JP3025282B2 - Work holding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention conveys, for example, a plurality of works arranged at regular intervals and arranges them at different intervals at different places. Related to King device.

[Prior Art] Conventionally, for example, a work 1 such as a glass substrate used for manufacturing a solar cell or the like or a ceramic substrate used for manufacturing a hybrid integrated circuit, as shown in FIG. ., And are transported, and are relocated and stored in the recesses 3a, 3a,. At this time, the arrangement interval of the works 1, 1,... Carried by the conveyor belt 2 is often different from the arrangement interval of the concave portions 3a, 3a,.

In this case, conventionally, the works 1, 1,... Carried by the conveyor belt 2 are temporarily transferred onto the alignment belt 5 by a device 4 called a pick and place. This alignment belt 5
Are arranged at the same interval as the arrangement interval p of the recesses 3a, 3a... Of the storage tray 3 that are conveyed on the conveyor belt 2 at the interval P. For this reason, a driving motor independent of the driving pulse motor for the conveyor belt 2 is provided, and the traveling speed can be adjusted according to the arrangement interval to be changed.

The works 1, 1 rearranged on the alignment belt 5
Are simultaneously sucked by the suction bar 6 having vacuum suction pads 6a, 6a, etc. provided at the lower ends thereof, and are transferred to the concave portions 3a, 3a,.

[Problems to be Solved by the Invention] However, in the above-described conventional work transfer device, works which are batch-processed in the previous process and are continuously transferred must be temporarily rearranged on an alignment belt by a device called pick and place. In addition, the processing capability depends on the pick-and-place capability. For this reason, there has been a problem that the portion becomes a bottleneck and the processing capacity of the entire transport system is low.

Further, in this conventional work transfer device, the number of transfer man-hours is large, and there are many chances that a trouble accompanying the transfer of the work occurs. Further, depending on the size of the work, the interval between the concave portions of the storage tray for accommodating the work changes. In this case, it is necessary to change or replace the interval between the vacuum suction pads of the suction bar, and the replacement and adjustment are troublesome. .

Therefore, an object of the present invention is to provide a work holding device capable of easily changing a work arrayed at a constant interval to another interval in view of the above-described problems in the related art.

[Means for Solving the Problems] That is, in order to achieve the above object, according to the present invention, there is provided a device for holding a plurality of workpieces arranged at a constant interval at an equal interval, wherein a fulcrum at one end side is linear. A swinging link supported swingably at a fixed interval, and an operating point at the other end of the swinging link connected to the swinging link so as to be relatively movable in the longitudinal direction thereof, and A plurality of chuck units slidably arranged in a line on a parallel straight line, a guide link driven in a direction orthogonal to the straight line in which the fulcrum and the action point of the swing link are arranged, and A workpiece holding device provided with an arc-shaped guide for guiding a moving point between the fulcrum of the oscillating link and the application point so that the operation points of the oscillating link are at equal intervals. I will provide a.

[Function] In the work holding device of the present invention, the chuck units are arranged in a line so as to be freely slidable on a straight line, and the intervals between the chuck units are variable, and the swing links and the guides are equally spaced. Since these chuck units are connected to each other via the link, it is possible to arbitrarily change these units while keeping the intervals of these units equal. Therefore, after holding a plurality of works arranged at a certain interval with the chuck units corresponding to the interval,
By changing the distance between the chuck units while moving this apparatus, the workpiece can be moved to another place at another distance.

In the present invention, the moving point of the rocking link, which is located between the fulcrum and the working point of the rocking link, is guided along the arc-shaped guide provided on the guide link. By simply sliding along the arcuate guide provided on the guide link, an operation point of the chuck unit can be guided. Thereby, a smooth operation can be performed.

Furthermore, since the moving point located between the fulcrum and the operating point of the oscillating link is guided by the arc-shaped guide, the distance between the oscillating link, the fulcrum and the operating point, and the ratio of the distance between the fulcrum and the operating point can be calculated. The distance between the chuck units can be varied in a range several times as large as the distance between the fulcrums. Therefore, it is possible to change the arrangement interval of the works in a wide range.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 2 shows an entire work transfer device to which a work holding device according to an embodiment of the present invention is applied. For example, a glass substrate used for a solar cell, or a ceramic substrate used for manufacturing a hybrid integrated circuit, such as a work 10,
Are placed on the conveyor belt 21 of the work conveyor 20 and supplied at a constant interval P. Reference numeral 22 in FIG.
Is a motor such as a pulse motor that generates a driving force for moving the transfer belt 21 of the work transfer device 20.

A work accommodation tray 30 for accommodating the works 10, 10,... Is disposed beside the work transfer device 20.
The work storage tray 30 has recesses 11, 11,... For housing the works 10, 10,..., And these recesses 11, 11,. The gaps between the recesses 11, 11 formed on the work storage tray 30 are different from the gap P between the works 10, 10,.

Further, between the work transfer device 20 and the work storage tray 30, there is provided a work holding device 40 for holding the works 10, 10,... And moving from one to the other. It reciprocates between 20 and the work storage tray 30.

FIG. 1 shows the detailed structure of the work holding device 40 described above. In the work holding device 40, the upper ends of the plurality of swing links 41, 41.
Are connected on a straight line at regular intervals, and these oscillating links 41, 41,.
It is swingable around t _{1 to} t _n . At the lower ends of the swing links 41, 41,... Are formed long holes 43, 43,.

