JP4618643B2 - Work gripping mechanism and gripping system using the same - Google Patents

Description

  The present invention relates to a workpiece gripping mechanism that grips a sheet-like or plate-like workpiece and a gripping system using the same.

  Conventionally, for example, a continuity test or punching is performed on a sheet-like or plate-like workpiece such as a printed circuit board. In this case, the workpiece is attached to an apparatus having a gripping mechanism. Predetermined processing is performed (see, for example, Patent Document 1). In the gripping mechanism provided in this device, a bracket is provided on the upper surface of the receiving part, an arm is rotatably attached to the upper part of the bracket, and a lever is rotatably attached to a central portion in the vertical direction of the bracket. Yes.

And the both ends of a link are rotatably attached to the bracket side part in an arm, and the approximate center part of a lever, respectively, and the link mechanism is formed. In addition, a pressing head that moves forward and backward with respect to the receiving portion by rotation of the arm is provided at the tip of the arm. For this reason, when the lever is operated beyond the dead center where the lever overlaps the link from the state where the lever is pulled backward and the arm is retracted above the receiving portion, the arm rotates to the receiving portion side and the holding head is moved to the receiving portion. Can be strongly pressed, and the gripping force between the pressing head and the receiving portion against the workpiece can be increased.
JP-A-11-301879

  However, in the gripping mechanism as described above, a large space is required because the arm and lever rotate in the vertical direction around a predetermined portion of the bracket. For this reason, there exists a problem that a holding mechanism enlarges.

  The present invention has been made to cope with the above-described problems, and an object of the present invention is to hold a workpiece gripping mechanism that can be downsized by reducing the movement of each part of the gripping mechanism and gripping using the workpiece gripping mechanism. Is to provide a system.

In order to achieve the above-described object, the structural features of the workpiece gripping mechanism according to the present invention include a gripping base portion in which one gripping claw is formed at the tip portion, and one gripping claw at the tip portion. Alternatively, the gripping advancement / retraction portion formed with the other gripping claw for gripping the plate-like workpiece and the gripping advancement / retraction portion engage with the gripping base while being movable between the proximal end portion and the distal end portion of the gripping base. A guide mechanism that guides the other gripping claw to press the one gripping claw when the gripping advancement / retraction part is positioned at the distal end of the gripping base, and a drive member that is movable in conjunction with the gripping advancement / retraction part; The drive member is engaged with the grip base while being movable between the base end portion and the tip end portion of the grip base, and the drive member moves between the base end portion and the tip end portion of the grip base. When the grip advance / retreat part is moved between the proximal end part and the distal end part of the grip base, It lies in the provision and a pressing mechanism Ru moved back and forth and the other of the gripping claws of the gripping forward and reverse part to one of the gripping claws of the gripping base.

According to the workpiece gripping mechanism according to the present invention described above, the guide mechanism and the pressing mechanism are provided between the grip base and the grip advance / retreat portion so that the grip advance / retreat portion can be movably engaged with the grip base. I have to. When the grip advance / retreat portion is positioned at the tip of the grip base, the grip claws of the grip advance / retreat portion press the grip claws of the grip base. Therefore, it becomes possible to reduce the size of the bunch lifting mechanism.

The feature on another configuration of the workpiece gripping mechanism according to the present invention, the guide mechanism, a front guide portion provided on the front side portion of the grip base, engaged to be movable in the front guide portion constituted by a combined front portion guided portion was found provided at the front side portion of the grip forward and reverse part in state, the pressing mechanism, and a rear guide portion provided on the rear side portion of the grip base, the rear guide a rear guide mechanism consisting of a rear guided portion provided in the rear side portion of the grip forward and reverse part in engagement movably in part, by guiding the rear guided portion provided in the drive member when the rear portion guided portion reaches a predetermined position of the rear guide portion, constituted by a pressing portion for pressing the gripping claws of the other hand to one of the gripping claws, further comprising: a guide mechanism, and a rear guide mechanism When the rear guided part reaches a predetermined position of the rear guide part, the rear guided part In that is configured to be able to rotate around the engaging position between the front guide portion and the front guided section.

According to the workpiece gripping mechanism according to the present invention described above, the pressing mechanism presses the gripping claw of the gripping base with the rear guide mechanism for moving the gripping advancement / retraction portion along the gripping base and the gripping claw of the gripping advancement / retraction portion. It is comprised with the press part for doing. In this case, since the pressing portion rotates the rear guided portion with the engagement position between the front guide portion and the front guided portion as a fulcrum, a large pressing force is generated on the gripping claw of the gripping advance / retreat portion. . As a result, the gripping of the workpiece by the gripping claws of the gripping base and the gripping claws of the gripping advance / retreat section becomes stronger. Further, in this case, the length between the engagement position between the rear guide portion and the rear guided portion and the engagement position between the front guide portion and the front guided portion is set to the front guide portion and the front portion. By setting the engagement position with the guided part longer than the length between both gripping pieces, it is possible to generate a large gripping force on both gripping pieces only by applying a small force to the rear part of the gripping advance / retreat part. Can do . Further, the pressing mechanism is configured to rotate the grip advance / retreat portion around the engagement position in the guide mechanism when the grip advance / retreat portion reaches a predetermined position of the grip base, thereby gripping the grip advance / retreat portion. The claw presses the grip claw of the grip base. For this reason, the grip advancing / retreating part can fix the workpiece with a small movement amount that only slightly rotates after moving along the gripping base.

Still another structural feature of the workpiece gripping mechanism according to the present invention is that the front guide portion is configured by a front guide groove that extends in a diagonally downward direction after the front guide portion extends horizontally. Is composed of a front guide pin, a rear guide portion is formed horizontally with a rear guide groove extending obliquely upward, a rear guided portion is composed of a rear guide pin, and a pressing portion is formed. constituted by a wedge guide groove extending forward front side by increasing the inclination angle of the downward after extending forwardly inclined from the upper portion to slightly below, the forward movement of the drive member, after portion guide pin when but reaching position extending obliquely upwardly of the rear guide grooves, by rotating the portion guide pin after the wedge guide grooves around the engagement position of the front guide grooves and the front guide pins, the other gripping We press the nail in one of the gripping claws It lies in the fact was Unishi. According to this, the guide mechanism and the pressing mechanism can be configured with a simple structure.

