HOLDING DEVICE, ROBOT WITH THE SAME, AND METHOD OF CONTROLLING HOLDING DEVICE

The present disclosure includes a first holding mechanism which has a pair of first members relatively movable in a first direction, and can hold an electronic component by pinching the electronic component in the first direction by the pair of first members, and a second holding mechanism which has a pair of second members relatively movable in a second direction, and can hold the electronic component by pinching the electronic component in the second direction by the pair of second members. A controlling device controls operations of the first and second holding mechanisms so that the electronic component is released from the first holding mechanism after or in the middle of holding the electronic component by the second holding mechanism in a state where the electronic component is held by the first holding mechanism.

TECHNICAL FIELD

The present disclosure relates to a holding device, a robot with the same, and a method of controlling the holding device.

BACKGROUND ART

Conventionally, a holding device for holding an electronic component is known. Such a holding device is proposed as an electronic component insertion apparatus of Patent Document 1, for example.

The electronic component insertion apparatus of Patent Document 1 includes a transferring means for holding an electronic component and transferring it to a given position, a lead wire bending correcting means for correcting bending of lead wires of the electronic component transferred by the transferring means, and a pinching means for receiving the electronic component from the transferring means, bending the lead wires after cutting tip-end parts of the lead wires, and pinching the lead wires into given holes of a substrate.

REFERENCE DOCUMENT OF CONVENTIONAL ART

DESCRIPTION OF THE DISCLOSURE

Problem to be Solved by the Disclosure

However, the electronic component insertion apparatus of Patent Document 1 may not securely transfer the electronic component from the transferring means to the pinching means.

Therefore, one purpose of the present disclosure is to provide a holding device, a robot with the same, and a method of controlling the holding device, which are capable of securely transferring an electronic component from a first holding mechanism to a second holding mechanism.

SUMMARY OF THE DISCLOSURE

In order to solve the problem, a holding device according to the present disclosure holds an electronic component, and includes a first holding mechanism having a pair of first members opposing to each other in a first direction and relatively movable in the first direction, and configured to hold the electronic component by pinching the electronic component in the first direction by the pair of first members, a second holding mechanism having a pair of second members opposing to each other in a second direction different from the first direction and relatively movable in the second direction, and configured to hold the electronic component by pinching the electronic component in the second direction by the pair of second members, and a controlling device configured to control operations of the first and second holding mechanisms. The controlling device controls the operations of the first and second holding mechanisms so that the electronic component is released from the first holding mechanism after or in the middle of holding the electronic component by the second holding mechanism in a state where the electronic component is held by the first holding mechanism.

According to this configuration, the holding device according to the present disclosure transfers the electronic component from the first holding mechanism which is capable of holding the electronic component by pinching the electronic component by the pair of first members in the first direction, to the second holding mechanism which is capable of holding the electronic component by pinching the electronic component E by the pair of second members in the second direction different from the first direction. As a result, the holding device according to the present disclosure becomes possible to securely transfer the electronic component from the first holding mechanism to the second holding mechanism.

The electronic component may have an electronic component body, and a lead wire extending from the electronic component body. The first holding mechanism may hold the electronic component by pinching, by the pair of first members, the lead wire in a radial direction of the lead wire that is in agreement with the first direction. The second holding mechanism may hold the electronic component by pinching, by the pair of second members, the electronic component body in a height direction of the electronic component body that is in agreement with the second direction.

According to this configuration, even when the electronic component has the electronic component body and the lead wire extending from the electronic component body, the electronic component can securely be transferred from the first holding mechanism to the second holding mechanism.

The electronic component may have a plurality of lead wires, and the plurality of lead wires may be arranged parallelly in a parallelly-arranged direction that is in agreement with the first direction and the radial direction of the lead wires. The first holding mechanism may hold the electronic component by pinching, by the pair of first members, the plurality of lead wires in the parallelly-arranged direction from outside in the parallelly-arranged direction.

According to this configuration, even when the electronic component has the plurality of lead wires, the electronic component can securely be transferred from the first holding mechanism to the second holding mechanism.

The electronic component body may have a corner part at least in one of both ends in the height direction. The pair of second members may have a recess of a shape corresponding to the corner part. The second holding mechanism may hold the electronic component in a state where the corner part is fitted into the recess.

According to this configuration, since the second holding mechanism can hold the electronic component in the state where the corner part is fitted into the recess, the electronic component can be transferred further securely from the first holding mechanism to the second holding mechanism.

A plurality of first holding mechanisms may be provided.

According to this configuration, the electronic component can efficiently be transferred from the first holding mechanism to the second holding mechanism.

For example, when holding the electronic component, the first holding mechanism may apply a first external force to the electronic component from each of the pair of first members. When holding the electronic component, the second holding mechanism may apply a second external force to the electronic component from each of the pair of second members. The second external force may have a magnitude capable of moving in the second direction the electronic component held by the first holding mechanism, against the first external force.

The second direction may be perpendicular to the first direction.

According to this configuration, the electronic component can be transferred further securely from the first holding mechanism to the second holding mechanism.

In order to solve the problem, a robot according to the present disclosure includes the holding device having any one of the configurations described above, a first robotic arm provided with the first holding mechanism at a tip end thereof and having at least one joint axis, a second robotic arm provided with the second holding mechanism at a tip end thereof and having at least one joint axis, and a robot controlling device configured to control operations of the first and second robotic arms.

According to this configuration, since the holding device having any one of the configurations described above is provided, the electronic component can securely be transferred from the first holding mechanism to the second holding mechanism.

Rotation axes of the first and second robotic arms at base ends thereof may be located on the same straight line.

According to this configuration, the robot can be reduced in size.

The controlling device may be configured as a part of the robot controlling device.

According to this configuration, the configuration of the robot according to the present disclosure can be simplified.

The at least one joint axis of the first robotic arm may be provided with a first servomotor configured to rotate itself, and the at least one joint axis of the second robotic arm may be provided with a second servomotor configured to rotated itself. The first holding mechanism may be provided with a third servomotor configured to drive the pair of first members, and the second holding mechanism may be provided with a fourth servomotor configured to drive the pair of second members. The controlling device may be configured as a part of the robot controlling device, and the robot controlling device may servo-control the first and second robotic arms, and the first and second holding mechanisms by using the first to fourth servomotors.

According to this configuration, the configuration of the robot according to the present disclosure can be simplified and it becomes possible to accurately control the operation of the robot.

