JP6829320B2 - Clamp unit - Google Patents

Description

The techniques disclosed herein relate to techniques for clamping a substrate on which electronic components are mounted.

Conventionally, a component mounting device for mounting a substrate on an electronic component has been known. The following Patent Document 1 discloses a method of clamping an electronic component mounted on a substrate by using a pair of clamp claws.

Japanese Unexamined Patent Publication No. 2006-269793

The electronic component mounting device may mount the electronic component on the substrate clamped by the clamping device. In order to adjust the position and orientation of the substrate, the entire clamp device may be displaced in the axial direction or the rotational direction. Therefore, it has been required to firmly clamp the substrate so that the substrate does not shift even when the clamping device is displaced in the axial direction or the rotational direction.

The technique disclosed in the present specification has been created in view of the above problems, and an object of the present invention is to firmly clamp a substrate when the clamping device is displaced in the axial direction or the rotational direction. ..

The clamp unit disclosed in the present specification includes a jig for mounting a substrate on which an electronic component is mounted, and a clamp device for clamping the substrate via the jig, and the jig mounts the substrate. The clamp device includes a base and a ring-shaped ring member fixed to the lower surface of the base, and the ring member has grooves at at least two equidistant positions in the circumferential direction on the inner surface. A cylinder body and a lock member having a claw portion that moves in the radial direction of the cylinder body and locks to the groove portion by the pressure of a fluid supplied to the cylinder body, and the groove portion is the cylinder body. The claw portion has a shape inclined at a predetermined angle in the radial direction with respect to the axis of the above, and the claw portion has a shape inclined at a predetermined angle in the radial direction in the same manner as the groove portion.

In this configuration, since the claw portion is fitted into the groove portion and locked, it is possible to suppress the jig from rotating in the circumferential direction with respect to the clamp device. Further, since the groove portion has a shape inclined with respect to the axis of the cylinder body, it is difficult for the jig to come off in the axial direction. Therefore, the substrate can be firmly clamped.

As one embodiment of the clamp unit, the cross-sectional shape of the groove portion is preferably a planar shape.

As one embodiment of the clamp unit, the cross-sectional shape of the groove is preferably V-shaped.

As one embodiment of the clamp unit, the cross-sectional shape of the groove is preferably an arc shape.

According to the techniques disclosed herein, the substrate can be clamped tightly.

Top view of the component mounting device according to the first embodiment Front view of component mounting device Side view of component mounting device Robot perspective Enlarged perspective view of a part of the robot Side view of the robot Perspective view of jig Perspective view showing the state where the jig is turned inside out Bottom view of the jig Top view of the clamp device FIG. 10 is a sectional view taken along line AA. FIG. 10 is a sectional view taken along line AA. FIG. 10 is a sectional view taken along line AA. Perspective view of ring member and lock member Cross-sectional view of the groove (cross-sectional view taken along line BB in FIG. 12) Top view of the ring member and the lock member in the second embodiment Perspective view of ring member and lock member Cross-sectional view of the groove Sectional view of the groove in another embodiment Side view of cam and lock member The view which saw the lock member from the C direction of FIG.

<Embodiment 1>
1. 1. Description of the component mounting device FIG. 1 is a plan view of the component mounting device, FIG. 2 is a front view of the component mounting device, and FIG. 3 is a side view of the component mounting device. The component mounting device 1 is a device for mounting the component 5 on a three-dimensionally shaped substrate P. In the following description, the left-right direction of FIG. 1 (the transport direction of the substrate P) is the X direction, and the vertical direction of FIG. 1 (the direction orthogonal to the transport direction of the substrate) is the Y direction. Further, the vertical direction of FIGS. 2 and 3 is defined as the Z direction.

Further, in the present specification, the substrate P refers to an "object on which the electronic component 5 is mounted", and is not particularly limited to having a plate shape.

The component mounting device 1 is a moving device that moves the base 10, the robot 20, the head unit 70 that mounts the component 5 on the substrate P, and the head unit 70 in the plane direction (XY direction) on the base 10. 80 and.

