JP3467552B2 - Positioning device for 4-sided flat work - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device for positioning a four-sided flat type work.

[0002]

2. Description of the Related Art Conventionally, when a cap is to be seam-bonded to a package in which a mounted substrate is housed, the cap is picked up and placed on the upper surface of the package positioned at the welding position. The cap must be positioned in micron units after it has been placed by the probe.

Further, in order to mount a four-direction flat package type IC (hereinafter, simply referred to as IC) on a mounting board, a positioning is provided separately from the mounting position, as in the case of the seam bonding. The IC is placed and positioned at a position, and thereafter, the IC is held by suction means or the like to be conveyed and placed at the mounting position.

As described above, as a positioning device for positioning a work such as a cap or an IC, each corner portion is pressed by the pressing claws for positioning in the diagonal direction of the work. The first positioning device adopting the method and the second method adopting the method of pressing the corner portion of the work with the positioning claws and simultaneously pressing the four sides of the work with the pressing claws
7 or 12, the first positioning means 55 presses each side of the work 54 with the pressing claws 68 to perform rough positioning, and then the second positioning means 56.
Then, there is a third positioning device (see Japanese Patent Publication No. 2-58800) 50 which adopts a method of pressing the corner portion of the work 54 from the diagonal direction for precise positioning.

The third positioning device 50 will be described below. As shown in FIGS. 7 to 12, the lever mounting plate 51 is provided at the middle of the four columns (not shown) standing on the base (not shown), and at the upper end. The upper plates 53 each having the IC mounting table 52 are horizontally arranged. IC
The mounting table 52 is screwed and fixed to the center of the upper surface of the upper plate 53,
An IC (to be referred to as a work hereinafter) 54 to be positioned is mounted on the upper surface of the IC mounting table 52.

Below the center of the upper plate 53, first and second positioning means 55 and 56 for positioning the work 54 are provided.
A rod 57 that can be moved up and down to open and close is provided. This rod 57 is provided with an insertion hole 58 of the lever mounting plate 51.
The upper surface of the free lever 63 of the elevating lever 63 has two cam surfaces 60, 61 at its upper end, which slidably penetrates the bearing 59 provided at It is fixed to. The cam surface 60 has a taper surface that becomes smaller in diameter toward the upper end, and the cam surface 61 is located below the cam surface 60 and is provided to face the small diameter portion 61a and both ends of the small diameter portion 61a. It has taper portions 61b and 61c.

The drive motor 62 integrally has a rack for converting the rotation thereof into a reciprocating vertical movement of the connecting rod 64 and a linear head 65 having a built-in pinion, and a rack is formed at the upper end of the connecting rod 64. The base end of the elevating lever 63 is connected to the lower end by a pin 66. Note that each pressing claw in FIG. 7 is shown in a state of being pulled rearward from the actual state.

The first positioning means 55 has four open / close levers 67 which are arranged substantially vertically on the front, rear, left and right of the rod 57 at equal distances. The open / close levers 67 are
Pressing claws 68 projecting from the upper plate 53 and pressing the respective sides of the work 54 are screwed and fixed at the upper end, and rollers 69 are provided in the middle part corresponding to the cam surfaces 60 of the rods 57. The lower end portion projects downward from the lever mounting plate 51, is pivotally supported by the shaft 71 of the bracket 70, and opens and closes in the direction orthogonal to the up-and-down direction of the rod 57 to move toward and away from the rod 57. Is configured. Low
The ra 69 is pressed against the peripheral surface of the rod 57 from the front, rear, left, and right directions by the spring force of the tension coil spring 72.

The second positioning means 56 has four opening / closing levers 73 which are arranged substantially vertically and equidistantly in the direction of 45 ° about the rod 57. The opening / closing lever 73 can be freely opened / closed in the direction orthogonal to the vertical direction of the rod 57 by the shaft 76 of the bracket 75 provided on the lever mounting plate 51 and in the direction offset by 45 ° from the adjacent opening / closing lever 67. By being pivotally supported, the rod 57
The compression spring 77 imparts a habit of turning in the closing direction.

