CN101314223A - Workpiece holding positioning device and holding device - Google Patents

Workpiece holding positioning device and holding device Download PDF

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Publication number
CN101314223A
CN101314223A CNA2008101085887A CN200810108588A CN101314223A CN 101314223 A CN101314223 A CN 101314223A CN A2008101085887 A CNA2008101085887 A CN A2008101085887A CN 200810108588 A CN200810108588 A CN 200810108588A CN 101314223 A CN101314223 A CN 101314223A
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CN
China
Prior art keywords
workpiece
base portion
pedestal
claw component
drive division
Prior art date
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Granted
Application number
CNA2008101085887A
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Chinese (zh)
Other versions
CN101314223B (en
Inventor
石井彻
笹岑敬一郎
椿田英昭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yamaha Fine Technologies Co Ltd
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Yamaha Fine Technologies Co Ltd
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Publication of CN101314223A publication Critical patent/CN101314223A/en
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Publication of CN101314223B publication Critical patent/CN101314223B/en
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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/0015—Orientation; Alignment; Positioning

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)

Abstract

A workpiece holding and positioning device capable of being minimized and cost reduction, and a holding device are disclosed, in a processing device or a checking device for the workpiece, the thin-film workpiece is held via two sections, which can achieve positioning in a X direction and a Y direction as well as positioning in a rotary direction. A driving part includes: a pair of parallel Y guide rods (5), (12) extending in the Y direction, Y pedestals (21), (31) moveable along the Y guide rods, X guide rods (2), (9) provided on the Y pedestals and extending in the X direction, X pedestals (22), (32) moveable along the X guide rods, and X driving members (3), (10). Holding part (1), (8) are provided with: a base which is contacted with and supports a face of the workpiece, a claw member provided on another face of the workpiece and capable of swinging via a horizontal shaft, a claw driving part for enabling the claw member to swing, the claw member holds the workpiece using points between a base plate and the claw member while swinging to the bas via the claw driving part.

