JPS61121892A - Part chucking mechanism - 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 a novel component chuck mechanism. For more information,
This relates to a component chuck mechanism that presses and holds one end of a component from both sides using a chuck arm that is opened and closed by an air cylinder, without moving the chuck arm in the anti-suppressing direction, that is, in the direction away from the component. By making it possible to separate the parts, for example, it is possible to increase the mounting density of the parts of equipment assembled using this type of part chuck mechanism, and also to reduce the size of the equipment. It is an object of the present invention to provide a new parts chuck mechanism that is capable of increasing the operating speed without fear of damaging surrounding parts when performing a predetermined operation such as assembly.

Prior art Fig. 12 shows an example of a conventional component chuck mechanism. In Fig. 0, al and a2 are chuck arms (only the tips are shown in the drawing), and the chuck arms a1 and a
The parts 2 are supported by the main body of the mechanism so that they can be opened and closed relative to each other, that is, so that they can be moved in directions facing each other, and are opened and closed by an air cylinder. Moreover, b is an electronic component held by the component chuck mechanism.

Therefore, the operation of holding the electronic components, ie.

With the chuck arms a1 and a2 at the position where the separation distance between them is the longest (hereinafter referred to as the "standby position"), the chuck holds the electronic component as shown by the solid line in Figure 812. This is done by positioning one end of the chuck arm so as to sandwich it from both sides, and then moving the chuck arms a1 and a2 closer to each other. As a result, as shown by the two-dot chain line in FIG. 12, one end of the electronic component is pressed from both sides by the chuck arms a1 and a2, so the electronic component is held by the chuck arms a1 and a2. .

Then, the operation of releasing the electronic components held as described above, that is, unchucking, is performed by moving the chuck arms a1 and a2 to the standby position,
As a result, the pressure on the electronic component is released.

Problems to be Solved by the Invention The chucking and unchucking of components by the component chucking mechanism shown in FIG. 12 is performed as described above. When parts of a device are integrated, there is a large amount of space for assembly in the mechanical and circuit parts of the electronic device, which is dead space for the electronic device, making it difficult to increase the density of component mounting. The problem is that it can't be done.

That is, according to such a component chuck mechanism, when unchucking a held component, the chuck arms a1 and &2 are in a state where the held component is inserted into a predetermined position of a circuit section, etc. in the electronic device. Since the chuck arms a1 and a2 are moved from the position to the standby position, normally it is not possible to place a component within the movement range of the chuck arms a1 and a2 when they are unchucked. Therefore, this amount becomes dead space. The size of this dead space is, for example, the width W of chuck arms a1 and a2 in FIG.
The area is twice the area multiplied by the moving layer #L of the chuck arms a1 and a2.

If it becomes impossible to increase the mounting density of components in this way, there will eventually be restrictions on miniaturization of devices.

Furthermore, if a component chuck mechanism as shown in FIG. 12 is used to assemble components, the chuck arms a1 and a2 may collide with surrounding components during unchucking, causing damage to these components. Alternatively, there is a risk that the chuck arms a1 and a2 themselves may be damaged.

According to such a component chuck mechanism, within a predetermined unit operation time, that is, the operation time from holding a component to placing the component in a predetermined position and returning to the position where the next component is to be held. must include the time required to move the chuck arms a1 and a2 from the position where they hold the part to the standby position in order to perform unchucking. Therefore, the transition to the next chuck operation is delayed by that amount. , there are problems such as increased loss time.

In addition, chuck arms a1 and a during unchucking
The time required for the part 2 to be moved from the position holding the part to the standby position varies depending on the length of the above-mentioned movement distance, and this movement distance is determined by pressing from both sides by the chuck arms a1 and a2 of the part. The shorter the width in the direction shown, the longer the width. Therefore, the time loss mentioned above is saved.

The shorter the width of the part you hold in the direction mentioned above, the longer it will be.

By the way, in order to minimize the moving distance of the chuck arms a1 and a2 when unchucking, a motor is used as the driving means for opening and closing the chuck arms a1 and a2, and when performing anti-securing, it is necessary to Regardless of the size, it may be possible to move the object a preset minimum necessary distance toward the standby position. In this way, the damage that occurs inside the equipment mentioned above can be avoided.
This allows you to minimize the storage space required.

However, if a motor is used as the driving means for opening and closing chuck arms a1 and a2, the overall shape of the component chuck mechanism becomes larger, the cost increases, and the speed of opening and closing of chuck arms al and a2 becomes slower. The problem arises.

Means for Solving the Problems Therefore, in order to solve the above-mentioned problems, the component chuck mechanism of the present invention has a chuck arm that is opened and closed by an air cylinder and holds one end of the component by pressing it from both sides. and pressure control means for returning the pressure inside the air cylinder to atmospheric pressure when releasing the component held by the chuck arm.

