WO2017043240A1

WO2017043240A1 - Chip transfer device and pickup machine

Info

Publication number: WO2017043240A1
Application number: PCT/JP2016/073292
Authority: WO
Inventors: 福井　健二
Original assignee: 大森機械工業株式会社; 大塚製薬株式会社
Priority date: 2015-09-09
Filing date: 2016-08-08
Publication date: 2017-03-16

Abstract

The present invention suppresses the occurrence of wind pressure when picking up or releasing a chip. This chip transfer device 1, which transfers a chip 2 conveyed by a first conveyor 10 to a second conveyor 24, is equipped with: a travel guide 110 which is formed in a closed path shape as viewed from above, and is disposed in the vicinity of the first conveyor 10 and the second conveyor 24; a mobile unit 40 which travels along the travel guide 110; a clamping mechanism 50 which is provided on the mobile unit 40 so as to be openable and closable in the transverse direction; and an opening/closing operation cam 120 which is provided along the travel guide 110 so as to open and close the clamping mechanism 50. When the mobile unit 40 travels on the first conveyor 10 side of the travel guide 110, the opening/closing operation cam 120 closes the clamping mechanism 50, and the clamping mechanism 50 grips the chip 2 conveyed by the first conveyor 10.

Description

Chip transfer device and pickup machine

The present invention relates to a chip transfer device that transfers chips transferred by a first transfer device to a second transfer device, and also relates to a pickup device provided in the chip transfer device.

Patent Document 1 discloses an electronic component mounting machine that mounts electronic components on a circuit board. This electronic component mounting machine includes a suction nozzle that picks up an electronic component and a moving device that moves the suction nozzle along a horizontal plane. When the suction nozzle is moved onto the carrier tape by the moving device, negative pressure is generated at the suction nozzle by the positive / negative pressure supply device, and the electronic components on the carrier tape are sucked by the suction nozzle. On the other hand, when the suction nozzle is moved onto the circuit board by the moving device, positive pressure is generated on the suction nozzle by the positive / negative pressure supply device, the electronic component is detached from the suction nozzle, and the electronic component is mounted on the circuit board. .

On the other hand, Patent Document 2 discloses a powder compression molding apparatus that generates tablets by compressing powder in a die using an upper punch and a lower punch.

JP 2013-149639 A Japanese Patent No. 5448501

Incidentally, there is a demand for embedding small pieces (chips) such as electronic components in tablets. Therefore, it is conceivable to apply the electronic component mounting machine described in Patent Document 1 to the powder compression molding apparatus described in Patent Document 2 and supply the electronic component on the carrier tape to the die by the electronic component mounting machine ( However, this is not a known technique. However, since the powder compression molding apparatus handles powder, the powder is sucked into the suction nozzle by the negative pressure of the suction nozzle, or the powder in the die is scattered by the positive pressure of the suction nozzle.

Therefore, the present invention has been made in view of the above circumstances. The problem to be solved by the present invention is to suppress the generation of wind pressure at the time of picking up and releasing the chip so that a chip such as an electronic component can be picked up without using a suction nozzle.

In order to solve the above problems, a chip transfer device for transferring chips transferred by the first transfer device to the second transfer device is formed in the shape of a closed path as viewed from above, and the first transfer device A guide having a first parallel section parallel to the transport path, a guide having a second parallel section parallel to the transport path of the second transporter, a movable body moving along the guide, and the movable body A clamp mechanism that is openable and closable in a lateral direction, and an open / close operation cam that is provided along the guide and opens and closes the clamp mechanism, wherein the movable body includes the first of the guides. The opening / closing cam closes the clamp mechanism when moving in the first parallel running section on the side of one transporter, and the clamp mechanism sandwiches the chip transported by the first transporter.

In order to solve the above problems, a pick-up machine that moves along a closed path and picks up a chip is provided on the moving body that moves along the closed path, and can be opened and closed in the lateral direction. And a clamping mechanism that clamps the chip by closing.
Other characteristics of the present invention will be made clear by the description and drawings described later.

According to the present invention, it is possible to pick up a chip such as an electronic component to the clamp mechanism or to release the chip from the clamp mechanism by using the clamp mechanism instead of the suction nozzle and opening and closing the clamp mechanism. Since this clamp mechanism opens and closes, generation of wind pressure during operation of the clamp mechanism can be suppressed.

It is a top view of a chip transfer device. It is a side view of a pick-up machine. It is a top view of a pick-up machine. It is a top view of a pick-up machine. It is a top view of a pick-up machine. It is a front view of a pick-up machine. It is a front view of a pick-up machine. It is a front view of a pick-up machine. It is a bottom view of a pick-up machine. It is explanatory drawing of the shape of a cam. It is a top view of the chip transfer device concerning a modification. It is a top view of the chip transfer device concerning another modification. It is a side view of the pick-up machine provided in the chip transfer apparatus shown in FIG.

At least the following matters will become clear from the description and drawings described below.

A chip transfer device for transferring chips transferred by a first transfer machine to a second transfer machine, which is formed in the shape of a closed path when viewed from above, and is parallel to the transfer path of the first transfer machine A guide having a first parallel running section and having a second parallel running section parallel to the transport path of the second transporter, a moving body that moves along the guide, and a lateral direction provided in the moving body A clamp mechanism provided to be openable and closable, and an opening and closing cam provided along the guide to open and close the clamp mechanism, wherein the movable body is located on the first conveyor side of the guide. When moving in the first parallel running section, the opening / closing cam closes the clamp mechanism, and the chip transfer device in which the chip is held by the clamp mechanism is clarified.

As described above, the moving body travels from the first parallel section on the first transporter side to the second parallel section on the second transporter side together with the clamp mechanism in a state where the chip is sandwiched by the clamp mechanism. Thus, the chip can be transferred to the second transfer machine.
Since the clamp mechanism opens and closes, generation of wind pressure due to the operation of the clamp mechanism can be suppressed. Therefore, even if the powder is handled on the first transfer machine side or the second transfer machine side, the scattering of the powder due to the operation of the clamp mechanism can be suppressed.

Preferably, the chip transfer device is provided along the guide, the protrusion provided in the movable body, and provided so as to be movable up and down so as to pass through the position of the chip sandwiched by the clamp mechanism, An elevating operation cam for elevating the protrusion, and the elevating operation cam is protruded when the movable body travels in the second parallel running section on the second transporter side of the guide. The projecting part is lowered, and the projecting part projects the chip sandwiched between the clamp mechanisms.

As described above, no wind pressure is generated when the tip sandwiched by the clamp mechanism is pushed down by the thrust bar. Therefore, even if the powder is handled on the second transporter side, the scattering of the powder due to the operation of the thrust bar can be suppressed.

Preferably, the chip transfer device is further provided with a clamping force generation mechanism that is provided in the clamp mechanism and applies a clamping force to the clamp mechanism, and the movable body is located on the first transporter side of the guide. When traveling in the first parallel running section, the opening / closing cam generates a clamping force in the clamping force generating mechanism, and the chip is clamped by the clamping mechanism by the clamping force, and the moving body is When the open / close operation cam travels from the first parallel running section on the transporter side to the second parallel running section on the second transporter side, the clamping force application state of the clamping force generating mechanism and the clamping mechanism In the closed state, and when the movable body travels in the second parallel running section on the second transporter side of the guide, the opening / closing cam keeps the clamp mechanism closed. Nipping force generation mechanism After reducing the force, pushed down in the downward and the tip of the poker according to the elevating operation cam is performed.
More preferably, when the clamp mechanism is closed by the opening / closing operation cam, the raising / lowering operation cam lowers the protrusion, and the protrusion is moved from above the chip conveyed by the first transfer device. The chip is supported.

As described above, when the moving body travels in the first parallel running section on the first transporter side, the clamping force is applied to the clamping mechanism by the clamping force generating mechanism, so that the chip is surely picked up by the clamping mechanism. Is done.
When the moving body travels from the first parallel section on the first transporter side to the second parallel section on the second transporter side, the clamping force is applied to the clamp mechanism by the clamping force generation mechanism. The chip can be prevented from dropping from the mechanism.
When the moving body travels in the second parallel running section on the second transporter side, the tip sandwiched by the clamp mechanism is pushed down by the protrusion while the clamping force is reduced, so the tip is in a stable posture To fall to the second conveyor.

Preferably, the chip transfer device is provided along the guide, the protrusion provided in the movable body, and provided so as to be movable up and down so as to pass through the position of the chip sandwiched by the clamp mechanism, An elevating operation cam that raises and lowers the protrusion, and the elevating operation cam lowers the protrusion when the clamp mechanism is closed by the opening and closing operation cam. The protrusion supports the chip from above the chip to be conveyed.

As described above, since the chip conveyed by the first conveyance device is supported from above by the protrusion, it is possible to prevent the chip from being scattered by the clamp mechanism when the clamp mechanism clamps the chip.

In order to solve the above problems, in a pick-up machine that travels along a closed path and picks up a chip, a movable body that travels along the closed path and the movable body are provided and can be opened and closed laterally. And a clamping mechanism that clamps the chip by being closed.

