JPH05162814A - Chuck device for tray plate - Google Patents

Abstract

PURPOSE:To hold a tray plate without causing position shift. CONSTITUTION:A movable pawl 21 is provided turnably at the upper part of a fixed pawl 18, and a pin 23 is fitted to this movable pawl 21. The movable pawl 21 is energized in a closing direction by providing a compression coil spring 26 between both pawls 18, 21. Also, an air cylinder 27 is provided at the fixed pawl 18, and the movable pawl 21 is made to turn in the closing direction by forcing its rod 27a to move in advance. When the movable pawl 21 is turned in the closing direction, the pin 23 is put into the hole 14 of a tray plate 11, and as a result, the tray plate 11 is held without casing position shift.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tray plate chucking device for holding a tray plate in order to take it in and out of an elevator.

[0002]

2. Description of the Related Art For example, in an IC component mounting apparatus, IC components arranged on a tray are taken out one by one by an orthogonal robot having three axes of X, Y and Z and transferred to a printed wiring board. ..

The above trays are placed on a tray plate and stocked in a large number of magazines in an elevator.
It is taken out of the elevator by the access device and sent to the transfer start point by the robot. Then, the tray that has been emptied by taking out the IC components is stored in the elevator again by the loading / unloading device. When the empty tray is loaded, the elevator raises the magazine and moves another tray to the gripping position of the chuck device.

The loading / unloading device is provided with a chuck device for gripping the end of the tray plate, and grips the tray plate by this chuck device until the tray plate is taken out from the elevator and is stored again.

11 and 12 show a conventional chuck device and tray plate. 12
A large number of cut-and-raised pieces 1a are formed on the tray plate 1 shown in (1), and the tray 2 is detachably placed inside the cut-and-raised pieces 1a. An L-shaped rising piece 1b is bent and formed at the end of the tray plate 1 that is gripped by the chuck device 3 shown in FIG.

On the other hand, the chuck device 3 shown in FIG. 11 has a fixed claw 4 provided on a main body (not shown) and a movable member mounted on the upper part of the fixed claw 4 via a shaft 5 so as to be vertically rotatable. It has a nail 6. A tension coil spring 7 is provided between the movable claw 6 and the main body of the apparatus, and the movable claw 6 is rotationally biased by the tension coil spring 7 in the direction of arrow A, which is the closing direction. Further, an air cylinder 8 is attached to the main body of the access device, and when the rod 8a of the air cylinder 8 moves upward, the movable claw 6 is pushed up by the rod 8a and rotated in the arrow B direction which is the opening direction. Is configured to.

In order to grip the tray plate 1 by the chuck device 3 thus constructed, first the rod 8a of the air cylinder 8 is moved upward to open the movable pawl 6, and in this state the elevator device main body is lifted. It is moved toward the inner tray plate 1. Then, the L-shaped notch 4a formed at the tip of the fixed claw 4 is formed in the tray plate 1
The movement of the access device is stopped when it comes into contact with the rising piece 1b, and the rod 8a of the air cylinder 8 is moved backward in this state.

Then, until the movable claw 6 contacts the upper surface of the tip of the fixed claw 4 by the elastic force of the tension coil spring 7, the arrow A
When the movable claw 6 is rotated in the direction, the recess 6a formed at the tip of the movable claw 6 is fitted into the upper end portion of the rising piece 1b of the tray plate 1, so that the end of the top plate 1 is fixed to the fixed claw 4. It is designed to be held between the movable claw 6 and the movable claw 6.

[0009]

In the chuck device 3 having the above-described structure, since the movable claw 6 is opened and closed by rotating the movable claw 6 in the vertical direction about the shaft 5, the concave portion 6a following an arc locus.
In order to prevent the corner C on the front side of the lower end from interfering with the rising piece 1b, the width of the recess 6a must be set larger than the plate thickness of the rising piece 1b.

In addition, the movable claw 6 can be stopped from rotating in the closing direction by contacting the fixed claw 4, and the inner upper surface of the recess 6a does not contact the upper end of the rising piece 1b.
There is a slight gap between the two.

Therefore, when the tray plate 1 is gripped, the rising piece 1b can move to the left and right in the recess 6a. When the tray plate 1 is pulled out from the elevator and sent to the take-out position by the robot, it becomes normal. It is difficult to guarantee high positional accuracy because it will cause deviation from the position.

