JPWO2005081611A1 - Support pin gripping device and substrate supporting device - Google Patents

Support pin gripping device and substrate supporting device Download PDF

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JPWO2005081611A1
JPWO2005081611A1 JP2006510208A JP2006510208A JPWO2005081611A1 JP WO2005081611 A1 JPWO2005081611 A1 JP WO2005081611A1 JP 2006510208 A JP2006510208 A JP 2006510208A JP 2006510208 A JP2006510208 A JP 2006510208A JP WO2005081611 A1 JPWO2005081611 A1 JP WO2005081611A1
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support pin
gripping
pin
support
advancing
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JP4499096B2 (en
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毅 近藤
毅 近藤
明伸 伊藤
明伸 伊藤
須原 信介
信介 須原
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富士機械製造株式会社
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    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04Mounting of components, e.g. of leadless components

Abstract

安価で迅速に支持ピンを把持,開放する支持ピン把持装置を提供する。把持装置本体360が昇降可能に保持する進退部材364に把持爪群362を開閉可能に保持させる。把持装置本体360の下降時に支持ピン250が嵌合穴386に嵌入して進退部材364に係合し、非作用位置から作用位置近傍へ押す。把持装置本体360との相対移動により運動変換機構430が把持爪群362を閉じて支持ピン250を把持させ、係止装置432では係合部482,484が係止位置へ移動する。把持装置本体360の上昇時に係合部482,484が係止面に係合して進退部材364を作用位置に保持し、次の把持装置本体360の下降時に支持ピン250が進退部材364の下降を止め、作用位置近傍へ押す。それにより係合部482,484の係合が解除され、把持装置本体360の上昇時に進退部材364が非作用位置へ移動し、把持爪群362が開く。
(EN) Provided is a support pin gripping device that grips and releases a support pin quickly and inexpensively. The advancing/retreating member 364 that holds the gripping device main body 360 so that it can move up and down holds the gripping claw group 362 so that it can open and close. When the gripping device body 360 descends, the support pin 250 fits into the fitting hole 386 and engages with the advancing/retreating member 364, and pushes from the non-acting position to the vicinity of the acting position. The movement conversion mechanism 430 closes the grip claw group 362 to grip the support pin 250 by the relative movement with the grip device main body 360, and in the locking device 432, the engaging portions 482 and 484 move to the locking positions. When the gripping device main body 360 moves up, the engaging portions 482 and 484 engage the locking surfaces to hold the advancing/retreating member 364 in the operating position, and when the gripping device main body 360 descends next, the support pins 250 lower the advancing/retreating member 364. Stop and push near the operating position. As a result, the engagement between the engaging portions 482 and 484 is released, the advancing/retreating member 364 moves to the non-acting position when the grasping device main body 360 moves up, and the grasping claw group 362 opens.

Description

本発明は、プリント基板等の板状部材を支持する支持ピンをピン支持部材に取り付け、取り外す支持ピン把持装置に関するものであり、特に、支持ピンを把持,開放する複数の支持ピン把持部材を開閉させる開閉装置の改良に関するものである。   BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support pin gripping device that attaches and removes a support pin that supports a plate-shaped member such as a printed circuit board, and in particular, opens and closes a plurality of support pin gripping members that grip and release support pins. The present invention relates to an improvement of the opening/closing device.
複数の支持ピン把持部材を備え、それら支持ピン把持部材の開閉により支持ピンを把持,開放する支持ピン把持装置は、例えば、特許文献1に記載されているように既に知られている。この支持ピン把持装置は、一対の支持ピン把持部材を備え、それら支持ピン把持部材がバキュームシリンダを駆動源とする開閉装置によって開閉させられることにより支持ピンを把持,開放するようにされている。
特開2001−111296号公報
A support pin gripping device that includes a plurality of support pin gripping members and grips and releases the support pins by opening and closing the support pin gripping members is already known as described in Patent Document 1, for example. The support pin gripping device includes a pair of support pin gripping members, and the support pin gripping members are configured to grip and release the support pins by being opened and closed by an opening/closing device having a vacuum cylinder as a drive source.
JP 2001-111296 A
しかしながら、この支持ピン把持装置においては、支持ピン把持部材の開閉のための専用のアクチュエータたるバキュームシリンダおよびそのバキュームシリンダへの負圧の供給,遮断を制御する制御装置が必要であり、コストが高くなる。また、支持ピンの把持,開放が制御装置からの指令信号に基づいて電気的に制御されるため、信号の授受,開閉装置の作動確認等が行われる分、支持ピン把持部材による支持ピンの把持,開放に要する時間が長くなる。
本発明は、以上の事情を背景として為されたものであり、安価でかつ支持ピンの把持,開放を迅速に行うことができる支持ピン把持装置の提供を課題とする。
However, this support pin gripping device requires a vacuum cylinder which is a dedicated actuator for opening and closing the support pin gripping member, and a control device for controlling the supply and interruption of negative pressure to the vacuum cylinder, which results in high cost. Become. Further, since the gripping and releasing of the support pin are electrically controlled based on the command signal from the control device, the transmission and reception of the signal and the confirmation of the operation of the opening/closing device are performed, so that the support pin gripping member grips the support pin. ,The time required for opening becomes longer.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an inexpensive support pin gripping device that can grip and release a support pin quickly.
上記の課題を解決するために、本発明は、ピン支持部材に取り付けるべき支持ピンを把持する支持ピン把持装置を、(a)把持装置本体と、(b)その把持装置本体により、相対移動可能に、直接または間接に保持された複数の支持ピン把持部材から成る開閉可能な把持部材群と、 (c)前記把持装置本体により作動可能に保持され、前記把持装置本体と前記ピン支持部材との相対移動に伴ってその把持装置本体と相対移動する係合部材との係合により、非作用位置から作用位置に向かって作動させられる作動部材と、 (d)その作動部材と機械的に連動し、その作動部材が1回作動させられる毎に、前記把持部材群を開状態から閉状態へと閉状態から開状態へとに交互に切り換える切換装置とを含むものとしたことを特徴とする。   In order to solve the above problems, the present invention provides a support pin gripping device for gripping a support pin to be attached to a pin support member, (a) a gripping device body, and (b) the gripping device body allows relative movement. And (c) an openable/closable gripping member group composed of a plurality of support pin gripping members that are directly or indirectly held, and (c) is operably held by the gripping device main body and includes the gripping device main body and the pin support member. An actuating member that is actuated from the non-acting position toward the actuating position by the engagement of the engaging member that relatively moves with the gripping device body in accordance with the relative movement, and (d) mechanically interlocks with the actuating member. A switching device that alternately switches the gripping member group from the open state to the closed state and from the closed state to the open state each time the operating member is operated once.
支持ピン把持部材は、把持装置本体により直接保持されてもよく、例えば作動部材に保持されて、把持装置本体により間接に保持されてもよい。また、作動部材は、回動軸線まわりに回動する回動部材でもよく、軸方向に進退する進退部材でもよい。さらに、把持部材群を開閉させるために把持装置本体を移動させてもよく、ピン支持部材を移動させてもよく、両方を移動させてもよい。
把持装置本体とピン支持部材との相対移動に伴って作動部材と係合部材とが係合し、作動部材が非作用位置から作用位置に向かって作動させられ、その作動と機械的に連動して、把持部材群が開閉させられ、支持ピンを把持,開放する。支持ピン把持装置が支持ピンをピン支持部材に取り付け、取り外すためには、支持ピン把持装置とピン支持部材との相対移動が不可欠であり、その不可欠の相対移動の利用により支持ピンを把持,開放することができ、支持ピン把持部材の開閉のために専用のアクチュエータを設けなくてもよいのであり、支持ピン把持装置を安価に構成することができる。また、支持ピン把持部材の開閉のために、制御装置による電気的な制御が不要であり、支持ピンを迅速に把持,開放することができる。
The support pin gripping member may be directly held by the gripping device body, for example, may be held by the actuating member and indirectly held by the gripping device body. Further, the actuating member may be a turning member that turns around the turning axis or may be an advancing/retreating member that moves back and forth in the axial direction. Further, the gripping device body may be moved to open and close the gripping member group, the pin support member may be moved, or both of them may be moved.
The actuating member and the engaging member are engaged with each other as the gripping device main body and the pin supporting member move relative to each other, the actuating member is actuated from the non-acting position toward the acting position, and mechanically interlocks with the actuation. The gripping member group is opened and closed to grip and release the support pin. In order for the support pin gripping device to attach and detach the support pin to and from the pin support member, relative movement between the support pin gripping device and the pin support member is indispensable, and the indispensable relative movement is used to grip and release the support pin. Since it is not necessary to provide a dedicated actuator for opening and closing the support pin holding member, the support pin holding device can be constructed at low cost. Further, since the support pin gripping member is opened and closed, electrical control by the control device is unnecessary, and the support pin can be quickly gripped and released.
発明の態様Aspects of the invention
以下に、本願において特許請求が可能と認識されている発明(以下、「請求可能発明」という場合がある。請求可能発明は、少なくとも、請求の範囲に記載された発明である「本発明」ないし「本願発明」を含むが、本願発明の下位概念発明や、本願発明の上位概念あるいは別概念の発明を含むこともある。)の態様をいくつか例示し、それらについて説明する。各態様は請求項と同様に、項に区分し、各項に番号を付し、必要に応じて他の項の番号を引用する形式で記載する。これは、あくまでも請求可能発明の理解を容易にするためであり、請求可能発明を構成する構成要素の組み合わせを、以下の各項に記載されたものに限定する趣旨ではない。つまり、請求可能発明は、各項に付随する記載,実施例の記載等を参酌して解釈されるべきであり、その解釈に従う限りにおいて、各項の態様にさらに他の構成要素を付加した態様も、また、各項の態様から構成要素を削除した態様も、請求可能発明の一態様となり得るのである。   In the following, an invention recognized as claimable in the present application (hereinafter, may be referred to as "claimable invention". The claimable invention is at least the "present invention" or the invention described in the claims. The present invention includes the "present invention", but may also include subordinate inventions of the present invention, and superordinate inventions of the present invention or inventions of different concepts.). Similar to the claims, each mode is divided into paragraphs, each paragraph is numbered, and the numbers of other paragraphs are referred to as necessary. This is only for facilitating the understanding of the claimable invention, and is not intended to limit the combinations of constituent elements constituting the claimable invention to those described in each of the following items. That is, the claimable invention should be construed in consideration of the description attached to each paragraph, the description of the embodiments, and the like, and as long as the interpretation is complied with, an aspect in which other constituent elements are added to the aspect of each paragraph Also, a mode in which the constituent elements are deleted from the modes of the respective claims can be one mode of the claimable invention.
なお、以下の各項において、(1)項が請求項1に相当し、(2)項が請求項2に、(3)項が請求項3に、(4)項が請求項4に、(5)項が請求項5に、(6)項が請求項6に、(7)項が請求項7に、(8)項が請求項8に、(9)項が請求項9に、(10)項が請求項10に、(11)項が請求項11に、(12)項が請求項12に、(13)項が請求項13に、(14)項が請求項14に、(15)項が請求項15に、(16)項が請求項16に、(17)項が請求項17に、(50)項の一部が請求項18に、(50)項の残りの部分が請求項19に、(50)項と(40)項とを合わせたものが請求項20にそれぞれ相当する。   In the following items, (1) corresponds to claim 1, (2) to claim 2, (3) to claim 3, (4) to claim 4, and (5) is claim 5, (6) is claim 6, (7) is claim 7, (8) is claim 8, (9) is claim 9, (10) is in claim 10, (11) is in claim 11, (12) is in claim 12, (13) is in claim 13, (14) is in claim 14, Claim (15) is to Claim 15, Claim (16) is to Claim 16, Claim (17) is to Claim 17, Part (50) is to Claim 18, and the remainder of Claim (50). A portion corresponds to claim 19, and a combination of the (50) and (40) corresponds to claim 20.
(1)ピン支持部材に取り付けるべき支持ピンを把持する支持ピン把持装置であって、
把持装置本体と、
その把持装置本体により、相対移動可能に、直接または間接に保持された複数の支持ピン把持部材から成る開閉可能な把持部材群と、
前記把持装置本体により作動可能に保持され、前記把持装置本体と前記ピン支持部材との相対移動に伴ってその把持装置本体と相対移動する係合部材との係合により、非作用位置から作用位置に向かって作動させられる作動部材と、
その作動部材と機械的に連動し、その作動部材が1回作動させられる毎に、前記把持部材群を開状態から閉状態へと閉状態から開状態へとに交互に切り換える切換装置と
を含む支持ピン把持装置。
(2)前記把持部材群と前記支持ピンとが、把持部材群による支持ピンの把持が可能な位置へ相対移動するのに伴い、支持ピンと係合し、支持ピンにより前記非作用位置から前記作用位置に向かって移動させられる位置に前記作動部材が設けられており、支持ピンが前記係合部材として機能する(1)項に記載の支持ピン把持装置。
支持ピンは、例えば、その先端部において作動部材に係合するようにしてもよく、先端部以外の部分において係合するようにしてもよい。
本項に記載の支持ピン把持装置によれば、作動部材が把持対象部材である支持ピンそのものによって作動させられるため、係合部材を支持ピンとは別部材により構成する場合に比較して支持ピン把持装置を簡易化でき、コスト低減を図り得る。
(3)前記作動部材が前記把持部材群の中央部奥に設けられ、前記把持部材群内に進入した支持ピンの先端部により作動させられる位置に設けられた(2)項に記載の支持ピン把持装置。
「中央部奥」は、中央奥および中央近傍部奥を含む。作動部材は、被作動部を含む全体を把持部材群と同軸に設けてもよく、被作動部を支持ピンの先端部と係合可能な位置に設け、その他の部分は把持部材群の開閉軸線と交差する方向に外して設けてもよい。前者の場合、作動部材は把持部材群の中央奥に設けられ、後者の場合、中央近傍部奥に設けられることとなる。
本項に記載の支持ピン把持装置によれば、作動部材を把持部材群の中央部奥に設ければよく、支持ピンの先端部以外の部分と係合する場合のように、先端部以外の部分と係合する部分を設けなくてよい。
(4)前記切換装置が、
前記作動部材の運動を前記把持部材群の開閉運動に変換する運動変換機構と、
前記作動部材が前記係合部材との係合により1回作用位置の近傍へ押された際はその作動部材を前記作用位置に保持し、次にもう1回押された際はその保持を解除して作動部材が非作用位置へ復帰することを許容する作動部材制御装置と
を備えた(1)項ないし(3)項のいずれかに記載の支持ピン把持装置。
把持部材群が開状態に切り換えられた状態において作動部材が非作用位置から作用位置の近傍へ押されれば、把持部材群が閉状態に切り換えられて支持ピンを把持するとともに、作動部材が作用位置に保持されてその閉状態を維持する。そして、次に作動部材が押されて非作用位置へ復帰すれば、把持部材群が開状態に切り換えられて支持ピンを開放する。把持部材群の開状態から閉状態への切換えも、閉状態から開状態への切換えも、作動部材を作用位置の近傍へ押すことにより行うことができ、把持装置本体とピン支持部材との同じ相対移動動作によって支持ピンの把持と開放とを行うことができる。
(5)前記作動部材制御装置が、前記装置本体と前記作動部材との一方に設けられた係止部材と他方に設けられた被係止部材とを含む係止装置であり、被係止部材が、係止部材によって係止されることにより前記作動部材を前記作用位置に保持する被係止部と、係止部材を案内し、前記作動部材の1回の作動に起因する係止部材と被係止部材との相対移動に伴って係止部材を前記被係止部を係止する係止位置へ導き、次の1回の相対移動に伴って係止部材による被係止部の係止を解除して係止部材を原位置へ導く案内部とを備えた(4)項に記載の支持ピン把持装置。
係止装置を用いれば、被係止部材の形状の選定により容易に係止部材の所望の動作を実現することができ、把持装置本体とピン支持部材との相対移動を作動部材の運動に容易に変換することができる。
(6)前記係止部材が、回動軸部とその回動軸部からほぼ直角方向に延び出た一対のアーム部と、それらアーム部の自由端部に設けられた一対の係合部とを備え、回動軸部において前記把持装置本体と前記作動部材との一方に回動可能に保持された回動係止部材であり、前記被係止部材が、互いに共同して前記一対の係合部を案内する一対の案内部を備えた(5)項に記載の支持ピン把持装置。
回動軸部,一対のアーム部および一対の係合部は一体的に設けられる。本項の支持ピン把持装置によれば、係止部材を構造の簡単なものとすることができる。
一対の係合部にそれぞれ、ローラを回転可能に設けて回転係合部とし、係合部と案内部との摩擦を軽減させてもよい。
(7)前記一対の案内部が、前記作動部材の2回の作動に伴って前記一対の係合部に前記被係止部を含んで予め設定された周回運動を行わせる形状を有する(6)項に記載の支持ピン把持装置。
本項の支持ピン把持装置によれば、係止部材に、被係止部に対する係止と、係止解除との異なる2種類の動作を、作動部材の2回の作動に伴って容易に行わせることができる。
(8)前記把持部材群が対称軸に対して軸対称に開閉するものである(1)項ないし(7)項のいずれかに記載の支持ピン把持装置。
本項の支持ピン把持装置によれば、例えば、軸線が位置決めされた支持ピンを、その位置決めを妨げることなく、把持部材群が把持することができる。また、複数の支持ピン把持部材のうちの一つを閉方向に移動させることにより、残りが閉方向に移動させられるようにすることができる。
把持部材群を軸対称に開閉するものとすることは不可欠ではなく、例えば、支持ピンの被把持部の横断面形状が支持ピンの軸線に対して非対称であり、例えば、支持対象部材を支持する支持面に対して偏心した形状を有している場合、把持部材群は開閉軸に対して非対称に開閉するものとされる。
(9)前記作動部材が軸方向に進退する進退部材である(1)項ないし(8)項のいずれかに記載の支持ピン把持装置。
本項の支持ピン把持装置によれば、例えば、作動部材を回動部材とする場合に比較して、支持ピン把持装置を、把持装置本体の軸線と交差する方向においてコンパクトに構成することができる。
(10)前記作動部材が、前記対称軸上に配設され、その対称軸に沿って進退する進退部材である(8)項に記載の支持ピン把持装置。
本項の支持ピン把持装置の作動部材は、被作動部を含む全体が把持部材群の中央奥に位置し、支持ピン把持装置をよりコンパクトに構成することができる。
(11)前記作動部材を把持装置本体に対して前記作用位置から前記非作用位置に向かう向きに付勢する付勢手段を含む(1)項ないし(10)項のいずれかに記載の支持ピン把持装置。
付勢手段は、スプリング等の弾性部材の他、重力を含む。
作動部材は、付勢手段の付勢力に抗して非作用位置から作用位置に向かって作動させられ、付勢手段の付勢により非作用位置へ戻される。
(12)前記付勢手段が、前記作動部材と前記把持装置本体との間に配設された弾性部材を含む(11)項に記載の支持ピン把持装置。
本項の支持ピン把持装置によれば、弾性部材の弾性力により作動部材を確実にかつ迅速に非作用位置に復帰させることができる。
(13)前記運動変換機構が、前記複数の支持ピン把持部材のそれぞれに一端部が相対回動可能に連結されるとともに、他端部同士が互いに相対回動可能に連結された複数の連結リンクと、それら連結リンクの前記他端部を前記進退部材の進退方向には移動可能であるがその進退方向と交差する方向には移動不能に案内する案内手段とを含む(9)項ないし(12)項のいずれかに記載の支持ピン把持装置。
本項の支持ピン把持装置によれば、複数の支持ピン把持部材を一斉に移動させることができる。また、複数の支持ピン把持部材の一つに開閉動作を行わせれば、連結リンクを介して他の支持ピン把持部材にも開閉動作を行わせることができる。複数の支持ピン把持部材および複数の連結リンクを軸対称に構成すれば、複数の支持ピン把持部材を軸対称に移動させ、把持部材群を軸対称に開閉させることができる。
(14)支持ピンが前記係合部材として機能し、前記進退部材が前記支持ピンと嵌合して実質的に支持ピンの傾きを防止する嵌合穴を備え、前記複数の支持ピン把持部材が、それぞれの自由端部において前記支持ピンにその支持ピンの相対的な傾きを許容する状態で係合する(9)項ないし(13)項のいずれかに記載の支持ピン把持装置。
嵌合穴との嵌合により支持ピンの心出しが為されるとともに、支持ピン把持部材が支持ピンを、心出しが為された状態で把持することができる。心出しが為されることにより、支持ピンをピン支持部材等の予め設定された位置に正確に配置することができる。
進退部材が支持ピンと嵌合して実質的に支持ピンの傾きを防止する嵌合穴を備えたものである場合には、上記のように支持ピンの位置決めは嵌合穴との嵌合によって行われるため、支持ピン把持部材は支持ピンの嵌合穴からの離脱を防止すればよく、1つとすることも可能である。この場合には、支持ピン把持部材は「把持」はしないため、離脱防止部材と称すべきものとなる。
(15)前記作動部材が、前記把持装置本体に軸方向に進退可能に嵌合された進退部材であり、前記複数の支持ピン把持部材がその進退部材に相対移動可能に保持される一方、前記把持装置本体に、進退部材の後退に伴って前記複数の支持ピン把持部材の少なくとも1つに係合することによりその少なくとも1つを閉方向に移動させる作用部が設けられ、その作用部が前記運動変換機構の少なくとも一部を構成する(4)項に記載の支持ピン把持装置。
本項の特徴は、前記(5)項ないし(14)項のいずれかに記載の特徴と組み合わせて採用することができる。
(16)前記作用部が、前記把持装置本体により前記進退部材の進退方向と交差する方向に移動可能に設けられ、かつ付勢手段により前記少なくとも1つの支持ピン把持部材に接近する向きに付勢された可動作用部材により構成された(15)項に記載の支持ピン把持装置。
本項の支持ピン把持装置によれば、例えば、支持ピン把持部材が確実に支持ピンを把持することができる。作用部は把持装置本体に固定して設けてもよい。しかし、その場合、複数の支持ピン把持部材が軸対称に移動させられる場合には、支持ピン把持部材が最も閉じられたときの角度が作用部の配置に応じて決まり、支持ピン把持装置の構成部材の製造誤差や組付け誤差等により、支持ピン把持部材の閉角度にばらつきが生じ、不足すれば、支持ピンを把持できない事態が生じることがある。それに対し、作用部が可動作用部材により構成され、付勢手段により付勢されるものとすれば、可動作用部材を、支持ピン把持部材を支持ピンを把持することが予定される位置より更に閉方向に移動させることができるように設けることにより、構成部材製造誤差等があっても閉角度が不足することはなく、支持ピン把持部材に支持ピンを確実に把持させることができる。支持ピン把持部材が支持ピンを把持した後は、可動作用部材が付勢手段の付勢力に抗して移動することにより、支持ピン把持部材が余分に閉方向に移動させられることがなく、支持ピン把持部材や支持ピンが損傷することはない。
可動作用部材は、進退部材の進退方向と交差する回動軸線まわりに回動させられる回動型作用部材としてもよく、進退部材の進退方向と交差する方向に直線移動させられる直線移動型作用部材としてもよい。
(17)前記複数の支持ピン把持部材がそれぞれ一軸線まわりに回動可能な回動型把持部材である(1)項ないし(16)項のいずれかに記載の支持ピン把持装置。
支持ピン把持部材は、支持ピンの軸線と交差する方向に直線移動させられて支持ピンを把持,開放する直線移動型把持部材としてもよいが、回動型把持部材とすれば、支持ピン把持装置を簡易にかつコンパクトに構成することができる。
(1) A support pin gripping device for gripping a support pin to be attached to a pin support member,
The gripping device body,
A gripping member group composed of a plurality of support pin gripping members held directly or indirectly so as to be relatively movable by the gripping device body;
From the non-acting position to the working position by the engagement of the engaging member that is operably held by the gripping device body and that moves relative to the gripping device body with the relative movement of the pin supporting member. An actuating member actuated towards
A switching device that mechanically interlocks with the operating member and alternately switches the gripping member group from the open state to the closed state and from the closed state to the open state each time the operating member is operated once. Support pin gripping device.
(2) As the gripping member group and the support pin relatively move to a position where the support pin can be gripped by the gripping member group, the gripping member group engages with the support pin, and the support pin moves from the non-acting position to the acting position. The support pin gripping device according to the item (1), wherein the actuating member is provided at a position where the support pin functions as the engaging member.
The support pin may be engaged with the actuating member at its tip, or may be engaged at a portion other than the tip.
According to the support pin gripping device described in this section, since the actuating member is actuated by the support pin itself which is the gripping target member, the support pin gripping device is gripped as compared with the case where the engaging member is constituted by a member different from the support pin. The device can be simplified and the cost can be reduced.
(3) The support pin according to the item (2), wherein the actuating member is provided at the back of the central portion of the gripping member group, and is provided at a position where it is actuated by the tip portion of the support pin that has entered the gripping member group. Gripping device.
The "central part inner part" includes the central part inner part and the central part inner part part inner part. The operating member may be provided so as to be coaxial with the gripping member group in its entirety including the actuated portion, the actuated portion is provided at a position where it can be engaged with the tip of the support pin, and the other portions are provided with the opening/closing axis of the gripping member group. It may be provided separately in the direction intersecting with. In the former case, the actuating member is provided inside the center of the gripping member group, and in the latter case, the operating member is provided behind the central portion.
According to the support pin gripping device described in this section, the actuating member may be provided at the inner part of the central part of the gripping member group, and as in the case of engaging with a portion other than the tip end portion of the support pin, a member other than the tip end portion is provided. There may be no portion that engages the portion.
(4) The switching device is
A motion conversion mechanism that converts the motion of the operating member into the opening/closing motion of the gripping member group;
When the operating member is pushed to the vicinity of the acting position once by the engagement with the engaging member, the operating member is held at the acting position, and when the pushing member is pushed once again, the holding is released. And a working member control device that allows the working member to return to the non-acting position. 7. The support pin gripping device according to any one of (1) to (3).
