JP6196080B2 - Pick and place unit - Google Patents

Description

  The present invention relates to a pick and place unit, and more particularly to an improvement of a pick and place mechanism that requires high-speed operation.

  Generally, pick-and-place units that pick up parts from one place and supply them to another place are used in various manufacturing sites. Such a pick-and-place unit is usually configured such that a rotation operation generated by a motor or the like is converted by a cam or the like, and a workpiece suction head repeatedly performs a pick-up operation and a supply operation. Examples of such a pick and place unit include those described in Patent Documents 1 and 2 below.

JP 2001-347427 A JP 2011-177832 A

  However, in the conventional pick-and-place unit, it is necessary to mount a plurality of positioning followers that engage with a disc-shaped feed wheel on an X-axis slide member that is guided so as to be movable in the X-axis direction. Since the mass of the portion increases, there is a problem that it is difficult to speed up the operation of the mechanism.

  Further, during the picking operation and the supply operation, the X-axis slide member is locked in the X-axis direction by the engagement of the feed wheel and the positioning follower. At this time, the Z-axis slide member is moved to the X-axis slide member. Since it is guided only by a mounted guide member such as a linear guide, the accuracy of the posture along the Z-axis of the Z-axis slide member and the accuracy of the position along the X-axis cannot be increased. There is a problem that it is difficult to improve the accuracy of the pick position and the place position of the work holding head such as the suction head provided at the lower end of the Z-axis slide member, and the position in the X-axis direction.

  Therefore, the present invention solves the above-described problems, and the problem is that in the pick and place unit, the operation speed is increased and the posture and position accuracy at the pick position and the place position are increased as compared with the conventional art. It is to realize a mechanism that can be easily achieved.

In view of such circumstances, the pick-and-place unit of the first aspect of the invention is a drive that reciprocates around the drive axis in the angular range exceeding 90 degrees on both sides around the origin position, and has a drive follower on the tip side. A first movable member configured to be movable in a direction along a first axis that is orthogonal to the member and the drive axis, both receiving the drive follower and both the drive axis and the first axis A long hole that is guided along a second axis perpendicular to the first hole, and is widened on both sides in the direction along the first axis on one side of the long hole along the second axis. The first movable member formed with a widened opening in which the drive follower is disposed when the drive member is rotated to a region exceeding 90 degrees of the angular range. The first movable member is A first guiding means for guiding along one axis, and a second movable member configured to be movable in a direction along the second axis with respect to the first movable member, The drive member passes through the elongated hole so as to engage and interlock in the direction along the second axis, and to move in the direction along the first axis. A connecting structure connected to a portion of the drive follower that protrudes on the opposite side of the arrangement side, and along the second axis via the first movable member according to the reciprocating rotation of the drive member; The second movable member that operates so as to draw a U-shaped motion trajectory that is open on one side of the first direction and the second movable member with respect to the first movable member, the second axis Second guiding means for guiding along the second movable member, wherein the second movable member has a driven follower. The drive member said regulating member and the driven follower for regulating the opposite sides of which along the first axis is further provided when rotated in a region exceeding 90 degrees of the angle range, the first movable On the surface of the member on the side where the second movable member is disposed, both sides in the direction along the first axis with respect to the opening range of the elongated hole and the direction in the direction along the second axis On the side opposite to the one side, a step is formed that is lowered by one step from the peripheral surface in which a part of the thickness of the first movable member is cut, and the tip of the connection structure of the second movable member is accommodated. A concave groove is formed, and the portion on the opposite side of the first movable member is inclined from both sides in the direction along the first axis so as to be tapered toward the opposite side. characterized Rukoto that having a sloped outer edge.

  According to the present invention, the restricting member that restricts the driven follower provided on the second movable member from both sides in the direction along the first axis when the drive follower is disposed in the widened opening of the elongated hole. By providing, in the area | region where the rotation angle of a drive member exceeds 90 degree | times, a 2nd movable member is directly controlled by the restriction member on both sides of the direction along the 1st axis. Therefore, since a structure for locking the first movable member in the direction along the first axis is not required, the structural part required for the lock mechanism is omitted, and the inertial mass of the movable part is reduced. As a result, it is possible to easily increase the speed of the mechanism operation. Further, since it is not necessary to lock the first movable member in the direction along the first axis, it is not necessary to depend on the guidance accuracy of the first guide means and the second guide means as in the conventional method. The posture and position of the pick position and the place position of the second movable member can be easily and reliably increased in accuracy.

  Here, it is preferable that the driven follower is regulated by the regulating member at a position different from the guiding position of the second guiding means in the direction along the second axis. According to this, since the second movable member is positioned by the regulating member and the second guide means at two different locations along the second axis, respectively, the second movable member Since the posture change based on the direction along the second axis can be suppressed, the pick position and the place position can be further improved in accuracy. In particular, with respect to the second guide member, the restriction position of the follower follower by the restriction member is provided on the opposite side of the second movable member to the side on which the work holding head is attached along the second axis. It is desirable.

