JPH0735214A - Conveyance positioning device - Google Patents

Abstract

PURPOSE:To suppress residual vibration of a conveyance positioning member by providing needle-like rollers between flat faces formed between a spline nut and a spline shaft in the positioning which slides the spline shaft due to oscillation of an oscillation lever and turns and moves straight the conveyance positioning member. CONSTITUTION:A conveyance positioning device is provided with an oscillation lever 6 which is oscillated via a cam follower 7 which engages with a cam groove 4a of a groove cam 4 due to rotation of a rotation input shaft 2. It is reciprocated in axial direction by a spline shaft 25 due to the oscillation. It is also provided with a turret shaft 12 which is rotated via a cam follower 14 which turns on a roller gear cam on the shaft 2, and spline nuts 17, 18 are fixed in the shaft 12. A conveyance positioning member 30 which is attached to an output shaft section on the spline shaft 25 is turned and moved straight. In this case, flat faces 26, 23, 24 on which the spline shaft 25 and the spline nuts 17, 18 oppose are formed, and a plurality of needle-like rollers 27 are provided in the axial direction between both faces 26, 23, 24 to prevent residual vibration.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport positioning device.

[0002]

2. Description of the Related Art Conventionally, a small transfer positioning device has been used for accurately transferring a minute work targeting an electronic component such as a semiconductor at a high speed. The transfer positioning device is configured to move a chuck provided on an output shaft up and down and rotate or rotate a predetermined angle to transfer a component.

As shown in FIG. 7, an input shaft 52 is inserted through a housing 51 of the transport positioning device and is rotatably supported. A motor (not shown) is connected to the input shaft 52, and the rotation of the motor is transmitted. A groove cam 53 and a roller gear cam 54 are fixed to the input shaft 52 so as to rotate integrally with the input shaft 52.

Further, as shown in FIG. 6, an output shaft 55 is provided in the housing 51 in a direction orthogonal to the input shaft 52. The output shaft 55 is composed of a turret shaft 56, a spline nut 57, and a spline shaft 58. The turret shaft 56 is rotatably supported by the housing 51, and a cam follower 59 attached to the turret shaft 56 engages with the roller gear cam 55 and is rotated intermittently by the rotation of the roller gear cam 55. . The spline nut 57 is fitted in the turret shaft 56 and is fixed so as not to rotate.

As shown in FIG. 8, the spline shaft 58 is inserted into a spline nut 57, and a ball 60 axially with respect to the spline nut 57 (the vertical direction in FIG. 6).
It is supported so as to be movable and non-rotatable. That is, the spline shaft 58 is supported so as to be movable in the vertical direction with respect to the housing 51, and is also supported so as to be horizontally rotatable intermittently. The ball 60 is inserted between the spline nut 57 and the spline shaft 58 so as to be preloaded,
The axis center of the spline shaft 58 is prevented from shaking.

The input shaft 52 and the spline shaft 58 are connected by a swing lever 61 which is swingably supported in the housing 51. The groove cam 53 is provided on the swing lever 61.
The rotation of the input shaft 52 is transmitted by and is oscillated with respect to the rotation. Therefore, the spline shaft 5
When the input shaft 52 rotates, 8 is intermittently horizontally rotated based on the rotation and reciprocates in the axial direction. An arm 62 for transportation is fixed to the tip of the spline shaft 58 so as to rotate integrally with the spline shaft 58 to transport electronic components and the like.

[0007]

However, when the load of electronic parts to be conveyed is large, the rigidity of the ball 60 is low, so that the arm 62 rotates after the arm 62 rotates a predetermined angle by the rotation of the roller gear cam 54. There is a problem that so-called residual vibration occurs which vibrates for a while. Therefore, at present, one in which two sets of spline nuts 57 are used to disperse the force applied to the balls 60 to relatively increase the rigidity is invented, but the size of the transport positioning device becomes large and it is difficult to use. There is a problem.

The rigidity torque of the spline shaft 58 is determined based on the distance from the shaft center to the portion supported by the spline nut 57 (the portion to which the preload is applied). However, since the spline shaft 58 is a circle, the distance becomes the radius r1 of the spline shaft 58, and the residual torque occurs even when the rigidity torque is low and the rotation or load is relatively low. Therefore, the load of the arm 62 is determined by the abilities of the spline nut 57 and the spline shaft 58, and there is a problem that the abilities of the roller gear cam 54 and the cam follower 59 cannot be exhibited.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a conveyance positioning device that is compact and can prevent residual vibration.

