JPH1187370A - Positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device capable of precisely positioning an electronic component, such as an IC through a simple operation. SOLUTION: When a movable bar 10 is pushed down from a cylinder 20, positioning bars 30, 40 are pushed open by cam followers 32, 42, and the space of alignment pawls 31, 41 is opened. A vacuum pad 12 is decompressed under the state, and an IC 1 is sucked. When the movable bar 10 is drawn in this state in which the IC 1 is sucked, an alignment closing section 15 is engaged with the cam followers 32, 42. As a result, the positioning bars 30, 40 are closed, the four side faces of the IC 1 are held down by the alignment pawls 31, 41, and the position of the IC 1 is corrected to a specified position with respect to the central axis of the movable bar 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device for transferring electronic components such as integrated circuit devices (hereinafter referred to as "ICs") to predetermined positions.

[0002]

2. Description of the Related Art As electronic components such as ICs have been reduced in size and the number of pins has been increased, there has been an increasing demand for precision in mounting electronic components at predetermined positions. FIG. 2 is an explanatory diagram showing an example of a conventional positioning method. This positioning method is called an alignment mechanism, and is a method for taking out the ICs 1 stored in the tray 2 one by one at a test stage in the manufacturing process of the ICs 1 and setting the ICs 1 at a predetermined position of the test apparatus 3 accurately. In this method, a transfer robot 4 for holding and moving the IC 1 and a positioning pocket 5 for adjusting the position and direction of the IC 1 are used. The transfer robot 4 is a device in which a vacuum pad 4b for adsorbing the IC1 by decompression is attached to the tip of the movable arm 4a, and the IC1 can be freely moved within a certain range. The positioning pocket 5 is a positioning jig having the same shape as the IC 4 and having a recess 5a of substantially the same size, and is tapered so that the inner side surface of the recess 5a becomes narrower toward the bottom.

In this alignment mechanism, the positioning operation of the IC 1 is performed as follows. First, the movable arm 4a of the transfer robot 4 is moved to an upper part of the IC 1 stored in the tray 2, and the vacuum pad 4b is brought into contact with the upper surface of the IC 1, and then the vacuum pad 4b is decompressed to reduce the pressure.
1 is adsorbed. Next, the movable arm 4a of the transfer robot 4
Is moved to the upper part of the positioning pocket 5, and the pressure of the vacuum pad 4b is returned to normal pressure, thereby releasing the IC1.
The separated IC1 falls along the taper of the concave portion 5a of the positioning pocket 5 due to gravity, and stops at a predetermined position. As a result, the IC stored in the tray 2
Irrespective of the position 1, the IC 1 always fits in the predetermined position of the concave portion 5a of the positioning pocket 5. Furthermore,
IC1 which is located in a predetermined position of the positioning pocket 5,
The suction is again performed by the vacuum pad 4b of the transfer robot 4, and the movable arm 4a is moved by a predetermined distance in a predetermined direction. Since the positional relationship between the positioning pocket 5 and the test device 3 is fixed, and the direction and distance therebetween are predetermined, the IC 1 is moved to a predetermined position of the test device 3. Then, by returning the pressure of the vacuum pad 4b to normal pressure, the IC 1 is accurately set at a predetermined position of the test apparatus 3.

[0004]

However, the conventional positioning method has the following problems. IC1
Need to be moved to the test apparatus 3 via the positioning pocket 5, which requires a complicated operation of the transfer robot 4, and accordingly, the processing time becomes longer. Further, there is a problem that quality problems such as bending of lead terminals of the IC 1 are likely to occur with complicated movement. An object of the present invention is to solve the problems of the prior art and to provide a positioning device that can accurately adjust the mounting position of an electronic component such as an IC with a simple operation.

[0005]

According to a first aspect of the present invention, there is provided a positioning apparatus for picking up an electronic component having a substantially rectangular parallelepiped outer shape by a movable arm and transferring the electronic component to a predetermined position. In the device, the movable arm has a pad at a tip end for adsorbing an upper surface of the electronic component, and a movable bar having a concave portion for positioning at an intermediate portion, and the movable bar can slide in the axial direction. , A first, second, third, and fourth rotating shafts, first, second, third, and fourth position adjusting rods, and a convex portion as described below. I have. The first and second rotating shafts are provided on the holding portion at equal distances across the axis of the movable rod. The third and fourth rotating shafts are provided on the holding portion at equal distances across the axis of the movable rod and in a direction orthogonal to the first and second rotating shafts.

