JP2001198745A - Automatic assembly device for electronic part - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic assembly device for an electronic part that can insert a workpiece in a case accurately, without accuracy of transfer means and positioning accuracy of the case. SOLUTION: The automatic assembly device for an electronic part comprises inwardly energized chuck jaws 31, a suction nozzle arranged at the center of the chuck jaws to effect vacuum suction on a workpiece, a nozzle lifting/ lowering mechanism for moving the suction nozzle vertically relative to the chuck jaws, and a Z-axis unit for moving the suction nozzle and chuck jaws vertically at the same time. With the chuck jaws opened and the suction nozzle effecting suction on the workpiece, the suction nozzle is lifted to bring the workpiece above step portions of the chuck jaws, and the lower ends of the chuck jaws are lowered below the top face of a case. The chuck jaws are next closed before the workpiece is relatively positioned in an X-, a Y- and a θ-direction inside the chuck jaws above the step portions thereof. The suction nozzle is thereafter lowered to insert the workpiece in the case.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically assembling electronic components, and more particularly to a device for chucking a workpiece and automatically inserting the workpiece into a concave component arranged with an opening facing upward.

[0002]

2. Description of the Related Art Conventionally, when a work such as an electronic component element or a cover is incorporated in a case, it is general that a worker manually performs the work. However, in recent years, automation has been advanced, and there is a demand for an automatic assembling apparatus that can automatically incorporate a work into a case.

Generally, in order to automatically incorporate a work into a case, an assembling apparatus having an openable / closable chuck claw and a suction nozzle at the center thereof is used. This assembling apparatus centers the work by lowering the suction nozzle to adsorb the work, then moving up and closing the chuck claws. With the centering state, the assembly device is moved to X
The workpiece is inserted into the case by moving the suction nozzle down by using a -Y robot or the like and moving the suction nozzle down.

[0004]

However, in such an assembling apparatus, when the clearance between the case and the work is small, if the relative position between the case and the work is slightly varied, a defective assembly occurs. for that reason,
A high positioning accuracy of a transfer means such as a robot is required, and the case needs to be positioned at a predetermined position with high accuracy. There is also a method of correcting the relative position between the case and the work using an image processing device or the like, but in any case, there is a problem that the equipment becomes expensive.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic electronic component assembling apparatus capable of accurately inserting a workpiece into a concave component without requiring the accuracy of a transfer means or the positioning accuracy of a case.

[0006]

The above object is achieved by the present invention. That is, an invention according to claim 1 is an automatic assembling apparatus for electronic components for chucking a workpiece and inserting the workpiece into a concave component arranged with an opening facing upward, wherein a predetermined distance is provided when the electronic component is closed. At least one pair of chuck claws having a first opposing surface having a first opposing surface, a second opposing surface below the first opposing surface, and a second opposing surface wider than the first opposing surface; An opening / closing mechanism for opening / closing operation and located at the center of the chuck jaws,
A suction nozzle for vacuum-sucking the work, a suction nozzle elevating mechanism for vertically moving the suction nozzle relative to the chuck claw, a Z-axis unit for simultaneously moving the suction nozzle and the chuck claw up and down, A suction nozzle, a suction nozzle raising / lowering mechanism, and a control means for controlling the Z-axis unit, wherein the control means sucks the work with the suction nozzle with the chuck pawl opened, and lifts the suction nozzle to chuck the work. Lifting the claw to the position of the first opposing surface of the claw, lowering the second opposing surface of the chuck claw to a position lower than the upper surface of the concave component, and closing the chuck claw to obtain the first opposing surface of the chuck claw. A step of performing horizontal relative positioning of the workpiece and performing horizontal relative positioning of the concave part on the second opposing surface of the chuck claw; To provide an automatic assembling apparatus of electronic components and controlling the steps of inserting a workpiece into a concave shape in part by lowering the Le.