The pick and place unit according to the second aspect of the invention comprises a drive member that reciprocally rotates around a drive axis in an angular range exceeding 90 degrees on both sides with respect to the origin position, and has a drive follower on the tip side; A first movable member configured to be movable in a direction along a first axis perpendicular to the drive axis, wherein the first movable member receives the drive follower and is orthogonal to both the drive axis and the first axis. A long hole guided along the second axis, and one side of the long hole in the direction along the second axis is widened on both sides in the direction along the first axis. And an opening edge with which the drive follower is slidably contacted when the drive member is rotated to an area exceeding 90 degrees of the angular range, and the arc-shaped opening edge along the rotation locus of the drive follower is formed. Wide opening with a shape The first movable member, first guide means for guiding the first movable member along the first axis, and the second axis with respect to the first movable member. A second movable member configured to be movable in a direction along the first axis so as to be engaged and interlocked in the direction along the second axis, and along the first axis. A connecting structure connected to a portion of the drive follower that protrudes to the side opposite to the side on which the drive member is disposed so as to be movable in the direction; The second movable member that operates so as to draw a U-shaped motion trajectory opened on one side in the direction along the second axis through the first movable member according to the reciprocating rotation of the second movable member; A second guide for guiding the second movable member along the second axis with respect to the first movable member; Guiding means, and the second movable member has a follower follower, and the follower follower is moved to the first axis when the drive member is rotated to a region exceeding 90 degrees of the angular range. A regulating member for regulating at least from the drive axis side in the direction along the direction is further provided , and on the surface of the first movable member on the side where the second movable member is disposed, an opening range of the elongated hole is provided. On the other hand, on the both sides in the direction along the first axis and the opposite side to the one side in the direction along the second axis, the periphery of the shape in which a part of the thickness of the first movable member is cut A step is formed that is stepped down from the surface, and a concave groove that accommodates the tip of the coupling structure of the second movable member is configured, and the portion on the opposite side of the first movable member is the opposite The first so as to be tapered toward the side. Characterized Rukoto from both sides of the direction along the line have a outer shape inclined obliquely.

  According to the present invention, when the drive member is rotated to a region exceeding 90 degrees of the angular range, the drive follower follows the rotation locus in the widened opening provided in the long hole of the first movable member. By forming an arcuate opening edge that is slid along the first movable member, the first movable member is regulated by the drive follower from the side opposite to the drive axis in the direction along the first axis. The member is regulated from the side opposite to the drive axis in the direction along the first axis via the second guide means. On the other hand, by providing a regulating member that regulates the driven follower provided on the second movable member from at least the drive axis side in the direction along the first axis, the drive follower is driven in a region where the rotation angle exceeds 90 degrees. The second movable member that is in sliding contact with the opening edge is directly restricted from the drive axis side in the direction along the first axis by the restriction member. As a result, the second movable member is restricted on both sides in the direction along the first axial direction. Therefore, the guiding function of the both ends of the U-shaped movement locus of the second movable member is realized by the regulating action between the drive follower and the first movable member and the regulating action between the driven follower and the regulating member. As a result, it is not necessary to lock the first movable member in the direction along the first axis, so that the structural part necessary for the locking mechanism can be omitted, and the inertial mass of the movable part can be reduced. Therefore, the speed of the mechanism operation can be easily increased. The second movable member is directly restricted by at least the drive axis in the direction along the first axis by the restriction member, and driven in the direction along the first axis by the second guide means. Since it is regulated from the side opposite to the axis, it is positioned from the side opposite to each other by the regulating member and the second guide means, respectively, so that the positioning mode is only via the conventional second guide means. In comparison, the attitude and position of the second movable member at the pick position and place position can be easily and reliably increased in accuracy.

  In the present invention, the follower follower is provided at a position overlapping the drive follower in a direction along the drive axis when the rotation angle of the drive member with respect to the origin position P is 90 degrees or less. It is preferable. According to this, when the rotation angle of the drive member is 90 degrees or less, a follower follower is provided at a position that overlaps the drive follower, so that when the rotation angle of the drive member exceeds 90 degrees, the connection structure from the drive follower Since the force in the direction along the first axis received by the follower can be received on the spot when the driven follower is regulated by the regulating member, it is possible to prevent the posture change and deformation of the second movable member. In addition, since the burden on the first guide member and the second guide member can be avoided, the accuracy of the pick position and the place position of the second movable member can be ensured, and the durability of each part is also improved. Can be made. In addition, since the restriction position of the restriction member can be set so as to match the drive locus of the drive follower, the adjustment work of the restriction position can be easily performed. In particular, it is desirable that the driven follower be provided at a position where it is arranged coaxially with the drive follower when the rotation angle of the drive member is 90 degrees or less.

