JPH08306758A - Transferring/positioning unit - Google Patents

Abstract

PURPOSE: To provide a unit for conducting transfer and positioning in three- dimensional space. CONSTITUTION: In two transfer units 2, 3, the inner rotary gear cams are formed to have an identical shape and input shafts 4, 5 are coupled such that the spline shafts 8, 9 are reciprocated synchronously in vertical direction at same height. The spline shafts 8, 9 are provided with bearings 10, 13 secured fixedly with a board 16. A board 20 is disposed movably back and forth above the board 16. A roller 12 carried on an oscillatory lever 11 secured to the spline shaft 8 is engaged with a guide groove 21a made in a guide part 21 secured on the moving board 20. An output arm 23 is disposed movably to the left and right above the moving board 20. A roller 15 carried on an oscillatory lever 14 secured to the spline shaft 9 is engaged with a guide groove 25a made in a guide part 24 secured on the output arm 23.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cam type linear transfer positioning device.

[0002]

2. Description of the Related Art Conventionally, a cam type linear type transfer positioning device has been used in the assembly and inspection lines of semiconductors and electronic parts. The transfer positioning device performs, for example, an operation of accurately assembling components at a predetermined position of an assembly sequentially conveyed to a predetermined position by a conveyor on an assembly line. Unlike the transfer positioning device using an air cylinder, the cam type linear transfer positioning device can perform highly accurate and smooth transfer positioning, and is therefore used for the above-described work.

This transport positioning device has an input shaft which is rotationally driven by a motor or the like from the outside, and the rotation of the input shaft causes the internal cam to rotate. This cam has a preset cam shape, and converts rotational movement into swinging movement according to the cam shape. The swinging motion linearly reciprocally drives the output member to which the chuck or the like is attached. Therefore, the output member makes a linear reciprocating motion having a displacement / speed relationship corresponding to the cam shape by the rotation of the input shaft.

The transport positioning device is provided with two cams for the X-axis direction and for the Y-axis direction. The output member is moved in the X-axis direction and the Y-axis by each cam.
Reciprocating linear drive is performed in each axial direction. Therefore, since the output member has two degrees of freedom, it has various transport patterns in a two-dimensional plane.

[0005]

However, in the parts assembling process, etc., it is sometimes desired to measure the manufacturing standard dimensions of the assembly in a condition where the parts are assembled at predetermined locations and then send it to the subsequent process. When performing such dimension measurement, a dimension measurement step is provided after the component assembly step and another transport positioning device is arranged. Then, the assembly that has been completed in the component assembling step is picked up by the transfer / positioning device in the dimension measuring step and conveyed to the dimension measuring machine.

Therefore, a transport positioning device must be provided in each of the assembling process and the dimension measuring process.
Since power must be supplied to each of the two transport positioning devices, there is a problem that a large space is required for both the transport positioning devices. Further, the two transport positioning devices have to be operated in synchronization, and it has been difficult to supply power for that purpose.

In order to solve such a problem, it is conceivable that one conveying and positioning apparatus supplies the components and conveys the assembly. However, in the conventional conveying and positioning apparatus, the output members are arranged only in the same plane. It wasn't possible because it couldn't be moved.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a transport positioning device capable of performing transport positioning in a three-dimensional space.

[0009]

In order to solve the above-mentioned problems, the invention according to claim 1 is provided with an input shaft and a first output shaft and a second output shaft which are arranged in parallel with each other, A motion conversion unit that converts the rotational motion of the input shaft, which is rotationally driven from the outside, into a reciprocating motion in the axial direction of both output shafts using a cam, and an independent oscillating motion around the axis of each output shaft. A substrate for rotatably supporting and connecting the two output shafts, a front-rear moving plate supported by the substrate so as to be movable in the front-rear direction in a plane perpendicular to the axial direction of the both output shafts, The first motion converting means for linearly reciprocating the front-rear moving plate in the front-rear direction by the swinging motion of the first output shaft, and the front-rear moving plate on the left and right in a plane perpendicular to the axial direction of the both output shafts. An output member movably supported in a direction and a swing of the second output shaft. The exercise was composed of a second motion converting means to linearly reciprocate the output member in the lateral direction.

