JP2018095474A - Driving device for linear motion, pick and place unit applying the same, transfer work device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To not only effectively reduce an installation cost and eliminate a transmission noise in a state of securing reliability of a linear motion by utilizing a meshing transmission of a transmission gear and a linear toothed belt, but also effectively compensate an accuracy requirement and cumulative assembly error required for the meshing transmission, effectively reduce a manufacturing cost, and achieve an effect of improving a service life.SOLUTION: In a linear motion driving device, a pick and place unit applying the same, and a transfer work device, a transmission gear is connected and attached to a driving source in the driving device. A facing part has a first surface side and a second surface side, and a linear toothed belt is provided on the first surface side of the facing part. A lateral portion of the facing part abuts on a supporting part, and further the transmission gear meshes with a linear toothed belt on the first surface side of the facing part, and when the transmission gear is rotated, a linear motion can be made.SELECTED DRAWING: Figure 4

Description

  In particular, the present invention can not only effectively reduce the installation cost and eliminate the noise of transmission while ensuring the reliability of linear motion, but also the accuracy requirement and cumulative assembly error required for meshing transmission. To provide a linear motion drive device that can effectively compensate, achieve an effect of effectively reducing the manufacturing cost and improving the service life, a pick-and-place unit and a transfer work device using the linear motion drive device. Indicates.

  Linear motion is a very basic motion method of automated work equipment. Please refer to FIG. Regarding the pick-and-place unit in the measurement and classification apparatus for electronic elements, the pick-and-place unit has a moving arm 11 capable of performing a linear motion in the first horizontal direction (X-axis direction) along the first slide rail 10. . A first transmission belt 13 driven by a first motor 12 is attached above the moving arm 11. The first slide base 14 connected to the first transmission belt 13 performs a linear motion in the second horizontal direction (Y-axis direction) on the moving arm 11 along the second slide rail 15 by the first transmission belt 13. Can do. In addition, a second transmission belt 17 that can be driven by the second motor 16 is attached to the first slide base 14. A first pick and place device 19 is connected to a second slide base 18 connected to the second transmission belt 17, and further on the first slide base 14 along the third slide rail 20 by the second transmission belt 17. A linear motion in the vertical direction (Z-axis direction) can be performed. Regarding the third transmission belt 22 that can be driven by another third motor 21, a second pick and place device 24 is connected to a third slide base 23 that is connected to the third transmission belt 22. The transmission belt 22 can perform a linear motion in the vertical direction (Z-axis direction) on the first slide base 14 along the fourth slide rail 25. From the above description, both the linear motion in the second horizontal direction (Y-axis direction) and the linear motion in the vertical direction (Z-axis direction) of the first pick-and-place device 19 or the second pick-and-place device 24 are both. It can be seen that a combination of a motor and a belt pulley is used as a driving device. Please refer to FIG. Further, regarding the transport unit in the measurement and classification apparatus for electronic elements, the transport unit drives the transmission belt 31 by the motor 30, and the slide base 32 connected to the transmission belt 31 is aligned along the slide rail 33 in the horizontal direction (X-axis direction). Or, a linear motion in the Y-axis direction) is performed. The slide stage 32 is provided with a first stage 34 and a second stage 35 that support the electronic elements, respectively, and conveys the electronic elements by horizontal linear motion. From the above description, it can be seen that the horizontal linear motion of the first stage 34 or the second stage 35 also uses a combination of a motor and a belt pulley as a driving device.

  Based on the above description, regardless of the pick and place unit or the transport unit, the linear movement of the electronic element measurement and classification device uses a combination of a motor and a belt pulley as a driving device. However, using a combination of a motor and a belt pulley as a linear motion drive device has the following drawbacks.

  1. The belt pulley combination comprises a main belt pulley, a driven belt pulley and an annular flexible power transmission belt. Regarding the installation costs of the components, adding an annular flexible transmission belt to the two belt pulleys requires an installation cost to use relatively many components.

  2. The ring-shaped flexible transmission belt has positive movement at the portions that come into contact with the main belt pulley and the driven belt pulley, but it has flexibility on both sides of the belt, which is the other portion, and can be brought into contact therewith. Since there is no plane that can be used, the reliability in transmission localization is relatively low.

