JPH02228590A - Two-dimensional motion mechanism - Google Patents

Abstract

PURPOSE:To enable the same two-dimensional motion of two driving bodies by a simple mechanism by making first and third sliders conduct an integral drive. CONSTITUTION:A PC board 12 is sent in a direction A over to a mounting position by a conveyor 10. Meanwhile, IC chips 22 are taken up from the inside of stockers 16a located at a takeout position of a conveyor 14, by pickups 20 fitted on the lower side of a first slider 18. The IC chips 22 are once put on relay stages 24 and positioned exactly. Thereafter the pickups 20 take up again IC chips 22a on the relay stages 24 and set and mount the IC chips 22a on a PC board 12a located at the mounting position. On the occasion when the first slider 18 mounts the IC chips 22a, a third slider 26 provided on a second slider 25 conducts quite the same plane motion as the first slider 18. A support mechanism 28 on the slider 26 supports the PC board 12a on the lower side thereof. This constitution enables the same two-dimensional motion of two driving bodies.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a two-dimensional movement mechanism.

(Prior Art) As a conventional two-dimensional movement mechanism, there is a technology previously filed by the present inventor and disclosed in Japanese Utility Model Application Publication No. 159799/1983. The two-dimensional movement mechanism includes two X-axis guides arranged in parallel, and two Y-axis guides arranged in parallel and whose axes are orthogonal to the axis of the X-axis guides in substantially the same plane. an axis guide, two X-axis drive units movably arranged along the respective X-axis guides, and each of the Y-axis guides;
Two Y-axis drive sections movably arranged along the axis guide, an X-axis rod whose both ends are connected to the X-axis drive section and parallel to the Y-axis guide, and a YI
A Y-axis rod connected to the IIA drive unit and provided parallel to the X-axis guide, and a drive body through which the X-axis rod and Y-axis rod are inserted, and which is movable over the X-axis rod and Y cuff/throat. This is a two-dimensional movement mechanism.

(Problem B to be solved by the invention) However, the above two-dimensional movement mechanism has the following problems.

For example, a circuit board (PC board) with an electrical circuit printed on it.
In the work of mounting an IC chip, etc. to
It was proposed to transport it to a predetermined position on a C board and to mount it on a PC board. However, the rigidity of the PC board is low, so if the PC board is warped beyond its limit when moving the tool downward when mounting an IC chip, the PC board may crack or, in severe cases, break. Therefore, it is sufficient to provide a support member for the PC board below the mounting position, but if the size of the PC board changes or the mounting position changes, the position of the support member must be changed, which is troublesome. In addition, as previously proposed and filed by the present inventor (Japanese Patent Application No. 1-9057), two sets of two-dimensional movement mechanisms are provided with an interval above and below, and both driving bodies are caused to perform the same two-dimensional movement. , it is possible to provide a support member on the upper surface of the lower drive body, but the cost increases due to the provision of two sets of two-dimensional movement mechanisms, and there are problems in that it is difficult to synchronize both drive bodies. .

Therefore, an object of the present invention is to provide a two-dimensional movement mechanism that allows two driving bodies to perform the same two-dimensional movement using a simple mechanism.

(Means for solving problems) In order to solve the above problems, the present invention includes the following mechanism.

That is, two X-axis moving means arranged in parallel, and two X-axis moving means arranged in parallel and in substantially the same plane with respect to the X-axis moving means and at right angles to the X-axis moving means. individual X
an axis moving means, two X-axis moving bodies disposed movably along each of the X-axis moving means, and two Y-axis moving bodies disposed movably along each of the X-axis moving means; an X-axis motor for driving an X-axis moving means to move the X-axis moving body along the X-axis moving means; and an X-axis motor for driving the X-axis moving means to move the Y-axis moving body along the X-axis moving means. a Y-axis motor for driving the X-axis moving means, an connected to the body,
a Y-axis rod provided parallel to the X-axis moving means; a first slider through which the X-axis rod and Y-axis rod are inserted and is movable on the X-axis rod and the Y-axis rod; a first guide provided apart from the plane on which the slider moves and arranged parallel to the X-axis moving means or the X-axis moving means; and a second guide movable along the first guide. The slider and the second slider can be substantially connected to and disconnected from the X-axis moving body or the Y-axis moving body, and when connected, the second slider is connected to the movement of the first slider. a first connecting means for moving the slider along the first guide; a second guide provided on the second slider and disposed at right angles to the first guide; The third part can be moved along the guide of the second part.
The slider and the third slider can be substantially connected to and disconnected from the Y-axis moving body or the X-axis moving body, and when connected, the third slider is moved by the movement of the first slider. and a second connecting means for moving along the second guide.

(effect) The effect will be explained.