Further structural features of the workpiece holding mechanism according to the present invention, the guide mechanism, a front guide portion provided on the front side portion of the grip base, movably engage the front guide portion pre portions provided et the front side portion of the grip forward and reverse part in a state constructed with a guided portion, the pressing mechanism, and a rear guide portion provided on the rear side portion of the grip base, the rear guide portion moveable and a rear guide mechanism comprising a after unit guided portion provided in the rear side portion of the grip forward and reverse part in engagement with the provided between the driving member and the grip forward and reverse part, the rear guided when the section has reached a predetermined position of the rear guide portion is constituted by a link portion for pressing the gripping claws of the other hand to one of the gripping claws, further comprising: a guide mechanism, and a rear guide mechanism, rear guided portion When the rear guide part reaches a predetermined position, the rear guided part is Lies in the structure can be rotated around the engaging position between the guided portion.

  In the workpiece gripping mechanism according to the present invention described above, the pressing mechanism includes a rear guide mechanism including a rear guide portion and a rear guided portion, and a link portion provided between the drive member and the grip advance / retreat portion. With these two mechanisms, the grip advance / retreat portion is moved along the grip base, and the grip claws of the grip advance / retreat portion are pressed against the grip claws of the grip base. Also in this case, the structure of the gripping mechanism is simplified, the manufacturing becomes easy, and the cost can be reduced. In this case, the rear portion of the grip advance / retreat portion rotates with the engagement position between the front guide portion and the front guided portion as a fulcrum, and the rotational force is further increased by the link portion. A large pressing force is generated on the gripping claw. As a result, the gripping of the workpiece by the gripping claws of the gripping base and the gripping nails of the gripping advance / retreat section is strengthened.

Still another structural feature of the workpiece gripping mechanism according to the present invention is that the front guide portion is configured by a front guide groove that extends in a diagonally downward direction after the front guide portion extends horizontally. The front guide pin, the rear guide portion extending horizontally, and then the front end portion including a rear guide groove extending obliquely upward, the rear guided portion including the rear guide pin, and a drive member When moving to the front end side of the grip base, the link portion urges the rear guide pin upward along the portion extending obliquely upward of the rear guide groove . According to this, the front guide mechanism and the pressing mechanism can be configured with a simple structure. Moreover, as a link part, while providing a shaft member in a drive member and a holding | gripping advance / retreat part, respectively, the link member can be comprised in the state which can be rotated in the corresponding edge part of the both shaft members, respectively. . Further, in this case, the driving member can be configured by a roller-shaped member, and according to this, friction generated with respect to the driving member can be reduced, and the movement of the driving member becomes smoother.

Still another structural feature of the workpiece gripping mechanism according to the present invention is provided with a single actuator for driving the driving member, and the grip advancement / retraction portion is moved from the base end side portion of the grip base by driving the actuator. in the this which is adapted to move between the distal portion. In this case, a device such as a cylinder can be used as the actuator. According to this, by moving the drive member by driving the actuator, the grip advance / retreat portion can be moved in the advance / retreat direction and the rotation direction, and the operation of the grip mechanism is facilitated.

  In addition, the gripping system using the workpiece gripping mechanism according to the present invention is characterized in that a plurality of workpiece gripping mechanisms are provided, and the plurality of workpiece gripping mechanisms are opposed to each other so as to be close to and away from each other. This means that the workpiece can be placed between the gripping mechanisms of the plurality of workpieces when the components are arranged and separated. According to this, it becomes easy to attach a sheet-like or plate-like workpiece, and it is possible to attach a workpiece that is easily bent in a flat state.

  In addition, another structural feature of the gripping system according to the present invention includes a rail-shaped base portion and a pair of rail portions extending in parallel to a direction orthogonal to the longitudinal direction of the base portion from both ends of the base portion, A pair of rail portions is provided with two workpiece gripping mechanisms. According to this, since a pair of rail part of both sides can be comprised integrally via a base, a gripping system can be formed compactly.

  Still another structural feature of the gripping system according to the present invention is that at least one rail portion of the pair of rail portions is movable along the longitudinal direction of the base portion, and The gripping mechanism of at least one of the two workpiece gripping mechanisms provided is movable along the longitudinal direction of the rail portion to which the gripping mechanism of each one of the workpieces is attached. According to this, since the interval between the gripping mechanisms of the four workpieces can be adjusted to an arbitrary length, various workpieces having different sizes can be attached with appropriate tension.

(First embodiment)
A first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a state in which an inspection apparatus 10 including a gripping mechanism according to the embodiment is viewed from above. This inspection apparatus 10 is an apparatus for inspecting whether or not an electrode pattern (not shown) provided on the printed board 11 which is a work of the present invention is properly conducted. The inspection apparatus 10 includes a base 12, fixing devices 13 a and 13 b for fixing the printed circuit board 11 to a predetermined installation position on the base 12, and the installation position of the printed circuit board 11 on the base 12. And a detection device 14 that is installed above and performs a continuity test of the printed circuit board 11.

  The base 12 is composed of a frame-like base, and a pair of fixing devices 13a and 13b are provided on the left and right side portions of the upper surface facing each other with a gap therebetween. The fixing device 13a includes a rail portion 15a provided along one edge (left side in FIG. 1) on the base 12, and a pair of gripping mechanisms 20a provided in a movable state along the rail portion 15a. 20a. The gripping mechanisms 20a and 20a each grip and open the printed circuit board 11 by driving the actuator 21a and the actuator 21a which is a cylinder device extending in a direction of moving back and forth with respect to the printed circuit board 11 (left and right direction in FIG. 1). And a gripping portion 22a.

  That is, the distal end portion of the grip portion 22a is formed so as to be able to grip and fix the edge portion of the printed circuit board 11 as will be described later. In addition, the gripping mechanisms 20a and 20a can move along the rail portion 15a so as to widen or narrow each other, and adjust the distance according to the width of the printed circuit board 11. In addition, a pair of rail portions 16a and 16a extending in a direction orthogonal to the rail portion 15a are provided on both end sides of the fixing device 13a on one edge side portion on the base 12, and the fixing device 13a is The rails 16a and 16a are provided on the rails 16a and 16a so as to be movable along the rails 16a and 16a. The fixing device 13a is positioned at that position by adjusting the position on the rail portions 16a and 16a according to the length of the printed board 11 in the left-right direction.

