Workpiece transport device and workpiece transport method

Abstract

To provide a workpiece conveying device and a workpiece conveying method capable of accommodating a workpiece in a housing part formed in a tray in a correct posture.SOLUTION: A workpiece conveying device includes a conveying mechanism, a tray having a plurality of housing parts, a tray detection device, a counting device, a moving mechanism, and a control part. When the tray detection device detects that the tray is positioned at a workpiece housing position, the control part controls the conveying mechanism to accommodate workpieces in the plurality of housing parts. When the number of workpieces counted by the counting device reaches a preset threshold, the control part controls the moving mechanism to move the tray to a workpiece floating adjustment position different from the workpiece housing position, move a new tray to the workpiece housing position, reset the number of workpieces counted by the counting device and make the tray moved to the workpiece floating adjustment position reciprocate so as to be rapidly accelerated and rapidly decelerated in a predetermined direction within a horizontal plane.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a workpiece transport device and a workpiece transport method. [Background technology]

[0002] For example, a workpiece transport device for transporting workpieces (electronic components) is known, as disclosed in Patent Document 1. The workpiece transport device transports the workpiece by suction with a suction nozzle, and stores the workpiece in a storage unit provided in a tray. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-50091 Summary of the Invention [Problem to be solved by the invention]

[0004] When a workpiece is placed in a tray storage compartment by a workpiece transport device, the workpiece is released from the suction nozzle near the top surface of the tray and dropped toward the storage compartment to avoid collision between the tray and the workpiece. However, since the position of the workpiece as it falls is unstable, the workpiece may not be placed in the correct position in the tray storage compartment.

[0005] In view of the above, an object of the present disclosure is to provide a workpiece transport device and a workpiece transport method that can store workpieces in a normal posture in a storage section provided in a tray. [Means for solving the problem]

[0006] The embodiments of the present disclosure relate to the following [1] to [6].

[0007] [1] A transport mechanism including a suction nozzle that suctions a workpiece and transports the workpiece by suction with the suction nozzle; a tray having a plurality of storage sections for storing the workpieces transported by the transport mechanism; a tray detection device that detects that the tray is positioned at a workpiece accommodation position; A counting device that counts the number of the works accommodated in the accommodation section; a moving mechanism for moving the tray; a control unit, When the tray detection device detects that the tray is located at the work storage position, the control unit controls the transport mechanism to store the work in the multiple storage sections, and when the number of the work counted by the counting device reaches a predetermined threshold, controls the moving mechanism to move the tray to a work float adjustment position different from the work storage position, move a new tray to the work storage position, and reset the number of the work counted by the counting device, and move the tray moved to the work float adjustment position back and forth so as to rapidly accelerate and decelerate in a predetermined direction in a horizontal plane, a work transport device.

[0008] [2] The control unit controls the moving mechanism to repeatedly move the tray back and forth until the number of times the tray has moved back and forth reaches a preset number of times.

[0009] [3] Further provided is a workpiece floating detection device that detects floating of the workpiece accommodated in the accommodation section after the tray has moved back and forth, A work transport device as described in [1] or [2], wherein when the work float detection device detects the float of the work, the control unit controls the moving mechanism to move the tray back and forth again.

[0010] [4] The control unit controls the moving mechanism to repeatedly move the tray back and forth until the number of detections by the workpiece floating detection device reaches a preset number of detections. [3] The workpiece conveying device described in [3].

[0011] [5] The work transport device described in [4], wherein when the number of detections reaches the set number of detections, the control unit executes error processing including stopping the work transport device or issuing an alarm.

[0012] [6] When the tray detection device detects that the tray is located at the workpiece storage position, the suction nozzle sucks and transports the workpiece, and stores the workpiece in a plurality of storage sections provided on the tray; a step of counting the number of the works accommodated in the accommodation section by a counting device; When the number of the works counted by the counting device reaches a preset threshold value, a movement mechanism moves the tray to a work float adjustment position different from the work accommodating position, moves a new tray to the work accommodating position, and resets the number of the works counted by the counting device; a step of reciprocating the tray, which has been moved to the workpiece float adjustment position, by a moving mechanism so as to rapidly accelerate and decelerate in a predetermined direction in a horizontal plane. [Effects of the Invention]

