JP6513045B2 - Turning mechanism and positioning device - Google Patents

Description

  The present invention relates to a pivoting mechanism and a positioning device.

  For example, processing machines, inspection machines and the like are often configured to have a positioning member having various tools, sensors and the like at the end of a robot and position the positioning member relative to a workpiece. In addition, there are many cases where it is necessary to position the positioning member by defining a relative angle around the central axis (so-called θ axis) in the direction directly opposite the workpiece. In this case, generally, at the end of various robots, a pivoting mechanism that holds the positioning member and rotationally positions around the θ axis is disposed.

  As an example, an inspection apparatus for a printed circuit board disclosed in Japanese Patent No. 4338051 includes an electrical inspection head for inspecting the electrical characteristics of the printed circuit board by bringing a contact terminal into contact with an electrode pattern of the printed circuit board. The movable unit which can be driven in the direction is held so as to be movable in the Z-axis direction and to be rotatable around the central axis in the Z-axis direction. That is, the inspection device of the printed circuit board described in the above-mentioned publication is provided with a pivoting mechanism for rotationally positioning the electrical inspection head at the end of the Cartesian coordinate type robot.

  In the printed board inspection apparatus described in the above-mentioned publication, an electric inspection head disposed at the end of the robot comprises a plurality of contact terminals, a plurality of wirings connected to the plurality of contact terminals, and a plurality of wirings. It has a connection switching device that switches connection by selecting an arbitrary wiring from among them, and a connection switching signal receiving device that receives a connection switching signal for controlling the connection switching device.

  That is, the inspection apparatus for a printed circuit board described in the above publication is between an electrical inspection head moved by a robot and a device which is disposed at a stationary part of the inspection apparatus which does not move and which processes electrical signals of the electrical inspection head. In order to reduce wiring, the end of the robot is provided with a connection switching signal receiver electrically connected to the electrical inspection head and moved together with the electrical inspection head.

  Furthermore, an electrical inspection head having a large number of contact terminals at the end of the robot, and electrically connected to the electrical inspection head, process the electrical signal from the electrical inspection head and convert it into a signal that can be transmitted with less wiring An inspection apparatus integrally provided with a signal processing circuit is also used.

  With the recent increase in the density of printed circuit boards, the number of inspection points is further increased, the size of the processing circuit for processing the electrical signal from the electrical inspection head is increased, and the mass of the processing circuit is also increased. Such mass increase causes the positioning accuracy and positioning speed of the positioning mechanism to decrease. In particular, the increase in the mass of the processing circuit increases the vibration at the time of operation of the turning mechanism disposed at the end of the robot and performs rotational positioning about the θ axis, and increases the waiting time until the vibration converges. Reduce the inspection efficiency of

  Therefore, in the positioning device which positions the positioning member (for example, an electric inspection head or the like) by the robot relative to the work (for example, the printed circuit board), the attachment member which is electrically connected to the positioning member and moves together For example, it is required to improve the positioning accuracy of the turning mechanism and shorten the positioning time as the mass of the connection switching signal receiver, the processing circuit, etc. increases.

Patent No. 4338051

  In view of the above situation, it is an object of the present invention to provide a pivoting mechanism and a positioning device having a relatively high positioning accuracy and a relatively short positioning time.

  The invention made to solve the above-mentioned problems is a pivoting mechanism which is disposed at the end of the robot and rotationally positions the positioning member, and the fixing portion fixed to the end of the robot and the rotation at the fixing portion A first mass portion capable of being held and holding the positioning member, a driving portion supported by the fixing portion and rotationally driving the first mass portion, and the fixing portion coaxial with the first mass portion And a second mass portion that is independently held rotatably and holds an attachment member electrically connected to the positioning member, and the circumferential relative movement of the rotation of the first mass portion and the second mass portion And a connecting structure connecting the first mass portion and the second mass portion so as to allow relative movement in the axial direction and the radial direction of rotation.

