Work apparatus and support member collection device

Abstract

To improve positional accuracy of a support member placed using a cylinder.SOLUTION: A work apparatus that performs a predetermined work on a substrate supported on a back surface by a rod-shaped support member comprises: a support member collection device including a collection portion capable of collecting and holding an upper portion of the support member, a cylinder in which a piston rod that retracts / advances between a forward position and a retracted position advances upward, and a connecting member connecting the collection portion and the piston rod; and a control device that controls the support member collection device such that holding of the support member by the collection portion is released in a state where the piston rod is retracted to the retracted position when the support member is placed at a predetermined position.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present specification discloses a working device and a support member collecting device. [Background technology]

[0002] Conventionally, there have been proposed working devices that perform predetermined work, such as printing, on a substrate while the back surface of the substrate is supported by support members such as support pins. For example, Patent Document 1 describes a working device that has gripping claws that grip the support member and is equipped with a slide unit that can reciprocate up and down, in which the slide unit is lowered while the support member is gripped by the gripping claws, and then the grip by the gripping claws is released to position the support member. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 03-024797 Summary of the Invention [Problem to be solved by the invention]

[0004] One possible configuration is to connect a collection part such as a gripping claw to the piston rod of the cylinder, and release the support member from its hold when the piston rod is advanced to the lower advanced position. However, when the piston rod is advanced to the advanced position, there is a large amount of play in the direction intersecting the direction of the piston rod's advancement and retreat, which can cause a shift in the position where the support pin is positioned, potentially reducing positional accuracy.

[0005] A primary object of the present disclosure is to improve the positional accuracy of a support member that is positioned using a cylinder. [Means for solving the problem]

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The working device of the present disclosure is A working device that performs a predetermined work on a substrate whose back surface is supported by a rod-shaped supporting member, a support member collecting device including: a collecting section capable of collecting and holding the upper part of the support member; a cylinder having a piston rod that moves back and forth between an advanced position and a retracted position and advances upward; and a connecting member that connects the collecting section and the piston rod; a control device that controls the support member collecting device so that, when the support member is placed at a predetermined position, the piston rod is retracted to the retracted position and the collecting unit releases the support member from its holding; The gist of the project is to provide the following:

[0008] In the working device disclosed herein, when placing the support member in a predetermined position, the support member collection device releases the support member from the collection unit with the piston rod retracted to the retracted position. This reduces the effect of backlash in a direction intersecting the piston rod's forward / backward direction and prevents the support member from being misaligned. This improves the positional accuracy of the support member placed using the cylinder. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an outline of the configuration of a printing device 10. [Figure 2] FIG. 1 is a perspective view showing an outline of the main configuration of a printing device 10. [Figure 3] FIG. 1 is a block diagram showing an outline of the configuration of a printing device 10. [Figure 4] FIG. 2 is an explanatory diagram showing an example of a pin collection device 70. [Figure 5] FIG. 2 is an explanatory diagram showing an example of a pin collection device 70. [Figure 6] FIG. 10 is an explanatory diagram showing a pin picking device 170 of a comparative example. [Figure 7] FIG. 10 is an explanatory diagram showing a pin picking device 170 of a comparative example. [Figure 8] 4A and 4B are explanatory diagrams showing the relationship between the state of the printing device 10 and the position of the piston rod 73. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a configuration diagram showing an outline of the configuration of a printing device 10. FIG. 2 is a perspective view showing an outline of the main configuration of the printing device 10. FIG. 3 is a block diagram showing an outline of the configuration of the printing device 10. In this embodiment, the left-right direction (X-axis), front-rear direction (Y-axis), and up-down direction (Z-axis) are as shown in FIGS. 1 and 2.

[0011] The printing device 10 prints solder paste as a viscous fluid onto a substrate S. Electronic components are mounted on the substrate S by a mounting device (not shown). Examples of the viscous fluid include solder paste, conductive paste, and adhesive. The printing device 10 includes a control unit 20, a memory unit 22, a print processing unit 25, a masking unit 30, a substrate fixing unit 40, and an image capturing processing unit 60. The printing device 10 also includes an operation panel that displays a display screen and allows an operator to perform various input operations, and a communication unit that communicates with devices connected to a LAN.

[0012] The control unit 20 is configured as a microprocessor centered around a CPU, and includes a ROM that stores processing programs, a RAM used as a work area, etc. The storage unit 22 is, for example, an HDD or SSD, and stores processing programs and various data.