According to the above, since the clamp mechanism opens and closes, the generation of wind pressure due to the operation of the clamp mechanism can be suppressed. Therefore, powder scattering due to the operation of the clamp mechanism can be suppressed.

Preferably, the pick-up machine further includes a clamping force generating mechanism that is provided in the clamping mechanism and applies a clamping force to the clamping mechanism that clamps the chip.

According to the above, since the clamping force is applied to the clamp mechanism by the clamping force generation mechanism, the chip is surely picked up by the clamp mechanism.

More preferably, the front clamping mechanism includes a fixed base portion fixed to the movable body, a fixed clamp claw extending from the fixed base portion, and a movable base portion rotatably provided on the fixed base portion. A movable clamp claw that extends from the movable base portion, contacts and separates from the fixed clamp claw by rotation of the movable base portion, and sandwiches the chip in the fixed clamp claw by approaching the fixed clamp claw. And the clamping force generating mechanism is provided rotatably on the movable base portion, and is provided on the working lever so as to come into contact with and away from the end surface of the movable base portion. And an urging portion that urges toward the end face of the movable base portion.

According to the above, when the operating lever moves away from the movable base against the biasing force of the biasing portion with the tip sandwiched between the fixed clamp pawl and the movable clamp pawl, the biasing force of the biasing portion is reduced. It acts on the movable base portion and the movable clamp claw via the action lever to generate a clamping force. Conversely, when the action lever approaches the movable base by the urging force of the urging portion, the clamping force decreases.

More preferably, the pick-up machine has an opening / closing lever provided with an intermediate portion connected to the fixed base portion and rotatable about the intermediate portion, and a pressing portion provided at one end of the opening / closing lever. And a cam follower that is provided at the other end of the opening / closing lever and contacts the cam; and a closing biasing portion that biases the opening / closing lever and presses the cam follower against the cam. Is further provided with an arm part provided on the movable base part at a position away from the action lever toward the fixed base part, and the pressing part is inserted between the arm part and the action lever, The pressing portion is biased from the action lever side toward the arm portion side by the closing biasing portion.

According to the above, when the operating lever is pressed by the pressing portion by the rotation of the opening / closing lever, the movable base portion rotates and the movable clamp claw approaches the fixed clamp claw. Thereby, the chip is sandwiched between the fixed clamp claw and the movable clamp claw. Further, when the action lever is pushed by the pressing portion by the rotation of the opening / closing lever, the action lever moves away from the movable base against the urging force of the urging portion, so that the urging force of the urging portion is movable via the action lever. It acts on the base part and the movable clamp claw, and a clamping force is generated. Thereafter, when the rotation of the opening / closing lever is reversed, the operating lever approaches the movable base by the biasing force of the biasing portion, and the clamping force is unloaded. Further, when the rotation of the opening / closing lever is reversed, the arm portion is pushed by the pressing portion, the movable base portion is rotated, and the movable clamp claw is separated from the fixed clamp claw.

More preferably, the distance between the action lever and the arm part when the action lever is in contact with the end face of the movable base part is larger than the diameter of the pressing part.

According to the above, the pressing portion can be brought into a state where it does not come into contact with either the operating lever or the arm portion. Therefore, it is possible to ensure that the clamping force is unloaded while the chip is sandwiched between the fixed clamp claw and the movable clamp claw.

Preferably, the pick-up machine is provided with a protrusion, and a guide mechanism that is provided on the movable body and guides the protrusion up and down so that the protrusion passes through the position of the chip sandwiched by the clamp mechanism; A lower urging portion that is provided in the guide mechanism and urges the protrusion downward, a lifting portion that is guided up and down by the guide mechanism together with the protrusion, and the lifting portion from below. A receiving member provided to be movable up and down, an elevating lever provided to be movable up and down together with the receiving member, a second cam follower provided on the elevating lever and contacting the second cam, and biasing the elevating lever A second urging portion that presses the second cam follower against the second cam and urges the receiving member to urge the receiving member against the elevating portion. Obtain.

According to the above, when the elevating lever is raised, the elevating part is pushed upward by the receiving member, and the protrusion is raised against the urging force of the lower urging part. Thereafter, when the elevating lever is lowered, the urging portion and the elevating portion are lowered by the urging force of the lower urging portion, and the urging portion contacts the chip. Here, if the tip is not supported, the raising / lowering lever is further lowered, so that the pushing portion and the raising / lowering portion are further lowered by the urging force of the lower urging portion, and the tip is pushed down from the clamp mechanism. On the other hand, if the chip is supported, even if the elevating lever is further lowered, the receiving member is separated from the elevating part, and the protrusion and the elevating part are not lowered any further. For this reason, even if there is an error or variation in the thickness or posture of the chip, the chip is not excessively pressed downward.
Here, even if the thrust bar moves up and down, almost no wind pressure is generated. Therefore, scattering of the powder due to the lifting and lowering operation of the thrust bar can be suppressed.

Embodiment
Embodiments of the present invention will be described below with reference to the drawings. However, the embodiments described below are provided with various technically preferable limitations for carrying out the present invention, and the scope of the present invention is not limited to the following embodiments and illustrated examples.

1. Overview of Chip Transfer Device (Chip Supply Device) FIG. 1 is a plan view of the chip transfer device 1.

The first transfer device 10 and the processing device 20 are provided on the front side and the rear side of the chip transfer device 1, respectively. The chip transfer device 1 sequentially transfers the chips 2 sequentially sent at equal intervals by the first transfer machine 10 to the second transfer machine 24 of the processing machine 20. Here, the chip 2 is an electronic component, but may be a small piece other than the electronic component.

The first conveyor 10 is a belt conveyor type conveyor. The first transporter 10 includes an endless belt 11, a plurality of support parts 12, a motor 13, a plurality of pulleys, and the like. A plurality of pulleys are arranged in the left-right direction when viewed in the direction shown in FIG. 1, the rotation shafts of these pulleys extend in the front-rear direction, and the endless belt 11 is supported by these pulleys. When any pulley is driven by the motor 13, the endless belt 11 circulates, the upper end of the endless belt 11 is fed in the direction of arrow A, and the lower end of the endless belt 11 is in the direction opposite to arrow A. Sent. On the outer peripheral surface of the endless belt 11 (the upper surface of the upper end of the endless belt 11 or the lower surface of the lower end of the endless belt 11), a plurality of support portions 12 are arranged at equal intervals along the longitudinal direction of the belt 11. Is provided. These support portions 12 are constituted by suction nozzles. The tip of the suction nozzle is provided so as to protrude outward of the belt 11, and a suction port is provided at the tip. The chip 2 is placed on the suction port of the support part 12 that moves in the direction of arrow A, and the support part 12 sucks the chip 2 by negative pressure.

The processing machine 20 performs a tableting process. Specifically, the tablet in which the chip 2 is embedded is formed by solidifying the powder together with the chip 2 supplied by the chip transfer device 1 by compression. The processing machine 20 includes a plurality of mortars 21 as chip receiving portions, an upper punch (not shown), a lower punch (not shown), and a mortar feeder 23. When viewed from above, a plurality of mortars 21 are arranged along a closed path (for example, an oval-shaped path), and these mortars 21 are moved along the closed path by a mortar feeder 23 so that the mortars 21 are moved. Go around. The mortar feeding device 23 and the device having the mortar 21 are the second transfer machine 24.

Each mortar 21 has a mortar hole 22 penetrating vertically, and a lower punch and an upper punch are provided in each mortar 21 so as to be able to move up and down along the penetrating direction of the mortar hole 22. While the mortar 21 makes a round along the closed path, the chip 2 is supplied to the mortar hole 22 by the chip transfer device 1, and the powder is supplied to the mortar hole 22 by the powder supply device. 2 is sandwiched between the upper and lower punches, and the powder in the mortar 22 is solidified by the pressure of the upper and lower punches. When the mortar 21 passes the rear side of the chip transfer device 1 in the direction of arrow B, the lower arm is in a state of being inserted into the mortar 22 from below the mortar 21, and the upper arm is above the mortar 22. The tip 2 is supplied from the top of the die 21 to the die hole 22 by the tip transfer device 1. In addition, when the closed path | route used as the locus | trajectory of the die 21 is an oval shape, the tip 2 is supplied to the die hole 22 by the tip transfer device 1 when the die 21 moves in a part of the straight section of the closed route. The

The chip transfer device 1 includes a pick-up machine row 3, a traveling guide 110, an opening / closing cam 120, a lifting / lowering cam 130, a circumferential motion driving device 140, and the like.
The travel guide 110 is a guide rail formed in a closed path shape. More specifically, as viewed from above, the travel guide 110 is formed in an oval shape (rounded rectangular shape), so that the front side parallel running section 110a, the left side semicircular conveyance section 110c, and the rear side Straight parallel running section 110b and right semicircular arc returning section 110d. The parallel running section 110a on the front side is a section (first parallel running section) parallel to the transport path of the first transporter 10 (the chip 2 is transported linearly in the direction of arrow A in the transport path). It is. The parallel running section 110b on the rear side is a section (second parallel running section) parallel to the transport path of the second transport machine 24 (the mill 21 travels linearly in the direction of arrow B on the transport path). It is. The left ends of the

parallel running sections

110a and 110b are connected by the transport section 110c, and the right ends of the

parallel running sections

110a and 110b are connected by the return section 110d.

