JP5544210B2 - Pick and place equipment - Google Patents

Description

  The present invention relates to a pick-and-place apparatus, and more particularly to a pick-and-place apparatus that can save space when installed in an assembly facility.

  In an assembly facility, a pick-and-place device is generally installed adjacent to the component supply line, and the pick-and-place device uses the component supplied to a predetermined position on the component supply line as an assembly line. It is designed to be transferred onto a predetermined position such as a pallet that moves along.

  Here, as this type of pick-and-place apparatus, for example, one disclosed in Japanese Patent Application Laid-Open No. 2007-152505 is known. That is, as shown in FIG. 4, the proposed pick-and-place apparatus 1 corresponds to the x-axis direction (horizontal direction) movement and the z-axis direction (vertical direction) movement of the top plate 2 to which the hand portion is attached. The cam curves of the rotating cam plates 3 and 4 are generated.

  In other words, the cam follower 6 provided at the intermediate force point portion of the z-axis lever 5 is brought into contact with the z-axis rotating cam plate 4, and the cam follower 7 provided at the tip action point portion moves the top plate 2. The upper end of the slider 8a of the z-axis linear guide 8 guided in the z-axis direction is engaged via an engagement piece 9. An x-axis linear guide 10 that holds the top plate 2 and guides the movement in the x-axis direction is attached to the lower end portion of the slider 8a, and is attached to one end portion of the slider 10a of the x-axis linear guide 10. The top plate 2 is held, and the z-axis lever 5 swings up and down as the z-axis rotating cam plate 4 rotates, so that the top plate 2 is moved up and down integrally with the x-axis linear guide 10. It comes to work.

  On the other hand, the cam follower 12 provided on the force point side arm 11a of the x axis lever 11 is brought into contact with the x axis rotating cam plate 3, and the cam followers 12a and 12b provided on the action point side arm 11b are x. The shaft linear guide 10 is engaged with a locking piece 13 provided at the other end of the slider 10a while allowing its relative vertical and rotational movements. That is, as the x-axis rotary cam plate 3 rotates, the x-axis lever 11 swings back and forth (left and right in the figure), so that the top plate 2 is integrated with the slider 10a of the x-axis linear guide. It is designed to move forward and backward.

  As shown in FIG. 5, an x-axis motor 15 for rotating the x-axis rotating cam plate 3 on the outer surface of the base 14 that supports the x-axis and z-axis operating mechanisms is provided. And a z-axis motor 16 for rotationally driving the z-axis rotating cam plate 4 are attached. Here, the x-axis rotary cam plate 3 is integrated with the rotary shaft 15 a of the x-axis motor 15, and the z-axis rotary cam plate 4 is bearing on the rotary shaft 15 a of the x-axis motor 15. 17 is provided so as to be integrated with a timing pulley 18 that is rotatably provided via 17, and the rotational force of the z-axis motor 16 is transmitted via a timing belt 19.

JP 2007-152505 A

  By the way, when the conventional pick-and-place apparatus is assembled and installed in an assembly facility, the base plate 14a of the base 14 is placed on the machine body base of the assembly facility and is adjacent to the component feeder or the like of the component supply line. Fixed with bolts.

  However, the conventional pick-and-place device has a configuration in which all of the drive source and the transmission mechanism are arranged close to the top plate, which is the output end thereof, so that the top of the machine body base Will occupy a large installation area. In other words, the entire assembly facility is laid out while avoiding interference with various devices provided in the assembly line, the component supply line, etc., but the conventional pick-and-place device saves space in the assembly facility. However, there was a problem that it was difficult to plan.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a pick-and-place device that can save space when installed in an assembly facility.

