JP2002237695A - Transfer apparatus and electronic component loading apparatus - Google Patents
Transfer apparatus and electronic component loading apparatusInfo
- Publication number
- JP2002237695A JP2002237695A JP2001032486A JP2001032486A JP2002237695A JP 2002237695 A JP2002237695 A JP 2002237695A JP 2001032486 A JP2001032486 A JP 2001032486A JP 2001032486 A JP2001032486 A JP 2001032486A JP 2002237695 A JP2002237695 A JP 2002237695A
- Authority
- JP
- Japan
- Prior art keywords
- support member
- head
- axis
- blocks
- transferred
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Supply And Installment Of Electrical Components (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、被移送部をほぼ水
平な平面の所定範囲内で任意の位置に移送する移送装
置、及び、この移送装置を備え、電子部品を電子回路基
板上に搬送して電子部品回路基板に装着する電子部品搭
載装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for transferring a portion to be transferred to an arbitrary position within a predetermined range of a substantially horizontal plane, and a transfer device provided with the transfer device for transferring electronic components onto an electronic circuit board. Electronic component mounting apparatus for mounting on an electronic component circuit board.
【0002】[0002]
【従来の技術】図4に示すように、電子部品搭載装置4
0には、電子部品を吸着・保持し、これら電子部品を電
子回路基板上に実装するヘッド41が備えられている。
このヘッド41は、移送装置50によってX−Y軸方向
に移動自在とされるとともに、電子部品を吸着するシャ
フトを上下に昇降させるサーボモータ及び前記シャフト
を回転させるサーボモータを搭載しており、その他に
も、空圧電磁弁やセンサ等の機器を搭載している。2. Description of the Related Art As shown in FIG.
0 is provided with a head 41 for sucking and holding electronic components and mounting these electronic components on an electronic circuit board.
The head 41 is movable in the X-Y axis direction by the transfer device 50, and is equipped with a servomotor for vertically moving a shaft for sucking electronic components and a servomotor for rotating the shaft. In addition, devices such as pneumatic solenoid valves and sensors are mounted.
【0003】前述した移送装置50には、ヘッド41を
X軸方向に移動させるとともにX軸方向に沿ったX軸ガ
イド部52を備えたX軸可動部53と、該X軸可動部5
3をY軸方向に移動させるとともにY軸方向に沿ったY
軸ガイド部54を備えたY軸可動部55と、ヘッド41
をX,Y軸方向に駆動するX,Y駆動モータ56,57
等とが備えられている。そして、X,Y駆動モータ5
6,57を作動することにより、ヘッド41をX,Y軸
ガイド部52,54に案内させて、ヘッド41をX−Y
軸方向に対して移動自在とすることができる。The transfer device 50 includes an X-axis movable section 53 having an X-axis guide section 52 that moves the head 41 in the X-axis direction and an X-axis guide section 52 along the X-axis direction.
3 in the Y-axis direction and Y along the Y-axis direction.
Y-axis movable section 55 having axis guide section 54, head 41
And Y drive motors 56 and 57 for driving the motors in the X and Y axis directions.
And so on. And the X, Y drive motor 5
6 and 57, the head 41 is guided by the X and Y axis guide portions 52 and 54, and the head 41 is moved to the XY direction.
It can be movable in the axial direction.
【0004】ここで、移動自在とされるとともに前述し
た機器を搭載するヘッド41に電力やエアー等を供給す
るため、ヘッド41と筐体42内部に設置されたコント
ローラ(図示しない)等との間に電線やエアー配管等の
複数のケーブル/ホース43を配する必要がある。そし
て、ケーブル/ホース43を支持・案内する手段とし
て、市販のケーブル支持部材44を用いていた。Here, in order to supply electric power, air, etc. to the head 41, which is movable and mounts the above-described devices, the head 41 and a controller (not shown) installed inside the housing 42, etc. It is necessary to arrange a plurality of cables / hoses 43 such as electric wires and air pipes. As a means for supporting and guiding the cable / hose 43, a commercially available cable support member 44 has been used.
【0005】[0005]
【発明が解決しようとする課題】ところで、従来の電子
部品搭載装置40においては、市販のケーブル支持部材
44をヘッド41のX,Y軸方向それぞれの移動に対応
させるため、ケーブル支持部材44をXケーブル支持部
材44aと、Yケーブル支持部材44bとに分けて二箇
所に設置していた。ここで、これらX,Yケーブル支持
部材44a,44bは多数のブロックが連接されて形成
され、同一面内において一方向にのみ略U字状に湾曲す
る。そして、通常の使用状態においては、これらX,Y
ケーブル支持部材44a,44bそれぞれを縦置きにし
た状態で上下に湾曲するように設置し、ヘッド41の移
動に対応させている。しかしながら、この場合、ケーブ
ル支持部材44の移動範囲(移動空間)をヘッド41の
上方に作らねばならず、装置自体の高さ寸法が大きくな
ってしまい、工場内にこの装置を何台も並べてしまうと
工場内にて周囲を見渡せなくなってしまうという問題が
あった。By the way, in the conventional electronic component mounting apparatus 40, the cable supporting member 44 is moved to the X and Y directions of the head 41 in order to make the cable supporting member 44 available on the market available. The cable support member 44a and the Y cable support member 44b are separately provided at two locations. Here, the X and Y cable support members 44a and 44b are formed by connecting a large number of blocks, and are curved in a substantially U shape only in one direction in the same plane. In a normal use state, these X, Y
The cable support members 44a and 44b are installed so as to be bent up and down in a state of being placed vertically, so as to correspond to the movement of the head 41. However, in this case, the moving range (moving space) of the cable supporting member 44 must be formed above the head 41, and the height of the device itself becomes large, so that many devices are arranged in a factory. And there was a problem that it became impossible to look around in the factory.
【0006】そこで、本発明は装置の外形サイズを抑
え、小型化を図ることのできる移送装置及び該移送装置
を備える電子部品搭載装置を提供する。Accordingly, the present invention provides a transfer device capable of suppressing the external size of the device and achieving downsizing, and an electronic component mounting device provided with the transfer device.
