JPH0569369A - High precision locating device for transport device - Google Patents

Abstract

PURPOSE:To provide a high precision locating device for a work suction transport device, with which location of a sucking member can be done accurately by a small, light, and simple means. CONSTITUTION:A piston on a piston rod 4 having a suction pad is fitted slidably a cylinder hole in a body 1 of a suction transport device and driven with a fluid pressure fed to the cylinder hole. Therein a guide V-groove 16 in parallel with the piston rod sliding direction is provided at the front and the rear of a guide part 15 furnished protrusively on the body 1, and a pair of guide members equipped with guide V-grooves mating with these guide V-grooves 16 are held by a guide holder 20. A roller is interposed between each pair of mating V-grooves, and thereby the guide holder 20 is held slidably relative to the body 1, and the piston rod 4 is fixed to the guide holder 20.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a highly accurate positioning device for a suction member in a device for sucking and conveying a work.

[0002]

2. Description of the Related Art When a work is conveyed on a production line, it is necessary to position the work. This is because, when the work is transferred to the next process, if the positioning is not correct, a suction failure, a signal reading error, etc. will occur, and the production efficiency will decrease. In particular, the transport of electronic components,
In terms of mounting, there are demands for accurate positioning, high speed drive, and long life. Therefore, a means is adopted in which a rod provided with a vacuum suction pad at its tip is guided by a part of the body so that the rod cannot rotate.

Further, in an apparatus for sucking and conveying a work, since it is used by being attached to a robot arm or the like, it is particularly required to perform highly accurate positioning with a small, lightweight and simple means. .. However, a device satisfying such requirements has not been proposed yet.

[0004]

SUMMARY OF THE INVENTION The technical problem of the present invention is to reduce the size, weight,
An object of the present invention is to obtain a highly accurate positioning device capable of highly accurately positioning the suction member with a simple means.

[0005]

A high-accuracy positioning device of the present invention for solving the above-mentioned problems is such that a piston fixed to a piston rod having a suction pad at its tip is slidable in a cylinder hole in a body. In a suction conveyance device that is inserted into a cylinder and drives the piston by the fluid pressure supplied to the cylinder hole, a guide V groove parallel to the sliding direction of the piston rod is provided on the front and back sides of the guide portion protruding from the body. And a pair of guide members having guide V grooves facing the guide V grooves are held by a guide holder, and one or a plurality of rollers are respectively interposed between the guide V grooves. The guide holder is slidably held by the body, and the guide holder is connected to the piston rod. In the suction conveyance device, a through hole for guiding the pressure in the cylinder hole to the suction pad side at the tip can be formed in the center of the piston rod, and the suction pad can be made of metal.

[0006]

When the inside of the cylinder hole is connected to a vacuum source, the work piece is lifted by the suction pad at the same time as the piston is driven, and the work piece can be moved to a desired position. Further, when the inside of the cylinder hole is connected to a compressed air source or opened to the atmosphere, the suction pad opens the work and the piston rod returns.

In such a lifting operation of the suction pad, since a pair of guide members provided with the guide V groove are guided through the rollers to the guide portion of the body provided with the guide V groove, a pair of guide members are provided. The guide holder to which the guide member is attached is extremely stably guided to slide, and when the guide rod is guided by this guide holder, the piston rod is restrained from rotating during the conveyance of the work, and highly accurate repetition is performed. The operation can be performed at high speed and long life.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1 to 3 show a preferred embodiment of a suction conveyance device equipped with a high precision positioning device according to the present invention. This suction / conveyance device has a cylinder hole 2 in which a piston 3 is slidably inserted in a body 1 fixed to a robot hand or the like. The piston 3 is
A cap 5 fixed to a piston rod 4 protruding downward from the body 1 and closing the upper end of the cylinder hole 2.
By interposing a spring 6 between and, it is always urged to project from the cylinder hole 2.

The cylinder hole 2 is attached to the one-touch fitting 7 attached to the cap 5 through a switching valve (not shown),
By connecting a pipe for communicating with a vacuum source and a compressed air source, negative pressure or positive pressure is switched and supplied,
A through hole 8 is formed in the center of the piston rod 4 to guide the pressure in the cylinder hole 2 to the tip side, and the tip of the piston rod 4 is made of rubber or synthetic resin via an adapter 9. Adsorption pad 1 made of elastic material
0 is attached. In the figure, reference numeral 11 denotes a damper which is provided on the piston rod 4 and operates when the piston rod is projected.

On the other hand, the guide portion 1 protruding from the body 1
5, the guide V grooves 16 parallel to the sliding direction of the piston rod 4 are provided on the front and back surfaces thereof, and a pair of guide members 17 having guide V grooves 18 facing the guide V grooves 16 are provided. Are held by the guide holder 20, and one or a plurality of rollers 19 are respectively interposed between the guide V groove 16 and the guide V groove 18, whereby the guide holder 20 slides with respect to the body 1. It is held freely.

A guide V groove 16 in the guide portion 15
The surfaces of the guide V-grooves 18 of the pair of guide members 17 are hard-plated, hardened, etc., or hard materials are used as the material thereof. The body 1 and the guide holder 20 are preferably manufactured by cold drawing, precision forging, metal injection molding, lost wax, or the like.