One end of the compression spring 77 is locked by a spring locking member 78 provided on the lower surface of the upper plate 53, and the other end is housed in a spring housing recess (not shown) provided in the opening / closing lever 73. . The upper end of the opening / closing lever 73 penetrates an insertion hole 79 formed in the upper plate 53, and the lead corner portion (not shown) of the work 54 is pressed diagonally to the projecting end surface thereof. The positioning claw 74 is fixed by screwing.

A pair of right and left triangular projections (not shown) are provided on the tip end surface of the positioning claw 74, and a V-shaped groove 80 having an opening angle of 90 ° is provided between these projections. , The corners of the package of the work 54 enter and press the lead of the lead corner.

A rod 57 is provided at an intermediate portion of the opening / closing lever 73.
A roller 81 is provided corresponding to the cam surface 60 of
The roller 81 is pressed against the peripheral surface of the rod 57 by the spring force of the compression spring 77.

With this structure, first, the positioning device 5 is moved by the pickup arm (not shown).
The work 54 is mounted on the IC mounting table 52 of No. 0. At this time, the work 54 is rotating in the horizontal plane with its center displaced. At this time, as shown in FIGS. 9a and 9b, the roller 6
9 is located just below the taper part 61c of the cam surface 61, and the roller 81 is located just above the taper part 61b. on the other hand,
The pressing claws 68 face the respective sides of the work 54 with a substantially constant distance therebetween, and the positioning claw 74 also faces the corner portion of the work 54 with a distance.

In this state, when the drive motor 62 is driven in the forward direction to lower the connecting rod 64, the rod 57 also lowers together with the elevating lever 63, so that the roller 69
As shown in FIG. 10b, the cam surface 61 falls and is pressed against the small diameter portion 61a. Therefore, each open / close lever 67 is rotated in the closing direction by the force of the tension coil spring 72 to press the pressing claw 68 against each side of the work 54, whereby the center of the work 54 is displaced and rotated. Is corrected and coarse positioning is performed.

At this time, since the roller 81 is pressed against the two cam surfaces 61 of the rod 57, the second positioning means 56 does not operate and is in the standby state. The rod 57 is further lowered and the roller 69 is moved as shown in FIG. 11b.
When it moves above the taper portion 61b, the opening / closing lever 67
Is opened, the pressing by the pressing claw 68 is released, and the rough positioning operation is completed.

On the other hand, when the rod 57 descends, the cam surface 6
Since 0 corresponds to the roller 81, the opening / closing lever
73 starts to rotate in the closing direction due to the force of the compression spring 77, and the positioning claw 74 moves as shown in FIG.
Positioning is performed by pressing from the diagonal direction of the claw 54. At this time, since each side of the work 54 is opened from the pressing claw 68, the positioning claw 74 can freely move and rotate the work 54 by pressing.

In this way, the work 54 serves as the IC mounting table 5.
When the precision positioning is performed at 2, the lower limit sensor 82 detects this and stops the drive motor 62, and the pickup arm sucks and holds the work 54 and conveys it to the next mounting position. Thereafter, as shown in FIG. 12b, the rod 57 is raised by the reverse rotation of the drive motor 62, the taper portion 61b is immediately below the roller 69, and the cam surface 60 is the roller 8.
If you press 1 and position it just above it, the intermediate sensor 8
3 detects this and stops the drive motor 62. As a result, the opening / closing lever 73 of the second positioning means 56 is opened, and the pickup arm conveys the work 54,
Place on the mounting position on the mounting board.

When the work 54 is conveyed from the IC mounting table 52, the rod 57 rises, and the upper limit sensor 84 detects this and stops the drive motor 62, so that the initial position shown in FIG. Return to.

[0019]

In each of such positioning devices, if the work on the mounting table is rotated at a small angle, for example, in the horizontal plane, the pressing force for positioning will be exerted. When the pawl hits each corner of the work, the corner may be pressed and held without completely correcting the rotation, which causes a problem that high positioning accuracy cannot be obtained.

Then, there is a second type as a means for solving such a problem, but when the center of the work is deviated or it is rotated by a small angle, the positioning claw and the pressing claw are separated. If the work shape is large even if both are operated simultaneously, the pressing claws quickly abut the four sides of the work and hold the work. Conversely, if the work size is small. In addition, since the positioning claws hit the corners quickly to hold the work, the deviation and rotation of the work center cannot be completely repaired, and the positioning accuracy can be improved. There wasn't.