Description

Workpiece holding positioning device and holding device
Technical field
The present invention relates in the processing unit (plant) or testing fixture of workpiece such as printed circuit board (PCB), above-mentioned workpiece is taken into machining area or inspection area, carries out the Workpiece holding positioning device and the Workpiece holding device as used herein of the location of above-mentioned workpiece in two-dimensional directional and direction of rotation.
Background technology
Printed circuit board (PCB) digs out the shape pattern of regulation in hole punched device, in addition, in testing fixture, check the conducting of printed circuit board (PCB).At this moment, the printed circuit board (PCB) that needs to be positioned at device portal is taken into punching zone or inspection area, carries out contraposition with the position of the printed circuit board (PCB) of its two-dimensional directional (directions X and Y direction) and around the position of the direction of rotation of the printed circuit board (PCB) of the axle vertical with directions X and Y direction with the punching unit or the inspection unit that are disposed at punching zone or inspection area.
As this current Working piece positioning device, in patent documentation 1 to 3 by publicity.These patent documentations 1 to 3 by the positioner of publicity in, during with location, position arbitrarily workpiece, the position of predefined 2 or 4 on the workpiece is kept by the face contact with maintaining part, described maintaining part is moved and regulate its position to directions X, Y direction and direction of rotation.
Patent documentation 1: No. 374125 communique of Japan's special permission
Patent documentation 2: TOHKEMY 2006-281432 communique
Patent documentation 3: No. 3420039 communique of Japan's special permission
But, in above-mentioned prior art, use the maintaining part that is connected with base station to keep the position of predefined or on the workpiece at 2 at 4 by the face contact, the abutment portion that will comprise described maintaining part moves and regulates its position to directions X, Y direction and direction of rotation, so the structure complicated of this travel mechanism, maximization.Thus, installation cost rises.In addition, when keeping the workpiece of different sizes, need the programing change of workpiece maintaining part.
Summary of the invention
The present invention develops in view of above problem, its purpose is, the Workpiece holding positioning device and the holding device of a kind of miniaturization and cost degradation are provided, in the processing unit (plant) or testing fixture of workpiece, keep described workpiece with two positions, can realize that directions X and Y direction also have the location of direction of rotation.
The invention provides Workpiece holding positioning device, it is characterized in that, have a pair of drive division and the maintaining part that is arranged at described each moving part at orthogonal directions X and Y direction driving moving part, described maintaining part has: contact and support the base portion of this workpiece, the another side side that is arranged at described workpiece and the claw component that can swing by trunnion axis with a face of workpiece, make the pawl drive division of this claw component swing, described claw component have by described pawl drive division during to described base portion swing and described base portion between with the shape of the described workpiece of some maintenance.
Preferably, described drive division has: the Y guide rod of the pair of parallel of extending to the Y direction, along described Y guide rod movably the Y pedestal, back and forth drive described Y pedestal the Y drive member, be arranged on the described Y pedestal and the X guide rod that extends to directions X, along described X guide rod movably the X pedestal, be arranged on the described Y pedestal and back and forth drive the X drive member of described X pedestal, constitute described moving part by described X pedestal.
In addition, preferably, described Workpiece holding positioning device has: image pickup part is arranged on the described moving part and picked-up is positioned at the sign of the described workpiece of described claw component position; Control part, image are handled the image of described image pickup part and are discerned the position of described sign, move maintaining part and regulate the position of described workpiece according to this recognizing site.
In addition, described workpiece for example is a printed circuit board (PCB).
The invention provides the holding device of workpiece, be arranged on orthogonal directions X and the Y direction movably on the moving part, the location that is used for workpiece, it is characterized in that, have: from the forwards outstanding base portion of described moving part, above this base portion around the claw component of trunnion axis turntable supporting, make the drive division of described claw component swing, described claw component contact with part point on the described base portion of described workpiece to the swing of described base portion the time, and described base portion between keep a described workpiece with putting.
According to the present invention, with 2 of a pair of maintaining part workpiece that keep film shapes etc.At this moment, base portion and with claw component that workpiece point contacts between, maintaining part keeps workpiece with point, therefore drive division drives moving part at directions X and Y direction, can regulate the position of workpiece at directions X and Y direction thus, and for example, drive the amount of movement difference that makes the Y direction with a pair of drive division, thus, can make workpiece around the axle rotation vertical with its face.At this moment, described claw component keeps workpiece with point, therefore when workpiece is the film shape, follows the rotation of workpiece, can not produce wrinkle and distortion etc. on workpiece.In addition, drive division only moves moving part and get final product to directions X and Y direction both direction, do not need rotation to drive, so can realize simplification, the miniaturization of drive division.
Description of drawings
Fig. 1 is the plane of integral body of the Workpiece holding positioning device of expression embodiment of the present invention;
Fig. 2 is the front elevation of same device;
Fig. 3 is its a part of stereogram of expression;
Fig. 4 (a) is the front elevation of expression maintaining part, (b) is the side view of the action of expression maintaining part to (d).
Symbol description
1,8, maintaining part
2,9, guide rod
3,10, ball-screw
4,11, motor
5,12, guide rod
6,13, ball-screw
7,8, motor
20,30, base station
21,31, Y pedestal
22,32, X pedestal
40,50, arm
41,51, claw component
42, rotating shaft
43, front end
44, piston
45, cover body
46, slotted hole
47, connection shaft
48, support
49, base portion
51, claw component
100, support
101,102, drive division
The specific embodiment
Below, with reference to accompanying drawing embodiments of the present invention are specifically described.Fig. 1 is the plane of integral body of the Workpiece holding positioning device of expression embodiment of the present invention, Fig. 2 is the front elevation of same device, Fig. 3 is its a part of stereogram of expression, and Fig. 4 (a) is the front elevation of expression maintaining part, (b) is the side view of the action of expression maintaining part to (d).
