JP5171119B2 - Reciprocating mechanism and pick and place device - Google Patents

Description

  The present invention relates to a reciprocating motion mechanism and a pick-and-place apparatus using the mechanism. The pick-and-place device is a device that holds and lifts a workpiece and moves it to a predetermined location for positioning. For example, it is frequently used as an automated device for assembly, transportation, inspection, and the like.

  Conventionally, as a reciprocating mechanism used for a pick-and-place device or the like, there is a mechanism using a plurality of driving devices (electric motors or the like) like an arm robot device. According to this, a predetermined motion trajectory is obtained by synthesizing operations by a plurality of driving devices, and the motion trajectory can be freely set, so that it has versatility. However, since a plurality of drive devices are required, there is a disadvantage that the device becomes complicated and large.

On the other hand, a reciprocating motion is obtained in which a predetermined motion trajectory is obtained by a single drive device using a cam mechanism.
For example, a bearing holder supported by a support portion, a Z-axis attached to the bearing holder via a Z-axis bearing, a groove cam plate having a groove fixed to the support portion, and a first fitted in the groove A cam follower, a roller block fixed to the Z-axis, a pin fixed to the roller block and inserted into the first cam follower, a lever attached to the shaft and rotatably attached to the shaft, a first The second cam follower, which is arranged in parallel with the cam follower in the length direction of the pin and is slidably attached to the other end of the lever, and a drive mechanism for driving the lever A unit is disclosed.
Japanese Utility Model Publication No. 03-126522 (Fig. 1 etc.)

In such a pick-and-place unit, a roller block as a moving body is moved via a lever. The lever is rotated by a drive mechanism via a shaft (rotation shaft), and the drive mechanism is directly connected to the rotation shaft. According to this, the rotation shaft and the drive mechanism are structured in series in the axial direction to increase. In addition, a special speed reduction mechanism composed of a rack and a pinion is interposed between the rotating shaft and the power unit of the drive mechanism, resulting in a complicated configuration.
Furthermore, when the moving body is driven via the lever, the position of the moving body is determined by the angular displacement of the small-diameter rotation shaft, and it is difficult to increase the positioning accuracy of the moving body.

The problem to be solved regarding the reciprocating mechanism and the pick-and-place apparatus is that the overall configuration of the apparatus becomes thick, the configuration becomes complicated, and the manufacturing cost tends to increase. There is also a problem that it is difficult to increase the positioning accuracy of the moving body.
SUMMARY OF THE INVENTION An object of the present invention is to provide a reciprocating mechanism and a pick-and-place device that can make the device compact, simplify the configuration, reduce the manufacturing cost, and increase the positioning accuracy of the moving body. .

The present invention has the following configuration in order to achieve the above object.
According to one aspect of the reciprocating mechanism according to the present invention, the moving mechanism is configured to reciprocate the moving body along a predetermined trajectory, wherein the moving body is moved in the first linear direction and the second linear direction. A two-dimensional motion guide portion provided with a first movement guide and a second movement guide for guiding movement, a shaft-like protrusion portion provided in a shape protruding in a shaft shape from the moving body, and a tip side of the shaft-like protrusion portion. Provided in a groove shape so as to fit, and a guide groove that guides the moving body so as to move following a predetermined locus, and a circular shape that is provided in parallel with the guide groove and covers the entire guide groove The shaft-like protrusion is provided with a cooperation hole through which the circular protrusion is movably inserted, and the movement is performed via the shaft-like protrusion by being driven to rotate about the center of the circle. A rotating circular member for driving the body and an outer peripheral portion of the rotating circular member And transmitting the force, the the pivoting circular member and a driving means for driving rotation.

Moreover, according to one form of the reciprocating motion mechanism concerning this invention, the said rotation circular member is a timing pulley, The said drive means can be comprised by the electric motor and the timing belt, It can be characterized by the above-mentioned.
Moreover, according to one form of the reciprocating mechanism concerning this invention, the said rotation circular member is a gearwheel, The said drive means can be comprised by the electric motor and the pinion gear, It can be characterized by the above-mentioned.
Moreover, according to one form of the reciprocating mechanism concerning this invention, a linear part is provided in the intermediate part of the said guide groove, and the said linear part is adjusted so that the moving length to the one direction of the said mobile body can be adjusted. It can be characterized by being provided so as to be extendable.

