JPH069888U - Chuck device - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a chuck device that enables highly accurate mounting work and has significantly improved reliability. [Structure] The chuck claws 12 and 13 move toward and away from each other to sandwich and hold a circuit component to be mounted on a wiring board, and move and mount it. At this time, in order to securely hold the circuit component, the stop pieces 16 and 17 are separated from each other most so that the chuck claws 12 and 13 can be held with a wide gap. When the circuit parts are mounted on the wiring board and then separated from the wiring board, the stop pieces 16, 17 are
Is stopped at a relatively close position, and the chuck claws 12 and 13 are separated within this range.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a chuck device that is mounted on the tip of an arm of an assembling robot in a work process of assembling circuit components on a wiring board and holds and conveys circuit components to be assembled.

[0002]

[Prior art]

 FIG. 11 is a front view of a typical conventional chuck device 1. The chuck device 1 has a pair of holding pieces 2 and 3 that move parallel to each other in the approaching / separating directions, and the holding pieces 2 and 3 reciprocate by a drive mechanism such as an air cylinder incorporated in the main body 4. At this time, the maximum separation distance L1 of the holding pieces 2 and 3 based on the mechanical movement range of the drive mechanism of the main body 4 becomes a fixed length.

An operation of mounting a circuit component on a wiring board using such a chuck device 1 will be described. FIG. 12 is a front view for explaining such an operation. As shown in FIG. 12 (1), the holding pieces 2 and 3 of the chuck device 1 move in parallel so as to separate the maximum separation distance L1, and in the chuck device 1, the circuit component 6 having the pin 5 holds the holding pieces 2 and 3. Move to be located between. Thereafter, as shown in FIG. 12 (2), the holding pieces 2 and 3 move toward each other in the directions of the arrows A1 and A2 and hold the circuit component 6.

After that, the circuit component 6 is moved onto the wiring board to be mounted, and the pin 5 is inserted into a through hole provided at a predetermined position of the wiring board 7 as shown in FIG. 12C. Moving. At this time, the already mounted circuit component 6a may be disposed in the vicinity of the mounted circuit component 6. After this, as shown in FIG. 12 (4), the holding pieces 2 and 3 move in the directions of the arrows A1a and A2a so as to separate the circuit component 6 from each other by the maximum separation distance L1. . By repeating such an operation, the circuit component 6 is mounted on the wiring board 7.

[0005]

[Problems to be solved by the device]

 In the above-mentioned conventional example, when the holding pieces 2 and 3 mount the circuit component 6 on the wiring board 7 and separate from each other, the holding pieces 2 and 3 move so as to separate the maximum separation distance L1, and thus are mounted on the wiring board 7. The distance L2 between the circuit components 6 and 6a is set to such a size that the holding pieces 2 and 3 do not collide with the circuit component 6a even when the holding pieces 2 and 3 separate the maximum distance L1. Therefore, the conventional example has a problem that the packaging density of the circuit components 6 on the wiring board 7 cannot be increased.

Further, if the maximum separation distance L1 is set to be small in advance to solve such a problem, the distance between the holding pieces 2 and 3 becomes insufficient when the chuck device 1 sandwiches the circuit component 6, The circuit component 6 may be pinched, which causes a problem that the reliability of the operation of the chuck device 1 is reduced.

An object of the present invention is to solve the above-mentioned technical problems, to provide a chuck device capable of performing highly accurate work and having improved reliability.

[0008]

[Means for Solving the Problems]

 The present invention provides a chuck device including a pair of holding pieces that move parallel to each other in the approaching / separating directions, wherein a plurality of stop positions along the moving direction are defined outward of the holding pieces in the moving direction. It is a chuck device characterized by being arranged.

[0009]

[Action]

 In the chuck device according to the present invention, when the pair of holding pieces are moved away from each other to hold an object, the stop pieces arranged outside the holding pieces move in the moving directions. Then, increase the separation distance of the holding piece so that the holding piece does not fail to hold the object. When the object is released, the stop pieces are moved toward each other in an approaching direction, and the separation distance of each holding piece is suppressed to such an extent that each holding piece separates the object.

