JPH0289711A - Picking and placing device - Google Patents

Abstract

PURPOSE:To reciprocate and invert a cam easily and stably and reciprocate a square frame in the approximately U-shaped form by connecting a rack to a crank arm stuck to the output shaft of a motor and sticking a pinion engaged with this rack to a cam shaft. CONSTITUTION:A motor 22 with a deceleration gear in a drive device 21 is turned in one direction to turn a pinion 26 via a crank arm 23 and a rack 25. A fixed cam shaft 13 is reciprocated and inverted with this pinion 26 to reciprocate a square frame 15 in the approximately inverted U-shaped form via a cam 14 so that the article suction chuck unified with this square frame 15 is moved similarly. Thus the article adsorbed to this chuck is transferred to the specified position.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pick-and-place device suitable for use in transferring articles, etc.

[Prior Art] Conventionally, a cam having substantially triangular contours spaced at a constant distance from each other is surrounded by a rectangular frame, and the rectangular frame is guided so as to be movable in the X direction and the Y direction, which are orthogonal to each other. It is known that the cam can be rotated to impart square motion to the square frame.

Therefore, it is conceivable to reverse the cam within a range of 360 degrees to give the rectangular frame reciprocating motion in a substantially inverted U-shape, and use this as a pick-and-place device. For example, the pick-and-place device uses an article suction chuck.
■ Raise this from the first point (article suction point) to the first point side rising end, ■ then move it laterally to the second point side rising end,
■Next, one cycle consists of lowering the suction chuck to the second point (article supply point), then performing the reverse operations of the above ■, ■, ■ and returning to the first point. It is used to reciprocate according to the locus of the chuck and transfer the article that is attracted to the suction chuck between the first point and the second point.

However, in realizing a pick-and-place device, as a device for reversing the cam, there are two possible methods: (1) using forward and reverse rotation of a motor, or (2) a method using reciprocating motion of an air cylinder.

[Problems to be Solved by the Invention] However, in the method using forward and reverse rotation of the motor, rush current due to frequent switching between forward and reverse rotation causes
In addition to overheating the motor, it also complicates the electrical circuit.

In addition, in a method using reciprocating motion of a pneumatic cylinder,
In addition to requiring pneumatic piping, speed control is inaccurate.

The present invention uses a simple configuration to stably and accurately reciprocate the cam when giving a substantially inverted U-shaped reciprocating motion to a rectangular frame driven by the rotation of the cam. The purpose is to obtain a place device.

[Means for Solving the Problems] The present invention as set forth in claim 1 is such that a cam having substantially triangular contours with a constant facing interval is surrounded by a rectangular frame, and the rectangular frame is arranged in an X direction perpendicular to each other. This pick-and-place device includes a drive device that guides the cam movably in the The drive device includes a motor, a crank arm fixed to the output shaft of the motor, a rack connected to the crank arm, and a pinion fixed to the camshaft and meshing with the rack. It is configured such that the

According to a second aspect of the present invention, rolling elements are provided at portions corresponding to each apex of the cam.

[Operation] According to the present invention as set forth in claim 1, the cam can be reciprocated and reversed by one-way rotation of the motor. Therefore, forward and reverse rotation of the motor is unnecessary, overheating of the motor is avoided, and the electric circuit is simplified. Furthermore, pneumatic piping when using a pneumatic cylinder becomes unnecessary, and accurate speed control becomes possible.

In addition, by using the crank mechanism, the start at the reversal timing of the approximately inverted U-shaped reciprocating motion is slowed down, and vibration and cam wear can also be reduced.

Further, according to the second aspect of the present invention, it is possible to avoid wear of the portions corresponding to the respective apexes of the cam, and it is possible to prevent positional errors in the stroke path of the approximately inverted U-shaped reciprocating motion.

In other words, this is a pick-and-place device that uses a simple configuration to stably and accurately reciprocate the cam when giving a substantially inverted U-shaped reciprocating motion to the rectangular frame driven by the rotation of the cam, thereby achieving simple and accurate movement. can be obtained.

