Workpiece inversion device and workpiece transfer system

Abstract

To provide a device and system that are advantageous for inverting a workpiece. [Solution] The first relay workpiece suction unit 31 of the first reversal relay device 30 moves along a first relay movement trajectory that includes a relay receiving position Qr and a first transfer position Q1. The second relay workpiece suction unit 41 of the second reversal relay device 40 moves along a second relay movement trajectory that includes a relay handover position Qt and a second transfer position Q2. The first relay workpiece suction unit 31 at the first transfer position Q1 is positioned to face the second relay workpiece suction unit 41 at the second transfer position Q2, and the workpiece W is transferred from the first relay workpiece suction unit 31 at the first transfer position Q1 to the second relay workpiece suction unit 41 at the second transfer position Q2 so that the state changes from one in which the surface of the workpiece W is held by the first relay workpiece suction unit 31 to one in which the back surface of the workpiece W is held by the second relay workpiece suction unit 41.

Description

Technical Field

[0001] The present disclosure relates to a work inversion device and a work conveyance system.

Background Art

[0002] Patent Document 1 discloses an inversion unit for the purpose of high-speed inversion of a work. That is, the inversion unit of Patent Document 1 includes a head that can be inversely rotated. The head has a work storage member having a work placement hole (through hole), and first fingers and second fingers that are slidable on the upper surface and the lower surface of the work storage member, respectively. The first fingers and the second fingers are movable to a position (front position) covering the work placement hole and an open position (rear position). In order to invert the work, the head is inversely rotated in a state where the work is placed in the work placement hole and the work placement hole is covered by the first fingers and the second fingers.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the inversion unit of Patent Document 1, a supply device such as a PPU (Pick and Place Unit) retreats (moves backward) to an upper position that does not interfere with the inversely rotating head after inserting the work into the work placement hole, waits in the upper position until the inversely rotating of the head is completed, and then needs to recover the inverted work from the work placement hole.

[0005] Because a series of processing operations, from workpiece insertion to workpiece retrieval, are required for each workpiece, the cycle time tends to be long, and shortening the operation cycle is not easy. In addition, the supply device must remain in the position for storing and retrieving the workpiece from the workpiece placement hole until the head's reversal operation is complete, and cannot move to the next position. This workpiece reversal process can also become a bottleneck that hinders the acceleration of processing before and after the reversal process.

[0006] Furthermore, since each finger moves while sliding against the workpiece storage member, depending on the characteristics of the workpiece, it may not be desirable to perform the reversal process using the reversal unit described in Patent Document 1. For example, for fragile workpieces such as ferrite materials, workpieces that are sensitive to surface scratches (e.g., products containing LEDs), and workpieces where cracks affect quality (e.g., capacitors), it may be undesirable for each finger to slide on the workpiece storage member.

[0007] This disclosure provides a technique that is advantageous for inverting a workpiece. [Means for solving the problem]

[0008] One aspect of the present disclosure is a workpiece reversing device comprising a first reversing relay device and a second reversing relay device, wherein the first reversing relay device comprises a first relay rotating section and a plurality of first relay workpiece suction sections supported by the first relay rotating section and rotating together with the first relay rotating section about a first relay rotation axis, and each of the plurality of first relay workpiece suction sections capable of suctioning a workpiece, and the second reversing relay device comprises a second relay rotating section and a plurality of second relay workpiece suction sections supported by the second relay rotating section and rotating together with the second relay rotating section about a second relay rotation axis, and each of the plurality of second relay workpiece suction sections capable of suctioning a workpiece, and the first relay workpiece suction section The present invention relates to a workpiece reversing device, wherein the first relay workpiece suction unit moves along a first relay movement track including a relay receiving position and a first transfer position, the second relay workpiece suction unit moves along a second relay movement track including a relay handover position and a second transfer position, the first relay workpiece suction unit at the first transfer position is positioned to face the second relay workpiece suction unit at the second transfer position, and a workpiece is transferred from the first relay workpiece suction unit at the first transfer position to the second relay workpiece suction unit at the second transfer position so as to transition from a state where the surface of the workpiece is held by the first relay workpiece suction unit to a state where the back surface of the workpiece is held by the second relay workpiece suction unit.

[0009] The orientation of the first relay workpiece suction unit at the first transfer position is at a 90-degree angle with respect to the orientation of the first relay workpiece suction unit at the relay receiving position, the orientation of the second relay workpiece suction unit at the second transfer position is at a 90-degree angle with respect to the orientation of the first relay workpiece suction unit at the relay handover position, the first relay rotation axis is at a 45-degree angle with respect to the orientation of the first relay workpiece suction unit at the relay receiving position and the orientation of the first relay workpiece suction unit at the first transfer position, and the second relay rotation axis is at a 45-degree angle with respect to the orientation of the second relay workpiece suction unit at the relay handover position and the orientation of the second relay workpiece suction unit at the second transfer position.

[0010] The number of first relay workpiece suction parts is two, and the orientation of one of the two first relay workpiece suction parts may be at a 90-degree angle to the orientation of the other.

[0011] The number of the multiple second relay workpiece suction parts is two, and the orientation of one of the two second relay workpiece suction parts may be at a 90-degree angle to the orientation of the other.

[0012] Another aspect of the present disclosure relates to a work transfer system comprising the above-described work reversing device, a work support unit capable of supporting a workpiece, and a work support moving unit for moving the work support unit along a work transfer track, wherein the work transfer track is curved in at least a portion thereof and includes a work handover position and a work receipt position, and the work support unit hands over a workpiece to a first relay work suction unit located at a relay receipt position at the work handover position, and receives a workpiece from a second relay work suction unit located at the relay handover position at the work receipt position.

[0013] The workpiece transfer device moves the workpiece support section from the workpiece handover position to the workpiece receiving position along an arc-shaped trajectory. The first and second intermediate transfer trajectories may be symmetrical with respect to a virtual plane that passes through the center of the workpiece transport trajectory between the workpiece handover position and the workpiece receiving position and includes the diameter of the arc.

[0014] The workpiece transfer system includes a control device that controls a workpiece reversing device and a workpiece transfer device. The control device may lower the workpiece support unit to position the workpiece support unit at the workpiece transfer position relative to the first relay workpiece suction unit at the relay receiving position so that the workpiece is transferred from the workpiece support unit at the workpiece transfer position to the first relay workpiece suction unit at the relay receiving position. After the workpiece is transferred to the first relay workpiece suction unit, the workpiece support unit may be raised. After the workpiece is transferred to the first relay workpiece suction unit, the workpiece support unit at the workpiece transfer position may be moved to position it at the workpiece receiving position. After the workpiece support unit has been moved from the workpiece transfer position, the workpiece support unit may be lowered to position the workpiece support unit at the workpiece receiving position relative to the second relay workpiece support unit at the relay transfer position so that the workpiece is transferred from the second relay workpiece suction unit at the relay transfer position to the workpiece support unit at the workpiece receiving position. After the workpiece is transferred from the second relay workpiece suction unit to the workpiece support unit, the workpiece support unit may be raised. [Effects of the Invention]

[0015] According to this disclosure, it is advantageous for inverting the workpiece. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is an overall plan view showing a schematic configuration of an example of a workpiece transport system. [Figure 2] Figure 2 is a side view showing a schematic configuration of an example of a workpiece transport system. [Figure 3] Figure 3 is a plan view of the main components of an example of a workpiece transport system. [Figure 4] Figure 4 is a plan view showing an enlarged portion of the workpiece transport system shown in Figure 3. [Figure 5] Figure 5 is a side view showing an enlarged portion of the workpiece transport system shown in Figure 3. [Figure 6] Figure 6 is a perspective view of the workpiece reversing device shown in Figures 3 to 5. [Figure 7] Figure 7 is a functional block diagram showing an example of the control configuration of a workpiece transport system. [Figure 8] FIG. 8 is a flowchart for explaining an example of a workpiece transfer method (inversion method) by focusing on a certain workpiece support part. [Figure 9] FIG. 9 is a flowchart for explaining an example of a workpiece transfer method (inversion method) by focusing on a certain workpiece. [Figure 10] FIG. 10 is a flowchart for explaining an example of a workpiece transfer method (inversion method) by focusing on the first inversion relay device. [Figure 11] FIG. 11 is a flowchart for explaining an example of a workpiece transfer method (inversion method) by focusing on the second inversion relay device. [Figure 12] FIG. 12 is a plan view showing an enlarged first modification example of the workpiece transfer system. [Figure 13] FIG. 13 is a side view showing an enlarged part of the workpiece transfer system shown in FIG. 12. [Figure 14] FIG. 14 is a perspective view of the workpiece inversion device shown in FIGS. 12 and 13.