【0007】[0007]
【課題を解決するための手段】請求項1記載の発明は、
例えば図1及び2に示すように、被移送部(ヘッド1)
をほぼ水平な平面の所定範囲(7)内で任意の位置に移
送する移送装置(B)であって、前記被移送部と、該被
移送部を移送させる移送手段(2)と、所定の固定位置
(6)から移動する被移送部に接続される柔軟性を有す
るケーブル等の線状部材(35)と、該線状部材を垂れ
下がらないように前記固定位置から前記被移送部まで支
持するとともに、前記被移送部の移動に合わせて前記線
状部材を所定の経路上に配置するケーブル支持部材
(3)とを備え、前記ケーブル支持部材は、前記線状部
材をそれぞれ支持する多数のブロック(30)が連接さ
れて形成され、各ブロックの連接部分においてブロック
同士が水平な平面にほぼ沿う方向にだけ屈曲自在とされ
ていることを特徴とする。According to the first aspect of the present invention,
For example, as shown in FIGS. 1 and 2, the transferred portion (head 1)
A transfer device (B) for transferring the target portion to an arbitrary position within a predetermined range (7) of a substantially horizontal plane, the transfer portion; a transfer means (2) for transferring the transfer portion; A linear member (35) such as a flexible cable connected to the transferred portion moving from the fixed position (6), and supporting the linear member from the fixed position to the transferred portion so as not to hang down; And a cable supporting member (3) for arranging the linear member on a predetermined path in accordance with the movement of the transferred portion, wherein the cable supporting member supports a plurality of the linear members. The blocks (30) are connected and formed, and at the connection portions of the blocks, the blocks can be bent only in a direction substantially along a horizontal plane.
【0008】請求項1記載の発明によれば、ケーブル支
持部材は水平な平面にほぼ沿う方向にだけ屈曲自在とさ
れているので、被移送部の移動に際して、垂直な平面に
沿う方向に屈曲せずケーブル支持部材が高さ方向の空間
内に移動軌跡を描かない。従って、装置内部にてケーブ
ル支持部材の移動軌跡を考慮して高さ方向に空間を設け
る必要はなくなるので、少なくとも装置外形における高
さを低く抑え、装置の小型化を図ることができる。ま
た、従来においては、線状部材を固定位置から上下に湾
曲するケーブル支持部材の入口近傍まで上方に誘導し、
組み付けるのに手間を要していたが、請求項1のような
構成にすることにより、線状部材はケーブル支持部材に
より略同一の高さに配置されるので、上記した手間を省
くことができ、線状部材の組付が容易になる。According to the first aspect of the present invention, since the cable supporting member can be bent only in a direction substantially along a horizontal plane, the cable supporting member is bent in a direction along a vertical plane when the transferred portion moves. In addition, the cable support member does not draw a movement locus in the space in the height direction. Therefore, it is not necessary to provide a space in the height direction in consideration of the movement trajectory of the cable support member inside the device, so that at least the height in the outer shape of the device can be suppressed and the size of the device can be reduced. Further, conventionally, the linear member is guided upward from the fixed position to the vicinity of the entrance of the cable support member that curves vertically,
Although it took time to assemble, the linear member is arranged at substantially the same height by the cable supporting member by adopting the configuration as in claim 1, so that the above-mentioned trouble can be saved. This makes it easy to assemble the linear member.
【0009】なお、ケーブル支持部材は、信号や電力等
を送るための各種ケーブルのほか、各種チューブやホー
ス等のケーブルと同様の柔軟性を有する線状部材を、そ
の線状部材の少なくとも一端部を移動可能に支持するも
のである。また、ケーブル支持部材としては、市販品を
用いることも可能であるが、この場合に、各ブロックの
連接部分が垂直な平面に沿う方向にだけ屈曲可能な通常
のケーブル支持部材を通常の使用状態に対して90度傾
けて横に寝かして使用することになるので、市販のケー
ブル支持部材が横に寝かした状態で自重や支持される線
状部材の重さに耐える強度を有する必要がある。そし
て、ケーブル支持部材として市販品を用いる場合には、
新規なケーブル支持部材を準備する必要がないので、移
送装置のコストを削減できる。The cable supporting member may include, in addition to various cables for transmitting signals, electric power, and the like, a linear member having the same flexibility as cables such as various tubes and hoses, and at least one end of the linear member. Is movably supported. As the cable support member, a commercially available product can be used. In this case, a normal cable support member in which a connecting portion of each block can be bent only in a direction along a vertical plane in a normal use state is used. The cable support member is required to have a strength capable of withstanding its own weight and the weight of the supported linear member in a state where the cable support member is laid sideways. And when using a commercial product as a cable support member,
Since there is no need to prepare a new cable support member, the cost of the transfer device can be reduced.
【0010】請求項2記載の発明の移送装置は、例えば
図1に示すように、前記移送手段が、被移送部をほぼ水
平なX軸方向に移動するとともにX軸方向に沿ったX軸
ガイド部(4)を備えたX軸移動手段と、該X軸移動手
段をX軸と直交する水平なY軸方向に移動するY軸移動
手段とを備え、前記ケーブル支持部材が前記所定範囲の
外周部分の前記固定位置に一端部が接続されるととも
に、前記X軸ガイド部に他端部が接続され、前記固定位
置から前記X軸ガイド部まで線状部材を支持する第一の
支持部材(31)と、前記X軸ガイド部に一端部が接続
されるとともに、前記被移送部に他端部が接続され前記
X軸ガイド部から前記被移送部まで前記線状部材を支持
する第二の支持部材(32)とを備えていることを特徴
とする。According to a second aspect of the present invention, as shown in FIG. 1, for example, the transfer means moves a portion to be transferred in a substantially horizontal X-axis direction and an X-axis guide along the X-axis direction. An X-axis moving means having a portion (4); and a Y-axis moving means for moving the X-axis moving means in a horizontal Y-axis direction orthogonal to the X-axis. A first support member (31) having one end connected to the fixed position of the portion and the other end connected to the X-axis guide portion, and supporting a linear member from the fixed position to the X-axis guide portion. And a second support having one end connected to the X-axis guide portion and the other end connected to the transferred portion, and supporting the linear member from the X-axis guide portion to the transferred portion. (32).
