coincides with the vertical direction and is a direction orthogonal to an article mounting surface 3b1 to be described later. That is, the Z-direction is a direction perpendicular to the article mounting surface 3b1. Both the X-direction and Y-direction are orthogonal to the Z-direction. Note that the Y-direction corresponds to the first direction, and the X-direction corresponds to the second direction. The first direction and the second direction only need to be included in the article mounting surface 3b1, and the first direction and the second direction do not necessarily have to be orthogonal to each other.

[0020] The Y-direction vibration exciter 10, the X-direction vibration exciter 20, the first Z-direction vibration exciter 30A to the fourth Z-direction vibration exciter 30D, the floating mechanism 40, and the fixing device 50 are all arranged below (in the Z-direction downward) the article mounting portion 3. Thereby, the moving device 1 can be configured compactly. In addition, a space is secured above the article mounting surface 3b1, facilitating the arrangement of the camera device 102 and the pickup device 103 and securing a space for these devices to operate.

[0021] Referring to FIG. 1(A), the moving device 1 has a rectangular shape with the X direction as the short side direction and the Y direction as the long side direction in plan view. The moving device 1 includes two Y-direction vibration units 10 arranged at intervals along the X direction. The moving device 1 includes two X-direction vibration units 20 arranged at intervals along the Y direction. The first Z-direction vibration unit 30A to the fourth Z-direction vibration unit 30D are respectively arranged at the four corner portions of the rectangular shape. The floating mechanism 40 is installed at four locations of the moving device 1. The floating mechanism 40 supports the article mounting portion 3 so as to be vibrationally movable. The fixing device 50 is installed at four locations of the moving device 1. The fixing device 50 can fix the article mounting portion 3 so that the article mounting portion 3 supported by the floating mechanism 40 does not vibrate.

[0022] The number and arrangement positions of these components can be appropriately changed according to the shape and size of the moving device.

[0023] Hereinafter, these components will be described in detail.

[0024] ≪Article Mounting Portion≫ Referring to FIGS. 3(A) and 3(B), the article mounting portion 3 includes a vibrating portion 3a and a first tray 3b that can be detachably attached to the vibrating portion 3a. The first tray 3b can be replaced with a second tray 203b as shown in FIG. 3(C).

[0025] The vibrating part 3a may be a plate-shaped member or a member provided in a frame shape. The first tray 3b includes an article mounting surface 3b1 formed in the X-Y plane. The article mounting surface 3b1 is formed as a smooth surface. As shown in Fig. 3(B), a large number of parts EC in a scattered state are supplied onto the article mounting surface 3b1. The parts EC supplied and mounted on the article mounting surface 3b1 can move in a desired direction and in a desired manner according to the nature of the vibration applied to the vibrating part 3a. The first tray 3b can be suitably used in the handling system 100 equipped with the pickup device 103. By moving the parts EC on the article mounting surface 3b1 so that the mutual intervals are widened, the pickup operation by the pickup device 103 becomes easy.

[0026] The second tray 203b shown in Fig. 3(C) also includes an article mounting surface 203b1, similar to the first tray 3b. The second tray 203b includes a plurality of pockets 203a arranged in alignment on the article mounting surface 203b1. Each pocket 203a can accommodate one part EC at a time. The second tray 203b can be suitably used when the parts EC are tested all at once by a probe device (not shown), instead of the pickup device 103 in the handling system 100. The parts EC supplied and mounted on the article mounting surface 203b1 can move in a desired direction and in a desired manner according to the nature of the vibration applied to the vibrating part 3a. Thereby, the parts EC can be efficiently stored in the pockets 203a, and the efficiency of the test can be improved.

[0027] In this embodiment, the tray is provided so as to be replaceable, but it is also possible to adopt a simple structure in which the vibrating part 3a is formed in a plate shape and its upper surface is used as the article mounting surface.

[0028] ≪Y-direction vibration exciter≫ The Y-direction vibration unit 10 corresponds to the first vibration unit. Referring to FIGS. 4(A) to 4(C), the Y-direction vibration unit 10 includes a VCM (Voice Coil Motor) 11 and a first connection member 12 that connects the VCM 11 to the vibration unit 3a. Further, the Y-direction vibration unit 10 includes a Z-direction linear motion device 14 and a first X-direction linear motion device 15 interposed between the VCM 11 and the vibration unit 3a.

[0029] ((VCM)) The VCM 11 corresponds to the first actuator. The vibration direction of the VCM 11 coincides with the first direction, that is, the Y direction, and the VCM 11 vibrates the article mounting unit 3 in the Y direction. Note that, instead of the VCM, other types of actuators, for example, an electromagnetic solenoid actuator or the like, which are conventionally known actuators capable of applying vibration, can be appropriately employed.

