Electronic component housing

Abstract

This disclosure provides an electronic component housing device that is advantageous for imaging electronic components being transported in an appropriate orientation (direction) and for housing them in an appropriate orientation (direction) within a housing. [Solution] The electronic component housing device 10, which houses electronic components W in a housing section 91 of a housing 90, comprises: transport devices 12 and 13 that transport electronic components W along a transport track T; an imaging unit 15 that acquires an image of the electronic components W in an appearance inspection range Ra of the transport track T; an upstream alignment mechanism 21 that adjusts the orientation of the electronic components W at a first alignment position Sa upstream of the appearance inspection range Ra of the transport track T; and a downstream alignment mechanism 23 that adjusts the orientation of the electronic components W at a second alignment position Sb downstream of the appearance inspection range Ra of the transport track T and upstream of the component discharge position Sr where the electronic components W are passed to the housing 90.

Description

Technical Field

[0001] The present disclosure relates to an electronic component housing device that houses electronic components in a housing portion of a housing body.

Background Art

[0002] There is known a device that performs an appearance inspection of electronic components by transporting a large number of electronic components along an arc orbit, acquiring an imaging image by imaging the electronic components with an imaging device, and analyzing the imaging image, and then housing the electronic components in a housing body such as a carrier tape (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Electronic components have a non-spherical shape such as a hexahedron (e.g., a cube or other rectangular parallelepiped), and often have a plurality of faces oriented in different directions.

[0005] [[ID=�8]] Therefore, when imaging each of the plurality of faces of an electronic component with a plurality of imaging devices, it is required to orient the imaging direction of the imaging device to match the corresponding face of the electronic component. On the other hand, when housing an electronic component in a housing body such as a carrier tape, it is also required to orient the electronic component to match the orientation of the housing body (especially a housing portion such as a concave portion).

[0006] However, the orientation of electronic components being transported by a transport device does not necessarily have the optimal orientation for imaging by an imaging device or for placement in a container. In particular, the optimal transport orientation (direction) of electronic components for imaging by an imaging device and the optimal transport orientation for placement in a container such as a carrier tape do not necessarily coincide.

[0007] Furthermore, when imaging electronic components from multiple directions using multiple imaging devices, it is necessary to prevent interference between imaging devices (e.g., illumination light) in order to obtain high-quality images. On the other hand, multiple imaging devices must be arranged in a limited space, and from the viewpoint of miniaturizing the entire device, it is preferable to minimize the outward protrusion (e.g., horizontal direction) of the imaging devices as much as possible. In order to arrange multiple imaging devices with various imaging directions in a limited space, it is necessary to transport the electronic components to be imaged in a specific optimized orientation (direction).

[0008] This disclosure provides a technology advantageous for imaging electronic components being transported in an appropriate orientation (direction) and for housing them in an appropriate orientation (direction). [Means for solving the problem]

[0009] One aspect of the present disclosure relates to an electronic component housing device for housing electronic components in a housing section of a housing, comprising: a transport device for transporting electronic components along a transport track; an imaging unit for acquiring an image of the electronic components within a visual inspection range of the transport track; an upstream alignment mechanism for adjusting the orientation of the electronic components at a first alignment position upstream of the visual inspection range of the transport track; and a downstream alignment mechanism for adjusting the orientation of the electronic components at a second alignment position downstream of the visual inspection range of the transport track and upstream of a component discharge position where the electronic components are delivered to the housing.

[0010] The conveying device includes a rotating turntable and a plurality of component support parts provided on the turntable and supporting electronic components in a releaseable manner. The first alignment position, the visual inspection range, and the second alignment position may be along the trajectory of the plurality of component support parts that move with the rotation of the turntable.

[0011] The transport device includes a rotating first rotary table, a plurality of first component support sections provided on the first rotary table and supporting electronic components in a detachable manner, a rotating second rotary table, and a plurality of second component support sections provided on the second rotary table and supporting electronic components in a detachable manner. The first and second alignment positions are along the trajectories of the plurality of first component support sections that move with the rotation of the first rotary table, and the visual inspection range is along the trajectories of the plurality of second component support sections that move with the rotation of the second rotary table. Downstream of the transport trajectory from the first alignment position, electronic components may be passed from the first component support sections to the second component support sections, and upstream of the transport trajectory from the second alignment position, electronic components may be passed from the second component support sections to the first component support sections.

[0012] The electronic component housing device may be equipped with a sensor upstream of the second alignment position in the transport track that detects information regarding the attitude and position of the electronic component, and the downstream alignment mechanism may adjust the attitude and position of the electronic component based on the results detected by the sensor.

[0013] The electronic component housing device includes a downstream alignment mechanism comprising a base, a stage on which electronic components are placed, and a stage moving mechanism for moving the stage relative to the base. The stage moving mechanism includes an XY moving device for moving the stage relative to the base in the XY direction perpendicular to the axis of rotation, and a rotational moving device for rotating the stage relative to the base in the rotational direction with respect to the axis of rotation. The rotational moving device may also include a rotational drive source, a rotational support unit which is rotated in the rotational direction together with the stage by the driving force output from the rotational drive source, and a rotational relay unit which transmits the driving force output from the rotational drive source to the rotational support unit and allows the rotational relay unit to move in the XY direction relative to the rotational drive source.

[0014] The upstream alignment mechanism adjusts the electronic component from its reference orientation by rotating it around a vertical axis extending in the vertical direction, the downstream alignment mechanism adjusts the orientation of the electronic component back to its reference orientation, and the imaging unit may include multiple imaging devices that capture images of the side surface of the electronic component from multiple imaging directions, each including a horizontal component and having different orientations from one another, to acquire an image of the electronic component. [Effects of the Invention]

[0015] According to this disclosure, it is advantageous to image the transported electronic components in the appropriate orientation (direction) and to house them in the appropriate orientation (direction) within the container. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a plan view showing a schematic configuration of an example of an electronic component housing device in which workpieces (electronic components) are housed in the housing section of a carrier tape (housing unit). [Figure 2] Figure 2 illustrates the transfer of a workpiece from the first component support to the second component support. [Figure 3] Figure 3 illustrates the transfer of a workpiece from the second component support to the first component support. [Figure 4]FIG. 4 is a diagram showing an example of the posture (orientation) of the workpieces (reference posture) in the second transport path when the posture (orientation) of each workpiece is not adjusted by the upstream alignment mechanism. [Figure 5] FIG. 5 is a diagram showing an example of the posture (imaging posture) of the workpieces in the second transport path when the posture (orientation) of each workpiece is adjusted by the upstream alignment mechanism. [Figure 6] FIG. 6 is a flowchart showing an example of an electronic component housing method. [Figure 7] FIG. 7 is a flowchart showing an example of an electronic component housing method. [Figure 8] FIG. 8 is a perspective view showing an example of an alignment mechanism. [Figure 9] FIG. 9 is a diagram showing an example of the posture (imaging posture) of the workpieces in the transport path in the first modified example.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, embodiments of the disclosed technology will be described with reference to the drawings.

[0018] In the following description, the terms "upstream" and "downstream" are based on the conveyance of the workpieces (electronic components) unless otherwise specified. Also, the terms "upper" and "lower" are based on the height direction (vertical direction) unless otherwise specified.

[0019] FIG. 1 is a plan view showing a schematic configuration of an example of an electronic component housing device 10 that houses a workpiece (electronic component) W in a housing portion 91 of a carrier tape (container) 90.

[0020] The workpiece W is composed of a chip component (e.g., a capacitor, a resistor, etc.) or any other arbitrary electronic component and can have arbitrary characteristics. The workpiece W in this example has a hexahedral shape (rectangular parallelepiped shape) and includes a main body made of an insulator and electrodes made of conductors provided at both ends in the longitudinal direction of the main body.

[0021] In the electronic component housing device 10 shown in Figure 1, a first transport device 12 and a second transport device 13 are provided as transport devices for transporting the workpiece W along the transport track T.

[0022] The first conveying device 12 includes a first conveying drive unit 12a and a first rotary table (main table) 12b that is rotationally driven by the first conveying drive unit 12a. In this example, the first rotary table 12b has a transparent disc structure with a circular planar shape and is rotated intermittently around its central axis. Multiple first component support parts 31 are attached to the outer circumference of the first rotary table 12b at equal intervals (equal angular intervals).

[0023] Each first component support 31 moves and circulates along a circular first transport track T1 by the intermittent rotation of the first rotary table 12b. Each first component support 31 has a suction nozzle that protrudes downward from the lower surface of the first rotary table 12b and is capable of supporting the workpiece W in a releaseable manner, and the tip of the suction nozzle acts as a suction part that adsorbs and holds the workpiece W.

[0024] In this example, the first component support section 31 moves up and down along the height direction (vertical direction) as needed under the control of the control unit 50, to transfer workpieces W to various devices of the electronic component housing device 10 and to receive workpieces W from various devices. Each first component support section 31 can adjust the suction force (vacuum level) of the suction section (suction nozzle) as needed under the control of the control unit 50. For example, when transferring workpieces W to various devices, the suction force may be weakened or suction may be stopped.