Therefore, according to the component chuck mechanism of the present invention, when performing an unchucking operation, the pressure on the component can be released almost instantly by returning the pressure in the air cylinder that opens and closes the chuck arm to atmospheric pressure. Therefore, the part can be unchucked without moving the chuck arm away from the part.

EXAMPLES Below, details of the component chuck mechanism of the present invention will be explained according to examples shown in the accompanying drawings. In the embodiment shown in the drawings, the component chucking mechanism of the present invention is applied to a component chucking mechanism mounted on an industrial robot.

First, an overview of the industrial robot 1 will be explained (see FIG. 2).

2 is the base of the industrial robot l. 3 is a first arm whose base end is rotatably supported by the base 2;
The l-arm 3 is configured to be rotated in the θ1 direction by a first arm drive section 6 comprising a motor 4 and a speed reduction mechanism 5 provided on the upper surface of the base 2. Further, 7 is a second arm whose base end is rotatably supported by the rotating tip of the first arm 3, and the second arm 7 is provided on the upper surface of the tip of the first arm 3. The arm is rotated in the 02 direction by a second arm drive section 10 comprising a motor 8 and a speed reducer 9.

Jl is a tool mounting shaft that is supported by the rotating tip of the second arm 7 so as to pass through it in the vertical direction and to be rotatable, and a component chuck mechanism, which will be described later, is mounted on the lower end of the tool mounting shaft. ing. Reference numeral 12 denotes a tool mounting shaft drive means provided on the upper surface near the tip of the second arm 7, and the tool mounting shaft drive means 12 is driven by a drive section (not shown).

Thus, the tool mounting shaft 11 is moved in the Z direction and rotated in the R direction at any time by the tool mounting shaft driving means 12.

Next, the component chuck mechanism 13 will be explained.

14 is a base of the component chuck mechanism 13. The base 14
The cross-sectional shape is in the front-rear direction (the direction diagonally downward to the left as shown in Figure 3 is the front, and the direction diagonally upward to the right is the rear. Also, the direction diagonally upward to the left in the figure is the left side). , the direction diagonally downward to the right is defined as the right side.In the following explanation, directions will be referred to in this direction. A coupling 15 is integrally formed, and is attached to the tool mounting shaft 11 by being tightened and fixed to the lower end of the tool mounting shaft. Reference numerals 16 and 16' denote guide plate mounting surfaces formed by shallowly cutting out a portion of both left and right side surfaces of the base rod 14 from a position a certain distance below the upper edge to the lower edge.

17.17' is an elevation guide plate (see Fig. 8) that guides the movement of the operating section in the vertical direction, which will be described later.The elevation guide plate 17.17' as a whole has a rectangular plate shape that is long in the downward direction of the road. By integrally forming engaging protrusions 17a, 17a and 17'a, 17'a bent at approximately right angles so as to protrude inwardly from both front and rear edges thereof, When viewed from above, it has a two-letter shape that is long in the front-back direction. Thus, the surfaces of the lifting guide plates 17, 17' facing each other are joined to the guide plate mounting surfaces 16, 16' formed on the base rod 14, and the engaging protrusions 17a, 17a and 17'a,
17'a is arranged so as to protrude from both rear sides of the base rod 14 to the outside of the tank.
It is fixed to the base rod 14.

18.1g' (see Figure 85) is an air cylinder hole formed in the lower part of the base rod 14 so as to be lined up in the front-back direction, and the axial direction of the air cylinder hole 18.18' is in the vertical direction. The base rod 14 has a lower end opened at the lower end surface of the base rod 14 . Reference numeral 19.19' denotes an actuating part elevating piston 19, !, which is slidably inserted into the F cylinder hole 18,18'. 9' is a gasket 20.20' formed in a substantially drum shape at a portion slightly downward from the upper end surface.
Plug body 21 is fixed in an externally fitting manner, and its lower end is fixed inwardly in the lower end of the air cylinder hole 18.18'.
．． It is inserted into the insertion hole 22.22' of 21'. still,
Although not shown in the drawings, there is an upper ventilation hole whose tip opens at the upper end of the inner circumferential surface of the air cylinder hole 18, 18' on both the front and rear sides of the base rod 14, and a plug on the inner circumferential surface. body 21.2
A lower ventilation hole is formed at a position corresponding to the upper end of the air conditioner, and an air hose connected to a high-pressure air generator is connected to the ventilation hole through a control valve (not shown). There is.