[0013] According to the present disclosure, the workpiece can be accommodated in the accommodation portion provided in the tray in a normal posture. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a plan view showing a schematic configuration of a workpiece transport device. [Figure 2] FIG. 2 is an enlarged perspective view of the suction nozzle. [Figure 3] FIG. 3 is an enlarged plan view of the tray. [Figure 4] FIG. 4 is a side view showing a part of the workpiece transport device. [Figure 5] FIG. 5 is a side view showing the tray suction and movement unit. [Figure 6] FIG. 6 is a side view showing a tray in which works are accommodated in an accommodating section. [Figure 7]FIG. 7 is a plan view for explaining the reciprocating movement of the tray. [Figure 8] FIG. 8 is a plan view for explaining the workpiece floating detection operation. [Figure 9] FIG. 9 is a flowchart of the workpiece conveying method. DETAILED DESCRIPTION OF THE INVENTION

[0015] In the drawings attached to this specification, the scale and aspect ratios have been appropriately changed and exaggerated from those of the actual objects for the sake of convenience in illustration and understanding. Configurations shown in some drawings may be omitted in other drawings.

[0016] In this specification, terms that specify shapes, geometric conditions, and their degrees, such as "parallel," "orthogonal," and "identical," as well as values ​​of lengths and angles, are not limited to their strict meanings but are interpreted to include a range within which similar functions can be expected.

[0017] To clarify the relationship between directions between drawings, the X, Y, and Z directions are indicated as common directions in some drawings using arrows with common symbols. In the following examples, the X and Y directions are parallel to the horizontal plane, and the Z direction is parallel to the vertical direction. The X, Y, and Z directions are perpendicular to each other. An arrow pointing toward the viewer in a direction perpendicular to the plane of the drawing is indicated by a symbol with a dot in a circle, as shown in Figure 1, for example. An arrow pointing toward the viewer in a direction perpendicular to the plane of the drawing is indicated by a symbol with an x ​​in a circle, as shown in Figure 4, for example.

[0018] Hereinafter, a workpiece transport device and a workpiece transport method according to an embodiment of the present disclosure will be described with reference to the drawings.

[0019] 1 is a plan view that schematically shows a workpiece transport device 1. The workpiece transport device 1 transports a workpiece 5 so that the workpiece 5 is accommodated in an accommodating section 21 of a tray 20, which will be described later.

[0020] The workpiece 5 is, for example, an electronic component. For example, the workpiece 5 may be a diced semiconductor chip. The shape of the workpiece 5 may be a rectangular parallelepiped. The workpiece 5 may have a rotationally symmetric shape in a plan view. For example, the workpiece 5 may be rectangular or square in a plan view. The dimension of the workpiece 5 in one direction may be, for example, 1 mm or more and 5 mm or less. As an example, the dimension of the workpiece 5 in one direction may be 3 mm.

[0021] As shown in FIG. 1, the workpiece transport device 1 includes a transport mechanism 10, a tray 20, a tray detection device 25, a counting device 27, a moving mechanism 30, a workpiece floating detection device 40, and a control unit 50.

[0022] The transfer mechanism 10 transfers the workpiece 5 by suction with a suction nozzle 12. The transfer mechanism 10 includes a workpiece supply unit 11, a suction nozzle 12, and a nozzle drive unit 13.

[0023] The work supply unit 11 supplies the workpieces 5 to the suction nozzle 12. The work supply unit 11 may be, for example, a linear feeder that supplies the workpieces 5 lined up in a row from a parts feeder (not shown). The work supply unit 11 may also vibrate to transport and supply the workpieces 5. The work supply unit 11 may also supply the workpieces 5 one by one.

[0024] The suction nozzle 12 picks up the workpiece 5. The suction nozzle 12 holds the workpiece 5 by sucking it. The suction nozzle 12 holds the workpieces 5 supplied by the work supply unit 11 one by one. The transport mechanism 10 may include multiple suction nozzles 12. In the example shown in FIG. 1, the transport mechanism 10 includes eight suction nozzles 12. The suction nozzles 12 are driven to accommodate a workpiece 5 in the accommodation unit 21 of a tray 20 that does not accommodate a workpiece 5. FIG. 2 is an enlarged perspective view of the suction nozzle 12. As shown in FIG. 2, the suction nozzle 12 is movable in the Z direction. When driven, the suction nozzle 12 moves downward in the Z direction and picks up and holds the workpiece 5. The suction nozzle 12 moves upward in the Z direction while holding the workpiece 5. The workpiece 5 is transported as the suction nozzle 12 moves. When the suction nozzle 12 is driven, it releases the suction of the workpiece 5 above the storage section 21 of the tray 20 where the workpiece 5 is not stored, thereby releasing the workpiece 5. As a result, the workpiece 5 falls toward the storage section 21 and is stored in the storage section 21.