[0025] The second conveying device 13 includes a second conveying drive unit 13a and a second rotary table (sub-table) 13b that is rotationally driven by the second conveying drive unit 13a. In this example, the second rotary table 13b has a disc structure with a circular planar shape and is rotated intermittently around its central axis. Multiple second part support parts 32 are provided at equal intervals (equal angular intervals) on the outer circumference of the second rotary table 13b. Each second part support part 32 has a suction nozzle that protrudes upward from the upper surface of the second rotary table 13b and can support the workpiece W in a releaseable manner, and the tip of the suction nozzle acts as a suction part that suctions and holds the workpiece W.

[0026] The first rotary table 12b and the first part support section 31 are located above the second rotary table 13b and the second part support section 32 in the height direction, and the first rotary table 12b and the second rotary table 13b are arranged to partially overlap each other in the height direction. The overlapping range of the first rotary table 12b and the second rotary table 13b includes the part transfer position St, where the workpiece W is transferred between the first part support section 31 and the second part support section 32.

[0027] Figure 2 illustrates the transfer of the workpiece W from the first part support section 31 to the second part support section 32. Figure 3 illustrates the transfer of the workpiece W from the second part support section 32 to the first part support section 31.

[0028] Each first component support section 31 and each second component support section 32 intermittently stops at the component transfer position St, and as shown in Figures 2 and 3, the suction portion of the first component support section 31 and the suction portion of the second component support section 32 are positioned to face each other in the height direction at the component transfer position St.

[0029] In this example, each first component support 31 moves up and down in the height direction at the component transfer position St, but each second component support 32 may move up and down together with each first component support 31 or instead of each first component support 31. As shown in Figure 2, the workpiece W is transferred from the first component support 31 to the second component support 32 by the first component support 31 descending so that the suction part of the first component support 31 that is holding the workpiece W approaches the suction part of the second component support 32 that is not holding the workpiece W. Also, as shown in Figure 3, the workpiece W is transferred from the second component support 32 to the first component support 31 by the first component support 31 descending so that the suction part of the first component support 31 that is not holding the workpiece W approaches the suction part of the second component support 32 that is holding the workpiece W.

[0030] In this example, the following process is repeatedly performed at the parts transfer position St. Specifically, the first parts support unit 31 descends from its reference height position at the parts transfer position St to transfer the workpiece W to the second parts support unit 32, then rises and waits at the reference height position at the parts transfer position St. Meanwhile, the second parts support unit 32, which has received the workpiece W from the first parts support unit 31, moves downstream with the workpiece W by the intermittent rotation of the second rotary table 13b, and another second parts support unit 32 holding the workpiece W is positioned at the parts transfer position St.

[0031] Then, with another second component support unit 32 holding the workpiece W positioned at the component transfer position St, the first component support unit 31, which is not holding the workpiece W, descends from its reference height position at the component transfer position St, receives the workpiece W from the other second component support unit 32, and rises back to its reference height position while holding the workpiece W. Meanwhile, the second component support unit 32, which has passed the workpiece W to the first component support unit 31, waits at the component transfer position St.

[0032] In this way, the first part support unit 31, which has returned to the reference height position while holding the workpiece W, moves downstream with the workpiece W due to the intermittent rotation of the first rotary table 12b, and another first part support unit 31, which is holding the workpiece W, is positioned at the part transfer position St. The other first part support unit 31 positioned at the part transfer position St performs the series of operations described above, descends from the reference height position to pass the workpiece W to the second part support unit 32, then rises and waits at the reference height position at the part transfer position St.

[0033] Thus, the time that each first component support section 31 stays at the component transfer position St (the timing of intermittent stopping) and the time that each second component support section 32 stays at the component transfer position St partially overlap, but do not completely coincide.

[0034] In the electronic component housing device 10 shown in Figure 1, a supply device 25, an inspection unit 26, an upstream attitude position detection sensor 20, an upstream alignment mechanism 21, a downstream attitude position detection sensor 22, a downstream alignment mechanism 23, and a defective product discharge device 27 are sequentially provided along the outer circumference of the first rotary table 12b, moving downstream. An imaging unit 15 is also provided along the outer circumference of the second rotary table 13b.

[0035] The supply device 25 supplies the workpiece W to the suction part of the first part support unit 31, which intermittently stops at the part supply position Sf. The method of supplying the workpiece W from the supply device 25 to the first part support unit 31 is not limited, and the workpiece W is held by suction from the first part support unit 31 and transported downstream along the first transport track T1 by the intermittent rotation of the first rotary table 12b.

[0036] The inspection unit 26 inspects each workpiece W that is transported together with the corresponding first component support 31 in the characteristic inspection range Rc of the first transport track T1. The inspections performed by the inspection unit 26 are not limited, and one or more types of arbitrary inspections (for example, inspections other than the visual inspection described later) can be performed by the inspection unit 26. Therefore, the inspection unit 26 may be equipped with multiple types of inspection devices, although they are not shown in the figures. For example, a device that performs electrical inspections involving the application of current to each workpiece W (especially electrodes) may be included in the inspection unit 26. The inspection results from the inspection unit 26 are sent from the inspection unit 26 to the control unit 50 and stored in a storage unit (not shown) linked to the corresponding workpiece W (for example, ID (identification) information that identifies the workpiece W). The specific content of the inspection results transmitted from the inspection unit 26 (inspection device) to the control unit 50 is not limited. For example, the detection data itself, such as the detected value acquired by the inspection unit 26 (inspection device), may be transmitted to the control unit 50 as an inspection result, or information derived from such detection data may be transmitted to the control unit 50 as an inspection result. Therefore, the various testers provided by the inspection unit 26 may determine whether the workpiece W is good or bad based on the detection results, and transmit this determination result (information on whether the workpiece W is good or bad) to the control unit 50 as an inspection result.

[0037] The upstream attitude and position detection sensor 20 detects information regarding the attitude and position of the workpiece W at a first attitude detection position Sd1 upstream of the visual inspection range Ra on the transport trajectory T (particularly the first transport trajectory T1). The detection method by the upstream attitude and position detection sensor 20 is not limited, but typically the upstream attitude and position detection sensor 20 is equipped with an imaging device (camera) that acquires an image showing the attitude and position of the workpiece W at the first attitude detection position Sd1.

[0038] The upstream attitude and position detection sensor 20 can analyze the captured image to obtain various information about the workpiece W in the captured image (for example, the centroid position and angle information (orientation information) of the workpiece W image), and detect the attitude and position of the workpiece W based on this information. Note that such analysis of the captured image and detection of the attitude and position of the workpiece W based on the results of the analysis may be performed by a device other than the upstream attitude and position detection sensor 20, such as the control unit 50. In that case, the device other than the upstream attitude and position detection sensor 20 will also function substantially as the upstream attitude and position detection sensor 20.

[0039] The upstream alignment mechanism 21 adjusts the orientation and position of the workpiece W based on the detection results from the upstream attitude and position detection sensor 20, under the control of the control unit 50. Specifically, the upstream alignment mechanism 21 adjusts the orientation (attitude) and position of the workpiece W at a first alignment position Sa that is upstream of the visual inspection range Ra and downstream of the first attitude detection position Sd1 on the transport trajectory T (particularly the first transport trajectory T1).

[0040] In particular, the upstream alignment mechanism 21 of this embodiment adjusts the orientation of each workpiece W from a reference orientation immediately after being placed at the first alignment position Sa to an imaging orientation optimized for imaging by the imaging unit 15 performed in the downstream visual inspection range Ra. The method of adjusting the orientation (orientation) and position of the workpiece W by the upstream alignment mechanism 21 is not limited. In this example, as will be described later, the upstream alignment mechanism 21 adjusts the orientation of the workpiece W from the reference orientation to the imaging orientation by rotating the workpiece W around a virtual vertical axis that passes vertically through the center (center of gravity) of the workpiece W, which is temporarily passed from the first component support unit 31 (for example, by rotating it by 45°).

[0041] Furthermore, the upstream alignment mechanism 21 of this embodiment adjusts not only the orientation (attitude) of the workpiece W temporarily passed from the first component support section 31, but also the position of the workpiece W (especially its horizontal position). For example, the control unit 50 derives the amount of deviation from the desired position of the workpiece W in the horizontal direction (for example, the mutually orthogonal X and Y directions) based on the detection result from the upstream attitude position detection sensor 20. The upstream alignment mechanism 21 then positions the workpiece W at the desired position by moving it horizontally to compensate for the amount of deviation.

[0042] In this way, the workpiece W, whose orientation (posture) and position have been adjusted, is passed from the upstream alignment mechanism 21 to the corresponding first part support 31 while the corresponding first part support 31 intermittently stops at the first alignment position Sa, and is transported downstream together with the corresponding first part support 31 as the first rotary table 12b rotates.