According to a second aspect of the present invention, in the first aspect of the invention, the first motion converting means is a first swing lever pivotally supported by the first output shaft, and the first swing lever. A roller rotatably fixed to the first swing lever and a guide groove fixed to the front-rear moving portion and extending in the left-right direction are provided, and the roller is engaged in the guide groove so as to be movable in the left-right direction. The second motion conversion means includes a second guide lever and a second swing lever pivotally supported by a second output shaft.
A roller rotatably fixed to the second swing lever and a guide groove fixed to the output member and extending in the front-rear direction are provided, and the roller is engaged with the guide groove so as to be movable in the front-rear direction. The second guide portion is included.

According to a third aspect of the present invention, in the invention according to the first or second aspect, the front-rear moving portion is movable relative to the base portion along a guide rail and the guide rail. The output member is supported by the guide rail and the linear bearing movably engaged with the front-rear moving portion along the guide rail. I decided.

[0012]

Therefore, according to the first aspect of the invention, when the input shaft of the motion converting portion is rotationally driven, the first output shaft and the second output shaft arranged in parallel by the action of the cam. Reciprocate in the axial direction synchronously. The substrate that rotatably supports and connects both output shafts reciprocates in the axial direction together with both output shafts. When the first output shaft is driven to swing, the front-rear moving plate, which is movably supported on the substrate in the front-rear direction by the first motion converting means, is reciprocally driven in the front-rear direction with respect to the substrate. When the second output shaft is oscillated, the output member, which is supported by the second motion converting means so as to be movable in the left-right direction in the front-rear moving section, is reciprocally driven in the left-right direction with respect to the front-rear moving section. It Therefore, the output member is reciprocally driven in the front-rear direction and the left-right direction with respect to the substrate. As a result, the output member is driven in each of the three directions.

According to the invention described in claim 2, in addition to the operation of the invention described in claim 1, when the first output shaft swings, the first output shaft is pivotally supported by the first output shaft. While the roller provided on the first rocking lever reciprocates in the left-right direction along a guide groove extending in the left-right direction formed in the first guide portion fixed to the front-rear moving section, the front-rear moving section moves in the front-rear direction. Drive back and forth. Further, when the second output shaft swings, the rollers provided on the second swing lever pivotally supported by the second output shaft are formed on the second guide portion fixed to the output member before and after the movement. The output member is reciprocally driven in the left-right direction while reciprocating in the front-rear direction along the guide groove extending in the direction.

According to the invention described in claim 3, in addition to the function of the invention described in claim 1 or 2, the front-rear moving portion moves along the guide rail and the guide rail with respect to the substrate. It reciprocates in the front-rear direction by means of linear motion bearings that can be engaged. Further, the output member reciprocates in the left-right direction by the guide rail and the linear motion bearing movably engaged with the front-rear moving portion along the guide rail.

[0015]

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. In the present embodiment, for convenience of description, the left, right, up, and down directions in the front view shown in FIG.

As shown in FIG. 1, on the base 1, two cam type rotary transfer units 2 and 3 as motion converting parts are provided.
Are arranged with their respective input shafts 4, 5 on the same axis. Both input shafts 4 and 5 are connected by a joint 6. A speed reducer 7 is fixedly provided on the right side of the right transport unit 3 so as to reduce the rotation of an external motor (not shown) and transmit it to the input shaft 5.

Each of the transport units 2 and 3 is a known cam type rotary transport device. That is, the transport unit 2 includes therein a roller gear cam and a groove cam, which are not shown,
Both cams are rotationally driven by the input shaft 4. A turret shaft (not shown) that penetrates the spline shaft 8 serving as the output shaft is oscillated by the roller gear cam, so that the spline shaft 8 is oscillated. Further, the spline shaft 8 is vertically driven by the groove cam in the axial direction. The transport unit 3 is also configured in the same manner, and the rotation of the input shaft 5 causes the spline shaft 9 to swing around the axis and also move up and down in the axis direction. The grooved cams of both transport units 2 and 3 are formed in the same cam shape. The input shafts 4 and 5 are connected so that the spline shafts 8 and 9 are synchronously driven up and down. Therefore, both spline shafts 8 and 9 are synchronously moved up and down so as to be in the same vertical position as the input shafts 4 and 5 rotate. The cam shapes of the roller gear cams are different from each other.

