JP2747074B2 - Gripping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a gripping device used for mounting an electronic component on a substrate.

(Prior Art) In an electronic component mounting apparatus which transports electronic components and mounts them on a substrate, a head of the electronic component mounting device is provided with a vertically movable nozzle for sucking and holding the electronic component, and a front, rear, left, right, and right side of the nozzle. And four pawl members for positioning by pressing from four directions.

An air cylinder is generally used as a drive source of the nozzle and the claw member. The nozzle is lowered when sucking the electronic component and when mounting the electronic component on the board, and is raised when positioning the sucked electronic component. You. The claw member is always in the open position, and when the nozzle rises, the claw member closes and presses the electronic component.

(Problems to be Solved by the Invention) The highest position and the lowest position of the nozzle are set to fixed positions corresponding to the stroke of the air cylinder. For this reason, in the case of a large-sized electronic component having a large thickness dimension, when the electronic component in the supply unit is sucked, and when the sucked electronic component is mounted on the substrate, the nozzle is moved before reaching the lowest position. The electronic component comes into contact with the electronic component or the electronic component comes into contact with the substrate, and the impact at that time may cause the small-diameter nozzle to bite into the electronic component. In order to prevent this, a compression coil spring is provided between the nozzle and the piston rod of the air cylinder. The impact may shift the position of the previously mounted electronic component. To solve this problem, the operating speed of the air cylinder may be reduced, but this will slow down the vertical movement of the nozzle and increase the overall time required to mount the electronic component on the board.

In the case of small electronic components with small thickness dimensions,
When the nozzle rises to the highest position, the electronic component may come off the opening / closing trajectory of the claw member. In such a case, the electronic component cannot be positioned. Therefore, it is necessary to prepare various types of nozzles or claw members according to the size of the electronic component.

On the other hand, the maximum opening position and the minimum closing position of the claw member are also set to fixed positions according to the stroke of the air cylinder.
For this reason, when the claw member comes into contact with the electronic component during the closing operation to be in a positioned state, the pressing force of the air cylinder acts on the electronic component, and the electronic component is damaged or the lead is attached to the electronic component. It may be deformed.

The present invention has been made in view of the above circumstances, and an object of the present invention is to increase the operation speed of a nozzle and a positioning member, and to damage a component or give an impact to a member to which the component is mounted. An object of the present invention is to provide a gripping device that does not have any problem, and can handle other types of components with one type of nozzle and positioning member.

[Configuration of the Invention] (Means for Solving the Problems) The gripping device of the present invention is provided with a vertically movable nozzle that is connected to an air suction device and sucks a component, and presses the component sucked by the nozzle from the lateral direction. Then, a plurality of positioning members for positioning the component are provided, first and second motors are provided, and first and second cams individually driven to rotate by the first and second motors are provided. A first cam follower which is connected to the nozzle via a displacement transmitting means and which comes into contact with the first cam to move the nozzle up and down in accordance with the rotation of the cam; A second cam follower connected to contact the second cam and move a positioning member in the opening and closing direction in accordance with the rotation of the cam, and a rotation position detection for detecting rotation positions of the first and second motors; Dress The provided, the first and second
A control device for controlling the motor is provided, and the control device includes:
A rotation position determined in advance according to the size of the component sucked by the nozzle is compared with a rotation position detected by the rotation position detection device, and the first and second motors are driven according to the comparison result. It is characterized by controlling the rotation.

(Operation) The highest position and the lowest position of the nozzle can be controlled by the rotation position and the rotation amount of the first cam, and eventually by the rotation position and the rotation amount of the first motor. For this reason, the same nozzle can cope with parts having different sizes, and also prevents the nozzle from vigorously abutting the part or the part from vigorously abutting the member to which the part is mounted. it can.

Further, the maximum opening position and the minimum closing position of the positioning member can be controlled by the rotation position and the rotation amount of the second cam, and furthermore, by the rotation position and the rotation amount of the second motor. Therefore, there is no possibility that a large pressing force acts on the component in the positioning state.