The pickup machine row 3 has a plurality of modular pickup machines 30 (see FIGS. 2 to 8). These pickup machines 30 are arranged at equal intervals along the travel guide 110, whereby the pickup machine row 3 is configured. These pick-up machines 30 are arranged over the entire circumference of the traveling guide 110. In order to make the traveling guide 110, the opening / closing operation cam 120, and the lifting / lowering operation cam 130 easier to see in FIG. Is illustrated.

These pickup machines 30 are supported on the traveling guide 110 and guided along the traveling guide 110. The circumferential motion driving device 140 applies power to the pickup machine 30 and causes the pickup machine 30 to travel in a clockwise direction when viewed from above. Thereby, the pickup machine 30 is circulated along the travel guide 110. The traveling speed of the pick-up machine 30 is equal to the traveling speed of the belt 11 and the die 21.

The opening / closing operation cam 120 causes the pickup machine 30 to open and close as the pickup machine 30 travels. The raising / lowering operation cam 130 causes the pickup machine 30 to perform the operation of suppressing and pushing down the chip 2 as the pickup machine 30 travels. When the pick-up machine 30 travels in the parallel running section 110a in parallel with the support portion 12, the pick-up machine 30 sandwiches and picks up the chip 2 by the opening / closing operation cam 120, and the pick-up machine 30 picks up the chip 2 The operation of restraining from above is performed by the cam 130 for lifting operation. Thereafter, when the pick-up machine 30 travels from the parallel running section 110a to the parallel running section 110b through the transport section 110c, the pickup machine 30 maintains the state where the chip 2 has been picked up. Thereafter, when the pick-up machine 30 travels in the parallel running section 110 b in parallel with the mortar 21, the pick-up machine 30 pushes down the chip 2 by the lifting operation cam 130. Thereafter, when the pickup machine 30 travels from the parallel running section 110b toward the parallel running section 110a and travels in the return section 110d, the pickup machine 30 is kept open.

2. Configuration of Pickup Machine The pickup machine 30 will be described in detail with reference to FIGS. 2 is a side view of the pickup machine 30, FIGS. 3 to 5 are plan views of the pickup machine 30, and FIGS. 6 to 8 are front views of the pickup machine 30. The front surface of the pick-up machine 30 refers to the surface facing the outside of the travel guide 110, and the rear surface of the pick-up machine 30 refers to the surface facing the inside of the travel guide 110.

The pick-up machine 30 includes a moving body (running body) 40, a clamp mechanism 50, a clamping force generating mechanism 60, an opening / closing lever 70, a thrust bar (protruding portion) 80, a linear motion guide mechanism 90, a lifting lever mechanism 100, and the like.

(1) Moving object 40
As shown in FIGS. 2 and 6 to 8, the moving body 40 includes a carriage 41, traveling

rollers

42 and 43, and a support column 44. A support 44 is provided in an upright state on the upper surface of the carriage 41, and traveling

rollers

42 and 43 are rotatably attached to the lower surface of the carriage 41. The traveling carriage 41 is disposed on the traveling guide 110, the rotation shafts of the traveling

rollers

42 and 43 extend downward from the lower surface of the carriage 41, and the traveling

rollers

42 and 43 are disposed on the outer side and the inner side of the traveling guide 110, respectively. When the traveling roller 42 and the traveling roller 43 sandwich the traveling guide 110 between them, the moving body 40 is supported on the traveling guide 110. The traveling

rollers

42 and 43 roll with respect to the traveling guide 110, whereby the moving body 40 travels along the traveling guide 110.

(2) Clamp mechanism 50
A clamp mechanism 50 that opens and closes in the horizontal direction (horizontal direction) and clamps the chip 2 is attached to the upper end of the column 44. As shown in FIGS. 3 to 5, the clamp mechanism 50 includes a fixed clamper 51, a movable clamper 55, and the like.

The fixed clamper 51 has a fixed base portion 52 and a fixed clamp claw 53. The fixed base portion 52 is fixed in a state where it is faced down on the upper end surface of the column 44. When viewed from above, the fixed base portion 52 is larger than the upper end surface of the support column 44, and the fixed base portion 52 protrudes forward and leftward from the upper surface of the support column 44. A fixed clamp claw 53 is provided at the front end of the fixed base portion 52. Here, as shown in FIG. 2, the fixed clamp claw 53 is formed in a crank shape when viewed from the side, and the upper portion 53 a of the fixed clamp claw 53 hangs down from the front end of the fixed base portion 52, and the fixed clamp claw 53 The middle part 53b is bent forward from the lower end of the upper part 53a, and the lower part 53c of the fixed clamp claw 53 is bent downward from the front end of the middle part 53b.

As shown in FIGS. 3 to 5, a movable clamper 55 is assembled to the fixed clamper 51. The movable clamper 55 has a movable base portion 56, an arm portion 57, and a movable clamp claw 58. The movable base portion 56 is connected to the fixed base portion 52 of the fixed clamper 51 by a rotary shaft 56a extending in the vertical direction, and the movable base portion 56 is provided to be rotatable around the rotary shaft 56a. The movable base portion 56 protrudes leftward from the left edge 52a of the fixed base portion 52, and a movable clamp claw 58 is provided at the front end of the protruding portion. When viewed from the side, the movable clamp claw 58 is formed in substantially the same shape as the fixed clamp claw 53 (see FIG. 2) (see FIG. 2), and the upper part of the movable clamp claw 58 is suspended from the front end of the movable base portion 56 and is movable. The middle part of the clamp claw 58 is bent forward from the upper part, and the lower part of the movable clamp claw 58 is bent downward from the middle part.

The movable clamp claw 58 contacts and separates from the fixed clamp claw 53 by the rotation of the movable base portion 56. Here, the lower part of the movable clamp claw 58 and the lower part 53c of the fixed clamp claw 53 face each other in the circumferential direction of the rotating shaft 56a, and recesses 58d and 53d are formed in these mutually facing parts (see FIG. 3). . When the movable clamp claw 58 comes close to the fixed clamp claw 53 (see FIGS. 4 and 5), the chip 2 is sandwiched between the

clamp claws

58 and 53 so as to be accommodated in the recesses 58d and 53d.

An arm portion 57 is provided at the rear end of the movable base portion 56 so as to extend rearward from the rear end of the movable base portion 56. When the movable clamp claw 58 moves away from the fixed clamp claw 53 (see FIG. 3), the arm portion 57 overlaps the fixed base portion 52 of the fixed clamper 51, and the movable clamp claw 58 comes close to the fixed clamp claw 53 (FIG. 4). 5), the arm portion 57 protrudes leftward from the left edge 52a of the fixed base portion 52.

(3) Nipping force generation mechanism 60
A clamping force generating mechanism 60 is assembled to the movable clamper 55. The clamping force generating mechanism 60 is configured to press the movable clamp claw 58 toward the fixed clamp claw 53 while the chip 2 is sandwiched between the fixed clamp claw 53 and the movable clamp claw 58 (see FIG. 4). 2 is generated. The clamping force generation mechanism 60 includes an action lever 61, a support shaft 62, and an urging spring (urging portion) 63.

The base end of the action lever 61 is connected to the left end portion of the movable base portion 56 by a rotation shaft 61a extending in the vertical direction, and the action lever 61 is provided to be rotatable around the rotation shaft 61a. The action lever 61 extends rearward from the rotary shaft 61a, and the action lever 61 and the arm portion 57 are arranged in parallel with a gap therebetween. The support shaft 62 is a screw member, the base end of the support shaft 62 is fixed to the left end surface 56b of the movable base portion 56, and the support shaft 62 extends to the left from the left end surface 56b of the movable base portion 56 to act on the action lever 61. The support shaft 62 is passed through an urging spring 63 that is a coil spring, and the urging spring 63 is sandwiched between the head 62 a of the support shaft 62 and the action lever 61.

(4) Open / close lever 70
The movable clamper 55 is rotated by the opening / closing lever 70. An intermediate portion of the opening / closing lever 70 is connected to a rear end portion of the fixed base portion 52 of the fixed clamper 51 by a rotating shaft 70a extending in the vertical direction, and the opening / closing lever 70 is provided to be rotatable around the rotating shaft 70a. ing. A portion on one end side of the opening / closing lever 70 extends forward from the rotating shaft 70 a, and a pressing roller 71 is provided at one end of the opening / closing lever 70. The pressing roller 71 is inserted between the arm portion 57 and the action lever 61. Here, when the action lever 61 is in contact with the left end surface 56 b of the movable base portion 56, the distance between the action lever 61 and the arm portion 57 is larger than the diameter of the pressing roller 71.
On the other hand, a portion on the other end side of the opening / closing lever 70 extends rearward from the rotation shaft 70 a, and a cam follower 72 is provided at the other end portion of the opening / closing lever 70.

