JPS60242990A - Article shifter - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an apparatus for transferring articles such as electronic components using a chuck.

Conventional configurations and their problems In general, devices that transfer articles by applying a vacuum suction nozzle to the top of the article and suctioning the article cannot suction the center part of the article if the dimensions of the article vary; , The accuracy of the transfer position is poor due to play in the article supply device.

Therefore, as shown in Figure 18, we have created a wedge-shaped frame 1.
Then, when the spring 3 biases the pair of pawl rods 2 and 2' to draw them together, when the article A is held between the pawl rods 2 and 2 and the top 1 is driven downward, the pawl rod 2 , 2' are pushed open to release the article A, but in this device, when the article A is held, one of the pawl rods 2' tilts, causing the pressing surface of the piece 1 to be released. 1a comes into contact with the pressure receiving part 2a of one of the pawl rods 2, and even with a slight downward movement shorter than the normal stroke, the pawl rod 2 opens and the article A falls off, making it difficult to automatically assemble the article through normal article movement. This is particularly inconvenient when operating at high speeds.

Furthermore, as shown in FIG. 18, when the feeding device rotates with the rotational axis and the center of the article misaligned, the direction of the variation changes, and the direction of deviation changes depending on the rotation angle. For this reason, there is a problem in that, especially when accuracy in a certain direction is severe, it is difficult to rotate and feed at an arbitrary angle.

OBJECTS OF THE INVENTION The present invention has been made in consideration of the above-mentioned conventional problems, and an object of the present invention is to provide a highly versatile and highly accurate article transfer device that can sufficiently absorb variations in the dimensions of articles.

Structure of the Invention In order to achieve the above object, the present invention provides a rotary drive motor and an article rotatable at any angle by the rotary drive motor. A pair of claws that adjust the position from the 1l-2 direction and a cylindrical slider that is slidably mounted are provided so as to be slidable, and when the acting force is reduced due to the sliding, the mold is closed. , the article transfer device is constructed of a mechanism having a ring that allows the claws to open and close while independently engaging each other, and a ring that regulates the article, and that regulates the article that the claws grasp when closing. This allows the transfer of goods by securely gripping them.

DESCRIPTION OF THE EMBODIMENTS An embodiment of the present invention will be described below with reference to the attached FIGS. 1 to 17.

1 and 2 are a plan view and a front view, respectively, of the device of the present invention, and FIGS. 3 and 5 are a cross-sectional view of the Mu person in FIG. 1 with the claws closed, and a cross-sectional view taken along B-B FIG. 4 is an enlarged view of FIG. 3. First, the mechanism will be explained with reference to the above drawings.

In the figure, a housing 6 is fixed to a base 4, and a cylindrical portion of a holder 7 is inserted into the inner peripheral portion of the housing 6, and the holder 7 is rotatably provided via a bearing 6. The holder 7 holds the housing 5 , the bearings 8 and 9 provided at the upper and lower parts of the housing 6 , and the timing boot IJ 10 provided at the upper part of the bearing 9 through its base and the nut 11 . It's tightening. The trench holder 7 and the timing pulley 10 are fixed with set screws, so that the rotation of the timing pulley 1o is controlled by the holder 7.
transmitted to.

The timing pulley 10 is rotationally driven by a motor 60 fixed to a placket 61 via a timing belt 62 and another timing pulley (not shown).

Note that the accuracy of the output angle (output angle unit) can be arbitrarily set by the pulley ratio of the two timing pulleys.

Bearing metals 12 and 13 are installed inside the cylindrical portion of the holder 7.
A cylindrical shaft 14 is attached to the upper part of the shaft 14 so as to be slidable in the vertical direction.
A grooved cam 16 is attached, and the vertical sliding movement of the grooved cam 15 is transmitted to the shaft 14. A rotary joint 16 is attached to the upper part of the grooved cam 16 as a joint to the vacuum pump. Although this rotary joint 16 does not rotate, it slides up and down together with the shaft 14.

On the other hand, a joint 17 is fixed to the lower end of the shaft 14, and a cylindrical shaft 18 is fitted into this joint 17. A nozzle 19 is fitted into the tip of this shaft 18, and the shaft 18 and Each nozzle 19 is slidable along the shaft 14. the rotary joint 16, the shaft 14,
Vacuum pressure is applied to the nozzle 19 through the joint 17 and the shaft 18, and a compression spring 20 and a spacer 21 are attached inside the joint 17.

A key 22 is attached to the lower part of the base of the holder 7, and rotation is transmitted to the shaft 14 by the key 22 and the keyway 14a of the shaft 14. Furthermore, a flange 23 is attached to the lower outer periphery of the base of the holder 7, and a cylinder 24 is attached to the lower part of the flange 23, and the flange 23 and cylinder 24 rotate together with the holder 7. Inside the cylinder 24 is the cylinder 2.
A pair of claws 27, 27 are provided via a pair of pins 25 and 26 provided on both sides of 4 (see FIG. 5), and a pair of claws 30, 30 are provided via a pair of pins 28 and 29.
is installed. (See Figure 4) The pair of claws 27
．． 27Fi, it is installed in a position rotated 90' on the horizontal plane with a pair of claws 30°3o so that it fits exactly inside the mold 30°3o, and claws 27.27 and 30.30 rotate with the cylinder 24. .

