JP4276239B2 - Pick and place equipment - Google Patents

Description

  The present invention relates to a pick-and-place apparatus, and more particularly to a configuration of a drive system for driving a pick-and-place mechanism.

  Generally, pick and place devices for gripping parts and transferring them to other locations are used in various production lines, but in many cases, in order to operate a gripping part for gripping parts, There is a limit to speeding up the pick-and-place operation because a drive mechanism that moves individually in the vertical direction and the horizontal direction by an air cylinder or the like, or a posture changing mechanism that uses a cam, a link, or the like is used. Therefore, the inventor is first guided by a revolving member that is driven by a reciprocating rotational movement and is slidable in a revolving radial direction, and a guide mechanism that is driven by the revolving member and regulates the posture. Speed can be increased by connecting the arm configured to perform pick-and-place operation and restricting the turning radius so that the trajectory of the turning member is connected to the arcuate part and the linear part A device structure was proposed (see Patent Document 1 below).

  On the other hand, as a drive system for various transfer devices similar to the pick-and-place device described above, a rotary motion of a drive motor or the like is converted into a reciprocating rotational motion using a crank mechanism for a long time. One configured to drive an arm having a link structure is known (for example, see Patent Document 2 below).

In addition, while the lever (arm) is swung left and right by the lever crank mechanism, a slide portion slidably attached to the lever is driven, and a stopper for limiting the swing range of the lever is provided. There is also known a pick-and-place unit whose operation mode is defined by this (for example, refer to Patent Document 3 below).
Japanese Patent No. 3509668 Japanese Examined Patent Publication No. 46-34158 (especially FIGS. 6 and 7) JP 2002-200582 (particularly FIGS. 1 and 2)

  However, the above-described pick-and-place device capable of speeding up needs to reciprocate the revolving member within a predetermined revolving angle range. Therefore, when the revolving member is directly driven by the drive motor, the drive motor is increased at high speed. There is a problem that large vibration and noise are generated due to the large acceleration generated when the drive motor is reversed and the presence of inertia of the drive system, the turning member, and the arm driven by the drive motor because the drive motor must be driven forward and reverse. . In particular, in the above apparatus configuration, the cycle of the pick and place operation can be shortened to about 0.1 seconds. However, since the acceleration during the reversing operation of the drive motor increases as the operation cycle is shortened, vibrations Further, there is a problem that the apparatus becomes larger and complicated because a vibration isolator and a sound insulation cover for reducing such vibration and noise are required.

  On the other hand, when using a drive system using the above-described conventional crank mechanism, the mass of the mechanism part that performs the reciprocating rotational movement of the crank mechanism can be reduced as compared with the case of operating by the reverse drive of the drive motor. It can be said that the configuration is relatively suitable for speeding up the pick-and-place operation. However, in such a device, the mode of the pick-and-place operation is defined in advance by the link mechanism. Since the picking operation and the placing operation are also accelerated at the same time, the gripping state of the component during the picking operation and the placement state of the component during the placing operation become unstable, resulting in an increase in component transfer mistakes. There is a problem.

  Therefore, the present invention solves the above-mentioned problems, and the problem is that it is possible to suppress the generation of vibration and noise associated with the pick-and-place operation, and also due to the operation speed during the pick operation and the place operation. An object of the present invention is to provide a pick-and-place apparatus that can suppress transfer mistakes.

