JP3018461B2 - Automatic assembly equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic assembling apparatus, and more particularly to an automatic assembling apparatus including a pivotable pick and place mechanism.

[Summary of the Invention]

In a swivel-type pick and place mechanism, a driving force of a chuck for gripping a part, a flange sleeve that moves up and down on a center shaft of the pick and place mechanism, and a chuck opening / closing lever rotatably mounted on the center shaft. , And the operation of the chuck of the direct hand can be handled by a cam drive linked to turning and vertical movement.

[Conventional technology]

For automatic assembly, a pick and place mechanism is used. The pick-and-place mechanism picks up a part from a predetermined position by a chuck means, and moves the chucked part to a predetermined assembling position, where the part is released from the chuck and inserted or positioned at a predetermined position. It is like that. In the conventional swivel-type pick-and-place mechanism, the swivel and vertical movement are performed by a cam mechanism, and the opening and closing of a chuck for gripping a component is performed using an air cylinder or a solenoid plunger. In addition, in a device using a cam for driving the chuck, there has been proposed a device in which a center shaft of a pick and place mechanism that rotates and moves up and down is hollow, and a shaft for driving the chuck is inserted therein.

[Problems to be solved by the invention]

If the opening and closing of the chuck are performed by using an air cylinder or a solenoid plunger, the control of the driving of the chuck depends on electric means, and there is a problem in following the high-speed operation. It is also a cause of trouble in terms of reliability. On the other hand, in the one in which the chuck is opened and closed by a drive shaft inserted through the center shaft, the configuration of the lower part of the pick and place mechanism becomes complicated, and a hole must be formed in the center shaft. Its diameter increases, which limits its size. Also, there is a problem that it is difficult to apply to a double hand chuck.

The present invention has been made in view of such problems, and has been made to enable high-speed and highly reliable operation by simplifying the entire configuration and mechanically driving the chuck. It is an object of the present invention to provide an automatic assembling apparatus.

[Means for solving the problem]

The present invention provides a swingable holding arm, an elevating drive unit that swings and lifts the holding arm, a chuck provided at each end of the holding arm so as to be openable and closable, and a central portion on the holding arm. The lifting drive unit is mounted so as to be rotatable about a rotation fulcrum at a position above the main shaft, and when rotated to one side, the chuck at one end of the holding arm is opened and the chuck at the other end is closed. A chuck opening / closing lever that opens the chuck at the other end of the holding arm and closes the chuck at one end when rotated to the other side, and rotates the chuck opening / closing lever about the rotation fulcrum on the holding arm. Opening / closing drive means for driving the opening / closing of the chuck; and a first position in a turning direction of the holding arm. When the opening / closing lever is rotated to the other side and the chuck at one end is closed to hold the part to be automatically assembled, the opening / closing lever is moved to the other end at a position 180 ° away from the turning direction of the holding arm. So that the parts are released to assemble them, and then when the holding arm rotates 180 °, the opening / closing lever is turned to one side so that the chucks at both ends of the holding arm perform the opposite operations. The present invention relates to an automatic assembling apparatus characterized by the above.

[Action]

Therefore, one of the chucks attached to one end of the holding arm is closed by the opening / closing lever that rotates to the other side, and the first
While holding the part in the position, rotate the holding arm 180 ° while raising it by the lifting drive unit, then turn the opening / closing lever to one side to open the one chuck, unclamping and inserting the part Alternatively, after the arrangement, the holding arm is lowered while rotating by 180 ° to return to the initial state, thereby performing one cycle of operation. At this time, the operation opposite to the above operation is performed by the other chuck provided at the other end of the holding arm, so that the operation of holding and assembling the component is alternately repeated, thereby automatically assembling the component. Will be done.