  The fixing device 13b is provided along the edge portion at a predetermined distance from the other edge portion (right side in FIG. 1) on the base 12. The fixing device 13b is composed of the same configuration arranged symmetrically with the fixing device 13a, and includes a rail portion 15b and a pair of gripping mechanisms 20b provided in a movable state along the rail portion 15b. 20b. The gripping mechanisms 20b and 20b each include an actuator 21b and a gripping portion 22b. The gripping mechanisms 20b and 20b can move along the rail portion 15b so as to widen or narrow each other, and adjust the distance according to the width of the printed circuit board 11.

  In addition, a pair of rail portions 16b and 16b extending in a direction orthogonal to the rail portion 15b is provided at both end portions of the fixing device 13b on the base 12, and the fixing device 13b is connected to the rail portions 16b and 16b. It is provided so that it can move along. The position of the fixing device 13b is determined according to the length of the printed board 11. Accordingly, the gripping portions 22a and 22b are positioned at the respective corners of the printed circuit board 11 by moving in the left and right direction and the front and rear direction in FIG. By finely adjusting in the left-right direction and the front-back direction, the printed circuit board 11 can be supported in a tensioned state.

  In addition, rail portions 17a and 17b are respectively provided along the edge portions on the front and rear edge portions on the upper surface of the base 12, and the support base 17 is movable to the rail portions 17a and 17b. It is attached. The support base 17 is located above the position where the printed circuit board 11 is installed, and extends back and forth in a state where it is stretched over the rail portions 17a and 17b. The detection device 14 is attached to the support base 17. The support 17 is moved to the left and right along the rail portions 17a and 17b by driving of a driving device 18 having a rotary drive shaft 18a extending in parallel with the rail portions 17a and 17b. For this reason, the detection apparatus 14 can move right and left along the rail parts 17a and 17b.

  Further, a moving device 19 having a track portion 19a and a rotating shaft portion 19b extending in a direction orthogonal to the rail portions 17a and 17b is attached to the support base 17. The detection device 14 is attached so as to be interlocked with the moving device 19, and is movable along the longitudinal direction of the moving device 19 by driving the moving device 19. The detection device 14 is configured to move up and down by driving a drive device (not shown) and to rotate around a vertical axis.

  The gripping mechanisms 20a and 20b are configured as shown in FIGS. Since the gripping mechanisms 20a and 20b are arranged with the same structure changed in direction, the gripping mechanism 20 will be described below. The actuators 21a and 21b will be described as the actuator 21, and the gripping portions 22a and 22b will be described as the gripping portion 22. As described above, the gripping mechanism 20 includes the actuator 21 and the gripping portion 22, and the actuator 21 includes the cylinder 21c, the cylinder bracket 21d, and the cylinder shaft 21e. The cylinder shaft 21e extends from the front end of the cylinder 21c through a hole 21f provided in the cylinder bracket 21d so as to be able to advance and retreat in the front-rear direction (left-right direction in FIGS. 2 to 4).

  The gripping portion 22 includes a hand base portion 23 as a gripping base portion of the present invention, a clamp arm 24 as a gripping advance / retreat portion of the present invention, and a wedge block 25 as a driving member of the present invention. The hand base portion 23 has a main body composed of a bottom surface portion 23a in which a recess is formed at a lower end side portion, and side surface portions 23b and 23c provided on both upper sides of the bottom surface portion 23a and extending in parallel with the cylinder shaft 21e. A gripping claw 26 is attached to the recess at the lower end of the distal end side. The gripping claw 26 is formed in a tapered shape by forming a tapered portion 26 a having a tip side downward on the tip portion of the upper surface of the substantially square plate-like body.

  In addition, a pair of front guide grooves 27a and rear guide grooves 27b are provided on the side surfaces 23b and 23c, respectively. The front guide groove 27a penetrates the side surface portions 23b and 23c, respectively, and extends horizontally in the left-right direction from the substantially central portion of the front side portion of the side surface portions 23b and 23c. Is constituted by a groove extending obliquely downward. Further, the rear guide groove 27b penetrates the side surface portions 23b and 23c, respectively, and extends substantially horizontally in the left and right direction at the rear side portion of the side surface portions 23b and 23c. Is constituted by a groove extending obliquely upward.

  The clamp arm 24 is installed in a state in which it can move in the front-rear direction between the side surface parts 23b, 23c of the hand base part 23. It is comprised by the rod-shaped side parts 24b and 24c extended toward. Therefore, the clamp arm 24 is formed in a substantially U shape in plan view, and the side surface is formed in a substantially L shape. A gripping claw 28 is attached to the tip of the clamp arm 24. The gripping claw 28 extends in the vertical direction along the front surface of the distal end portion 24a. A tapered portion 28a that can contact the tip of the tapered portion 26a of the gripping claw 26 is formed at the distal end portion of the lower surface, and a stepped portion is formed at the rear portion. 28b is formed.

  Further, a hole portion penetrating both side surfaces is formed in the lower portion of the tip portion 24a, and a front guide pin 29a is attached to the hole portion with both end portions protruding from the tip portion 24a. Both end portions of the front guide pin 29a are engaged with the front guide grooves 27a of the side surface portions 23b and 23c in a movable state. In addition, the rear side portions of the side portions 24b and 24c are respectively formed with holes penetrating the both side surfaces, and the rear guide pins 29b project from the outer side surfaces of the side portions 24b and 24c in the hole portions. It is attached in a state. Both end portions of the rear guide pin 29b are engaged with the rear guide grooves 27b of the side surface portions 23b and 23c in a movable state. The front guide groove 27a and the front guide pin 29a constitute a guide mechanism according to the present invention, and the rear guide groove 27b and the rear guide pin 29b constitute a rear guide mechanism according to the present invention.