[0013] The printing processing unit 25 is disposed on the upper stage of the printing device 10. The printing processing unit 25 prints the solder paste on the substrate S below by forcing the solder paste on the screen mask M into the pattern holes 11 of the screen mask M using a squeegee 28. As shown in FIG. 3, the printing processing unit 25 includes a print head 26, a head moving unit 27, the squeegee 28, and a transport rod 29. The print head 26 applies pressure to the solder paste onto the screen mask M. The head moving unit 27 moves the print head 26 in a predetermined printing direction (front-to-back direction) and includes a guide formed in the front-to-back direction, a slider that moves along the guide, and a motor that drives the slider. The squeegee 28 is a plate-shaped member extending in a predetermined direction (the X-axis direction in FIG. 1) and is disposed on the print head 26 so as to be movable up and down by, for example, an air cylinder. The transport rod 29 is a rod-shaped member disposed on the print head 26 so as to be movable up and down by, for example, an air cylinder. With the transport rod 29 projecting downward below the squeegee 28, the print head 26 is moved back and forth by the head moving unit 27, thereby pushing and transporting the screen mask M back and forth.

[0014] The mask working unit 30 is disposed between the printing processing unit 25 and the substrate fixing unit 40 in the vertical direction and fixes and holds the screen mask M. The screen mask M is a metal plate in which pattern holes 11 are formed for forming a wiring pattern on the substrate S to be printed. An identification portion (e.g., a mark) for position recognition is formed on the underside of the screen mask M. The mask working unit 30 includes a mask fixing unit 32, a position adjustment unit 34 (see FIG. 3), and a transport rail 36 (see FIG. 3). The mask fixing unit 32 positions the screen mask M fitted into the frame and supports and fixes it in a horizontal orientation. The position adjustment unit 34 adjusts the position of the mask fixing unit 32 in the XY directions so that the pattern holes 11 are positioned appropriately with respect to the substrate S fixed to the substrate fixing unit 40. The transport rails 36 are a pair of left and right rails extending in the front-rear direction and guide the screen mask M pushed by the transport rod 29 so that it moves along the front-rear direction.

[0015] The substrate fixing unit 40 is disposed below the mask working unit 30, and serves to carry in the substrate S, position and support the carried-in substrate S, and bring it into contact with or away from the screen mask M. The substrate fixing unit 40 includes a transport conveyor 41, a substrate guide 42, a guide moving unit 43 (see FIG. 3), a support table lifting unit 45, a fixing unit lifting unit 46 (see FIG. 3), and a support table 47.

[0016] The transport conveyor 41 includes a conveyor belt provided on each of the pair of side frames 40b and a belt rotation device that rotates the conveyor belt, and transports the board S in the X-axis direction. Although not shown, the printing device 10 also includes an inlet conveyor and an outlet conveyor on the upstream and downstream sides (left and right sides in FIG. 1) of the board transport path of the transport conveyor 41. The board guide 42 is a plate-like member provided on the upper surface of each of the pair of side frames 40b, and guides the board S transported by the transport conveyor 41. The guide movement unit 43 is a mechanism that moves the pair of side frames 40b in the front-to-rear direction to move them closer to or farther away from each other. This causes the transport conveyor 41 and board guide 42 to also move in the front-to-rear direction, sandwiching and fixing the board S with the top surface of the board guide 42 flush with the top surface of the board S. The support table lifting unit 45 is a mechanism for raising and lowering the support table 47 relative to the main body 40a of the substrate fixing unit 40, and includes a support column that guides and supports the support table 47 in the vertical direction, and a drive motor that moves the support column up and down. The support table 47 is a member on whose upper surface rod-shaped support pins P and support blocks (not shown) can be arranged. The support pins P and support blocks are replaced depending on the substrate S. The fixing unit lifting unit 46 is a mechanism for raising and lowering the entire substrate fixing unit 40 relative to the apparatus main body, and includes a support column that guides and supports the main body of the substrate fixing unit 40 in the vertical direction, and a drive motor that moves the support column up and down. The substrate fixing unit 40 also includes fixing units and positioning units (not shown) that fix and position the support blocks on the support table 47.

[0017] Furthermore, a pin storage area 48 is provided on the outer surface of the side frame 40b of the substrate fixing part 40. A plurality of support pins P are placed on the pin storage area 48. The support pins P collected from the pin storage area 48 by a pin collection device 70 (described later) are transported to and arranged on the support table 47.

