JP2017080875A - Rotary device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily maintain a resting state of a held processing object in a rotary device which rotates the processing object while holding the processing object.SOLUTION: A rotary device includes: a one direction power transmission mechanism which may transmit a driving force applied from the driving source 42 side to an input part 44a to an output part 44b and locks the output part 44b when a force is applied from the output side to the output part 44b; a driving source 42 which applies the driving force to the input part 44a; and a rotary mechanism 30 which rotates a holding part 10 in conjunction with operation of the output part 44b.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a rotating device that grips and rotates a processing object such as a substrate.

When performing processing such as cutting on both surfaces of a flat processing target such as a substrate, usually, after performing a predetermined operation only on one side, the processing target is inverted, A predetermined operation is performed on the other surface. For this reason, conventionally, the object to be processed is inverted by human power, the object to be processed is temporarily moved to another place, reversed from the dedicated device, and then returned to the original place, or at the tip of the robot hand. Inversion is performed by a reversing device provided.
For example, in the invention described in Patent Document 1, a rotating body that can be rotated by a rotary actuator is provided at the tip of left and right finger portions that narrow or widen the interval. According to the present invention, when both the rotating bodies are rotated by driving the rotary actuator in a state where the processing objects are sandwiched between the both rotating bodies, the sandwiched processing objects can also be rotated.

JP-A-3-281188

However, among the conventional methods described above, when the method of moving the processing object once to another place is used, the moving time is lost, so it is difficult to shorten the work time.
Therefore, it is proposed to rotate the processing object without moving it to another place by using the robot hand described in Patent Document 1, but according to this prior art, one or the other of the processing objects. When processing the surface of this, since it is necessary to maintain the stationary state of the object to be processed, it is necessary to continue supplying power to the rotary actuator or the like.

In view of such problems, the present invention has the following configuration.
In the rotating device configured to rotate the holding unit that holds the object to be processed, when the driving force applied to the input unit from the driving source side can be transmitted to the output unit, and when the force is applied to the output unit from the output side Includes a one-way power transmission mechanism that locks the output unit, a drive source that applies driving force to the input unit, and a rotation mechanism that rotates the holding unit in conjunction with the operation of the output unit.

  Since the present invention is configured as described above, it is possible to easily maintain the stationary state of the held processing object.

It is a structural diagram showing an example of a rotating device according to the present invention. It is a principal part enlarged view of the holding | gripping apparatus, and has shown the state which rotated the holding | maintenance part 90 degree | times with respect to FIG. It is sectional drawing which shows an example of a one-way power transmission mechanism, a speed control mechanism, etc. It is sectional drawing which follows the (III)-(III) line | wire in FIG. It is sectional drawing which follows the (IV)-(IV) line | wire in FIG. It is operation | movement explanatory drawing of a one-way power transmission mechanism.

One of the features of the present embodiment is that in the rotating device configured to rotate the holding unit that holds the object to be processed, the driving force applied to the input unit from the driving source side can be transmitted to the output unit and output. When a force is applied to the output unit from the side, a one-way power transmission mechanism that locks the output unit, a drive source that applies driving force to the input unit, and a rotation that rotates the holding unit in conjunction with the operation of the output unit And a mechanism.
Here, in the “holding unit”, the processing object is gripped and rotated only from one side in the rotation axis direction, or the processing object is gripped and rotated from both sides in the rotation axis direction. The aspect etc. which were made are included.
According to this configuration, when the drive source is driven, the driving force of the drive source is transmitted from the input unit of the one-way power transmission mechanism to the output unit, and the holding unit rotates in conjunction with the output unit. When the drive source is stopped, a rotational force is applied to the holding portion from the outside. When this rotational force is applied to the output portion, the output portion is locked, so that the holding portion can be prevented from rotating.

  As another feature, in order to improve the operability when holding the processing object, the holding unit is connected to the first engaging member that engages the processing object from one side in the rotation axis direction. A second engagement member that engages the object from the other side in the direction of the rotation axis, and is configured to hold the object to be processed between the two engagement members. The first engagement member is provided so as to rotate by a rotation mechanism, and the second engagement member is supported so as to freely rotate.

  As another feature, in order to prevent the rotation of the second engagement member when the object to be processed is not held, a rotation resistance application mechanism that provides resistance to the rotation of the second engagement member is provided.

  Other features include a first support member that supports the drive source, the one-way power transmission mechanism, the rotation mechanism, and the first engagement member in order to further improve the operability when holding the processing object. And a second support member for supporting the second engagement member, and moving at least one of the first and second support members to move the first engagement member and the second engagement member. The interval between the two engaging members was changed.