  The swing mechanism includes a fixed portion fixed to the end of the robot, a first mass portion holding the positioning member, and a drive portion supported by the fixed portion to rotationally drive the first mass portion. The fixing portion includes a second mass portion coaxially and independently rotatably supported with the first mass portion and holding an attachment member electrically connected to the positioning member. For this reason, the pivoting mechanism supports the weight of the second mass portion that holds the mass of the attachment member by the fixing portion, and the first mass portion does not receive the vertical load of the second mass portion. Is less likely to cause vibration in the first mass part. In addition, by supporting the first mass portion and the second mass portion separately, it is difficult for the vibration due to the mass of the second mass portion to be transmitted to the first mass portion and thus to the positioning member by the swing mechanism. Therefore, the convergence of the vibration of the first mass portion and thus the positioning member is relatively fast. Furthermore, the pivoting mechanism regulates the relative movement in the circumferential direction of the rotation of the first mass portion and the second mass portion, and allows the relative movement in the axial direction and the radial direction of the rotation, It has the connection structure which connects between 2nd mass parts. In this manner, the connection structure allows relative displacement due to a slight displacement of the rotation shaft by separately supporting the first mass portion and the second mass portion by allowing relative axial and radial displacement of the rotation. As a result, the first mass portion and the second mass portion can be rotated in synchronization with the positioning member and the attachment member. For this reason, the said turning mechanism is easy to arrange | position the electrical wiring which connects a to-be-positioned member and an attachment member, and it is hard to add mechanical load to an electrical wiring. Further, in the pivoting mechanism, the second mass portion rotates in synchronization with the first mass portion, and the electrical wiring for electrically connecting the first mass portion and the second mass portion is also the first mass portion and the second mass. Rotate in sync with the department. Therefore, the turning mechanism can prevent the electrical wiring from exerting tension on the first mass portion, and thereby can suppress the vibration of the first mass portion and hence the positioning member. From the above reasons, the pivoting mechanism can make the positioning accuracy of the positioning member relatively high, and can make the positioning time relatively short.

  The connection structure is fixed to one of the first mass portion and the second mass portion, and is fixed to the restriction groove extending in the radial direction of rotation, and the other of the first mass portion and the second mass portion. And an engaging member which can be fitted in a pivotable manner. As described above, the connection structure includes the restriction groove and the engagement member, thereby separating the first mass portion and the second mass portion in the axial direction and the radial direction of the rotation shaft. The first mass part and the second mass part can be reliably rotated synchronously.

  The engaging member has a cylindrical surface on the outer periphery, and a main body in which an annular groove is formed over the entire periphery of the cylindrical surface, and the annular groove is fitted and protrudes radially outward from the cylindrical surface It is preferable to have an annular elastic member in contact with the restriction groove. Thus, the engaging member has a cylindrical surface on the outer periphery, and the main body in which the annular groove is formed over the entire periphery of the cylindrical surface, and the annular groove is fitted, and the radial outer side from the cylindrical surface By having an annular elastic member projecting in contact with the regulation groove, it is possible to prevent the occurrence of vibration due to a change in the contact state between the regulation groove and the engagement member.

  The restriction groove or the engagement member may be disposed in a wiring holding member that holds an electric wiring that connects the positioning member and the attachment member. Thus, the mass of the connection structure is relatively increased by arranging the restriction groove or the engagement member in the wiring holding member holding the electric wiring connecting the positioning member and the attachment member. It can be made smaller. For this reason, the vibration resulting from the inertia of the connection structure can be prevented, and the positioning accuracy of the positioning member can be further improved and the positioning time can be further shortened.

  It is good to hold an electric inspection head provided with a plurality of electric contacts as said positioning member. By holding the electrical inspection head provided with a plurality of electrical contacts as the positioning member, the pivoting mechanism rotationally positions the electrical inspection head provided with a relatively large number of electrical contacts in a relatively accurate and short time. be able to.

  Moreover, another invention made in order to solve the said subject is a positioning apparatus provided with an orthogonal coordinate type robot and the said turning mechanism arrange | positioned by the terminal of this robot.

  Since the positioning device includes the pivoting mechanism, the spatial position and rotational position of the positioning member can be positioned with relatively high accuracy in a relatively short time.

  As described above, the pivoting mechanism and the positioning device of the present invention have relatively high positioning accuracy and relatively short positioning time.