The robot 20 is a device that holds and handles the substrate P. Handling is to move the held substrate P. As shown in FIG. 1, the robot 20 is arranged on the base 10. The robot 20 includes a robot main body 30 and a clamp device 50 attached to the robot main body 30. The clamp device 50 is a device that clamps the substrate P via the jig U.

Hereinafter, the configuration of the robot main body 30 will be described. As shown in FIGS. 4 to 6, the robot main body 30 has a support column 31, a slide portion 33 that slides in the Z direction along the support column 31, and a motor M1. A ball screw shaft Lz is attached to the support column 31 along the Z direction. The ball screw shaft Lz constitutes a ball screw mechanism together with the nut 34 attached to the slide portion 33. The motor M1 is a power source of the ball screw mechanism and is connected to the ball screw shaft Lz via a belt 35. Therefore, when the motor M1 is driven to rotate the ball screw shaft Lz, the slide portion 33 can slide in the Z direction along the support column 31 by the action of the ball screw mechanism.

Further, the robot main body 30 has a first rotating shaft Ls1, a rotating plate 41 attached to the tip of the first rotating shaft Ls1, and a motor M2. The first rotation axis Ls1 is a horizontal axis whose axis is along the horizontal direction, and is rotatably supported by a plate 40 fixed to the slide portion 33 via a bearing 37. The motor shaft of the motor M2 is connected to the first rotation shaft Ls1 via a belt 38. Therefore, when the motor M2 is driven, the first rotating shaft Ls1 rotates, and the rotating plate 41 rotates about the first rotating shaft Ls1 in the S1 direction. The rotation in the S1 direction is hereinafter referred to as tilt.

Further, the robot main body 30 has a second rotation shaft Ls2, a clamp device 50 attached to the tip of the second rotation shaft Ls2, and a motor M3. The second rotating shaft Ls2 is a vertical vertical shaft in a state where the tilt angle is zero degrees, and is rotatably supported by the rotating plate 41 via a bearing 43. The motor shaft of the motor M3 is connected to the second rotating shaft Ls2 via a belt 45. Therefore, when the motor M3 is driven, the second rotation shaft Ls2 rotates, and the clamp device 50 rotates about the second rotation shaft Ls2 in the S2 direction.

As described above, the robot main body 30 is provided with three drive shafts Lz, Ls1 and Ls2, and has three degrees of freedom of movement in the Z direction (vertical direction) and rotation in the S1 direction and the S2 direction. ing. Then, by driving each of the motors M1 to 3, the clamp device 50 can be made to perform the following movements (1) to (3) independently or in combination. The degree of freedom is a measure of the flexibility of the movement of the robot 1, and means the number of movements that can be performed independently. Generally, the number of drive shafts is the number of degrees of freedom.

(1) Linear movement in the Z direction (2) Rotation (tilt) in the S1 direction
(3) Rotation in the S2 direction

When the component 5 is mounted on the substrate P clamped by the clamp device 50 (before mounting), the robot 20 drives the motors M2 and M3 and clamps the clamp device 50 centering on the rotation shaft Ls1 and the rotation shaft Ls2. The orientation and angle of the substrate P are adjusted so that the component mounting surface Pa becomes horizontal by rotating. Further, by driving the motor M1 and moving the clamp device 50 in the Z direction (vertical direction), the height of the component mounting surface Pa in the Z direction (vertical direction) is adjusted to be a predetermined height.

The component mounting device 1 includes a head unit 70 and a moving device 80 that moves the head unit 70 in the plane direction (XY direction) on the base 10.

As shown in FIG. 2, the head unit 70 includes a unit main body 71, a suction head 73, and a dispenser head 75. The suction head 73 can hold the component 5 by generating a negative pressure at the tip. The dispenser head 75 has a discharge hole at the tip thereof, and discharges an adhesive or the like.