【0011】請求項2記載の発明によれば、ケーブル支
持部材は第一の支持部材と、第二の支持部材とを備え、
ケーブル支持部材の屈曲による移動の軌跡をケーブル支
持部材の途中の部分でX軸ガイド部に接続した状態とす
ることで規制でき、ケーブル支持部材が予定外の軌跡を
描くことを防止することができる。なお、基本的には、
第一の支持部材が、全体をほぼU字状に湾曲させた状態
で、他端部側がY軸方向にほぼ沿って移動し、第二の支
持部材が、全体をほぼU字状に湾曲させた状態で、他端
部側がX軸方向にほぼ沿って移動するようになってい
る。According to the second aspect of the present invention, the cable support member includes the first support member and the second support member,
The trajectory of the movement due to the bending of the cable support member can be regulated by connecting the cable support member to the X-axis guide portion at an intermediate portion, and it is possible to prevent the cable support member from drawing an unexpected trajectory. . Basically,
In a state where the first support member is curved substantially in a U-shape, the other end moves substantially along the Y-axis direction, and the second support member is curved substantially in a U-shape. In this state, the other end moves substantially along the X-axis direction.
【0012】請求項3記載の発明の移送装置は、例えば
図1及び3に示すように、前記ケーブル支持部材の各ブ
ロック同士の連結部分が連結方向に対して左右いずれか
一方にだけ屈曲可能とされ、第一の支持部材は、他端部
側の部分の複数個のブロックを除くブロックのブロック
同士の連結部分が連結方向に対して左右いずれか一方の
うちの同じ方に屈曲可能とされるとともに、他端部側の
部分の複数個のブロック同士の連結部分が他端部側の部
分の複数個のブロックを除くブロック同士の連結部分と
逆の方に屈曲可能となっていることを特徴とする。According to a third aspect of the present invention, as shown in FIGS. 1 and 3, for example, the connecting portion between the blocks of the cable support member can be bent only to the left or right in the connecting direction. The first support member is configured such that a connecting portion between the blocks of the blocks excluding the plurality of blocks on the other end portion side can be bent to the same one of left and right with respect to the connecting direction. In addition, the connecting portion between the plurality of blocks on the other end portion side is bendable in a direction opposite to the connecting portion between the blocks except for the plurality of blocks on the other end portion. And
【0013】上述のように第一の支持部材を全体を略U
字状に湾曲させた状態で、他端部側をY軸方向に沿って
移動させた場合に、略U字状の湾曲部が被移送部の移動
範囲から大きくはみ出す可能性がある。しかし、請求項
3のような構成とすることにより、第一の支持部材は、
例えば、ほぼS字状の状態からほぼL字状の状態に形状
を変化させながら、他端部をY軸方向に沿って移動させ
ることが可能となり、略U字状の湾曲部が被移送部の移
動範囲から大きくはみ出すのを防止することが可能とな
る。これにより、移送装置の小型化を図ることができ
る。As described above, the first support member is substantially entirely U
When the other end is moved along the Y-axis direction in the state of being curved in the shape of a letter, there is a possibility that the substantially U-shaped curved portion may greatly protrude from the movement range of the transferred part. However, with the configuration as in claim 3, the first support member is
For example, it is possible to move the other end along the Y-axis direction while changing the shape from a substantially S-shaped state to a substantially L-shaped state. Can be prevented from greatly protruding from the moving range of the camera. Thus, the size of the transfer device can be reduced.
【0014】請求項4記載の発明は、例えば図1に示す
ように、請求項1〜3のいずれか一つの移送装置を備
え、電子部品を電子回路基板上に搬送して電子部品回路
基板に装着する電子部品搭載装置(A)であって、前記
被移送部が、前記電子部品を吸着した状態で電子回路基
板上に搬送して装着する吸着ノズルを備えてほぼ水平な
平面の所定範囲内で任意の位置に移動可能なヘッド
(1)であることを特徴とする。According to a fourth aspect of the present invention, as shown in FIG. 1, for example, the transfer device according to any one of the first to third aspects is provided, and the electronic component is transported onto the electronic circuit board to be transferred to the electronic component circuit board. An electronic component mounting apparatus (A) to be mounted, wherein the transferred part includes a suction nozzle for transferring and mounting the electronic component onto an electronic circuit board in a state where the electronic component is suctioned, within a predetermined range of a substantially horizontal plane. Characterized in that the head (1) is movable to an arbitrary position.
【0015】請求項4記載の発明によれば、請求項1〜
3のいずれか一つに記載の移送装置を備え、被移送部が
ヘッドであることから、ヘッドの移動に際して請求項1
〜3いずれか一つに記載の発明と同様の効果を奏する電
子部品搭載装置とすることができる。According to the invention described in claim 4, claims 1 to
3. The transfer device according to claim 1, wherein the transferred part is a head, so that the head is moved when the head is moved.
The electronic component mounting device having the same effects as those of the invention described in any one of (1) to (3) can be provided.
【0016】[0016]
【発明の実施の形態】以下、本発明の移送装置及び電子
部品搭載装置に係る実施の形態について図面を参照して
説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a transfer device and an electronic component mounting device according to the present invention will be described with reference to the drawings.
【0017】図1及び2に示すように、電子部品を電子
回路基板上に搬送して電子回路基板に装着する電子部品
搭載装置(以下、搭載装置と称する)Aには、搭載装置
Aの内部に移送装置Bが備えられている。As shown in FIGS. 1 and 2, an electronic component mounting apparatus (hereinafter referred to as a mounting apparatus) A for transporting an electronic component onto an electronic circuit board and mounting the electronic component on the electronic circuit board includes an internal part of the mounting apparatus A. Is provided with a transfer device B.
【0018】移送装置Bは被移送部をほぼ水平な平面の
所定範囲内で任意の位置に移送する装置であって、前記
被移送部に相当するヘッド1と、ヘッド1を移送する移
送手段2と、ヘッド1に駆動力等を送る線状部材35
(図2(a)参照)と、線状部材35を支持・案内する
ケーブル支持部材3とを備えている。A transfer device B is a device for transferring a transferred portion to an arbitrary position within a predetermined range of a substantially horizontal plane, and includes a head 1 corresponding to the transferred portion and a transfer means 2 for transferring the head 1. And a linear member 35 for sending a driving force or the like to the head 1
2 (see FIG. 2A), and a cable supporting member 3 that supports and guides the linear member 35.