DETAILED DESCRIPTION OF THE INVENTION

[0017] FIG. 1 is an overall plan view showing a schematic configuration of an example of the workpiece transfer system 10. FIG. 2 is a side view showing a schematic configuration of an example of the workpiece transfer system 10.

[0018] First, the entire transfer system of an electronic component (hereinafter also referred to as a workpiece) incorporated with a workpiece posture correction device will be described with reference to FIGS. 1 to 2. Here, the workpiece transfer system 10 performs appearance inspection, electrical characteristic inspection, optical characteristic inspection, marking processing, etc. on the workpiece W while transferring the electronic component (hereinafter also referred to as a workpiece) W such as a semiconductor element.

[0019] The workpiece transport system 10 has a workpiece transport track Tw for the workpieces W, and transports the workpieces W in an aligned manner along the workpiece transport track Tw, and sequentially performs various process operations on the workpieces W on the workpiece transport track Tw, such as visual inspection, electrical characteristic inspection, and marking. At the beginning of the workpiece transport track Tw, a supply unit 15 is provided to supply the workpieces W via a supply path 17, and at the end of the workpiece transport track Tw, a storage unit 16 is provided to discharge and store the workpieces W. Various processing units U1, U2, U3, U4… are installed on the workpiece transport track Tw between these units to perform various operations on the workpieces W. Examples of such processing units U1, U2, U3, U4… include a visual inspection unit, an electrical characteristic inspection unit, an additional inspection unit, and a marking processing unit.

[0020] The electronic components that make up the workpiece W are components used in electrical products. Examples of electronic components include semiconductor elements and non-semiconductor elements such as resistor chips and capacitors. Examples of semiconductor elements include discrete semiconductors such as inductors, transistors, diodes, LEDs, capacitors, and thyristors, and integrated circuits such as ICs and LSIs. Of these, capacitors and the like may not be included in this embodiment because there is no distinction between the front and back of the workpiece. The workpieces included in this embodiment are those that require distinction between the front and back of the workpiece, such as resistor chips, LEDs, and inductors.

[0021] As shown in Figures 1 and 2, the workpiece transfer track Tw is formed on the outer circumference of the workpiece support moving section 22, which rotates intermittently at predetermined angles. A workpiece support section 21, which is a means for holding the workpiece W, is supported on the outer circumference of the workpiece support moving section 22. By intermittently rotating the workpiece support moving section 22 while holding the workpiece W with the workpiece support section 21, the workpiece W moves along the outer circumference of the workpiece support moving section 22 (see Figures 1 and 2).

[0022] In reality, the workpiece support and movement unit 22 has a shape such as a disc or star that radiates outward from a single point, as shown in Figures 1 and 2. The center 22a of this workpiece support and movement unit 22 (see transport rotation axis Ax0) is pivotally supported by the rotation axis of the transport drive mechanism 18. Multiple workpiece support units 21 are provided on the outer circumference of the workpiece support and movement unit 22 at equal intervals along the circumferential direction and at the same radial distance from the center 22a of the workpiece support and movement unit 22.

[0023] Furthermore, each workpiece support section 21 is hollow inside and has an open end. The inside of each workpiece support section 21 is in communication with the pneumatic circuit of a negative pressure generating device such as a vacuum pump or ejector. Each workpiece support section 21 generates negative pressure in the pneumatic circuit, attracting the workpiece W at its open end, causing vacuum breakage or release to the atmosphere in the pneumatic circuit, and releasing the workpiece W.

[0024] In this embodiment, the workpiece support unit 21 is attached to the workpiece support moving unit 22 via the workpiece support drive unit 61. The workpiece support unit 21, held by the workpiece support drive unit 61, is driven vertically relative to the workpiece support moving unit 22.

[0025] Furthermore, the transport drive mechanism 18 of the workpiece support moving unit 22 is controlled by the control device 13 to rotate intermittently by one pitch at a time. The rotation pitch of the workpiece support moving unit 22 is equal to the spacing between the workpiece support units 21, and the workpiece support units 21 move and stop along the workpiece transport track Tw.

[0026] As shown in Figure 1, various processing units, such as a visual inspection unit, an electrical characteristics inspection unit, an additional inspection unit, and a marking processing unit, are arranged on the workpiece transfer track Tw formed on the outer circumference of the workpiece support moving unit 22. Of these, the visual inspection unit performs a visual inspection on the workpiece W.

[0027] The electrical characteristics inspection unit inspects the resistance and other electrical characteristics of the workpiece W, while the additional inspection unit performs other additional inspections on the workpiece W, such as optical characteristics inspection. The marking processing unit performs marking on the workpiece W.

[0028] As shown in Figure 1, a workpiece front / back inspection device 14 for detecting the front / back orientation of the workpiece W held by the workpiece support unit 21 of the workpiece support moving unit 22, and a workpiece reversal device 12 for reversing the front / back orientation of the workpiece W are sequentially arranged upstream of each processing unit U1, U2, U3, U4… in the workpiece transfer track Tw.

[0029] In this embodiment, the front / back orientation of the workpiece W is detected by the workpiece front / back inspection device 14. The front / back orientation of the workpiece W detected by the workpiece front / back inspection device 14 is sent to the control device 13, and if the control device 13 determines that the front / back orientation of the workpiece W should be reversed, the workpiece reversal device 12 can reverse the front / back orientation of the workpiece W based on the signal from the control device 13. In this embodiment, after the front / back orientation of the workpiece W is detected by the workpiece front / back inspection device 14, the front / back orientation of the workpiece W is reversed by the workpiece reversal device 12 as needed. However, if all of the workpiece W supplied from the supply unit 15 to the workpiece support unit 21 via the supply path 17 is to be reversed, the workpiece front / back inspection device 14 does not necessarily need to be installed, and all of the workpiece W may be reversed by the workpiece reversal device 12.

[0030] Next, a specific example of the workpiece W inversion process in this embodiment will be described in detail.

[0031] Figure 3 is a plan view of the main part of an example of a workpiece transfer system 10. Figure 4 is a plan view showing an enlarged portion of the workpiece transfer system 10 shown in Figure 3. Figure 5 is a side view showing an enlarged portion of the workpiece transfer system 10 shown in Figure 3. Figure 6 is a perspective view of the workpiece reversing device 12 shown in Figures 3 to 5. Figure 7 is a functional block diagram showing an example of the control configuration of the workpiece transfer system 10.

[0032] The workpiece transfer system 10 includes a workpiece transfer device 11, a workpiece inversion device 12, and a control device 13, as described above.

[0033] The workpiece transfer device 11 has a plurality of workpiece support sections 21 capable of supporting a workpiece W, and a workpiece support moving section 22 that holds the plurality of workpiece support sections 21 and moves each workpiece support section 21 along a workpiece transfer track Tw. Figures 3 and 5 show only some (four) of the workpiece support sections 21, and the other workpiece support sections 21 are not shown. In Figure 4, the workpiece support sections 21 are not shown.

[0034] The workpiece support and movement unit 22 is provided as a disc-shaped spindle rotation turret and rotates intermittently around the transport rotation axis Ax0 (central axis). The transport rotation axis Ax0 extends along the height direction so as to pass through the center of the workpiece support and movement unit 22, which has a roughly circular planar shape.

