JP3494144B2 - Positioning 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 positioning device, and more particularly to a positioning device that can be used for positioning precision small parts as a pre-processing for inserting those parts that require accurate positioning. Regarding the device.

[0002]

2. Description of the Related Art Conventionally, when mounting electronic parts (workpieces) such as integrated circuits, capacitors, resistors, etc. on a printed circuit board, those workpieces are sucked by a vacuum suction device and held to the mounting position. However, it must be transported to a predetermined position. In this case, if each work is not accurately positioned, it is difficult to automatically mount it on the printed circuit board.Therefore, in general, place the work on the positioning device, position it accurately, and then position it by suction. It is implemented while maintaining the accuracy of. Further, also in the case of test-evaluating a work, after performing positioning by a positioning device in advance, the work is inserted into a test socket or a probe is directly applied to a terminal. Furthermore, when taping a chip component, the chip component is accurately positioned as a pre-process.

An example of such a positioning device is Japanese Patent Laid-Open No.
No. 90787, Japanese Unexamined Patent Publication No. 6-69688 and Japanese Unexamined Patent Publication No. 9-116298 are known. The positioning devices described in these have movable claws mounted so as to reciprocate in four directions around the work, and the positioning is performed by 4
It is performed by holding the work from four directions with two movable claws. At this time, the work is clamped by a method in which the movable claw does not give a shock to the work and the positioning is performed smoothly. The shape of the claw differs depending on the target work, and the driving method of the movable claw for positioning is various, such as using the elasticity of the slit, using the link mechanism, and using the disc cam. There is.

Usually, the pressing force for positioning the work utilizes the spring pressure using a winding wire such as a compression spring or a tension spring. Further, the positioning device is required to have highly accurate positioning and maintain the accuracy (life) as its basic performance. In order to ensure such performance in the part where the movable claw reciprocates, a linear bearing is generally adopted. As a typical linear motion bearing, there is known a linear motion bearing capable of reciprocating in the axial direction in a state in which both sides of an elongated track rail having a rectangular cross section are held by a slider. A groove is formed in the longitudinal direction on the side surface of the track rail, and a ball is arranged between the groove and both side parts that hang parallel to the side surface of the track rail from the both side surfaces of the slider to form a linear motion bearing, The movable claw is mounted on the slider for use.

[0005]

According to the conventional positioning device, the movable claw which comes into contact with the work and positions the work exerts a pressing force on the work by a spring. Or indirectly through a mechanism such as a link. However, although the movable claw is small in itself, the drive unit for moving the movable claw requires a compression spring or a tension spring using a winding and a link mechanism, so that the device itself becomes large. There was a point.

Further, the sliding portion for moving the movable claw is
In order to maintain high accuracy and long life, linear motion bearings may be adopted, but for linear motion bearings of the type that grips both sides of the track rail with balls, it is necessary to fix the track rail to the device body. Therefore, it is necessary to drive the slider on which the movable claw is placed from the side, the top, or the outer end side in the sliding direction, which requires a space for the drive system. Furthermore, a drive system for sliding the movable claw is provided with a link mechanism,
If the device is composed of a disc cam or the like, there is a problem that the device becomes larger.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a highly accurate positioning device which is reduced in size and weight.

[0008]

According to the present invention, in order to solve the above-mentioned problems, a work placed on an installation table is placed opposite to each other.
In a positioning device that sandwiches and positions with a claw arranged in a direction, linear guide means that are arranged radially around the installation table and that reciprocate each of the claws on an axis in each direction, and the claw to the work. A spring means having a small installation cross-sectional area that is biased toward each other, and a cam that is arranged at the lower part of the installation table and that converts vertical motion by external drive into horizontal motion in the direction in which the pawl separates from the work. Means, the spring means comprising
It is a wire spring that utilizes the springiness of arming,
The urging force of the spring for urging the facing claw is set to the wire diameter or
A positioning device is provided which is characterized by an imbalance due to the forming shape .