  The front guide pin 29a and the rear guide pin 29b are arranged such that when the front guide pin 29a is located at the front end of the front guide groove 27a, the rear guide pin 29b is located at the front end of the rear guide groove 27b. Has been placed. In this state, the tapered portion 28 a of the gripping claw 28 is configured to be in pressure contact with the tapered portion 26 a of the gripping claw 26. Further, when the front guide pin 29a is positioned at the rear end portion of the front guide groove 27a, the rear guide pin 29b is positioned at the rear end portion of the rear guide groove 27b. In this state, as shown in FIG. 5, the tapered portion 28 a of the gripping claw 28 is retracted from the tapered portion 26 a of the gripping claw 26 and the tapered portion 26 a is opened.

  The wedge block 25 is installed in a state in which it can move in the front-rear direction between the side portions 24b and 24c of the clamp arm 24, and is constituted by a rectangular block body. The wedge block 25 is provided with wedge guide grooves 25a penetrating both side surfaces. The wedge guide groove 25a extends from the upper portion of the rear portion of the wedge block 25 with a slight inclination toward the front, and then the front portion increases the inclination angle of the lower portion of the wedge block 25. It extends to the substantially central portion of the front portion in the vertical direction.

  The wedge block 25 is configured to be interlocked with the clamp arm 24 by inserting the rear guide pin 29b into the wedge guide groove 25a. The wedge block 25 is connected to the cylinder shaft 21e by a knuckle joint 25b, and moves back and forth via the cylinder shaft 21e in accordance with the operation of the cylinder 21c. The wedge guide groove 25a constitutes the pressing portion according to the present invention. Although not shown, the inspection device 10 includes a control device for controlling the operation of each device included in the inspection device 10, an operation panel for operating each device, and the like.

  In this configuration, when the continuity test of the printed circuit board 11 is performed using the inspection device 10, the printed circuit board 11 is first installed in the fixing devices 13a and 13b. In this case, the fixing devices 13 a and 13 b are moved so that the distances between the tip portions of the gripping portions 22 facing each other are substantially the same as the length of the printed circuit board 11. Next, each gripping mechanism 20 is moved so that the distance between the pair of gripping portions 22 is substantially the same as the length of the printed board 11 in the width direction. Then, the gripping mechanisms 20 sandwich the corresponding corners of the printed circuit board 11 to fix the printed circuit board 11 in a stretched state.

  In this case, the gripping mechanism 20 operates as shown in FIGS. 5 to 9 to grip the printed board 11. First, as shown in FIG. 5, the gripping mechanism 20 moves the wedge block 25 to the rear end portion in the hand base portion 23 by the operation of the cylinder 21 c before gripping the printed circuit board 11. It has become. At this time, the central portion along the axial direction of the rear guide pin 29b is pulled rearward by the front end portion of the wedge guide groove 25a, and both end portions of the rear guide pin 29b are positioned at the rear end portion of the rear guide groove 27b. is doing. Further, both end portions of the front guide pin 29a are located at the rear end portion of the front guide groove 27a. For this reason, the clamp arm 24 is located on the center side in the hand base portion 23, and the grip claw 28 is retracted from the tapered portion 26 a of the grip claw 26.

  Next, from the state shown in FIG. 5, the cylinder 21c is operated to move the cylinder shaft 21e forward, thereby moving the wedge block 25 forward. In this case, both end portions of the rear guide pin 29b are prevented from moving upward by the upper edge portion of the rear portion of the rear guide groove 27b. For this reason, the rear guide pin 29b does not move to the rear side of the wedge guide groove 25a, but remains at the front end of the wedge guide groove 25a, and the rear guide pin 29b is shown in FIG. As shown, it moves to the front end of the horizontal portion of the rear guide groove 27b.

  At this time, both ends of the front guide pin 29a move in the horizontal direction toward the front end of the front guide groove 27a, and then move obliquely downward. For this reason, the gripping claw 28 comes close to the tip of the gripping claw 26 and is positioned above it. At this stage, the taper portion 28a of the gripping claw 28 is still separated from the taper portion 26a of the gripping claw 26. It is in a separated state.

  Further, when the cylinder 21c is operated and the wedge block 25 is moved forward via the cylinder shaft 21e, both ends of the rear guide pin 29b are located on the front side of the rear guide groove 27b as shown in FIG. The center portion of the rear guide pin 29b moves the front side portion of the wedge guide groove 25a toward the rear side upper side. Accordingly, the clamp arm 24 rotates around the front guide pin 29a so as to raise the rear side, and the taper portion 28a of the gripping claw 28 is brought close to the taper portion 26a of the gripping claw 26. Moreover, the both ends of the front guide pin 29a maintain the state located in the front end part of the front guide groove 27a.

  When the cylinder 21c is further operated from the state of FIG. 7 and the wedge block 25 is moved forward via the cylinder shaft 21e, both ends of the rear guide pin 29b are formed in the rear guide groove as shown in FIG. 27b gradually moves toward the front upper end of the inclined portion on the front side, and the central portion of the rear guide pin 29b gradually moves from the inclined upper end on the front side of the wedge guide groove 25a toward the rear side. It moves toward the rear upper part of the inclined part. As a result, the clamp arm 24 is rotated slightly so as to raise the rear side around the front guide pin 29a, and the tapered portion 28a of the gripping claw 28 is brought into contact with the tapered portion 26a of the gripping claw 26.

  When the cylinder 21c is further operated to move the wedge block 25 forward via the cylinder shaft 21e, both ends of the rear guide pin 29b are positioned in the vicinity of the upper end on the front side of the rear guide groove 27b. The central portion of the rear guide pin 29b gradually moves toward the rear side end of the wedge guide groove 25a, and is in the state shown in FIG. As a result, the clamp arm 24 is further rotated about the front guide pin 29a so as to raise the rear side, and the tapered portion 28a of the gripping claw 28 is brought into pressure contact with the tapered portion 26a of the gripping claw 26. As a result, the printed circuit board 11 is firmly held between the tapered portion 28 a of the holding claw 28 and the tapered portion 26 a of the holding claw 26. 5 to 9, the printed circuit board 11 is omitted.

  The gripping force in this case can be calculated from the relationship shown in FIG. That is, the gripping mechanism 20 shown in FIG. 10 shows a state in which the tapered portion 28a of the gripping claw 28 is in pressure contact with the tapered portion 26a of the gripping claw 26, and when the thrust of the cylinder 21c at that time is f, The gripping force generated in the gripping claws 26 and 28 is output F. Further, an inclination angle with respect to the horizontal line of the rear side portion of the wedge guide groove 25a that causes the gripping claws 26 and 28 to generate a gripping force is α, a line orthogonal to the rear side portion of the wedge guide groove 25a, a front guide pin 29a, The angle with the line orthogonal to the line connecting the rear guide pin 29b was β.