The first and second position adjusting rods are respectively formed so as to draw arcs on a first plane including the axis of the movable rod with respect to the first and second rotation axes. And an adjusting claw for adjusting the positions of the parallel first and second side surfaces of the electronic component at the distal end thereof. The third and fourth position adjusting rods are
The third and fourth rotation axes so as to draw arcs on a second plane that includes the axis of the movable rod around the third and fourth rotation axes, respectively, and that is orthogonal to the first plane. And the third end of the electronic component parallel to the tip
And an adjusting claw for adjusting the position of the fourth side surface. In addition, the convex portion is provided on each of the first, second, third, and fourth position adjusting rods on a surface facing the movable rod, and the concave portion of the movable rod is slid along with the movable rod. When the contact is made, each of the adjusting claws comes into contact with the first, second, third, and fourth side surfaces of the electronic component to adjust the position of the electronic component.

According to a second aspect of the present invention, in the positioning device according to the first aspect, the movable arm has a pad for adsorbing an upper surface of the electronic component at a distal end, and moves from an intermediate portion toward the distal end. A movable rod inclined so that its cross section becomes gradually smaller, a holding portion similar to that of the first invention, first, second, third, and fourth rotation axes, and first, second, third, and fourth rotating shafts. A fourth position adjusting rod, and a surface of the first, second, third and fourth position adjusting rods, which faces the movable rod, respectively, and the movable rod slides to reach a predetermined position. And a projection for adjusting the position of the electronic component by bringing each of the adjusting claws into contact with the first, second, third, and fourth side surfaces of the electronic component. According to a third aspect of the present invention, in the positioning device according to the first aspect, the movable arm slides the movable rod in the axial direction, the movable rod having a pad for adsorbing an upper surface of the electronic component at a tip end. The electronic component, which has a holding portion that holds the movable member and a through hole that is attached to the holding portion and through which the movable bar penetrates, and that is held by the pad when the movable bar is slid by the holding portion. And a collet having a quadrangular pyramid-shaped recess for adjusting the position of the electronic component by bringing the four side surfaces into contact with each other.

According to a fourth aspect of the present invention, in the positioning device according to the first aspect, the movable arm has first and second pads each having a pad for adsorbing an upper surface of the electronic component at a tip end thereof.
Movable rod, a first holding portion for holding the first movable rod slidably in the axial direction, and a second holding for holding the second movable rod slidably in the axial direction. , A rotation mechanism as described below, and an alignment block.
The rotation mechanism fixes the first and second holding parts so that the axes of the first and second movable rods constitute one plane, and the axes of the first and second movable rods And the first and second holding portions are rotated on the plane about the intersection of. The alignment block is provided in the rotation mechanism, and the electronic component held by the pad when the first and second movable rods are slid by the first and second holders. It has a four-sided pyramid-shaped recess for adjusting the position of the electronic component by bringing the four side surfaces into contact.

According to the first aspect, since the positioning device is configured as described above, the following operation is performed. The upper surface of the electronic component is sucked by the pad at the tip of the movable bar. In this state, since the respective projections of the first, second, third and fourth position adjusting rods are in contact with the movable rods, the adjusting claws at the distal ends of these position adjusting rods are opened. Has become. Next, while the electronic component is being sucked, the movable bar is held by the holding portion and slid in the axial direction. As a result, the convex portion comes into contact with the concave portion of the movable rod, and the first, second, and third
And the adjusting claws at the distal end of the fourth position adjusting rod are closed, and these adjusting claws abut against the first, second, third and fourth side surfaces of the electronic component, and the position of the electronic component is set to a predetermined position. It is adjusted to. According to the second aspect, the following operation is performed.
The upper surface of the electronic component is sucked by the pad at the tip of the movable bar. In this state, since the respective convex portions of the first, second, third and fourth position adjusting rods are in contact with the movable rod,
The adjusting pawls at the tips of these position adjusting rods are open. Next, while the electronic component is being sucked, the movable bar is held by the holding portion and slid in the axial direction. As a result, as the cross section of the movable bar gradually decreases, the adjusting claws at the distal ends of the first, second, third, and fourth position adjusting rods gradually close, and these adjusting claws become electronic components. The first, second, third, and fourth side surfaces are brought into contact with each other to finally adjust the position of the electronic component to a predetermined position.