In order to achieve the above object, the present invention provides a support for supporting the hand part by allowing a place operation of the hand part,
A pick operation transmission mechanism that supports the support so as to move up and down and transmits a pick operation in the vertical direction to the hand portion;
A place operation transmission mechanism that allows a pick operation of the hand portion supported by the support body and transmits a place operation in the front-rear direction perpendicular to the up-down direction to the hand portion;
A pick operation drive source for inputting an operation in the vertical direction to the pick operation transmission mechanism;
A place operation drive source for inputting an operation in the front-rear direction to the place operation transmission mechanism;
With
The pick operation drive source and the place operation drive source are composed of a plate cam fixed to the same motor rotation shaft extending in the front-rear direction and an end face cam, and the lower end of the pick operation stroke of the hand unit Below the position , installed immediately below the pick operation transmission mechanism and the place operation transmission mechanism ,
The pick and place device is characterized by this .

The pick operation transmitting mechanism, with is composed of a vertically sliding rod, which is slidably movably supported vertically engaged with the slide guide and the slide guide which is fixed to the casing, the vertical direction the lower end of the sliding rod is brought into contact with the cam surface of the plate cam,
The support part of the hand part is supported by a slide guide fixed to the upper end part of the pick operation transmission mechanism, and is slidably supported by the slide guide in the front-rear direction, and the hand part is fixed to one end part thereof. Composed of horizontal sliders,
The place operation transmission mechanism is configured by a swing lever that swings in a vertical plane along the front-rear direction, and the swing lever has a power point side arm at a lower end thereof on a cam surface of the end cam. On the other hand, the working point side arm at the upper end is connected to the other end of the horizontal slider via a link mechanism to move the horizontal slider back and forth.
It is good also as a pick and place apparatus characterized by this.

In addition, an engagement piece having an engagement groove extending in the vertical direction as the link mechanism is fixed to the other end of the horizontal slider,
The action point side arm of the upper end portion of the swing lever is engaged with the engagement groove while allowing a relative displacement in the vertical direction relative to the engagement piece.
A pick-and-place apparatus characterized by this can also be used.

  According to the pick and place device of the present invention having the above configuration, the pick operation drive source that inputs the vertical motion to the pick operation transmission mechanism and the place operation drive source that inputs the place operation to the place operation transmission mechanism include the hand unit. Since the pick operation drive source and the place operation drive source are arranged below the machine body base of the assembly equipment, the pick operation drive source and the place operation drive source are arranged below the machine body base of the assembly equipment. Thus, only the place operation transmission mechanism, the pick operation transmission mechanism, and the support that supports the hand portion can be exposed and installed above the machine body base. For this reason, the installation space occupied on the machine body base can be saved as much as possible, thereby contributing to the space saving of the entire assembly equipment.

  In addition, since the drive source can be arranged below the machine body base, it is preferable for application to assembly equipment that dislikes dust generation such as sliding parts. Further, even if the strokes of the pick operation and the place operation are set to be large, the installation area occupied on the machine body base is not so large, and space saving is not hindered.

  Moreover, since only the support body supporting the place operation transmission mechanism, the pick operation transmission mechanism and the hand part can be exposed and installed on the machine body base, it is possible to prevent as much as possible from obstructing the field of view of the parts assembly area, Therefore, the visibility of the assembly equipment can be improved. Further, when the component supply is performed in two rows, the interval between the two rows of supply lines can be reduced as much as possible even if the components are arranged in the center of the two rows of component supply lines.

1 is a front view schematically showing a pick-and-place apparatus according to the present invention. FIG. 2 is a right side sectional view of the pick and place apparatus shown in FIG. 1. It is a schematic perspective view which shows notionally the pick and place apparatus shown in FIG. It is a front view which shows the conventional pick and place apparatus. FIG. 5 is a right side sectional view of the pick and place apparatus shown in FIG. 4.

  Hereinafter, an example of an embodiment of a pick and place apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

  As shown in FIGS. 1 to 3, the pick-and-place device 22 allows a place portion of the hand portion 24 to be supported and supports the hand portion 24, and the support 26 can be moved up and down up and down. The pick operation transmission mechanism 28 that supports and transmits the pick operation in the vertical direction to the hand portion 24 and the pick operation of the hand portion 24 supported by the support body 26 are allowed and the place operation is transmitted to the hand portion 24. A place operation transmission mechanism 30, a pick operation drive source 32 that inputs vertical movement to the pick operation transmission mechanism 28, and a place operation drive source 34 that inputs a place operation to the place operation transmission mechanism 30.