[0030] The VCM 11 is installed on the base unit 2 via the first bracket 13. The first bracket 13 is a mounting bracket for fixing the VCM 11 and the base unit 2. The first bracket 13 includes a first mounting portion 13a attached to the base unit 2 and a second mounting portion 13b to which the VCM 11 is attached. The first bracket 13 is fixed to the base unit 2 and the VCM 11 by bolts 17. When the moving device 1 is directly installed on the floor, the floor can be used as the base unit.

[0031] ((the first connection member)) Referring to FIG. 5(A), the first connection member 12 includes a first connection portion 12a and a first extension portion 12b. The first connection member 12 connects the VCM 11 to the vibration unit 3a. The first connection member 12 is arranged such that the first connection portion 12a is located on the vibration unit 3a side and the first extension portion 12b is located on the VCM 11 side. Note that a first X-direction linear motion device 15 is interposed between the first connection portion 12a and the vibration unit 3a. Further, a Z-direction linear motion device 14 is interposed between the first extension portion 12b and the VCM 11. These will be described in detail later.

[0032] The first connecting portion 12a is connected within the central region Yca in the Y direction of the article mounting surface 3b1. In the present embodiment, the first connecting portion 12a is arranged so as to include the center point Yc in the Y direction of the article mounting surface 3b1. Here, with reference to FIG. 3(B), the central region Yca in the Y direction of the article mounting surface 3b1 will be described. The central region Yca is a region located in the middle of dividing the article mounting surface 3b1 into three equal parts along the Y direction. By arranging the first connecting portion 12a within the central region Yca, the vibration generated by the VCM 11 is first propagated to the central region Yca. The vibration propagated to the central region Yca is further propagated from the central region Yca to both sides thereof along the Y direction. In the present embodiment, since the first connecting portion 12a is arranged so as to include the center point Yc in the Y direction of the article mounting surface 3b1, the vibration is propagated from the center point Yc to both sides in the Y direction.

[0033] The first extending portion 12b is continuously provided with respect to the first connecting portion 12a. The first extending portion 12b extends in a direction away from the article mounting surface 3b1. In the present embodiment, the first extending portion 12b is substantially orthogonal to the first connecting portion 12a, but the two do not necessarily have to be orthogonal. The VCM 11 is connected to the lower end portion of the first extending portion 12b. Thereby, the VCM 11 can vibrate the first extending portion 12b at a position away from the article mounting surface 3b1 in a direction perpendicular to the article mounting surface 3b1. By connecting the VCM 11 to the lower end portion of the first extending portion 12b, vibration in the Y-axis direction is imparted to the first extending portion 12b.

[0034] Here, with reference to FIG. 5(B), the state in which the vibration applied to the first extended portion 12b is transmitted to the article mounting portion 3 will be described. As shown in FIG. 1(A), in the article mounting portion 3, around the Y-direction vibration unit 10, an X-direction vibration unit 20, a first Z-direction vibration unit 30A to a fourth Z-direction vibration unit 30D, and a floating mechanism 40 are arranged. These components are considered to be a resistance to the vibration of the article mounting portion 3 in the Y direction. For this reason, it is considered that a part of the energy by which the VCM 11 vibrates the first extended portion 12b in the Y direction is converted into energy that pushes up the vicinity of the center point Yc of the article mounting portion 3 in the Z direction. That is, by the VCM 11 vibrating the first extended portion 12b, it is considered that the Y-direction vibration and the Z-direction vibration act on the article mounting portion 3 in a composite manner. As a result, it is considered that the article mounting surface 3b1 vibrates in a wavy manner over the entire Y direction.

[0035] The first connecting member 12 is not limited to the shape shown in FIG. 5(A), and other shapes may be used. For example, as in the first connecting member 112 shown in FIG. 5(C), a first extended portion 112b may be continuously provided at the center of the first connecting portion 112a. Also, as shown in FIG. 5(D), a first connecting member 212 having an upper end portion as the first connecting portion 212a and a portion extending downward from the upper end portion as the first extended portion 212b may be used. In short, the first connecting member only needs to include a portion connected to the article mounting portion 3 and a portion continuously provided thereto and extending in a direction away from the article mounting surface 3b1 (see FIG. 3(A) etc.).

[0036] ((Linear motion device)) Next, the Z-direction linear motion device 14 and the first X-direction linear motion device 15 will be described. The Z-direction linear motion device 14 and the first X-direction linear motion device 15 function as the first linear motion device. That is, the Z-direction linear motion device 14 and the first X-direction linear motion device 15 allow relative movement between the VCM 11 and the article mounting portion 3 other than in the Y direction. The Y-direction vibration unit 10 can transmit only the vibration caused by the Y-direction vibration generated by the VCM 11 to the article mounting portion 3 by including the Z-direction linear motion device 14 and the first X-direction linear motion device 15.