According to the third aspect, the following operation is performed. The concave portion of the collet attached to the holding portion is pressed from above the electronic component. As a result, the four side surfaces of the electronic component come into contact with the inner side surface of the concave portion of the collet having the quadrangular pyramid-shaped concave portion, and the position of the electronic component is adjusted to a predetermined position. Next, the upper surface of the electronic component is sucked by the pad at the tip of the movable bar, and the movable bar is protruded from the through hole of the collet while the electronic component is being sucked. Thereby, the electronic component is put out of the concave portion of the collet. According to the fourth aspect, the following operation is performed. The upper surface of the electronic component is sucked by the pad at the tip of the first or second movable bar. Next, the first and second movable rods are rotated by a fixed angle together with the first and second holding parts by the rotation mechanism. Then, the first or second movable rod on which the electronic component is sucked is slid in the axial direction by the first or second holding portion, and the four side surfaces of the electronic component have quadrangular pyramid-shaped concave portions. It is brought into contact with the inner surface of the concave portion of the alignment block. Thereby, the position of the electronic component is adjusted to a predetermined position.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment FIGS. 1 (a) and 1 (b) are structural views of a main part of a positioning device according to a first embodiment of the present invention, and FIG. FIG. 2B is a diagram illustrating a state where the electronic component (for example, IC) 1 is picked up, and FIG. 2B is a diagram illustrating a state where the position of the IC 1 is adjusted. This positioning device picks up an IC 1 having a substantially rectangular parallelepiped outer shape by a movable arm and transfers it to a predetermined position, and is also called a transfer robot. FIG.
(A), (b) is the tip of the movable arm of the transfer robot,
That is, it is a part corresponding to a hand. The movable arm has a movable bar 10 for holding and moving the IC 1 in the vertical direction. The movable rod 10 includes a cylindrical cylinder rod 11 having a constant diameter, a slide portion 12 fitted to one end of the cylinder rod 11, a spring 13 for maintaining the slide portion 12 at a predetermined position, and a slide portion. And a pad (for example, a vacuum pad) 14 attached to the tip of the reference numeral 12.

The inside of one end of the cylinder rod 11 is hollowed out.
One end is fitted. The slide portion 12 is movable in the axial direction of the cylinder rod 11 (that is, in the vertical direction), and in a normal state, is kept in a state of protruding outside the cylinder rod 11 by a spring 13. The spring 13 forms a buffering mechanism for preventing the IC 1 from being pressed more than necessary when the cylinder rod 11 is pushed downward by some load. The vacuum pad 14 adsorbs the upper surface of the substantially rectangular parallelepiped IC 1 to be positioned by reducing the pressure inside. Further, a semicircular concave portion for positioning (for example, an alignment closed portion) 1 is provided at a fixed distance from the slide portion 12 side in the cylinder rod 11.
5 are provided along the circumference of the cylinder rod 11. The cylinder rod 11 of the movable rod 10 is held by a holding portion (for example, a cylinder) 20 so as to be freely slidable in the axial direction (that is, the vertical direction). At one end of the cylinder 20, the first and second rotating shafts (for example, pins) 2 are equidistant with respect to the axis of the movable rod 10.
1 and 22 are provided.

One end of each of first and second position adjusting rods 30 and 40 is attached to these pins 21 and 22, respectively. The other ends of the position adjusting rods 30 and 40 (that is, the tip)
, Adjustment pawls (for example, alignment pawls) 31 and 41 for adjusting the positions of the first and second parallel side surfaces of the IC 1 are fixed. Alignment claw 3
1, 41 can move around a center of the pins 21 and 22, respectively, so as to draw an arc of a certain range of angle on a first plane including the axis of the movable rod 10. Further, springs 23 and 24 are attached to the pins 21 and 22 of the position adjusting rods 30 and 40, and a force is constantly applied in a direction in which the alignment claws 31 and 41 close.

