JPS6320504Y2 - - Google Patents

Description

[Detailed description of the invention] [Purpose of the invention] (Field of industrial application) The present invention relates to a transfer positioning device used when automatically assembling or inspecting various products using industrial robots, etc. It is.

(Prior art) For example, when a part of a product placed on a base has a reference hole, a pin is inserted into the reference hole to automatically perform the caulking operation, or When assembling parts, when tightening screws on parts or automatically inserting parts into printed circuit boards on the base,
The parts, which are the materials, are transferred to a predetermined position on the base, and after more precise positioning is performed, various processing is performed on the parts. In this case, the positioning of the parts requires a high degree of accuracy due to the performance of an automatic assembly device such as an industrial robot that performs assembly or processing work.

In addition, even for completed products, for example, when inspecting defective soldering on a printed circuit board using automatic visual inspection equipment, it is essential to transport and position the product to a predetermined position in the equipment. .

One of the conventionally known transfer positioning means is a feed rod type device. In this device, feed claws are provided at predetermined intervals on a feed rod that repeatedly moves back and forth intermittently, and the feed claws advance the object by one pitch of the feed claws. In the case of conventional feed rod type devices, the object transferred to the tip of the feed rod is accurately positioned using a separate mechanism using pneumatic/hydraulic cylinders, motors, etc. I was doing it like that.

(Problems that the device is trying to solve) However, in such a conventional device, the transport mechanism and the positioning mechanism are provided independently, and the two are merely combined and used. It is not possible to use the same parts for both mechanisms, and the overall number of parts is large, resulting in a complex structure. In particular,
In this type of transport and positioning operation, the direction in which the transported object is moved is different during transport and positioning, and a certain time lag is also necessary between transport and positioning. Therefore, it is difficult to use the same drive source for both operations. In the past, it was necessary to use devices with independent mechanisms for both operations, despite the disadvantages of a complex structure and larger equipment.

The present invention was proposed to solve the above-mentioned problems of the conventional technology, and its purpose is to transport and position objects reliably and at high speed with a simple configuration using the same drive source. The objective is to provide a device that can do this.

[Structure of the device] (Means for solving the problem) The transfer positioning device of the present invention is characterized in that the feed rod is arranged so that the feed claw can take a position in which it engages with the object to be transferred and a position in which it does not engage with the object to be transferred. a swinging mechanism for swinging; a swinging mechanism provided on the side of the guide, which engages with and positions the object when the feed pawl is in a position where it does not engage with the object in conjunction with the swinging mechanism; a positioning mechanism that releases the engagement with the object when the feed claw is in a position where it engages with the object; and a position where the feed claw engages with the object when the feed rod moves in the transfer direction. and a timing mechanism that controls the operating timing of the forward and backward movement mechanism and the swing mechanism so that the feed claw swings to a position where it does not engage with the transferred object when moving in the opposite direction to the transfer direction. It is something that you have.

(Function) In the present invention having the above configuration,
As the feed rod and the feed pawl swing, the object to be transferred and the feed pawl are engaged and disengaged, and in particular, the positioning mechanism is automatically activated in conjunction with the swing of the feed rod after the transfer of the object is completed. It operates to accurately position the transferred object.

(Example) As stated in the claims, the transfer positioning device of the present invention is composed of a feeding rod, a feeding claw, a forward and backward movement mechanism, a swinging mechanism, a positioning mechanism, and a timing mechanism. The first example is
This will be explained in detail with reference to the drawings below.

*Configuration of the embodiment* Feed rod and its forward and backward movement mechanism At the peripheral edge of one side of the wheel 2 driven by the motor 1, one end of a connecting rod 4 connecting the wheel 2 and the feed rod 3 is provided with a stroke absorbing means. It is installed through. This stroke absorbing means is
It includes a guide groove 5 extending in the radial direction of the wheel 2, and a compression spring 6 compressed at the end of the guide groove 5 on the wheel center side. It is slidably engaged with the outer circumferential side of the wheel and is biased toward the outer circumferential side of the wheel by a compression spring 6. On the other hand, this connecting rod 4 and feed rod 3
The mounting is connected by a ball bearing so that the angle between the two is variable.

A projecting piece 11 is integrally provided at the bottom of the feed rod 3, and a pair of front and rear stroke setting stoppers 12 are provided on the frame (not shown) side of the device, sandwiching this projecting piece 11. . This stopper 1
The interval 2 is set according to the stroke of the feed rod 3, and in order to make the interval variable, an adjustment screw 13 is screwed into the stopper 12.

Swing Mechanism The feed rod 3 is supported by, for example, a pair of front and rear swing levers 7 so as to be able to reciprocate. The swing lever 7 is a horizontal F-shaped member as a whole, and the feed rod 3 is inserted into a groove 8 formed between two vertical pieces. Guide rollers 9 are provided at the bottom and left and right openings of the groove 8, and these guide rollers 9 support the bottom and left and right side surfaces of the feed rod 3.