It is a typical top view showing composition of one embodiment positioning device of the present invention. It is a schematic diagram sectional drawing which shows the structure of the turning mechanism of FIG. It is a schematic perspective view which shows the structure of the connection structure of the turning mechanism of FIG. It is a schematic cross section which shows another form of the connection structure of FIG. FIG. 7 is a schematic cross-sectional view showing still another form of the connection structure of FIG. 3;

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.

[Positioning device]
A positioning apparatus according to an embodiment of the present invention shown in FIG. 1 is provided at an end of an orthogonal coordinate robot 1 and an end of the orthogonal coordinate robot 1 and is itself a pivot mechanism 2 according to an embodiment of the present invention. And The pivoting mechanism 2 holds the positioning member 3 and the attachment member 4 electrically connected to the positioning member, as shown in FIG. The Cartesian coordinate type robot 1 positions the pivoting mechanism 2 and thus the positioning target member 3 held by the pivoting mechanism 2 in the horizontal X direction, the Y direction, and the vertical Z direction. The turning mechanism 2 holds the positioning member 3 and performs rotational positioning of the positioning member 3 about the θ axis in the Z direction.

  The positioning device has, as an example, a plurality of electrical contacts (probes) 3a disposed in parallel as positioning members, and a printed circuit board is obtained by bringing the probes 3a into contact with the measurement points of the printed circuit board P. The electrical inspection head 3 for inspecting the electrical characteristics of P is held by the pivoting mechanism 2. In this example, the positioning device presses the electrical inspection head against the printed circuit board P by aligning the angle around the θ axis of the positioning member 3 with the printed circuit board P disposed on the table adjacent below. Is used to inspect the electrical characteristics of the printed circuit board P.

[Orthogonal coordinate type robot]
As a specific example of the orthogonal coordinate type robot 1, as shown in the figure, a pair of fixed guides 11 extending in the horizontal X direction, a pair of sliders 12 moving on the pair of constant rails, and one of these A movable guide 13 is stretched between the sliders 12 in the Y direction perpendicular to the X direction, a horizontal moving body 14 moving on the movable guide 13, and Z perpendicular to the horizontal moving body 14 in the X and Y directions A vertically movable body 15 can be provided which can be moved up and down in the direction (vertical direction).

[Pivot mechanism]
The turning mechanism 2 is disposed at the end of the Cartesian coordinate type robot 1 and is used to rotationally position the positioning member 3. As a specific example, when holding the electrical inspection head which inspects the electrical property of a printed circuit board as the to-be-positioned member 3, for example, the said turning mechanism 2 makes the angle of the electrical inspection head 3 in planar view Used to match. Further, the turning mechanism 2 holds not only the positioning member 3 but also an accessory member 4 electrically connected to the positioning member 3, such as a circuit board for processing an electric signal of the electric inspection head.

  As shown in FIG. 2, the turning mechanism 2 is rotatably held around the θ axis by a fixed portion 21 fixed to the vertical moving body 14 at the end of the Cartesian coordinate type robot 1 and the fixed portion 21. The first mass portion 22 holding the positioning member 3 and the drive portion 23 supported by the fixed portion 21 and rotationally driving the first mass portion 22 and the fixed portion 21 coaxially and independently with the first mass portion 22 Of the second mass portion 24 holding the attachment member 4 and the attachment member 4 held by the first mass portion 22 and the attachment member 4 held by the second mass portion 24 And a wiring holding member 25 for holding the wiring W.

  In addition, while the relative movement of the first mass portion 22 and the second mass portion 24 in the circumferential direction is restricted, the swing mechanism 2 allows the relative movement in the axial direction and the radial direction of the rotation. It has the connection structure 26 which connects between the part 22 and the 2nd mass part 24. FIG.

<Fixed part>
The fixing unit 21 includes a base plate 27 fixed in parallel to the θ axis (Z axis) at the end of the robot, and a first support member 28 horizontally provided on one end side of the base plate 27 in the θ axis direction. And a second support member 29 horizontally provided on the other end side of the base plate 27 in the θ axis direction.

  The first support member 28 has a first bearing 30 for rotatably supporting the first mass portion 22. The second support member 29 also has a second bearing 31 for rotatably supporting the second mass portion 24.

