JP3018650B2 - Parts holding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component holding device used in a component transport device for transporting a rectangular parallelepiped component (mounted component) used for OA equipment and home electric appliances. In particular, the present invention relates to a component holding device suitable for use when positioning and assembling components at predetermined positions on a component mounting surface parallel to an XY plane including an X axis and a Y axis orthogonal to each other. Examples of the component and the substrate having the component mounting surface on which the component is mounted include a printer head of an inkjet printer and an aluminum block (heat sink) for mounting the same.

[0002]

2. Description of the Related Art Conventionally, in a component assembling apparatus for positioning and assembling a component at a predetermined position on a component mounting surface parallel to an XY plane including an X axis and a Y axis orthogonal to each other, a component for transporting the mounted component is used. There is known a method of positioning a mounted component on a component mounting surface by combining a transfer device (robot) with a camera and an image processing device.

[0003]

However, in the conventional positioning method, positioning cannot be performed with higher accuracy than the positioning accuracy of the component transfer device (robot).
Its accuracy is generally about ± 50 μm. Recently, a stage or the like capable of positioning with an accuracy of 1 μm or less has been developed and published in the literature, but its movable range is small, and the practically usable industrial field is limited.

[0004] As a method for positioning the mounting position of the mounting component on the component mounting surface (XY plane) with high precision, for example, an X is positioned at a predetermined distance from the component mounting surface (XY plane). A method of arranging positioning members in the axial direction and the Y-axis direction and bringing the side surface of the mounted component conveyed by the component conveying device into contact with the positioning members in the X-axis direction and the Y-axis direction is conceivable. In this manner, the mounted component that has been positioned in the X-axis direction and the Y-axis direction is conveyed in the Z-axis direction and pressed against the component mounting surface, thereby positioning the mounted component on the component mounting surface. It can be performed with high accuracy.

However, in such a method of positioning the mounted component on the component mounting surface, a side surface of the mounted component transported by the component transport device is brought into contact with the X-axis direction and Y-axis positioning members. At this time, an impact force acts on the mounting component. When the impact force is large, there is a possibility that the transported mounted component may be damaged.

Japanese Unexamined Patent Publication No. 2-116484 discloses an appropriate pressing means at the time of positioning, which uses a coil spring, but has a complicated structure, requires a large number of replacement steps during maintenance, and has a high positioning accuracy. There are problems such as low. Further, the apparatus described in Japanese Patent Application Laid-Open No. 1-222881 is controlled by a force sensor, but has problems such as high price.

The present invention has been made in view of the above-described circumstances, and when a component is positioned on the component mounting surface by contacting a side surface of the component with a positioning member disposed at a predetermined distance from the component mounting surface, It is an object of the present invention to provide a component holding device suitable for a negative pressure suction type suction pad for suctioning a component by a negative pressure and capable of absorbing an impact force at the time of the contact. It is another important object of the present invention to provide a component holding device which can absorb the impact force at the time of the contact and has a simple configuration.

[0008]

Next, the configuration of the present invention devised to solve the above-mentioned problem will be described. The components of the present invention correspond to the components of the embodiments described later. For the sake of simplicity, the reference numerals of the components of the embodiment are enclosed in parentheses. The reason why the present invention is described in correspondence with the reference numerals of the embodiments described below is to facilitate understanding of the present invention, and not to limit the scope of the present invention to the embodiments.

In order to solve the above-mentioned problems, the first application of the present application is described.
Component holding apparatus of the invention, the negative pressure suction type suction pad for sucking the component (2) by the negative pressure is formed on the bottom surface vertically
A movable hand body (21);
1) The hand body (2) of the component (2) adsorbed on the lower surface
1) X that regulates the position of one side in the X-axis direction along the lower surface
And a Y-axis direction position regulating means for regulating the axial position regulating means and the X-axis direction and the hand body (21) the position of one side of the Y-axis direction along the lower surface in the vertical, the of adsorption
Positioning of the part (2) in the X-axis and Y-axis directions
In order to perform this, it is arranged below the hand body (21) and
X-axis direction regardless of the movement of the hand body (21)
X-axis direction positioning member (70) and Y-axis
The Y-axis direction positioning member (50) movable in the direction
The suction side from the other side in the X-axis direction and the Y-axis direction, respectively.
Holds the part (2) so as to be able to abut the mounted part (2)
In the component holding apparatus, the X-axis direction position restricting means is supported by the X-axis direction position restriction member support (25) and movably in the X-axis direction by the X-axis direction position restriction member support (25). And an X-axis direction position regulating end surface which is in contact with the component (2) at one end surface in the X-axis direction.
An axial position regulating member (26), and an elastic member (27) which abuts on the other end surface of the X axis direction position regulating member (26) to hold the X axis direction position regulating member (26) at a predetermined position. The Y-axis direction position restricting means is supported by the Y-axis direction position restricting member support (33) and movably in the Y-axis direction by the Y-axis direction position restricting member support (33). A Y-axis direction position regulating member (34) having a Y-axis direction position regulating end surface formed on one end surface thereof in contact with the component (2), and abutting on the other end surface of the Y-axis direction position regulating member (34). And a resilient member (35) for holding the Y-axis direction position regulating member (34) at a predetermined position.