In view of such circumstances, the pick-and-place apparatus of the present invention includes a rotation drive source (101) , a rotation body that rotates around the rotation axis (111x) by the rotation drive source, and one end connected to the rotation body. A link (112) connected to the other end of the link, and a rotating body (113) reciprocatingly rotated within a predetermined rotation angle range (Rθ) corresponding to the rotation of the rotating body. Driven by a drive shaft (116) that reciprocally rotates based on the reciprocating rotation of the moving body, both end portions (θa, θb) of the rotation angle range (Rθ) operate in a manner corresponding to the pick operation and the place operation. pick and a place mechanism (120), comprising the said rotary body (111, 111 ') has a slide member configured to be slidable in the radial direction (111c), the rotary body to said slide member And the link Junction points (111d) is provided, the rotation radius restriction means (117,117 ', 119A, 119B) further comprises regulating the rotation radial position of the slide member in accordance with the rotation angle, the rotation of the connecting point The path (111s) has an arc-shaped portion (111sa) centered on the rotation axis and both ends connected to the arc-shaped portion by rotation of the slide member around the rotation axis and restriction by the rotation radius restriction means. It said at least one end of the rotation angle range (Rθ) (θa, θb) position of the connection point corresponding to (Ps1, Ps2) only contains, than the radius of curvature is the arc-shaped portion (111sa) It has the path | route part (111s1, 111s2, 111s1 ', 111s2') which increased or was comprised linearly , It is characterized by the above-mentioned.

According to this invention, since the rotating body and the link constitute a crank mechanism, the rotational speed of the rotating body is slow at both ends of the rotational angle range and is fast at the central portion of the rotational angle range. Since the number of components of the drive system that performs the rotational movement is reduced and the acceleration at the time of reversing the reciprocating rotational movement is reduced, vibration and noise are reduced, and the operation speed of the pick operation or the place operation can be reduced. Transfer errors can be reduced. In the present invention, the radius of curvature is larger than that of the arcuate portion in a range in which the rotation path of the connection point between the rotating body and the link includes a position corresponding to at least one end of the rotation angle range of the rotating body. was, or by having the configured path portion in a straight line, since the rotational speed is further reduced at both the end portions of the rotation angle range of the rotary body, moving speed of a result during pick operation or place during operation Therefore, even if the pick-and-place operation is speeded up, it is possible to further reduce the occurrence of vibration and noise due to the acceleration at the time of reversing the operation, and to suppress the occurrence of transfer mistakes. Become.

  Note that the above rotating body may be any member as long as it rotates about the rotation axis, and can be constituted by various members such as a rotating plate and a link member, for example. In other words, any structure may be used as long as the crank motion is generated by the rotating body and the link. Such a configuration is effective in reducing the mass of the portion that reciprocally rotates in the drive system as described above, and greatly contributes to simplification of the entire drive system.

In the present invention, in particular , the rotating body includes a slide member configured to be slidable in the rotational radius direction, the connection point is provided on the slide member, and the position of the slide member in the rotational radius direction is set to a rotation angle. that having a rotational radius regulating means for correspondingly restricted. According to this, the rotational path including the path portion of the connection point can be easily set by restricting the position of the slide member in the rotational radius direction by the rotational radius restricting means.

In the present invention, the turning radius restricting means (117) engages with the slide member (111c) and guides along a path corresponding to the rotating path (111s) including the path portions (111s1, 111s2). It is preferable to have a guide structure (117a) . According to this, the rotation path including the path portion in a desired manner can be reliably realized by the engagement guide structure.

In the present invention, the turning radius restricting means (117 ′) includes an urging member (118) for urging the slide member outward or inward in the direction of the turning radius, and the arcuate portion with respect to the slide member. A circumferential guide surface (117a ′) that abuts and restricts movement in the direction of urging by the urging member, and abuts against the slide member at the path portion (111s1 ′, 111s2 ′) ; It is preferable to have a contact member (119A, 119B) that restricts movement of the biasing member in the biasing direction. According to this, the abutting member slides so as to regulate the movement of the biasing member in the biasing direction in the path portion separately from the circumferential guide surface for constituting the arc-shaped portion of the rotation path. By contacting the member, the path portion can be set according to the contact position and shape of the contact member, so that the rotation path can be easily adjusted by the contact member.