[0037] The Z-direction linear motion device 14 includes a rail portion 14a extending along the Z direction and a block portion 14b slidably provided with respect to the rail portion 14a. The rail portion 14a is attached to the vibrating portion of the VCM 11 via the second bracket 16. The block portion 14b is attached to the tip of the first extending portion 12b of the first connecting member 12. In this way, the VCM 11 is connected to the first extending portion 12b with the Z-direction linear motion device 14 interposed therebetween.

[0038] The first X-direction linear motion device 15 includes a rail portion 15a extending along the X direction and a block portion 15b slidably provided with respect to the rail portion 15a. The rail portion 15a is attached to the vibrating portion 3a by the connection pin 15a1. The block portion 15b is attached to the first connection portion 12a of the first connecting member 12. In this way, the first connecting member 12 is connected to the vibrating portion 3a.

[0039] ≪X-direction vibration exciting portion≫ Next, the X-direction vibration exciter 20 will be described. The X-direction vibration exciter 20 corresponds to the second vibration exciter. The basic configuration of the X-direction vibration exciter 20 is the same as that of the Y-direction vibration exciter 10, and it is set as the X-direction vibration exciter 20 by installing the Y-direction vibration exciter 10 in a state rotated by 90 degrees. Therefore, the VCM 11 in the X-direction vibration exciter 20 corresponds to the second actuator. The first connection member 12 in the Y-direction vibration exciter 10 becomes the second connection member in the X-direction vibration exciter 20. Also, the first connection part 12a and the first extended part 12b in the Y-direction vibration exciter 10 respectively become the second connection part and the second extended part in the X-direction vibration exciter 20. Therefore, the second connection part is connected within the central region Xca (see FIG. 3(B)) in the X direction of the article mounting surface 3b1. In the present embodiment, the second connection part is arranged so as to include the central point Xc in the X direction of the article mounting surface 3b1. Here, referring to FIG. 3(B), the central region Xca in the X direction of the article mounting surface 3b1 will be described. The central region Xca is a region located in the middle of dividing the article mounting surface 3b1 into three equal parts along the X direction. By arranging the second connection part within the central region Xca, the vibration generated by the VCM 11 is first propagated to the central region Xca. The vibration propagated to the central region Xca is further propagated from the central region Xca to both sides thereof along the X direction. In the present embodiment, since the second connection part is arranged so as to include the central point Xc in the X direction of the article mounting surface 3b1, the vibration is propagated from the central point Xc to both sides in the X direction.

[0040] Also, the Z-direction linear motion device 14 and the first X-direction linear motion device 15 in the Y-direction vibration exciter 10 are replaced by the second linear motion device in the X-direction vibration exciter 20. Specifically, the first X-direction linear motion device 15 in the Y-direction vibration exciter 10 functions as the first Y-direction linear motion device that allows vibration in the Y direction in the X-direction vibration exciter 20. That is, in the first X-direction linear motion device 15, the rail part 15a installed to extend along the X direction is installed to extend along the Y direction.

[0041] Thus, since the basic configuration of the X-direction vibration exciter 20 is the same as that of the Y-direction vibration exciter 10, detailed descriptions of each component will be omitted.

[0042] ≪Z-direction vibration unit≫ Next, the Z-direction vibration units 30A, 30B, 30C, and 30D will be described with reference to FIGS. 6(A) to 6(C). These respectively correspond to the third vibration unit. Since the Z-direction vibration units 30A, 30B, 30C, and 30D are the same, here, the first Z-direction vibration unit 30A will be described as a representative.

[0043] The first Z-direction vibration unit 30A includes a VCM 31. The VCM 31 corresponds to the third actuator. The VCM 31 is the same as the VCM 11, but is installed so as to generate vibrations in the Z-axis direction. The VCM 31 is installed on the base portion 2 via the third bracket 32. The third bracket 32 includes a first flange portion 32a, a support column portion 32b, and a second flange portion 32c. The first flange portion 32a is fixed to the base portion 2 with bolts 37. The VCM 31 is attached to the second flange portion 32c with bolts 37.

[0044] Between the VCM 31 and the vibration unit 3a, a second X-direction linear motion device 34 and a second Y-direction linear motion device 36 are interposed.

[0045] The second X-direction linear motion device 34 includes a rail portion 34a extending in the X direction and a block portion 34b slidably provided with respect to the rail portion 34a. The rail portion 34a is attached to the vibration unit of the VCM 11 via the third bracket 33. A fourth bracket 35 is installed on the block portion 34b.