First, the chuck jaws are opened, the suction nozzle is lowered to suck the work, and then the suction nozzle is raised to lift the work to the position of the first opposing surface of the chuck jaws. Next, the chuck pawl and the suction nozzle are lowered integrally by the Z-axis unit, and the second opposing surface of the chuck pawl is lowered to a position lower than the upper surface of the concave part. That is, the second opposing surface of the chuck claw is lowered to a position corresponding to the outer surface of the concave part. When the chuck jaws are closed in a state where the lower end of the chuck jaws does not hit the concave part, the first of the chuck jaws is closed.
The opposing surface of the workpiece contacts the outer surface of the work, and the second opposing surface of the chuck claw contacts the outer surface of the concave part. Therefore, the work and the concave part follow the chuck claw in the horizontal direction (for example, the X, Y, and θ directions). Positioned relatively. When the suction nozzle is lowered in this state, the relative position between the workpiece and the concave part is accurately aligned by the chuck claws, so that the workpiece is smoothly inserted into the concave part. As described above, since the relative positioning is performed by the chuck claws without individually positioning the work and the concave part, the means for transferring the work does not require high precision. No precision is required.

The chuck pawl has a downward horizontal surface between the first facing surface and the second facing surface.
The control means presses the upper surface of the concave part with the horizontal surface of the chuck pawl by lowering the chuck pawl between the step of horizontally positioning the work and the concave part and the step of inserting the work into the concave part. It is desirable to correct the vertical position and inclination of the concave part. Unlike component mounting on a printed circuit board, insertion of a work into a concave component also involves a three-dimensional error such as inclination of the concave component. In other words, even after the relative positioning of the workpiece and the concave component in the horizontal direction, if the concave component is raised or inclined, the workpiece may not be inserted smoothly into the concave component. Therefore, in claim 2, after the relative positioning of the work and the concave part in the horizontal direction is performed, the inclination and lifting of the concave part are corrected on the downward horizontal surface by lowering the chuck jaws. Inserted in. Therefore, a three-dimensional error can be eliminated, and the workpiece can always be accurately inserted into the concave part. The lowering of the chuck pawl may be performed simultaneously with the suction nozzle, or the chuck pawl may be lowered independently. In addition, if only the inclination correction of the concave part is performed, without pressing the chuck claw from above,
Increasing the contact length between the chuck pawl and the concave part can correct the inclination.

According to a third aspect of the present invention, the opening / closing mechanism for opening / closing the chuck pawl in and out includes a guide means for movably guiding the chuck pawl in and out, and a spring for urging the chuck pawl inward. A cam plate provided on each chuck claw, a rotatable disk, a drive motor for driving the disk to rotate, and a disk provided, and each chuck claw is removed by contacting the inner surface of the cam plate with the rotation of the disk. And a cam follower that moves in the direction. In this case, by driving the motor, the chuck pawls can be opened and closed in synchronization, so that the positioning accuracy is improved. Also, since the closing force of the chuck pawl is given by a spring,
The closed position of the chuck jaws is not fixed, and the position of the work can be determined based on the outer periphery of the concave part. In other words, even if there is a deviation between the fully closed position of the chuck claw and the holding position of the concave part, this deviation is flexibly absorbed by the chuck claw, and the holding accuracy of the concave part is not restricted.

According to a fourth aspect of the present invention, there is provided an assembling apparatus.
This is suitable for a case where a plurality of concave parts are connected to the hoop material at predetermined pitch intervals, and the work is supplied in an independent single state. Since the concave component is connected to the hoop material, if the hoop material is positioned, the concave component is also positioned accordingly. Therefore, when the chuck claws are moved to a predetermined position of the hoop material by a transfer means such as a robot with respect to such concave parts, the concave parts and the chuck claws can be made to correspond substantially vertically.