[0035] Multiple workpiece support units 21 are attached to the outer circumference of the workpiece support movement unit 22 at equal intervals (equal angular intervals) in the circumferential direction, and are positioned on the workpiece support movement unit 22 at positions that are equally divided by a certain PCD (Pitch Circle Diameter). In this example, each workpiece support unit 21 is configured as a suction nozzle capable of vacuum-suctioning a workpiece W on its suction surface (bottom surface), and is provided to be able to move back and forth in the extending direction (i.e., in the height direction) of the transport rotation axis Ax0.

[0036] The workpiece transfer track Tw is curved in at least part of its shape. In this example, the workpiece transfer track Tw is generally circular in shape centered on the transfer rotation axis Ax0 and includes the workpiece handover position Pt and the workpiece receiving position Pr. Therefore, the workpiece transfer device 11 intermittently moves each workpiece support 21 from the workpiece handover position Pt to the workpiece receiving position Pr along the arc-shaped track.

[0037] Each work support unit 21 hands over the workpiece W at the workpiece handover position Pt to the first relay workpiece suction unit 31 located at the relay receiving position Qr. Each work support unit 21 also receives the workpiece W from the second relay workpiece suction unit 41 located at the relay handover position Qt at the workpiece receiving position Pr.

[0038] Multiple work support drive units 61, each assigned to a work support unit 21, are mounted on the outer periphery of the work support moving unit 22 at equal intervals (equal angular intervals) in the circumferential direction. These work support drive units 61 are positioned in the work support moving unit 22 at positions that are equally divided by a certain PCD (Pitch Circle Diameter). Each work support drive unit 61 can move the associated work support unit 21 in the vertical direction (height direction) to position the suction surface of the work support unit 21 at a high support position and a low support position. The high support position is a relatively high position and is the standard height position of the suction surface of each work support unit 21. The low support position is a relatively low position (i.e., lower than the high support position) and is the height position for transferring and receiving workpieces W between the work inversion device 12 (particularly the first relay work suction unit 31 and the second relay work suction unit 41) as described later.

[0039] The workpiece reversal device 12 is provided across at least the workpiece handover position Pt and the workpiece receiving position Pr, which is the next intermittent stop position, and includes a plurality of reversal relay devices (first reversal relay device 30 and second reversal relay device 40).

[0040] The first reversing relay device 30 includes a first relay rotating section 32 and a plurality (four in this example) of first relay workpiece suction sections 31 supported by the first relay rotating section 32.

[0041] The first relay rotating section 32 rotates intermittently around the first relay rotating shaft Ax1. The first relay rotating shaft Ax1 extends along an oblique direction (particularly an oblique direction forming a 45-degree angle in this embodiment) that is inclined with respect to the horizontal direction and the height direction (conveying rotating shaft Ax0).

[0042] Multiple first relay workpiece suction units 31 are mounted on the outer circumference of the first relay rotating unit 32 at equal intervals (equal angular intervals) in the circumferential direction, and are positioned on the first relay rotating unit 32 at equally divided locations with a constant PCD (Pitch Circle Diameter). Each first relay workpiece suction unit 31 is configured as a suction nozzle capable of vacuum-suctioning a workpiece W on its suction surface, and moves together with the first relay rotating unit 32 to rotate around the first relay rotating axis Ax1.

[0043] Similarly, the second reversing relay device 40 has a second relay rotating section 42 and a plurality (four in this example) of second relay workpiece suction sections 41 supported by the second relay rotating section 42. The second relay rotating section 42 rotates intermittently around the second relay rotation axis Ax2. The second relay rotation axis Ax2 extends along an oblique direction (particularly an oblique direction forming a 45-degree angle in this embodiment) that is inclined with respect to the horizontal and height directions (transport rotation axis Ax0). The plurality of second relay workpiece suction sections 41 are attached to the outer circumference of the second relay rotating section 42 at equal intervals (equal angle intervals) in the circumferential direction and are provided at positions that are equally divided and arranged on the second relay rotating section 42 with a constant PCD (Pitch Circle Diameter). Each second relay workpiece suction section 41 is configured as a suction nozzle capable of vacuum-suctioning a workpiece W on its suction surface and moves to rotate together with the second relay rotating section 42 around the second relay rotation axis Ax2.

[0044] Each first relay workpiece suction unit 31 moves intermittently along a circular first relay movement trajectory Tq1 (see Figure 6) that includes the relay receiving position Qr and the first transfer position Q1, and intermittently stops sequentially at stopping positions (four stopping positions in this example) that include the relay receiving position Qr and the first transfer position Q1. In the first relay movement trajectory Tq1 in this example, the relay receiving position Qr is the uppermost position, and the first transfer position Q1 is the lowermost position. In particular, the relay receiving position Qr is located directly below the workpiece handover position Pt where the workpieces W from each workpiece support unit 21 are handed over. Therefore, the workpiece support unit 21 located at the workpiece handover position Pt (especially the downward-facing suction surface) and the first relay workpiece suction unit 31 located at the relay receiving position Qr (especially the upward-facing suction surface) face each other in the height direction.

[0045] Furthermore, each second relay workpiece suction unit 41 moves along a circular second relay movement trajectory Tq2 that includes the relay handover position Qt and the second transfer position Q2, and intermittently stops sequentially at stopping positions (four stopping positions in this example) that include the relay handover position Qt and the second transfer position Q2. In the second relay movement trajectory Tq2 in this example, the relay handover position Qt is the uppermost position, and the second transfer position Q2 is the lowermost position. In particular, the relay handover position Qt is located directly below the workpiece receiving position Pr, where the workpiece W is handed over to each workpiece support unit 21. Therefore, the workpiece support unit 21 located at the workpiece receiving position Pr (especially the downward-facing suction surface) and the second relay workpiece suction unit 41 located at the relay handover position Qt (especially the upward-facing suction surface) face each other in the height direction.

[0046] The first relay transfer track Tq1 and the second relay transfer track Tq2 are symmetrical with respect to a virtual plane Vs (see Figure 4) that passes through the center point P0 (see Figure 4) between the work handover position Pt and the work receipt position Pr in the work transfer track Tw, and that contains the diameter of the arc of the work transfer track Tw (particularly line-symmetric (mirror-symmetric)).

[0047] The first relay rotation axis Ax1 forms a 45-degree angle with respect to the orientation of the first relay workpiece suction unit 31 (especially the suction surface) at the relay receiving position Qr and the orientation of the first relay workpiece suction unit 31 (especially the suction surface) at the first transfer position Q1. The orientation of the first relay workpiece suction unit 31 at the first transfer position Q1 (lateral orientation along the horizontal direction) forms a 90-degree angle with respect to the orientation of the first relay workpiece suction unit 31 at the relay receiving position Qr (upward orientation along the height direction). Therefore, the orientation and posture of the workpiece W supported by each first relay workpiece suction unit 31 gradually change as each first relay workpiece suction unit 31 moves along the first relay movement trajectory Tq1, and a workpiece W that is in a lateral posture at the relay receiving position Qr will be in an upright posture at the first transfer position Q1.

[0048] The second relay rotation axis Ax2 forms a 45-degree angle with respect to the orientation of the second relay workpiece suction unit 41 (especially the suction surface) at the relay handover position Qt and the orientation of the second relay workpiece suction unit 41 (especially the suction surface) at the second transfer position Q2. The orientation of the second relay workpiece suction unit 41 at the second transfer position Q2 (lateral orientation along the horizontal direction) forms a 90-degree angle with respect to the orientation of the second relay workpiece suction unit 41 at the relay handover position Qt (upward orientation along the height direction). Therefore, the orientation and posture of the workpiece W supported by each second relay workpiece suction unit 41 gradually change as each second relay workpiece suction unit 41 moves along the second relay movement trajectory Tq2, and a workpiece W that is upright at the second transfer position Q2 will be lying down at the relay handover position Qt.