Further, one end of a closing spring (closing urging portion) 73 is connected to the opening / closing lever 70. The other end of the closing spring 73 is connected to the fixed base portion 52 of the fixed clamper 51. 3 to 5, the opening / closing lever 70 is urged counterclockwise by the closing spring 73, so that the cam follower 72 is pressed against the opening / closing operation cam 120. As shown in FIGS. 3 to 5, when the opening / closing lever 70 is rotated by the opening / closing operation cam 120, the clamp mechanism 50 opens / closes. The opening / closing operation of the clamp mechanism 50 will be described in detail later.

(5) Stick 80
As shown in FIG. 2, a stick 80 is disposed above the fixed clamp claw 53. As shown in FIGS. 4 and 5, when viewed from above, the lower portion 81 of the thrust bar 80 overlaps the gap between the recesses 53 d and 58 d of the

clamp claws

53 and 58 when the clamp mechanism 50 is closed.

(6) Linear motion guide mechanism 90
As shown in FIGS. 2 and 6 to 8, the thrust bar 80 is movable up and down by the linear motion guide mechanism 90 and is assembled to the fixed base portion 52 of the fixed clamper 51. The linear motion guide mechanism 90 guides the thrust bar 80 in the vertical direction. Thereby, the lower portion 81 of the thrust bar 80 passes through the position of the tip 2 when the tip 2 is sandwiched between the

clamp claws

58 and 53 so that the tip 2 is accommodated in the recesses 58d and 53d. . Here, the linear motion guide mechanism 90 includes a shaft 91, a holding body 92, a bracket 93, and a bracket 94. A holding body 92 is provided on the fixed base portion 52. The shaft 91 penetrates the holding body 92 and the fixed base portion 52 in the vertical direction and is supported by the holding body 92 so as to be movable up and down. A bracket 93 is attached to the upper end of the shaft 91, and a bracket 94 is attached to the lower end of the shaft 91. The lower bracket 94 is provided with an elevating roller (elevating part) 97. On the other hand, as shown in FIGS. 3 to 5, the upper bracket 93 protrudes forward from the upper end surface of the holding body 92 and bends to the left, and the upper end 82 of the thrust bar 80 is fixed to the tip of the bracket 93. Has been.

As shown in FIGS. 2 and 6 to 8, a spring 95 is provided between the upper portion of the holding body 92 and the bracket 93, and between the fixed base portion 52 of the fixed clamper 51 and the bracket 94. A spring 96 is provided. The combination of the spring 95 and the spring 96 urges the bracket 93, the shaft 91, the bracket 94, and the thrust bar 80 downward, so the combination of the spring 95 and the spring 96 is a downward urging portion.

(7) Lifting lever mechanism 100
The thrust bar 80, the bracket 93, the bracket 94, and the lifting roller 97 are moved up and down by the lifting lever mechanism 100. As shown in FIGS. 6 to 8, the lift lever mechanism 100 includes a lift lever 101, a cam follower 102, a connecting shaft 103, a receiving member 104, a biasing spring (second biasing portion) 105, and the like. The connecting shaft 103 is attached to the column 44 by a bearing or the like, and the radial load of the connecting shaft 103 is received by the bearing and the column 44. The connecting shaft 103 penetrates the support 44 in the front-rear direction, the connecting shaft 103 is connected to the base end portion of the elevating lever 101 on the rear side of the support 44, and the connecting shaft 103 is connected to the receiving member 104 on the front side of the support 44. . The receiving member 104 and the elevating lever 101 rotate around the connecting shaft 103.

The lifting lever 101 extends from the connecting shaft 103 outward in the radial direction of the connecting shaft 103 (more specifically, rightward in FIGS. 6 to 8), and a cam follower 102 is provided at the tip of the lifting lever 101. Yes. The cam follower 102 abuts on the raising / lowering cam 130.

The receiving member 104 is provided with a pair of upper and lower protruding

pieces

104a and 104b. These

protrusions

104a and 104b extend from the connecting shaft 103 outward in the radial direction of the connecting shaft 103 (more specifically, to the right in FIGS. 6 to 8). The upper projecting piece 104a is spaced upward from the lower projecting piece 104b, and a lifting roller 97 is inserted therebetween. The distance between the upper protrusion 104 a and the lower protrusion 104 b is larger than the diameter of the lifting roller 97.

An upper end portion of an urging spring 105 is connected to the receiving member 104, and a lower end portion of the urging spring 105 is connected to the column 44. Therefore, the receiving member 104 and the elevating lever 101 are urged counterclockwise by the urging spring 105 when viewed in the directions shown in FIGS. As a result, the lower protrusion 104 b of the receiving member 104 is pressed against the lifting roller 97.
The force by which the biasing spring 105 swings up the receiving portion 104 and the lift lever 101 in the counterclockwise direction is stronger than the force by which the

springs

95 and 96 push the lift roller 97 downward. Therefore, when the lower protrusion 104b of the receiving member 104 is pressed against the lifting roller 97, the lowering of the lifting roller 97 is restricted. Further, the cam follower 102 is pressed against the lifting operation cam 130 by the force of the urging spring 105, and the lifting operation cam 130 swings up and down the lifting lever 101. Here, when the elevating lever 101 and the receiving member 104 are swung down in the clockwise direction against the force of the urging spring 105 by the elevating operation cam 130, the elevating roller 97 is lowered by the elastic force of the

springs

95 and 96. It follows the lowering of the side protrusion 104b. On the other hand, when the elevating lever 101 and the receiving member 104 are swung up counterclockwise by the elevating operation cam 130 and the biasing spring 105, the elevating roller 97 is pushed up by the lower protrusion 104b of the receiving member 104.
Note that the upper end of the urging spring 105 may be connected to the lift lever 101.

As shown in FIGS. 6 to 8, when the lifting lever 101 is rotated by the lifting operation cam 130, the bracket 93, the shaft 91, the bracket 94 and the thrust bar 80 are also lifted together with the lifting roller 97. Here, since the diameter of the lifting roller 97 is smaller than the interval between the upper protruding piece 104a and the lower protruding piece 104b, when the lifting of the lifting roller 97 and the thrust bar 80 is restricted, the lower protruding piece 104b moves up and down. The roller 97 can be moved downward.

3. Connection of Pickup Machines A plurality of pickup machines 30 configured as described above are arranged in an oval shape. As shown in the bottom view of FIG. 9, the moving bodies 40 (particularly the carriage 41) of the adjacent pick-up machines 30 are connected by a connecting link 31.

4). Next, a circumferential motion drive device 140 will be described with reference to FIG. The circumferential motion drive device 140 includes a motor 141 and a drive sprocket 142. The output shaft of the motor 141 is connected to the drive sprocket 142.

On the other hand, as shown in FIGS. 2 and 8, two pins 143 are erected on the upper surface of the moving body 40. More specifically, the pin 143 is provided so as to be coaxial with the rotation axis of the connection link 31. Since the plurality of pickup machines 30 are arranged in an oval shape as described above, the number of pins 143 that is twice the number of the pickup machines 30 is arranged in an oval shape, and the row of these pins 143 meshes with the drive sprocket 142. . When the motor 141 is activated, the row of pins 143 and the row of moving bodies 40 circulate along the travel guide 110.

5). Opening / Closing Operation Cam The opening / closing operation cam 120 converts the power during travel of the pickup machine 30 into the power of the rotational movement of the opening / closing lever 70. As shown in FIG. 1, an opening / closing cam 120 is provided in the circumferential direction along the travel guide 110. As shown in FIG. 2, the cam follower 72 is in contact with the opening / closing operation cam 120 from the radially outer side of the opening / closing operation cam 120.

As seen from above, the interval from the travel guide 110 to the opening / closing cam 120 is not constant, but is set according to the position in the circumferential direction. Therefore, when the cam follower 72 slides in the circumferential direction along the opening / closing operation cam 120 by traveling of the moving body 40, the cam follower 72 is displaced in the orthogonal direction of the traveling guide 110 when viewed from above, thereby opening / closing lever 70 rotates. More specifically, a description will be given with reference to FIG.

Here, in FIG. 10, a curve 129 indicated by a solid line is a curve representing the shape of the cam 120 for opening and closing. That is, the curve 129 is a curve showing the relationship between the position of the moving body 40 and the displacement of the cam follower 72. The horizontal direction in FIG. 10 represents the position of the moving body 40 along the travel guide 110, and the vertical direction in FIG. Represents the displacement of the cam follower 72 by the cam 120 for opening / closing operation. Further, a position P21 shown in FIG. 10 is a position corresponding to a connection point between the parallel running section 110a and the return section 110d shown in FIG. 1, and a position P22 shown in FIG. 10 is the same as the parallel running section 110a shown in FIG. 10 is a position of a connecting portion with the transport section 110c, a position P23 shown in FIG. 10 is a position of a boundary portion between the parallel running section 110b and the transport section 110c shown in FIG. 1, and a position P13 shown in FIG. 1 is the position of the boundary between the parallel running section 110b and the return section 110d. The positions P1 to P6 are in the parallel running section 110a, and the positions P7 to P12 are in the parallel running section 110b.