In the present invention, the rotation angle range (Rθ) of the rotating body (113) is less than 180 degrees, and the rotation angle range (Rφ of the drive shaft ) is between the rotating body and the pick and place mechanism. ) Is preferably further provided with speed increasing means (114, 115) for increasing the value to over 180 degrees. According to this, since the rotation angle range of the rotating body is less than 180 degrees, the reciprocating rotating motion can be generated by a simple mechanism depending on the relationship between the rotating radius of the rotating body and the rotating radius of the rotating body. In addition, the rotational angle range of the reciprocating rotational movement of the drive shaft that drives the pick and place mechanism by the speed increasing means can be set to a value exceeding 180 degrees. In particular, it is possible to secure a sufficient operation stroke (vertical operation length) for the pick operation and the place operation. Here, the speed increasing means can be constituted by a speed increasing wheel train disposed between the rotating body and the pick and place mechanism.

In the present invention, the pick-and-place mechanism, while reciprocating rotation about a pivot axis (116x) together with the drive shaft, slidably configured pivot member in the turning radius direction (123), said pivot member A turning radius restricting means (129) for restricting the turning radius position of the turning member, and an arm (126) connected to the turning member and performing a pick-and-place operation in accordance with the turning action of the turning member . connection point of the arm (125), said pivot regulations by radial regulating means, the arcuate portion (123Sa), the linear portion (123S1,123s2) and a path extending from both ends of the circular arc portion (123s ) Is preferably reciprocated. According to this, with the arms by pivotal movement of the pivot member can be moved at high speed and smoothly transfer direction, is possible to realize a pick operation and place operation in the linear portion content at both ends of the pivot angle range Therefore, it is possible to increase the speed of the pick and place operation.

In particular, since the linear portions (123s1, 123s2) extend in a tangential direction from both ends of the arc-shaped portion (123sa) , a high-speed and smooth operation is possible. Reduction can be achieved. When operating in this manner, the movement speed of the linear portions at both ends is relatively increased compared to the arc-shaped portion due to the change in the relationship between the angular velocity and the peripheral velocity. Since the angular velocity at the end of the path in the angular range can be greatly reduced, no substantial problem occurs in the pick operation or the place operation.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a longitudinal sectional view showing the overall configuration of the present embodiment from the side, FIG. 2 is a block diagram showing the structure of the drive system of the present embodiment from the rear side, and FIG. 3 is a front view of the pick and place mechanism of the present embodiment. It is a block diagram shown from the side.

  The pick and place apparatus 100 of the present embodiment operates with a drive motor 101 that is a rotational drive source and a rotational driving force of the drive motor 101, and generates a reciprocating rotational motion for realizing a pick and place operation. Drive system 110 and a pick and place mechanism 120 driven by a reciprocating rotational motion formed by the drive system 110. The drive motor 101, the drive system 110, and the pick and place mechanism 120 are all supported and fixed directly or indirectly by the machine base frame 103.

  The drive system 110 includes a rotating body 111 fixed to the output shaft 102 of the driving motor 101, a link 112 having one end side (upper end in the figure) connected to the rotating body 111, and the other end side (lower end in the figure) of the link 112. ) And a rotating body 113 connected via a connecting shaft 113d. Further, it has a drive side gear 114 fixed to the rotating body 113 and a driven side gear 115 meshing with the drive side gear 114, and the driven side gear 115 is an output shaft of the drive system 110. It is fixed to.

  The rotating body 111 is fixed to the output shaft 102 and is driven to rotate about the rotation axis 111x. The rotating member 111a is mounted on the rotating member 111a and realizes a sliding motion in the rotational radius direction. And a slide member 111c configured to be slidable in the rotational radius direction by the slide mechanism 111b. The slide member 111c is connected to the link 112 via a connecting shaft 111d in a manner that allows the slide member 111c to rotate on a plane orthogonal to the rotating shaft 111x. The connecting shaft 111d is rotatably engaged with an engagement guide groove 117a constituting a turning radius restricting means provided on a restricting plate 117 fixed directly or indirectly to the machine base frame 103. Yes.