According to a fifth aspect of the present invention, there is provided a conveyor for horizontally transporting a hoop material on a carrier portion, a positioning mechanism provided at a predetermined position of the conveyor and positioning the hoop material with a predetermined margin, and a positioning device. And a support table for supporting the bottom surface of the concave component of the hoop material positioned by the mechanism. In other words, when the hoop material is strictly positioned in the front-back, left-right, and rotation directions,
In some cases, an excessive load is applied to the hoop material or the concave part cannot be positioned in the rotational direction. Therefore, the hoop material is positioned with a predetermined margin so that the positioning operation by the chuck pawl can be performed smoothly. The support table supports the load applied to the concave part when the workpiece is inserted, and serves as a reference for determining the height direction and the inclination of the concave part at the same time. The upper surface of the support table needs to be formed parallel to the horizontal surface of the chuck pawl.

It is preferable that a plurality of sets of chuck claws are provided at a pitch that is an integral multiple of the arrangement pitch of the concave parts, and the chuck claws of each set are individually rotatable by a small angle. . In this case, a plurality of works can be inserted into the concave part at the same time, so that the production efficiency is improved. Also, since the concave parts are connected to each other by the hoop material, if there is a slight shift in the rotation direction at the closed position of each set of chuck jaws, the set of chuck jaws of each set has no tolerance in the rotation direction. When the hoop material is forcibly closed, the hoop material is twisted. However, since the chuck claws of each set are individually rotatable by a small angle, the displacement in the rotation direction can be absorbed, and the hoop material can be prevented from being twisted. In this case, it is not necessary to support the hoop material with a margin as in claim 5, and even if the hoop material is fixed at a fixed position, the hoop material can be absorbed by turning the chuck claw.

[0013]

1 to 11 show a first embodiment of an electronic component assembling apparatus according to the present invention. As shown in FIG. 7, the electronic component W of this embodiment is a rectangular box-shaped case 1 which is an example of a concave component, lead terminals 2 and 3 insert-molded in the case 1, and housed in the case 1. And a cover (work) 5 inserted into the opening 1a of the case 1. Case 1
Are supplied in a state where a plurality of them are connected to a hoop material 6 (lead frame) as shown in FIG. 8 at a predetermined pitch interval, and the cover 5 which is a work is supplied in an independent single item. In the embodiment described below, a device for inserting the cover 5 into the opening 1a of the case 1 will be described.

The present assembling apparatus comprises a handling device A mounted on an XY robot, a conveyor device B for transporting and positioning strip-shaped hoop materials, and a control device 9 for integrally controlling each part.
It is composed of First, the handling device A will be described. The handling device A has a structure as shown in FIGS. At the upper end of the support plate 10 connected to the Y-axis slider Rs of the XY robot, a servomotor 11 for driving the Z-axis and a conversion mechanism 12 such as a ball screw for converting the rotation of the motor 11 into a vertical motion are attached. I have. Z
The shaft slider 14 is vertically guided by the linear guide 15 with respect to the support plate 10, and the lower end of the shaft 13 driven up and down by the conversion mechanism 12 is connected to the Z-axis slider 14. A Z-axis unit is constituted by the Z-axis slider 14, the servo motor 11, the conversion mechanism 12, and the like.

The Z-axis slider 14 is provided with a suction nozzle 2 described later.
1 and the chuck claws 30 and 31 are simultaneously moved up and down, and the servo motor 11 and the ball screw 1 are moved as described above.
Since it is driven by a combination of the two, it can be stopped at an arbitrary position with high accuracy (for example, ± 50 μm or less). A base 16 is fixed to the front surface of the Z-axis slider 14, and a suction nozzle vertical drive cylinder 18 is fixed to the front surface of the base 16 via a mounting stay 17. The piston of the cylinder 18 is connected to a work suction suction nozzle 21 via a floating joint 19 for reducing eccentricity and a cylinder joint 20. The suction nozzle 21 is made of a spline shaft having a hollow hole, and is guided by a spline nut 22 so as to be vertically movable. The spline nut 22 is held by a spline holder 23 fixed to the base 16. As described above, since the suction nozzle 21 is connected to the cylinder 18, the cylinder 1
8 can be moved up and down independently. The cylinder 18,
The floating joint 19 and the cylinder joint 20 constitute a suction nozzle elevating mechanism. The inside of the suction nozzle 21 is connected to a vacuum generator 25 from a suction port 24 provided in the cylinder joint 20 via a pipe (not shown) as shown in FIG. The suction nozzle 21 extends downward through the inside of the chuck nail mounting flange 32 having a hollow structure. The chuck jaw mounting flange 32 is fixed to the base 16 via a flange holder 33.