As shown in Figure 2, support 100 is provided with a pair of drive division 101 and 102.Will (flexible print wiring board: Flexible Printed Circuit) the importing direction setting of the punching zone of (not shown) or inspection area be a Y-axis, will be X-axis with the direction setting of this Y-axis quadrature to the FPC substrate as film shape workpiece.At each drive division 101,102, on base station 20,30, the Y-axis ball- screw 6,13 that its length direction is parallel with the Y direction is that the center is rotatably mounted with its central shaft, and this Y-axis ball- screw 6,13 drives by 7,8 rotations of Y-axis drive motor.In addition, on base station 20,30, Y- axis guide rod 5,12 is provided with abreast with its length direction and Y direction, because by these Y- axis 5,12 guiding, Y pedestal 21,31 can move back and forth in the Y direction.
On this Y pedestal 21,31, make its length direction parallel with directions X, be that the center is rotatably mounted with X-axis ball- screw 3,10 with its central shaft, this X-axis ball- screw 3,10 drives by 4,11 rotations of X-axis drive motor.In addition, on Y pedestal 21,31 that its length direction of X-axis guide rod 2,9 is parallel with directions X and be provided with, because by these X-axis 2,9 guiding, X pedestal 22,32 can move back and forth at directions X.
This X pedestal 22,32 is as the moving part performance function of drive division.On this X pedestal 22,32, be respectively arranged with maintaining part 1,8. Maintaining part 1,8 has the arm of giving prominence to the place ahead of Y direction from X pedestal 22,32 40,50, and the claw component 41,51 of maintaining part is arranged in the front-end configuration of this arm 40,50.In addition, symbol 15 as shown in Figure 3 is punching models, and symbol 17 is mould models.
As being shown in the representative with a claw component 41 among Fig. 4, the following face forward of arm 40 prolongs and forms base portion 49, and the arm 40 at some rears of this base portion 49 is provided with the rotating shaft 42 of level.Being that the center is rotatably mounted with this rotating shaft 42 has a pawl support 48.On pawl support 48, be fixed with claw component 41.In addition, in the side of this pawl support 48, connecting axle 47 with its length direction for flatly outstanding.Piston 44 is the setting of Y direction with its length direction, can advance and retreat in the Y direction.Front end at this piston 44 is fixed with cover body 45, is formed with the slotted hole 46 that extends to vertical direction in the side of this cover body 45.And chimeric in this slotted hole 46 have a connection shaft 47, when piston 44 enters, cover body 45 forwards moves, the connection shaft 47 that is embedded in the slotted hole 46 is pressed to the place ahead, and thus, the pawl support 48 of claw component 41 rotates to the front lower place shown in Fig. 4 (c) like that as Fig. 4 (b).On the contrary, owing to piston 44 withdraws from, thereby the pawl support 48 of claw component 41 rotates to the back upper place.
Claw component 41 forms coniform, and its front end 43 diminishes with its surface area of mode that contacts with FPC substrate point.Its front end 43 for example becomes the hemispherical of bending with the radius of curvature of regulation, has the size that does not make the perforation of FPC substrate with the area of FPC substrate contacts, in addition, though for and base portion 49 between can keep the size of FPC substrate reliably, but, under the state of maintenance FPC substrate between front end 43 and the base portion 49, the FPC substrate need be reduced to and not produce the rotatable size of fold and shifting ground.In addition, another claw component 51 also has the structure same with claw component 41.
In addition, on moving part (Y pedestal 22,32), image pickup part is set, the sign that is arranged in the workpiece that is kept by claw component 41,51 is made a video recording, control part carries out image to the image of this image pickup part and handles and the position of above-mentioned sign is discerned, according to this recognizing site maintaining part 1,8 is moved, regulate the position of workpiece thus.
As workpiece, be not limited to the film shape workpiece of FPC substrate etc., among the present invention, can use the present invention for the workpiece of different shape.In addition, workpiece is not limited to soft material, also can use the present invention for the workpiece of rigid body.In the occasion that is rigid body, even do not use the maintaining part that keeps with point of the present invention, can not produce problems such as fold yet, the present invention plays the effect of the drive division effect of workpiece rotation usefulness.
Below, the action of the Workpiece holding positioning device of above-mentioned formation is described.Workpiece W such as flexible print wiring board (with reference to Fig. 2,3) are supplied with on the base portion (49) of maintaining part 1,8.And, made a video recording in the home position on the workpiece W, by piston (44) turnover, claw component (41) is to the front lower place swing, maintenance workpiece W between the front end (43) of claw component (41) and base portion (49).And, drive Y-axis ball- screw 6,13 by motor 7,8 rotations, Y pedestal 21,31 is introduced in punching zone or the inspection area, make it to be positioned at the punching zone or the inspection area of regulation.At this moment, photographic images based on sign carries out the image processing, grasp the position of sign, and as required, in the punching zone or become the mode of assigned position in the inspection area, make X pedestal 22,32 (moving part) carry out some moving according to the position of this sign, regulate directions X position and Y direction position to directions X and Y direction, and also make workpiece around the axle vertical (axle vertical) rotation, regulate the position of this direction of rotation with surface of the work with directions X and Y direction.
Afterwards, dig out the pattern of regulation shape, or carry out the checking of FPC by punching.
So, in the present embodiment, maintaining part base portion and with claw component that workpiece point contacts between keep a workpiece with point, therefore, drive division drives moving part to directions X and Y direction, workpiece can be carried out position adjustments at directions X and Y direction thus, and for example, by the amount of movement of Y direction being carried out different adjustings, can make workpiece around the axle rotation vertical with its face with a pair of drive division.Drive division can just make moving part move to directions X and Y direction both direction, owing to do not need to be rotated driving, drive division is oversimplified, miniaturization so can make.
In addition, claw component 41, the 51 usefulness workpiece of naming a person for a particular job keeps, and therefore, is under the situation of film shape at workpiece, follows the rotation of workpiece, and fold and lax etc. can not take place on workpiece.
Utilizability on the industry
The position that the present invention is positioned workpiece to stipulate by Working piece positioning device is used for carrying out punching or electricity The hole punched device that checks and testing fixture etc.