Further, in the component holding device according to the second invention of the present application, in the component holding device according to the first invention, the X-axis direction position restricting means includes an X-axis direction position restricting member support (25). An X-axis direction adjusting means (air cylinder) (24) for moving in the axial direction is provided, and the Y-axis position restricting means moves the Y-axis position restricting member support (33) in the Y-axis direction. An axial position adjusting means (air cylinder) (32) is provided.

Further, in the component holding device according to the third invention of the present application, in the component holding device according to the first invention or the second invention, the X-axis direction position restricting member (26) supports the X-axis direction position restricting member. The elastic member (27), which is constituted by a position regulating pin (26) penetrating the body (25) and holds the X-axis direction position regulating member (26) at a predetermined position, is provided at one end of the position regulating pin (26). Leaf spring (2
7) The Y-axis direction position regulating member (34)
Is constituted by a position regulating pin (34) penetrating the Y-axis direction position regulating member support (33), and the elastic member (35) for holding the Y-axis direction position regulating member (34) at a predetermined position is It is characterized by comprising a leaf spring (35) abutting on one end of the position regulating pin (34).

[0012]

The component holding device according to the first invention of the present application having the above-described structure is provided in the X-axis direction of the component (2) sucked by the negative pressure suction type suction pad on the lower surface of the hand body (21). Is regulated by the X-axis direction position regulating end face of the X-axis direction position regulating member (26) held at a predetermined position by the elastic member (27). The position of one side in the Y-axis direction of the component (2) sucked by the negative pressure suction type suction pad is determined by the position of the Y-axis direction regulating member (34) held at a predetermined position by the elastic member (35). It is regulated by the Y-axis direction position regulating end face. In this manner, the suction is performed by the negative pressure suction pad of the component transfer device, and the position in the X-axis direction, Y
An X-axis positioning member (70) or a Y-axis positioning member (5) for positioning a component (2) whose axial position is regulated by using the elastic members (27, 35).
0) are respectively movable and can be abutted from the other side of the component. When the X-axis positioning member (70) or the Y-axis positioning member (50) for positioning abuts on the sucked component from the other side, an impact force acting on the component (2) at the time of the abutment Is absorbed by the elastic members (27, 35). Therefore, it is possible to prevent the component (2) from being damaged due to the impact at the time of the contact. The components (components adsorbed on the lower surface of the hand body) whose positions in the X-axis direction and the Y-axis direction are positioned as described above are members arranged below the hand body (2) when the hand body (2) is lowered. At a predetermined position.

Further, the component holding device of the second invention of the present application having the above-described configuration provides the elastic member (27) and the X-axis direction position restricting member (27) held at a predetermined position by the elastic member (27). The X-axis direction position regulating member support (25) supporting the member (26) is moved and adjusted in the X-axis direction by an X-axis direction position adjusting means (air cylinder) (24). The elastic member (35) and the elastic member (35)
The Y-axis direction position regulating member (3
4) The Y-axis direction position regulating member support (3)
3) Y-axis direction position adjusting means (air cylinder) (32)
Is adjusted in the Y-axis direction. For this reason, the position of the X-axis direction position regulating member support (25) in the X-axis direction is adjusted, and the position of the Y-axis direction position restriction member support (33) in the Y-axis direction is adjusted. The suction position of the component (2) to be sucked by the negative pressure suction type suction pad formed on the lower surface of the main body (21) can be adjusted. Therefore, the component (2) can be sucked at an appropriate suction position or posture in accordance with the shape, size, and the like of the component (2) sucked on the lower surface of the hand body (21).

Further, in the component holding device according to the third invention of the present application having the above-described configuration, the elastic members (27, 35) are constituted by leaf springs, and the position regulating members (26, 34).
Are constituted by pins penetrating through the position regulating member supports (25, 33), so that the configurations of the X-axis direction position regulating means and the Y-axis direction position regulating means are simplified.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall schematic diagram of one embodiment of a component assembling apparatus U using a component holding device H of the present invention. In order to facilitate understanding of the following description, as shown in FIG.
Define the Y and Z axes. Then, in each of the other drawings, the X-axis direction, the Y-axis direction, or the Z-axis direction is indicated by an arrow. In FIG. 1, a component assembling apparatus U includes a substrate mounting pallet P11 on which a heat sink 1 formed of a rectangular parallelepiped aluminum block as a substrate is aligned and mounted, and a mounting component mounted on an upper surface of the heat sink 1. And a printer head mounting pallet P21 on which the inkjet printer heads 2 are arranged and mounted. The component assembling apparatus U includes an assembly component mounting pallet P12 on which the heat sink 1 on which the inkjet printer head 2 is mounted is aligned and mounted, and a printer head on which defective inkjet printer heads 2 are mounted. A defective product placing pallet P22 is provided.