【0019】ヘッド1は各種電子部品を吸着した状態で
電子回路基板上に搬送して装着する吸着ノズル(図示し
ない)を備え、ほぼ水平な平面の所定範囲内で任意の位
置に移動可能である。The head 1 is provided with a suction nozzle (not shown) which transports and mounts various electronic components onto an electronic circuit board in a state of being sucked, and can be moved to an arbitrary position within a predetermined range of a substantially horizontal plane. .
【0020】移送手段2はヘッド1を左右方向(X軸方
向)に移動させるX軸移動手段と、ヘッド1を前後方向
(Y軸方向)に移動させるY軸移動手段とを備え、ヘッ
ド1をX−Y軸方向に移動可能とすることができる。具
体的には、図1に示すように、X軸移動手段はヘッド1
のX軸方向の移動を駆動させるX軸駆動モータ(図示し
ない)と、ヘッド1をX軸方向に案内するX軸ガイド部
4とを備え、かつ、ヘッド1がX軸ガイド部4に取り付
けられている。そして、X軸駆動モータを作動させる
と、その駆動力が伝達手段(図示しない)により伝達さ
れて、ヘッド1はX軸ガイド部4に案内されるとともに
X軸方向に移動可能となる。また、Y軸移動手段はヘッ
ド1のY軸方向の移動を駆動させるY軸駆動モータ(図
示しない)と、X軸方向に配設された前述のX軸ガイド
部4と直交するとともに左右にそれぞれ所定間隔を隔て
平行に配設されるY軸ガイド部5とを備えている。な
お、Y軸ガイド部5はX軸ガイド部4の左右端部が係合
されて、X軸ガイド部4をY軸方向に案内するようにな
っている。そして、Y軸駆動モータを作動させると、そ
の駆動力が伝達手段(図示しない)により伝達されて、
X軸ガイド部4はY軸ガイド部5に案内されるととも
に、ヘッド1はY軸方向に移動可能となる。これらの構
成により、ヘッド1はX−Y軸方向に移動可能とされて
いる。The transfer means 2 includes an X-axis moving means for moving the head 1 in the left-right direction (X-axis direction) and a Y-axis moving means for moving the head 1 in the front-rear direction (Y-axis direction). It can be movable in the X-Y axis direction. More specifically, as shown in FIG.
And an X-axis drive motor (not shown) for driving the X-axis movement of the head 1 and an X-axis guide section 4 for guiding the head 1 in the X-axis direction. ing. When the X-axis driving motor is operated, the driving force is transmitted by a transmission means (not shown), and the head 1 is guided by the X-axis guide portion 4 and is movable in the X-axis direction. The Y-axis moving means is orthogonal to the Y-axis drive motor (not shown) for driving the movement of the head 1 in the Y-axis direction and the above-described X-axis guide portion 4 arranged in the X-axis direction. And a Y-axis guide section 5 arranged in parallel at a predetermined interval. The left and right ends of the X-axis guide section 4 are engaged with the Y-axis guide section 5 to guide the X-axis guide section 4 in the Y-axis direction. When the Y-axis drive motor is operated, the driving force is transmitted by a transmission unit (not shown),
The X-axis guide 4 is guided by the Y-axis guide 5, and the head 1 is movable in the Y-axis direction. With these configurations, the head 1 can be moved in the X-Y axis directions.
【0021】ここで、X−Y軸方向に移動可能とされる
ヘッド1には、電子部品を吸着するシャフトを上下に昇
降させるサーボモータ及び前記シャフトを回転させるサ
ーボモータが搭載され、その他にも、基板マークを識別
するCCDカメラ、各種センサ等が搭載されている。こ
のヘッド1に電力、信号、エアー等を配給するため、複
数の各種ケーブル、ホース、チューブ等(以下、線状部
材35とする(図2(a)参照))が、ヘッド1と搭載
装置A内部に設置されたコントローラ(図示しない)等
との間に配設されている。従って、これらの線状部材3
5は、後述するケーブル支持部材3(図1参照)に支持
されてヘッド1の移動に追従するようになっている。な
お、線状部材35はヘッド1の移動に追従できるように
柔軟性を有している。Here, the head 1 which can be moved in the X-Y axis direction is equipped with a servomotor for vertically moving a shaft for sucking electronic components and a servomotor for rotating the shaft. , A CCD camera for identifying a substrate mark, various sensors, and the like. In order to distribute electric power, signals, air, and the like to the head 1, a plurality of various cables, hoses, tubes, and the like (hereinafter, referred to as a linear member 35 (see FIG. 2A)) include the head 1 and the mounting device A. It is arranged between a controller (not shown) installed therein and the like. Therefore, these linear members 3
Reference numeral 5 is supported by a cable support member 3 (see FIG. 1) described later, and follows the movement of the head 1. The linear member 35 has flexibility so that it can follow the movement of the head 1.
【0022】ケーブル支持部材3は、図1に示すよう
に、全体形状が略筒状とされた長尺な部材であって、先
端部3aがヘッド1に固定されるとともに、基端部3b
が搭載装置A内部に設置されたコントローラ(図示しな
い)等に続く仲介位置に設けられた固定位置6に固定さ
れている。そして、このケーブル支持部材3は該ケーブ
ル支持部材3の内部に形成された中空部分に前述した線
状部材35が挿通されて(図2(a)参照)、線状部材
35が垂れ下がらないように固定位置6からヘッド1ま
で線状部材を支持し、ヘッド1の移動に合わせて線状部
材35を所定の経路上に配置するものである。すなわ
ち、ケーブル支持部材3はヘッド1と固定位置6との間
において、基端部3bが固定位置6に固定された状態
で、ヘッド1の移動に伴い略水平な平面上で蛇行するよ
うな動作がなされ、線状部材35を固定位置6からヘッ
ド1まで支持・案内するようになっている。従って、線
状部材35はケーブル支持部材3により略同一の高さに
配置されるので、従来のように、線状部材35を固定位
置から上下に湾曲するケーブル支持部材の入口近傍まで
上方に誘導し、組み付ける手間を要することがなく、線
状部材35の組付が容易になる。As shown in FIG. 1, the cable supporting member 3 is a long member having a substantially cylindrical shape as a whole, and has a distal end 3a fixed to the head 1 and a proximal end 3b.