Furthermore, the length between the center points of the front guide pin 29a and the rear guide pin 29b is a, an extension line of the line connecting the center points of the front guide pin 29a and the rear guide pin 29b, and the extension line The length between the intersecting point of the perpendicular line intersecting the tip of the gripping claws 26 and 28 and the center point of the front guide pin 29a was defined as b. In this case, the component force f1 in the forward horizontal direction of the propulsive force f applied from the cylinder 21c to the rear guide pin 29b via the cylinder shaft 21e and the wedge block 25 is expressed as the following Equation 1.
f1 = f / cos (90−α) (Equation 1)

Further, the component force f2 in the direction of the line connecting the center points of the front guide pin 29a and the rear guide pin 29b in the component force f1 is expressed by the following equation 2, and the component force f2 and the output F are The relationship is expressed as Equation 3 below.
f2 = f1 × cos β (Formula 2)
F = R × f2 (Formula 3)
R is the ratio of the length a to the length b.

Moreover, the output F is represented like the following Numerical formula 4 from Numerical formula 1-3.
F = f × R × cos β / sin α (Formula 4)
From this result, it can be seen that the propulsive force f of the cylinder 21c becomes the output F amplified to a predetermined magnification and is generated in the gripping claws 26 and 28. This calculated value is calculated from a theoretical formula ignoring the frictional force generated in each part of the gripping mechanism 20, and is different when calculated in consideration of the frictional force.

  When the printed circuit board 11 is installed on the fixing devices 13a and 13b and fixed at a predetermined setting position, the driving device 18 and the moving device 19 are driven to move the detection device 14 on the printed circuit board 11 while printing. A continuity test is performed by contacting a predetermined test contact (not shown) on the substrate 11.

  As described above, in the gripping mechanism 20 according to the present embodiment, the front guide groove 27a is provided in the front side portion of the hand base portion 23, and the front side portion of the clamp arm 24 is provided along the front guide groove 27a. A movable front guide pin 29a is provided. Further, a rear guide groove 27b is provided in the rear portion of the hand base portion 23, and a rear guide pin 29b movable along the rear guide groove 27b is provided in the rear portion of the clamp arm 24. Thus, the clamp arm 24 can move with respect to the hand base portion 23.

  When the clamp arm 24 is positioned at the distal end portion of the hand base portion 23, the tapered portion 28a of the gripping claw 28 presses the tapered portion 26a of the gripping claw 26. Since the wedge guide groove 25a is formed in the wedge block 25, when the clamp arm 24 reaches a predetermined position of the hand base portion 23, the clamp arm 24 raises the rear portion so that the front guide is raised. It rotates around the pin 29a. As a result, the gripping claws 28 of the clamp arm 24 press the gripping claws 26 of the hand base portion 23 with a large amplified force.

  For this reason, the clamp arm 24 can firmly fix the printed circuit board 11 with a small amount of movement that only slightly rotates after moving forward in the hand base portion 23. As a result, the clamp arm 24 remains in the hand base portion 23, so that the gripping mechanism 20 can be reduced in size. In this case, by appropriately changing and setting the angles α and β and the ratio R, the amplification factor of the propulsive force f to the output F can be set to an arbitrary value. Furthermore, since the front guide mechanism and the rear wedge guide mechanism are constituted by grooves such as the front guide groove 27a and pins such as the front guide pin 29a, the structure is simplified.

(Second Embodiment)
11 to 13 show a gripping mechanism 30 according to the second embodiment of the present invention. In this gripping mechanism 30, after the front guide groove 37a formed in the side surface portions 33b and 33c of the hand base portion 33 extends horizontally in the left and right direction at the upper part of the front side portion of the side surface portions 33b and 33c, The tip end portion is configured by a groove extending obliquely downward. The rear guide groove 37b is a groove that extends horizontally in the left-right direction at a substantially central portion in the vertical direction in the rear side portions of the side surface portions 33b, 33c, and then the tip side portion extends obliquely upward. In this case, the rear side portion and the front side portion of the front guide groove 37a and the rear guide groove 37b are formed to have substantially the same length.

  The clamp arm 34 includes a wide end portion 34a having a large vertical thickness, and a rod-like rear portion 34b extending rearward from the central upper portion of the front end portion 34a. Accordingly, the clamp arm 34 is formed in a substantially T shape in plan view and has a side surface formed in a substantially L shape. Further, a hole portion penetrating both side surfaces is formed at a substantially central portion of the distal end portion 34a, and a front guide pin 39a movable along the front guide groove 37a is formed at both end portions at the distal end portion. It is attached in a state of protruding from 34a. In addition, a hole penetrating both side surfaces is formed in the rear end portion of the rear portion 34b, and a rear guide pin 39b movable along the rear guide groove 37b projects from the rear portion 34b at both ends. It is attached in the state of letting it.

  Further, the gripping mechanism 30 includes a driving roller 35 as a driving member of the present invention. The drive roller 35 is composed of a small rectangular block body having an end surface substantially equal to the rear end surface of the rear portion 34b of the clamp arm 34, and is connected to the rear guide pin 39b via a pair of links 31a and 31b. Yes. That is, a hole that penetrates both side surfaces is formed in the center of the drive roller 35, and a support shaft 35 a is attached to the hole with both ends protruding from the drive roller 35.

  The links 31a and 31b are spanned in a rotatable state between both ends of the support shaft 35a and portions of the rear guide pin 39b facing both ends of the support shaft 35a to form a link mechanism. . The drive roller 35 is attached to the tip of the cylinder shaft 31e in a rotatable state. The configuration of the other parts of the gripping mechanism 30 is the same as that of the gripping mechanism 20 described above. Accordingly, the same parts are denoted by the same reference numerals and the description thereof is omitted. The gripping mechanism 30 is also attached to the same device as the inspection device 10 described above.

