JPH0540958Y2 - - Google Patents

Description

[Detailed Description of the Invention] (A) Field of Industrial Application The present invention relates to a device for grasping articles in a manufacturing line in order to supply the articles to or discharge them from the line.

(b) Prior Art Devices that clamp an article by horizontally moving a clamping plate in order to flatly press a pair of clamping members facing each other against the article have been widely used. In the article gripping device described in Japanese Patent Publication No. 58-53997, one end of a pair of links is attached to a piston that moves up and down, and one end is attached to the other end of this pair of links.
A pair of sliders is attached separately, and a pair of fingers is attached to the pair of sliders. The slider slides along the slide guide. Then, as the piston rises, the fingers move horizontally and approach each other to clamp the article.

(c) Problems to be solved by the invention According to the above structure, twisting between the slider and the slide guide cannot be avoided. This tendency becomes more pronounced as the finger becomes longer. Because you slide the slider while applying unreasonable force,
With repeated use, both the slider and slide guide will wear out. The present invention has been developed in view of this point, and an object of the present invention is to provide a device that can move a pair of clamping plates in a parallel state without using an expensive combination of a slider and a slide guide.

(d) Means for Solving the Problems In the present invention, a pair of arms each rotating about a fulcrum are provided, and a pair of clamping plates are pivotally supported on these arms. The base of the rod is fixed to one of the clamping plates, and the rod guide part in which the rod fits and is slidable is fixed to the other clamping plate.

Alternatively, the rod guide portions each fixed to the clamping plate may be connected by one rod.

(E) Action Now, when the arm is rotated to grasp an object, the clamping plate performs a rotational movement. By the way, these pair of rotating plates remain parallel to each other at any position due to the engagement of the rod and the rod guide portion.
The movement itself is therefore a pivoting movement, but the clamping plate rests flat against the article. This relationship does not change even if the size of the article changes.

(F) Embodiment An embodiment in which the apparatus of the present invention is applied to the supply of substrates in an electronic circuit board assembly line will be described based on FIGS. 1 to 7. The structure of the article gripping device 1 is shown in FIGS. 1 to 8. 2 is an air cylinder and is attached to the base 3 facing downward. The rod 4 of the air cylinder 2 penetrates the base 3,
It protrudes from the bottom. A joint 5 is attached to the tip of the rod 4, and one end of a pair of levers 6a, 6b is attached to the joint 5 by a connecting shaft 7 that intersects at right angles with one end of a pair of levers 6a, 6b. The through holes of the connecting shafts 7 provided in the levers 6a, 6b are elongated holes. Further, a bolt 9 projects downward from a spring mounting member 8 extending from the upper surface of the air cylinder 2, and a spring 10 is inserted between the bolt 9 and the connecting shaft 7.
is attached to pull up the rod 4 of the air cylinder 2. Further, two pairs of bearing members 11 and 12 made of plate materials are attached to the lower surface of the base 3 near the edge, each pair of bearing members 11 and 12 hanging down at intervals. supporting shaft 13
a and 13b are spanned horizontally and rotatably. The lever 6a,
The other end of 6b is fixed. Also, the levers 6a, 6b
One ends of a pair of arms 14a, 14b are fixed to each other with an interval in the axial direction. Each arm 14a, 14b consists of two plate-like members arranged at a distance, and a pair of clamping plates 16a, 16b with clamping surfaces facing each other are attached at the tips of the arms 14a, 14b.
are rotatably attached by second support shafts 17a, 17b parallel to the first support shafts 13a, 13b. The clamping plates 16a and 16b are the arms 14
Like a and 14b, it rotates within a vertical plane.
Also, a rod 18 is provided on the clamping surface of one clamping plate 16b.
However, a cylindrical rod guide portion 19 is fixed to the clamping surface of the other clamping plate 16a, and the rod 18
is slidably fitted into the rod guide portion 19. Bolts 20 are screwed into the arms 14a and 14b, respectively, and a spring 21 is stretched across the arms 14a and 14b so as to bias the clamping plates 16a and 16b toward each other. 15a and 15b are clamping plates 16
This is a urethane rubber sheet pasted on parts a and 16b. On the other hand, between the clamping plates 16a and 16b,
A vacuum pad 22 is placed. Four article supporting members 23 are provided around the periphery of the pad holder 24 to which the vacuum pad 22 is attached.
The base 3 includes an air cylinder 2 and bearing members 11 and 1.
An air cylinder 25 is mounted downwardly on the outside of the cylinder 2, and its rod 26 passes through the base 3.
The rod 26 is connected to an elevator 28 via a joint 27. The elevator 28 is supported by a pair of guide rods 29 on the base 3 so as to be movable up and down. The elevator 28 has a third support shaft 30 extending horizontally on the lower surface and perpendicular to the first support shafts 13a, 13b, and the pad holder 24 is slidably supported on the third support shaft 30. The pad holder 24 is normally positioned at the center of the third support shaft 30 by a pair of compression coil springs 31, but is displaced if a lateral force is applied to the vacuum pad 22. Reference numeral 32 denotes an air cylinder rod (not shown) that moves the entire article gripping device 1 up and down. The article gripping device 1 is supported by a rectangular coordinate type robot (not shown) and moves in space.