If the actuating member is pushed from the non-acting position to the vicinity of the actuating position while the gripping member group is switched to the open state, the gripping member group is switched to the closed state to grip the support pin and the actuating member acts. Holds in position and maintains its closed state. Then, when the actuating member is then pushed back to the non-acting position, the gripping member group is switched to the open state to open the support pin. Switching of the gripping member group from the open state to the closed state and from the closed state to the open state can be performed by pushing the operating member to the vicinity of the working position, and the gripping device main body and the pin support member are the same. The support pin can be grasped and released by the relative movement operation.
(5) The operating member control device is a locking device including a locking member provided on one of the device body and the operating member, and a locked member provided on the other, A locked portion that holds the operating member in the working position by being locked by a locking member; and a locking member that guides the locking member and is caused by one actuation of the operating member. The locking member is guided to a locking position for locking the locked portion with the relative movement of the locked member, and the engagement of the locked portion by the locking member is performed with the next relative movement. The support pin gripping device according to item (4), further comprising a guide portion that releases the stop and guides the locking member to the original position.
If the locking device is used, the desired motion of the locking member can be easily realized by selecting the shape of the locked member, and the relative movement between the gripping device main body and the pin support member can be easily performed by the movement of the operating member. Can be converted to.
(6) The locking member includes a rotating shaft portion, a pair of arm portions extending substantially at right angles from the rotating shaft portion, and a pair of engaging portions provided at free ends of the arm portions. A rotation locking member that is rotatably held by one of the gripping device body and the actuating member at a rotation shaft portion, wherein the locked members cooperate with each other to form the pair of engagement members. The support pin gripping device according to item (5), which includes a pair of guide portions that guide the joint portion.
The rotating shaft portion, the pair of arm portions, and the pair of engaging portions are integrally provided. According to the support pin gripping device of this item, the locking member can have a simple structure.
A roller may be rotatably provided in each of the pair of engaging portions to serve as a rotational engaging portion, and friction between the engaging portion and the guide portion may be reduced.
(7) The pair of guide portions have a shape that causes the pair of engaging portions to perform a preset orbital motion including the locked portion in association with the two actuations of the actuating member. ) The support pin gripping device as described in the above item.
According to the support pin gripping device of this section, the locking member can easily perform two types of operations, i.e., locking with respect to the locked portion and unlocking, with two actuations of the operating member. Can be made.
(8) The support pin gripping device according to any one of (1) to (7), wherein the gripping member group opens and closes symmetrically with respect to the axis of symmetry.
According to the support pin gripping device of this section, for example, the gripping member group can grip the support pin whose axis is positioned without hindering the positioning. Further, by moving one of the plurality of support pin gripping members in the closing direction, the rest can be moved in the closing direction.
It is not essential to open and close the gripping member group in an axially symmetric manner. For example, the cross-sectional shape of the gripped portion of the support pin is asymmetric with respect to the axis of the support pin, and, for example, supports the target member. When the holding member group has an eccentric shape with respect to the support surface, the gripping member group is opened and closed asymmetrically with respect to the opening/closing axis.
(9) The support pin gripping device according to any one of (1) to (8), wherein the actuating member is an advancing/retreating member that moves back and forth in the axial direction.
According to the support pin gripping device of this section, the support pin gripping device can be made compact in the direction intersecting the axis of the gripping device main body, as compared with the case where the actuating member is a rotating member, for example. ..
(10) The support pin gripping device according to item (8), wherein the actuating member is an advancing/retreating member that is disposed on the axis of symmetry and moves back and forth along the axis of symmetry.
The actuating member of the support pin gripping device of this section is entirely located in the center of the gripping member group including the actuated portion, and the support pin gripping device can be made more compact.
(11) The support pin according to any one of (1) to (10), including a biasing means that biases the actuating member with respect to the gripping device main body in a direction from the operating position to the non-operating position. Gripping device.
The biasing means includes gravity in addition to elastic members such as springs.
The actuating member is actuated from the non-acting position toward the acting position against the biasing force of the biasing means, and is returned to the non-acting position by the biasing of the biasing means.
(12) The support pin gripping device according to item (11), wherein the biasing means includes an elastic member disposed between the actuating member and the gripping device body.
According to the support pin gripping device of this form, the operating member can be reliably and quickly returned to the non-acting position by the elastic force of the elastic member.
(13) The motion converting mechanism has a plurality of connection links in which one end is rotatably connected to each of the plurality of support pin gripping members and the other ends are rotatably connected to each other. And a guide means for guiding the other end of the connecting link in the advancing/retreating direction of the advancing/retreating member but immovably in a direction intersecting the advancing/retreating direction (9) to (12). ) The support pin gripping device according to any one of items 1) to 4).
According to the support pin gripping device of this section, a plurality of support pin gripping members can be moved all at once. Further, if one of the plurality of support pin gripping members performs the opening/closing operation, the other support pin gripping members can also be opened/closed via the connecting link. If the plurality of support pin gripping members and the plurality of connecting links are configured to be axially symmetrical, the plurality of support pin gripping members can be moved axially symmetrically, and the gripping member group can be opened and closed axially symmetrically.
(14) A support pin functions as the engaging member, and the advancing/retreating member includes a fitting hole that fits with the support pin to substantially prevent tilting of the support pin, and the plurality of support pin gripping members include: The support pin gripping device according to any one of (9) to (13), wherein the support pins are engaged with the support pins at their respective free ends while permitting relative inclination of the support pins.
The support pin is centered by the fitting with the fitting hole, and the support pin gripping member can grip the support pin in the centered state. By performing the centering, the support pin can be accurately arranged at a preset position of the pin support member or the like.
When the advancing/retreating member has a fitting hole that fits with the support pin and substantially prevents the support pin from tilting, the support pin is positioned by fitting with the fitting hole as described above. Therefore, the support pin gripping member only needs to prevent the support pin from being detached from the fitting hole, and it is possible to use only one support pin gripping member. In this case, the support pin gripping member does not "grip", so it should be referred to as a separation prevention member.
(15) The actuating member is an advancing/retreating member fitted to the grasping device main body so as to be capable of advancing/retreating in the axial direction, and the plurality of support pin grasping members are held by the advancing/retreating member so as to be relatively movable. The gripping device main body is provided with an action portion that moves at least one of the plurality of support pin gripping members in the closing direction by engaging with at least one of the plurality of support pin gripping members as the advancing/retreating member retracts. The support pin gripping device according to item (4), which constitutes at least a part of the motion converting mechanism.
The feature of this item can be adopted in combination with the feature described in any of the items (5) to (14).
(16) The acting portion is provided by the gripping device main body so as to be movable in a direction intersecting the advancing/retreating direction of the advancing/retreating member, and is biased in a direction approaching the at least one support pin gripping member by biasing means. The support pin gripping device according to item (15), which includes the movable acting member.
According to the support pin gripping device of this section, for example, the support pin gripping member can grip the support pin reliably. The action portion may be fixed to the gripping device body. However, in that case, when the plurality of support pin gripping members are moved in axial symmetry, the angle when the support pin gripping members are most closed is determined according to the arrangement of the action portion, and the configuration of the support pin gripping device The closing angle of the support pin gripping member may vary due to a manufacturing error or an assembly error of the member, and if the closing angle is insufficient, the support pin may not be gripped. On the other hand, if the action portion is composed of the movable action member and is biased by the biasing means, the movable action member is closed further than the position where the support pin gripping member is supposed to grip the support pin. By providing the support pin so that the support pin can be moved in any direction, the closing angle does not become insufficient even if there is an error in manufacturing a component member, and the support pin gripping member can surely grip the support pin. After the support pin gripping member grips the support pin, the movable action member moves against the biasing force of the biasing means, so that the support pin gripping member is not excessively moved in the closing direction. The pin gripping member and the support pin are not damaged.
The movable action member may be a rotation type action member that is rotated around a rotation axis that intersects the advancing/retreating direction of the advancing/retreating member, and a linear movement type action member that is linearly moved in a direction intersecting the advancing/retreating direction of the advancing/retreating member. May be
(17) The support pin gripping device according to any one of (1) to (16), wherein each of the plurality of support pin gripping members is a rotatable gripping member that is rotatable about one axis.
The support pin gripping member may be a linear movement type gripping member that is linearly moved in a direction intersecting the axis of the support pin to grip and release the support pin. Can be configured easily and compactly.
(20)内側に内側空間を有する基台と、
その基台に、基端部が前記内側空間内に位置するとともに軸方向に相対移動可能に保持され、基台から突出した突出部の先端でプリント基板を支持するピン部材と、
前記基台の前記内側空間内に少なくとも傾動可能に配設され、基台が磁性材料製のピン支持部材上に載置された状態で、そのピン支持部材に磁気的に吸引され、その磁気吸引力に基づいて基台にその基台をピン支持部材に押し付ける力を加える永久磁石部と、
前記ピン部材の前記内側空間内に位置する部分と前記永久磁石部との少なくとも一方に設けられ、ピン部材に引張力が加えられた場合に、その引張力を前記永久磁石部に、その永久磁石部を前記ピン支持部材に対して相対的に傾動させつつピン支持部材から離間させる力として伝達する力伝達装置と
を含む支持ピン。
プリント基板は、プリント配線が形成された板であるプリント配線板、電子回路部品が所定の位置に搭載されるとともにはんだ付け接合されて実装が完了した製品たるプリント回路板、およびそれらの間の過程にある半製品を含むものとする。
永久磁石部は、永久磁石のみにより構成されてもよく、永久磁石と永久磁石を固定的に保持する部材とにより構成されてもよい。
永久磁石部は基台の内側空間内に少なくとも傾動可能に配設されており、ピン部材に引張力が加えられたとき、まず、永久磁石部が傾動させられ、それによって磁気吸引力が減少させられた状態で基台がピン支持部材から離間させられ、支持ピンがピン支持部材から取り外される。
永久磁石部をピン支持部材から離間させれば、支持ピンをピン支持部材から取り外すことができるのであるが、永久磁石部全体を同時にピン支持部材から離間させようとすれば、永久磁石部全体に作用する磁気吸引力に打ち勝つ引張力を作用させることが必要であり、大きい引張力が必要である。それに対し、永久磁石部を傾動させる場合には、永久磁石部全部を同時に離間させる場合より小さい引張力で済み、より小さい引張力で永久磁石をピン支持部材から離間させることができる。また、永久磁石部が傾動させられるとき、基台およびピン部材が傾くことはなく、支持ピンをピン支持部材により支持された状態と同じ姿勢で取り外すことができる。
永久磁石を有し、磁気吸引力によってピン支持部材に固定される支持ピンは、例えば、特開2003−283197号公報に記載されている。この公報に記載の支持ピンにおいては、支持ピンに回動可能に設けられたレバーに永久磁石が固定されている。一対の把持部を有する支持ピン把持装置が支持ピンを把持する際の把持動作の利用によりレバーが回動させられ、永久磁石がピン支持部材から遠ざけられてから支持ピンがピン支持部材から取り外される。しかし、この支持ピンにおいては、レバーを回動させる必要上、支持ピン把持装置の把持動作を大きくすることが必要であるため、支持ピン把持装置が大形化するとともに、支持ピンの把持,解放に時間がかかる問題がある。また、プリント基板の既に電子回路部品が装着されている裏面を支持する場合、レバーが既装着回路部品と干渉する恐れがあり、支持位置が限定される問題もある。
本項の支持ピンによれば、そのような問題を生じることなく、磁気吸引力を減少させて支持ピンをピン支持部材から容易に離間させることができる。
しかも、支持ピンのピン支持部材からの取外し時に為されるのが普通である支持ピンの単純な引張動作によって永久磁石部を傾動させることができ、支持ピンの取外しに要する作業時間を長くすることなく磁気吸引力を減少させて、支持ピンを容易に取り外すことができる。(20)項ないし(31)項に記載の支持ピンの把持には、 (1)項ないし(17)項に記載の支持ピン把持装置が使用可能であるが、これに限らず、支持ピンを把持して引張力を加えることができる支持ピン把持装置であれば、使用可能である。作業者が取付け,取外ししてもよい。
(21)前記永久磁石部が前記内側空間内に前記基台に対して相対移動自在に配設された(20)項に記載の支持ピン。
永久磁石部は、内側空間内に傾動のみ可能に設けてもよいが、相対移動自在に配設すれば、永久磁石部の拘束が少なくて済み、傾動可能な状態で配設することが容易である。
(22)前記基台が、前記内側空間として底部が開放された凹部を備えたものである(20)項または(21)項に記載の支持ピン。
基台の内側空間内に配設された永久磁石部とピン支持部材との間に磁気吸引力が作用し易く、基台が確実にピン支持部材に押し付けられる。
(23)前記永久磁石部と前記基台とがそれぞれ、永久磁石部が前記ピン支持部材に最も接近した状態において互いに係合し、前記磁気吸引力を基台に伝達して基台をピン支持部材に押し付ける力伝達部を備えた(20)項ないし(22)項のいずれかに記載の支持ピン。
永久磁石部は、磁気吸引力が作用すればよく、ピン支持部材に接触させてもよく、接触させなくてもよい。前者の場合、直接接触させてもよく、間接的に接触させてもよい。
(24)前記基台が、前記内側空間として底部が開放された凹部を備えたものであり、その凹部の少なくとも一部が底板により覆われており、その底板の上面と前記永久磁石部の底面とが前記力伝達部として機能する(23)項に記載の支持ピン。
本項の支持ピンによれば、磁気吸引力に基づく押付力が、ピン支持部材の近くにおいて永久磁石部から基台に伝達され、支持ピンが安定してピン支持部材に取り付けられる。
凹部に底板を設けることは不可欠ではなく、開放されたままでもよい。この場合、例えば、基台に内側空間内に位置する係合部を設けるとともに、永久磁石部にその係合部に、ピン支持部材とは反対側から係合する係合部を設け、押付力を加えさせる。これら係合部が力伝達部を構成する。
(25)前記底板が非磁性材料から成る (24)項に記載の支持ピン。
永久磁石部が基台に押付力を伝達するとき、底板が磁化されず、永久磁石部と底板とは互いに磁気的に吸引されず、永久磁石部を傾動させる際の引張力が大きくなることが回避される。
(26)前記基台の底面がゴム層により覆われた(20)項ないし(25)項のいずれかに記載の支持ピン。
ゴムは摩擦係数が高い高摩擦材料の一種である。基台の底面が高摩擦材料層によって覆われることにより、支持ピンとピン支持部材との間に大きい摩擦力が得られる。そのため、支持ピンに、その軸線と交差する方向の力が作用しても位置がずれ難く、プリント基板を安定して支持することができる。また、高摩擦材料層はクッションとしても機能し、支持ピンがピン支持部材や支持ピン収納装置等のピン支持面上に載置されたとき、それらを損傷することが防止される。
(27)前記力伝達装置が、前記ピン部材の前記内側空間内に位置する部分と共に移動する第一係合部と、前記永久磁石部と共に移動する第二係合部とを備え、それら第一係合部と第二係合部とが、前記永久磁石部と前記ピン支持部材との間に作用する磁気吸引力の合力の作用線から外れた位置において互いに係合することにより、永久磁石部に回転モーメントを生じさせる(20)項ないし(26)項のいずれかに記載の支持ピン。
回転モーメントを生じさせるための引張力は、永久磁石部全体をピン支持部材から一挙に離間させるための引張力より小さくて済む。
(28)前記力伝達装置が、前記ピン部材の前記内側空間内に位置する部分に固定的に設けられた一対の第一係合部と、前記永久磁石部に固定的に設けられた一対の第二係合部とを備え、前記一対の第一係合部の一方と他方と前記一対の第二係合部の一方と他方とが、前記永久磁石部が前記ピン支持部材に最も接近して前記基台に前記磁気吸引力に基づく力を加える状態において、前記ピン部材の軸方向において互いに異なる距離を隔ててそれぞれ対向する(20)項ないし(27)項のいずれかに記載の支持ピン。
ピン部材に引張力が加えられるとき、一対ずつの第一,第二係合部のうち、まず、互いに近いものが係合し、永久磁石部を、第一,第二係合部が互いに遠い第二係合部側の部分を支点にして傾動させ、磁気吸引力を減少させる。ピン部材が更に引っ張られれば、一対ずつの第一,第二係合部の他方(互いに遠いもの)が係合し、永久磁石部の上記支点となった部分をピン支持部材から離間させて、磁気吸引力を消滅させる。永久磁石部全体を内側空間内においてピン支持部材から離間させ、磁気吸引力を効果的に消滅させることができる。永久磁石部をそれの一端を支点にして傾動させるために必要なピン部材の引張力も、支点となった一端をピン支持部材から離間させるために必要な引張力も、永久磁石部全体を一挙にピン支持部材から離間させるために必要な引張力より小さくて済み、結局比較的小さい引張力で支持ピンをピン支持部材から取り外すことができる。
(29)前記一対の第一係合部が、前記ピン部材の前記内側空間内に位置する部分に固定的に設けられ、横断面形状が概してC字形を成し、そのC字の開放部が下方を向いたC形部材の両端部により形成され、前記一対の第二係合部が、前記永久磁石に一体的に設けられ、側方へ突出した一対の突部により形成され、それら一対の突部と前記C形部材の前記両端部との少なくとも一方が、前記ピン部材の軸方向における位置を互いに異にする(28)項に記載の支持ピン。
(30)前記基台が下方に開放された溝を有して溝形を成し、前記C形部材が前記溝内に、前記両端部がその溝に平行に延びる姿勢で収容され、ぞれら基台とC字形部材とにより四方をほぼ囲まれた空間内に前記永久磁石部が相対移動は自在であるが空間からの離脱は防止された状態で配設された(29)項に記載の支持ピン。
基台およびC形部材が永久磁石の離脱防止手段を構成し、それらとは別に離脱防止手段を設ける場合に比較して支持ピンを簡易にかつ安価に構成することができる。
(31)前記基台に前記ピン部材の基台側への移動限度を規定する移動限度規定部が設けられた(20)項ないし(30)項のいずれかに記載の支持ピン。
永久磁石部の傾動により磁気吸引力が減少させられた状態から更にピン部材に引張力が加えられるとき、移動限度の規定によりピン部材が基台に係合して基台をピン支持部材から離間させる。本項の支持ピンは、支持ピン把持装置により自動でピン支持部材に取付け,取外しされる支持ピンとして好適である。
(20) A base having an inner space inside,
A pin member for supporting the printed circuit board at the tip of a protruding portion protruding from the base, the base end of which is held in the inner space so as to be relatively movable in the axial direction,
At least tiltably disposed in the inner space of the base, the base is placed on a pin support member made of a magnetic material, magnetically attracted to the pin support member, and magnetically attracted to the pin support member. A permanent magnet section that applies a force to the base to press the base to the pin support member based on the force;
The pin member is provided in at least one of the portion located in the inner space and the permanent magnet portion, and when a pulling force is applied to the pin member, the pulling force is applied to the permanent magnet portion and the permanent magnet portion. And a force transmission device that transmits the force as a force to move the portion relative to the pin support member while separating the portion from the pin support member.
A printed circuit board is a printed circuit board on which printed wiring is formed, a printed circuit board that is a product in which electronic circuit components are mounted at predetermined positions and soldered and joined, and a process between them. It includes the semi-finished products in.
The permanent magnet section may be configured by only the permanent magnet, or may be configured by the permanent magnet and a member that fixedly holds the permanent magnet.
The permanent magnet part is at least tiltably arranged in the inner space of the base, and when a tensile force is applied to the pin member, the permanent magnet part is first tilted, thereby reducing the magnetic attraction force. In this state, the base is separated from the pin support member, and the support pin is removed from the pin support member.
If the permanent magnet part is separated from the pin support member, the support pin can be removed from the pin support member, but if it is attempted to separate the entire permanent magnet part from the pin support member at the same time, the entire permanent magnet part is removed. It is necessary to exert a tensile force that overcomes the magnetic attraction force that acts, and a large tensile force is required. On the other hand, when the permanent magnet portion is tilted, the pulling force is smaller than that when the permanent magnet portions are all separated at the same time, and the permanent magnet can be separated from the pin support member with a smaller pulling force. Further, when the permanent magnet portion is tilted, the base and the pin member do not tilt, and the support pin can be removed in the same posture as that supported by the pin support member.
A support pin that has a permanent magnet and is fixed to a pin support member by a magnetic attraction force is described in, for example, JP-A-2003-283197. In the support pin described in this publication, a permanent magnet is fixed to a lever rotatably provided on the support pin. The support pin gripping device having a pair of gripping portions uses the gripping operation when gripping the support pin, whereby the lever is rotated, the permanent magnet is moved away from the pin support member, and then the support pin is removed from the pin support member. .. However, in this support pin, since it is necessary to rotate the lever and it is necessary to increase the gripping operation of the support pin gripping device, the size of the support pin gripping device becomes large, and the gripping and releasing of the support pin is performed. There is a problem that it takes time. Further, when the back surface of the printed circuit board on which the electronic circuit components are already mounted is supported, the lever may interfere with the already mounted circuit components, and there is a problem that the supporting position is limited.
According to the support pin of this form, the magnetic attraction force can be reduced and the support pin can be easily separated from the pin support member without causing such a problem.
Moreover, the permanent magnet portion can be tilted by a simple pulling action of the support pin, which is usually performed when removing the support pin from the pin support member, and the work time required for removing the support pin is lengthened. Without reducing the magnetic attraction force, the support pin can be easily removed. The support pin gripping device according to (1) to (17) can be used for gripping the support pin according to (20) to (31), but the support pin is not limited to this. Any supporting pin gripping device capable of gripping and applying a tensile force can be used. It may be installed and removed by the operator.
(21) The support pin according to item (20), wherein the permanent magnet portion is arranged in the inner space so as to be movable relative to the base.
The permanent magnet part may be provided only in a tiltable manner in the inner space, but if it is arranged so as to be relatively movable, the permanent magnet part is less constrained, and it is easy to install in a tiltable state. is there.
(22) The support pin according to item (20) or (21), wherein the base is provided with a recess having an open bottom as the inner space.
A magnetic attraction force easily acts between the permanent magnet portion arranged in the inner space of the base and the pin support member, and the base is reliably pressed against the pin support member.
(23) The permanent magnet part and the base are engaged with each other in a state where the permanent magnet part is closest to the pin support member, and the magnetic attraction force is transmitted to the base to support the pin on the pin. The support pin according to any one of the items (20) to (22), comprising a force transmitting portion that is pressed against the member.
The permanent magnet part may be brought into contact with the pin support member or may not be brought into contact with it, as long as a magnetic attraction force acts on it. In the former case, the contact may be made directly or indirectly.
(24) The base is provided with a recess whose bottom is opened as the inner space, at least a part of the recess is covered by a bottom plate, and the upper surface of the bottom plate and the bottom surface of the permanent magnet section. The support pin according to the item (23), wherein and function as the force transmission portion.
According to the support pin of this item, the pressing force based on the magnetic attraction force is transmitted from the permanent magnet portion to the base near the pin support member, and the support pin is stably attached to the pin support member.
It is not essential to provide the bottom plate in the recess, and it may be left open. In this case, for example, the base is provided with an engaging portion located in the inner space, and the permanent magnet portion is provided with an engaging portion engaging with the engaging portion from the side opposite to the pin support member, so that the pressing force is increased. To add. These engaging portions form a force transmitting portion.
(25) The support pin according to item (24), wherein the bottom plate is made of a non-magnetic material.
When the permanent magnet part transmits the pressing force to the base, the bottom plate is not magnetized, the permanent magnet part and the bottom plate are not magnetically attracted to each other, and the tensile force when tilting the permanent magnet part may be large. Avoided.
(26) The support pin according to any of (20) to (25), wherein the bottom surface of the base is covered with a rubber layer.
Rubber is a kind of high friction material having a high friction coefficient. By covering the bottom surface of the base with the high friction material layer, a large friction force is obtained between the support pin and the pin support member. Therefore, even if a force in a direction intersecting with the axis of the support pin is applied, the position of the support pin does not easily shift, and the printed circuit board can be stably supported. The high-friction material layer also functions as a cushion, and prevents damage to the support pins when the support pins are placed on the pin support surface of the pin support member, the support pin storage device, or the like.
(27) The force transmission device includes a first engagement portion that moves together with a portion of the pin member located in the inner space, and a second engagement portion that moves together with the permanent magnet portion. The engaging portion and the second engaging portion are engaged with each other at a position deviating from the line of action of the resultant force of the magnetic attractive force acting between the permanent magnet portion and the pin support member, so that the permanent magnet portion The support pin according to any one of the items (20) to (26), which produces a rotational moment in the.
The tensile force for generating the rotational moment may be smaller than the tensile force for separating the entire permanent magnet portion from the pin support member at once.
(28) The force transmission device includes a pair of first engagement portions fixedly provided in a portion of the pin member located in the inner space, and a pair of first engagement portions fixedly provided in the permanent magnet portion. A second engaging portion, one and the other of the pair of first engaging portions, and one and the other of the pair of second engaging portions, the permanent magnet portion closest to the pin support member. Support pin according to any one of (20) to (27), which face each other with a distance different from each other in the axial direction of the pin member in a state in which a force based on the magnetic attraction force is applied to the base. ..
When a pulling force is applied to the pin member, first of the pair of first and second engaging portions, the ones that are closer to each other engage first, and the permanent magnet portion and the first and second engaging portions are far from each other. The portion on the side of the second engaging portion is tilted about the fulcrum to reduce the magnetic attraction force. If the pin member is further pulled, the other of the pair of first and second engaging portions (the ones distant from each other) are engaged, and the portion serving as the fulcrum of the permanent magnet portion is separated from the pin supporting member, Extinguish magnetic attraction. It is possible to separate the entire permanent magnet portion from the pin support member in the inner space and effectively eliminate the magnetic attraction force. The pulling force of the pin member required to tilt the permanent magnet part with its one end as a fulcrum and the pulling force required to separate the one end that has become the fulcrum from the pin support member It is less than the pulling force required to separate it from the support member, so that the support pin can be removed from the pin support member with a relatively small pulling force.
(29) The pair of first engaging portions are fixedly provided in a portion of the pin member located in the inner space, and a cross-sectional shape thereof is generally C-shaped, and the C-shaped opening portion is The pair of second engaging portions, which are formed by both ends of the C-shaped member facing downward, are provided integrally with the permanent magnet, and are formed by a pair of laterally projecting projections. The support pin according to item (28), wherein at least one of the protrusion and the both ends of the C-shaped member makes the position of the pin member different from each other in the axial direction.
