JP4302755B2 - Work gripping positioning device and gripping device - Google Patents

Description

  The present invention relates to a workpiece gripping and positioning device for taking a workpiece into a processing region or an inspection region and positioning the workpiece in a two-dimensional direction and a rotating direction in a workpiece processing device or inspection device such as a printed circuit board, and a workpiece used therefor. The present invention relates to a gripping device.

  The printed circuit board has a predetermined shape pattern cut out in a punching apparatus, and the inspection apparatus inspects the continuity of the printed circuit board. At this time, the printed circuit board located at the entrance of the apparatus is taken into the punching area or the inspection area, and the position of the printed circuit board in the two-dimensional direction (X direction and Y direction) and the printed circuit board around the axis perpendicular to the X direction and the Y direction. It is necessary to position the position in the rotation direction according to the punching unit or inspection unit arranged in the punching area or inspection area.

  Examples of such conventional workpiece positioning devices are disclosed in Patent Documents 1 to 3. In the workpiece positioning devices disclosed in these Patent Documents 1 to 3, when the workpiece is positioned at an arbitrary position, two or four preset positions of the workpiece are gripped by surface contact by the gripping portion. The gripper is moved in the X direction, the Y direction, and the rotation direction to adjust the position.

Japanese Patent No. 374125 JP 2006-281432 A Japanese Patent No. 3420039

  However, in the above-described prior art, the positions of two or four points set in advance on the workpiece are gripped by surface contact by a gripping part connected to the base, and the base part including the gripping part is Since the position is adjusted by moving in the direction, the Y direction, and the rotation direction, the structure of the moving mechanism becomes complicated and the size increases. This increases the device cost. Further, when gripping workpieces of different sizes, it is necessary to change the setup of the workpiece gripping portion.

  The present invention has been made in view of such problems, and in a workpiece processing apparatus or inspection apparatus, the workpiece is gripped at two locations and positioned in the rotational direction in addition to the X direction and the Y direction. An object of the present invention is to provide a workpiece gripping and positioning device and a gripping device that can be reduced in size and cost.

The workpiece gripping and positioning device according to the present invention includes two driving units that are provided corresponding to two moving units , respectively, and that drive the moving units in the X and Y directions orthogonal to each other, and each of the moving units. Each gripping part is in contact with one surface of the workpiece and supports it, and the other gripping portion is provided on the other surface side of the workpiece via a horizontal shaft. A claw member that can move, and a claw driving portion that swings the claw member, and the claw member is in point contact with the workpiece when swung toward the base by the claw driving portion. have a shape for gripping a point of the workpiece to and from the base, the work by the movement of the moving part, can be positioned by rotating around an axis perpendicular to the X and Y directions characterized in that there.

  The drive unit is provided on the Y base, a pair of parallel Y guides extending in the Y direction, a Y base movable along the Y guide, a Y drive member that reciprocates the Y base, and the Y base. An X guide extending in the X direction; an X pedestal movable along the X guide; and an X drive member provided on the Y pedestal for reciprocatingly driving the X pedestal, wherein the movement by the X pedestal It is preferable that the part is configured.

  An image pickup unit that is provided on the moving unit and picks up an image of the sign of the workpiece at the position of the claw member; recognizes the position of the mark by performing image processing on the image of the image pickup unit; and based on the recognition position And a control unit that adjusts the position of the workpiece by moving the gripping unit. Furthermore, the workpiece is, for example, a printed board.

The workpiece gripping device according to the present invention is installed on each of two moving parts movable in the X direction and the Y direction orthogonal to each other , grips the workpiece with a point, and moves the two moving parts. In a workpiece gripping device used when positioning the workpiece by rotating it around an axis perpendicular to the X direction and the Y direction, a base portion protruding in the Y direction from the moving portion, and an upper portion of the base portion And a claw member supported so as to be able to swing around a horizontal axis parallel to the X direction, and a claw driving unit for swinging the claw member, and the claw member swings toward the base. The point on the base of the workpiece is sometimes point-contacted, and the workpiece is gripped by a point between the base and the base.

  According to the present invention, a pair of gripping units grips a film-like workpiece at two points. In this case, the gripping unit grips the workpiece with the point between the base and the claw member that makes point contact with the workpiece, so that the driving unit drives the moving unit in the X direction and the Y direction, thereby moving the workpiece to X. The position can be adjusted in the direction and the Y direction, and the workpiece can be rotated about an axis perpendicular to the surface by making the amount of movement in the Y direction different between the pair of driving units. In this case, since the claw member grips the workpiece with a point, when the workpiece is in the form of a film, the workpiece does not wrinkle or sag as the workpiece rotates. In addition, the drive unit only needs to move the moving unit in two directions, the X direction and the Y direction, and does not need to be rotationally driven. Therefore, the drive unit can be simplified and reduced in size.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the accompanying drawings. FIG. 1 is a plan view showing an entire workpiece gripping and positioning apparatus according to an embodiment of the present invention, FIG. 2 is a front view thereof, FIG. 3 is a perspective view showing a part thereof, and FIG. FIGS. 4B to 4D are side views showing the operation of the gripping portion.