  In order to remedy the drawbacks of the motor and belt pulley combination being a linear motion drive, the most direct known method is to use a rack and pinion as the drive. Compared with the combination of belt pulleys, the rack and pinion has favorable reliability in transmission localization because the rack does not bend with a hard material except that the driven belt pulley and the annular transmission belt need not be arranged. However, using the rack and pinion as a linear motion drive device still has the following drawbacks.

  1. Since both the rack and pinion are hard materials, noise due to collision is likely to occur during mesh transmission.

  2. The rack-and-pinion meshing itself requires a relatively high accuracy, as well as a relatively high accuracy of the total accumulated assembly error. Therefore, a relatively high manufacturing cost is required.

  3. A minute amount of backlash must be present in the meshing of the rack and pinion, otherwise the meshing transmission cannot be made relatively smooth. However, when used over a long period of time, wear tends to occur due to collision between two hard materials, and backlash continues to expand. Besides affecting the accuracy of localization, the allowable error value range is exceeded and the service life is reduced.

  Therefore, the inventor has been engaged in the development and manufacturing of the related industry for many years, researched the problems that are currently faced, repeated research and trial production in the long term, and finally the drive gear in which the transmission gear meshes with the linear tooth belt Developed and effectively improved the drawbacks of the background technology. This is the main purpose of the design of the present invention.

Problems to be Solved by the Invention and Means for Solving the Problems

  A first object of the present invention is to provide a linear motion drive device, a pick-and-place unit to which the drive device is applied, and a transfer work device. The drive device utilizes the fact that the transmission gear meshes with a linear tooth profile belt provided on the surface side of the opposing component, and can be linearly moved when the transmission gear rotates. In addition, the components are effectively simplified to reduce installation costs.

  A second object of the present invention is to provide a linear motion drive device, a pick and place unit and a transfer work device to which the drive device is applied. The linear tooth belt of the driving device is fixed and bonded to the surface side of the opposing component. By providing a stable contact plane on the surface side of the facing part, the straight tooth belt is prevented from bending. Thereby, it has favorable reliability in transmission localization.

  A third object of the present invention is to provide a linear motion drive device, a pick and place unit and a transfer work device to which the drive device is applied. The driving device utilizes the fact that the transmission gear meshes with the linear tooth profile belt. By utilizing a small amount of elastic deformation in the convex surface portion of the linear tooth belt, it is possible to absorb the collision at the time of meshing transmission of the transmission gear, and effectively eliminate transmission noise.

  A fourth object of the present invention is to provide a linear motion drive device, a pick-and-place unit to which the drive device is applied, and a transfer work device. The driving device utilizes the fact that the transmission gear meshes with the linear tooth profile belt. By utilizing a small amount of elastic deformation in the convex portion of the linear tooth profile belt, it is possible to compensate for accuracy requirements and cumulative assembly errors required for meshing transmission, and effectively increase the manufacturing cost required for high accuracy. Reduce.

  A fifth object of the present invention is to provide a linear motion drive device, a pick-and-place unit to which the drive device is applied, and a transfer work device. The driving device utilizes the fact that the transmission gear meshes with the linear tooth profile belt. By utilizing a small amount of elastic deformation in the convex surface portion of the linear tooth belt, it is possible to absorb a collision at the time of meshing transmission of the transmission gear, thereby effectively reducing wear caused by the collision. Even if wear occurs over a long period of time, the amount of wear is compensated for a certain period due to a small amount of elastic deformation of the convex surface, and then wear between backlashes begins to occur, effectively improving the service life be able to.

