JP4401320B2 - Workpiece adsorption positioning device and workpiece adsorption positioning method - Google Patents

Description

  The present invention relates to a workpiece suction positioning device and a workpiece suction positioning method for correcting a shift in the suction position of a film-like or sheet-like workpiece sucked to the lower end of a suction nozzle and positioning the workpiece with respect to the suction nozzle. .

When automating the work of positioning a film-like or sheet-like workpiece and mounting it on another member, as shown in Patent Document 1 (Japanese Patent Laid-Open No. 2003-62912), the workpiece adsorbed to the lower end of the suction nozzle is a camera. When the workpiece suction position (XY coordinate and rotation angle θ) with respect to the suction nozzle is recognized by image processing technology and the workpiece sucked to the lower end of the suction nozzle is mounted on another member, the workpiece suction position In some cases, the workpiece and another member are aligned based on the image recognition data.
JP 2003-62912 A (pages 2 to 3 etc.)

  By the way, the displacement direction of the suction position of the workpiece with respect to the suction nozzle is shifted not only in the X direction and the Y direction but also in the θ direction (rotation direction). For this reason, in the work positioning method of the above-mentioned Patent Document 1, the position of the positioning table that holds other members is adjusted in the X direction, the Y direction, and the θ direction based on the image recognition data of the work suction position. The member and the workpiece are aligned. For this reason, the work positioning method of Patent Document 1 requires not only an expensive image recognition system that recognizes an image of the suction position of the work, but also an expensive XYθ positioning table that operates in the XYθ direction. There is a disadvantage that the manufacturing cost of the is high.

  In view of this, an apparatus has been developed in which a workpiece is positioned as follows without using an image recognition system. First, the workpiece is sucked by the suction nozzle and transferred onto the positioning table, and the workpiece is released from the suction on the positioning table and placed on the positioning table. On this positioning table, a movable wall is provided so as to surround the workpiece. By sandwiching the workpiece from both the XY directions with this movable wall, the deviation of the workpiece position (XY coordinate and rotation angle θ) is corrected and the workpiece is fixed. Positioning. The workpiece is again sucked by the suction nozzle and the mounting operation is performed.

  In this method, since the positioning operation of the workpiece can be mechanically performed by the movable wall, there is an advantage that an image recognition system and an XYθ positioning table are not necessary, and the cost can be greatly reduced. However, this method requires the operation of releasing the suction of the workpiece sucked by the suction nozzle during the workpiece positioning operation, placing the workpiece on the positioning table, and sucking the workpiece again after positioning the workpiece. Therefore, there is a disadvantage that the time required for the workpiece positioning operation becomes longer and the production efficiency is lowered.

  Recently, in order to solve the above problem, the present inventors set the side edge of the work 12 to the positioning member 13 in a state where the work 12 is sucked to the suction nozzle 11 as shown in FIG. We have been researching a method of positioning the workpiece by shifting the suction position of the workpiece with respect to the suction nozzle 11, but the film-like or sheet-like workpiece 12 sucked by the suction nozzle 11 is easily bent. When the side edge of the workpiece 12 is pressed against the positioning member 13 while the workpiece 12 is attracted to the workpiece 11, the workpiece 12 is bent by the pressing force, and it is difficult to accurately position the workpiece 12. Although this problem can be expected to be improved to some extent by reducing the suction pressure of the suction nozzle 11 and facilitating the displacement movement of the work 12, if the suction pressure of the suction nozzle 11 is lowered, the work 12 is bent. It is easy to generate a gap between the suction nozzle 11 and the work 12, and air leaks easily occur. This air leak makes it impossible to maintain the suction state of the work 12, and the work 12 easily falls from the suction nozzle 11. A problem occurs.

  The present invention has been made in consideration of these circumstances. Accordingly, the object of the present invention is to provide a film-like or sheet-like workpiece with respect to the suction nozzle with a simple configuration that does not use an image recognition system or an XYθ positioning table. It is an object of the present invention to provide a workpiece suction positioning apparatus and a workpiece suction positioning method capable of positioning the workpiece with high accuracy and reducing the positioning operation time and preventing the workpiece from dropping.

  In order to achieve the above-mentioned object, the inventions according to claims 1 and 7 are configured such that a film-like or sheet-like workpiece is adsorbed to an adsorption nozzle, and a side edge of the workpiece is pressed against a positioning member. In this invention, the workpiece suction position is shifted with respect to the nozzle, and the backup member is brought close to or lightly in contact with the lower surface of the workpiece attracted to the lower end of the suction nozzle during the positioning operation to deform or drop the workpiece downward. The side edge of the workpiece adsorbed on the lower end of the suction nozzle is moved by moving the suction nozzle or the positioning member located on the side of the suction nozzle so that the horizontal distance between them approaches a predetermined distance. The workpiece is pressed against the positioning member and positioned by shifting the suction position of the workpiece.

