JP6928303B2 - Parts gripper - Google Patents

Description

The present invention relates to a component gripper that grips and detaches a component by approaching and separating a plurality of claws.

Some component grippers grip and detach the component by approaching and separating a plurality of claws. In such a component gripper, it is desired that the gripping force of the component by the component gripper is high in order to reliably grip the component. On the other hand, when a low-strength component is gripped by the component gripper, it is desired that the gripping force of the component by the component gripper is low in order to prevent damage or deformation of the component. In view of this, the development of a component gripping tool capable of arbitrarily changing the gripping force is underway. Specifically, for example, as described in the following patent document, a component gripping tool that grips / detaches a component by approaching / separating a plurality of claws by the driving force of the electromagnetic motor may be transferred to the electromagnetic motor. By adjusting the applied current of, the gripping force of the component gripper is adjusted.

Japanese Unexamined Patent Publication No. 60-2429220

According to the component gripping tool described in the above patent document, the gripping force can be arbitrarily changed. However, as a component gripper, there is a component gripper that grips / detaches a component by approaching / separating a plurality of claws by using air pressure. Specifically, the component gripper has a piston that moves by supplying / discharging air to the air chamber, and the force in the moving direction of the piston is converted into a force in the direction of approaching / separating a plurality of claws. By doing so, the parts are gripped and detached by a plurality of claws. As described above, in the component gripping tool having a structure in which a plurality of claws are approached / separated by using air pressure, the technique described in the above patent document cannot be used, and the gripping force cannot be arbitrarily changed. .. The present invention has been made in view of such circumstances, and an object of the present invention is to arbitrarily apply a gripping force to a component gripping tool having a structure in which a plurality of claws are approached and separated by using air pressure. To change.

In order to solve the above problems, the component gripping tool according to the present invention is a component gripping tool that grips / detaches a component by approaching / separating a plurality of claws, and the component gripping tool provides air to an air chamber. A piston that moves by supplying and discharging the piston, a conversion mechanism that converts the force in the moving direction of the piston into a force in the direction in which the plurality of claws approach and separate, and an adjustment that adjusts the amount of air leaking from the air chamber. It is characterized by being provided with a device.

In the component gripper according to the present invention, the piston is moved by supplying and discharging air to the air chamber, and the movement of the piston is used to approach and separate a plurality of claws. Then, the amount of air leaking from the air chamber is adjusted by the adjusting device. Therefore, for example, by reducing the amount of air leaking from the air chamber to 0 or less, the moving force of the piston becomes large, and the gripping force by the plurality of claws also becomes large. On the other hand, by increasing the amount of air leaking from the air chamber, the moving force of the piston becomes small, and the gripping force of the plurality of claws also becomes small. As described above, according to the component gripping tool described in the present invention, the gripping force by the plurality of claws can be changed to an arbitrary size by adjusting the amount of air leaking from the air chamber.

It is a perspective view which shows the component mounting machine. It is a perspective view which shows the component mounting apparatus of a component mounting machine. It is sectional drawing which shows the part gripping tool in a state where a pair of claws are separated. It is sectional drawing which shows the part gripping tool in the state which a pair of claws are close to each other. It is an external view which shows the part gripper. The best mode for carrying out the invention

Examples of the present invention will be described in detail with reference to the drawings.

<Configuration of component mounting machine>
FIG. 1 shows a component mounting machine 10. The component mounting machine 10 is a device for executing component mounting work on the circuit base material 12. The component mounting machine 10 includes an apparatus main body 20, a base material transfer holding device 22, a component mounting device 24, imaging devices 26 and 28, a component supply device 30, and a loose component supply device 32. Examples of the circuit board 12 include a circuit board, a base material having a three-dimensional structure, and the like, and examples of the circuit board include a printed wiring board and a printed circuit board.

The apparatus main body 20 is composed of a frame portion 40 and a beam portion 42 mounted on the frame portion 40. The base material transfer holding device 22 is arranged at the center of the frame portion 40 in the front-rear direction, and has a transfer device 50 and a clamp device 52. The transport device 50 is a device that transports the circuit base material 12, and the clamp device 52 is a device that holds the circuit base material 12. As a result, the base material transport / holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit base material 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.

