JPH0566833A - Positioning mechanism for rectangular parallelopiped case - Google Patents

Abstract

PURPOSE:To obtain a simple mechanism for positioning without giving vibration and a shock to a case of a rectangular parallelopiped placed on a placing base. CONSTITUTION:On a placing base 4, two pieces of positioning implements 41 to a side face of a case 3 are provided, and also, an air cylinder 46 being movable along a slider bar 43, and a spring 45 for giving damping to a movement of the air cylinder are provided. This mechanism is constituted by coupling pressing mechanism 47, 48, respectively having a pair of two pieces of pressing rollers 473, 473 for pressing softly the corresponding side face 33 of the case, and two pieces of pressing rollers 483, 483 for pressing softly both side faces 34, 35 of the case, with respect to an operating rod 461 of the air cylinder for moving slowly by driving of the air cylinder damped by the spring, and the air cylinder 46 itself for moving slowly in the rever direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning mechanism for a rectangular parallelepiped case, and more particularly to a mechanism for positioning the case with respect to a robot transport mechanism.

[0002]

2. Description of the Related Art FIG. 2 illustrates a glass plate of a CCD sensor, a tray for the same, and an accommodating case as an application example of the present invention. (A) shows the appearance of the CCD sensor 1, and the CCD chip is molded. A package 11 is formed, and a glass plate 12 for inputting light is fitted on the surface side of the package 11. In the manufacturing plant, the glass plates 12 are stored in the tray 2 shown in Fig. (B), and more than one tray is shown in Fig. (C).
The tray storage case (hereinafter, simply referred to as a storage case) 3 having a rectangular parallelepiped shape is inserted into the shelf 31 and stored or transported.
Since the quality of the glass plate 12 deteriorates if scratches or dust adheres to it, the glass plate 12 is inspected by an inspection device, but the inspection is performed in a state of being stored in the tray 2. FIG. 3 shows a transfer system for the tray 2 with respect to the inspection device for the glass plate 12. One of the mounting bases 4-1 has a rectangular housing case 3-1 and the other mounting base 4-2 has a similar housing case. 3-2 are placed respectively. On the other hand, the robot mechanism 5 is provided, and the robot hand is constituted by the vertical movement / rotation mechanism 51 and the horizontal movement mechanism 52.
53 takes out a predetermined tray from the housing case 3-1 and conveys it to the inspection device 6 and places it on the inspection table 61 to inspect the optical system.
Each glass plate 12 is inspected by 62. When the inspection is completed, the tray 2 is transported in a direction substantially opposite to the above and is stored in the storage case 3-2.

[0003]

[Problems to be Solved by the Invention] Robot hand
In order for 53 to correctly take out the tray of the predetermined shelf 31 from the storage case 3-1 and store the tray in the predetermined shelf 31 of the storage case 3-2, the storage cases 4-1 and 4-2 must be attached to the storage cases. Need to be positioned. Further, since the glass plate 12 is easily scratched, it is strictly prohibited to vibrate or shock the tray 2 stored in the storage case. Therefore, the positioning mechanism needs to have a structure that does not give vibration or shock to the housing case. As a matter of course, it is desirable that the positioning mechanism has a simple structure. The present invention has been made in view of the above, and an object thereof is to provide a simple mechanism for performing positioning without giving vibration or shock to a rectangular parallelepiped case mounted on a mounting table.

[0004]

SUMMARY OF THE INVENTION The present invention is a positioning mechanism that achieves the above object, in which two positioning tools for one side surface of a rectangular parallelepiped case are arranged on a mounting table.
Also, an air cylinder that can move along the slide bar,
And a spring for braking the movement of the air cylinder. By the drive of the air cylinder braked by the spring, the operating rod of the air cylinder that moves slowly and the air cylinder itself that moves slowly in the opposite direction,
A pressing roller that softly presses the corresponding side surface of the case and a pressing mechanism that has two pressing rollers that softly press both side surfaces of the case are connected to each other.

[0005]

In the above positioning mechanism, since the air cylinder is movable along the slide rod, when it is driven, its operating rod moves, and its reaction causes the air cylinder itself to move in the opposite direction. Further, since the air cylinder is braked by the spring, the rapid driving force by the supplied air is absorbed by the spring, and the moving operation of both is slow. First, when the air cylinder is driven in the opposite direction to the positioning, the operating rod and the air cylinder move slowly, and the pressing rollers of each pressing mechanism are separated from the corresponding side surfaces. In this state, the case is placed near the positioning tool. Then, when the air cylinder is driven in the positioning direction, both of them similarly move slowly, and the pressing roller of one pressing mechanism softly presses the corresponding side surface of the housing case to position the side surface with respect to the positioning tool. At the same time, the two pressing rollers of the other pressing mechanism softly press both side surfaces to position the centers of both side surfaces. As described above, since the pressing of the pressing roller is soft, there is no vibration or shock, and the case is positioned with safety ensured.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows, as an application example of the present invention, an embodiment for a housing of a glass plate of a CCD sensor,
(a) is a top view, (b) is a back view, and (c) is a side view. In FIG. 1 (a), two L-shaped positioning tools 41, 41 are arranged on the mounting table 4 for the housing case 3. The parallel sides 411 of each positioning tool are positioned by abutting the side surface 32 of the housing case 3 to be placed, and each side of a right angle.
412 is arranged with a certain gap with both side surfaces 34, 35. Next, in (b) and (c), two slide rods 43, 43 are supported on the back surface of the mounting table 4 by a support tool 42, and a mover 44 is attached to this so as to be movable. The support 42 and the mover 44 are coupled by a spring 45 to brake the movement of the mover. An air cylinder 46 is fixed to the mover 44, and one pressing mechanism 47 is connected to the tip of an operating rod 461 thereof. The pressing mechanism 47 includes a linear arm 471 pivotally supported by the mounting table 4, a support arm 472 having the linear arm connected to the center, and two pressing rollers 473 and 473 provided at both ends of the support arm. Next, the cam grooves 44 are provided on the left and right sides of the moving element 44 in the figure.
1 is provided, and the other pressing mechanism 48 is engaged with these. The pressing mechanism 48 is pivotally supported on the mounting table, and has a cam groove 441 at one end.
Cam roller 481 that engages with the pressure roller 481
It consists of two bending arms 482, 482 each having 3.