  As described above, in the present invention, the side of the workpiece is prevented from being deformed or dropped downward by bringing the backup member close to or lightly in contact with the lower surface of the workpiece attracted to the lower end of the suction nozzle during the positioning operation. Since the edge is pressed against the positioning member and the workpiece suction position is shifted, the problem of deformation or dropping of the workpiece at the time of pressing can be solved by the backup member, and the film or sheet shape against the suction nozzle The positioning operation can be performed with the workpiece attracted to the suction nozzle, so that the positioning operation time can be shortened and the productivity can be improved. In addition, since the image recognition system and the XYθ positioning table are simple, the cost can be greatly reduced.

  In general, considering that the shape of a film-like or sheet-like workpiece is a rectangle or a square, as in claim 2, a perpendicular reference plane for pressing a positioning member against two adjacent sides of the workpiece Of the workpiece adsorbed to the lower end of the suction nozzle by moving the suction nozzle or the positioning member so that the distances in both the X and Y directions between the two approach each other during the positioning operation. It is preferable that the two sides to be pressed are pressed against both reference surfaces of the positioning member so that the suction position of the workpiece is shifted in both X and Y directions. If it does in this way, the adsorption position of a work can be efficiently positioned to XY both directions to an adsorption nozzle.

  Depending on the type of workpiece, positioning in only one direction (X direction) may be performed. In this case, the positioning member is formed in a shape that performs positioning only in the X direction, and the suction nozzle or the positioning member is moved only in the X direction so as to correct only the shift in the X direction of the workpiece suction position. Just do it.

  By the way, if the backup member is in contact with the lower surface of the workpiece during the positioning operation, a frictional force is generated between the workpiece and the backup member, and this frictional force acts as a resistance force that increases the displacement movement of the workpiece. become. As long as the backup member is in light contact with the lower surface of the workpiece, the frictional force is small and has little influence. However, when the contact pressure between the two is increased, the frictional force increases and the displacement of the workpiece is hindered. In addition, the gap size between the suction nozzle and the backup member may vary slightly due to manufacturing / assembly variations, so if the backup member is designed to lightly contact the lower surface of the workpiece, manufacturing / assembly variations will occur. As a result, the contact pressure between the work and the backup member increases, which may hinder the movement of the work.

  Therefore, as in claim 3, it is preferable that a gap is formed between the work adsorbed on the lower end of the adsorption nozzle and the backup member so that the work can be sucked up by the adsorption force of the adsorption nozzle. In this way, the contact friction force between the backup member and the workpiece can be reliably reduced even if there is some manufacturing / assembly variation in the gap size between the suction nozzle and the backup member. While avoiding the problem, the backup member can function effectively as a workpiece deformation / drop prevention means.

  Further, considering that the workpiece can be prevented from dropping by the backup member even if the suction pressure of the suction nozzle is low during the positioning operation, the suction pressure of the suction nozzle is switched to the low pressure side during the positioning operation. Anyway. In this way, the frictional force generated between the suction nozzle and the workpiece during the positioning operation can also be reduced, and the displacement of the workpiece can be made even smoother.

  According to another aspect of the present invention, a pad portion having a size that does not interfere with the positioning member during the positioning operation may be provided at the lower end of the suction nozzle so as to prevent the workpiece from being deformed upward. If it does in this way, the deformation | transformation of the workpiece | work of the up-and-down direction between a pad part and a backup member can be prevented, and the positioning accuracy of a workpiece | work can be improved further.

  Further, the backup member may be fixed to or integrally formed with the positioning member. If it does in this way, there exists an advantage which can improve the relative positional accuracy between a backup member and a positioning member.

  An embodiment of the present invention will be described below with reference to FIG. First, the structure of the workpiece | work adsorption | suction positioning device is demonstrated. The suction nozzle 21 is attached downward to an XYZ moving device (not shown) that moves in the XYZ directions. The suction position for sucking the work 24, the positioning position for positioning the work 24, and the work 24 are attached to other members. It can be moved between mounting positions. A pad portion 23 having a size that does not interfere with a positioning member 22 (to be described later) during the positioning operation is horizontally provided at the lower end of the suction nozzle 21 so as to prevent the workpiece 24 from being deformed upward. The work 24 is formed in a rectangular or square shape with a film-like or sheet-like material.

  On the other hand, the positioning member 22 is provided at the positioning position so as to be movable in the vertical direction (Z direction) by an elevating device (not shown). The positioning member 22 is formed in an L-shape having right-angle reference surfaces 22x and 22y that press against two adjacent sides of a rectangular or square workpiece 24. Each reference surface 22x, 22y of the positioning member 22 is a plane perpendicular to the X direction and the Y direction, respectively.