[0043] At the part transfer position St on the first transport track T1, the workpiece W is transferred from the first part support unit 31 to the second part support unit 32, and the workpiece W is transferred from the second part support unit 32 to the first part support unit 31. That is, the first part support unit 31, which moves from upstream and is positioned at the part transfer position St, intermittently stops at the part transfer position St, and while it is holding the workpiece W by suction (i.e., the workpiece W before it is imaged by the imaging unit 15), it passes the workpiece W it is holding to the second part support unit 32, and then the workpiece W that has been imaged by the imaging unit 15 is passed from the second part support unit 32. In this way, the workpiece W that each first part support unit 31 intermittently stops at the part transfer position St passes to the second part support unit 32 and the workpiece W that it receives from the second part support unit 32 are different from each other.

[0044] Each second part support 32 moves along the circular second transport track T2 by the intermittent rotation of the second rotary table 13b, moving from the part transfer position St, passing through the visual inspection range Ra, and then circulating back to the part transfer position St. Therefore, the workpiece W held by each second part support 32 also moves from the part transfer position St, passes through the visual inspection range Ra, and then returns to the part transfer position St.

[0045] The imaging unit 15 acquires an image of the workpiece W in the visual inspection range Ra of the second transport track T2. The imaging unit 15 in this embodiment includes a plurality of imaging devices (cameras; see reference numerals "41" to "45" in Figure 5), and acquires an image of each workpiece W by capturing its appearance using these plurality of imaging devices. The images of each workpiece W acquired by the imaging unit 15 (plural imaging devices) are transmitted to the control unit 50. The control unit 50 analyzes the images sent from the imaging unit 15 to determine whether each workpiece W has any appearance defects (e.g., scratches, dirt, and chips), and stores the result of this determination in association with the corresponding workpiece W.

[0046] The downstream attitude and position detection sensor 22 detects information regarding the attitude and position of the workpiece W at a second attitude detection position Sd2, which is downstream of the visual inspection range Ra and upstream of the second alignment position Sb on the transport trajectory T (particularly the first transport trajectory T1). The detection method by the downstream attitude and position detection sensor 22 is not limited, but typically the downstream attitude and position detection sensor 22 is equipped with an imaging device (camera) that acquires an image showing the attitude and position of the workpiece W at the second attitude detection position Sd2.

[0047] The downstream attitude and position detection sensor 22 can analyze the captured image to obtain various information about the workpiece W in the image (for example, the centroid position and angle information (orientation information) of the workpiece W image), and detect the attitude and position of the workpiece W based on this information. Note that such analysis of the captured image and the detection of the attitude and position of the workpiece W based on the results of this analysis may be performed by a device other than the downstream attitude and position detection sensor 22, such as the control unit 50. In that case, the device other than the downstream attitude and position detection sensor 22 will also function substantially as the downstream attitude and position detection sensor 22.

[0048] The downstream alignment mechanism 23 adjusts the orientation and position of the workpiece W based on the results detected by the downstream attitude and position detection sensor 22, under the control of the control unit 50. Specifically, the downstream alignment mechanism 23 adjusts the orientation (attitude) and position of the workpiece W at the second alignment position Sb, which is downstream of the visual inspection range Ra and the second attitude detection position Sd2 on the transport track T (particularly the first transport track T1), and upstream of the defective product recovery position Sc and the part discharge position Sr.

[0049] In particular, the downstream alignment mechanism 23 of this embodiment adjusts the orientation of each workpiece W from the imaging orientation immediately after being placed at the second alignment position Sb to a reference orientation optimized for receiving the workpiece W into the carrier tape 90 storage section 91 at the downstream component discharge position Sr. The method of adjusting the orientation (orientation) and position of the workpiece W by the downstream alignment mechanism 23 is not limited. In this example, the downstream alignment mechanism 23 adjusts the orientation of the workpiece W from the imaging orientation to the reference orientation by rotating the workpiece W around a virtual vertical axis that passes vertically through the center (center of gravity) of the workpiece W, which is temporarily passed from the first component support section 31 (for example, by rotating it by 45°).

[0050] Furthermore, the downstream alignment mechanism 23 of this embodiment adjusts not only the orientation (attitude) of the workpiece W temporarily passed from the first component support section 31, but also the position of the workpiece W (especially its horizontal position). For example, the control unit 50 derives the amount of deviation from the desired position of the workpiece W in the horizontal direction (for example, the mutually orthogonal X and Y directions) based on the detection result from the downstream attitude position detection sensor 22. The downstream alignment mechanism 23 then positions the workpiece W at the desired position by moving it horizontally to compensate for the amount of deviation.

[0051] In this way, the workpiece W, whose orientation (posture) and position have been adjusted, is passed from the downstream alignment mechanism 23 to the corresponding first part support 31 while the corresponding first part support 31 intermittently stops at the second alignment position Sb, and is transported downstream together with the corresponding first part support 31 as the first rotary table 12b rotates.

[0052] The defective product discharge device 27, under the control of the control unit 50, recovers from the corresponding first part support unit 31 any workpieces W that are located at the defective product recovery position Sc and for which defects have been detected as a result of the inspection by the inspection unit 26 and the visual inspection based on the captured images acquired by the imaging unit 15. Therefore, workpieces W for which defects have been detected are not transported downstream of the defective product recovery position Sc, and only workpieces W for which no defects were detected (good products) are sent to the part discharge position Sr downstream of the defective product recovery position Sc.

[0053] The workpiece (good product) W, positioned at the part release position Sr together with the corresponding first part support 31, is housed in the housing section 91 of the carrier tape 90, which is positioned at the part release position Sr by the housing transport guide section 35. The method of housing the workpiece W in the housing section 91 is not limited. For example, the control unit 50 may lower the corresponding first part support 31, and with at least a part of the workpiece W positioned in the corresponding housing section 91, weaken or stop the suction of the suction part of the first part support 31, causing the workpiece W to fall from the suction part, thereby housing the workpiece W in the housing section 91.

[0054] After the workpiece W is placed in the storage section 91 of the carrier tape 90 at the part release position Sr, the carrier tape 90 is intermittently fed downstream by a feeding device (not shown) so that a new empty storage section 91 is positioned at the part release position Sr by the storage body transport guide section 35. At the same time, the first rotary table 12b rotates intermittently so that the next storage section 91 is positioned at the part release position Sr.

[0055] As described above, since the defective workpiece W is recovered by the defective product discharge device 27, the first component support unit 31 that was holding the workpiece W recovered by the defective product discharge device 27 is placed at the component discharge position Sr without holding the workpiece W. The process of receiving the workpiece W into the storage unit 91 of the carrier tape 90 is performed only when the first component support unit 31 holding the workpiece (good product) W reaches the component discharge position Sr, and is not performed (skipped) when the first component support unit 31 that is not holding the workpiece W reaches the component discharge position Sr.

[0056] As described above, in the electronic component housing device 10 shown in Figure 1, two alignment mechanisms (upstream alignment mechanism 21 and downstream alignment mechanism 23) are provided upstream and downstream of the visual inspection range Ra on the transport track T, respectively. The upstream alignment mechanism 21, located upstream of the visual inspection range Ra, adjusts each workpiece W to an orientation (imaging orientation) and position optimized for the imaging process performed in the visual inspection range Ra. The downstream alignment mechanism 23, located downstream of the visual inspection range Ra, further adjusts each workpiece W to an orientation (reference orientation) and position optimized for the processing performed further downstream (in this example, defective product retrieval processing and good product housing processing). Thus, in this embodiment, the upstream alignment mechanism 21 adjusts the orientation (direction) of each workpiece W from the reference orientation to the imaging orientation, but downstream, the downstream alignment mechanism 23 returns the orientation of each workpiece W from the imaging orientation back to the reference orientation.

[0057] In the electronic component housing device 10 of this embodiment, the first alignment position Sa and the second alignment position Sb are provided along the first transport track T1, which is the movement track of each first component support section 31, while the visual inspection range Ra is provided along the second transport track T2, which is the movement track of each second component support section 32. At the component transfer position St on the first transport track T1, which is downstream of the first alignment position Sa and upstream of the second alignment position Sb, each workpiece W is passed from the first component support section 31 to the second component support section 32, and then from the second component support section 32 to the first component support section 31.

[0058] Next, the arrangement of the multiple imaging devices in the imaging unit 15 will be described.

[0059] Figure 4 shows an example of the orientation (reference orientation P0) of the workpieces W in the second transport trajectory T2 when the orientation (direction) of each workpiece W is not adjusted by the upstream alignment mechanism 21. Figure 5 shows an example of the orientation (imaging orientation P1) of the workpieces W in the second transport trajectory T2 when the orientation (direction) of each workpiece W is adjusted by the upstream alignment mechanism 21. Figures 4 and 5 mainly show schematic representations of the first transport trajectory T1, the second transport trajectory T2, the workpieces W, and the multiple imaging devices 41-45, while other elements (e.g., rotary tables 12b, 13b and component support parts 31, 32) are not shown.

