JPH1191965A - Handler mechanism to remove insertion of intervening paper - Google Patents

Abstract

PROBLEM TO BE SOLVED: To dissolve a problem that a large working space is needed, an installation constitution of an operation handler mechanism becomes bulky in an operation handler mechanism and a working speed is slow and the convenience of production through combination with other working process, is adverse because of a gantry motion. SOLUTION: A handler to operation an intervening paper intervened between works comprises an adsorbing holding part 6 to adsorb and hold the intervening paper; a support arm 4 to support the adsorbing holding part; and a drive mechanism 3 to drive the support arm. The drive mechanism forms a handler mechanism 1 to insert and remove an intervening paper comprising a first rotation part 3A; and a second rotation part 3B rotated in a direction orthogonal to the rotation direction of the support arm rotated by first rotation arm.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handler mechanism for inserting or removing a slip sheet between works when the works such as a printed circuit board are superimposed, and is particularly excellent in operability. And a handler for inserting and removing a slip sheet.

[0002]

2. Description of the Related Art Generally, a work such as a printed circuit board on which an electronic circuit is formed on the front surface, the back surface, or the front and back surfaces of a copper-clad laminate or the like by exposure work or the like is formed through a number of work steps. There is a case where the work is installed in a state of being overlapped in the middle of the process, and the next operation is started from the state in which the work is overlapped. Therefore, the work W and the work W are operated by the operation handler mechanism 50 as shown in FIG.
Inserting the interleaf P between
We are working on removing.

As shown in FIG. 6, the operation handler mechanism 50 includes a movable rail guide 5 provided over a predetermined length.
1 and a handler 52 that moves along the moving rail guide 51. The handler 52 includes a moving base end 53 that is supported and moved by the moving rail guide 51, a telescopic arm 54 provided below the moving base end 53, and a distal end of the telescopic arm 54. And a suction pad 56 provided via a holding portion 55.

Accordingly, when inserting the slip sheet P between the works W, first, one of the tables 61 is inserted.
The work W is placed on the other table 62, and the slip sheet P is placed on the other table 62. Then, the handler 52 moves the moving rail guide 5
1, the work W and the interleaf P are alternately moved to the center table 63 by the expansion and contraction operation of the extensible arm 54 and the suction operation of the suction pad 56. Are alternately stacked, and the interleaving paper P is inserted between the works W. When the interleaf P is to be removed from between the works W, the work W and the interleaf P are placed on the center table 63 in a stacked state, and the left and right tables 61 and 6 are placed.
2, the interleaving paper P is removed by the sorting by the operation handler mechanism 50.

[0005]

However, the conventional operation handler mechanism has the following problems.

In the operation handler mechanism, when performing an operation of holding and moving a work and an interleaf paper, it is necessary to take a certain work space to be large, and the installation configuration of the operation handler mechanism becomes large.

In the operation handler mechanism, when moving the work and the slip sheet, the operation speed is slow because of the gate-shaped operation, so that it is inconvenient when performing line production in combination with other operation processes. It is also conceivable to increase the working speed by providing two handlers on the moving rail guide. However, the handler still performs a gate-type operation, and it is necessary to secure a wide working space and the configuration becomes large. Was inconvenient.

In the operation handler mechanism, since the installation configuration becomes large, once the operation handler is installed, it is difficult to move the operation handler mechanism.
This is inconvenient when handling various types of workpieces, or when operating according to the size and number of each workpiece.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and does not require an operation space, has a compact configuration, has a high working speed, and has excellent operability. The purpose is to provide.

[0010]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is directed to a handler for operating a slip sheet interposed between works and a suction holding section for sucking and holding the slip sheet. A support arm that supports the suction holding unit, and a drive mechanism that drives the support arm, the drive mechanism includes a first rotation unit that rotates the support arm,
And a second turning portion that turns in a direction orthogonal to the turning direction of the support arm that is turned by the first turning portion.

A transport mechanism for transporting the workpiece to a predetermined position; a transport mechanism including a workpiece and an interleaf placement section disposed at one end of the transport section; A suction arm for sucking and holding the slip sheet; a support arm for supporting the suction holding portion; and a drive mechanism for driving the support arm, wherein the drive mechanism is a first rotating part for rotating the support arm. And an interleaf insertion / removal handler mechanism comprising: a second pivoting portion that pivots in a direction perpendicular to the pivoting direction of the support arm that is pivoted by the first pivoting portion.