  As another feature, the drive source and the one-way power transmission mechanism are arranged side by side along the first support member in order to achieve a space-saving structure.

  As another feature, an angle detection unit that detects the rotation angle of the holding unit is provided so that the angular position of the holding object can be detected.

  As another feature, the one-way power transmission mechanism includes a storage chamber having a cylindrical space, an output unit that is coaxially rotated in the storage chamber, and a coaxial rotation with respect to the output unit. A combined input portion; an engagement member provided between the inner peripheral surface of the storage chamber and the outer peripheral surface of the output portion; and a biasing member that biases the engagement member toward one side in the circumferential direction. Then, on the outer peripheral surface of the output portion, a cam surface that gradually narrows the space between the inner peripheral surface of the storage chamber toward one side is formed, and when the input portion rotates to the other side with respect to one side, the input portion is After contacting the engaging element, the input unit is configured to contact the output unit to push the output unit (see FIGS. 4 and 6).

<Specific Embodiment>
Next, a preferred embodiment having the above features will be described in detail with reference to the drawings.
FIG. 1 is a structural diagram showing an example of a rotating device according to the present invention.
The rotating device A includes a holding unit 10 that holds a processing object B so as to be sandwiched from both sides, a rotating mechanism 30 that transmits a rotational force to the holding unit 10, and a drive source that serves as a rotation driving source of the rotating mechanism 30. A unit 40 and an opening / closing operation mechanism 50 for opening / closing the holding unit 10 are provided.

  According to the illustrated example, the processing object B is a rectangular plate-shaped electric wiring board. As another example of the processing object B, for example, a workpiece other than the illustrated example such as a block-shaped workpiece can be used.

The holding unit 10 is engaged with the processing object B from one side in the rotation axis direction, and the second engaging unit 11 engages with the processing object B from the other side in the rotation axis direction. Engaging member 12.
The first engaging member 11 and the second engaging member 12 are formed in a symmetrical block shape. The first engagement member 11 has a V-shaped groove 11 a on the surface facing the second engagement member 12. Similarly, the second engagement member 12 has a V-shaped groove 12 a on the surface facing the first engagement member 11. These grooves 11a and 12a fit into one end and the other end of the processing object B, respectively (see FIG. 1). The grooves 11a and 12a are not necessarily V-shaped, and a U-shaped or other optimal groove shape can be selected according to the processing object B to be fitted. Or it is good also as a simple disk without a groove | channel or a cylindrical shape.

The first engagement member 11 and the second engagement member 12 are fixed to the distal ends of the first rotation shaft 11b and the second rotation shaft 12b, respectively.
The first rotating shaft 11b and the second rotating shaft 12b rotate to the front ends of the first support member 21 and the second support member 22 via the first bearing 11c and the second bearing 12c, respectively. It is supported freely. As the first bearing 11c and the second bearing 12c, for example, a ball bearing or a sliding bearing is used.

A rotation mechanism 30 is provided on the base end side (drive source side) of the first rotation shaft 11b. The rotation mechanism 30 may be a mechanism that transmits the rotational force of the drive source unit 40 to the first rotation shaft 11b whose rotation axis direction is substantially orthogonal.
The rotating mechanism 30 in the illustrated example includes one bevel gear 31 fixed to the output portion 44b of the drive source unit 40 and the other bevel fixed to the proximal end side of the first rotating shaft 11b while meshing with the bevel gear 31. And a gear 32.

  The drive source unit 40 includes a drive source 42 that generates a rotational drive force in a cylindrical case 41, a speed adjusting mechanism 43 that adjusts and transmits the rotational force of the drive source 42, and a drive source side. A direction in which the driving force applied to the input unit 44a can be transmitted to the output unit 44b and the output unit 44b is locked when a force is applied to the output unit 44b from the output side (specifically, the rotating mechanism 30 side). And a power transmission mechanism 44 (see FIGS. 2 and 3). The drive source 42, the speed adjusting mechanism 43, and the one-way power transmission mechanism 44 are not necessarily arranged in the case 41. For example, the drive source 42, the speed control mechanism 43, the one-way power transmission mechanism 44, respectively. It can also be set as the structure which connects the exterior parts directly. Further, the one-way power transmission mechanism 44 can be incorporated in the speed adjusting mechanism 43.