Hereinafter, an embodiment in which the present invention is applied to a head of an electronic component mounting apparatus will be described with reference to the drawings.

In FIG. 1 and FIG. 2, a base frame 2 is fixed to a moving body 1 that moves between a supply section of an electronic component and a substrate. The bearing device 3 attached to the side of the base frame 2 includes:
An outer shaft 4 is rotatably inserted and supported, and an inner shaft 5 is supported by the outer shaft 4 so as to be vertically movable by spline engagement. The outer shaft 4 is rotated by a motor (both not shown) via a belt hung on a pulley 6, and the rotation of the outer shaft 4 is transmitted to the inner shaft 5 by spline engagement. You.

At the lower end of the inner shaft 5, a nozzle 7 for sucking electronic components by so-called vacuum suction is attached, and the nozzle 7 is attached to the upper end of the inner shaft 5 as a vacuum generating device (shown in the drawing) as an intake device. )). A guide plate 8 is attached to the lower end of the outer shaft 4, and four claw members 9 serving as positioning members for positioning the electronic components sucked by the nozzle 7 are provided on the lower surface of the guide plate 8. Are movably supported in the front-rear direction and the left-right direction. These pawl members 9 are connected to a lever 12 supported via a shaft 11 on a lever support 10 on an upper portion of the guide board 8, and are moved in the front-rear direction and the left-right direction by the rotation of the lever 12.

On the other hand, at the rear of the base frame 2, first and second motors 13 and 14 having built-in reduction gears are attached,
Reference numerals 13a and 14a are connected to first and second camshafts 15 and 16 provided at the front of the base frame 2 by couplings 15a and 16a. The first and second camshafts 15 and 16 have eccentrically mounted first and second cams 17 and 18 which are substantially circular. First and second rollers 19 and 20 which are first and second cam followers which contact the first and second cams 17 and 18 are provided on first and second arms 21 and 22, respectively. The first and second arms 21 and 22
A direction in which the first and second rollers 19 and 20 are pressed against the first and second cams 17 and 18 by tension coil springs 25 and 26 so as to be rotatable on both upper and lower sides of the base frame 2 by shafts 23 and 24. That is, it is urged to rotate in the directions indicated by arrows A and B in FIG. Rollers 27 and 28 are provided at one end of the first and second arms 21 and 22, respectively. The roller 27 of the first arm 21 is disposed between the upper and lower flanges 29a and 29b of the first receiving ring 29 mounted on the upper part of the inner shaft 5. A roller 28 of the second arm 22 is supported by the lower portion of the outer shaft 4 so as to be vertically movable.
The receiving ring 30 is disposed between the upper and lower flanges 30a and 30b. An outer shaft 4 is provided below the second receiving ring 30.
An elevating ring 31 supported so as to be able to move up and down is arranged, and between the elevating ring 31 and the second receiving ring 30,
It is connected by a compression coil spring 32 inserted and held on the outer shaft 4. The leg projection 33 attached to the elevating ring 31 is connected to the lever 12, and the lever 12 is configured to rotate in response to the up and down movement of the elevating ring 31. Accordingly, the displacement of the first roller 19 caused by the rotation of the first cam 17 is transmitted to the nozzle 7 via displacement transmitting means, that is, the first arm 21, the first receiving ring 29, and the inner shaft 5, and When the nozzle 7 moves up and down, and the second cam 18 rotates,
The displacement of the roller 20 is transmitted to the pawl member 9 via a displacement transmitting means, that is, a second arm 22, a second receiving ring 30, a compression coil spring 32, an elevating ring 31, and a lever 12. It moves in the front-back direction and the left-right direction. Incidentally, the relationship between the rotational positions of the first and second cams 17 and 18 and the positions of the nozzle 7 and the claw member 9 is as shown in FIG.