Therefore, the actuating part elevating piston 19.19' is pressed downward by being supplied with high pressure air from an upper vent hole (not shown) opened at the upper end of the air cylinder hole 18.18'. It is pushed upward by supplying high pressure air from the vent hole on the lower side. Incidentally, the movement of the actuating portion elevating pistons 19 and 19' in the vertical direction is controlled separately.

Reference numerals 23 and 24 are operating parts that are supported by the base rod 14 so as to be able to rise and fall and are equipped with a chuck arm, which will be described later, and an air cylinder that opens and closes the chuck arm. Located on both the left and right sides. Note that the left and right actuating parts 23 and 24 have the same structure, so the right actuating part 24 will be explained in detail, and each part of the left actuating part 23 will be explained in detail with respect to the right actuating part 2.
The explanation will be omitted by attaching the reference numerals appended with the symbol "r'" to the reference numerals attached to each part of 4.

Reference numeral 25 denotes an arm support block, and the arm support block 25 includes a top plate portion 26 that is substantially rectangular in the left-right direction when viewed from above, and protrudes downward from both front and rear ends of the top plate portion 26. , and the front and rear side walls 27 and 28, which are arranged to face each other substantially parallel in the front and back direction, are integrally formed to form a substantially mouth shape when viewed from the left and right. 29 is a piston insertion hole formed approximately in the center of the top plate portion 26. And both front and rear walls 27
．． A notch 30.30 is formed at the lower end of the inner surfaces of the walls 27.
Link support shafts 31.31 are attached to the front and rear walls 27.28 at the positions near the top plate 26 of 28, near both the left and right ends.
A rack is placed in between.

32 is a bottom plate (see FIGS. 7 and 8) attached to the lower surface of the arm support block 25.

The bottom plate 32 is formed to have approximately the same size as the outer shape of the lower end surface of the arm support block 25, and has a large opening 33 in the shape of a rectangle that is long in the left-right direction. A connecting piece 34 protruding from the front portion toward the left side is integrally formed.

The bottom plate 32' of the left operating section 23 has a shape that is symmetrical in the front-rear direction with the above-mentioned right bottom plate 32'.
(See ward).

Thus, the bottom plate 32 passes through the port insertion hole formed in the portion located in the front and rear direction between the opening 33 of the bottom plate 32 and into the screw hole formed in the lower end surface of the front and rear both walls 27 and 28 of the arm support block 25. Bolt 35.35 to be screwed together,
... is attached to the lower end surface of the arm support block 25, and the tip of the connecting piece 34 is connected to the lower end of the front actuating section lifting piston 19.

Note that the bottom plate 32' of the left operating section 23 is connected to its connecting piece 34'.
The distal end portion of the piston 19 is connected to the lower end portion of the rear operating portion elevating piston 19'.

Reference numerals 36 and 37 designate rotation links rotatably supported by the arm support block 25. The rotation link 36.37
are formed into a substantially inverted character shape, and are arranged symmetrically in the arm support block 25 so as to form a gate shape when viewed from the front and back directions, and the bending point position of each inverted character is the arm support block 25. The link support shaft 3 provided on the block 25
1.31 is rotatably supported. Upper pieces 36a and 37 of the one-turn links 36 and 37 extend in a substantially horizontal direction.
Upper engaging portions 38 and 38, which are approximately sideways U-shaped when viewed from the front and back direction, are formed at the tip of each of the lower pieces 36b and 37b, and each lower end portion of the lower pieces 36b and 37b extending approximately vertically. The lower engaging portion 39.3 has a substantially inverted U-shape when viewed from the front and back directions.
9 is formed.

40.41 is a chuck arm. The chuck arms 40, 41 have surfaces facing each other extending in a substantially vertical direction, and an upper end formed in a substantially inverted triangular shape.
Chuck pieces 40a and 41a are formed so that the plate thickness gradually increases toward the upper end, and the chuck pieces 40
a, 41 & 17) Mounting piece 4 bent twice at approximately right angles from the top end
0b and 41b are integrally formed to form a substantially inverted character shape when viewed from the front and rear directions.

The width of the mounting pieces 40b, 41b in the front-rear direction is approximately the same as the width of the opening 33 formed in the bottom plate 32 in the front-rear direction.

42.43 is a slider attached to the chuck arm 40.41. The slider 42, 43 is formed into a substantially U-shape when viewed from the left and right, and an engagement pin 44, 44 is provided between two side surfaces facing each other in the front and back direction.
However, the rack is provided in the form of a bridge, and shallow recesses 45, 45 are formed on its lower surface.