Is fixed to a fixed position 6 provided at an intermediary position following a controller (not shown) installed inside the mounting apparatus A. Then, the above-described linear member 35 is inserted into a hollow portion formed inside the cable supporting member 3 (see FIG. 2A), so that the linear member 35 does not hang down. The linear member is supported from the fixed position 6 to the head 1, and the linear member 35 is arranged on a predetermined path in accordance with the movement of the head 1. That is, the cable supporting member 3 moves between the head 1 and the fixed position 6 in such a manner that the cable support member 3 meanders on a substantially horizontal plane with the movement of the head 1 in a state where the base end 3b is fixed at the fixed position 6. The linear member 35 is supported and guided from the fixed position 6 to the head 1. Therefore, since the linear member 35 is arranged at substantially the same height by the cable supporting member 3, the linear member 35 is guided upward from the fixed position to the vicinity of the entrance of the cable supporting member that curves upward and downward, as in the related art. In addition, the assembling work is not required, and the assembling of the linear member 35 becomes easy.
【0023】また、ケーブル支持部材3は、図2に示す
ように、多数のブロック30が連接されて形成され、各
ブロック30の連接される連接方向を直線状にした場合
に左右のいずれか一方にだけ屈曲するようになってい
る。詳しくは、図2(a)に示すように、各ブロック3
0は断面略四角枠状とされたプラスチック製の枠体であ
って、三方向に対し断面コ字状の側部30aが備えら
れ、残る開放された状態の一方向がフタ状板材34によ
って取り外し可能に少なくとも一部が閉塞されており、
線状部材35を前記断面コ字状の側部30aの内部にセ
ット後、該フタ状板材34を取り付ける構造となってい
る。側部30aの前側(前側部30b)には外側に突出
する丸い凸部30cが形成され、側部30aの後側(後
側部30d)には上下に貫通する丸い孔30eが形成さ
れている。そして、連接される各ブロック30の側部3
0a間において、前側部30bの凸部30cが後側部3
0dの孔30eに嵌合されると、各ブロック30同士が
連接されるとともに、これら各ブロック30間で回動移
動できるようになっている。As shown in FIG. 2, the cable support member 3 is formed by connecting a large number of blocks 30. When the connecting direction of the blocks 30 is linear, one of the right and left is connected. Only to bend. More specifically, as shown in FIG.
Reference numeral 0 denotes a plastic frame having a substantially square frame shape in cross section, which is provided with a side portion 30a having a U-shaped cross section in three directions, and one of the remaining open states is removed by a lid plate 34. Is at least partially occluded,
After the linear member 35 is set inside the side portion 30a having the U-shaped cross section, the lid-shaped plate member 34 is attached. On the front side (front side part 30b) of the side part 30a, a round convex part 30c protruding outward is formed, and on the rear side (rear side part 30d) of the side part 30a, a round hole 30e penetrating vertically is formed. . And the side part 3 of each block 30 to be connected
0a, the convex portion 30c of the front side portion 30b is
When fitted into the hole 30e of 0d, the blocks 30 are connected to each other and can be rotated between the blocks 30.
【0024】さらに、この場合、前側部30bと後側部
30dとの連接部分にはストッパ機構が設けられ、この
ストッパ機構により連接された各ブロック30同士の連
接部分での屈曲方向が規制されるようになっている。詳
しくは、図2(a)(b)に示すように、後側部30d
には台形状に内側に突出した台形凸部30fが形成さ
れ、また前側部30bには台形凸部30fよりやや大き
な幅を有した台形凹部30gが形成されており、前側部
30bと後側部30dとが連接された際に、台形凸部3
0fは台形凹部30gに嵌合され、各ブロック30同士
の回動に伴い、台形凸部30fは台形凹部30gの所定
の幅範囲内でその動きが規制されるような機構とされて
いる。従って、各ブロック30の連接方向を直線状とし
た場合、上記ストッパ機構によって、一方向に対しては
各ブロック30同士が互いに屈曲しないように規制さ
れ、他方向に対しては所定の角度に達するまで屈曲する
ことが許容されるようになっている。Further, in this case, a stopper mechanism is provided at a connecting portion between the front side portion 30b and the rear side portion 30d, and the bending direction at the connecting portion between the blocks 30 connected by the stopper mechanism is regulated. It has become. Specifically, as shown in FIGS. 2A and 2B, the rear side portion 30d
Has a trapezoidal convex portion 30f protruding inward in a trapezoidal shape, and a front side portion 30b is formed with a trapezoidal concave portion 30g having a width slightly larger than the trapezoidal convex portion 30f, and the front side portion 30b and the rear side portion are formed. 30d are connected, the trapezoidal projection 3
0f is fitted in the trapezoidal recess 30g, and the mechanism is such that the movement of the trapezoidal protrusion 30f is restricted within a predetermined width range of the trapezoidal recess 30g as the blocks 30 rotate. Therefore, when the connecting direction of the blocks 30 is linear, the stopper mechanism restricts the blocks 30 from bending in one direction and reaches a predetermined angle in the other direction. Bending is allowed.
【0025】また、ケーブル支持部材3は、図1に示す
ように、第一の支持部材31と第二の支持部材32とか
ら構成され、これら第一及び第二の支持部材31,32
の接続部分(以下、接続部33と称する)がX軸ガイド
部4の略中央に固定されている。As shown in FIG. 1, the cable support member 3 is composed of a first support member 31 and a second support member 32, and these first and second support members 31, 32 are provided.
(Hereinafter, referred to as a connection portion 33) is fixed substantially at the center of the X-axis guide portion 4.