  In this case, the gripping mechanism 30 operates as shown in FIGS. 14 to 17 to grip the printed board 11. First, as shown in FIG. 14, the gripping mechanism 30 moves the driving roller 35 to the rear end portion in the hand base portion 33 by the operation of the cylinder 21 c before gripping the printed circuit board 11. It has become. At this time, the rear guide pin 39b is pulled rearward via the support shaft 35a and the links 31a and 31b, and engages with the rear end portion of the rear guide groove 37b, thereby moving the clamp arm 34 rearward. For this reason, the clamp arm 34 is located on the center side in the hand base portion 33, and the grip claw 28 is retracted from the tapered portion 26 a of the grip claw 26.

  Next, from the state shown in FIG. 14, the cylinder 21c is operated to move the cylinder shaft 31e forward, thereby rotating the drive roller 35 forward. As a result, both end portions of the rear guide pin 39b move to the front end portion of the horizontal portion of the rear guide groove 37b as shown in FIG. At this time, both end portions of the front guide pin 39a move horizontally toward the front end portion of the front guide groove 37a, and then move obliquely downward. For this reason, the gripping claw 28 comes close to the tip of the gripping claw 26 and is positioned above it.

  Further, when the cylinder 21c is operated and the drive roller 35 is moved forward via the cylinder shaft 31e, both ends of the rear guide pin 39b are located on the front side of the rear guide groove 37b as shown in FIG. The inclined part is moved upward on the front side. At this time, the links 31a and 31b rotate around the support shaft 35a so that the front part follows the rear guide pin 39b. Accordingly, the clamp arm 34 rotates around the front guide pin 39a so as to raise the rear side, and the tapered portion 28a of the gripping claw 28 is brought into contact with the tapered portion 26a of the gripping claw 26.

  Then, when the cylinder 21c is further operated from the state of FIG. 16 to move the cylinder shaft 31e forward, both ends of the rear guide pin 39b are connected to the front portion of the rear guide groove 37b as shown in FIG. It moves further toward the front side upper end of the inclined portion on the side. Further, the links 31a and 31b are rotated so as to further raise the front portion, and become nearly vertical. As a result, the clamp arm 34 rotates around the front guide pin 39a so as to further raise the rear side, and presses the tapered portion 28a of the gripping claw 28 against the tapered portion 26a of the gripping claw 26.

  As described above, in the gripping mechanism 30 according to the present embodiment, the pressing mechanism is configured by one mechanism including the rear guide groove 37b and the rear guide pin 39b, and is supported by the rear guide pin 39b via the links 31a and 31b. The shaft 35a is connected. When the rear guide pin 39b reaches the center portion of the rear guide groove 37b, the driving roller 35 urges the rear guide pin 39b upward via the links 31a and 31b, and thereby the taper of the grip claw 28. The portion 28 a is in pressure contact with the tapered portion 26 a of the gripping claw 26. For this reason, the structure of the gripping mechanism 30 is simplified, the manufacturing becomes easy, and the cost can be reduced. The other effects of the gripping mechanism 30 are the same as those of the gripping mechanism 20 described above.

(Third embodiment)
FIG. 18 shows a gripping system 40 according to the third embodiment of the present invention. This gripping system 40 is provided in a punching device (not shown) for drilling holes of a predetermined shape in the printed circuit board 11, and in a state where the printed circuit board 11 is fixed, an X-axis moving mechanism, a Y-axis not shown. By the moving mechanism and the θ-axis moving mechanism, the X-axis direction (left and right direction in FIG. 18), the Y-axis direction (direction perpendicular to the X-axis direction in the horizontal plane), and the θ-axis direction (X-axis direction and Y-axis direction, respectively) It is possible to move in a direction around a vertical axis perpendicular to the vertical axis.

  The gripping system 40 includes a rail-shaped base 41 and a pair of gripping devices 41 a and 41 b extending in parallel in a state of being opposed from both side portions of the base 41. The base 41 and the gripping devices 41a and 41b form a substantially U-shaped frame in plan view, and the printed circuit board 11 is installed in a space in the frame. The gripping device 41a includes a rail portion 42a fixed to one end of the base portion 41, and a pair of gripping mechanisms 43a and 44a attached to the rail portion 42a. And the holding mechanism 43a is fixed to the front-end | tip part of the rail part 42a, and the holding mechanism 44a is attached in the state which can move along the longitudinal direction of the rail part 42a.

  That is, the lower surface (inside) of the rail portion 42 a is provided with a rotation drive portion (not shown) made of a screw rod, and this rotation drive portion is driven by a motor 45 a provided at one rear end of the base portion 41. It is comprised so that it may rotate. The gripping mechanism 44a moves along the rotation drive part (rail part 42a) in accordance with the rotation of the rotation drive part, so that the interval with the gripping mechanism 43a can be widened or narrowed. The interval can be adjusted according to the width of 11.

  The gripping mechanisms 43a and 44a each include an actuator 46a that is a cylinder device extending in a direction orthogonal to the longitudinal direction of the rail portion 42a, and a gripping portion 47a that grips or releases the printed circuit board 11 by driving the actuator 46a. It is made up of. The front end portion of the gripping portion 47a is composed of a pair of claws capable of gripping and fixing the edge portion of the printed circuit board 11 from the front and back surfaces, and protrudes toward the inner side of the rail portion 42a.

  The gripping device 41b includes a rail portion 42b that is movably provided on the other end side of the base portion 21, and a pair of gripping mechanisms 43b and 44b that are provided on the rail portion 42b. In addition, a drive device including a rotation drive unit 48 made of a screw rod and a motor (not shown) is provided at the rear part of the base portion 21, and the rail portion 42 b is driven by the motor by the rotation drive unit 48 (base portion). 41). The rail portion 42 b is configured such that the distance from the rail portion 42 a can be adjusted according to the length of the printed circuit board 11 by driving of the driving device.

  The gripping mechanism 43b is fixed to the distal end portion of the rail portion 42b, and the gripping mechanism 44b is attached so as to be movable along the longitudinal direction of the rail portion 42b. That is, a rotation drive part (not shown) made of a screw rod is provided on the lower surface (inside) of the rail part 42 b, and this rotation drive part is connected to the rear end of the other end of the base 41. It is configured to rotate by driving. The gripping mechanism 44b moves along the rotation drive part (rail part 42b) in accordance with the rotation of the rotation drive part, so that the interval with the gripping mechanism 43b can be widened or narrowed. The interval can be adjusted according to the width of 11.