The suction head 73 and the dispenser head 75 are attached side by side in the X direction with respect to the unit main body 71. The suction head 73 and the dispenser head 75 can move in the Z direction with respect to the unit main body 71 by driving the motor M6. Further, the head unit 70 is equipped with a substrate recognition camera 77 and a displacement sensor 78.

The moving device 80 is a device that moves the head unit 70 in the X direction and the Y direction on the base 10. The moving device 80 includes a pair of Y beams 81 along the Y direction, an X beam 85, a first linear axis 83, a second linear axis 87, a motor M4, and a motor M5.

The X beam 85 has a shape long in the X direction, and is slidably supported at both ends in the X direction with respect to the Y beam 81. The first linear axis 83 is attached to the Y beam 81 and is along the Y direction. The first linear shaft 83 is, for example, a ball screw shaft. The first linear shaft 83 constitutes a ball screw mechanism together with a ball nut attached to the X beam 85. Therefore, when the motor M4 is driven to rotate the first linear shaft 83, the X beam 85 and the head unit 70 can be moved in the Y direction with respect to the Y beam 81 by the action of the ball screw mechanism.

The head unit 70 is slidably attached to the X beam 85. The second linear axis 87 is attached to the X beam 85 and is along the X direction. The second linear axis 87 is, for example, a ball screw. The second linear shaft 87 constitutes a ball screw mechanism together with a ball nut attached to the head unit 70. Therefore, when the motor M5 is driven to rotate the second linear shaft 87, the head unit 70 can be moved in the X direction with respect to the X beam 81 by the action of the ball screw mechanism.

As described above, the moving device 80 includes the motor M4 and the motor M5 as drive sources, and the head unit 70 and the X beam 85 can be moved in the Y direction on the base 10 by driving the motor M4. By driving the M5, the head unit 70 can be moved in the X direction on the base 10.

From the above, after moving the head unit 70 above the component supply unit 11 installed on the base 10, the component supply unit is sucked by sucking the component 5 while lowering the suction head 73 to a predetermined height. Part 5 can be taken out from 11.

Further, after taking out the parts, the head unit 70 is moved above the substrate P held by the robot 20, and then the suction head 73 is lowered to a predetermined height while the component 5 reaches the height of the substrate P in accordance with the timing. By releasing the holding of the component by the negative pressure, the component 5 can be mounted on the substrate P held by the robot 20.

A component recognition camera 90 is installed on the base 10, so that the component 5 held by the suction head 73 can be image-recognized.

2. 2. Clamp unit As shown in FIG. 6, the clamp unit U includes a jig 100 for mounting a substrate P on which an electronic component 5 is mounted, and a clamp device 50 for clamping (fixing) the substrate P via the jig 100. Has been done.

FIG. 7 is a perspective view of the jig, FIG. 8 is a perspective view of the jig turned inside out, and FIG. 9 is a bottom view of the jig. As shown in FIGS. 6 to 9, the jig 100 includes a metal base 110 and a ring member 120.

The base 110 has a flat plate shape. The base 110 has a positioning hole 115 for positioning the substrate P. On the other hand, on the bottom surface of the substrate P, a protrusion Pb which is a partner of the positioning hole 115 is provided, and by fitting the protrusion Pb into the positioning hole 115, the substrate P is prevented from rotating with respect to the base 110. , You can decide the position. Further, the substrate P can be fixed to the base 110 by bolting. Reference numerals 117 and 118 shown in FIG. 7 are nuts and bolts for fixing the substrate.

The ring member 120 is fixed to the lower surface of the base 110 by welding or the like. The ring member 120 has an annular shape (ring shape). Grooves 125A, 125B, and 125C are provided on the inner surface 121 of the ring member 120 at three equal positions in the circumferential direction (that is, at 120 ° intervals). As shown in FIG. 15, the cross-sectional shapes of the grooves 125A, 125B, and 125C are planar shapes. Specifically, the inner surface portion of the groove portion 125, which is the contact surface with the claw portion 67, has a planar shape. Note that FIG. 15 is a cross section perpendicular to the inclination of the groove portion 125 (cross section taken along line BB in FIG. 12).