In order to solve the problem, a method of controlling a holding device according to the present disclosure is a method of controlling a holding device configured to hold an electronic component, the holding device including a first holding mechanism having a pair of first members opposing to each other in a first direction and relatively movable in the first direction, and configured to hold the electronic component by pinching the electronic component in the first direction by the pair of first members, a second holding mechanism having a pair of second members opposing to each other in a second direction different from the first direction and relatively movable in the second direction, and configured to hold the electronic component by pinching the electronic component in the second direction by the pair of second members, and a controlling device configured to control operations of the first and second holding mechanisms. The method includes the steps of holding the electronic component by the first holding mechanism (First Step), and releasing the electronic component from the first holding mechanism, after or in the middle of holding the electronic component by the second holding mechanism (Second Step).

According to this configuration, the method of controlling the holding device according to the present disclosure transfers the electronic component from the first holding mechanism which is capable of holding the electronic component by pinching the electronic component by the pair of first members in the first direction, to the second holding mechanism which is capable of holding the electronic component by pinching the electronic component E by the pair of second members in the second direction different from the first direction. As a result, the method of controlling the holding device according to the present disclosure becomes possible to securely transfer the electronic component from the first holding mechanism to the second holding mechanism.

Effect of the Disclosure

According to the present disclosure, a holding device, a robot with the same, and a method of controlling the holding device can be provided, which are capable of securely transferring an electronic component from a first holding mechanism to a second holding mechanism.

MODES FOR CARRYING OUT THE DISCLOSURE

Hereinafter, a holding device according to one embodiment of the present disclosure and a robot provided with the same are described with reference to the drawings. Note that the present disclosure is not necessarily limited by this embodiment. Moreover, below, throughout the drawings, the same reference characters are assigned to the same or corresponding elements to omit redundant description.

FIG. 1is a schematic view illustrating a situation where the holding device according to this embodiment and the robot provided with the same perform a transferring work of an electronic component. As illustrated inFIG. 1, a holding device30according to this embodiment and a robot10provided with the same are used for transferring a plurality of electronic components E from a first accommodating device110to a second accommodating device120. Note thatFIG. 1illustrates a state where one second accommodating device120after the electronic components E are accommodated by the robot10is located at the downstream end (that is, the rightmost in the drawing) of a conveyor132for conveying a plurality of second accommodating devices120one by one, and one second accommodating device120where the electronic components E are being accommodated by the robot10is located at the second one from the downstream end (that is, the second one from the rightmost in the drawing) of the conveyor132.

FIG. 2is a front view illustrating the entire configuration of the holding device according to this embodiment and the robot provided with the same. As illustrated inFIG. 2, the robot10according to this embodiment includes a pedestal12, a pair of robotic arms20aand20b(a first robotic arm and a second robotic arm) supported by the pedestal12, and the holding device30provided to tip ends of the pair of robotic arms20aand20b. Moreover, the robot10further includes a robot controlling device90(illustrated by a broken line inFIG. 2) provided to the pedestal12.

Each of the pair of robotic arms20aand20bis a horizontal articulated robotic arm configured to be movable with respect to the pedestal12. The pair of robotic arms20aand20bcan operate independently or can operate collaboratively. Note that the robotic arm20bhas the same structure as the robotic arm20a. Therefore, here, only the robotic arm20ais described except for the case of being particularly required, and description which becomes the same as the robotic arm20bwill not be repeated.

The robotic arm20ahas joint axes JT1-JT4. Drive servomotors29(seeFIG. 5, first servomotors) are provided to the robotic arm20aso as to correspond to the joint axes JT1-JT4. The robotic arm20ahas a first link22, a second link24, and a wrist26.

The first link22is coupled to a base shaft14fixed to an upper surface of the pedestal12through the joint axis JT1so as to be rotatable on a rotation axis L1which is defined to pass through the axial center of the base shaft14. The second link24is coupled to a tip end of the first link22through the joint axis JT2so as to be rotatable on a rotation axis L2which is defined at the tip end of the first link22.

The wrist26has a mechanical interface27to which a first holding mechanism40(described later) is attached, and is coupled to a tip end of the second link24through the linear-motion joint axis JT3(not illustrated) and through the rotary-motion joint axis JT4. The wrist26is movable upward and downward with respect to the second link24by the linear-motion joint axis JT3. Moreover, the wrist26is rotatable on a rotation axis L3perpendicular to the second link24through the rotary-motion joint axis JT4.

As for the robotic arms20aand20b, the rotation axes L1at their base ends are located on the same straight line. Note that the first link22of the robotic arm20aand the first link22of the robotic arm20bare disposed with a vertical difference therebetween.

As illustrated inFIG. 2, the holding device30according to this embodiment includes four first holding mechanisms40provided to the tip end of the robotic arm20a, and two second holding mechanisms60provided to the tip end of the robotic arm20b.

FIG. 3is a front view of the first holding mechanisms provided to the holding device according to this embodiment. As illustrated inFIG. 3, the holding device30according to this embodiment further includes an attaching part70ato which the mechanical interface27of the robotic arm20a(first robotic arm) is attached to a base end thereof and which is rotatable on the rotation axis L3, and a base shaft member71provided to a tip end of the attaching part70a. The attaching part70ais formed in a cylindrical shape with the dimension and a shape corresponding to the mechanical interface27. The base shaft member71is formed in a plate shape and extends horizontally.

The holding device30according to this embodiment further includes four center members72which are lined up in the axial direction of the base shaft member71, and which are fixed at their base ends to the bottom surface of the base shaft member71and extend downwardly. A base end of the first holding mechanism40is fixed to a tip end of each of the four center members72. Note that the four first holding mechanisms40have mutually the same structure. Therefore, here, except for the case of being particularly required, only the first holding mechanism40located at the leftmost inFIG. 3is attached with a reference character in detail and is described, and the remaining three first holding mechanisms40are not attached with the detailed reference characters without repeating similar description. Note that similar things are applied toFIGS. 7(A) and 7(B)(described later).

As illustrated inFIG. 3, the first holding mechanism40includes a shaft member42which is fixed at its base end to a tip end of the center member72and extends vertically, and a pair of first members45aand45bprovided to a tip end of the shaft member42.

The pair of first members45aand45beach includes a base-end part46which is fixed at a base end thereof to the tip end of the shaft member42and extends vertically, a center part47which is bent outwardly (that is, outside when seen from the axis of the shaft member42) from a tip end of the base-end part46and extends horizontally, and a tip-end part48which is bent from a tip end of the center part47and extends vertically.