Further, the third type solves each of the above problems and obtains high positioning accuracy, but the size of the work is not yet sufficient, and the drive motor 62 is used. Since the driven rod 57 is used, there is a problem that the space efficiency in the height direction is poor. Further, although it corresponds to any of the first to third forms, it is necessary to replace the pressing claws according to the size relationship of the work 54. When replacing the pressing claws, four or It is necessary to remove and replace the eight pressing claws one by one, which is time-consuming, time-consuming, and poor in workability.

[0022]

SUMMARY OF THE INVENTION According to the present invention, a mounting table for mounting a work having flat four sides, a mounting table for mounting the mounting table, and a work from the X and Y directions A work table in which reference pins for positioning the pressing claws for pressing each and a fixing pin provided to face each side of the work are erected on the upper surface, and a drive device arranged below the center of the work table. The four sides of the work are fixed to the upper end of the guide that moves forward and backward in the direction orthogonal to the rotation axis by introducing the rotation axis that rotates forward and backward, the cam that is fixed to this rotation axis, and the cam follower of this cam. To the first to fourth pressing claws for respectively pressing the guides, one end is locked to each guide, and the other end is locked to a fixing pin of the work table to work the first to fourth pressing claws. The first to fourth applying pressure force to the A first spring and a second spring which are provided at right angles to each other and which provide a reference spring force as a reference, and a third spring and a second spring which are arranged opposite to the first spring. The spring force of the fourth spring arranged to face the spring is such that (first spring = reference spring force of second spring> spring force of fourth spring> spring force of third spring). By applying, four pressing claws
The pressing force that presses the work is as follows: first pressing claw = second pressing claw> fourth pressing claw> third pressing claw, and the order in which these four pressing claws press the work is
First pressing claw = second pressing claw → third pressing claw → fourth pressing claw in order to press the work, and these four pressing claws release the pressing of the work. , The fourth pressing claw → the third pressing claw → the first and second pressing claws are released in this order.

Further, according to the present invention, a mounting table, a working table on which the mounting table is mounted and having a fixing pin and a reference pin, and first to fourth springs provided on the working table are provided. A positioning unit is constituted by four pressing claws respectively corresponding to these four first to fourth springs, a cam follower and a guide, and the positioning unit is separated from the upper plate by leaving the cam and the rotary shaft. It is detachable.

Further, according to the present invention, a jig main body formed in a shape substantially the same as that of the mounting table and a size which can be inserted into a part of an opening formed in the work table on the back surface of the jig main body. In addition, a positioning unit is provided by a jig having four legs having a length corresponding to the distance from the upper surface of the work table to the upper surface of the cam, and a grip portion formed on the upper surface of the jig body. Is to be removed from the upper plate.

[0025]

The rotation of the cylinder 12 is transmitted to the rotary shaft 19 to rotate the cam 29. Then, as the cam follower 30 moves forward and backward along the guide 31, the pressing claws 24 to 2 connected to the cam followers 30 respectively.
7 repeatedly moves forward and backward by a distance corresponding to the lift amount of the cam 29.

At this time, the lower ends of the X-direction pressing claw 24 and the Y-direction pressing claw 25 come into contact with the reference pins 40 and 41 to stop, and the X-direction and Y-direction pressing claws 2 are then stopped.
4 and 25 are positioned, while the pressing claws 2 are
The pressing claws 26, 27 facing the 4, 25 are free ends. Here, the pressing claws 24, 2 on the reference pin 40, 41 side
The spring forces of the first spring 32 and the second spring 33 that press 5 are equal to each other, and are stronger than the spring forces of the other third and fourth springs 34 and 35. Since the pressing claw 24 and the pressing claw 25 are moved forward and stopped until they come into contact with the reference pins 40 and 41, the pressing claw 26 and the pressing claw 2 are provided.
7 moves forward and stops until it abuts the work 22.