The chuck claws 30 and 31 are arranged at 90 ° intervals so that the four sides of the case 1 and the cover 5 can be positioned.
Book is provided. As shown in FIG. 5, the pair of chuck claws 30 for positioning the long sides of the case 1 and the cover 5 include three protrusions 30a on the inner end surface.
A step 30b is formed at the lower end of Oa. The second opposing surface 30b first opposing face 30c of the inner surface of the projection 30a to position the outer surface of the cover 5, the inner surface of the stepped portion 30b for positioning the outer surface of the case 1 _1, the stepped portion 30
The horizontal surface 30b on which the lower surface of b positions the upper surface of the case 1
_{It is 2} . First opposing surface 30c and second opposing surface 30b
₁ the distance d ₁ between is slightly larger set than the thickness of the side wall of the case 1 to be positioned by the second opposing surface 30b _1. As shown in FIG. 6, the pair of chuck claws 31 for positioning the short sides of the case 1 and the cover 5 have one protrusion 31a on the inner end face.
A step 31b is formed at the lower end of 1a. The inner surface of the protruding portion 31 a positions the outer surface of the cover 5 on the first opposing surface 31 c, the inner surface of the step portion 31 b positions the outer surface of the case 1 on the second opposing surface 31 b ₁ , and the step portion 31.
The horizontal surface 31b in which the lower surface of b positions the upper surface of the case 1
_{It is 2} . First opposed surface 31c and second opposed surface 31b
The distance d ₂ between ₁ is slightly larger set than the thickness of the side wall of the case 1 to be positioned by the second opposing surface 31b _1.

The chuck claws 30, 31 are attached to the lower surface of the chuck jaw mounting flange 32 via a linear motion guide 34, and are movable from four directions toward the center. In the present invention, the chuck claws 30 and 31 are
Since the relative position of the work 5 with respect to the case 1 is determined by following the above, the linear motion guide 34 does not need to have high rigidity.

A cam follower driving pulley 36 is rotatably mounted on the outer periphery of the chuck jaw mounting flange 32 via a bearing 35, and a driving force is obtained from a driving pulley 38 of a chuck jaw opening / closing motor 37 via a timing belt 39. Rotate. The cam follower 40 is mounted on the pulley 36 via a cam follower mounting plate 41.

An opening / closing cam plate 42 is fixed to the outer ends of the chuck claws 30, 31. A tension spring 43 is interposed between the opening / closing cam plate 42 and the chuck pawl mounting flange 32 to apply a pulling force to the chuck pawls 30 and 31 in the center direction. On the other hand, the cam follower 40 is rotated by the chuck pawl opening / closing motor 37 to abut against the inner surface of the opening / closing cam plate 42, and moves the chuck pawls 30, 31 outward against the spring 43. . That is, the cam follower 40 adjusts the amount of movement of the chuck claws 30, 31 toward the center. The motor 37, the timing belt 39, the cam follower driving pulley 36, the cam follower 40, the linear motion guide 34, the cam plate 42, and the spring 43 constitute an opening / closing mechanism for opening and closing the chuck claws 30, 31 in and out.