[0049] The first relay workpiece suction unit 31 (particularly the suction surface) at the first transfer position Q1 is positioned to face the second relay workpiece suction unit 41 (particularly the suction surface) at the second transfer position Q2. The workpiece W is then transferred from the first relay workpiece suction unit 31 at the first transfer position Q1 to the second relay workpiece suction unit 41 at the second transfer position Q2, so that the state changes from one where the surface Wf of the workpiece W is held by the first relay workpiece suction unit 31 to one where the back surface Wr of the workpiece W is held by the second relay workpiece suction unit 41.

[0050] In other words, one or both of the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 are provided to move back and forth so as to be variable in the amount of protrusion from the relay rotating units 32 and 42 by the relay transfer drive unit (see Figure 7). The relay transfer drive unit drives the relay workpiece suction units 31 and 41 so that one of the first relay workpiece suction unit 31 located at the first transfer position Q1 and the second relay workpiece suction unit 41 located at the second transfer position Q2 is brought relatively closer to the other, thereby transferring the workpiece from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41.

[0051] The control device 13 controls the workpiece transfer device 11 and the workpiece reversal device 12. As shown in Figure 7, the control device 13 in this embodiment controls the driving of, for example, the workpiece transfer drive unit 60, the workpiece support drive unit 61, and the transfer suction drive unit 62 of the workpiece transfer device 11.

[0052] The workpiece transfer drive unit 60 intermittently rotates the workpiece support movement unit 22 under the control of the control device 13, thereby intermittently moving the multiple first relay workpiece suction units 31 along the workpiece transfer track Tw.

[0053] The workpiece support drive unit 61, under the control of the control device 13, drives the workpiece support unit 21 to move it up and down so that the position of the suction surface changes in the height direction (the high support position and low support position described above).

[0054] The transfer and suction drive unit 62 changes the support force (suction force) of the workpiece W by the workpiece support unit 21 under the control of the control device 13. The transfer and suction drive unit 62 can change the support force (suction force) for each workpiece support unit 21 at a desired timing. Specifically, when supporting the workpiece W and while supporting it, the transfer and suction drive unit 62 exerts a support force on the suction surface of the workpiece support unit 21 that is sufficient to support the workpiece W. On the other hand, when releasing the workpiece W (for example, when handing the workpiece W to the workpiece reversing device 12), the transfer and suction drive unit 62 exerts a support force on the suction surface of the workpiece support unit 21 that is sufficient to release the workpiece W. In this case, "exerting a support force on the suction surface of the workpiece support unit 21 that is sufficient to release the workpiece W" includes cases where the force with which the suction surface holds the workpiece W is "0 (zero)", and cases where a force acting away from the suction surface (negative support force) acts on the workpiece W from the suction surface.

[0055] The workpiece support section 21 of this embodiment is configured to support the workpiece W by vacuum suction, and a vacuum passage opens at the suction surface of the workpiece support section 21. The transfer suction drive section 62 can adjust the air pressure (vacuum level) of the vacuum passages assigned to the suction surface of each workpiece support section 21, and may include, for example, valves or other airflow adjusters. The multiple vacuum passages assigned to each of the suction surfaces of the multiple workpiece support sections 21 may be provided independently of each other, or two or more vacuum passages may be provided so that they are common in part (upstream portion).

[0056] Furthermore, the control device 13 of this embodiment controls the driving of, for example, the first relay rotation drive unit 71, the second relay rotation drive unit 72, the first relay suction drive unit 73, the second relay suction drive unit 74, and the relay transfer drive unit 75 of the workpiece reversal device 12.

[0057] The first relay rotation drive unit 71 intermittently rotates the first relay rotation unit 32 under the control of the control device 13, thereby intermittently moving the first relay workpiece suction unit 31. The second relay rotation drive unit 72 intermittently rotates the second relay rotation unit 42 under the control of the control device 13, thereby intermittently moving the second relay workpiece suction unit 41.

[0058] The first relay suction drive unit 73 changes the support force (suction force) of the workpiece W by the first relay workpiece suction unit 31 under the control of the control device 13. The second relay suction drive unit 74 changes the support force (suction force) of the workpiece W by the second relay workpiece suction unit 41 under the control of the control device 13. The first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 in this embodiment are configured to support the workpiece W by vacuum suction, and vacuum passages open at the suction surfaces of the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41. The first relay suction drive unit 73 and the second relay suction drive unit 74 can adjust the air pressure at a desired timing for each vacuum passage, and change the support force (suction force) for each first relay workpiece suction unit 31 and each second relay workpiece suction unit 41 at a desired timing.

[0059] In other words, the first relay suction drive unit 73 exerts a support force on the suction surface of the first relay work suction unit 31 that is sufficient to support the workpiece W when supporting the workpiece W and while supporting it, and exerts a support force on the suction surface of the first relay work suction unit 31 that is sufficient to release the workpiece W when releasing the workpiece W (for example, when handing the workpiece W to the second relay work suction unit 41). The second relay suction drive unit 74 exerts a support force on the suction surface of the second relay work suction unit 41 that is sufficient to support the workpiece W when supporting the workpiece W and while supporting it, and exerts a support force on the suction surface of the second relay work suction unit 41 that is sufficient to release the workpiece W when releasing the workpiece W (for example, when handing the workpiece W to the workpiece support unit 21 (workpiece transfer device 11)).

[0060] The relay transfer drive unit 75 can move one or both of the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 forward or backward. In particular, the relay transfer drive unit 75 of this embodiment can adjust the relative position between the first relay workpiece suction unit 31, which is located at the first transfer position Q1, and the second relay workpiece suction unit 41, which is located at the second transfer position Q2, to a close position and a separated position. That is, with the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 located at the first transfer position Q1 and the second transfer position Q2, the relay transfer drive unit 75 moves the first relay workpiece suction unit 31 and / or the second relay workpiece suction unit 41 forward or backward by a certain distance in a straight line along the horizontal direction.

[0061] When transferring a workpiece W from the first intermediate workpiece suction unit 31 at the first transfer position Q1 to the second intermediate workpiece suction unit 41 at the second transfer position Q2, the first intermediate workpiece suction unit 31 and the second intermediate workpiece suction unit 41 are positioned in close proximity, and the distance between the suction surface of the first intermediate workpiece suction unit 31 and the suction surface of the second intermediate workpiece suction unit 41 is made relatively small. The close proximity position is determined in such a way that it enables the proper transfer of the workpiece W from the first intermediate workpiece suction unit 31 to the second intermediate workpiece suction unit 41. Specifically, the close proximity position is determined so that the suction surface of the first intermediate workpiece suction unit 31 and the suction surface of the second intermediate workpiece suction unit 41 are brought close to each other to a degree sufficient that the back surface Wr of the workpiece W, whose surface Wf is being held by the first intermediate workpiece suction unit 31, is properly held (supported by suction) by the second intermediate workpiece suction unit 41.

[0062] On the other hand, when the workpiece W is not being transferred from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41, the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 are positioned at a distance from each other, and the distance between the suction surface of the first relay workpiece suction unit 31 and the suction surface of the second relay workpiece suction unit 41 is made relatively large. The distance from each other is determined so as not to cause interference (collision) between the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41, or interference with the workpiece W supported by at least one of them.

[0063] Next, we will describe an example of a method for transporting the workpiece W (particularly a method for inverting the workpiece W) performed in the workpiece transport system 10 described above.

[0064] Figure 8 is a flowchart illustrating an example of a workpiece transport method (inversion method) focusing on a single workpiece support section 21. Figure 9 is a flowchart illustrating an example of a workpiece transport method (inversion method) focusing on a single workpiece W. Figure 10 is a flowchart illustrating an example of a workpiece transport method (inversion method) focusing on a first inversion relay device 30. Figure 11 is a flowchart illustrating an example of a workpiece transport method (inversion method) focusing on a second inversion relay device 40.

[0065] The example of the workpiece transport method W described below is carried out by appropriately driving the workpiece transfer device 11 and the workpiece inversion device 12 under the control of the control device 13.