Therefore, the third spring 34 and the fourth spring 35
The spring force of is as follows: (first spring 32 = second spring 33> fourth spring 35>
Since the third spring 34) is provided, when the cam 29 is rotated in the normal direction, the pressing claws 24 to 27 are almost simultaneously moved to the work 22.
The four springs 32, 33 for urging the pressing claws 24, 25 are applied with the strongest spring force at this time, so that the two sides of the work 22 are pressed by the pressing claws 24, 25. Reference positioning is performed by 25.

Here, the other two sides of the work 22 are the pressing claws 2 serving as a reference by the pressing claws 26 and 27 provided with springs 34 and 35 weaker than the pressing claws 24 and 25.
Accurate positioning is performed by being pressed by 4, 25, but the pressing claw 26, to which the weakest spring force is applied by the third spring 34, abuts the work 22 and presses it. Then, the work 22 is temporarily positioned in the direction of the pressing claw 24 and the pressing claw 26, and the work 2 is moved by the fourth pressing claw 27.
2 is pressed for accurate positioning. The work 22 is tentatively positioned by being clamped in this direction by the pressing claw 24 and the pressing claw 26 that face each other, but a fourth spring that applies a pressing force to the fourth pressing claw 27. Since the spring force of 35 is larger than the spring force of the third spring 34 that applies the pressure force to the third pressing claw 26, it is pressed by this spring force of the fourth pressing claw 27 to generate the second pressure. The pressing claw 25 and the fourth pressing claw 27 are positioned.

In this way, after the positioning in the four directions is completed, the work (cap) 22 is suction-fixed by the transport suction nozzle. When the cam 29 is rotated in the reverse direction after the suction and fixation is completed, the work pressure is reduced by the work 2 from the pressing force of the pressing claws 24 to 27.
2 is released, but first, the fourth pressing claw 27 is released. At this time, the work 22 is held in three directions by the pressing claws 24, 25, 26 via the strongest first spring 32 and second spring 33, which are reference springs, and the weak third spring 34. Since it is there, it does not move.

Next, when the third pressing claw 26 is released,
Since the work 22 is held by the strong first and second springs 32 and 33, it does not move in the same manner. Finally, the pressing claw 24 and the pressing claw 25, which are the reference, are released at the same time. At this time, the pressing claw 26 and the pressing claw 27
Since the pressing force by and is zero, the work 22 is not pressed in the reference direction.

[0031]

Embodiments of the present invention will be described in detail with reference to FIGS. 1 shows an embodiment of the present invention, a side view of a main part of a positioning device, FIG. 2 is a top view of FIG. 1, FIG. 3 is an explanatory view showing a cam 29 portion, and FIG. FIG. 5 is a rear view of a main part, FIG. 5 is a top view of FIG. 4, and FIG. 6 is an explanatory view showing a state in which the positioning unit 9 is removed.

The present invention can be applied to any one of the first to third types of positioning devices described in the above-mentioned conventional example, and the third type has a drive motor 62, The rod 57 is moved up and down by the elevating lever 63, the connecting rod 64, and the linear head 65 to open and close the pressing claw 68 fixed to the upper end of the opening and closing lever 67 to press and position each side of the work 54. Although it is a mechanism, in this embodiment, the cylinder 1 having the cam 29 fixed thereto is used.
2 is rotated and the work 22 is pressed from four directions via the cam follower 30 to be positioned.

1 to 4, in a positioning device 1 according to the present invention, four columns 3 are vertically fixed to a base 2 by screws 4, and an upper plate 5 is attached to the top of the columns 3. Are arranged horizontally with the base 2 and fixed by screws 6. A bracket 7 is screwed and fixed to an opening formed in the center of the upper plate 5 with a screw 8, and a positioning unit 9 is supported from each corner of the upper surface of the upper plate 5. The support column 10 is vertically fixed by a screw 11.

Reference numeral 12 denotes a cylinder, which is fixed to the lower portion of the upper plate 5 by screws 14 via a support column 13.
The cylinder shaft 15 of the cylinder 12 is connected to a rotating shaft 19 which is rotatably supported by the bracket 7 via a gear mechanism 16 and a bearing 18.