[0046] The second Y-direction linear motion device 36 includes a rail portion 36a extending in the Y direction and a block portion 36b slidably provided with respect to the rail portion 36a. The rail portion 36a is attached to the block portion 34b via the fourth bracket 35. The block portion 36b is attached to the vibration unit 3a with bolts 38.

[0047] The first Z-direction vibration unit 30A includes the second X-direction linear motion device 34 and the second Y-direction linear motion device 36, so that the Z-direction vibration generated by the VCM 31 can be accurately propagated to the article mounting part 3.

[0048] ≪Floating mechanism≫ Next, with reference to FIGS. 7 to 8(D), the floating mechanism 40 will be described. The article mounting part 3 is provided so as to be able to vibrate based on the operation of each vibration unit. The article mounting part 3 in the present embodiment is made vibratable by being supported by the floating mechanism 40.

[0049] The floating mechanism 40 includes coupling parts 41 provided at both ends of the connecting column 42. One coupling part 41 is fixed to the base part 2 with bolts 43, and the other coupling part 41 is fixed to the vibrating part 3a with bolts 43.

[0050] Referring to FIGS. 8(A) to 8(D), the coupling part 41 includes a first block part 41a, a second block part 41b, a third block part 41c, a first leaf spring 41d, and a second leaf spring 41e.

[0051] The first block part 41a includes a first surface 41a1 and a second surface 41a2 on the back side of the first surface 41a1. A pair of first connection pins 41a3 are provided on the first surface 41a1, and a pair of second connection pins 41a4 are provided on the second surface 41a2.

[0052] The second block part 41b includes a third surface 41b1 and a fourth surface 41b2 on the back surface of the third surface 41b1. A pair of third connection pins 41b3 are provided on the fourth surface 41b2.

[0053] The third block part 41c includes a fifth surface 41c1 and a sixth surface 41c2 on the back surface of the fifth surface 41c1. A pair of fourth connection pins 41c3 are provided on the sixth surface 41c2.

[0054] The first leaf spring 41d is provided with a first mounting hole 41d1, a second mounting hole 41d2, a third mounting hole 41d3, and a fourth mounting hole 41d4. The first mounting hole 41d1 and the second mounting hole 41d2 are provided at opposite positions. The third mounting hole 41d3 and the fourth mounting hole 41d4 are provided at opposite positions. These mounting holes are circumferentially arranged at intervals of 90 degrees.

[0055] The second leaf spring 41e is provided with a fifth mounting hole 41e1, a sixth mounting hole 41e2, a seventh mounting hole 41e3, and an eighth mounting hole 41e4. The fifth mounting hole 41e1 and the sixth mounting hole 41e2 are provided at opposite positions. The seventh mounting hole 41e3 and the eighth mounting hole 41e4 are provided at opposite positions. These mounting holes are circumferentially arranged at intervals of 90 degrees.

[0056] The first block portion 41a and the second block portion 41b are arranged such that the first surface 41a1 and the fourth surface 41b2 face each other. The first leaf spring 41d is arranged between the first block portion 41a and the second block portion 41b. The first connection pin 41a3 provided in the first block portion 41a is inserted into the first mounting hole 41d1 and the second mounting hole 41d2 provided in the first leaf spring 41d. The third connection pin 41b3 provided in the second block portion 41b is inserted into the third mounting hole 41d3 and the fourth mounting hole 41d4 provided in the first leaf spring 41d.

[0057] The first block portion 41a and the third block portion 41c are arranged such that the second surface 41a2 and the sixth surface 41c2 face each other. The second leaf spring 41e is arranged between the first block portion 41a and the third block portion 41c. The second connection pin 41a4 provided in the first block portion 41a is inserted into the fifth mounting hole 41e1 and the sixth mounting hole 41e2 provided in the second leaf spring 41e. The fourth connection pin 41c3 provided in the third block portion 41c is inserted into the seventh mounting hole 41e3 and the eighth mounting hole 41e4 provided in the second leaf spring 41e.

[0058] The first leaf spring 41d and the second leaf spring 41e can be elastically deformed as appropriate according to the direction and magnitude of the input force. Therefore, when the force acting on the article mounting portion 3 is transmitted to the coupling portion 41, the first leaf spring 41d and the second leaf spring 41e are deformed, and the operation of the article mounting portion 3 is allowed. That is, the article mounting portion 3 is allowed to vibrate. By vibrating the article mounting portion 3, the component EC supplied on the article mounting surface 3b1 can be moved.