By connecting the first connecting means, the first slider and the second slider can move together in the first guide direction, and by connecting the second connecting means, the first slider and the third slider can move together in the first guide direction.
The sliders can be integrally moved in the direction of a second guide disposed on the second slider at right angles to the first guide. As a result, the first slider and the third slider are all (
The same two-dimensional movement becomes possible.

(Embodiments) Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In this embodiment, a mounting device for mounting an IC chip on a PC board will be described as an example of a two-dimensional movement mechanism.

FIG. 1 shows a plan view of the mount, and FIG. 2 shows a partially cutaway front view thereof. First, an overview of this mounting device will be explained. PC board 1 in the direction of arrow A on conveyor 10
2 is sent into the mounting position. On the other hand, the pickup 20 attached to the top surface of the first slider 18 from inside the stocker 16a located at the take-out position of the conveyor 14...
The rCC chip 2... is picked up by the user. The picked up IC chip 22... is transferred to the relay stage 24...
After being placed on and accurately positioned, the pickup 20 picks up the IC chip 22a on the relay stage 24 again and places the IC chip 22a on the PC board 12a at the mounting position. Attach and mount... When the first slider 18 mounts the IC chips 22a, the third slider 26 provided on the second slider 25 makes exactly the same planar movement as the first slider 18. A support mechanism 28 provided on the third slider 26 supports the PC board 12a from below.

Next, the configuration will be explained in detail.

The operating mechanism of the first slider 18 will be explained with reference to FIG. Reference numerals 30 and 32 are X-axis ball screws serving as X-axis moving means, and two screws are arranged in parallel.

Reference numerals 34 and 36 indicate Y-axis ball screws serving as Y-axis moving means, which are parallel to each other and arranged at right angles to the X-axis ball screws 30 and 32 in the same plane.

38.40 is an X-axis moving body, and an X-axis ball screw 30.
It is screwed onto 32.

42.44 is a Y-axis moving body, and Y-axis ball screw 34.
It is screwed onto 36.

46 is an X-axis rod, and both ends are X-axis moving bodies 38.40
and are arranged parallel to the Y-axis ball screws 34, 36, thus the X-axis ball screws 30 and 32
are rotated in the same direction at the same speed, the X-axis moving body 3
8.40 move together in the X-axis direction.

48 is a Y-axis rod, and both ends are Y-axis moving bodies 42.44
and is arranged parallel to the X-axis ball screw 30, 32. Therefore, the Y-axis ball screws 34 and 36
are rotated in the same direction at the same speed, the Y-axis moving body 4
2.44 move together in the Y-axis direction.

Note that since the X-axis rod 46 and the Y-axis rod 48 are installed on the X-axis moving body 381.40 and the Y-axis moving body 42.44, respectively, the X-axis ball screw 30.32 and the Y-axis ball screw 34.36 rotate. The X-axis moving body 38.40 and the Y-axis moving body 42.44 are prevented from rotating during the
By rotating the shaft pole screw 30°32 and the Y-axis pole screw 34.36, the X-axis moving body 38.40 and the Y-axis moving body 42.4
4 movements are possible.

The first slider 18 has an X-axis rod 46 and a Y-axis rod 4.
8 is inserted, and the X-axis moving body 38.40 and the Y-axis moving body 42
．． 44 causes the first slider 18 to move in the X-Y direction. A pickup 20 is attached to the bottom surface of the first slider 18, and the pickup 20
... are connected to a vacuum device (not shown) via an air tube 50, and the pickups 20... are driven by the vacuum device, and the IC chips 22...
Grasp and release...

52 is an X-axis motor, which is a servo motor that rotates the X-axis ball screw 30 directly and the X-axis ball screw 32 via a head gear 54, 56 and a connecting rod 58.

60 is a Y-axis motor, which is a servo motor that rotates the Y-axis ball screw 34 directly and the Y-axis ball screw 36 via a head gear 62, 64 and a connecting rod 66.

Next, the operating mechanism of the second slider 25 will be explained with reference to FIG.

68.70 is the first guide, and the X-axis ball screw 30
．． 32, Base 7 below the Y-axis ball screw 34.36
2 is fixed on the top surface in parallel with the Y-axis ball screws 34 and 36. The second slider 25 has a lower surface that is connected to the first guide 68.
70 so as to be movable in the Y-axis direction. The second slider 25 is always urged in the direction of the X-axis ball screw 32 by a spring 74, but its movement in the direction of the X-axis ball screw 32 is restricted by a stopper 76 provided on the base 72. ing. Therefore, the second
The amount of movement of the slider 25 is B.