Reference numeral 20 is a workbench of the positioning unit 9,
It is screwed and fixed to a column 10 standing on the upper plate 5 with a screw 21. A mounting table 23 on which the work 22 is mounted is screwed and fixed to the upper surface of the center of the work table 20, and the periphery of the mounting table 23 is slightly separated from each side in four directions. Openings 28 are opened at equal distances in the front-rear and left-right directions. This opening 28 is used for the work 22.
First to fourth pressing claws 24, 2 for pressing the
The size is set to correspond to the movable range of 5, 26, 27. Further, below the center of the work table 20, the upper plate 5
A cam 29 and a cam follower 30 fixed to the rotary shaft 19 projecting from the central portion of the are provided.

The cam 29 is a disk-shaped cam, and as shown in FIG. 3, the loci of contact points with the four cam followers 30 in four directions of 90 ° from the center are reciprocated by the lift amount in the radial direction. It has a displacement curve that moves. Four
Each of the cam followers 30 is introduced into a guide 31, and at the upper end of the guide 31, the first to third
The fourth pressing claws 24-27 are fixed, and the pressing claws 24-27 project from the opening 28 of the work table 20 in the upper surface direction and face each side of the work 22 in the front-rear, left-right directions. ing.

Numerals 32 to 35 are first to fourth springs corresponding to the first to fourth pressing claws 24 to 27, respectively, and in the case of this embodiment, tension coil springs are used. One end is attached to the back surface of the work table 20 and the mounting table 23 is provided.
Is fixed to the first to fourth fixing pins 36 to 39, which are arranged to face each other at equal distances in the four front-rear and left-right directions from the center point, and the other end is fixed to the first to fourth pressing claws. 24-2
7 is fixed to each of the fixed guides 31.

A reference spring force serving as a reference is applied to the first spring 32 and the second spring 33 arranged in the XY directions which are orthogonal to each other. On the other hand, the spring force between the third spring 34 arranged corresponding to the first spring 32 and the fourth spring 35 arranged opposite to the second spring 33 is
With respect to the reference spring force applied to the first and second springs 32 and 33, (first spring 32 = second spring 33> fourth spring 35>
The spring force is set to change in the order of the third spring 34). In addition,
The stronger the spring force, the better the positioning accuracy. Therefore, the reference spring force applied to the first and second springs 32 and 33 is as strong as possible without damaging the work 22. Is given.

Therefore, the pressing claws 24 to 27 corresponding to the springs 32 to 35 respectively have the first to fourth positions.
Due to the spring force of the springs 32 to 35, each side of the work 22 is always urged in the direction of pressing by the pressing force corresponding to the spring force. Therefore, the pressing force of each pressing claw 24-27 is changed in the order of (first pressing claw 24 = second pressing claw 25> fourth pressing claw 27> third pressing claw 26). Is set to.

Reference numerals 40 and 41 are reference pins for positioning, which are provided for positioning the pressing claws 24 in the X direction and the pressing claws 25 in the Y direction, which serve as references, respectively. Therefore, the first pressing claw 24 contacts the reference pin 40 and the second pressing claw 25 contacts the reference pin 41, respectively, and stops. On the other hand, the pressing claw 2 facing the pressing claw 24 and the pressing claw 25, respectively.
6,27 are free ends.

Therefore, the pressing claw 2 on the reference pin 40, 41 side
Since the pins 4 and 25 move forward until they come into contact with the reference pins 40 and 41 and then stop, the pressing claws 26 and 27 that are free ends.
Is the follower side. Therefore, since the spring force of the pressing claws 26, 27, that is, the pressing force, is weaker than the reference spring force, the work 22 spreads or narrows corresponding to the size of the work 22 to move in the front-rear, left-right direction, and to a certain degree. The shape of the work 22 can be accommodated within an allowable range.

Further, the positioning unit 9 is shown in FIGS.
As shown in FIG.
0, that is, the workbench 20, the cam follower 30, the guide 31, the first to fourth springs 32 to 3
5, the first to fourth pressing claws 24 to 27, the mounting table 23, and the reference pins 40 and 41.

The positioning unit 9 can be integrally removed from the upper plate 5 by releasing the screw 11, as shown in FIG. Therefore, the work
When the shape of the hook 22 exceeds the allowable range that can be pressed by the pressing claws 24 to 27, the entire positioning unit 9 is integrally replaced.