On the other hand, inside the cylinder 24, a cylindrical slider 31 is provided.
is provided so as to be slidable and rotatable together with the cylinder 24. At the bottom of the cylindrical slider 31,
A disk cam 32 is fixed. Inside the cylindrical slider 31, rings 33 and 34 for opening and closing the claws 27.27 and 30.30 are slidably attached. A ring 35 is attached to the top of the cylindrical slider 31. The cylindrical slider 31 has compression springs 36 and 37 inside, and the compression spring 36 is connected to the ring 33.
In addition, the compression springs 37 apply a downward force to the ring 34, respectively.

A pair of pawls 27, 27 are connected by fasteners 38, 39, 40, 41 and tension springs 42, 43, as shown in FIG. , 46, 47 and tension springs 48, 49, an acting force is always applied to the open side (in the direction in which the pair of claws 27, 27, 30, 30 are separated).

Among the parts used in this device, all rotating parts other than the spacer 21, disc chrome 32, and all springs have high concentricity, so the center of the pair of claws 27 and 30 and the axis of the nozzle 19 There is almost no deviation from the core.

Next, the operation will be explained. Bracket 60 in Figure 2
The operation of the cylinder 51 attached to the joint 5
2. It is transmitted to the disc cam 32 via the links 63 and 64 and the cam follower 55, and the disc cam 32 slides up and down.

Figure 6 shows the state in which the disc cam 32 has risen to its maximum limit.
It is shown in FIG. FIG. 6 is a view of the pair of pawls 30, 30, and FIG. 7 is a view of the pair of pawls 27, 27. In this state, the pair of claws 27, 2 and 30 are open. From this state, as the grooved cam 15 (FIG. 3) descends, the shaft 14, joint 17, shaft 18, nozzle 19, compression spring 20, and spacer 21 descend. The operation of the nozzle 19 at this time is shown in FIGS. 10 and 11. First, in FIG. 10, the claw 27. ．． 27 and 30. With 30 open, shaft 14. Joint 17, shaft 18. Compression spring 20. The nozzle 19 descends together with the spacer 21 in the direction indicated by the arrow, and contacts the electronic component 56 at position B to attract it. At this time, since the moving distance of the nozzle 19 is a constant distance, due to variations in the thickness of the electronic component 56, the electronic component 56 may
6 and try to descend again. In this case, pressure is applied to the electronic component 66, causing cracking, deformation, and the like.

In order to prevent this, a compression spring 20 is provided, and its deflection causes the escape. The first example shows this situation.
This is Figure 2. When the nozzle 19 is in contact with the electronic component 56 at the B position and the nozzle 19 is further lowered, the shaft 18.
With the nozzle 19 still in position, the shaft 14. Joint 17° spacer 21 T pupil I11: The condition of the bulge 20 being soaked is shown in 2 in FIG.

When the suction of the electronic component is completed, the nozzle 19Fi rises to the original position as the grooved cam 15 rises while keeping the electronic component suctioned. Subsequently, the disc cam 32 descends and the claw 2 is closed.
27 and 30.30 are closed and the electronic components are adjusted. Figure 9 shows this situation.

It is shown in FIG. In FIG. 9, when the disc cam 32 descends, the cylindrical slider 31 and ring 35 descend. Accordingly, the rings 33 and 34 and the compression springs 36 and 37 are lowered, and the claws 27, 27 and 30 are lowered.
, 3of push toward the closing side. Ring 33 is claw 27.27
'i, the ring 34 opens and closes the pawl 30.30. Nail 27.
The opening/closing timing and operation of the rings 27, 3o, and 30 can be freely changed depending on the vertical distance between the rings 33 and 34, and the position or shape of the projections of the claws 27, 27, or 30, 30. That is, pawl 27, 27 and pawl 3.
0.30 operations can be performed independently.

Due to the power of the dimensions of the electronic component 56, the electronic component 66 was pulled into the claw 27.
27 or the pawls 30 and 30 are adjusted, the compression spring 36 or the compression spring 37 is deflected, and the ring 33 or the ring 34 is moved down the cylindrical slider 3 as shown in FIG.
Stop at the bottom and capacity of 1.

When the adjustment of the electronic components is completed, the motor 60 is driven,
The timing belt 62 rotates the timing pulley 1o, which is transmitted to the pawls 27, 27, 30°, and nozzle 19, thereby rotating the electronic components.

At this time, the center of rotation of the electronic component and the center of rotation of the supply device (chuck) already coincide with each other with high precision, so that variations due to rotation do not occur.

The disc 32 then rises and the pawls 27, 27 and 30
．． 30 is opened and the electronic component 56 is released.

Thereafter, the nozzle 19 is lowered by lowering the grooved cam 15, and the electronic component 56 is correctly transferred to the transfer position.

Air is injected from the nozzle 19 at the moment the electronic component leaves the nozzle 19. Subsequently, the nozzle 19 rises to its original position, completing one cycle of operation.