5 is a perspective view of the clamp device 50, FIG. 10 is a plan view of the clamp device that clamps the ring member 120, and FIGS. 11 to 13 are cross-sectional views of the clamp device 50.

The clamp device 50 is a pneumatic type, and as shown in FIGS. 5 and 11 to 13, a cylindrical cylinder body 51, a piston 53, a coupling member 54, a cam 55, a movable member 61, and a lock are provided. A member 65 is provided.

The piston 53 is located inside the cylinder body 51. The internal space of the cylinder body 51 is divided into two air chambers F1 and F2 by a piston 53. The cylinder body 51 is provided with air supply paths Q1 and Q2 communicating with the air chambers F1 and F2. Air corresponds to the "fluid" of the present invention.

The cam 55 is located on the axis Lo of the cylinder body 51. The cam 55 penetrates the upper wall 52 of the cylinder body 51 and projects upward. The cam 55 is fixed to the piston 53 via the coupling member 54.

By alternately supplying air to the two air chambers F1 and F2 of the cylinder body 51 through the supply paths Q1 and Q2, the piston 53 and the cam 55 are reciprocated in the axial Lv along the axis Lo of the cylinder body 51. Can be done.

The cam 55 functions to displace the lock members 65A to 65C in the radial direction Lr of the cylinder body 51 by utilizing the movement of the piston 53 in the axial direction Lv. The radial direction Lr is a direction approaching the center of the cylinder body 51 and a direction extending from the center.

The movable members 61A to 61C are located above the cylinder body 51 and are arranged at three equal positions in the circumferential direction. The movable member 61 has a block shape long in the radial direction Lr, and can move in the radial direction Lr of the cylinder body 51 along the guide groove 59 provided in the cylinder body 51.

Further, lock members 65A, 65B, 65C are attached to the movable members 61A, 61B, 61C arranged at three equal positions in the circumferential direction so as to be superposed on the upper surface thereof.

The lock members 65A, 65B, 65C correspond to the groove portions 125A, 125B, 125C of the ring member 120.

The lock members 65A, 65B, and 65C are bent in an L shape and have a claw portion 67 at the tip portion. The cross-sectional shape of the claw portion 67 is a planar shape. Specifically, the outer surface 68 of the claw portion 67, which is the contact surface with respect to the groove portion 125, has a planar shape.

The claw portion 67 of the lock members 65A, 65B, 65C can be fitted into the groove portions 125A, 125B, 125C of the ring member 120. The gap between the claw portions 67 with respect to the groove portions 125A to 125C at the time of fitting is preferably small in order to suppress the backlash in the circumferential direction.

FIG. 11 is a cross-sectional view of the clamp device 50 and shows the released state. In this state, the claw portion 67 of the lock member 65A is located on the center side (left side in FIG. 11) of the inner surface 121 of the ring member 120, and is not fitted to the groove portion 125A.

When air is supplied to the cylinder body 51 from the state of FIG. 11 from the supply path Q2 and the cam 55 is displaced in the protruding direction (upward direction of FIG. 11), the movable member 61A is formed at the tip of the cam 55. It is pushed outward in the radial direction Lr through the outer surface 57 of the acting portion 56A (right direction in FIG. 11). As a result, the lock member 65A moves outward in the radial direction Lr.

When the lock member 65A reaches the release position R1 shown in FIG. 11 to the lock position R2 shown in FIG. 12, the claw portion 67 fits and locks with the groove portion 125A provided on the inner surface 121 of the ring member 120. To do. At this time, the outer surface 68 of the claw portion 67 fitted to the groove portion 125A comes into contact with the groove portion 125A.

Similarly, the claw portion 67 of the lock member 65B is fitted and locked in the groove portion 125B of the ring member 120, and the claw portion 67 of the lock member 65C is fitted and locked in the groove portion 125C of the ring member 120. (See FIG. 14).