Reference numeral 42 is a jig used when replacing the positioning unit 9, which is used to remove the positioning unit 9 from the upper plate 5. As shown in FIG.
Jig body 42a having the same shape as that of No. 3
And four leg portions 42b formed on the back surface of the jig body 42a, and a grip portion 42c formed on the upper surface.

The leg portion 42b has such a shape and size that it can be inserted into a part of the opening 28 of the workbench 20, and has a length corresponding to the distance from the upper surface of the workbench 20 to the upper surface of the cam 29. Is formed in. Therefore, this jig 4
2 has its legs 42b inserted from the openings 28 of the work table 20 provided at four locations along the circumference of the mounting table 23, and the cam 29 is pressed at the end of the legs 42b for positioning. It is configured to remove the unit 9.

Next, the work 22 mounted on the mounting table 23
The procedure for positioning will be described. For example, there is a step of mounting the cap on the package in an automatic seam welding process of welding the cap to the package. The case of positioning the cap as a work will be described.

First, the work 22 is suction-held from the tray by the pick-up arm 43, and is mounted on the mounting table 23 by pick-and-place. In this mounted state, the work 22 has an X-axis centered on the mounting table 23 due to variations in dimensions, uncertainty of the position in the tray, or the like.
Direction or Y direction, or it is rotating in the horizontal plane.

At this time, the cam 29, as shown in FIG.
In the front-rear and left-right directions, the lift amounts of the four cam followers 30 are all maximized, and the pressing claws 24 to 27 face each side of the work 22 with a certain distance.

In such a state, when the cylinder 12 is driven and the cylinder shaft 15 rotates, this rotation is transmitted to the rotating shaft 19 via the gear mechanism 16 and the cam 29 rotates. When the cam 29 rotates, it is introduced into the guide 31 and the cam follower 30 moves forward and backward, so that the pressing claws 24 respectively connected to the cam follower 30.
~ The pressing claw 27 repeats forward and backward movement by a distance corresponding to the lift amount of the cam 29.

At this time, the cylinder 12 presses the pressing claws 24 to
If the pressing claw 27 is configured to directly press the work 22, the pressing force is too strong and the work 22 is damaged.
The pressing claws 24 to 27 are configured to press the work 22 by the spring force of the first spring 32 to the fourth spring 35, respectively.

Then, when the cam follower 30 moves forward,
The pressing claws 24 to 27 move forward, but the lower ends of the pressing claw 24 in the X direction and the pressing claw 25 in the Y direction come into contact with the reference pins 40 and 41, respectively, and stop.
Positioning of the pressing claws 24 and 25 in the X direction and the Y direction is performed. On the other hand, the pressing claws 26 and 27 facing the pressing claws 24 and 25 are free ends.

Here, the pressing claw 2 on the reference pin 40, 41 side
First spring 32 and second spring 3 for pressing 4, 25
Since the spring forces of 3 are equal to each other and stronger than the spring forces of the other third and fourth springs 34 and 35, the pressing claw 24 and the pressing claw 25 are provided. Moves forward until it abuts against the reference pins 40 and 41 and stops, while the pressing claws 26 and 27 move forward until they abut the work 22 and stop.

Therefore, the third spring 34 and the fourth spring 35
The spring force of (the first spring 32 = the second spring 33> the fourth spring
Spring 35> third spring 34), so that when the cam 29 rotates forward, the pressing claws 24 to 27 press the four sides of the work 22 in the following order. However, at this time, the springs 32, 3 for urging the pressing claws 24, 25
No. 3 has the strongest spring force, so work 2
The two sides of 2 are standardized by the pressing claws 24 and 25.

Here, the other two sides of the work 22 are the pressing claws 24 serving as a reference by the pressing claws 26 and 27 to which the spring forces of the springs 34 and 35 weaker than those of the pressing claws 24 and 25 are applied. , 25 allows accurate positioning, but the pressing claw 26 to which the weakest spring force is applied by the third spring 34 then abuts the work 22 and By pressing, the work 22 is provisionally positioned in the direction of the pressing claw 24 and the pressing claw 26, and finally the work 22 is pressed by the fourth pressing claw 27 for accurate positioning.