As is clear from the above explanation, in this device, the claws 27°27
30. When 30 is closed, that is, when the rings 33 and 34 are lowered, the acting force increases, but the electronic components are adjusted at this time, so even if vibrations or shocks occur due to the force, the electronic components will not be adjusted. It will not fall off due to the nozzle.

Effects of the Invention When this device is used, even if the suction position of the electronic component deviates from the axis of the nozzle, the position can be corrected to the axis of the nozzle using the claw. The process is shown in FIGS. 13 and 16.

As shown in FIG. 13, if the axis 0 of the nozzle 19 and the electronic component Q are misaligned, first remove the electronic component 56 with the claw 3o.
Regulations will begin.

The deviation between the center of the claw 30 and the axis of the nozzle 19 is φ
Therefore, as shown in Figure 14, the center Q of the electronic component
is moved to the H position and the position is corrected in the X direction.As shown in FIG. 14, adjustment in the Y direction begins with the pawls 27 and 27.

It is thought that the center of the claws 27, 27 and the axis of the nozzle 19 coincide, so when the adjustment is completed, the center of the electronic component 56 is moved from R to the 0 position, and correction is made in the Y direction. .

As a result, the axis of the nozzle 9 and the center of the electronic component coincide. Even if the electronic component is slightly misaligned with the axis of the nozzle during suction, the claws will correct it, greatly increasing the accuracy of the transfer position.

In addition, since the position is adjusted before rotation, positional deviation after rotation is eliminated, and it is now possible to rotate and supply at any angle. In addition, since adjustment is performed using claws, it has excellent performance against vibration, shock, and inertial force.

Furthermore, the timing and operation of the adjustment start of the pawls 27.27 and 30.30 depend on the positional relationship between the ring 33 and the protrusions of the pawls 27 and 27, or between the ring 34 and the protrusions of the pawls 30 and 30, and the shape of the protrusions. Now you can change it freely.

[Brief explanation of drawings]

Fig. 1 is a plan view of an embodiment of the present invention, Fig. 2 is a front view, Fig. 3 is a sectional view along line AA in Fig. 1, Fig. 4 is a partially enlarged view of Fig. 3, and Fig. 6 1 is a partially enlarged view of the BB section in FIG. 1, and FIGS. 3, 4, and 5 show the claws in a closed state without electronic components. 6 shows the claw in FIG. 4 in an open state, and FIG. 7 shows the claw in FIG. 5 in an open state. FIG. 8 is a partially enlarged view showing a state in which the nozzle attracts an electronic component and rises. FIG. 9 is a partially enlarged view showing a state in which the claws are closed from the state shown in FIG. 8 to adjust electronic components. 1o and 11 are partially enlarged views for explaining the operation of the nozzle. 1st
2, FIG. 13, FIG. 14, and FIG. 16 are drawings showing the process of adjusting the position of electronic components, and are drawings seen from below of the apparatus. FIGS. 16 and 17 are perspective views of the claws used in this device. FIG. 18 is an explanatory diagram of the mechanism of the conventional device. 4...Base, 5...Housing, 6
...Bearing, 7...Holder, 8.
...Bearing, 9 ...Bearing, 10
...Timing pulley, 11...Nand, 12...Bearing metal, 13...Bearing metal, 14...Shaft, 16... ...
Groove cam, 16...Rotary joint, 17.
...Joint, 18...Shaft, 1
9... Nozzle, 20... Compression spring, 21
...Spacer, 22...Key, 23
...Flange, 24...Cylinder,
26...Bin, 26...Bin, 27...
・Claw, 28...Bin, 29...Bin, 30...
... Claw, 31 ... Cylindrical slider, 32.
...Disc cam, 33...Ring, 3
4...Ring, 35...Ring, 36...
...Compression spring, 37...Compression spring, 38
...Zipper, 39...Zipper,
40...Zipper, 41...Zipper, 4.2...Tension spring, 43...Tension spring, 44...Zipper, 45... ...Fast f-146...Zipper, 47...
...Zipper, 48...Tension spring, 49...
...Tension spring, 50...Bracket, 51
・・・・・・-Cylinder, 52...Joint, 53
・・・・・・Link, 64・・・Link, 55・
...Cam follower, 66...Electronic parts,
67...Rubber ring, 68...Pace, 69...Y rut, P...Bin, 6o
...Motor, 61...Placket,
62... Timing pulley g Name of agent Patent attorney Satoshi Nakao and one other person Figure 1 @ Figure 2 ■', 5゜3 δq46' 50 2ゝ~ , / S \7' \ ゝ\ \\ I / \ 1- 1 1 I! 2 \ / - '5352 δ1 ff ~ ・-m- ', 54 2 ! @3 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 4 Figure 10 Figure 11 Figure 14 Figure 12" (2+ Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18

Claims (1)

[Claims] A rotary drive motor, a pair of claws that are rotatably provided on the rotary drive motor at any angle and position the article from two directions, a cylindrical slider that is slidably attached, and the cylindrical slider. a ring that is slidably provided inside the ring and that closes the claw when the applied force decreases due to the sliding, and adjusts the article by opening and closing the claws while engaging each other independently; An article transfer device consisting of a mechanism.