  As shown in FIG. 2, a pair of drive units 101 and 102 are installed on the support unit 100. An introduction direction of an FPC board (Flexible Printed Circuit) (not shown) as a film workpiece into a punching area or an inspection area is defined as a Y axis, and a direction orthogonal to the Y axis is defined as an X axis. In each of the drive units 101 and 102, Y-axis ball screws 6 and 13 whose longitudinal direction is parallel to the Y direction are supported on the bases 20 and 30 so as to be rotatable about the central axis. The axial ball screws 6 and 13 are rotated by Y-axis drive motors 7 and 8. On the bases 20 and 30, Y-axis guides 5 and 12 are installed with their longitudinal directions parallel to the Y-direction. Can reciprocate in the Y direction.

  On the Y pedestals 21 and 31, X-axis ball screws 3 and 10 are supported so that the longitudinal direction thereof is parallel to the X direction so as to be rotatable around the central axis. The shafts are driven to rotate by shaft drive motors 4 and 11. Yes. Further, X-axis guides 2 and 9 are installed on the Y pedestals 21 and 31 with their longitudinal directions parallel to the X direction. Can reciprocate in the X direction.

  The X bases 22 and 32 function as a moving unit of the driving unit. The gripping portions 1 and 8 are provided on the X bases 22 and 32, respectively. The gripping portions 1, 8 have arms 40, 50 protruding forward in the Y direction from the X bases 22, 32, and claw members 41, 51 of the gripping portion are disposed at the front ends of the arms 40, 50. In addition, the code | symbol 15 shown in FIG. 3 is a metal mold | die for punches, and the code | symbol 17 is a metal mold | die for dies.

  As representatively shown in one claw member 41 in FIG. 4, the lower surface of the arm 40 extends forward to form a base 49, and a horizontal rotating shaft 42 is attached to the arm 40 slightly behind the base 49. Is provided. A claw support portion 48 is rotatably supported around the rotation shaft 42. A claw member 41 is fixed to the claw support portion 48. Further, the connecting shaft 47 protrudes on the side surface of the claw support portion 48 with its longitudinal direction being horizontal. The piston 44 is installed with the longitudinal direction thereof set to the Y direction, and can advance and retreat in the Y direction. A housing 45 is fixed to the tip of the piston 44, and a long hole 46 extending in the vertical direction is formed on a side surface of the housing 45. Then, the connecting shaft 47 is fitted in the long hole 46, and when the piston 44 advances, the housing 45 moves forward, and by pushing the connecting shaft 47 fitted in the long hole 46 forward, The claw support portion 48 of the claw member 41 rotates forward and downward as shown in FIGS. 4 (b) to 4 (c). Conversely, when the piston 44 is retracted, the claw support portion 48 of the claw member 41 rotates upward and rearward.

  The claw member 41 is formed in a conical shape, and its tip 43 has a small surface area so as to make point contact with the FPC board. The tip 43 has, for example, a hemispherical shape with a predetermined radius of curvature, and the contact area with the FPC board is large enough not to pierce the FPC board. However, it is necessary that the FPC board be small enough to rotate without causing wrinkles and distortion while the tip 43 is gripping the FPC board with the base 49. The other claw member 51 has the same structure as the claw member 41.

  Further, the imaging unit is provided on the moving unit (Y pedestals 22 and 32), the marker provided in the work gripped by the claw members 41 and 51 is imaged, and the control unit images the image of the imaging unit. Processing is performed to recognize the position of the sign, and based on the recognized position, the gripping units 1 and 8 are moved to adjust the position of the workpiece.

  The workpiece is not limited to a film-shaped workpiece such as an FPC board, and the present invention can be applied to workpieces having various shapes. Furthermore, the workpiece is not limited to a flexible material, and the present invention can also be applied to a rigid workpiece. In the case of a rigid body, problems such as wrinkles do not occur even if a gripping part that grips at a point as in the present invention is not used. Play.