[0025] The nozzle driving unit 13 drives the suction nozzle 12 when the tray 20 is located at the workpiece storage position P2. The nozzle driving unit 13 is circular in a plan view. The suction nozzle 12 is provided along the outer periphery of the nozzle driving unit 13. The nozzle driving unit 13 moves the suction nozzle 12 by rotating. The nozzle driving unit 13 moves the suction nozzle 12 holding the workpiece 5 to above the storage section 21 of the tray 20 where no workpiece 5 is stored. By moving the suction nozzle 12 by the nozzle driving unit 13, the suction nozzle 12 may be aligned with the storage section 21 that stores the workpiece. By driving the suction nozzle 12, the nozzle driving unit 13 moves the suction nozzle 12 that has released the workpiece 5 to a position where the workpiece 5 is supplied by the work supply unit 11, and causes the suction nozzle 12 to hold the workpiece 5.

[0026] The tray 20 has a plurality of storage sections 21 that store the workpieces 5 transported by the transport mechanism 10. The tray 20 is placed on a tray stand 31 of the moving mechanism 30. The tray 20 may have any shape. In the illustrated example, the tray 20 is disk-shaped. FIG. 3 is an enlarged plan view of the tray 20. As shown in FIG. 3, the plurality of storage sections 21 are arranged in the X and Y directions. The storage sections 21 are arranged two-dimensionally. The storage sections 21 are formed as recesses formed on the upper surface of the tray 20. The storage sections 21 have a shape and dimensions corresponding to the workpieces 5 so that they can store the workpieces 5. As shown in FIG. 3, the tray 20 may further have a mark 23. The mark 23 may be provided on the upper surface of the tray 20. The mark 23 is detected by a tray detection device 25, which will be described later. The mark 23 may be, for example, a two-dimensional barcode.

[0027] The tray detection device 25 detects that the tray 20 is located at the workpiece storage position P2. The tray detection device 25 may detect that the tray 20 is located at the workpiece storage position P2 by detecting a mark 23 on the tray 20. FIG. 4 is a side view showing a part of the workpiece transport device 1. As shown in FIG. 4, the tray detection device 25 may be located above the tray 20 in the Z direction so that the mark 23 can be observed at the workpiece storage position P2. The tray detection device 25 may include an imaging device that captures an image of the mark 23, and a determination unit that determines that the tray 20 is located at the workpiece storage position P2 based on an image captured by the imaging device.

[0028] The counting device 27 counts the number of workpieces 5 stored in the storage section 21. The counting device 27 may count the number of workpieces 5 stored in the storage section 21 by detecting the workpieces 5 stored in the storage section 21. The counting device 27 may detect the workpieces 5 stored in the storage section 21 by irradiating the workpieces 5 with a laser. In this case, the counting device 27 may include an irradiation unit that irradiates the workpieces 5 with a laser, a sensor unit that detects the laser reflected by the workpieces 5, and a counting unit that counts the number of workpieces 5 based on the detection result of the sensor unit. As shown in FIG. 4, the counting device 27 may be located above the tray 20 in the Z direction so that it can detect the workpieces 5 stored in the storage section 21. In the example shown in FIG. 4, the counting device 27 is located diagonally above the workpieces 5 to be detected. When the number of workpieces 5 counted by the counting means 14 reaches a preset threshold, the number of workpieces 5 counted by the counting means 14 is reset. The threshold value is, for example, the total number of storage sections 21 provided in one tray 20.

[0029] The counting device 27 may count the number of workpieces 5 accommodated in the accommodation section 21 by capturing images of the workpieces 5 with an imaging device. In this case, the counting device 27 may include an imaging device that captures images of the workpieces 5 and a counting unit that detects and counts the number of workpieces 5 based on the images captured by the imaging device. Alternatively, the counting device 27 may be included in a computer. In this case, the counting means 14 may count the number of workpieces 5 accommodated in the accommodation section 21 by receiving the number of workpieces 5 transported by the suction nozzles 12 from the nozzle driving unit 13.

[0030] The moving mechanism 30 moves the tray 20. The moving mechanism 30 includes a tray stand 31, a first tray moving unit 32, a tray suction moving unit 33, and a second tray moving unit .