FIG. 8 is a view showing the heat sink 1 as the base material and the ink jet printer head (mounting part) 2 mounted thereon, and FIG. 9 is a perspective view of the ink jet printer head 2. An inkjet printer head 2 is provided on the component mounting surface 1a on the upper surface of the heat sink 1.
Is installed. The ink jet printer head 2 has a large number of ink jet nozzles 2a on one side as shown in FIGS. The distance d between the ink jet nozzle 2a, which is located at the left end in FIG. 8B among the many ink jet nozzles 2a, and the left side surface of the ink jet printer head 2 in FIG. 8B is set to a constant distance by design. However, the distance d is ± Δ
d.

By the way, when the ink jet printer head 2 is mounted on the heat sink 1 as shown in FIG. 8B, the distance D between the ink jet nozzle 2a arranged at the left end and the left side surface of the heat sink 1 in FIG. 8B, the assembly may be usually performed so that the distance between the left side surface of the heat sink 1 and the left side surface of the ink jet printer head 2 is Dd in FIG. 8B. However, the distance d is ± Δd
Is included in the value of D, the error ±
Δd will be included. Therefore, when it is desired to assemble the components 1 and 2 with the value of D being accurate, it is necessary to know the value of d accurately. As a method for accurately measuring the value of the distance d, a method using a TV camera for imaging the side surface of the inkjet printer head 2 in which the inkjet nozzle 2a is formed and an image processing circuit for processing the captured image is adopted. be able to. This method will be described later.

In FIG. 1, the heat sink 1 mounted on the let P11 and the printer head mounting pallet P
The component conveying device U1 that takes out the ink jet printer head 2 placed on the 21 and conveys it to a predetermined work position (an installation position of a clamp jig described later) includes an X-axis direction conveying device 3 arranged along the X axis. It has. The X-axis direction transfer device 3 includes a motor case 4 and an X-direction guide case 5 extending in the X direction. In the motor case 4, an X-axis direction transfer pulse motor Mx is housed.

As shown in FIG. 2, in the X-direction guide case 5, the X-axis direction transfer pulse motor Mx is provided.
The X-axis direction conveyance belt 6 driven by X and the X-direction slider 8 moved along a pair of guide rods 7 are accommodated. The slider 8 has a pair of guide grooves 5 formed on the surface of the X direction guide case 5 along the X direction.
The connecting plate 9 is exposed to the surface of the X-direction guide case 5 from a and 5a.

The connecting plate 9 is connected to a Y-axis direction transfer device 10 (see FIG. 1). The Y-axis direction transfer device 10 is transferred together with the connection plate 9 in the X direction. I have. This Y-axis direction transfer device 10
Has a motor case 11 and a Y-direction guide case 12 extending in the Y-direction. A pulse motor My for Y-axis direction conveyance is housed in the motor case 11. In the Y-direction guide case 12, a Y-axis direction conveyance belt and a Y-direction slider (not shown) moved by a pair of guide rods are housed in the same manner as shown in FIG. ing. And the Y
A Z-axis direction transfer device 13 is connected to the direction slider via a connection plate.

The Z-axis direction transfer device 13 is constructed in substantially the same manner as the X-axis direction transfer device 2, and includes a motor case 14 and a Z-direction guide case 15 extending in the Z direction. In the motor case 14, a pulse motor Mz for transport in the Z-axis direction is housed. In the Z-direction guide case 15, a Z-axis direction conveyance belt and a Z-direction slider (not shown) which are moved by a pair of guide rods are housed in the same manner as shown in FIG. ing. A Z-direction moving member 16 is connected to the Z-direction slider via a connection plate.

The Z-direction moving member 16 is provided with a pulse motor 17 having a rotating shaft 17a extending in the Z direction. A component holding device H is connected to a lower end of a rotation shaft 17a of the pulse motor 17 via a connection plate 18. The component holding device H is controlled to move in the X, Y, and Z directions by the X-axis direction transfer device 3, the Y-axis direction transfer device 10, and the Z-axis direction transfer device 13, and is rotated by the pulse motor 17. The rotation around the axis (Z axis) 17a is controlled.

As shown in FIG. 10, the component holding device H
Supports three optical sensors S1 to S3. Each of the optical sensors S1 to S3 is turned on (ON) when the amount of light from immediately below is equal to or more than a predetermined value, and is turned off (OF) when the light amount is smaller than the predetermined value.
F). In the case of the present embodiment, a pallet P such as the substrate mounting pallet P11 or the printer head mounting pallet P21 (the pallets P11 and P21).
The surface of a component W such as the heat sink 1 or the ink jet printer head 2 placed on the pallet P (the component 1, 2 is collectively described as W) is compared with the surface of the pallet P. Since the component is bright, the optical sensors S1 to S3 are turned on when the component W comes directly below. Therefore, when the periphery of the component W comes directly below the optical sensors S1 to S3, each of the optical sensors S1 to S3 changes from OFF to ON or from ON to OFF. The periphery of the position of W can be detected.