In this way, the lock members 65A to 65C are displaced so as to expand outward in the radial direction using the pressure of the air, and the claw portions 67 of the lock members 65A to 65C are displaced from the groove portions 125A to the ring member 120. It fits into 125C and locks. At this time, the outer surface 68 of the claw portion 67 of each of the lock members 65A to 65C fitted in the groove portions 125A to 125C comes into contact with the groove portions 125A to 125C. Then, the ring member 120 is in a state where the three equal positions of the inner surface 121 are pushed outward by the three lock members 65A to 65 in the radial direction Lr. As described above, the ring member 120 and the entire jig 100 can be clamped and held. Then, by holding the air pressure, the clamped state can be held.

Further, as shown in FIG. 13, the shape of the groove portion 125A of the ring member 120 is a shape inclined at a predetermined angle θ1 in the radial direction Lr with respect to the axis Lo of the cylinder body 51. Specifically, the groove depth D becomes shallower from the upper side (front side in the pull-out direction) to the lower side (back side in the pull-out direction), and in the pull-out direction of the ring member 120 (upward direction in FIG. 13). On the other hand, it has a reverse taper. Further, the other groove portions 125B and 125C also have the same shape, and are inclined at a predetermined angle θ1 in the radial direction Lr with respect to the axis Lo.

On the other hand, the outer surface (contact surface with the groove) 68 of the claw portion 67 of the lock member 65A has a shape inclined at a predetermined angle θ1 in the radial direction Lr with respect to the axis Lo, similarly to the groove portion 125A. That is, the shape is inclined in the same direction as the groove portion 125A and at the same angle. Further, the claw portions 67 of the other lock members 65B and 65C also have the same shape, and are inclined at a predetermined angle θ1 in the radial direction Lr with respect to the axis Lo.

In this way, if the shapes of the groove portions 125A to 125C are made into a slope having a reverse taper with respect to the pull-out direction of the ring member 120 (upward direction of FIGS. 11 to 13), a force is applied in the upward direction of FIGS. 11 to 13. The ring member 120 has a structure that does not easily come off from the clamp device 50 even if

Next, a case where the holding of the jig 100 by the clamp device 50 is released will be described.
When air is supplied to the cylinder body 51 to displace the cam 55 in the backward direction (downward in FIG. 12), the movable members 61A to 61C are pulled inward in the radial direction Lr by the cam 55 (FIG. 12). To the left of). As a result, the claw portions 67 of the lock members 65A to 65C are separated from the groove portions 125A to 125C of the ring member 120, so that the holding is released.

3. 3. Explanation of effect In this configuration, since the claw portions 67 of the lock members 65A to 65C are fitted into the groove portions 125A to 125C of the ring member 120 and locked, the jig 100 is circumferentially oriented with respect to the clamp device 50. It is possible to suppress rotation. Further, since the groove portions 125A to 125C have a shape inclined with respect to the axis Lo of the cylinder body 51, it becomes difficult for the jig 100 to come out in the axial direction Lv.

Therefore, the substrate P can be firmly clamped, and the displacement of the substrate P can be suppressed when the robot 20 handles the substrate P. Therefore, the mounting accuracy of the component on the substrate P can be improved.

<Embodiment 2>
In the first embodiment, a configuration in which the groove portions 125A to 125C are provided at three equal positions in the circumferential direction with respect to the ring member 120 is illustrated.

In the second embodiment, as shown in FIG. 16, groove portions 225A and 225B are provided at positions that are equally distributed in the circumferential direction with respect to the inner circumference 221 of the ring member 220. As shown in FIGS. 17 and 18, the cross-sectional shape of the groove portions 225A and 225B is V-shaped.

Further, in the second embodiment, as shown in FIG. 16, the claw portions 267 of the lock members 65A and 65B are formed of columnar pins. Then, as shown in FIGS. 17 and 18, the pin-shaped claw portion 267 is locked with respect to the V-shaped groove portions 225A and 225B. When the grooves 225A and 225B are V-shaped, the rattling of the jig 100 with respect to the clamp device 50 in the circumferential direction can be reduced as compared with the planar shape.