[0031] The tray 20 is placed on the tray stand 31. The tray stand 31 has a flat surface located above in the Z direction. The flat surface of the tray stand 31 is larger than the tray 20 in a plan view. The tray stand 31 may have a fixing portion for fixing the tray 20 placed on it. The tray stand 31 is provided on each of the first tray moving section 32 and the second tray moving section 34.

[0032] The first tray moving unit 32 moves the tray table 31 in the X direction and the Y direction. As the tray table 31 moves, the tray 20 placed on the tray table 31 also moves. Therefore, the first tray moving unit 32 moves the tray 20. The first tray moving unit 32 moves the tray 20 from the tray set position P1 where the tray is set to the workpiece storage position P2. The first tray moving unit 32 includes an X-direction moving unit 32X and a Y-direction moving unit 32Y. As shown in FIG. 4 , the X-direction moving unit 32X may be provided on the Y-direction moving unit 32Y. The tray table 31 may be provided on the X-direction moving unit 32X. The X-direction moving unit 32X moves the tray table 31 and the tray 20 in the X direction. The Y-direction moving unit 32Y moves the tray table 31, the tray 20, and the X-direction moving unit 32X in the Y direction. The first tray moving unit 32 may move the tray 20 in the X direction and the Y direction, so that the suction nozzle 12 is aligned with the accommodation unit 21 that accommodates the workpiece 5.

[0033] The tray suction moving unit 33 sucks and moves the tray 20. FIG. 5 is a side view showing the tray suction moving unit 33. As shown in FIG. 5, the tray suction moving unit 33 may include a suction holding unit 33a that sucks and holds the tray 20, and a moving main body unit 33b that supports and moves the suction holding unit 33a. The tray suction moving unit 33 sucks and holds the tray 20 with the suction holding unit 33a, and moves the tray 20 from the tray stand 31 of the first tray moving unit 32 to the tray stand 31 of the second tray moving unit 34 with the moving main body unit 33b. The tray suction moving unit 33 releases the suction held by the suction holding unit 33a above the tray stand 31 of the second tray moving unit 34, thereby releasing the tray 20.

[0034] The second tray moving unit 34 moves the tray table 31 in the Y direction. As the tray table 31 moves, the tray 20 placed on the tray table 31 also moves. Therefore, the second tray moving unit 34 moves the tray 20. The second tray moving unit 34 moves the tray 20 from the position to which it has been moved by the suction holding unit 33a to the workpiece float adjustment position P3. The position to which it has been moved by the suction holding unit 33a may be the workpiece float adjustment position P3. The second tray moving unit 34 moves the tray 20 from the workpiece float adjustment position P3 to the completion position P4. The second tray moving unit 34 includes a Y-direction moving unit 34Y. The Y-direction moving unit 34Y moves the tray table 31 and the tray 20 in the Y direction.

[0035] FIG. 6 is a side view showing the tray 20 with the workpieces 5 accommodated in the accommodation section 21. As shown in FIG. 6, the workpieces 5 may include a workpiece 5a accommodated in the accommodation section 21 in a normal orientation, as well as a workpiece 5b accommodated in the accommodation section 21 in an abnormal orientation. As shown in FIG. 6, the workpiece 5b is accommodated in the accommodation section 21 in an orientation such that a portion of the workpiece 5 protrudes to the outside. As described above, the workpiece 5 attracted to the suction nozzle 12 is released above the accommodation section 21 of the tray 20 and falls toward the accommodation section 21. Here, because the orientation of the workpiece 5 is unstable when it is dropped, a portion of the workpiece 5 may get caught on the upper surface of the tray 20, causing a portion of the workpiece 5 to protrude to the outside, as in the case of the workpiece 5b shown in FIG. 6.

