JP2006306516A - Reversing unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a reversing unit simplifying a structure by making a motor for rotation driving to one and capable of performing reversing of a work at a high speed. <P>SOLUTION: The reversing unit is provided with a head 5; a rotation mechanism 3 of the head; and one cam member 4. The head 5 is provided with a work storage member 11 having a work arrangement hole 14 penetrated to a front end; and fingers 12, 13 arranged on both upper and lower surfaces respectively and capable of opening/closing the work arrangement hole 14 by forward movement. The rotation mechanism 3 has a structure in which the head 5 is put to a normal rotation position and a reversing position by the motor 6. The cam member 4 is positioned at a fixed position and alternately forwardly moves the fingers 12, 13 of both surfaces of the work storage member 11 by the rotation mechanism 3 of the head. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus for reversing a minute part (workpiece) such as a semiconductor chip.

There is a lot of work that requires flipping the front and back of passive components such as capacitors, resistors, and transformers for surface mount components related to electronic equipment, semiconductor components such as transistors, small batteries, and other various micro components. For example, after measuring (inspecting) the surface, measuring also on the back surface, inspecting the surface, turning the front and back, packing (taping to embossed tape), processing on the surface, then on the back surface And processing. In such a case, an inversion unit is used together with a PPU (pick and place unit) or the like.
As for a conventional reversing unit, as in Patent Document 1, a delivery system using two reversing heads is mainly used. In addition, Japanese Patent Application No. 2004-292765 (Patent Document 2) has been filed as a prior application.

JP-A-06-115687 Japanese Patent Application No. 2004-292765

  The conventional delivery system requires a mechanism that drives the two heads in a timely manner and an air mechanism that matches the timing for delivering the workpiece, and the structure is complicated. Passing position is different. For this reason, it is necessary to move the tip working portion of the PPU or to move the tip working portion of the reversing head. Also, if the rotation of the head holding the workpiece and the timing of pushing and sucking the workpiece by air are not always monitored, a delivery mistake may occur. Further, the air circuit needs to allow for a loss time in response, which may cause trouble when speeding up the reversing operation.

  The invention of Japanese Patent Application No. 2004-292765, which is a prior application, is a unit that includes a head, an intermittent drive mechanism, and a control mechanism, and can open and close both sides of a workpiece accommodation member having a workpiece placement hole at the front end and the workpiece placement hole. A structure in which the head is composed of a finger (lid member), the head is normally rotated and reversed by an intermittent drive mechanism using a first stepping motor, and at the same time, the opening and closing of the finger is controlled by a control mechanism using a second stepping motor. It is. Thus, the workpiece is accommodated in the workpiece arrangement hole and closed with the fingers, and then the entire head is rotated to invert and take out the workpiece inside.

  The structure of the previous application has a high degree of freedom because the rotation of the head and the operation of the fingers are performed by the respective stepping motors, and the rotation position of the head and the timing of opening and closing the fingers can be combined in various ways. There are wide advantages. In addition, since the work is reversed around the rotation axis of the head, the position of the work (center position) does not change due to the reversal, and the operation for storing and taking out the work for reversal is simplified. There are advantages.

However, the intermittent drive mechanism for rotating the head and the control mechanism for opening and closing the fingers are combined to make the mechanism complicated. Furthermore, there is a problem that the setting of the control surface is heavy.
The present invention provides a reversing unit that does not require a special timing setting for the reversing of the workpiece itself, has a simple mechanism for reversing the workpiece, and can speed up the reversing operation (180 ° rotation). Let it be an issue.

  A work placement hole is provided at the front end of the work storage member of the head that is rotated forward and reverse, and this is opened and closed by fingers that move back and forth along both surfaces of the work storage member. When the workpiece placement hole is opened, the workpiece is taken in and out, and when the head rotates to reverse the workpiece, the workpiece placement hole is closed by the finger. The head is rotated by a stepping motor, and the fingers on both sides are opened and closed by a cam using the rotation of this motor.

Since the work can be turned at the same place, the work can be received and taken out in a small space.
Since it can be turned at the same place, the movement of the tip working unit such as PPU can be made in a simple direction, and the control and mechanism of PPU and the like can be simplified.
The workpiece placement hole may be a through-hole that does not rotate inside in accordance with the shape of the workpiece, and since it usually has a simple form, it is easy to process, and the cost of the reversing unit can be reduced.
Since the rotation of the head and the operation of the fingers are performed by a single motor, the mechanism is simple and the reversing operation can be speeded up.
Since the movement of the finger is due to the cam curve, the movement starts as in the case of the cylinder even when the movement is high, and there is no shock at the time of stopping, so there is no jumping out of the work caused by the shock.
Since no air circuit is used for delivery, there is no need to allow for air response loss time in control, and the work reversing operation can be speeded up.

