Work-piece put-in device

Abstract

To provide a work-piece put-in device that can pass a work-piece through a gap of an object, without damaging the object, in putting in the work-piece through the gap of the object.SOLUTION: A reel put-in device 1 comprises a first hand 4 and a second hand 5 which can grip a thin-sheet cylindrical reel 2 from both sides thereof. An arm of a robot 41 conveys an actuator 32 to a predetermined position and conveys the reel 2 gripped by the first hand 4 and the second hand 5 to a put-in position. When finding that it is packed with objects including a tape and the other reel during the conveyance, the first hand 4 and a tip part 9 and a flat surface 12 of the second hand 5 push thorough the objects and pass through the gap of the object and then reach the put-in position. This enables the tip part 9 to enter a space between the objects, through the gap of the object, to feed the reel into the put-in position, without damaging the object. When gripping by the first hand 4 and the second hand 5 is released at the put-in position, the gripped reel 2 is released, so that the reel 2 moves to a destination by own weight while rolling.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a workpiece loading device and a workpiece loading method. [Background technology]

[0002] The component supply device shown in Patent Document 1 discloses that multiple component supply devices, which feed a tape holding electronic components by a predetermined length at a time, are arranged at small pitch intervals, so that the position of the reel stand on which the reel on which the tape is wound can be changed up or down. Here, since the reel stand is connected to the frame so that it can be moved between multiple positions, when multiple component supply devices are attached to the base, the reel stand can be moved to different positions and the component supply devices at different positions can be arranged alternately, allowing them to be attached at a pitch smaller than the width dimension of the reel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-204385 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the reel stand is provided so as to be rotatable in the vertical direction, so one type of component supply device can be used to configure both the upper reel and the lower reel. Therefore, the component supply devices are arranged at a pitch smaller than the reel width W, so only one type of component supply device is required.

[0005] In conventional component supply devices, when multiple reels are arranged at a small pitch, the tapes pulled out from the multiple reels become congested, making it difficult to insert a reel deep into the gaps between the multiple tapes.When multiple reels are lined up in the axial direction of the reels, and the multiple tapes pulled out from each reel are congested, the gaps between the multiple tapes are narrow, making it difficult to pass a reel or a holder that holds the reel through the gaps between the multiple tapes when replacing a reel.

[0006] Even if the reel passes through the gap, there are many obstacles on the way for the reel to reach its destination through the space (passage) after passing through the gap, and there is a problem that the reel or the reel holder may damage the tape.

[0007] The present invention has been made in consideration of the above, and its purpose is to provide a work insertion device that allows a work to pass through a gap between objects without damaging the objects when inserting the work through the gap. [Means for solving the problem]

[0008] The workpiece feeding device of the present invention includes a first hand (4) and a second hand (5) capable of gripping a thin cylindrical workpiece (2) from both sides; The tip portion (9, 1) generated by the first hand and the second hand while holding the workpiece 4, 24) and an actuator (32) that switches between gripping and releasing of the first hand and the second hand; a drive unit (8) that drives the actuator; and a conveying means (41) for conveying the drive unit to a predetermined position.

[0009] According to the present invention, the drive unit is transported by a transport means, and even if there are objects such as tape or other workpieces along the way, the tip can pass through the gaps between the objects without damaging them and enter the space between the objects, thereby sending the workpiece to the insertion position.