As shown in FIG. 10, while the moving body 40 travels from the position P13 to the position P2 via the position P21, the displacement of the cam follower 72 is changed by the opening / closing operation cam 120 to the first reference value (zero). ) Is maintained. Therefore, the rotation of the opening / closing lever 70 is restricted.

While the moving body 40 is traveling in the section from the position P2 to the position P5, the displacement of the cam follower 72 is increased from the first reference value to the first maximum value by the opening / closing operation cam 120. Therefore, when viewed from above (see FIGS. 3 to 5), the open / close lever 70 rotates in the clockwise direction.

While the moving body 40 is traveling in the section from the position P5 to the position P7, the displacement of the cam follower 72 is maintained at the first maximum value by the opening / closing operation cam 120. Therefore, the rotation of the opening / closing lever 70 is restricted.

While the moving body 40 is traveling in the section from the position P7 to the position P9, the displacement of the cam follower 72 is changed from the first maximum value to the first predetermined value (the first predetermined value is the first reference value) by the opening / closing cam 120. Greater than and less than the first maximum). Therefore, when viewed from above (see FIGS. 3 to 5), the opening / closing lever 70 rotates counterclockwise.

While the moving body 40 is traveling in the section from the position P9 to the position P11, the displacement of the cam follower 72 is maintained at the first predetermined value by the opening / closing operation cam 120. Therefore, the rotation of the opening / closing lever 70 is restricted.

While the moving body 40 is traveling in the section from the position P11 to the position P13, the displacement of the cam follower 72 is decreased from the first predetermined value to the first reference value by the opening / closing operation cam 120. Therefore, the opening / closing lever 70 rotates counterclockwise as viewed from above.

6). Elevating Operation Cam The elevating operation cam 130 converts the power during traveling of the pickup machine 30 into the power of the rotational movement of the elevating lever mechanism 100. As shown in FIG. 1, a lifting operation cam 130 is provided along the traveling guide 110 in the circumferential direction. As shown in FIG. 2, the cam follower 102 is in contact with the lifting operation cam 130 from below the lifting operation cam 130.

The vertical position of the elevating cam 130 (for example, based on the height of the travel guide 110) is not constant and is set according to the circumferential position. Therefore, when the cam follower 102 slides in the circumferential direction along the raising / lowering cam 130 by the traveling of the moving body 40, the cam follower 102 is displaced in the vertical direction, whereby the raising / lowering lever 101 rotates. More specifically, a description will be given with reference to FIG.

Here, in FIG. 10, a curved line 139 indicated by a solid line represents the shape of the raising / lowering operation cam 130. That is, the curve 139 is a curve showing the relationship between the position of the moving body 40 and the displacement of the cam follower 102. The horizontal direction in FIG. 10 represents the position of the moving body 40 along the traveling guide 110, and the vertical direction in FIG. Represents the displacement of the cam follower 102 caused by the lifting / lowering cam 130. It is assumed that the displacement of the cam follower 102 increases as the position of the cam follower 102 decreases.

As shown in FIG. 10, while the moving body 40 travels from the position P12 to the position P1 via the position P21, the displacement of the cam follower 102 is changed by the elevating operation cam 130 to the second reference value (zero). ) Is maintained. Therefore, the rotation of the lifting lever 101 is restricted.

While the moving body 40 is traveling in the section from the position P1 to the position P3, the displacement of the cam follower 102 is changed from the second reference value to the second predetermined value (the second predetermined value is the second reference value) by the elevating operation cam 120. Larger than the second maximum value described later). Therefore, when viewed from the front (see FIGS. 6 to 8), the elevating lever 101 is swung down in the clockwise direction.

While the moving body 40 is traveling in the section from the position P3 to the position P4, the displacement of the cam follower 102 is maintained at the second predetermined value by the lifting operation cam 130. Therefore, the rotation of the lifting lever 101 is restricted.

While the moving body 40 is traveling in the section from the position P4 to the position P6, the displacement of the cam follower 102 is decreased from the second predetermined value to the second reference value by the elevating operation cam 130. Therefore, when viewed from the front (see FIGS. 6 to 8), the elevating lever 101 is swung up counterclockwise.

While the moving body 40 is traveling in the section from the position P6 to the position P8, the displacement of the cam follower 102 is maintained at the second reference value by the lifting operation cam 130. Therefore, the rotation of the lifting lever 101 is restricted.

While the moving body 40 is traveling in the section from the position P8 to the position P10, the displacement of the cam follower 102 is increased from the second reference value to the second maximum value by the lifting operation cam 130. Therefore, when viewed from the front (see FIGS. 6 to 8), the elevating lever 101 is swung down in the clockwise direction.

While the moving body 40 travels in the section from the position P10 to the position P11, the displacement of the cam follower 102 is maintained at the second maximum value by the lifting operation cam 130. Therefore, the rotation of the lifting lever 101 is restricted.

While the moving body 40 is traveling in the section from the position P11 to the position P12, the displacement of the cam follower 102 is decreased from the second maximum value to the second reference value by the elevating operation cam 130. Therefore, when viewed from the front (see FIGS. 6 to 8), the elevating lever 101 is swung up counterclockwise.

7). Next, the operation of the chip transfer device 1 will be described.
When the motor 141 of the circumferential motion drive device 140 is controlled at a constant speed by the constant speed control circuit, the moving body 40 of the pickup machine 30 circulates along the travel guide 110. When the moving body 40 is moving linearly in the direction of arrow A in FIG. 1 along the parallel running section 110a of the travel guide 110 in parallel with the support portion 12, the position P21, the positions P1 to P6, and the position Pass through P22 in this order. Here, since the support portion 12 passes through the position P21 in synchronization with the moving body 40 passing through the position P21, the tip at which the lower end of the stick 80 of the pickup machine 30 is supported by the support portion 12 at the position P21. Overlapping 2

Further, when the moving body 40 is moving linearly in the direction of the arrow B in FIG. 1 along the parallel running section 110b of the traveling guide 110 in parallel with the die 21, the position P23 and the positions P7 to P13. Are passed through in this order. Here, since the die 21 passes through the position P23 in synchronization with the moving body 40 passing through the position P23, the lower end of the stick 80 of the pick-up machine 30 is directly above the die hole 22 of the die 21 at the position P23. Overlapping.

Hereinafter, the operation of the pickup machine 30 while the moving body 40 goes around along the travel guide 110 will be described in detail.

(1) State immediately before reaching position P1 Immediately before the moving body 40 of the pick-up machine 30 reaches position P1, the clamp mechanism 50, the clamping force generating mechanism 60, and the opening / closing lever 70 of the pick-up machine 30 are in the state shown in FIG. It has become. That is, since the displacement of the cam follower 72 becomes the first reference value by the opening / closing cam 120 (see FIG. 10), the pressing roller 71 provided on the opening / closing lever 70 is pressed against the arm portion 57 to be movable. The clamp claw 58 is separated from the fixed clamp claw 53, and the clamp mechanism 50 is open. Further, the pressing roller 71 is separated from the action lever 61, and the action lever 61 is in contact with the left end surface 56 b of the movable base portion 56 by the biasing spring 63.

Furthermore, immediately before the moving body 40 reaches the position P1, the thrust bar 80, the linear motion guide mechanism 90, and the lift lever mechanism 100 of the pickup machine 30 are in the state shown in FIG. That is, since the displacement of the cam follower 102 is set to the second reference value by the elevating cam 130 (see FIG. 10), the elevating lever 101 is swung up, and the elevating roller 97 is below the receiving member 104. It is in a state of being pushed up by the side protrusion 104b. Further, the thrust bar 80 is in a raised state, and the lower end of the thrust bar 80 is separated upward from the chip 2 on the support portion 12. The position of the stick 80 at this time is called the uppermost position.

(2) Holding operation section from position P1 to position P3 When the moving body 40 moves from the position P1 to the position P3, the thrust bar 80, the linear motion guide mechanism 90, and the lifting lever mechanism 100 are changed from the state of FIG. Changes to the state.

Specifically, the cam follower 102 is displaced from the second reference value to the second predetermined value by the raising / lowering operation cam 130, and accordingly, the raising / lowering lever 101 is swung down against the elastic force of the biasing spring 105. The projecting

pieces

104a and 104b of the receiving member 104 are lowered. Then, in the state where the lifting roller 97 is in contact with the protruding piece 104b of the receiving member 104, the lifting roller 97 and the thrust bar 80 are lowered by the elastic force of the

springs

95 and 96. Then, the lower end of the thrust bar 80 comes into contact with the chip 2, and the chip 2 is suppressed by the thrust bar 80 from above.