  In the fixing portion 21, the first bearing 30 and the second bearing 31 are provided coaxially in design, although strict precision is not required. For this reason, the fixing portion 21 may be formed by connecting the base plate 27, the first support member 28, and the second support member 29, which are separately formed, by a method such as welding or bolting.

<First mass part>
The first mass portion 22 is provided at a first rotation shaft 32 supported by the first bearing 30 of the first support member 28 and at one end side of the first rotation shaft 32, and holds the positioning member 3. And a holding member 33. The configuration of the first holding member 33 is not particularly limited. For example, a chuck that holds the positioning member 3 or a plate that fixes the positioning member 3 with a bolt or the like can be adopted.

<Drive part>
The drive unit 23 is a mechanism that rotationally drives the first rotation shaft 32 of the first mass unit 22. As the drive unit 23, for example, a known servomotor with a reduction gear can be used. The output shaft of the drive unit 23 may be integral with the first rotation shaft 32 of the first mass unit 22.

<Second mass part>
The second mass portion 24 is provided at the other end side of the second rotation shaft 34, one end side of which is supported by the second bearing 31 of the second support member 29 of the fixed portion 21, and the attachment member And a second holding member 35 for holding four. As a structure of this 2nd holding member 35, the box etc. which accommodate the attachment member 4, the rack which can fix the attachment member 4, etc. are employable, for example.

<Wire holding member>
The wiring holding member 25 is attached to the first mass portion 22 or the second mass portion 24. The wiring holding member 25 can be configured, for example, according to a duct, a pipe, a cable rack or the like. When the connection holding member 25 is provided with the connection structure 26, the wiring holding member 25 can transmit the swing driving force generated in the first mass portion 22 to the second mass portion 24 to synchronously rotate the second mass portion 24. As such, it has a rigid construction with sufficient rigidity. By holding the electrical wiring W by the wiring holding member 25, the space occupied by the electrical wiring W connecting the positioning target member 3 and the accessory member 4 can be reduced and damage to the electrical wiring W can be prevented.

<Connection structure>
The connection structure 26 is fixed to one of the first mass portion 22 and the second mass portion 24 and extends in the radial direction of the first rotation shaft 32 and the second rotation shaft 34, and the first mass portion 22. And an engaging member 37 fixed to the other of the second mass portion 24 and inclinably fitted to the restricting groove 36 (the restricting groove 36 and the engaging member 37 are shown in FIG. 3). Show in detail).

  The connection structure 26 includes the restriction groove 36 and the engagement member 37 so that the axial direction of the first rotation shaft 32 and the second rotation shaft 34 can be obtained between the first mass portion 22 and the second mass portion 24. The first mass portion 22 and the second mass portion 24 are synchronously rotated about the first rotation shaft 32 and the second rotation shaft 34 while being separated in the radial direction.

  For this reason, in the pivoting mechanism 2, the first rotation shaft 32 of the first mass portion 22 and the second rotation shaft 34 of the second mass portion 24 are not integrated with each other. Since the relative displacement caused by the rotation of the mass portion 22 and the second mass portion 24 can be absorbed, it is difficult to cause the first mass portion 22 and the second mass portion 24 to vibrate.

  On the other hand, since the connection structure 26 regulates the relative movement of the first rotation shaft 32 and the second rotation shaft 34 between the first mass portion 22 and the second mass portion 24 in the circumferential direction, the connection structure 26 The second mass portion 24 can be synchronously rotated about the first rotation shaft 32 and the second rotation shaft 3.

  When the restriction groove 36 and the engagement member 37 are fitted, the play is as small as possible in the circumferential direction of the first rotation shaft 32 and the second rotation shaft 34, and the first mass portion 22 and the second mass portion 24 are integrated. It is desirable to be rotated. The engagement member 37 is configured to be able to engage with the restriction groove 36 if it is within a certain range in the axial direction of the first rotation shaft 32 and the second rotation shaft 34, that is, in the Z direction It is preferable to have a structure that allows misalignment.