Further, in the conventional chuck device 3, the rising piece 1b has to be bent and formed at the end of the tray plate 1. However, since the rising piece 1b is related to the above-mentioned positional accuracy, the accuracy is improved. Since it has to be bent well, the bending work is troublesome and the manufacturing cost increases. This is extremely disadvantageous in view of the fact that a single IC component mounting apparatus usually requires several tens of tray plates, resulting in a considerable cost increase.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a tray plate chucking device capable of gripping a tray plate without displacement.

[0014]

A tray plate chuck device of the present invention is provided with a fixing claw, and is rotated above the fixing claw in a closing direction to grip the tray plate with the fixing claw. The movable claw is rotatably provided, and an opening / closing mechanism for rotating the movable claw in the opening / closing direction is provided, and a projecting portion that fits into a hole formed in the tray plate is provided at the tip of the movable claw so as to project downward. It is characterized by that.

[0015]

When the tray plate is gripped by the fixed claw and the movable claw, the projection of the movable claw is fitted in the hole of the tray plate, so that the tray plate is not displaced.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A first embodiment of the present invention will be described below with reference to FIGS.
It will be explained based on. It should be noted that this embodiment is applied to the tray plate chucking device of the loading / unloading device provided in the IC component mounting device.

First, FIG. 3 shows a tray plate 11. A cut-and-raised piece 11a is formed on the tray plate 11, and a tray 13 in which IC components 12 are aligned and arranged inside the cut-and-raised piece 11a can be attached and detached. It is placed in. Also,
A hole 14 is formed in the center of one end of the tray plate 11.

FIG. 1 shows a chuck device 15 for gripping the tray plate 11. In FIG. 1, 16 is a guide bar, and the guide bar 16 supports a main body 17 of the loading / unloading device. Although not shown, the main body 17 is reciprocally moved in the left-right direction by a belt having a motor as a drive source.

A fixing claw 18 is attached to the main body 17, and an inverted L-shaped receiving member 19 is fixed to the tip portion thereof. The receiving plate 19 receives one end of the tray plate 11, and an L-shaped notch 19a is formed on the upper surface thereof with a step corresponding to the plate thickness of the tray plate 11.

A support frame 20 is fixed to the upper portion of the fixed claw 18, and a movable claw 21 is rotatably supported on the support frame 20 by a shaft 22. A pin 23 as a protrusion that fits into the hole 14 of the top plate 11 is attached to the tip of the movable claw 21. The receiving hole 19 of the fixed claw 18 has an escape hole 24 corresponding to the pin 23.

The movable claw 21 is rotated by the opening / closing mechanism 25 in the directions D and E, which are opening / closing directions. The opening / closing mechanism 25 is composed of a compression coil spring 26 serving as an opening direction driving source and an air cylinder 27 serving as a closing direction driving source. The compression coil spring 26 is provided between the fixed pawl 18 and the movable pawl 21 and urges the movable pawl 21 to rotate in the arrow D direction which is the opening direction. Further, the air cylinder 27 has a fixed claw 18
Is laterally attached to a leg portion 18a for attaching to the main body 17. The rod 27a of the air cylinder 27 faces the lever 28 fixed to the movable claw 21, and the rod 27a moves leftward in the drawing to press the lever 28, whereby the movable claw 21 is compressed. The spring 26 is rotated in the direction of arrow E, which is the closing direction, against the elastic force of the spring 26.

Next, the operation of gripping the tray plate 11 by the chuck device 15 having the above structure will be described.

Now, assume that the rod 27a of the air cylinder 27 is retracted to the right in the figure, and the movable claw 21 is in the open state as shown in FIG. In this state, first, the main body 17 is moved in the direction of arrow F toward an elevator (not shown). The movement of the main body 17 is stopped when the cutout portion 19a of the receiving plate 19 of the fixed claw 18 comes into contact with the rising piece 1b of the tray plate 1 as shown in FIG.