  It is assumed that a head and a head rotation mechanism and one cam member are provided. The head includes a workpiece storage member having a workpiece arrangement hole penetrating the front end portion, and fingers that are arranged on both surfaces of the workpiece accommodation hole and can move back and forth to open and close the workpiece arrangement hole. The head is set to the forward rotation position and the reverse rotation position by a rotation mechanism driven by a stepping motor or the like. The cam member is in a fixed position, and the fingers rotate back and forth alternately by rotating the fingers as the head rotates. Thereby, the work placement hole is opened and closed.

FIG. 1 shows the whole reversing unit 1 mechanically. The reversing unit 1 includes a body 2, a rotation mechanism 3, a cam member 4, and a head 5.
The rotating mechanism 3 includes a stepping motor 6 and a rotating shaft 7, and the stepping motor 6 is fixed to the outer surface of the rear end (bottom) of the cylindrical body 2, and the rotating shaft 7 passes through the body 2 and moves back and forth. It is arranged in a direction (left in FIG. 1 is front, right is rear), and is rotatably supported by front and rear bearings 8 and 9. The rear end of the rotating shaft 7 is connected to the output shaft of the stepping motor 6.

In this embodiment, the cam member 4 is a cylindrical groove cam, and a groove along the cam curve is formed on the circumferential surface of the cylinder. The cam groove formed along the cylindrical surface is a continuous and closed single curve, and its development (cam allocation table) is as shown in FIG. FIG. 2B shows the correspondence between the angle of the cam assignment table and the posture of the work storage member 11 (described later). In FIG. 2 (b), it is at 0 ° and rotates clockwise. The workpiece w is accommodated at the tip of the workpiece accommodating member 11.
The cam member 4 is fitted coaxially to the rotating shaft 7, and the rear end is fixed to the inner surface of the rear end of the machine body 2 by a bolt 10. A bearing 10 that pivotally supports the rear side of the rotating shaft 7 is attached to the cam member 4, and the rotating shaft 7 is pivotally supported on the body 2 by fixing the cam member 4 to the body 2.

  The head 5 includes a work storage member 11, a first finger 12, and a second finger 13. In this embodiment, the work storage member 11 is a flat plate (FIG. 3), and a work placement hole 14 penetrating in the vertical direction in FIG. 1 is formed at the front end, and the rear end is the central coupling member 15 as described above. It is fixed to the front end of the rotating shaft 7. The center axis in the longitudinal direction of the work storage member 11 is made to coincide with the axis of the rotary shaft 7 in both the width direction and the thickness direction.

  The first finger 12 is on the upper surface side of the work storage member 11 in FIG. 1 and can move back and forth in sliding contact with the upper surface of the work storage member 11, and the second finger 13 is on the lower surface. Thus, it is possible to move back and forth while sliding on the lower surface of the work storage member 11. The first and second fingers 12 and 13 are lid members that cover and close the workpiece placement hole 14 when moved forward, and open the workpiece placement hole 14 when moved backward. open. The first finger 12 is linked to the cam member 4 by a front coupling member 16 and a rear coupling member 17 that are arranged in parallel to the rotation shaft 7, and the second finger 13 is also a front coupling member 18 and a rear coupling member. 19 is linked to the cam member 4.

  The front coupling member 16 has the first finger 12 fixed to the front end and the rear end fixed to the rear coupling member 17. Similarly, the front coupling member 18 has the second finger 13 fixed to the front end and the rear end fixed to the rear coupling member 19. The rear coupling members 17 and 19 are respectively fixed to linear guide slide plates 20 and 21 fixed at the upper and lower positions of the rotary shaft 7 at intermediate portions, and have cam followers 22 and 23 at the rear ends. The cam followers 22 and 23 have a vertical roller structure, and the roller portion is fitted in the cam groove 24 (FIG. 3) of the cam member 4. The cam groove 24 is a closed one, and is formed along the above-described cam assignment table. The cam follower 22 and the cam follower 23 are related to the cam groove 24 in a vertical position, that is, with a phase difference of 180 °. ing.

  On the other hand, the rear coupling members 17 and 19 are slidably disposed through the shaft support member 25. The shaft support member 25 is an integral member with the rotary shaft 7 and is rotatably attached to the airframe 2 via the bearing 8. That is, the front portion of the rotating shaft 7 is attached to the body 2 so as to be rotatable by the bearing 8 via the shaft support member 25.