  Specifically, in the connection structure 26, the restriction groove 36 has a constant circumferential width and a sufficient depth (axial thickness), and the tip of the engagement member 37 has a width of the restriction groove 36. Have a maximum diameter substantially the same as the above, and the axial cross section is convex outward, preferably, the tip of the engaging member 37 has a spherical surface having a diameter substantially equal to the width of the restriction groove 36 it can. The engagement member 37 is preferably supported rotatably around an axis parallel to the first rotation shaft 32 and the second rotation shaft 34.

  In the connection structure 26, the contact portion of at least one of the restriction groove 36 and the engagement member 37 with the other, preferably the portion of the engagement member 37 that abuts the restriction groove 36 is formed of a material such as resin which can damp the vibration. It is desirable to be done. On the other hand, the other of the restricting groove 36 and the engaging member 37 is made of a material having a sufficiently high hardness such as an alloy tool steel material specified in JIS-G 4404 (2006), for example, and capable of preventing deformation of the contact surface. Is preferred.

  Also, the connection structure 26 may have a structure in which the first mass portion 22 and the second mass portion 24 can be directly connected, for example, a member having the restriction groove 36 or a structure in which the engagement member 37 is elongated in the θ axis direction. Good. However, as illustrated, when the distance between the first mass portion 22 and the second mass portion 24 is relatively large, the connection structure 26 is disposed on the wiring holding member 25, that is, the wiring holding member 25 is rotated. The pivoting mechanism 2 can be miniaturized by using at least a part of the structure transmitting torque. Further, by disposing the connection structure 26 on the wiring holding member 25, the mass of the connection structure 26 can be reduced, so that the positioning accuracy and positioning speed of the first mass portion 22 and consequently the positioning member 3 by the inertia force of the connection structure 26. The decrease in

<Advantage>
The pivoting mechanism 2 coaxially and independently rotates the first mass portion 22 holding the positioning member 3 and the second mass portion 24 holding the attachment member 4 electrically connected to the positioning member 3. Since the vertical load of the second mass portion 24 is not applied to the first mass portion 22 by being able to be provided, the second mass portion 24 hardly vibrates the first mass portion 22.

  Further, in the turning mechanism 2, the vibration caused by the mass of the second mass portion 24 can be determined by the first mass portion 22 and thus the positioned member by separately supporting the first mass portion 22 and the second mass portion 24. Since it is difficult to be transmitted to the third portion 3, the convergence of the vibration of the first mass portion 22 and hence the positioning member 3 is relatively fast.

  Furthermore, in the turning mechanism 2, the connection structure 26 connects between the first mass portion 22 and the second mass portion 24 so as to allow relative movement in the axial direction and the radial direction of rotation. For this reason, in the turning mechanism 2, the relative rotation caused by a slight misalignment caused by the first rotation shaft 32 of the connection mass 26 and the second rotation shaft 34 of the second mass portion 24 not being integrated. Since the displacement can be absorbed, it is difficult to cause the first mass portion 22 and the second mass portion 24 to vibrate.

  On the other hand, the connection structure 26 regulates the relative movement in the circumferential direction of the rotation of the first mass portion and the second mass portion, so that the first mass portion 22 and the second mass portion 24 are attached together with the positioning member 3 Since the member 4 can be synchronously rotated, the arrangement of the electrical wiring W connecting the positioning member 3 and the accessory member 4 is easy, and it is difficult to apply a mechanical load to the electrical wiring W.

  The pivoting mechanism 2 can position the positioning member 3 in a relatively short time and with high accuracy by obtaining the above-described action.

  Further, in the turning mechanism 2, the second mass unit 24 rotates in synchronization with the first mass unit 22, and the electrical wiring W connecting the first mass unit 22 and the second mass unit 24 also rotates in synchronization. Therefore, the electrical wiring W is prevented from applying tension to the first mass portion 22, and the vibration due to the influence of the electrical wiring W of the first mass portion 22 and thus the positioning member 3 is suppressed.

  Further, since the positioning mechanism includes the pivot mechanism 2 having relatively high positioning accuracy and relatively short positioning time, relatively high accuracy and short time while using the relatively inexpensive Cartesian coordinate type robot 1 The positioning member 3 can be positioned by the

Other Embodiments
The embodiment does not limit the configuration of the present invention. Therefore, the embodiment can omit, substitute, or add the components of each part of the embodiment based on the description of the present specification and common technical knowledge, and all of them can be construed as belonging to the scope of the present invention. It should.