The roller 19 may be arranged as a cross roller in which the axes thereof are orthogonal to each other. The axes of the rollers 19 are the guide V groove 16 and the guide V groove 18.
It is also possible to interpose one or a plurality of them between the V-grooves in the direction of, and by attaching a stopper 21 to the end surface of the guide member 17, they are guided V-grooves 1.
Preventing escape from 6,18. When such a roller 19 is used, the external shape can be freely designed according to the mounting space, as compared with the case where various commercially available bearings are used. Further, as these rollers 19, high carbon chrome bearing steel and other hard and extremely wear-resistant materials are selected, thereby extending the service life.

The pair of guide members 17 are fixed to the opposite surfaces of the U-shaped guide member mounting portion 20a of the guide holder 20 by mounting bolts 23, and these guide members 17 are adjusted bolts (not shown) as needed. By finely adjusting the position with, accurate guide can be performed. Further, the piston rod 4 is attached to the rod attachment portion 20b of the guide holder 20, whereby the suction pad 10 is guided by the guide mechanism described above.

In the suction conveyance device having the above structure, when the suction pad 10 is brought into contact with the work in the state of FIG. 1 and the inside of the cylinder hole 2 is connected to the vacuum source through the one-touch fitting 7, the work is placed on the suction pad 10. After sucking and gripping, the piston 3 moves upward against the urging force of the spring 6, and the work is lifted. Therefore, in this state, the work can be moved to a desired position by a robot hand or the like to which the body 1 is attached. When the inside of the cylinder hole 2 is connected to the compressed air source through the one-touch fitting 7 or opened to the atmosphere by the operation of the switching valve, the suction pad 10 opens the work and the urging force of the spring 6 causes the piston rod to move to the position shown in FIG. Return to position.

In such an ascending / descending operation of the suction pad, a pair of guide members 17 having guide V grooves 18 are provided for the guide portion 15 of the body 1 having guide V grooves 16.
However, the guide holder 20 having the pair of guide members 17 attached thereto is guided by the roller 19 so as to slide extremely stably.
Thus, when the piston rod 4 is guided, highly accurate repetitive operation can be performed at high speed and long life while suppressing rotation of the piston rod during conveyance of the work.

The vacuum pad 10 described above generally
It is formed of an elastic member such as rubber or synthetic resin. However, due to the formation of this elastic member, an accurate work position may not be obtained when the work is attracted or released. In order to solve such a problem, it is effective to use a vacuum pad made of metal, and it can be expected that the accuracy is further improved. Such a configuration can be adopted because the above-described highly accurate repetitive operation can be obtained. Further, this configuration is also effective as a countermeasure against static electricity during transportation and mounting of electronic components.

Further, the body 1 of the suction conveyance device is
It can be freely designed in a block shape, a cylindrical shape, or the like. For example, it can be made into a block shape so that it can be attached to various kinds of transfer device main bodies or robot arms, and can have versatility. When such versatility is provided, it is also advantageous in various usage conditions that the piston rod 4 is hollow and there is no need to separately provide a vacuum line.

[0018]

According to the suction conveyance device of the present invention described in detail above, it is possible to obtain a high-precision positioning device capable of performing high-precision positioning of a suction member with a small, lightweight, and simple means. it can.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing an embodiment of a suction conveyance device equipped with a highly accurate positioning device according to the present invention.

FIG. 2 is a side view of the same.

FIG. 3 is a plan view of the same.

FIG. 4 is a cross-sectional view of an essential part showing the configuration of a guide part.

[Explanation of symbols]

1 body, 2 cylinder holes, 3 pistons, 4 piston rods, 10
Suction pad, 15 guides, 1
6, 18 guide V groove, 17 guide member, 19 roller, 20 guide holder.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masayuki Nakamura, inventor Masayuki Nakamura, Taniwahara, Tsukuba, Ibaraki Kinutai 4-2-2, SMC Tsukuba Technology Center (72) Ryuichi Masui, Tawawa, Tsukuba, Ibaraki Murakinokidai 4-2-2 SMC Corporation Tsukuba Technical Center

Claims (3)

[Claims] 1. A piston fixed to a piston rod having a suction pad at its tip is slidably inserted into a cylinder hole in a body, and the piston is driven by the fluid pressure supplied to the cylinder hole. In the suction conveyance device, guide V grooves parallel to the sliding direction of the piston rod are provided on the front and back sides of the guide portion protruding from the body, and a pair of guide V grooves facing the guide V grooves are provided. The guide member of (1) is held by a guide holder, and one or a plurality of rollers are respectively interposed between the guide V grooves, whereby the guide holder is held slidably with respect to the body. A high-accuracy positioning device in a suction conveyance device, characterized in that a holder is connected to a piston rod. 2. A high-accuracy positioning device in a suction conveyance device according to claim 1, wherein a through hole for guiding the pressure in the cylinder hole to the suction pad side at the tip is bored in the central portion of the piston rod. .. 3. The high-accuracy positioning device in the suction conveyance device according to claim 1, wherein the suction pad is made of metal.