As shown in FIG. 6, the sliders 42, 43 have both front and rear ends formed by the notch 30, 30 formed in the arm support block 25 and the upper surface of the bottom plate 32 when viewed from the left and right. It is slidably engaged with a substantially U-shaped guide groove, and the lower engagement portion 39.39 of the rotation link 36.37 is engaged with the engagement pin 44.44. The chuck arm 40.41 has an upper end portion of the mounting pieces 40b, 41b attached to the slider 42.4.
3, and the mounting pieces 40b, 41b are fixed to the slider 42.43 with bolts, so that the slider 4
2.43 is integrally attached. Note that the lower portions of the mounting pieces 40b, 41b of the chuck arm 40.41 are positioned in the opening 33 formed in the bottom plate 32.

46 is a chuck air cylinder arranged on the upper surface of the arm support block 25. The chuck air cylinder 46 is formed into a substantially oval shape when viewed from above, and has a relatively large-diameter cylinder hole 47 whose lower end is opened on the lower surface of the chuck air cylinder 46 . The chuck air cylinder 46 is mounted on the upper surface of the arm support block 25 with the axis of the cylinder hole 47 coaxial with the piston insertion hole 29 formed in the top plate portion 26 of the arm support block 25. is fixed by bolts 48, 48, .

A chuck opening/closing piston 49 is slidably inserted into a cylinder hole 47 of the chuck air cylinder 46. The chuck opening/closing piston 49 has a substantially drum-shaped pad 50 fitted onto the outside of the chuck opening/closing piston 49 at a position slightly downward from its upper end surface, and its lower end is connected to the lower end of the cylinder hole 47. The piston insertion hole 29 formed in the arm support block 25 is passed through the insertion hole 52 of the plug body 51 fixed in an internally fitted manner to the piston insertion hole 29, and projects downward from the top plate portion 26 of the arm support block 25.
An engagement pin 53 extending in the front-rear direction is fixed to the lower end of the chuck opening/closing piston 49, and both front and rear ends of the engagement pin 53 are connected to the upper engagement portion 38.38 of the rotation link 36.37. is engaged with.

Reference numerals 54 and 55 (see FIG. 1) are ventilation holes (shown only in FIG. It is opened at the upper end of the circumferential surface, and the tip of the lower ventilation hole 55 is opened at a position corresponding to the small diameter upper end of the plug 51 on the inner peripheral surface of the cylinder hole 47,
One end of an air hose connected to a high-pressure air generator is connected to these vent holes 54 and 55 via a pressure control valve, which will be described later.

Although not shown, vent holes similar to the vent holes 54 and 55 formed in the right chuck air cylinder 46 are also formed in the outer peripheral wall of the left chuck air cylinder 46'. There is.

Therefore, the chuck opening/closing piston 49 is connected to the cylinder hole 4.
7 is pressed downward by supplying high-pressure air from the upper ventilation hole 54, and is pressed upward by supplying high-pressure air from the lower ventilation hole 55.

When the chuck opening/closing piston 49 is pressed upward, the engagement pin 53 provided at the lower end of the piston 49 presses the engagement portion 38.38 on the upper side of the rotation link 36.37 upward. , the left rotation link 36 is rotated counterclockwise in FIG. 4 about the portion supported by the left link support shaft 31, and the right rotation link 37 is rotated around the portion supported by the left link support shaft 31. It is rotated clockwise in the figure with the portion supported by the support shaft 31 as the rotation center. As a result, the sliders 42 and 43 are moved toward each other so as to shorten the distance between them, so that the chuck arm 40
．． 41 are moved toward each other (hereinafter, this direction will be referred to as the "chuck direction").

Furthermore, when the chuck opening/closing piston 49 is pressed downward, the engagement pin 53 presses the upper engagement portion 38.38 of the rotation link 36.37 downward, so the left rotation link 36 is rotated clockwise, and the right rotation link 37 is rotated counterclockwise. As a result, the sliders 42, 43 are moved in a direction away from each other so as to increase the distance between them, so that the chuck arms 40, 41 are moved away from each other (hereinafter, this direction is referred to as the "anti-chuck direction"). ).

Then, the chuck arm 40, 41 is moved to a position where the lower end surface of the gasket 50 fixed to the chuck opening/closing piston 49 comes into contact with the upper end surface of the stopper 51, as shown by the solid line in FIG. , the position where the distance between them is the longest (hereinafter, this position is referred to as the "standby position")
I'm starting to come here. In addition, chuck arm 40.4
1 is in the standby position, the distance between them is determined by one end of the plurality of types of components to be held by this component chuck mechanism 13, that is, by the chuck arm 40.41. The size of the largest portion is longer than the width of the one end.