In this embodiment, as described above, the optical sensors S1 to S3 for detecting the periphery of the component W are used.
The position and orientation of the component W are detected, and the component holding device H is detected.
This is because a predetermined portion (appropriate suction position) of the component W is sucked by a suction pad (described later) supported by the device.

The optical sensors S1 to S3 on the component holding device H
Are arranged as shown in FIG. In FIG. 10, straight lines connecting the center of the rotary shaft 17a connected to the component holding device H and the optical sensors S1, S2 and S3 are indicated by L1, L2 and L3, respectively.
The angles formed by 2 and L3 and the Y axis are θ1, θ2 and θ3.

In the state of FIG. 10, when the position of the rotary shaft 17a connected to the component holding device H is set as a reference position Ao, and an XY coordinate axis with the reference position Ao as an origin is set, The position (coordinate) Ao of the rotation axis 17a is (0, 0). In the state of FIG. 10, the optical sensor S supported by the component holding device H
1, S2 are arranged along the X axis and the optical sensors S2,
S3 is arranged along the Y axis.

In FIG. 10, the optical sensors S1 to S1
The XY coordinates of S3 are represented as follows. S1 (X11, Y11) S2 (X21, Y21) S3 (X31, Y31)

In this case, the coordinates of the optical sensors S1 to S3 are expressed by the following equations. X11 = L1 · cosθ1, Y11 = L1 · sinθ1 X21 = L2 · cosθ2, Y21 = L2 · sinθ2 = Y11 X31 = L3 · cosθ3, Y31 = L3 · sinθ3

The values of L1 to L3, θ1 to θ3, a, and the like are calculated by using a computer C1 (see FIG. 1) described later.
It is stored in the OM. The positions of the optical sensors S1 to S3 can always be detected from the rotation amounts of the pulse motors Mx, My, Mz, 17 of the component transporting device U1. Therefore, when the periphery of the component W comes directly below the optical sensors S1 to S3, the coordinate position of the periphery of the position of the component W is detected based on the output signals of the optical sensors S1 to S3 that change from OFF to ON or from ON to OFF. can do. That is, the position, the planar shape, and the like of the component W on the pallet P can be detected by the optical sensor.

In order to suck a predetermined portion (appropriate suction position) of the component W by the suction pad (described later), the position of the component W detected by the optical sensors S1 to S3 is determined in accordance with the coordinate position of the periphery of the position. Each pulse motor Mx, My, Mz, 17
The amount of rotation may be controlled, but the specific control method is out of the scope of the gist of the present invention, and a detailed description thereof will be omitted. Incidentally, the position and posture of the component W are described in Japanese Patent Application Laid-Open No. 62-185103.
It is also possible to detect using an image input device such as a CD camera and an image processing device.

Next, the component holding device H will be described in detail with reference to FIGS. The component holding device H is connected to the lower end of the rotation shaft 17a of the pulse motor 17 via a connection plate 18. The directions of the arrows X, Y, and Z shown in FIGS. 3 to 6 correspond to the directions of the X, Y, and Z axes shown in FIG. The right side (X direction) of FIGS. 3, 6, and 7 is the front R1, the left side is the rear R2, and the left side of FIG.
Is referred to as right Q2.

In FIG. 3, the component holding device H includes a plate-shaped portion 20 connected to the connection plate 18 and a substantially rectangular parallelepiped hand body 21 integrally formed therewith.
The hand body 21 has the heat sink 1 on its lower surface.
Further, a plurality of gas outlets 22 are formed to form a Bernoulli-type suction pad (negative pressure suction type suction pad) for sucking a component W such as the ink jet printer head 2 in a non-contact manner. The gas outlet 22 is configured to be supplied with gas from a gas supply source (not shown).

The hand body 21 has a front end position (see FIG. 3 and FIG. 4 where the ink jet printer head 2 is shown as a component W) sucked on its lower surface.
The right end position of the suction work is regulated by a front end position regulating means (that is, a position regulating means in the X-axis direction) 23. As shown in FIG. 3, the suction work front end position restricting means 23 includes an air cylinder (X-axis direction position adjusting means) 24 and a front end position restricting member supporting position controlled in the front-rear direction by the air cylinder 24. Body (that is, the X-axis direction position regulating member support) 25 and a front end position regulating pin (that is, a front end position regulating pin) movably inserted in a pin insertion hole 25a formed at the lower end of the front end position regulating member support 25. An X-axis direction position regulating member) 26 and a rearward pressing spring (ie, an elastic member that holds the X-axis direction position regulating member at a predetermined position) 27 that constantly pushes the front end position regulating pin 26 rearward. ing. In addition,
The rear pressing spring 27 is constituted by a leaf spring,
The front end position regulating member support 25 is provided with the hand main body 2.
It is configured to be guided in the X-axis direction along an X-axis direction guide pin (not shown) fixed to 1 (a guide pin configured similarly to the Y-axis direction guide pin shown in FIG. 4).