Next, in this state, the rod 27a of the air cylinder 27 advances to push the lever 18. Then, as shown in FIG.
The pin 23 is fitted in the hole 14 of the tray plate 11 by rotating in the closing direction indicated by the arrow E against the elastic force of 6. At this time, although the pin 23 projects downward from the hole 14, the projecting end of the pin 23 enters the escape hole 24 of the receiving member 19 of the fixed claw 18, so that the movable claw 21 does not rotate in the closing direction. There is no fear, and as shown in FIG. 2, the tray plate 11 is held between the fixed claw 18 and the movable claw 21.

When the tray plate 11 is gripped in this way, the main body 17 is moved in the direction opposite to the arrow F, whereby the tray plate 11 is pulled out from the magazine in the elevator, and the IC component 1 by the robot not shown.
2 is sent to the take-out position.

When all the IC components 12 in the tray 13 are supplied and emptied, the main body 17 moves in the direction of arrow F, whereby the tray plate 11 is pushed into the magazine in the elevator. When the tray plate 11 is stored in the magazine, the rod 27a of the air cylinder 27
Moves backward, whereby the movable claw 21 is rotated in the direction of arrow D by the elastic force of the compression coil spring 26, and the grip of the tray plate 11 is released. When the grip of the tray plate 11 is released, the main body 17 moves in the direction opposite to the arrow F, and then the elevator moves up the magazine to move another tray plate to the grip position of the chuck device 15.

As described above, according to the present embodiment, when the chuck device 15 holds the tray plate 11, the pin 23 of the movable claw 21 moves into the hole 1 of the tray plate 11.
Since the tray plate 11 is fitted into the tray 4, there is no possibility that the tray plate 11 will be displaced. Therefore, when the tray plate 11 is pulled out from the elevator and sent to the take-out position by the robot, the tray plate 11 is accurately set at the regular position.

Further, the holes 14 need only be formed in the tray plate 11 by machining such as a drill, so that they can be processed at a low cost and with high precision as compared with the case where the conventional rising piece 1b is bent.

Next, a second embodiment of the present invention will be described with reference to FIGS.
Will be described. In the second embodiment, not only the tray plate 11 shown in FIG. 3 but also the conventional tray plate 1 shown in FIG. 12 can be held.

4 to 6, the same parts as those of the first embodiment are designated by the same reference numerals and only different parts will be described.

In FIG. 4, a stepped hole 29 is formed at the tip of the movable claw 21, and a pin 30 as a protrusion is vertically movable in the stepped hole 29. The pin 30 has a shaft portion 30a protruding upward from the movable claw 21, and is prevented from coming off by a collar 30b fixed to the upper end of the shaft portion 30a. The pin 30 is urged downward by the compression coil spring 31 provided in the stepped hole 29, and the lower end portion thereof is normally projected downward from the stepped hole 29.

A recess 32 is formed in the movable claw 21 near the stepped hole 29. This recess 32 is the fixed claw 1
It is provided as a relief so as not to interfere with the upper end of the receiving metal 19 of 8 and the rising piece 1b of the tray plate 1 pressed against the receiving metal 19. The step of the notch 19a of the money receiver 19 is set deeper than the step of the first embodiment.

In the above structure, when the movable claw 21 rotates in the direction of arrow E to hold the tray plate 11 shown in FIG. 3, the pin 30 moves the pin 30 as shown in FIG.
The tray plate 11 is fitted in the hole 14 of FIG.

When the movable claw 21 rotates in the direction of arrow E to hold the conventional tray plate 1 shown in FIG. 12,
As shown in FIG. 6, the pin 30 contacts the tray plate 1 while the movable claw 21 is rotating. Since the movable claw 21 is provided with the recess 32, the movable claw 21 receives the money 1
9 and the rising piece 1b of the tray plate 1 do not come into contact with each other and further rotate in the arrow E direction. Therefore, the pin 30
Is a hole 29 against the resilient force of the compression coil spring 31.
The movable claw 21 comes into contact with the tray plate 1 and holds the tray plate 1 by being pushed into the inside.

In this case, the rising piece 1b is placed in the recess 32.
Even if there is a gap in front of the tray plate 1, the tray plate 1 is pinched between the fixed claw 18 and the movable claw 21 or between the fixed claw 18 and the pin 30, and therefore there is no possibility of shifting.

As described above, according to this embodiment, it is possible to grip a tray plate having no hole into which the pin 30 fits.
It can be used as it is without discarding the conventional tray plate 1.