56 is a component control air cylinder (see FIG. 4) whose front and rear sides are fixed to the front and rear walls 27 and 28 of the arm support block 25. 57 is a lower end surface of the component control air cylinder 56. A piston 58 for controlling parts is installed in the cylinder hole 57.
It is inserted and arranged so that it can slide freely. A gasket 59 is externally fixed to a portion slightly downward from the upper end surface of the component control piston 58, and its lower end is internally fixed to the lower end of the cylinder hole 57. It passes through the insertion hole 61 of the stopper 60 and the approximate center of the opening 33 formed in the bottom plate 32, and projects downward from the bottom plate 32.

Although not shown in the drawings, the outer circumferential wall of the component control air cylinder 56 has an upper vent hole, one end of which opens at the upper end of the inner circumferential surface of the cylinder hole 57, and one end of which opens into the upper end of the inner circumferential surface of the cylinder hole 57. A lower ventilation hole is formed at a position corresponding to the small-diameter upper end of the stopper 60 on the inner peripheral surface of the plug 57 . Therefore, the component control piston 58 is pushed downward by high pressure air being supplied to the cylinder hole 57 from an upper vent hole (not shown), and by high pressure air being supplied from a lower vent hole (not shown) to the cylinder hole 57. Pressed upward.

The component control piston 58 controls the posture of the component held by the chuck arm 40, 41,
Alternatively, it is used to push out the parts held by the chuck arms 40, 41 downward.

62. 62 is an engagement side plate fixed to the arm support block 25. The engagement side plates 62, 62 are formed in a rectangular plate shape that is long in the downward direction of the road when viewed from the front and rear directions, and extend in the vertical direction on a portion near the left edge of the side surfaces facing each other. Engagement grooves 63.63 are formed. The engagement side plates 62.62 have their engagement grooves 63.62.
63 is the front and back side walls 27 and 28 of the arm support block 25
are fixed to the outer surfaces of both front and rear walls 27, 28 of the arm support block 25 by ports 64, 64, .

Thus, in the actuating portion 24 configured as described above, the engagement grooves 63.63 of the engagement side plates 62.62 are fixed to the base rod 14, and the engagement protrusions 17a, 17a of the elevation guide plate 17 are fixed to the base rod 14.
By being slidably engaged with the base rod 14, the bottom plate 32 is supported so as to be movable in the vertical direction.
The actuating portion is moved in the vertical direction by the lifting piston 19 connected thereto.

Therefore, in the component chuck mechanism 13 configured as described above, the tool mounting shaft 11 of the industrial robot 1 is
By moving in the R direction, the entire tool is moved in the vertical direction, and by rotating the tool mounting shaft 11 in the R direction, the entire tool is rotated in the horizontal direction. Then, by moving the actuating part elevating piston 19 or 19' in the vertical direction as described above, the right actuating part 24 or the left actuating part 23 is moved in the vertical direction with respect to the base rod 14. become.

Therefore, chuck arms 40, 41 and 40', 41'
is rotated in the horizontal plane by rotating the tool mounting shaft 11 in the R direction, and the tool mounting shaft 11 is moved in the Z direction, or the actuating part elevating piston 19
．． By moving 19' in the vertical direction, it is moved in the vertical direction.

Reference numeral 65 designates a pressure control valve (see FIGS. 1, 10, and 11) for controlling the pressure within the cylinder hole 47, 47' of the chuck air cylinder 46, 46'.

Reference numeral 66 denotes an air supply passage, and one end of the air supply passage 66 is connected to the other end of an air hose connected to a high-pressure air generator (not shown), and the other end is closed. The air supply path 66a is branched. 67 is a first exhaust path, and 68 is a second exhaust path. Connection exhaust paths 67a and 68a are branched from the center of the first and second exhaust paths 67 and 68, respectively. road 67a
, 68a are disposed on both sides of the connecting air supply path 66& at a predetermined distance apart from each other. Further, 69.70 is the first
and the second connecting exhaust passages 67a, 68a. A connecting air passage 69.7
An air hose 71 connected to the upper ventilation hole 54 formed in the chuck air cylinder 46 is connected to one end of the first connection ventilation path 69 of the air cylinder 46, and the second connection ventilation path 70 An air hose 72 connected to a lower ventilation hole 55 formed in the chuck air cylinder 46 is connected to one end of the chuck air cylinder 46 .

73, 74 and 75 are control blocks arranged in series, and 73 located in the center is the first control block.
The control block 74 located on the left side of the first control block 73 in the drawing is a second control block.
The other block 75 is the third control block.

76 and 77 are solenoids provided on both sides of the control blocks 73, 74 and 75 in the arrangement direction;
When neither of these solenoids 76, 77 is energized, the first control block 73 controls the connecting air supply passage 66a, the connecting exhaust passage 67a,
68a and the connection air passages 69, 70 (hereinafter, this position will be referred to as the "connection position"), the state is maintained. When the first solenoid 76, that is, the solenoid located on the third control block 75 side, is energized, as shown in FIG.
When the second control block 74 is moved to the connection position and the second solenoid 77 is energized, the third control block 75 is moved to the connection position as shown in FIG. It is now being moved to .

