JP4182667B2 - A swiveling / straight-motion dispensing device using a double shaft - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a turning / straight running operation device that turns and linearly moves an operating body, and more particularly, to a turning / straight running operation device that is compactly configured using a double shaft.
[0002]
[Prior art]
In general, in a product manufacturing process or the like, it is necessary to perform positioning with high accuracy when distributing materials, processing parts, mounting parts, and the like. In this positioning process, it may be required not to allow the positioning object to simply move straight forward, but to perform a straight movement and a swivel movement in combination, for example, as a request for such positioning. There are known a dispenser for injecting a fluid material into a plurality of containers in a distributed manner, and a chip mounter for mounting a semiconductor chip on a substrate.
[0003]
However, the conventional turning / straightening operation device that performs both the turning operation and the straight movement operation has a disadvantage that the device becomes large because the turning operation system and the straight movement operation system are configured independently. The drive source (motor, etc.) of each operation system is used for a revolving body that is swiveled by the operation system and that is equipped with a rectilinear operation system, or a rectilinear body that is operated by a rectilinear operation system and that is equipped with a swivel operation system. ) Is moved, the drive source wiring and piping are complicated.
[0004]
[Problems to be solved by the invention]
The present invention was devised to eliminate such problems as described above, and allows the dispensing head to swivel and go straight, while using a double shaft mechanism to swivel with a double shaft motor. The dispensing device, which is arranged in series with the body and can be rotated and moved straight, can be configured compactly so that it can be placed on the table as it is, and the dispensing head support portion 11 can be changed in the injection material and the container. In addition to being able to be easily replaced with the turning base portion 10, it is possible to perform a composite operation that is inferior to that of a configuration in which a straight running operation system and a turning operation system are independently configured, and wiring. It is another object of the present invention to provide a turning / straight-motion dispensing apparatus using a double shaft that can be simplified.
[0005]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the turning / straight motion operation device using a double shaft according to the present invention drives a double shaft formed by inserting an inner rotation shaft through a cylindrical outer rotation shaft, and drives the outer rotation shaft. A revolving body that revolves with the revolving body, a dispensing head that revolves integrally with the revolving body and holds the distal end portion of the chemical tube that can move straight in the double axis direction, and is screwed to the dispensing head And a feed screw that linearly moves the dispensing head as the inner rotary shaft is driven, and a double shaft motor that includes a pair of motors that can independently drive the double shaft forward and backward. The swivel body is configured to perform a swiveling and rectilinear operation of the dispensing head according to the drive pattern of the double shaft motor , and the swivel body has a concave swivel base in which the outer rotating shaft is integrally connected to a lower part. and parts, and a dispensing head support portion provided thereon Ete provided on the double shaft on the motor, the dispensing head support portion, the pivot base lower end of the feed screw extending in part between the inner rotating shaft and universal joints are consolidated and separated as a therebelow Are connected to the swivel base part so that the swivel base part is detachable , and the double shaft motor is provided in the base of the bowl-shaped base frame, and the swivel body is disposed on the upper part thereof. The base frame is erected in a state where the double shaft motor and the swivel body are arranged in series, and the dispensing head is configured to be capable of being dispensed into a container disposed around the base frame. It is characterized by that.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a dispenser illustrating an embodiment of the present invention as a preferred embodiment will be described in detail with reference to the drawings. FIG. 1 is a perspective view of a dispenser. As shown in this figure, the dispenser 1 includes a dispensing head (operating body) 3 that holds the tip of the chemical liquid tube 2. The dispensing head 3 accurately positions the tip of the drug solution tube 2 at the opening of the drug solution container 4 arranged around the dispenser 1, and rotates and swivels to inject a predetermined amount of drug solution in a distributed manner. It is moved up and down (straight forward operation). In FIG. 1, reference numeral 5 denotes a bottomed cylindrical upper cover that covers the upper part of the dispenser 1, and reference numeral 6 denotes a lower cover that covers the lower part of the dispenser 1.