[0066] First, referring to Figure 8, we will focus on one workpiece support section 21 and explain an example of a method for transporting (inverting) the workpiece W.

[0067] The work support unit 21 supports the workpiece W and moves along the workpiece transfer track Tw in accordance with the intermittent rotation of the workpiece transfer device 11, intermittently positioning itself at the workpiece handover position Pt (S11 in Figure 8). If it is determined that the workpiece W supported by the work support unit 21 needs to be inverted (Y in S12), the workpiece W inversion process (inversion method) is performed (see S14-S18). On the other hand, if it is determined that the workpiece W does not need to be inverted (N in S12), the workpiece W inversion process (S14-S18) is skipped, and the work support unit 21 moves intermittently with the workpiece W from the workpiece handover position Pt to the workpiece receiving position Pr (S13), and then intermittently moves further downstream with the workpiece W from the workpiece receiving position Pr (S19).

[0068] The determination of whether or not workpiece W needs to be reversed is made by the control device 13 for each workpiece W and can be performed in any manner. This may be done before workpiece W reaches the workpiece handover position Pt, or while workpiece W is positioned at the workpiece handover position Pt.

[0069] In this embodiment, the orientation of the front surface Wf and back surface Wr of the workpiece W is detected by the workpiece front / back surface inspection device 14 (see Figure 1) upstream of the workpiece handover position Pt, and the control device 13 determines whether or not the workpiece W needs to be inverted based on the detection results. The detection of the orientation of the front surface Wf and back surface Wr of the workpiece W can be performed in any manner; a sensor capable of directly detecting the orientation of the front surface Wf and / or back surface Wr of the workpiece W may be used, or the results of analysis of images obtained by imaging the front surface Wf and / or back surface Wr may be used. If the detection results determine that the orientation of the workpiece W is not the desired orientation, the inversion process is performed, and if the orientation of the workpiece W is already determined to be the desired orientation, the inversion process is skipped.

[0070] In this example, if, at the time of detection by the workpiece front / back inspection device 14 and at the time the workpiece support unit 21 is positioned at the workpiece handover position Pt, the back surface Wr of the workpiece W is facing the suction surface of the workpiece support unit 21 and the front surface Wf is exposed facing downward, it is determined that the orientation of the workpiece W is not the desired orientation and the inversion process is executed. On the other hand, if, at the time of detection by the workpiece front / back inspection device 14 and at the time the workpiece support unit 21 is positioned at the workpiece handover position Pt, the front surface Wf of the workpiece W is facing the suction surface of the workpiece support unit 21 and the back surface Wr is exposed facing downward, it is determined that the orientation of the workpiece W is the desired orientation and the inversion process is skipped.

[0071] If it is determined that the workpiece W needs to be reversed (Y in S12), the workpiece support unit 21 at the workpiece handover position Pt is positioned relative to the first relay workpiece suction unit 31 at the relay receiving position Qr so that the workpiece W is transferred from the workpiece support unit 21 at the workpiece handover position Pt to the first relay workpiece suction unit 31 at the relay receiving position Qr. That is, the workpiece support unit 21 supporting the workpiece W is lowered at the workpiece handover position Pt, and the suction surface of the workpiece support unit 21 is positioned at a low support position together with the workpiece W (S14).

[0072] Then, the suction force (vacuum suction force) of the workpiece support unit 21 is weakened during the descent of the workpiece support unit 21 or at the low support position, and is made smaller than the downward (vertical) force acting on the workpiece W (including the suction force (vacuum suction force) of the first relay workpiece suction unit 31 and gravity). As a result, the workpiece W is transferred from the workpiece support unit 21 located at the workpiece handover position Pt to the first relay workpiece suction unit 31 located at the relay receiving position Qr. That is, the workpiece W transitions from a state where its back surface Wr is held in place by the workpiece support unit 21 to a state where its front surface Wf is held in place by the first relay workpiece suction unit 31.

[0073] After the workpiece W is transferred from the workpiece support unit 21 to the first relay workpiece suction unit 31 in this manner, the workpiece support unit 21 is raised, and the suction surface of the workpiece support unit 21 is raised from the low support position (S15).

[0074] The timing of the vertical movement of the work support unit 21 at the work transfer position Pt can be determined in any way. For example, it may be determined according to the operating time of the work support unit 21, or according to the transfer status of the workpiece W. For example, the work support unit 21 may descend toward the low support position for a certain period of time, then wait at the low support position at the work transfer position Pt for a certain period of time, and then rise for a certain period of time. Alternatively, the work support unit 21 may remain waiting at the low support position until it can be confirmed that the workpiece W has been transferred from the work support unit 21 to the first relay workpiece suction unit 31. In this case, confirmation that the workpiece W has been transferred from the work support unit 21 to the first relay workpiece suction unit 31 can be performed in any way. For example, it may be performed based on the detection results of sensors that detect the air pressure (vacuum level) of the vacuum path of the work support unit 21 and / or the air pressure (vacuum level) of the vacuum path of the first relay workpiece suction unit 31.

[0075] Furthermore, after the workpiece support unit 21 at the workpiece handover position Pt receives the workpiece W from the first relay workpiece suction unit 31, it is moved along the workpiece transfer track Tw and positioned at the workpiece receiving position Pr (S16). The raising of the workpiece support unit 21 (S15) and the movement of the workpiece support unit 21 to the workpiece receiving position Pr (S16) may be performed at least partially simultaneously, or they may be performed asynchronously. For example, the movement of the workpiece support unit 21 from the workpiece handover position Pt to the workpiece receiving position Pr may be started while the raising of the workpiece support unit 21 is in progress or after the raising of the workpiece support unit 21 is completed.

[0076] Then, the work support unit 21 at the work receiving position Pr is positioned relative to the second relay work suction unit 41 at the relay transfer position Qt so that the workpiece W is transferred from the second relay work suction unit 41 at the relay transfer position Qt to the work support unit 21 at the work receiving position Pr. That is, after the work support unit 21 that is not supporting the workpiece W is moved from the work transfer position Pt, the work support unit 21 is lowered and the suction surface of the work support unit 21 is positioned at a low support position at the work receiving position Pr (S17).

[0077] The movement of the work support unit 21 to the work receiving position Pr (S16) and the lowering of the work support unit 21 (S17) may be performed at least partially simultaneously, or they may be performed asynchronously. For example, the lowering of the work support unit 21 may begin while the work support unit 21 is moving from the work handover position Pt to the work receiving position Pr, or after the movement of the work support unit 21 to the work receiving position Pr is completed.

[0078] Then, after the work support unit 21 begins to move from the work handover position Pt towards the work receiving position Pr (for example, during the descent of the work support unit 21 or at the low support position), the suction force (vacuum suction force) of the work support unit 21 is strengthened to be greater than the downward (vertical) force acting on the workpiece W (including the suction force (vacuum suction force) of the second relay work suction unit 41 and gravity). As a result, the work support unit 21 located at the work receiving position Pr can receive the workpiece W from the second relay work suction unit 41 located at the relay handover position Qt. That is, the workpiece W transitions from a state where its back surface Wr is held by the second relay work suction unit 41 to a state where its front surface Wf is held by the work support unit 21.

[0079] After the workpiece W is transferred from the second relay workpiece suction unit 41 to the workpiece support unit 21, the workpiece support unit 21 rises along with the workpiece W. The timing of the vertical movement of the workpiece support unit 21 at the workpiece receiving position Pr can be determined in any way; for example, it may be determined according to the operation time of the workpiece support unit 21, or according to the transfer status of the workpiece W. For example, the workpiece support unit 21 may descend toward the low support position for a certain period of time, then wait at the low support position at the workpiece receiving position Pr for a certain period of time, and then rise toward the high support position for a certain period of time. Alternatively, the workpiece support unit 21 may remain waiting at the low support position at the workpiece receiving position Pr until it can be confirmed that the workpiece W has been transferred from the second relay workpiece suction unit 41 to the workpiece support unit 21. In this case, confirmation that the workpiece W has been transferred from the second relay workpiece suction unit 41 to the workpiece support unit 21 can be performed in any manner, for example, based on the detection results of sensors that detect the air pressure (vacuum level) of the vacuum path of the workpiece support unit 21 and / or the air pressure (vacuum level) of the vacuum path of the second relay workpiece suction unit 41.