According to such a positioning device, when the vertical driving force is applied, the cam means directly converts the vertical movement into the horizontal movement, and the horizontal movement moves the pawl in the opening direction, and the spring means. The work clamps and positions the work by urging the claws toward the work. As a result, since the spring means has a small installation cross-sectional area, the spring means can be downsized, and the cam portion directly changes the driving direction. Therefore, the size can be further reduced and the overall weight can be reduced.
The urging force of the spring for urging the facing claw is set to the wire diameter or
By imbalanced by the forming shape,
Determine the claw as the reference position.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings by taking as an example a case where a work is accurately positioned by being fixedly installed at a relay position for conveying a work.

FIG. 1 is a central longitudinal sectional view showing the structure of a positioning device according to the present invention, and FIG. 2 is a plan view of the positioning device according to the present invention. 1 and 2 show the positioning device in an open state before positioning, and FIG. 2 shows the positioning device with the upper lid removed for the sake of explanation.

The positioning device 1 according to the present invention has an installation base 3 for placing the work 2 in the center thereof, and is arranged slidably so that the work 2 can be sandwiched from four directions facing the periphery thereof. It has four claws 4, 5, 6, and 7. Among these, the claws 4 and 7 arranged adjacent to each other can finely adjust the stop position at the time of positioning at the outer end in the sliding direction, and also function as a stopper when the claws 4 and 7 slide. Adjustment screws 8 and 9 are provided, respectively.

One end of a return spring 10, 11, 12, 13 is locked to each of the pawls 4, 5, 6, 7 and the other end is
It is fixed to the main body 14 and urges the claws 4, 5, 6, 7 toward the work 2, respectively. These return springs 10, 11, 12, 13 are wire springs, and the spring force of wire forming is used for the biasing force of the claws 4, 5, 6, 7. Here, the return springs 10 and 13 urging the pawls 4 and 7 provided with the fine adjustment screws 8 and 9 have a large spring force, and urge the pawls 6 and 5 arranged to face them. The return springs 12 and 11 have a small spring force. The difference in spring force is set by the difference in wire diameter between the return springs 10, 11, 12, and 13 or by changing the forming shape.

Each of the pawls 4, 5, 6 and 7 has a cam extending downward (cams 15 and 16 of the pawls 4 and 6 are shown in FIG. 1). Each of the cams 15 and 16 has an inclined surface that is inclined in a direction away from the central axis of the positioning device 1 as it goes downward. Below the cams 15 and 16, there is provided a cam slider 17 which is reciprocally movable in the direction of the central axis of the positioning device 1. The cam slider 17 has a truncated pyramid-shaped head portion having an inclined surface matching the inclined surfaces of the cams 15 and 16 at the upper portion, and the main body 14 to the back lid 1 at the lower portion.
8 and a pin formed so as to project outside the apparatus. The cam slider 17 is pushed upward by a drive source (not shown), so that the return spring 1
Claws 4, 5, 6, against the urging force of 0, 11, 12, 13
7 has the function of sliding outward. The cam slider 17 is biased toward the back cover 18 by a compression spring 19 provided on the back side of the installation table 3.

As a drive source for pushing the cam slider 17 upward, an air cylinder, a motor-driven vertical stroke cam, an actuator such as a solenoid are attached, and these are selected according to the application.

The pawls 4, 5, 6 and 7 are linear motion bearings which are linear guides for linearly reciprocating the pawls (in FIG. 1, linear motion bearings for mounting the pawls 4 and 6). 20 and 21 are shown). Details of this linear motion bearing are shown in FIG.

FIG. 3 is a perspective view showing the structure of the linear motion bearing. Here, for example, a linear motion bearing 20 on which the pawl 4 is placed is shown. The linear motion bearing 20 has a cross section U.
It is provided between a track rail 21 formed in a character shape, a slider 22 on which the claw 4 is directly mounted, and a groove 23 recessed in the longitudinal direction on the inner facing surface of the track rail 21 and the slider 22. And a ball 24. Track rail 2
A hole 25 for inserting the cam 15 of the claw 4 is provided at the bottom of the 1.
Are formed.