Feed Claws At the top of the feed rod 3, feed pawls 10 extending horizontally are provided at intervals commensurate with the shape and size of the object to be transferred. The tip of the feed claw 10 is bent into a hook shape so that it can engage with the object to be transferred.

Below the feed claw 10, a pair of left and right guide rails 20 extending parallel to the feed rod 3 are provided. As shown in FIG. 2, the guide rail 20 is formed of a member having an L-shaped cross section so as to support the transferred object A on its upper surface and to regulate its position in the left and right direction.

Timing Mechanism An eccentric cam 15 is attached to the wheel 2 via a crankshaft 14. This cam 15 is interlocked with the wheel 2 using the motor 1 as a driving source, and a roller-shaped cam follower 1 provided at one end of the cam lever 16 is attached to the circumferential surface of the cam 15.
7 is always in contact. The cam lever 16 is pivotally connected to a support shaft 18 at its center, and its other end is connected to the end of the horizontal piece of the horizontal F-shaped swinging lever 7. And this swing lever 7
is supported at a corner portion of a horizontal F-shape on a support shaft 19 provided parallel to the feed rod 3, and is configured to be able to swing around this support shaft 19. Note that, among the pair of front and rear swing levers 7, one is connected to the cam lever 16, and the other is interlocked with the cam lever 16 via a support shaft 19.

Positioning Mechanism As shown in FIG. 2, a positioning mechanism for pressing the object to be transported against one edge of the guide rail 20 is arranged at the forward end of the feed rod 3 on the guide rail 20.

Each member constituting this positioning mechanism is mounted on the guide rail 20 on the feed rod 3 side.
It is rotatably supported on a support shaft 21 extending in the same direction. That is, a horizontal L-shaped positioning lever 22 is attached to the support shaft 21, a horizontal piece of this positioning lever 22 projects in the same direction as the feed pawl 10, and a conical positioning pin 23 is attached to the tip of this horizontal piece. It protrudes downward. A compression spring 24 is provided between the positioning lever 22 and the guide rail 20 to keep the positioning pin 23 raised above the transferred object A at all times. Further, a roller 25 is provided at the end of the vertical piece of the positioning lever 22, and this roller 25 contacts the side surface of the feed rod 3 on the guide rail 20 side and prevents rotation of the positioning lever 22 by the compression spring 24. are doing.

*Operation of the embodiment* The transfer and positioning device of this embodiment has the above-mentioned configuration, and its operation will be explained next.

Transfer of the object to be transferred When the transfer of the object to be transferred begins, as shown by the solid line in FIG.
The position of the feed rod 3, which is connected via the wheel 2, is also pushed by the wheel 2 and is at the backward end of its stroke.

Here, when the wheel 2 is rotated by the driving force of the motor 1, the position of the guide groove 5 moves toward the side opposite to the feed rod 3, and the feed rod 3 also moves forward accordingly. Since the feed claw 10 is fixed to the feed rod 3, the object to be transferred on the guide rail 20 is transferred by the feed claw 10.

Wheel 2 is a little before half a turn (θ/ in Figure 3)
When rotated to 2), the protrusion 11 provided on the feed rod 3
hits the advance stopper 12 on the frame side, the feed rod 3 stops at that position, and the transfer of the object is completed. In this case, the wheel 2 continues to rotate, but since the end of the connecting rod 4 moves toward the center of the wheel 2 in the guide groove 5 while opposing the compression spring 6, the arcuate trajectory of the wheel 2 and the feed rod 3 The difference between the stroke end position and the end position of the stroke (ΔS in FIG. 3) is absorbed, and no unreasonable force is applied to the feed rod 3.

At this time, the cam 15 also rotates together with the wheel 2, but since the cam follower 17 is in contact with a portion of the outer peripheral surface of the cam 15 near the crankshaft 14, the cam lever 16 is rotated by the cam 15.
The feed rod 3 moves linearly without swinging, guided by the horizontal F-shaped swinging lever 7 which is stopped.

Positioning of the object to be transferred When the wheel 2 rotates further after the feed rod 3 has stopped, the cam 15 with which this wheel 2 is interlocked comes into contact with the cam follower 17 at the outer periphery where the distance from the crankshaft 14 is large, and the cam lever 16 is moved. Rotate around the support shaft 18. Then, the swinging lever 7 that interlocks with this cam lever 16
rotates about the support shaft 19, and the tip of the feed pawl 10 provided on the upper part of the swing lever 7 rises, disengaging from the object to be transferred.

At the same time, the positioning lever 22, which had been pressed by the side surface of the feed rod 3, becomes free and is pressed by the compression spring 24, causing the tip of the lever to descend. As a result, the transferred object A is drawn to one side of the guide rail 20 by the tapered part of the conical positioning pin 23 provided at the tip of the positioning lever 22.
Accurate positioning is achieved.

Return of the feed rod Now, while the wheel 2 rotates from half a turn to θ/2, the end of the connecting rod 4 is pressed by the compression spring 6 and moves toward the outer circumference of the wheel in the guide groove 5.
When the wheel 2 further rotates, the feed rod 3 is pushed backward by the connecting rod 4.