Claims (5)

1, a kind of Workpiece holding positioning device, it is characterized in that, have a pair of drive division and the maintaining part that is arranged at described each moving part at orthogonal directions X and Y direction driving moving part, described maintaining part has: the pawl drive division that contacts and support the base portion of this workpiece, the another side side that is arranged at described workpiece and the claw component that can swing by trunnion axis with a face of workpiece, this claw component is swung, described claw component has by described pawl drive division during to the swing of described base portion, and described base portion between keep the shape of described workpiece with point.
2, Workpiece holding positioning device as claimed in claim 1, it is characterized in that, described drive division has: the Y guide rod of the pair of parallel of extending to the Y direction, along described Y guide rod movably the Y pedestal, back and forth drive described Y pedestal the Y drive member, be arranged on the described Y pedestal and the X guide rod that extends to directions X, along described X guide rod movably the X pedestal, be arranged on the described Y pedestal and back and forth drive the X drive member of described X pedestal, constitute described moving part by described X pedestal.
3, Workpiece holding positioning device as claimed in claim 1 or 2 is characterized in that, has: image pickup part is arranged on the described moving part and picked-up is arranged at sign in the described workpiece that is kept by described claw component; Control part carries out image with the image of described image pickup part and handles, and discerns the position of described sign, moves maintaining part according to this recognizing site, regulates the position of described workpiece.
4, as each described Workpiece holding positioning device of claim 1 to 3, it is characterized in that described workpiece is a printed circuit board (PCB).
5, a kind of holding device of workpiece, be arranged on orthogonal directions X and the Y direction movably on the moving part, the location that is used for workpiece, it is characterized in that, have: from the forwards outstanding base portion of described moving part, above this base portion around the claw component of trunnion axis turntable supporting, make the pawl drive division of described claw component swing, described claw component contact with part point on the described base portion of described workpiece to the swing of described base portion the time, and described base portion between keep a described workpiece with putting.
CN2008101085887A 2007-05-29 2008-05-27 Workpiece holding positioning device and holding device Active CN101314223B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007142676A JP4302755B2 (en) 2007-05-29 2007-05-29 Work gripping positioning device and gripping device
JP142676/07 2007-05-29

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CN101314223A true CN101314223A (en) 2008-12-03
CN101314223B CN101314223B (en) 2012-05-30

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CN2008101085887A Active CN101314223B (en) 2007-05-29 2008-05-27 Workpiece holding positioning device and holding device

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JP (1) JP4302755B2 (en)
KR (2) KR101259215B1 (en)
CN (1) CN101314223B (en)
TW (1) TWI370765B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102126218A (en) * 2010-01-19 2011-07-20 株式会社安川电机 Robot system having positioner

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111721501A (en) * 2019-03-19 2020-09-29 西安诺瓦电子科技有限公司 Display module limiting clamp and display module correcting equipment
JP7287338B2 (en) * 2020-04-28 2023-06-06 株式会社デンソー Positioning device and positioning method
KR102367674B1 (en) * 2020-08-03 2022-02-25 (주)대봉기연 A consecutive press machine for material-saving

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JPH0738307Y2 (en) * 1990-06-07 1995-08-30 株式会社中央製作所 Plate-shaped object holding device
JP2787038B2 (en) * 1994-06-06 1998-08-13 セイコープレシジョン株式会社 Substrate positioning and gripping device
US6588816B1 (en) * 1996-10-07 2003-07-08 Phd, Inc. Modular stamped parts transfer gripper
US5853211A (en) * 1997-01-10 1998-12-29 Btm Corporation Universal gripper
JP3438548B2 (en) * 1997-09-30 2003-08-18 日産自動車株式会社 Robot hand for spot welding and method of gripping workpiece by this robot hand
TWI279303B (en) * 2004-05-31 2007-04-21 Yamaha Fine Tech Co Ltd Processing apparatus, method for producing printed circuit board, and processing program

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102126218A (en) * 2010-01-19 2011-07-20 株式会社安川电机 Robot system having positioner

Also Published As

Publication number Publication date
TW200911485A (en) 2009-03-16
TWI370765B (en) 2012-08-21
KR101212373B1 (en) 2012-12-13
CN101314223B (en) 2012-05-30
KR20080104969A (en) 2008-12-03
JP4302755B2 (en) 2009-07-29
JP2008296297A (en) 2008-12-11
KR20120084706A (en) 2012-07-30
KR101259215B1 (en) 2013-04-29

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