  With the above configuration, when the drive motor 101 is operated, the rotating body 111 rotates as the output shaft 102 rotates, and the rotational radius position of the slide member of the rotating body 111 is guided along the engagement guide groove 117a. The connecting shaft 111d basically performs a rotational motion substantially along a circle centered on the rotational axis 111x. The link 112 repeatedly moves up and down substantially in the vertical direction according to the rotational movement.

  The rotating body 113 is pivotally supported about a rotation axis 113x, and is connected to the link 112 so as to be rotatable via a connecting shaft 113d. As shown in FIG. 2, the rotating body 113 performs a reciprocating rotation within a predetermined rotation angle range Rθ in accordance with the up and down movement of the link 112. In this case, one end portion (lower end portion in the figure) θa of the rotation angle range Rθ and the bottom dead center of the connecting shaft 111d (the bottom dead center of the crank mechanism when the rotation path of the connecting shaft 111d is assumed to be a circle, hereinafter And the other end portion (upper end portion in the figure) θb of the rotation angle range Rθ and the top dead center of the connecting shaft 111d (the rotation mechanism of the connecting shaft 111d is assumed to be a circle). Corresponds to the top dead center. Here, since the rotation angle range Rθ is less than 180 degrees, the rotation angle range Rθ can be formed by a simple mechanism including the rotating body 111, the link 112, and the rotating body 113. In FIG. 2, the connecting point between the rotating body 111 and the link 112 (the axis of the connecting shaft 111d) is at the bottom dead center, and the connecting point between the link 112 and the rotating body 113 (the axis of the connecting shaft 113d) is the rotation angle range Rθ. The case where it exists in one end part (theta) a of this is shown.

  The rotating body 113 is fixed to the drive side gear 114, and the rotation angle range Rφ of the drive shaft 116 is in a range exceeding 180 degrees by the speed increasing wheel train constituted by the drive side gear 114 and the driven side gear 115. Converted. Here, as shown in FIG. 2, the rotation angle range Rφ of the drive shaft 116 includes one end φa corresponding to one end θa of the rotation angle range Rθ and the other end θb of the rotation angle range Rθ. Is the angle range between the other end portion φb corresponding to. The speed increasing ratio of the speed increasing wheel train is appropriately set so that the rotation angle range Rφ required in the pick and place mechanism 120 can be obtained based on the rotation angle range Rθ.

  The pick and place mechanism 120 includes a turning member 121 fixed to the drive shaft 116, a turning member 123 mounted on the turning member 121 so as to be slidable in the turning radius direction via a slide mechanism 122, and An arm 126 connected to the turning member 123 via a connecting shaft 125 and a guide body 127 that guides the arm 126 so as to be movable in the same posture on a virtual plane parallel to the turning surface of the turning member 123. And a guide rail 128 that guides the guide body 127 in the transfer direction (left-right direction or horizontal direction in the figure), and a regulating plate 129 that regulates the turning radius position of the turning member 123. Here, the guide body 127 and the guide rail 128 constitute the above-mentioned guide means. The guide rail 128 is fixed to the machine base frame 103 and guides the guide body 127 so as to be movable in the horizontal direction.

  The turning member 123 is always urged in the turning radius direction by an urging member (elastic member) 124 such as a coil spring with respect to the turning member 121. In the case of the present embodiment, as shown in FIG. 4, the urging member 124 always urges the turning member 123 in the direction in which the turning radius increases, and the restriction surfaces 129 a, 129 b 1, and 129 b 2 of the restriction plate 129 are the turning members. 123 is configured to be restricted so that the turning radius decreases. However, on the contrary, the urging member 124 is configured to urge the turning member 123 in the direction in which the turning radius decreases, and instead, the restriction plate 129 causes the turning member 123 to increase in the turning radius. You may comprise so that it may regulate.