[0036] In order to accommodate such workpieces 5b in the accommodation section 21 in a normal posture, the movement mechanism 30 reciprocates the tray 20, which has been moved to the workpiece float adjustment position P3, in a predetermined direction in a horizontal plane, with rapid acceleration and deceleration. FIG. 7 is a plan view for explaining the reciprocating movement of the tray 20. In the example shown in FIG. 7, the Y-direction movement unit 34Y reciprocates the tray 20, which has been moved to the workpiece float adjustment position P3, in the Y direction with rapid acceleration and deceleration. As shown in FIG. 7, in the reciprocating movement of the tray 20, the Y-direction movement unit 34Y moves the tray 20 to the positive side of the Y direction (Y+ direction, upper side in FIG. 7) and also moves the tray 20 to the negative side of the Y direction (Y- direction, lower side in FIG. 7). More specifically, the Y-direction movement unit 34Y rapidly accelerates the tray 20 in the Y+ direction, moves it a predetermined distance, and then rapidly decelerates it. Next, the Y-direction moving unit 34Y rapidly accelerates the tray 20 in the Y-direction, moves it a predetermined distance, and then rapidly decelerates it. The Y-direction moving unit 34Y performs this reciprocating movement multiple times. The Y-direction moving unit 34Y repeatedly moves the tray 20 back and forth until the number of reciprocating movements of the tray 20 reaches a preset number of times.

[0037] The acceleration and deceleration in the reciprocating movement is, for example, 100 m / s 2 More than 500m / s 2 As an example, the acceleration and deceleration may be 300 m / s 2 The speed of the reciprocating movement may be, for example, 1000 m / s or more and 2000 m / s or less. As an example, the speed may be 1500 m / s. The movement distance of the reciprocating movement may be, for example, 2 mm or more and 15 mm or less. As an example, the movement distance may be, for example, 7 mm. It is preferable that the movement distance is two times or more and three times or less the dimension of the workpiece 5. The set number of reciprocations may be, for example, one time or more and 10 times or less. As an example, the set number of reciprocations may be five times.

[0038] The Y-direction moving unit 34Y performs a reciprocating movement operation and a workpiece floating detection operation, which will be described later, and then moves the tray 20 to the completion position P4.

[0039] The workpiece floating detection device 40 detects floating of the workpiece 5 stored in the storage section 21 after the tray 20 has moved back and forth. The workpiece floating detection device 40 may detect floating of the workpiece 5 at the workpiece floating adjustment position P3 to which the tray 20 has been moved back and forth, or may detect floating of the workpiece 5 at a workpiece floating detection position different from the workpiece floating adjustment position P3. The workpiece floating detection device 40 may detect whether the workpiece 5 has floated out of the storage section 21, for example, by irradiating the workpiece 5 with a laser. In this case, the workpiece floating detection device 40 may include an irradiation unit that irradiates the workpiece 5 with a laser, a sensor unit that detects the laser reflected by the workpiece 5, and a determination unit that determines floating of the workpiece 5 based on the detection result of the sensor unit.

[0040] The workpiece floating detection device 40 may simultaneously detect floating of multiple workpieces 5. In this case, the workpiece floating detection device 40 may irradiate multiple workpieces 5 with a linear laser. FIG. 8 is a plan view illustrating the workpiece floating detection operation. As shown in FIG. 8, the workpiece floating detection device 40 may be movable in the X direction. The workpiece floating detection device 40 may be supported by a support member (not shown) so as to be movable in the X direction. As shown in FIG. 8, the workpiece floating detection device 40 may simultaneously detect floating of multiple workpieces 5 lined up in the Y direction by irradiating multiple workpieces 5 lined up in the Y direction with a linear laser while moving in the X direction. When the workpiece floating detection device 40 reaches the opposite side of the tray 20 in the X direction, the workpiece floating detection device 40 or the tray 20 may move in the Y direction. Thereafter, the workpiece floating detection device 40 may again move in the X direction and simultaneously detect floating of multiple workpieces 5 lined up in the Y direction. By repeating this detection operation, floating of all workpieces 5 stored in the storage section 21 can be detected.

[0041] The workpiece floating detection device 40 may detect floating of the workpieces 5 stored in the storage section 21 by capturing an image of the workpieces 5 with an imaging device. In this case, the workpiece floating detection device 40 may include an imaging device that captures an image of the workpieces 5, and a determination section that determines whether the workpieces 5 are floating based on the image captured by the imaging device. The workpiece floating detection device 40 may capture an image of all the workpieces 5 in multiple sessions with the imaging device, or may capture an image of all the workpieces 5 at once.