(30) The base is formed in a groove shape having a groove opened downward, and the C-shaped member is housed in the groove with both ends thereof extending parallel to the groove. The permanent magnet part is arranged in a space substantially surrounded by a base and a C-shaped member on all four sides, but the permanent magnet part is arranged so as to be prevented from being separated from the space (29). Support pin.
The base and the C-shaped member constitute a detachment preventing means for the permanent magnet, and the support pin can be constructed easily and inexpensively as compared with the case where the detachment preventing means is separately provided.
(31) The support pin according to any one of the items (20) to (30), wherein the base is provided with a movement limit defining portion that defines a movement limit of the pin member toward the base.
When the pulling force is further applied to the pin member from the state where the magnetic attraction force is reduced due to the tilting of the permanent magnet part, the pin member engages with the base and the base is separated from the pin support member according to the regulation of the movement limit. Let The support pin of this section is suitable as a support pin that is automatically attached to and removed from the pin support member by the support pin gripping device.
(40)一対のサイドフレームとそれらサイドフレームに支持された一対のコンベヤベルトとを含み、前記一対のサイドフレームの一方が固定フレーム、他方がその固定フレームに接近,離間することによって搬送幅を変更する可動フレームである基板コンベヤにより搬送されるプリント基板を、下方から支持する支持ピンを収納する支持ピン収納装置であって、
前記可動フレームに、その可動フレームと共に移動可能に取り付けられた支持ピン収納装置。
搬送幅は、例えば、プリント基板の種類が変わり、幅が変わる場合に変更される。支持ピンのプリント基板支持位置は、プリント基板の種類によって異なるのが普通であり、プリント基板の種類に応じて支持ピンが配置される。この際、支持ピンが支持ピン収納装置に収納されたり、支持ピン収納装置から支持ピンが取り出され、プリント基板の支持に用いられたりするのであるが、支持ピン収納装置が可動フレームと共に移動可能に取り付けられていれば、支持ピン収納装置を、プリント基板の種類を問わず、常にプリント基板近傍であって、支持ピン配置領域近傍に位置させることができ、支持ピンの収納,取出しを迅速に行うことができる。
また、本支持ピン収納装置が電子回路部品をプリント基板に取り付ける電子回路部品装着システムに設けられる場合、部品装着能率の低下を回避することができる。例えば、固定フレーム側に部品供給装置が設けられている場合、支持ピン収納装置を固定フレームに取り付ければ、その分、プリント基板と部品供給装置の部品供給部との距離が長くなり、部品装着ヘッドの移動に時間を要するのであるが、可動フレームと共に移動可能に取り付けられれば、部品装着ヘッドの移動距離が長くなることがなく、装着能率の低下が回避される。
(41)前記支持ピンを収納する収納部が複数、前記可動フレームの長手方向に平行に並べて配列された収納部列を少なくとも1列備えた(40)項に記載の支持ピン収納装置。
可動フレームの長手方向に平行な方向においては、少なくとも可動フレームが設けられている領域内において収納部を設けることができ、可動フレームの移動方向と平行な方向においてはコンパクトでありながら、収納数の多い支持ピン収納装置を得ることができる。
(42)当該支持ピン収納装置に収納された支持ピンの、前記可動フレームの移動に伴って変化する前記基板コンベヤの幅方向の位置を検出する支持ピン位置検出装置を含む(40)項または(41)項に記載の支持ピン収納装置。
支持ピンの位置検出は、例えば、支持ピン収納装置の可動フレームへの取付け時に行ってもよく、取付け後、予め設定された条件の成立時に行なってもよい。例えば、設定時間の経過時、設定枚数のプリント基板への電子回路部品の装着終了時等に位置を検出し直すのである。
可動フレームが移動させられれば、それに伴って支持ピン収納装置の基板コンベヤの幅方向の位置が変わるが、支持ピン位置検出装置によって支持ピンの位置を検出することにより、例えば、支持ピンの支持ピン収納装置への収納,取出しを自動で行う場合、支持ピン取付取外装置をピン収納装置に収納された支持ピンや空のピン収納部へ精度良く移動させ、支持ピンの損傷等を生ずることなく、収納,取出しを行うことができる。
(43)前記支持ピン位置検出装置が、
当該支持ピン収納装置に収納された支持ピンまたはそれと共に移動する部材の予め定められた部分である被撮像部を、その被撮像部と対向する位置から撮像する撮像装置と、
その撮像装置を、少なくとも前記基板コンベヤの幅方向に移動させる撮像装置移動装置と、
その撮像装置移動装置によって移動させられた前記撮像装置の位置と、その位置において撮像された画像内における前記被撮像部の位置とに基づいて、前記支持ピンの位置を演算する位置演算装置と
を含む(42)項に記載の支持ピン収納装置。
支持ピンと共に移動する部材には、例えば、支持ピン収納装置そのものや、可動フレームがある。被撮像部は、例えば、支持ピンの先端面や支持ピンに設けられたマークや凹凸でもよく、支持ピン収納装置や可動フレームに設けられたマークや凹凸等、撮像により他の部分と区別して認識可能な部分でもよい。支持ピン収納装置の予め定められた部分を被撮像部とすれば、支持ピン収納装置に支持ピンが収納されていない状態においても被撮像部を撮像し、収納が予定されている支持ピンの位置を検出することができる。
(44)前記支持ピン位置検出装置が、
前記可動フレームを移動させるフレーム移動装置に設けられ、可動フレームの位置に対応する信号を出力するエンコーダと、
そのエンコーダに接続され、エンコーダの出力に基づいて、その収納部に収納された支持ピンの位置を演算する位置演算装置と
を含む(42)項または(43)項に記載の支持ピン収納装置。
可動フレームの位置は、その移動に伴って自動的に得られ、支持ピンの位置が迅速に検出される。
(45)前記位置演算部が、前記エンコーダの出力と、予め設定されている可動フレームと前記収納部との相対位置の情報とに基づいて前記支持ピンの位置を演算するものである(44)項に記載の支持ピン収納装置。
(46)当該支持ピン収納装置が、前記可動フレームの前記固定フレーム側とは反対側の位置において可動フレームに取り付けられた(40)項ないし(45)項のいずれかに記載の支持ピン収納装置。
本項の支持ピン収納装置においては、支持ピン収納装置が基板搬送領域外に設けられることとなり、基板コンベヤにより搬送されるプリント基板との干渉回避を考慮することなく、設けることができる。支持ピン収納装置を可動フレームの固定フレーム側の位置に取り付けてもよい。しかし、その場合、支持ピン収納装置は、基板コンベヤの基板搬送領域内に位置することとなり、例えば、支持ピン収納装置を昇降可能に設け、プリント基板や、その裏面に既に装着されている電子回路部品との干渉を回避させたり、あるいは、支持ピン収納装置を、基板コンベヤの基板搬送面と直角な方向においてそれらプリント基板等と干渉しない位置に固定して設けるとともに、支持ピン取付取外装置を、その支持ピン収納装置の収納部について収納,取出しを行うことができる作動ストロークを有するものとすることが必要となるのであるが、本項の支持ピン収納装置においてはそれらが不要である。
(47)前記収納部が、前記支持ピンと嵌合して支持ピンを位置決めする位置決め部を備えた(40)項ないし(46)項のいずれかに記載の支持ピン収納装置。
例えば、支持ピンがずれることがなく、検出された支持ピンの位置を用いて支持ピンの収納,取出しを正確に行うことができる。また、収納部と支持ピンとの相対位置が一義的に決まり、収納部の位置を検出することにより支持ピンの位置を検出することができる。
(40) A conveyance width is changed by including a pair of side frames and a pair of conveyor belts supported by the side frames, one of the pair of side frames is a fixed frame, and the other is close to or away from the fixed frame. A support pin housing device for housing a support pin that supports a printed board that is transported by a board conveyor that is a movable frame from below,
A support pin storage device that is movably attached to the movable frame together with the movable frame.
The carrying width is changed, for example, when the type of the printed circuit board changes and the width changes. The printed circuit board supporting position of the support pin generally differs depending on the type of the printed circuit board, and the support pin is arranged according to the type of the printed circuit board. At this time, the support pin is stored in the support pin storage device, or the support pin is taken out from the support pin storage device and used for supporting the printed circuit board. If attached, the support pin storage device can be always located near the printed circuit board and in the vicinity of the support pin arrangement area regardless of the type of the printed circuit board, and the support pin can be quickly stored and taken out. be able to.
Further, when the support pin housing device is provided in the electronic circuit component mounting system for mounting the electronic circuit component on the printed circuit board, it is possible to avoid a decrease in component mounting efficiency. For example, when the component supply device is provided on the fixed frame side, if the support pin housing device is attached to the fixed frame, the distance between the printed circuit board and the component supply unit of the component supply device becomes longer, and the component mounting head becomes larger. It takes a long time to move, but if it is movably attached together with the movable frame, the moving distance of the component mounting head does not become long, and a decrease in mounting efficiency is avoided.
(41) The support pin storage device according to the item (40), in which a plurality of storage portions for storing the support pins are provided and at least one storage portion row is arranged in parallel in the longitudinal direction of the movable frame.
In the direction parallel to the longitudinal direction of the movable frame, the storage section can be provided at least in the area where the movable frame is provided, and the storage unit is compact in the direction parallel to the moving direction of the movable frame, but the number of storages is small. It is possible to obtain a large number of support pin storage devices.
(42) A support pin position detecting device for detecting a position in the width direction of the substrate conveyor of the support pin housed in the supporting pin housing device, which position changes in accordance with the movement of the movable frame (40) or ( The support pin storage device according to the item 41).
The position of the support pin may be detected, for example, when the support pin storage device is attached to the movable frame, or after the attachment, when a preset condition is satisfied. For example, the position is detected again when the set time elapses, when the mounting of the electronic circuit parts on the set number of printed circuit boards is completed, or the like.
When the movable frame is moved, the position in the width direction of the substrate conveyor of the support pin housing device changes accordingly.However, by detecting the position of the support pin by the support pin position detection device, for example, the support pin of the support pin is detected. When automatically loading and unloading the storage device, the support pin attachment/detachment device is accurately moved to the support pin or empty pin storage part stored in the pin storage device, without damaging the support pin. It can be stored, taken out.
(43) The support pin position detection device is
An imaging device that images a part to be imaged, which is a predetermined part of the support pin housed in the support pin housing device or a member that moves together with the support pin, from a position facing the part to be imaged,
An image pickup device moving device that moves the image pickup device at least in the width direction of the substrate conveyor;
A position calculation device for calculating the position of the support pin based on the position of the image pickup device moved by the image pickup device moving device and the position of the imaged part in the image picked up at the position. The support pin storage device according to the paragraph (42), which includes.
The member that moves together with the support pin includes, for example, the support pin storage device itself and the movable frame. The part to be imaged may be, for example, a mark or unevenness provided on the tip surface of the support pin or the support pin, and the mark or unevenness provided on the support pin storage device or the movable frame can be distinguished from other parts by imaging. It may be a possible part. If the predetermined part of the support pin storage device is the imaged part, the image of the imaged part is imaged even when the support pin is not stored in the support pin storage device, and the position of the support pin scheduled to be stored. Can be detected.
(44) The support pin position detection device is
An encoder that is provided in a frame moving device that moves the movable frame and outputs a signal corresponding to the position of the movable frame,
A support pin storage device according to item (42) or (43), further comprising: a position calculation device that is connected to the encoder and calculates the position of the support pin stored in the storage portion based on the output of the encoder.
The position of the movable frame is automatically obtained along with the movement of the movable frame, and the position of the support pin is quickly detected.
(45) The position calculation unit calculates the position of the support pin based on the output of the encoder and information on the relative position between the movable frame and the storage unit set in advance (44) The support pin storage device according to item.
(46) The support pin storage device according to any one of (40) to (45), wherein the support pin storage device is attached to the movable frame at a position opposite to the fixed frame side of the movable frame. ..
In the support pin storage device of this section, the support pin storage device is provided outside the substrate transfer area, and can be provided without considering interference avoidance with the printed circuit board transferred by the substrate conveyor. The support pin storage device may be attached to a position on the fixed frame side of the movable frame. However, in that case, the support pin storage device is located in the substrate transfer area of the substrate conveyor. For example, the support pin storage device is provided so as to be able to move up and down, and the printed circuit board and the electronic circuit already mounted on the back surface thereof Avoid interference with parts, or fix the support pin storage device at a position that does not interfere with those printed boards in the direction perpendicular to the board transfer surface of the board conveyor. It is necessary that the storage portion of the support pin storage device has an operation stroke that allows storage and removal, but the support pin storage device of this section does not need them.
(47) The support pin storage device according to any one of (40) to (46), wherein the storage portion includes a positioning portion that fits with the support pin to position the support pin.
For example, the support pin is not displaced, and the support pin can be accurately stored and taken out by using the detected position of the support pin. Further, the relative position between the storage part and the support pin is uniquely determined, and the position of the support pin can be detected by detecting the position of the storage part.
(50)(1)項ないし(17)項のいずれかに記載の支持ピン把持装置と、
(20)項ないし(31)項のいずれかに記載の支持ピンと、
その支持ピンを支持するピン支持部材と、
前記支持ピンを収納する支持ピン収納装置と、
前記支持ピン把持装置と前記ピン支持部材および支持ピン収納装置とを、一平面内の任意の相対位置へ相対移動させるとともに、前記一平面と直交する一軸方向に相対移動させる相対移動装置と、
その相対移動装置を制御して、前記支持ピンを前記支持ピン収納装置から取り出して前記ピン支持部材上に取り付け、そのピン支持部材上から取り外して支持ピン収納装置に収納する制御装置と
を含む自動段取替え可能な基板支持装置。
(1)項ないし(17)項のいずれかに記載の支持ピン把持装置および(20)項ないし(31)項のいずれかに記載の支持ピンについて得られる効果を享受しつつ、支持ピンを自動で段取り替えすることができる。
(51)前記相対移動装置が、当該基板支持装置により支持されたプリント基板の任意の個所に作業を行う作業ヘッドをプリント基板に対して相対移動させる相対移動装置を兼ねる(50)項に記載の基板支持装置。
作業ヘッドには、例えば、プリント基板に電子回路部品を装着する部品装着ヘッドや、接着剤,クリーム状はんだ等の高粘性流体を塗布する高粘性流体塗布ヘッドや、プリント基板における電子回路部品の装着状態を検査する装着状態検査ヘッドがある。
相対移動装置は、作業ヘッドをプリント基板に対して相対移動させる相対移動装置の全部を兼ねてもよく、一部を兼ねてもよい。
本項によれば、基板支持装置を簡易にかつ安価に構成することができる。
(52)前記作業ヘッドと前記支持ピン把持装置とが別個の保持装置に保持される(51)項に記載の基板支持装置。
作業ヘッドと支持ピン把持装置とをそれぞれ保持装置に保持させて一緒に相対移動装置に装着することができる。それにより、例えば、作業終了後、直ちに段取り替えを行うことができ、あるいは段取替え終了後、直ちに作業を開始することができる。
(53)前記別個の保持装置を備え、前記相対移動装置により相対移動させられる保持部が複数準備され、それら複数の保持部が前記相対移動装置に対して択一的に装着される (52)項に記載の基板支持装置。
相対移動装置に装着される作業ヘッドが変われば、作業ヘッドと共に支持ピン把持装置も変えられ、常に支持ピン把持装置が作業ヘッドと共に相対移動装置に装着される。
なお、支持ピン把持装置は相対移動装置に装着されたままとされ、相対移動装置に対して択一的に装着される複数の作業ヘッドに共通とされてもよい。
(54)前記作業ヘッドと前記支持ピン把持装置とが、共通の保持装置に択一的に保持される(51)項に記載の基板支持装置。
支持ピンの段取り替え時には、作業ヘッドが保持装置から取り外されるとともに相対移動装置から外され、支持ピン把持装置が保持装置に保持されるとともに相対移動装置に装着され、作業ヘッドの作業時には、支持ピン把持装置に替えて作業ヘッドが相対移動装置に装着される。
相対移動装置は作業ヘッドと支持ピン把持装置とのいずれか一方のみを移動させればよく、移動部が軽く、例えば、移動時の加,減速度を大きくすることができる。
(55)前記共通の保持装置を備え、前記相対移動装置により相対移動させられる保持部が複数準備され、それら複数の保持部が前記相対移動装置に対して択一的に装着される (54)項に記載の基板支持装置。
(56)前記支持ピン収納装置が、前記(40)項ないし(47)項のいずれかに記載の支持ピン収納装置である(50)項ないし(55)項のいずれかに記載の基板支持装置。
前記(40)項ないし(47)項のいずれかに記載の支持ピン収納装置の効果を享受しつつ、支持ピンを自動で段取替えすることができる。
(50) The support pin gripping device according to any one of items (1) to (17),
(20) to the support pin according to any one of (31),
A pin support member that supports the support pin,
A support pin storage device for storing the support pin,
A relative movement device that relatively moves the support pin gripping device, the pin support member, and the support pin storage device to an arbitrary relative position in one plane, and relatively moves in one axial direction orthogonal to the one plane.
A control device that controls the relative movement device to take out the support pin from the support pin storage device, mount it on the pin support member, and remove it from the pin support member and store it in the support pin storage device. Substrate support device that can be set up.
The support pin gripping device according to any one of the items (1) to (17) and the support pin according to any one of the items (20) to (31) are automatically operated while enjoying the effects obtained. You can change the setup with.
(51) The relative movement device also serves as a relative movement device that relatively moves a work head for performing work on an arbitrary portion of the printed circuit board supported by the substrate support device relative to the printed circuit board. Substrate support device.
The work head includes, for example, a component mounting head that mounts electronic circuit components on a printed circuit board, a high-viscosity fluid application head that applies a high-viscosity fluid such as adhesive or cream solder, and mounting of electronic circuit components on the printed circuit board. There is a mounting state inspection head for inspecting the state.
The relative movement device may serve as all or part of the relative movement device that relatively moves the work head with respect to the printed circuit board.
According to this form, the substrate supporting device can be configured easily and inexpensively.
(52) The substrate support device according to the item (51), wherein the working head and the support pin gripping device are held by separate holding devices.
The work head and the support pin gripping device can be held by the holding device and attached to the relative moving device together. Thereby, for example, the setup change can be performed immediately after the completion of the work, or the work can be started immediately after the completion of the setup change.
(53) A plurality of holding portions provided with the separate holding device and relatively moved by the relative moving device are prepared, and the plurality of holding portions are selectively attached to the relative moving device (52) Substrate support device according to item.
When the work head mounted on the relative movement device changes, the support pin gripping device changes together with the work head, and the support pin gripping device is always mounted on the relative movement device together with the work head.
The support pin gripping device may remain attached to the relative movement device and may be common to a plurality of work heads that are selectively attached to the relative movement device.
(54) The substrate supporting device according to the item (51), wherein the working head and the support pin gripping device are alternatively held by a common holding device.
When changing the support pin, the work head is removed from the holding device and removed from the relative movement device, and the support pin gripping device is held by the holding device and attached to the relative movement device. The work head is attached to the relative movement device instead of the gripping device.
The relative movement device needs to move only one of the work head and the support pin gripping device, and the moving portion is light, and for example, acceleration and deceleration at the time of movement can be increased.
(55) A plurality of holding portions provided with the common holding device and relatively moved by the relative movement device are prepared, and the plurality of holding portions are selectively attached to the relative movement device (54) Substrate support device according to item.
(56) The substrate support device according to any one of (50) to (55), wherein the support pin storage device is the support pin storage device according to any of (40) to (47). ..
While enjoying the effect of the support pin storage device according to any one of (40) to (47), the support pins can be automatically changed.
請求可能発明の実施例である支持ピン把持装置等を備えた装着モジュールが複数並べられた電子回路部品装着システムを示す斜視図である。It is a perspective view showing an electronic circuit component mounting system in which a plurality of mounting modules including a support pin gripping device or the like which is an embodiment of the claimable invention are arranged. 上記複数の装着モジュールの一部を示す斜視図である。It is a perspective view which shows a part of said mounting module. 上記装着モジュールのノズル保持ヘッドおよびノズル保持ヘッド移動装置を示す斜視図である。It is a perspective view showing a nozzle holding head and a nozzle holding head moving device of the mounting module. 上記ノズル保持ヘッド移動装置を示す分解斜視図である。FIG. 3 is an exploded perspective view showing the nozzle holding head moving device. 上記ノズル保持ヘッドをヘッドカバーを取り除いて示す斜視図である。FIG. 6 is a perspective view showing the nozzle holding head with a head cover removed. ノズルホルダ数を異にする3種類のノズル保持ヘッドを示す斜視図である。It is a perspective view showing three types of nozzle holding heads with different numbers of nozzle holders. 上記装着モジュールの一つを概略的に示す平面図である。It is a top view which shows schematically one of the said mounting modules. 上記装着モジュールの基板搬送装置の可動レールおよびその周辺部を支持ピンおよびピン支持台等と共に示す正面図である。It is a front view which shows the movable rail of the board|substrate conveyance apparatus of the said mounting module, and its peripheral part with a support pin and a pin support stand. 上記可動レールおよび支持ピン収納装置を示す側面断面図である。It is a side sectional view showing the above-mentioned movable rail and support pin storage device. 上記可動レールおよび支持ピン収納装置を示す平面図である。It is a top view which shows the said movable rail and a support pin storage device. 上記支持ピンを示す正面図(一部断面)である。It is a front view (partial cross section) which shows the said support pin. 上記支持ピンを示す側面図である。It is a side view which shows the said support pin. 上記支持ピンを示す平面図である。It is a top view which shows the said support pin. 上記支持ピン把持装置および支持ピン把持装置昇降装置を示す側面図である。It is a side view which shows the said support pin holding device and a support pin holding device raising/lowering apparatus. 上記支持ピン把持装置および支持ピン把持装置昇降装置を示す正面図である。It is a front view which shows the said support pin holding device and a support pin holding device raising/lowering apparatus. 上記支持ピン把持装置を示す正面断面図であって、進退部材が非作用位置に位置する状態を示す図である。It is a front sectional view showing the above-mentioned support pin grasping device, and is a figure showing the state where an advancing and retracting member is located in an inoperative position. 上記支持ピン把持装置を示す正面断面図であって、進退部材が後退端位置に位置する状態を示す図である。It is a front sectional view showing the above-mentioned support pin grasping device, and is a figure showing the state where an advancing and retracting member is located in a retreat end position. 上記支持ピン把持装置を示す正面断面図であって、進退部材が作用位置に位置する状態を示す図である。It is a front sectional view showing the above-mentioned support pin grasping device, and is a figure showing the state where an advancing and retracting member is located in an operation position. 上記支持ピン把持装置を示す左側面断面図であって、進退部材が非作用位置に位置する状態を示す図である。It is a left side sectional view showing the above-mentioned support pin grasping device, and is a figure showing the state where an advancing and retracting member is located in a non-operating position. 上記支持ピンを示す右側面図であって、進退部材が作用位置に位置する状態を示す図である。It is a right side view showing the above-mentioned support pin, and is a figure showing the state where an advance and retract member is located in an operation position. 上記支持ピン把持装置による支持ピンのピン支持台からの取外しを説明する図である。It is a figure explaining the removal of the support pin from the pin support base by the said support pin holding device. 上記進退部材に設けられた一対の案内部を示す図であり、それら案内部による一対の係合部の原位置から係止位置への案内を説明する図である。It is a figure which shows a pair of guide part provided in the said advancing-and-retracting member, and is a figure explaining the guide from an original position of a pair of engaging part by these guide parts to a locking position. 上記一対の案内部による一対の係合部の係止位置から原位置への案内を説明する図である。It is a figure explaining guidance to the original position from the locking position of a pair of engaging parts by a pair of above-mentioned guide parts. 上記装着モジュールを制御する制御装置を概略的に示すブロック図である。It is a block diagram which shows schematically the control apparatus which controls the said mounting module. 請求可能発明の別の実施例である支持ピン収納装置の支持ピン位置検出装置を概略的に示す図である。It is a figure which shows schematically the support pin position detection apparatus of the support pin accommodation device which is another Example of the claimable invention. 請求可能発明の更に別の実施例である支持ピン把持装置を示す左側面断面図である。It is a left side sectional view showing a support pin grasping device which is another example of the claimable invention. 請求可能発明の更に別の実施例である支持ピン把持装置を示す左側面断面図である。It is a left side sectional view showing a support pin grasping device which is another example of the claimable invention. 請求可能発明の更に別の実施例である支持ピンの磁石保持部およびその周辺を示す正面断面図である。It is a front sectional view showing a magnet holding part of a support pin which is another example of the claimable invention, and its circumference.
符号の説明Explanation of symbols
28:基板支持装置 40:ノズル保持ヘッド 42:ノズル保持ヘッド移動装置 50:プリント基板 120:ヘッド本体 250:支持ピン 252:支持ピン把持装置 254:ピン支持台 256:支持ピン収納装置 360:把持装置本体 362:把持爪群 364:進退部材 366:切換装置 374:圧縮コイルスプリング 386:嵌合穴 394,396:把持爪 430:運動変換機構 432:係止装置 434,436:連結リンク 438:案内装置 440:作用レバー 470:被係止部材 472:回動係止部材 476:回動軸部 478,480:アーム部 482,484:係合部 486,488:溝 490,492:案内部 650:制御装置 720:支持ピン把持装置 722:進退部材 724:突部 728:保持体 732:係合部材 740:支持ピン把持装置 742:進退部材 744:係合アーム 770:支持ピン   28: Substrate support device 40: Nozzle holding head 42: Nozzle holding head moving device 50: Printed circuit board 120: Head body 250: Support pin 252: Support pin gripping device 254: Pin support base 256: Support pin storing device 360: Gripping device Main body 362: Grip claw group 364: Advance/retract member 366: Switching device 374: Compression coil spring 386: Fitting hole 394, 396: Grip claw 430: Motion conversion mechanism 432: Locking device 434, 436: Connection link 438: Guide device 440: Action lever 470: Locked member 472: Rotation locking member 476: Rotation shaft part 478, 480: Arm part 482, 484: Engagement part 486, 488: Groove 490, 492: Guide part 650: Control Device 720: Support pin gripping device 722: Advancement/retraction member 724: Projection 728: Holding body 732: Engagement member 740: Support pin gripping device 742: Advancement/retraction member 744: Engagement arm 770: Support pin
以下、請求可能発明のいくつかの実施例を図を参照しつつ詳しく説明する。なお、請求可能発明は、下記実施例の他、上記〔発明の態様〕の項に記載された態様を始めとして、当業者の知識に基づいて種々の変更、改良を施した種々の態様で実施することができる。   Hereinafter, some embodiments of the claimable invention will be described in detail with reference to the drawings. In addition, the claimable invention can be implemented in various modes in which various modifications and improvements are made on the basis of the knowledge of those skilled in the art, including the modes described in the above [Aspects of the Invention] can do.
