Working apparatus and working method
A working apparatus includes a component holder that holds a component and mounts the component at a predetermined position of a work. In the working apparatus, the component holder that holds a component is configured to include a pair of grip members that pinch and grip the component, a grip member opening/closing portion that opens and closes the pair of grip members with an opening/closing motor as a drive source, a pair of contact portions that are disposed on the pair of grip members and freely rotate around a rotary shaft provided in an opening/closing direction of the grip member, and a contact portion driving portion that causes a roller, which is provided to be in contact with a side of a nozzle shaft, to convert a lifting and lowering motion of a nozzle shaft into a rotational motion of a spline shaft, and that causes the rotational motion to be transmitted to the contact portion via a plurality of rollers such that the contact portion rotates around the rotary shaft.
1. A working apparatus comprising:
a component holder that holds a component and mounts the component at a predetermined position of a work,
wherein the component holder includes
a pair of grip members,
a grip member opening/closing portion that opens and closes the pair of grip members,
a pair of contact portions that are disposed on the pair of grip members to pinch the component between the pair of contact portions and freely rotate around rotary shafts provided in an opening/closing direction of the pair of grip members, and
a contact portion driving portion that causes the contact portions to rotate around the rotary shafts to convert a posture of the component pinched between the pair of contact portions, the contact portion driving portion comprising a shaft with drive rollers, input rollers provided on each of the grip members and engaged with the drive rollers, and intermediate rollers disposed on each of the grip members and engaged with the input rollers and the pair of contact portions such that when the shaft is rotated, the drive rollers transmit rotational motion to the input rollers, which thereby transmit rotational motion to the intermediate rollers, which thereby transmit rotational motion to the pair of contact portions to rotate around the rotary shafts.
2. The working apparatus of claim 1 ,
wherein the pair of grip members each has a base and a front end portion extending from the base,
wherein the contact portions are mounted to freely rotate with respect to the front end portions, and
wherein the contact portion driving portion includes
a drive source that drives the shaft to transmit rotational motion from the drive rollers to the input rollers which are disposed in the bases.
3. The working apparatus of claim 1 , further comprising:
a component pick-up portion that carries the component pinched between the pair of grip members.
4. The working apparatus of claim 3 ,
wherein the component pick-up portion is lifted and lowered between the pair of grip members.
5. The working apparatus of claim 4 , wherein the component pick-up portion is a nozzle that performs holding of the component by a suction force.
6. The working apparatus of claim 3 , wherein the component pick-up portion functions as a pusher that pushes the component held between the pair of contact portions to the work.
7. The working apparatus of claim 1 , further comprising: a pusher that pushes the component gripped by the pair of grip members to the work.
8. A working method in which a component holder holds a component and mounts the component at a predetermined position of a work,
the working method comprising:
causing a pair of grip members to be in an opening state;
picking up the component from a supplier and positioning the component between contact portions provided in the pair of grip members;
pinching and holding the component by the contact portions by causing the pair of grip members to close;
causing the contact portions to rotate with respect to the pair of grip members by using a contact portion driving portion for converting a posture of the component held by the contact portions, the contact portion driving portion comprising a shaft with drive rollers, input rollers provided on each of the grip members and engaged with the drive rollers, and intermediate rollers disposed on each of the grip members and engaged with the input rollers and the pair of contact portions such that when the shaft is rotated, the drive rollers transmit rotational motion to the input rollers which thereby transmit rotational motion to the intermediate rollers which thereby transmit rotational motion to the pair of contact portions to rotate around the rotary shafts; and
mounting the component held by the contact portions at the predetermined position of the work.
9. A working method in which a component holder holds a component and mounts the component at a predetermined position of a work,
the working method comprising:
picking up the component from a supplier;
pinching and holding the component picked up by contact portions provided in a pair of grip members by causing the pair of grip members to close about the component;
causing the contact portions to rotate with respect to the pair of grip members by using a contact portion driving portion for converting a posture of the component, the contact portion driving portion comprising a shaft with drive rollers, input rollers provided on each of the grip members and engaged with the drive rollers, and intermediate rollers disposed on each of the grip members and engaged with the input rollers and the pair of contact portions such that when the shaft is rotated, the drive rollers transmit rotational motion to the input rollers which thereby transmit rotational motion to the intermediate rollers which thereby transmit rotational motion to the pair of contact portions to rotate around the rotary shafts; and
mounting the component held by the contact portions at the predetermined position of the work.