[0010] Therefore, with this workpiece insertion device, when inserting a workpiece, even if the workpiece is inserted in a space where the corresponding object, for example, multiple tapes, are crowded in two or three dimensions, the thin hands with a thickness L2 corresponding to the inter-face distance formed by the outer walls of the two hands can pass through the gaps between the multiple tapes. This allows the workpiece to be transported to the loading position in a space with minimal material, pushing through gaps in tape and other objects. When the first and second hands release their grip at the loading position, the workpiece is released and rolls to a lower position under its own weight. When both hands are shifted from a gripping state to a release state at the insertion position without damaging the object in the space where the object is present, the cylindrical workpiece released from the insertion position can roll under its own weight and reach its destination. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view showing a workpiece input device according to an embodiment of the present invention; [Figure 2] 1 is a schematic partial cross-sectional view showing the operation of a workpiece input device according to an embodiment of the present invention; [Figure 3] 1 is a schematic partial cross-sectional view showing the operation of a workpiece input device according to an embodiment of the present invention; [Figure 4] 1 is a schematic perspective view showing the operation of a workpiece feeding device according to an embodiment of the present invention; [Figure 5] 1 is a schematic perspective view showing the operation of a workpiece feeding device according to an embodiment of the present invention; [Figure 6] 1 is a schematic side view showing the operation of an embodiment of the present invention; [Figure 7] 6; [Figure 8] 1 is a schematic side view showing the operation of an embodiment of the present invention; [Figure 9] 9 is a perspective view corresponding to FIG. 8; [Figure 10] 1 is a schematic side view showing the operation of an embodiment of the present invention; [Figure 11] 11 is a perspective view corresponding to FIG. 10; [Figure 12]1 is a perspective view of an example of use of an embodiment of the present invention; [Figure 13] 1 is a schematic side view of an example of use of an embodiment of the present invention; [Figure 14] FIG. 1 is a perspective view of a robot used in an embodiment of the present invention; [Figure 15] FIG. 1 is a perspective view of a workpiece used in an embodiment of the present invention; [Figure 16] FIG. 10 is a diagram illustrating the operation of a comparative example. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that substantially the same components in multiple embodiments are denoted by the same reference numerals, and descriptions thereof will be omitted.

[0013] (First embodiment) 1 to 15 show an embodiment in which the workpiece feeding device of the present invention is applied to a reel feeding device. The workpiece feeding device 1 is a device that supplies a reel 2 corresponding to a workpiece to a predetermined position, such as an empty position, of a holder 71 shown in Figures 12 and 13, which will be described later. As shown in FIG. 15, the reel 2 has a cylindrical shape, is thin in the axial direction, and has a boss portion in the center, around which the tape 7 is wound in the circumferential direction. The reel 2 is made of, for example, paper, plastic, etc. The tape 7 wound on the reel 2 is made of, for example, paper, plastic, etc.

[0014] As shown in FIGS. 2 and 3, the workpiece input device 1 can hold the reel 2 with a first hand 4 and a second hand 5. As a transporting means, a six-axis robot 41 shown in Fig. 14 is used to transport the reel 2 from the starting point of the transport source to the loading position. The robot 41 is equipped with a robot arm 43 that can move a base 42 at the tip end to any position in three dimensions and at any tilt angle relative to a base 40.

[0015] 14 , the robot 41 is provided with a support 46 that is rotatable, for example, 360 degrees in the direction of arrow 45 relative to a fixed part 44 that is fixed to a base 40. A first arm 60 is provided with an upper end 47 of the support 46 that is rotatable, for example, 180 degrees in the direction of arrow 61. A second arm 64 is provided on a fulcrum 62 at the tip of the first arm 60 so as to be rotatable, for example, 180 degrees in the direction of arrow 63. A rotating body 66 is provided at the tip of the second arm 64 so as to be rotatable, for example, 180 degrees in the direction of arrow 67 around a fulcrum 65, and the base 42 is fixed to the rotating body 66.

[0016] The base 42 fixed to the tip of the robot arm 43 can be moved to any three-dimensional position and any tilt angle by the operation of a control system that outputs an operation signal to a drive system based on sensor signals from a sensor system including this image sensor (not shown), and the drive system that receives signals from the control system and drives the drive system.

[0017] As shown in FIGS. 1 to 3, the reel charging device 1 includes a first hand 4 and a second hand 5. The first hand 4 and the second hand 5 are arranged in a circumferential direction. The first hand 4 has a first hand body 10 made of an L-shaped thin plate. The first hand body 10 has a height h that is greater than the radius of the reel 2 to be gripped. A gripping surface 11 is formed on the inner wall of the first hand body 10. The inner wall of the first hand body 10 has an inclined surface 13 that continues from the lower part of the gripping surface 11. This inclined surface 13 forms a rolling support portion. The outer wall of the first hand body 10 has a flat surface 12 and an inclined surface 14 that continues from the lower part of the flat surface 12.