Since a mechanism for driving the suction nozzle 21 and the chuck claws 30 and 31 is mounted on the Z-axis slider 14, the weight is large and the power supply of the servo motor 11 is turned off.
For example, there is a possibility that the suction nozzle 21 and the chuck claws 30 and 31 may be dropped by their own weight. To prevent this,
A self-weight canceling cylinder 45 is attached to the support plate 10 via an attachment stay 44, and urges the Z-axis slider 14 upward. Note that a spring may be used instead of the cylinder 45.

Next, a conveyor B for conveying and positioning the strip-shaped hoop material 6 holding the case 1 will be described with reference to FIGS.
This will be described with reference to FIG. A pair of carrier portions 7 extending in the longitudinal direction are provided on both sides of the hoop material 6, and a plurality of positioning holes 8 are formed in the carrier portion 7. The conveyor device B includes a conveyor body 50, and a pair of conveyor rails 51 for guiding both sides of the carrier portion 7 of the hoop material 6 with a predetermined margin are fixed horizontally at the upper end of the body 50. Guide pulleys 52 and 53 are rotatably mounted inside the longitudinal ends of the conveyor rail 51, respectively. The main body 50 has a conveyor motor 5
4 is fixed, and the driving force of the motor 54 is a bevel gear 55,
The driving force is transmitted to a driving pulley 57 via the driving pulley 57. A belt 58 is wound around the drive pulley 57 and the guide pulleys 52 and 53, and can drive the belt 58 in the direction of the arrow. Incidentally, 59 and 60 are tension pulleys. The carrier portion 7 of the hoop material 6 carried into the conveyor device B is placed on the belt 58 and is carried in the direction of the arrow.

A pusher 6 is provided at the start end of the conveyor device B.
A rotary actuator 61 for rotating the rotating member 90 by 90 degrees between the open position and the closed position is attached. The pusher 62 has a role of pushing the terminal end of the hoop material 6 carried into the conveyor device B and pushing it against a stopper 67 described later. A lifter 63 for supporting the bottom surface of the case 1 provided on the hoop material 6 is disposed between the start end and the intermediate portion of the conveyor device B, and the lifter 63 is driven vertically by a lifter driving cylinder 64. Is done. Lifter 63
As shown in FIG.
5 is projected upward, and the positioning hole 8 of the hoop member 6 is fitted into the pin 65 to thereby provide the hoop member 6.
Can be positioned with a predetermined margin. A stopper 67 that can move up and down by a stopper driving cylinder 66 is disposed on the end side of the lifter 63. The stopper 67 positions the starting end (the case 1) of the hoop material 6 carried into the conveyor device B.

The operation of the conveyor apparatus B having the above configuration will be described. The hoop material 6 is cylinder 66 by the belt 58.
Is conveyed to the position of the stopper 67 lifted upward. Thereafter, the belt 58 stops, the pusher 62 rotates, and the hoop material 6 is pressed against the stopper 67 to perform temporary positioning. Next, the lifter 63 having one positioning pin 65 is lifted by the cylinder 64, comes into contact with the lower surface of the case 1 of the hoop material 6, and lifts the hoop material 6 to a state where it is separated from the conveyor belt 58. Then, by lowering the stopper 67 and returning the pusher 62 to the horizontal state, the hoop material 6 is positioned by one pin 65.

The positioning pin 65 is inserted into a positioning hole 8 (for example, φ2 mm) in the carrier portion 7 of the hoop material 6 to a depth of, for example, φ0.8 mm at the tip. The distance between the conveyor rails 51 is set to be, for example, about 2 mm wider than the width of the hoop member 6, and as shown in FIG. 12, the hoop member 6 can be rotated by a small angle (eg, ± 0.7 °). . In FIG. 12, the position indicated by the two-dot chain line is the hoop material 6.
The dashed line indicates the maximum rotational position.