Moreover, according to one form of the reciprocating motion mechanism concerning this invention, at least one movement guide of the said two-dimensional motion guide part is provided with the some linear guide, and this linear guide is the rotational axis of the said rotational circular member. It can be characterized by being arranged on both sides of the core.
Further, according to one aspect of the reciprocating mechanism according to the present invention, a pair of the linear guides are provided and arranged with a large span in the guide direction by the other moving guide, and move along each of the linear guides. Each base moving plate is provided, and a long moving body is provided on the pair of base moving plates via the other moving guide, and a synchronization mechanism is provided for the guide direction of the moving body by one moving guide. It can be characterized by comprising.
According to one aspect of the reciprocating mechanism according to the present invention, the first linear direction is substantially the vertical direction, the second linear direction is the substantially horizontal direction, and the moving body is The guide groove is provided in an inverted U shape so that it can move in the upward direction, the horizontal direction, and the downward direction.

  Moreover, according to one form of the pick-and-place apparatus concerning this invention, the holding | maintenance apparatus part which hold | maintains a workpiece | work was provided in the said moving body of said reciprocation mechanism.

  According to the reciprocating mechanism and the pick-and-place apparatus according to the present invention, it is possible to make the apparatus compact, simplify the structure, reduce the manufacturing cost, and increase the positioning accuracy of the moving body. Play.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a best mode example of a reciprocating mechanism used as a pick and place device according to the present invention will be described in detail with reference to the accompanying drawings (FIGS. 1 to 8).
Fig.1 (a) is a side view including the partial cross section which shows the reciprocation mechanism based on this invention, FIG.1 (b) is an AA arrow line view of Fig.1 (a). 2 is an explanatory view of the opposite side of FIG. 1B from the line AA in FIG. 1A, and FIG. 3 is a view taken along the line BB in FIG. . 4 is a plan view of the embodiment shown in FIG. 1, and FIG. 5 is a cross-sectional view of the embodiment shown in FIG. 6 is a side view seen from the side of the moving body portion to which the holding device portion is attached, and FIG. 7 is a view taken along the line CC in FIG. 1 (b). Moreover, Fig.8 (a)-(c) is a front view explaining the operating state of a moving body.
This reciprocating mechanism is a moving mechanism that reciprocates the moving body 10 along a predetermined locus. And the pick-and-place apparatus is comprised by providing the holding | maintenance apparatus part 60 (refer FIG. 2) which hold | maintains a workpiece | work to the moving body 10 of the reciprocation mechanism.

Reference numeral 20 denotes a two-dimensional motion guide unit, which includes a first movement guide 21 and a second movement guide 22 that guide the movement of the moving body 10 in the first linear direction Z and the second linear direction X (FIG. 2). reference).
The first moving guide 21 of the present embodiment is configured by a pair of linear guides 21z and 21z that extend in parallel with the Z direction that is the vertical direction and are fixed to the base 11. A pair of linear moving members 23z and 23z are slidably mounted on each linear guide 21z. Thereby, a so-called linear motion guide is formed. Four linear moving members 23 z are fixed to the base moving plate 25. Thereby, the base moving plate 25 can move smoothly in the vertical direction.

On the surface of the base moving plate 25, a pair of linear moving members 24x and 24x are fixed in series in the X direction which is the horizontal direction. The linear guide 22x is fitted to the pair of linear moving members 24x and 24x so as to be able to move smoothly in the X direction. The linear guide 22x is fixed to one surface of the moving body 10. Accordingly, here, the pair of linear movement members 24x and 24x relatively constitute the second movement guide 22, and the linear guide 22x is integrated with the moving body 10.
According to the two-dimensional motion guide unit 20 configured as described above, the moving body 10 can be two-dimensionally moved in a predetermined plane by combining the motion in the Z direction and the X direction. In addition, the motion plane concerning the reciprocating motion mechanism of the present invention is not limited to the composition of the Z direction and the X direction in the present embodiment, and it is a matter of course that a case of composition in another direction is included. That is, the moving direction of the moving body 10 is not limited.