Next, the operation will be explained based on FIGS. 4 to 7. When the rod 4 of the air cylinder 2 is advanced, the arms 14a and 14b are opened. In this state, when the Cartesian robot positions the article gripping device 1 directly above the substrate magazine 40, which is the article to be held, the rod 28 lowers the base 3 to a predetermined height. Next, the rod 26 of the air cylinder 25
is lowered, and the vacuum pad 22 vacuum-chucks the top surface of the substrate magazine 40. Article support member 23
supports the substrate magazine 40 vertically. This is the fourth
This is the state shown in the figure. When the rod 26 rises and returns to its original position, the rod 4 of the cylinder 2 rises, and the levers 6a, 6b rotate counterclockwise and clockwise together with the first support shafts 13a, 13b. Arm 14
a, 14b are also rotated in the same direction, and the clamping plates 16a, 1
6b approach each other. By fitting the rod 18 and the rod guide part 19, the clamping plates 16a and 16b approach the side surface of the substrate magazine 40 while always keeping the same angle, that is, the clamping surfaces are kept vertical, and the urethane rubber sheet 15a, 15b flat against the side of the magazine and pinch it. This is the state shown in FIG. FIGS. 6 and 7 show the case where a small-sized substrate magazine 41 is held. Although the rotation angle of the arms 14a, 14b becomes larger than before, the clamping plates 16a, 16b flatly contact the sides of the substrate magazine 41 at this time as well. In this way, the vacuum pad 22 and the clamping plates 16a, 1
After the substrate magazines 40, 41 are firmly held by the rod 6b, the rod 28 is raised to raise the entire article gripping device 1. Then, it is horizontally moved to a predetermined position by a rectangular coordinate type robot, where the board magazine 4
0.41 is dropped off.

Next, a second embodiment of the present invention will be described based on FIG. Components common to those in the first embodiment are denoted by the same reference numerals, and explanations thereof will be omitted. Here, the clamping plates 16a,
A rod guide portion 49 is fixed to both of the rods 16b and connected by one rod 48. A retaining ring 41 is fitted into both ends of the rod 48. The rod 48 slides inside both rod guides 49 to keep the clamping surfaces of the clamping plates 16a, 16b vertical.

(g) Effects of the invention According to the invention, the orientation of the clamping plate is kept constant by the engagement between the rod and the rod guide, and the clamping plate can always be brought into contact with the flat even if the dimensions of the article vary. Therefore, there is no possibility that the corners of the clamping plate will hit the article and leave impressions on the article. Moreover, since the movement of the clamping plate itself is provided by the rotating arm, it is structurally simple and robust, there is no need to worry about wear unlike the case of a slide guide, and it is advantageous in terms of cost.

[Brief explanation of the drawing]

1 to 7 show an embodiment of the present invention,
Figure 1 is a partially sectional front view, Figure 2 is a side view, Figure 3 is a side view, and Figure 3 is a side view.
The figure is a bottom view, Figures 4 and 5 are partial cross-sectional front views showing different states when a large-sized board magazine is held in place, and Figures 6 and 7 are in which a small-sized board magazine is held in place. FIG. 6 is a partially sectional front view showing different states at different times; FIG. 8 is a partially sectional front view showing another embodiment. 14a, 14b...Arm, 16a, 16b...
...Holding plate, 18,48... Rod, 19,49...
...Rotsudo Information Department.

Claims (1)

[Claims for Utility Model Registration] (1) A pair of arms that each rotate about one point,
a pair of clamping plates each pivotally supported by the pair of arms and rotating within the rotational plane of the arms; a rod fixed at its base to one of the clamping plates; and a rod fixed to the other clamping plate; An article gripping device comprising a rod guide section that slidably receives a rod. (2) A pair of arms that each rotate about one point,
a pair of clamping plates each pivotally supported by the pair of arms and rotating within the rotational plane of the arms; a rod guide fixed to each of the clamping plates; and a rod sliding on each of the rod guides. An article gripping device equipped with a rod that can be freely fitted.