【0026】第一の支持部材31は、一端部が前述した
固定位置6に接続されるとともに、他端部が接続部33
に接続され、ヘッド1のY軸方向の移動により、略S字
状の状態から略L字状の状態に(又は、略L字状の状態
から略S字状の状態に)形状が変化するようになってい
る。詳しくは、固定位置6側の部分の複数個のブロック
30同士の連結部分(固定位置6側の連結部分)と、接
続部33側の部分の複数個のブロック30同士の連結部
分(接続部33側の連結部分)とにおいて、前述した各
ブロック30同士の前側部30bに対する後側部30d
を上下逆転させて連接することにより、固定位置6側の
連結部分はヘッド1側に向かう一方向に屈曲可能とさ
れ、接続部33側の連結部分は固定位置6側の連結部分
と逆の方向に屈曲可能とされている。なお、後側部30
dを上下逆転させた場合においては、前記フタ状板材3
4が反対面となるため、線状部材35をセットする場合
の障害となる。屈曲方向の関係(30fと30gの角
度)のみを逆転することとし、フタ状板材34は他のブ
ロック30と同じ向きの特別ブロックを使用することに
より、上記障害を解消させることが可能となる。The first support member 31 has one end connected to the fixed position 6 described above and the other end connected to the connection portion 33.
And the shape of the head 1 changes from a substantially S-shaped state to a substantially L-shaped state (or from a substantially L-shaped state to a substantially S-shaped state) by the movement of the head 1 in the Y-axis direction. It has become. More specifically, a connecting portion between the plurality of blocks 30 on the fixed position 6 side (connecting portion on the fixed position 6 side) and a connecting portion between the plurality of blocks 30 on the connecting portion 33 side (connecting portion 33). Side connecting portion) and the rear side portion 30d with respect to the front side portion 30b of each block 30 described above.
The connecting portion on the fixed position 6 side can be bent in one direction toward the head 1 side, and the connecting portion on the connecting portion 33 side is in the opposite direction to the connecting portion on the fixed position 6 side. Bendable. The rear side 30
When d is turned upside down, the lid-like plate 3
Since 4 is the opposite surface, it becomes an obstacle when the linear member 35 is set. By reversing only the relationship between the bending directions (the angle between 30f and 30g) and using a special block in the same direction as the other blocks 30 for the lid-like plate member 34, the above obstacle can be eliminated.
【0027】第二の支持部材32は、一端部が接続部3
3に接続されるとともに、他端部がヘッド1に接続さ
れ、ヘッド1のX軸方向の移動により、全体を略U字状
に湾曲させた状態で他端部がX軸方向にほぼ沿って移動
するようになっている。One end of the second support member 32 is connected to the connecting portion 3.
3 and the other end is connected to the head 1, and the other end substantially extends along the X-axis direction in a state where the whole is curved substantially in a U-shape by the movement of the head 1 in the X-axis direction. It is designed to move.
【0028】従って、これら第一及び第二の支持部材3
1,32の構成により、ケーブル支持部材3は、ヘッド
1の移動に伴い、図1及び3に示すような所定範囲7内
にて予定された軌跡を描くとともに線状部材を固定位置
6からヘッド1まで支持・案内するようになっている。
また、ケーブル支持部材3は第一の支持部材31と、第
二の支持部材32とを備え、ケーブル支持部材3の屈曲
による移動の軌跡をケーブル支持部材3の途中の部分
(すなわち、接続部33)でX軸ガイド部4に接続した
状態とすることで規制し、ケーブル支持部材3が予定外
の軌跡を描くことを防止している。Therefore, the first and second support members 3
1 and 32, the cable supporting member 3 draws a predetermined trajectory within a predetermined range 7 as shown in FIGS. It supports and guides up to 1.
Further, the cable support member 3 includes a first support member 31 and a second support member 32. ), The connection is made to be in a state of being connected to the X-axis guide portion 4 to prevent the cable support member 3 from drawing an unexpected trajectory.
【0029】次に、搭載装置A,移送装置Bを作動させ
た場合の動作、詳しくはヘッド1の移動に伴うケーブル
支持部材3の動作について、図3を参照して説明する。Next, the operation when the mounting device A and the transfer device B are operated, more specifically, the operation of the cable support member 3 accompanying the movement of the head 1 will be described with reference to FIG.
【0030】ケーブル支持部材3の先端部3aに固定さ
れたヘッド1がX軸方向に移動した場合、第二の支持部
材32は一端部側が接続部33に固定されて、全体をほ
ぼU字状に湾曲させた状態で、他端部側(先端部3a
側)がX軸方向にほぼ沿って移動する。When the head 1 fixed to the distal end portion 3a of the cable support member 3 moves in the X-axis direction, the second support member 32 has one end fixed to the connecting portion 33, and the whole is substantially U-shaped. In the state of being curved to the other end (the tip 3a
Side) moves substantially along the X-axis direction.
【0031】また、ヘッド1がY軸方向に移動した場
合、第一の支持部材31は一端部側(基端部3b側)が
固定位置6に固定され、他端部側が接続部33に固定さ
れて、全体をほぼS字状に湾曲させた状態からほぼL字
状に湾曲させた状態(ほぼL字状に湾曲させた状態から
ほぼS字状に湾曲させた状態)に形状を変化させ、他端
部側がY軸方向にほぼ沿って移動する。そして、上記し
たケーブル支持部材3のX−Y軸方向への動作が組み合
わせられて、ケーブル支持部材3は所定範囲7内にて予
定された移動軌跡を描いて線状部材を支持・案内する。When the head 1 is moved in the Y-axis direction, the first support member 31 has one end (the base end 3b side) fixed to the fixed position 6 and the other end fixed to the connection portion 33. Then, the shape is changed from a state in which the whole is bent substantially in an S shape to a state in which the whole is bent in a substantially L shape (a state in which the state is bent from a substantially L shape to a substantially S shape). , The other end moves substantially along the Y-axis direction. The movement of the cable support member 3 in the X-Y axis directions is combined, so that the cable support member 3 supports and guides the linear member in a predetermined movement locus within the predetermined range 7.