図1に、請求可能発明の一実施例としての配線板支持装置等を備え、電子回路部品装着作業を行う電子回路部品装着システム(以後、装着システムと略称する)を示す。この装着システムは、1つのシステムベース10の上に、装着モジュール12が複数台互いに近接して同じ向きに並べられることによりモジュール列が構成されている。これら複数台の装着モジュールの各々においてプリント基板への電子回路部品(以後、回路部品と略称する)の装着が分担して行われる。装着モジュール12の各々が電子回路部品装着機なのである。以下、装着モジュール12の並ぶ方向をX軸方向と称し、水平面内においてX軸方向に直角な方向をY軸方向と称することとする。   FIG. 1 shows an electronic circuit component mounting system (hereinafter abbreviated as a mounting system) that is equipped with a wiring board supporting device and the like as one embodiment of the claimable invention and performs an electronic circuit component mounting operation. In this mounting system, a plurality of mounting modules 12 are arranged close to each other and arranged in the same direction on one system base 10 to form a module row. In each of the plurality of mounting modules, mounting of electronic circuit components (hereinafter abbreviated as circuit components) on the printed circuit board is shared. Each of the mounting modules 12 is an electronic circuit component mounting machine. Hereinafter, the direction in which the mounting modules 12 are arranged is referred to as the X-axis direction, and the direction perpendicular to the X-axis direction in the horizontal plane is referred to as the Y-axis direction.
図2に、上記複数台の装着モジュール12のうちの1台の外装部品の一部を取り除いた斜視図を示す。装着モジュール12の各々は、モジュール本体18,モジュール本体18に設けられた部品供給装置22,基板搬送装置24,部品装着装置26,基板支持装置28(図8参照)等を有している。部品供給装置22は、モジュール本体18の前方の部分に設けられ、例えば、フィーダ型部品供給装置により電子回路部品を供給し、あるいはトレイ型部品供給装置により電子回路部品を供給するようにされている。   FIG. 2 shows a perspective view in which a part of the exterior component of one of the plurality of mounting modules 12 is removed. Each of the mounting modules 12 has a module main body 18, a component supply device 22 provided in the module main body 18, a substrate transfer device 24, a component mounting device 26, a substrate support device 28 (see FIG. 8), and the like. The component supply device 22 is provided in the front portion of the module body 18, and is configured to supply an electronic circuit component by a feeder type component supply device or an electronic circuit component by a tray type component supply device, for example. ..
部品装着装置26は、図3に示すように、ノズル保持ヘッド40およびノズル保持ヘッド移動装置(以後、ヘッド移動装置と略称する)42を備えている。ノズル保持ヘッド40は部品保持具としての吸着ノズル44(図5参照)を保持し、ヘッド移動装置42により部品供給装置22と基板搬送装置24とにわたって移動させられ、部品供給装置22から回路部品を取り出し、基板搬送装置24により搬送されるとともに、基板支持装置28により支持されたプリント基板(以後、基板と略称する)50にその回路部品を装着する。ノズル保持ヘッド40は部品装着ヘッドであり、作業ヘッドの一種である。   As shown in FIG. 3, the component mounting device 26 includes a nozzle holding head 40 and a nozzle holding head moving device (hereinafter abbreviated as a head moving device) 42. The nozzle holding head 40 holds a suction nozzle 44 (see FIG. 5) as a component holder, and is moved by the head moving device 42 between the component supply device 22 and the board transfer device 24 to remove the circuit component from the component supply device 22. The circuit components are taken out and transferred by the board transfer device 24, and the circuit components are mounted on the printed board (hereinafter abbreviated as a board) 50 supported by the board support device 28. The nozzle holding head 40 is a component mounting head and is a kind of working head.
ヘッド移動装置42は、本実施例では、XYロボット型の移動装置とされており、モジュール本体18に設けられ、図3および図4に示すように、ノズル保持ヘッド40を、互いに直交する2方向(X,Y軸方向)に移動させる2つの直線移動装置たるYスライド装置60およびXスライド装置62を含んでいる。   In this embodiment, the head moving device 42 is an XY robot type moving device, is provided in the module main body 18, and as shown in FIGS. 3 and 4, the nozzle holding head 40 is moved in two directions orthogonal to each other. It includes a Y slide device 60 and an X slide device 62 that are two linear movement devices that move in the (X, Y axis directions).
Yスライド装置60は、駆動源としてのY軸モータ66によって、ねじ軸の一種であるYボールねじ68が回転させられることによりYナット70が移動させられ、移動部材としてのY軸スライド72がY軸方向に移動させられる構成とされている。Y軸モータ66は、本実施例においては、例えば、エンコーダ付サーボモータにより構成されている。サーボモータは回転角度の精度の良い制御が可能な電動モータである。サーボモータに代えてステップモータを用いてもよい。   In the Y-slide device 60, a Y-axis motor 66 as a drive source rotates a Y-ball screw 68, which is a kind of a screw shaft, to move a Y-nut 70, and a Y-axis slide 72 as a moving member has a Y-axis slide 72. It is configured to be movable in the axial direction. In the present embodiment, the Y-axis motor 66 is composed of, for example, a servomotor with an encoder. The servo motor is an electric motor that can control the rotation angle with high accuracy. A step motor may be used instead of the servo motor.
Xスライド装置62は、本実施例においては、複段式移動装置すなわち2段式移動装置とされており、第一Xスライド装置80と、第二Xスライド装置82との2つのスライド装置を含んで構成されている。これら第一,第二Xスライド装置80,82はそれぞれ、Yスライド装置60と同様に、駆動源としてのX軸モータ84,86,ねじ軸の一種であるXボールねじ88,90,ナット92,94および移動部材としてのX軸スライド96,98を含んで構成されている。X軸モータ84,86は、本実施例ではエンコーダ付サーボモータにより構成されている。第二Xスライド装置82のX軸スライドである第二X軸スライド98にノズル保持ヘッド40が保持され、Y軸モータ66,X軸モータ84,86の回転を制御することにより、ノズル保持ヘッド40は、水平な一平面内の任意の位置へ移動させられる。   In the present embodiment, the X slide device 62 is a multi-stage moving device, that is, a two-stage moving device, and includes two slide devices, a first X slide device 80 and a second X slide device 82. It is composed of. Similar to the Y slide device 60, the first and second X slide devices 80 and 82 respectively have X axis motors 84 and 86 as drive sources, X ball screws 88 and 90 which are a kind of screw shafts, nuts 92, 94 and X-axis slides 96 and 98 as moving members. The X-axis motors 84 and 86 are composed of servomotors with encoders in this embodiment. The nozzle holding head 40 is held by the second X-axis slide 98, which is the X-axis slide of the second X-slide device 82, and the rotation of the Y-axis motor 66 and the X-axis motors 84, 86 is controlled to control the nozzle holding head 40. Can be moved to any position in a horizontal plane.
本実施例においてノズル保持ヘッド40は、ヘッド移動装置42に対して着脱可能とされ、互いに構成の異なる複数のものの中から選択して保持可能とされる。部品装着装置26は、ノズル保持ヘッド40を種類の違うものに交換することが可能とされているのである。図6に、ヘッド移動装置42が保持可能なノズル保持ヘッド40の例として、3つのノズル保持ヘッド40a,40b,40cを示す。ノズル保持ヘッド40は、図5にノズル保持ヘッド40aを代表的に示すように、ヘッド本体120と、ヘッド本体120の各所に配設された種々の構成部品,構成装置と、それら構成部品等を覆うヘッドカバー122(図3参照)とを含んで構成されている。図5は、このヘッドカバー122を除いたものである。ヘッド本体120には、ノズル保持ヘッド40aを保持してヘッド移動装置42に取り付けられる保持体126が一体に設けられ、保持装置を構成している。ノズル保持ヘッド40aは、保持体126において第二X軸スライド98に対してヘッド位置決め装置123により位置決めされ、ヘッド取付装置124(図3参照)により迅速に取付け,取外しし、着脱することができる。   In the present embodiment, the nozzle holding head 40 is attachable to and detachable from the head moving device 42, and can be selected and held from a plurality of different configurations. The component mounting device 26 can replace the nozzle holding head 40 with a different type. FIG. 6 shows three nozzle holding heads 40a, 40b, 40c as an example of the nozzle holding head 40 that can be held by the head moving device 42. The nozzle holding head 40, as shown in FIG. 5 as a representative of the nozzle holding head 40a, includes a head main body 120, various constituent parts and constituent devices arranged at various places of the head main body 120, and those constituent parts. And a head cover 122 (see FIG. 3) for covering. FIG. 5 does not include the head cover 122. A holding body 126 that holds the nozzle holding head 40a and is attached to the head moving device 42 is integrally provided in the head body 120, and constitutes a holding device. The nozzle holding head 40a is positioned by the head positioning device 123 with respect to the second X-axis slide 98 in the holding body 126, and can be quickly attached/detached and attached/detached by the head attaching device 124 (see FIG. 3).
ノズル保持ヘッド40a,40b,40cはそれぞれ、ノズルホルダ130の数を異にし、保持する吸着ノズル44の数が互いに異ならされており、基板50の種類や装着される回路部品の種類等に応じて択一的にヘッド移動装置42に保持される。上記ヘッド位置決め装置123,ヘッド取付装置124およびノズル保持ヘッド40a,40b,40cは、未だ公開されていないが、本出願人による特願2002−337739号の明細書に記載されており、詳細な説明は省略する。   The nozzle holding heads 40a, 40b, 40c are different in the number of nozzle holders 130 and the number of suction nozzles 44 to be held, respectively, depending on the type of the board 50 and the type of circuit components to be mounted. Alternatively, it is held by the head moving device 42. Although the head positioning device 123, the head mounting device 124, and the nozzle holding heads 40a, 40b, 40c have not been disclosed yet, they are described in the specification of Japanese Patent Application No. 2002-337739 by the present applicant, and a detailed description will be given. Is omitted.
前記第二X軸スライド98には、その下部に、基板50の表面(上面)に付された基準マーク等を撮像するための装置であって、撮像デバイスとしてのCCDカメラ160および照明装置162を含む認識装置の一種であるマーク撮像装置164が設けられている(図3,図24参照)。マーク撮像装置164は、ノズル保持ヘッド40と共に、ヘッド移動装置42により水平な一平面内の任意の位置へ移動させられる。   The second X-axis slide 98 has a CCD camera 160 and an illuminating device 162, which are devices for imaging a reference mark or the like attached to the surface (upper surface) of the substrate 50, on the lower part thereof. A mark image pickup device 164, which is a kind of recognition device including the above, is provided (see FIGS. 3 and 24 ). The mark imaging device 164 is moved together with the nozzle holding head 40 to an arbitrary position within a horizontal plane by the head moving device 42.
また、各々の装着モジュール12には、図2に示すようにモジュール本体18に、部品供給装置22と基板搬送装置24との間に撮像デバイスとしてのCCDカメラおよび照明装置を有する認識装置の一種である部品撮像装置170が配備されており、部品撮像装置170は、ノズル保持ヘッド40により保持された回路部品の姿勢等を撮像する。このように各々の装着モジュール12は、部品供給装置22,部品搬送装置24,部品装着装置26をそれぞれ備えてモジュール化されたモジュール化装置であり、システムベース10から容易に分離可能な構造とされ、各々を入れ替えて配置することも可能となっている。   As shown in FIG. 2, each mounting module 12 is a type of recognition device having a CCD camera as an imaging device and a lighting device in the module body 18 between the component supply device 22 and the board transfer device 24. A certain component imaging device 170 is provided, and the component imaging device 170 images the posture and the like of the circuit component held by the nozzle holding head 40. As described above, each mounting module 12 is a modularized device that includes the component supply device 22, the component transfer device 24, and the component mounting device 26, respectively, and has a structure that can be easily separated from the system base 10. , It is also possible to replace each other.
基板搬送装置24を説明する。本システムにおいては、基板50は基板搬送装置24により、装着モジュール12が並ぶ方向であるX軸方向に搬送される。X軸方向が基板搬送方向である。基板搬送装置24は、本実施例ではコンベヤ装置であり、図7に概略的に示すように、フロントコンベヤ部200およびリヤコンベヤ部202の2つのコンベヤ部を有し、ガイドレール210およびガイドレール212がフロントコンベヤ部200の本体を構成し、ガイドレール214およびガイドレール216がリヤコンベヤ部202の本体を構成している。ガイドレール210,212,214,216はサイドフレームの一例であるが、基板50および後述するコンベヤベルトを案内するガイド部を備えているため、ガイドレールと称することとし、以下、単にレールと略称する。   The substrate transfer device 24 will be described. In this system, the substrate 50 is transported by the substrate transport device 24 in the X-axis direction, which is the direction in which the mounting modules 12 are arranged. The X-axis direction is the substrate transfer direction. The substrate transfer device 24 is a conveyor device in this embodiment, and has two conveyor parts, a front conveyor part 200 and a rear conveyor part 202, and a guide rail 210 and a guide rail 212 as shown in FIG. The main body of the front conveyor section 200 is formed, and the guide rails 214 and 216 form the main body of the rear conveyor section 202. The guide rails 210, 212, 214, 216 are examples of side frames, but since they are provided with guide portions for guiding the substrate 50 and a conveyor belt described later, they will be referred to as guide rails, and hereinafter simply referred to as rails. ..
レール210は、システムベース10の前方(Y軸方向における部品供給装置22側)に固定して設けられた固定レールであり、レール212,214,216は、システムベース10に配設されたガイド218(図8参照)に沿ってY軸方向に移動可能に設けられた可動レールである。これらレール212,214,216はそれぞれ、図8にレール212を代表的に示すように、駆動源たるレール位置変更モータ220(図24参照),ボールねじ222およびナット224を含むレール移動装置226により独立して移動させられ、フロントコンベヤ部200およびリヤコンベヤ部202の搬送幅がそれぞれ任意に変更可能とされている。レール214は可動レールであるが、リヤコンベヤ部202においてはレール216がレール214に対して接近,離間させられて搬送幅が調節される。その意味では、レール214は固定レールと考えることもできる。   The rail 210 is a fixed rail fixedly provided in front of the system base 10 (on the side of the component supply device 22 in the Y-axis direction), and the rails 212, 214, and 216 are guides 218 arranged on the system base 10. It is a movable rail provided so as to be movable in the Y-axis direction along (see FIG. 8). These rails 212, 214, 216 are respectively driven by a rail moving device 226 including a rail position changing motor 220 (see FIG. 24), which is a drive source, a ball screw 222 and a nut 224, as shown in FIG. The transfer widths of the front conveyor section 200 and the rear conveyor section 202 are independently movable, and can be arbitrarily changed. The rail 214 is a movable rail, but in the rear conveyor 202, the rail 216 is moved toward and away from the rail 214 to adjust the conveyance width. In that sense, the rail 214 can be considered as a fixed rail.
レール210〜216にはそれぞれ、レール212について図8に代表的に示すように、プーリ230を始めとする複数のプーリが回転可能に設けられるとともに、環状のコンベヤベルト232が巻き掛けられており、基板搬送モータ234(図24参照)を駆動源とするベルト駆動装置によってプーリ230等が回転させられることによりコンベヤベルト232が周回させられ、その上面上に載置された基板50がガイド部材236によって案内されつつ、X軸方向に搬送される。コンベヤベルト232の上面を含む面が基板搬送面238である。基板搬送モータ234および前記レール位置変更モータ220は、本実施例では、電動モータであるエンコーダ付サーボモータにより構成されている。レール210〜216のそれぞれにはまた、図8および図9に示すように、基板50をコンベヤベルト232上から押し上げ、押さえ部240に押し付けてクランプするクランプ部材ないし押上部材242が昇降可能に設けられ、それら押さえ部240および押上部材242等が基板クランプ装置を構成している。   A plurality of pulleys including a pulley 230 are rotatably provided on each of the rails 210 to 216, as typically shown in FIG. 8 for the rail 212, and an annular conveyor belt 232 is wrapped around the pulleys. The conveyor belt 232 is rotated by rotating the pulley 230 and the like by the belt driving device using the substrate transfer motor 234 (see FIG. 24) as a drive source, and the substrate 50 placed on the upper surface thereof is guided by the guide member 236. While being guided, it is conveyed in the X-axis direction. The surface including the upper surface of the conveyor belt 232 is the substrate transfer surface 238. The board carrying motor 234 and the rail position changing motor 220 are constituted by servomotors with encoders which are electric motors in this embodiment. As shown in FIGS. 8 and 9, each of the rails 210 to 216 is also provided with a clamp member or push-up member 242 that pushes up the substrate 50 from above the conveyor belt 232 and presses it against the pressing portion 240 to clamp it. The holding portion 240, the pushing-up member 242, and the like constitute a substrate clamp device.
基板支持装置28を説明する。基板支持装置28は、図8,図10および図14に示すように、支持ピン250,支持ピン把持装置252,ピン支持部材としてのピン支持台254,支持ピン収納装置256,相対移動装置としての支持ピン把持装置移動装置およびその移動装置を制御する制御装置を備えている。支持ピン250,ピン支持台254および支持ピン収納装置256は、フロントコンベヤ部200およびリヤコンベヤ部202の各々について設けられ、それら以外は共用とされている。   The substrate support device 28 will be described. As shown in FIGS. 8, 10 and 14, the substrate support device 28 includes a support pin 250, a support pin gripping device 252, a pin support base 254 as a pin support member, a support pin storage device 256, and a relative movement device. The support pin gripping device moving device and the control device for controlling the moving device are provided. The support pin 250, the pin support base 254, and the support pin storage device 256 are provided for each of the front conveyor unit 200 and the rear conveyor unit 202, and the others are shared.
支持ピン250およびピン支持台254を説明する。支持ピン250は、図11ないし図13に示すように、永久磁石270の磁力に基づいて基台272がピン支持台254に押し付けられ、着脱可能に固定されるとともに、基台272により支持されたピン部材274により基板50を支持するものとされている。ピン支持台254は、図8に概略的に示すように、横断面形状が矩形の板状を成し、その上面により構成されるピン支持面276上に支持ピン250が載置される。そのため、ピン支持台254は、少なくともピン支持面276が鋼等、磁性材料製とされている。   The support pin 250 and the pin support base 254 will be described. As shown in FIGS. 11 to 13, the support pin 250 is supported by the base 272 while the base 272 is pressed against the pin support 254 based on the magnetic force of the permanent magnet 270 to be detachably fixed. The substrate 50 is supported by the pin member 274. As schematically shown in FIG. 8, the pin support base 254 has a rectangular plate shape in transverse cross section, and the support pin 250 is mounted on the pin support surface 276 constituted by the upper surface thereof. Therefore, at least the pin support surface 276 of the pin support base 254 is made of a magnetic material such as steel.
ピン支持台254は、ピン支持部材移動装置としての支持台昇降装置280により、図8に二点鎖線で示すように、支持ピン250が基板50を支持する基板支持位置と、図8に実線で示すように、支持ピン250が基板搬送面238の下方へ退避させられた退避位置とに移動させられる。支持台昇降装置280は、本実施例においては流体圧アクチュエータの一種であるエアシリンダを駆動源とする。ピン支持台254は、前記フロントコンベヤ部200およびリヤコンベヤ部202により搬送される複数種類の基板50の支持に用いられ、搬送幅調節時には可動レール212,216はピン支持台254に対してY軸方向に移動させられる。   The pin support base 254 is indicated by a solid line in FIG. 8 and a substrate support position where the support pin 250 supports the substrate 50, as indicated by a two-dot chain line in FIG. 8, by the support base elevating device 280 as a pin support member moving device. As shown, the support pin 250 is moved to the retracted position that is retracted below the substrate transport surface 238. The support platform lifting device 280 uses an air cylinder, which is a type of fluid pressure actuator, as a drive source in this embodiment. The pin support base 254 is used to support a plurality of types of substrates 50 transported by the front conveyor unit 200 and the rear conveyor unit 202, and the movable rails 212 and 216 are arranged in the Y-axis direction with respect to the pin support base 254 when the transport width is adjusted. Be moved to.
支持ピン250の基台272は、本実施例においては、アルミニウム合金等の非磁性材料製とされ、図11および図13に示すように、横断面形状が円形を成し、下方に開放されるとともに、支持ピン250の軸線と直交する方向に貫通する溝288を有して溝形を成し、内側に内側空間290を有する。内側空間290は、底部が開放された凹部でもある。基台272の底面である下面には、その全面に底板292が接着等、適宜の固定手段によって固定され、内側空間290の全部を覆っている。底板292は、本実施例では、ステンレススチール等の非磁性材料製とされ、その基台272側の面である上面293とは反対側の外面である下面にゴム板294が接着等、適宜の固定手段により固定され、基台272の底面がゴム層により覆われている。ゴム板294の底板292とは反対側の面が、支持ピン250のピン支持台254により支持される被支持面を構成している。   In this embodiment, the base 272 of the support pin 250 is made of a non-magnetic material such as an aluminum alloy, and has a circular cross section as shown in FIGS. 11 and 13 and is opened downward. In addition, it has a groove 288 penetrating in a direction orthogonal to the axis of the support pin 250 to form a groove shape, and has an inner space 290 inside. The inner space 290 is also a recess having an open bottom. A bottom plate 292 is fixed to the lower surface, which is the bottom surface of the base 272, by an appropriate fixing means such as bonding to cover the entire inner space 290. In this embodiment, the bottom plate 292 is made of a non-magnetic material such as stainless steel, and a rubber plate 294 is adhered to the lower surface which is the outer surface opposite to the upper surface 293 which is the surface on the base 272 side. It is fixed by a fixing means, and the bottom surface of the base 272 is covered with a rubber layer. The surface of the rubber plate 294 opposite to the bottom plate 292 constitutes a supported surface supported by the pin support base 254 of the support pin 250.
ピン部材274は、図11および図12に示すように、いずれも軸状を成す第一部材300および第二部材302を含む。第二部材302は、基台272の溝288の底を構成する天壁314を軸方向に相対移動可能に嵌合され、基台272により保持されており、その下端部が内側空間290内に位置させられて基端部を構成するとともに、C形部材304が固定されている。C形部材304は、横断面形状が矩形を成す本体部308と、本体部308の長手方向の両端部においてそれぞれ、その幅方向の中央部から、本体部308の板面に直角に延び出させられるとともに、延出端部が互いに接近する向きに曲げられて本体部308に平行とされた一対の板状の係合部310,312とを含み、横断面形状が概してC字形を成す。係合部310,312は、ピン部材274の軸方向において同じ位置に位置する。C形部材304は溝288内に、係合部310,312が溝288に平行に延びる姿勢で収容され、C字の開放部が下方を向いた状態でボルト等、適宜の固定手段316により着脱可能に第二部材302に固定されており、係合部310,312は本体部308の両端部から下方へ突出させられている。ピン部材274の基台272側への移動限度は、天壁314がC形部材304に係合することにより規定され、天壁314が移動限度規定部を構成している。第一,第二部材300,302,C形部材304は、本実施例では、アルミニウム合金等の非磁性材料製とされている。   As shown in FIGS. 11 and 12, the pin member 274 includes a first member 300 and a second member 302, both of which have an axial shape. The second member 302 is fitted to the top wall 314 forming the bottom of the groove 288 of the base 272 so as to be relatively movable in the axial direction, and is held by the base 272, and the lower end portion thereof is inside the inner space 290. The C-shaped member 304 is fixed while being positioned to form the base end portion. The C-shaped member 304 has a main body 308 having a rectangular transverse cross section and both ends of the main body 308 in the longitudinal direction, which extend from the center in the width direction thereof at right angles to the plate surface of the main body 308. And a pair of plate-shaped engaging portions 310 and 312 that are parallel to the main body 308 by bending the extending ends toward each other, and have a generally C-shaped cross section. The engaging portions 310 and 312 are located at the same position in the axial direction of the pin member 274. The C-shaped member 304 is accommodated in the groove 288 with the engaging portions 310 and 312 extending parallel to the groove 288, and is attached and detached by an appropriate fixing means 316 such as a bolt with the C-shaped open portion facing downward. It is fixed to the second member 302 as much as possible, and the engaging portions 310 and 312 are projected downward from both end portions of the main body portion 308. The movement limit of the pin member 274 toward the base 272 side is defined by the ceiling wall 314 engaging with the C-shaped member 304, and the ceiling wall 314 constitutes a movement limit defining portion. In this embodiment, the first and second members 300 and 302 and the C-shaped member 304 are made of a non-magnetic material such as an aluminum alloy.
第二部材302の基台272から外へ、すなわち内側空間290とは反対側突出した突出部に前記第一部材300が螺合等、適宜の固定手段により着脱可能かつ軸方向の位置調節可能に固定されている。その突出部の先端は、支持ピン250の軸線と直交する一平面状を成し、支持面324を構成し、基板50を支持する。第一部材300の螺合量の調節により、支持面324の軸方向ないし高さ方向の位置が調節可能である。また、第一部材300の軸方向の中間部には環状の溝326が設けられ、横断面形状が円形を成す被把持部328および環状の係合部329が設けられている。   The first member 300 is detachable and axially position-adjustable by an appropriate fixing means such as screwing the protrusion of the second member 302 outward from the base 272, that is, the protruding portion opposite to the inner space 290. It is fixed. The tip of the protruding portion forms a flat surface orthogonal to the axis of the support pin 250, constitutes a support surface 324, and supports the substrate 50. By adjusting the screwing amount of the first member 300, the position of the support surface 324 in the axial direction or the height direction can be adjusted. Further, an annular groove 326 is provided in an axially intermediate portion of the first member 300, and a grasped portion 328 and an annular engaging portion 329 each having a circular transverse cross section are provided.