Cylinder rod 1 for position adjusting rods 30, 40
The semi-circular convex portions (for example, cam followers) 32 and 42 for opening and closing the alignment corresponding to the alignment closing portion 15 are provided on the surface opposite to the alignment closing portion 15. Even if the cam followers 32 and 42 receive a force in the direction in which the position adjusting rods 30 and 40 are closed by the springs 23 and 24, when the movable rod 10 is lowered, the cam followers 32 and 42 come into contact with the cylinder rod 11 so that the alignment claws 31 are formed. , 4
1 serves to keep it open wider than the width of IC1. Further, when the movable bar 10 is pulled up and the height of the alignment claws 31 and 41 coincides with the side surface of the IC 1 adsorbed on the vacuum pad 14, the movable bar 1
The zero alignment closing portion 15 and the cam followers 32 and 42 are in a positional relationship to engage with each other. Further, by the engagement between the alignment closing portion 15 and the cam followers 32 and 42, the position adjusting rods 30 and 40 move so as to close to the movable rod 10 side.
The interval of 41 exactly matches the width (for example, the width) of IC1.

1 (a) and 1 (b) show the left and right position adjusting rods 30 and 40 toward FIGS. 1 (a) and 1 (b) for convenience of explanation. Adjusting rod 30, 40
The third and fourth position adjusting rods are also provided in the cylinder 20 in a direction perpendicular to the cylinder 20 (that is, in the front-back direction in FIGS.
Are attached to third and fourth rotating shafts (not shown) provided at one end of the rotating shaft. The functions of the third and fourth position adjusting rods are substantially the same as those of the position adjusting rods 30 and 40. The convex portions provided on the third and fourth position adjusting rods have
When engaging with the alignment closing portion 15 provided on the movable bar 10, the interval between the alignment claws is set to match the vertical width of the IC1. The cylinder 20
Is attached to the main body of the movable arm of the transfer robot (not shown), and can be freely moved in a predetermined range of space under the control of the transfer robot. Next, the operation will be described. First, as shown in FIG.
The movable bar 10 is lowered from the cylinder 20 and the alignment claws 31, 41 and the like are opened, and the movable arm of the transfer robot (not shown) is moved so that the movable bar 10 is placed almost directly above the IC 1 stored in the tray. Move to position.

Next, by gradually lowering the movable arm vertically, the cylinder 20 and the entire movable rod 10 held by the cylinder 20 are brought close to the upper surface of the IC 1 and the movable rod 10 is moved downward.
When the vacuum pad 14 at the tip of the IC 1 comes into contact with the upper surface of the IC 1, the operation is stopped. Here, the vacuum pad 14
By reducing the internal pressure, the IC 1 is attracted to the vacuum pad 14. After adsorbing the IC1, the movable rod 10 is pulled up by the cylinder 20. At this stage, the cam followers 32, 42, etc.
The alignment claws 31, 41, etc. are in an open state because they do not hit the alignment closing part 15 of the first alignment. When the movable rod 10 is continuously raised, the alignment closing portion 1
5 and the cam followers 32, 42, etc. reach a position where they engage. Here, the alignment claws 31, 41 and the like close while drawing a cam curve. As a result, the alignment claws 31, 41, etc., respectively,
It is pressed down from the direction toward the center, and the position of the IC 1 is corrected so as to match the axis of the center of the movable bar 10. As shown in FIG. 1B, the movable rod 10 is raised by the alignment closing portion 15 and the cam followers 32, 42, etc.
Stop at a fully engaged position.