【0032】以上、本実施の形態に係る搭載装置A,移
送装置Bによれば、ケーブル支持部材3は水平な平面に
ほぼ沿う方向にだけ屈曲自在とされているので、ヘッド
1の移動に際して、ケーブル支持部材3は高さ方向の空
間内に移動軌跡を描くことはなく、少なくとも装置外形
における高さを低く抑え、装置の小型化を図ることがで
きる。加えて、第一の支持部材31は、略S字状の状態
から略L字状の状態(又は、略L字状の状態から略S字
状の状態)に形状を変化させてヘッド1のY軸方向への
移動に対応するようになっているので、略U字状の湾曲
部が所定範囲7からはみ出すことがなく、水平方向にお
ける移動範囲を小さくし、さらに装置の小型化を図るこ
とができる。As described above, according to the mounting device A and the transfer device B according to the present embodiment, the cable support member 3 is bendable only in a direction substantially along a horizontal plane. The cable support member 3 does not draw a movement trajectory in the space in the height direction, and at least the height of the outer shape of the device can be suppressed low, and the size of the device can be reduced. In addition, the first support member 31 changes its shape from a substantially S-shaped state to a substantially L-shaped state (or a substantially L-shaped state to a substantially S-shaped state) to change the shape of the head 1. Since it is adapted to the movement in the Y-axis direction, the substantially U-shaped curved portion does not protrude from the predetermined range 7, so that the movement range in the horizontal direction is reduced and the size of the device is further reduced. Can be.
【0033】なお、本実施の形態においては、接続部3
3をX軸ガイド部4の略中央に固定してケーブル支持部
材3の動作をX,Y軸方向それぞれにおいて動作を規制
するようにしたが、接続部33を必ずしもX軸ガイド部
4に固定する必要はなく、種々の改良並びに設計の変更
を行うことにより、ケーブル支持部材3が所定範囲7内
で移動軌跡を描くようにすればよい。In this embodiment, the connecting portion 3
3 is fixed substantially at the center of the X-axis guide portion 4 to restrict the operation of the cable support member 3 in the X and Y-axis directions, but the connecting portion 33 is not necessarily fixed to the X-axis guide portion 4. It is not necessary, and various improvements and design changes may be made so that the cable support member 3 draws a movement locus within the predetermined range 7.
【0034】[0034]
【発明の効果】請求項1記載の発明によれば、装置外形
における高さを低く抑え、移送装置の小型化を図ること
ができる。また、線状部材の組付作業を容易に行うこと
ができる。According to the first aspect of the present invention, the height of the outer shape of the apparatus can be kept low, and the size of the transfer apparatus can be reduced. Also, the assembling work of the linear member can be easily performed.
【0035】請求項2記載の発明によれば、ケーブル支
持部材が予定外の軌跡を描くことを防止することができ
る。According to the second aspect of the present invention, it is possible to prevent the cable support member from drawing an unexpected trajectory.
【0036】請求項3記載の発明によれば、移送装置の
小型化を図ることができる。According to the third aspect of the invention, the size of the transfer device can be reduced.
【0037】請求項4記載の発明によれば、請求項1〜
3いずれか一つに記載の発明と同様の効果を奏する電子
部品搭載装置とすることができる。According to the invention set forth in claim 4, claims 1 to
An electronic component mounting apparatus having the same effects as those of the invention described in any one of 3 above can be provided.
【図1】本実施の形態に係る移送装置及び電子部品搭載
装置を示す斜視図である。FIG. 1 is a perspective view showing a transfer device and an electronic component mounting device according to the present embodiment.
【図2】本実施の形態に係るケーブル支持部材の一部を
示す(a)斜視図(b)側面図である。FIGS. 2A and 2B are a perspective view and a side view showing a part of the cable support member according to the embodiment; FIGS.
【図3】前記ケーブル支持部材の移動軌跡を説明するた
めの平面図である。FIG. 3 is a plan view for explaining a movement locus of the cable support member.
【図4】従来の電子部品搭載装置を示す斜視図である。FIG. 4 is a perspective view showing a conventional electronic component mounting apparatus.
A 電子部品搭載装置 B 移送装置 1 ヘッド(被移送部) 2 移送手段 3 ケーブル支持部材 4 X軸ガイド部 6 固定位置 7 所定範囲 30 ブロック 31 第一の支持部材 32 第二の支持部材 35 線状部材 Reference Signs List A electronic component mounting device B transfer device 1 head (transferred portion) 2 transfer means 3 cable support member 4 X-axis guide portion 6 fixed position 7 predetermined range 30 block 31 first support member 32 second support member 35 linear Element
Claims (4)
任意の位置に移送する移送装置であって、 前記被移送部と、 該被移送部を移送させる移送手段と、 所定の固定位置から移動する被移送部に接続される柔軟
性を有するケーブル等の線状部材と、 該線状部材を垂れ下がらないように前記固定位置から前
記被移送部まで支持するとともに、前記被移送部の移動
に合わせて前記線状部材を所定の経路上に配置するケー
ブル支持部材とを備え、 前記ケーブル支持部材は、前記線状部材をそれぞれ支持
する多数のブロックが連接されて形成され、各ブロック
の連接部分においてブロック同士が水平な平面にほぼ沿
う方向にだけ屈曲自在とされていることを特徴とする移
送装置。1. A transfer device for transferring a transferred portion to an arbitrary position within a predetermined range of a substantially horizontal plane, wherein the transferred portion, a transfer means for transferring the transferred portion, and a predetermined fixing device A linear member such as a cable having flexibility connected to the transferred part moving from the position, and supporting the linear member from the fixed position to the transferred part so as not to hang down, and the transferred part A cable support member that arranges the linear member on a predetermined path in accordance with the movement of the cable. The cable support member is formed by connecting a large number of blocks that respectively support the linear member, and each block. Wherein the blocks are freely bendable only in a direction substantially along a horizontal plane at a connecting portion of the transfer device.
軸方向に移動するとともにX軸方向に沿ったX軸ガイド
部を備えたX軸移動手段と、 該X軸移動手段をX軸と直交する水平なY軸方向に移動
するY軸移動手段とを備え、 前記ケーブル支持部材が前記所定範囲の外周部分の前記
固定位置に一端部が接続されるとともに、前記X軸ガイ
ド部に他端部が接続され、前記固定位置から前記X軸ガ
イド部まで線状部材を支持する第一の支持部材と、 前記X軸ガイド部に一端部が接続されるとともに、前記
被移送部に他端部が接続され前記X軸ガイド部から前記
被移送部まで前記線状部材を支持する第二の支持部材と
を備えていることを特徴とする請求項1記載の移送装
置。2. The apparatus according to claim 1, wherein said transfer means moves the portion to be transferred substantially horizontally.