  The drive source 42 is an electric rotary motor with an output shaft 42a protruding forward. As the drive source 42, for example, a stepping motor or a DC brushless motor that controls the rotation angle may be used.

A plurality of speed control mechanisms 43 are arranged around the central axis of the input portion 44a and each of the first planetary gears 43a rotates, and a sun gear 43b that meshes with the first planetary gears 43a from the center side. A support rotator 43c fixed to the rear end side in the axial direction of the sun gear 43b, and a second planetary gear 43d (connected) that is arranged around the central axis on the rear end surface of the support rotator 43c and rotates around it. (Planetary gear) and an internal gear 41a on the inner peripheral surface of the case 41 meshing with the first and second planetary gears 43a and 43d constitute a planetary gear mechanism (see FIGS. 3 and 5).
The speed adjusting mechanism 43 decelerates the rotational force transmitted from the output shaft 42 a of the drive source 42 to the support rotating body 43 c at a preset ratio and transmits the rotational force to the input portion 44 a of the one-way power transmission mechanism 44. . In order to set the ratio for decelerating, various conditions such as the number of teeth of each gear, the tooth thickness, the diameter of the tip circle, and the method of transmitting force from the output shaft 42a to the supporting rotating body, one sun gear And the number of stages of a group of a plurality of planetary gears can be appropriately changed in design.

As shown in FIGS. 3, 4 and 6, the one-way power transmission mechanism 44 is a circle provided in the storage chamber 41a on the axial front end side of the case 41 so as to rotate coaxially with the storage chamber 41a. A shaped output portion 44b, an input portion 44a engaged coaxially with the output portion 44b, and a pair of engagement elements 44c and 44d positioned between the inner peripheral surface of the case 41 and the outer peripheral surface of the output portion 44b, One engagement element 44c is biased toward one side in the circumferential direction (clockwise according to FIG. 4), and the other engagement element 44d is directed toward the other side in the circumferential direction (counterclockwise according to FIG. 4). An urging member 44g (substantially Y-shaped leaf spring according to the illustrated example) is provided.
The one-way power transmission mechanism 44, when receiving rotational force from the speed adjusting mechanism 43 to the input unit 44a, transmits this rotational force to the output unit 44b to rotate the output unit 44b. When a rotational force is applied to the portion 44b from the output side (rotation mechanism 30 side), the output portion 44b is locked so as not to rotate.

More specifically, when the input unit 44a rotates in the counterclockwise direction (the direction indicated by the arrow in FIG. 6), for example, as shown in FIG. 6, a block-shaped block provided in the input unit 44a is used. First, the pressure transmission portion 44a1 abuts against one of the engagement elements 44c, whereby friction between the engagement element 44c and the inclined cam surface 44e on the outer peripheral side of the output part 44b, and between the engagement element 44c and the inner peripheral surface of the case 41 occur. The friction is reduced, and thereafter, the pressure transmitting portion 44a1 contacts the side surface in the concave portion 44b2 on the outer peripheral side of the output portion 44b and pushes the output portion 44b, so that the output portion 44b rotates smoothly counterclockwise.
Further, when a rotational force in the clockwise direction (the direction opposite to the direction indicated by the arrow in FIG. 6) is applied to the input unit 44a, the illustration is omitted, but the movement and contact in the reverse direction as described above are performed. The output unit 44b is smoothly rotated clockwise by the pushing or the like.

Further, when a clockwise rotational force is applied to the output portion 44b from the output side (rotation mechanism 30 side), for example, the other cam surface 44f and the storage chamber of the output portion 44b to rotate clockwise. Since the other engaging member 44d is strongly pressed against the inner peripheral surface of 41a so as to bite, the clockwise rotation of the output portion 44b is prevented.
Similarly, when a rotational force in the counterclockwise direction is applied to the output portion 44b from the output side, for example, one cam surface 44e of the output portion 44b attempting to rotate counterclockwise and the inside of the storage chamber 41a Since the one engaging member 44c is strongly pressed between the peripheral surface and the peripheral surface, the output portion 44b is prevented from rotating counterclockwise.

According to the preferred example shown in the figure, the drive source 42, the speed adjusting mechanism 43, and the one-way power transmission mechanism 44 having the above-described configuration are arranged such that their axial directions do not protrude in the lateral width direction. Are arranged side by side along the side surface of the first support member 21.
The one-way power transmission mechanism 44 may be a mechanism that performs the above-described operation without energization, and for example, the invention disclosed in the republished patent WO2013 / 133162 can be used.