[0018] The imaging processing unit 60 performs imaging processing to capture various images, including identification units for position recognition (e.g., marks, notches, irregularities, characters, etc.) formed on the substrate S. The imaging processing unit 60 includes a carriage 61, a carriage moving unit 62, and an imaging unit 65. The carriage 61 is provided with the imaging unit 65 and is moved in the X and Y directions by the carriage moving unit 62. The carriage moving unit 62 includes an X-axis slider 63 and a Y-axis slider 64. The Y-axis slider 64 is a plate-shaped member with its longitudinal direction in the X-axis direction, and is moved by a movement motor along a pair of support rails 68 formed in the Y-axis direction (front-rear direction) of the device. The X-axis slider 63 is provided with the carriage 61 and is moved by a movement motor along a guide formed on the Y-axis slider 64 in the X-axis direction. The imaging unit 65 has an imaging area on its lower surface side and upper surface side. The imaging unit 65 is capable of capturing images of the identification features formed on the substrate S and the identification features formed on the underside of the screen mask M. The control unit 20 is able to acquire such information from the images captured by the imaging unit 65. The imaging unit 65 is also able to capture an image of the upper surface of the support base 47. The control unit 20 is able to check the presence or absence of support blocks and support pins P from the images captured by the imaging unit 65.

[0019] The imaging processing unit 60 further includes a board stopper 66 and a pin collection device 70. The board stopper 66 is, for example, a rod-shaped member, and is disposed on the carriage 61 so as to be movable up and down by, for example, an air cylinder. The board stopper 66 abuts against the board S transported by the transport conveyor 41 while protruding below the support rails 68 above the board fixing unit 40, thereby stopping the board S at a predetermined position in the left-right direction.

[0020] 4 and 5 are explanatory diagrams showing an example of a pin collection device 70. The pin collection device 70 comprises a collection unit 71, an air cylinder 72, and a connecting member 75. The collection unit 71 has a central hole at its lower end into which the upper part of a support pin P can be inserted. The collection unit 71 can hold and release the support pin P whose upper part has been inserted into the central hole. The pin collection device 70 can move in the X and Y directions by the carriage 61 while the support pin P is held by the collection unit 71.

[0021] The air cylinder 72 includes a piston rod 73 that moves back and forth between an advanced position and a retracted position, and a flat rod plate 74 attached to the tip of the piston rod 73. The air cylinder 72 is arranged so that the piston rod 73 advances upward. The piston rod 73 reaches an advanced position where it advances from the air cylinder 72 when air is supplied to a lower supply port 72a of the air cylinder 72 (see FIG. 4). In this advanced position, the lower end of the sampling portion 71 is positioned above the lower end L of the air cylinder 72 (dotted line in FIG. 4). Furthermore, the piston rod 73 reaches a retracted position where it is retracted into the air cylinder 72 when air is supplied to an upper supply port 72b of the air cylinder 72 (see FIG. 5).

[0022] The connecting member 75 is a member in which a first connecting portion 75a, a second connecting portion 75b, and an extending portion 75c are integrally formed. The first connecting portion 75a is connected to the upper end of the piston rod 73 via a rod plate 74 and is formed in a flat plate shape of approximately the same size as the rod plate 74. The second connecting portion 75b is formed in a flat plate shape smaller than the first connecting portion 75a, and the upper end of the sampling portion 71 is attached to its lower surface. The extending portion 75c extends in the vertical direction along the side wall of the air cylinder 72 so as to connect the first connecting portion 75a and the second connecting portion 75b. The first connecting portion 75a (first horizontal extending portion) and the second connecting portion 75b (second horizontal extending portion) are flat plate-shaped portions extending in the horizontal direction, and the extending portion 75c (vertical extending portion) is a flat plate-shaped portion extending in the vertical direction. That is, the connecting member 75 is formed in a crank shape when viewed from the side (see FIGS. 4 and 5). Furthermore, the second connecting portion 75b is formed to a size necessary for attaching the collecting portion 71. That is, the second connecting portion 75b is formed to a size that does not extend more than necessary in the right direction in FIG. 4 (direction away from the air cylinder 72). Furthermore, the extending portion 75c also extends in the vertical direction, preventing the second connecting portion 75b from extending more than necessary and preventing the collecting portion 71 from moving too far away from the air cylinder 72. As a result, the connecting member 75 is prevented from having a complex shape, and the pin collecting device 70 can be configured compactly.