78.80 is a bracket whose side shape is conveyor 1
The upper end is fixed to the Y-axis moving body 42, 44, and the lower surface of the horizontal part 82, 84 extends horizontally inward from the lower end. It is fitted into the guide 70.68 of No. 1 so as to be movable in the Y-axis direction. Further, a tapered portion 86.88 constituting a first connecting means is provided on the upper surface of the horizontal portion 82.84. The tapered portions 86 and 88 are formed by tapering the free ends of the 30 X-axis ball screws. On the other hand, taper cylinders 90.92 constituting the first connecting means and having an inner surface shaped to follow the shape of the tapered portions 86.88 are fixed to both ends of the upper surface of the second slider 25. There is. The tapered cylinders 90, 92 are connected to a vacuum device (not shown) via air tubes 94... first slider 1
8 moves in the direction of arrow C, the tapered portion 86.8 can enter into the Taber cylinder 90.92. When the tapered portion 86.88 approaches the tapered cylinder 90.92, the sensor 96 detects the forward movement of the first slider 18 and drives the vacuum device, causing the tapered cylinder 90.9 to move forward.
2 to create a negative pressure inside the taper portion 86, 88 and the taper cylinder 9.
Concatenate 0.92. This connection allows the second slider 2
5 is the Y-axis moving body 42.4 via the bracket 78.80.
4. Therefore, the second slider 25 and the first slider 18 move together in the Y-axis direction only within the range shown in B. In addition, due to disconnection,
When the first slider 18 moves in the opposite direction to the arrow C, the sensor 98 detects the withdrawal of the first slider 18, and drives the vacuum device in the opposite direction to pressurize the inside of the taper cylinder 90,92 to remove the tapered portion. 86.88 to Taber cylinder 90.9
Separate from 2.

Next, the operating mechanism of the third slider 26 will be explained with reference to FIG.

A second guide 100 is provided on the upper surface of the second slider 25 at right angles to the first guides 68 and 70.

The third slider 26 has a lower surface fitted into the second guide 100 and is movable along the second guide 100 in the X-axis direction.

The third slider 26 is provided with a projecting portion 102, and when the tip of the projecting portion 102 enters the V-cut portion 106 of the positioning member 104 fixed to the upper surface of the base 72, the third slider 26 The initial position in the X-axis direction is determined. The third slider 26 is provided with a support mechanism 28 made of the above-described cylinder device on its upper surface. Further, the third slider 26 is formed in a space penetrated in the Y-axis direction at the center, and a guide roller 108 constituting the second connecting means is rotatably mounted inside the space. There is.

Reference numeral 110 denotes a tongue piece constituting the second connecting means, and is provided at the lower end of the bracket 112 whose side surface is in the shape of an abbreviated letter. The upper end of the bracket 112 is fixed to the X-axis moving body 38. Further, the lower surface of the bracket 112 is slidably fitted into a third guide 114 provided on the base 72 in the X-axis direction. The width of the tongue piece 110 is formed to be slightly smaller than the interval E between the guide rollers 108 of the third slider 26, and the tongue piece 110 can enter between the guide rollers 108 shown in E. .

Therefore, the taper portions 86, 88 are
．． 92 and are connected, and when the first slider 18 moves forward in the direction of arrow D (or arrow C), the second slider 25 also moves forward in the direction of the arrow, against the biasing force of the springs 74... is pushed along the guides 68, 70 of. Then, the tongue piece 110 enters the interval E between the guide rollers 108... and the second connecting means is connected. This allows the third
The slider 26 is connected to the X-axis drive body 38 via a tongue piece 110 and a bracket 112. Due to this connection, the third slider 26 moves integrally with the first slider 18 in the X-axis direction only by the length of the second guide 100. In other words, since the third slider 26 moves in the Y-axis direction together with the second slider 25, the first slider 1 moves in the Y-axis direction.
Move together with 8. Therefore, the first slider 18
When the first and second connecting means are connected, the third slider 26 and the third slider 26 move together in two dimensions.

The operation of the mounting device configured as described above will be explained.

The stofka 16 stacked inside the magazine 116...
From there, the stockers 16 are sent by the conveyor 14 to the pick-up position.

Further, the PC board 12 on which the IC chips 22 . . . are mounted is sent to the mounting position by the conveyor 10.

The X-axis motor 52 and the Y-axis motor 60 are driven, and the first
The slider 18 of is advanced to the pick-up position, and the IC chips 22 . . . in the stockers 16 a . -HIC chips 22a are placed on the relay stage 24 for accurate positioning and then picked up again. Then, when the first slider 18 further moves forward in the direction of arrow C, the sensor 96
8 is detected, and a vacuum device (not shown) is driven to create negative pressure in the Taber cylinders 90 and 92. and the first
As the slider 18 advances, the tapered portion 86.88 enters the Taber cylinder 90.92, and the two are connected, and the first slider 18 and the second slider 25 are integrally moved
Move in the axial direction. Then, when the first slider 18 moves further in the direction of arrow C against the spring 74...
Since the second slider 25 is pushed in the direction of the arrow, the tongue piece 1
10 is the guide roller 108 of the third slider 26...
enter into the space E between them. This allows the first slider 18 and the third slider 26 to move together, and the IC chip 22 and
The pickup 20... holding the... approaches the PC board 12.8 at the mounting position. At this time, even if the first slider 18 makes a complicated two-dimensional movement in order to mount the IC chip 22... at a predetermined position on the PC board 12a, the third slider 26 also makes the same two-dimensional movement. conduct. Therefore, the support mechanism 28 provided on the upper surface of the third slider 26 supports the IC chip 22 on the PC board 12a.
It becomes possible to always support the lower surface of the mounting position of the PC board 12a, and damage caused by the push-down blade when mounting the PC board 12a can be prevented.