前記永久磁石270は、本実施例においては、図13に示すように、横断面形状が円形を成し、磁石保持部材330により保持されている。磁石保持部材330は、その底面に開口する凹部332を備えて容器状を成し、凹部332内に永久磁石270が接着等、適宜の固定手段により固定され、永久磁石270と一体とされており、永久磁石270および磁石保持部材330が永久磁石部334を構成している。磁石保持部材330は、鋼等、磁性材料により作られている。永久磁石270は、磁石保持部材330の底面335から僅かに凹部332内に引っ込んだ状態で固定されており、それにより、永久磁石270の保護および磁性材料製のピン支持台254に生じさせられる磁気吸引力の強化が図られている。   In this embodiment, as shown in FIG. 13, the permanent magnet 270 has a circular cross section and is held by a magnet holding member 330. The magnet holding member 330 has a recessed portion 332 having an opening on the bottom surface thereof to form a container shape, and the permanent magnet 270 is fixed in the recessed portion 332 by an appropriate fixing means such as bonding, and is integrated with the permanent magnet 270. The permanent magnet 270 and the magnet holding member 330 form the permanent magnet portion 334. The magnet holding member 330 is made of a magnetic material such as steel. The permanent magnet 270 is fixed in a state where it is slightly retracted from the bottom surface 335 of the magnet holding member 330 into the recess 332, whereby the permanent magnet 270 is protected and the magnetic force generated on the pin support 254 made of a magnetic material is generated. The suction power is strengthened.
磁石保持部材330には、図11および図13に示すように、その側方へ互いに逆向きに突出した一対の突部336,338が設けられている。磁石保持部材330は、図11および図12に示すように、凹部332の開口を下向きにして、突部336,338が係合部310,312内に位置させられ、C形部材304の係合部310,312の並び方向に平行な方向および本体部308に直角な方向においてそれぞれ、C形部材304との間に隙間を有し、係合部310,312の並び方向と本体部308との両方に直角な方向において基台272との間に僅かに隙間を有し、前記基台272とC形部材304とにより四方をほぼ囲まれた空間内に、相対移動は自在であるが、その空間内からの離脱は防止された状態で配設されている。突部336,338は、図11に示すように、厚さが異ならされ、それぞれ、ピン部材274の軸方向における位置を互いに異にする係合面340,342を有する。磁石保持部材330全体が底板292に当接した状態において、突部336のピン部材274の軸線に直角な一平面であって、下向きの面により構成される係合面340は、突部338の係合面342より下方に位置し、ピン部材274の軸方向における位置を異にするのである。本実施例では、係合部310,312が一対の第一係合部を構成し、突部336,338が一対の第二係合部を構成し、これらが力伝達装置を構成している。   As shown in FIGS. 11 and 13, the magnet holding member 330 is provided with a pair of protrusions 336 and 338 protruding laterally in opposite directions. As shown in FIGS. 11 and 12, in the magnet holding member 330, the protrusions 336 and 338 are positioned inside the engaging portions 310 and 312 with the opening of the concave portion 332 facing downward, and the C-shaped member 304 is engaged. A gap is formed between the engaging portions 310 and 312 in the direction parallel to the arrangement direction of the portions 310 and 312 and a direction perpendicular to the main body portion 308, and the arrangement direction of the engaging portions 310 and 312 and the main body portion 308 are respectively formed. Although there is a slight gap between the base 272 and the base 272 in a direction perpendicular to both directions, the base 272 and the C-shaped member 304 are relatively movable in a space substantially surrounded on all four sides. It is arranged in a state in which it is prevented from being separated from the space. As shown in FIG. 11, the protrusions 336 and 338 have engaging surfaces 340 and 342 which have different thicknesses and which make the axial positions of the pin members 274 different from each other. In the state where the entire magnet holding member 330 is in contact with the bottom plate 292, the engaging surface 340 which is a plane perpendicular to the axis of the pin member 274 of the protrusion 336 and which is constituted by the downward surface is the protrusion surface of the protrusion 338. It is located below the engaging surface 342, and the position of the pin member 274 in the axial direction is different. In this embodiment, the engaging portions 310 and 312 form a pair of first engaging portions, and the protrusions 336 and 338 form a pair of second engaging portions, which form a force transmitting device. ..
図11に示すように、支持ピン250がピン支持台254上に載置され、ピン支持面276により支持されて基板50を支持する状態では、基台272がピン支持面276上に載置されるとともに、磁石保持部材330の底面335全体が底板292の上面293に当接し、永久磁石部334がピン支持台254に最も接近した状態となる。この状態では、永久磁石部334およびピン支持台254間に磁界が生じ、永久磁石部334がピン支持台254に磁気的に吸引され、その磁気吸引力に基づいて磁石保持部材330が底板292を介して基台272に、その基台272をピン支持台254に押し付ける力を加え、支持ピン250がピン支持台254上に固定され、支持される。本実施例では、磁石保持部材330の底面335と底板292の上面293とが力伝達部を構成している。ピン部材274は、ピン支持台254に固定された基台272により支持されるとともに、C形部材304および磁石保持部材330を介してピン支持台254により下方から支持され、基板50を支持する。   As shown in FIG. 11, when the support pin 250 is placed on the pin support base 254 and supported by the pin support surface 276 to support the substrate 50, the base 272 is placed on the pin support surface 276. At the same time, the entire bottom surface 335 of the magnet holding member 330 comes into contact with the top surface 293 of the bottom plate 292, and the permanent magnet portion 334 comes into the state closest to the pin support base 254. In this state, a magnetic field is generated between the permanent magnet portion 334 and the pin support base 254, the permanent magnet portion 334 is magnetically attracted to the pin support base 254, and the magnet holding member 330 moves the bottom plate 292 to the bottom plate 292 based on the magnetic attraction force. A force for pressing the base 272 to the pin support 254 is applied to the base 272 via the support base 250 so that the support pins 250 are fixed and supported on the pin support 254. In this embodiment, the bottom surface 335 of the magnet holding member 330 and the top surface 293 of the bottom plate 292 form a force transmitting portion. The pin member 274 is supported by the base 272 fixed to the pin support 254, and is also supported from below by the pin support 254 via the C-shaped member 304 and the magnet holding member 330 to support the substrate 50.
支持ピン把持装置252を説明する。支持ピン把持装置252は、図14および図15に示すように、前記保持体126により保持され、ノズル保持ヘッド40と共に前記ヘッド移動装置42の第二X軸スライド98に装着され、ヘッド移動装置42により水平面内の任意の位置へ移動させられる。保持体126の支持ピン把持装置252を保持する部分が、支持ピン把持装置252を保持する保持装置を構成し、本実施例においては、ノズル保持ヘッド40と支持ピン把持装置252とが別個の保持装置により保持されるとともに、それら保持装置が一体に設けられ、ノズル保持ヘッド40,支持ピン把持装置252および保持体126が保持部を構成している。支持ピン把持装置252は前記複数種類のノズル保持ヘッド40の各々について設けられ、複数の保持部がヘッド移動装置42に択一的に装着される。   The support pin gripping device 252 will be described. As shown in FIGS. 14 and 15, the support pin gripping device 252 is held by the holding body 126 and is mounted on the second X-axis slide 98 of the head moving device 42 together with the nozzle holding head 40. Can be moved to any position in the horizontal plane. The portion of the holder 126 that holds the support pin gripping device 252 constitutes a holding device that holds the support pin gripping device 252, and in this embodiment, the nozzle holding head 40 and the support pin gripping device 252 are held separately. The nozzle holding head 40, the support pin gripping device 252, and the holding body 126 constitute a holding portion while being held by the device and integrally provided with these holding devices. The support pin gripping device 252 is provided for each of the plurality of types of nozzle holding heads 40, and a plurality of holding portions are selectively attached to the head moving device 42.
支持ピン把持装置252は、図16に示すように把持装置本体360,把持爪群362,作動部材としての進退部材364および切換装置366を含む。把持装置本体360は、横断面形状が概して円形であって、底部ないし下方に開口させられた有底の中空筒状を成す。進退部材364は把持爪群保持部370と被係止部材部372とを含む。把持爪群保持部370は横断面形状が小判形を成し、図16および図19に示すように、把持装置本体360内に同軸に、かつその軸に沿って軸方向に進退可能であって昇降可能に嵌合されている。   As shown in FIG. 16, the support pin gripping device 252 includes a gripping device body 360, a gripping claw group 362, an advancing/retreating member 364 as an operating member, and a switching device 366. The gripping device main body 360 has a generally circular cross-sectional shape, and has a bottomed or bottomed hollow cylindrical shape that is opened downward. The advance/retreat member 364 includes a grip claw group holding portion 370 and a locked member portion 372. The grip claw group holding portion 370 has an oval cross-sectional shape, and as shown in FIGS. 16 and 19, is coaxial with the grip device main body 360 and axially retractable along its axis. It is fitted so that it can move up and down.
被係止部材部372は、横断面形状が円形を成し、把持爪群保持部370から同心にかつ上方へ延び出させられ、把持装置本体360と同軸であり、進退部材364は把持装置本体360との間に設けられた付勢手段の一種である弾性部材としての圧縮コイルスプリング374により把持装置本体360から突出する向きに付勢されている。スプリング374の付勢による進退部材364の移動限度は、図19に示すように、進退部材364に設けられ、軸方向に延びる凹部376の端面に、把持装置本体360に設けられた突部378が係合することにより規定され、図16に示すように、把持爪群保持部370の大部分が把持装置本体360から外方であって下方へ突出させられた状態となる。この位置が進退部材364の非作用位置であり、それぞれ係合部を構成する凹部376および突部378が非作用位置規定装置,非作用位置係止装置ないし非作用位置維持装置を構成している。進退部材364は、この非作用位置から作用位置に向かって進められる。作用位置は、図18に示すように、把持装置本体360に対して相対的に、非作用位置より把持装置本体360の内側であって上側に位置し、把持爪群362を閉状態に保ち、支持ピン250を把持する状態に保つ位置であり、スプリング374は進退部材364を作用位置から非作用位置に向かう向きに付勢している。進退部材364の把持装置本体360に対する進退は、把持装置本体360の内周面および把持装置本体360に設けられた案内面382を含む案内装置により案内される。   The locked member portion 372 has a circular cross-sectional shape, is concentrically and upwardly extended from the grip claw group holding portion 370, is coaxial with the grip device main body 360, and the advance/retreat member 364 is the grip device main body. A compression coil spring 374 as an elastic member, which is a kind of biasing means provided between the gripping device main body 360 and the actuator 360, biases the gripping device main body 360 in a protruding direction. As shown in FIG. 19, the movement limit of the advancing/retreating member 364 due to the bias of the spring 374 is such that the protrusion 378 provided on the gripping device body 360 is provided on the end surface of the recess 376 provided on the advancing/retreating member 364 and extending in the axial direction. It is defined by the engagement, and as shown in FIG. 16, most of the grip claw group holding portion 370 is in a state of being projected outward from the grip device main body 360 and downward. This position is the non-acting position of the advancing/retreating member 364, and the recessed portion 376 and the projection 378 that form the engaging portion respectively form the non-acting position defining device, the non-acting position locking device, or the non-acting position maintaining device. .. The advancing/retreating member 364 is advanced from this non-acting position toward the acting position. As shown in FIG. 18, the operating position is located inside and above the non-operating position of the gripping device main body 360 relative to the gripping device main body 360, and keeps the grip claw group 362 in a closed state. The spring 374 urges the advancing/retreating member 364 in the direction from the operating position to the non-operating position. The advancing/retreating of the advancing/retreating member 364 with respect to the grasping device body 360 is guided by a guide device including an inner peripheral surface of the grasping device body 360 and a guide surface 382 provided on the grasping device body 360.
把持爪群保持部370には、その軸線上に、下面に開口し、軸方向に延び、底面384を有する有底の嵌合穴386が設けられている。この嵌合穴386は、把持装置本体360の軸線上に位置しており、前記支持ピン250の先端部、本実施例では第一部材300の係合部328より支持面324側の部分が嵌合され、実質的に支持ピン250の傾きを防止し、把持装置本体360と同軸に位置決めするように形成されている。   The grip claw group holding portion 370 is provided with a bottomed fitting hole 386 having an opening on the lower surface, extending in the axial direction, and having a bottom surface 384 on the axis thereof. The fitting hole 386 is located on the axis of the grip device main body 360, and the tip end portion of the support pin 250, that is, the portion on the support surface 324 side of the engaging portion 328 of the first member 300 in this embodiment, is fitted. They are formed so as to substantially prevent the support pin 250 from tilting and to be positioned coaxially with the grip device main body 360.
把持爪群保持部370にはまた、図16に示すように、その被係止部材部372から半径方向外向きに突出した2箇所であって、把持装置本体360および進退部材364の軸線に対して軸対称となる部分にそれぞれ、その外面に開口する凹部390,392が軸方向に貫通して設けられ、把持爪群362の複数、本実施例では2つの支持ピン把持部材としてのピン把持爪(以後、把持爪と略称する)394,396が回動可能に嵌合されている。把持爪394,396は長手形状を成し、その長手方向の一端部である上端部において把持爪群保持部370に軸398,400により、進退部材364の軸線と直角に立体交差する軸線であって、互いに平行な軸線まわりに回動可能に取り付けられ、開閉可能であり、把持装置本体360の軸線に対して軸対称に設けられている。   As shown in FIG. 16, the gripping claw group holding portion 370 also has two locations radially outwardly projecting from the locked member portion 372, with respect to the axes of the gripping device body 360 and the advancing/retreating member 364. Recessed portions 390 and 392 that are open to the outer surface are provided so as to penetrate in the axial direction, respectively, and a plurality of gripping claw groups 362, in this embodiment, two pin gripping claws as support pin gripping members. 394 and 396 (hereinafter simply referred to as gripping claws) are rotatably fitted. The gripping claws 394 and 396 have a longitudinal shape, and at the upper end which is one end in the longitudinal direction, the gripping claw group holding portion 370 is an axis line that intersects the axis line of the advancing and retracting member 364 at right angles with the shafts 398 and 400. Are attached so as to be rotatable around axes parallel to each other, can be opened and closed, and are provided symmetrically with respect to the axis of the grasping device main body 360.
把持爪394,396の他端部である下端部ないし自由端部はそれぞれ、図16および図18に示すように、互いに接近する向きに屈曲させられ、把持部たる爪部410,412が設けられている。爪部410,412の互いに対向する面は、部分円筒面状の把持面413,414とされている。把持爪394,396の自由端部にはまた、爪部410,412とは逆向きに突出する突部415,416が設けられ、遮蔽部として機能するようにされている。突部415,416の用途は後に説明する。また、把持爪394,396の下端面は、例えば、黒染め処理が施され、光を反射しないようにされている。さらに、把持爪394,396は、その長手方向の中間部において付勢手段の一種である弾性部材としての圧縮コイルスプリング418,420により、爪部410,412が把持部材保持部370の軸線から離間し、互いに離間する向きであって開方向に付勢されている。スプリング418,420の付勢による把持爪394,396の回動限度は、把持爪394,396が凹部390,392の底面に当接することにより規定される。   The lower ends or free ends, which are the other ends of the grip claws 394 and 396, are bent in directions toward each other as shown in FIGS. 16 and 18, and claw parts 410 and 412 serving as grip parts are provided. ing. The surfaces of the claws 410 and 412 that face each other are gripping surfaces 413 and 414 that are partially cylindrical. The free ends of the grip claws 394 and 396 are also provided with protrusions 415 and 416 that project in the opposite direction to the claws 410 and 412, and function as a shield. Applications of the protrusions 415 and 416 will be described later. Further, the lower end surfaces of the grip claws 394 and 396 are subjected to, for example, a black dyeing treatment so as not to reflect light. Further, the gripping claws 394, 396 are separated from the axis of the gripping member holding part 370 by the compression coil springs 418, 420 as elastic members which are a kind of biasing means in the middle part in the longitudinal direction. However, they are urged in the opening direction so that they are separated from each other. The rotation limit of the grip claws 394, 396 by the biasing of the springs 418, 420 is defined by the grip claws 394, 396 contacting the bottom surfaces of the recesses 390, 392.
また、把持爪394,396の互いに反対向きの面であって外面は、把持爪394,396の長手方向に延びる被作用面422,424とされている。これら被作用面422,424の回動軸線側の部分は、回動軸線から離れるほど(下方ほど)外方(把持装置本体360の外周面側)へ向かう向きに傾斜させられた傾斜面426,428とされている。   The outer surfaces of the grip claws 394 and 396, which are opposite to each other, are acted surfaces 422 and 424 that extend in the longitudinal direction of the grip claws 394 and 396. The portions of the acted surfaces 422 and 424 on the rotation axis side are inclined toward the outside (the lower side) toward the outer side (the outer peripheral surface side of the gripping device body 360) as the distance from the rotation axis increases. It is set to 428.
前記切換装置366は、図16に示すように、運動変換機構430および係止装置432を含む。運動変換機構430は、一対の連結リンク(以後、リンクと略称する)434,436,案内装置438および可動作用部材としての作用レバー440を含む。リンク434,436の各一端部はそれぞれ、把持爪394,396に軸444,446により、把持爪394,396の回動軸線と平行な軸線まわりに相対回動可能に連結されるとともに、他端部同士が軸448により、一端部の回動軸線と平行な軸線まわりに互いに相対回動可能に連結されている。   As shown in FIG. 16, the switching device 366 includes a motion conversion mechanism 430 and a locking device 432. The motion converting mechanism 430 includes a pair of connecting links (hereinafter abbreviated as links) 434, 436, a guide device 438, and an action lever 440 as a movable action member. One end of each of the links 434 and 436 is connected to the grip claws 394 and 396 by shafts 444 and 446 so as to be relatively rotatable about an axis parallel to the rotation axis of the grip claws 394 and 396, and the other end. The parts are connected to each other by a shaft 448 so as to be relatively rotatable with respect to each other around an axis parallel to the rotation axis of the one end.
図19に示すように、軸448は把持爪群保持部370から外へ突出させられ、把持装置本体360に設けられた切欠452に、把持装置本体360の軸線に平行な方向であって、進退部材364の進退方向には移動可能であるが、その進退方向と直角な方向であって、把持爪394,396の開閉方向に平行な方向には移動不能に嵌合されている。切欠452は、把持装置本体360の軸線を含む一平面内に設けられており、軸448はその平面内を移動し、リンク436,438は把持装置本体360の軸線に対して軸対称に構成されている。したがって、一対の把持爪394,396は一斉に、かつ把持装置本体360の軸線を対称軸として軸対称に回動させられ、把持爪群362が軸対称に開閉させられるとともに、一方の把持爪が回動させられれば他方も連動して回動させられる。本実施例では、軸448および切欠452が案内装置438を構成している。また、本実施例では、把持装置本体360に同軸上に嵌合され、把持爪群362を同軸に保持する進退部材364は、把持爪群362の対称軸上に配設されるとともに、その中央奥に設けられ、把持爪群362の対称軸に沿って進退する。進退部材364に設けられた前記嵌合穴384は把持爪群362の対称軸上に位置し、その底面384は把持爪群362の中央奥に位置する。   As shown in FIG. 19, the shaft 448 is projected outward from the grip claw group holding portion 370, and is inserted into a notch 452 provided in the grip device main body 360 in a direction parallel to the axis of the grip device main body 360. The member 364 is movable in the advancing/retreating direction, but is immovably fitted in a direction perpendicular to the advancing/retreating direction and parallel to the opening/closing direction of the grip claws 394, 396. The cutout 452 is provided in one plane including the axis of the gripping device body 360, the shaft 448 moves in the plane, and the links 436 and 438 are configured to be axisymmetric with respect to the axis of the gripping device body 360. ing. Therefore, the pair of gripping claws 394 and 396 are simultaneously and axially rotated about the axis of the gripping device main body 360 as a symmetrical axis, the gripping claw group 362 is opened and closed in an axially symmetrical manner, and one of the gripping claws is opened. If the other is rotated, the other is also interlocked. In the present embodiment, the shaft 448 and the cutout 452 form the guide device 438. Further, in this embodiment, the advancing/retreating member 364 that is coaxially fitted to the gripping device main body 360 and holds the gripping claw group 362 coaxially is disposed on the axis of symmetry of the gripping claw group 362 and at the center thereof. It is provided at the back and moves back and forth along the axis of symmetry of the grip claw group 362. The fitting hole 384 provided in the advancing/retreating member 364 is located on the axis of symmetry of the grip claw group 362, and the bottom surface 384 thereof is located at the center back of the grip claw group 362.
前記作用レバー440は長手形状を成し、図16に示すように、把持装置本体360の一対の把持爪394,396のうちの一方、例えば、把持爪394に対応する位置に、軸456により把持爪394の回動軸線と平行な軸線まわりに回動可能に設けられ、把持爪394の進退方向と交差する方向に移動可能に設けられている。作用レバー440はその一端部である上端部において回動可能に取り付けられるとともに、把持装置本体360の外側に巻き付けられた付勢手段の一種である弾性部材としての引張コイルスプリング458により把持爪396に接近する向きに付勢されている。作用レバー440の他端部である下端部にはローラ460が回転可能に取り付けられ、回転係合部を構成している。   The action lever 440 has an elongated shape and, as shown in FIG. 16, is gripped by a shaft 456 at a position corresponding to one of the pair of grip claws 394 and 396 of the grip device main body 360, for example, the grip claw 394. The claw 394 is provided rotatably around an axis parallel to the rotation axis of the claw 394, and is movable in a direction intersecting with the advancing/retreating direction of the grip claw 394. The action lever 440 is rotatably attached at the upper end which is one end thereof, and is attached to the grip claw 396 by a tension coil spring 458 as an elastic member which is a kind of biasing means wound around the grip device main body 360. It is biased toward you. A roller 460 is rotatably attached to a lower end portion which is the other end portion of the action lever 440, and constitutes a rotary engagement portion.
上記スプリング458の付勢による作用レバー440の回動限度は、把持装置本体360に設けられた規定面462(図16参照)に作用レバー440が当接することにより規定される。この状態において作用レバー440は、図16に示すように、作用開始位置に位置する。作用開始位置は、ローラ460の一部が把持爪394が嵌合された凹部390内に嵌入させられるとともに、図17に示すように、把持爪394が支持ピン250を把持した状態における被作用面422の位置より把持装置本体360の軸線側(把持爪群362の開閉軸線側)に位置する位置である。   The rotation limit of the action lever 440 due to the urging of the spring 458 is defined by the action lever 440 contacting the defining surface 462 (see FIG. 16) provided on the grasping device body 360. In this state, the action lever 440 is located at the action start position as shown in FIG. The action start position is such that a part of the roller 460 is fitted into the recess 390 into which the grip claw 394 is fitted, and as shown in FIG. It is a position located on the axis line side of the gripping device main body 360 (the opening/closing axis line side of the gripping claw group 362) from the position 422.
前記係止装置432は、図16に示すように、進退部材364の被係止部材部372に設けられた被係止部材470および把持装置本体360に設けられた係止部材としての回動係止部材472を含む。本実施例においては、被係止部材470が進退部材364と一体に設けられ、進退部材364に設けられているのである。被係止部材は作動部材とは別体に設け、作動部材に固定して一体的に作動するようにしてもよい。回動係止部材472は、本実施例では、鋼線が曲げられることにより設けられ、一体の回動軸部476と、回動軸部476からほぼ直角方向に延び出た一対のアーム部478,480と、アーム部478,480の自由端部に互いに接近する向きに設けられた一対の係合部482,484とを有し、回動軸部476において把持装置本体360により、その軸線と直交する軸線まわりに回動可能に保持されている。回動係止部材472は弾性変形可能である。   As shown in FIG. 16, the locking device 432 includes a locked member 470 provided on the locked member portion 372 of the advancing/retreating member 364 and a rotation member as a locking member provided on the grasping device body 360. A stop member 472 is included. In this embodiment, the locked member 470 is integrally provided with the advancing/retreating member 364, and is provided on the advancing/retreating member 364. The locked member may be provided separately from the actuating member and fixed to the actuating member so as to operate integrally. In the present embodiment, the rotation locking member 472 is provided by bending a steel wire, and is integrally formed with a rotation shaft portion 476 and a pair of arm portions 478 extending from the rotation shaft portion 476 at a substantially right angle. , 480, and a pair of engaging portions 482, 484 provided on the free ends of the arm portions 478, 480 so as to approach each other. It is rotatably held about orthogonal axes. The rotation locking member 472 is elastically deformable.
被係止部材部372には、回動軸部476の回動軸線に平行な方向に隔たった2箇所にそれぞれ溝486,488が設けられており、それにより、図22(a)に示すように、一対ずつの案内部490,492および被係止部494,496が設けられ、溝486,488に嵌入させられた係合部482,484を案内し、係止される。溝486は、一対の溝側面の一方が案内面として機能する部分と、両方が案内面ないし拘束面として機能して係合部482を自由状態にならないように拘束し、移動経路を決めて案内する案内溝部とを含み、案内部490は、図22(a)に示すように、一方の溝側面により構成される第一,第二,第三,第四,第五案内面500,502,504,506,508,第一案内溝部512および第二案内面502と第三案内面504との間に設けられた被係止面510を含む。   The locked member portion 372 is provided with grooves 486 and 488, respectively, at two locations separated in the direction parallel to the rotation axis of the rotation shaft portion 476, so that as shown in FIG. A pair of guide portions 490 and 492 and locked portions 494 and 496 are provided in the guide groove 480, and the engaging portions 482 and 484 fitted in the grooves 486 and 488 are guided and locked. The groove 486 restrains the portion in which one of the pair of groove side surfaces functions as a guide surface and both of the groove side surfaces function as a guide surface or a restraining surface so that the engaging portion 482 is not in a free state, and determines a movement path for guiding. 22A, the guide portion 490 includes the first, second, third, fourth and fifth guide surfaces 500, 502, which are constituted by one groove side surface, as shown in FIG. 504, 506, 508, a first guide groove portion 512, and a locked surface 510 provided between the second guide surface 502 and the third guide surface 504.