[0059] <<Fixing device>> Next, the fixing device 50 will be described with reference to FIGS. 9(A) to 9(E). The fixing device 50 can fix the article mounting portion 3 supported by the floating mechanism 40 in a fixed state so that the article mounting portion 3 does not vibrate. In order to move the component EC on the article mounting surface 3b1 by vibration, it is required to support the article mounting portion 3 in a vibratable state. However, when picking up the component EC by the pickup device 103 as in the handling system 100 of the present embodiment, it is more convenient for the article mounting portion 3 to be in a fixed state. Therefore, the moving device 1 of the present embodiment includes a fixing device 50.

[0060] The fixing device 50 includes a mounting column 51 fixed to the base portion 2 with bolts 58, a mounting stage 52 provided on the mounting column 51, and an air cylinder 53 installed on the mounting stage 52. The air cylinder 53 is an actuator that relatively approaches and separates a stopper block 54 and a head portion 56a of a stopper member 56, and brings the two into contact with each other to fix the article mounting portion 3 in a fixed state. The air cylinder 53 includes an air cylinder body 53a and a drive rod 53b that protrudes and retracts with respect to the air cylinder body 53a. A screw portion 53b1 is provided on the tip side of the drive rod 53b. A mounting nut 55 that serves as an engaging portion with a flange-like portion 54a described later is attached to the screw portion 53b1.

[0061] The drive rod 53b is an example of a drive member that relatively approaches and separates the stopper block 54 and the head portion 56a of the stopper member 56. The shape of the drive member is not limited, and any shape can be used as long as it can achieve the desired operation. The air cylinder body 53a is connected to an air cylinder drive source (not shown) via a pipe joint 53c. In this embodiment, the air cylinder 53 is used as the drive portion of the drive rod 53b, but other conventionally known actuators such as a motor can be adopted as the drive portion of the drive rod.

[0062] The fixing device 50 includes a stopper block 54 attached to the lower surface of the vibrating portion 3a with a bolt 58. The stopper block 54 corresponds to the first contact portion. The stopper block 54 is provided with a flange portion 54a. The flange portion 54a is provided with an insertion hole 54a1 for the drive rod 53b. The insertion hole 54a1 corresponds to the insertion portion and has an inner diameter that allows the drive rod 53b to be loosely fitted but does not allow the mounting nut 55 to pass through. Such a flange portion 54a is an engaged portion with which the mounting nut 55 engages. Note that the insertion hole 54a1 may be in a groove shape with a partially open end.

[0063] The mounting nut 55 is provided at a position where a gap is formed between the mounting nut 55 and the flange portion 54a when the fixing device 50 is not fixing the vibrating portion 3a. By adjusting the tightening amount of the mounting nut 55, the size of the gap between the mounting nut 55 and the flange portion 54a can be adjusted. Thereby, the operating amount of the drive rod 53b and the stopper block 54, that is, the amount by which the vibrating portion 3a is retracted can be adjusted.

[0064] The fixing device 50 includes a stopper member 56. In this embodiment, a bolt member screwed to the upper end of the mounting column 51 is used as the stopper member 56. The stopper member 56 includes a head portion 56a. The head portion 56a corresponds to the second abutting portion. The head portion 56a is capable of contacting the stopper block 54 when the stopper member 56 is driven by the drive rod 53b. The stopper member 56 can adjust the position of the head portion 56a in the Z direction by adjusting the screwing amount (insertion amount) into the mounting column 51. That is, the distance from the stopper block 54 corresponding to the first abutting portion can be adjusted. Thereby, the magnitude of the force for fixing the article mounting portion 3 can be adjusted.

[0065] Here, the reason for making the position of the head portion 56a in the Z direction adjustable will be described. The article mounting portion 3 vibrates. Therefore, it is necessary to appropriately maintain the distance (spacing) between the stopper block 54 and the head portion 56a in accordance with the amplitude applied so as not to inhibit the realization of the amplitude applied to the article mounting portion 3. By making the position of the head portion 56a in the Z direction adjustable, this distance can be appropriately maintained. Further, the fixing device 50 fixes the article mounting portion 3. The fixed article mounting portion 3 is then used for operations such as taking out the component EC with a suction nozzle. Therefore, it is necessary to reproduce the height and parallel state of the article mounting portion 3 with high precision. When fixing the article mounting portion 3 using a plurality of fixing devices 50, it is convenient if the position of the head portion 56a in the Z direction can be adjusted in each fixing device 50. In this embodiment, four fixing devices 50 are arranged, and the article mounting portion 3 is fixed and supported at four points. Therefore, in this embodiment, the position of the head portion 56a in the Z direction is made adjustable so as to be able to adjust the height and parallelism of the article mounting surface 3b1 (203b1) of the article mounting portion 3 in the fixed state.

[0066] A fixing nut 57 is attached to the stopper member 56. By tightening the fixing nut 57, the position of the stopper member 56 with the position of the head portion 56a adjusted in the Z direction can be maintained.