  In the present invention, the drive member is preferably a drive arm configured in an arm shape extending from the drive axis toward the drive follower. According to this, since the inertial mass of the driving member can be reduced, the operation can be further speeded up.

  In the present invention, various restriction structures for restricting the follower follower of the restriction member are conceivable. In particular, the restriction member preferably has a groove structure for receiving and restricting the follower follower. As a result, the driven follower can be easily and reliably regulated in the direction along the first axis.

  According to the present invention, in the pick-and-place unit, it is possible to realize a mechanism that can easily achieve higher speed of operation and higher accuracy of the posture and position at the pick position and place position than before. An excellent effect can be achieved.

It is a front view of an embodiment of a pick and place unit according to the present invention. It is a side view of the embodiment. It is a top view of the embodiment. It is a perspective view of the embodiment. It is a fragmentary longitudinal cross-sectional view of the same embodiment. It is a front view which shows the drive arm of the embodiment with the rotation angle range. It is a front view which shows the 1st movable member of the embodiment with the operation | movement aspect of a drive follower. It is explanatory drawing for demonstrating the mode of each part at the time of operation | movement of the embodiment.

  Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, the configuration of the embodiment of the pick and place unit according to the present invention will be described with reference to FIGS. 1 to 5 showing the overall configuration and FIGS. 6 to 8 showing the configuration of each part.

  The pick and place unit 10 of the present embodiment is arranged on a plate-like unit base 11, a motor (stepping motor) 12 attached to the back side of the unit base 11, and the front side of the unit base 11. And an arm-shaped drive arm 13 connected to the output shaft 12a. The drive arm 13 has an origin position in a posture extending vertically upward from the axis X as shown in FIG. 6 around a drive axis (hereinafter simply referred to as “axis X”) that is the axis of the output shaft 12a. It is driven by the motor 12 so as to reciprocate and rotate in an angle range α that exceeds 90 degrees by an angle β on both the left and right sides from P0. A drive follower 13 a is attached to the front side of the tip of the drive arm 13 so as to protrude along the axis X. In the illustrated example, the drive follower 13 a is a cylindrical roller having an axis along the axis X, and is preferably rotatably attached to the main body of the drive arm 13. The drive follower 13a reciprocates along an arc-shaped drive locus D corresponding to the angle range α of FIG. The drive locus D extends from the origin position P0 to the turn-back positions P2 and P2 that exceed the positions P1 and P1 when the rotation angle of the drive arm 13 is 90 degrees to the left and right, respectively, and further exceed 90 degrees by the angle β. extend.

  Further, a thin plate-like detection dog (detection body) 13b for detecting the rotation angle of the drive arm 13 is attached to the tip of the drive arm 13 so as to protrude along the shape of the arm. Yes. In the illustrated example, the detection dog 13b is mounted on the back surface of the drive arm 13 on the unit base 11 side. On the other hand, detectors 13 x 1 and 13 x 2 are installed on both sides of the axis X on the front surface of the unit base 11 so that the detection dog 13 b passes through the rotation of the drive arm 13. It has become. The detection signals of the detectors 13x1 and 13x2 are fed back to the control circuit of the motor 12. Recesses 11a1 and 11a2 are formed on the surface of the unit base 11, and the detectors 13x1 and 13x2 are mounted inside the recesses 11a1 and 11a2, thereby driving the detection dog 13b and the detectors 13x1 and 13x2. The rotation angle detection system of the arm 13 can be arranged close to the unit base 11. As a result, the occupied thickness of the rotation angle detection system can be reduced, the entire apparatus can be made compact, and the rotation angle of the drive arm 13 can be directly detected, thereby reducing the influence of the play of the mechanism on the control system. And a stable control state can be obtained.

  A first movable member 14 is disposed on the front side of the drive arm 13. The first movable member 14 has a first axis in the horizontal direction (hereinafter simply referred to as “axis Y”) orthogonal to the axis X by a first linear guide mechanism 15 installed on the unit base 11. It is guided so that it can move along. The first linear guide mechanism 15 constitutes the first guide means described above. As shown in FIG. 7, the first movable member 14 has a length extending in a direction along a second axis (hereinafter simply referred to as “axis Z”) orthogonal to both the axis X and the axis Y. A hole 14a is provided. The portion on the upper side of the long hole 14a is a drive follower so that the position of the first movable member 14 in the direction along the axis Y is regulated by the drive follower 13a when the drive follower 13a is inserted. 13a is configured to be fitted in a straight line along the axis Z having a certain width and configured to be slidable in the direction along the axis Z. On the other hand, in the lower part of the long hole 14a, an opening configured to expand in an arc shape toward both sides in the direction along the axis Y (width direction) from the opening edge region of the linear portion having the constant width. Widened openings 14c having edges 14b on both sides are formed.