The operation of the above positioning mechanism will be described below with reference to FIGS. 1 (a), 1 (b) and 1 (c). First, the air cylinder
When air is supplied to 46 to drive the operating rod 461 in the direction of arrow A ₁ , the reaction thereof causes both the air cylinder 46 and the mover 44 to move along the slide rod 43 in the direction of arrow B ₁ . These movements are slowed by the braking of the spring 45. By the movement of the operating rod 461, the pressing rollers 473, 473 of the pressing mechanism 47 connected thereto move to the positions shown by the dotted line in FIG. At the same time, the movement of the mover 44 causes the cam rollers 481 and 481 engaged with the cam groove 441 to move up in the drawing, and the pressing rollers 483 and 483 of the pressing mechanism 48 to come to the positions indicated by the dotted lines. In this state, the housing case 3 is placed near the positioning tools 41, 41. Here, when the air supply to the air cylinder is made in the opposite direction to the above, the operating rod 461 moves slowly in the direction of arrow A ₂ , and the pressing rollers 473, 473 of the pressing mechanism 47 connected thereto move in the direction of arrow A _2. Then, the side surface 33 of the housing case 3 is softly pressed to be positioned with respect to the positioning tool 41. At the same time, due to the reaction, the mover 44
Moves slowly in the direction of arrow B ₂ , the cam roller 481 engaged with the cam groove 441 moves, and the two pressing rollers 483,
483 softly presses both side surfaces 34 and 35 in the direction of arrow B, and the centers of both side surfaces are positioned. Due to the above, the pressure on the side surface of each pressure roller 473, 483 is soft, so there is no vibration or shock to the housing case 3,
The glass plate 12 is secured and positioned, and the tray 2
The robot can be smoothly transported. In the above embodiment, the object is the housing case for the glass plate of the CCD sensor, but the present invention is not limited to this, and it is apparent that the invention can be applied to other similar rectangular parallelepiped cases or boxes.

[0008]

As described above, in the positioning mechanism according to the present invention, since the air cylinder is movable along the slide rod, its operating rod is moved by driving, and the air cylinder itself is reacted by the reaction. Moves in the opposite direction. Further, since the air cylinder is braked by the spring, it is characterized in that a sudden driving force for the supplied air is absorbed and the operation is slow. Due to the slow operation, the pressure rollers of the two sets of pressing mechanisms are However, since the corresponding side surfaces of the placed housing case are softly pressed to position the side surface with respect to the positioning tool and the center of both side surfaces, the structure is simple and There is a great effect of ensuring the safety of the object to be inspected by applying it to a glass plate tray of a CCD sensor without vibration or shock.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, (a) is a top view,
(b) is a back view and (c) is a side view.

2A and 2B are explanatory views of a glass plate used for a CCD sensor. FIG. 2A is an external view of the CCD sensor 1, FIG. 2B is an external view of a tray that stores the glass plate, and FIG. It is an external view of the storage case 3 which stores a tray.

FIG. 3 shows a configuration of a tray transport system for a glass plate inspection device.

[Explanation of symbols]

1 ... CCD sensor, 11 ... Package, 12 ... Glass plate, 2
… Tray, 3, 3-1 and 3-2… Storage case, 31… Shelf, 32, 3
3,34,35 ... Side surface, 4,4-1, 4-2 ... Mounting table, 41 ... Positioning tool, 411,412 ... Positioning tool side, 42 ... Supporting tool, 43 ... Slide rod, 44 ... Moving element, 441 ... Cam groove, 45 ... Spring, 46 ... Air cylinder, 461 ... Actuating rod, 47 ... Pressing mechanism, 471 ... Linear arm, 472 ... Support arm, 473 ... Pressing roller, 48 ... Pressing mechanism, 481 ... Cam roller, 482 ...
Bending arm, 483 ... Pressing roller 5 ... Robot mechanism, 51
... vertical movement / rotation mechanism, 52 ... horizontal movement mechanism, 53 ... robot hand, 6 ... inspection device, 61 ... inspection table, 62 ... inspection optical system.

Claims (1)

[Claims] 1. An air cylinder for a rectangular parallelepiped case mounted on a mounting table, wherein the positioning table is provided with two positioning tools for one side surface of the case, and is movable along a slide rod. A spring for braking the movement of the air cylinder, the operating rod of the air cylinder slowly moving by driving the air cylinder braked by the spring, and the air cylinder slowly moving in the opposite direction. It is characterized in that a pressing roller for softly pressing the corresponding side surface of the case and a pressing mechanism having two pressing rollers for softly pressing both side surfaces of the case are combined with each other. And
Positioning mechanism for rectangular parallelepiped case.