[0067] When the air cylinder 53 is driven, the drive rod 53b is retracted into the air cylinder body 53a. As a result, the mounting nut 55 abuts against the flange portion 54a, and the drive rod 53b pulls the article mounting portion 3 downward in the Z direction. Thereby, the stopper block 54 abuts against the head portion 56a. When the stopper block 54 and the head portion 56a abut against each other, the article mounting portion 3 is set in a fixed state.

[0068] By operating such a fixing device 50, the article mounting portion 3 can be set in a fixed state. Thereby, the pickup operation of the component EC by the pickup device 103 (see FIG. 2) and the test of the component EC by the probe device can be efficiently performed.

[0069] In addition, in the moving device 1 in which the fixing device 50 is used, the mechanism for applying vibration to the article mounting portion 3 is not limited to the configuration of the vibration applying portion in the present embodiment. The fixing device 50 can be used in combination with various devices that vibrate the article mounting portion 3 to move the component EC on the article mounting surface 3b1.

[0070] [Component movement mode] Next, with reference to FIGS. 10 to 12, the movement mode of the component EC realized by the moving device 1 will be described. FIG. 10(A) shows the arrangement of the Y-direction vibration applying portion 10, the X-direction vibration applying portion 20, and the four Z-direction vibration applying portions 30A to 30D.

[0071] FIG. 10(B) shows the moving direction of the component EC when only the first Z-direction vibration applying portion 30A is operated. When only the first Z-direction vibration applying portion 30A is operated, vibration for moving the component EC from the left front side to the right rear side is applied to the article mounting portion 3. Therefore, the moving device 1 can move, for example, the component EC located in the left front region of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0072] FIG. 10(C) shows the moving direction of the component EC when only the second Z-direction vibration unit 30B is activated. When only the second Z-direction vibration unit 30B is activated, the article mounting unit 3 is imparted with vibrations that move the component EC from the left rear side to the right front side. Therefore, the moving device 1 can move, for example, the component EC located in the left rear region of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0073] FIG. 10(D) shows the moving direction of the component EC when only the third Z-direction vibration unit 30C is activated. When only the third Z-direction vibration unit 30C is activated, the article mounting unit 3 is imparted with vibrations that move the component EC from the right front side to the left rear side. Therefore, the moving device 1 can move, for example, the component EC located in the right front region of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0074] FIG. 10(E) shows the moving direction of the component EC when only the fourth Z-direction vibration unit 30D is activated. When only the fourth Z-direction vibration unit 30D is activated, the article mounting unit 3 is imparted with vibrations that move the component EC from the right rear side to the left front side. Therefore, the moving device 1 can move, for example, the component EC located in the right rear region of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0075] FIG. 10(F) shows the moving direction of the component EC when the first Z-direction vibration unit 30A and the second Z-direction vibration unit 30B are activated. When the first Z-direction vibration unit 30A and the second Z-direction vibration unit 30B are activated, the article mounting unit 3 is imparted with vibrations that move the component EC from the left side to the right side. Therefore, the moving device 1 can move, for example, the component EC located in the left region of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0076] FIG. 10(G) shows the moving direction of the component EC when the third Z-direction vibration unit 30C and the fourth Z-direction vibration unit 30D are operated. When the third Z-direction vibration unit 30C and the fourth Z-direction vibration unit 30D are operated, the article mounting unit 3 is imparted with vibrations for moving the component EC from the right side to the left side. For this reason, the moving device 1 can move, for example, the component EC located in the right region of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0077] FIG. 10(H) shows the moving direction of the component EC when the first Z-direction vibration unit 30A and the second Z-direction vibration unit 30B are synchronously operated in phase A, and the third Z-direction vibration unit 30C and the fourth Z-direction vibration unit 30D are synchronously operated in phase B. Here, phase A and phase B have a relationship in which the phases are inverted. In this case, the article mounting unit 3 is imparted with vibrations for moving the component EC from the right side to the left side and for moving the component EC from the left side to the right side. For this reason, the moving device 1 can move, for example, the component EC distributed over and along the Y direction of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0078] FIG. 11(I) shows the moving direction of the component EC when the first Z-direction vibration unit 30A and the third Z-direction vibration unit 30C are operated. When the first Z-direction vibration unit 30A and the third Z-direction vibration unit 30C are operated, the article mounting unit 3 is imparted with vibrations for moving the component EC from the front side to the rear side. For this reason, the moving device 1 can move, for example, the component EC located in the front region of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0079] FIG. 11(J) shows the moving direction of the component EC when the second Z-direction vibration unit 30B and the fourth Z-direction vibration unit 30D are operated. When the second Z-direction vibration unit 30B and the fourth Z-direction vibration unit 30D are operated, the article mounting unit 3 is imparted with vibrations for moving the component EC from the rear side to the front side. For this reason, the moving device 1 can move, for example, the component EC located in the rear region of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0080] In FIG. 11(K), the moving direction of the component EC when the first Z-direction vibration unit 30A and the third Z-direction vibration unit 30C are operated in synchronization with a phase C and the second Z-direction vibration unit 30B and the fourth Z-direction vibration unit 30D are operated in synchronization with a phase D is shown. Here, the phase C and the phase D have a relationship in which the phases are inverted. In this case, vibrations are applied to the article mounting portion 3 to move the component EC from the front side to the rear side and to move the component EC from the rear side to the front side. For this reason, the moving device 1 can move, for example, the components EC that are distributed along the X direction of the article mounting surface 3b1 toward the central portion of the article mounting surface 3b1.