Then, the movable arm of the transfer robot is moved,
The movable bar 10 moves so as to be, for example, directly above a predetermined position of the test apparatus. Then, by gradually lowering the movable rod 10 vertically, the engagement between the alignment closing portion 15 and the cam followers 32, 42 and the like is released, and the closed alignment claws 31, 41 and the like are opened. Further, the movable bar 10 is lowered vertically to set the IC 1 at a predetermined position of the test apparatus.
Here, by returning the air pressure in the vacuum pad 14 to a constant pressure, the IC 1 is separated from the vacuum pad 14 and the transfer is completed. As described above, the positioning device according to the first embodiment has four sides of the IC 1
It has position adjusting rods 30, 40, etc., for correcting the position with respect to the center axis of the movable rod 10 by pressing down from the direction, and opening and closing the alignment claws 31, 41, etc. by moving the movable rod 10 in the vertical direction. Closing part 1 for performing
5 and cam followers 32, 42 and the like. Thereby, the positioning of the IC1 is performed in conjunction with the operation of picking up the IC1 by the movable rod 10, so that it is not necessary to use a positioning pocket as in the related art.
The work process can be simplified.

Second Embodiment FIGS. 3 (a) and 3 (b) are structural views of a main part of a positioning device according to a second embodiment of the present invention.
Elements common to those in (b) are denoted by common reference numerals. FIG. 3A is a diagram showing a state where the IC 1 is picked up, and FIG. 3B is a diagram showing a state where the position of the IC 1 is adjusted. A positioning device according to the second embodiment;
The difference from the positioning device of the first embodiment shown in FIG.
In the embodiment, the cylinder rod 11 is provided with the semicircular alignment closing portion 15, but in the second embodiment,
The conical shape is obtained by inclining the cylinder rod 11A so that the cylinder rod 11A gradually becomes thinner from the middle part to the tip part. When the movable rod 10A is gradually pulled up by the cylinder 20, the alignment claws 31, 41 of the position adjusting rods 30, 40, etc. are gradually closed, and the four side surfaces of the IC 1 are moved in four directions. From the center toward the center. Other configurations are the same as those in FIG.

The operation of the second embodiment is the same as the operation of the first embodiment except for the following points. That is, when the movable rod 10A rises while the IC 1 is attracted to the vacuum pad 14, the position adjusting rods 30, 40 and the like gradually come into contact with the cylinder rod 11A because the cam followers 32, 42 and the like are in contact with the cylinder rod 11A. Close to. Then, the alignment claws 31, 41 and the like press the four side surfaces of the IC1 from four directions toward the center, respectively.
Stops in a state where the position is corrected to a state where the position coincides with the center axis of the movable rod 10A. Conversely, by lowering the cylinder rod 11A, the alignment claws 31, 41 and the like are opened, and the IC1 is released. As described above, in the second embodiment, the shape of the alignment closing portion is conical, so that in addition to the advantages of the first embodiment, the alignment claw 3
There is an advantage that the opening and closing operations of 1, 41 and the like become smoother and the impact given to the IC 1 is small.

Third Embodiment FIG. 4 is a structural view of a main part of a positioning device according to a third embodiment of the present invention, and shows a distal end portion of a movable arm of a transfer robot. A holding unit (for example, a cylinder) 51 is attached to the movable arm 50. The cylinder 51 is
This is for holding a movable bar (for example, a slide portion) 52 for holding the IC 1 and moving it in the vertical direction in a slidable manner. The slide portion 52 is held by the cylinder 51 via a spring 53 as a buffer mechanism. Also,
The cylinder 51 has an IC through a plurality of shafts 54.
The first collet 55 for positioning is attached.
The collet 55 has a through hole through which the slide portion 52 penetrates in the center, and the lower surface has four sides for adjusting the position of the IC 1 by contacting the four side surfaces of the IC 1. It has a pyramidal concave portion 55a. The inclination of the concave portion 55a is formed to be more obtuse than the inclination of the side surface of the IC1, so that the edge portion between the upper surface and the side surface of the IC1 contacts the inclined portion of the concave portion 55a.

A spring 56 is fitted on each shaft 54, and a pressure is applied so as to always push the collet 55 downward. Even if a load is applied, the collet 55 is pushed back by the buffer of the spring 56. Thus, an unnecessary force is not applied to the IC 1. In addition, a vacuum pad 57 for adsorbing the IC 1 is attached to a tip end of the slide portion 52 that penetrates through a through hole at the center of the collet 55. Next, the operation will be described. When the transfer robot sucks the IC1, the movable arm 50 is moved and the collet 55 is moved to the IC1.
And move the cylinder 51 to I
By lowering it on C1, the concave portion 55a of the collet 55 comes into contact with IC1. At this time, due to the inclination of the inner wall surface of the concave portion 55a, IC1
5a is stored in a predetermined position. Although the upper edge portion of the IC 1 comes into contact with the inner wall surface of the concave portion 55a, since the concave portion 55a has an obtuse angle, it does not enter the inside of the collet 54 and stops at a predetermined position.