And, the above-mentioned first and second. Each third control block 7
3.74 and 75 are each formed with two ventilation holes and one obstruction hole.

That is, (see FIG. 1), the first control block 73. In this case, when this is in the connection position, the first
A ventilation hole 73a that connects the connection ventilation path 69 and the first connection exhaust path 67&; a ventilation hole 73b that connects the second connection ventilation path 70 and the second connection exhaust path 88a; A blockage hole 73c connected to the airway 66a is formed.

In addition, the second control block 74 has a ventilation hole 74a connecting the first connection air passage 69 and the connection air supply passage 66& when it is in the connection position (the state shown in FIG. 10). , a ventilation hole 74b connecting the second connection air passage 70 and the second connection exhaust passage 88a, and a blocking hole 74c connected to the first connection exhaust passage 67a are formed.

Then, when the third control block 75 is in the connection position (state S shown in FIG. 11),
A ventilation passage 75a that connects the first connection air passage 69 and the first connection exhaust passage 67a, an air passage 75b that connects the second connection air passage 70 and the connection air supply passage 66a, and a second connection A blocking hole 75c connected to the exhaust path 68a is formed.

Although the drawing only shows the pressure control valve 65 associated with the chuck air cylinder 46 of the right operating section 24, the same structure can be applied to the chuck air cylinder 46' of the left operating section 23. A pressure control valve having a pressure control valve is associated therewith.

Thus, the chuck arm 40, 41 described above is moved in the anti-chucking direction by energizing the first solenoid 76 of the pressure control valve 65. That is, when the first solenoid 76 is energized, the second control blow 2 74 is moved to the connection position as described above, so that high-pressure air flows through the air supply path 66 - connection air supply path 66 a -
It passes through the air hole 74a of the second control block 74, the first connecting air passage 69, and the air hose 71, and is connected to the cylinder hole 47 from the air hole 54 on the upper side of the chuck air cylinder 46.
It is supplied to the part between the upper end surface of this and the packing 50 of the chuck opening/closing piston 49, and the packing 5 of the chuck opening/closing piston 49 in the cylinder hole 47.
0 and the plug body 51 are the lower vent hole 55 - the air hose 72 - the second connection vent hole 70 - the second control block 74
It is communicated with the atmosphere through the ventilation hole 74b, the second TLC exhaust passage 68a, and the second exhaust passage 68. As a result, as described above, the chuck opening/closing piston 49
are pressed downward, so that the chuck arms 40, 41 are moved in a direction opposite to the chuck, and finally come to the standby position.

Further, the chuck arm 40, 41 is moved from the standby position toward the chuck by energizing the second solenoid 77 of the pressure control valve 65. That is, when the second solenoid 77 is energized, the third control block 75 is moved to the connection position as described above, so that high-pressure air flows into the air supply path 66--
Connection air supply path 66a - ventilation hole 75 of third control block 75
b - second connecting air passage 70 - through air hose 72;
Air is supplied from the vent hole 55 on the lower side of the chuck air cylinder 46 to the part of the cylinder hole 47 between the gasket 50 of the chuck opening/closing piston 49 and the stopper 51, and also to the part above this part of the cylinder hole 47. The part between the end face and the gasket 50 of the chuck opening/closing piston 49 is the air hole 54 on the upper side of the chuck air cylinder 46 - the air hose 71
- first connection air passage 69 - ventilation hole 75a of third control block 75 - first connection exhaust passage 67a - first exhaust passage 67
It becomes connected to the atmosphere through. by this,
As described above, since the chuck opening/closing piston 49 is pressed upward, the chuck arms 40 and 41 are moved toward the chuck relative to each other.

Then, as described above, when the excitation of both the first and second solenoids 76.77 of the pressure control valve 65 is released, the $1 control block 73 is moved to the connection position, so that the chuck arm 401.41 is in a state where it is not energized in either the chuck direction or the friend chatter direction. That is, for example, the chuck arm 40
．． When the first control block 73 comes to the connection position from the state in which the first control block 41 is biased toward the chuck, its blocking hole 73c is connected to the connection air supply path 66a, so that high-pressure air is not supplied to the chuck opening/closing cylinder 46. At the same time, the supply of high-pressure air that had been supplied into the cylinder hole 47 is changed from the lower vent hole 55 of the chuck opening/closing cylinder 46 to the air hose 72 to the second connecting vent passage 70 to the first
Vent hole 73b of control block 73 - second connecting exhaust path 6
8a - The air is almost instantaneously exhausted to the atmosphere through the second exhaust path 6B. In addition, the part between the upper end surface of the cylinder hole 47 and the gasket 50 of the chuck opening/closing piston 49 is connected to the upper ventilation hole 54 - the air hose 71 - the first
connection air passage 69-vent hole 73 of first control block 73
a-first connection exhaust passage 67a- communicates with the atmosphere via the first exhaust passage 67; Therefore, all parts of the cylinder hole 47 of the chuck opening/closing air cylinder 46 are at atmospheric pressure. As a result, the state in which the chuck arms 40, 41 are biased toward the chuck is released.