[0042] If the workpiece floating detection device 40 detects floating of the workpiece 5, the moving mechanism 30 again moves the tray 20 back and forth. Here, too, the moving mechanism 30 repeatedly moves the tray 20 back and forth until the number of times the tray 20 has moved back and forth reaches a preset number of times. Thereafter, the workpiece floating detection device 40 again detects floating of the workpiece 5 stored in the storage section 21. Here, too, if the workpiece floating detection device 40 detects floating of the workpiece 5, the moving mechanism 30 again moves the tray 20 back and forth. The moving mechanism 30 repeatedly moves the tray 20 back and forth until the number of detections by the workpiece floating detection device 40 reaches a preset number of times. The set number of detections may be, for example, one or more and ten or less. As an example, the set number of detections may be five times. If the number of detections by the workpiece floating detection device 40 reaches the set number of detections, error processing is executed, including stopping the workpiece transport device 1 or issuing an alarm.

[0043] The control unit 50 controls the workpiece transport device 1. More specifically, the control unit 50 controls the transport mechanism 10, the tray detection device 25, the counting device 27, the moving mechanism 30, and the workpiece floating detection device 40.

[0044] The control unit 50 controls the moving mechanism 30 to move the tray 20 set at the tray set position P1 to the workpiece storage position P2. Thereafter, the control unit 50 controls the tray detection device 25 to detect that the tray 20 is located at the workpiece storage position P2. When the tray detection device 25 detects that the tray 20 is located at the workpiece storage position P2, the control unit 50 controls the transport mechanism 10 to store the workpieces 5 in the multiple storage sections 21 of the tray 20. In addition, the control unit 50 controls the counting device 27 to count the number of workpieces 5 stored in the storage sections 21.

[0045] When the number of workpieces 5 counted by the counting device 27 reaches a preset threshold value, the control unit 50 ends the transport of the workpieces 5 by the transport mechanism 10. Then, the control unit 50 controls the moving mechanism 30 to move the tray 20 from the workpiece storage position P2 to the workpiece float adjustment position P3. The control unit 50 also controls the moving mechanism 30 to move a new tray 20 to the workpiece storage position P2. The control unit 50 also controls the counting device 27 to reset the number of workpieces 5 counted by the counting device 27.

[0046] The control unit 50 controls the tray detection device 25 to detect that the new tray 20 is located at the workpiece storage position P2. When the tray detection device 25 detects that the new tray 20 is located at the workpiece storage position P2, the control unit 50 controls the transport mechanism 10 to similarly store the workpieces 5 in the multiple storage sections 21 of the new tray 20. Similarly, the control unit 50 also controls the counting device 27 to count the number of workpieces 5 stored in the storage sections 21 of the new tray 20.

[0047] The control unit 50 also controls the moving mechanism 30 to cause the tray 20, which has been moved to the workpiece float adjustment position P3, to reciprocate in a predetermined direction (e.g., the Y direction) in a horizontal plane with rapid acceleration and deceleration. The control unit 50 controls the moving mechanism 30 to repeatedly move the tray 20 back and forth until the number of reciprocating movements of the tray 20 reaches a preset number of reciprocating movements. Thereafter, the control unit 50 controls the workpiece float detection device 40 to detect floating of the workpiece 5 stored in the storage unit 21. If floating of the workpiece 5 is not detected by the workpiece float detection device 40, the control unit 50 controls the moving mechanism 30 to move the tray 20 to the completion position P4.

[0048] On the other hand, when the floating of the workpiece 5 is detected by the workpiece floating detection device 40, the control unit 50 controls the movement mechanism 30 to move the tray 20 back and forth again. Here again, the movement mechanism 30 repeatedly moves the tray 20 back and forth until the number of times the tray 20 has moved back and forth reaches a preset number of times. The control unit 50 controls the movement mechanism 30 to repeatedly move the tray 20 back and forth until the number of times detection by the workpiece floating detection device 40 reaches a preset number of times. When the number of times detection by the workpiece floating detection device 40 reaches the set number of times, the control unit 50 executes error processing including stopping the workpiece transportation device 1 or issuing an alarm. In error processing, the control unit 50 may stop the operation of the workpiece transportation device 1 and issue an alarm.

[0049] Next, a workpiece transport method according to this embodiment will be described. In the workpiece transport method according to this embodiment, the workpiece 5 is transported so as to be accommodated in the accommodation portion 21 of the tray 20 using the workpiece transport device 1 described above.

[0050] 9 is a diagram showing a flowchart of the workpiece conveying method. The workpiece conveying method according to this embodiment will be described below with reference to the flowchart shown in FIG.

[0051] First, in step S1, the tray 20 set at the tray set position P1 is moved to the workpiece storage position P2 by the movement mechanism 30. The tray 20 moved to the workpiece storage position P2 is detected by the tray detection device 25 as being located at the workpiece storage position P2.