  Reference numeral 12 denotes an axial protrusion, which is provided in a form protruding in an axial shape from the moving body 10. As shown in FIG. 1A, the axial protrusion is in a direction perpendicular to the moving plane of the moving body 10 and is opposite to the side on which the two-dimensional motion guide 20 is provided. Protruding The shaft core portion 13 is provided in a fixed state integrally with the moving body 10, and a first bearing 14 and a second bearing 15 that function as a cam follower are fitted in the shaft core portion 13 side by side in the axial direction.

Reference numeral 30 denotes a guide groove, which is provided in a groove shape so that the distal end side 12a of the shaft-like protruding portion 12 is fitted, and the moving body 10 moves along the predetermined locus via the shaft-like protruding portion 12. invite. The guide groove 30 is provided in the base 11 so as to face the moving body 10. In addition, the front end side 12a of the shaft-like projection portion 12 of this embodiment is configured in a form in which the first bearing 14 is fitted to the shaft core portion 13. For this reason, the axial protrusion 12 can move smoothly in the guide groove 30. Thus, since the axial protrusion 12 moves along the guide groove 30, the moving body 10 can be moved at a high speed.
In this embodiment, the straight portion 33 is provided in the middle portion of the guide groove 30 so that the straight portion 33 can be expanded and contracted so that the moving length in one direction (X direction) of the moving body 10 can be adjusted. Is provided. Further, as described above, the first linear direction Z is substantially the vertical direction, and the second linear direction X is the substantially horizontal direction, and the moving body 10 has the ascending direction Z, the horizontal direction X, and the descending direction. The guide groove 30 is provided in an inverted U shape so that it can move to Z.

The structure for adjusting the length of the guide groove 30 in the horizontal direction is constituted by two groove plates 37 and 38 provided in a state of being divided into left and right as shown in FIGS. In the portions where the straight portions 33 of the guide grooves 30 of the respective groove plates 37 and 38 are provided, each of the groove plates 37 and 38 is provided with a half plate thickness and overlaps with the ground state. Therefore, by shifting the groove plates 37 and 38 in the X direction as appropriate and fixing them to the base 11, the length of the guide groove 30 in the horizontal direction can be adjusted within a range where they overlap.
Reference numeral 39 denotes a bolt, which fixes the groove plates 37 and 38 to the base 11. The bolt 39 is inserted into the long hole 17 provided in the base 11 and is provided so that the position of the groove plates 37 and 38 can be adjusted in a loose state. Reference numeral 18 denotes a pin that fits into the long groove 19 to guide the horizontal displacement of the groove plates 37 and 38. Furthermore, reference numeral 70 denotes an adjustment screw which is screwed to the side surface of each of the groove plates 37 and 38 from the side wall 11a of the base portion. By turning the screw 70, the groove plates 37 and 38 are displaced in the horizontal direction.

  Reference numeral 40 denotes a rotating circular member, which is juxtaposed in the guide groove 30. In this embodiment, it is arranged between the guide groove 30 and the two-dimensional motion guide unit 20 that guides the moving body 10. The rotating circular member 40 is provided in a circular shape having a size that covers the entire guide groove 30 facing the entire shape thereof. Further, the shaft-like protrusion 12 is provided with a cooperation hole 45 that is inserted so as to be movable in the circular radial direction, and the movable body 10 is driven via the shaft-like protrusion 12 by being driven to rotate. The cooperation hole 45 of this embodiment is formed as a long hole that is long in the radial direction. In this cooperation hole 45, the driving force by the rotating circular member 40 is transmitted to the axial protrusion 12, and the moving body 10 is driven. In addition, the cooperation hole 45 is provided in the long hole of the length which accept | permits the displacement of the axial protrusion part 12 about the largest difference of the distance from the axial center 41a to each part of the guide groove 30 at least. Further, the shape of the rotating circular member 40 may be substantially circular so that power for rotational driving is transmitted by the outer peripheral portion 42 thereof.

The rotating circular member 40 of the present embodiment is provided in a wheel shape, and as shown in FIG. 7, is pivotable around the shaft core 41 a (the rotating shaft 41) via the bearing 44 so as to pivot on the base 11. It is worn. More specifically, the rotating circular member 40 is a timing pulley, and is pivotally attached to the base portion 11 so as to be positioned at the center portion corresponding to the guide groove 30.
In addition, the support structure of the rotation circular member 40 is not limited to the structure by the rotation axis | shaft 41 like this embodiment. For example, the rotation circular member 40 can be rotatably supported by arranging three or more rollers in contact with the outer peripheral portion of the rotation circular member 40.