Further, the hand body 21 has a suction work right end position regulating means (ie, Y-axis direction position regulating means) 31 for regulating the right end position (the right end position in FIG. 4) of the component W sucked on the lower surface thereof. Is provided. As shown in FIG. 4, the suction work right end position regulating means 31 is an air cylinder (Y axis direction position adjusting means).
32, a right end position regulating member supporter (ie, a Y-axis direction position regulating member support) 33 whose position is controlled in the left-right direction by the air cylinder 32, and a lower end of the right end position regulating member support 33. The right end position regulating pin (that is, the right end position regulating pin) movably inserted in the pin insertion hole 33a
A left-side pressing spring (elastic member for holding the Y-axis direction position restricting member at a predetermined position) 35 which constantly presses the right end position restricting pin 34 to the left.
It is composed of The left pressing spring 35 is formed by a leaf spring, and the right end position regulating member support 25 is moved along a Y-axis direction guide pin (see FIG. 4) 36 fixed to the hand main body 21. It is configured to be guided in the axial direction.

The lower surface of the hand main body 21 for sucking the component W (1 or 2) gradually moves from the horizontal plane toward the front (in the direction of R1 in FIG. 3) and to the right (in the direction of Q2 in FIG. 4). It is arranged to be inclined downward. Therefore, when the component W is attracted to the lower surface of the hand main body 21, the component W is held in a posture in which the front side and the right side are lowered, so that the component W slides in the direction of the front R1 and the right side Q2. In this way, the position of the component W that slides to the front R1 and to the right Q2 comes into contact with the rear end surface of the front end position regulating pin 26 and the left end surface of the right end position regulating pin 34, and the position is determined.

Since the size of the component W is different between the case where the component W is the heat sink 1 and the case where the component W is the ink jet printer head 2, the air cylinder 2
The positions of the front end position restricting member support 25 and the right end position restricting member support 33 are adjusted by 4, 32 to adjust the restricting position of the component W sucked to the lower surface of the hand main body 21.

The component holding device H is provided with the reference numerals 20 to 3
The component transport device U1 is composed of the elements indicated by the reference numerals 3 to 35.

The heat sink (component) 1 as a substrate mounted on the upper surface of the substrate mounting pallet P11 is transported to the upper surface of the clamp jig U2 by the component transport device U1.
The clamp jig U2 includes three heat sink support pins 41 (see FIGS. 5 and 4) on which the heat sink 1 is placed. Further, the clamp jig U2 is in contact with two rear end positioning pins 42 for regulating the rear end position (left end position in FIG. 5) of the heat sink 1 and the front end surface of the heat sink 1 on the heat sink support pin 41. A front-rear positioning air cylinder 43 for pressing the heat sink 1 against the end positioning pin 42 is provided.

As shown in FIGS. 4 and 5, the clamp jig U2 is provided with a left end position regulating means 45 (left end position in FIG. 4 and lower end position in FIG. 5) for regulating the left end position of the heat sink 1. (See FIG. 5). The left end position regulating means 45 is movable along an air cylinder 46 and a guide (not shown) in the left-right direction (vertical direction, Y-axis direction in FIG. 5), and is moved by the air cylinder 46 in the left-right direction (Y-axis direction). And a moving block 47 that is adjusted. As shown in FIGS. 4 and 5, the left end position of the heat sink 1 is regulated by right end protrusions 47a of the moving block 47. The heat sink 1 is connected to the right end protrusions 47a, 47a of the moving block 47.
Is positioned by a left-right positioning air cylinder 48 that presses against the air cylinder 48.

On the upper surface of the moving block 47, a printer head left end positioning plate 50 (Y-axis direction positioning member) is laminated via a plate-like spacer 49 for height adjustment, and fixed by bolts 51. . As shown in FIG. 4, the left end positioning plate 5 for the printer head is used.
The through hole 50a through which the zero bolt 51 penetrates is formed as a long hole so that the position in the left-right direction of the printer head left end positioning plate 50 can be finely adjusted. At the right end of the printer head left end positioning plate 50, two positioning protrusions (that is, abutting portions in the Y-axis direction) 50b (see FIG. 5) are formed. This is used for positioning the ink jet printer head 2 mounted on the printer in the left-right direction (Y-axis direction).

The three heat sink support pins 41 (see FIGS. 4, 5, 6, and 7) on which the heat sink 1 is mounted are mounted on the heat sink 1 on the rear side (the left side in FIG. 3, R2 side). A printer head front-rear direction positioning means 61 used for positioning the ink-jet printer head 2 in the front-rear direction (X-axis direction) is provided. The printer head front-rear direction positioning means 61 includes a base 62, a movable base 63 supported on the base 62 so as to be movable left and right (X-axis direction), and a left side of the base 62 (in FIG. 6, (A lower portion, a Q1 side portion). A movable table transfer cylinder 65 is supported by the support table 64, and the rear end of the telescopic rod 65 a of the movable table transfer cylinder 65 and the rear end of the movable table 63 are connected by a connecting member 66. The movable table 63 moves backward when the telescopic rod 65a is extended, and moves forward when contracted.