Even after the lower end of the thrust bar 80 comes into contact with the tip 2, the elevating lever 101 is swung down by the elevating operation cam 130. However, since the lowering of the thrust bar 80 and the lifting roller 97 is regulated by the tip 2 and the support portion 12, the protruding piece 104b of the receiving member 104 moves away from the lifting roller 97 (see FIG. 8). Therefore, even if there is an error or variation in the thickness or posture of the chip 2, the chip 2 is not excessively pressed downward by the raising / lowering cam 130.
If the tip 2 is thin, the lower end of the thrust bar 80 contacts the tip 2 when the displacement of the cam follower 102 reaches the second predetermined value. Sometimes it doesn't move downwards.

(3) Suppression maintenance section from position P3 to position P4 When the moving body 40 moves from position P3 to position P4, the displacement of the cam follower 102 is maintained at the second predetermined value by the raising / lowering cam 130, and the raising / lowering is performed. The lever 101 is kept in a swing-down state. Further, the lower end of the thrust bar 80 is kept in contact with the tip 2 by the elastic force of the springs 95 and 96 (see FIG. 8).

(4) Closing operation section from position P2 to position P5 When the moving body 40 moves from position P2 to position P5, the clamping mechanism 50, the clamping force generating mechanism 60, and the opening / closing lever 70 are changed from the state shown in FIG. Change to state.

Specifically, since the cam follower 72 is displaced from the first reference value to the first maximum value by the opening / closing operation cam 120, the opening / closing lever 70 rotates in the clockwise direction against the closing spring 73. Then, since the action lever 61 is pushed by the pressing roller 71, the movable clamper 55 rotates counterclockwise around the rotation shaft 56a, and the movable clamp claw 58 approaches the fixed clamp claw 53. When the tip 2 is sandwiched between the movable clamp claw 58 and the fixed clamp claw 53, the rotation of the movable clamper 55 is stopped. Here, as described above, since the chip 2 is held down by the stick 80 from above, the chip 2 is prevented from being scattered by the impact force when the movable clamp claw 58 hits the chip 2. Can do. In addition, the position of the moving body 40 at the time when the chip 2 is sandwiched between the movable clamp claw 58 and the fixed clamp claw 53 is slightly upstream from the position P4.

When the tip 2 is sandwiched between the movable clamp claw 58 and the fixed clamp claw 53, the displacement of the cam follower 72 has not yet reached the first maximum value. Therefore, even after the chip 2 is sandwiched between the movable clamp claw 58 and the fixed clamp claw 53, the opening / closing lever 70 is rotated clockwise by the opening / closing operation cam 120. If it does so, the action lever 61 will rotate centering on the rotating shaft 61a, and the urging | biasing spring 63 will be compressed (refer FIG. 4). The elastic force of the compressed urging spring 63 is applied to the action lever 61 and the movable clamper 55, and the movable clamp claw 58 is pushed to the fixed clamp claw 53 side. Thereby, a clamping force is applied to the clamp mechanism 50, and the chip 2 is clamped by the clamping force.

(5) Suppression release operation section from position P4 to position P6 When the moving body 40 moves from position P4 to position P6, the thrust bar 80, the linear motion guide mechanism 90, and the lifting lever mechanism 100 are moved from the state shown in FIG. It changes to the state of FIG.

Specifically, the cam follower 102 is displaced from the second predetermined value to the second reference value by the raising / lowering operation cam 130, and accordingly, the raising / lowering lever 101 is swung up by the elastic force of the biasing spring 105, The protruding

pieces

104a and 104b are raised. Then, the projecting piece 104 b of the receiving member 104 comes into contact with the lifting roller 97.

When the projecting piece 104b comes into contact with the lifting roller 97, the displacement of the cam follower 102 has not reached the second reference position. Therefore, even after the projecting piece 104 b of the receiving member 104 contacts the lifting roller 97, the lifting lever 101 is swung up by the lifting operation cam 130 and the urging spring 105. Then, the raising / lowering roller 97 is pushed up by the projecting piece 104b of the receiving member 104, and the thrust bar 80 is raised accordingly, and the lower end of the thrust bar 80 is separated from the tip 2 upward. Then, when the moving body 40 reaches the position P6, the displacement of the cam follower 102 reaches the second reference value, so that the raising / lowering lever 101 stops swinging and the thrust bar 80 reaches the uppermost position.

Note that when the lower end of the thrust bar 80 is separated from the tip 2, the tip 2 is sandwiched between the movable clamp claw 58 and the fixed clamp claw 53 as described above, and the clamping force is clamped. The force generation mechanism 60 is in a state applied to the clamp mechanism 50.

(6) Nipping force application state maintaining section from position P5 to position P7 When the moving body 40 moves from position P5 to position P7, the displacement of the cam follower 72 is maintained at the first maximum value by the opening / closing operation cam 120. Therefore, the position of the opening / closing lever 70 is held by the opening / closing operation cam 120 (see FIG. 4). Therefore, the state where the chip 2 is sandwiched between the movable clamp claw 58 and the fixed clamp claw 53 is maintained. Further, the compressed state of the urging spring 63 is maintained, and the state in which a clamping force is applied from the urging spring 63 to the clamp mechanism 50 is also maintained.
Since the chip 2 is clamped by the clamp mechanism 50, the chip 2 is transported from the position P5 to the position P7 when the moving body 40 moves from the position P5 to the position P7.

In addition, the left part (downstream part) of the belt 11 from the position P6 shown in FIG. 1 is slightly inclined downward. Therefore, the support portion 12 is slightly lowered when moving from the position P6 to the downstream side. Therefore, when the moving body 40 changes from linear motion to circular motion at the position P22 downstream of the position P6, interference between the

clamp claws

58 and 53 and the upper end of the support portion 12 can be prevented.

(7) Suppression release state maintaining section from position P6 to position P8 When the moving body 40 moves from position P6 to position P8, the displacement of the cam follower 102 is maintained at the second reference value by the lifting operation cam 130. It is. Therefore, the raising / lowering lever 101 is kept in the state of being swung up, and the position of the thrust bar 80 is kept at the uppermost position.

(8) Nipping force decreasing section from position P7 to position P9 When the moving body 40 moves from position P7 to position P9, the clamping mechanism 50, the clamping force generating mechanism 60, and the opening / closing lever 70 are changed from the state shown in FIG. Change to state.

Specifically, since the cam follower 72 is displaced from the first maximum value to the first predetermined value by the opening / closing cam 120, the opening / closing lever 70 is rotated counterclockwise by the elastic force of the closing spring 73. Then, the action lever 61 follows the pressing roller 71 by the elastic force of the biasing spring 63. At this time, the movable clamper 55 is stopped, the clamp mechanism 50 is kept closed, and the chip 2 is sandwiched between the movable clamp claw 58 and the fixed clamp claw 53. However, since the elastic force of the urging spring 63 is reduced by the restoration of the urging spring 63, the clamping force with respect to the chip 2 is reduced.

When the operation lever 61 comes into contact with the left end surface 56b of the movable base portion 56 while the cam follower 72 is displaced from the first maximum value to the first predetermined value by the opening / closing operation cam 120, the operation lever 61 moves. Stops. Even after the action lever 61 is stopped, the opening / closing lever 70 is rotated counterclockwise by the opening / closing operation cam 120 and the closing spring 73. Since the cam follower 72 reaches the first predetermined value before the pressing roller 71 moves away from the action lever 61 and contacts the arm portion 57, the opening / closing lever 70 stops (see FIG. 5).

In the state shown in FIG. 5, the urging spring 63 is not compressed, and no elastic force acts on the movable clamper 55 from the urging spring 63. Therefore, although the clamping force with respect to the tip 2 is unloaded to zero, the tip 2 is supported between the movable clamp claw 58 and the fixed clamp claw 53 by a frictional force or the like.

(9) Unloading state maintaining section from position P9 to position P11 When the moving body 40 moves from position P9 to position P11, the displacement of the cam follower 72 is maintained at the first predetermined value by the opening / closing operation cam 120. Therefore, the position of the opening / closing lever 70 is held by the opening / closing operation cam 120 (see FIG. 5). At this time, the chip 2 is pushed down by the stick 80 as described later.

(10) Push-down operation section from position P8 to position P10 When the moving body 40 moves from position P8 to position P10, the push rod 80, the linear motion guide mechanism 90, and the lift lever mechanism 100 are changed from the state of FIG. Changes to the state.

Specifically, since the cam follower 102 is displaced from the second reference value to the second maximum value by the raising / lowering cam 130, the raising / lowering lever 101 is swinged down against the elastic force of the biasing spring 105. Therefore, the protruding

pieces

springs

95 and 96. Then, the lower end of the thrust bar 80 hits the chip 2, and the chip 2 is pushed down by the thrust bar 80. The tip 2 falls into the mortar hole 22 of the mortar 21.

When the chip 2 is pushed down by the thrust bar 80, the force for sandwiching the chip 2 is almost zero as described above. Therefore, when the tip 2 is detached from the

clamp claws

53, 58, the force acting on the tip 2 from the

clamp claws

53, 58 is small, and the tip 2 falls in a stable posture.

(11) Lowermost position maintaining section from position P10 to position P11 When the moving body 40 moves from position P10 to position P11, the displacement of the cam follower 102 is maintained at the second maximum value by the lifting operation cam 130. Therefore, the raising / lowering lever 101 is kept in the state of being swung down, and the height of the thrust bar 80 is maintained (see FIG. 7).