〔Example〕

FIG. 4 shows a tape cassette assembling line to which an automatic assembling apparatus according to an embodiment of the present invention is applied. This assembling line is divided along a material conveying path into a dividing unit 11 and a guide roller inserting unit 12. , Shield plate insertion unit 13, leaf spring insertion unit 14, oil / alcohol application unit 15, sheet insertion unit 16,
A shortage inspection unit 17, a defective product discharge unit 18, a path making spool insertion unit 19, a half uniting unit 20, a screw tightening unit 21, a completed product inspection unit 22, and a defective product inspection unit 23 are arranged. A pair of halves are supplied from the front of the unit, and the assembling is performed sequentially by each of the units described above, thereby enabling automatic assembly of the tape cassette.

Next, a pick and place mechanism constituting a shield plate insertion unit of this assembly line is shown in FIGS.
This will be described with reference to the drawings. This mechanism includes a center shaft 27. The center shaft 27 is provided on a lifting drive unit 28, and the unit 28 performs vertical movement and rotational movement. The rotation is performed by a cam 29 in the unit 28.
A holding arm 30 made of a chuck base is mounted on the center shaft 27. And holding arm 30
Chuck mechanisms 31 are attached to both sides of the.

The chuck mechanism 31 includes a pair of left and right chuck arms 32, which are urged by a spring 33 in directions approaching each other. The chuck arm 32 has a roller 36 that can be received in a notch 35 provided at the tip of the link 34. The link 34 is rotatably supported by a lift plate 38 by a pin 37. A roller 39 is rotatably mounted on the elevating plate 38. The rollers 39 are pressed by pressing pieces 41 attached to both ends of the chuck opening / closing lever 40. The chuck opening / closing lever 40 is rotatably supported by an intersection pin 42 provided at the upper end of the center shaft 27.

A flange sleeve 44 is slidably mounted on the center shaft 27 via a slide bearing 45.
A groove is formed on the outer peripheral surface of the lower end of the flange sleeve 44.
A groove 46 is formed in which the roller 48 of the chuck drive lever 47 is received. A pin 49 is implanted in the flange at the upper end of the flange sleeve 44. The pin 49 is guided by a guide 50 on the holding arm 30, and is connected to the chuck opening / closing lever 40 via a pin 51. . A work positioning pin 54 is implanted below the holding arm 30. On the other hand, the holding arm
Abnormal insertion detection sensor 55 is mounted on 30.

In the above configuration, the holding arm shown in FIG.
The right chuck mechanism 31 of the pair of left and right chuck mechanisms 31 on the 30 is opened, and the left chuck mechanism 31 is in a closed state. Then, the chuck arm 32 of the opened chuck mechanism 31 on the right side receives the shield plate 60. In this state, the chuck drive lever 47 pushes the flange sleeve 44 upward as shown in FIG. Therefore, a pin 49 attached to the upper end of the flange sleeve 44 pushes up the chuck opening / closing lever 40, and rotates the lever 40 counterclockwise about the fulcrum pin 42 in FIG. Then, the pressing piece 41 of the chuck opening / closing lever 40 is separated from the roller 39 of the right chuck mechanism 31, so that the left chuck arm 32 is closed by the spring 33. Therefore, the shield plate 60 is clamped by the right chuck mechanism 31.

Thereafter, the lifting drive unit 28 raises the center shaft 27. At this time, the center shaft 27 is turned by 180 ° by the cam 29 provided in the drive unit 28. At this time, the relative movement of the flange sleeve 44 with respect to the center shaft 27 does not occur, so that the right chuck mechanism 31 remains closed.

When the holding arm 30 rotates 180 ° together with the center shaft 27 and the left and right chuck mechanisms 31 are exchanged with each other, the entire mechanism is lowered together with the center shaft 27 by the lifting drive shaft 28. At this time, the cam 29 does not act, and only the lowering operation is performed. Thereafter, the chuck drive lever 47 lowers the flange sleeve 44, and rotates the chuck open / close lever 40 clockwise about the fulcrum pin 42. Therefore, the pressing piece 41 provided at the left end of the lever 40 presses the roller 39. As a result, the elevating plate 38 descends, and the pair of chuck arms 32 are opened via the link 34 against the spring 33. Accordingly, the arm 32 of the left chuck mechanism 31 is opened, and the shield plate 60 held by the chuck arm 32 is released. The shield plate 60 is to be inserted onto the cassette half 59 supplied by the half transport rail 58, thereby completing a series of insertion operations.