[0060] Multiple imaging devices 41-45 acquire multiple images of each workpiece W by imaging each workpiece W from multiple imaging directions that are different from each other while each workpiece W passes through the visual inspection range Ra.

[0061] In this embodiment, each face of the hexahedral (rectangular) workpiece W (in this example, the sides L1 to L4 and the top surface (excluding the bottom surface)) is imaged by multiple imaging devices 41 to 45. In the example shown in Figures 4 and 5, imaging devices 41 to 44 are assigned to the sides (first side L1, fourth side L4, third side L3 and second side L2), and imaging device 45 is assigned to the top surface. The imaging direction of imaging device 45, which images the top surface of workpiece W, is downward. On the other hand, the imaging directions of imaging devices 41 to 44, which image the sides L1 to L4 of workpiece W, include a horizontal component and are in directions that are different from each other.

[0062] In the examples shown in Figures 4 and 5, each workpiece W is transported along the second transport track T2 within the visual inspection area Ra, and sequentially undergoes imaging processing of the first side surface L1 by the first imaging device 41, the fourth side surface L4 by the second imaging device 42, the top surface by the fifth imaging device 45, the third side surface L3 by the third imaging device 43, and the second side surface L2 by the fourth imaging device 44.

[0063] If the orientation of the workpiece W is not adjusted by the upstream alignment mechanism 21, each workpiece W is transported along the second transport track T2 while maintaining its reference orientation P0, as shown in Figure 4. In this case, each workpiece W is transported along the second transport track T2 such that two of its four sides, L2 and L4, which are opposite to each other, extend in the direction tangential to the second transport track T2 (horizontal direction), and the other two sides, L1 and L3, extend in a direction perpendicular to the tangency of the second transport track T2 (horizontal direction).

[0064] In this case, the imaging devices 41-44 that image the sides of each workpiece W are required to have an arrangement such as that shown in Figure 4 in order to ensure an imaging direction corresponding to the orientation of the assigned side L1-L4. As shown in Figure 4, if the orientation of the workpiece W is not adjusted upstream of the visual inspection range Ra, and each workpiece W is subjected to imaging processing by the imaging devices 41-45 (imaging unit 15) while remaining in the reference orientation P0, it is not guaranteed that all imaging devices 41-45 will be able to perform imaging appropriately.

[0065] For example, in the example shown in Figure 4, when imaging the first side surface L1 of the workpiece W with the first imaging device 41, it is difficult to install an illumination device (not shown) in close proximity to the first side surface L1. Also, in the example shown in Figure 4, there is a concern that other workpieces W or structures at the next downstream position may be included in the field of view (imaging range) of the first imaging device 41. Thus, there is a concern that the imaging of the first side surface L1 by the first imaging device 41 and the imaging of the fourth side surface L4 by the second imaging device 42 may overlap. Furthermore, in the example shown in Figure 4, since the second imaging device 42 is installed at a position far outward horizontally from the second transport track T2 (i.e., far outward radially from the second rotary table 13b), the device structure becomes horizontally bulky.

[0066] When each workpiece W is transported along a curved second transport track T2 (especially the visual inspection range Ra) in an orientation (direction) that is not optimized for imaging processing, multiple imaging devices 41-45 must be laid out under optical conditions far from the optimal conditions.

[0067] On the other hand, as shown in Figure 5, when each workpiece W is transported along a curved second transport trajectory T2 (especially the visual inspection range Ra) in an orientation optimized for imaging processing, it becomes easier to arrange multiple imaging devices 41 to 45 in accordance with optimal optical conditions.

[0068] In other words, in the example shown in Figure 5, each workpiece W is rotated 45° around its central axis (vertical axis) by the upstream alignment mechanism 21 at the first attitude detection position Sd1 (see Figure 1), and placed in an inclined position, which is the imaging attitude P1. Each workpiece W maintains the imaging attitude P1 even downstream of the first alignment position Sa on the transport track T. Therefore, even after each workpiece W is passed from the first part support section 31 to the second part support section 32 at the part transfer position St, it is transported along the second transport track T2 in the state of imaging attitude P1. In this case, each workpiece W in imaging attitude P1 is transported along the second transport track T2 such that all four sides L1 to L4 extend in a direction that forms an absolute angle (absolute value) of 45° with respect to the tangent direction of the second transport track T2, as shown in Figure 5.

[0069] In this case, the imaging devices 41-44 that image the sides of each workpiece W are required to have an arrangement such as that shown in Figure 5 in order to ensure an imaging direction corresponding to the orientation of the assigned side L1-L4. As shown in Figure 5, when the orientation of the workpiece W is adjusted upstream of the visual inspection range Ra, and each workpiece W is subjected to imaging processing by the imaging devices 41-45 (imaging unit 15) in the imaging posture P1, it becomes easier for the imaging devices 41-45 to perform imaging appropriately compared to the case shown in Figure 4.

[0070] For example, in the example shown in Figure 5, when the first side surface L1 of the workpiece W is imaged by the first imaging device 41, it is easy to install an illumination device in close proximity to the first side surface L1. Also in the example shown in Figure 5, there is no concern that other workpieces W or structures at the next downstream position will be included in the field of view (imaging range) of the first imaging device 41, and it is unlikely that imaging will overlap between the first imaging device 41 and the second imaging device 42. Furthermore, in the example shown in Figure 5, it is possible to limit the degree to which the second imaging device 42 moves horizontally outward from the second transport track T2, which suppresses the horizontal expansion of the device structure and is advantageous for saving horizontal space.

[0071] When each workpiece W is transported along a curved second transport trajectory T2 (especially the visual inspection range Ra) in an orientation optimized for imaging processing, it becomes easier to lay out multiple imaging devices 41-45 under optimal optical conditions or conditions close to optimal optical conditions.

[0072] Furthermore, since each workpiece W is transported along the second transport track T2 such that all four sides L1 to L4 extend in a direction that forms an absolute angle (absolute value) of 45° with respect to the tangent direction of the second transport track T2, a symmetrical arrangement of multiple imaging devices 41 to 44 that image the sides is possible. For example, as shown in Figure 5, it is possible to install the "first imaging device 41 and second imaging device 42" and the "third imaging device 43 and fourth imaging device 44" symmetrically with respect to each other, which is advantageous in reducing design costs and equipment configuration costs.

[0073] [Method for housing electronic components] Next, an example of a method for storing workpieces W onto the carrier tape 90 using the electronic component storage device 10 shown in Figures 1 to 3 and Figure 5 will be described. The electronic component storage method described below is properly carried out by driving various devices of the electronic component storage device 10 under the control of the control unit 50.

[0074] Figures 6 and 7 are flowcharts illustrating an example of an electronic component housing method. Figures 6 and 7 show the processing flow focusing on a single workpiece W. As described above, a large number of workpieces W are supplied one after another to the electronic component housing device 10 (for example, the first component support section 31), so the electronic component housing device 10 performs the processing flow shown in Figures 6 and 7 below for each of the supplied workpieces W.

[0075] The workpiece W is first supplied by the supply device 25 to the first part support unit 31, which is intermittently stopped at the part supply position Sf, and is held by the first part support unit 31 in a reference position P0 (S1 in Figure 6). The workpiece W is then transported to the characteristic inspection range Rc by the intermittent rotation of the first rotary table 12b, and undergoes inspection by the inspection unit 26 in the characteristic inspection range Rc (S2).

[0076] The workpiece W is then transported to the first attitude detection position Sd1 by the intermittent rotation of the first rotary table 12b, and its attitude and position are detected by the upstream attitude and position detection sensor 20 (S3). When the workpiece W is subjected to detection processing by the upstream attitude and position detection sensor 20, it has a reference attitude P0.

[0077] Then, the control unit 50 calculates the correction amount for the attitude and position of the workpiece W based on the detection results from the upstream attitude and position detection sensor 20 (S4). Specifically, the correction amount required to change the attitude of the workpiece W from the reference attitude P0 to the imaging attitude P1 is calculated.

[0078] The workpiece W is then transported to the first alignment position Sa by the intermittent rotation of the first rotary table 12b and passed from the first component support section 31 to the upstream alignment mechanism 21. The upstream alignment mechanism 21 then corrects the attitude and position of the workpiece W based on the calculated correction amount, changing its attitude from the reference attitude P0 to the imaging attitude P1 (S5).

[0079] The workpiece W is then returned from the upstream alignment mechanism 21 to the suction part of the first part support section 31 in the imaging orientation P1, and is transported to the part transfer position St by the intermittent rotation of the first rotary table 12b, and then passed from the first part support section 31 to the second part support section 32 (S6). The workpiece W is then transported to the visual inspection range Ra by the intermittent rotation of the second rotary table 13b, an image is acquired by the imaging unit 15, and the visual inspection of the workpiece W is performed by analyzing the image (S7).