溝488も同様であり、案内部492は、一方の溝側面により構成される第六,第七案内面516,518,第二,第三,第四,第五案内溝部524,526,527,528の各両溝側面および被係止面530を含む。被係止面510,530はそれぞれ、下向きに凹であって、係合部482,484が係合可能な面とされており、被係止部材470の被係止面510,530が設けられた部分が被係止部494,496を構成し、回動係止部材472の係合部482,484が被係止面510,530に係合する位置が係止位置である。   The same applies to the groove 488, and the guide portion 492 includes the sixth and seventh guide surfaces 516, 518, the second, third, fourth, and fifth guide groove portions 524, 526, 527, which are formed by one groove side surface. Each groove side surface of 528 and the locked surface 530 are included. The locked surfaces 510 and 530 are concave downwards, respectively, and are surfaces to which the engaging portions 482 and 484 can engage, and the locked surfaces 510 and 530 of the locked member 470 are provided. The closed portion constitutes the locked portions 494, 496, and the position where the engaging portions 482, 484 of the rotary locking member 472 engage the locked surfaces 510, 530 is the locking position.
支持ピン把持装置252は、図14および図15に示すように、前記保持体126に設けられた支持ピン把持装置昇降装置(以後、昇降装置と略称する)540により昇降させられ、ピン支持台254に接近,離間させられる。昇降装置540は、本実施例においてはエアシリンダ542を駆動源として構成されており、支持ピン把持装置252はガイドロッド544を含む案内装置546により案内されつつ、予め設定された上昇端位置と下降端位置とに移動させられる。昇降装置540は接近・離間装置であり、前記ヘッド移動装置42と共に相対移動装置を構成しており、相対移動装置は、その一部がノズル保持ヘッド40を基板50に対して相対移動させる相対移動装置の一部を兼ねている。   As shown in FIGS. 14 and 15, the support pin gripping device 252 is moved up and down by a support pin gripping device elevating device (hereinafter referred to as an elevating device) 540 provided on the holding body 126, and the pin supporting base 254 is moved. To and away from. In the present embodiment, the lifting device 540 is configured by using the air cylinder 542 as a driving source, and the support pin gripping device 252 is guided by the guiding device 546 including the guide rod 544, and the preset rising end position and the descending position are set. Moved to the end position. The elevating device 540 is an approaching/separating device and constitutes a relative moving device together with the head moving device 42. A part of the relative moving device moves the nozzle holding head 40 relative to the substrate 50. Also serves as a part of the device.
支持ピン収納装置256を説明する。支持ピン収納装置256は、本実施例においては、図7に示すように、可動レール212,216の外側、すなわち固定レール210側および可動レール214側とは反対側の位置において、可動レール212,216に、それと共に移動可能に取り付けられている。可動レール216についても、固定レール210側とは反対側に支持ピン収納装置256が取り付けられていると考えてもよい。   The support pin storage device 256 will be described. In the present embodiment, as shown in FIG. 7, the support pin housing device 256 has the movable rails 212, 216 outside the movable rails 212, 216, that is, at the positions opposite to the fixed rail 210 side and the movable rail 214 side. 216, movably attached thereto. Regarding the movable rail 216, it may be considered that the support pin storage device 256 is attached to the side opposite to the fixed rail 210 side.
可動レール212に取り付けられた支持ピン収納装置256を代表的に説明する。支持ピン収納装置256の収納体600は、図10に示すように、長手形状を成し、可動レール212に、基板搬送方向(図10においては左右方向)に平行な姿勢で着脱可能に固定されている。収納体600には、図10に示すように、横断面形状が円形を成し、上方に開口するピン収納穴602が複数、収納体600ないし可動レール122の長手方向に沿って距離を隔てて、例えば、等間隔で1列、設けられている。複数のピン収納穴602はそれぞれ、支持ピン250の基台272が嵌合されて半径方向において位置決めする大きさを備え、それぞれ支持ピン250と嵌合して支持ピン250を同心に位置決めする位置決め部を備えた収納部を構成している。ピン収納穴602の開口端部には、開口縁側ほど直径が増大するテーパ面が形成され、支持ピン250の嵌合を案内する案内面606が設けられ、ピン案内部を構成している。収納体600は、本実施例では、ピン収納穴602の底面608を構成する部分が磁性材料により作られ、それ以外の部分は非磁性材料製とされている。また、収納体600の上面の長手方向に隔たった両端部にそれぞれ、基準マーク610,612が設けられている。   The support pin storage device 256 attached to the movable rail 212 will be described as a representative. As shown in FIG. 10, the accommodating body 600 of the support pin accommodating device 256 has an elongated shape and is detachably fixed to the movable rail 212 in a posture parallel to the substrate transport direction (left and right direction in FIG. 10). ing. As shown in FIG. 10, the housing 600 has a circular cross-sectional shape, and has a plurality of pin housing holes 602 that open upward and are spaced apart along the longitudinal direction of the housing 600 or the movable rail 122. , For example, one row is provided at equal intervals. Each of the plurality of pin storage holes 602 has a size such that the base 272 of the support pin 250 is fitted and positioned in the radial direction, and a positioning portion that fits with the support pin 250 and positions the support pin 250 concentrically. It constitutes a storage part equipped with. A tapered surface whose diameter increases toward the opening edge side is formed at the opening end of the pin housing hole 602, and a guide surface 606 that guides the fitting of the support pin 250 is provided to form a pin guide portion. In this embodiment, the housing 600 is made of a magnetic material at the portion forming the bottom surface 608 of the pin housing hole 602, and is made of a non-magnetic material at the other portions. Further, reference marks 610 and 612 are provided on both ends of the upper surface of the container 600, which are separated from each other in the longitudinal direction.
なお、支持ピン収納装置256は、その下面が、上昇端位置に位置する状態でのピン支持台254のピン支持面276よりやや上に位置するように設けられている。そのため、支持ピン収納装置256は可動レール212と共に移動するが、上昇端位置へ移動させられたピン支持台254と干渉することがない。支持ピン250は支持ピン収納装置256に収納された状態では、図9に示すように支持面324が可動レール212の上面とほぼ同じ高さに位置させられ、支持ピン収納装置256とピン支持台254との干渉を回避しつつ、支持ピン250が可動レール上面から大きく突出して邪魔になることがないようにされている。また、ピン支持台254に対する支持ピン250の取付け,取外し時と、支持ピン収納装置256に対する支持ピン250の収納,取出し時とにおいて、昇降装置540は同じ設定の昇降ストロークで支持ピン把持装置252を昇降させることができる。   The support pin storage device 256 is provided such that the lower surface thereof is located slightly above the pin support surface 276 of the pin support base 254 in the state of being located at the rising end position. Therefore, the support pin storage device 256 moves together with the movable rail 212, but does not interfere with the pin support base 254 moved to the raised end position. In the state where the support pin 250 is stored in the support pin storage device 256, the support surface 324 is located at substantially the same height as the upper surface of the movable rail 212 as shown in FIG. 9, so that the support pin storage device 256 and the pin support base. While avoiding interference with 254, the support pin 250 is prevented from significantly protruding from the upper surface of the movable rail and becoming an obstacle. Further, when the support pin 250 is attached to or removed from the pin support base 254 and when the support pin 250 is stored in or removed from the support pin storage device 256, the elevating device 540 moves the support pin gripping device 252 with the same setting elevating stroke. Can be raised and lowered.
本システムにおいては複数の装着モジュール12の各々に制御装置650(図24参照)が設けられ、基板50の回路部品の装着作業等を制御する。制御装置650はCPU652,ROM654,RAM656およびそれらを接続するバス658を含むコンピュータ660を主体とする。バス658には入出力インタフェース662が接続されるとともに、駆動回路664を介して基板搬送装置24等の各種装置,駆動源や、部品撮像装置170等によって得られた画像データを処理する画像処理ユニット670,複数の作業モジュール12の全部を統括して制御するシステム制御装置680,他の作業モジュール12の制御装置650等が接続されている。ROM654およびRAM656には、部品装着プログラム,支持ピン自動段取替えプログラム等の種々のプログラムおよびデータ等が記憶されており、制御装置650はそれらプログラムを実行し、相対移動装置の制御による支持ピン250の自動段取替え等を行わせる。制御装置650のヘッド移動装置42等を制御してピン支持台254と支持ピン収納装置256との間における支持ピン250の取付け,取外しおよび収納を行わせる部分が基板支持装置28の制御装置を構成している。   In this system, a control device 650 (see FIG. 24) is provided in each of the plurality of mounting modules 12 to control the mounting work of circuit components on the board 50 and the like. The control device 650 mainly includes a computer 660 including a CPU 652, a ROM 654, a RAM 656, and a bus 658 connecting them. An input/output interface 662 is connected to the bus 658, and an image processing unit that processes image data obtained by various devices such as the board transfer device 24, a drive source, and a component imaging device 170 via a drive circuit 664. 670, a system control device 680 that controls all of the plurality of work modules 12, and a control device 650 of the other work modules 12 are connected. The ROM 654 and the RAM 656 store various programs such as a component mounting program and a support pin automatic setup change program, and data, and the like. The control device 650 executes the programs and controls the support pin 250 of the relative movement device. Make automatic setup changes etc. The controller for controlling the head moving device 42 and the like of the control device 650 to mount, remove, and store the support pin 250 between the pin support base 254 and the support pin storage device 256 constitutes the control device for the substrate support device 28. is doing.
次に作動を説明する。
基板50への回路部品の装着時には、基板50は基板搬送装置24により搬送され、予め設定された装着位置において停止させられる。そして、ピン支持台254が上昇させられ、ピン支持台254上に固定された支持ピン250が基板50の裏面に接触し、下方から支持する。この際、ピン支持台254は押上部材242を押し上げて基板50を保持させる。支持ピン250は、基板50の裏面の予め設定された部分を支持するようにピン支持台254上に配置されている。例えば、基板50の一方の面に既に回路部品が装着されている場合、それらを避けて支持することが必要であり、ピン支持台254上の、基板50の種類に応じて予め設定された位置に支持ピン250が載置されているのである。このように基板50が保持されるとともに、支持ピン250により支持された状態でノズル保持ヘッド40がヘッド移動装置42により移動させられ、部品供給装置22から回路部品を受け取って基板50に装着する。部品装着作業はよく知られており、説明を省略する。
Next, the operation will be described.
At the time of mounting the circuit component on the board 50, the board 50 is carried by the board carrying device 24 and stopped at a preset mounting position. Then, the pin support base 254 is raised, the support pins 250 fixed on the pin support base 254 contact the back surface of the substrate 50, and support from below. At this time, the pin support 254 pushes up the push-up member 242 to hold the substrate 50. The support pins 250 are arranged on the pin support base 254 so as to support a preset portion of the back surface of the substrate 50. For example, when the circuit components are already mounted on one surface of the substrate 50, it is necessary to avoid them and support them, and the position on the pin support base 254 that is preset according to the type of the substrate 50. The support pin 250 is mounted on the. In this manner, the substrate 50 is held, and the nozzle holding head 40 is moved by the head moving device 42 while being supported by the support pins 250, receives the circuit component from the component supply device 22, and mounts it on the substrate 50. The component mounting work is well known, and a description thereof will be omitted.
回路部品が装着される基板50の種類が変わり、段取替えが行われるとき、支持ピン250のピン支持台254に対する配置が自動で変更される。以下、支持ピン250の自動段取替えを説明する。
段取替えは、例えば、現にピン支持台254に固定されている支持ピン250の位置を、次に回路部品が装着される基板50の支持位置に合わせて変更したり、不要な支持ピン250を支持ピン収納装置256に戻したり、支持ピン収納装置256から支持ピン250を取り出してピン支持台254に取り付けたりすることにより行われる。基板50の種類に応じてピン配置データが作成されてコンピュータに記憶されており、相前後して回路部品が装着される2種類の基板50の各々について作成されたピン配置データに基づいて段取替えが行われる。ここでは、支持ピン250のピン支持台254からの取外しおよび支持ピン収納装置256への収納を説明する。
When the type of the board 50 on which the circuit component is mounted changes and the setup is changed, the arrangement of the support pins 250 with respect to the pin support base 254 is automatically changed. Hereinafter, automatic setup change of the support pin 250 will be described.
For the setup change, for example, the position of the support pin 250 currently fixed to the pin support base 254 is changed according to the support position of the substrate 50 on which the circuit component is mounted next, or the unnecessary support pin 250 is supported. It is performed by returning to the pin storage device 256 or taking out the support pin 250 from the support pin storage device 256 and attaching it to the pin support base 254. The pin arrangement data is created according to the type of the board 50 and stored in the computer, and the setup is changed based on the pin arrangement data created for each of the two kinds of boards 50 on which circuit components are mounted one after another. Is done. Here, the removal of the support pin 250 from the pin support base 254 and the storage in the support pin storage device 256 will be described.
支持ピン250のピン支持台254からの取外し時には、支持ピン把持装置252がヘッド移動装置42によりピン配置データに従って移動させられ、ピン支持台254上に固定された支持ピン250の上方へ移動させられる。支持ピン把持装置252においては、図16および図19に示すように、進退部材364が非作用位置にあり、回動係止部材472は原位置に位置し、把持爪群362が開状態にあり、把持爪394,396は開き、作用レバー440は作用開始位置に位置する。また、ピン支持台254は上昇端位置へ上昇させられている。支持ピン把持装置252は、把持装置本体360の軸線が支持ピン250の軸線と一致する位置へ移動させられるとともに、昇降装置540により上昇端位置から下降端位置へ下降させられる。なお、図16〜図19,図21においては、支持ピン250の永久磁石部334の状態を示すために、支持ピン250を、その軸線に直角な方向において同じ方向から見た状態が図示されている。   When the support pin 250 is removed from the pin support base 254, the support pin gripping device 252 is moved by the head moving device 42 according to the pin arrangement data, and is moved above the support pin 250 fixed on the pin support base 254. .. In the support pin gripping device 252, as shown in FIGS. 16 and 19, the advancing/retreating member 364 is in the non-acting position, the rotation locking member 472 is in the original position, and the gripping claw group 362 is in the open state. The grip claws 394 and 396 are opened, and the action lever 440 is located at the action start position. Also, the pin support base 254 is raised to the raised end position. The support pin gripping device 252 is moved to a position where the axis of the gripping device main body 360 coincides with the axis of the support pin 250, and is lowered by the elevating device 540 from the ascending end position to the descending end position. 16 to 19 and 21, in order to show the state of the permanent magnet portion 334 of the support pin 250, the state in which the support pin 250 is viewed from the same direction in the direction perpendicular to the axis thereof is shown. There is.
支持ピン把持装置252の下降に伴って、支持ピン250のピン部材274の先端部が嵌合穴386に嵌合され、把持爪群362の中央奥に進入し、図16に示すように、支持面324が嵌合穴386の底面384に当接する。その状態から更に支持ピン把持装置252が下降させられるのであるが、進退部材364は支持ピン250に当接し、下降を阻止されるため、把持装置本体360のみがスプリング374を圧縮しつつ下降させられる。進退部材364が支持ピン250の先端部により押され、把持装置本体360に対して相対的に上昇させられるのに等しく、非作用位置から作用位置に向かって進められる。本実施例では、底面384が被作動面ないし被係合面を構成し、進退部材364の底面384が設けられた部分が被作動部ないし被係合部を構成している。進退部材364と共に把持爪群362が把持装置本体360に対して上昇し、作用レバー440のローラ460が把持爪394の被作用面422に係合し、把持爪394をスプリング418の付勢力に抗して閉方向に回動させる。それにより把持爪396も対称に閉方向に回動させられ、爪部415,416が支持ピン250の溝326に嵌入する。   As the support pin gripping device 252 descends, the tip end portion of the pin member 274 of the support pin 250 is fitted into the fitting hole 386, enters the center of the gripping claw group 362, and is supported as shown in FIG. The surface 324 abuts the bottom surface 384 of the fitting hole 386. The support pin gripping device 252 is further lowered from this state, but since the advancing/retreating member 364 abuts the support pin 250 and is prevented from descending, only the gripping device main body 360 is lowered while compressing the spring 374. .. The advancing/retreating member 364 is pushed by the tip of the support pin 250 and is moved up relative to the grasping device body 360, and is advanced from the non-acting position to the acting position. In this embodiment, the bottom surface 384 constitutes the operated surface or the engaged surface, and the portion of the advancing/retreating member 364 where the bottom surface 384 is provided constitutes the operated portion or the engaged portion. The grip claw group 362 ascends together with the advancing/retreating member 364 with respect to the grip device main body 360, the roller 460 of the action lever 440 engages with the operated surface 422 of the grip claw 394, and the grip claw 394 resists the urging force of the spring 418. And rotate in the closing direction. As a result, the grip claw 396 is also rotated symmetrically in the closing direction, and the claw portions 415 and 416 are fitted into the groove 326 of the support pin 250.
作用レバー440は、作用開始位置において、ローラ460の一部が把持爪394が嵌合された凹部390内に嵌入させられるとともに、図17に示すように、把持爪394が支持ピン250を把持した状態における被作用面422の位置より、把持爪394の開閉軸線側に位置するが、把持爪394と作用レバー440とは傾斜面426,ローラ460により案内されてスムーズに係合し、作用レバー440は把持爪394を確実に閉方向に回動させるとともに、支持ピン250を確実に把持させる。支持ピン把持装置252の下降の途中において把持爪394,396は把持面413,414が被把持部328に係合し、支持ピン250を把持する。支持ピン把持装置252は把持爪394,396が支持ピン250を把持した状態から更に下降させられ、下降端位置に到達するが、この間、作用レバー440はスプリング458の付勢力に抗して把持爪394,396の対称軸から離れる方向に回動し、把持爪394,396が被把持部328に接触した状態から更に閉方向に回動させられて支持ピン250,把持爪394,396,作用レバー440,ローラ460等を破損することを回避しつつ、把持爪394,396に支持ピン250を確実に把持させる。支持ピン把持装置252が下降端位置まで下降させられた状態では、把持爪394,396は閉状態に切り換えられ(図17参照)、把持面413,414が被把持部328に係合し、支持ピン250を把持する。また、進退部材364は、把持装置本体360に対して作用位置より上方の後退端位置である作用位置近傍位置に位置する。   In the action lever 440, at the action start position, a part of the roller 460 is fitted into the recess 390 in which the grip claw 394 is fitted, and as shown in FIG. 17, the grip claw 394 grips the support pin 250. Although it is located closer to the opening/closing axis of the grip claw 394 than the position of the actuated surface 422 in the state, the grip claw 394 and the action lever 440 are smoothly guided by the inclined surface 426 and the roller 460, and the action lever 440 is engaged. Securely rotates the grip claws 394 in the closing direction and securely grips the support pins 250. While the support pin gripping device 252 is descending, the gripping claws 394 and 396 have the gripping surfaces 413 and 414 engaged with the gripped portion 328 and grip the support pin 250. The support pin gripping device 252 is further lowered from the state where the gripping claws 394 and 396 are gripping the support pin 250 and reaches the lowering end position, while the action lever 440 resists the urging force of the spring 458. The gripping claws 394, 396 are rotated in a direction away from the axis of symmetry of 394, 396, and are further rotated in a closing direction from the state where the gripping claws 394, 396 are in contact with the gripped portion 328, so that the support pin 250, the gripping claws 394, 396, and the operating lever The gripping claws 394 and 396 are surely gripped by the support pin 250 while avoiding damage to the roller 440 and the roller 460. When the support pin gripping device 252 is lowered to the lowering end position, the gripping claws 394 and 396 are switched to the closed state (see FIG. 17), and the gripping surfaces 413 and 414 engage with the gripped portion 328 and are supported. Hold the pin 250. Further, the advancing/retreating member 364 is located at a position near the working position, which is a retracting end position above the working position with respect to the gripping device main body 360.
このように把持装置本体360が下降させられ、進退部材364が非作用位置から作用位置へ移動するのに並行して、係止装置432の回動係止部材472が原位置から係止位置に向かって移動させられる。把持装置本体360が上昇端位置に位置する状態では、回動係止部材472は、図22(a)に示すように、係合部482,484が溝486,488の上端部内に位置し、係合部484が第二案内溝部524の上端部に嵌入している。この位置が回動係止部材472の原位置であり、進退部材364の作用位置への移動に伴って、図22(b)に示すように、係合部484が第二案内溝部524により案内されて、回動係止部材472が進退部材364に対して、その軸線に平行な方向に相対移動する。そして、まず、係合部482が第一案内面500に当接し、それに案内されて、回動係止部材472は、進退部材364の進退方向においては被係止面510へ導かれつつ、その進退方向と直角な方向においては被係止面510から離れる方向に回動させられる。回動係止部材472の回動軌跡を二点鎖線で示す。   In this way, the grip device main body 360 is lowered, and in parallel with the movement of the advancing/retreating member 364 from the non-acting position to the actuating position, the rotation locking member 472 of the locking device 432 is moved from the original position to the locking position. Be moved towards. In the state where the grip device main body 360 is located at the rising end position, the rotation locking member 472 has the engaging portions 482 and 484 located inside the upper ends of the grooves 486 and 488, as shown in FIG. The engaging portion 484 is fitted in the upper end portion of the second guide groove portion 524. This position is the original position of the rotation locking member 472, and the engaging portion 484 is guided by the second guide groove portion 524 as shown in FIG. Then, the rotation locking member 472 relatively moves with respect to the advancing/retreating member 364 in the direction parallel to the axis thereof. Then, first, the engaging portion 482 abuts on the first guide surface 500, and guided by the first guide surface 500, the rotation locking member 472 is guided to the locked surface 510 in the advancing/retreating direction of the advancing/retreating member 364, and In the direction orthogonal to the advancing/retreating direction, it is rotated in a direction away from the locked surface 510. The rotation locus of the rotation locking member 472 is indicated by a chain double-dashed line.
それにより他方の係合部484は第六案内面516に係合し、それに沿って移動する。第六案内面516の、回動係止部材472の回動軸線からの距離は、第一案内面500のその回動軸線からの距離とほぼ同じであるが、第一案内面500とは逆の側から係合部484に接触するため、係合部484の方が係合部482より回動角度が小さく、回動係止部材472が弾性変形させられ、アーム部478がアーム部480に対して図22(b)において時計方向に相対回動する向きにねじられる。便宜上、このねじり方向を正方向とする。ねじりがない場合の係合部484の位置を図22(c)に二点鎖線の円のみで示す。そして、係合部484は、図22(c)に示すように、係合部482が第一案内面500に案内されている状態において第三案内溝部526に嵌入し、第三案内溝部526に案内され、回動を規制されつつ被係止部材470に対して相対移動させられる。そのため、係合部482は第一案内面500の端まで移動したとき、回動係止部材472の弾性復元力により逆方向に回動させられて第四案内面506に係合し、第二案内面502の真下に位置させられる。支持ピン把持装置252が下降端位置へ下降させられた状態では、図22(c)に示すように、係合部482は第四案内面506に係合し、係合部484は第三案内溝部526の下部に嵌入した状態となる。なお、案内部490,492は互いに背中合わせに設けられているが、図22,図23では、それらが並んだ状態で図示されており、回動係止部材472の回動方向は逆向きに図示される。   Thereby, the other engaging portion 484 engages with the sixth guide surface 516 and moves along the sixth guide surface 516. The distance of the sixth guide surface 516 from the rotation axis of the rotation locking member 472 is substantially the same as the distance of the first guide surface 500 from the rotation axis, but opposite to the first guide surface 500. Since the engaging portion 484 comes into contact with the engaging portion 484 from the side, the rotating angle of the engaging portion 484 is smaller than that of the engaging portion 482, the rotating locking member 472 is elastically deformed, and the arm portion 478 becomes the arm portion 480. On the other hand, in FIG. 22(b), it is twisted in the direction of relative rotation in the clockwise direction. For convenience, this twist direction is defined as the positive direction. The position of the engaging portion 484 when there is no twist is shown in FIG. Then, as shown in FIG. 22C, the engaging portion 484 is fitted into the third guide groove portion 526 in a state where the engaging portion 482 is guided by the first guide surface 500, and is inserted into the third guide groove portion 526. It is guided and is moved relative to the locked member 470 while its rotation is restricted. Therefore, when the engagement portion 482 moves to the end of the first guide surface 500, it is rotated in the opposite direction by the elastic restoring force of the rotation locking member 472 and engages with the fourth guide surface 506. It is located directly below the guide surface 502. In the state where the support pin gripping device 252 is lowered to the lowered end position, the engaging portion 482 engages with the fourth guide surface 506 and the engaging portion 484 moves with the third guide, as shown in FIG. 22(c). It is in a state of being fitted in the lower portion of the groove portion 526. Although the guide portions 490 and 492 are provided back to back, they are shown in a line in FIGS. 22 and 23, and the rotation direction of the rotation locking member 472 is opposite. To be done.