Chucking and unchucking of components by the component chucking mechanism 13 equipped with the pressure control valve 65 described above is performed in the following manner (see FIG. 89).

In FIG. 9, 78 is held by the component chuck mechanism 13, and terminals 79.7 for connecting the circuit.
Reference numeral 9 designates an electronic component to be inserted into a predetermined position of a circuit board, which will be described later, 80 designates a circuit board into which the electronic component 78 is installed, and 81 and 81 designate holes for attaching terminals. Reference numeral 82.82 is a so-called anvil arm, which opens the terminals 79.79 of the electronic component 78 inserted into the mounting holes 81.81 of the circuit board 80 and attaches the terminals 79.79 to the circuit board 80 of the electronic component 78.
Removal is a temporary stop. In addition, 83
．． 83, e'-- are other electronic components already attached to predetermined positions on the circuit board 80.

First, the electronic component 78 is chucked using the left operating section 23, and its connection terminal 79. 79 into the mounting holes 81 and 81 of the circuit board 80 will be explained.

When the industrial robot 1 attempts to chuck the electronic component 78, it rotates the first arm 3 and/or the second arm 7 by a predetermined angle, and also moves the tool mounting shaft 11 in the Z direction or in the R direction. By rotating the electronic components 78 to By energizing the first solenoid 76, the chuck arms 40' and 41' are moved to their respective standby positions. When the component chuck mechanism 13 reaches a position where the chuck arms 40' and 41' correspond to the positions on both sides of the electronic component 78 to be taken out, the tool mounting shaft 11 and/or the actuating part elevating piston 19
' by a predetermined amount downward and chuck arms 40", 4
The lower end of the electronic component 78 is placed at a height corresponding to, for example, the upper end of the electronic component 78. Therefore, the second solenoid 77 of the pressure control valve 65 is energized, and the chuck arm 4
0' and 41' are moved toward the chuck. Then,
The chuck arms 40', 41'' press the electronic component 78 between both sides. In other words, the electronic component 78 is chucked. As a result, the electronic component 78 is held by the char and the firmware 40'', 41'. Ru.

Then, the industrial robot 1 has a tool mounting axis 11 and/or
Alternatively, by moving the operating part elevating piston 19' upward by a predetermined amount to take out the chucked electronic component 78 from the component storage section, and by rotating the first arm 3 and/or the second arm 7 by a predetermined angle, moves the component chuck mechanism 13 to a position where the terminals 79, 79 of the electronic component 78 held by the chuck arms 40', 41' are above the mounting holes 81, 81 formed in the circuit board 80. Then, the tool mounting shaft 11 and/or the actuating part elevating piston 19' are moved downward by a predetermined amount again to insert the terminals 79.79 of the electronic component 78 into the mounting holes 81.81.

Note that the terminals 79 and 79 of the electronic component 78 are connected to the mounting holes 81 and 81.
When the terminal 7 is inserted into the terminal 7, the anvil arm 82, 82, which has come to the position shown by the solid line in FIG.
The portions of the mounting holes 81.81 that protrude downward from the mounting holes 81.81 are bent in opposite directions as shown by two-dot chain lines in the figure. However, electronic components 78
is temporarily prevented from being removed from the circuit board 80.

Next, the operation of unchucking the electronic component 78 held by the chuck arms 40', 41' as described above will be explained.

When attempting to unchuck the electronic component 78, the second solenoid 77 of the pressure control valve 65, which has been energized so far, is deenergized. That is, the second solenoid 77
Cut off the power to the As a result, the first control block 73 of the pressure control valve 65 comes to the connecting position, so that the pressure within the cylinder hole 47' of the chuck opening/closing cylinder 46' is returned to atmospheric pressure, as described above. However, until then, the chuck arm was 40',
Since the pressure that was urging 41' toward the chuck is removed, the electronic components 78 are removed by the chuck arms 40' and 41'.
The pressure on is released.

As a result, the frictional force that had previously been generated between the chuck arms 40', 41' and the electronic component 78 becomes approximately zero.