(12) Return operation section from position P11 to position P12 When the moving body 40 moves from position P11 to position P12, the thrust bar 80, the linear motion guide mechanism 90, and the lift lever mechanism 100 are shown in the state of FIG. It changes to the state of 6.

Specifically, the cam follower 102 is displaced from the second maximum value to the first reference value by the elevating operation cam 130, and accordingly, the elevating lever 101 is swung up by the elevating operation cam 130 and the urging spring 105. If it does so, the raising / lowering roller 97 will be pushed up by the protrusion 104b of the receiving member 104, and the stick 80 will go up in connection with it. Then, when the moving body 40 reaches the position P12, the displacement of the cam follower 102 reaches the second reference value, so that the lifting / lowering lever 101 stops swinging and the thrust bar 80 reaches the uppermost position (see FIG. 6). ).

(13) Opening operation section from position P11 to position P13 When the moving body 40 moves from position P11 to position P13, the clamping mechanism 50, the clamping force generation mechanism 60, and the opening / closing lever 70 are changed from the state shown in FIG. Changes to the state.

Specifically, since the cam follower 72 is displaced from the first predetermined value to the first reference value by the opening / closing cam 120, the opening / closing lever 70 rotates counterclockwise by the elastic force of the closing spring 73. Then, the arm portion 57 is pressed by the pressing roller 71, and the movable clamper 55 rotates in the clockwise direction around the rotation shaft 56a. Therefore, the clamp mechanism 50 is opened, and the movable clamp claw 58 is separated from the fixed clamp claw 53.
When the moving body 40 reaches the position P13, the cam follower 72 reaches the first reference value, so that the open / close lever 70 is stopped and the movable clamper 55 is also stopped (see FIG. 3).

(14) Section from position P12 to position P2 via position P13 and position P1 When the moving body 40 moves from position P12 to position P1, the displacement of the cam follower 102 is secondly moved by the lifting operation cam 130. Since the reference value is maintained, the lift lever 101 is kept in a swung state. Thereby, the position of the stick 80 is maintained at the uppermost position (see FIG. 6).
Further, when the moving body 40 moves from the position P13 to the position P2, the displacement of the cam follower 72 is maintained at the first reference value by the opening / closing operation cam 120, so that the position of the opening / closing lever 70 is the opening / closing operation cam. 120. As a result, the clamp mechanism 50 is kept open (see FIG. 3).

8). Effects / Benefits The above embodiments have the following effects / benefits.
(1) Although the clamp mechanism 50 and the stick 80 are employed in the pickup machine 30, no suction nozzle is employed. When the tip 2 sandwiched by the clamp mechanism 50 is pushed down by the thrust bar 80, no wind pressure is generated on the die 21 and the die hole 22. Therefore, it is possible to suppress the powder in the mortar hole 22 from being scattered.

(2) In the section from the position P9 to the position P11, the tip 2 is supported by the clamp mechanism 50 with a slight frictional force that does not use the elastic force of the biasing spring 63. Even if it is pushed down by 80, the chip 2 falls in a stable posture.

(3) The pick-up machine 30 is moving linearly from position P9 to position P11. At that time, even if the clamping force with respect to the chip 2 is unloaded, the chip 2 can be prevented from being detached from the

pickup claws

53 and 58.
In particular, the inertia force does not act on the chip 2 because the pickup machine 30 is moving at a constant speed. Therefore, it is possible to prevent the chip 2 from being detached from the

pickup claws

53 and 58.

(4) In the range from the position P2 to the position P5, the chip 2 is clamped by the clamp mechanism 50 while being supported by the thrust bar 80. Therefore, scattering of the chip 2 can be prevented.

(5) After the tip 2 is restrained by the lower end of the thrust bar 80 in the vicinity of the position P2, the thrust bar 80 is blocked from the raising / lowering cam 130. Therefore, even if there is an error or variation in the thickness of the chip 2, the chip 2 can be suppressed with an appropriate force.

9. Modifications As mentioned above, although the form for implementing this invention was demonstrated, the said embodiment is for making an understanding of this invention easy, and is not for limiting and interpreting this invention. Further, the present invention can be changed and improved without departing from the gist thereof, and equivalents thereof are also included in the present invention. Changes from the above embodiment will be described below. You may apply combining each change point demonstrated below. Further, the following modifications (1) to (7) are the same as those in the above-described embodiment except for the modifications described below, and thus the description other than the modifications will be omitted.

(1) In the above embodiment, the adjacent pickup machines 30 are connected by the connecting link 31. On the other hand, the some pick-up machine 30 may be connected with the endless belt. In this case, a pulley may be provided instead of the sprocket 142, and the endless belt may be circulated by the pulley.

(2) The distance between the action lever 61 and the arm part 57 when the action lever 61 is in contact with the left end surface 56 b of the movable base part 56 may be equal to the diameter of the pressing roller 71. In this case, when the moving body 40 reaches the position P <b> 9, the pressing roller 71 contacts the arm portion 57 and the action lever 61 contacts the left end surface 56 b of the movable base portion 56.

(3) The diameter of the lifting roller 97 is substantially equal to the distance between the upper protruding piece 104a and the lower protruding piece 104b of the receiving member 104, and the lifting roller 97 is located between the upper protruding piece 104a and the lower protruding piece 104b. It may be sandwiched. In this case, when the moving body 40 reaches the position P3 (when the displacement of the cam follower 102 reaches the second predetermined value), the lower end of the thrust bar 80 comes into contact with the tip 2.

(4) In the above embodiment, the traveling guide 110 has an oval shape, and the parallel running section 110b has a linear shape. On the other hand, as shown in FIG. 11, the parallel running section 110 b may have a concave arc shape toward the inside of the traveling guide 110. In this case, an arc-shaped section that is a part of the closed path serving as the trajectory of the mortar 21 is arranged in parallel with the parallel traveling section 110 b of the traveling guide 110. Note that it is preferable that the mortar 21 is moved along a circle by the mortar feeder 23 and the closed path serving as the trajectory of the mortar 21 is circular.

(5) In the above embodiment, the traveling guide 110 is a so-called rail member, and the moving body 40 travels on the traveling guide 110. On the other hand, a fixed groove cam member is provided below the pick-up machine row 3, and a guide groove is recessed in the fixed groove cam member. When viewed from above, the guide groove is congruent with the planar shape of the traveling guide 110 or It may be formed in a similar shape. In this case, instead of the traveling

rollers

42 and 43 being provided on the lower surface of the moving body 40 (particularly the carriage 41), the moving body 40 (particularly the carriage 41) so that a sliding member made of a pin or the like protrudes downward. ) And the sliding member is inserted into the guide groove. Then, since the movement of the sliding member in the width direction of the guide groove is restrained by the guide groove, the moving body 40 travels along the guide groove together with the sliding member.

(6) In the above embodiment, the parallel running section 110a and the parallel running section 110b of the travel guide 110 are longer than the transport section 110c and the return section 110d. On the other hand, the length of the parallel running section 110a and the parallel running section 110b may be equal to or shorter than the length of the transport section 110c and the return section 110d.

(7) In the above embodiment, the adjacent pickup machines 30 are connected by the connecting link 31, and the power of the motor 141 of the orbiting movement driving device 140 is driven by the driving sprocket 141 and the pin 143. It was the structure transmitted to the pick-up machine 30 as. On the other hand, the driving device for circular motion 140 may be changed to a driving device for circular motion 140A as shown in the plan view of FIG. Hereinafter, the circular motion drive device 140A will be described in detail, but since the changes in the modified examples (4) to (6) are also employed, they will be described first. In order to make it easier to see the plurality of pickup devices 30 arranged in the circumferential direction, the opening / closing operation cam 120 and the lifting operation cam 130 are not shown in FIG.

As described in the modification (4) above, the parallel running section 110 b is a concave arc shape toward the inside of the travel guide 110, and the arc-shaped section that is a part of the closed path serving as the trajectory of the mortar 21 is formed. The mortar 21 is moved along the circle by the mortar feeding device 23 in parallel with the parallel running section 110b of the traveling guide 110, and the closed path serving as the trajectory of the mortar 21 is circular. Further, as described in the modification (6) above, the parallel travel section 110a and the parallel travel section 110b of the travel guide 110 are longer than the transport section 110c and the return section 110d. Therefore, the number of pick-up machines 30 is smaller in the case of FIG. 12 than in the case of FIG. 1 or FIG. 11, and the radius of the circular locus of the mortar 21 is in the case of FIG. 12 than in the case of FIG. Is short. Therefore, a compact and low-cost apparatus can be provided.