After mounting the IC chip 22a..., the first
Move the slider 18 in the direction opposite to arrow C. Then, the tongue lIO first separates from the guide rollers 108, and the connection between the first slider 18 and the third slider 26 is severed. Then, when the first slider 18 goes out of service, the sensor 98 detects the departure of the first slider 18, and drives the vacuum device in the opposite direction to disconnect the tapered portion 86.88 and the taper cylinder 90.92. Then the second
The slider 25 moves back to the position (initial position) where it comes into contact with the stopper 76 by the spring 74. At that time, the protruding portion 102 of the third slider 26 is guided by the V cut portion 106 of the positioning member 104, and the third slider 26 is guided by the V-cut portion 106 of the positioning member 104.
The slider 26 is also returned to its initial position on the second guide 100. Then, the first slider 18 again moves to the IC chip 2.
If 2... is transported, the next mounting will be possible.

In the above embodiment, as a modification, the first connecting means is the first connecting means.
The slider 18 and the second slider 25 may be directly connected, or the second connecting means may also be connected to the first slider 18.
It is also possible to connect the third slider 26 and the third slider 26 directly.

Further, the X-axis moving means and the Y-axis moving means may be of a belt transmission type instead of a ball screw type.

Furthermore, the two-dimensional movement mechanism according to the present invention can be applied not only to an IC chip mounting device but also to a processing device that simultaneously tools the same workpiece from both directions.

Although various preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and it goes without saying that many modifications can be made without departing from the spirit of the invention. That's true.

(Effects of the Invention) By using the two-dimensional movement mechanism according to the present invention, it becomes possible to drive the first slider and the third slider together with a simple configuration. Therefore, since the two sliders can be integrally driven by one set of two-dimensional movement mechanisms, there is a technical and economical effect that not only versatility but also manufacturing costs can be suppressed.

[Brief explanation of the drawing]

Fig. 1 is a plan view of an IC chip mounting device according to an embodiment using a two-dimensional movement mechanism according to the present invention, Fig. 2 is a partially cutaway front view thereof, and Fig. 3 shows the operating mechanism of the first slider. FIG. 4 is a plan view of the main part showing the operating mechanism of the second slider, and FIG. 5 is a plan view of the main part showing the operating mechanism of the third slider. 18...First slider, 25...Second slider, 26...Third slider, 30.32...X
Axis hole screw, 34.36...Y axis ball screw,
38.4o...X-axis moving body, 42.44...Y-axis moving body, 46...X-axis rod, 48...Y-axis rod, 52...X-axis motor, 6o... Y-axis motor, 68.70...first guide, 86.88...tapered part, 90,92...taper cylinder, 100...second guide, 108...
- Guide roller, 110... tongue piece. drawing drawing drawing number drawing

Claims (1)

[Claims] 1. two X-axis moving means arranged in parallel, and two X-axis moving means arranged in parallel, in substantially the same plane with respect to the X-axis moving means, and at right angles to the X-axis moving means; Y-axis moving means, two X-axis moving bodies movably disposed along each of the X-axis moving means, and two Y-axis movable bodies movably disposed along each of the Y-axis moving means. a moving body; an X-axis motor for driving an X-axis moving means to move the X-axis moving body along the X-axis moving means; and a moving body for moving the Y-axis moving body along the Y-axis moving means. a Y-axis motor for driving the Y-axis moving means in order to move the Y-axis; a Y-axis rod connected to and provided parallel to the X-axis moving means; a first slider through which the X-axis rod and Y-axis rod are inserted and is movable on the X-axis rod and the Y-axis rod; a first guide provided apart from the plane on which the first slider moves and parallel to the X-axis moving means or the Y-axis moving means; and movable along the first guide. a second slider, the second slider can be substantially connected to and disconnected from the X-axis moving body or the Y-axis moving body,
a first connecting means for moving the second slider along the first guide as the first slider moves when connected; and a first connecting means provided on the second slider; a second guide disposed at right angles to the first guide; a third slider movable along the second guide; It is possible to connect and disconnect from a moving body,
A two-dimensional movement mechanism characterized by comprising: a second connecting means for moving the third slider along the second guide as the first slider moves when connected.