Although not shown in the sectional view of FIG. 1, a screw hole 26 for screwing the claw 4 mounted on the slider 22 and a pin protruding from the claw 4 are omitted on the upper surface of the slider 22. A hole 27 for preventing rotation is formed to insert the.

Next, the operation of the positioning device 1 configured as described above will be described mainly with reference to FIGS. 1, 4 and 5. FIG. 4 is a central vertical cross-sectional view of the positioning device showing the stopper-attached state, and FIG. 5 is a central vertical cross-sectional view of the positioning device showing the clamped state.

First, as shown in FIG. 1, when the cam slider 17 is pushed up by an external force, its upward movement is
The cams 15 and 16 integrated with the pawls 4 and 6 are converted into horizontal movements that open outward. At that time, the four claws 4, 5,
Since the return springs 10, 11, 12, and 13 are always biased toward the center of the apparatus, the return springs 6 and 7 simultaneously slide outward in conjunction with the operation of the cam slider.

As a result, the installation table 3 becomes wider, and a transfer device (not shown) sucks or chucks the work 2 from the loader section to take it out, and as shown in FIG.
Place on top.

Next, when the driving force of the driving source installed under the cam slider 17 is eliminated or reduced, the compression spring 1
By the action of 9, the cam slider 17 starts to descend.
Then, the four pawls 4, 5, 6, and 7 have the return springs 10 and 1.
The urging forces of 1, 12, 13 start moving toward the center of the device in conjunction with the operation of the cam slider 17.

When the four claws 4, 5, 6, 7 move toward the center of the apparatus, first, the fine adjustment screws 8, 9 attached to the claws 4, 7 come into contact with the outer wall of the main body 14. Then, the claws 4 and 7 stop at that position. This position becomes the reference position when positioning the work 2. At this time, the claws 6 and 5 arranged so as to face the reference claws 4 and 7 are
As shown in, the movement of the cam slider 17 continues in the central direction of the apparatus.

Further, when the cam slider 17 descends,
The pawls 6 and 5 move the work 2 toward the reference pawls 4 and 7 by the urging force of the return springs 12 and 11, and as shown in FIG. Claw 4, which becomes
When the workpiece 2 is clamped by being brought into contact with the tip of the workpiece 7, the positioning of the workpiece 2 is completed. At this time, since the return springs 12 and 11 have only the spring force necessary to move the work, the spring forces of the return springs 10 and 13 urging the reference pawls 4 and 7 cannot be overcome. ,
The clamped state of the work 2 is maintained. In that state, the work 2 is accurately positioned by sucking or re-chucking the work 2.

After that, the transfer device attracts or chucks the work 2, drives the cam slider 17 to open the four claws 4, 5, 6, 7 and is used as a printed circuit board, a test evaluation unit or the like. The work is transported to the process position.

The positioning device 1 according to the present invention comprises return springs 10, 11, 12, for driving the four pawls 4, 5, 6, 7.
In No. 13, the installation cross-sectional area is only the wire diameter of the wire, and since the reciprocating motion of the cam slider 17 can be directly converted into the open motion of the pawls 4, 5, 6, 7, the mechanism becomes simple and the size and weight can be reduced. Has achieved.

Therefore, the positioning device 1 is not only used in a fixedly installed state, but also, for example, the work is set on a free-flow conveyor that sequentially conveys the work to a plurality of process positions, and the work is accurately positioned. It can be used as a jig for carrying while maintaining the state.

Further, the positioning device 1 may be installed on the index table and used as a jig for fixing the work when the work is sequentially rotated to a plurality of process positions.

The positioning device 1 according to the present invention described above is provided with the fine adjustment screws 8 and 9 functioning as stoppers, and the return springs 10 and 1 set to be stronger (for example, 10 N or more).
First, the reference claws 4 and 7 with 3 are fixed to form an orthogonal reference plane, and then the remaining two adjacent claws 6 and 7 are fixed.
5 is extremely weak (for example, several hundreds of mN), the return springs 12 and 11 set the work 2 so that the work 2 is pinched in such a manner as to approach the reference plane. Clamping is possible without distorting or scratching.