[0007]
FIG. 2 is a perspective view showing the internal structure of the dispenser. As shown in this figure, the dispenser 1 includes a bowl-shaped base frame 7 in a front view or a side view, a double-axis drive unit 8 provided in the base frame 7, and the double-axis drive unit. 8 is provided with a revolving body 9 which is provided so as to be turnable on the upper side. The swivel body 9 is configured to include a swivel base portion 10 and a dispensing head support portion (actuator support portion) 11 that is detachably provided on the upper portion thereof, and according to changes in the injection material and the container, The dispensing head support 11 can be replaced.
[0008]
FIG. 3 is a cross-sectional view showing the internal structure of the dispenser. As shown in this figure, the double shaft drive unit 8 includes a pair of motors 12 and 13 constituted by positioning motors such as a stepping motor and a servo motor, and the pair of motors 12 and 13 are formed on a cylindrical outer side. A double shaft 16 formed by inserting the inner rotation shaft 15 through the rotation shaft 14 is driven independently. In the present embodiment, the pair of motors 12 and 13 is configured by a double shaft motor in which a pair of rotors (not shown) are arranged in parallel in the axial direction, and as a result, a pair coupled to each rotor. The output shaft constitutes the double shaft 16. An outer rotating shaft 14 that is an output shaft of the first motor 12 is integrally connected to the turning base portion 10 (the turning body 9), and the dispensing head 3 is turned as the first motor 12 is driven. Is done.
[0009]
The dispensing head support unit 11 includes a pair of upper and lower support disks 17 and a pair of lifting guides 18 that integrally connect the pair of upper and lower support disks 17. The pair of raising / lowering guides 18 slidably penetrates the dispensing head 3 to guide the dispensing head 3 up and down and restrain the turning of the dispensing head 3 relative to the dispensing head support portion 11. Further, a feed screw 19 is rotatably supported between the upper and lower support disks 17 via a bearing 20. An intermediate portion of the feed screw 19 is screwed into a feed nut 21 fixed on the dispensing head 3 side, and a lower end portion of the feed screw 19 is rotated inward through a joint 22 that can be connected and disconnected. The shaft 15 is connected. Therefore, when the inner rotary shaft 15 is rotated by the drive of the second motor 13, the dispensing head 3 moves up and down with the rotation of the feed screw 19, and the direction of operation of the second motor 13 with respect to the first motor 12 is It will be selected according to the relative driving direction. In FIG. 3, reference numeral 23 denotes a turning sensor that detects the turning position of the turning base unit 10, and reference numeral 24 denotes a Z-axis sensor that detects the rotation position of the inner rotating shaft 15. For example, a photo interrupter is used. Composed.
[0010]
Next, the drive pattern of the dispenser 1 will be described with reference to FIG. FIG. 4 is a table showing a driving pattern of the dispenser. As shown in this figure, the dispenser 1 includes three drive patterns. The first drive pattern stops the first motor 12 (outer rotary shaft 14) and drives the second motor 13 (inner rotary shaft 15). In this drive pattern, the dispensing head 3 stops turning. Thus, the dispensing head 3 can be positioned in the Z-axis direction. The second drive pattern drives the first motor 12 (outer rotary shaft 14) and stops or asynchronously drives the second motor 13 (inner rotary shaft 15). In this drive pattern, the dispensing head 3 is driven. Moves up and down while turning, and the dispensing head 3 can be positioned in the Z-axis direction and the θ-direction. In the third drive pattern, the first motor 12 (outer rotary shaft 14) and the second motor 13 (inner rotary shaft 15) are synchronously driven in the same direction. Since the dispensing head 3 rotates integrally with the dispensing head 3, the dispensing head 3 pivots in a state where the elevation is stopped and positioning in the θ direction becomes possible.