At the lower ends of the swing links 41, 41 ..., the same number of chuck units 44, 44 ... as the swing links 41, 41 ... are slidably attached to slide rods 45 parallel to the bar 50. . The chuck units 44 are attached with chucks 51, 51, such as vacuum suction belts, for chucking the supplied works 10, 10,... Or releasing the chucking. Also, from the side surfaces of these chuck units 44, 44, pins 46,
Are protrudingly provided, and these pins 46 are slidably fitted into the elongated holes 43 of the corresponding swing links 41, 41, respectively. Therefore, the positions of the chuck units 44 on the slide rod 45 are determined by the inclination angles of the swing links 41, 41.

Pins 47, 47... Protrude from the intermediate portion of the swing links 41, 41. A guide link 48 is disposed between the bar 50 and the slide rod 45, and is slidable in a direction parallel to and perpendicular to the bar 50, and formed with arc-shaped groove guides 49, 49. Have been. And a pin at an intermediate portion between the swing links 41, 41,.
47 are slidably fitted into the guides 49, 49. Therefore, with the movement in the vertical direction of the guide link 48, the pin acts as a moving point v ₁ ~v _n 47,47 ...
Are guided by the guides 49, 49,.
Are determined in the horizontal direction. That is, the fulcrum t ₁ ~t _n of swing links 41, 41 ... are on a straight line are fixed at regular intervals, by the pins 47, 47 ... horizontal position of is determined, each The angle of the link is determined, and the position of the pins 46, 46 connected to its lower end is determined. Here, each guide 49, 49 of the guide link 48
..., the pins 46, 46 ... moving point v ₁ intervals as is always equal the to v _n of trajectories x, y, are formed along the z.

This point will be explained by FIG. 3, the swing link 41, the fulcrum t _n of the upper end side, moving points v _n of the intermediate portion, and has a lower end side of the working point t _n ', the fulcrum t _n, Are arranged at regular intervals on a straight line, for example, the interval is set to the minimum interval at which the works 10, 10,... Are arranged. The action point t _n ′ is on a straight line parallel to the straight line on which the fulcrum t _n is arranged, and the interval therebetween is variable. Moving point v _n is the locus x of the guide 49, y, by moving along the z, varies the spacing of the working point t _n '. In this case, the distance between the fulcrum t _n and the action point t _n ′ is l
Then, the inclination angle θ of the n-th swing link 41 from the right in FIGS. 1 and 3 is expressed by the following equation.

_{^{θ = tan -1 {(p 1}} · n-p 2 · n) / l} where, p ₁ and p _2, the distance and the point between the fulcrum t _n
The distance between t _n '.

The trajectories of the guides 49, 49... Are represented by the following equation, where x is the starting point, y is the middle point, z is the ending point, and the distance between the points is h, i, j. Is an arc of radius r.

In the case of using the work holding device 40 in the transfer device shown in FIG. 2, first, the guide link 48 causes the space between the chuck units 44, 44,.
The workpieces are chucked by matching the interval p ₂ (see FIG. 3) between 6, 46... With the interval P at which the workpieces 10, 10. Then, moves the workpiece holding device 40, the guide link 48 is moved downward from the position, spread chuck unit 44 ... distance p ₂ between, the workpiece accommodating tray 30 recess 11, 11 ... of The workpieces 10, 10,... Are moved over the recesses 11, 11,. Then release the chucking and work 10, 10
Are stored in the recesses 11, 11, respectively.

As described above, according to the work holding device 40, even when the size of the work, the interval P of the transferred work, or the arrangement interval p of the concave portions 11, 11,... By adjusting the position of the link 48, these can be easily handled. Guide 49,
By exchanging the guide links 48 with different trajectories 49, the range in which the intervals between the chuck units 44, 44,... Can be changed can be changed.

[Effects of the Invention] As is clear from the above description, according to the work holding means of the present invention, the work arranged at a fixed interval is chucked, and the chucked work is changed to a constant and different interval. King can be released. Therefore, by applying this as a work chuck unit of a work transfer device,
It is possible to configure a transfer device that directly and quickly transfers to an arrangement state with different intervals.

[Brief description of the drawings]

FIG. 1 is a side view showing a work holding device according to an embodiment of the present invention, FIG. 2 is a plan view showing a work transfer device to which the work holding device is applied, and FIG. 3 shows the operation of the work holding device. FIG. 4 is a plan view showing a conventional work transfer device. 10 …… Work, 40 …… Work holding device, 41 …… Link,
44 …… Chuck unit, 48 …… Guide link, 49 ……
guide

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 47/90-47/92 B25J 15 / 00,15 / 06

Claims (1)

(57) [Claims] An apparatus for holding a plurality of workpieces arranged at regular intervals at regular intervals, comprising: a pivot link having a fulcrum on one end side pivotally supported at regular intervals on a straight line; A plurality of chucks connected to the action point at the other end of the swing link so as to be relatively movable in the longitudinal direction with respect to the swing link, and slidably arranged on a straight line parallel to the straight line. A unit, a guide link that is driven in a direction orthogonal to a straight line in which the fulcrum and the action point of the swing link are arranged, and provided on the guide link so that the action points of the swing link are at equal intervals. A work holding device comprising: an arc-shaped guide for guiding a moving point located between a fulcrum and an action point of the swing link.