A bearing bearing 10 is fitted on the upper portion of the spline shaft 8. Further, at the upper end of the spline shaft 8, the first rocking lever 1 is provided so as to extend substantially leftward.
1 is inserted. A roller 12 is rotatably supported on the lower surface of the tip end portion of the first swing lever 11. Similarly, the bearing bearing 13 is fitted in the upper part of the spline shaft 9, and the second swing lever 14 is fitted in the upper end of the spline shaft 9 so as to extend substantially rearward. Second swing lever 14
The roller 15 is also rotatably supported on the lower surface of the tip of the roller.

Substrates 16 are fitted to the lower portions of both bearings 10 and 13, respectively. Therefore, the spline shafts 8 and 9 are allowed to rotate with respect to the substrate 16. As shown in FIG. 4, guide rails 17a and 17b are fixedly provided on the left and right sides of the substrate 16 so as to extend in the front-rear direction. Linear motion bearings 18a and 18b are engaged with the guide rail 17a so as to be movable in the front-rear direction. Similarly, linear motion bearings 19a and 19b are engaged with the front and rear of the guide rail 17b, respectively. The pair of left and right linear motion bearings 18a, 18
An approximately U-shaped front-back moving plate 20 is fixed to each upper surface of b, 19a and 19b. Therefore, the front-rear moving plate 20 is movable in the front-rear direction along the guide rails 17a and 17b.

As shown in FIG. 3, a first guide portion 21 is fixed to the upper surface of the front-rear moving plate 20, and a guide groove 21a extending in the left-right direction is formed in the first guide portion 21. The roller 12 is rotatably engaged with the guide groove 21a. Therefore, the first swing lever 1
When the roller 1 swings, the roller 1 engaged in the guide groove 21a
The back-and-forth moving plate 20 is reciprocally driven in the front-rear direction via 2. At this time, the roller 12 reciprocates in the left-right direction along the guide groove 21a as the front-rear moving plate 20 reciprocates in the front-rear direction. In the present embodiment, the first swing lever 11, the roller 12 and the first guide portion 21 constitute a first motion conversion means.

On the rear side of the upper surface of the front-rear moving plate 20, linear motion bearings 22a and 22b are fixedly provided on the left and right sides thereof. Above the both linear motion bearings 22a and 22b, an output arm 23 as an output member extending in the left-right direction is provided. A guide rail 24 extending in the left-right direction is fixed to the lower surface of the output arm 23. The guide rail 24 is supported by left and right linear motion bearings 22a and 22b so as to be movable in the left and right directions.

A second guide portion 25 is fixed to the upper surface of the output arm 23, and a guide groove 25a extending in the front-rear direction is formed in the second guide portion 25. The roller 15 is rotatably engaged with the guide groove 25a. Therefore, when the second swing lever 14 swings, the output arm 23 is reciprocally driven in the left-right direction via the roller 15 engaged in the guide groove 25a. At this time, as the output arm 23 reciprocates in the left-right direction, the roller 15 reciprocates in the front-rear direction along the guide groove 25a. In the present embodiment, the second swing lever 14, the roller 15 and the second guide portion 25 constitute a second motion converting means. A chuck (not shown) is attached to the right end of the output arm 23.

Next, the operation of the transport positioning device configured as described above will be described. When the input shafts 4 and 5 are rotationally driven, the roller gear cam and the groove cam of each of the transport units 2 and 3 rotate. By rotating each groove cam, both spline shafts 8 and 9 move up and down in synchronization. As a result, the substrate 1
6 vertically reciprocates in a horizontal state.