  The gripping mechanisms 43b and 44b include an actuator 46b made of a cylinder device extending in a direction orthogonal to the longitudinal direction of the rail portion 42b, and a gripping portion 47b that grips and releases the printed circuit board by driving the actuator 46b. It is made up of. And the front-end | tip part of this holding part 47b is comprised by a pair of nail | claw which can hold | grip and fix the edge part of the printed circuit board 11 from the front and back, respectively, and protrudes in the inner part side of the rail part 42b.

  Therefore, the distance between the gripping mechanisms 43 a and 44 a and the gripping mechanisms 43 b and 44 b can be adjusted to the length of the printed circuit board 11 by moving the gripping device 41 b along the base 41. Further, by moving the gripping mechanism 44a along the rail portion 42a, the distance between the gripping mechanism 43a and the gripping mechanism 44a can be adjusted to the width of the printed circuit board, and the gripping mechanism 44b is moved along the rail portion 42b. As a result, the distance between the gripping mechanism 43b and the gripping mechanism 44b can be adjusted to the width of the printed circuit board 11.

  For this reason, each gripping mechanism 43a, 44a, 43b, 44b is adjusted to a predetermined interval so that each corner of the printed circuit board 11 is clamped by each gripping portion 47a, 47b. 18 is finely adjusted in the direction indicated by arrow a), and the printed circuit board 11 is tensioned by finely adjusting the gripping mechanisms 44a and 44b in the front-rear direction (direction indicated by arrow b in FIG. 18). Can be fixed in the state. Further, a mounting member 49 is provided at the center of the rear portion of the base 41, and the gripping system 40 includes an X-axis moving mechanism and a Y-axis moving mechanism provided on the main body side of the punching device via the mounting member 49. And the θ-axis moving mechanism directly or indirectly via a predetermined member.

  The gripping system 40 is movable on a table having a mold attached to the center, and the upper surface of the mold in which a die hole having a predetermined shape is formed is exposed on the upper surface of the table. . A punch for punching is provided above the mold so as to be able to advance and retreat with respect to the mold. Further, the gripping mechanisms 43a, 44a, 43b, and 44b of the present embodiment are configured with the same structure as the gripping mechanisms 20a and 20b of the first embodiment.

  As described above, in the punching apparatus provided with the gripping system 40, the printed circuit board 11 is attached to the gripping system 40 that is movable on the table. It can be done efficiently. In addition, since the gripping mechanisms 43a, 44a, 43b, and 44b of the gripping system 40 are provided so that the distance between them can be adjusted, it is possible to perform punching processing of printed boards having different sizes, and to the four sides of the printed board 11. The printed circuit board 11 can be fixed in a state where the applied tension is uniform. Furthermore, since the gripping system 40 is configured in a compact manner, it can be easily moved by being attached to the moving mechanism of the punching device.

  Further, the workpiece gripping mechanism according to the present invention is not limited to the above-described embodiments, and can be implemented with appropriate modifications. For example, in the embodiment described above, grooves such as the front guide groove 27a are provided in the hand base portion 23 and the like, and pins such as the front guide pin 29a are provided in the clamp arm 24 and the like, but the front guide groove 27a and the like are provided. Can be provided in the clamp arm 24 or the like, and pins such as the front guide pin 29a can be provided in the hand base portion 23 or the like. The front guide groove 27a and the like and the front guide pin 29a and the like may be configured to be engaged in a movable state.

  Further, the front guide pins 29a and the like do not need to penetrate the inside of the clamp arm 24 and the like, and may be configured to protrude to the side surface. Furthermore, the shape and the like of each member constituting the gripping mechanism 20 and the like can be changed as appropriate. In the above-described embodiment, the gripping mechanism 20 and the like are attached to the inspection apparatus 10. However, the apparatus to which the gripping mechanism 20 and the like are attached is not limited to this, and a sheet like a punching device is used. Any device for fixing a plate-like or plate-like workpiece and performing a predetermined process on the workpiece may be used.

  Further, in the gripping mechanism 30 of the second embodiment, the drive roller 35 is movable as the drive member by rotating the drive roller 35. However, instead of the drive roller 35, a block-like drive is used. A member can also be used. In this case, the block-shaped drive member moves by sliding in the hand base portion 33. Furthermore, in the above-described embodiment, the cylinder 21c performs both the drive for moving the clamp arms 24 and 34 back and forth and the drive for rotating the wedge block 25 and the links 31a and 31b. These drives can be performed by separate cylinders.

  In the above-described embodiment, the wedge block 25 and the drive roller 35 are configured to perform both the advance and retreat of the clamp arms 24 and 34 and the rotation operation. However, these drives are performed by separate drive members. You can also. Further, in the third embodiment, the gripping mechanism 43a and the like having the same structure as the gripping mechanisms 20a and 20b of the first embodiment are used. As the gripping mechanism 43a and the like, the same structure as the gripping mechanism 30 of the second embodiment is used. A gripping mechanism may be used. Alternatively, the gripping mechanisms 44a and 44b may be fixed to the base end side (base 41) side of the rail portions 42a and 42b, and the gripping mechanisms 43a and 43b may be movable along the rail portions 42a and 42b.