  As shown by the alternate long and short dash line in FIG. 7, the arc-shaped opening edge 14b causes the drive follower 13a to deviate from the axis along the axis Z of the long hole 14a when the rotation angle of the drive arm 13 exceeds 90 degrees. When moving, the outer peripheral surface of the drive follower 13a is configured in an arc shape centered on the axes X1 and X2 so as to move while being in sliding contact with the opening edge 14b. Here, the illustrated axis line X1 indicates the relative position of the rotation axis (axis line X) of the drive arm 13 when the first movable member 14 reaches the maximum movement position on the left side in the direction along the axis line Y. The axis line X2 shown in the figure indicates the relative position of the rotation axis line (axis line X) of the drive arm 13 when the first movable member reaches the maximum movement position on the right side in the figure in the direction along the axis line Y. Note that the axis X in FIG. 7 indicates the rotation of the drive arm 13 when the drive arm 13 is at the origin position P0 and the first movable member 14 is disposed at the center position in the direction along the axis Y. Indicates the position of the axis. The opening edge of the linear portion having a certain width of the long hole 14a and the opening edge 14b are located at the position when the rotation angle of the drive arm 13 is 90 degrees in order to suppress a hitting sound and an impact. The drive follower 13a in P1 is smoothly connected at the point where it contacts.

  On the front surface of the first movable member 14, on both sides in the direction along the axis Y (width direction) and one side (upper side) in the direction along the axis Z with respect to the opening range of the long hole 14a. A concave groove 14d having a shape obtained by cutting a part of the thickness of the first movable member 14 is formed. The concave groove 14 d forms a step that is lowered by one step from the peripheral surface on the front side of the first movable member 14. The concave groove 14d extends with the same width at the upper end of the first movable member 14 and is opened upward as it is, and also extends with the same width toward the lower side of the first movable member 14 so that the above widened opening is formed. It is opened in the part 14c. Here, the step formed on both sides in the width direction of the linear portion of the long hole 14a by the concave groove 14d extends downward from the first movable member 11 and disappears in the middle of the arc-shaped opening edge 14b. The thickness portion of the concave groove 14d is a part of the opening edge of the widened opening portion 14c from the middle to the lower side.

  The 1st movable member 14 is comprised by the plate shape which makes the direction along the axis line X the thickness direction as a whole. Further, the upper portion of the first movable member 14 has an outer edge shape that is inclined obliquely from both sides in the direction along the axis Y (width direction) so as to be tapered upward. For this reason, the upper end portion of the first movable member 14 only leaves a slight thick portion on both sides in the direction (width direction) along the axis Y of the concave groove 14d. The ditch | groove 14d accommodates the front-end | tip of the connection structure 16a of the 2nd movable member 16 mentioned later, and can reduce the thickness of the direction along the axis line X of this embodiment by this. Further, it is considered that the concave groove 14d brings about an effect of ensuring the rigidity of the first movable member 14 from the viewpoint that the necessity of changing the thickness of the other part of the first movable member 14 can be eliminated. Can do.

  A second movable member 16 is disposed on the front side of the first movable member 14. The second movable member 16 is guided in the direction along the axis Z by a second linear guide mechanism 17 mounted on the lower portion of the first movable member 14. The second linear guide mechanism 17 constitutes second guide means. The second linear guide mechanism 17 has the same position (axis line) as the first linear guide mechanism 15 so as to intersect the first linear guide mechanism 15 on the YZ plane (overlap in the direction along the axis X). The same position on the plane along Y and Z).

  At the upper end of the second movable member 16, a connecting structure 16 a that fits into a portion of the drive follower 13 a that passes through the long hole 14 a of the first movable member 14 and protrudes to the front side is provided. . As shown in FIG. 5, the coupling structure 16a is provided with an upper jaw portion 16b that engages with the upper end of the drive follower 13a and a lower jaw portion 16c that engages with the lower end of the drive follower 13a. The tips of the portion 16b and the lower jaw portion 16c are disposed in a concave groove 14d formed around the elongated hole 14a of the first movable member 14. The connection structure 16a is configured to fix the second movable member 16 to the drive follower 13a in the direction along the axis Z, but to be movable in the direction along the axis Y. That is, the second movable member 16 is interlocked in the direction along the axis Z together with the drive follower 13a by the connecting structure 16a, but is configured to allow relative movement in the direction along the axis Y of the drive follower 13a. Is done.