[Embodiment] Fig. 1 is a perspective view showing a pick-and-place device according to an embodiment of the present invention, Fig. 2 is a sectional view showing the pick-and-place device, and Fig. 3 is a front view of main parts of Fig. 2. , FIG. 4 is an exploded perspective view of the main part of FIG. 2, and FIG. 5 is a front view showing the cam.
FIG. 6 is a perspective view showing a modified example of the cam, FIG. 7 is a perspective view showing another modified example of the cam, and FIG. 8 is a stroke diagram showing the operation of the pick-and-place device.

As shown in FIGS. 1 and 2, the pick-and-place device 10 has a camshaft 13 supported by a bearing unit 12 fixed to a case 11, and a cam 14 fixed to the camshaft 13.

As shown in FIG. 5, the cam 14 has a contour constructed by setting the cam shaft 13 at one vertex J of an equilateral triangle and assembling two large and small circular arcs with radii R and r centered at each vertex J, K, and L. has. Thereby, the cam 14 has a substantially triangular contour with a constant spacing between opposing faces.

The pick-and-place device 1o surrounds the cam 14 with a rectangular frame 15, and guides the rectangular frame 15 so as to be movable in the horizontal direction (X direction) and vertical direction (Y direction), which are orthogonal to each other. . Specifically, a vertical guide rail 16 is fixed to the case 11, and a vertical slider 17 is attached to this rail 16.
A horizontal guide 18 is fixed to the slider 17, and one transfer arm provided on the rectangular frame 15 is slidably coupled to the horizontal guide 18. 19A
is an article suction chuck.

Thus, the pick-and-place device 10 has a drive device 21, which will be described in detail below, which drives the cam 14 three times.
The rectangular frame 15 is reversed within a range of 60 degrees to give a reciprocating motion in a substantially inverted U-shape.

The drive device 21 is connected to the case 1 as shown in FIGS. 1 to 4.
A motor 22 with a reducer provided on the upper part of the motor 1 and a motor 2
a crank arm 23 fixed to the output shaft of 2, and a rack 2 connected to the crank arm 23 with bolts 24;
5, and a pinion 26 that meshes with the rack 25 while being fixed to the camshaft 13.

The engagement between the rack 25 and the pinion 26 is shown in Figures 2~
As shown in FIG. 4, it is held inside a rocking box 27.

The swing box 27 is mounted around the camshaft 13 and the pinion 26 via a bearing box 28, and supports the rack 25 in a slidable manner at a position where it meshes with the pinion 26.

27A is a cap. Therefore, the rocking box 27 is
As the rack 25 or the crank arm 23 rotates and moves up and down while swinging, it swings around the camshaft 13.

That is, the drive device 21 rotates the rack 2 during continuous rotation of the crank arm 23 as the motor 22 rotates in one direction.
5 is moved up and down in a swinging state.

At this time, the vertical movement length of the rack 25 on one side is equivalent to the rotational diameter of the crank arm 23. In other words, the setting of the rotation radius of the crank arm 23 determines the vertical movement range of the rack 25, which in turn determines the reversal position of the camshaft 13.

Therefore, the rectangular frame 15 is given a reciprocating motion in a substantially inverted U-shape,
In addition, which position the lowering points on both sides of this inverted U-shaped reciprocating stroke are set depends on the setting of the rotation radius of the crank arm 23.

The rotation radius of the crank arm 23 is adjusted by providing a plurality of bolt insertion holes 23A on the long axis of the crank arm 23 and appropriately selecting the bolt insertion holes 23A into which the bolts 24 are to be inserted.

Further, in the pick and place device 1o,
The positions of the descending points on both sides of the approximately inverted U-shaped reciprocating stroke are particularly important. In the above embodiment, since a circular arc with a small radius (r) is given to the portion corresponding to each vertex of the cam 14 that positions the both-side descending points, wear of that portion can be prevented and positioning errors of the above-mentioned both-side descending points can be reduced. It can be prevented.

At this time, if a rotary roller 31 as shown in FIG. 6 or a rotary roller 32 as shown in FIG. 7 is provided at a portion corresponding to each apex of the cam 14, wear of this portion can be further prevented. Become certain.

Note that a rolling element such as the above-mentioned rotating roller may be provided in a range other than the portion corresponding to the apex of the outline of the cam 14.

Next, the operation of the pick-and-place device 10 will be explained.