[0081] In FIG. 11(L), the moving direction of the component EC when only the Y-direction vibration unit 10 is operated is shown. When only the Y-direction vibration unit 10 is operated, vibrations are applied to the article mounting portion 3 to move the component EC in the left-right direction along the Y direction. For this reason, the moving device 1 can move, for example, the components EC that are gathered at the central portion of the article mounting surface 3b1 so as to be distributed over the entire Y direction.

[0082] In FIG. 11(M), the moving direction of the component EC when only the X-direction vibration unit 20 is operated is shown. When only the X-direction vibration unit 20 is operated, vibrations are applied to the article mounting portion 3 to move the component EC in the front-rear direction along the X direction. For this reason, the moving device 1 can move, for example, the components EC that are gathered at the central portion of the article mounting surface 3b1 so as to be distributed over the entire X direction.

[0083] In FIG. 11(N), the moving direction of the component EC when the Y-direction vibration unit 10 and the X-direction vibration unit 20 are alternately operated is shown. When the Y-direction vibration unit 10 and the X-direction vibration unit 20 are alternately operated, vibrations are applied to the article mounting portion 3 to move the component EC in the front-rear and left-right directions. For this reason, the moving device 1 can move, for example, the components EC that are gathered at the central portion of the article mounting surface 3b1 so as to be distributed over the entire article mounting surface 3b1.

[0084] Here, the difference in the movement modes of the component EC when the Y-direction vibration unit 10 and the X-direction vibration unit 20 are operated and when the Z-direction vibration units 30A to 30D are operated will be described.

[0085] The Z-direction vibration units 30A to 30D apply vibrations in the Z direction to the article mounting surface 3b1. Therefore, when the Z-direction vibration units 30A to 30D operate, the component EC on the article mounting surface 3b1 moves while being bounced up in the vicinity of the operating Z-direction vibration units 30A to 30D. For this reason, the movement range per unit time is also within a relatively narrow range. In contrast, the Y-direction vibration unit 10 and the X-direction vibration unit 20 vibrate the article mounting surface 3b1 via the first connection member 12. The vibration applied to the article mounting surface 3b1 via the first connection member 12 is considered to vibrate such that the article mounting surface 3b1 undulates over the entire Y direction and X direction. Thereby, when the Y-direction vibration unit 10 and the X-direction vibration unit 20 are operated, it is considered that the component EC can be moved over a wider range compared to the case when the Z-direction vibration units 30A to 30D are operated. Also, it can be moved in both directions along the Y direction and the X direction. For this reason, for example, when it is desired to distribute the component EC gathered at the central portion of the article mounting surface 3b1 over a wide range on the article mounting surface 3b1, the Y-direction vibration unit 10 and the X-direction vibration unit 20 can be suitably used.

[0086] FIG. 11(O) shows the movement direction of the component EC when the Z-direction vibration units 30A to 30D are sequentially operated. When the Z-direction vibration units 30A to 30D are sequentially operated, vibrations for moving the component EC distributed on the outer peripheral portion thereof to the central portion are applied to the article mounting portion 3. For this reason, the moving device 1 can move, for example, the component EC gathered at the outer peripheral portion of the article mounting surface 3b1 so as to gather at the central portion of the article mounting surface 3b1.

[0087] FIG. 11(P) shows the moving direction of component EC when the Z-direction vibration units 30A to 30D are operated simultaneously. When the Z-direction vibration units 30A to 30D are operated simultaneously, the article mounting section 3 repeats vertical vibration while maintaining a parallel state. For this reason, the components EC existing in a dense state on the article mounting surface 3b1 of the article mounting section 3 are simply bounced upward and are dispersed, although slightly. That is, the mode shown in FIG. 11(P) can disperse the components EC in a dense state, but the dispersion range is generally narrower compared to the modes shown in FIGS. 11(L) to 11(N).