Next, the operation of the assembling apparatus according to the present invention, in particular, the operation of inserting the cover 5 into the case 1 will be described with reference to FIGS.
This will be described with reference to FIG. The operations described below are controlled by the control device 9. First, as shown in FIG. 13A, the chuck pawls 30 and 31 are opened by the chuck pawl opening / closing motor 37, and the suction nozzle 21 is lowered by the cylinder 18 to suck the cover 5 arranged in the cover supply section. next,
As shown in (b), the suction nozzle 21 is raised, and the cover 5 is pulled up from the step portions 30b, 31b of the chuck claws 30, 31 to an upper portion. In this state, the handling device A is transported to a position above the case 1 by the XY robot as shown in FIG.
0, 31 and the suction nozzle 21 are integrally lowered, and stopped at a position where the lower ends of the chuck claws 30, 31 are slightly lower than the upper surface of the case 1. Note that the XY robot that transports the handling device A to a position above the case 1 only requires that the case 1 be located between the opened chuck claws 30 and 31 and does not require high accuracy. Next, as shown in FIG. 14D, the chuck jaws 30, 31 are closed by the chuck jaw opening / closing motor 37, and the relative positioning of the case 1 and the cover 5 in the X, Y and θ directions is performed. At this time, Case 1
Is positioned by the surfaces 30b ₁ and 31b ₁ of the chuck claws 30 and 31, and the cover 5 is positioned by the surfaces 30c and 31c. The opening and closing of the chuck claws 30 and 31 are performed by the force of the spring 43, and consideration is taken so that excessive force is not applied to the case 1. Since the closed positions of the chuck claws 30 and 31 are not fixed, the position where the opposing claws grip the case 1 can be freely offset about the suction nozzle 21. When the case 1 is not fixed, the state becomes either the left side or the right side of (d) and the horizontal direction (X, Y
Direction) as well as the rotational direction (θ direction). When the case 1 is fixed,
The result is on the right side of (d). In the first embodiment, the case 1 is supplied by the hoop material 6, but since the case 1 is not fixed, the case 1 is as shown on the left side. Next, (e)
, The surfaces 30b ₂ , 31b of the chuck claws 30, 31
Chuck claws 30, 31 until ₂ hits the upper surface of case 1.
And correct the vertical position and inclination of the case 1. At this time, it is ideal that the pressing is performed with a constant force. However, if the gap between the chuck claws 30 and 31 and the case 1 is sufficiently small with respect to the thickness of the cover 5, there is no problem in the position control. Further, it is desirable that the suction nozzle 21 is also lowered by the same movement amount at the same time. Next, the suction nozzle 21 is lowered as shown in FIG. In the first embodiment, the cylinder 18 is pushed at about 10 N without setting the bottom dead center. Depending on the assembly conditions, position control may be used. As described above, the relative positional relationship between the case 1 and the cover 5 depends on the surfaces 30 c, 30 b ₁ , 30 b ₂ , 31 c, 31 b ₁ , 3 of the chuck claws 30, 31.
When the suction nozzle 21 is lowered, the cover 5 is accurately inserted into the opening 1 a of the case 1 because it is determined by 1 b ₂ . After stopping the suction as shown in FIG.
Is raised, the chuck claws 30 and 31 are opened, and the next cover 5 is taken. Thereafter, this operation is repeatedly performed.

Next, a second embodiment of the assembling apparatus according to the present invention, in particular, a second embodiment of the handling apparatus A will be described with reference to FIG.
5, and will be described with reference to FIG. As shown in FIG.
In this embodiment, two handling devices A having substantially the same structure as those of the first embodiment are provided at intervals of an integral multiple of the case pitch of the hoop material 6. Although not shown, the cam follower drive pulleys 36 are connected to each other by a timing belt, and are driven by a single chuck pawl opening / closing motor 37. FIG. 16 shows the difference in the mechanism. In the first embodiment, the chuck jaw mounting flange 32 is fixed to the flange holder 33 as shown in FIG. 4, but in the second embodiment, the structure is such that it can be rotated with the bearing 70 interposed. In addition, set screw 7
Numerals 1 and 72 are for fixing the set collars 73 and 74 to the chuck jaw mounting flange 32.
2 is regulated. The set screw 75 has a slight clearance without pressing down the chuck jaw mounting flange 32, and serves as a detent for preventing the chuck jaw fixing flange 32 from rotating infinitely with respect to the flange holder 33. In the second embodiment, the flange 32 is, for example, ± 1.
The rotation angle is restricted to °.