  As shown in FIG. 2, the turning member 123 performs a reciprocating turning motion in the turning angle range Rφ ranging from the turning angles φa to φb by the drive shaft 116. As shown in FIG. 4, except for both ends of the turning angle range Rφ. In the portion, the position of the turning member 123 in the turning radius direction is restricted by the arcuate portion 129a of the restriction surface provided on the restriction member 129 in a manner of compressing the urging member 124, whereby the connecting shaft 125 turns in an arc shape. To do. That is, the turning path 123s of the connecting shaft 125 includes an arcuate portion 123sa corresponding to the arcuate portion 129a of the restriction surface. In the illustrated example, the arc-shaped portion 123sa is a semicircle.

  On the other hand, at both ends of the turning angle range Rφ, the turning member 123 is turned by the urging force of the urging member 124 along the linear portions 129b1 and 129b2 extending in the tangential direction of the end of the arcuate portion 129a of the restriction surface. Therefore, the connecting shaft 125 also moves linearly along the linear portions 129b1 and 129b2. That is, the turning path 123s includes linear portions 123s1 and 123s2 extending in a tangential direction at both ends of the arc-shaped portion 123sa.

  As described above, the connecting shaft 125 repeats the reciprocating rotation along the turning path 123s including the arc-shaped portion 123sa and the linear portions 123s1 and 123s2 extending tangentially at both ends thereof, whereby the arm 126 is guided to the guide body 127. In addition, the gripping part (suction head, gripping head, etc.) (not shown) attached to the tip of the arm 126 is moved on a virtual plane parallel to the turning surface of the turning member 123 in a state where the posture is maintained by the guide rail 128. ) Repeats the pick operation, transfer operation, and place operation. In the case of the illustrated example, the pick operation and the place operation are operations that move up and down in the vertical direction. Note that an elastic member 126t formed of a coil spring or the like is interposed between the guide body 127 and the upper end mounting portion of the arm 126, and reduces fluctuations in the driving load accompanying the reciprocating turning operation of the connecting shaft 125. In particular, the elastic member 126t suppresses an increase in the driving load when the operation is reversed in the reciprocating turning operation.

  According to the pick-and-place mechanism 120 as described above, the connecting shaft 125 can be smoothly moved in spite of a simple structure, so that the driving weight is reduced and the acceleration applied during the movement is reduced. The pick-and-place operation can be performed at high speed, and it is possible to actually operate with a period of 0.1 seconds.

  In the above embodiment, the rotational motion of the rotating body 111 is converted into the reciprocating rotational motion of the rotating body 113 via the link 112, so that both end portions θa and θb of the rotational angle range Rθ of the rotating body 113 are changed. In the vicinity, the moving speed decreases, and as a result, the moving speed also decreases in the vicinity of both ends φa and φb of the turning angle range Rφ of the connecting shaft 125. Vibration and noise are reduced. However, the pick-and-place mechanism 120 of the present embodiment can speed up the operation to a speed range that cannot be realized by other mechanisms as described above. There may be a problem of vibration and noise during reversal. Therefore, in the present embodiment, in order to further reduce the speed in the vicinity of both ends φa and φb of the turning angle range Rφ, the rotary member 111 is provided with the slide member 111c, and the position of the slide member 111c in the rotational radius direction is set. It is regulated by the engagement guide groove 117a of the regulation plate 117.

  FIG. 5A is an explanatory diagram showing the relationship between the rotation path 111s at the connection point between the rotating body 111 and the link 112 and the rotation path 113s at the connection point between the link 112 and the rotation body 113, and FIG. FIG. 5 is an enlarged explanatory view showing details of a rotation path 111s.