The pair of first members45aand45boppose to each other in the left-and-right direction (first direction) inFIG. 3and are relatively movable in the same direction. The pair of first members45aand45bare each driven by a servomotor49(seeFIG. 5, a third servomotor) provided inside the shaft member42, and are movable oppositely in the left-and-right direction inFIG. 3. The pair of first members45aand45bmay be movable oppositely in the left-and-right direction inFIG. 3by each being provided with a so-called “rack and pinion” structure having the servomotor49.

In detail, a pinion (not illustrated) is attached to a rotation shaft of the servomotor49, for example. Two racks (the same as above) mesh with the pinion. One of the two racks meshes with a part of the pinion on one side in the radial direction (for example, a lower part inFIG. 3). The base-end part46of the first member45ais fixed to the one rack. Moreover, the other of the two racks meshes with a part of the pinion on the other side in the radial direction (for example, an upper part inFIG. 3). The base-end part46of the first member45bis fixed to the other rack.

The first holding mechanism40is configured so that the two racks move oppositely in the left-and-right direction inFIG. 3by the pinion being rotated by the servomotor49. According to the above structure, the first member45aattached to one of the racks and the first member45battached to the other rack become movable oppositely to each other in the left-and-right direction inFIG. 3.

FIG. 4is a front view of the second holding mechanisms provided to the holding device according to this embodiment. As illustrated inFIG. 4, the holding device30according to this embodiment further includes an attaching part70bwhich is attached to the mechanical interface27of the robotic arm20b(second robotic arm) and is rotatable on the rotation axis L3, and an intervening mechanism75provided to a tip end of the attaching part70b.

The attaching part70bis formed in a cylindrical shape with the dimension and a shape corresponding to the mechanical interface27. The intervening mechanism75includes a first base-end member76which is fixed to the tip end of the attaching part70band extends horizontally, and a second base-end member77which extends downwardly from an edge part on one of the first base-end member76in the horizontal direction (inFIG. 4, a right edge). The first base-end member76and the second base-end member77are each formed in a plate shape.

The intervening mechanism75further includes a connecting member78aprovided to a bottom surface of an edge part of the first base-end member76on the other side in the horizontal direction (inFIG. 4, a left edge), and a connecting member78bprovided to the left side surface inFIG. 4of the center part of the second base-end member77in the up-and-down direction. Moreover, the intervening mechanism75further includes a plate-like member79which is connected at one end of its upper surface to the first base-end member76through the connecting member78aand connected at the other end of the upper surface to the second base-end member77through the connecting member78b, a casing80provided to a bottom surface of the plate-like member79, a rotation shaft (not illustrated) which is located at its base-end part inside the casing80and protrudes at its tip-end part from a bottom surface of the casing80, and a tip-end member81attached to a tip end of the rotation shaft.

When seen in the side view as illustrated inFIG. 4, the plate-like member79extends so that its upper surface and bottom surface make an angle of 45° from the left-and-right direction inFIG. 4. Moreover, the casing80, the rotation shaft provided to the casing80, and the tip-end member81are arranged so that their center rotation axes L4are located on the same straight line. When seen in the side view as illustrated inFIG. 4, the casing80, the rotation shaft provided to the casing80, and the tip-end member81are arranged so that their center rotation axes L4make an angle of 45° from the left-and-right direction inFIG. 4. The rotation shaft provided to the casing80and the tip-end member81are each driven by a servomotor89(seeFIG. 5) provided inside the casing80, and rotatable on the center rotation axis L4.

The base ends of the two second holding mechanisms60are fixed to the inside of the tip-end member81. One of the two second holding mechanisms60extends horizontally. The other of the two second holding mechanisms60extends vertically. Note that the two second holding mechanisms60have the same structure as each other. Therefore, here, except for the case of being particularly required, only one of the two second holding mechanisms60(that is, the second holding mechanism60extending horizontally) is described while attaching the reference character in detail, not to repeat similar description for the other of the two second holding mechanisms60(that is, the second holding mechanism60extending vertically), without attaching the detailed reference character. Note that similar things can be said forFIGS. 8 and 11(described later).

As illustrated inFIG. 4, the second holding mechanism60includes a shaft member62which is fixed at its base end to the tip-end member81and extends horizontally, and a pair of second members65aand65bprovided to a tip end of the shaft member62. The pair of second members65aand65bare each formed in a plate shape, and extends horizontally. The pair of second members65aand65bis each attached at a base end to the shaft member62, and has a recess66at its tip end, which has a shape corresponding to a corner part EC of an electronic component body EB (described later).

The pair of second members65aand65boppose to each other in the up-and-down direction (second direction) inFIG. 4and are relatively movable in the same direction. The pair of second members65aand65bare each driven by a servomotor69(seeFIG. 5, a fourth servomotor) provided inside the shaft member62, and they are movable oppositely in the up-and-down direction inFIG. 4. The pair of second members65aand65bmay be movable oppositely in the up-and-down direction inFIG. 5by each having a so-called “rack and pinion structure” similar to the pair of first members45aand45bdescribed above.

FIG. 5is a block diagram illustrating a robot controlling device provided to the robot according to this embodiment. As illustrated inFIG. 5, the robot controlling device90includes a robotic-arm controller92for controlling operation of the robotic arm20, and a holding-device controller94(controlling device) for controlling operation of the holding device30. That is, the robotic-arm controller92and the holding-device controller94are each configured to be a part of the robot controlling device90.

The robotic-arm controller92carries out a servo control of the robotic arm20aby using the four servomotors29(first servomotor) provided to the robotic arm20a. Moreover, the robotic-arm controller92carries out a servo control of the robotic arm20bby using the four servomotors29(second servomotor) provided to the robotic arm20b.

The holding-device controller94carries out a servo control of the four first holding mechanisms40by using the servomotors49(third servomotor) provided to the four first holding mechanisms40, respectively. Moreover, the holding-device controller94carries out a servo control of the second holding mechanism60by using the servomotor69(fourth servomotor) and the servomotor89provided to the two second holding mechanisms60, respectively.

As described above, the robot controlling device90can carry out a servo control of the robotic arms20aand20b(first and second robotic arms), the first holding mechanism40, and the second holding mechanism60by using the servomotors29,49,69, and89(first to fourth servomotors).