Further, the swing lever 1 connected to the spline shaft 8 is swung by the swing of the roller gear cam in the transport unit 2.
1 is rockingly driven according to the cam shape of the roller gear cam. Therefore, as the rocking lever 11 rocks, the front-rear moving plate 20 is reciprocally driven in the front-rear direction via the first guide portion 21, so that the output arm 23 supported by the linear motion bearings 22a and 22b also moves forward and backward. It is reciprocally driven in the direction. At this time, since the front-rear moving plate 20 is supported by the linear motion bearings 18a, 18b, 19a, 19b that move along the pair of guide rails 17a, 17b fixed on the substrate 16, the front-rear moving plate 20 can be moved back and forth with high accuracy. It is driven back and forth.

Further, by the rotation of the roller gear cam in the transport unit 3, the swing lever 14 connected to the spline shaft 9 is swing-driven according to the cam shape of the roller gear cam. Therefore, the swing of the swing lever 14 causes the output arm 23 to reciprocate in the left-right direction via the second guide portion 25. At this time, the output arm 23 moves the front-rear moving plate 20.
Since it is fixed to the guide rail 24 that is supported by the linear motion bearings 22a and 22b that are fixed to the upper side, it can be driven left and right with high accuracy.

As a result, the right end of the output arm 23 is
The chuck is reciprocally driven in three directions because it is driven back and forth, left and right, and up and down. Therefore, the chuck can be repeatedly driven with the transfer pattern formed in the three-dimensional space.

As described in detail above, according to the transport positioning device of this embodiment, the cam shapes of the grooved cams of the two cam type rotary transport units 2 and 3 are made the same, and the input shafts 4 are respectively. , 5 are connected so that they rotate in synchronization. Therefore, both spline shafts 8 and 9 reciprocate up and down synchronously at the same height. Then, the front-rear moving plate 20 is mounted on the substrate 16 supported by the spline shafts 8 and 9.
Is movably supported in the front-back direction, and the first swing lever 11 is supported.
It was made to reciprocate in the front-back direction. Further, an output arm 23 having a chuck mounted on the front-rear moving plate 20.
Is movably supported in the left-right direction, and the second swing lever 14 is supported.
It was made to reciprocate in the left and right directions. As a result, the chuck can be driven in each of the three directions,
It can be driven by a transfer pattern formed in a three-dimensional space. Therefore, for example, it is possible to easily carry out a complicated conveyance such that the assembly in which the parts are assembled in the assembling step is moved from the conveyor to the measuring gauge or the like on the side of the conveyor to measure the dimensions and then to be moved again to the conveyor. be able to.

Moreover, in this embodiment, the rocking levers 11 and 14 are pivotally supported by the spline shafts 8 and 9, respectively, and the rocking motions of the rocking levers 11 and 14 are applied to the front-rear moving plate 20 and the output arm 23. This is done through the rollers 12 and 15 that engage with the respective guide grooves 21a and 25a of the fixed guide portions 21 and 25. Therefore, the output arm 23 can be driven back and forth and left and right with high accuracy by a simple configuration.

Further, according to the present embodiment, the guide rails 17a and 17b are fixed to the substrate 16 and the linear motion bearing 18 which moves along the guide rails 17a and 17b.
The back-and-forth moving plate 20 is fixed to a, 18b, 19a and 19b. Further, the linear motion bearing 2 is attached to the front-rear moving plate 20.
2a and 22b are fixed, and both linear motion bearings 22a and
The output arm 23 is attached to the guide rail 23 supported by 22b.
Was fixed. Therefore, the front-rear moving plate 20 is supported with high positional accuracy with respect to the substrate 16, and the output arm 23 is supported with respect to the front-rear moving plate 20 with high positional accuracy. As a result, the chuck can be driven with high accuracy in accordance with the transport pattern.

The present invention is not limited to the above embodiment, but may be configured as follows. (1) In this embodiment, the rocking levers 11 and 14 are engaged with the respective guide portions 21 and 25 via the rollers 12 and 15 so that the front-rear moving plate 20 and the output arm 23 are linearly reciprocally driven. did. For example, a spur gear is fitted to each of the spline shafts 8 and 9 and the front-rear moving plate 2
A rack that meshes with the spur gear is provided on each of the 0 and the output arm 23. The front-rear moving plate 20 and the output arm 23 may be linearly reciprocally driven by swinging the spline shafts 8 and 9.