  The pivoting mechanism may be disposed at the end of the articulated robot or at the end of a robot with one degree of freedom (so-called actuator). In addition, the turning mechanism may be disposed at the end of an orthogonal coordinate robot having no freedom in the Z-axis direction or an orthogonal coordinate robot having an additional degree of freedom in addition to the X, Y, and Z directions. . In addition, the turning mechanism may be disposed integrally and irremovably at the end of the robot.

  The swing mechanism may have, for example, an engagement member 37a shown in FIG. 4 or an engagement member 37b shown in FIG. 5 as an alternative of the connection structure for synchronously rotating the first mass portion and the second mass portion. These engaging members 37a and 37b are formed, for example, from O-rings or the like in annular grooves 39a and 39b formed on the outer peripheral surface of a cylindrical main body 38a or 38b having a cylindrical surface on the outer periphery over the entire periphery. The annular elastic members 40a and 40b are engaged with the regulation grooves 36 so as to protrude radially outward from the cylindrical surfaces of the main bodies 38a and 38b and to be in contact with the restriction grooves 36. In this manner, the elastic members 40a and 40b are made to project and contact the control groove 36, thereby making the outer diameters of the cylindrical main bodies 38a and 38b smaller than the width of the control groove 36, and the main bodies 38a and 38b and A gap can be formed between the restricting groove 36 and the engaging members 37a and 37b can be tilted in the gap. The size and the number of the elastic members 40a and 40b are different between the engagement member 37a and the engagement member 37b.

  The pivot mechanism and the positioning device are applicable to various devices that change the rotational position, but can be particularly suitably used for positioning an electrical inspection head for inspecting electrical characteristics of a printed circuit board or the like.

1 Cartesian Coordinate Robot 2 Turning Mechanism 3 Positioning Member (Electrical Inspection Head)
3a electric contact 4 attached member 11 fixed guide 12 slider 13 movable guide 14 horizontal moving body 15 vertical moving body 21 fixed portion 22 first mass portion 23 driving portion 24 second mass portion 25 wiring holding member 26 connection structure 27 base plate 28 1 support member 29 second support member 30 first bearing 31 second bearing 32 first rotary shaft 33 first holding member 34 second rotary shaft 35 second holding member 36 regulating groove 37, 37a, 37b engagement member 38a, 38b Body 39a, 39b Annular groove 40a, 40b Elastic member P Printed circuit board W Electrical wiring

Claims (6)

A pivoting mechanism disposed at the end of the robot for rotationally positioning the positioning member,
A fixing part fixed to the end of the robot;
A first mass portion rotatably held by the fixing portion and holding the positioning member;
A driving unit that is supported by the fixed unit and rotationally drives the first mass unit;
The fixing portion includes a second mass portion coaxially and independently rotatably supported with the first mass portion and holding an attachment member electrically connected to the positioning member,
Between the first mass portion and the second mass portion so as to allow relative movement in the axial direction and radial direction of rotation while restricting relative movement in the circumferential direction of rotation of the first mass portion and the second mass portion A pivoting mechanism characterized by having a connection structure for connecting the two.   The connection structure is fixed to one of the first mass portion and the second mass portion, and is fixed to the restriction groove extending in the radial direction of rotation, and the other of the first mass portion and the second mass portion. The pivoting mechanism according to claim 1, further comprising: an engagement member that is pivotably fitted to the second arm.   The engaging member has a cylindrical surface on the outer periphery, and a main body in which an annular groove is formed over the entire periphery of the cylindrical surface, and the annular groove is fitted and protrudes radially outward from the cylindrical surface The turning mechanism according to claim 2, further comprising: an annular elastic member abutting on the restriction groove.   The turning mechanism according to claim 2 or 3, wherein the restricting groove or the engaging member is provided in a wire holding member for holding an electric wire connecting the positioning member and the attachment member.   The turning mechanism according to any one of claims 1 to 4, wherein an electric inspection head provided with a plurality of electric contacts is held as the positioning member.   A positioning device comprising: a Cartesian coordinate type robot; and the turning mechanism according to any one of claims 1 to 5 disposed at the end of the robot.

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