Therefore, according to the present invention, when the object held by the holding piece is to be released, the separation distance between the holding pieces is significantly reduced as compared with the holding operation of the object. Therefore, the mutual distance between the separated objects can be reduced, and highly accurate work can be performed. Further, when holding the object, the separation distance of the holding piece can be increased, and the reliability of the holding operation can be significantly improved.

[0011]

【Example】

 FIG. 1 is a perspective view illustrating the features of a chuck device 11 according to an embodiment of the present invention. The chuck device 11 of the present embodiment holds a target such as a circuit component, and a pair of chuck claws 12 and 13 that are displaced in the directions of approaching and separating from each other, and a body 14 to which the chuck claws 12 and 13 are mounted. And a first chucking device 15 including the chucking claws 12 and 13 are arranged outside the chucking claws 12 and 13 along the moving direction, respectively, to adjust the maximum separation distance of the chucking claws 12 and 13 as described later. The second chuck device 19 includes a pair of stop pieces 16 and 17 which are moved in the approaching / separating direction and in which a plurality of stop positions are set.

FIG. 2 is a front view of the chuck device 11, FIG. 3 is a plan view of the chuck device 11, FIG. 4 is a right side view of the chuck device 11, and FIG. 5 is a bottom view of the chuck device 11. Is. In the chuck devices 15 and 19, the main bodies 14 and 18 are fixed to each other, and a pushing device 20 having a configuration described below is fixed to the opposite side of the main body 14 from the main body 18.

The pushing device 20 has a structure in which an object such as a circuit component having a pin sandwiched between the chuck claws 12 and 13 of the first chuck device 15 is inserted into a mounting hole or the like on a wiring board, and then the circuit is inserted. It is used to press circuit components from above toward the wiring board in order to ensure the mounting of the components on the wiring board.

An attachment protrusion 22 for integrally fixing to the arm 21 of the industrial robot to which the chuck device 11 is attached is integrally provided on an upper portion of the main body 14 of the first chuck device 15. Further, as will be described later, the main body 14 internally houses a double-acting type air cylinder and the like, and is provided with a pair of air ducts 23 and 24 for supplying or discharging compressed air to the air cylinder. Below the main body 14, drive pieces 25 and 26 are provided extending downward, which are driven by a drive mechanism inside the main body 14 in the vertical direction in FIG. Mounting plates 27 and 28 are fixed to the outer side of the moving direction of the mounting plates 27 and 28, and the chuck claws 12 and 13 are fixed to the outer side of the mounting plates 27 and 28 in the moving direction.

A nut 29 is fixed near the end of the mounting plate 27 opposite to the stop piece 16, and a bolt 30 extending toward the mounting plate 28 is screwed in. That is, by adjusting the protruding length of the bolt 30 toward the mounting plate 28 side, the distance between the mounting plates 27 and 28 and thus the minimum separation distance between the chuck claws 12 and 13 can be set. The main body of the second chuck device 19 also has a built-in drive mechanism similar to the drive mechanism of the chuck claws 12 and 13 in the first chuck device 15, which will be described later, and a pair of air ducts 32 and 33 are provided on the side of the main body 18. It is provided.

Further, a pair of drive pieces 34, 35 which are parallelly moved in a close / separated direction by a drive mechanism incorporated in the main body 18 are provided below the main body 18 so as to project downward. The stop pieces 16 and 17 are fixed outward with respect to the moving directions with respect to 34 and 35.

The stop pieces 16 and 17 are attached to the drive pieces 34 and 35 by bolts 36 so as to be attachable and detachable, and the stop pieces 16 and 17 face the chuck claws 12 and 13 from the attachment portions 37 and 38. And a long plate-like actuating portion 39, 40 extending integrally near the outside of the chuck claws 12, 13 in the moving direction. A nut 41 is fixed to the operating portion 39 of the stop piece 16, and a bolt 42 extending toward the stop piece 17 side is screwed. That is, by adjusting the position of the tip of the shaft portion 43 of the bolt 42, the minimum separation distance between the stop pieces 16 and 17 can be appropriately set.

Nuts 44 and 45 are fixed near the ends of the operating parts 39 and 40 on the chuck claws 12 and 13, respectively, and bolts 46 and 47 extending toward the mounting plates 27 and 28 are respectively screwed. Be worn. That is, by appropriately adjusting the positions of the tips of the shaft portions 48 and 49 of the bolts 46 and 47, the maximum separation distance between the chuck claws 12 and 13 can be appropriately determined according to the mounting plates 27 and 28.