[0018] Like the first hand 4, the second hand 5 has a second hand body 20 made of an L-shaped thin plate, and the height h of the second hand body 20 is sufficiently large. A gripping surface 21 is formed on the inner wall of the second hand body 20. The inner wall of the second hand body 20 has an inclined surface 23 that continues from the lower part of the gripping surface 21. This inclined surface 23 corresponds to a rolling support portion. A flat surface 22 and an inclined surface 24 that continues from the lower part of the flat surface 22 are formed on the outer wall of the second hand body 20.

[0019] The inclined surfaces 13, 23, which correspond to the rolling support portions, are inclined in the direction of approaching each other on the inner wall side of the tip portion 9. The tip portion 9 is formed into a shape portion 91 in which the inclined surfaces 14, 24 of the outer wall become sharper in the direction of approaching each other as they approach the tip. The inclined surfaces 14, 24 are formed so that they can push aside objects that are likely to come into contact with each other and get into gaps between objects.

[0020] As shown in Fig. 2, the inclined surfaces 14, 24 corresponding to the pushing surfaces are formed continuous with the flat surfaces 12, 22 that reduce the inter-surface distance L2 corresponding to the thickness of both hands so as to push through the tape 7 and reel 2 and not damage the tape 7, so as to be able to enter the gap L1 between adjacent reels 2 (here, reels 201, 202) or the crowded gap between the tapes 7 pulled out from two rows of reels arranged coaxially as shown in Fig. 12. The tip 9 forms a pointed shape 91.

[0021] The slopes 14, 24 and the flat surfaces 12, 22 correspond to the pushing part, and when entering a gap between objects such as the tape 7, the robot pushes through and enters, and when escaping, the robot can return to its original position without damaging the object. The first hand body 10 and the second hand body 20 are made of steel, which ensures high rigidity. The inner walls of the first hand body 10 and the second hand body 20 are formed with a fluororesin layer, such as a Teflon layer (Teflon is a registered trademark). This improves the gripping function to prevent slippage when the first hand body 10 and the second hand body 20 grip the reel 2 with their gripping surfaces 11, 21.

[0022] Brackets 30, 31 fixed to the first hand body 10 and the second hand body 20, respectively, can be moved relatively on the rail 6 by an actuator 32, making it possible to adjust the distance between the brackets 30, 31. The position of the brackets 30, 31 relative to the rail 6 in the longitudinal direction is adjusted via the actuator 32, which corresponds to a screw mechanism, using the power of a motor 8, which corresponds to a drive unit. The rail 6 is connected to a base 42 of a robot 41. When the first hand body 10 and the second hand body 20 are operated in the closing direction, they grip the reel 2 with the gripping surfaces 11, 21, and when they are operated in the opening direction, they release the gripping and release the reel 2.

[0023] (pushing through) As shown in Figs. 2 and 3, the "plowing operation" by the first hand 4 and the second hand 5 will be described. First, the robot 41, which corresponds to the transport means, transports the first hand 4 and the second hand 5, which hold the reel 2, to the position shown in Fig. 2, and moves them toward the gap L1 between the adjacent workpieces 201 and 202. Before the first hand 4 and the second hand 5 descend in the direction of the arrow 26, the distance L1 between the workpieces 201 and 202, which act as obstacles, is greater than the distance L2 between the flat surface 12 and the flat surface 22, which corresponds to the distance between the outer walls of the hands 4 and 5.

[0024] When transitioning from the state shown in Figure 2 to the state shown in Figure 3 (insertion position), the operation of the robot 41 causes the slopes 14, 24 at the tips 9 of the first hand 4 and the second hand 5 of the reel insertion device 1 to push through the gap L2 between the reels 201 and 202, and enter the gap L2 between the reels 201 and 202 as shown in Figure 3.

[0025] At this time, the inter-surface distance L2 between the first hand 4 and the second hand 5 is sufficiently small and has the slopes 14, 24, so that the first hand 4 and the second hand 5 can enter the gap L1 between the soft reels 201, 202 without damaging the tape 7 being pulled out from the reel 2.