(2) In the above embodiment, each input shaft 4, 5
An output arm 23 that is reciprocally driven in the axial direction is provided on the front-rear moving plate 20 that is reciprocally driven in a direction orthogonal to
A chuck was attached to the output arm 23.
This is provided with the front-rear moving plate 20 on the output arm 23,
A chuck may be attached to the front-rear moving plate 20.

(3) Linear motion bearings 18a, 18b,
Each of 19a, 19b, 22a and 22b may be a lubricating oil lubrication method, a self-lubrication method using a plastic sliding material, a rolling contact method using balls or the like, or a magnetic guide method.

(4) Each of the transport units 2 and 3 is provided with a mechanism other than the roller gear cam and the groove cam so that the spline shaft 8,
It is also possible to swing and reciprocate 9. (5) The speed reducer 7 may not be provided.

(6) Set the two transport units 2 and 3 to 1
The transport unit may be configured in one housing. The technical ideas other than the claims that can be understood from the above-described embodiments will be described below along with their effects.

(1) In the transport positioning device according to claim 1, in the transport units 2 and 3, the output shafts 8 and 9 are oscillated around the axis by the roller gear cam, and the output shafts 8 and 9 are driven by the groove cam. It was made to reciprocate in the direction.
With such a configuration, the output shaft can be reciprocated and rocked at high speed and with high accuracy.

[0036]

As described in detail above, according to the first aspect of the present invention, it is possible to perform the transport positioning in the three-dimensional space.

According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, highly accurate transport positioning can be performed with a simple structure. According to the invention described in claim 3, in addition to the effect of the invention described in claim 1 or 2, it is possible to perform the transport positioning with higher accuracy.

[Brief description of drawings]

FIG. 1 is a front view of a transport positioning device.

FIG. 2 is a side view of the same.

FIG. 3 is a plan view of the same.

FIG. 4 is a plan view showing an upper surface of a front-rear moving plate.

[Explanation of symbols]

2, 3 ... Transport unit as motion conversion unit, 4, 5 ... Input shaft, 8 ... Spline shaft as first output shaft, 9 ... Spline shaft as second output shaft, 11 ... First motion conversion First rocking lever as means, 12 ... Similarly roller, 14 ... Second rocking lever as second motion converting means, 15 ... Similarly roller, 16 ... Substrate, 17a, 17b
... guide rails, 18a, 18b, 19a, 19b ... linear motion bearings, 20 ... longitudinal moving plate, 21 ... first guide portion as first motion converting means, 21a ... guide groove, 2
2a, 22b ... Linear motion bearing, 23 ... Output arm as output member, 25 ... Second as second motion converting means
Guide part, 25a ... Guide groove.

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[Procedure amendment]

[Submission date] June 30, 1995

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Claim 2

[Correction method] Change

[Correction content]

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] Claim 3

[Correction method] Change

[Correction content]

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction content]

According to a second aspect of the present invention, in the first aspect of the invention, the first motion converting means is a first swing lever pivotally supported by the first output shaft, and the first swing lever. A roller that is rotatably fixed to the first swing lever and the front-back movement
The guide plate is fixed to the plate , has a guide groove extending in the left-right direction, and includes a first guide portion that engages with the guide groove so that the roller can move in the left-right direction. A second swing lever pivotally supported by the second output shaft;
A roller rotatably fixed to the second swing lever and a guide groove fixed to the output member and extending in the front-rear direction are provided, and the roller is engaged with the guide groove so as to be movable in the front-rear direction. The second guide portion is included.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0011

[Correction method] Change

[Correction content]

According to a third aspect of the present invention, in the invention according to the first or second aspect, the front-rear moving plate is movable relative to the base portion along a guide rail and the guide rail. The output member is supported by the guide rail and the linear bearing movably engaged with the front-rear moving portion along the guide rail. I decided.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction content]

[0012]