[0010]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the invention described in the claims is directed to a rotary input shaft fixedly rotatably fixed to a housing by fixing a groove cam and a roller gear cam. A rocking lever whose base end is rotatably supported, and attached to the rocking lever,
A first cam follower that swings a swing lever by a groove cam that engages with the groove cam and rotates, a cylindrical turret shaft that is rotatably supported with respect to the housing, and is attached to the outer peripheral surface of the turret shaft. And a second cam follower for rotating the turret shaft by rolling along the cam surface of the roller gear cam, a spline nut fixedly installed in the turret shaft, and a spline nut inserted through the spline nut. The spline shaft is movably supported in the axial direction and immovably in the circumferential direction, and is engaged with the input shaft portion formed on the spline shaft and the swing lever. And a motion conversion member that reciprocates in a predetermined direction. The transport positioning member attached to the output shaft portion formed on the spline shaft is configured to rotate and move straight. In the feed positioning device, at least one location on the axial surface where the spline shaft and the spline nut are opposed to each other forms a plane parallel to each other, and a plurality of needle rollers are arranged in the axial direction between the planes. Is the gist. Further, the needle roller is arranged so as to be preloaded.

The central portion of the spline shaft has a cross section 4
It is formed in a rectangular shape, and needle-like rollers are arranged on each side surface along the axial direction of the spline shaft.

[0012]

By adopting the above means, since the needle roller having high rigidity is used between the planes formed between the spline nut and the spline shaft, the residual vibration of the transport positioning member can be suppressed. Further, since the spline shaft can be supported by one set of spline nuts, the transport positioning device can be made compact.

Further, since the central portion of the spline shaft is formed in a quadrangular shape in cross section and the needle-shaped rollers are arranged on the side surfaces thereof, the distance between the axial center of the spline shaft and the both ends of the needle roller to which preload is applied is It becomes large and the residual vibration can be suppressed.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment embodying the present invention will now be described with reference to FIGS.
It will be described with reference to FIG. As shown in FIG. 2, a rotary input shaft 2 is inserted through a housing 1 of the transport positioning device, and is rotatably supported by tapered roller bearings 3a and 3b. A motor (not shown) is coupled to the rotation input shaft 2, and the rotation of the motor causes the rotation input shaft 2 to rotate in a predetermined direction at a relatively low speed (60 rpm in this embodiment). A groove cam 4 and a roller gear cam 5 are fixed to the rotation input shaft 2 so as to rotate integrally with the rotation input shaft 2. As shown in FIG. 1, a groove 4a having a predetermined shape is formed on one side surface of the groove cam 4. On the outer peripheral surface of the roller gear cam 5, a cam surface 5a is formed in a predetermined shape.

A swing lever 6 is rotatably supported by the housing 1 at its base end. A first cam follower 7 is provided at the center of the swing lever 6 and is engaged with the groove 4 a of the groove cam 4. A cam follower 8 is provided at the tip of the swing lever 6. The first cam follower 7 contacts the inner wall of the groove 4a as the groove cam 4 rotates, and intermittently reciprocates in the vertical direction. As a result, the rocking lever 6 rocks intermittently in the vertical direction. In this embodiment, the groove 4a is formed so that when the groove cam 4 makes one rotation, the swing lever 6 swings vertically twice intermittently.

As shown in FIG. 1, a cylindrical turret shaft holder 9 is fixed to the housing 1. Ball bearings 10 and 11 are arranged on the inner peripheral surface of the turret shaft holder 9 at predetermined intervals in the vertical direction. A tubular turret shaft 12 is inserted through both ball bearings 10 and 11. A bearing retainer nut 13 is screwed onto the upper end of the outer peripheral surface of the turret shaft 12, and is fixed by the bearing retainer nut 13 so as to rotate integrally with the inner rings of the ball bearings 10 and 11. Therefore, the turret shaft 12 is supported by the ball bearing 13 so as to be horizontally rotatable with respect to the housing 1.

A plurality of (six in this embodiment) second cam followers 14 are radially attached to the lower end of the outer peripheral surface of the turret shaft 12. The second cam follower 14 rolls along the cam surface 5a of the roller gear cam 5, and the rolling causes the turret shaft 12 to rotate intermittently in one direction or intermittently at a predetermined angle. . In this embodiment, the cam surface 5a is formed so as to rotate at an angle of 60 degrees.

A step portion 15 and a concave portion 16 are formed in the turret shaft 12 at a predetermined interval in the vertical direction. The spline nuts 17 and 18 are provided in the turret shaft 12.
Is fixed. The spline nuts 17 and 18 are formed in a substantially tubular shape that is divided into two, are fitted into the turret shaft 12, and are engaged with the step portion 15. A C-shaped snap ring 19 for a hole is engaged with the concave portion 16, and the step 15 and the C-shaped snap ring 19 for a hole regulate the vertical movement of the spline nuts 17 and 18. Key grooves 20, 21 are formed on the inner peripheral surface of the turret shaft 12 and the outer peripheral surface of the spline nut 17, respectively, and a key 22 is fitted in the key grooves 20, 21. Therefore, the spline nuts 17 and 18 are designed to rotate integrally with the turret shaft 12 by the key 22.