FIG. 1 is a schematic diagram of a pick and place unit in a known electronic device measurement and classification apparatus. FIG. 2 is a schematic diagram of a transport unit in a known measurement and classification apparatus for electronic elements. FIG. 3 is an exploded schematic view of the drive device of the present invention. FIG. 4 is a schematic external view of the drive device of the present invention. FIG. 5 is a schematic cross-sectional view of the drive device of the present invention. FIG. 6 is a schematic diagram of the linear motion method (1) in the meshing transmission of the present invention. FIG. 7 is a schematic diagram of the linear motion method (2) in the meshing transmission of the present invention. FIG. 8 is an enlarged schematic diagram of the meshing transmission of the transmission gear and the linear tooth belt of the present invention. FIG. 9 is a partial exploded schematic view in which the drive device of the present invention is applied to a pick and place unit. FIG. 10 is a schematic external view of the drive device of the present invention applied to a pick and place unit. FIG. 11 is a schematic diagram of use in which the driving device of the present invention is applied to a pick-and-place unit. FIG. 12 is a schematic diagram in which the pick and place unit of the present invention is applied to a transfer work apparatus.

  In order for the examiner to further understand the present invention, a preferred embodiment will be given and further detailed as follows with reference to the drawings.

  Please refer to FIGS. The linear motion drive device of the present invention is configured such that a drive source 41 is installed on a pedestal 40, and a transmission gear 42 is connected to the drive source 41 and attached to rotate the transmission gear 42 when the drive source 41 operates. Can be made. In the present embodiment, the drive source 41 is a servo motor, and a transmission gear 42 is connected and attached to the output shaft end. The facing part 43 is provided with a first surface side 431 relative to the tooth surface position of the transmission gear 42, and a second surface side 432 is provided on the other surface opposite to the first surface side 431. The opposing component 43 is provided with a rod-shaped linear tooth belt 44 that meshes with the transmission gear 42 on the first surface side 431. In this embodiment, the linear tooth profile belt 44 has a plurality of tooth surface portions 441, and the tooth shapes and pitches of the plurality of tooth surface portions 441 correspond to the transmission gear 42, and the transmission gear 42 meshes with the linear tooth profile belt 44. Can be transmitted. In this embodiment, the linear tooth profile belt 44 is bonded to the first surface side 431 of the facing component 43, and the first end and the second end of the linear tooth profile belt 44 are respectively on the first surface side of the facing component 43. The first end and the second end at 431 are fixed. Of these, the first end of the linear tooth profile belt 44 is pressed against and fixed to the first end on the first surface side 431 of the facing component 43 by the first fixing block 45, and is further tightened with the first bolt 46. The second end of the linear tooth belt 44 is pressed against and fixed to the second end on the first surface side 431 of the facing part 43 by the second fixing block 47 and further tightened with the second bolt 48. In order to be able to adjust the linear tooth profile belt 44 to an appropriate tensile strength, it is fixed and bonded to the first surface side 431 of the facing component 43. In this embodiment, an adjustment component 49 is provided between the second fixed block 47 and the linear tooth profile belt 44, and a hook portion 491 that can hook the linear tooth profile belt 44 is provided on the adjustment component 49. Further, an adjustment bolt 492 is screwed into a position portion facing the end portion of the facing component 43. After the first end of the linear tooth belt 44 is locked and fixed to the first surface side 431 of the opposing part 43 by the first fixing block 45 and the first bolt 46, the adjustment bolt 492 is rotated to rotate the opposing part 43. It can be made to contact | abut to the edge part. The straight tooth belt 44 is hooked on the hook portion 491, and the tensile strength of the straight tooth belt 44 is adjusted. Finally, the second bolt 48 is passed through the second fixing block 47 and the adjustment component 49, and the second end of the linear tooth profile belt 44 is locked and fixed to the first surface side 431 of the facing component 43. That is, the linear tooth belt 44 can be fixed and bonded to the first surface side 431 of the facing component 43 with an appropriate tensile strength, and the first surface side 431 provides a stable contact plane. In order to allow the linear tooth belt 44 to maintain meshing transmission with the transmission gear 42, a support component 50 is provided at a position opposite to the side of the counter component 43, and the counter component 43 is It abuts on the support component 50. In this embodiment, a support component 50 is provided at a position opposite to the second surface side 432 of the facing component 43, and the second surface side 432 of the facing component 43 is brought into contact with the support component 50. In this embodiment, the facing component 43 is a linear slide rail, the support component 50 is a linear slide base installed corresponding to the linear slide rail, and the support component 50 which is the linear slide base is a mounting base. Locked and installed at 501. In this embodiment, the mounting base 501 is connected to a pedestal 40 on which the drive source 41 is fixedly installed, and the support component 50 is connected to the pedestal 40 via the mounting base 501. In addition, a blocking type sensor 51 is provided on the base 40 of the drive source 41 in order to prevent the drive source 41 from being out of synchronization and exceeding a predetermined position. When the light-shielding plate 52 is provided in the first fixed block 45 or the second fixed block 47 and thereby the light-shielding plate 52 blocks the sensor 51, a signal can be activated to stop the rotation of the drive source 41. This prevents the situation where the linear motion exceeds the predetermined position and collides.