Further, the stop pieces 16 and 17 can be displaced toward and away from each other along the vertical direction of FIG. 5 by the operation of the main body 18 of the chuck device 19. Therefore, by controlling the chuck device 19, the maximum separation distance of the chuck claws 12 and 13 can be appropriately determined among a plurality of lengths.

FIG. 6 is a perspective view of the pushing device 20. Hereinafter, FIG. 6 will be also referred to. The pushing device 20 includes a cylinder portion 52 having a double-acting air cylinder structure inside and provided with a pair of air ducts 50 and 51. The rod 53 of the cylinder portion 52 projects downward, and the nut 54 having its tip screwed is fixed to the operating member 55. The operating member 55 includes a pair of sandwiching pieces 56 and 57 that sandwiches and fixes the nut 54, and these are integrally fixed to a base portion 58 having a rectangular plate shape.

A plurality of bolts 59 are inserted into the base portion 58 along the direction toward the chuck device 15, and a pressing piece 60 is fixed to the lower surface of the base portion 58. The pressing piece 60 extends from the lower surface of the base portion 58 toward the chuck device 15 side, extends to a position between the chuck claws 12 and 13, and rises in a direction opposite to the main body 14 of the chuck device 15 at this position. The pressed portion 61 is formed.

The side of the base portion 58 opposite to the sandwiching pieces 56, 57 is formed as a thin plate-shaped mounting portion 62 along the left-right direction in FIG. On the chuck device 15 side of the mounting portion 62, a mounting portion 64 of a guide plate 63 that rises parallel to the axial direction of the cylinder portion 52 is fixed from the chuck device 15 side with bolts 65 and 66.

The guide plate 63 is formed with elongated holes 67, 68 elongated in the axial direction of the cylinder portion 52. Bolts 69, 70 are formed on the guide plate 63 from the opposite side to the chuck device 15, and elongated holes 67, 68 are formed. It is fixed to a mounting plate 71 arranged on the chuck device 15 side of the guide plate 63 via. At this time, the bolts 69 and 70 are loosely inserted into the long holes 67 and 68, and the guide plate 63 is displaceable in the longitudinal direction of the long holes 67 and 68 between the bolts 69 and 70 and the mounting plate 71. Be attached to. The guide plate 71 is fixed to the support plate 73 by a plurality of bolts 72, and the support plate 73 is also fixed to the main body 14 of the chuck device 15 by a plurality of bolts 74.

7 and 8 are cross-sectional views showing an example of the internal structure of the chuck device 15. FIG. 7 shows the driving pieces 25 and 26 in a separated state, and FIG. 8 shows the driving pieces 25 and 26 in a close state. The chuck device 19 and the pushing device 20 have the same internal structure. The main body 14 includes a cylinder 75, and a space is formed inside the cylinder 75 by penetrating the cylinder 75 in the axial direction, and an end plate 77 for sealing one end portion in the axial direction via an O-ring 76 or the like is fixed. . The chuck device 15 is a two-stage double-acting cylinder, and is provided with a first piston 78 and a second piston 79.

The first piston 78 is sealed with an O-ring 80 between the inner peripheral surface of the cylinder 75 and a sliding portion 81 that moves in a direction toward and away from the end plate 77, and an end portion from the sliding portion 81. The plate 77 is provided with a shaft portion 82 having a smaller diameter and extending in the opposite direction. The second piston 79 slides airtightly on the outer peripheral surface of the shaft portion 82 and the inner peripheral surface of the cylinder 75 via O-rings 83 and 84, respectively, and forms an annular shape between the second piston 79 and the inner peripheral surface of the cylinder 75. Of the cylindrical portion 86, which forms the space 85, and a disk shape that extends in the semi-radial direction of the cylinder 75 and is continuous with the end plate 77 of the cylindrical portion 86 on the opposite side, or in the mutually opposite directions along the diametrical direction. And a pressing portion 87, which is a pair of members and the like.