[0080] The workpiece support section 21 then supports the workpiece W (especially the surface Wf) and moves further downstream from the workpiece receiving position Pr along the workpiece transfer track Tw in accordance with the intermittent rotation of the workpiece transfer device 11 (S19).

[0081] Each workpiece support unit 21 can intermittently move downstream along the workpiece transfer track Tw together with the workpiece W, which has been inverted as needed, by performing the series of processes described above (S11 to S19).

[0082] Next, referring to Figure 9, we will focus on a particular workpiece W and explain an example of the method for transporting (inverting) the workpiece W described above.

[0083] The workpiece W is supported by the workpiece support section 21 and is transported along the workpiece transport track Tw in accordance with the intermittent rotation of the workpiece transport device 11, and is intermittently positioned at the workpiece handover position Pt (S21 in Figure 9). If it is determined that it is necessary to invert the workpiece W supported by the workpiece support section 21 (Y in S22), the workpiece W inversion process (inversion method) is performed (see S24 to S28).

[0084] On the other hand, if it is determined that reversing the workpiece W is unnecessary (N in S22), the reversal process of the workpiece W (S24-S28) is skipped, and the workpiece W, together with the workpiece support unit 21, is intermittently transported from the workpiece handover position Pt to the workpiece receiving position Pr (S23), and then intermittently transported further downstream from the workpiece receiving position Pr (S29).

[0085] If it is determined that the workpiece W needs to be reversed (Y in S22), the workpiece W descends in accordance with the downward movement of the workpiece support unit 21 at the workpiece handover position Pt, and is handed over from the workpiece support unit 21 to the first relay workpiece suction unit 31 located at the relay receiving position Qr (S24).

[0086] The transfer of the workpiece W from the workpiece support unit 21 to the first relay workpiece suction unit 31 can be performed in any manner. For example, at the workpiece transfer position Pt, the workpiece W descends together with the workpiece support unit 21, and when it reaches the area within the suction force of the opposing first relay workpiece suction unit 31, the descent of the workpiece support unit 21 and the workpiece W stops. Then, while the workpiece support unit 21 and the workpiece W are waiting at that height position, the suction of the workpiece support unit 21 is broken (vacuum broken), allowing the workpiece W to be transferred from the workpiece support unit 21 to the first relay workpiece suction unit 31.

[0087] The workpiece W is then supported by the first relay workpiece suction unit 31, and the first relay workpiece suction unit 31 is intermittently rotated by the first relay rotating unit 32 by 90 degrees at a time for a total of 180 degrees, thereby transferring the workpiece from the relay receiving position Qr to the first transfer position Q1 (S25).

[0088] Then, by moving one of the first relay workpiece suction unit 31 located at the first transfer position Q1 and the second relay workpiece suction unit 41 located at the second transfer position Q2 relatively closer to the other, the workpiece W is transferred from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41 (S26). The transfer (movement) of the workpiece W from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41 can be performed in any manner. For example, one of the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 moves forward, and when the workpiece W reaches the area within the suction force range of the second relay workpiece suction unit 41, the forward movement of the one is stopped, and the suction of the first relay workpiece suction unit 31 is broken (vacuum broken), thereby transferring the workpiece W from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41.

[0089] The workpiece W is then supported by the second relay workpiece suction unit 41, and the second relay workpiece suction unit 41 is intermittently rotated by the second relay rotating unit 42 by 90 degrees at a time for a total of 180 degrees, thereby transferring the workpiece from the second transfer position Q2 to the relay handover position Qt (S27).

[0090] Then, the suction surface of the work support unit 21 located at the work receiving position Pr is positioned at a low support position, and the suction surface of the work support unit 21 located at the work receiving position Pr and the suction surface of the second relay work suction unit 41 located at the relay handover position Qt are brought closer together, thereby transferring the workpiece W from the second relay work suction unit 41 to the work support unit 21 (S28). The transfer of the workpiece W from the second relay work suction unit 41 to the work support unit 21 can be performed in any manner. For example, the work support unit 21 may descend and the workpiece W may reach the area within which the suction force of the work support unit 21 acts, stopping the descent of the work support unit 21 and causing the suction of the second relay work suction unit 41 to break (vacuum break), thereby transferring the workpiece W from the second relay work suction unit 41 to the work support unit 21.

[0091] The workpiece W is then supported by the workpiece support section 21 and transported further downstream from the workpiece receiving position Pr along the workpiece transport track Tw in accordance with the intermittent rotation of the workpiece transport device 11 (S29).

[0092] Each workpiece W undergoes the series of processes described above (S11 to S19), is inverted as necessary, and intermittently transported downstream along the workpiece transport track Tw together with the workpiece support unit 21.

[0093] Next, referring to Figure 10, and focusing on the first inversion relay device 30, an example of the workpiece W transport method (inversion method) described above will be explained.

[0094] In the above-described method for transporting (reversing) the workpiece W, in order to reverse the workpiece W, step S31 in Figure 10 is performed before the suction surface of the workpiece support unit 21, which is positioned at the workpiece handover position Pt and supports the workpiece W, descends to the low support position. That is, the first relay rotating unit 32 is rotated intermittently so that the first relay workpiece suction unit 31 that does not support the workpiece W is positioned at the relay receiving position Qr, and the first relay workpiece suction unit 31 that supports the workpiece W is positioned at the first transfer position Q1 (S31).

[0095] Subsequently, the first relay workpiece suction unit 31, positioned at the relay receiving position Qr, receives the workpiece W from the workpiece support unit 21, and the first relay workpiece suction unit 31, positioned at the first transfer position Q1, hands over the workpiece W to the second relay workpiece suction unit 41 (S32).

[0096] Then, if it is detected that the first relay workpiece suction unit 31 located at the relay receiving position Qr is supporting the workpiece W, and the first relay workpiece suction unit 31 located at the first transfer position Q1 is not supporting the workpiece W (Y in S33), steps S31 and S32 described above are repeated.

[0097] In the example shown in Figure 10, no further processing is performed unless it is detected that the first relay workpiece suction unit 31 located at the relay receiving position Qr is supporting the workpiece W, and the first relay workpiece suction unit 31 located at the first transfer position Q1 is not supporting the workpiece W (see N in S33). However, the workpiece transport system 10 may, under the control of the control device 13, appropriately perform other processing such as error notification processing to notify the user (operator) of the error.

[0098] Next, referring to Figure 11, we will focus on the second inversion relay device 40 and explain an example of the workpiece W transport method (inversion method) described above.

[0099] In the above-described method for transporting (reversing) the workpiece W, in order to reverse the workpiece W, step S41 shown in Figure 11 is performed before the suction surface of the workpiece support section 21, which is positioned at the workpiece receiving position Pr and does not support the workpiece W, descends to the low support position. That is, the second relay rotating section 42 is rotated intermittently so that the second relay workpiece suction section 41 supporting the workpiece W is positioned at the relay handover position Qt, and the second relay workpiece suction section 41 not supporting the workpiece W is positioned at the second transfer position Q2 (S41).

[0100] Subsequently, the second relay workpiece suction unit 41, positioned at the relay handover position Qt, hands over the workpiece W to the workpiece support unit 21, and the second relay workpiece suction unit 41, positioned at the second transfer position Q2, receives the workpiece from the first relay workpiece suction unit 31 (S42).

[0101] Then, if it is detected that the second relay workpiece suction unit 41 located at the relay handover position Qt is not supporting the workpiece W, and the second relay workpiece suction unit 41 located at the second transfer position Q2 is supporting the workpiece W (Y in S43), steps S41 and S42 described above are repeated.