  See FIG. FIG. 6 shows a first linear motion method in the meshing transmission of the present invention, which is a case where a method of fixedly installing the base 40 of the drive source 41 is adopted. When the drive source 41 is activated and the transmission gear 42 meshes with the linear tooth belt 44, the opposing component 43 can be linearly moved along the support component 50. That is, the facing component 43 is a moving component that moves linearly.

  Please refer to FIG. FIG. 7 shows a second linear motion method in the meshing transmission of the present invention, which is a case where a method in which the opposing component 43 is fixedly installed is adopted. When the drive source 41 is actuated and the transmission gear 42 meshes with the linear tooth belt 44, the base 40, the mounting base 501, and the support part 50 are connected to each other by connecting the base 40, the mounting base 501, and the support part 50. 43 can be linearly moved. That is, the drive source 41 and the pedestal 40 are linear moving parts.

  Please refer to FIGS. The drive device of the present invention can linearly move by utilizing only that the transmission gear 42 meshes with the linear tooth belt 44 fixed and bonded to the opposing component 43. There is no need to use an annular flexible transmission belt and driven belt pulley, effectively simplifying the components and reducing installation costs, the first surface side 431 of the opposing component 43 is a straight tooth profile The belt 44 can be provided with a stable contact plane. In other words, the straight tooth profile belt 44 can be prevented from being bent, and thus it is possible to have favorable reliability in the transmission localization. Therefore, the disadvantage of using a known motor and belt pulley combination as the driving device is effectively improved.

  Please refer to FIG. In the driving device of the present invention, when the transmission gear 42 meshes with the linear tooth belt 44, the convex surface portion 441 of the linear tooth belt 44 can be elastically deformed in a minute amount, so that the tooth portion of the transmission gear 42 is allowed. Even if the convex surface portion 441 of the linear tooth profile belt 44 is over-pressured within the range, the transmission gear 42 can still mesh and transmit to the linear tooth profile belt 44. In this way, a small amount of elastic deformation in the convex surface portion 441 of the linear tooth profile belt 44 is necessary for the meshing transmission in addition to absorbing the collision when the transmission gear 42 is meshingly transmitted and eliminating the transmission noise. High accuracy requirements and cumulative assembly errors can be compensated, and the manufacturing cost required for high accuracy is effectively reduced. In addition, a small amount of elastic deformation in the convex surface portion 441 of the linear tooth profile belt 44 can absorb the collision when the transmission gear is meshed and can effectively reduce the wear caused by the collision. Even if wear occurs after long-term use, the wear amount is compensated for a certain period due to a small amount of elastic deformation in the convex surface portion 441 of the linear tooth belt 44, and wear between backlashes thereafter starts to occur. Can be improved effectively. This effectively improves the disadvantages of using a known rack and pinion as a drive device.