In this state, the slide part 52 is lowered,
It is stopped at the position where the IC 1 and the vacuum pad 57 are in contact. Thereafter, the pressure inside the vacuum pad 57 is reduced, so that the IC 1 is attracted to the vacuum pad 57. When the IC 1 is released, the IC 1 that has been in contact with the concave portion 55 a of the collet 55 is released from the collet 55 by lowering only the slide portion 52.
Further, by returning the pressure inside the vacuum pad 57 to a constant pressure, the IC 1 separates from the vacuum pad 57 and the transfer is completed. As described above, according to the third embodiment, since the collet 55 for positioning the IC 1 is provided, a similar advantage can be obtained with a simpler configuration than the first and second embodiments.

Fourth Embodiment FIGS. 5 (a) and 5 (b) are diagrams showing the construction of the main part of a positioning device according to a fourth embodiment of the present invention.
The figure which shows the state which picked up C1, and the same figure (b).
FIG. 4 is a diagram showing a state in which the position of IC1 is adjusted. FIG.
(A), (b) has shown the front-end | tip part of the movable arm of a transfer robot. The movable arm has two movable bars 60A and 60B for holding IC1. Each movable bar 60
A and 60B have the same configuration. For example, the movable bar 60A includes a cylindrical cylinder rod 61 having a constant diameter, a slide portion 62 fitted into one end of the cylinder rod 61, and a slide portion 62. And a spring 63 forming a buffering mechanism, and a vacuum pad 64 attached to the tip of the slide portion 62.

The cylinder rods 61 of the movable rods 60A and 60B are held by cylinders 70A and 70B so as to be slidable in the axial direction. Further, the cylinders 70A and 70B are provided on the rotating shaft 81 of a rotating mechanism (for example, a rotary actuator) 80 with each movable rod 60.
The axes A and 60B are attached so that they intersect at one point of the rotation shaft 81 and are orthogonal to the rotation shaft 81. The rotating shaft 81 is connected to a driving unit 82 for rotating the rotating shaft 81 and the cylinders 70A and 70B attached thereto. Further, a support portion 84 is provided on the upper portion of the rotary actuator 80, and a position adjusting portion for positioning the IC 1 is provided on the lower surface side of the support portion 84 just on the extension of the axis of the movable rods 60A and 60B. For example, an alignment block 84 is fixed. The alignment block 84 is a jig having a quadrangular pyramid-shaped concave portion for adjusting the position of the IC 1 by bringing the four side surfaces of the IC 1 into contact with each other. The rotary actuator 80 is attached to a transfer robot body (not shown).

Next, the operation will be described. For example, by driving the driving unit 82 of the rotary actuator 80, the movable bar 60A is positioned on the lower side, and the IC 1 is sucked by the vacuum pad 64. After the IC 1 is attracted, the driving unit 82 is driven by a predetermined angle (for example, 180 °) so that the movable bar 60A is positioned above and the back surface of the IC 1 is almost directly below the alignment block 84. Next, the movable bar 60A is moved upward by the cylinder 70A, and the IC 1 is fitted into the alignment block 84. Thereby, as shown in FIG. 5B, the side surface on the back surface side of the package of the IC 1 fits into the alignment block 84, and the positioning of the IC 1 is performed. After the positioning is performed, the movable bar 60A is lowered to remove the IC 1 from the alignment block 84, and the driving unit 82 is further rotated by 180 ° to return the movable bar 60A to the original position. As a result, IC1
The vacuum pad 64 is adjusted to a predetermined position and is in a state of being sucked by the vacuum pad 64. Subsequent operations are the same as in the first embodiment.