  A follower follower 16 d is attached to the front side of the upper end portion of the second movable member 16. The follower 16d is attached so as to protrude in the direction along the axis X from the front of the upper end where the coupling structure 16a is provided. The follower follower 16d is a roller having an axis along the axis X, and is preferably rotatably mounted around the axis. In the illustrated example, the driven follower 16d is attached to a position that is coaxial with the drive follower 13a when the rotation angle with respect to the origin position P0 of the drive arm 13 is 90 degrees or less. In the illustrated example, the attachment shaft portion of the follower follower 16d is inserted along the axis X formed at the upper end portion of the second movable member 16, and the stopper is inserted from the upper end edge of the second movable member 16. It is held and fixed by a screw 16e.

  A work holding head 20 for holding a work such as a suction head is attached to the lower part of the second movable member 16 through an appropriate connection structure. In the illustrated example, a plurality (three) of work holding heads 20 are attached to the lower part of the second movable member 16 via a cross beam-like member.

  Attached to the unit base 11 so as to be bridged between the pillars 18a and 18b extending along the axis X on both ends in the direction along the axis Y of the unit base 11 and between the tips of the pillars 18a and 18b. The support 18 composed of the support beam 18c thus formed is fixed. A regulating plate 19 is fixed to the back surface side of the support beam 18c of the support 18. The regulating plate 19 is formed with a pair of regulating grooves 19 a and 19 b that are open upward and are spaced apart from each other in the direction along the axis Y. The regulation grooves 19a and 19b are grooves (notched grooves) that extend linearly along the axis Z, respectively. When the drive arm 13 is at an angular position that is 90 degrees or more from the origin position P0, that is, when it is disposed between the positions P1 and P2, the follower follower 16d is inserted into the restriction grooves 19a and 19b, The follower 16d is regulated on both sides in the direction along the axis Y by the fitting state. As a result, the second movable member 16 is directly positioned in the direction along the axis Y. The restriction grooves 19a and 19b are not particularly limited as long as the follower follower 16d can be restricted in the direction along the axis Y, and may be, for example, a concave groove. Similarly, the restricting plate 19 is not particularly limited, and structural portions corresponding to the outer restricting edges 19ao and 19bo and the inner restricting edges 19ai and 19bi, which are restricting portions of the restricting grooves 19a and 19b with respect to the driven follower 16d. If it has, it may be comprised by the some regulation board, the regulation block, etc.

  Next, the effect of the pick and place unit of the present embodiment configured as described above will be described mainly with reference to FIG. In the present embodiment, as shown in FIG. 8, when the drive follower 13a reciprocally rotates along the drive locus D, the first movable member 14 is moved according to the position in the direction along the axis Y of the drive follower 13a. It reciprocates within a reciprocating movement range L in the direction along the axis Y. Here, the first movable member 14 is driven in the direction along the axis Y by the drive follower 13a in a period in which the rotation angle of the drive arm 13 is within 90 degrees on both sides with respect to the origin position P0. In the region where the rotation angle exceeds 90 degrees, the drive follower 13a is disposed in the widening opening 14c, so that the first movable member 14 does not move even if the rotation angle changes. In particular, in the present embodiment, since the arc-shaped opening edge 14b (see FIG. 7) aligned with the drive locus D of the drive follower 13a is provided at the entrance of the widened opening 14c, the drive follower 13a is provided with the opening edge. 14b is slidably contacted, and the position of the first movable member 14 in the direction along the axis Y is regulated from the outside of the reciprocating movement range L, but the first movable member 14 is driven in the direction along the axis Y. Never do.

  In the region where the rotation angle exceeds 90 degrees, the drive follower 13a moves from the axis of the elongated hole 14a of the first movable member 14 (the axis along the axis Z) to the direction along the axis Y (the reciprocating range). L, but the displacement of the second movable member 16 in the direction along the axis Y between the second movable member 16 and the drive follower 13a is absorbed by the connecting structure 16a. The follower 13a is guided by the second linear guide structure 17 and moves along the axis Z without being restricted by the position in the direction along the axis Y of the follower 13a. On the other hand, when the rotation angle of the drive arm 13 reaches just 90 degrees, the driven follower 16d is fitted into the restriction grooves 19a and 19b of the restriction plate 19, so that the second movable member 16 is along the axis Y. Regulated in the direction. Therefore, in the region where the rotation angle exceeds 90 degrees, the second movable member 16 is driven in the direction along the axis Z according to the position of the drive follower 13a by the engagement of the connection structure 16a. However, in the direction along the axis Y, the follower follower 16d is directly positioned by being restricted by the restriction plate 19 and is in a stationary state.