[0012] Further, a transport section for transporting the work to a predetermined position, a placement section for placing the work and the interleaf placed on one end side of the transport section in an overlapping manner, and a work or an interleaf for the placement section. A conveyance mechanism having a discrimination sensor for discriminating, a suction holding unit for sucking the slip sheet determined as the slip sheet by the discrimination sensor, a support arm for supporting the suction holding unit, and a drive for driving the support arm A driving mechanism, wherein the driving mechanism is configured to rotate a support arm,
A second rotation unit configured to rotate in a direction orthogonal to the rotation direction of the support arm rotated by the rotation unit may be configured as a slip sheet insertion and removal handler mechanism.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing the entire handler mechanism, FIG. 2 is a perspective view showing a main part of the handler mechanism, FIG. 3 is a side view showing an operation state of the handler mechanism, and FIG. 5A and 5B.
(C) is a principle view showing an operating state of the handler mechanism.

As shown in FIGS. 1 and 2, a handler mechanism 1 for operating a slip sheet P interposed between works W is provided at a predetermined position of a transport mechanism 10 and includes a drive motor and the like. A drive mechanism 3 having a drive unit 2, a support arm 4 operated by the drive mechanism 3, a support elevating unit 5 provided on the tip side of the support arm 4, and a suction holding unit 6 provided on the support elevating unit 5 It is composed of

As shown in FIG. 2, the driving mechanism 3 includes a first rotating portion 3A for rotating the supporting arm 4 in a vertical direction,
A second rotating portion 3B for rotating the support arm 4 in a direction orthogonal to the rotation direction of the first rotating portion 3A.

As shown in FIG. 2, the first rotating section 3A comprises a driving section 2 and a rotating shaft 3a supported by a rotating supporting section 3b. The second rotating portion 3B includes a first gear 3d that is freely rotatably fitted to the rotating shaft 3a, a cylinder portion 3c that rotates the first gear 3d by a predetermined angle at a predetermined timing, And a second gear 3e that meshes with the first gear 3d. Note that FIG.
In this embodiment, the first gear 3d and the second gear 3e are bevel gears, and the rotation shaft 3a and the support arm 4 are arranged so as to be orthogonal to each other.

As shown in FIG. 2, one end of a mounting member 4a is fixedly provided at a predetermined position of the rotating shaft 3a. The mounting member 4a rotatably supports the support arm 4, and the second gear 3e is fixedly provided on the base end side of the support arm 4.

As shown in FIGS. 2 and 3, a support elevating unit 5 is provided at the tip end of the support arm 4, and the support elevating unit 5 connects the mounting plate 5b to the cylinder unit 5a.
To be able to move up and down freely. And the mounting plate 5
b has suction holding portions 6 provided at both end sides thereof via support plates 5c, 5c, respectively.

As shown in FIGS. 2 and 3, the suction holding section 6 is provided with a suction pad 6a which comes into contact with and suctions the interleaf paper P.
And the suction hose 6c while supporting the suction pad.
And a hose connection part 6b for connecting the two.

Next, as shown in FIGS. 1 and 4, the structure of the transport mechanism 10 will be described. The transport mechanism 10 includes a mounting portion 13 on which the work W or the slip sheet P is mounted on one end side.
And a work W provided near the mounting portion 13
Mechanism 14 for separating the work W and the interleaf P
, A transport roller 11 that transports the work W to a predetermined position, a delivery unit 12 that delivers the work to the transport roller 11, and the like.

The separating mechanism 14 sprays nozzles 14a and 14a for forcibly separating the work W and the interleaf P, and inclines only the work W separated from the interleaf P by the spray nozzles 14a and 14a. It is composed of a delivery arm 14b having a rotating roller at the tip to be made. And
The delivery part 12 has a holding claw 12 for the workpiece W on its base end side.
a, 12a, rises at a predetermined angle from a horizontal position by a rotating mechanism (not shown), receives the work W, and returns the work W to the transport roller 1 by returning to the horizontal state again.
Handed over to one side. Therefore, when the delivery unit 12 is in the horizontal state, it is located at a position lower than the upper end of the transport roller 11.

The placing section 13 has a structure in which the front of the placed work W or the slip sheet P can always be arranged at a predetermined position by a driving section and a sensor (not shown).

Therefore, when the slip sheet P is interposed between the works W and the slip sheet P is removed, the following procedure is performed. First, as shown in FIG.
The work W and the interleaf P are stacked and placed on the receiver 13 in a stacked state.