In the above-described embodiment, the reference claws 4 and 7 and the claws 6 and 5 for bringing the work 2 closer to the reference claws 4 and 7 are arranged symmetrically, and cams for driving them. The cams 15 and 16 and the cam slider 17 have the same shape, but in the reference claws 4 and 7 and the claws 6 and 5 approaching them, the cams 15 and 16 and the cam slider 17 which are integrally provided below them are provided. The inclination angle of the contact sliding surface is changed so that the reference claws 4 and 7 reach their reference positions first, and then the opposing claws 6 and 5 move the work 2. May be.

Further, the operation timing with a time difference between the reference claws 4 and 7 and the claws 6 and 5 for moving the work is
The four inclination angles of the cam slider 17 are the same, and the claws 4,
It is also possible to change the mounting positions of the cams 15 and 16 to 5, 6 and 7 on the line of the operation direction.

Although the cams 15 and 16 are formed integrally with the pawls 4 and 7, they may be formed separately and fixed by screws, or the cams formed separately may be used as the linear motion bearings 2.
You may comprise so that it may be fixed to the slider 22 of 0,21.

Further, in the above embodiment, the claws 4,
Return spring 1 for moving 5, 6, 7 toward the center of the device
Although wire springs are used as 0, 11, 12, and 13, leaf springs may be used instead. As for the linear motion bearings 20 and 21, in the preferred embodiment,
To reduce the size and weight, the track rail 21 is formed in a U-shaped cross section and the slider 22 is slidable therein. However, it is a surface sliding type that does not use balls, or it positions large workpieces. If there is a dimensional margin in the positioning device for doing so, a cross roller bearing, which is difficult to miniaturize, may be adopted.

[0034]

As described above, according to the present invention, the spring means having a small installation cross-section urges the pawl in the direction of holding the work, and the cam means to which the vertical driving force is applied horizontally moves the vertical movement. The movement is directly converted, and the horizontal movement moves the pawl in the opening direction, and the spring means urges the pawl toward the work to sandwich the work for positioning. As a result, the spring means has a small installation cross-sectional area, such as a wire spring, and can be downsized, and the cam part has a simple structure that directly changes the driving direction. In addition, the size and weight can be reduced.

Further, by utilizing the characteristics and shape of the wire forming of the wire spring, the pressing force of the two reference claws adjacent to each other is set to be stronger than the other two adjacent claws due to the difference in wire diameter or the forming shape. By stopping the reference claw with the stopper first, the reference claw stops at the same position every time. As a result, the two surfaces of the work are always pressed against the reference claws, and positioning can be performed with high accuracy.

Further, since this positioning device is small and highly accurate, it is not only used for normal fixed installation, but also for carrying a work in a positioned state during platen transfer or index transfer. It can also be used as a jig.

[Brief description of drawings]

FIG. 1 is a central vertical sectional view showing the configuration of a positioning device according to the present invention.

FIG. 2 is a plan view of a positioning device according to the present invention.

FIG. 3 is a perspective view showing a structure of a linear motion bearing.

FIG. 4 is a central vertical cross-sectional view of the positioning device showing a contact state with a stopper.

FIG. 5 is a central longitudinal sectional view of the positioning device showing a clamped state.

[Explanation of symbols]

1 Positioning device 2 work 3 installation stands 4,5,6,7 nails 8, 9 Fine adjustment screw 10, 11, 12, 13 Return spring 14 body 15,16 cam 17 Cam slider 18 case back 19 Compression spring 20,21 Linear motion bearing 21 track rail 22 Slider 23 groove 24 balls 25, 26, 27 holes

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-63-245333 (JP, A) JP-A-62-188631 (JP, A) JP-A-63-180428 (JP, A) JP-A-63- 127836 (JP, A) JP-A-8-228095 (JP, A) JP-A-63-141400 (JP, A) JP-A-11-33969 (JP, A) JP-A-2-139999 (JP, A) Actual development Sho 55-71592 (JP, U) Actual public Sho 47-20751 (JP, Y1) (58) Fields investigated (Int.Cl. ⁷ , DB name) B23P 19/00-21/00 H05K 13/00 -13/04