[0102] In the example shown in Figure 11, no further processing is performed unless it is detected that the second relay workpiece suction unit 41 located at the relay handover position Qt is not supporting the workpiece W, and the second relay workpiece suction unit 41 located at the second transfer position Q2 is supporting the workpiece W (see N in S43). However, the workpiece transport system 10 may perform other processing, such as error notification processing, under the control of the control device 13 as appropriate.

[0103] As described above, according to this embodiment, the workpiece reversal device 12, which includes the first reversal relay device 30 and the second reversal relay device 40, can reverse the front and back sides of the workpiece W at high speed while minimizing damage to the workpiece W.

[0104] In particular, each work support unit 21 receives a workpiece W at the workpiece receiving position Pr that is different from the workpiece W released at the workpiece handover position Pt. Therefore, after releasing the workpiece W at the workpiece handover position Pt, each work support unit 21 does not need to wait until the inversion of the released workpiece W is complete.

[0105] Furthermore, the position where each work support unit 21 releases the workpiece W (workpiece handover position Pt) and the position where each work support unit 21 receives the workpiece W (workpiece receiving position Pr) are not the same. Therefore, each work support unit 21 is not required to remain in the same intermittent stop position from the time it releases the workpiece W that requires reversal until it receives the workpiece W in the appropriate reversal state. Consequently, at a single intermittent stop position, each work support unit 21 only needs to perform one of the following actions: the movement to release the workpiece W (up and down movement) or the movement to receive the workpiece W (up and down movement), thus effectively preventing the intermittent stop time from becoming excessively long.

[0106] Then, two of the multiple intermittent stopping positions set along the workpiece transfer track Tw are assigned as "an intermittent stopping position for transferring the workpiece W that requires reversal from the workpiece support unit 21 (workpiece transfer device 11) to the first relay workpiece suction unit 31 (workpiece reversal device 12)" and "an intermittent stopping position for the workpiece support unit 21 (workpiece transfer device 11) to receive the workpiece W in an appropriate reversal state from the second relay workpiece suction unit 41 (workpiece reversal device 12)." This allows the workpiece W reversal processing process to be incorporated into the movement process of all workpiece support units 21 along the workpiece transfer track Tw, thus preventing the workpiece W reversal processing from becoming a bottleneck for the overall processing of the workpiece transport system 10. As a result, delays in the overall processing speed of the workpiece transport system 10 are suppressed, and further high-speed processing can be promoted.

[0107] Furthermore, the first reversal relay device 30 and the second reversal relay device 40 are provided symmetrically with respect to a virtual plane Vs (Figure 4) that passes through the center position P0 between the workpiece handover position Pt and the workpiece receiving position Pr. This makes it possible to match the relative angle between the workpiece support unit 21 (especially the suction surface) and the workpiece W when the workpiece W is released from the workpiece support unit 21 at the workpiece handover position Pt, and the relative angle between the workpiece support unit 21 (especially the suction surface) and the workpiece W when the workpiece support unit 21 receives the workpiece W at the workpiece receiving position Pr.

[0108] In other words, when each first relay workpiece suction unit 31 moves from the workpiece handover position Pt to the workpiece receiving position Pr, it moves along an arc trajectory (workpiece transfer trajectory Tw) centered on the central axis (transport rotation axis Ax0) of the workpiece support movement unit 22. Therefore, the orientation (posture) of each first relay workpiece suction unit 31 gradually changes along the arc trajectory, and the orientation of the first relay workpiece suction unit 31 at the workpiece handover position Pt is different from the orientation of the first relay workpiece suction unit 31 at the workpiece receiving position Pr.

[0109] Even in such cases, the workpiece reversal device 12 of this embodiment receives a workpiece W at the relay receiving position Qr, which has an orientation (posture) corresponding to the orientation of the first relay workpiece suction unit 31 at the workpiece handover position Pt. During the transfer of the workpiece W to the relay handover position Qt via the circular relay movement trajectories Tq1 and Tq2, the orientation of the workpiece W gradually changes. As a result, the workpiece W can be positioned at the relay handover position Qt with an orientation corresponding to the orientation of the first relay workpiece suction unit 31 at the workpiece receiving position Pr. In other words, the angle of the workpiece W with respect to the transport rotation axis Ax0 (i.e., the angle with respect to the axial direction) coincides between the workpiece handover position Pt and the workpiece receiving position Pr. As a result, the front and back sides of the workpiece W can be reversed between the workpiece handover position Pt and the workpiece receiving position Pr while maintaining the relative angle between the workpiece support unit 21 (especially the suction surface) and the workpiece W.

[0110] [First variation] In the above-described embodiment, the first reversing relay device 30 has four first relay workpiece suction units 31, but the number of first relay workpiece suction units 31 is not limited. For example, the area of ​​the first relay rotating unit 32 may be virtually divided equally by two or more even numbers, and two or more first relay workpiece suction units 31 may be provided in each of these two or more virtual divided areas. Similarly, the number of second relay workpiece suction units 41 is not limited to four, and for example, two or more second relay workpiece suction units 41 may be provided in each of two or more virtual divided areas of the second relay rotating unit 42.

[0111] Furthermore, the number of first relay workpiece suction units 31 in the first reversing relay device 30 and the number of second relay workpiece suction units 41 in the second reversing relay device 40 may be the same as in the embodiment described above, or they may not be the same.

[0112] Below, as an example, a workpiece transfer system 10 (first modified example) is described, in which the first reversing relay device 30 has two first relay workpiece suction units 31, and the second reversing relay device 40 has two second relay workpiece suction units 41.

[0113] Figure 12 is a plan view showing an enlarged first modified example of the workpiece transfer system 10. Figure 13 is a side view showing an enlarged portion of the workpiece transfer system 10 shown in Figure 12. Figure 14 is a perspective view of the workpiece inversion device 12 shown in Figures 12 and 13.

[0114] In this modified example, elements identical to or corresponding to those in the above-described embodiment are denoted by the same reference numerals, and their detailed descriptions are omitted.

[0115] In this modified example, there are two first intermediate workpiece suction sections 31, and the orientation of the suction surface of one of the two first intermediate workpiece suction sections 31 is at a 90-degree angle to the orientation of the other suction surface. Similarly, there are two second intermediate workpiece suction sections 41, and the orientation of the suction surface of one of the two second intermediate workpiece suction sections 41 is at a 90-degree angle to the orientation of the other suction surface.

[0116] In the above-described embodiment, the relay rotating units 32 and 42 shown in Figures 4 to 6 intermittently move the four relay workpiece suction units 31 and 41 by 90 degrees each, whereas in this modified example, the relay rotating units 32 and 42 shown in Figures 12 to 14 intermittently move the two relay workpiece suction units 31 and 41 by 180 degrees each around the relay rotation axes Ax1 and Ax2.

[0117] Furthermore, in the above-described embodiment, the relay rotating parts 32 and 42 move the relay workpiece suction parts 31 and 41 in only one rotational direction (one circumferential direction). On the other hand, in this modified example, the relay rotating parts 32 and 42 are rotated alternately (i.e., half a rotation) in the forward and reverse circumferential directions. That is, the first relay rotating part 32 is rotated 180 degrees forward around the first relay rotation axis Ax1, and then rotated 180 degrees in the reverse direction. Similarly, the second relay rotating part 42 is rotated 180 degrees forward around the second relay rotation axis Ax2, and then rotated 180 degrees in the reverse direction.

[0118] In the first reversal relay device 30 having the above configuration, the two first relay workpiece suction units 31 are simultaneously and intermittently positioned at the relay receiving position Qr and the first transfer position Q1, respectively. Then, due to the intermittent rotation of the first relay rotation unit 32, the positions of the two first relay workpiece suction units 31 are swapped with each other.

[0119] Similarly, the two second relay workpiece suction units 41 of the second reversing relay device 40 are simultaneously and intermittently positioned at the relay handover position Qt and the second transfer position Q2, respectively, and the positions of the two second relay workpiece suction units 41 are swapped by the intermittent rotation of the second relay rotating unit 42.