[0023] Next, we will explain the operation of transporting and arranging the support pins P collected by the pin collection device 70 on the support base 47 when replacing the support pins P in the printing device 10 configured as described above. Figure 4 shows the state when the support pins P are transported to the support base 47. When transporting the support pins P (when the pin collection device 70 is moving), the control unit 20 controls the air supply device (not shown) to supply air to the lower supply port 72a of the air cylinder 72, and moves the piston rod 73 to the advanced position. The control unit 20 also controls the carriage movement unit 62 to move the pin collection device 70 (carriage 61) so that the collection unit 71 is directly above predetermined position A (see Figures 4 and 5), which is the arrangement position of the support pins P.

[0024] 5 also shows the state when the support pin P is placed at the predetermined position A. When placing the support pin P, the control unit 20 controls the air supply device to supply air to the upper supply port 72b of the air cylinder 72, thereby placing the piston rod 73 in the retracted position and bringing the lower end of the support pin P into contact with the upper surface of the support base 47. In this state, the support pin P is placed at the predetermined position A (support base 47) by releasing the holding by the collection unit 71. As described above, in this embodiment, the pin collection device 70 places the support pin P by placing the piston rod 73 of the air cylinder 72 in the retracted position. Therefore, the support pin P can be placed at the predetermined position A with high precision while suppressing the influence of backlash in the horizontal direction intersecting the advancing / retracting direction (up / down direction) of the piston rod 73. The pin collection device 70 also operates in a similar manner when placing (returning) the support pin P to the pin holder 48.

[0025] 6 and 7 are explanatory diagrams showing a pin collection device 170 of a comparative example. FIG. 6 shows how the support pins P are transported in the comparative example. FIG. 7 shows how the support pins P are placed in the comparative example. The pin collection device 170 of the comparative example, like this embodiment, includes a collection unit 171, an air cylinder 172, and a connecting member 175 to which the collection unit 171 is connected. The connecting member 175 is also connected to the piston rod 173 via a rod plate 174 attached to the tip of the piston rod 173. In this comparative example, unlike this embodiment, the air cylinder 172 is arranged so that the piston rod 173 advances downward.

[0026] Therefore, when transporting the support pins P, the control unit 20 controls the air supply device to supply air to the lower supply port 172a of the air cylinder 172, thereby positioning the piston rod 173 at the upper retracted position (see FIG. 6). When positioning the support pins P, the control unit 20 controls the air supply device to supply air to the upper supply port 172b, thereby positioning the piston rod 173 at the advanced position and releasing the hold by the collection unit 171, thereby positioning the support pins P at the predetermined position A (see FIG. 7). In this way, in the comparative example, the support pins P are positioned on the support base 47 by positioning the piston rod 173 at the advanced position. Therefore, there is a risk of misalignment of the positions of the support pins P due to the influence of backlash in the horizontal direction intersecting the advancing / retracting direction of the piston rod 173 (for example, the direction of the black arrow in FIG. 7 or a direction perpendicular to the arrow direction in the horizontal plane). The pin collection device 70 of this embodiment prevents such misalignment and can position the support pins P with precision.

[0027] FIG. 8 is an explanatory diagram showing the relationship between the state of the printing device 10 and the position of the piston rod 73. As described above, in the printing device 10, the piston rod 73 is in the advanced position during transport (movement) when replacing the support pin P, and is in the retracted position when arranging. In the printing device 10, the piston rod 73 is also in the advanced position when the support pin P is not being replaced. For example, when various images are captured by the imaging unit 65, the control unit 20 sets the piston rod 73 to the advanced position. Furthermore, when the board stopper 66 is activated to stop the board S, the control unit 20 sets the piston rod 73 to the advanced position. This prevents the collection unit 71 from being positioned below the lower end L (dotted line in FIG. 4) of the air cylinder 72 when the carriage 61 is moved in the XY directions by the carriage movement unit 62 during imaging by the imaging unit 65 or when the board stopper 66 is activated. Therefore, while the carriage 61 is moving, the collection unit 71 can be prevented from colliding with other members in the printing device 10, the substrate S, or the like.

[0028] Furthermore, the piston rod 73 is in the advanced position even when the printing device 10 is in a standby state and not operating. That is, in this embodiment, while the printing device 10 is powered on, the piston rod 73 is in the advanced position not only in the normal printing state but also in the standby state. Therefore, even if the operator moves the carriage 61 in the standby state, it is possible to prevent the collection part 71 from colliding with other components or the substrate S inside the printing device 10.