Reference numeral 50 denotes driving means for transmitting power to the outer peripheral portion 42 of the rotating circular member 40 to drive the rotating circular member 40.
In this embodiment, the driving means 50 is constituted by an electric motor 52 and a timing belt 55. An electric motor 52 is fixed to the base 11, and a timing belt 55 is wound around a timing pulley 54 fixed to an output shaft 53 of the electric motor 52 and a timing pulley constituting the rotating circular member 40.
The electric motor 52 can be a servo motor or a pulse motor, and the movement of the moving body 10 can be suitably controlled simply by controlling the electric motor 52. Further, the power device is not limited to the electric motor, and it is needless to say that a cylinder device or the like can be adopted.
Further, by providing an angular position sensor such as a rotary encoder on the rotating shaft 41 side of the rotating circular member 40, more accurate control can be performed.

  By the way, the configuration of the rotating circular member 40 and the driving means 50 is not limited to this, and other configurations may be used as long as the mechanism transmits power directly to the outer peripheral portion 42 of the rotating circular member 40. For example, the rotating circular member 40 may be a gear, and the driving unit 50 may be configured by an electric motor and a pinion gear. It is also possible to employ power transmission means using a steel belt or chain and a sprocket.

  Thus, according to the mechanism that directly transmits power to the outer peripheral portion 42 of the rotating circular member 40, the rotating angular velocity can be suitably reduced by utilizing the large outer diameter of the rotating circular member 40. . Therefore, there is no need to provide a separate speed reduction mechanism, the configuration of the apparatus can be simplified, and the manufacturing cost can be reduced. In addition, the driving mechanism is not directly connected to the rotating shaft 41, rather than a mechanism for transmitting power to the rotating shaft 41 and rotating it. For this reason, the whole apparatus can be formed compactly.

  Moreover, since the position of the mobile body 10 can be managed by the rotational distance of the large-diameter outer peripheral portion 42 of the rotational circular member 40, the positioning accuracy of the mobile body 10 can be easily increased. Further, the positioning dimensional accuracy of the portion positioned inside the outer peripheral portion 42 of the rotating circular member 40 by the timing belt 55 or the like is higher in a similar shape. In the present invention, the moving range of the moving body 10 guided by the guide groove 30 is narrow with respect to the outer shape of the rotating circular member 40, and the positioning dimensional accuracy is increased in a similar shape.

Next, the detail is demonstrated about the example of each structure, such as a cooperation form of each structure.
First, the details of the cooperation hole 45 in which the axial protrusion 12 is linked to the rotating circular member 40 will be described.
The rotating circular member 40 is reduced in weight so as to reduce the influence of inertial force and perform high-speed movement. In this embodiment, aluminum, which is a lightweight material, is used, and the wheel is designed to have a reduced thickness except for the ring-shaped outer peripheral portion 42.
And the cooperation hole 45 where the shaft-shaped projection part 12 is inserted is reinforced by attaching a reinforcing material 46 to the inner edge 45a with which the second bearing 15 contacts.
In addition, it replaces with the 2nd bearing 15 which contacts the inner edge 45a of the cooperation hole 45, and uses the slipper which can reciprocately slide to the radial direction of the rotation circular member 40 along the inner edge 45a, or a linear motion guide, and the slipper Alternatively, the shaft core portion 13 of the shaft-like protruding portion 12 may be pivotally attached to the linear motion guide.

In the present embodiment, the two-dimensional motion guide unit 20 is provided by stacking and arranging two movement guides 21 and 22 that guide the movement in the linear direction.
And the two-dimensional motion guide part 20 and the drive mechanism part comprised by the rotation circular member 40 and the guide groove 30 are arrange | positioned in the position which faces, Between that, the mobile body 10 is arranged so that movement is possible. ing.
According to this, since the moving body 10 is supported in a state of being sandwiched between both the two-dimensional motion guide unit 20 and the drive mechanism unit, it can be stably operated. For this reason, although it is a structure which can be constructed | assembled comparatively easily, highly accurate positioning can be performed suitably corresponding to the high-speed driving | running of a heavy load.