  See FIGS. When the drive device of the present invention is applied to a pick and place unit, the pick and place device 60 is connected to the first end of the facing component 43. As a result, when the drive source 41 is activated and the transmission gear 42 meshes with the linear tooth belt 44, the opposing component 43 and the pick and place device 60 can be linearly moved along the support component 50. In this embodiment, the pick-and-place device 60 is provided with a connecting table 61 and a pick-and-place suction nozzle 62, and the connecting table 61 is connected and attached to the first end of the facing component 43. A first end of the pick-and-place suction nozzle 62 communicates with the negative pressure line 621, and a second end is attached to the connection base 61. In this embodiment, the connection base 61 has a U-shape, and a support base 611 and a contact base 612 are provided on the connection base 61. The second end of the pick-and-place suction nozzle 62 passes through the support base 611 of the coupling base 61 and is limited in position to the support base 611 by a position limiting pin 622. One end of the elastic part 623 abuts against the abutment base 612 of the coupling base 61 and the other end abuts against the second end of the pick-and-place suction nozzle 62 so that the pick-and-place suction nozzle 62 is in contact with the support base. 611 can be elastically moved. Furthermore, the pick-and-place suction nozzle 62 is provided with a buffering action for elastic movement.

  Please refer to FIG. When using the pick and place unit of the present invention, the pick and place unit is connected to and attached to the moving arm 70, and the moving arm 70 moves the pick and place unit in at least one direction. In this embodiment, the pick-and-place unit is attached to and attached to the moving arm 70 via the base 40 of the driving source 41 of the driving device, and the moving arm 70 can move above the position of the member 71. it can. Subsequently, when the drive source 41 is operated and the transmission gear 42 meshes with the linear tooth belt 44, the opposing component 43 and the pick and place device 60 can linearly move downward along the support component 50. Corresponding to the position of the member 71. When the pick-and-place suction nozzle 62 of the pick-and-place device 60 sucks the member 71, the drive source 41 can be operated in the opposite direction, and the opposing component 43 and the pick-and-place device 60 are attached to the support component 50. Move linearly along the line. The moving arm 70 moves to transfer the member and perform each operation.

  Please refer to FIG. When the drive device of the present invention is applied to a transfer work device, the transfer work device mainly includes a base 100, a member supply unit 110, a member receiving unit 120, a work unit 130, and at least one pick and place unit of the present invention. 140, and a central control unit (not shown). The member supply unit 110 is disposed on the pedestal 100 and is provided with at least one member supply board 111 in which at least one work member is accommodated. The member receiving unit 120 is disposed on the pedestal 100 and is provided with at least one member receiving board 121 in which a member for which at least one operation has been completed is accommodated. The work unit 130 is disposed on the pedestal 100 and is provided with at least one work station 131 that performs work corresponding to the work member. The at least one pick and place unit 140 of the present invention is disposed on a pedestal 100, and the pick and place unit 140 is attached to a moving arm 141. As a result, the member to be worked is taken out by the member supply unit 110, transferred to the work unit 130, the corresponding work is executed, and the member for which the work has been completed is transferred to the member receiving unit 120. The central control unit controls and coordinates the operation of each unit to perform automated operations and achieve practical effects that increase work performance.

  Thus, the present invention is a design that has great utility and inventive step. However, similar products have not yet been found and no publications have been published. Therefore, it is consistent with the requirements of patent application, and here we apply based on the law.

Known part 10 First slide rail 11 Moving arm 12 First motor 13 First transmission belt 14 First slide base 15 Second slide rail 16 Second motor 17 Second transmission belt 18 Second slide base 19 First pick and place device 20 Third slide rail 21 Third motor 22 Third transmission belt 23 Third slide base 24 Second pick and place device 25 Fourth slide rail 30 Motor 31 Transmission belt 32 Slide base 33 Slide rail 34 First stage 35 Second stage Part of the Present Invention 40 Base 41 Drive Source 42 Transmission Gear 43 Opposing Parts 431 First Surface Side 432 Second Surface Side 44 Linear Tooth Profile Belt 441 Convex Surface 45 First Fixed Block 46 First Bolt 47 Second Fixed Block 48 Second Bolt 49 Adjustment parts 491 Hook 492 Adjustment bolt 50 Supporting part 501 Mounting base 51 Sensor 52 Shading plate 60 Pick and place device 61 Connection base 611 Supporting base 612 Contacting base 62 Pick and place suction nozzle 621 Negative pressure pipe line 622 Position limiting pin 623 Elastic part 70 Moving arm 71 Member 100 Base 110 Member supply unit 111 Member supply panel 120 Member receiving unit 121 Member receiving panel 130 Working unit 131 Working station 140 Pick and place unit 141 Moving arm