Therefore, according to the first aspect of the invention, when the input shaft of the motion converting portion is rotationally driven, the first output shaft and the second output shaft arranged in parallel by the action of the cam. Reciprocate in the axial direction synchronously. The substrate that rotatably supports and connects both output shafts reciprocates in the axial direction together with both output shafts. When the first output shaft is driven to swing, the front-rear moving plate, which is movably supported on the substrate in the front-rear direction by the first motion converting means, is reciprocally driven in the front-rear direction with respect to the substrate. When the second output shaft is driven to swing, the output member supported by the second motion converting means so as to be movable in the left-right direction on the front-rear moving plate moves in the left-right direction with respect to the front-rear moving portion. Is driven back and forth. Therefore, the output member is reciprocally driven in the front-rear direction and the left-right direction with respect to the substrate. As a result, the output member is driven in each of the three directions.

[Procedure correction 6]

[Document name to be amended] Statement

[Correction target item name] 0013

[Correction method] Change

[Correction content]

According to the invention described in claim 2, in addition to the operation of the invention described in claim 1, when the first output shaft swings, the first output shaft is pivotally supported by the first output shaft. while reciprocating in the left-right direction roller provided along a guide groove extending in a first formed in the guide portion left and right direction is fixed to the anteroposterior moving plate 1 of the rocking lever, the front and rear moving plate longitudinal direction Drive back and forth. Further, when the second output shaft swings, the rollers provided on the second swing lever pivotally supported by the second output shaft are formed on the second guide portion fixed to the output member before and after the movement. The output member is reciprocally driven in the left-right direction while reciprocating in the front-rear direction along the guide groove extending in the direction.

[Procedure Amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0014

[Correction method] Change

[Correction content]

According to the invention of claim 3, in addition to the operation of the invention of claim 1 or 2, the front-rear moving plate moves relative to the board along the guide rail and the guide rail. It reciprocates in the front-rear direction by means of linear motion bearings that can be engaged. Further, the output member reciprocates in the left-right direction by the guide rail and the linear bearing movably engaged with the front-rear moving plate along the guide rail.

Claims (3)

[Claims] 1. An input shaft (4) comprising an input shaft (4, 5) and a first output shaft (8) and a second output shaft (9) arranged in parallel with each other, the input shaft (4) being rotationally driven from the outside. , 5) using a cam to convert the two output shafts (4, 5) into synchronized reciprocating motion in the axial direction and swinging motion of each output shaft (4, 5) independently about the axis. Motion conversion unit (2,3)
A substrate (16) for rotatably supporting and connecting both output shafts (8, 9); and a plane perpendicular to the axial direction of the both output shafts (8, 9) on the substrate (16). A front-rear moving plate (20) movably supported in the front-rear direction by a swing motion of the first output shaft (8); A motion converting means, and an output member (23) supported by the front-rear moving plate (20) so as to be movable left and right in a plane perpendicular to the axial direction of the output shafts (8, 9), A transport positioning device comprising a second motion converting means for linearly reciprocating the output member (23) in the left-right direction by the swinging motion of the second output shaft (9). 2. The first motion converting means is rotatable by a first swing lever (11) pivotally supported by a first output shaft (8) and the first swing lever (11). And a guide groove (21a) fixed to the front-rear moving portion (20) and extending in the left-right direction, and the roller (12) is moved in the left-right direction in the guide groove (21a). The second motion conversion means is composed of a first guide portion (21) which is engagably engaged, and a second swing lever (9) pivotally supported by the second output shaft (9), and the second swing lever (9). A roller (15) rotatably provided on the second swing lever (9) and a guide groove (25a) fixed to the output member (23) and extending in the front-rear direction, the guide groove (25a). And a second guide portion (25) for engaging the roller (15) so as to be movable in the front-rear direction. Conveying and positioning device according to claim 1 of the is. 3. The front-rear moving part (20) includes the base part (1).
6) Guide rails (17a, 17b) and linear motion bearings (18a, 18b, 19a, 19) movably engaged along the guide rails (17a, 17b).
The output member (23) is supported via the guide rail (24) and the linear bearing (22a, 22a, 22b)
Claim 1 or Claim 2 which is supported via
The transport positioning device according to.