  Here, the support 26 includes a horizontal slide guide 26a having a vertically long rectangular parallelepiped shape, and a horizontal slider 26b that is held by the slide guide 26a and is linearly movable in the horizontal direction. In the illustrated horizontal slider 26b, a pair of upper and lower horizontal sliding rods 262 which are parallel and a hand portion attached between one end of the pair of horizontal sliding rods 262 are provided. A plate 264 and an engaging piece 266 provided between the other end portions of the horizontal sliding rod 262 are provided. Each horizontal sliding rod 262 is connected to the horizontal slide guide 24a. The pair of upper and lower horizontal through-holes 242 formed is slidably inserted so as to be linearly reciprocable. The hand portion 24 is fixed to the hand portion mounting plate 264, and the upper end portion of the place operation transmission mechanism 30 described later is connected to the engagement piece 266.

  The pick operation transmission mechanism 28 is connected to the lower surface of the horizontal slide guide 26a of the support 26. The pick operation transmission mechanism 28 includes an up / down direction slide guide 28a fixed to the upper wall 36a of the casing 36, and an up / down direction slider 28b slidably supported by the up / down direction slide guide 28a. Consists of. Here, like the horizontal slider 26b, the vertical slider 28b also has a pair of parallel vertical sliding rods 282, and the upper ends of the pair of vertical sliding rods 282 are the same as the above. In this manner, the horizontal guides 26a are connected to each other and integrated with each other, and a connecting plate 284 is provided between the lower ends so as to be formed into an integral rectangular frame. The vertical sliding rod 282 is slidably inserted into a pair of vertical through-holes 286 formed coaxially on the vertical sliding guide 28a and the upper wall 36a of the casing 36, and is linearly reciprocable up and down. It has become.

  The lower end portion of the up / down slider 28b of the pick operation transmission mechanism 28 is in the casing 36 and is moved up and down by a pick operation drive source 32 disposed below the lower portion. . That is, the pick operation drive source 32 includes a motor 38, a rotating shaft 40 that is rotationally driven by the motor 38, a plate cam 42 fixed to the rotating shaft 40, and a vertical swing lever 43. Is attached to the lower surface of the bottom wall 36 b of the casing 36 via a bracket 44, and the rotational force of the motor 38 is transmitted to the rotary shaft 40 via pulleys 46 a and 46 b and a timing belt 48.

  Further, the rotary shaft 40 is installed such that its axial direction is oriented in the same direction parallel to the horizontal sliding rod 262 in the horizontal slider 26b and is pivotally supported by the casing 36. A force point at the center in the longitudinal direction of the vertical swing arm 43 is in contact with the upper portion of the fixed plate cam 42 via a cam follower 43a. The vertical swing lever 43 has a fulcrum at one end pivotally supported by the casing 36 via a bracket 45, and a roller provided at the action point at the other end of the vertical slider 28b. The connecting plate 284 at the lower end is in contact with the contact piece 288. That is, the vertical slider 28b is moved up and down in accordance with the cam profile of the plate cam 42 as the plate cam 42 rotates. The vertical swing lever 43 may be omitted, and the contact piece 288 of the connecting plate 284 may be brought into contact with the plate cam 42 directly.

  That is, the horizontal slide guide 26a integrally connected to and supported by the vertical slider 28b is moved up and down as a part of the vertical slider 28b, whereby the horizontal slider 26b is also integrally moved up and down. The hand portion 24 fixed to the hand portion mounting plate 264 of the horizontal slider 26b moves up and down. A biasing spring 289 is interposed between the horizontal slide guide 26a and the vertical slide guide 28a, and the vertical slider 28b is always lowered by the tension spring force of the biasing spring 289. The contact piece 288 at the lower end thereof is always pressed against the cam surface of the plate cam 42.