支持ピン把持装置252は、把持装置本体360が下降端位置へ下降させられた後、上昇端位置に向かって上昇させられる。この際、進退部材364はスプリング374の付勢により支持ピン250の先端部と係合する状態に保たれ、スプリング374が伸長しつつ、把持装置本体360が進退部材364に対して上昇し、図22(d)に示すように、回動係止部材472が上昇させられ、一対の係合部482,484がそれぞれ、第四案内面506および第三案内溝部526により案内されて被係止面510,530側へ移動させられる。そして、係合部482が第二案内面502に係合し、案内され、やがて図22(e)に示すように、被係止面510に係合する。この際、係合部482は、係合部484が第三案内溝部526内に嵌入している状態において第二案内面502に係合する。そのため、係合後は回動係止部材472が弾性変形させられて逆方向にねじられ、係合部484が第三案内溝部526から抜け出したとき、回動係止部材472の弾性復元力によって被係止面530側へ移動させられて被係止面530のほぼ真下に位置する。この時期には、係合部482も被係止面510のほぼ真下に位置している。したがって、その状態から支持ピン把持装置252がさらに上昇させられ、進退部材364が相対的に下降させられれば、係合部482,484それぞれ被係止面510,530に係合する。すなわち、進退部材364が回動係止部材472を介して把持装置本体360に係止され、図18に示すように作用位置に保持され、把持爪群362は作用レバー440が把持爪394に係合し、閉状態に保たれて支持ピン250を把持し続ける。   The support pin gripping device 252 is raised toward the rising end position after the gripping device main body 360 is lowered to the lowering end position. At this time, the advancing/retreating member 364 is kept in a state of being engaged with the tip end portion of the support pin 250 by the urging force of the spring 374, the spring 374 extends, and the grasping device main body 360 moves upward with respect to the advancing/retreating member 364. As shown in FIG. 22(d), the rotation locking member 472 is raised, and the pair of engaging portions 482 and 484 are guided by the fourth guide surface 506 and the third guide groove portion 526, respectively, and the locked surface is reached. It is moved to the 510, 530 side. Then, the engaging portion 482 engages with the second guide surface 502, is guided, and eventually engages with the locked surface 510 as shown in FIG. At this time, the engaging portion 482 engages with the second guide surface 502 while the engaging portion 484 is fitted in the third guide groove portion 526. Therefore, after the engagement, the rotation locking member 472 is elastically deformed and twisted in the opposite direction, and when the engagement portion 484 is pulled out from the third guide groove portion 526, the elastic restoring force of the rotation locking member 472 causes it to move. It is moved to the locked surface 530 side and is positioned almost directly below the locked surface 530. At this time, the engaging portion 482 is also located almost directly below the locked surface 510. Therefore, when the support pin gripping device 252 is further raised and the advancing/retreating member 364 is relatively lowered from that state, the engaging portions 482 and 484 engage with the locked surfaces 510 and 530, respectively. That is, the advancing/retreating member 364 is locked to the gripping device main body 360 via the rotation locking member 472, and is held in the operating position as shown in FIG. 18, and the gripping pawl group 362 causes the operating lever 440 to engage the gripping pawl 394. Then, the support pin 250 is kept gripped while being held in the closed state.
支持ピン把持装置252は、この状態から更に上昇させられるが、進退部材364が把持装置本体360と共に上昇させられ、把持爪群362および支持ピン250が上昇させられる。把持爪394,396は、爪部410,412が環状の係合部329に係合してピン部材274に引張力を加え、基台272に対して上昇させる。その上昇途中に、まず、C形部材304の係合部310が突部336に係合する。そのため、図21(a)に示すように、磁石保持部材330が、底面335の突部338側の部分と底板292との当接部を中心とし、磁気吸引力に抗して傾けられ、ピン支持台254に対して斜めに離間させられて磁気吸引力が減少させられる。ピン部材274に加えられる引張力が永久磁石部334に、永久磁石部334を傾動させる力として伝達されるのである。この際、永久磁石部334の中央に集中的に作用すると考えることができる磁気吸引力の合力に、係合部310が突部336に加える力と、底板292が磁石保持部材330の底面335の突部338側の部分に加える力とで対抗すればよいのであり、しかも、磁気吸引力の合力から、係合部310と突部338との接触点までの水平距離(底板292に平行な方向の距離)が、底面335の突部338側の部分と底板292との接触点までの水平距離の2倍弱であるため、係合部310が突部336に加えるべき力は、磁気吸引力の1/3強でよいこととなる。磁石保持部材330の傾動に要する力は、磁石保持部材330全体をピン支持台254に対して直角に離間させる場合に要する力(磁気吸引力の合力に等しい)に比較して小さくて済むのであり、ピン部材274が更に上昇させられることにより係合部312が突部338に係合し、永久磁石部334全体がピン支持台254から離間させられれば、磁気吸引力が消滅させられる。永久磁石部334がピン支持台254に最も接近して基台272に磁気吸引力を加える状態において、係合面340は係合面342より下側に位置し、係合面340の方が係合面342より係合部310に近く、初めに係合し、次に係合面342が係合部312に係合し、係合部310,312と突部336,338とが、ピン部材274の軸方向において互いに異なる2つの位置において、時期をずらして係合し、永久磁石部334を傾動させる。ピン部材274が更に上昇させられれば、図21(b)に示すようにC形部材304が基台272の天壁314に係合し、基台272がピン支持台254から持ち上げられ、支持ピン250全体がピン支持台254から簡単に持ち上げられる。   The support pin gripping device 252 is further raised from this state, but the advancing/retreating member 364 is raised together with the gripping device main body 360, and the gripping claw group 362 and the support pin 250 are raised. The grip claws 394 and 396 cause the claw portions 410 and 412 to engage with the annular engagement portion 329 to apply a tensile force to the pin member 274 and raise it with respect to the base 272. During the ascending, first, the engaging portion 310 of the C-shaped member 304 engages with the protrusion 336. Therefore, as shown in FIG. 21( a ), the magnet holding member 330 is tilted about the contact portion between the bottom plate 292 and the portion of the bottom surface 335 on the side of the protrusion 338, against the magnetic attraction force, and The magnetic attraction force is reduced by being obliquely separated from the support base 254. The tensile force applied to the pin member 274 is transmitted to the permanent magnet portion 334 as a force for tilting the permanent magnet portion 334. At this time, in addition to the resultant magnetic attraction force that can be considered to act centrally on the permanent magnet portion 334, the force applied by the engaging portion 310 to the protrusion 336 and the bottom plate 292 of the bottom surface 335 of the magnet holding member 330. It suffices to counteract with the force applied to the portion on the side of the protrusion 338, and moreover, the horizontal distance from the resultant force of the magnetic attraction force to the contact point between the engaging portion 310 and the protrusion 338 (direction parallel to the bottom plate 292). Is less than twice the horizontal distance to the contact point between the bottom plate 292 and the portion of the bottom surface 335 on the side of the protrusion 338, the force that the engaging portion 310 should apply to the protrusion 336 is the magnetic attraction force. A little over 1/3 will be enough. The force required for tilting the magnet holding member 330 can be smaller than the force (equal to the total magnetic attraction force) required for separating the magnet holding member 330 at a right angle from the pin support 254. When the pin member 274 is further raised, the engaging portion 312 engages with the projection 338, and the entire permanent magnet portion 334 is separated from the pin support 254, the magnetic attraction force disappears. When the permanent magnet portion 334 is closest to the pin support 254 and applies a magnetic attraction force to the base 272, the engagement surface 340 is located below the engagement surface 342, and the engagement surface 340 is engaged. The engaging surface 310 is closer to the engaging portion 310 than the mating surface 342 and is first engaged, then the engaging surface 342 is engaged with the engaging portion 312, and the engaging portions 310 and 312 and the protrusions 336 and 338 are the pin members. At two positions different from each other in the axial direction of 274, they are engaged with each other with a shifted timing to tilt the permanent magnet portion 334. When the pin member 274 is further raised, the C-shaped member 304 engages with the top wall 314 of the base 272 as shown in FIG. 21B, the base 272 is lifted from the pin support 254, and the support pin 254 is lifted. The entire 250 is easily lifted from the pin support 254.
互いに対称に開閉する把持爪394,396は、嵌合穴382に嵌合された支持ピン250に接触して把持するが、それらは軸対称に開閉させられるとともに、把持面413,414の長さ、すなわち支持ピン250を把持した際にその軸線に沿った状態となる方向の長さが短く、支持ピン250の相対的な傾きを許容する状態で係合し、嵌合穴386による支持ピン250の心出しを妨げることはなく、支持ピン250はその軸線が鉛直となる姿勢で搬送される。   The gripping claws 394 and 396 that open and close symmetrically with each other come into contact with and grip the support pins 250 fitted in the fitting holes 382, but they are opened and closed in axial symmetry and the lengths of the gripping surfaces 413 and 414. That is, when the support pin 250 is gripped, the length in the direction along the axis thereof is short, and the support pin 250 is engaged in a state in which the relative inclination of the support pin 250 is allowed, and the support pin 250 is formed by the fitting hole 386. Of the support pin 250 is conveyed in a posture in which the axis of the support pin 250 is vertical.
支持ピン把持装置252は、上昇端位置へ移動させられるとともに、ヘッド移動装置42により可動レール212あるいは216を越えて支持ピン収納装置256へ移動させられ、支持ピン250を図21(b)に示す状態で搬送する。支持ピン把持装置252は支持ピン収納装置256の複数のピン収納穴602のうち、空いているピン収納穴602の上方へ移動させられた後、下降させられて支持ピン250を収納する。なお、支持ピン収納装置256に対する支持ピン250の収納,取出しに先立って基準マーク610,612がマーク撮像装置164により撮像され、ピン収納穴602に収納された支持ピン250の基板搬送装置24の幅方向の位置が検出されている。   The support pin gripping device 252 is moved to the raised end position, and is moved to the support pin housing device 256 over the movable rail 212 or 216 by the head moving device 42, and the support pin 250 is shown in FIG. 21(b). Transport in the state. The support pin gripping device 252 is moved to a position above the vacant pin storage hole 602 of the plurality of pin storage holes 602 of the support pin storage device 256 and then lowered to store the support pin 250. The reference marks 610 and 612 are picked up by the mark image pickup device 164 before the support pin 250 is stored in and taken out of the support pin storage device 256, and the width of the substrate transfer device 24 of the support pin 250 stored in the pin storage hole 602 is reduced. The directional position has been detected.
支持ピン収納装置256は可動レール212,216と共に移動し、可動レール212,216の移動に伴って、基板搬送装置24の幅方向における位置が変化し、収納された支持ピン250の位置が変化する。そのため、支持ピン250の位置は、可動レール212,216が移動させられて搬送幅が変更され、支持ピン収納装置256の位置が変わったとき検出される。可動レール212,216のY軸方向の位置は、基板50の種類に応じて予め設定されており、マーク撮像時には、可動レール212,216の位置に基づいて、基準マーク610,612が位置することが予定されている位置へマーク撮像装置164が移動させられて基準マーク610,612を真上から、すなわち基準マーク610,612と対向する位置から撮像する。マーク撮像装置164は第二X軸スライド98に搭載されており、ヘッド移動装置42により移動させられる。   The support pin storage device 256 moves together with the movable rails 212 and 216. With the movement of the movable rails 212 and 216, the position of the substrate transfer device 24 in the width direction changes and the position of the stored support pins 250 changes. .. Therefore, the position of the support pin 250 is detected when the movable rails 212 and 216 are moved to change the conveyance width and the position of the support pin storage device 256 is changed. The positions of the movable rails 212 and 216 in the Y-axis direction are set in advance according to the type of the substrate 50, and the reference marks 610 and 612 should be located based on the positions of the movable rails 212 and 216 at the time of imaging the mark. The mark image pickup device 164 is moved to a predetermined position, and the reference marks 610 and 612 are picked up from directly above, that is, from the position facing the reference marks 610 and 612. The mark image pickup device 164 is mounted on the second X-axis slide 98, and is moved by the head moving device 42.
そして、マーク撮像装置164の位置と、その位置において撮像された画像内における基準マーク610,612の位置とに基づいて、基準マーク610,612の実際の位置が取得され、それら位置と、支持ピン収納装置256の複数のピン収納穴602と基準マーク610,612との相対位置情報とに基づいて、ピン収納穴602の各中心位置が演算され、支持ピン250の各位置が取得される。本実施例では、支持ピン250はピン収納穴602に嵌合されて同心に位置決めされるようにされており、ピン収納穴602の位置の検出により支持ピン250の位置が検出される。これら位置は、複数のピン収納穴602の各々を特定するデータと対応付けてコンピュータ660のRAM656に記憶される。本実施例では、マーク撮像装置164が支持ピン収納装置256の被撮像部たる基準マーク610,612を撮像装置を兼ね、ヘッド移動装置42が撮像装置移動装置を兼ね、制御装置650の支持ピンの位置を検出する部分により構成される位置演算装置と共に支持ピン位置検出装置を構成している。支持ピン250をピン収納穴602に戻す際には、そのピン収納穴602に対応付けて記憶された位置が読み出され、支持ピン把持装置252が正確にピン収納穴602上へ移動させられ、支持ピン250を正確にピン収納穴602に収納する。   Then, the actual positions of the reference marks 610 and 612 are acquired based on the position of the mark imaging device 164 and the positions of the reference marks 610 and 612 in the image captured at that position. Based on the relative position information between the plurality of pin storage holes 602 of the storage device 256 and the reference marks 610 and 612, each center position of the pin storage holes 602 is calculated, and each position of the support pin 250 is acquired. In this embodiment, the support pin 250 is fitted into the pin storage hole 602 and positioned concentrically, and the position of the support pin 250 is detected by detecting the position of the pin storage hole 602. These positions are stored in the RAM 656 of the computer 660 in association with the data specifying each of the plurality of pin storage holes 602. In this embodiment, the mark image pickup device 164 also serves as the reference marks 610 and 612, which are the imaged portions of the support pin housing device 256, as the image pickup device, the head moving device 42 also serves as the image pickup device moving device, and the support pin of the control device 650 is provided. A support pin position detection device is configured together with a position calculation device that is configured by a portion that detects a position. When the support pin 250 is returned to the pin storage hole 602, the position stored in association with the pin storage hole 602 is read out, and the support pin gripping device 252 is accurately moved onto the pin storage hole 602. The support pin 250 is accurately stored in the pin storage hole 602.
支持ピン把持装置252の下降により、基台272が案内面606により案内されつつピン収納穴602に嵌合されて位置決めされるとともに、底面608に到達して着座させられる。支持ピン把持装置252の更なる下降により、ピン部材274が基台272に対して下降し、磁石保持部材330の底面335全体が底板292に当接させられるとともに、ピン収納穴602の磁性材料製の底面608により磁気的に吸引され、その磁気吸引力に基づいて基台272を底面608に押し付け、固定する。底面608および永久磁石部334が支持ピン固定装置を構成し、支持ピン250はピン収納穴602に位置決めされた状態で固定される。支持ピン把持装置252は、この状態から更に下降させられるが、進退部材364は、ピン収納穴602に固定された支持ピン250により下降を阻止され、把持装置本体360がスプリング374を圧縮しつつ進退部材364に対して下降する。進退部材364が支持ピン250の先端部により押され、把持装置本体360に対して相対的に上昇させられて非作用位置から作用位置に向かう向きに移動させられ、後退端位置へ移動させられるのである。   When the support pin gripping device 252 descends, the base 272 is guided by the guide surface 606, fitted into the pin storage hole 602 and positioned, and reaches the bottom surface 608 to be seated. When the support pin gripping device 252 is further lowered, the pin member 274 is lowered with respect to the base 272, the entire bottom surface 335 of the magnet holding member 330 is brought into contact with the bottom plate 292, and the pin storage hole 602 is made of a magnetic material. The bottom surface 608 is magnetically attracted, and the base 272 is pressed and fixed to the bottom surface 608 based on the magnetic attraction force. The bottom surface 608 and the permanent magnet portion 334 form a support pin fixing device, and the support pin 250 is fixed in a state of being positioned in the pin storage hole 602. The support pin gripping device 252 is further lowered from this state, but the advancing/retreating member 364 is prevented from descending by the support pin 250 fixed to the pin housing hole 602, and the gripping device main body 360 compresses the spring 374 to advance/retreat. Descend with respect to member 364. Since the advancing/retreating member 364 is pushed by the tip portion of the support pin 250 and is moved up relative to the gripping device main body 360 to move in the direction from the non-acting position to the acting position, and is moved to the retracting end position. is there.
それにより、係止装置432においては、図23(a)に示す状態から、図23(b)に示すように、回動係止部材472の係合部482,484が被係止面510,530から離間させられ、係止が解除される。この際、回動係止部材472は鉛直の姿勢を保って案内部490,492に対して相対的に下降する。やがて、図23(b)に示すように、係合部484が第七案内面518に係合し、それ以後は図において左方へ移動させられるのに対し、係合部482の右方への移動は第三案内面504により阻止されるため、回動係止部材472が逆方向にねじられる。係合部484は、第七案内面518の案内により、図23(b)に二点鎖線の円のみで示す位置より左方に位置させられるのである。係合部484が第四案内溝部527に嵌入した後、図23(c)に示すように、係合部482全体が第三案内面504から外れ、回動係止部材472の弾性復元力により図において右方へ移動させられ、第一案内溝部512の真下へ移動する。したがって、支持ピン把持装置252が下降端位置へ下降させられた後、上昇を開始すれば、係合部482が第一案内溝部512に嵌入する。支持ピン把持装置252が上昇させられるときには、係合部482,484と被係止面510,530との係止が解除されるとともに、進退部材364はスプリング374の付勢により支持ピン250に押し付けられており、把持装置本体360のみが上昇させられる。換言すれば、回動係止部材472が被係止部材470に対して相対的に上昇するのであり、第一,第五案内溝部512,528および第五案内面508に案内される図23(d)に示す状態を経て、図23(e)に示す原位置へ復帰する。   As a result, in the locking device 432, as shown in FIG. 23(b), the engaging portions 482, 484 of the rotation locking member 472 move from the state shown in FIG. It is separated from 530 and the lock is released. At this time, the rotation locking member 472 keeps the vertical posture and descends relative to the guide portions 490 and 492. 23(b), the engaging portion 484 engages with the seventh guide surface 518, and after that, the engaging portion 484 is moved to the left in the figure, whereas the engaging portion 482 is moved to the right. Is blocked by the third guide surface 504, so that the rotation locking member 472 is twisted in the opposite direction. The engaging portion 484 is positioned by the guide of the seventh guide surface 518 to the left of the position indicated by only the two-dot chain line circle in FIG. 23(b). After the engaging portion 484 is fitted into the fourth guide groove portion 527, as shown in FIG. 23C, the entire engaging portion 482 is disengaged from the third guide surface 504, and due to the elastic restoring force of the rotation locking member 472. It is moved to the right in the figure, and is moved directly below the first guide groove portion 512. Therefore, when the support pin gripping device 252 is lowered to the lower end position and then starts to rise, the engaging portion 482 is fitted into the first guide groove portion 512. When the support pin gripping device 252 is raised, the engagement between the engaging portions 482, 484 and the engaged surfaces 510, 530 is released, and the advancing/retreating member 364 is pressed against the support pin 250 by the urging force of the spring 374. Therefore, only the gripping device body 360 is lifted. In other words, the rotation locking member 472 moves up relative to the locked member 470, and is guided by the first and fifth guide groove portions 512 and 528 and the fifth guide surface 508 in FIG. After the state shown in d), it returns to the original position shown in FIG.
係合部482が第一案内溝部512および第五案内面508により案内され、係合部484が第五案内溝部528により案内されるとき、アーム部478,480は互いに逆向きにねじられる。ねじりがない場合の係合部482,484の位置を図23(d)に二点鎖線の円で示すように、第一,第五案内溝部512,528および第五案内面508により案内されない場合より、係合部482は回動角度が大きく、係合部484は回動角度が小さく、アーム部478,480が互いに逆向きにねじられるのである。そして、係合部482は第五案内面508から外れれば、回動係止部材472の弾性復元力により、回動係止部材472の回動軸線側へ回動させられ、係合部484も第二案内溝部524に進入する位置へ回動させられ、回動係止部材472が原位置へ復帰する。   When the engaging portion 482 is guided by the first guide groove portion 512 and the fifth guide surface 508 and the engaging portion 484 is guided by the fifth guide groove portion 528, the arm portions 478 and 480 are twisted in opposite directions. When the positions of the engaging portions 482 and 484 when there is no twist are not guided by the first and fifth guide groove portions 512 and 528 and the fifth guide surface 508, as shown by the chain double-dashed line in FIG. 23(d). Therefore, the engaging portion 482 has a large rotation angle, the engaging portion 484 has a small rotation angle, and the arm portions 478 and 480 are twisted in opposite directions. When the engaging portion 482 is disengaged from the fifth guide surface 508, the elastic restoring force of the rotating engaging member 472 causes the engaging portion 482 to rotate toward the rotational axis of the rotating engaging member 472, and the engaging portion 484 also. It is rotated to a position where it enters the second guide groove portion 524, and the rotation locking member 472 returns to the original position.
回動係止部材472の原位置への移動と並行して進退部材364が把持装置本体360に対して相対的に下降して非作用位置へ移動し、図16に示すように把持爪群保持部370が把持装置本体360から離脱させられ、把持爪394,396がスプリング418,420の付勢により開方向へ回動させられ、支持ピン250を開放する。そのため支持ピン把持装置252は、回動係止部材472が原位置に到達し、進退部材364が非作用位置へ復帰した後、更に上昇させられるが、その際、突部378と凹部376の端面との係合により進退部材364が把持装置本体360と共に上昇させられ、支持ピン250が嵌合穴386から抜け出させられ、支持ピン収納装置256に収納された状態に保たれる。   In parallel with the movement of the rotation locking member 472 to the original position, the advancing/retreating member 364 descends relatively to the gripping device body 360 and moves to the non-acting position, and the gripping claw group is held as shown in FIG. The portion 370 is disengaged from the grip device main body 360, and the grip claws 394 and 396 are rotated in the opening direction by the biasing of the springs 418 and 420, and the support pin 250 is opened. Therefore, the support pin gripping device 252 is further raised after the rotation locking member 472 reaches the original position and the advancing/retreating member 364 returns to the non-acting position, but at that time, the end faces of the protrusion 378 and the recess 376. The engaging/disengaging member raises the advancing/retreating member 364 together with the gripping device main body 360, and the support pin 250 is pulled out from the fitting hole 386, and is held in the support pin storing device 256.
このように被係止部材470は一対の案内部490,492を有しているが、これら案内部490,492は、進退部材364と把持装置本体370との軸方向の相対移動に伴って、原則として係合部482,484の少なくとも一方を拘束し、回動係止部材472が自由に回動する状態になることがないように設けられている。一方の係合部が自由な状態になる場合、それに先立って他方の係合部が案内溝部により拘束されて、一方の係合部の移動方向が決まるようにされ、両方の係合部が共に案内溝部内に位置するようにされ、係合部482,484が、回動係止部材472の回動方向において互いに逆の方向から案内面に係合して、移動方向が決まるようにされているのである。このように一対の案内部490,492が互いに共同することにより、進退部材364の2回の進退に伴って、係合部482,484が被係止部を含んで予め設定された周回運動を行わされるのであり、逆の作動である被係止面510,530との係合と、その係合の解除とが容易に行われ、進退部材364が2回、非作用位置から作用位置に向かって押されることにより、支持ピン250の把持,把持状態の維持および開放が容易に行われる。   As described above, the locked member 470 has the pair of guide portions 490 and 492, and the guide portions 490 and 492 move in accordance with the relative movement of the advancing/retreating member 364 and the gripping device main body 370 in the axial direction. In principle, at least one of the engaging portions 482 and 484 is constrained so that the rotation locking member 472 does not freely rotate. When one of the engaging portions is in a free state, the other engaging portion is constrained by the guide groove portion prior to that, so that the moving direction of the one engaging portion is determined, and both engaging portions are together. The engaging portions 482 and 484 are positioned in the guide groove portion, and the engaging portions 482 and 484 engage with the guide surfaces in directions opposite to each other in the rotation direction of the rotation locking member 472 to determine the moving direction. There is. In this way, the pair of guide portions 490 and 492 cooperate with each other, so that the engaging portions 482 and 484 move in a predetermined orbital motion including the locked portion as the advancing and retracting member 364 moves forward and backward twice. Therefore, the opposite operations, that is, the engagement with the locked surfaces 510 and 530 and the release of the engagement are easily performed, and the advancing/retreating member 364 moves from the non-acting position to the acting position twice. By being pushed toward, the support pin 250 is easily gripped, and the gripped state is maintained and released.
また、支持ピン把持装置252が把持した支持ピン250をピン支持台254や支持ピン収納装置256に置いたり、収納するためには、それらに対する接近,離間動作が必要である。支持ピン把持装置252においては、この動作を利用して進退部材364を進退させて把持爪群362を開閉させるため、把持爪群開閉のために新たにアクチュエータを追加することなく、支持ピン250を把持,開放することができる。   Further, in order to place or store the support pin 250 grasped by the support pin grasping device 252 on the pin support base 254 or the support pin accommodating device 256, it is necessary to perform an approaching/separating operation for them. In the support pin gripping device 252, since the advancing/retreating member 364 is moved forward and backward to open and close the grip claw group 362 by using this operation, the support pin 250 is moved without adding an actuator for opening and closing the grip claw group. Can be grasped and released.
なお、支持ピン250を開放した把持爪群362は常には開状態に切り換えられており、把持爪394の突部415は作用レバー440のローラ460の下方に位置し、ローラ460を覆っている。そのため、ノズル保持ヘッド40が部品供給装置22から回路部品を取り出した後、部品撮像装置170により下方から撮像されるとき、ローラ460が光って回路部品の画像形成に悪影響を及ぼすことが回避される。   The grip claw group 362 with the support pin 250 opened is always switched to the open state, and the projection 415 of the grip claw 394 is located below the roller 460 of the action lever 440 and covers the roller 460. Therefore, when the nozzle holding head 40 takes out the circuit component from the component supply device 22 and then the component imaging device 170 images the circuit component from below, the roller 460 is prevented from shining and adversely affecting the image formation of the circuit component. ..
以上、支持ピン250をピン支持台254から取り外して支持ピン収納装置256に収納する場合を説明したが、支持ピン収納装置256から支持ピン250を取り出してピン支持台254に取り付ける場合、ピン支持台254上において支持ピン250の位置を変える場合にも同様に、進退部材364が2回、作動させられて支持ピン250の把持,搬送および載置後の開放が行われる。   Although the case where the support pin 250 is removed from the pin support base 254 and stored in the support pin storage device 256 has been described above, when the support pin 250 is taken out from the support pin storage device 256 and attached to the pin support base 254, the pin support base Similarly, when the position of the support pin 250 on the 254 is changed, the advancing/retreating member 364 is similarly actuated twice to grip the support pin 250, convey the support pin 250, and release the support pin 250 after mounting.