  By the above operation, the second movable member 16 is semicircular drawn with a radius R corresponding to the turning radius of the drive follower 13a by 90 degrees on both sides of the origin position Q0 corresponding to the origin position P0 of the drive arm 13. It moves along a U-shaped motion trajectory S having a portion S1 and both end portions S2a and S2b extending linearly in the direction along the axis Z from both ends of the semicircular portion S1. The both end portions S2a and S2b are locus portions between a position Q1 corresponding to the position P1 on the driving locus D and a turn-back position Q2 corresponding to the position P2 on the driving locus D.

  In the present embodiment, in the region where the rotation angle is 90 degrees or more, as shown in FIG. 7, the opening edge 14b of the first movable member 14 is in the range of reciprocation of the first movable member 14 from the drive follower 13a. In order to receive the regulation force Fo from the outside of L toward the inside, the second movable member 16 receives the regulation force Fo indirectly from the first movable member 14 via the second linear guide structure 17. Become. Further, as shown in FIG. 8, the driven follower 16d receives a regulation force Gi from the inside regulation edge 19ai, 19bi of the regulation groove 19a, 19b toward the outside from the inside of the reciprocating movement range L, and the outside regulation edge 19ao, 19bo. Therefore, it is regulated on both sides in the direction along the axis Y by the regulating forces Gi and Go directly received by the follower follower 16d. In the present embodiment, the second movable member 16 receives the regulating force Gi received from the inside of the reciprocating range L in the direction along the axis Y and the outside of the reciprocating range L as described above. Due to the regulation forces Fo and Go, they are regulated on both sides in the direction along the axis Y, and as a result, they are positioned in the direction along the axis Y.

  In the case of this embodiment, since the regulation forces received from the outside of the reciprocation range L in the direction along the axis Y as described above are two, Fo and Go, any one of these regulation forces You may comprise so that may not arise. In other words, the outer restricting edges 19ao and 19bo of the restricting grooves 19a and 19b of the restricting plate 19 are configured so as not to apply the restricting force Go to the driven follower 16d as the outer restricting edges 19ao 'and 19bo' shown by broken lines in FIG. It is good also as a structure which the control board 19 has only inner side control edge 19ai and 19bi. In this case, the restriction force from the outside of the reciprocation range L of the first movable member 14 in the direction along the axis Y given to the second movable member 16 is only the restriction force Fo.

  Instead of the above, as shown by a broken line in FIG. 7, the opening edge 14b gradually separates from the drive follower 13a in the process in which the rotation angle of the drive arm 13 increases beyond 90 degrees. The widened opening portion 14c ′ having the opening edge 14b ′ configured as described above may be formed. In this way, when the rotation angle of the drive arm 13 exceeds 90 degrees, the drive follower 13a is separated from the opening edge 14b ', so that the restriction force Fo is not applied to the first movable member 14. Therefore, in this case, the restriction force from the outside of the reciprocation range L of the first movable member 14 in the direction along the axis Y applied to the second movable member 16 is only the restriction force Go. Even when the opening edge 14b 'is formed so as to be separated from the drive follower 13a as described above, the opening edge of the linear portion having a certain width in the long hole 14a and the opening edge 14b' It is preferable to smoothly connect the two at the point where the drive follower 13a at the position P1 contacts when the rotation angle of the drive arm 13 is 90 degrees. Further, the opening edge 14b 'is also preferably formed so as to have a smooth convex curved outline and gradually escape from the outer peripheral surface of the drive follower 13a in the process of increasing the rotation angle.

  In the present embodiment, since it is not necessary to provide four or two positioning followers on the first movable member 14 with the above-described configuration, the inertial mass of the drive system (movable part) can be reduced, so that the operation speed is increased. Can be easily achieved. Further, the follower follower 16d and the restriction plate 19 are provided as means for restricting the second movable member 16 in the direction along the axis Y, but the restriction plate 19 does not function as an operating part. An increase in the inertial mass of 16 can also be suppressed. Furthermore, in the present embodiment, by configuring the drive arm 13 in an arm shape extending from the axis X toward the drive follower 13a, the inertial mass of the drive arm can be reduced, so that the speed can be further increased.

  In the present embodiment, the second movable member 16 is not an indirect restriction mode via the second linear guide structure 17 by locking in the direction along the axis Y of the first movable member 14 as in the prior art. Since the follower follower 16d directly receives the regulating forces Gi and Go on both sides in the direction along the axis Y from the regulating plate 19, the pick position and the place position and position can be easily and surely highly accurate. Can be At this time, the first movable member 14 also receives the regulating force Fo from one side in the direction along the axis Y from the drive follower 13a, so that the second linear guide structure 17 extends along the axis Y. It is not fully freed so that it can move in the direction. Therefore, the second movable member 16 is regulated by both the regulation plate 19 and the second linear guide structure 17 (and indirectly by the first linear guide structure 15), so that the second The support state of the movable member 16 can be further stabilized.