  On the other hand, the horizontal slider 26 b of the support 26 that supports the hand portion 24 is engaged with the upper end of the place operation transmission mechanism 30 on the engagement piece 266 provided at the other end of the horizontal sliding rod 262. Connected. The place operation transmission mechanism 30 includes a swing lever 31 pivotally supported on the inner surface of the upper wall 36a of the casing 36 via a bracket 50. The swing lever 31 is an intermediate portion in the longitudinal direction. Is pivotally supported on a support shaft 52 attached to the bracket 50. Here, the support shaft 52 is disposed so as to intersect at right angles to the rotary shaft 40, and the swing lever 31 swings in a vertical plane along the axial direction of the rotary shaft 40. Yes.

  The action point side arm 31 a of the swing lever 31 extends upward through the casing 36, and a roller 54 provided at the upper end of the lever 31 is formed in an engagement groove 266 a formed in the engagement piece 266 in a vertically long shape. Inserted and engaged. In other words, the roller 54 is inserted into the vertically long engagement groove 266a to be engaged and connected, so that the relative movement of the roller 54 and the engagement piece 266 is allowed to move and the engagement state is always changed. To maintain.

  Further, the force point side arm 31b of the swing lever 31 extends downward to reach the side of the rotating shaft 40, and a cam follower 56 provided at the lower end of the force point side arm 31b is fixed to the rotating shaft 40. Then, it is in contact with the cam surface of the end cam 58 disposed adjacent to the plate cam 42. This contact state is always maintained by the pulling force of the urging spring 60 provided by connecting the casing 36 and the swing lever 31.

  Accordingly, the rocking lever 31 is swung according to the cam profile as the end face cam 58 rotates, and the horizontal slider 26b is reciprocated linearly by the rocking operation, and is fixed to the hand mounting plate 264. The hand portion 24 is placed in place. That is, the end face cam 58, together with the motor 38 and the rotary shaft 40 of the pick operation drive source 32, constitutes a place operation drive source 34 that inputs a place operation to the place operation transmission mechanism 30 of the hand portion 24.

  Here, the above-described vertical sliding rod 282 is set to have a length sufficiently longer than the vertical operation stroke of the plate cam 42, and thereby, the pick that inputs the vertical movement to the pick operation transmission mechanism 28. Both the operation drive source 32 and the place operation drive source 34 for inputting the place operation to the place operation transmission mechanism 30 are located further below the lower end position that is the lower end of the pick operation stroke in the vertical direction of the hand portion 24. It is configured to be installed.

  As shown in FIGS. 1 and 2, the casing 36 of the pick-and-place device 22 has an upper wall 36a that has a peripheral edge extending sideways, and is installed in an assembly facility. The peripheral portion of the upper wall 36a is locked and placed on the machine main body base 62 of the assembly equipment, and the casing 36 is inserted into the mounting opening 62a formed in the machine main body base 62. To be fixed. In other words, the pick-and-place device 22 has a pick operation drive source 32 that inputs up and down movements to the pick operation transmission mechanism 28 and a place operation drive source 34 that inputs a horizontal place operation to the place operation transmission mechanism 30. Is housed below the machine body base 62.

  Therefore, the pick and place device 22 has only the pick operation transmission mechanism 28 protruding upward from the upper wall 36 a of the casing 36, the support body 26 supporting the place transmission mechanism 30 and the hand portion 24 on the machine body base 62. Will be exposed. That is, since the pick operation drive source 32 and the place operation drive source 34 can be arranged below the machine main body base 62 of the assembly equipment when being installed in the assembly equipment, Only the place operation transmission mechanism 28, the pick operation transmission mechanism 30, and the support 26 that supports the hand portion 24 can be exposed and installed, and the installation space occupied on the machine main body base 62 can be as much as possible. Thus, it becomes possible to save space and contribute to space saving of the entire assembly equipment.

  Further, since the drive sources 32 and 34 for the pick operation and the place operation can be disposed below the machine main body base 62, it is preferable for application to assembly equipment such as a sliding portion that dislikes dust generation. Furthermore, even if the strokes of the pick operation and the place operation are set large, the installation area occupied on the machine main body base 62 is not so large, and space saving is not hindered.