Claims (9)

(57) [Claims] 1. A work 4 placed on an installation table is opposed to each other.
In a positioning device that sandwiches and positions the claws with directionally arranged claws, linear guide means that are arranged radially around the installation table and reciprocate each claw on an axis line in each direction, and the claws on the workpiece. Spring means having a small installation cross-sectional area that are biased toward each other, and a cam that is arranged at the lower part of the installation table and that converts vertical motion by external drive into horizontal motion in the direction in which the pawl separates from the work. and means, wherein the spring means, utilizing the spring property of the wire forming
And a wire spring, wire diameter or the biasing force of the spring that urges the pawl opposite
Positioning device characterized by imbalance due to forming shape . 2. The cam means is formed from the bottom of the claw.
Each of them is hung through the hole of the track rail of the linear guide means.
A cam that has been lowered and has a slope at the bottom, and reciprocates vertically
A slant that is movably installed and that matches the slope of the cam at the top
A cam slider with a truncated pyramid-shaped head
Position according to claim 1, characterized in that
Deciding device. 3. A work placed on an installation table is opposed to a work piece 4.
For positioning device that is sandwiched by directionally arranged claws for positioning
The nails are arranged radially around the installation table.
Linear guide hand that reciprocates each on the axis of each direction
The step and the claw so that they are biased toward the work respectively.
The spring means with a small installation cross-section and the lower part of the installation stand are driven by an external device.
Vertical movement to horizontal movement in the direction in which the claw moves away from the work
Conversion, and a cam means having a slope at the bottom, of the pawl, the arbitrary two adjacent, counter to the workpiece
The reference claw is equipped with a stopper that limits the distance traveled once
And the biasing force of the spring that biases the reference claw is
If you make it larger than the biasing force of the spring that biases the claw,
In addition, the cam of the reference claw comes earlier than the cams of other claws.
Abut the cam and cam slider to separate from the lid
Change the inclination angle of the sliding surface so that the reference claw reaches the reference position before other claws.
Positioning device characterized by the above. 4. A workpiece placed on an installation table is opposed to the workpiece 4
For positioning device that is sandwiched by directionally arranged claws for positioning
The nails are arranged radially around the installation table.
Linear guide hand that reciprocates each on the axis of each direction
The step and the claw so that they are biased toward the work respectively.
The spring means with a small installation cross-section and the lower part of the installation stand are driven by an external device.
Vertical movement to horizontal movement in the direction in which the claw moves away from the work
Conversion, and a cam means having a slope at the bottom, of the pawl, the arbitrary two adjacent, counter to the workpiece
The reference claw is equipped with a stopper that limits the distance traveled once
And the biasing force of the spring that biases the reference claw is
If you make it larger than the biasing force of the spring that biases the claw,
In fact, the inclination angles of the cam sliders that contact the cams are all the same.
And change the mounting position of the cam on the line of the operating direction.
And, to reach before other pawl reference position the reference pawl
Positioning device characterized by the above. 5. The difference in the urging force of the spring is the wire diameter or the flap.
5. The shape according to claim 3, wherein the shape is a warming shape.
The positioning device described. 6. The cams are respectively provided from the bottom of the claws.
It hangs through the hole of the track rail of the linear guide means.
Any of claims 3 to 5 characterized in that
The positioning device according to item 1. 7. Air for driving the cam means in a vertical direction.
ー Claims characterized in that a cylinder is attached
The positioning device according to any one of claims 1 to 6.
Place 8. An up-down drive for vertically driving the cam means.
Characterized by having a stroke cam attached
Positioning according to any one of claims 1 to 6.
apparatus. 9. A solenoid for driving the cam means in a vertical direction.
A noid is attached, The claim 1 characterized by the above-mentioned.
The positioning device according to claim 6.