Claims (15)

A linear motion drive device, wherein the drive device is mounted on a pedestal, and the drive source is connected to the transmission gear;
A facing part provided with a first surface side relative to a tooth surface position of the transmission gear, and provided with a linear tooth profile belt meshingly transmitted with the transmission gear on the first surface side;
A support component that is provided at a position opposite to the side of the opposing component and that abuts the opposing component.   The linear motion drive device according to claim 1, wherein the linear tooth belt is bonded to the first surface side of the facing component.   The linear motion drive device according to claim 2, wherein the first end and the second end of the linear tooth profile belt are respectively fixed to the first end and the second end on the first surface side of the opposing component.   The first end of the linear tooth profile belt is pressed against and fixed to the first end on the first surface side of the opposing part by a first fixing block, and the second end of the linear tooth profile belt is fixed by the second fixing block. The linear motion drive device according to claim 3, wherein the linear motion drive device is fixed in pressure contact with the second end on the first surface side of the opposing component.   An adjustment part is provided between the second fixed block and the second end of the linear tooth belt, and a hook portion for hooking the linear tooth belt is provided on the adjustment part. An adjustment bolt is screwed into a position portion opposite to the end of the end, the adjustment bolt is brought into contact with the end of the second end of the opposing part, the tensile strength of the linear tooth belt is adjusted, and the The linear motion drive device according to claim 4, wherein the linear motion drive device is fixed and bonded to the first surface side of the facing component.   A second surface side is provided on the other surface of the counter component facing the first surface side, the support component is provided at a position opposite to the second surface side of the counter component, and a second surface of the counter component is provided. The linear motion drive device according to claim 1, wherein a surface side is brought into contact with the support component.   The opposing part is a linear slide rail, and the support part is a linear slide base installed corresponding to the linear slide rail, the linear slide base is locked and installed on a mounting base, and the linear slide rail is The linear motion drive device according to claim 1, wherein the linear motion drive device is brought into contact with the linear slide base.   The linear motion drive device according to claim 7, wherein the mounting base on which the linear slide base is locked and installed is fixedly connected to the base of the drive source.   The linear motion drive device according to claim 1, wherein a sensor that activates a signal and controls the drive source to stop rotating is provided on a base of the drive source. A pick and place unit,
A linear motion drive device according to claim 1;
A pick-and-place device that is mounted in connection with an opposing part of the drive device and causes the drive source of the drive device to move linearly.   The pick-and-place device is provided with a connection base and a pick-and-place suction nozzle, the connection base is connected to and attached to the first end of the opposing part of the drive device, and the pick-and-place suction nozzle is attached to the connection base. 11. The pick and place unit according to claim 10, wherein the pick and place suction nozzle is attached and communicates with the negative pressure line.   A support base and an abutment base are provided on the connection base, the pick and place suction nozzle passes through the support base of the connection base, the position is limited to the support base by a position limiting pin, and one end of the elastic part is connected to the connection base The pick-and-place unit according to claim 11, wherein the pick-and-place suction nozzle is in contact with a contact table of the base, the other end is in contact with the pick-and-place suction nozzle, and the pick-and-place suction nozzle is elastically moved by the support base.   The pick and place unit according to claim 10, wherein the pick and place unit is connected to and attached to a moving arm, and the moving arm moves in at least one direction.   The pick-and-place unit according to claim 13, wherein the pick-and-place unit is connected and attached to the moving arm via a pedestal of a driving source of the driving device. A transfer work device,
With pedestal;
A member supply unit disposed on the pedestal and accommodating at least one work member;
A member receiving unit that is disposed on the pedestal and that houses a member for which at least one operation has been completed;
A work unit arranged on the pedestal and performing work corresponding to the work member;
11. The pick and place unit according to claim 10, wherein the pick and place unit is disposed on the pedestal and attached to a moving arm to transfer the member between the member supply unit, the working unit, and the member receiving unit. ;
A central control unit that performs automated operations by controlling and coordinating the operation of each unit.