  When the stepping motor 6 is driven, the head 5 rotates. Along with this, the first and second fingers 12 and 13 move back and forth with a phase difference of 180 ° to open and close the workpiece placement hole 14 by cooperation with the cam member 4. The rotation of the stepping motor 6 is set to intermittent rotation in which the work placement hole 14 of the head 5 is temporarily stopped at the 0 ° and 180 ° positions. In addition, when it is not necessary to reverse the workpiece w at a high speed, it may be continuously rotated. In such a case, the stepping motor 6 may be a normal DC motor.

  Therefore, for example, as shown in FIG. 4, the workpiece storage member 11 is horizontal, the workpiece placement hole 14 is horizontal, and the first finger 12 is in the open position (rear end) so that the workpiece placement hole 14 is located. When the second finger 13 is in the closed position (front end) and forms the bottom of the workpiece placement hole 14 (rotation angle 0), the workpiece w is stored in the workpiece placement hole 14 with PPU or the like from above. After the PPU is retracted upward, the head 5 is rotated and the first finger 12 is moved forward to close the work placement hole 14 (FIG. 5, rotation angle 90 °), and then the head 5 is further rotated. Then, the workpiece w is reversed, and the second finger 13 which is in the upper position at the rotation angle of 180 ° is in the open position (FIG. 6), so the workpiece w reversed by the PPU is taken out. The same applies to rotation angles of 180 ° to 270 ° and 270 ° to 360 ° (0 °). Therefore, two workpieces w can be received and reversed by one rotation of the head 5.

The following table summarizes the rotation angle of the head 5 and the positions of the first and second fingers 12 and 13 by the cam member 4. This operation is consistent with the cam assignment table of FIG.

The above is one example. The relationship between the rotation angle of the head 5 and the opening / closing of the workpiece placement hole 14 by the cam member 4 can be changed within the range of the cam assignment table. For example, the position where the work w is stored and taken out (the position where the first finger 12 opens the work placement hole 14) can be set as the position where the work placement hole 14 is vertical.
Therefore, in this specification, including the claims, the first and second fingers are positioned above and below in order to clarify the mutual positional relationship in the description. It is not limited to the top and bottom.
The opening and closing of the workpiece placement hole 14 by the first and second fingers 12 and 13 can be opened and closed by horizontal rotation instead of moving back and forth.
The cam groove of the cylindrical groove cam may be separated into the first and second fingers.

Side view schematically showing the entire mechanism (A) Cam allocation table, (B) Diagram showing allocation position and posture of workpiece storage member Perspective view showing the main part taken out (partially broken) Perspective view of the main part showing the operating state (head rotation angle 0 °) Perspective view of main part showing operating state (head rotation angle 90 °) Perspective view of main part showing operating state (head rotation angle 180 °)

Explanation of symbols

1 Reversing unit 2 Airframe 3 Rotating mechanism 4 Cam member 5 Head 6 Stepping motor 7 Rotating shaft 8 Bearing (front)
9 Bearing (rear)
10 volts
11 Workpiece storage member 12 First finger 13 Second finger 14 Work placement hole 15 Center coupling member 16 Front coupling member (first finger)
17 Rear coupling member (first finger)
18 Front coupling member (second finger)
19 Rear coupling member (second finger)
20 Slide plate (first finger)
21 Slide plate (21st finger)
22 Cam follower (first finger)
23 Cam follower (second finger)
24 Cam groove 25 Shaft support member

Claims (5)

  The head includes a head and a rotation mechanism of the head and one cam member. The head is disposed on each of the work storage member having a work placement hole penetrating the front end portion and the upper and lower surfaces of the work storage member. It has a finger that can be opened and closed, and the rotation mechanism has a structure in which the head is rotated forward and reverse by a motor, the cam member is in a fixed position, and the fingers on both sides of the work storage member are alternately turned by the rotation mechanism of the head. A reversing unit characterized in that it has a cam groove that is moved back and forth to alternately open and close work placement holes.   The cam member is a groove cam in which the cam groove is formed on the circumferential surface of a cylinder, and is arranged coaxially with the rotation axis of the head, but has a phase difference of 180 ° with respect to the rotation of the head. The reversing unit according to claim 1, wherein a cam follower is disposed at a position to link the finger to the groove cam.   The rotation position of the head by the rotation mechanism and the timing of the front and rear movement of the fingers are such that when the workpiece placement hole is horizontal, the finger in the upper position moves backward to open the workpiece placement hole. Or the reversing unit according to 2; The reversing unit according to any one of claims 1 to 3, wherein the cam grooves are allocated according to the following table in relation to the rotational position of the head by the rotation mechanism.

The reversing unit according to any one of claims 2 to 4, wherein the cam groove is composed of a single continuous curve.

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