X-axis moving means having an X-axis guide portion moving along the X-axis direction while moving in the axial direction; and Y-axis moving means moving the X-axis moving means in a horizontal Y-axis direction orthogonal to the X axis. The cable support member has one end connected to the fixed position on the outer peripheral portion of the predetermined range, the other end connected to the X-axis guide, and a line extending from the fixed position to the X-axis guide. A first support member for supporting a shaped member, and one end connected to the X-axis guide portion, and the other end connected to the transferred portion, the line extending from the X-axis guide portion to the transferred portion. The transfer device according to claim 1, further comprising a second support member that supports the shape member.
連結部分が連結方向に対して左右いずれか一方にだけ屈
曲可能とされ、 第一の支持部材は、他端部側の部分の複数個のブロック
を除くブロックのブロック同士の連結部分が連結方向に
対して左右いずれか一方のうちの同じ方に屈曲可能とさ
れるとともに、他端部側の部分の複数個のブロック同士
の連結部分が他端部側の部分の複数個のブロックを除く
ブロック同士の連結部分と逆の方に屈曲可能となってい
ることを特徴とする請求項2記載の移送装置。3. The connecting portion between the blocks of the cable supporting member is bendable only to the right or left with respect to the connecting direction, and the first supporting member has a plurality of portions on the other end side. The connecting portion between the blocks except for the block can be bent to the same one of the left and right sides in the connecting direction, and the connecting portion between the plurality of blocks at the other end portion is different from the connecting portion. 3. The transfer device according to claim 2, wherein the transfer device is bendable in a direction opposite to a connection portion between the blocks except for a plurality of blocks on the end side.
備え、電子部品を電子回路基板上に搬送して電子部品回
路基板に装着する電子部品搭載装置であって、 前記被移送部が、前記電子部品を吸着した状態で電子回
路基板上に搬送して装着する吸着ノズルを備えてほぼ水
平な平面の所定範囲内で任意の位置に移動可能なヘッド
であることを特徴とする電子部品搭載装置。4. An electronic component mounting apparatus comprising the transfer device according to claim 1, wherein the electronic component is transported onto an electronic circuit board and mounted on the electronic component circuit board. Wherein the electronic component is a head which is provided with a suction nozzle which is conveyed and mounted on an electronic circuit board in a state where the electronic component is sucked, and which can be moved to an arbitrary position within a predetermined range of a substantially horizontal plane. Component mounting equipment.
Priority Applications (1)
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JP2001032486A JP4566421B2 (en) | 2001-02-08 | 2001-02-08 | Transfer device and electronic component mounting device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001032486A JP4566421B2 (en) | 2001-02-08 | 2001-02-08 | Transfer device and electronic component mounting device |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2002237695A true JP2002237695A (en) | 2002-08-23 |
JP4566421B2 JP4566421B2 (en) | 2010-10-20 |
Family
ID=18896411
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JP2001032486A Expired - Fee Related JP4566421B2 (en) | 2001-02-08 | 2001-02-08 | Transfer device and electronic component mounting device |
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JP (1) | JP4566421B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009119565A (en) * | 2007-11-15 | 2009-06-04 | Denso Wave Inc | Robot |
WO2016035172A1 (en) * | 2014-09-03 | 2016-03-10 | 富士機械製造株式会社 | Circuit board working device |
CN109114168A (en) * | 2017-06-26 | 2019-01-01 | 阿奥依株式会社 | Pipe keeps structure |
WO2021261414A1 (en) * | 2020-06-26 | 2021-12-30 | ファナック株式会社 | Machine tool |
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JPH10212023A (en) * | 1996-11-27 | 1998-08-11 | Fuji Mach Mfg Co Ltd | Circuit base material work system |
JP2000505959A (en) * | 1996-12-23 | 2000-05-16 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | Method and apparatus for optimizing flow line layout and charge map of pick and place machine |
JP2002185191A (en) * | 2000-12-12 | 2002-06-28 | Sanyo Electric Co Ltd | Electronic component mounting device |
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2001
- 2001-02-08 JP JP2001032486A patent/JP4566421B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH10212023A (en) * | 1996-11-27 | 1998-08-11 | Fuji Mach Mfg Co Ltd | Circuit base material work system |
JP2000505959A (en) * | 1996-12-23 | 2000-05-16 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | Method and apparatus for optimizing flow line layout and charge map of pick and place machine |
JP2002185191A (en) * | 2000-12-12 | 2002-06-28 | Sanyo Electric Co Ltd | Electronic component mounting device |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009119565A (en) * | 2007-11-15 | 2009-06-04 | Denso Wave Inc | Robot |
WO2016035172A1 (en) * | 2014-09-03 | 2016-03-10 | 富士機械製造株式会社 | Circuit board working device |
JPWO2016035172A1 (en) * | 2014-09-03 | 2017-07-06 | 富士機械製造株式会社 | Board work equipment |
CN109114168A (en) * | 2017-06-26 | 2019-01-01 | 阿奥依株式会社 | Pipe keeps structure |
KR20190001504A (en) * | 2017-06-26 | 2019-01-04 | 주식회사 아오이 | Tube holding structure |
JP2019007569A (en) * | 2017-06-26 | 2019-01-17 | 株式会社アオイ | Tube holding structure |
KR102047086B1 (en) * | 2017-06-26 | 2019-11-20 | 주식회사 아오이 | Tube holding structure |
TWI696410B (en) * | 2017-06-26 | 2020-06-11 | 日商阿奧依股份有限公司 | Tube holding structure |
WO2021261414A1 (en) * | 2020-06-26 | 2021-12-30 | ファナック株式会社 | Machine tool |
JP7032614B1 (en) * | 2020-06-26 | 2022-03-08 | ファナック株式会社 | Machine Tools |
US11992906B2 (en) | 2020-06-26 | 2024-05-28 | Fanuc Corporation | Machine tool |
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