Note that, in order to avoid the complication of the appearance, only the four servomotors29provided to the robotic arms20aand20bare connected to the robotic-arm controller92inFIG. 5, but actually eight servomotors29provided to the robotic arms20aand20bare connected to the robotic-arm controller92. Moreover, one servomotor49and one servomotor69are connected to the holding-device controller94, but actually four servomotors49and two servomotors69are connected to the holding-device controller94.

Although the concrete configuration of the robot controlling device90is not limited in particular, it may be implemented by a CPU (Central Processing Unit) operating according to a program stored in a memory, for example.

(One Example of Transferring Work of Electronic Component E)

Next, one example of the transferring work of the electronic component E which is performed using the holding device30and the robot10provided with the same is described mainly based onFIGS. 1 and 6 to 12. Here, one example of the work for transferring the plurality of electronic components E from the first accommodating device110to the second accommodating device120by using the holding device30and the robot10provided with the same at a worksite illustrated inFIG. 1is described.

FIGS. 6(A) and 6(B)are partial schematic views illustrating a situation where the plurality of electronic components transferred by the holding device according to this embodiment and the robot provided with the same are accommodated in the first accommodating device, whereFIG. 6(A)is a plan view andFIG. 6(B)is a VIB direction view illustrated inFIG. 6(A). For example, the first accommodating device110illustrated inFIGS. 6(A) and 6(B)is conveyed to the worksite illustrated inFIG. 1by being loaded on a conveying body (for example, a ship or a vehicle), after it accommodates the plurality of electronic components E at a manufacturing site (not illustrated) of the electronic components E. The first accommodating device110conveyed to the worksite is placed on a loading table130by a human labor. The loading table130is disposed adjacent to the conveyor132for continuously conveying a plurality of second accommodating devices120at a constant interval.

As illustrated inFIG. 6(A), the first accommodating device110can accommodate the plurality of electronic components E parallelly in a matrix shape. In detail, the first accommodating device110accommodates the total of one-hundred-twenty electronic components E in a matrix of 8×15 by parallelly arranging eight electronic components E in the left-and-right direction of the drawing sheet ofFIG. 6(A)and parallelly arranging 15 electronic components E in the up-and-down direction of the drawing sheet of the same drawing.

Here, as illustrated inFIG. 6(B), the electronic component E has an electronic component body EB, and lead wires EL extending from the electronic component body EB.

The electronic component body EB is formed in a rectangular parallelepiped shape, and has a longitudinal direction (first direction) which is in agreement with a depth direction of the drawing sheet ofFIG. 6(B), a front-and-rear direction which is in agreement with the left-and-right direction of the drawing sheet of the same drawing, and a height direction (second direction) which is in agreement with the up-and-down direction of the drawing sheet of the same drawing. The electronic component body EB has the corner part EC (seeFIG. 9etc.) at both ends in the height direction.

Twenty lead wires EL are provided to an upper surface of the electronic component body EB. When seen in the side view as illustrated inFIG. 6(B), each of the twenty lead wires EL is formed in an L-shape having a part extending upwardly from the upper surface of the electronic component body EB, and a part which is bent from an upper end of the upwardly-extending part and extends toward the front surface of the electronic component body EB.

Ten lead wires among the twenty lead wires EL are arranged parallelly in the depth direction of the drawing sheet of the same drawing in a left part of the upper surface of the electronic component body EB inFIG. 6(B). The depth direction is in agreement with the radial direction of the twenty lead wires EL. The remaining ten among the twenty lead wires EL are arranged parallelly in the depth direction of the drawing sheet of the same drawing in a right part of the upper surface of the electronic component body EB of the same drawing. The depth direction is in agreement with the radial direction (the same as above) of the remaining twenty lead wires EL.

As illustrated inFIG. 6(B), the height dimension of the ten lead wires EL of the front row is smaller than the height dimension of the ten lead wires of the rear row. Moreover, as illustrated inFIG. 6(A), since the ten lead wires EL of the front row and the ten lead wires EL of the rear row are located parallelly at the same positions in the left-and-right direction of the same drawing, the ten lead wires EL of the rear row are hidden by the ten lead wires EL of the front row, and, therefore, they cannot be visible in the same drawing.

As illustrated inFIG. 6(B), in order to accommodate the electronic components E parallelly in the matrix of 8×15, the first accommodating device110has the total of one-hundred-twenty dents112of a shape corresponding to a lower part of the electronic component body EB, in the matrix of 8×15. As illustrated in the same drawing, the first accommodating device110can accommodate the one-hundred-twenty electronic components E in a state where the lower part of each electronic component body EB is fitted into the dent112, and the upper part of each electronic component body EB and the twenty lead wires EL are exposed.

FIGS. 7(A) and 7(B)are partial schematic views illustrates a situation where the holding device according to this embodiment holds the electronic components by the first holding mechanisms, whereFIG. 7(A)is a view when the first holding mechanisms are located above the electronic components,FIG. 7(B)is a view when the electronic components are held by the first holding mechanisms, andFIG. 7(C)is a view when the first holding mechanisms are raised while holding the electronic components.

As illustrated inFIG. 7(A), the robot controlling device90controls operation of the robotic arm20so that the four first holding mechanisms40are located above the electronic components E accommodated in the first accommodating device110. In detail, the robot controlling device90locates the four first holding mechanisms40above the four electronic components E by changing the posture of the robotic arm20aso that the four first holding mechanisms40are located above the four electronic components E arranged parallelly at the 12th to 15th rows of the 8th line in the 8×15 matrix (that is, the four electronic components E at the right end of the closest line inFIG. 1).

Then, as illustrated inFIG. 7(B), the robot controlling device90lowers the four first holding mechanisms40and makes the four first holding mechanisms40hold the electronic components E, respectively. At this time, the robot controlling device90makes the four first holding mechanisms40hold the electronic components E, respectively, by pinching the twenty lead wires EL in the left-and-right direction inFIG. 7(B)(a parallelly-arranged direction which is in agreement with the first direction and the radial direction of the lead wires), by the pair of first members45aand45bfrom outside in the left-and-right direction.

Moreover, as illustrated inFIG. 7(C), the robot controlling device90raises the four first holding mechanisms40in a state where the electronic components E are held by the four first holding mechanisms40, respectively.

FIGS. 8(A) and 8(B)are schematic views illustrating a situation where the holding device according to this embodiment holds the electronic component by the second holding mechanisms in a state where it is held by the first holding mechanism, whereFIG. 8(A)is a view when the second holding mechanism opposes horizontally to the electronic component, andFIG. 8(B)is a view when the electronic component is held by the second holding mechanism.