The work 22 is composed of the pressing claws 2 facing each other.
4 and the pressing claw 26 are tentatively positioned by being clamped in this direction, but the spring force of the fourth spring 35 that applies the pressing force to the fourth pressing claw 27 is the same as that of the third pressing claw 26. Since it is larger than the spring force of the third spring 34 that applies a pressing force to the second pressing claw 25, the fourth pressing claw 27 is pressed by the spring force that applies a pressing force to the second pressing claw 25. Positioning in the direction of the fourth pressing claw 27 is performed.

In this way, after the positioning in the four directions is completed, the work (cap) 22 is suction-fixed by the suction nozzle for conveyance. After the fixed suction is completed, the pressing claws 24 to 27 release the work 22. In this case, when the cam 29 is rotated in the reverse direction, first, the fourth pressing claw 2 is released.
7 is released. At this time, the work 22 passes through the first and second springs 32 and 33, which are strong references, through the first and second pressing claws 24 and 25, and the weak third spring 34. Since the third pressing claw 26 holds the three directions, it does not move.

When the third pressing claw 26 is released, the work 22 has the strongest first spring 32 and second spring 33.
Since it is held by and, it does not move in the same way. Finally, the pressing claw 24 and the pressing claw 25, which are the reference, are released at the same time. At this time, the pressing claw 26 and the pressing claw 27
Since the pressing force by and is zero, the work 22 is not pressed in the reference direction.

In this embodiment, by releasing the screw 21, the portion arranged above the cam 29 shown in FIG. 1 serves as the positioning unit 9 as shown in FIGS. It is configured so that it can be detached from the column 10 as a unit. Therefore, if the shape of the work 22 exceeds the permissible range in which positioning can be performed by the pressing claws 24 to 27, the positioning unit 9 as a whole may be removed and replaced.

In order to remove the positioning unit 9 as a whole, the legs 42b of the jig 42 are inserted from the openings 28 of the work table 20 provided at four locations along the circumference of the mounting table 23. , The cam 29 at the lower end of the leg portion 42b
While pressing, the positioning unit 9 is removed.

[0060]

According to the present invention, in order to position a work of a flat type having four sides, a pressing force is applied to each of the first to fourth pressing claws that press the four sides of the work. Each of the first to fourth springs is provided with a reference spring force serving as a reference to the first spring and the second spring arranged at right angles to each other, and the first spring and the second spring arranged to face the first spring are opposed to each other. The spring force of the third spring and the fourth spring arranged to face the second spring is as follows: (first spring = reference spring force of second spring> spring force of fourth spring> third spring Spring force), the first to fourth
The pressing force with which the four pressing claws press the work is as follows: first pressing claw = second pressing claw> fourth pressing claw> third pressing claw. -The order of pressing
First pressing claw = second pressing claw → third pressing claw → fourth pressing claw in order to press the work, and these four pressing claws release the pressing of the work. Since the fourth pressing claw → the third pressing claw → the first and second pressing claws are released in this order, the work is also pressed when the pressing claw is pressed and the work is released. The work can be accurately positioned without the work shifting. In addition, it can cope with the large and small work.

Further, according to the present invention, the mounting table is mounted on the working table having the fixed pin and the reference pin, and the first to fourth springs provided on the working table and the four first springs are provided. ~ Four pressing claws respectively corresponding to the fourth spring,
The cam follower and the guide form a positioning unit, and this positioning unit is removable from the upper plate, leaving the cam and rotation shaft. Therefore, if the positioning unit is replaced according to the size of the work Often, unlike the conventional case, it is not necessary to attach and detach the four pressing claws and the work table using various tools, and the workability is significantly improved.

Further, according to the present invention, the jig main body is formed in a shape substantially the same as the shape of the mounting table, and the jig main body can be inserted into a part of the opening formed in the work table on the back surface of the jig main body. The positioning unit is formed by forming four legs, each having a size corresponding to the distance from the upper surface of the work table to the upper surface of the cam, and forming the grip portion on the upper surface of the jig body. Since the above is removed from the upper plate, the positioning unit can be easily attached and detached by using a jig, so that it is not necessary to use other tools at the site.

[Brief description of drawings]

FIG. 1 is a side view of an essential part showing an embodiment of the present invention.