7 to 10 show a third embodiment of the present invention. In each drawing, the same parts as those in the first embodiment are designated by the same reference numerals and different parts will be described.

In FIG. 7, in the receiving metal 33 attached to the tip portion of the fixed claw 19, as shown in FIG.
Is formed, and the lever 35 is attached to the shaft 36 in the space 34.
It is rotatably supported by. Further, the receiving metal 33 is formed with stepped holes 37 and 38 which are continuous with the empty space 34, and a plunger 39 is movably supported in one of the stepped holes 37 so as to be vertically movable, and in the other stepped hole 38. Bush 4
0 is supported so that it can move up and down. And the lever 35
Rollers 41, 41 are attached to both ends of
The lever 35 contacts the lower surfaces of the plunger 39 and the bush 40 via the rollers 41, 41.

A compression coil spring 42 is provided between the roller 41 on the plunger 39 side of the lever 35 and the bottom of the cavity 34.
Is provided, the lever 35 is urged to rotate in the direction of arrow G by the elastic force of the compression coil spring 42, and the plunger 39 is pushed up so that the upper end portion thereof projects upward from the receiving metal 33. There is. A compression coil spring 43 is provided between the bush 30 and the upper step surface of the stepped hole 38, and the compression coil spring 43 pushes the bush 30 downward so that the cutout 33a of the receiving metal 33 is always present. It is flush with the bottom.

In the case of this embodiment, the bottom surface of the notch 33a of the receiving metal 33 is set to a position lower by a predetermined dimension than the bottom surface of the tray plate set at the take-out position in the elevator (not shown). ing.

On the other hand, at the tip of the movable claw 21, the receiving metal 33
Is formed with a recess 44 for avoiding interference with the rising piece 1b when gripping the upper end of the and the conventional top plate 1, and a screw rod 45 protruding into the recess 44 is screwed. There is. And this screw rod 4
5 is a fixed claw 1 when the movable claw 21 rotates in the closing direction.
It is adapted to come into contact with the plunger 39 of No. 8.

A concave portion 44 is provided at the tip of the movable claw 21.
A stepped hole 46 is formed near the front side of the pin, and a pin 47 as a protrusion is vertically movable in the stepped hole 46. The pin 47 is prevented from coming off by a flange 47b fixed to the upper end of the shaft portion 47a. And pin 47
Is urged downward by a compression coil spring 48 provided in the stepped hole 46, and the lower end always projects downward from the stepped hole 46. An escape hole 49 is formed in the bush 40 so as to correspond to the pin 47.

Next, the operation of gripping the conventional tray plate 1 shown in FIG. 3 by the chuck device 3 having the above-mentioned structure will be described.

Now, with the movable pawl 21 open as shown in FIGS. 7 and 8, when the main body 17 is moved in the direction of arrow F toward the elevator (not shown), the metal 33 of the fixed pawl 18 is received. The notch 33a is the rising piece 1b of the tray plate 1.
Abut the side surface of.

At this time, the bottom surface of the notch 33a of the money receiver 33 is set to a position lower by a predetermined dimension than the bottom surface of the tray plate 1 set at the elevator take-in / out position. Notch 33 of 33
The bottom surface of a is separated from the bottom surface of the tray plate 1 as shown in FIG.

Next, when the movable claw 21 is rotated in the closing direction indicated by the arrow E by the air cylinder 27 in this state, the screw rod 45 contacts the plunger 39 and pushes it down as shown in FIG. By pushing down the plunger 39, the lever 35 rotates in the direction of arrow H to push up the bush 40.

When the movable pawl 21 rotates in the closing direction in this way, the bush 40 accordingly rises so as to project from the bottom surface of the cutout 33a, and as shown in FIG. 1 is movable claw 21 and bush 4
It is sandwiched between 0 or the pin 47 and the bush 40, and is held so as not to move.

On the other hand, when the tray plate 1 is pushed into the elevator magazine and the grip is released, when the movable claw 21 is rotated in the opening direction, the lever 35 is repulsed by the compression coil spring 42 as the screw rod 45 is raised. As a result, the plunger 39 is rotated in the direction of the arrow G while being pushed up, and the bush 40 is pushed down by the elastic force of the compression coil spring 43 accordingly. As a result, the movable claw 21 and the bush 4
0 separates from the tray plate 1 housed in the elevator and releases its grip.