A fixed base 67 having a through hole 67a in the front-rear direction is supported at the front end of the upper surface of the movable base 63, and a fine adjustment cylinder 68 capable of precisely controlling the end position of the telescopic rod 68a is provided behind the fixed base 67. Supported. The fine adjustment cylinder 68 is constituted by a shaft that converts the rotation of the servo motor into a linear motion.

A head rear end positioning rod 70 (X-axis direction positioning member) is inserted in the through hole 67a of the fixing base 67 so as to be able to move back and forth, and the front end of the head rear end positioning rod 70 is connected to the printer head 2. Is formed as a head rear end positioning end surface 70a with which the rear end contacts.
A long groove 70 for guiding is provided in the head rear end positioning rod 70.
b is formed in the long groove 70b.
The guide pin 71 fixed to is engaged. A flange 70c is provided at the rear end of the head rear end positioning rod 70, and a compression spring 72 is provided between the flange 70c and the fixed base 67. This compression spring 72
As a result, the head rear end positioning rod 70 is constantly pushed rearward, and the position in the front-rear direction is positioned by the front end of the telescopic rod 68a of the fine adjustment cylinder 68. That is, the position of the head front end positioning end surface 70a is adjusted by the telescopic rod 68a of the fine adjustment cylinder 68.
It is adjusted by adjusting the length of the protrusion.

As shown in FIG. 1, a set jig 81 is disposed to the left of the clamp jig U2. The set jig 81 positions and holds the ink jet printer head 2 conveyed by the component conveying device U1 in a predetermined posture. The ink jet printer head 2 held on the set jig 81 in a predetermined posture (a posture capable of capturing an image with a TV camera) is moved by a TV camera 82 as shown in FIG.
(B), an image of the side surface where the inkjet nozzle 2a shown in FIG. 9 is opened is imaged. The image signal picked up by the TV camera 82 is processed by the image
(B), the distance d shown in FIG. 9 is calculated. The signal indicating the distance d is input to a control device C including a computer C1, a keyboard C2, a display C3, and the like.

The control device C controls the side surface of the heat sink 1 and the side surface of the ink jet printer head 2 to make the distance D shown in FIG. 8B constant from the value of the distance d input from the image processing device 83. Distance, ie, D−d
Is calculated. Then, the protrusion length of the telescopic rod 68a of the fine adjustment cylinder 68 is controlled so that the value of the distance D-d becomes the calculated value.

Next, the operation of the component assembling apparatus having the above configuration will be described. The heat sink 1 or the ink jet printer head 2 mounted on a pallet P (the pallets P1 and P2 are collectively referred to as P) such as the substrate mounting pallet P11 or the printer head mounting pallet P21 is sucked and transported. Then, when the work of assembling them on the clamp jig U2 starts, the flow shown in FIGS. 11 and 12 is started.

In step T 1 of FIG. 11, the ink jet printer head 2 is set on a setting jig 81. Next, in step T2, the image processing device 83 is instructed to start measurement. When the start of measurement is instructed, the determination in step T11 in FIG. 12 becomes Y (yes), and the processes in steps T12 to T20 in FIG. 12 are sequentially performed, which will be described later.

Next, in step T3, the heat sink 1 is clamped on the clamp jig U2. Next, in step T4, it is determined whether the movement of the moving table 63 by the operation of the moving table transfer cylinder 65 has been completed (ie, whether the positioning of the head front end positioning end face 70a has been completed). If N (No), step T4 is repeated, and if Y (Yes), the next step T5
Move on to The movement of the movable table 63 is performed according to the flow shown in FIG. 12, which will be described later.

At step T5, the ink jet printer head 2 which has been measured is clamped to the clamp jig U2.
The work of assembling to the upper heat sink 1 is performed. When performing this operation, the ink jet printer head 2 adsorbed on the Bernoulli suction pad on the lower surface of the hand body 21
The position in the X-axis direction (front-back direction) is regulated by a rear end face (X-axis direction position regulation end face) of a front end position regulation pin 26 held at a predetermined position by a rear pressing spring 27. The position of the component sucked on the Bernoulli suction pad on the lower surface of the hand main body 21 in the Y-axis direction (left-right direction) is as follows.
It is regulated by the left end face (Y-axis direction position regulation end face) of the right end position regulation pin 34 held at a predetermined position by the left pressing spring 35.

In this manner, the suction is performed by the Bernoulli-type suction pad on the lower surface of the hand main body 21 of the component transfer device U1,
And the position in the X-axis direction and the position in the Y-axis direction
7, 35 (that is, the component mounting surface 1 of the heat sink 1 of the inkjet printer head 2, which is regulated using the rear pressing spring 27 and the left pressing spring 35).
When performing the positioning on the a (positioning in the X-axis and Y-axis directions), the side surface of the ink jet printer head 2 is brought into contact with the Y-axis direction contact portion (50b) and the X-axis direction contact portion (70).
a). An impact force acts on the ink jet printer head 2 at the time of the contact, and the impact force is absorbed by the elastic members 27 and 35. Therefore, it is possible to prevent the ink jet printer head 2 from being damaged by an impact when the side surface of the ink jet printer head 2 is brought into contact with the Y axis direction contact portion (50b) and the X axis direction contact portion (70a). Can be prevented.