[0080] The workpiece W is then transported to the part transfer position St by the intermittent rotation of the second rotary table 13b and passed from the second part support section 32 to the first part support section 31 (S8). The workpiece W is then transported to the second attitude detection position Sd2 by the intermittent rotation of the first rotary table 12b, and its attitude and position are detected by the downstream attitude and position detection sensor 22 (S9 in Figure 7). When the workpiece W is subjected to detection processing by the downstream attitude and position detection sensor 22, it has an imaging attitude P1.

[0081] Then, the control unit 50 calculates the correction amount for the attitude and position of the workpiece W based on the detection results from the downstream attitude and position detection sensor 22 (S10). Specifically, the correction amount required to change the attitude of the workpiece W from the imaging attitude P1 to the reference attitude P0 is calculated.

[0082] The workpiece W is then transported to the second alignment position Sb by the intermittent rotation of the first rotary table 12b and passed from the first component support section 31 to the downstream alignment mechanism 23. The downstream alignment mechanism 23 then corrects the attitude and position of the workpiece W based on the calculated correction amount, changing its attitude from the imaging attitude P1 to the reference attitude P0 (S11).

[0083] The workpiece W is then returned from the downstream alignment mechanism 23 to the suction part of the first part support section 31 in the reference position P0, and then transported to the defective product retrieval position Sc by the intermittent rotation of the first rotary table 12b.

[0084] The control unit 50 then causes the defective workpieces (defective items) W (N in S12) detected as defects as a result of the inspection (see inspection unit 26 and supply device 25) to be collected by the defective item discharge device 27 at the defective item collection position Sc (S14). On the other hand, the good workpieces (good items) W (Y in S12) that were not found to be defective are not collected by the defective item discharge device 27 at the defective item collection position Sc, but are transported to the part discharge position Sr by the intermittent rotation of the first rotary table 12b and stored in the storage section 91 of the carrier tape 90 (S13).

[0085] [Alignment mechanism] Next, specific configuration examples of the upstream alignment mechanism 21 and the downstream alignment mechanism 23 will be described. The alignment mechanism 110 described below is applicable to either or both of the upstream alignment mechanism 21 and the downstream alignment mechanism 23.

[0086] Figure 8 is a perspective view showing an example of the alignment mechanism 110.

[0087] The alignment mechanism 110 comprises a base 111, a stage 112 on which the workpiece W is placed, and a stage moving mechanism 113 for moving the stage 112 relative to the base 111.

[0088] The base 111 shown in Figure 8 has an upper base portion 111a that is relatively above and extends horizontally (in the X direction dX and Y direction dY), a lower base portion 111c that is relatively below and extends horizontally, a drive motor mounting plate 111d that is located between the upper base portion 111a and the lower base portion 111c and extends horizontally, and two lateral base portions 111b that extend in the height direction (vertical direction) between the upper base portion 111a and the lateral base portion 111b. The horizontal direction and the height direction are perpendicular to each other.

[0089] One lateral base portion 111b is connected and fixed to one end of the upper base portion 111a in the X direction dX and to one end of the lower base portion 111c in the X direction dX. The other lateral base portion 111b is connected and fixed to the other end of the upper base portion 111a in the X direction dX and to the other end of the lower base portion 111c in the X direction dX. The drive motor mounting plate 111d is connected and fixed to each of the lateral base portions 111b at both ends in the X direction dX. Therefore, the base 111 has an upper inner space (first inner space) surrounded by the upper base portion 111a, the lateral base portions 111b and the drive motor mounting plate 111d, and a lower inner space (second inner space) surrounded by the drive motor mounting plate 111d, the lateral base portions 111b and the lower base portion 111c.

[0090] The stage 112 is provided so as to be movable in the X direction (first direction) dX and the Y direction (second direction) dY by the stage moving mechanism 113, and is also provided so as to be movable (i.e., rotatable) in the rotation direction dR. The rotation direction dR is based on a rotation axis A that extends in the height direction so as to penetrate the stage 112 (particularly the reference mounting position (e.g., the center position of the stage 112)), and the stage 112 is provided so as to be rotatable about the rotation axis A. The X direction dX and the Y direction dY are directions that are perpendicular to the rotation axis A and are perpendicular to each other. Note that any direction along the plane (in this example, the horizontal plane) that extends along the X direction dX and the Y direction dY is called the XY direction, and the XY direction does not necessarily have to coincide with the X direction dX or the Y direction dY.

[0091] In this embodiment, the X-direction position, Y-direction position, and rotational position of the stage 112 can be adjusted for each workpiece W by the stage movement mechanism 113.

[0092] In this embodiment, one workpiece W is transported from upstream by the first part support unit 31 and placed on the stage 112. After undergoing adjustment of its posture and position on the stage 112, it is transported downstream from the stage 112 by the first part support unit 31. This series of processes is performed sequentially for multiple workpieces W. That is, immediately after the adjustment of the posture and position of a preceding workpiece W and its transport from the stage 112 are completed, the next workpiece W, transported from upstream, is placed on the stage 112 and its posture and position are adjusted.

[0093] The stage moving mechanism 113 of this embodiment can move the stage 112 two-dimensionally in the horizontal direction to position the stage 112 at a desired horizontal position, and can also move the stage 112 in the rotational direction dR to position the stage 112 at a desired orientation (direction) in the horizontal direction. Specifically, the stage moving mechanism 113 can move the stage 112 linearly by a desired distance along the X direction dX and the Y direction dY, and can also rotate the stage 112 by a desired amount (desired angle) in the rotational direction dR.

[0094] The stage moving mechanism 113 shown in Figure 8 includes an XY moving device that moves the stage 112 in the XY direction relative to the base 111, and a rotational moving device that rotates the stage 112 in the rotational direction dR relative to the base 111.

[0095] The XY moving device includes X-direction drive units (first-direction drive units) 120-125, Y-direction drive units (second-direction drive units) 130-135, a stage X-axis guide unit (first-direction guide unit) 115, and a stage Y-axis guide unit (second-direction guide unit) 116.

[0096] The X-direction drive unit includes an X-axis drive motor (first-direction drive source) 120 and an X-axis movable table (first-direction movable part) 121 which is moved in the X-direction dX together with the stage 112 by the driving force output from the X-axis drive motor 120.

[0097] The Y-direction drive unit includes a Y-axis drive motor (second-direction drive source) 130 and a Y-axis movable table (second-direction movable part) 131 which is moved in the Y-direction dY together with the stage 112 by the driving force output from the Y-axis drive motor 130.

[0098] The X-axis drive motor 120 and the Y-axis drive motor 130 are fixedly supported by the base 111, and even when the stage 112 is moved horizontally in the directions dX, dY and rotationally in the direction dR by the stage moving mechanism 113, the X-axis drive motor 120 and the Y-axis drive motor 130 do not move horizontally in the directions dX, dY and rotationally in the direction dR.

[0099] In the example shown in Figure 8, the X-axis drive motor body 120a of the X-axis drive motor 120 is positioned in the upper inner space of the base 111 and is fixedly supported by the upper base portion 111a. The X-axis drive motor shaft of the X-axis drive motor 120 protrudes upward from the X-axis drive motor body 120a and extends in the height direction so as to pass through the through hole (first through hole) of the upper base portion 111a. Similarly, the Y-axis drive motor of the Y-axis drive motor 130 is positioned in the upper inner space of the base 111 and is fixedly supported by the upper base portion 111a. The Y-axis drive motor shaft of the Y-axis drive motor 130 protrudes upward from the Y-axis drive motor body 130a and extends in the height direction so as to pass through the through hole (second through hole) of the upper base portion 111a.

[0100] The X-axis drive motor 120 and the Y-axis drive motor 130 are configured to rotate their motor shafts by a desired amount under the control of the control unit 50. The specific configuration of such X-axis drive motor 120 and Y-axis drive motor 130 is not limited; for example, the X-axis drive motor 120 and Y-axis drive motor 130 may be configured using servo motors.

[0101] An X-axis drive cam 122 is attached to the tip of the X-axis drive motor shaft (particularly the portion located above the upper base portion 111a). The X-axis drive cam 122 rotates integrally with the X-axis drive motor shaft, which is rotationally driven by the X-axis drive motor body 120a, and the axis of rotation of the X-axis drive cam 122 coincides with the axis of rotation of the X-axis drive motor shaft. On the other hand, an X-axis drive cam follower 123 is fixedly provided on the X-axis movable table 121, extending downward (vertically) from the lower surface of the X-axis movable table 121. The X-axis drive cam follower 123 is in contact with the X-axis drive cam 122 and receives a force acting from the X-axis drive cam 122 in the X direction dX as the X-axis drive cam 122 rotates, and is provided to reciprocate in the X direction dX integrally with the X-axis movable table 121.

[0102] An X-axis drive spring (X-axis drive elastic part) 124 and a table X-axis guide unit 125 are further attached to the X-axis movable table 121.