[0120] In this modified example, as in the embodiment described above, the orientation of the front surface Wf and back surface Wr of the workpiece W transported by the workpiece transfer device 11 can be selectively reversed by the workpiece reversal device 12 as needed. In particular, by configuring the relay rotating units 32 and 42 to repeatedly rotate the relay workpiece suction units 31 and 41 by reciprocating them in the forward and reverse circumferential directions, the configuration of the pneumatic path (vacuum path) for providing suction force (attraction force) to the relay workpiece suction units 31 and 41 can be simplified and fixed, which can lead to simplification, miniaturization, and / or cost reduction of the device configuration compared to the case where the relay workpiece suction units 31 and 41 are rotated in only one circumferential direction.

[0121] 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.

[0122] 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]

[0123] 10 Workpiece transport system, 11 Workpiece transfer device, 12 Workpiece reversal device, 13 Control device, 14 Workpiece front / back inspection device, 15 Supply unit, 16 Storage unit, 17 Supply path, 18 Transport drive mechanism, 21 Workpiece support unit, 22 Workpiece support movement unit, 22a Center of workpiece support movement unit, 30 First reversal relay device, 31 First relay workpiece suction unit, 32 First relay rotation unit, 40 Second reversal relay device, 41 Second relay workpiece suction unit, 42 Second relay rotation unit, 60 Workpiece transport drive unit, 61 Workpiece support drive unit, 62 Transport suction drive unit, 71 First relay rotation drive unit, 72 Second relay rotation drive unit, 73 First relay suction drive unit, 74 Second relay suction drive unit, 75 Relay transfer drive unit, Ax0 Transport rotation axis, Ax1 First relay rotation axis, Ax2 Second relay rotation axis, P0 Center position, Pt Workpiece handover position, Pr Workpiece receiving position, Q1; First transfer position, Q2; Second transfer position, Qr; Relay receiving position, Qt; Relay handover position, Tq1; First relay movement trajectory, Tq2; Second relay movement trajectory, Tw; Workpiece transfer trajectory, U1; Processing unit, U2; Processing unit, U3; Processing unit, U4; Vs; Virtual plane, W; Workpiece, Wf; Front surface, Wr; Back surface

Claims

1. A workpiece reversing device comprising a first reversing relay device and a second reversing relay device, The first inverting relay device is The first relay rotation section, A plurality of first relay workpiece suction units are supported by the first relay rotating unit and rotate together with the first relay rotating unit about a first relay rotating axis, and each of the plurality of first relay workpiece suction units is capable of suctioning a workpiece. The second inverting relay device is The second relay rotation section, A plurality of second relay workpiece suction units are supported by the second relay rotating unit and rotate together with the second relay rotating unit around the second relay rotating axis, and each of the plurality of second relay workpiece suction units is capable of suctioning the workpiece, The first relay workpiece suction unit moves along a first relay movement trajectory that includes a relay receiving position and a first transfer position. The second relay workpiece suction unit moves along the second relay movement trajectory, which includes the relay handover position and the second transfer position. The first relay workpiece suction unit at the first transfer position is positioned to face the second relay workpiece suction unit at the second transfer position, and the workpiece is transferred from the first relay workpiece suction unit at the first transfer position to the second relay workpiece suction unit at the second transfer position so as to transition from a state in which the surface of the workpiece is held by the first relay workpiece suction unit to a state in which the back surface of the workpiece is held by the second relay workpiece suction unit. The number of the aforementioned multiple first relay workpiece suction units is two, and the orientation of one of the two first relay workpiece suction units forms a 90-degree angle with respect to the orientation of the other, and the two first relay workpiece suction units are repeatedly rotated half a turn by reciprocating in the forward and reverse circumferential directions. Workpiece reversing device.

2. A workpiece reversing device comprising a first reversing relay device and a second reversing relay device, The first inverting relay device is The first relay rotation section, A plurality of first relay workpiece suction units are supported by the first relay rotating unit and rotate together with the first relay rotating unit about a first relay rotating axis, and each of the plurality of first relay workpiece suction units is capable of suctioning a workpiece. The second inverting relay device is The second relay rotation section, A plurality of second relay workpiece suction units are supported by the second relay rotating unit and rotate together with the second relay rotating unit around the second relay rotating axis, and each of the plurality of second relay workpiece suction units is capable of suctioning the workpiece, The first relay workpiece suction unit moves along a first relay movement trajectory that includes a relay receiving position and a first transfer position. The second relay workpiece suction unit moves along the second relay movement trajectory, which includes the relay handover position and the second transfer position. The first relay workpiece suction unit at the first transfer position is positioned to face the second relay workpiece suction unit at the second transfer position, and the workpiece is transferred from the first relay workpiece suction unit at the first transfer position to the second relay workpiece suction unit at the second transfer position so as to transition from a state in which the surface of the workpiece is held by the first relay workpiece suction unit to a state in which the back surface of the workpiece is held by the second relay workpiece suction unit. The number of the aforementioned second relay workpiece suction parts is two, and the orientation of one of the two second relay workpiece suction parts forms a 90-degree angle with respect to the orientation of the other, and the two second relay workpiece suction parts are repeatedly rotated half a turn by reciprocating in the forward and reverse circumferential directions. Workpiece reversing device.

3. The orientation of the first relay workpiece suction unit at the first transfer position is at an angle of 90 degrees with respect to the orientation of the first relay workpiece suction unit at the relay receiving position. The orientation of the second relay workpiece suction unit at the second transfer position is at an angle of 90 degrees with respect to the orientation of the second relay workpiece suction unit at the relay handover position. The first relay rotation axis is at an angle of 45 degrees with respect to the orientation of the first relay workpiece suction part at the relay receiving position and the orientation of the first relay workpiece suction part at the first transfer position. The second relay rotation axis is at an angle of 45 degrees with respect to the orientation of the second relay workpiece suction part at the relay handover position and the orientation of the second relay workpiece suction part at the second transfer position. A workpiece reversing device according to claim 1 or 2.

4. A workpiece reversing device according to claim 1 or 2, The workpiece transfer device comprises a workpiece support section capable of supporting the workpiece, and a workpiece support moving section that moves the workpiece support section along a workpiece transfer track, The workpiece transfer track has a curved shape in at least part of it and includes a workpiece handover position and a workpiece receiving position. The aforementioned work support section is At the workpiece handover position, the workpiece is handed over to the first relay workpiece suction unit located at the relay receiving position. At the workpiece receiving position, the workpiece is received from the second relay workpiece suction unit located at the relay handover position. Workpiece transport system.

5. The workpiece transfer device moves the workpiece support section from the workpiece handover position along an arc-shaped trajectory to the workpiece receiving position. The first relay movement track and the second relay movement track are symmetrical with respect to a virtual plane that passes through the center position between the workpiece handover position and the workpiece receiving position in the workpiece transfer track and includes the diameter of the arc. The workpiece transport system according to claim 4.

6. The system includes a control device for controlling the workpiece reversal device and the workpiece transfer device, The control device is The work support portion is lowered so that the workpiece is transferred from the work support portion at the workpiece transfer position to the first relay workpiece suction portion at the relay receiving position, by positioning the work support portion at the workpiece transfer position relative to the first relay workpiece suction portion at the relay receiving position. After transferring the workpiece to the first relay workpiece suction unit, the workpiece support unit is raised. After the workpiece is transferred to the first relay workpiece suction unit, the workpiece support unit at the workpiece transfer position is moved to the workpiece receiving position. After moving the work support unit from the work transfer position, the work support unit is lowered so that the work is transferred from the second relay work suction unit at the relay transfer position to the work support unit at the work receiving position, by positioning the work support unit at the work receiving position relative to the second relay work support unit at the relay transfer position. After the workpiece is transferred from the second relay workpiece suction unit to the workpiece support unit, the workpiece support unit is raised. The workpiece transport system according to claim 4.

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