With such an operation as one cycle, the left and right chuck mechanisms 31 perform operations opposite to each other, and by repeating these operations, an operation of sequentially inserting the shield plate 60 into the cassette half 59 is performed. FIG. 3 shows such an operation in a timing diagram. As shown in this diagram, the operation of the chuck driving lever 47 is synchronized with the operation of moving the insertion unit 13 up and down together with the center shaft, and the original operation for opening and closing the chuck 32 when the holding arm 30 is in the lowered state. Will be performed. In this mechanism, a mechanism for rotating and lifting the chuck 32 is provided in the lifting drive unit 28. Although a mechanism for driving the chuck driving lever 47 is omitted here, it is performed by a cam provided on the lower side.

The feature of such a mechanism is that a pair of chuck mechanisms 31 are provided, and when one of the chuck mechanisms 31 takes in the shield plate 60, the other chuck mechanism 31 inserts the shield plate 60 into the half 59 of the shield plate 60. At the same time. In addition, the turning, lifting and lowering, and chucking operations of the unit 13 are all synchronized by the cam, which enables high-speed assembly. Further, the operation of the pair of chuck mechanisms 31 can be performed by one set of the cam drive mechanism. The fine adjustment of the opening / closing of the chuck arm 32 is performed by a pressing piece 41 provided at the tip of the chuck opening / closing lever 40.
This is made possible by adjusting the mounting of the. When the shield plate 60 is abnormally inserted, the chuck mechanism 32 is opened immediately. Further, since this mechanism employs a method of driving the flange sleeve 44 from the outside using the center shaft 27, the center shaft 27 for turning and elevating the unit 13 also uses a commercially available oscillator handler. be able to. This mechanism can also be used as a single hand chuck using only one chuck mechanism 31.

The advantage of such an automatic assembling apparatus is that the assembling can be performed at a high speed because of the double hand and the driving of the chuck mechanism 31 is driven by the cam, and the assembling operation with high reliability can be performed. Also, when the part 60 is abnormally inserted,
Since the chuck mechanism 31 has a structure that opens immediately, the safety is high. In addition, it is possible to simplify the overall structure and reduce the cost.

〔The invention's effect〕

As described above, the first aspect of the present invention provides a pivotable holding arm, a lifting / lowering drive unit that pivots and raises / lowers the holding arm, chucks provided at both ends of the holding arm to be openable and closable, respectively. At its center and above the main shaft of the lifting drive unit, it is mounted so as to be rotatable about a rotation fulcrum. When rotated to one side, the chuck at one end of the holding arm is opened and the chuck at the other end is opened. Is closed, and when rotated to the other side, the chuck at the other end of the holding arm is opened and the chuck opening and closing lever for closing the chuck at one end is rotated. Opening / closing drive means for driving opening / closing, respectively, wherein the opening / closing lever is turned to the other at the first position in the turning direction of the holding arm. When the chuck at one end is closed and the part to be automatically assembled is held, the opening / closing lever opens the chuck at the other end at a position 180 ° away from the turning direction of the holding arm and releases the part to perform assembly. West,
Thereafter, when the holding arm is turned by 180 °, the opening / closing lever is turned to one side, and the chucks at both ends of the holding arm perform the opposite operations.

Therefore, according to such a configuration, it is possible to automatically perform a high-speed and highly reliable assembling operation. In addition, it is possible to simplify the entire structure, thereby reducing costs.