As described in the modification (5) above, the moving body 40 of the pickup machine 30 is guided in the circumferential direction by the guide groove 116 having a shape similar to that of the traveling guide 110. Specifically, as shown in FIG. 13, one end of a bar 45 is fixed to the moving body 40 of the pickup machine 30, and the bar 45 extends from the moving body 40 to the opposite side of the fixed clamp claw 53. 12, a sliding member 46 is provided at the other end portion of the bar 45 so as to protrude downward, and the sliding member 46 is inserted into the guide groove 116, and the guide groove 116 in the width direction is provided. The movement of the sliding member 46 is restrained by the guide groove 116. Here, a fixed groove cam member 115 is provided below a rotating plate 143A, which will be described later, and a guide groove 116 is formed in the fixed groove cam member 115. When viewed from above, the guide groove 116 and the travel guide 110 are concentric. Has been placed. Of the guide grooves 116, the parallel running section 116a, the parallel running section 116b, the transport section 116c, and the return section 116d correspond to the parallel running section 111a, the parallel running section 111b, the transport section 111c, and the return section 111d of the travel guide 111, respectively.

Subsequently, the circumferential motion drive device 140A will be described in detail. The circumferential motion drive device 140A includes a motor 141A and a rotating disk 143A. The output shaft 142A of the motor 141A is connected to the rotating disk 143A, and the rotating disk 143A is rotationally driven by the motor 141A. A plurality of bar members 45 are radially attached to the rotating disk 143A around the output shaft of the motor 141A. These bar members 45 are provided so as to be movable in the radial direction of the output shaft of the motor 141A with respect to the rotating disk 143A by a linear bearing or the like. Therefore, when the turntable 143A rotates, the moving body 40 and the bar 45 of the pickup machine 30 circulate around the output shaft of the motor 141A, and the output shaft of the motor 141A depends on the shape of the guide groove 116 and the travel guide 110. Displace in the radial direction. Thereby, the moving body 40 travels along the travel guide 110.

In addition, since the moving body 40 is guided by the guide groove 116, the traveling guide 110 may not be provided.

DESCRIPTION OF SYMBOLS 1 ... Chip transfer device, 2 ... Chip, 3 ... Pick-up machine row, 10 ... First conveying machine, 11 ... Belt, 12 ... Support part, 13 ... Motor, 20 ... Processing machine, 21 ... Dice, 22 ... Dice hole , 23 ... mortar feeding device, 24 ... second transfer machine, 30 ... pickup machine, 31 ... link, 40 ... moving body, 41 ... carriage, 42 ... roller, 43 ... roller, 44 ... strut, 45 ... bar, 50 ... mechanism, 51 ... fixed clamper, 52 ... fixed base part, 53 ... fixed clamp claw, 53a ... upper part, 53b ... middle part, 53c ... lower part, 55 ... movable clamper, 56 ... movable base part, 56a ... rotating shaft, 56b ... Left end face, 57 ... arm part, 58 ... movable clamp claw, 60 ... clamping force generation mechanism, 61 ... action lever, 61a ... rotating shaft 62 ... support shaft, 62a ... head, 63 ... biasing spring (biasing part), 70 ... opening / closing lever, 70a ... rotating shaft, 71 ... pressing roller (pressing part), 72 ... cam follower, 73 ... closed Spring (closing biasing part) 80 ... thrusting bar (protruding part), 81 ... lower part, 82 ... upper end, 90 ... linear motion guide mechanism, 91 ... shaft, 92 ... holding body, 93 ... bracket, 94 ... bracket, 95 ... Spring (lower urging part), 96 ... Spring (lower urging part), 97 ... Elevating roller (elevating part), 100 ... Elevating lever mechanism, 101 ... Elevating lever, 102 ... Cam follower (second cam follower), 103 ... connecting shaft, 104 ... receiving member, 104a ... upper protrusion, 104b ... lower protrusion, 105 ... biasing spring, 110 ... travel guide, 115 ... fixed Groove groove member 116 ... guide groove (guide) 120 ... cam for opening / closing operation, 129 ... curve, 130 ... cam for lifting operation (second cam), 139 ... curve, 140 ... drive device for circumferential motion, 141 ... motor , 142 ... sprocket, 140A ... drive device for circumferential motion, 141A ... motor, 143A ... turntable

Claims

A chip transfer device for transferring chips transferred by the first transfer machine to the second transfer machine,
It is formed in the shape of a closed path as viewed from above, has a first parallel section parallel to the transport path of the first transport machine, and has a second parallel section parallel to the transport path of the second transport machine. A guide having,
A moving body that moves along the guide;
A clamp mechanism provided on the movable body and provided to be openable and closable in a lateral direction;
An opening / closing cam provided along the guide for opening and closing the clamp mechanism;
When the moving body moves in the first parallel running section of the guide on the first transporter side, the opening / closing cam closes the clamp mechanism and is transported by the first transporter. A chip transfer device in which the clamp mechanism holds the chip.
A protrusion provided on the movable body and provided so as to be movable up and down so as to pass through the position of the tip sandwiched between the clamp mechanisms;
A raising / lowering cam provided along the guide for raising and lowering the protrusion,
When the movable body moves in the second parallel running section on the second transporter side of the guide, the lifting operation cam lowers the protrusion, and the tip sandwiched between the clamp mechanisms The chip transfer device according to claim 1, wherein the protrusion protrudes.
A clamping force generating mechanism that is provided in the clamping mechanism and applies a clamping force to the clamping mechanism;
When the movable body moves in the first parallel running section of the guide on the first conveyor side, the opening / closing cam generates a clamping force in the clamping force generating mechanism, and the clamping force causes the clamping force to generate the clamping force. The tip is clamped by the clamp mechanism,
When the moving body moves from the first parallel running section on the first transporter side to the second parallel running section on the second transporter side, the opening / closing cam is sandwiched by the sandwiching force generating mechanism. Maintaining the applied state and the closed state of the clamp mechanism,
When the moving body moves in the second parallel running section on the second transporter side of the guide, the clamping force generating mechanism is clamped while the opening / closing cam is kept closed. The chip transfer apparatus according to claim 2, wherein after the force is reduced, the protrusion is lowered and the chip is dropped by the lifting operation cam.
When the clamp mechanism is closed by the opening / closing operation cam, the lifting / lowering operation cam lowers the protrusion, and the protrusion supports the chip from above the chip conveyed by the first transfer device. The chip transfer device according to claim 2 or 3.
A protrusion provided on the movable body and provided so as to be movable up and down so as to pass through the position of the tip sandwiched between the clamp mechanisms;
A raising / lowering cam provided along the guide for raising and lowering the protrusion,
When the clamp mechanism is closed by the opening / closing operation cam, the lifting / lowering operation cam lowers the protrusion, and the protrusion supports the chip from above the chip conveyed by the first transfer device. The chip transfer device according to claim 1.
The chip transfer device according to any one of claims 1 to 5, wherein a downstream portion of the first parallel running section in the transport path of the first transport machine is inclined downward toward the downstream side.
A pick-up machine that moves along a closed path and picks up a chip,
A moving body that moves along the closed path;
And a clamp mechanism that is provided on the moving body, is provided so as to be openable and closable in a lateral direction, and clamps the chip by being closed.
The pick-up machine according to claim 7, further comprising a pinching force generation mechanism that is provided in the clamp mechanism and applies a pinching force to the clamp mechanism that sandwiches the chip.
The clamping mechanism is
A fixed base portion fixed to the moving body;
A fixed clamp claw extending from the fixed base portion;
A movable base portion rotatably provided on the fixed base portion;
A movable clamp claw that extends from the movable base portion, contacts and separates from the fixed clamp claw by rotation of the movable base portion, and sandwiches the chip in the fixed clamp claw by approaching the fixed clamp claw. And
The clamping force generating mechanism is
An action lever that is rotatably provided on the movable base portion so as to come into contact with and separate from the end surface of the movable base portion;
The pick-up machine according to claim 8, further comprising: an urging portion that is provided on the action lever and urges the action lever toward the end surface of the movable base portion.
An opening / closing lever provided with an intermediate portion connected to the fixed base portion and rotatable about the intermediate portion;
A pressing portion provided at one end of the opening / closing lever;
A cam follower provided at the other end of the open / close lever and in contact with the cam;
A biasing portion that biases the open / close lever and presses the cam follower against the cam; and
The clamp mechanism further includes an arm portion provided on the movable base portion at a position away from the action lever toward the fixed base portion;
The pressing portion is inserted between the arm portion and the action lever;
The pick-up machine according to claim 9, wherein the pressing portion is urged toward the arm portion side from the action lever side by the closing urging portion.
The pick-up machine according to claim 10, wherein a distance between the action lever and the arm part when the action lever is in contact with the end face of the movable base part is larger than a diameter of the pressing part.
The butt,
A guide mechanism that is provided on the movable body and guides the protrusion up and down so that the protrusion passes through the position of the tip held by the clamp mechanism;
A lower urging portion that is provided in the guide mechanism and urges the protrusion downward.
A lifting part guided up and down by the guide mechanism together with the protrusion,
Receiving the elevating part from below, a receiving member provided to be movable up and down;
An elevating lever provided to be movable up and down together with the receiving member;
A second cam follower provided on the elevating lever and contacting the second cam;
A second urging portion that presses the second cam follower against the second cam by urging the elevating lever and urges the receiving member against the elevating portion by urging the receiving member. The pick-up machine as described in any one of Claims 7-11.