Then, as shown in FIG.
5, the work of discriminating the work W or the interleaf P is performed. For example, when it is determined that the one at the forefront position is the interleaf P, FIG.
As shown in (a), the drive unit 2 of the drive mechanism 3 operates the support arm 4 from the position of the virtual line to the position of the solid line. At this time, as shown in FIG. 3, the rotating shaft 3a of the first rotating portion 3A
Is rotated by a predetermined angle, the cylinder portion 3 of the second rotating portion 3B is rotated.
c operates to rotate the first gear 3d by a predetermined angle, and to rotate the second gear 3e meshing with the first gear 3d.
Then, as a result, the support arm 4 is moved to the first rotating portion 3A.
Is rotated 90 degrees in a direction perpendicular to the direction of rotation of the suction holding section 6, and the direction of the suction holding section 6 is changed from the horizontal position to the vertical position.

As shown in FIGS. 5 (a) and 5 (b), when the suction pad 6a of the suction holding section 6 comes into contact with the slip sheet P, a suction operation is performed and the suction holding section 6 sucks and holds the slip sheet P. Then, the first rotating portion 3A and the second rotating portion 3B of the drive mechanism 3 shown in FIG. 3 are operated again to rotate the support arm 4 by 90 degrees in the vertical direction, and orthogonal to the rotation in the vertical direction. 5A, the suction holding unit 6 moves from the position indicated by the solid line in FIG. 5A to the position indicated by the solid line in FIG.

Next, as shown in FIG. 5C, the slip sheet P held by the suction holding section 6 is lowered by the operation of the cylinder section 5a of the support elevating section 5, and the suction of the suction holding section 6 is stopped. The interleaf paper P is stopped and placed on the table 20.

On the other hand, when the support arm 4 moves the slip sheet P, as shown in FIG. 4 and FIG.
The work W is located at the forefront position of the mounting portion 13. When the discrimination sensor 15 confirms that the work W is the work W, the spray nozzles 14 a and 1
4A, the work W is separated from the interleaving paper P located next, and the delivery arm 14b having a rotating roller at the leading end side projects between the work W and the interleaving paper P from below. The work W is forcibly sent forward.

As shown in FIG. 4, when the separating mechanism 14 is operated, the delivery section 12 is started up by a rotating mechanism (not shown), receives the work W sent out by the delivery arm 14b, and receives the work W. When the workpiece 12 returns to the horizontal state again, the workpiece W is delivered from the delivery unit 12 to the transport roller 11, and the workpiece W is transported by the transport roller 11.

The other end of the transfer mechanism 10 is originally connected to another work step or arranged so as to be moved to the next work step by a handler. A work table is shown at the moving end of the roller 11, and a connection mechanism for the next process is omitted.

Next, the slip sheet P is located at the foremost position of the placing section 13, and the suction holding section 6 which has released the slip sheet P on the table 20 side has the cylinder section 5a contracted. The support arm 4 is rotated by the drive mechanism 3 and the suction holding unit 6 arrives again at the position of the slip sheet P. Thereafter, the operation already described with reference to FIGS. Can be removed. Since the removal of the interleaf P can be performed with four to six or more tacts per minute, the removal of the interleaf P can be performed in the line process without hindering the formation of the printed circuit board. It can be performed.

On the other hand, the operation of inserting the slip sheet P between the works W is performed in the following steps. That is, as shown in FIG. 1, the work is sent out from the other end of the transport mechanism 10 to the mounting portion 13 at regular intervals, and one end of the work W contacts the mounting portion 13 or holds the delivery portion 12. Nails 12a, 1
When it exceeds 2a, the delivery unit 12 is started up, and the work W is placed on the placement unit 13 in a state where it is started up.

When the work W is placed on the placement section 12, the suction holding section 6 sucks and holds the work W from the table 20 on which the slip sheet P is placed. The support arm 4 is rotated by the two rotation units 3B, and the interleaving paper P, which has been in the horizontal state, is turned in the vertical direction and is mounted on the mounting unit 13. When the support arm 4 is rotated by the drive mechanism 3 again after the suction holding unit 6 releases the slip sheet P, the transport roller 1
The work W is conveyed from the other end side of the work 1, is raised on the placement unit 13 by the delivery unit 12, is placed on the placement unit 13, and is set next to the slip sheet P. By repeating these actions,
The work W and the interleaf paper P are alternately placed on the receiver 13, and the interleaf paper P
Can be interposed between the works W.

In the above description, a configuration in which one handler mechanism is used has been described. However, the handler mechanisms are arranged on the left and right sides, and the operation of the slip sheet on the mounting portion of the transport mechanism is performed using both handler mechanisms. The configuration may be performed.

When the configuration is such that the handler mechanisms are arranged on the left and right, one of the handler mechanisms is used for the operation of the work.
It is also possible to adopt a configuration in which the other handler mechanism is used for the operation of the slip sheet. Therefore, when the handler mechanism is provided on the left and right, the transport mechanism is provided at a position corresponding to the handler mechanism. Regarding the placement direction of the work and the slip sheet, both the placement position and the removal position may be placed in a horizontal state, or both may be placed upright.