The second rotating shaft 12b is formed in a stepped shaft shape whose diameter is reduced on the base end side with the stepped portion 12b1 as a boundary. The second rotary shaft 12b has the stepped portion 12b1 abutted against the end surface of the second bearing 12c, and the reduced diameter portion is inserted through the second bearing 12c in a penetrating manner.
Then, on the base end side of the second rotary shaft 12b penetrating the second bearing 12c, a biasing member 12d for biasing the second rotary shaft 12b to the base end side and the biasing member 12d are received. A receiving member 12e is provided.
The step portion 12b1, the urging member 12d, and the receiving member 12e function as a rotation resistance application mechanism that applies resistance to the rotation of the second engagement member 12.

If it demonstrates in detail, the receiving member 12e will be a substantially disk-shaped or column-shaped member, and is fixed to the base end side of the 2nd rotating shaft 12b so that integral rotation is possible.
The biasing member 12d is a leaf spring that is annularly mounted on the proximal end side of the second rotating shaft 12b, and is disposed so as to be sandwiched between the receiving member 12e and the second support member 22. . Then, the urging member 12d urges the second rotating shaft 12b to the base end side (the left side in the drawing), and the step portion 12b1 of the second rotating shaft 12b is pressed against the end surface of the second bearing 12c. .
Accordingly, rotational resistance can be applied to the second engagement member 12. For example, the second engagement member 12 is free in a state where the processing object B is not held by the second engagement member 12. It can be prevented from rotating.

Further, the second support member 22 is provided with an angle detection unit 12 f for detecting the rotation angle of the holding unit 10.
The angle detection unit 12f is an encoder that detects the rotation angle of the receiving member 12e that rotates integrally with the holding unit 10 in a non-contact manner, and is provided on the distal end side of the second support member 22 via a bracket or the like. It is supported.
As another example of the angle detection unit 12f, a potentiometer type angle detection sensor or other angle sensors may be used.

The first support member 21 and the second support member 22 are rod-like or plate-like members provided substantially parallel to each other at an interval, and the base end side is supported by the base member 23.
The base member 23 is a hollow member extending in a direction orthogonal to the first and second support members 21 and 22 so that the first support member 21 is moved in this orthogonal direction to open and close. While supporting, the 2nd support member 22 is fixed so that a movement is impossible.
The base member 23 is provided with an opening / closing operation mechanism 50 for opening / closing the first support member 21.

  The opening / closing operation mechanism 50 is fixed to the base member 23 and supports the base end side of the first support member 21 so as to slide in a direction orthogonal to the first support member 21, and a first support A rack gear 52 fixed to the base end side of the member 21, a pinion gear 53 that meshes with the rack gear 52, and a rotation drive source 54 that fixes the pinion gear 53 to the output shaft 54 a are provided. The opening / closing operation mechanism 50 moves the first support member 21 by the rotational force of the rotation drive source 54 to open / close between the first engagement member 11 and the second engagement member 12.

  The rotational drive source 54 is a geared motor having an electric rotary motor (not shown) and a speed adjusting mechanism (not shown) that appropriately decelerates the rotation of the rotary motor. It is supported by the base member 23 toward the front.

Next, the characteristic effect of the rotating device A having the above configuration will be described in detail.
When holding the processing object B, the rotary drive source 54 is controlled to open and close between the first engagement member 11 and the second engagement member 12, and the processing object B is held between them. Hold it.
In this sandwiched state, when the power to the drive source 42 is interrupted, the output unit 44b of the one-way power transmission mechanism 44 is locked, so that the holding unit 10 and the processing object B are caused by its own weight or the like. Can be prevented from rotating freely.
Then, when processing such as cutting on one surface of the processing object B is completed and the processing object B is rotated, electric power is supplied to the drive source 42. At this time, if the power supplied to the drive source 42 is controlled so that the angle detected by the angle detector 12f becomes a preset target value, the processing object B can be stopped at a preset angle.
In this stop state, as described above, even if the power is cut off, the output unit 44b is locked, so that the processing object B can be prevented from freely rotating.
That is, according to the rotating device A having the above-described configuration, it is possible to maintain the stationary state while holding the processing object B without continuing to supply power.

  According to the above embodiment, an electric rotary motor is used as the drive source 42. Other examples of the drive source include an air rotary motor, a mechanism for rotating an output shaft by vibration, and the like. It is possible to use a mechanism that appropriately combines these mechanisms.