Thereafter, the main body 17 moves in the direction opposite to the arrow F, the chuck device 15 moves away from the elevator, and then the elevator lifts the magazine (not shown) supporting the tray plate 1 to move another tray plate. Move it to the in / out position.

In this embodiment, since the movable claw 21 is provided with the vertically movable pin 47, the tray plate 11 with the hole 14 shown in FIG. 12 can be grasped.

According to this embodiment, the following problems can be solved.

That is, in the conventional chuck device 3 shown in FIG. 11, as shown in FIG. 13, the bottom surface of the cutout portion 4a is at the same position as the bottom surface of the tray plate 1 set at the elevator loading / unloading position. It was set. In this case, the empty tray plate 1 is housed in the elevator, the movable claw 6 is moved from the closed state shown by the solid line in FIG. 13 to the open state shown by the chain double-dashed line, and the grip is released. However, since the bottom surface of the cutout portion 4a is in contact with the bottom surface of the tray plate 1, the tray plate 1 is moved by the frictional force between them.
May follow the chuck device 3 and move in the direction of arrow J from the position shown by the solid line in FIG. Then, the tray plate 1 comes to be located in the entrance / exit 9 of the elevator, and when the magazine (not shown) of the elevator subsequently rises, the rising piece 1b comes into contact with the upper edge portion of the entrance / exit 9, and the tray plate 1 becomes It bends as shown by the chain double-dashed line in the figure.

On the other hand, in the present embodiment, when the tray plate 1 is released, the bush 40 is separated from the bottom surface of the tray plate 1, and therefore the chuck device 15 is used.
Even if is moved in the direction opposite to the arrow F, there is no possibility that the tray plate 1 will be displaced by following this. Therefore, there is no risk that the tray plate 1 will come into contact with the edge portion of the entrance / exit 9 and bend, thereby causing an accident.

[0054]

As described above, according to the present invention, the movable claw is closed when the movable claw is closed by providing the distal end of the movable claw with the projection that fits into the hole formed in the tray plate. Since the tray plate is fitted in the hole of the tray plate, the tray plate can be gripped without displacement.

[Brief description of drawings]

FIG. 1 is a side view showing a first embodiment of the present invention partially broken away.

FIG. 2 is a side view showing a grip state in a partially cutaway state.

FIG. 3 is a perspective view of a tray plate

FIG. 4 is a vertical cross-sectional side view of essential parts showing a second embodiment of the present invention.

FIG. 5 is a vertical cross-sectional side view of essential parts shown in a gripped state.

FIG. 6 is a view showing a state in which another tray plate is gripped.
Corresponding figure

FIG. 7 is a side view showing a third embodiment of the present invention partially broken away.

FIG. 8 is an enlarged vertical side view of the main part.

FIG. 9 is a diagram corresponding to FIG. 7 shown in a gripped state.

FIG. 10 is a view corresponding to FIG. 8 in the same state.

FIG. 11 is a vertical sectional side view showing a conventional chuck device.

FIG. 12 is a perspective view of a conventional tray plate.

FIG. 13 is a vertical sectional side view showing the relationship between the tray plate in the elevator and the chuck device.

FIG. 14 is a vertical sectional side view for explaining a problem.

[Explanation of symbols]

1, 11 are tray plates, 13 are trays, 14 are holes,
15 is a chuck device, 18 is a fixed claw, 19 is a money receiver, 21
Is a movable claw, 23 is a pin (projection), 24 is a recess, 25 is an opening / closing mechanism, 26 is a compression coil spring, 27 is an air cylinder,
Reference numeral 30 is a pin (projection), 32 is a recess, 33 is a receiving member, 35 is a lever, 39 is a plunger, 40 is a bush, 44 is a recess, 45 is a screw rod, and 47 is a pin (projection).

Claims (1)

[Claims] 1. A chuck device for gripping a tray plate for loading and unloading the tray plate with respect to an elevator containing a tray plate provided with a storage tray for an IC or the like. A movable claw that is movably provided and holds the tray plate between the fixed claw by being rotated in the closing direction, an opening / closing mechanism that rotates the movable claw in the opening / closing direction, and a tip portion of the movable claw. A tray plate chucking device, which is provided with a protrusion protruding downward and fitted into a hole formed in the tray plate.