Next, a description will be given of means for removing the mechanical play with respect to the guide groove 30 of the axial protrusion 12 and improving the positioning accuracy.
Reference numeral 65 denotes a coil spring, which is mounted as an example of an elastic member between the shaft-like protrusion 12 and the rotating circular member 40. One end is hung on the base portion of the shaft core portion 13 of the shaft-shaped protrusion 12, and the other is hung on a mounting portion 47 provided on the rotating circular member 40. The attachment portion 47 is substantially disposed on a radial line connecting the link hole 45 and the shaft core 41a of the rotating circular member 40. Even if the shaft-like protrusion 12 moves, it is always urged by the coil spring 65 in the direction of the axis 41a of the rotating circular member 40.
According to this, the axial protrusion 12 can be urged so as to always abut against the surface 36 near the center of the guide groove 30, mechanical play can be removed, and positioning accuracy can be improved.

In this embodiment, the axial projection 12 is urged to one side by using the pulling force of the coil spring 65, but the present invention is not limited to this. Mechanical play may be removed by urging the shaft-shaped protrusion 12 to one side using the compressive force of the elastic member.
Furthermore, a means for removing mechanical play in each of the Z direction and the X direction (two directions) may be provided. For example, one end of the coil spring is attached to the base 11 and the other end is attached to the base moving plate 25 to remove mechanical play in the Z direction, and one end of another coil spring is attached to the base moving plate 25 and the other end is moved. Attach to body 10 to remove mechanical play in the X direction. By removing the mechanical play in this way, the positioning accuracy can be further improved.

Next, a description will be given of a motion trajectory (the shape of the guide groove 30) that prevents the occurrence of vibration during the motion of the moving body 10 and enables high-speed operation.
In the guide groove 30 of the present embodiment, the shape of the curved portions 32 and 34 that are continuous from the straight portions 31 and 35 in the Z-axis direction (vertical direction) to the straight portion 33 in the X-axis direction (horizontal direction) is a constant acceleration curve. (See FIG. 3). That is, according to the curved portions 32 and 34 of the guide groove 30, a constant driving load is continuously transmitted from the rotating circular member 40 to the shaft-like protrusion 12.
For this reason, it can prevent that the vibration resulting from the fluctuation | variation of a drive load generate | occur | produces, and can perform a high-speed driving | operation suitably. Note that the straight portions 31, 33, 35 and the curved portions 32, 34 are continuous with a smooth R, so that the moving body 10 can move smoothly.
Furthermore, the motion curve is not limited to the above-described equal acceleration curve, and other cam curves can be used according to various specifications.

Further, in the guide groove 30 of this embodiment, the linear portion 33 in the X-axis direction is shorter than the linear portions 31 and 35 in the Z-axis direction with respect to the distance from the axis 41a of the rotating circular member 40. Is provided.
According to this, due to the characteristics of the electric motor 52, there is an effect of compensating for a decrease in torque when the rotational speed increases. That is, the linear portion 33 in the X-axis direction corresponds to an intermediate portion of the movement of the moving body 10 and the shaft-like protrusion 12 moves fastest. Accordingly, the rotation speed of the electric motor 52 corresponds to this. Get faster. For this reason, although torque falls, there exists an effect | action which supplements this by the distance from the shaft center 41a of the rotation circular member 40 being short.
By supplementing the torque characteristics in this way, it is possible to move the moving body 10 withstanding a high load. Therefore, the present invention can also be applied to a pick and place apparatus that requires a larger weight.

Next, the operating state of the reciprocating mechanism according to the present invention will be described with reference to FIG.
FIG. 8A is a front view showing a state in which the moving body 10 stops at one lowered position. From this state, along with the rotational drive (right rotation) of the rotational circular member 40, the shaft-like protrusion 12 is moved while being guided by the guide groove 30. Then, the moving body 10 moves to the other lowered position shown in FIG. 8C via the state of FIG. 8B and stops. And if the rotation circular member 40 is rotationally driven in the opposite direction (left rotation), the movable body 10 can be guided to the guide groove 30, and can be returned to the position of Fig.8 (a).
According to this, the moving body 10 is operated in the order of upward movement, horizontal movement, and downward movement, and the pick-and-place operation is performed.
Moreover, according to this reciprocating mechanism, since the structure demonstrated above is provided, a moving body can be moved at high speed and the positioning accuracy of the moving body can be improved.