As shown in FIG. 4, the spline nut 1
Inner side surfaces of 7, 18 are outer raceway surfaces 23, 2 of planes facing each other.
4 are formed. A spline shaft 25 is inserted through the spline nuts 17 and 18. Spline shaft 25
Of the output shaft portion 25 protrudes to the outside of the housing 1.
a is formed. The central portion of the spline shaft 25 is formed in a square shape in cross section, and an inner raceway surface 26 which is a plane parallel to the outer raceway surfaces 23 and 24 is formed. A needle-shaped roller 27 is provided between the outer raceway surfaces 23 and 24 and the inner raceway surface 26.
Are arranged along the axial direction of the spline shaft 25 so as to be preloaded. The needle roller 27 is generally more rigid than the ball 60. Further, in the portion where the inner raceway surface 26 is formed, the portion to which the preload is applied is at both end positions of the needle roller 27, and the distance r2 connecting this end and the axis of the spline shaft 25 is the radius r1 of the conventional spline shaft 58. It is larger than.

As shown in FIG. 3, a retainer 28 is arranged between the outer raceway surfaces 23, 24 and the inner raceway surface 26, and the needle rollers 27 are held at a predetermined interval. A cam follower guide 29 is provided at the base end of the spline shaft 25,
The cam follower 8 of the swing lever 6 is engaged. Therefore, the spline shaft 25 is adapted to reciprocate in the vertical direction by the rocking of the rocking lever 6.

The output shaft portion 25 of the spline shaft 25
A transfer arm 30 is fixed to a. Therefore,
The arm 30 rotates based on the rotation of the rotation input shaft 2 and moves linearly in the vertical direction.

Next, the operation of the transport positioning device configured as described above will be described. When the rotation input shaft 2 is rotationally driven by the rotation of the transmitted motor, the groove cam 4
And the roller gear cam 5 rotates integrally. At this time, the first cam follower 7 of the swing lever 6 rolls along the groove 4a of the groove cam 4 and moves up and down. As a result, the swing lever 6 swings up and down about the base end.

When the swing lever 6 swings in the vertical direction, the cam follower guide 29 engaged with the cam follower 8 provided at the tip of the swing lever 6 moves in the vertical direction, and as a result, the spline shaft 25 moves up and down. Move in the direction. At this time, the spline shaft 25 can move without shaking by the needle roller 27 that is preloaded between the outer raceway surfaces 23 and 24 and the inner raceway surface 26.

On the other hand, the second cam follower 14 of the turret shaft 12 rolls along the cam surface 5a of the roller gear cam 5, and the rolling causes the turret shaft 12 to rotate by a predetermined angle. Spline nut 1 fitted in turret shaft 12
7 rotates integrally. Then, the spline shaft 25 which is inserted into the spline nut 17 and supported by the needle roller 27 integrally rotates, and the arm 30 fixed to the spline shaft 25 is swung. At this time, the needle roller 27 is the ball 6
Since the rigidity is higher than 0, even if the load applied to the arm 30 is large, the residual vibration of the arm 30 does not occur after the arm 30 is rotated by the roller gear cam 5.

The rigidity torque of the spline shaft 25 is determined based on the distance r2 from the shaft center to both ends of the needle roller 27 which is preloaded by the spline nuts 17 and 18. That is, the rigidity torque increases as the distance r2 of the spline shaft 25 increases. And spline shaft 2
Since the distance r2 of 5 is larger than the radius r1 of the conventional spline shaft 58, the rigidity torque of the spline shaft 25 becomes large. Therefore, the arm 30 does not generate residual vibration even at high speed rotation or heavy load, and the arm 30 can be loaded up to the capabilities of the roller gear cam 5 and the second cam follower 14.

As described above, according to this embodiment, the spline shaft 25 is a needle-like needle having a high rigidity, which is preloaded between the outer raceway surfaces 23 and 24 and the inner raceway surface 26 which are parallel to each other. Since it is supported by the rollers 27, residual vibration of the arm 30 can be prevented.

Further, since the spline nuts 17 and 18 can support the spline shaft 25 with high rigidity and the spline nuts 17 and 18 can be supported as one set, the transport positioning device can be made compact. .

Further, the distance r2 from the axis of the spline shaft 25 to both ends of the needle roller 27 to which preload is applied can be made larger than the radius r1 of the conventional spline shaft 58, and the rigidity torque of the spline shaft 25 can be increased. Can be large. Therefore, the arm 30 does not generate residual vibration even at high speed rotation or heavy load, and can load the capabilities of the roller gear cam 5 and the second cam follower 14.