  In the present embodiment, the position where the follower follower 16d receives the regulating forces Gi, Go from the regulating grooves 19a, 19b is shifted upward from the position guided by the second linear guide structure 17, whereby the first The two movable members 16 are supported at two different locations along the axis Z. Therefore, since the pick position and the place position of the work holding head 20 attached to the lower end of the second movable member 16 are defined by being supported at two locations along the upper axis Z, it is easy and reliable. Increased accuracy. Particularly, since the restriction position by the restriction plate 19 is set on the opposite side of the work holding head 20 with respect to the second linear guide structure 17, the second movable member 16 is directly restricted at the opposite position. Therefore, the attitude along the axis Z of the second movable member 16 can be defined with high accuracy. Therefore, the pick position and the place position of the work holding head 20 on the opposite side in the direction along the axis Z are greatly improved in accuracy compared to the conventional art.

  In the present embodiment, when the drive follower 13a is displaced in the direction along the axis Y from the connection structure 16a when the rotation angle of the drive arm 13 exceeds 90 degrees, the second movable member 16 is slightly. A force Fs (see FIG. 6) is received in the direction along the axis Y by the sliding resistance of the connecting structure 16. However, the direction and magnitude of the force Fs vary depending on the position of the drive follower 13a. In particular, at the turn-back position P2, the force Fs generated between the drive follower 13a and the coupling structure 16a becomes extremely large. Since this force Fs is applied to the upper part of the second movable member 16 on the opposite side of the work holding head 20 with the second linear guide structure 17 interposed therebetween, it intersects with the guide direction of the second linear guide structure 17. The direction of the first movable member 14 and the second movable member 16 along the axis Z changes even slightly, thereby affecting the accuracy of the pick position and place position of the work holding head 20. Effect. However, in the present embodiment, the driven follower 16d is provided at a position that is coaxial with the drive follower 13a when the rotation angle of the drive arm 13 is 90 degrees or less. In the state restricted in the direction along the axis Y, the force Fs applied from the drive follower 13a to the coupling structure 16a is directly received by the follower follower 16d located at the overlapping position in the direction along the axis X of the generation location. Therefore, the posture change of the second movable member 16 can be suppressed, and the accuracy of the pick position and the place position can be ensured. In addition, since the load applied to the first linear guide structure 15 and the second linear guide structure 17 is reduced, the durability of the drive structure can be increased.

  Furthermore, since the drive follower 13a of the drive arm 13 and the driven follower 16d of the second movable member 16 are configured coaxially in a rotation angle region of 90 degrees or less, the drive arm 13, the first movable member 14, The positional relationship between the second movable member 16 and the restriction grooves 19a and 19b of the restriction plate 19 can be easily set to each other, and the adjustment work of each part can be easily performed. Note that the coaxiality of the drive follower 13a and the follower follower 16d in the rotation angle region of 90 degrees or less does not have to be strict, and the YZ plane of the drive follower 13a and the follower follower 16d is within the range in which the above-described effects are achieved. It suffices if the upper positions substantially match. That is, the follower follower 16d only needs to be provided at a position overlapping the drive follower 13a in the direction along the axis X in a rotation angle region of 90 degrees or less.

  The pick-and-place unit of the present invention is not limited to the illustrated examples described above, and it is needless to say that various changes can be made without departing from the gist of the present invention. For example, the drive member (drive arm 13), the first movable member 14, the first guide means (first linear guide structure 15), the second movable member 16, and the second guide means ( The shape and structure of each of the second linear guide structures 17) or the relative arrangement between them is not particularly limited to the above-described embodiment, and the second linear guide structure 17) has substantially the same function and effect. If necessary, it can be configured appropriately.

DESCRIPTION OF SYMBOLS 10 ... Pick and place unit, 11 ... Unit base | substrate, 12 ... Motor, 12a ... Output shaft, 13 ... Drive arm, 13a ... Drive follower, 13b ... Dog for rotation angle detection, 14 ... 1st movable member, 14a ... Long hole, 14b ... opening edge, 14c ... widening opening, 14d ... concave groove, 15 ... first linear guide mechanism, 16 ... second movable member, 16a ... connecting structure, 16b ... upper jaw, 16c ... lower jaw 17 ... second linear guide mechanism, 18 ... support, 18a, 18b ... support, 18c ... support beam, 19 ... regulating plate, 19a, 19b ... regulating groove, 20 ... work holding head, D ... driving drive follower Locus, P0 ... origin position of drive arm or drive follower, Q0 ... origin position of second movable member, R ... turning radius of drive follower or second movable member, S ... operation locus of second movable member, X Axis of output shaft (drive axis), Y: Axis perpendicular to axis X (first axis), Z: Axis perpendicular to axes X and Y (second axis), α: Rotation angle range of drive arm , Β: An angle range in which the rotation angle with respect to the origin position P0 of the drive arm exceeds 90 degrees