  Next, the operation of the workpiece gripping and positioning apparatus configured as described above will be described. A workpiece W such as a flexible printed circuit board (see FIGS. 2 and 3) is supplied onto the base (49) of the grips 1 and 8. Then, the position of the mark on the workpiece W is imaged, and the piston (44) advances, whereby the claw member (41) swings forward and downward, and the workpiece W is moved to the tip (43) of the claw member (41). ) And the base (49). Then, the Y-axis ball screws 6 and 13 are rotationally driven by the motors 7 and 8 so that the Y pedestals 21 and 31 are pulled into the punching area or the inspection area and are positioned in the predetermined punching area or the inspection area. At this time, image processing is performed based on the captured image of the sign, the position of the sign is grasped, and if necessary, the position of the sign becomes a predetermined position in the punching area or the inspection area. The pedestals 22 and 32 (moving parts) are moved slightly in the X and Y directions to adjust the X and Y positions, and the axes perpendicular to the X and Y directions (axis perpendicular to the workpiece surface) Rotate the work around and adjust its rotational position.

  Thereafter, a pattern having a predetermined shape is cut out by punching or FPC continuity inspection is performed.

  Thus, in this embodiment, since the gripping part grips the work with the point between the base and the claw member that makes point contact with the work, the drive part drives the moving part in the X direction and the Y direction. As a result, the position of the workpiece can be adjusted in the X direction and the Y direction. For example, the amount of movement in the Y direction can be made different by a pair of drive units, so that the workpiece can be rotated around an axis perpendicular to the surface. Can be rotated. The drive unit only needs to move the moving unit in two directions, the X direction and the Y direction, and does not need to be rotationally driven. Therefore, the drive unit can be simplified and reduced in size. Further, since the claw members 41 and 51 hold the workpiece with points, when the workpiece is in the form of a film, wrinkles and slack do not occur in the workpiece as the workpiece rotates.

  INDUSTRIAL APPLICABILITY The present invention is useful for a punching apparatus and an inspection apparatus that perform punching or electrical inspection by positioning a work at a predetermined position by a work positioning device.

It is a top view which shows the whole workpiece | work holding | grip positioning apparatus which concerns on embodiment of this invention. It is the same front view. It is a perspective view which shows the part. (A) is a front view which shows a holding part, (b) thru | or (d) are side views which show operation | movement of a holding part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,8 Grip part 2,9 Guide 3,10 Ball screw 4,11 Motor 5,12 Guide 6,13 Ball screw 7,8 Motor 20,30 Base 21,31 Y base 22,32 X base 40,50 Arm 41, 51 Claw member 42 Rotating shaft 43 Tip 44 Piston 45 Housing 46 Long hole 47 Connection shaft 48 Support part 49 Base 51 Claw member 100 Support part 101, 102 Drive part

Claims (5)

There are two driving units provided corresponding to the two moving units, respectively, for driving the moving units in the X direction and the Y direction orthogonal to each other, and a gripping unit provided in each of the moving units. Each gripping part is in contact with and supports one surface of the workpiece, a claw member provided on the other surface side of the workpiece and swingable via a horizontal shaft, and the claw member And the claw member is point-contacted with the workpiece when the claw drive member is swung toward the base by the claw driving portion. in the grip shapes possess, the work by the movement of the moving part, workpiece gripping position and wherein the can be positioned by rotating around an axis perpendicular to the X and Y directions . The drive unit is provided on the Y base, a pair of parallel Y guides extending in the Y direction, a Y base movable along the Y guide, a Y drive member that reciprocates the Y base, and the Y base. An X guide extending in the X direction; an X pedestal movable along the X guide; and an X drive member provided on the Y pedestal for reciprocatingly driving the X pedestal, wherein the movement by the X pedestal The work gripping and positioning device according to claim 1, wherein the part is configured. An image pickup unit that picks up an image of a sign provided in the work that is provided on the moving unit and is gripped by the claw member, and an image of the image pickup unit is image-processed to recognize the position of the sign, and this recognition position The workpiece gripping positioning apparatus according to claim 1, further comprising: a control unit that moves the gripping unit based on the control unit to adjust the position of the workpiece. The workpiece gripping and positioning apparatus according to claim 1, wherein the workpiece is a printed circuit board. It is installed on each of two moving parts that can move in the X and Y directions orthogonal to each other . The work is gripped by a point, and the two moving parts move to move the work in the X and Y directions. In a workpiece gripping device used for positioning by rotating around an axis perpendicular to the base, a base projecting in the Y direction from the moving unit, and a horizontal axis parallel to the X direction above the base A claw member supported so as to be able to swing around, and a claw driving portion for swinging the claw member, and the claw member is a portion on the base portion of the workpiece when swinging toward the base portion A workpiece gripping apparatus, wherein the workpiece is point-contacted with the base and the workpiece is gripped with a point.

Images