The present invention is not limited to the above embodiments, but can be carried out as follows without departing from the spirit of the present invention. (1) In the above embodiment, the spline nuts 17 and 18 are formed in a divided and substantially cylindrical shape, but they may be formed integrally. Further, it may be formed by being divided into a plurality of three or more along the circumferential direction.

(2) In the above embodiment, the spline shaft 25
Is formed to have a quadrangular cross section, the cross section may have a triangular shape or the shape shown in FIG. At this time, it goes without saying that the distance r2 from the axis of the spline shaft 25 to both ends of the needle roller 27 to which the preload is applied is increased.

(3) In the above embodiment, the spline shaft 25
Was supported by using only the needle-shaped roller 27 along the axis, but it may be supported by using the needle-shaped roller 27 and the ball 60 together. Alternatively, the spline shaft 25 may be formed in a semicylindrical shape as shown in FIG. 5B, and the arc surface may be supported by the ball 60.

[0032]

As described in detail above, according to the present invention,
Since the needle roller having high rigidity is used between the planes formed between the spline nut and the spline shaft, it is possible to suppress the residual vibration of the transport positioning member. Further, since one set of spline nuts can support the spline shaft, there is an excellent effect that the transport positioning device can be made compact.

Further, since the central portion of the spline shaft is formed in a quadrangular shape in cross section and the needle-shaped rollers are arranged on the side surfaces thereof, the distance between the axial center of the spline shaft and both ends of the needle-shaped roller to which preload is applied is It becomes large and the residual vibration can be suppressed.

[Brief description of drawings]

FIG. 1 is a partial cross-sectional view showing an embodiment of a transport positioning device embodying the present invention.

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is an enlarged view of a C portion of FIG.

FIG. 4 is a cross-sectional view taken along the line BB in FIG. 1 and is an enlarged cross-sectional view of the turret shaft, the spline nut, and the spline shaft according to the embodiment.

5 (a) and 5 (b) are spline shafts according to different examples,
It is an expanded sectional view of a spline nut and a turret shaft.

FIG. 6 is a partial cross-sectional view showing a conventional transport positioning device.

7 is a cross-sectional view taken along the line AA of FIG.

8 is a cross-sectional view taken along the line BB of FIG. 6, which is an enlarged cross-sectional view of a conventional turret shaft, spline nut, and spline shaft.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Housing, 2 ... Rotation input shaft, 4 ... Groove cam, 5 ... Roller gear cam, 5a ... Cam surface, 6 ... Oscillating lever, 7 ... First cam follower, 8 ... Cam follower as a motion conversion member, 12 ... Turret shaft , 14 ... The second cam follower,
Reference numeral 17 ... Spline nut, 23, 24 ... Outer raceway surface as a plane, 25 ... Spline shaft, 26 ... Inner raceway surface as a plane, 27 ... Needle roller, 29 ... Cam follower guide as motion converting member, 30 ... Transport positioning Arm as a member.

Claims (2)

[Claims] 1. Groove cam (4) and roller gear cam (5)
And a rotation input shaft (2) rotatably fixed to the housing (1), and a swing lever (6) whose base end is rotatably supported on the housing (1). And a rocking lever (6) attached to the rocking lever (6) and rotated by engaging with the groove cam (4) and rotating.
A first cam follower (7) for swinging the turret, a cylindrical turret shaft (12) rotatably supported with respect to the housing (1), and an outer peripheral surface of the turret shaft (12). A second cam follower (14) for rotating the turret shaft (12) by rolling along the cam surface (5a) of the roller gear cam (5), and a spline nut (17) fixed in the turret shaft (12). , 18) and a spline nut (17, 18), and is axially movable with respect to the spline nut (17, 18) and axially immovably supported by the spline shaft (2).
5) engages the input shaft portion formed on the spline shaft (25) and the swing lever (6), and swings the swing lever (6) to reciprocate the spline shaft (25) in the axial direction. It consists of a motion conversion member (8, 29) and a spline shaft (25)
Conveyor positioning member (3
0) rotating and rectilinearly transporting positioning device, wherein the spline shaft (25) and the spline nut (17,
18) forms a plane (26, 23, 24) parallel to each other in at least one position on the axial surface facing each other, and a needle roller (27) is provided between the planes (26, 23, 24). A transport positioning device characterized in that a plurality of them are arranged in the axial direction. 2. The central portion of the spline shaft (25) is formed to have a quadrangular cross section, and needle-like rollers (27) are arranged on the side surfaces (26) of the spline shaft (25). The transport positioning device according to.