In this way, the ink jet printer head 2 which has performed the positioning in the X-axis and Y-axis directions on the component mounting surface 1a of the heat sink 1 is moved in the Z-axis direction to mount the component on the heat sink 1. Press against surface 1a. Since an adhesive is previously applied to necessary parts of the component mounting surface 1a, the inkjet printer head 2 is fixed at a predetermined position on the component mounting surface 1a.

Next, in step T6, the clamp jig U2
An evacuation command is issued to the upper air cylinders 43 and 48 and the movable table transfer cylinder 65. Note that the step T6
When an evacuation command is issued in step T21,
Is determined as Y (yes), and the processing of steps T22 to T23 in FIG. 12 is sequentially performed, which will be described later. Next, in step T7, it is determined whether the evacuation is completed. If N (No), step T7 is repeatedly executed, and if Y (Yes), the process proceeds to the next step T8.

In step T8, the completed product (the component in which the ink jet printer head 2 is assembled on the heat sink 1) is carried out by the component transport device U1. Next, in step T9, it is determined whether a work end signal has been input. If N (No), the process returns to step T1, and if Y (Yes), the process ends.

In step T11 of FIG. 12, it is determined whether a measurement start command has been issued. If N (No), step T11 is repeatedly executed, and if Y (Yes), the process proceeds to the next step T12. The measurement is started in step T12. Next, in step T13, the measurement data is sent to the control device C.

Next, at step T14, it is determined whether or not the position data is normal. In the case of N (No) (that is, in the case of abnormality), the process proceeds to Step T15, and in the case of Y (Yes), the process proceeds to Step T17. In step T15, it is determined whether or not the number of continuous abnormal measurements is three or less. Y (yes)
In the case of (2), the process returns to the step T12, and in the case of N (No), the process proceeds to the step T16 to perform the abnormal processing. In this abnormal process, the inkjet printer head 2 on the set jig 81 is taken out by the component transport device U1 and stored (placed) on the defective printer head placement pallet P22,
Set a new inkjet printer head 2 in a jig 8
Conveyed to the upper side. After performing the abnormal processing, step T12 is performed.
Return to

If Y (yes) in step T14, then in step T17 the fine adjustment cylinder 6
The protrusion length of the telescopic rod 68a of No. 8 is adjusted. Next, in step T18, it is determined whether the heat sink 1 is set on the clamp jig U2. If N (No), step T18 is repeatedly executed, and if Y (Yes), the process proceeds to the next step T19. In step T19, a movement command is issued to the moving table transfer cylinder 65. Next, in step T20, the moving table 63 is advanced by the set predetermined distance by the moving table transport cylinder 65. At this time, the position of the head front end positioning end face 70a is determined in step T14.
It is positioned at a position corresponding to the protrusion length of the telescopic rod 68a adjusted by.

Next, in step T21, the clamp jig U
It is determined whether or not there has been an evacuation command for the upper air cylinders 43 and 48 and the movable table transfer cylinder 65. N
In the case of (No), step T21 is repeatedly executed, and Y
In the case of (yes), the process moves to the next step T22. In step T22, each air cylinder 4 on the clamp jig U2
3, 48 and the movable table transfer cylinder 65 are retracted.

Next, in step T23, it is determined whether a work end signal has been input. If N (No), the process returns to step T11, and if Y (Yes), the process ends.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications may be made within the scope of the present invention described in the appended claims. Small design changes can be made.

For example, the present invention can be applied not only to the case where the ink jet printer head 2 is positioned and mounted on the component mounting surface of the heat sink 1 but also to the case where an appropriate component is mounted on another component mounting surface. Further, depending on the shape of the work, the X-axis direction positioning member 26 and the Y-axis direction positioning member 34 can be formed in a rectangular parallelepiped shape instead of the pin shape. Further, instead of using a Bernoulli-type suction-adsorption pad that suctions components in a non-contact manner, another negative-pressure suction-type suction pad can be used as the negative pressure suction-type suction pad that suctions components.