Next, another embodiment (Example 1) of the reciprocating mechanism according to the present invention will be described with reference to FIG. FIG. 9 is a front view (a) and a plan view (b) illustrating the reciprocating mechanism of the first embodiment. In addition, about the structure equivalent to the structure of the example demonstrated above, the same code | symbol is attached | subjected and description is abbreviate | omitted.
At least one moving guide of the two-dimensional motion guide unit 20 includes a plurality of linear guides, and the linear guides are arranged on both sides of the rotating shaft core 41 a of the rotating circular member 40. In the present embodiment, the first movement guide 21 includes a pair of linear guides 21 z and 21 z fixed to the base portion 11. Each linear guide 21z extends in the vertical direction, and is arranged on the left and right sides with the shaft core 41a interposed therebetween.
According to this, the moving body 10 can be stably guided by dispersing the load, and the driving force can be transmitted in a more balanced manner. Therefore, the moving body 10 can be moved at high speed, and the positioning accuracy of the moving body can be improved.

Next, another embodiment (Example 2) of the reciprocating mechanism according to the present invention will be described below with reference to FIGS. FIG. 10 is a front view (a) and a plan view (b) showing the reciprocating mechanism of the second embodiment. FIG. 11 is a longitudinal sectional view taken along the longitudinal direction at the center of FIG. FIG. 12 is a longitudinal sectional view taken along the longitudinal direction at the left side of FIG. In addition, about the structure equivalent to the structure of the example demonstrated above, the same code | symbol is attached | subjected and description is abbreviate | omitted.
In this reciprocating mechanism, a pair of linear guides 21z are provided and arranged with a large span in the guide direction by the second moving guide 22, and each base moving plate 25, 25 moving along each of the linear guides 21z is provided. A long moving body 10 provided between the pair of base moving plates 25 and 25 via the second moving guide 22 is provided, and a guide direction of the moving body 10 by the first moving guide 21 is provided. A synchronization mechanism 80 is provided.
In the second embodiment, as compared with the first embodiment, the arrangement span of the pair of linear guides 21z and 21z is increased, the base moving plate 25 is divided into left and right, and a long moving body 10 is provided. The difference is that a synchronization mechanism 80 is provided for left and right vertical movements of the moving body 10.
In the first embodiment, the base moving plate 25 to which the respective linear moving members 23z are fixed is integrally formed, so that the synchronization mechanism as in the second embodiment is not required.

As shown in the figure, the synchronization mechanism 80 of the present embodiment is passed to the left and right bases 11 and 11 and is rotatable to the left and right bases 11 and 11 around both ends 81b and 81b around an axis 81a. A shaft 81 attached to the shaft 81, each lever portion 82 extending in a direction orthogonal to the shaft core 81 a in the vicinity of both ends 81 b and 81 b of the shaft 81, and a base so as to cooperate with the lever portion 82. Fork-shaped linkage portions 25 a provided on the moving plate 25. The shaft 81 can obtain better synchronization performance as the rigidity is higher. For this reason, it is good to use a pipe-shaped shaft with a large diameter.
According to the reciprocating mechanism provided with the synchronizing mechanism 80, the pair of base moving plates 25, 25 divided into the left and right are synchronized in the vertical direction by the mutual rotating action of the shaft 81 and the pair of lever portions 82, 82. Moved. That is, the vertical movement of the pair of base moving plates 25 and 25 and the rotational movement of the shaft 81 and the pair of lever portions 82 and 82 are always converted into each other, and the long movable body 10 is always kept horizontal. Acts as follows. Therefore, although the pair of base moving plates 25 are not integrally connected, the moving body 10 can move up and down smoothly without tilting. Thereby, since the base moving plate 25 can be reduced in weight, the long moving body 10 can be moved at high speed, and the positioning accuracy of the moving body 10 can be improved.