[0029] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The collection unit 71 of this embodiment corresponds to the collection unit of the present disclosure, the air cylinder 72 corresponds to the cylinder, the connecting member 75 corresponds to the connecting member, the pin collection device 70 corresponds to the support member collection device, and the control unit 20 corresponds to the control device. The carriage movement unit 62 corresponds to the movement device. The imaging unit 65 and the board stopper 66 correspond to the functional devices.

[0030] In the printing device 10 of the present embodiment described above, when the pin collection device 70 places the support pin P (support member) at the predetermined position A, the collection unit 71 releases the support pin P from its hold when the piston rod 73 is retracted to the retracted position. When the piston rod 73 is retracted to the retracted position, there is little play in the direction intersecting the direction in which the piston rod 73 moves forward and backward, so it is possible to prevent the support pin P from shifting from its original position. This makes it possible to improve the positional accuracy of the support pin P placed using the air cylinder 72.

[0031] The connecting member 75 is formed in a crank shape having a first connecting portion 75a connected to the upper end of the piston rod 73, a second connecting portion 75b connected to the collecting portion 71, and an extending portion 75c extending in the vertical direction along the side wall of the air cylinder 72 so as to connect the first connecting portion 75a and the second connecting portion 75b. Therefore, the connecting member 75 can be configured compactly, and the space required to install the pin collecting device 70 can be reduced.

[0032] Furthermore, the pin picking device 70 is configured so that, when the piston rod 73 is advanced to the advanced position, the lower end of the picking part 71 is positioned above the lower end L of the air cylinder 72. Therefore, when the picking part 71 is not holding the support pin P, if the piston rod 73 is in the advanced position, it is possible to prevent the picking part 71 from colliding with other members or the substrate S positioned below the pin picking device 70 (hereinafter, referred to as collision of the picking part 71).

[0033] The printing device 10 also includes a carriage movement unit 62 that moves the pin collection device 70 horizontally. The control unit 20 controls the pin collection device 70 and the carriage movement unit 62 so that the pin collection device 70 moves with the piston rod 73 advanced to the advanced position. This prevents the collection unit 71 from colliding with the pin collection device 70 when it is moved.

[0034] Furthermore, the carriage moving unit 62 moves the pin collecting device 70 together with the imaging unit 65 and the board stopper 66, which perform functions other than collecting the support pins P. When controlling the carriage moving unit 62 to move the imaging unit 65 and the board stopper 66 to perform another function, the control unit 20 controls the pin collecting device 70 to bring the piston rod 73 into the advanced position. This makes it possible to prevent collision of the collecting unit 71 when performing another function.

[0035] Furthermore, the control unit 20 controls the pin picker 70 to keep the piston rod 73 advanced to the advanced position even in a standby state where no printing work is being performed on the substrate S. This prevents the picker part 71 from colliding with the pin picker 70 when the operator moves the pin picker 70 in the standby state.

[0036] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0037] In the above-described embodiment, the piston rod 73 is in the advanced position in the standby state, but this is not limiting, and the piston rod 73 may be in the retracted position in the standby state. In this case, a warning may be issued to the operator when moving the pin collection device 70, indicating that there is a risk of collision with the collection part 71.

[0038] In the embodiment, the carriage moving unit 62 moves the pin picker 70 together with the imaging unit 65 and the board stopper 66, which perform functions other than collecting the support pins P, but this is not limited to this. That is, the imaging unit 65 and the board stopper 66, which perform functions other than collecting the support pins P, may be mounted on a carriage separate from the carriage on which the pin picker 70 is mounted. In this case, the piston rod 73 may be in the retracted position while the imaging unit 65 and the board stopper 66 are moving to perform the other function.

[0039] In the embodiment, the piston rod 73 is in the advanced position when the pin collection device 70 is moved, but this is not limited to this. For example, if there is no possibility of collision of the collection part 71 when the piston rod 73 is in the retracted position, the piston rod 73 may be in the retracted position when the pin collection device 70 is moved. Similarly, if there is no possibility of collision of the collection part 71, the lower end of the collection part 71 is not limited to being positioned above the lower end L of the air cylinder 72, and the lower end of the collection part 71 may be positioned below the lower end L of the air cylinder 72.