One ends of swinging pieces 88 and 89 each having a Y shape are pin-coupled to the tip of the shaft portion 82 so as to be angularly displaced, and the end portions of the swinging pieces 88 and 89 on the pressing portion 87 side. Roller 90 is provided so as to be in contact with the pressing portion 87, respectively, and the remaining ends of the swinging pieces 88 and 89 are guided to each other along a guide 91 fixed to the end of the cylinder 85. The ends of the drive pieces 25 and 26 which slide in the direction of moving toward and away from are pin-coupled.

The cylinder 75 is connected to the air ducts 23 and 24 at a position corresponding to the space between the end plate 77 and the sliding portion 81 and a position corresponding to the space 85, and compressed air is injected. Alternatively, air passage ports 92, 93 for discharging the air in the cylinder 75 are formed.

FIG. 9 is a system diagram showing a compressed air piping system for operating the chuck device 11 of the present embodiment. In the chuck device 11, a pipe 95 from a compressed air supply source 94 such as a compressor is connected to the chuck devices 15 and 19 and the pushing device 20 via a flow rate adjusting valve 96, respectively. The cylinder 75, the cylinder 97 having the same structure as that of the first chuck device 15 of the second chuck device 19 described with reference to FIGS. 7 and 8, and the cylinder 75 of the pushing device 20 also having the same structure as the cylinder 75. Two-position four-port flow path switching valves 99, 100, 101 are connected between the cylinder 98 and the flow rate adjusting valves 96, respectively.

The operating positions of the flow path switching valves 99 to 101 are switched under the control of the control device 102 including, for example, a microprocessor. In this way, the cylinders 75, 97, 98 can perform double-acting operation.

FIG. 10 is a diagram for explaining the operation of the chuck device 11 of this embodiment. Please refer to FIGS. 1 to 9 as appropriate. In the chuck device 11 of the present embodiment, for example, in a manufacturing process of assembling various circuit components on a wiring board, a circuit component supplied from a component supply device is picked up on a wiring board conveyed by a conveyance mechanism, Perform the operation of mounting on the wiring board.

As shown in FIG. 10A, when the circuit component 104 having the pin 103 is picked up from a component supply device or the like as an example, chuck claws 12 and 13 are provided in order to eliminate a holding error of the circuit component 104. Need to be as far apart as possible. Therefore, the flow path switching valve 100 is switched with respect to the second chuck device 19 so that the drive pieces 34, 35, and thus the stop pieces 16, 17 have the maximum separation distance L3. At this time, the bolts 46 and 47 are adjusted to determine the maximum separation position of the mounting plates 27 and 28 on which the chuck claws 12 and 13 are mounted.

Thereafter, the flow path switching valve 99 is switched to inject air through the passage hole 92 between the end plate 77 of the first chuck device 15 shown in FIG. 8 and the first piston 78. At this time, the air passage port 93 is open to the outside. As a result, the first piston 78 is displaced to the side opposite to the end plate 77, and the second piston 79 is pushed by the swinging pieces 88 and 89 to be displaced to the end plate 77 side. As a result, the swing pieces 88 and 89 are displaced in the direction in which the drive pieces 25 and 26 are separated from each other. When the drive pieces 25 and 26 are displaced in the separating direction, the mounting plates 27 and 28 contact the tips of the bolts 46 and 47, the chuck claws 12 and 13 are displaced in the arrow B1 and B2 directions, and the maximum separating distance L4 is set. Stop at each other.

In this state, as shown in FIG. 10 (1), the chuck device 11 descends onto the circuit component 104 to be supplied, and switches the flow path switching valve 99 to supply compressed air to the air passage port 93. inject. At this time, the air passage port 92 is open to the outside. As a result, the first piston 78 moves to the end plate 77 side, and the second piston 79 also moves to the side opposite to the end plate 77. At this time, the oscillating pieces 88 and 89 are angularly displaced toward each other in an approaching direction, and the driving pieces 25 and 26, and hence the chuck claws 12 and 13 are moved in the arrow B3a direction and the arrow B4a direction as shown in FIG. 10 (2). Each is moved and the circuit component 104 is held.

Thereafter, as shown in FIG. 10C, the chuck device 11 inserts the pin 103 of the held circuit component 104 into the through hole formed in the wiring substrate 105 in advance. At this time, in general, the already mounted circuit component 104a is arranged in the vicinity of the position on the wiring board 105 where the circuit component 104 is mounted.