It is a top view showing an inspection device provided with a grasping mechanism concerning a 1st embodiment of the present invention. It is a top view of a holding mechanism. It is a side view of a holding | grip mechanism. FIG. 4 is a cross-sectional view taken along 4-4 in FIG. 2. It is the side view which showed the holding mechanism of the state which the clamp arm retracted. It is the side view which showed the holding mechanism of the state which the clamp arm advanced. It is the side view which showed the holding | grip mechanism in the state which a clamp arm rotates so that a front part may face downward. It is the side view which showed the holding mechanism of the state which the holding parts contacted. It is the side view which showed the holding | grip mechanism in the state where the holding parts were press-contacted. It is explanatory drawing which shows the relationship between the thrust of a cylinder, and the output of a holding part. It is a top view of the grasping mechanism concerning a 2nd embodiment of the present invention. It is a side view of the holding | grip mechanism shown in FIG. It is 13-13 sectional drawing of FIG. It is the side view which showed the holding mechanism of the state which the clamp arm retracted. It is the side view which showed the holding mechanism of the state which the clamp arm advanced. It is the side view which showed the holding | grip mechanism in the state which a clamp arm rotates so that a front part may face downward. It is the side view which showed the holding | grip mechanism in the state where the holding parts were press-contacted. It is the top view which showed the holding | grip system with which the punching apparatus which concerns on 3rd Embodiment of this invention is provided.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 ... Printed circuit board, 20, 20a, 20b, 30, 43a, 43b, 44a, 44b ... Grasping mechanism, 21, 21a, 21b ... Actuator, 22, 22a, 22b ... Grasping part, 23, 33 ... Hand base part, 23b , 23c, 33b, 33c ... side face part, 24, 34 ... clamp arm, 24a, 34a ... tip part, 24b, 24c ... side part, 25 ... wedge block, 25a ... wedge guide groove, 26, 28 ... gripping claw, 27a 37a ... front guide groove, 27b, 37b ... rear guide groove, 29a, 39a ... front guide pin, 29b, 39b ... rear guide pin, 31a, 31b ... link, 35 ... drive roller, 35a ... support shaft, 40 ... gripping system, 41 ... base, 42a, 42b ... rail part.

Claims (9)

A gripping base formed with one gripping claw at the tip, and
A gripping advance / retreat portion in which the other gripping claw that grips a sheet-like or plate-like workpiece with the one gripping claw is formed at the tip portion ;
When the grip advance / retreat portion is engaged with the grip base in a movable state between the base end side portion and the tip end side portion of the grip base, and the grip advance / retreat portion is located at the tip end of the grip base, A guide mechanism for guiding the other gripping claw to press the one gripping claw ;
A drive member movable in conjunction with the grip advancement and retraction unit;
The drive member is engaged with the grip base while being movable between a base end side portion and a tip end side portion of the grip base, and the drive member includes a base end portion and a tip end portion of the grip base. The gripping advance / retreat portion is moved between the proximal end portion and the distal end side portion of the grip base so that the other grip claw of the grip advance portion is moved to one grip claw of the grip base. workpiece gripping mechanism, characterized by comprising a pressing mechanism for Ru moved back and forth relative. Provided the guide mechanism, and the grip front guide portion provided on the front side portion of the base portion, the front side portion of the grip forward and reverse part movably in engagement with the front guide portion constituted by an al the front guided section,
The pressing mechanism, and a rear guide portion provided on the rear side portion of the gripping base, the rear is provided on the rear side portion of the grip forward and reverse part in engagement to be movable in said rear guide portion A rear guide mechanism comprising a guide portion;
By guiding the rear guided portion provided on the drive member, before Symbol rear when the guided portion reaches a predetermined position of the rear guide section, gripping the pre-SL other gripping claws of the one It consists of a pressing part that presses against the nail ,
Further, the guide mechanism and the rear guide mechanism are arranged such that when the rear guided portion reaches the predetermined position of the rear guide portion, the rear guided portion is moved to the front guide portion and the front covered portion. The workpiece gripping mechanism according to claim 1, wherein the workpiece gripping mechanism is configured to be able to rotate around an engagement position with the guide portion . After the front guide portion extends horizontally, the front end portion is configured by a front guide groove extending obliquely downward, the front guided portion is configured by a front guide pin, and the rear guide portion is horizontally The rear side guide portion is formed of a rear guide pin, and the pressing portion is inclined slightly downward from the upper portion and extends forward. later constituted by wedge guide groove extending forward front side by increasing the inclination angle of the downwardly by forward movement of the drive member, position the front Symbol rear guide pin extends obliquely above the rear guide groove upon reaching the location, the by wedge guide groove rotates the front Symbol rear guide pins around the engagement position between the front guide pin and said front guide groove, the other gripping claw of the one It pressed against the gripping claws Workpiece gripping mechanism according to Unishi was claim 2. Provided the guide mechanism, and the grip front guide portion provided on the front side portion of the base portion, the front side portion of the grip forward and reverse part movably in engagement with the front guide portion It was constituted by a front portion guided portion,
Parts after the pressing mechanism, and a rear guide portion provided on the rear side portion of the gripping base, provided in the rear side portion of the grip forward and reverse part in engagement to be movable in said rear guide portion A rear guide mechanism comprising a guided portion;
Provided between the driving member and the grip forward and reverse part presses when the rear guided section has reached a predetermined position of the rear guide portion, the front SL other gripping claws on the one gripping claw link And consists of
Further, the guide mechanism and the rear guide mechanism are arranged such that when the rear guided portion reaches the predetermined position of the rear guide portion, the rear guided portion is moved to the front guide portion and the front covered portion. The workpiece gripping mechanism according to claim 1, wherein the workpiece gripping mechanism is configured to be able to rotate around an engagement position with the guide portion . After the front guide portion extends horizontally, the front end portion is configured by a front guide groove extending obliquely downward, the front guided portion is configured by a front guide pin, and the rear guide portion is horizontally And the rear guided portion is constituted by a rear guide pin, and when the drive member moves to the distal end side of the grip base, 5. The workpiece gripping mechanism according to claim 4, wherein the link portion urges the rear guide pin upward along a portion extending obliquely upward of the rear guide groove . Comprises a single actuator for driving the driving member, the driving of the actuator, 請 Motomeko said gripping reciprocating portion is adapted to move between the proximal portion and the distal portion of the grip base The workpiece gripping mechanism according to any one of 1 to 5.   A plurality of the workpiece gripping mechanisms according to any one of claims 1 to 6, wherein the plurality of workpiece gripping mechanisms are arranged to face each other in a state of being able to approach and separate from each other. A gripping system in which a workpiece can be installed between the plurality of workpiece gripping mechanisms.   A rail-shaped base portion and a pair of rail portions extending in parallel to a direction orthogonal to the longitudinal direction of the base portion from both end portions of the base portion, and each of the pair of rail portions has a gripping mechanism for two workpieces. The gripping system according to claim 7 provided.   At least one of the two workpiece gripping mechanisms provided on each of the pair of rail portions, the at least one rail portion of the pair of rail portions being movable along the longitudinal direction of the base portion. The gripping system according to claim 8, wherein the gripping mechanism of the workpiece is movable along a longitudinal direction of a rail portion to which the gripping mechanism of each one of the workpieces is attached.

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