In particular, it is possible to operate the chucks at both ends of the holding arm such that the chucks at both ends perform operations opposite to each other by a chuck opening / closing lever provided on the holding arm so as to be rotatable about a rotation fulcrum. According to the configuration, one of the chucks at both ends mounted at a position 180 ° different from the rotation direction of the holding arm is closed,
With this chuck, a part can be gripped, and at the same time, the other chuck can be opened, and the operation of releasing the part can be alternately performed by this chuck. Thus, only one drive mechanism is required, the configuration is simple, and high speed is achieved. And highly reliable automatic assembly is achieved.

According to a second aspect of the present invention, there is provided a flange sleeve rotatably and slidably mounted on a main shaft of a lifting drive unit, a chuck driving member for vertically sliding the flange sleeve along the main shaft, and a holding arm. A transmission member mounted so as to be able to move up and down, transmitting the sliding movement of the flange sleeve to the chuck opening / closing lever, and rotating the chuck opening / closing lever about the rotation fulcrum on the holding arm. It is made to be done.

Therefore, when the flange sleeve is vertically slid along the main shaft by the chuck driving member, the sliding motion of the flange sleeve is transmitted to the chuck opening / closing lever via the transmission member, and the chuck opening / closing lever is held on the holding arm. The lever rotates around the pivot point. By such a rotation operation, it is possible to open and close two sets of chucks provided at both ends of the holding arm alternately and in a direction opposite to each other, thereby enabling high-speed operation and reliability. An automated assembly apparatus for holding and releasing high parts is provided.

[Brief description of the drawings]

1 is a front view of a main part of an automatic assembling apparatus according to an embodiment of the present invention, FIG. 2 is a plan view of the main part, FIG. 3 is a timing chart showing an operation of inserting a shield plate, and FIG. FIG. 2 is an external perspective view showing the overall configuration of the tape cassette assembling apparatus. The names of the main parts in the drawings are as follows. 27 Center shaft 28 Elevating drive unit 30 Holding arm (chuck base) 31 Chuck mechanism 39 Roller 40 Chuck open / close lever 44 Flange sleeve 47 Chuck drive lever 49 Pin

Continuation of the front page (56) References JP-A-61-229991 (JP, A) JP-A-63-221700 (JP, A) JP-A-61-142798 (JP, A) JP-A-2-241099 (JP, A) , A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B23P 19/04

Claims (2)

(57) [Claims] A pivotable holding arm; a lifting drive unit for rotating and lifting the holding arm; a chuck provided at each end of the holding arm so as to be openable and closable; and a central portion on the holding arm. It is mounted so as to be rotatable around a pivot point at a position above the main shaft of the lifting drive unit, and when rotated to one side, opens the chuck at one end of the holding arm and opens the chuck at the other end. A chuck opening / closing lever which closes and opens the chuck at the other end of the holding arm when rotated to the other side and closes the chuck at one end; and rotates the chuck opening / closing lever about the rotation fulcrum on the holding arm. Opening / closing drive means for driving the opening / closing of the chuck. When the opening / closing lever is rotated to the other side and the chuck at one end is closed and the part to be automatically assembled is held, the opening / closing lever at the opposite position 180 ° away from the turning direction of the holding arm is moved to the other end. The chuck is opened to release the parts so as to assemble, and thereafter, when the holding arm is turned by 180 °, the opening / closing lever is turned to one side so that the chucks at both ends of the holding arm perform reverse operations. An automatic assembling device, characterized in that: 2. A flange sleeve rotatably and slidably mounted on a main shaft of the lifting drive unit, a chuck driving member for vertically sliding the flange sleeve along the main shaft, and the holding device. A transmission member mounted on the arm so as to be able to move up and down, transmitting the sliding movement of the flange sleeve to the chuck opening / closing lever, and rotating the chuck opening / closing lever about a rotation fulcrum on the holding arm. The automatic assembling apparatus according to claim 1, wherein an opening / closing drive unit is configured.