[0088] Note that the current for driving the VCM 11 and VCM 31 can be, for example, a sine wave as shown in FIG. 12. However, this is just an example, and the input waveform of the current can be appropriately changed to a rectangular wave or other waveforms.

[0089] (Modification example) Referring to FIG. 13, a fixing device 150 is shown. The fixing device 150 includes an air cylinder 153 instead of the air cylinder 53 in the fixing device 50 shown in FIGS. 9(A) to 9(E). Further, the fixing device 150 includes a stopper block 154 instead of the stopper block 54. In the fixing device 50, the stopper block 54 is brought into contact with the head portion 56a by pulling the driving rod 53b into the air cylinder main body 53a, and the vibrating portion 3a is fixed. On the other hand, in the fixing device 150, the air cylinder main body 153a pushes out the driving rod 153b, and the stopper portion 153b1 provided at the tip of the driving rod 153b is pressed against the stopper block 154. Thereby, the vibrating portion 3a is fixed.

[0090] [Effect] In the present embodiment, since the Y-direction vibration unit 10 and the X-direction vibration unit 20 are provided, a large number of articles gathered at the center of the article mounting surface 3b1 can be efficiently diffused in a desired direction over a wide range.

[0091] The above embodiments are merely examples for carrying out the present invention, and the present invention is not limited thereto. Modifying these examples in various ways is within the scope of the present invention. Further, it is obvious from the above description that various other embodiments are possible within the scope of the present invention.

Explanation of Reference Numerals

[0092] 1... article transfer device, 2... base portion, 3... article mounting portion, 3a... vibration portion, 3b... first tray, 3b1, 203b1... article mounting surface, 10... Y-direction vibration portion, 11... actuator (VCM), 12... connecting member, 12a... connecting portion, 12b... extending portion, 14... Z-direction linear motion device, 15... first X-direction linear motion device, 20... X-direction vibration portion, 30A... first Z-axis direction vibration portion, 30B... second Z-direction vibration portion, 30C... third Z-direction vibration portion, 30D... fourth Z-direction vibration portion, 34... second X-direction linear motion device, 36... Y-direction linear motion device, 40... floating mechanism, 41... coupling portion, 50... fixing device, 53... air cylinder (driving portion), 53a... air cylinder body, 53b... driving rod, 54... stopper block, 55... mounting nut (engaging portion), 56... stopper member (bolt), 56a... head portion, 57... fixing nut, 60... control portion, 100... article handling system, 102... camera device, 103... pickup device.

Claims

1. An article mounting unit having an article mounting surface for mounting an article, and provided so as to be vibratable, a first vibration unit including a first actuator that vibrates the article mounting unit in a first direction parallel to the article mounting surface, and a first connection member that connects the first actuator to the article mounting unit, wherein the first connection member includes a first connection portion connected within a central region in the first direction of the article mounting surface, and a first extending portion continuous with the first connection portion and extending in a direction away from the article mounting surface, wherein the first actuator is provided so as to be able to vibrate the first extending portion at a position away from the article mounting surface in a direction perpendicular to the article mounting surface, an article moving device.

2. The article moving device according to claim 1, further comprising a second vibration unit including a second actuator that vibrates the article mounting unit in a second direction parallel to the article mounting surface and different from the first direction, and a second connection member that connects the second actuator to the article mounting unit, wherein the second connection member includes a second connection portion connected within a central region in the second direction of the article mounting surface, and a second extending portion continuous with the second connection portion and extending in a direction away from the article mounting surface, wherein the second actuator is provided so as to be able to vibrate the second extending portion at a position away from the article mounting surface in a direction perpendicular to the article mounting surface, The article moving device according to claim 1.

3. The article moving device according to claim 2, wherein the first direction and the second direction are orthogonal to each other. The article moving device according to claim 2.

4. The article moving device according to claim 1, wherein the first vibration unit is attached to the article mounting unit with a first linear motion device interposed therebetween that allows relative movement between the first actuator and the article mounting unit in a direction other than the first direction. The article moving device according to claim 1.

5. The article moving device according to claim 2, wherein the second vibration unit is attached to the article mounting unit with a second linear motion device interposed therebetween that allows relative movement between the second actuator and the article mounting unit in a direction other than the second direction. The article moving device according to claim 2.

6. The article moving device according to claim 1 or 2, further comprising a third vibration unit having a third actuator that vibrates the article mounting unit in a direction perpendicular to the article mounting surface. The article moving device according to claim 1 or 2.

7. The article moving device according to claim 1 or 2, wherein the article mounting unit is installed on a base unit with a floating mechanism interposed therebetween. The article moving device according to claim 1 or 2.

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