In the conveyor apparatus B, the belt 58 does not support the carrier 7 of the hoop material 6 but the carrier 7
The guide pulleys 52, 5
3 are arranged inside. For example, four positioning pins 65 can be inserted from below into the positioning holes 8 provided in the carrier portion of the hoop material 6.
Further, the positioning pin 65 having a clearance as small as possible with respect to the positioning hole 8 is used. For example, a pin having a diameter of 1.9 mm is inserted into a hole having a diameter of 2 mm.

In the first embodiment, the θ rotation is corrected by rotating the case 1 for each strip hoop material 6, but in the second embodiment, two pieces are assembled at the same time. Therefore, when there is an angular variation between the two, it cannot be completely corrected.
In this embodiment, the handling apparatus A can independently correct the θ rotation, so that this problem can be solved and the same effect as in the first embodiment can be obtained. Transfer positioning conveyor device B
Unlike the first embodiment, it is not necessary to make the strip-shaped hoop 6 free, but rather, it is more secure to fix the strip-shaped hoop 6 without unnecessary twisting or bending.
Get good results.

The assembling apparatus according to the present invention is not limited to the above-described embodiment, but can be variously modified within the scope of the invention. In the above embodiment, the case where the case is connected to the hoop material is shown.However, in the present invention, it is not necessary to position the case strictly. It is possible. The work in the present invention is not limited to the cover, but may be an electronic component element. Further, the concave part is not limited to the case. In the above embodiment, a work and a case having a rectangular cross section are formed by four chuck claws in X and Y directions.
Although the positioning is performed in the direction and the θ direction, the work and the case having a circular cross section may be positioned by, for example, three chuck claws.

[0030]

As is apparent from the above description, claim 1
According to the invention described in (1), the work is sucked by the suction nozzle with the chuck claw open, the suction nozzle is raised, and the work is pulled up to the first opposing surface of the chuck claw, and the second opposing surface of the chuck claw is concave. After descending to a position lower than the upper surface of the part, the chuck jaws are closed, so that the first
The relative positioning of the workpiece in the horizontal direction is performed on the opposing surface, and the relative positioning of the concave component in the horizontal direction is performed on the second opposing surface of the chuck claw. It does not require expensive high-precision robots, positioning devices, image processing devices, and the like, and can be implemented at low cost and with high accuracy, without being affected by a device environment that changes over time. Further, since high-precision teaching is not required for the assembling apparatus, maintenance is easy.

[Brief description of the drawings]

FIG. 1 is a front view of a first embodiment of a handling device of an automatic assembling device according to the present invention.

FIG. 2 is a left side view of FIG.

FIG. 3 is a view taken along line III-III in FIG. 2;

FIG. 4 is a partially enlarged sectional view of the handling device of FIG. 1;

FIG. 5 is a front view and a side view of one chuck claw.

FIG. 6 is a front view and a side view of the other chuck claw.

FIG. 7 is a sectional view of an example of an electronic component assembled by the automatic assembling apparatus of the present invention.

FIG. 8 is a plan view of an example of a hoop member supporting a concave part assembled by the automatic assembling apparatus of the present invention in a connected state.

FIG. 9 is a front view of the transfer positioning conveyor device.

FIG. 10 is a plan view of the conveyor device shown in FIG.

11 is a partially enlarged view of the conveyor device shown in FIG.