As illustrated inFIG. 8(A), the robot controlling device90controls operation of the robotic arm20so that one of the second holding mechanisms60opposes horizontally to the electronic component E held by the first holding mechanism40which is located at the closest side in the depth direction of the drawing sheet ofFIG. 8(A).

Then, as illustrated inFIG. 8(B), the robot controlling device90moves one of the second holding mechanisms60leftward of the drawing sheet of the same drawing to make the one second holding mechanism60hold the electronic component E. At this time, the robot controlling device90makes the one second holding mechanism60hold the electronic component E by pinching the electronic component body EB by the pair of second members65aand65bin the up-and-down direction (second direction) inFIG. 8(A).

As described above, the pair of second members65aand65beach has the recess66of the shape corresponding to the corner part EC (seeFIG. 9etc.) of the electronic component body EB. When pinching the electronic component body EB by the pair of second members65aand65bin the up-and-down direction inFIG. 8(A), the robot controlling device90controls operations of the robotic arm20and the holding device30so that the corner part EC of the bottom surface of the electronic component body EB is fitted into the recess66of the second member65a, and the corner part EC of the upper surface of the electronic component body EB is fitted into the recess66of the second member65b.

FIGS. 9(A) and 9(B)are schematic views illustrating a situation where the holding device according to this embodiment transfers the electronic component from the first holding mechanism to the second holding mechanism, whereFIG. 9(A)is a view immediately before the electronic component is released from the first holding mechanism, andFIG. 9(B)is a view illustrating a state where the electronic component is held by the second holding mechanism at the time ofFIG. 9(A).

As illustrated inFIG. 9(A), when holding the electronic component E, the first holding mechanism40applies an external force F1(first external force) to the electronic component E from the pair of first members45aand45b. In detail, the first holding mechanism40holds the electronic component E by applying the external force F1, by the first member45awhich contacts the lead wires EL among the twenty lead wires EL located at one end (the left end in the same drawing) in the parallelly-arranged direction (first direction) to the lead wires EL toward the other end (the right end in the same drawing) in the parallelly-arranged direction, and by applying the external force F1, by the first member45bwhich contacts the lead wires EL among the twenty lead wires EL located at the other end in the parallelly-arranged direction to the lead wires EL toward the one end in the parallelly-arranged direction.

On the other hand, as illustrated inFIG. 9(B), when holding the electronic component E, the second holding mechanism60applies an external force F2(second external force) to the electronic component E from each of the pair of second members65aand65b. In detail, the second holding mechanism60holds the electronic component E by applying the external force F2, by the second member65awhich contacts the bottom surface of the electronic component body EB, toward the opposite side in the height direction (second direction) of the electronic component body EB (that is, toward the upper surface of the electronic component body EB), and by applying the external force F2, by the second member65bwhich contacts the upper surface of the electronic component body EB, toward the opposite side in the height direction of the electronic component body EB (that is, toward the bottom surface of the electronic component body EB).

As described above, the robot controlling device90holds the electronic component E by the second holding mechanism60in a state where the electronic component E is held by the first holding mechanism40. Note that the external force F1applied to the electronic component E by the pair of first members45aand45bis smaller than the external force F2applied to the electronic component E by the pair of second members65aand65b.

FIGS. 10(A) and 10(B)are schematic views illustrating a situation where the holding device according to this embodiment transfers the electronic component from the first holding mechanism to the second holding mechanism, whereFIG. 10(A)is a view immediately after the electronic component is released from the first holding mechanism, andFIG. 10(B)is a view illustrating a state where the electronic component is held by the second holding mechanism at the time ofFIG. 10(A).

As illustrated inFIGS. 10(A) and 10(B), the robot controlling device90controls operation of the holding device30so that, after the electronic component E is held by the second holding mechanism60in the state where the electronic component E is held by the first holding mechanism40, the electronic component E is released from the first holding mechanism40. As described above, the electronic component E can be transferred from the first holding mechanism40located at the closest in the depth direction of the drawing sheet ofFIGS. 8(A) and 8(B), to one of the second holding mechanisms60.

FIGS. 11(A) and 11(B)are schematic views illustrating a situation where the holding device according to this embodiment separates the second holding mechanism from the first holding mechanism after it transfers the electronic component from the first holding mechanism to the second holding mechanism, whereFIG. 11(A)is a view immediately after one of the second holding mechanisms is separated from the first holding mechanism, andFIG. 11(B)is a view immediately after the other second holding mechanism is separated from the first holding mechanism.

As illustrated inFIG. 11(A), the robot controlling device90separates, from the first holding mechanism40, one of the second holding mechanisms60in the state where it holds the electronic component E, by moving the tip end of the robotic arm20brightward of the drawing sheet of the same drawing after transferring, to the one second holding mechanism60, the electronic component E from the first holding mechanism40located at the closest in the depth direction of the drawing sheet of the same drawing.

Then, the robot controlling device90moves the tip end of the robotic arm20bin the depth direction, and rotates the rotation shaft (not illustrated) provided inside the casing80on the center rotation axis L4so that the other second holding mechanism60opposes horizontally to the electronic component E held by the first holding mechanism40located at the second closest in the depth direction of the drawing sheet ofFIGS. 11(A) and 11(B). Note that the other second holding mechanism60may be located farther from the one second holding mechanism60by a distance corresponding to the spacing between the four first holding mechanisms40. Therefore, it becomes unnecessary to move the other second holding mechanism60in the depth direction inFIGS. 11(A) and 11(B).

Similarly to when transferring the electronic component E to the one second holding mechanism60from the first holding mechanism40located at the closest in the depth direction of the drawing sheet ofFIGS. 8(A) and 8(B), the robot controlling device90transfers the electronic component E to the other second holding mechanism60from the first holding mechanism40located at the second closest in the depth direction of the drawing sheet ofFIGS. 11(A) and 11(B). Then, as illustrated inFIG. 11(B), the robot controlling device90separates, from the first holding mechanism40, the other second holding mechanism60holding the electronic component E, by moving the tip end of the robotic arm20brightward of the drawing sheet of the same drawing.

Referring again toFIG. 1, the robot controlling device90controls operations of the robotic arm20band the holding device30so that the electronic components E held by the two second holding mechanisms60are accommodated into the second accommodating device120conveyed on the top of the conveyor132. Note that, at this time, the robot controlling device90stops the four first holding mechanisms40at the position illustrated inFIG. 1. Moreover, the conveyance of the second accommodating device120by the conveyor132is in a stopped state.