Although the embodiments have been described in detail above, these are merely examples and do not limit the scope of claims. The techniques described in the claims include various modifications and modifications of the specific examples illustrated above.

(1) In the first embodiment, as an example of the robot 20, an apparatus having three drive shafts Lz, Ls1 and Ls2 and having three degrees of freedom is illustrated. The configuration of the robot 20 is not limited to the configuration of the first embodiment, and other configurations such as an articulated robot may be used. Also, the degree of freedom is not limited to 3. It may be 4 or more.

(2) In the first embodiment, the groove portions 125A to 125C are provided at the three equal distribution positions of the inner surface 121 of the ring member 120. Further, in the second embodiment, the groove portions 225A and 225B are provided at the quasi-arranged positions of the inner circumference 221 of the ring member 220. The groove may be provided at least at least 2 equal or more positions on the inner surface of the ring member, and may be provided at 4 equal or 5 equal positions.

(3) In the second embodiment, the cross-sectional shape of the grooves 225A and 225B provided on the inner circumference 221 of the ring member 220 is V-shaped. In addition to this, as shown in FIG. 19, the cross-sectional shape of the groove portion 225 may be an arc shape.

(4) In the first embodiment, the cam 55 is displaced in the retracting direction (downward in FIG. 12) to pull the movable members 61A to 61C inward in the radial direction Lr (leftward in FIG. 12). The claw portions 67 of the lock members 65A to 65C were separated from the groove portions 125A to 125C of the ring member 120. The unlocking of the claw portion 67 with respect to the groove portions 125A to 125C is not limited to the case where the cam 55 is used, and the locking members 65A to 65C are unlocked in the unlocking direction by using an elastic force such as a spring (FIG. 12). It may be moved to the left).

Further, FIG. 20 is a diagram showing a retracting structure of the lock member 65A by the cam 55. As shown in FIGS. 20 and 21, the working portion 55A provided at the tip of the cam 55 has a T-shaped cross section and is slidable with respect to the working groove 66A provided in the lock member 65A. Fit. Both the working portion 55A and the working groove 66A are inclined. When the cam 55 is moved downward in FIG. 20, the lock member 65A is pulled inward in the radial direction Lr via the inner surface 58 of the acting portion 56A.

(5) In the first embodiment, the clamp device 50 is a pneumatic type, but it may be a hydraulic type.

1 ... Parts mounting device 10 ... Base 5 ... Parts 20 ... Robot 50 ... Clamp device 51 ... Cylinder body 53 ... Piston 55 ... Cam 61A to 61C .. Movable members 65A to 65C ... Lock members 67 ... Claws 100 ... Jigs 110 ... Base 120 ... Ring members 125A to 125C ... Grooves P ... Substrate Lo ... Axis Lv ... axial direction Lr ... radial direction U ... clamp unit θ1 ... predetermined angle

Claims (4)

It ’s a clamp unit,
Jigs for mounting boards on which electronic components are mounted,
A clamping device for clamping the substrate via the jig.
The jig is
The base on which the board is mounted and
A ring-shaped ring member fixed to the lower surface of the base is provided.
The ring member has three grooves on the inner surface at three equal positions in the circumferential direction.
The clamp device is
Cylinder body and
It is provided with three lock members having claws that move in the radial direction of the cylinder body and lock to the three grooves by the pressure of the fluid supplied to the cylinder body.
The three groove portions have a shape that is inclined at a predetermined angle in the radial direction with respect to the axis of the cylinder body so that the groove depth becomes shallower from the upper surface side to the lower surface side of the ring member.
A clamp unit having a shape in which the three claws of the three lock members are inclined at the predetermined angle in the radial direction in the same manner as the three grooves. The clamp unit according to claim 1.
A clamp unit in which the cross-sectional shapes of the three grooves are planar. The clamp unit according to claim 1.
A clamp unit having a V-shaped cross-sectional shape of the three grooves. The clamp unit according to claim 1.
A clamp unit in which the cross-sectional shapes of the three grooves are arcuate.

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