  A rectangular flat backup member 25 larger than the work 24 is horizontally attached to the lower portion of the positioning member 22. The backup member 25 and the positioning member 22 are integrally moved up and down by an elevating device (not shown).

  The workpiece suction positioning apparatus configured as described above performs the positioning operation of the workpiece 24 as follows. First, the work 24 is sucked to the lower end of the suction nozzle 21 at the suction position. Then, in a state where the work 24 is sucked to the lower end of the suction nozzle 21, the work 24 is transferred to a positioning position by an XYZ moving device (not shown). At this time, the positioning member 22 and the backup member 25 wait in advance in a state where they are lowered to the lower limit position (standby position), and ascend to the upper limit position (positioning position) when the workpiece 24 reaches above. In this state, as shown in FIG. 1A-2, the work 24 is sucked up by the suction force of the suction nozzle 21 between the work 24 sucked by the lower end of the suction nozzle 21 and the upper surface of the backup member 25. There is a gap (for example, about 0.1 mm) that can be

  Immediately after raising the positioning member 22 and the backup member 25 to the upper limit position (positioning position), even if the suction position of the work 24 sucked by the suction nozzle 21 is shifted, as shown in FIG. A gap is formed between the workpiece 24 and the reference surfaces 22x and 22y of the positioning member 22. Thereafter, the suction nozzle 21 is moved in the X direction and the Y direction while maintaining the suction state of the work 24, and as shown in FIG. 1 (a-2), the center of the suction nozzle 21 and each reference of the positioning member 22 The distance between the surfaces 22x and 22y in both the XY directions is moved so as to approach a predetermined distance (a distance corresponding to 1/2 of each side of the workpiece 24).

  With the above operation, the backup member 25 is brought close to the lower surface of the work 24 sucked to the lower end of the suction nozzle 21 to prevent the work 24 from being deformed or dropped downward, as shown in FIGS. As shown in b-2), the two adjacent sides of the workpiece 2 are pressed against both reference surfaces 22x and 22y of the positioning member 22, and the suction position of the workpiece 24 is shifted in both XY directions for positioning. During this positioning operation, the suction pressure of the suction nozzle 21 is switched to the low pressure side to reduce the frictional force generated between the suction nozzle 21 and the work 24, thereby facilitating the movement of the work 24.

  After the positioning operation is completed, the suction pressure of the suction nozzle 21 is switched to the high pressure side, and the workpiece 24 is held in a strongly sucked state so as not to shift to the lower end of the suction nozzle 21, and the positioning member 22 and the backup member 25 are moved to the lower limit position. After descending to (standby position), the workpiece 24 sucked by the suction nozzle 21 is transferred to the mounting position, and the workpiece 24 is mounted on another member.

  In the present embodiment described above, the work 24 is in a state where the backup member 25 is brought close to the lower surface of the work 24 sucked to the lower end of the suction nozzle 21 during the positioning operation to prevent the work 24 from being deformed or dropped downward. The two adjacent sides are pressed against the reference surfaces 22x and 22y of the positioning member 22 so as to position the workpiece 24 by shifting the suction position of the workpiece 24 in both X and Y directions. Can be eliminated by the backup member 25, and the film-like or sheet-like workpiece 24 can be accurately positioned with respect to the suction nozzle 21. In addition, since the positioning operation is performed in a state where the workpiece 24 is attracted to the suction nozzle 21, the positioning operation time can be shortened and the productivity can be improved. Furthermore, since the image recognition system and the XYθ positioning table are not used, the cost can be greatly reduced.

  In addition, in this embodiment, a gap is formed between the work 24 sucked at the lower end of the suction nozzle 21 and the backup member 25 so that the work 24 can be sucked up by the suction force of the suction nozzle 21. Even if the gap between the suction nozzle 21 and the backup member 25 has a certain amount of manufacturing / assembly variation, the contact frictional force between the backup member 25 and the work 24 can be reliably reduced. While avoiding, the backup member 25 can function effectively as a work deformation / drop prevention means.

  However, according to the present invention, the backup member 25 may be lightly brought into contact with the lower surface of the workpiece 24 during the positioning operation. Even in this case, the frictional force is small and does not cause a big problem as long as it is lightly brought into contact.

  In this embodiment, since the suction pressure of the suction nozzle 21 is switched to the low pressure side during the positioning operation, the frictional force generated between the suction nozzle 21 and the workpiece 24 during the positioning operation can be reduced. 24 shift movements can be made even smoother.

  However, according to the present invention, when the workpiece 24 can be sufficiently displaced without switching the suction pressure of the suction nozzle 21 to the low pressure side during the positioning operation, the suction, positioning and mounting of the workpiece 24 are the same suction. You may make it carry out by pressure.