  Further, only the place operation transmission mechanism 30, the pick operation transmission mechanism 28, and the support 26 that supports the hand unit 24 can be exposed compactly on the machine body base 62, so that the view of the parts assembly area and the like can be obstructed. This can be prevented as much as possible, thereby improving the visibility of the assembly equipment. Furthermore, when supplying parts in two rows as shown in FIG. 2, the pick and place device 22 is arranged at the center between the two component feeding devices 64 arranged at the end of the two rows of component supply lines. Even if it is provided, the interval between the two supply lines can be reduced as much as possible.

  In the illustrated embodiment, the place operation linearly advances and retreats in the horizontal direction, but the present invention is not limited to this, and a further turning operation can be performed. In the case of the swiveling operation, although not shown in detail, the support is attached to the upper end portion of the pick operation transmission mechanism via a rotation mechanism so as to be swingable, while the swing lever of the place operation transmission mechanism Is supported so as to swing within a vertical plane orthogonal to the rotation shaft 40 of the place operation drive source, and a plate cam or the like may be used as the cam of the drive source for driving the swing lever. .

  Further, as a driving source for the pick operation and the place operation, for example, a pneumatic or hydraulic cylinder may be employed instead of the motor 38, the rotating shaft 40, and the cams 42 and 58 in the illustrated example.

22 Pick and place device 24 Hand part 26 Support body 26a Horizontal direction slide guide 26b Horizontal direction slider 262 Horizontal direction slide rod 264 Hand mounting plate 266 Engagement piece 266a Engagement groove 28 Pick operation transmission mechanism 28a Vertical direction slide Guide 28b Vertical slider 282 Vertical sliding rod 284 Connecting plate 30 Place operation transmission mechanism 31 Swing lever 31a Action point side arm 31b Force point side arm 32 Pick operation drive source 34 Place operation drive source 36 Casing 38 Motor 40 Rotating shaft 42 Plate cam 43 Vertical swing arm 58 End face cam 62 Machine body base

Claims (3)

A support body that supports the hand portion while allowing the place portion to be operated;
A pick operation transmission mechanism that supports the support so as to move up and down and transmits a pick operation in the vertical direction to the hand portion;
A place operation transmission mechanism that allows a pick operation of the hand portion supported by the support body and transmits a place operation in the front-rear direction perpendicular to the up-down direction to the hand portion;
A pick operation drive source for inputting an operation in the vertical direction to the pick operation transmission mechanism;
A place operation drive source for inputting an operation in the front-rear direction to the place operation transmission mechanism;
With
The pick operation drive source and the place operation drive source are composed of a plate cam fixed to the same motor rotation shaft extending in the front-rear direction and an end face cam, and the lower end of the pick operation stroke of the hand unit Below the position , installed immediately below the pick operation transmission mechanism and the place operation transmission mechanism ,
A pick and place device characterized by that. In claim 1,
The pick operation transmitting mechanism, with is composed of a vertically sliding rod, which is slidably movably supported vertically engaged with the slide guide and the slide guide which is fixed to the casing, the vertical direction the lower end of the sliding rod is brought into contact with the cam surface of the plate cam,
The support part of the hand part is supported by a slide guide fixed to the upper end part of the pick operation transmission mechanism, and is slidably supported by the slide guide in the front-rear direction, and the hand part is fixed to one end part thereof. Composed of horizontal sliders,
The place operation transmission mechanism is configured by a swing lever that swings in a vertical plane along the front-rear direction, and the swing lever has a power point side arm at a lower end thereof on a cam surface of the end cam. On the other hand, the working point side arm at the upper end is connected to the other end of the horizontal slider via a link mechanism to move the horizontal slider back and forth.
A pick and place device characterized by that. In claim 2,
An engagement piece having an engagement groove extending in the vertical direction as the link mechanism is fixed to the other end of the horizontal slider,
Wherein the working point arm of the upper end portion of the swing lever is engaged with the engaging grooves to permit relative vertical relative displacement between the engagement piece,
A pick and place device characterized by that.

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