That is, unchucking is performed.

Therefore, the tool mounting shaft 11 and/or the actuating lifting piston 19' are moved upward, thereby causing the electronic component 7
8 will be completely separated from the chuck arms 40', 41'.

Furthermore, after being unchucked, the chuck arms 40', 41
When ' is moved upward, a slight frictional force may be generated between the electronic component 78 and the chuck arms 40', 41' due to sliding resistance, depending on the case. However, even if such a frictional force were to occur, the electronic component 78 is temporarily prevented from being removed from the circuit board 80 by bending its terminals 79 and 79, so the chuck arm 40' , 41' will not come off from the circuit board 80 as they move upward.

Therefore, the electronic component 78 held by the chuck arms 40' and 41' can be unchucked by the chuck arms 40' and 41'.
This is accomplished without moving the chuck arm 41' in any direction opposite to the chuck, so that the chuck arm 40', 41' does not collide with other electronic components 83, 83, fists, etc., which are already attached and are placed around the chuck arm 40', 41'. I have no fears at all.

Note that the left and right operating units 23 and 24 are controlled to perform the same operation or different operations at the same time, depending on the case.

Effects of the Invention As is clear from the above description, the component chuck mechanism of the present invention includes a chuck arm that is opened and closed by an air cylinder and holds one end of the component by pressing it from both sides, and a chuck arm that holds the component by pressing it from both sides. The apparatus is characterized in that it includes pressure control means for returning the pressure in the air cylinder to atmospheric pressure when the held part is released.

That is, in the component chuck mechanism of the present invention, when performing an unchucking operation, the pressure in the air cylinder that opens and closes the chuck arm is returned to atmospheric pressure, thereby releasing the pressure on the component almost instantaneously. It is.

Therefore, according to the present invention, it is possible to unchuck the component without moving the chuck arm in the opposite direction to the chuck. In addition, there is no need to provide space for the chuck arm to move in the counter-chuck direction;
The mounting density of the components of the device can be increased, and the device can be made smaller accordingly.

In addition, since parts can be unchucked without moving the chuck arm in the opposite direction to the chuck, there is no risk of the chuck arm colliding with surrounding parts, etc. Therefore, it is possible to unchuck the parts using this type of parts chuck mechanism. The reliability of assembly etc. will be improved.

Furthermore, the component chuck mechanism of the present invention uses an air cylinder as a driving means for opening and closing the chuck arm, compared to a mechanism that uses a motor as a driving means to open and close the chuck arm.

The chuck arm can be opened and closed quickly. Moreover, since the unchucking of the parts is achieved almost instantaneously by returning the pressure inside the air cylinder to atmospheric pressure, no special time is required to perform the unchucking operation. The time required for the predetermined unit operation to be performed by the mechanism can be shortened. This allows the operating speed of the one-component chuck mechanism to be further increased.

In the above-mentioned embodiment, an exhaust center type solenoid valve was used as a pressure control means to return the pressure inside the air cylinder to atmospheric pressure when unchucking, but the pressure control means in the present invention is Any form may be used as long as it has the function of returning the pressure in the air cylinder that opens and closes the chuck arm to atmospheric pressure as quickly as possible when chucking is attempted.

[Brief explanation of the drawing]

1 to 11 show an example of an embodiment in which the component chuck mechanism of the present invention is applied as a component chuck mechanism mounted on an industrial robot for inserting components, and FIG. 1 is a conceptual diagram; Figure 2 is a perspective view showing the entire industrial robot.
Fig. 3 is an enlarged perspective view, Fig. 4 is a further enlarged vertical front view, Fig. 5 is a sectional view taken along line ■-V in Fig. 4, and Fig. 6 is taken along line VT-VI in Fig. 4. 7 is a bottom view enlarged to the size shown in FIG. 4, FIG. 8 is an exploded perspective view, FIG. 9 is a front view showing the operation of assembling the held parts, and FIGS. 10 and 11. are conceptual diagrams illustrating the principle of pressure control means that are in different control states.
FIG. 2 is a perspective view of essential parts showing an example of a conventional component chuck mechanism. Explanation of symbols 13... Junior part chuck mechanism, 40.40', 41.
41'... Φ chuck arm, 46. 46'... Air cylinder, 65 φ, Φ pressure control means, 78, φ, parts Fig. 1 Fig. 6 Color Fig. 10 Fig. 11

Claims (1)

[Claims] a chuck arm that is opened and closed by an air cylinder and that presses and holds one end of the component from both sides;
A component chuck mechanism characterized by comprising: pressure control means for returning the pressure in the air cylinder to atmospheric pressure when releasing the component held by the chuck arm.