Here, the plate cam 1 in contact with the cam lever 16
5 is still close to the crankshaft 14, the swing lever 7 remains rotated, and the feed pawl 10 of the feed rod 3 remains close to the crankshaft 14.
The object moves backward without touching the object that has already been transferred. Further, while the positioning lever 22 is also released from the feed rod 3, the positioning pin 23 continues to fix the transferred object A by the force of the compression spring 24, so that assembly or processing operations can be performed on the transferred object during that time. .

When the feed rod 3 reaches the backward end of its stroke,
The outer circumferential surface of the larger diameter portion of the cam 15 comes into contact with the cam follower 17, the swing lever 7 also returns, and the feed rod 3 returns to its original vertical position. As a result, the new object to be transported is gripped by the feed claw 10 of the feed rod 3, and the positioning lever 22 is rotated by being pressed against the side surface of the feed rod 3, and the positioning pin 23 at the tip thereof is raised. The machine separates from the assembled and processed object and sends it to the next process.

Hereinafter, by repeating the above operations, the object to be transferred is intermittently transferred, and moreover, accurate positioning is performed for a certain period of time at the transfer end.

*Other Embodiments* Note that the present invention is not limited to the illustrated embodiment, and the positioning lever can also be directly moved by a cam. Furthermore, if an eccentric type wheel is used, the outer peripheral surface of the wheel is used as a cam, and a connecting rod 4 is attached to the side surface of the wheel, it can serve as both the wheel and the cam. Furthermore, the stroke absorbing means of the feed rod can be provided at the attachment part between the connecting rod 4 and the feed rod, and this stroke absorbing means may be provided with a guide groove and a compression spring on the connecting rod side, or The connecting rod itself may be configured to expand and contract when a certain load is applied.

[Effects of the invention] As described above, the transfer positioning device of the present invention provides a feed claw on a feed rod that moves back and forth, and swings this feed rod with a swinging mechanism, thereby allowing the movement between the feed claw and the transferred object. Since they are designed to engage and disengage, it is possible to reliably control the operation of the feed rod and the feed pawl with a simple configuration that uses only one timing mechanism.

Further, since the positioning mechanism is linked to the swinging mechanism of the feed rod, there is an advantage that the transfer operation by the feed claw and the positioning operation after transfer can be performed reliably and in a timely manner.

[Brief explanation of the drawing]

The drawings show an embodiment of the transfer and positioning device according to the present invention; FIG. 1 is a perspective view thereof, FIG. 2 is a front view, and FIG. 3 is a side view. 1... Motor, 2... Wheel, 3... Feed rod, 4... Connecting rod, 5... Guide groove, 6... Compression spring, 7... Rocking lever, 8... Groove, 9... Guide Roller, 10...Feed claw, 11...Protrusion piece, 12
... Stopper, 13 ... Screw, 14 ... Crankshaft, 15 ... Cam, 16 ... Cam lever,
17... Cam follower, 18... Support shaft, 19... Support shaft, 20... Guide rail, 21... Support shaft, 22
...Positioning lever, 23...Positioning pin, 2
4... Compression spring, 25... Roller, A... Object to be transferred.

Claims (1)

[Scope of Claim for Utility Model Registration] A transfer and positioning device that sequentially transfers and positions objects to be transferred on a guide, which is movable back and forth in the transfer direction of the objects to the side of the guide and in a direction perpendicular to the longitudinal direction. a feed rod that is swingably provided; a feed pawl that is provided on the feed rod and engages with an object to be transferred on a guide to transport it; a back-and-forth movement mechanism that moves the feed rod back and forth; a swinging mechanism that swings the feed rod so that the feed claw can take a position in which it engages with the transferred object and a position in which it does not engage; When the feed pawl is in a position where it does not engage with the object to be transferred, it engages with the object to position it, and when the feed pawl is in a position where it engages with the object, it releases the engagement with the object. a positioning mechanism that swings the feed claw to a position where it engages with the object to be transferred when the feed rod moves in the transfer direction, and that the feed claw does not engage with the object when the feed rod moves in the opposite direction to the transfer direction; A transfer positioning device comprising: a timing mechanism that controls the operation timing of the longitudinal movement mechanism and the swing mechanism so as to swing to a certain position. (2) The swinging mechanism has a horizontal F-shaped swinging lever, and the feed rod is movably supported in a groove provided in the vertical piece of the swinging mechanism, and this swinging lever has a horizontal F-shaped swinging lever. The transfer positioning device according to claim 1, wherein the transfer positioning device is attached to a support shaft at a portion thereof. (3) The positioning mechanism includes a positioning lever attached to a support shaft extending in the moving direction of the feed rod, a positioning pin is provided at the tip of the positioning lever, and the positioning lever has a mechanism for pushing the positioning pin toward the transferred object. 3. The transfer positioning device according to claim 1 or 2, further comprising a compression spring for moving the positioning lever, and the other end of the positioning lever being interlocked with a cam via a feed rod.