[0026] (Rolling motion) Next, the "rolling action" after entering the gap between the reels 2 (201, 202) will be described with reference to FIGS. When the reel 2 held by the first hand 4 and the second hand 5 is released from the closed state shown in Fig. 4 to the open state, the reel 2 released from the holding surfaces 11, 21 rolls in the direction of the arrow 25 using gravity while the outer circumferential surface of the reel abuts against the inclined surfaces 13, 23, which correspond to the rolling support portions, as shown in Fig. 5. After rolling, the reel 2 reaches a predetermined position (destination) in the holder 71.

[0027] (Environmental application example) Examples of environmental applications of the present invention are shown in FIGS. The case 70 is provided with a holder 71 for holding the reel. Each tape is pulled out from a plurality of reels 2 arranged adjacent to each other on a first coaxial line within holder 71, and examples of two reels arranged adjacent to each other on the same axis are shown as 201 and 202. Each tape is pulled out from a plurality of reels 2 arranged adjacent to each other on a second coaxial line within holder 71, and examples of two reels arranged adjacent to each other on the same axis are shown as 211 and 212. The second axis and the first axis are parallel to each other. The multiple tapes 7 pulled out from each reel 2 are intricately packed together in three-dimensional space, and the tapes of the tape group are bridged to feeder 72 in a non-contact state.

[0028] In Figure 13, each tape 7 pulled out from each reel 201, 202 at the first coaxial L2 position and each reel 211, 212 at the second coaxial R2 position shown in Figure 1 is bridged to a feeder 72. Corresponding tapes 7 are connected to each other. From each reel 2, the tape 7 being supplied to the feeder 72 and the tape 7 being prepared are bridged in a non-contact manner in a complex three-dimensional space between the reels 201, 202, 211, 212 and the feeder 72. Two feeders 72, one for L and one for R, are in operation simultaneously.

[0029] When the feeder is in operation, if the remaining tape of any of the reels 2 among the tapes 7 supplied from the reels 2 is consumed, a reel insertion device 1 is operated when a new reel 2 is inserted through a gap between the tapes 7 in a crowded state.

[0030] In FIG. 13, the reel inserting device 1 shown in FIG. 1 inserts a new reel 2 into the extremely narrow gap between the tapes 7, 7 pulled out from the reels 201, 202 and reels 211, 212 at the extremely narrow L2 and R2 positions. When the tape 7 on reel 2 in the L1 position is used up, reel 2 in the L2 position shifts to the L1 position and switches to tape 7 on reel L2 for use. When the tape 7 on reel 2 in the R1 position is used up, reel 2 in the R2 position shifts to the R1 position and switches to tape 7 on reel 2 in the R2 position for use. At this time, the end of tape 7 pulled out from reel 2 in the L1 position is automatically joined to the beginning of tape 7 pulled out from L2 on the feeder 72 side, and the end of tape 7 pulled out from R1 is automatically joined to the beginning of tape 7 pulled out from reel 2 in the R2 position.

[0031] (Operation of reel insertion device) Next, the operation of the reel inserting device will be described with reference to FIGS. As shown in FIGS. 6 and 7, first, the first hand 4 and the second hand 5 are moved in the direction of the arrow 16 toward the loading position. Next, as shown in FIGS. 8 and 9, the first hand 4 and the second hand 5 are lowered in the direction of the arrow 17, and the tip portions 9 of the first hand 4 and the second hand 5 push the tape 7 aside. 10 and 11, the tip portions 9 of the first hand 4 and the second hand 5 are thrust into the deepest part of the tape 7 that is being bridged through the gap between adjacent tapes 7, releasing the grip of the first hand 4 and the second hand 5 and releasing the reel 2 from the reel insertion device 1. The reel 2 then rolls down the inclined surfaces 13 and 23 and reaches a predetermined position within the holder 71.

[0032] (Comparison between this embodiment and comparative embodiment) Next, the present embodiment of the present invention will be described in comparison with a comparative embodiment, which is shown in FIG. In the comparative workpiece insertion device 50, the reel 2 is gripped by the tips of the fingers 54 extending from the palm 52 of the hand 51 through the joints 53, and when the disc-shaped reel 2 is gripped as it passes through the gaps between the multiple tapes 7, the joints 53 that protrude outward protrude further outward than the thickness d of the reel 2. Therefore, when passing through the gaps between the multiple tapes 7, the reel gets caught when being inserted by the hand 51, pulling the tape 7 and causing the tape 7 to tear. The reel 2 is soft and its position is unstable, so the hand 51 cannot be lowered to the target position without coming into contact with the tape 7.