As described above, in the fourth embodiment,
It has an alignment block 84 for adjusting the position by the side surface on the back side of the IC 1. Generally, in a mold type IC, the position accuracy between the back side mold and the lead terminal is higher than that of the front side mold.
Therefore, in the fourth embodiment, it is possible to obtain higher positional accuracy than in the first to third embodiments. Also,
Since it has two movable bars 60A and 60B, these movable bars 60A and 60B are used alternately to
There is an advantage that the positioning can be performed continuously. Note that the present invention is not limited to the above embodiment, and various modifications are possible. As this modification, for example,
There are the following (a) to (f).

(A) The positioning of the IC 1 has been described as an example, but the positioning object is not limited to the IC, and any electronic component having a substantially rectangular parallelepiped shape can be used. . (B) For example, in FIG. 1, the vacuum pad 14 that sucks by decompression is used to suck the IC 1. However, if the electronic component is made of a material that can be sucked by a magnet, the IC 1 is sucked by an electromagnet. Is also good. (C) The cylinder rod 11 in FIGS. 1 and 3 is a cylinder, but is not limited to a cylinder. For example, if the cylinder rod 11 is held by the cylinder 20 and can slide in the axial direction, for example, a square pillar And so on. Therefore, the hole inside the cylinder 20 is not limited to a circular shape. (D) Although the alignment closing portion 15 and the alignment opening / closing cam followers 32 and 42 in FIG. 1 have a semicircular shape, the invention is not limited to the semicircular shape, and the alignment claws 31 and 41 can be smoothly opened and closed. Any shape can be used as long as the shape can be obtained. (E) In FIG. 5, the two sets of movable rods 60A and 60B are 18
0 ° direction, that is, on a straight line, but 180 °
It is not limited to ゜, but can be arranged at any angle. (F) In FIG. 5, two sets of movable rods 60A and 60B and cylinders 70A and 70B are fixed to the rotating shaft 81, but three or more sets of movable rods and cylinders may be used. This may make it possible to perform the processing more continuously and quickly.

[0028]

As described above in detail, according to the first aspect, in order to open and close the adjusting claw by sliding the movable bar on which the electronic component is sucked in the axial direction, the movable bar is provided with the concave portion. Each of the position adjustment rods has a projection. Thus, since the position of the electronic component is adjusted in conjunction with the suction operation of the electronic component, there is an effect that accurate positioning can be performed by a simple operation. According to the second aspect of the invention, in order to open and close the adjusting claw by sliding the movable bar that has absorbed the electronic component in the axial direction, the movable bar is inclined and the position adjusting bar is provided with a convex portion. Thereby, in addition to the effect of the first invention, there is an effect that the impact given to the electronic component during the position adjustment is small. According to the third aspect of the present invention, the electronic component is brought into contact with the collet having the concave portion in the shape of a quadrangular pyramid, and the electronic component is sucked by the pad. There is an effect that the position can be adjusted. According to the fourth aspect, since the alignment block is provided for adjusting the position on the lower surface side by sucking the upper surface of the electronic component, for example, in the case of an IC or the like, the position can be adjusted with higher accuracy. This has the effect.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a main part of a positioning device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an example of a conventional positioning method.

FIG. 3 is a configuration diagram of a main part of a positioning device according to a second embodiment of the present invention.

FIG. 4 is a configuration diagram of a main part of a positioning device according to a third embodiment of the present invention.

FIG. 5 is a configuration diagram of a main part of a positioning device according to a fourth embodiment of the present invention.

[Explanation of symbols]

1 IC 10, 10A, 60A, 60B Movable rod 11, 11A, 61 Cylinder rod 12, 52, 62 Slide part 13, 23, 24, 53, 56, 63 Spring 14, 57, 64 Vacuum pad 15 Alignment closing part 20, 50, 70A, 70B Cylinder 21, 22 Pin 30, 40 Position Adjusting Rod 31, 41 Alignment Claw 32, 42 Cam Follower 50 Movable Arm 54 Shaft 80 Rotary Actuator 81 Rotary Axis 84 Alignment Block

Claims (4)