The pick-and-place device 10 includes the above-mentioned drive device 21.
By inverting the cam 14 within a range of 360 degrees, the square frame 15 and the transfer arm 19 integrated therewith are
The article suction chuck 19A is given a reciprocating motion in a substantially inverted U-shape as shown at points A to D in FIG. That is, the pick-and-place device moves the article suction chuck 19A to
It is raised from point A (article suction point) to point B by the operations shown in Figures (A) to (B), and ■ Figures 8 (B) to (C
) to move laterally up to point 6, and then move to point D (
The suction chuck 19A is reciprocated along a substantially inverted U-shaped trajectory, with one cycle consisting of lowering the chuck 19A to the article supply point) and then returning to point A by performing the reverse operations of ①, ②, and ② above. let Thereby, the pick-and-place device 10 is used for transferring the article sucked by the suction chuck 19A between points A and D.

Next, the operation of the above embodiment will be explained.

According to the pick and place device 10, the cam 14 can be reciprocated by rotating the motor 22 in one direction. Therefore, forward and reverse rotation of the motor 22 is unnecessary, overheating of the motor 22 is avoided, and the electric circuit is also simplified. Furthermore, pneumatic piping when using a pneumatic cylinder becomes unnecessary, and accurate speed control becomes possible.

In addition, by using the crank mechanism using the crank arm 23, the start at the reversal timing of the approximately inverted U-shaped reciprocating motion becomes slow, and vibration and wear of the cam 14 can also be reduced.

In addition, by providing small radius arcs or rolling elements such as rotating rollers 31 and 32 at the portions corresponding to the vertices of the cam 14, wear of these portions can be avoided, and the shape is approximately inverted U-shaped. Errors in the position of the reciprocating stroke can be prevented.

Further, in the above embodiment, the swing box 2 that holds the rack 25 is
7 is freely rotatable around the camshaft 13, and the rack 25 is configured to be able to move up and down while swinging as the crank arm 23 rotates. For this reason, crank arm 2
3 and the rack 25 can be directly connected, and no special transmission mechanism is required between the two.

That is, the square frame 1 driven by the rotation of the cam 14
When giving reciprocating motion to the cam 5 in a substantially inverted U-shape, it is possible to obtain a pick-and-place device 10 that stably and accurately reciprocates the cam 14 with a simple configuration and performs simple and accurate movement.

[Effects of the Invention] As described above, according to the present invention, when giving a substantially inverted U-shaped reciprocating motion to the rectangular frame driven by the rotation of the cam, the cam can be stably and accurately reciprocated with a simple configuration. However, it is possible to obtain a pick-and-place device with simple and precise movements.

[Brief explanation of the drawing]

1 is a perspective view showing a pick and place device according to an embodiment of the present invention, FIG. 2 is a sectional view showing the pick and place device, FIG. 3 is a front view of the main part of FIG. 2, and FIG. 4 is an exploded perspective view of the main parts in Figure 2, Figure 5 is a front view showing the cam,
FIG. 6 is a perspective view showing a modified example of the cam, FIG. 7 is a perspective view showing another modified example of the cam, and FIG. 8 is a stroke diagram showing the operation of the pick-and-place device. DESCRIPTION OF SYMBOLS 10... Pick and place device, 14... Cam, 15... Square frame, 16... Vertical guide rail, 17... Vertical slider, 18... Horizontal guide, 19... Transfer Arm, 21... Drive device, 22... Motor, 23... Crank arm, 25... Rack, 26... Pinion, 31.32... Rotating roller. Agent Patent Attorney Osamu Shiokawa Figure 2 Figure 3 (C) Figure 4 Figure 8

Claims (2)

[Claims] (1) A cam with substantially triangular contours spaced at a constant distance from each other is surrounded by a rectangular frame, and the rectangular frame is guided so as to be movable in each of the mutually orthogonal X and Y directions, and the cam is moved 360 A pick-and-place device comprising a drive device that causes a rectangular frame to reciprocate in a substantially inverted U-shape by inverting the square frame within a range of degrees, the drive device comprising a motor and an output shaft of the motor. A pick and race device comprising a fixed crank arm, a rack connected to the crank arm, and a pinion that meshes with the rack while being fixed to a camshaft. (2) The pick-and-place device according to claim 1, further comprising a rolling element provided at a portion corresponding to each vertex of the cam.