  In the present embodiment, a line 111y (a line slightly inclined with respect to the perpendicular in the illustrated example) connecting the top dead center Ps1 and the bottom dead center Ps2 of the connection point between the rotating body 111 and the link 112, and the link 112. And the point 113s1 indicating the position when the connecting point of the rotating body 113 is at one end θa of the rotation angle range Rθ on the rotation path 113s and the point 113s2 indicating the position when it is at the other end θb. It does not coincide with the line (perpendicular in the example shown) 113y. More specifically, the line 111y is on the side farther from the rotation shaft 113x on the rotation path 113s than the line 113y. Specifically, the line 111y is on the points 113s1 and 113s2 and the rotation path 113s. It is configured to pass between a point 113s3 farthest from the rotation shaft 113x. This reduces the difference between the left and right angles of the link 112 (the connecting rod of the crank mechanism) during operation.

  The rotation path 111s is an arc-shaped portion 111sa having a large number of arc-shaped portions. As shown in FIG. 5B, the rotation path 111s extends from the point P1 including the angular position of the top dead center Ps1 to the point P2. In the angle range, the radius of curvature is smaller than that of the arc-shaped portion 111sa or is configured in a straight line. In the illustrated example, a linear portion 111s1 is formed in the angle range. In addition, the rotation path 111s has a smaller radius of curvature than the arc-shaped portion 111sa or has a linear shape even in an angle range from the points P3 to P4 including the angular position of the bottom dead center Ps2. In the illustrated example, a linear portion 111s2 is formed in the angle range. In addition, the perpendicular 111z shown in FIG.5 (b) is a perpendicular which passes the rotating shaft 111x.

  When configured as described above, in the rotation path 111s, the linear portion 111s1 provided in the angular range including the angular position of the top dead center Ps1 and the 111s2 provided in the angular range including the angular position of the bottom dead center Ps2, Since the ascending / descending speed of the connection point between the rotating body 111 and the link 112 becomes 0, and the ascending / descending speed of the connection point between the link 112 and the rotating body 113 becomes almost 0, respectively, The rotational speed at both ends θa and θb of the dynamic angle range Rθ can be reduced.

  Since the link 112 has a predetermined length, even if the linear portions 111s1 and 111s2 are provided in the rotation path 111s, the rotational speed of the rotating body 113 is strictly in the period corresponding to these linear portions. Will not be 0. In order to make this rotational speed completely zero, it is necessary to form an arc-shaped portion having the length of the link 112 as the radius of curvature instead of the straight portions 111s1 and 111s2 and having the points 113s1 and 111s2 as the centers of curvature. .

  According to the present embodiment, since the rotation of the rotating body 111 is converted into the reciprocating rotating motion of the rotating body 113 via the link 112 as described above, the driving mode for the pick and place mechanism 120 is changed to the pick of the arm 126. The rotation speed decreases in the vicinity of both ends φa and φb of the turning angle range Rφ corresponding to the operation and the place operation, but the rotation path 111s at the connection point between the rotating body 111 and the link 112 is within the rotation angle range Rθ. By constituting the linear portions 111s1 and 111s2 in an angular range including the angular positions of the top dead center Ps1 and the bottom dead center Ps2 corresponding to the both ends θa and θb, both ends φa of the turning angle range Rφ are configured. , Φb in the vicinity of φb can be further reduced. Therefore, even if the pick-and-place operation is speeded up, it is possible to suppress the occurrence of vibration and noise during the reversal of the operation, and to suppress the occurrence of transfer defects due to the speeding up of the pick operation and the place operation.

  FIG. 6A is a schematic partial longitudinal sectional view showing a modified example provided with a turning radius regulating means different from the above embodiment and a schematic explanatory view showing a rotation path, and FIG. 6B is an enlarged schematic explanatory view. FIG. This modification differs from the above embodiment in that a biasing member 118 such as a coil spring that biases the slide member 111c outward in the rotational radius direction is provided on the rotating body 111 ′. In addition, an arcuate recess 117a ′ provided in the restricting plate 117 ′ as a turning radius restricting means for restricting the connecting shaft 111d, and an abutting member configured to protrude inward in the rotational radius from the inner surface of the recess 117a ′ 119A and 119B are also different in that they are provided near the top dead center and the bottom dead center.