[0033] In the comparative example, when the tapes 7 are crowded together and a new reel 2 is inserted deep into the gap between the tapes 7, it is difficult to pass the reel 2 or the holder holding the reel through the gap between the tapes 7 when the tapes 7 pulled out from each reel 2 are crowded together. When replacing the reel 2, if an attempt is made to insert the hand and reel deep into the gaps between the multiple tapes 7, the soft and unstable reel or the reel holder will damage the tape.

[0034] Even if the reel passes through the gap, there are many obstacles on the way to the space (passage) after passing through the gap and the destination of the reel. In contrast, in this embodiment, flat surfaces 12, 22 are formed on the outer walls of the first hand 4 and the second hand 5. The distance between the flat surfaces 12, 22 (distance L2 shown in FIG. 2) is relatively small. The hands 4, 5 of this embodiment do not have a portion corresponding to the joint 53 of the comparative embodiment. Therefore, when the first hand 4 and the second hand 5 descend, they push their way through the adjacent reels 2 and release their grip. The reel 2 released from the first hand 4 and the second hand 5 rolls on the inclined surfaces 13, 23, which correspond to the rolling support portion, and can roll into the gap between the adjacent reels 2 to reach its destination. The tape 7 does not get caught, preventing damage to the tape 7.

[0035] According to the above embodiment, while holding the reel 2, the tip portions 9 formed by the first hand 4 and the second hand 5 can push through the gaps between the multiple tapes 7, and can insert the hands 4, 5 and the reel 2 to the back through the gaps between the tapes 7 without damaging the tapes 7.

[0036] Next, when the first hand 4 and the second hand 5 switch from the gripping state to the released state, the released reel 2 rolls along the rolling support portion consisting of the inclined surface 13 of the first hand 4 and the inclined surface 23 of the second hand 5, and rolls into the target position within the holder 71. On the other hand, after releasing the reel 2, the first hand 4 and the second hand 5 can pass through the gap between the tapes 7 and return to their original positions without damaging the tapes 7.

[0037] (Other embodiments) Although the materials of the reel, which corresponds to the workpiece of the present invention, are paper and plastic, the materials of the workpiece of the present invention are not limited to those described in the above embodiment. The present invention can also be applied to workpieces that are not wrapped with tape. In one embodiment, a tape wound on a reel corresponding to a workpiece has been described, but the present invention can also be applied to a workpiece in which a tape is wound around which, for example, electronic components are held at equal intervals along the longitudinal direction of the tape.

[0038] The workpiece used in the embodiment is a reel, which is a cylindrical, thin plate-like workpiece, but the present invention can be applied to any other cylindrical, thin plate-like workpiece. The actuator used in one embodiment uses a bracket, rail, etc. that are relatively movable, but the actuator of the present invention may have other mechanisms, such as a link mechanism or a mechanism using a ball screw.

[0039] Although a six-axis robot is used as the transport means in one embodiment, the present invention may use an alternative robot, or any other transport means that can move the first hand and second hand to the insertion position. In one embodiment, a fluororesin layer is formed on the inner walls of the first hand body 10 and the second hand body 20, but in the present invention, the fluororesin layer does not have to be formed on the inner walls of the first hand body 10 and the second hand body 20.

[0040] In one embodiment, the first hand body 10 and the second hand body 20 are made of steel, but the material of the first hand body and the second hand body of the present invention may also be iron, and is not limited to this. The above embodiment describes an embodiment in which a reel with tape wound thereon is inserted into a holder, but the present invention can also be used in an environment in which a cylindrical, thin-plate workpiece is inserted into a gap between other objects that are intricately packed together.

[0041] As described above, the present invention is not limited to the above-described embodiment, and can be implemented in various forms without departing from the spirit and scope of the present invention.