  In this embodiment, the pad portion 23 having a size that does not interfere with the positioning member 22 during the positioning operation is provided at the lower end of the suction nozzle 21 so as to prevent the workpiece 24 from being deformed upward. The workpiece 24 can be prevented from being deformed in both the upper and lower directions between the backup member 25 and the positioning accuracy of the workpiece 24 can be further improved.

  In this embodiment, during the positioning operation, the position of the positioning member 22 is fixed and the suction nozzle 21 is moved. On the contrary, the position of the suction nozzle 21 is fixed and the positioning member 22 is moved. You may make it move.

  Further, in the present embodiment, during the positioning operation, the backup member 25 is brought close to the lower surface of the work 24 (or by fixing the height position of the suction nozzle 21 (height position of the work 24) and raising the backup member 25 (or On the contrary, the back-up member 25 is brought close to (or lightly touched) the lower surface of the work 24 by fixing the height position of the backup member 25 and lowering the suction nozzle 21. You may do it. This eliminates the need for an elevating device that moves the backup member 25 up and down, thereby further reducing the cost. In this case, since a device that moves the suction nozzle 21 up and down is necessary for suction and mounting of the workpiece 24, the suction nozzle 21 is lowered using this device to bring the backup member 25 close to the lower surface of the workpiece 24. (Or touch lightly).

  Further, means (adjustment screws or the like) for adjusting the positions of the positioning member 22 and the backup member 25 according to the size and thickness of the workpiece 24 can be provided, or the positioning member 22 and the backup member 25 can be replaced with different sizes. You may comprise as follows.

  Further, depending on the type of the workpiece 24, positioning in only one direction (X direction) may be performed. In this case, the positioning member 22 is formed in a shape that performs positioning only in the X direction, the suction nozzle 21 or the positioning member 22 is moved only in the X direction, and only the deviation in the X direction of the suction position of the workpiece 24 is detected. What is necessary is just to correct | amend.

It is a figure explaining the positioning operation | movement of the workpiece | work adsorption | suction positioning device in one Example of this invention. It is a figure explaining the positioning operation | movement of the workpiece | work adsorption | suction positioning device of a comparative example.

Explanation of symbols

  21 ... Suction nozzle, 22 ... Positioning member, 23 ... Pad part, 24 ... Workpiece, 25 ... Backup member

Claims (7)

In a workpiece suction positioning device that corrects a shift in the suction position of a film or sheet-like workpiece sucked on the lower end of the suction nozzle and positions the workpiece with respect to the suction nozzle, the workpiece is positioned at the lower end of the suction nozzle during positioning operation. A positioning member that presses against the side edge of the absorbed workpiece;
By moving the suction nozzle or the positioning member so that the horizontal distance between them approaches a predetermined distance during the positioning operation, the side edge of the work sucked to the lower end of the suction nozzle is pressed against the positioning member. A pressing operation mechanism that positions the workpiece by shifting the suction position;
And a backup member that prevents the workpiece from being deformed or dropped downward by approaching or lightly contacting the lower surface of the workpiece during positioning operation. The shape of the workpiece is rectangular or square,
The positioning member is formed in a shape having a right-angle reference surface for pressing two adjacent sides of the workpiece,
The pressing operation mechanism moves the suction nozzle or the positioning member adjacent to the workpiece adsorbed to the lower end of the suction nozzle by moving the suction nozzle or the positioning member so that the distances in both the X and Y directions approach each other. The workpiece suction positioning apparatus according to claim 1, wherein two sides to be pressed are pressed against both reference surfaces of the positioning member, and the workpiece suction position is shifted in both X and Y directions.   2. A gap is formed between the work adsorbed on the lower end of the suction nozzle and the backup member so that the work can be sucked up by the suction force of the suction nozzle. Or the workpiece adsorption | suction positioning device of 2.   The workpiece suction positioning apparatus according to claim 1, wherein the suction pressure of the suction nozzle is switched to a low pressure side during a positioning operation.   5. The pad of a size that does not interfere with the positioning member during positioning operation is provided at the lower end of the suction nozzle so as to prevent the workpiece from being deformed upward. The workpiece adsorption positioning device according to any one of the above.   6. The workpiece attracting and positioning device according to claim 1, wherein the backup member is fixed or integrally formed with the positioning member.   In a workpiece suction positioning method for correcting a shift in the suction position of a film or sheet-like workpiece sucked on the lower end of the suction nozzle and positioning the workpiece with respect to the suction nozzle, the lower end of the suction nozzle is positioned during a positioning operation. A horizontal distance between the suction nozzle and the positioning member located on the side of the suction nozzle in a state where the back-up member is brought close to or lightly in contact with the lower surface of the sucked work to prevent the work from being deformed or dropped downward. The workpiece is positioned so as to shift the suction position of the workpiece by pressing the side edge of the workpiece attracted to the lower end of the suction nozzle against the positioning member by moving the workpiece so as to approach a predetermined distance. Adsorption positioning method.

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