  In this example, as shown in FIG. 6A, the slide member 111c is always urged outward in the rotational radial direction by the urging member 118, whereby the connecting shaft 111d is recessed 117a 'of the restricting plate 117'. The connecting shaft 111d is guided along the contact surface shape of the contact members 119A and 119B in the vicinity of the top dead center and the bottom dead center. Therefore, as shown in FIG. 6B, the rotation path 111s ′ at the connection point between the rotating body 111 and the link 112 is along the contact surfaces of the contact members 119A and 119B in addition to the arc-shaped portion 111sa ′. The straight portions 111s1 'and 111s2' are provided. In this case, these linear portions 111s1 'and 111s2' are formed between the points P1 'and P2' and between the points P3 'and P4'. The range of these linear portions 111s1 'and 111s2' Can be changed by moving the contact members 119A and 119B in the radial direction of rotation.

  In this example as well, the contact surfaces of the contact members 119A and 119B are made flat and linear portions 111s1 'and 111s2' are formed, but the contact surface shape has a radius of curvature more than that of the arc-shaped portion 111sa '. It is also possible to form a curved surface along a small curved line, and to provide a path portion corresponding to the curved surface instead of the linear portions 111s1 ′ and 111s2 ′. Even in this case, instead of the straight portions 111s1 ′ and 111s2 ′, it is possible to form arc-shaped portions having the length of the link 112 as the radius of curvature and the points 113s1 and 111s2 as the centers of curvature.

  With this configuration, the range of the path portion near the top dead center and the bottom dead center of the moving path 111s ′ can be changed by adjusting the positions of the contact members 119A and 119B. It is possible to appropriately adjust the operation mode during picking and placing. In this example, the slide member 111c is urged outward in the rotational radial direction by the urging member 118 and is regulated inward in the rotational radial direction by the regulating plate 117 ', the contact members 119A, 119B, etc. On the contrary, the slide member may be urged inward in the rotational radial direction by the urging member and restricted outward in the rotational radial direction.

  The pick-and-place apparatus of the present invention is not limited to the above-described illustrated examples, and it goes without saying that various changes can be made without departing from the scope of the present invention. For example, in the above embodiment, the position of the slide member 111c in the rotational radius direction is restricted over the entire rotation paths 111s and 111s 'by the restriction plates 117 and 117', but the slide range of the slide member 111c itself is limited. (That is, a part of the turning radius restricting means is constituted by the slide structure of the slide member 111c), the arc-shaped portion of the rotating path is not (or is) restricted by the restricting plates 117 and 117 '. (It is not necessary).

Side surface sectional drawing which shows the whole structure of embodiment which concerns on this invention. The back side internal structure figure which shows the structure of the drive system of the embodiment. The front side internal structure figure which abbreviate | omits and shows a part of structure of the pick and place mechanism of the embodiment. The front side internal block diagram which shows the structure of the pick-and-place mechanism of the same embodiment by a different omission aspect from FIG. Explanatory drawing (a) explaining operation | movement of the rotary body of the same embodiment, a link, and a rotation body, and explanatory drawing (b) which expands and shows the rotation path | route of the connection point of a rotary body and a link. Explanatory drawing (a) which shows the other structure of the drive system of the embodiment with the rotation path of the connection point of a rotary body and a link, and explanatory drawing (b) which expands and shows the rotation path of the connection point.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Pick and place apparatus, 101 ... Drive motor, 102 ... Output shaft, 103 ... Machine stand frame, 110 ... Drive system, 111 ... Rotating body, 111c ... Slide member, 111d ... Connecting shaft, 112 ... Link, 113 ... Time Moving body, 113d ... connecting shaft, 114 ... driving side gear, 115 ... driven side gear, 116 ... driving shaft, 117 ... regulating plate, 117a ... engagement guide groove, 118 ... biasing member, 119A, 119B ... contact member, DESCRIPTION OF SYMBOLS 120 ... Pick and place mechanism, 121 ... Fixed member, 122 ... Slide mechanism, 123 ... Turning member, 124 ... Energizing member, 125 ... Connecting shaft, 126 ... Arm, 127 ... Guide body, 128 ... Guide rail, 111s ... Rotation Path, 111sa ... arc-shaped part, 111s1, 111s2 ... linear part, 113s ... turning path, 123s ... turning path, 123sa Arcuate portion, 123s1,123s2 ... straight portion, R.theta ... turning angle range, θa, θb ... end, R [phi] ... turning angle range, φa, φb ... end