After the pin 103 of the circuit component 104 is inserted into the wiring board 105, the switching valve 101 is switched to extend the rod 53 mounted on the cylinder portion 52 in the arrow A2 direction shown in FIGS. 2 and 4. Let As a result, the pressing portion 61 of the pressing piece 60 presses the top of the circuit component 104 toward the wiring board 105, and ensures the mounting of the pin 103.

After that, it is necessary to release the holding state of the chuck claws 12 and 13 with respect to the circuit component 104. At this time, the separation distance between the chuck claws 12 and 13 is made as small as possible, so that the state shown in FIG. As shown in 4), the distance L5 between the currently mounted circuit component 104 and the already mounted circuit component 104a in the vicinity thereof is made as small as possible to reduce the mounting density of the circuit components on the wiring board 105. improves.

For this purpose, the flow path switching valve 100 is switched to move the stop pieces 16 and 17 in the arrow B1a direction and the arrow B2a direction, respectively, to set the separation distance L6. This distance L6 is determined by adjusting the protruding length of the shaft 43 of the bolt 42 shown in FIG. After that, the flow path switching valve 99 is switched to displace the chuck claws 12 and 13 in the separating direction.

As shown in FIG. 5, when the mounting plates 27 and 28 come into contact with the tips of the bolts 46 and 47 fixed to the stop pieces 17 and 18, the separation distance L7 of the chuck claws 12 and 13 is reduced. Determined. This separation distance L7 is selected to be as small as possible within a range in which the chuck claws 12 and 13 can separate from the circuit component 104. Thereafter, as shown in FIG. 10 (5), the chuck device 11 is separated from the wiring board 105, and the stop pieces 16 and 17 are displaced in the arrow B1 direction and the arrow B2 direction, respectively. The mounting operation is performed as described above.

As described above, in the present embodiment, at the stage where the chuck device 11 holds the circuit component to be mounted, the chuck claws 12 and 13 are largely opened to eliminate the holding error, and the wiring board is also removed. When the circuit component 104 is mounted on the 105 and separated from each other, the chuck claws 12 and 13 are opened small so that the distance between the circuit component 104a and the already mounted adjacent circuit component 104a is reduced to perform high-density mounting. it can.

[0040]

[Effect of device]

 As described above, according to the present invention, when the pair of holding pieces are moved away from each other to hold an object, the stop pieces disposed outside the holding pieces in the moving direction are separated from each other. The holding piece to increase the separation distance so that the holding piece does not fail to hold the object. When the object is to be released, the stop pieces are moved toward each other in an approaching direction, and the separation distance of each holding piece is suppressed to such an extent that each holding piece separates the object.

Therefore, according to the present invention, when the object held by the holding piece is to be released, the separation distance of the holding piece is significantly reduced as compared with the holding operation of the object. Therefore, the mutual distance between the separated objects can be reduced, and highly accurate work can be performed. Further, when holding the object, the separation distance of the holding piece can be increased, and the reliability of the holding operation can be significantly improved.

[Brief description of drawings]

FIG. 1 is a perspective view showing a basic configuration of a chuck device 11.

FIG. 2 is a front view of a chuck device 11.

FIG. 3 is a plan view of a chuck device 11.

4 is a right side view of the chuck device 11. FIG.

5 is a simplified bottom view of the chuck device 11. FIG.

6 is a perspective view of a pushing device 20 of the chuck device 11. FIG.

7 is a cross-sectional view of the chuck device 15. FIG.

8 is a sectional view of the chuck device 15. FIG.

9 is a system diagram showing a piping system of the chuck device 11. FIG.

FIG. 10 is a diagram showing an operation example of the chuck device 11.

FIG. 11 is a front view of a chuck device 1 of a conventional example.

FIG. 12 is a diagram showing an operation example of the chuck device 1.

[Explanation of symbols]

11 Chuck Device 12,13 Chuck Claw 14,18 Main Body 15 First Chuck Device 16,17 Stopping Piece 19 Second Chuck Device 20 Pushing Device 30,36,42,46,47,59,65,66,6
9,70,74 Volts

Claims (1)

[Scope of utility model registration request] 1. A chuck device comprising a pair of holding pieces that move parallel to each other in the approaching / separating directions, wherein each of the stop pieces has a plurality of stop positions defined outside the moving direction of the holding piece along the moving direction. A chuck device characterized by being arranged.