Note that the synchronization mechanism is not limited to this. For example, the shaft 81, pinions fixed in the vicinity of both end portions 81b and 81b, and the left and right base moving plates 25 and 25 so that the pinions mesh with each other. It can also consist of a fixed rack. Such a synchronization mechanism can also be configured using a link mechanism.
According to the reciprocating mechanism provided with the synchronization mechanism as described above, for example, if a plurality of holding devices for holding the workpiece are arranged on the long movable body 10, the workpiece is sequentially supplied to a plurality of continuous processing stations. In the (feeding) workpiece feeding device, it can be suitably used as the reciprocating mechanism. In addition, as a holding | maintenance apparatus part holding a workpiece | work, a chuck | zipper apparatus and a suction suction apparatus can be used suitably, for example.

  As described above, the present invention has been described in various ways with preferred embodiments. However, the present invention is not limited to these embodiments, and many modifications can be made without departing from the spirit of the invention. That is.

It is a side view including the partial cross section which shows the form example of the reciprocating mechanism based on this invention. It is explanatory drawing which looked at the two-dimensional motion guide part side from the AA line of Fig.1 (a). It is a BB arrow line view of Drawing 1 (a). It is a top view of the example of a form of FIG. It is sectional drawing seen from the example of the form of FIG. It is the side view seen from the side of the mobile part to which a holding device part is attached. It is CC arrow line view of FIG.1 (b). It is a front view explaining the operating state of a moving body. It is the front view (a) and top view (b) which show the reciprocation mechanism of Example 1. FIG. It is the front view (a) and top view (b) which show the reciprocation mechanism of Example 2. FIG. It is the longitudinal cross-sectional view fractured | ruptured in the vertical direction in the center part of FIG. It is the longitudinal cross-sectional view fractured | ruptured in the vertical direction in the left side part of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Moving body 12 Axial projection part 12a Tip side 20 Two-dimensional motion guide part 21 1st movement guide 22 2nd movement guide 30 Guide groove 33 Linear part 40 Turning circular member 42 Outer peripheral part 45 Cooperation hole 50 Driving means 52 Electric motor 53 Drive shaft 55 Timing belt 60 Holding device part 70 Adjustment screw 80 Synchronizing mechanism

Claims (8)

A moving mechanism for reciprocating the moving body along a predetermined path,
A two-dimensional motion guide unit comprising a first movement guide and a second movement guide for guiding movement in the first linear direction and the second linear direction applied to the movable body;
An axial protrusion provided in an axially protruding form from the moving body;
A guide groove that is provided in a groove shape so that the distal end side of the shaft-like protrusion is fitted, and guides the moving body to move following a predetermined locus;
A circular hole provided in parallel with the guide groove and covering the entire guide groove is provided with a cooperation hole through which the shaft-like protrusion is movably inserted in the radial direction of the circle. a rotating circular member for driving the movable body through the shaft-shaped protrusions by being rotary drive as axial,
A reciprocating mechanism comprising drive means for transmitting power to an outer peripheral portion of the rotating circular member to drive the rotating circular member to rotate .   2. The reciprocating mechanism according to claim 1, wherein the rotating circular member is a timing pulley, and the driving means is constituted by an electric motor and a timing belt.   The reciprocating mechanism according to claim 1, wherein the rotating circular member is a gear, and the driving means is constituted by an electric motor and a pinion gear.   The linear portion is provided in an intermediate portion of the guide groove, and the linear portion is provided to be extendable and retractable so that the moving length in one direction of the moving body can be adjusted. The reciprocating motion mechanism according to 2 or 3.   The at least one movement guide of the two-dimensional motion guide portion includes a plurality of linear guides, and the linear guides are arranged on both sides with a rotation axis of the rotation circular member interposed therebetween. Item 5. The reciprocating mechanism according to 1, 2, 3, or 4.   A pair of the linear guides are provided and arranged with a large span in the guide direction by the other moving guide, and each base moving plate that moves along each of the linear guides is provided. 6. A reciprocating motion according to claim 5, further comprising a long moving body passed through the other moving guide and provided with a synchronization mechanism in a guide direction by the one moving guide of the moving body. mechanism.   The first linear direction is substantially the vertical direction, the second linear direction is the substantially horizontal direction, and the moving body can move in the upward direction, the horizontal direction, and the downward direction. The reciprocating mechanism according to claim 1, 2, 3, 4, 5, or 6, wherein the guide groove is provided in an inverted U shape.   8. A pick-and-place apparatus, wherein the moving body of the reciprocating mechanism according to claim 1, 2, 3, 4, 5, 6 or 7 is provided with a holding device section for holding a workpiece.

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