FIGS. 12(A) and 12(B)are partial schematic views illustrating a situation where a plurality of electronic components transferred by the holding device according to this embodiment and the robot provided with the same are accommodated in the second accommodating device, whereFIG. 12(A)is a plan view andFIG. 12(B)is a XIIB direction view illustrated inFIG. 12(A).

As illustrated inFIG. 12(A), the second accommodating device120can accommodate the plurality of electronic components E parallelly in a matrix shape. In detail, the second accommodating device120accommodates the total of one hundred thirty-six electronic components E in the matrix of 8×17 by parallelly arranging eight electronic components E in the left-and-right direction of the drawing sheet ofFIG. 12(A)and parallelly arranging 17 electronic components E in the up-and-down direction of the drawing sheet of the same drawing.

As illustrated inFIG. 12(B), in order to accommodate the electronic components E so as to parallelly arrange in the matrix of 8×17, the second accommodating device120has the total of one hundred thirty-six dents122of a shape corresponding to a front part of the electronic component E in the matrix of 8×17. As illustrated in the same drawing, the second accommodating device120can accommodate the one hundred thirty-six electronic components E in a state where the front part of the electronic component body EB and the tip-end parts of the twenty lead wires EL are fitted into the dents122, and the rear part of the electronic component body EB and the base-end parts of the twenty lead wires EL are exposed.

As described above, the second accommodating device120can accommodate the one hundred thirty-six electronic components E in a state where the tip ends of the lead wires EL of the one hundred thirty-six electronic components E are located downwardly. Thus, by accommodating the electronic components E in the second accommodating device120, it is not necessary to change the orientation of the electronic components E in a post process in which the electronic components E are mounted on a substrate (not illustrated). Therefore, the post process may be performed easily and promptly.

After the robot controlling device90accommodates the electronic components E held by the two second holding mechanisms60into the second accommodating device120, it resumes the posture of the robotic arm20bto a state illustrated inFIG. 1. Then, similarly to the above description, it transfers the remaining two electronic components E held by the first holding mechanism40to the two second holding mechanisms60and accommodates them in the second accommodating device120. Moreover, when the electronic components E held by the four first holding mechanisms40are all transferred to the second holding mechanism60, the robot controlling device90again makes the four first holding mechanisms40hold the electronic components E accommodated in the first accommodating device110, respectively, similarly to the above description.

When the above work is repeated by the robot10and all the electronic components E accommodated in the first accommodating device110are transferred to the second accommodating device120, the first accommodating device110which became empty is replaced by another first accommodating device110which accommodates a plurality of electronic components E, by a human labor. Moreover, when the electronic components E are accommodated in all the dents122of the second accommodating device120, the second accommodating device120is conveyed downstream on the conveyor132. In connection with this, another empty second accommodating device120is conveyed on the conveyor132to a location adjacent to the robot10from the upstream.

As described above, the robot10according to this embodiment can repeatedly perform the work for transferring a plurality of electronic components E from the first accommodating device110to the second accommodating device120.

Effects

The holding device30according to this embodiment transfers the electronic component E from the first holding mechanism40which is capable of holding the electronic component E by pinching the electronic component E by the pair of first members45aand45bin the longitudinal direction of the electronic component E (first direction) to the second holding mechanism60which is capable of holding the electronic component E by pinching the electronic component E by the pair of second members65aand65bin the height direction of the electronic component E (second direction). Therefore, when transferring the electronic component E from the first holding mechanism40to the second holding mechanism60, the holding device30according to this embodiment can suppress a possibility that the electronic component E is dropped, for example. Note that, in this embodiment, the electronic component body EB is placed on the second member65a, and, therefore, it can be prevented that the electronic component E is dropped also by this. As a result, the holding device30according to this embodiment becomes possible to securely transfer the electronic component from the first holding mechanism40to the second holding mechanism60.

Since in this embodiment the electronic component E is held by the pair of first members45aand45bpinching the plurality of lead wires EL from outside in the parallelly-arranged direction, even if the dimension of the electronic component body EB is comparatively small, for example, it becomes possible to securely transfer the electronic component E from the first holding mechanism40to the second holding mechanism60.

In this embodiment, since the second holding mechanism60holds the electronic component E in the state where the corner part EC of the electronic component body EB is fitted into the recess66formed in each of the pair of second members65aand65b, the electronic component E can securely be held. As a result, the holding device30according to this embodiment becomes possible to further securely transfer the electronic component E from the first holding mechanism40to the second holding mechanism60.

Since the holding device30according to this embodiment is provided with the four first holding mechanisms40, the four electronic components E can be held simultaneously by the four first holding mechanisms40. As a result, the holding device30according to this embodiment becomes possible to efficiently transfer the electronic component E from the first holding mechanism40to the second holding mechanism60.

In this embodiment, since the holding-device controller94(controlling device) is configured to be a part of the robot controlling device90, the configuration of the robot10can be simplified. Moreover, since the robot controlling device90carries out the servo control of the robotic arms20aand20b(first and second robotic aims), the first holding mechanism40, and the second holding mechanism60, it becomes possible to accurately control the operation of the robot10.

In this embodiment, the external force F1(first external force) applied to the electronic component E by the pair of first members45aand45bis smaller than the external force F2(second external force) applied to the electronic component E by the pair of second members65aand65b. Therefore, for example, it becomes possible to suppress that the lead wires EL which is comparatively easy to be deformed are deformed by the external force F1. Moreover, the electronic component body EB which is comparatively difficult to be deformed may be securely held by the external force F2.

In this embodiment, the direction in which the electronic component E is pinched by the pair of first members45aand45bis the longitudinal direction (first direction) of the electronic component E. The direction in which the electronic component E is pinched by the pair of second members65aand65bis the height direction (second direction) of the electronic component E, and the height direction is perpendicular to the longitudinal direction. Therefore, it can be prevented that the first holding mechanism40and the second holding mechanism60interfere with each other, and the electronic component E can stably be transferred from the first holding mechanism40to the second holding mechanism60. As a result, the holding device30according to this embodiment becomes possible to further securely transfer the electronic component E from the first holding mechanism40to the second holding mechanism60.

In this embodiment, since the rotation axes L1at the base ends of the robotic arms20aand20bare located on the same straight line, the robot10can be downsized.