FIG. 2 shows an embodiment of the present invention and is a top view of FIG.

FIG. 3 is an explanatory view showing a cam 29 portion according to the embodiment of the present invention.

FIG. 4 shows another embodiment of the present invention and is a rear view of the main part of the positioning unit.

5 is a top view of FIG. 4 showing an embodiment of the present invention.

FIG. 6 shows an embodiment of the present invention and is an explanatory view showing a mounting state of the jig 42.

FIG. 7 is a perspective view of a main part showing a conventional example.

FIG. 8 is a cross-sectional view of an essential part showing a conventional example.

FIG. 9 is an explanatory view showing a positioning procedure, showing a conventional example.

FIG. 10 shows a conventional example and is an explanatory view showing a positioning procedure.

FIG. 11 is an explanatory diagram showing a positioning procedure according to a conventional example.

FIG. 12 shows a conventional example and is an explanatory view showing a positioning procedure.

[Explanation of symbols]

1 Positioning device 5 Upper plate 9 Positioning unit 12 cylinders 19 rotation axis 20 workbench 22 work 23 table 24 First pressing claw 25 Second pressing claw 26 Third pressing claw 27 Fourth pressing claw 28 openings 29 cam 30 cam followers 31 Guide 32 first spring 33 Second spring 34 Third Spring 35 Fourth Spring 36 First fixing pin 37 Second fixing pin 38 Third fixing pin 39 Fourth fixing pin 40 First reference pin 41 Second reference pin 42 jig

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Katsumi Yahagi 3-20-1, Nishi-Shimbashi, Minato-ku, Tokyo Within Japan Avionics Co., Ltd. (56) References Japanese Patent Publication 2-58800 (JP, B2) (58) Fields investigated (Int.Cl. ⁷ , DB name) H05K 13/04

Claims (3)

(57) [Claims] 1. A mounting table on which a work having four flat sides is mounted, and a mounting claw for mounting the mounting table and pressing the work respectively from the X direction and the Y direction. And a work table in which fixed pins provided to face each side of the work are erected on the upper surface, and a rotation which is arranged below the center of the work table and rotates in a forward and reverse direction by a driving device. A shaft, a cam fixed to this rotating shaft, and a cam follower of this cam are introduced and fixed to the upper end of a guide that advances and retracts in the direction orthogonal to the rotating shaft, and presses the four sides of the work respectively. One end is locked to each of the first to fourth pressing claws and each of the guides, and the other end is locked to a fixing pin of the work table, respectively, and the work is moved to the first to fourth pressing claws. Applying pressure force to the A first to a fourth spring are provided, and a reference spring force serving as a reference is applied to the first spring and the second spring which are arranged at right angles to each other, and the first spring and the second spring are arranged so as to face each other. The third spring and the second
The spring force of the fourth spring arranged to face the spring is such that (first spring = reference spring force of second spring> spring force of fourth spring> spring force of third spring). By applying the pressure force of the four pressing claws pressing the work, the first pressing claw = the second pressing claw> the fourth pressing claw> the third pressing claw The order in which the individual pressing claws press the work is as follows: the first pressing claw = the second pressing claw → the third pressing claw → the fourth pressing claw. The order in which these four pressing claws release the pressing of the work by pressing is released in the order of the fourth pressing claw → the third pressing claw → the first and second pressing claws. A four-sided flat type work positioning device. 2. The mounting table, the working table on which the mounting table is mounted, the fixing pin and the reference pin, and the first spring to the fourth spring provided on the working table.
Of the spring, four pressing claws respectively corresponding to the four first to fourth springs, the cam follower and the guide constitute a positioning unit, and the positioning unit includes the cam and the cam. The four-sided flat type work positioning device according to claim 1, wherein the rotation plate and the rotary plate are left detachable from the upper plate. 3. A jig main body formed in a shape substantially the same as that of the mounting table, and a size that can be inserted into a part of an opening formed in the work table on the back surface of the jig main body. In addition, a jig having four legs having a length corresponding to the distance from the upper surface of the work table to the upper surface of the cam and a grip portion formed on the upper surface of the jig body is used for the positioning. The four-sided flat work positioning device according to claim 2, wherein the unit is detached from the upper plate.