Claims (6)

A drive member that reciprocates around the drive axis in an angular range of more than 90 degrees on both sides around the origin position, and has a drive follower on the tip side;
A first movable member configured to be movable in a direction along a first axis orthogonal to the drive axis, and receives the drive follower and is orthogonal to both the drive axis and the first axis. A long hole guided along the second axis, and on one side of the long hole along the second axis, a shape widened on both sides in the direction along the first axis; And the first movable member formed with a widened opening in which the drive follower is disposed when the drive member is rotated to a region exceeding 90 degrees of the angular range.
First guiding means for guiding the first movable member along the first axis;
A second movable member configured to be movable in a direction along the second axis with respect to the first movable member, wherein the second movable member is engaged with and interlocked with the direction along the second axis. And the drive follower that protrudes on the opposite side to the side on which the drive member is disposed through the elongated hole so as to be movable in the direction along the first axis . has connected to the coupling structure to the portion, said first U-shaped operation path via the movable member open on one side in a direction along the second axis according to a reciprocating rotation of the driving member The second movable member operating to draw;
Second guiding means for guiding the second movable member along the second axis with respect to the first movable member;
Comprising
The second movable member has a driven follower;
A regulating member for regulating the driven follower from both sides in the direction along the first axis when the driving member is rotated to a region exceeding 90 degrees of the angular range ;
On the surface of the first movable member on the side where the second movable member is disposed, on both sides in the direction along the first axis with respect to the opening range of the elongated hole and on the second axis On the side opposite to the one side in the extending direction, a step is formed that is stepped down from the peripheral surface of a shape obtained by cutting a part of the thickness of the first movable member, and the connection structure of the second movable member A ditch is formed to accommodate the tip of the
The portion on the opposite side of the first movable member has an outer edge shape inclined obliquely from both sides in the direction along the first axis so as to be tapered toward the opposite side. pick-and-place unit, wherein to Rukoto. 2. The pick and place according to claim 1, wherein the driven follower is regulated by the regulating member at a position different from a guidance position of the second guiding means in a direction along the second axis. unit. A drive member that reciprocates around the drive axis in an angular range of more than 90 degrees on both sides around the origin position, and has a drive follower on the tip side;
A first movable member configured to be movable in a direction along a first axis orthogonal to the drive axis, and receives the drive follower and is orthogonal to both the drive axis and the first axis. A long hole guided along the second axis, and on one side of the long hole along the second axis, a shape widened on both sides in the direction along the first axis; And an opening edge with which the drive follower slides when the drive member rotates to a region exceeding 90 degrees of the angular range, and the arc-shaped opening edge along the rotation locus of the drive follower The first movable member formed by forming a widened opening including:
First guiding means for guiding the first movable member along the first axis;
A second movable member configured to be movable in a direction along the second axis with respect to the first movable member, wherein the second movable member is engaged with and interlocked with the direction along the second axis. And the drive follower that protrudes on the opposite side to the side on which the drive member is disposed through the elongated hole so as to be movable in the direction along the first axis . has connected to the coupling structure to the portion, said first U-shaped operation path via the movable member open on one side in a direction along the second axis according to a reciprocating rotation of the driving member The second movable member operating to draw;
Second guiding means for guiding the second movable member along the second axis with respect to the first movable member;
Comprising
The second movable member has a driven follower;
A regulating member for regulating the driven follower from at least the side of the driving axis in the direction along the first axis when the driving member is rotated to a region exceeding 90 degrees of the angular range ;
On the surface of the first movable member on the side where the second movable member is disposed, on both sides in the direction along the first axis with respect to the opening range of the elongated hole and on the second axis On the side opposite to the one side in the extending direction, a step is formed that is stepped down from the peripheral surface of a shape obtained by cutting a part of the thickness of the first movable member, and the connection structure of the second movable member A ditch is formed to accommodate the tip of the
The portion on the opposite side of the first movable member has an outer edge shape inclined obliquely from both sides in the direction along the first axis so as to be tapered toward the opposite side. pick-and-place unit, wherein to Rukoto.   The follower follower is provided at a position overlapping the drive follower in a direction along the drive axis when a rotation angle of the drive member with respect to the origin position P is 90 degrees or less. The pick-and-place unit according to any one of claims 1 to 3.   5. The pick and place unit according to claim 1, wherein the drive member is a drive arm configured in an arm shape extending from the drive axis toward the drive follower. 6.   The pick and place unit according to any one of claims 1 to 5, wherein the restricting member has a groove structure that receives and restricts the follower follower.

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