[0103] In this example, the X-axis drive spring 124 is a tension spring in which one end is supported by the X-axis movable table 121 and the other end is supported by the upper base portion 111a via a connecting member. The X-axis drive spring 124 acts an elastic force (restoring force) on the X-axis movable table 121 in the opposite direction (X direction dX) to the direction of the force in the X direction dX that the X-axis movable table 121 receives from the X-axis drive cam 122 via the X-axis drive cam follower 123. In this way, the X-axis drive spring 124 works to ensure contact (tightness) between the X-axis drive cam 122 and the X-axis drive cam follower 123. Alternatively, an elastic body other than a spring may be used instead of the X-axis drive spring 124, or any mechanism other than an elastic force (for example, a magnetic force) may be used to act on the X-axis movable table 121 in the opposite direction (X direction dX) to the direction of the force in the X direction dX that the X-axis movable table 121 receives from the X-axis drive cam 122.

[0104] In the example described above, the X-axis movable table 121, which has been moved by the X-axis drive cam 122, is returned to its original position by the use of an arbitrary mechanism such as a spring (elastic body) or a magnet. However, such an arbitrary mechanism such as a spring (elastic body) or a magnet is not required. For example, if the X-axis drive cam 122 has a structure that allows the X-axis movable table 121 to reciprocate in the X direction dX, then it is unnecessary to install a mechanism to return the X-axis movable table 121 to its original position.

[0105] The table X-axis guide unit 125 in this example is composed of an LM guide (Linear Motion Guide) and includes an LM rail fixedly provided on the upper surface of the upper base portion 111a and an LM block fixedly attached to the lower surface of the X-axis movable table 121 and sliding on the LM rail. The LM rail of the table X-axis guide unit 125 supports the LM block in such a way that it allows the LM block to move freely back and forth in the X direction dX while restricting the LM block's movement in the Y direction dY.

[0106] Similarly, a Y-axis drive cam 132 is attached to the tip of the Y-axis drive motor shaft (particularly the portion located above the upper base portion 111a). The Y-axis drive cam 132 rotates integrally with the Y-axis drive motor shaft, which is rotationally driven by the Y-axis drive motor body 130a, and the axis of rotation of the Y-axis drive cam 132 coincides with the axis of rotation of the Y-axis drive motor shaft. On the other hand, a Y-axis drive cam follower 133 is fixedly provided on the Y-axis movable table 131, extending downward (vertically) from the lower surface of the Y-axis movable table 131. The Y-axis drive cam follower 133 is in contact with the Y-axis drive cam 132 and receives a force acting from the Y-axis drive cam 132 in the Y direction dY as the Y-axis drive cam 132 rotates, and is provided to reciprocate along the Y direction dY integrally with the Y-axis movable table 131.

[0107] A Y-axis drive spring (Y-axis drive elastic part) 134 and a table Y-axis guide unit 135 are further attached to the Y-axis movable table 131. In this example, the Y-axis drive spring 134 is a tension spring in which one end is supported by the Y-axis movable table 131 and the other end is supported by the upper base part 111a via a connecting member. The Y-axis drive spring 134 acts an elastic force (restoring force) on the Y-axis movable table 131 in the opposite direction (Y-direction dY) to the direction of the force in the Y-direction dY that the Y-axis movable table 131 receives from the Y-axis drive cam 132 via the Y-axis drive cam follower 133. In this way, the Y-axis drive spring 134 works to ensure contact (tightness) between the Y-axis drive cam 132 and the Y-axis drive cam follower 133. In addition, an elastic body other than a spring may be used instead of the Y-axis drive spring 134, or any mechanism other than an elastic force (for example, a magnetic force) may be used to act on the Y-axis movable table 131 in the opposite direction (Y-direction dY) to the direction of the force in the Y-direction dY that the Y-axis movable table 131 receives from the Y-axis drive cam 132 (for example, a mechanism using a magnet).

[0108] In the example described above, the Y-axis movable table 131, which has been moved by the Y-axis drive cam 132, is returned to its original position by the use of an arbitrary mechanism such as a spring (elastic body) or a magnet. However, such an arbitrary mechanism such as a spring (elastic body) or a magnet is not required. For example, if the Y-axis drive cam 132 has a structure that allows the Y-axis movable table 131 to reciprocate in the Y direction dY, then it is unnecessary to install a mechanism to return the Y-axis movable table 131 to its original position.

[0109] The table Y-axis guide unit 135 in this example is composed of LM guides and includes an LM rail fixedly provided on the upper surface of the upper base portion 111a and an LM block fixedly attached to the lower surface of the Y-axis movable table 131 and sliding on the LM rail. The LM rail of the table Y-axis guide unit 135 supports the LM block in such a way that it allows the LM block to move freely back and forth in the Y direction dY while restricting the movement of the LM block in the X direction dX.

[0110] The stage X-axis guide unit 115 is attached to the upper base portion 111a and the stage 112, allowing movement of the stage 112 in the X direction dX relative to the upper base portion 111a while restricting movement in the Y direction dY. The stage X-axis guide unit 115 can be positioned between either the upper base portion 111a or the stage 112 and the Y-axis movable table 131. In the example shown in Figure 8, the stage X-axis guide unit 115 is positioned between the stage 112 and the Y-axis movable table 131, and the Y-axis movable table 131 is attached to the stage 112 via the stage X-axis guide unit 115.

[0111] More specifically, the stage X-axis guide unit 115 shown in Figure 8 is composed of LM guides and includes an LM rail fixedly provided on the upper surface of the Y-axis movable table 131, and an LM block fixedly attached to the stage 112 via a first stage support 141, a turntable 171, and a second stage support 142, which slides on the LM rail. The LM rail of the stage X-axis guide unit 115 supports the LM block in such a way that it allows the LM block to move freely back and forth in the X direction dX while restricting the LM block's movement in the Y direction dY.

[0112] The stage Y-axis guide unit 116 is attached to the upper base portion 111a and the stage 112, allowing movement of the stage 112 in the Y direction dY relative to the upper base portion 111a while restricting movement in the X direction dX. The stage Y-axis guide unit 116 can be positioned between either the upper base portion 111a or the stage 112 and the X-axis movable table 121. In the example shown in Figure 8, the stage Y-axis guide unit 116 is positioned between the stage 112 and the X-axis movable table 121, and the X-axis movable table 121 is attached to the stage 112 via the stage Y-axis guide unit 116.

[0113] More specifically, the stage Y-axis guide unit 116 shown in Figure 8 is composed of LM guides and includes an LM rail fixedly provided on the upper surface of the X-axis movable table 121, and an LM block fixedly attached to the stage 112 via a first stage support 141, a turntable 171, and a second stage support 142, which slides on the LM rail. The LM rail of the stage Y-axis guide unit 116 supports the LM block in such a way that it allows the LM block to move freely back and forth in the Y direction dY while restricting the LM block's movement in the X direction dX.

[0114] The rotary moving device includes a θ-axis drive motor (rotation direction drive source) 170, a turntable (rotation support part) 171, and a rotation relay part 172.

[0115] The θ-axis drive motor 170 is fixedly supported by the base 111, and even when the stage 112 is moved in the horizontal direction dX, dY and the rotational direction dR by the stage moving mechanism 113, the θ-axis drive motor 170 does not move in the horizontal direction dX, dY and the rotational direction dR.

[0116] In the example shown in Figure 8, the θ-axis drive motor body 170a of the θ-axis drive motor 170 is positioned in the lower inner space of the base 111 and is fixedly supported by the drive motor mounting plate 111d. The θ-axis drive motor shaft of the θ-axis drive motor 170 protrudes upward from the θ-axis drive motor body and extends in the height direction so as to pass through the through hole in the drive motor mounting plate 111d. A rotating relay part 172 (a second coupling 174 in this example) is fixedly attached to the tip of the θ-axis drive motor shaft (particularly the part located above the drive motor mounting plate 111d).

[0117] The θ-axis drive motor 170 is configured to rotate its motor shaft by a desired amount under the control of the control unit 50. The specific configuration of such a θ-axis drive motor 170 is not limited, and for example, the θ-axis drive motor 170 may be configured using a servo motor.

[0118] The turntable 171 is rotated in the rotational direction dR together with the stage 112 by the rotational driving force output from the θ-axis drive motor 170 and transmitted via the rotation relay unit 172.

[0119] In other words, in the example shown in Figure 8, a second stage support 142, which is fixed to the stage 112, is fixedly attached to the upper surface of the turntable 171, and the turntable 171 is fixedly attached to the stage 112 via the second stage support 142. A rotation support shaft extends vertically downward from the lower surface of the turntable 171. Although not visible in Figure 8, the rotation support shaft extends so as to penetrate the stage moving mechanism 113 (for example, the first stage support 141 and the X-axis movable table 121) and the upper base portion 111a, and at one end (upper end) it is connected and fixed to the first stage support 141 and the second stage support 142, and at the other end (lower end) it is connected and fixed to the rotation relay portion 172 (first coupling 173 in this example).