[0011]
In the embodiment of the present invention configured as described above, a double shaft 16 in which an inner rotary shaft 15 is inserted into a cylindrical outer rotary shaft 14 and a turn that turns as the outer rotary shaft 14 is driven. A body 9, a dispensing head 3 that pivots integrally with the swivel body 9 and that can freely move up and down in the direction of the double shaft 16, and is screwed into the dispensing head 3, and the inner rotary shaft 15. A feed screw 19 that moves the dispensing head 3 up and down in response to the drive, and a double shaft drive unit 8 that can independently drive the double shaft 16 forward and reverse. The dispensing head 3 is swung and moved up and down according to the drive pattern of the drive unit 8. That is, while the dispensing head 3 is swiveled and moved up and down, the dispenser 1 can be made compact by using the double shaft mechanism, and the linear motion system and the swivel motion system are independent. Compared to the configuration described above, not only is it possible to perform an intricate combined operation, but wiring can also be simplified.
[0012]
One of the drive patterns is a first drive pattern that stops the outer rotary shaft 14 and drives the inner rotary shaft 15, and in the first drive pattern, the dispensing head 3 is in a swivel stopped state. Therefore, the positioning in the Z-axis direction can be performed with high accuracy.
[0013]
One of the drive patterns is a second drive pattern that drives the outer rotary shaft 14 and stops or asynchronously drives the inner rotary shaft 15. In the second drive pattern, the dispensing head 3 is Since the turning operation and the straight movement operation are performed in combination, the head movement in the Z-axis direction and the θ direction can be performed quickly.
[0014]
One of the drive patterns is a third drive pattern for synchronously driving the outer rotary shaft 14 and the inner rotary shaft 15 in the same direction. In the third drive pattern, the dispensing head 3 is in a lift stop state. Since the swivel operation is performed, positioning in the θ direction can be performed independently.
[0015]
The double shaft drive unit 8 includes a pair of motors 12 and 13 for independently driving the double shaft 16, and the motors 12 and 13 are configured by positioning motors such as a stepping motor and a servo motor. Therefore, a highly accurate positioning operation can be performed.
[0016]
The pair of motors 12 and 13 includes a pair of rotors arranged in the axial direction, and the pair of output shafts connected to the rotor is a double shaft motor constituting the double shaft 16. Compared to the case where the motors 12 and 13 are provided separately, the dispenser 1 can be further downsized.
[0017]
The swivel body 9 includes a swivel base portion 10 connected to the outer rotating shaft 14 and a dispensing head support portion 11 that supports the dispensing head 3, and the dispensing head support portion 11 is Since it is detachable with respect to the swivel base part 10, the dispensing head support part 11 can be easily replaced in accordance with changes in the injection material and the container.
[0018]
【The invention's effect】
The present invention includes a double shaft 16 formed by inserting an inner rotary shaft 15 through a cylindrical outer rotary shaft 14, a revolving body 9 that revolves when the outer rotary shaft 14 is driven, and the revolving body 9. The dispensing head 3 that pivots and holds the distal end portion of the drug tube that can move linearly in the direction of the double shaft 16, and is screwed into the dispensing head 3, and the inner rotating shaft 15 A feed screw 19 for linearly moving the dispensing head 3 in accordance with the drive; and a double shaft motor 8 including a pair of motors capable of independently driving the double shaft 16 in the forward and reverse directions. The revolving head 9 is configured to perform the revolving and rectilinear operation of the dispensing head 3 according to the drive pattern of the motor 8, and the revolving body 9 is a revolving base having a concave cross section with the outer rotary shaft 14 integrally connected to the lower part. 10, is provided in its upper dispensing head support portion 11 Provided on the dual axis motor 8 provided with, the dispensing head support portion 11, and the inner rotating shaft 15 and the lower end of the feed screw 19 extending in the swivel base portion 10 serving as the lower Are connected to the swivel base portion 10 by connecting them through a joint 20 that can be connected and separated , and the double shaft is disposed inside the base frame 7 having a bowl shape. A motor 8 is provided, and the revolving body 9 is provided on the top thereof. The base frame 7 is erected in a state where the double shaft motor 8 and the revolving body 9 are arranged in series, and the dispensing head 3 is The container 4 arranged around the base frame 7 can be dispensed .