[0042] The workpiece feeding device of the present invention may include a first hand (4) and a second hand (5) capable of gripping a cylindrical, axially thin workpiece (2) from both sides, tip portions (9, 14, 24) generated by the first hand and the second hand while gripping the workpiece, an actuator (32) that switches between gripping and releasing the first hand and the second hand, a drive unit (8) that drives the actuator, and a transport means (41) that transports the drive unit to a predetermined position.

[0043] In the workpiece input device of the present invention, the first hand and the second hand may have a gripping surface (11, 21) that can grip a workpiece on an inner wall, and the tip portion that pushes aside an obstacle (2, 7, 201, 202). In the workpiece input device of the present invention, the first hand and the second hand may have flat surfaces (12, 22) that are parallel to each other and connected to the tip end portions.

[0044] In the workpiece charging device of the present invention, the tip end may have a pointed portion (91) that extends linearly. In the workpiece input device of the present invention, the first hand and the second hand may have rolling support parts (13, 23) that can support the workpiece in a rollable manner when switched from a gripping state to a release (non-contact) state.

[0045] In the workpiece loading device of the present invention, the rolling support portion may be an inclined surface formed flat on the inner wall and capable of supporting the workpiece in a rollable manner when the first hand and the second hand are in a released state. In the workpiece input device of the present invention, the inner wall of the first hand or the second hand may have a fluororesin layer.

[0046] In the workpiece input device of the present invention, the hand body of the first hand or the second hand may be made of iron (SUS). In the workpiece input device of the present invention, the transport means may be a robot (41) having an arm (43) that can move to any position in three dimensions.

[0047] The workpiece loading method of the present invention can include the steps of gripping a workpiece with a first hand and a second hand, moving the gripping unit while gripping the workpiece to a position in front of the destination, and releasing the grip of the workpiece by the hands at the position of the destination, rolling the released workpiece, and transporting it to the destination. [Explanation of symbols]

[0048] 1 Reel loading device (work loading device) 2 Reel (work) 4. First Hand 5. Second Hand 7. Tape 8 Motor (drive unit) 9 Tip 13, 23 Inclined surface (rolling support part) 14, 24 Slope (tip) 32 Actuator 41 Robot (Transportation means) 43 Robot Arm (Arm)

Claims

1. a first hand (4) and a second hand (5) capable of gripping a thin cylindrical workpiece (2) from both sides; The tip portion (9, 1) generated by the first hand and the second hand while holding the workpiece 4, 24) and an actuator (32) for switching between gripping and releasing of the first hand and the second hand; a drive unit (8) that drives the actuator; and a conveying means (41) for conveying the drive unit to a predetermined position.

2. 2. The workpiece input device according to claim 1, wherein the first hand and the second hand have gripping surfaces (11, 21) that can grip a workpiece on an inner wall, and the tip portions that push aside obstacles (2, 7, 201, 202).

3. 3. The workpiece input device according to claim 1, wherein the first hand and the second hand have flat surfaces (12, 22) that are parallel to each other and connected to the tip end portions.

4. 3. The workpiece charging device according to claim 1, wherein the tip portion has a pointed portion (91) that extends linearly.

5. 3. The workpiece input device according to claim 1, wherein the first hand and the second hand have rolling support parts (13, 23) that can support the workpiece so that it can roll when the first hand and the second hand are switched from a gripping state to a release state.

6. The workpiece feeding device according to claim 5, wherein the rolling support portion is an inclined surface formed flat on an inner wall and capable of supporting the workpiece in a rolling manner when the first hand and the second hand are in a released state.

7. The workpiece insertion device according to claim 1 or 2, wherein an inner wall of the first hand or the second hand has a fluororesin layer.

8. 3. The workpiece input device according to claim 1, wherein the hand body of the first hand or the second hand is made of steel.

9. 3. The workpiece input device according to claim 1, wherein the transport means is a robot (41) having an arm (43) that can move to any position in three dimensions.

10. a step of gripping a workpiece with a first hand and a second hand; a step of moving the gripping unit to a position in front of a destination while gripping the workpiece; a step of releasing the grip of the workpiece by the hand at the position in front of the destination, rolling the released workpiece, and transporting it to the destination.

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