(Method of Controlling Holding Device30)

Next, a method of controlling the holding device is described mainly based onFIG. 13.FIG. 13is a flowchart illustrating the controlling method for controlling operation of the holding device according to the above embodiment. Note that, here, one example of the controlling method for controlling operation of the holding device30by the robot controlling device90explained in the above embodiment is described.

As illustrated inFIG. 13, the robot controlling device90first performs Step S1(First Step) where it holds the electronic component E by the first holding mechanism40.

Then, after performing Step S1, the robot controlling device90performs Step S2(Second Step) where it releases the electronic component E from the first holding mechanism40after holding the electronic component E by the second holding mechanism60or in the middle of holding the electronic component E. Note that the case where the electronic component E is released from the first holding mechanism40in the middle of holding the electronic component by the second holding mechanism60will be described later in detail based onFIGS. 14(A) and 14(B).

As described above, by the robot controlling device90, the controlling method according to this embodiment can transfer the electronic component E from the first holding mechanism40to the second holding mechanism60by controlling the operation of the holding device30.

It is apparent for the person skilled in the art that many improvements and other embodiments of the present disclosure are possible from the above description. Therefore, the above description is to be interpreted only as illustration, and it is provided in order to teach the person skilled in the art the best mode that implements the present disclosure. The details of the structures and/or the functions may be changed substantially, without departing from the spirit of the present disclosure.

Based onFIGS. 14(A) and 14(B), a first modification of the holding device according to the above embodiment and the robot provided with the same is described.FIGS. 14(A) and 14(B)are schematic views illustrating a situation where the first modification of the holding device according to the above embodiment and the robot provided with the same transfers the electronic component from the first holding mechanism to the second holding mechanism, whereFIG. 14(A)is a view immediately before the electronic component is released from the first holding mechanism, andFIG. 14(B)is a view illustrating a state where the electronic component is about to be held by the second holding mechanism at the time ofFIG. 14(A). Note that this modification only differs from the above embodiment in the mode of transferring the electronic component E from the first holding mechanism40to the second holding mechanism60. Therefore, the same reference characters are given to the same parts not to repeat similar description.

In the above embodiment, the robot controlling device90controls the operation of the holding device30so that the electronic component E is released from the first holding mechanism40, after the second holding mechanism60holds the electronic component E. However, without being limited to the case, the robot controlling device90may control the operation of the holding device30so that it releases the electronic component E from the first holding mechanism40in the middle of holding the electronic component E by the second holding mechanism60.

In such a case, for example, as illustrated inFIGS. 14(A) and 14(B), the robot controlling device90moves the electronic component E downwardly by making the second member65bcontact the upper surface of the electronic component body EB in a state where the second member65aopposes to the bottom surface of the electronic component body EB without being in contact with the bottom surface, and applying the external force F2to the upper surface of the electronic component body EB from the second member65b.

At this time, the external force F2has a magnitude which can move the electronic component E held by the first holding mechanism40downwardly (second direction), against the external force F1(in detail, a frictional force F3caused between the lead wires EL located at the left end and the first member45a, and a frictional force F3caused between the lead wires EL located at the right end and the first member45b, inFIGS. 14(A) and 14(B)).

Then, before the second member65acontacts the bottom surface of the electronic component body EB, the twenty lead wires EL may slip out of the pair of first members45aand45b. In such a mode, the robot controlling device90may release the electronic component E from the first holding mechanism40in the middle of holding the electronic component by the second holding mechanism60. Note that, in such a case, since the external force F1is smaller than the external force F2, it becomes possible to suppress that the downward movement of the second holding mechanism60is impeded by the external force F1. Therefore, the holding device30becomes possible to smoothly transfer the electronic component E from the first holding mechanism40to the second holding mechanism60.

Referring again toFIGS. 9(A) and 9(B), the robot controlling device90may control the operation of the holding device30so that it moves the pair of second members65aand65bdownwardly, while applying the external force F1to the plurality of lead wires EL by the pair of first members45aand45b. In such a mode, the robot controlling device90may control the operation of the holding device30so that it releases the electronic component E from the first holding mechanism40, after the second holding mechanism60holds the electronic component E.

Based onFIGS. 15(A) and 15(B), a first modification of the holding device according to the above embodiment and the robot provided with the same is described.FIGS. 15(A) and 15(B)are schematic views illustrating a situation where the modification of the holding device according to the above embodiment and the robot provided with the same transfers the electronic component from the first holding mechanism to the second holding mechanism, whereFIG. 15(A)is a view immediately before the electronic component is released from the first holding mechanism, andFIG. 15(B)is a view illustrating a state where the electronic component is held by the second holding mechanism at the time ofFIG. 15(A). Note that this modification only differs from the above embodiment in the mode of holding the electronic component E by the first holding mechanism40. Therefore, the same reference characters are given to the same parts not to repeat similar description.

As illustrated inFIG. 15(A), in this modification, the first holding mechanism40can hold the electronic component body EB by pinching the electronic component body EB in the longitudinal direction of the electronic component body EB by the pair of first members45aand45b. Thus, in this modification, the electronic component E can be transferred from the first holding mechanism40to the second holding mechanism60by the first holding mechanism40holding the electronic component E, without deforming the lead wires EL.

Based onFIGS. 16(A) and 16(B), a first modification of the holding device according to the above embodiment and the robot provided with the same is described.FIGS. 16(A) and 16(B)are schematic views illustrating a situation where the third modification of the holding device according to the above embodiment and the robot provided with the same transfers the electronic component from the first holding mechanism to the second holding mechanism, whereFIG. 16(A)is a view immediately before the electronic component is released from the first holding mechanism, andFIG. 16(B)is a view illustrating a state where the electronic component is held by the second holding mechanism at the time ofFIG. 16(A). Note that this modification only differs from the above embodiment in the shape of lead wires EL and the mode of holding the electronic component E by the second holding mechanism60. Therefore, the same reference characters are given to the same parts not to repeat similar description.

In the above embodiment and its modifications, the lead wires EL has the L-shape. However, without being limited to the case, lead wires EL′ may be straight as illustrated inFIGS. 16(A) and 16(B). In such a case, for example, as illustrated inFIG. 16(B), the second holding mechanism60may apply the external force F2, by the second member65awhich contacts the front surface of the electronic component body EB (that is, a surface located on the left side of the drawing sheet ofFIG. 16(B)), toward the opposite side of the electronic component body EB in the front-and-rear direction (second direction) (that is, toward the rear surface of the electronic component body EB). Moreover, the second holding mechanism60may apply the external force F2, by the second member65bwhich contacts the rear surface of the electronic component body EB (that is, a surface located on the right side of the drawing sheet ofFIG. 16(B)), toward the opposite side of the electronic component body EB in the front-and-rear direction (that is, toward the front surface of the electronic component body EB).