[0052] Subsequently, in step S2, the transport mechanism 10 stores one workpiece 5 in the storage section 21 of the tray 20. When the tray detection device 25 detects that the tray 20 is located at the workpiece storage position P2, the transport mechanism 10 sucks and transports the workpiece 5 with the suction nozzle 12, and stores the workpiece 5 in the storage section 21 of the tray 20. At this time, the counting device 27 counts the number of workpieces 5 stored in the storage section 21.

[0053] Next, in step S3, it is determined whether the number of works 5 counted by the counting device 27 has reached a preset threshold. If it is determined in step S3 that the number of works 5 counted by the counting device 27 has not reached the threshold, the process returns to step S2, and the next work 5 is accommodated in the accommodation section 21 of the tray 20. If it is determined in step S3 that the number of works 5 counted by the counting device 27 has reached the threshold, the process proceeds to step S4.

[0054] Subsequently, in step S4, the tray 20 is moved to the workpiece floating adjustment position P3 by the movement mechanism 30. Here, a new tray 20 is moved from the tray set position P1 to the workpiece storage position P2 by the movement mechanism 30. Also, the number of works 5 counted by the counting device 27 is reset.

[0055] Next, in steps S5 and S6, the tray 20, which has been moved to the workpiece float adjustment position P3, is moved back and forth by the movement mechanism 30 so as to be rapidly accelerated and decelerated in a predetermined direction in a horizontal plane. For example, the Y-direction movement unit 34Y moves the tray 20, which has been moved to the workpiece float adjustment position P3, back and forth so as to be rapidly accelerated and decelerated in the Y direction. In step S5, the Y-direction movement unit 34Y rapidly accelerates the tray 20 in the Y+ direction, moves it a predetermined distance, and then rapidly decelerates it. In step S6, the Y-direction movement unit 34Y rapidly accelerates the tray 20 in the Y- direction, moves it a predetermined distance, and then rapidly decelerates it.

[0056] Next, in step S7, it is determined whether the number of reciprocating movements of tray 20 has reached a preset set number of reciprocating movements. If it is determined in step S7 that the number of reciprocating movements of tray 20 has not reached the set number of reciprocating movements, the process returns to step S5, and tray 20 is reciprocated again. In this way, tray 20 is repeatedly reciprocated until the number of reciprocating movements of tray 20 reaches the set number of reciprocating movements. If it is determined in step S7 that the number of reciprocating movements of tray 20 has reached the set number of reciprocating movements, the process proceeds to step S8.

[0057] Next, in step S8, the workpiece floating detection device 40 performs a workpiece floating detection operation to detect floating of the workpieces 5 stored in the storage section 21. For example, the workpiece floating detection device 40 moves in the X direction and irradiates a line-shaped laser onto multiple workpieces 5 lined up in the Y direction, thereby simultaneously detecting floating of multiple workpieces 5 lined up in the Y direction. When the workpiece floating detection device 40 reaches the opposite side of the tray 20 in the X direction, the tray 20 moves in the Y direction. Thereafter, the workpiece floating detection device 40 moves again in the X direction and simultaneously detects floating of multiple workpieces 5 lined up in the Y direction. By repeating this detection operation, floating of all workpieces 5 stored in the storage section 21 is detected.

[0058] Next, in step S9, it is determined whether or not floating of the workpiece 5 has been detected by the workpiece floating detection device 40. For example, it is determined whether or not one or more of all the workpieces 5 stored in the storage section 21 have floated out of the storage section 21. If it is determined in step S9 that floating of the workpiece 5 has not been detected, the tray 20 is moved to the completion position P4, and the operation ends. If it is determined in step S9 that floating of the workpiece 5 has been detected, the process proceeds to step S10.

[0059] In step S10, it is determined whether the number of detections by the workpiece floating detection device 40 has reached a preset number of detections. If it is determined in step S10 that the number of detections by the workpiece floating detection device 40 has not reached the set number of detections, the process returns to step S5, and the tray 20 is moved back and forth again. In this way, the tray 20 is repeatedly moved back and forth until the number of detections by the workpiece floating detection device 40 reaches the set number of detections. If it is determined in step S10 that the number of detections by the workpiece floating detection device 40 has reached the set number of detections, error processing is executed, including stopping the workpiece transportation device 1 or issuing an alarm. In error processing, for example, the operation of the workpiece transportation device 1 is stopped and an alarm is issued.