The first and second motors 13 and 14 each have a rotational position detecting device such as a rotary encoder, and a signal from the rotational position detecting device is input to a control device such as a microcomputer (not shown). ing. The memory of this microcomputer contains the motor 13
And the rotational position range of the motor 14 are stored (the rotational position range can be freely set by the user), and the microcomputer controls the motors 13 and 14 in the normal and reverse rotations in the set rotational position range. Have been.

 Next, the operation of the above configuration will be described.

First, in a state where the moving body 1 has moved to the supply part of the electronic component, the first motor 13 rotates in the forward direction from a predetermined rotation position, and rotates the first cam 17 in the arrow C direction. Then, since the first roller 19 is displaced downward, the first arm 21 rotates in the direction of arrow A, and pushes down the first receiving ring 29 and thus the inner shaft 5 to lower the nozzle 7. Then, the first motor 13 stops when it has rotated a predetermined amount to the set rotation position, and accordingly, the nozzle 7 stops near the upper surface of the electronic component of the supply unit. Then, the electronic component is sucked and held by the nozzle 7 by the vacuum suction action of the nozzle 7. Thereafter, the first motor 13 rotates by a predetermined amount to a rotation position set in the reverse direction, whereby the first arm 21 rotates in the direction opposite to the arrow A, and the nozzle 7 returns to the original position. Raise to the position. The raised position is a position where the electronic component exists on the opening / closing locus of the claw member 9 as shown in FIG. 6 or FIG.

Now, when the nozzle 7 rises, the second motor 14 rotates in the forward direction from a predetermined rotation position, and rotates the second cam 18 in the direction of arrow D forward. Then, since the second roller 20 is displaced upward, the second arm 22 rotates in the direction of arrow B, and pushes down the elevating ring 31 via the second receiving ring 29 and the compression coil spring 32. The lever 12 rotates in the direction of arrow E in conjunction with the downward displacement of the elevating ring 32, whereby the claw member 9 moves in the direction of arrow F, which is the closing direction. If the electronic component is displaced from the normal position due to the movement of the claw member 9 in the direction of arrow F, one of the claw members abuts the side surface of the electronic component, and the position of the electronic component is changed. Will be modified. Then, when the second motor 14 rotates by a predetermined amount to the set rotation position, it stops when the claw member 9 is lightly in contact with each side surface of the electronic component. The member 9 is positioned at a regular position.

Thereafter, the moving body 1 moves on the substrate. In this state,
First, the second motor 14 is rotated in the reverse direction to the set rotation position, and the second cam 18 is reversely rotated in the direction opposite to the arrow D by a predetermined amount. Then, since the second roller 20 is displaced downward,
The second arm 22 rotates in the direction indicated by the arrow B, and raises and lowers the elevating ring 31 via the second receiving ring 29 and the compression coil spring 32. The lever 12 is linked with the elevation of the lifting ring 32.
Pivots in the direction of the arrow E, whereby the claw member 9 moves by a predetermined amount in the direction of the arrow F, which is the opening direction, and returns to the original position.

Thereafter, the first motor 13 rotates in the forward direction to the set rotation position, and the first cam 17 rotates forward in the arrow C direction. Then, since the first roller 19 is displaced downward, the nozzle 7 is lowered in the same manner as described above, and the electronic component is lowered to a position where it makes light contact with the substrate. Then, the evacuation operation of the vacuum generator is stopped, and in this state, the first motor 13 is stopped.
Rotates in the reverse direction to the set rotation position. As a result, the nozzle 7 rises while the electronic component remains on the substrate, and returns to the original position. Thus, one mounting cycle of the electronic component on the substrate is completed.

Thus, according to the present embodiment, the first and second motors
By setting the rotation position ranges of 13 and 14, the vertical movement range of the nozzle 7 and the opening and closing movement range of the claw member 9 can be set.

For example, in terms of the vertical movement range of the nozzle 7, the lowest position of the nozzle 7 is adjusted according to the size of the electronic component, as shown in FIGS.
4 is set at a position where the nozzle 7 is lightly contacted and the electronic components 33 and 34 adsorbed on the nozzle 7 are lightly contacted with the substrate, and the highest position of the nozzle 7 is set as shown in FIGS. 6 and 7. ,
The electronic components 33 and 34 are set so as to be located on the opening / closing movement locus of the claw member 9.