[Claims] 1. A positioning device for picking up an electronic component having a substantially rectangular parallelepiped outer shape by a movable arm and transferring the electronic component to a predetermined position, wherein the movable arm has a pad for adsorbing an upper surface of the electronic component at a tip end. And
A movable bar provided with a positioning concave portion in an intermediate portion; a holding portion for holding the movable bar slidably in the axial direction; and a holding portion provided at an equal distance across the axis of the movable bar. First and second rotating shafts, and third and fourth rotating shafts provided on the holding portion at equal distances across the axis of the movable rod and in a direction orthogonal to the first and second rotating shafts. A rotation axis of the first and second rotation axes, attached to the first and second rotation axes so as to draw an arc on a first plane including the axis of the movable rod, respectively, around the first and second rotation axes; First and second position adjustment rods having adjustment claws for adjusting the positions of the parallel first and second side surfaces of the electronic component, respectively; and the third and fourth rotation axes as a center. Each of which includes an axis of the movable rod and draws an arc on a second plane orthogonal to the first plane. Attached to said third and fourth rotating shaft, a third parallel of each of the electronic component at the tip portion
And third and fourth position adjusting rods having adjusting claws for adjusting the position of the fourth side surface, and facing the movable rod of each of the first, second, third and fourth position adjusting rods. The adjusting claws are respectively provided on the surfaces of the electronic component, and each of the adjusting claws is in contact with the concave portion of the movable bar as the movable bar slides.
A projection that adjusts the position of the electronic component by contacting the third and fourth side surfaces. 2. A positioning device for picking up an electronic component having a substantially rectangular parallelepiped outer shape by a movable arm and transferring the electronic component to a predetermined position, wherein the movable arm has a pad for adsorbing an upper surface of the electronic component at a tip end. And
A movable rod that is inclined so that the cross section gradually decreases from the intermediate portion toward the distal end, a holding portion that slidably holds the movable rod in its axial direction, and that sandwiches the axis of the movable rod. First and second rotating shafts provided on the holding portion at a distance, and the holding portion in the direction equidistant with respect to the axis of the movable rod and perpendicular to the first and second rotating shafts. The third and fourth rotation axes provided, and the first and second rotation axes are drawn on a first plane including the axis of the movable rod around the first and second rotation axes, respectively. First and second position adjusting rods attached to the rotating shaft of the electronic component and having adjusting claws at their distal ends for adjusting the positions of the parallel first and second side surfaces of the electronic component, respectively; Each including an axis of the movable rod about a fourth rotation axis, and orthogonal to the first plane; Attached to said third and fourth rotary shaft so as to draw a circular arc on the second plane, the third parallel of each of the electronic component at the tip portion
And third and fourth position adjusting rods having adjusting claws for adjusting the position of the fourth side surface, and facing the movable rod of each of the first, second, third and fourth position adjusting rods. And each of the adjusting claws is brought into contact with the first, second, third and fourth side surfaces of the electronic component when the movable bar slides to a predetermined position. A projection that adjusts the position of the electronic component by being in contact with the electronic component. 3. A positioning device for picking up an electronic component having a substantially rectangular parallelepiped outer shape by a movable arm and transferring the electronic component to a predetermined position, wherein the movable arm has a pad at a tip end for adsorbing an upper surface of the electronic component. A movable rod, a holding portion that slidably holds the movable rod in an axial direction thereof, and a through hole that is attached to the holding portion and through which the movable rod passes, and the movable rod is slid by the holding portion. And a collet having a quadrangular pyramid-shaped recess for adjusting the position of the electronic component by bringing the four sides of the electronic component held by the pad into contact when moved. Positioning device. 4. A positioning device for picking up an electronic component having a substantially rectangular parallelepiped outer shape by a movable arm and transferring the electronic component to a predetermined position, wherein the movable arm has a pad for adsorbing an upper surface of the electronic component at a tip end. First and second movable rods, a first holding portion that holds the first movable rod slidably in the axial direction, and a second movable rod that is slidable in the axial direction. A second holding portion for holding, and fixing the first and second holding portions such that axes of the first and second movable rods constitute one plane;
A rotation mechanism for rotating the first and second holding parts on the plane about the intersection of the axes of the second and the movable rod; and a first and second movable provided on the rotation mechanism. A quadrangular pyramid-shaped recess for adjusting the position of the electronic component by abutting four sides of the electronic component held by the pad when a rod is slid by the first and second holding portions. And an alignment block having the following.