  Further, according to the above embodiment, the planetary gear mechanism is used as the speed control mechanism 43, but other examples of the speed control mechanism include a mechanism in which a plurality of gears are appropriately combined, a linear screw mechanism, a harmonic drive. It is also possible to use a mechanism using (registered trademark), a mechanism in which these mechanisms are appropriately combined, or the like.

Moreover, according to the said embodiment, although it was set as the aspect which only slides one of the two support members 21 and 22, as another example, both the support members 21 and 22 are slid, and between these is made. A structure that opens and closes can also be used.
As another example, the base end side of one or both of the support members 21 and 22 is pivotally supported, and one or both of the support members 21 and 22 are rotated to engage the engagement members 11 and 12 on the distal end side. It is also possible to have a structure that opens and closes.

  Moreover, according to the said embodiment, although the rotational resistance provision mechanism which provides resistance to rotation of a 2nd engagement member was comprised by the step part 12b1, the biasing member 12d (plate spring), the receiving member 12e, etc., As another example of the rotation resistance applying mechanism, a mode in which the urging member 12d is a coil spring, or the second engagement member 12 is slidably contacted with the second support member 22 to apply the rotation resistance. It is also possible to adopt the mode described above.

  Moreover, according to the said embodiment, although the angle detection part 12f was provided in the 2nd engagement member 12 side, as an other example, an angle detection part is provided in the 1st engagement member 11 side, and it is 1st. It is also possible to detect the rotation angle of the engaging member 11.

  Moreover, according to the said embodiment, although the geared motor was used as the rotational drive source 54 for opening and closing between the 1st and 2nd support members 21 and 22, as another example of the rotational drive source 54, the said drive The same structure as the source unit 40 may be used. According to this other example, even when the object to be processed B is sandwiched between the first engaging member 11 and the second engaging member 12, the power supply to the rotational drive source 54 is interrupted. It is possible to prevent the processing object B from falling due to an opening between the first engagement member 11 and the second engagement member 12.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist of the present invention.

10: holding part 11: first engaging member 12: second engaging member 12d: urging member (rotational resistance applying mechanism)
12f: Angle detection unit 21: First support member 22: Second support member 23: Base member 30: Power transmission mechanism 40: Drive source unit 41: Case 41a: Storage chamber 42: Drive source 43: Speed control mechanism 44 : One-way power transmission mechanism 44c, 44d: engagement elements 44e, 44f: cam surface 44g: urging member 44a: input unit 44b: output unit A: rotating device B: object to be processed

Claims (7)

In a rotating device that rotates a holding unit that holds a processing object,
A one-way power transmission mechanism that can transmit a driving force applied to the input unit from the drive source side to the output unit and locks the output unit when a force is applied to the output unit from the output side;
A driving source for applying a driving force to the input unit;
And a rotation mechanism that rotates the holding unit in conjunction with the operation of the output unit. The holding portion includes a first engagement member that engages with the processing object from one side in the rotation axis direction, and a second engagement member that engages with the processing object from the other side in the rotation axis direction. And is configured to hold the object to be processed between the two engaging members,
The first engagement member is provided to rotate by the rotation mechanism,
The rotating device according to claim 1, wherein the second engaging member is supported so as to freely rotate.   The rotation device according to claim 2, further comprising a rotation resistance applying mechanism that applies resistance to rotation of the second engagement member. A first support member that supports the drive source, the one-way power transmission mechanism, the rotation mechanism, and the first engagement member; and a second support member that supports the second engagement member. ,
The distance between the first engagement member and the second engagement member is changed by moving at least one of the first support member and the second support member. The rotating device according to claim 2 or 3, wherein   The rotating device according to claim 4, wherein the drive source and the one-way power transmission mechanism are arranged side by side along the first support member.   The rotation device according to claim 1, further comprising an angle detection unit that detects a rotation angle of the holding unit.   The one-way power transmission mechanism is engaged with a storage chamber having a columnar space, the output unit stored in the storage chamber so as to rotate coaxially, and coaxially rotated with respect to the output unit. The input portion, an engagement member provided between the inner peripheral surface of the storage chamber and the outer peripheral surface of the output portion, and a biasing member that biases the engagement member to one side in the circumferential direction, On the outer peripheral surface of the output portion, a cam surface that gradually narrows between the inner peripheral surface of the storage chamber toward the one side is formed, and when the input portion rotates to the other side with respect to the one side, 7. The structure according to claim 1, wherein the input unit is configured to abut on the output unit by abutting the input unit against the engaging element and then pressing the output unit. 8. The rotating device according to item.

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