The second holding mechanism60may hold an electronic component E′ by applying the external force F2to the electronic component body EB as described above. Therefore, the second holding mechanism60becomes possible to accommodate the electronic component E in the second accommodating device120in a state where the tip ends of the lead wires EL′ are oriented downwardly. As a result, in the post process where the electronic component E′ is mounted on the substrate (not illustrated), it is not necessary to change the orientation of the electronic component E′. Therefore, the post process may be performed easily and promptly.

Here, in the above embodiment and the first and second modifications, the second holding mechanism60holds, the electronic component E by pinching the electronic component body EB in the height direction by the pair of second members65aand65b. That is, in the above embodiment and the first and second modifications, the second direction is the up-and-down direction of the drawing sheet ofFIG. 16(B).

On the other hand, in the third modification, the first holding mechanism40holds the electronic component E′ by pinching the electronic component body EB in the front-and-rear direction (that is, in the left-and-right direction of the drawing sheet ofFIG. 16(B)) by the pair of second members65aand65b. Thus, in this modification, the second direction is the left-and-right direction of the drawing sheet ofFIG. 16(B). Even in such a case, since the second direction differs from the first direction which is in agreement with the longitudinal direction of the electronic component E′ (that is, the depth direction of the drawing sheet ofFIG. 16(B)), the electronic component E becomes possible to be securely transferred from the first holding mechanism40to the second holding mechanism60.

Note that the first direction and the second direction are not limited to the directions described above, but may be other directions as long as the second direction differs from the first direction. For example, the first holding mechanism40may hold the electronic component E by pinching the electronic component body EB in the height direction by the pair of first members45aand45b, and the second holding mechanism60may hold the electronic component E by pinching, by the pair of second members65aand65b, the plurality of lead wires EL in the parallelly-arranged direction from outside in the parallelly-arranged direction.

In the above embodiment and its modifications, the first direction is in agreement with the longitudinal direction of the electronic component E, the second direction is in agreement with the height direction of the electronic component E, and the first direction and the second direction are perpendicular to each other. However, without being limited to this case, for example, the first direction may be in agreement with the height direction of the electronic component E, and the second direction may be in agreement with the longitudinal direction of the electronic component E, or each of the first direction and the second direction may be in agreement with another direction. Moreover, the second direction does not need to be perpendicular to the first direction, as long as the second direction differs from the first direction.

In the above embodiment, the holding device30is provided with the four first holding mechanisms40. However, without being limited to the case, the holding device30may be provided with one or more and three or less first holding mechanisms40, or may be provided with five or more. Moreover, in the above embodiment, the holding device30is provided with the two second holding mechanisms60. However, without being limited to the case, the holding device30may be provided with only one second holding mechanism60, or may be provided with three or more.

In the above embodiment and its modifications, the electronic component E has the rectangular-parallelepiped-shaped electronic component body EB, and the plurality of lead wires EL provided to the upper surface of the electronic component body EB. However, without being limited to the case, the electronic component may have, for example, terminals which are fitted into recesses formed in the bottom surface of the electronic component body EB, instead of the lead wires EL.

In the above embodiment and its modifications, as illustrated inFIG. 9etc., the parts of the tip-end parts48of the pair of first members45aand45bwhich contact the electronic component E are flat. However, without being limited to this case, the parts of the tip-end parts48of the pair of first members45aand45bwhich contact the electronic component E may be formed with recesses having a shape corresponding to the electronic component E. Note that the recess may be formed only in one of the pair of first members45aand45b.

In the above embodiment and its modifications, the pair of second members65aand65bare each formed with the recess66of the shape corresponding to the corner part EC of the electronic component body EB. However, without being limited to this case, each of the pair of second members65aand65bmay not be formed with the recess66, or only one of the pair of second members65aand65bmay be formed with the recess66.

In the above embodiment and its modifications, the pair of first members45aand45bare each movable in the first direction by the first holding mechanism40having the rack-and-pinion structure. However, without being limited to the case, for example, only one of the pair of first members45aand45bmay be connected to the servomotor and the pinion and movable in the first direction, and the other of the pair of first members45aand45bmay be fixed, or the pair of first members45aand45bmay be relatively movable in the first direction by other modes. Note that since the similar things can be said for the pair of second members65aand65b, description is not repeated here.

In the above embodiment and its modifications, each of the robotic arms20aand20bhas the four joint axes JT1-JT4. However, without being limited to the case, each of the robotic arms20aand20bmay have at least one joint axis.

In the above embodiment and its modifications, the rotation axis of the base end of each of the robotic arms20aand20bis located on the same straight line. However, without being limited to the case, the rotation axis of the base end of each of the robotic arms20aand20bmay not be located on the same straight line. Moreover, in the above embodiment and its modifications, one robot10is provided with the robotic arms20aand20b. However, without being limited to this case, for example, a first robot may be provided with the robotic arm20a, and a second robot which is provided separately from the first robot may be provided with the robotic arm20b.

In the above embodiment and its modifications, the robot10has the structure illustrated inFIG. 2. However, without being limited to this case, the robot10according to the present disclosure may be configured as a vertical articulated robot, or may be configured as a horizontal articulated robot, for example. Alternatively, for example, the robot10may be configured as a polar-coordinate robot, may be configured as a cylindrical-coordinate robot, may be configured as a Cartesian-coordinate robot, or may be configured as other robots.

In the above embodiment and its modifications, the holding device30and the robot10provided with the same are used for transferring the plurality of electronic components E from the first accommodating device110to the second accommodating device120. However, without being limited to the case, the holding device30and the robot10provided with the same may be used for mounting the plurality of electronic components E accommodated in the first accommodating device110onto a substrate (not illustrated), for example. In such a case, after holding the electronic component E accommodated in the first accommodating device110by the first holding mechanism40, the robot controlling device90may transfer the electronic component E from the first holding mechanism40to the second holding mechanism60, and may mount the electronic component E onto the substrate by the second holding mechanism60. Alternatively, the holding device30and the robot10provided with the same may be used for performing other works, as long as the works include the work for transferring the electronic component E from the first holding mechanism40to the second holding mechanism60.

DESCRIPTION OF REFERENCE CHARACTERS