[0120] Therefore, as the θ-axis drive motor shaft of the θ-axis drive motor 170 rotates, the rotating relay unit 172 rotates integrally with the θ-axis drive motor shaft. As the rotating relay unit 172 rotates, the rotating support shaft and the turntable 171 rotate integrally with the rotating relay unit 172, and as a result, the stage 112 rotates integrally with the turntable 171 and the second stage support unit 142.

[0121] In particular, the rotation relay unit 172 of this embodiment transmits the driving force output from the θ-axis drive motor 170 to the rotation support unit (rotation support shaft and turntable 171), and allows the rotation support unit (rotation support shaft and turntable 171) to move horizontally (in the XY direction) relative to the θ-axis drive motor 170. That is, regardless of whether there is a horizontal positional misalignment between the rotation support unit (rotation support shaft and turntable 171) and the θ-axis drive motor 170, the rotation relay unit 172 transmits the rotational driving force from the θ-axis drive motor 170 to the rotation support unit, thereby allowing the second stage support unit 142 and the stage 112 connected to the rotation support unit to rotate in the rotational direction dR.

[0122] The rotating relay section 172 shown in Figure 8 includes a first coupling 173 fixedly attached to the rotating support shaft, a second coupling 174 fixedly attached to the θ-axis drive motor shaft of the θ-axis drive motor 170, and a turn joint shaft (coupling connection section) 175 connected to the first coupling 173 and the second coupling 174. The turn joint shaft 175 changes its orientation according to the relative horizontal position (XY direction) between the first coupling 173 and the second coupling 174.

[0123] The first coupling 173 moves horizontally as a whole, together with the rotating support shaft, turntable 171, second stage support 142, and stage 112. Therefore, when the stage 112 is moved horizontally (in the XY direction) by the aforementioned XY moving device, the first coupling 173 also moves horizontally as a whole with the stage 112. As a result, the horizontal position (XY direction position) of the first coupling 173 basically always coincides with the horizontal position of the stage 112. On the other hand, the second coupling 174, which is fixedly attached to the θ-axis drive motor 170, does not move horizontally, similar to the θ-axis drive motor 170, and the horizontal position of the second coupling 174 coincides with the horizontal position of the θ-axis drive motor 170.

[0124] Therefore, as the stage 112 moves horizontally, the first coupling 173 also moves horizontally, which can cause a horizontal misalignment between the first coupling 173 and the second coupling 174. Even if a misalignment occurs between the first coupling 173 and the second coupling 174 in this way, the turn joint shaft 175 takes an inclined position corresponding to the horizontal positions of the first coupling 173 and the second coupling 174, thereby absorbing the effects of the misalignment. In other words, regardless of the amount of horizontal misalignment between the first coupling 173 and the second coupling 174, the first coupling 173 is properly connected while maintaining its relative position and orientation (direction) with respect to the rotation support shaft, turntable 171, second stage support part 142, and stage 112, and the second coupling 174 is properly connected while maintaining its relative position and orientation (direction) with respect to the θ-axis drive motor 170.

[0125] Since a mechanism for absorbing misalignment between the θ-axis drive motor 170 and the rotation support unit (rotation support shaft and turntable 171) using such a rotation relay unit 172 is already known, a more detailed explanation of the specific configuration example of the rotation relay unit 172 will be omitted.

[0126] Note that the alignment mechanism 110 shown in Figure 8 is merely an example, and the alignment mechanism 110 may be modified.

[0127] As described above, the alignment mechanism 110 (upstream alignment mechanism 21 and / or downstream alignment mechanism 23) shown in Figure 8 comprises a base 111, a stage 112 on which the workpiece W is placed, and a stage moving mechanism 113 for moving the stage 112 relative to the base 111. The stage moving mechanism 113 includes XY moving devices 115, 116, 120~125, 130~135 for moving the stage 112 relative to the base 111 in the XY direction perpendicular to the rotation axis A, and a stage moving mechanism 113 for moving the stage 112 relative to the base 111 in the XY direction perpendicular to the rotation axis A. The stage 112 includes rotational moving devices 170 to 172 that rotate the stage 112 in a rotational direction with respect to the rotation axis A, and each rotational moving device 170 to 172 includes a rotational drive source 170, a rotational support part 171 that is rotated in the rotational direction together with the stage 112 by the driving force output from the rotational drive source 170, and a rotational relay part 172 that transmits the driving force output from the rotational drive source 170 to the rotational support part 171, and the rotational relay part 172 that allows the rotational support part 171 to move in the XY direction relative to the rotational drive source 170.

[0128] As described above, according to this embodiment, the electronic component housing device 10 that houses the workpiece W in the housing section 91 of the carrier tape 90 comprises: transport devices 12 and 13 that transport the workpiece W along the transport track T; an imaging unit 15 that acquires an image of the workpiece W in the visual inspection range Ra of the transport track T; an upstream alignment mechanism 21 that adjusts the orientation of the workpiece W at a first alignment position Sa upstream of the visual inspection range Ra of the transport track T; and a downstream alignment mechanism 23 that adjusts the orientation of the workpiece W at a second alignment position Sb downstream of the visual inspection range Ra of the transport track T and upstream of the component discharge position Sr where the workpiece W is passed to the carrier tape 90.

[0129] Furthermore, the transport devices 12 and 13 include a rotating first rotary table 12b, a plurality of first component support parts 31 provided on the first rotary table 12b and supporting the workpiece W in a releaseable manner, a rotating second rotary table 13b, and a plurality of second component support parts 32 provided on the second rotary table 13b and supporting the workpiece W in a releaseable manner. The first alignment position Sa and the second alignment position Sb are along the first transport track T1 of the plurality of first component support parts 31 that move with the rotation of the first rotary table 12b, and the visual inspection range Ra is along the second transport track T2 of the plurality of second component support parts 32 that move with the rotation of the second rotary table 13b. Downstream of the transport track T from the first alignment position Sa, the workpiece W is passed from the first component support part 31 to the second component support part 32, and upstream of the transport track T from the second alignment position Sb, the workpiece W is passed from the second component support part 32 to the first component support part 31.

[0130] Furthermore, the electronic component housing device 10 is equipped with a downstream attitude and position detection sensor 22 that detects information regarding the attitude and position of the workpiece W upstream of the second alignment position Sb in the transport track T, and the downstream alignment mechanism 23 adjusts the attitude and position of the workpiece W based on the results detected by the downstream attitude and position detection sensor 22.

[0131] Furthermore, the upstream alignment mechanism 21 adjusts the workpiece W from the reference orientation P0 by rotating the workpiece W around a vertical axis extending in the vertical direction, the downstream alignment mechanism 23 adjusts the orientation of the workpiece W back to the reference orientation P0, and the imaging unit 15 includes multiple imaging devices 41 to 44 that acquire images of the workpiece W by imaging the side surfaces L1 to L4 of the workpiece W from multiple imaging directions that include a horizontal component and are in mutually different orientations.

[0132] [First variation] Figure 9 shows an example of the posture of the workpiece W in the transport trajectory T (imaging posture P1) in the first modified example.

[0133] In this modification, elements identical to or corresponding to those in the above-described embodiments are denoted by the same reference numerals, and detailed descriptions are omitted.

[0134] In the above-described embodiment, multiple conveying devices 12 and 13 are provided as conveying devices for transporting the workpiece W. However, in this modified example, only a single conveying device (i.e., the first conveying device 12) is provided, and the second conveying device 13 is not provided.

[0135] In the example shown in Figure 9, the first alignment position Sa, the visual inspection range Ra, and the second alignment position Sb are positioned along the transport trajectory T of the multiple first component support units 31 that move with the rotation of the rotary table 12b. Therefore, the upstream alignment mechanism 21, the imaging unit 15 (imaging devices 41-45), and the downstream alignment mechanism 23 are also positioned along the outer circumference of the rotary table 12b.

[0136] Although not shown in Figure 9, the supply device 25, inspection unit 26, upstream attitude position detection sensor 20, downstream attitude position detection sensor 22, defective product discharge device 27, and container transport guide unit 35 are provided along the outer circumference of the rotary table 12b, similar to the embodiment described above.

[0137] In this modified example, the intermediate alignment mechanism 24 is provided along the outer circumference of the first conveying device 12 at an intermediate position (third alignment position Sm) within the visual inspection range Ra. The upstream alignment mechanism 21 and the downstream alignment mechanism 23 rotate each workpiece W by 45° around the central axis (vertical axis), similar to the embodiment described above, whereas the intermediate alignment mechanism 24 rotates each workpiece W by 180° around the central axis (vertical axis) under the control of the control unit 50.

[0138] As the workpiece W is rotated by the intermediate alignment mechanism 24, the positions of the outward-facing sides L1 and L2 and the inward-facing sides L3 and L4 of each workpiece W are swapped. As a result, with respect to the circular transport trajectory T, the first side L1 and the second side L2 are positioned inward and the third side L3 and the fourth side L4 are positioned outward. Therefore, a workpiece W having an imaging orientation P1 between the first alignment position Sa and the third alignment position Sm has an imaging orientation P2 between the third alignment position Sm and the second alignment position Sb, in which the outward-facing sides L1 and L2 and the inward-facing sides L3 and L4 are swapped.