[0060] According to this embodiment, the tray 20, which has been moved to the workpiece float adjustment position P3, is moved back and forth so as to rapidly accelerate and decelerate in a predetermined direction in a horizontal plane. As described above, the workpiece 5 sucked by the suction nozzle 12 is released above the storage section 21 of the tray 20 and falls toward the storage section 21. Here, since the posture of the workpiece 5 falling is unstable, part of the workpiece 5 may get caught on the upper surface of the tray 20, causing part of the workpiece 5 to float outside. In contrast, according to this embodiment, by moving the tray 20 back and forth so as to rapidly accelerate and decelerate in a predetermined direction, the posture of the workpiece 5 in the storage section 21 can be corrected, and the workpiece 5 can be stored in the storage section 21 in a normal posture.

[0061] As described above, according to this embodiment, the workpiece 5 can be accommodated in the accommodation portion 21 provided in the tray 20 in a normal posture.

[0062] Although the embodiments of the present disclosure have been described above with reference to specific examples, the embodiments of the present disclosure are not limited to the above-described specific examples. The embodiments of the present disclosure can be implemented with various other specific examples, and various omissions, substitutions, changes, and additions are possible without departing from the spirit of the present disclosure. [Explanation of symbols]

[0063] 1 Work transport device 5 Work 10. Conveying mechanism 12 Suction nozzle 20 trays 21 Storage unit 25 Tray detection device 27 Counting Device 30 Moving mechanism 40 Workpiece floating detection device 50 control section P2 Workpiece storage position P3 Workpiece floating adjustment position

Claims

1. a conveying mechanism including a suction nozzle for suctioning a workpiece, and for conveying the workpiece by suction with the suction nozzle; a tray having a plurality of storage sections for storing the workpieces transported by the transport mechanism; a tray detection device that detects that the tray is positioned at a workpiece accommodation position; A counting device that counts the number of the works accommodated in the accommodation section; a moving mechanism for moving the tray; a workpiece floating detection device that detects floating of the workpiece accommodated in the accommodation section; a control unit, When the tray detection device detects that the tray is located at the work storage position, the control unit controls the transport mechanism to store the work in the multiple storage sections, and when the number of the work counted by the counting device reaches a preset threshold, controls the movement mechanism to move the tray to a work float adjustment position different from the work storage position, move a new tray to the work storage position, and reset the number of the work counted by the counting device, and move the tray moved to the work float adjustment position back and forth so as to rapidly accelerate and decelerate in a predetermined direction in a horizontal plane, After the tray has moved back and forth, the control unit controls the workpiece floating detection device to detect floating of the workpiece accommodated in the accommodation unit, When the workpiece floating detection device detects floating of the workpiece, the control unit controls the moving mechanism to again move the tray back and forth in the specified direction so as to rapidly accelerate and decelerate.

2. 2. The workpiece transport device according to claim 1, wherein the control unit controls the movement mechanism to repeatedly move the tray back and forth until the number of times the tray has moved back and forth reaches a preset number of times.

3. 3. The workpiece transport device according to claim 1, wherein the control unit controls the movement mechanism to repeatedly move the tray back and forth until the number of detections by the workpiece floating detection device reaches a preset number of detections.

4. The workpiece transportation device according to claim 3 , wherein when the number of detections reaches the set number of detections, the control unit executes error processing including stopping the workpiece transportation device or issuing an alarm.

5. a step of suctioning and transporting the workpieces using a suction nozzle when the tray detection device detects that the tray is located at a workpiece accommodation position, and accommodating the workpieces in a plurality of accommodation sections provided on the tray; a step of counting the number of the works accommodated in the accommodation section by a counting device; When the number of the works counted by the counting device reaches a preset threshold value, a movement mechanism moves the tray to a work float adjustment position different from the work accommodating position, moves a new tray to the work accommodating position, and resets the number of the works counted by the counting device; a step of reciprocating the tray moved to the workpiece floating adjustment position by a moving mechanism so as to rapidly accelerate and decelerate in a predetermined direction in a horizontal plane; After the tray has moved back and forth, a workpiece floating detection device detects floating of the workpiece accommodated in the accommodation section; A work transport method including a step of, when the work float detection device detects float of the work, again causing the moving mechanism to move the tray back and forth in the specified direction so as to rapidly accelerate and decelerate.

Images