In addition, regarding the opening / closing movement range of the claw member 9, the maximum open position of the claw member 9 is set such that the electronic components 33 and 34 adsorbed on the nozzle 7 move relative to each other as shown in FIGS. The maximum closing position is set to the position that can pass through
As shown in FIG. 7 and FIG.
Are set at positions where they lightly touch the respective side surfaces.

Therefore, the movement amount of the nozzle 7 and the claw member 9 can always be minimized, so that the time required for the movement can be shortened, and the time required for mounting the electronic component on the substrate can be shortened.

When the electronic component is sucked to the nozzle 7, the claw member 9 is used.
When positioning electronic components by using
The claw member 9 stops at a position where it makes light contact with the electronic component, and when the electronic component sucked by the nozzle 7 is mounted on the substrate, the electronic component stops at a position where it makes light contact with the substrate. Even if the moving speed of the nozzle 7 and the claw member 9 is increased, there is no possibility that a large pressing force acts on the electronic component, there is no risk of damaging the electronic component, and no impact is given to the substrate. There is no possibility that the position of the electronic component mounted on the substrate is shifted.

In addition, since the vertical movement position range of the nozzle 7 and the open / close movement position range of the claw member 9 can be set freely, one nozzle 7 can correspond to other types of electronic components, and the number of prepared nozzles can be reduced. it can.

The present invention can be widely applied not only to electronic components but also to component mounting apparatuses in general.

[Effects of the Invention] As described above, according to the present invention, the highest position and the lowest position of the nozzle, the maximum opening position and the minimum closing position of the positioning member are freely controlled by the first motor and the second motor. Since it is possible, the operation speed of the nozzle and the positioning member can be increased, and the amount of movement thereof can be minimized, so that the time required for mounting the component can be shortened, and the component can be damaged, There is an excellent effect that there is no danger of giving an impact to a member to which the component is mounted, and that one type of nozzle and a positioning member can cope with another type of component.

[Brief description of the drawings]

1 is a front view, FIG. 2 is a side view, and FIG. 3 is a displacement diagram showing a relationship between a rotation angle of a cam and an operation amount of a nozzle and a claw member. 4 and 5 show the relationship between the lowest position of the nozzle and the maximum open position of the claw member according to the size of the electronic component. FIGS. 6 and 7 show the relationship between the size of the electronic component and the nozzle. It is a figure showing the relation between the highest position and the minimum closing position of the claw member. In the figure, 4 is an outer shaft, 5 is an inner shaft, 7 is a nozzle, 8 is a guide plate, 9 is a claw member, 10 is a lever support, 12 is a lever, and 13, 14
Are first and second motors, 17 and 18 are first and second cams, 19 and 20 are first and second rollers (first and second cam followers), 21 and 22
Are the first and second arms, 29 and 30 are the first and second receiving rings, 3
1 is a lifting ring, 32 is a compression coil spring.

Claims (1)

(57) [Claims] An up / down movable nozzle connected to an air intake device for adsorbing a component, a plurality of positioning members for pressing the component adsorbed by the nozzle from a lateral direction to position the component, And a second motor; first and second cams which are individually driven to rotate by the first and second motors; and which are connected to the nozzle via a displacement transmitting means to contact the first cam. A first cam follower that moves the nozzle up and down in accordance with the rotation of the lever cam, and a positioning member that is connected to the positioning member via a displacement transmitting means and contacts the second cam to rotate the nozzle in accordance with the rotation of the cam. A second cam follower for opening and closing movement; a rotation position detection device for detecting rotation positions of the first and second motors; and a control device for controlling the first and second motors. ,Before A rotation position determined in advance according to the size of the component sucked by the nozzle is compared with a rotation position detected by the rotation position detection device, and the rotation of the first and second motors is determined based on the comparison result. Controlling the positions of the nozzle and the positioning member by controlling the position of the nozzle.