[0061]

According to the above-mentioned component holding apparatus of the present invention, the side surface of the component sucked by the negative pressure suction type suction pad for sucking the component by the negative pressure is applied to the positioning member arranged at a predetermined distance from the component mounting surface. The contact allows accurate positioning of the component on a plane (XY plane) parallel to the component mounting surface. Then, when positioning the component held by the component holding device on the component mounting surface, the impact force applied to the component by the contact is transmitted to the elastic member via the position regulating member. Then, the impact force is absorbed by the deformation of the elastic member. In addition, the present invention adjusts the position of the X-axis direction position regulating member support in the X-axis direction and adjusts the position of the Y-axis direction position regulation member support in the Y-axis direction, whereby the lower surface of the hand main body is adjusted. The suction position of the component to be sucked by the negative pressure suction type suction pad formed at the position can be adjusted. Therefore, the component can be sucked at an appropriate suction position or posture in accordance with the shape, size, and the like of the component sucked on the lower surface of the hand main body. Further, according to the present invention, since the elastic member for absorbing the impact force is constituted by a leaf spring and the position regulating member is constituted by a pin penetrating the position regulating member support, the structure of the component holding device can be simplified. can do. In this case, since the structure is very simple, it is inexpensive and excellent in maintainability.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of an embodiment of a component assembling apparatus U using a component holding apparatus H of the present invention.

FIG. 2 is an explanatory view of the same embodiment, and is II-II of FIG.
It is a line sectional view.

FIG. 3 is a front sectional view of a main part of the embodiment.

FIG. 4 is a side sectional view of a main part of the embodiment.

FIG. 5 is a plan view of the same embodiment (as viewed from the line VV in FIG. 3).

FIG. 6 is a plan view of the X-axis direction positioning member adjusting device for adjusting the position of the X-axis direction positioning member (front end positioning pin) of the embodiment.

FIG. 7 is a side view of the X-axis direction positioning member adjusting device for adjusting the position of the X-axis direction positioning member (front end positioning pin) of the embodiment.

FIG. 8 is an explanatory view of the embodiment, and shows a heat sink 1 as a base material and an ink jet printer head (attached component) 2 attached thereto.

FIG. 9 is a perspective view of the ink jet printer head (mounting component) 2 of the embodiment.

FIG. 10 is an explanatory diagram of sensors S1 to S3 provided on the component holding device H of the embodiment and displaying component positions.

FIG. 11 is a view showing steps T1 to T9 of the flowchart of the embodiment.

FIG. 12 is a diagram showing steps T11 to T12 of the flowchart of the embodiment.

[Explanation of symbols]

U2 ... clamp jig, 1 ... base material, 1a ... component mounting surface, 2 ...
Attachment parts, 26: X-axis direction position regulating member, 27: Elastic member, 34: Y-axis direction position regulating member, 35: Elastic member, 5
0: Y-axis direction positioning member, 50b: Y-axis direction contact part,
68: Positioning member fine movement adjustment device, 70: X-axis direction positioning member (head rear end positioning rod), 70a: X-axis direction contact part (head rear end positioning end face)

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2-116484 (JP, A) JP-A-62-157792 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B25J 19/00 B23Q 7/04 B25J 9/02 B25J 15/06

Claims (3)

(57) [Claims] A vertically movable hand body having a negative pressure suction pad for sucking a component by a negative pressure formed on a lower surface thereof, and the hand of the component sucked on the lower surface of the hand body. X-axis direction position regulating means for regulating the position of one side surface in the X-axis direction along the lower surface of the main body, and Y-axis for regulating the position of one side surface in the Y-axis direction perpendicular to the X-axis direction and along the lower surface of the hand body. and a direction position regulating means, the adsorbed
To position parts in the X-axis and Y-axis directions
The hand body disposed below the hand body and
Position in the X-axis direction that can be moved in the X-axis direction regardless of the movement of
Determining member and Y-axis positioning that can move in the Y-axis direction
The member is moved from the other side in the X-axis direction and the Y-axis direction.
Each of the parts is held so as to be able to contact the sucked part.
In the component holding device, the X-axis direction position restricting means is supported by the X-axis direction position restriction member support, and movably supported in the X-axis direction by the X-axis direction position restriction member support. An X-axis direction position regulating member having one end surface formed with an X-axis direction position regulating end surface that is in contact with the component, and an X-axis direction position regulating member that comes into contact with the other end surface of the X-axis direction position regulating member to a predetermined position. The Y-axis direction position restricting means is supported by a Y-axis direction position restricting member support and movably supported in the Y-axis direction by the Y-axis direction position restricting member support. A Y-axis direction position regulating member having a Y-axis direction position regulating end surface formed on one end surface in the axial direction and abutting on the component; and a Y-axis direction position regulating member abutting on the other end surface of the Y-axis direction position regulating member. Elasticity to hold in place Component holding apparatus characterized by being composed of a wood. 2. The X-axis direction position restricting means includes an X-axis direction position adjusting means for moving the X-axis direction position restricting member support member in the X-axis direction. 2. The component holding device according to claim 1, further comprising a Y-axis direction position adjusting means for moving the axial position regulating member support in the Y-axis direction. 3. The X-axis direction position restricting member is constituted by a position restricting pin that penetrates the X-axis direction position restricting member support. The elastic member holding the X-axis direction position restricting member at a predetermined position is provided. The Y-axis direction position restricting member is constituted by a position restricting pin penetrating the Y-axis direction position restricting member support.
3. The component holding device according to claim 1, wherein the elastic member that holds the axial position regulating member at a predetermined position is configured by a leaf spring that abuts one end of the position regulating pin. 4.