[0139] Therefore, upstream of the third alignment position Sm and downstream of the first alignment position Sa, imaging devices (in this example, the first imaging device 41 and the fourth imaging device 44) are provided to image two adjacent and outward-facing sides of the workpiece W (in this example, the first side L1 and the second side L2). On the other hand, downstream of the third alignment position Sm and upstream of the second alignment position Sb, imaging devices (in this example, the third imaging device 43 and the fourth imaging device 44) are provided to image the other two adjacent and outward-facing sides of the workpiece W (in this example, the third side L3 and the fourth side L4).

[0140] In the example shown in Figure 9, while each workpiece W is intermittently stopped at a certain imaging position (first imaging position) on the transport track T, the first imaging device 41 and the fourth imaging device 44 simultaneously or with a time delay image the first side L1 and the second side L2. Similarly, while each workpiece W is intermittently stopped at another imaging position (second imaging position) on the transport track T, the third imaging device 43 and the second imaging device 42 simultaneously or with a time delay image the third side L3 and the fourth side L4.

[0141] Although not shown in Figure 9, the visual inspection range Ra of this modified example is also provided with an imaging device 45 (see Figure 5) for imaging the upper surface of each workpiece W and an imaging device for imaging the lower surface. The lower surface of the workpiece W is imaged via the first rotating table 12b by an imaging device positioned below the first rotating table 12b, which transmits visible light.

[0142] In this manner, after imaging processing by the imaging device is completed in the visual inspection range Ra, each workpiece W is returned from the imaging orientation P2 to the reference orientation P0 at the second alignment position Sb, which is located downstream of the visual inspection range Ra. When the workpiece W is positioned in the reference orientation P0, two of the four sides of the workpiece W, L1 and L3, which are opposite to each other, extend in the direction tangential to the transport track T, while the other two opposite sides, L2 and L4, extend in a direction perpendicular to the tangential to the transport track T.

[0143] [Other variations] In the above-described embodiment (see Figure 1), the position where the workpiece W is transferred from the first part support section 31 (main table) to the second part support section 32 (sub-table) and the position where the workpiece W is transferred from the second part support section 32 to the first part support section 31 are the same, but they may be provided separately.

[0144] Furthermore, the transport devices 12 and 13 may transport each workpiece W in a position where the two electrodes provided at both ends of the workpiece W are at the top and bottom. In such a case, if the two electrodes each have a unique polarity, a polarity detection mechanism for detecting the polarity of the two electrodes of each workpiece W and an inversion mechanism for inverting the vertical position of the workpiece W may be provided in the middle of the transport track T. In this case, under the control of the control unit 50, the inversion mechanism may selectively invert the workpiece W whose vertical position needs to be inverted based on the detection result of the polarity detection mechanism, so that the polarity of the workpieces W is aligned with each other.

[0145] It should be noted that the embodiments and modifications disclosed herein are illustrative in all respects and should not be construed restrictively. The embodiments and modifications described above may be omitted, substituted, and modified in various ways without departing from the scope and spirit of the appended claims. For example, the embodiments and modifications described above may be combined in whole or in part, and other embodiments may be combined with the embodiments or modifications described above. Furthermore, the effects described herein are illustrative, and other effects may result.

[0146] The technical categories that embody the above-described technical concept are not limited. For example, the above-described technical concept may be embodied by a computer program that causes a computer to execute one or more steps included in a method for manufacturing or using the above-described device. Alternatively, the above-described technical concept may be embodied by a computer-readable, non-transitory recording medium on which such a computer program is recorded. [Explanation of Symbols]

[0147] 10 Electronic component housing device, 12 First transport device, 12a First transport drive unit, 12b First rotary table, 13 Second transport device, 13a Second transport drive unit, 13b Second rotary table, 15 Imaging unit, 20 Upstream attitude position detection sensor, 21 Upstream alignment mechanism, 22 Downstream attitude position detection sensor, 23 Downstream alignment mechanism, 24 Intermediate alignment mechanism, 25 Supply device, 26 Inspection unit, 27 Defective product discharge device, 31 First component support unit, 32 Second component support unit, 35 Housing transport guide unit, 41 First imaging device, 42 Second imaging device, 43 Third imaging device, 44 Fourth imaging device, 45 Fifth imaging device, 50 Control unit, 90 Carrier tape, 91 Housing unit, 110 Alignment mechanism, 111 Base, 111a Upper base unit, 111b Side base section, 111c Lower base section, 111d Drive motor mounting plate, 112 Stage, 113 Stage movement mechanism, 115 Stage X-axis guide unit, 116 Stage Y-axis guide unit, 120 X-axis drive motor, 120a X-axis drive motor body, 121 X-axis movable table, 122 X-axis drive cam, 123 X-axis drive cam follower, 124 X-axis drive spring, 125 Table X-axis guide unit, 130 Y-axis drive motor, 130a Y-axis drive motor body, 131 Y-axis movable table, 132 Y-axis drive cam, 133 Y-axis drive cam follower, 134 Y-axis drive spring, 135 Table Y-axis guide unit, 141 First stage support section, 142 Second stage support section, 170 θ-axis drive motor, 170a θ-axis drive motor body, 171 Turntable, 172 Rotation relay section, 173 First coupling, 174 Second coupling, 175 Turn joint shaft, A Rotation axis, dR Rotation direction, dX X direction, dY Y direction, L1 First side, L2 Second side, L3 Third side, L4 Fourth side, P0 Reference orientation, P1 Imaging orientation, P2 Imaging orientation, Ra Visual inspection range, Rc Characteristic inspection range, Sa First alignment position, Sb Second alignment position, Sc Defective product retrieval position, Sd1 First orientation detection position, Sd2 Second orientation detection position, Sf Part supply position, Sr Part discharge position, Sm Third alignment position, St Part transfer position, T Transport trajectory, T1 First transport trajectory, T2Second transport track, W work

Claims

1. An electronic component housing device that houses electronic components in a housing section of a housing, A transport device for transporting the aforementioned electronic components along a transport track, An imaging unit that acquires an image of the electronic component within the visual inspection range of the transport track, An upstream alignment mechanism for adjusting the orientation of the electronic component at a first alignment position upstream of the visual inspection range in the transport track, A downstream alignment mechanism adjusts the orientation of the electronic component at a second alignment position located downstream of the visual inspection range of the transport track and upstream of the component discharge position where the electronic component is transferred to the housing. An electronic component housing device equipped with the following features.

2. The transport device comprises a rotating turntable and a plurality of component support parts provided on the turntable and supporting the electronic components in a detachable manner. The first alignment position, the visual inspection range, and the second alignment position are along the trajectories of the plurality of component support parts that move with the rotation of the rotary table. The electronic component housing device according to claim 1.

3. The aforementioned transport device is The first rotating table, A plurality of first component support parts provided on the first rotary table and supporting the electronic components in a detachable manner, A second rotating table, A plurality of second component support parts provided on the second rotary table and supporting the electronic components in a detachable manner, It has, The first alignment position and the second alignment position are along the trajectories of the plurality of first component support parts that move with the rotation of the first rotary table. The visual inspection range is along the trajectory of the plurality of second component support parts that move with the rotation of the second rotary table, Downstream of the transport track from the first alignment position, the electronic component is passed from the first component support to the second component support. Upstream of the transport track from the second alignment position, the electronic component is passed from the second component support to the first component support. The electronic component housing device according to claim 1.

4. Upstream of the second alignment position in the transport track, a sensor is provided to detect information regarding the attitude and position of the electronic component. The downstream alignment mechanism adjusts the attitude and position of the electronic component based on the results detected by the sensor. The electronic component housing device according to claim 1.

5. The downstream alignment mechanism is, Bass and, A stage on which the aforementioned electronic components are mounted, The system includes a stage moving mechanism for moving the stage relative to the base, The aforementioned stage moving mechanism is An XY moving device moves the stage relative to the base in the XY direction perpendicular to the axis of rotation, The device includes a rotational moving device that rotates the stage relative to the base in a rotational direction with respect to the rotation axis, The aforementioned rotary moving device is Rotational direction drive source, A rotational support unit is rotated in the rotational direction together with the stage by the driving force output from the rotational drive source, A rotation relay unit that transmits the driving force output from the rotational drive source to the rotational support unit, and includes a rotation relay unit that allows the rotational support unit to move in the XY direction relative to the rotational drive source, The electronic component housing device according to claim 1.

6. The upstream alignment mechanism adjusts the electronic component from its reference position by rotating it around a vertical axis extending in the vertical direction. The downstream alignment mechanism adjusts the orientation of the electronic component to return it to the reference orientation. The imaging unit includes a plurality of imaging devices that capture images of the side surface of the electronic component from a plurality of imaging directions that include a horizontal component and are in mutually different orientations, thereby acquiring an image of the electronic component. The electronic component housing device according to claim 1.

Images