FIG. 12 is a partial plan view of the conveyor device in a state where the hoop material is supported.

FIG. 13 shows the operation of the automatic assembling apparatus according to the present invention (first half).
It is an operation explanatory view for explaining.

FIG. 14 shows the operation of the automatic assembling apparatus according to the present invention (second half).
It is an operation explanatory view for explaining.

FIG. 15 is a front view of a second embodiment of the handling device of the automatic assembly device according to the present invention.

16 is a partially enlarged view of the handling device shown in FIG.

[Explanation of symbols]

A handling device B conveyor 1 case (concave part) 5 Cover (workpiece) 6 hoops 9 control device 21 suction nozzles 30 and 31 chuck jaws 30b, 31b stepped portions 30b _1, 31b ₁ second opposing face 30b _2, 31b ₂ Horizontal plane 30c, 31c First facing surface

Claims (6)

[Claims] An automatic assembling apparatus for an electronic component for chucking a workpiece and inserting the workpiece into a concave component arranged with an opening facing upward, wherein a first opposed member having a predetermined interval when closed. A pair of chuck claws having a surface and a second opposing surface wider than the first opposing surface below the first opposing surface; and an opening / closing mechanism for opening and closing the chuck jaws inward and outward. , Placed in the center of the chuck jaws,
A suction nozzle for vacuum-sucking the work, a suction nozzle elevating mechanism for vertically moving the suction nozzle relative to the chuck claw, a Z-axis unit for simultaneously moving the suction nozzle and the chuck claw up and down, A suction nozzle, a suction nozzle raising / lowering mechanism, and a control means for controlling the Z-axis unit, wherein the control means sucks the work with the suction nozzle with the chuck pawl opened, and lifts the suction nozzle to chuck the work. Lifting the claw to the position of the first opposing surface of the claw, lowering the second opposing surface of the chuck claw to a position lower than the upper surface of the concave component, and closing the chuck claw to obtain the first opposing surface of the chuck claw. A step of performing horizontal relative positioning of the workpiece and performing horizontal relative positioning of the concave part on the second opposing surface of the chuck claw; Automatic assembling apparatus of electronic components and controlling the steps of inserting a workpiece into a concave shape in part by lowering the Le. 2. The chuck pawl has a downward horizontal surface between a first opposing surface and a second opposing surface, and the control means performs horizontal relative positioning of the workpiece and the concave part. Between the step of inserting the work into the concave part, the upper surface of the concave part is pressed by the horizontal surface of the chuck pawl by lowering the chuck pawl, and the vertical position and inclination of the concave part are corrected. The electronic component automatic assembling apparatus according to claim 1. 3. The opening / closing mechanism comprises: a guide means for movably guiding the chuck claws inward and outward, a spring for urging the chuck claws inward, and a cam plate provided on each chuck jaw. A rotatable disk, a drive motor for driving the disk to rotate, and a cam follower provided on the disk, which contacts the inner surface of the cam plate with the rotation of the disk and moves each chuck jaw outward. Claim 1
Or an automatic assembling apparatus for electronic parts according to 2. 4. The method according to claim 1, wherein the plurality of concave parts are connected to the hoop material at predetermined pitch intervals, and the workpiece is supplied in an independent single state. 6. An automatic assembling apparatus for electronic components according to claim 1. 5. A conveyor for horizontally transporting the hoop material on the carrier portion, a positioning mechanism provided at a predetermined position of the conveyor, and positioning the hoop material with a predetermined margin, and a positioning mechanism. 5. The automatic assembling apparatus for electronic components according to claim 1, further comprising: a support table for supporting a bottom surface of the concave component of the hoop material. 6. A plurality of chuck pawls are provided at a pitch of an integral multiple of the arrangement pitch of the concave parts, and the chuck pawls of each group are individually rotatable by a small angle. 5. The automatic assembling apparatus for electronic components according to 4.