Claims (5)

A rotational drive source (101) ;
A rotating body (111, 111 ') that rotates around a rotation axis (111x) by the rotation drive source;
A link (112) having one end connected to the rotating body;
A rotating body (113) connected to the other end of the link and reciprocally rotating in a predetermined rotation angle range (Rθ) corresponding to the rotation of the rotating body;
A mode in which both ends (θa, θb) of the rotation angle range (Rθ) are driven by the drive shaft (116) reciprocatingly rotated based on the reciprocating rotation of the rotating body, corresponding to the pick operation and the place operation. A pick and place mechanism (120) operating in
Comprising
The rotating body (111, 111 ′) includes a slide member (111c) configured to be slidable in the rotational radius direction, and the slide member is provided with a connection point (111d) between the rotating body and the link .
A rotation radius regulating means (117, 117 ', 119A, 119B) for regulating the position of the slide member in the rotation radius direction according to the rotation angle;
The rotation path (111s) of the connection point includes an arcuate portion (111sa) centered on the rotation axis and the arcuate portion by rotation of the slide member around the rotation axis and restriction by the turning radius restriction means. at both ends are connected, said end portion of the rotation angle range (Rθ) (θa, θb) position of the connection point corresponding to (Ps1, Ps2) only contains, than the radius of curvature is the arc-shaped portion (111sa) A pick-and-place apparatus having an increased or linear path portion (111s1, 111s2, 111s1 ', 111s2') . The turning radius restricting means (117) has an engagement guide structure (117a) that engages with the slide member and guides along a path corresponding to the rotating path (111s) including the path portions (111s1, 111s2). The pick-and-place apparatus according to claim 1. The turning radius restricting means (117 ′) abuts against the sliding member at the arcuate portion with an urging member (118) for urging the sliding member outward or inward in the turning radius direction , A circumferential guide surface (117a ') for restricting movement in the direction of urging by the urging member and abutting against the slide member at the path portion (111s1', 111s2 ') , the urging member pick and place device according to claim 1, characterized in that it comprises a contact member (119A, 119B) for restricting the movement of the urging direction by. The rotation angle range (Rθ) of the rotating body is less than 180 degrees, and the rotation angle range (Rφ) of the drive shaft exceeds 180 degrees between the rotating body and the pick and place mechanism. The pick-and-place apparatus according to any one of claims 1 to 3 , further comprising speed increasing means (114, 115) for increasing the speed. The pick-and-place mechanism reciprocally with pivots slidably configured pivot member in the turning radius direction (123), the turning radius position of said pivot member about a pivot axis (116x) together with the drive shaft a turning radius regulating means for regulating the (129), coupled to said pivot member has an, an a over arm (126) for performing pick and place operation in accordance with the turning operation of the turning member,
The connection point (125) between the turning member and the arm includes an arcuate part (123sa) and a linear part (123s1, 123s2) extending tangentially from both ends of the arcuate part by the restriction by the turning radius restricting means. DOO pick and place device according to any one of claims 1 to 4, characterized in that reciprocates path (123s) having a.

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