For this reason, while the dispensing head 3 is swung and rectilinearly moved, by using the double shaft mechanism, the double shaft motor 8 and the swiveling body 9 are arranged in series to perform the swiveling and rectilinear motion. The apparatus can be configured compactly so that it can be arranged on the table as it is, and the dispensing head support part 11 can be easily replaced with the swivel base part 10 according to changes in the injection material and the container. In addition to being able to perform an intricate combined operation and wiring as compared with a configuration in which a linear motion system and a swing motion system are configured independently, wiring can also be simplified.
[Brief description of the drawings]
FIG. 1 is a perspective view of a dispensing machine.
FIG. 2 is a perspective view showing the internal structure of the dispensing machine.
FIG. 3 is a cross-sectional view showing the internal structure of the dispensing machine.
FIG. 4 is a table showing a driving pattern of a dispenser.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Dispensing machine 2 Chemical solution tube 3 Dispensing head 4 Chemical solution container 5 Upper cover 6 Lower cover 7 Base frame 8 Double axis drive part 9 Revolving body 10 Revolving base part 11 Dispensing head support part 12 1st motor 13 2nd motor 14 outer rotating shaft 15 inner rotating shaft 16 double shaft 17 support disk 18 lifting guide 19 feed screw 20 bearing 21 feed nut 22 joint 23 turning sensor 24 Z-axis sensor

Claims (6)

A double shaft formed by inserting the inner rotation shaft through the cylindrical outer rotation shaft, a swiveling body that swirls when the outer rotation shaft is driven, a swiveling body that swivels together with the swiveling body, and the double a dispensing head for holding a front end portion of the rectilinear movable chemical tube axially screwed to the dispensing head, and the feed screw for straight operation of the dispensing head according to the driving of the inner rotating shaft And a double shaft motor composed of a pair of motors capable of independently driving the double shaft forward and reverse, and the dispensing head is rotated and moved straight by the drive pattern of the double shaft motor. With composition
The swivel body is provided on the double shaft motor including a swivel base portion having a concave cross section with the outer rotary shaft integrally connected to a lower portion, and a dispensing head support portion provided on the upper portion thereof.
By connecting the lower end portion of the feed screw extending into the swivel base portion below the dispensation head support portion and the inner rotary shaft via a joint that can be connected and separated, the swivel base It is configured to be detachable from the part ,
Furthermore, with respect to the bowl-shaped base frame, the double shaft motor is provided therein, the swivel body is provided on the upper part thereof, and the double shaft motor and the swivel body are arranged in series. A swiveling / straight-motion dispensing device using a double shaft , wherein a base frame is erected and the dispensing head is configured to be dispensed into a container disposed around the base frame . 2. The drive pattern according to claim 1, wherein one of the drive patterns is a first drive pattern that stops the outer rotation shaft and drives the inner rotation shaft. In the first drive pattern, the dispensing head is in a swivel stopped state. A swiveling / straight-motion dispensing device using a double shaft, characterized in that the straight-motion operation is performed at According to claim 1 or 2, one of the driving pattern to drive the outer rotating shaft, a second drive pattern for stopping or asynchronously drives the inner rotary shaft, the second drive pattern, the dispensing A dispensing device for turning / straight running operation using a double shaft, wherein the head performs both turning and straight running operations in combination. In any one of claims 1 to 3, one of the driving patterns, the outer rotational shaft and the inner rotational shaft a third driving pattern for driving synchronously in the same direction, the third drive pattern, the dispensing A swiveling / straight-motion dispensing device using a double shaft, wherein the head is swiveled while the head is stopped straight. In any one of claims 1 to 4, wherein the double-axis motor is provided with a pair of motors for the dual axis independently driven, the motor is a stepping motor, is composed of a positioning motor such as a servo motor A swiveling / straight-motion dispensing device using a double shaft. In any one of claims 1 to 5, wherein the pair of motors is provided with a pair of rotors arranged in the axial direction, a double-axis motor in which a pair of output shaft connected to said rotor to constitute a double shaft Ah is, with provided in the base frame, covering the base frame under the cover, said revolving body, on the tip side of the dispensing head protrudes vertically movable elongated opening outward is formed is covered with a cover, upper cover pivot-steer operation dispensing apparatus using a double shaft characterized that you have provided so as to rotate integrally with the pivot member.

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