[0040] In the embodiment, the extending portion 75c of the connecting member 75 extends in the vertical direction along the side wall of the air cylinder 72, but this is not limited thereto and may be such that one side in the vertical direction extends obliquely away from the side wall of the air cylinder 72. However, in order to configure the pin collection device 70 compactly, the structure as in the embodiment is preferable. Also, although the connecting member 75 is formed in a crank shape, it may be formed in a shape other than a crank shape. Also, although the embodiment illustrates an air cylinder 72, this is not limited thereto and a hydraulic cylinder may be used.

[0041] The present disclosure may be configured as follows. For example, the support member collecting device of the present disclosure may include: A support member collection device for collecting rod-shaped support members, A collection unit capable of collecting and holding an upper portion of the support member; a cylinder having a piston rod that moves back and forth between an advanced position and a retracted position and that advances upward; a connecting member that connects the collecting portion and the piston rod; Equipped with When the support member is placed at a predetermined position, the holding of the support member by the collection section is released with the piston rod retracted to the retracted position.

[0042] In the support member extracting device of the present disclosure, similar to the working device of the present disclosure described above, the positional accuracy of the support member placed using a cylinder can be improved. Various aspects of the working device of the present disclosure described above may be employed in this support member extracting device.

[0043] This specification also discloses the technical idea of ​​changing the "working device according to claim 4" in claim 6 of the original application to "working device according to claim 4 or 5." [Industrial Applicability]

[0044] The present disclosure can be used in a work device that supports a substrate with a support member and performs a predetermined work. [Explanation of symbols]

[0045] 10 printing device, 11 pattern hole, 20 control unit, 22 memory unit, 25 printing processing unit, 26 print head, 27 head moving unit, 28 squeegee, 29 transport rod, 30 mask working unit, 32 mask fixing unit, 34 position adjustment unit, 36 transport rail, 40 substrate fixing unit, 40a main body, 40b side frame, 41 transport conveyor, 42 substrate guide, 43 guide moving unit, 45 support base lifting unit, 46 fixing unit lifting unit, 47 support base, 48 pin storage area, 60 imaging processing unit, 61 carriage, 62 carriage moving unit, 63 X-axis slider, 64 Y-axis slider, 65 imaging unit, 66 substrate stopper, 68 support rail, 70,170 pin collection device, 71,171 collection unit, 72,172 Air cylinder, 72a, 172a lower supply port, 72b, 172b upper supply port, 73, 173 piston rod, 74, 174 rod plate, 75, 175 connecting member, 75a first connection portion, 75b second connection portion, 75c extension portion, A predetermined position, L lower end, M screen mask, P support pin, S substrate.

Claims

1. A working device that performs a predetermined operation on a substrate whose back surface is supported by a rod-shaped supporting member, a support member collecting device including: a collecting section capable of collecting and holding the upper part of the support member; a cylinder having a piston rod that moves back and forth between an advanced position and a retracted position and advances upward; and a connecting member that connects the collecting section and the piston rod; a control device that controls the support member collecting device so that, when the support member is placed at a predetermined position, the piston rod is retracted to the retracted position and the collecting unit releases the support member from being held thereby; A working device comprising:

2. The connecting member is formed in a crank shape having a first connecting portion connected to the upper end of the piston rod, a second connecting portion connected to the collection portion, and an extending portion extending in the vertical direction along the side wall of the cylinder so as to connect the first connecting portion and the second connecting portion. The work device according to claim 1 .

3. The support member collecting device is configured such that, when the piston rod is advanced to the advanced position, the lower end of the collecting portion is positioned above the lower end of the cylinder. The working device according to claim 1 or 2.

4. a moving device that moves the support member collecting device in a horizontal direction; the control device controls the support member collecting device and the moving device so that the support member collecting device moves with the piston rod advanced to the advanced position. The working device according to claim 3 .

5. the moving device moves the support member picking device together with a functional device that performs a function other than picking up the support member, and when controlling the movement device so that the functional device moves to execute the other function, the control device controls the support member collecting device so that the piston rod is advanced to the advanced position. The working device according to claim 4.

6. The control device controls the support member collecting device so that the piston rod is advanced to the advanced position even in a standby state in which the predetermined work is not being performed. The working device according to claim 4.

7. A support member collection device for collecting rod-shaped support members, A collection unit capable of collecting and holding an upper portion of the support member; a cylinder having a piston rod that moves back and forth between an advanced position and a retracted position and that advances upward; a connecting member that connects the collecting portion and the piston rod; Equipped with When the support member is placed at a predetermined position, the holding of the support member by the collection unit is released with the piston rod retracted to the retracted position. Support member collection device.

Images