The mounting plate 5b and the supporting plate 5c each have a slide groove, and the mounting plate 5b supports the support 5c at a predetermined position of the slide groove. When the suction holding unit 6 is supported at a predetermined position of the slide groove, the suction operation can be performed appropriately in accordance with the size of the work W or the slip sheet P.

[0036]

Since the present invention is configured as described above, it has the following excellent effects. The handler mechanism rotates the support arm by the first rotating unit and the second rotating unit, and moves the interleaving paper held by the suction holding unit by rotating it by 90 degrees. When there is an interleaving sheet, the interleaving sheet can be removed by one operation of rotating the supporting arm from one position to another position, so that the operability is excellent and the configuration of the apparatus can be made compact. Also, when interleaving paper is interposed between works, the operability is similarly excellent.

In the handler mechanism, a driving mechanism is constituted by a first rotating unit and a second rotating unit, and rotates the support arm in a vertical direction and in a direction orthogonal to the vertical rotating direction. Due to the rotation, the operation range is small, and the slip sheet held by the suction holding section can be moved reliably and quickly. In addition, since the handler mechanism can be made compact, even if the handler mechanism is once installed, its position can be easily moved.

The handler mechanism is provided with a transport mechanism, so that it can be easily incorporated into a work line for forming a work such as a printed circuit board.
Since the operation of inserting or removing the slip sheet can be performed by one operation from one position of the support arm to another position, the operation can be performed without obstructing the flow of the work line forming the work.

The handler mechanism is provided with a transport mechanism, and the transport mechanism is provided with a determination sensor or the like for judging the work and the interleaf. Therefore, the interleaf is inserted between the works or the work is inserted between the works. The work for removing the slip sheet can be performed accurately, and the work for inserting and removing the slip sheet can be performed quickly.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an entire handler mechanism of the present invention.

FIG. 2 is a perspective view showing a main part of the handler mechanism of the present invention.

FIG. 3 is a side view showing an operation state of the handler mechanism of the present invention.

FIG. 4 is a perspective view showing a main part of a transport mechanism of the handler mechanism of the present invention.

FIG. 5 is a principle view showing an operation state of the handler mechanism of the present invention.

FIG. 6 is a front view showing a main part of a conventional operation handler mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Handler mechanism 2 Drive part 3 Drive mechanism 3A 1st rotation part 3B 2nd rotation part 3a Rotation shaft 3b Rotation support part 3c Cylinder part 3d 1st gear 3e 2nd gear 4 Support arm 4a Attachment member 5 Support elevation Part 5a Cylinder part 5b Mounting plate 5c Support plate 6 Suction holding part 6a Suction pad 6b Hose connection part 6c Suction hose 10 Drive mechanism 11 Transport roller 12 Delivery part 12a Holding claw 13 Placement part 14 Separation mechanism 14a Spray nozzle 14b Delivery arm 15 Discrimination sensor 20 table

Claims (3)

[Claims] 1. A handler for operating a slip sheet to be interposed between works, comprising: a suction holding section for sucking and holding the slip sheet; a support arm for supporting the suction holding section; A driving mechanism for driving, the driving mechanism comprises: a first rotating part for rotating a support arm; and a driving mechanism in a direction orthogonal to a rotating direction of the support arm rotated by the first rotating part. And a second turning portion for turning the slip sheet. A transport mechanism for transporting the workpiece to a predetermined position; a transport mechanism including a workpiece and an interleaf placement section disposed at one end of the transport section; and a transport mechanism arriving at the location of the placement section. A suction arm for sucking and holding the slip sheet; a support arm for supporting the suction holding portion; and a drive mechanism for driving the support arm, wherein the drive mechanism is a first rotating part for rotating the support arm. And a second turning unit that turns in a direction perpendicular to the turning direction of the support arm that is turned by the first turning unit. 3. A transport section for transporting a work to a predetermined position, a placement section for placing a work and an interleaf placed on one end side of the transport section in an overlapping manner, and a work or an interleaf of the placement section. A conveyance mechanism having a discrimination sensor for discriminating, a suction holding unit for sucking the slip sheet determined as the slip sheet by the discrimination sensor, a support arm for supporting the suction holding unit, and a drive for driving the support arm A driving mechanism, wherein the driving mechanism comprises:
Inserting and removing a slip sheet, comprising: a first rotating portion for rotating a support arm; and a second rotating portion for rotating the support arm in a direction orthogonal to a rotating direction of the first rotating portion. Handler mechanism.