支持ピン位置検出装置の別の実施例を図25に基づいて説明する。本実施例の支持ピン位置検出装置は、可動レールを移動させるレール移動装置700のエンコーダ702と位置演算装置704とを含む。レール移動装置700は、例えば、前記レール移動装置226と同様に構成され、レール位置変更モータ706について設けられたエンコーダ702の出力は、可動レールの位置に対応する信号を出力し、制御装置708に入力される。制御装置708は前記制御装置650と同様にコンピュータを主体として構成され、その位置演算装置704を構成する部分においては、エンコーダ702の出力と、予め設定されている可動レールとピン収納穴との相対位置の情報とに基づいて支持ピンの位置を演算する。この情報は、例えば可動レール上に設定された基準位置ないしレール位置取得位置箇所と複数のピン収納穴の各中心位置とのX軸,Y軸方向における相対位置情報を含む。   Another embodiment of the support pin position detecting device will be described with reference to FIG. The support pin position detection device of this embodiment includes an encoder 702 of a rail moving device 700 that moves a movable rail and a position calculation device 704. The rail moving device 700 has, for example, the same configuration as the rail moving device 226, and the output of the encoder 702 provided for the rail position changing motor 706 outputs a signal corresponding to the position of the movable rail to the control device 708. Is entered. Like the control device 650, the control device 708 is mainly composed of a computer, and in the part that constitutes the position calculation device 704, the output of the encoder 702 and the relative movement of a preset movable rail and pin accommodating hole. The position of the support pin is calculated based on the position information. This information includes, for example, relative position information in the X-axis and Y-axis directions between the reference position or the rail position acquisition position set on the movable rail and the center positions of the plurality of pin storage holes.
作動部材が係合する係合部材は、支持ピン以外の部材により構成してもよい。例えば、図26に示す支持ピン把持装置720においては、進退部材722から突部724が、その進退方向と交差する方向、本実施例においては直角に延び出させられ、係合部を構成するとともに、保持体728に、突部724と対向する上向きの係合面730を備えた係合部材732が設けられている。係合面730は、支持ピン把持装置720が昇降装置により下降させられ、把持爪群362がちょうど支持ピン250を把持する位置に至ったときに突部724が係合する位置に設けられている。なお、支持ピン250が嵌合される嵌合穴736は、底面738が支持ピン250が当たらない深さを有するものとされている。支持ピン把持装置720が下降させられ、支持ピン250の先端部が嵌合穴736に嵌合されて、把持爪群362が閉状態への切換えにより被把持部328を把持する位置に至ったとき、突部724と係合面730との係合により進退部材722の下降が止められ、その後の把持装置本体360の下降時に進退部材722が係合部材732により押され、非作用位置から作用位置に向かう方向へ移動させられる。それにより把持爪群362が閉じられて支持ピン250を把持する。係合部材732が進退部材722に係合して、非作用位置から作用位置へ向かう向きに押すこと以外、支持ピン250が進退部材に係合して作動させる場合と同様に支持ピン250の把持,開放が行われる。   The engaging member with which the actuating member engages may be configured by a member other than the support pin. For example, in the support pin gripping device 720 shown in FIG. 26, the projecting portion 724 is extended from the advancing/retreating member 722 in a direction intersecting with the advancing/retreating direction, in the present embodiment, at a right angle, to form an engaging portion. The holding member 728 is provided with an engaging member 732 having an upward engaging surface 730 facing the protrusion 724. The engagement surface 730 is provided at a position where the protrusion 724 engages when the support pin gripping device 720 is lowered by the lifting device and the gripping claw group 362 just reaches the position at which the support pin 250 is gripped. .. The fitting hole 736 into which the support pin 250 is fitted has a depth such that the bottom surface 738 does not hit the support pin 250. When the support pin gripping device 720 is lowered, the tip end portion of the support pin 250 is fitted into the fitting hole 736, and the gripping claw group 362 reaches the position for gripping the gripped part 328 by switching to the closed state. The engagement between the projection 724 and the engagement surface 730 prevents the advancing/retreating member 722 from descending, and the advancing/retreating member 722 is pushed by the engaging member 732 when the gripping device main body 360 subsequently descends. Is moved in the direction toward. As a result, the grip claw group 362 is closed and the support pin 250 is gripped. Grasping of the support pin 250 in the same manner as when the support pin 250 engages with the advancing/retreating member and operates, except that the engaging member 732 engages with the advancing/retreating member 722 and pushes in the direction from the non-acting position to the acting position. ,Opening is done.
ピン支持部材および支持ピン収納装置を係合部材として利用してもよい。例えば、図27に示す支持ピン把持装置740のように、進退部材742から下方へ、ピン支持台254に向かって係合アーム744を延び出させて係合部を設ける。係合アーム744は、把持爪群362がちょうど支持ピン250を把持する位置に至ったときにピン支持面276に当接するように設けられており、係合アーム744とピン支持面276との係合により進退部材742の下降が止められ、把持装置本体360に対して押し上げられることとなる。また、図示は省略するが、支持ピンの支持ピン収納装置への収納時には、係合アーム744が支持ピン収納装置の構成要素、例えば、収納体に係合して進退部材742の下降が止められるようにされる。   The pin support member and the support pin storage device may be used as the engagement member. For example, like the support pin gripping device 740 shown in FIG. 27, the engaging arm 744 is extended downward from the advancing/retreating member 742 toward the pin support base 254 to provide an engaging portion. The engagement arm 744 is provided so as to contact the pin support surface 276 when the grip claw group 362 has just reached the position where the support pin 250 is gripped, and the engagement arm 744 and the pin support surface 276 are engaged with each other. As a result, the advancing/retreating member 742 is stopped from descending and is pushed up with respect to the grasping device main body 360. Although illustration is omitted, when the support pin is stored in the support pin storage device, the engagement arm 744 engages with a component of the support pin storage device, for example, the storage body, and the descending/retracting member 742 is stopped. To be done.
支持ピンの力伝達装置は、永久磁石に回転モーメントを生じさせる装置としてもよい。例えば、図28に示す支持ピン770の永久磁石部772は、永久磁石774および磁石保持部材776を含み、基台778の内側空間780内に配設されるとともに、磁石保持部材776が、内側空間780を構成する溝782の長手方向に平行な方向において、永久磁石774から外れた部分において軸784により基台778に回動可能に取り付けられている。磁石保持部材776の自由端部には突部790が突設されて第二係合部を構成している。ピン部材794の基端部は内側空間780内に位置させられるとともに、突部790に下方から係合可能な係合部796が設けられ、第一係合部を構成している。   The force transmission device of the support pin may be a device that causes the permanent magnet to generate a rotation moment. For example, the permanent magnet portion 772 of the support pin 770 shown in FIG. 28 includes the permanent magnet 774 and the magnet holding member 776, is arranged in the inner space 780 of the base 778, and the magnet holding member 776 is arranged in the inner space. In the direction parallel to the longitudinal direction of the groove 782 forming the groove 780, the shaft 784 is rotatably attached to the base 778 at a portion separated from the permanent magnet 774. A protrusion 790 is provided at the free end of the magnet holding member 776 so as to form a second engagement portion. The base end portion of the pin member 794 is located in the inner space 780, and the projection portion 790 is provided with an engagement portion 796 that can be engaged from below to form a first engagement portion.
ピン部材794に引張力が加えられれば、係合部796が突部790に係合し、磁石保持部材776を回動させ、永久磁石部772を傾斜させつつピン支持台254から離間させる。突部790は永久磁石774から外れた位置に設けられており、永久磁石部772とピン支持台254との間に作用する磁気吸引力の合力の作用線から外れた位置において突部790と係合部796とが互いに係合し、永久磁石部772に回転モーメントを生じさせ、回動させるのである。この場合、係合部796が突部790に加える力と、軸784が磁石保持部材776に加える力とが、磁気吸引力の合力に対抗し、永久磁石部772は小さい引張力で傾動させられ、磁気吸引力が減少させられる。   When a tensile force is applied to the pin member 794, the engaging portion 796 engages with the protrusion 790, the magnet holding member 776 is rotated, and the permanent magnet portion 772 is inclined and separated from the pin support base 254. The protrusion 790 is provided at a position away from the permanent magnet 774, and engages with the protrusion 790 at a position away from the line of action of the resultant magnetic attraction force acting between the permanent magnet 772 and the pin support 254. The mating portion 796 and the mating portion 796 are engaged with each other to generate a rotation moment in the permanent magnet portion 772 and rotate the permanent magnet portion 772. In this case, the force applied by the engaging portion 796 to the protrusion 790 and the force applied by the shaft 784 to the magnet holding member 776 oppose the resultant magnetic attraction force, and the permanent magnet portion 772 is tilted with a small tensile force. , The magnetic attraction force is reduced.
なお、支持ピンのC形部材は軟鉄等の磁性材料製としてもよい。C形部材を非磁性材料製とすれば、C形部材に磁気吸引力が作用せず、磁石保持部材をピン支持台に対して傾け易い。しかし、C形部材を磁性材料製としても、ピン支持台の磁気吸引力が及ばないのであれば、磁石保持部材に係合して傾動させることができる。磁石保持部材は、基台の底板から離間させられた状態では、C形部材により磁力により本体部に吸引され、真っ直ぐな状態で保持され得る。   The C-shaped member of the support pin may be made of a magnetic material such as soft iron. If the C-shaped member is made of a non-magnetic material, no magnetic attraction force acts on the C-shaped member, and the magnet holding member is easily tilted with respect to the pin support base. However, even if the C-shaped member is made of a magnetic material, it can be tilted by engaging with the magnet holding member as long as the magnetic attraction force of the pin support is not exerted. When the magnet holding member is separated from the bottom plate of the base, the magnet holding member can be held in a straight state by being attracted to the main body portion by the magnetic force by the C-shaped member.
また、基準マークを撮像し、支持ピン収納装置に収納された支持ピンの位置を検出する場合、基準マークは1つ撮像するのみでもよい。基準マークの位置が得られれば、複数の支持ピン(収納部)と基準マークとの相対位置情報から、各支持ピンの位置を検出することができる。   Further, when the reference mark is imaged and the position of the support pin housed in the support pin housing device is detected, only one reference mark may be imaged. If the position of the reference mark is obtained, the position of each support pin can be detected from the relative position information between the plurality of support pins (housing portions) and the reference mark.
さらに、支持ピンのC形部材の一対の第一係合部をピン部材の軸方向において異なる位置に設けてもよく、それと共に永久磁石部の一対の第二係合部を、ピン部材の軸方向において異なる位置に設けてもよい。   Further, the pair of first engaging portions of the C-shaped member of the support pin may be provided at different positions in the axial direction of the pin member, and at the same time, the pair of second engaging portions of the permanent magnet portion may be connected to the shaft of the pin member. They may be provided at different positions in the direction.
また、ピン支持部材昇降装置や支持ピン把持装置昇降装置は、電動モータ、例えば、サーボモータを駆動源とし、ねじ軸およびナットを有する運動変換装置を含む装置としてもよい。   Further, the pin support member elevating device or the support pin gripping device elevating device may be a device including an electric motor, for example, a servo motor as a drive source, and a motion conversion device having a screw shaft and a nut.
さらに、請求可能発明は、モジュール型の部品装着システム以外の部品装着システム,ノズル保持ヘッドがヘッド移動装置によってX軸,Y軸方向に移動させられる部品装着機以外の部品装着機、例えば、複数のノズル保持ヘッドが一軸線まわりに旋回させられるインデックス型の部品装着機,部品装着システム以外の作業システム、例えば、スクリーン印刷機,接着剤塗布装置等の支持ピン,支持ピン把持装置,支持ピン収納装置,基板支持装置に適用することができる。   Further, the claimable invention is a component mounting system other than the modular component mounting system, a component mounting machine other than the component mounting machine in which the nozzle holding head is moved in the X-axis and Y-axis directions by the head moving device, for example, a plurality of component mounting machines. Index type component mounting machine in which the nozzle holding head is swiveled around one axis, work system other than the component mounting system, for example, a screen printing machine, a support pin for an adhesive coating device, a support pin gripping device, a support pin storing device , It can be applied to the substrate support device.

Claims (20)

  1. ピン支持部材に取り付けるべき支持ピンを把持する支持ピン把持装置であって、
    把持装置本体と、
    その把持装置本体により、相対移動可能に、直接または間接に保持された複数の支持ピン把持部材から成る開閉可能な把持部材群と、
    前記把持装置本体により作動可能に保持され、前記把持装置本体と前記ピン支持部材との相対移動に伴ってその把持装置本体と相対移動する係合部材との係合により、非作用位置から作用位置に向かって作動させられる作動部材と、
    その作動部材と機械的に連動し、その作動部材が1回作動させられる毎に、前記把持部材群を開状態から閉状態へと閉状態から開状態へとに交互に切り換える切換装置と
    を含む支持ピン把持装置。
    A support pin gripping device for gripping a support pin to be attached to a pin support member,
    The gripping device body,
    A gripping member group composed of a plurality of support pin gripping members held directly or indirectly so as to be relatively movable by the gripping device body;
    From the non-acting position to the working position by the engagement of the engaging member that is operably held by the gripping device body and that moves relative to the gripping device body with the relative movement of the pin supporting member. An actuating member actuated towards
    A switching device that mechanically interlocks with the operating member and alternately switches the gripping member group from the open state to the closed state and from the closed state to the open state each time the operating member is operated once. Support pin gripping device.
  2. 前記把持部材群と前記支持ピンとが、把持部材群による支持ピンの把持が可能な位置へ相対移動するのに伴い、支持ピンと係合し、支持ピンにより前記非作用位置から前記作用位置に向かって移動させられる位置に前記作動部材が設けられており、支持ピンが前記係合部材として機能する請求の範囲第1項に記載の支持ピン把持装置。 As the gripping member group and the support pin relatively move to a position where the gripping member group can grip the support pin, the gripping member group engages with the support pin and the support pin moves from the non-acting position to the working position. The support pin gripping device according to claim 1, wherein the actuating member is provided at a position to be moved, and the support pin functions as the engaging member.
  3. 前記作動部材が前記把持部材群の中央部奥に設けられ、前記把持部材群内に進入した支持ピンの先端部により作動させられる位置に設けられた請求の範囲第2項に記載の支持ピン把持装置。 The support pin grip according to claim 2, wherein the actuating member is provided at the back of the central portion of the gripping member group, and is provided at a position where it is actuated by the tip end portion of the support pin that has entered the gripping member group. apparatus.
  4. 前記切換装置が、
    前記作動部材の運動を前記把持部材群の開閉運動に変換する運動変換機構と、
    前記作動部材が前記係合部材との係合により1回作用位置の近傍へ押された際はその作動部材を前記作用位置に保持し、次にもう1回押された際はその保持を解除して作動部材が非作用位置へ復帰することを許容する作動部材制御装置と
    を備えた請求の範囲第1〜3項のいずれかに記載の支持ピン把持装置。
    The switching device is
    A motion conversion mechanism for converting the motion of the operating member into the opening/closing motion of the gripping member group;
    When the actuating member is pushed to the vicinity of the acting position once by the engagement with the engaging member, the actuating member is held at the acting position, and when the pushing member is pushed once again, the holding is released. 4. The support pin gripping device according to any one of claims 1 to 3, further comprising: an operating member control device that allows the operating member to return to the non-acting position.
  5. 前記作動部材制御装置が、前記装置本体と前記作動部材との一方に設けられた係止部材と他方に設けられた被係止部材とを含む係止装置であり、被係止部材が、係止部材によって係止されることにより前記作動部材を前記作用位置に保持する被係止部と、係止部材を案内し、前記作動部材の1回の作動に起因する係止部材と被係止部材との相対移動に伴って係止部材を前記被係止部を係止する係止位置へ導き、次の1回の相対移動に伴って係止部材による被係止部の係止を解除して係止部材を原位置へ導く案内部とを備えた請求の範囲第4項に記載の支持ピン把持装置。 The operating member control device is a locking device including a locking member provided on one side of the device body and the operating member and a locked member provided on the other side, and the locked member is an engaging member. A locked portion that holds the operating member in the operating position by being locked by a stop member, and a locking member that guides the locking member and is caused by one operation of the operating member The locking member is guided to the locking position for locking the locked portion with the relative movement of the member, and the locking of the locked portion by the locking member is released with the next relative movement. The support pin gripping device according to claim 4, further comprising a guide portion that guides the locking member to the original position.
  6. 前記係止部材が、回動軸部とその回動軸部からほぼ直角方向に延び出た一対のアーム部と、それらアーム部の自由端部に設けられた一対の係合部とを備え、回動軸部において前記把持装置本体と前記作動部材との一方に回動可能に保持された回動係止部材であり、前記被係止部材が、互いに共同して前記一対の係合部を案内する一対の案内部を備えた請求の範囲第5項に記載の支持ピン把持装置。 The locking member includes a rotating shaft portion, a pair of arm portions extending from the rotating shaft portion in a direction substantially perpendicular to the rotating shaft portion, and a pair of engaging portions provided at free ends of the arm portions. A rotation locking member that is rotatably held by one of the gripping device main body and the actuating member in a rotation shaft portion, wherein the locked members cooperate with each other to lock the pair of engaging portions. The support pin gripping device according to claim 5, further comprising a pair of guide portions that guide the support pin.
  7. 前記一対の案内部が、前記作動部材の2回の作動に伴って前記一対の係合部に前記被係止部を含んで予め設定された周回運動を行わせる形状を有する請求の範囲第6項に記載の支持ピン把持装置。 7. The pair of guide portions have a shape that causes the pair of engaging portions to perform a preset circling motion including the locked portion when the operating member is actuated twice. Item 6. A support pin gripping device according to item.
  8. 前記把持部材群が対称軸に対して軸対称に開閉するものである請求の範囲第1〜7項のいずれかに記載の支持ピン把持装置。 The support pin gripping device according to any one of claims 1 to 7, wherein the gripping member group opens and closes axially symmetrically with respect to a symmetry axis.
  9. 前記作動部材が軸方向に進退する進退部材である請求の範囲第1〜8項のいずれかに記載の支持ピン把持装置。 The support pin gripping device according to any one of claims 1 to 8, wherein the actuating member is an advancing/retreating member that advances and retracts in the axial direction.
  10. 前記作動部材が、前記対称軸上に配設され、その対称軸に沿って進退する進退部材である請求の範囲第8項に記載の支持ピン把持装置。 9. The support pin gripping device according to claim 8, wherein the actuating member is an advancing/retreating member that is disposed on the axis of symmetry and moves back and forth along the axis of symmetry.
  11. 前記作動部材を把持装置本体に対して前記作用位置から前記非作用位置に向かう向きに付勢する付勢手段を含む請求の範囲第1〜10項のいずれかに記載の支持ピン把持装置。 11. The support pin gripping device according to claim 1, further comprising a biasing unit that biases the actuating member with respect to the gripping device body in a direction from the operating position to the non-operating position.
  12. 前記付勢手段が、前記作動部材と前記把持装置本体との間に配設された弾性部材を含む請求の範囲第11項に記載の支持ピン把持装置。 The support pin gripping device according to claim 11, wherein the biasing means includes an elastic member disposed between the actuating member and the gripping device body.
  13. 前記運動変換機構が、前記複数の支持ピン把持部材のそれぞれに一端部が相対回動可能に連結されるとともに、他端部同士が互いに相対回動可能に連結された複数の連結リンクと、それら連結リンクの前記他端部を前記進退部材の進退方向には移動可能であるがその進退方向と交差する方向には移動不能に案内する案内手段とを含む請求の範囲第9〜12項のいずれかに記載の支持ピン把持装置。 The movement conversion mechanism has a plurality of connection links in which one end is rotatably connected to each of the plurality of support pin gripping members and the other ends are rotatably connected to each other, and 13. Any one of claims 9 to 12 including guide means for guiding the other end of the connecting link in the advancing/retreating direction of the advancing/retreating member but immovably in a direction intersecting the advancing/retreating direction. The support pin gripping device according to claim 1.
  14. 支持ピンが前記係合部材として機能し、前記進退部材が前記支持ピンと嵌合して実質的に支持ピンの傾きを防止する嵌合穴を備え、前記複数の支持ピン把持部材が、それぞれの自由端部において前記支持ピンにその支持ピンの相対的な傾きを許容する状態で係合する請求の範囲第9〜13項のいずれかに記載の支持ピン把持装置。 A support pin functions as the engaging member, and the advancing/retreating member is provided with a fitting hole that fits with the support pin to substantially prevent tilting of the support pin. The support pin gripping device according to any one of claims 9 to 13, wherein the support pin is engaged with the support pin at an end thereof in a state that allows the relative inclination of the support pin.
  15. 前記作動部材が、前記把持装置本体に軸方向に進退可能に嵌合された進退部材であり、前記複数の支持ピン把持部材がその進退部材に相対移動可能に保持される一方、前記把持装置本体に、進退部材の後退に伴って前記複数の支持ピン把持部材の少なくとも1つに係合することによりその少なくとも1つを閉方向に移動させる作用部が設けられ、その作用部が前記運動変換機構の少なくとも一部を構成する請求の範囲第4項に記載の支持ピン把持装置。 The actuating member is an advancing/retreating member fitted to the gripping device body so as to be able to advance and retreat in the axial direction, and the plurality of support pin gripping members are held by the advancing/retreating member so as to be relatively movable, while the gripping device body is provided. Is provided with an action portion that moves at least one of the plurality of support pin gripping members in the closing direction by engaging with at least one of the plurality of support pin gripping members as the advancing/retreating member retreats. The support pin gripping device according to claim 4, which constitutes at least a part of.
  16. 前記作用部が、前記把持装置本体により前記進退部材の進退方向と交差する方向に移動可能に設けられ、かつ付勢手段により前記少なくとも1つの支持ピン把持部材に接近する向きに付勢された可動作用部材により構成された請求の範囲第15項に記載の支持ピン把持装置。 The action portion is provided by the gripping device main body so as to be movable in a direction intersecting with the advancing/retreating direction of the advancing/retreating member, and is urged by an urging means so as to approach the at least one support pin gripping member. The support pin gripping device according to claim 15, which is constituted by an action member.
  17. 前記複数の支持ピン把持部材がそれぞれ一軸線まわりに回動可能な回動型把持部材である請求の範囲第1〜16項のいずれかに記載の支持ピン把持装置。 The support pin gripping device according to any one of claims 1 to 16, wherein each of the plurality of support pin gripping members is a rotatable gripping member that is rotatable about one axis.
  18. 請求の範囲第1〜17項のいずれかに記載の支持ピン把持装置と、
    (a)内側に内側空間を有する基台と、(b)その基台に、基端部が前記内側空間内に位置するとともに軸方向に相対移動可能に保持され、基台から突出した突出部の先端でプリント基板を支持するピン部材と、(c)前記基台の前記内側空間内に少なくとも傾動可能に配設され、基台が磁性材料製のピン支持部材上に載置された状態で、そのピン支持部材に磁気的に吸引され、その磁気吸引力に基づいて基台にその基台をピン支持部材に押し付ける力を加える永久磁石部と、(d)前記ピン部材の前記内側空間内に位置する部分と前記永久磁石部との少なくとも一方に設けられ、ピン部材に引張力が加えられた場合に、その引張力を前記永久磁石部に、その永久磁石部を前記ピン支持部材に対して相対的に傾動させつつピン支持部材から離間させる力として伝達する力伝達装置とを含む支持ピンと、
    その支持ピンを支持するピン支持部材と
    を含む基板支持装置。
    A support pin gripping device according to any one of claims 1 to 17,
    (a) a base having an inner space inside, and (b) a protrusion protruding from the base, the base end of which is located in the inner space and is axially movable relative to the base. A pin member for supporting the printed circuit board at the tip of, and (c) at least tiltably disposed in the inner space of the base, with the base placed on a pin support member made of a magnetic material. A permanent magnet part that is magnetically attracted to the pin support member and applies a force to the base to press the base to the pin support member based on the magnetic attraction force; and (d) inside the inner space of the pin member. Is provided on at least one of the portion located at and the permanent magnet portion, and when a tensile force is applied to the pin member, the tensile force is applied to the permanent magnet portion, and the permanent magnet portion is applied to the pin support member. And a support pin including a force transmission device that transmits as a force to separate the pin support member from the pin support member while relatively tilting the support pin,
    A substrate supporting device including a pin supporting member supporting the supporting pin.
  19. 前記支持ピンを収納する支持ピン収納装置と、
    前記支持ピン把持装置と前記ピン支持部材および支持ピン収納装置とを、一平面内の任意の相対位置へ相対移動させるとともに、前記一平面と直交する一軸方向に相対移動させる相対移動装置と、
    その相対移動装置を制御して、前記支持ピンを前記支持ピン収納装置から取り出して前記ピン支持部材上に取り付け、そのピン支持部材上から取り外して支持ピン収納装置に収納する制御装置と
    を含み、自動段取替えが可能である請求の範囲第18項に記載の基板支持装置。
    A support pin storage device for storing the support pin,
    A relative movement device that relatively moves the support pin gripping device, the pin support member, and the support pin storage device to an arbitrary relative position in one plane, and relatively moves in one axial direction orthogonal to the one plane.
    A control device that controls the relative movement device to take out the support pin from the support pin storage device, mount the support pin on the pin support member, remove the support pin from the pin support member, and store the support pin in the support pin storage device; 19. The substrate supporting device according to claim 18, which is capable of automatic setup change.
  20. 前記支持ピン収納装置が、一対のサイドフレームとそれらサイドフレームに支持された一対のコンベヤベルトとを含み、前記一対のサイドフレームの一方が固定フレーム、他方がその固定フレームに接近,離間することによって搬送幅を変更する可動フレームである基板コンベヤにより搬送されるプリント基板を、下方から支持する支持ピンを収納する支持ピン収納装置であって、前記可動フレームに、その可動フレームと共に移動可能に取り付けられた請求の範囲第19項に記載の基板支持装置。 The support pin storage device includes a pair of side frames and a pair of conveyor belts supported by the side frames, one of the pair of side frames is a fixed frame, and the other is close to or away from the fixed frame. A support pin housing device for housing a support pin for supporting a printed circuit board, which is a movable frame whose movable width is changed by a substrate conveyor, from below, and is attached to the movable frame so as to be movable together with the movable frame. 20. The substrate supporting device according to claim 19.
JP2006510208A 2004-02-20 2005-02-16 Support pin gripping device and support pin holding device Active JP4499096B2 (en)

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