The component mounting device 24 is arranged in the beam unit 42, and has two work heads 60 and 62 and a work head moving device 64. As shown in FIG. 2, a component gripper 66 is detachably provided on the lower end surfaces of the work heads 60 and 62. The component gripper 66 has a pair of claws 67, and by bringing the pair of claws 67 closer to each other, the component is gripped, and by separating the pair of claws 67, the gripped component is released. do. The part gripping tool 66 is used by exchanging with the work head according to the size, type, and the like of the part to be gripped. That is, the work heads 60 and 62 hold the component gripper 66 interchangeably. Further, the work head moving device 64 has an X direction moving device 68, a Y direction moving device 70, and a Z direction moving device 72. Then, the two work heads 60 and 62 are integrally moved to an arbitrary position on the frame portion 40 by the X-direction moving device 68 and the Y-direction moving device 70. Further, the work heads 60 and 62 are detachably attached to the sliders 74 and 76, and the Z-direction moving device 72 individually moves the sliders 74 and 76 in the vertical direction. That is, the work heads 60 and 62 are individually moved in the vertical direction by the Z-direction moving device 72.

The image pickup apparatus 26 is attached to the slider 74 in a state of facing downward, and is moved together with the work head 60 in the X direction, the Y direction, and the Z direction. As a result, the image pickup apparatus 26 images an arbitrary position on the frame portion 40. As shown in FIG. 1, the image pickup apparatus 28 is arranged between the substrate transport holding apparatus 22 on the frame portion 40 and the component supply apparatus 30 in a state of facing upward. As a result, the image pickup apparatus 28 images the parts gripped by the parts grippers 66 of the work heads 60 and 62.

The component supply device 30 is arranged at one end of the frame portion 40 in the front-rear direction. The parts supply device 30 includes a tray-type parts supply device 78 and a feeder-type parts supply device (not shown). The tray-type component supply device 78 is a device that supplies components in a state of being placed on the tray. The feeder type parts supply device is a device that supplies parts by a tape feeder or a stick feeder (not shown).

The loose component supply device 32 is arranged at the other end of the frame portion 40 in the front-rear direction. The loose parts supply device 32 is a device that aligns a plurality of parts that are scattered apart and supplies the parts in the aligned state. That is, it is a device that aligns a plurality of parts in an arbitrary posture in a predetermined posture and supplies the parts in the predetermined posture. Examples of the parts supplied by the parts supply device 30 and the loose parts supply device 32 include electronic circuit parts, solar cell components, power module components, and the like. Further, electronic circuit parts include parts having leads, parts having no leads, and the like.

<Operation of component mounting machine>
In the component mounting machine 10, components are mounted on the circuit substrate 12 held by the substrate transfer holding device 22 according to the above-described configuration. Specifically, the circuit base material 12 is conveyed to a working position, and is fixedly held by the clamp device 52 at that position. Next, the image pickup apparatus 26 moves above the circuit base material 12 and images the circuit base material 12. As a result, information regarding an error in the holding position of the circuit base material 12 can be obtained. Further, the parts supply device 30 or the loose parts supply device 32 supplies parts at a predetermined supply position. Then, one of the work heads 60 and 62 moves above the supply position of the component and holds the component by the component gripper 66. Subsequently, the work heads 60 and 62 holding the parts move above the image pickup device 28, and the image pickup device 28 images the parts held by the part gripping tool 66. This provides information about the error in the holding position of the part. Subsequently, the work heads 60 and 62 holding the parts move above the circuit base material 12, and the parts being held are corrected for an error in the holding position of the circuit base material 12, an error in the holding position of the parts, and the like. do. Then, when the component gripping tool 66 separates the component, the component is mounted on the circuit base material 12.

<Structure of parts gripper>
As described above, in the component mounting machine 10, the component gripping tool 66 grips the component by approaching the pair of claws 67 and separates the component by separating the pair of claws 67 to perform the mounting operation. ing. Therefore, in order to securely grip the component, it is desired that the component gripping tool 66 has a high gripping force of the component. On the other hand, when a low-strength part is gripped by the part gripping tool 66, it is desired that the part gripping force of the part gripping tool 66 is low in order to prevent the part from being damaged or deformed. In view of this, the component mounting machine 10 employs a component gripping tool 66 capable of arbitrarily changing the gripping force. The specific structure of the component gripper 66 will be described below.

As shown in FIG. 3, the component gripper 66 includes an outer housing 100, an attachment 102, an inner housing 104, a piston 106, a link mechanism 108, a pressing member 110, and a pair of claws 67.

The outer housing 100 generally has a covered cylindrical shape, and an air flow pipe 114 extending toward the inside of the outer housing 100 is arranged at the center of the lid portion 112 of the outer housing 100. Inside the air flow pipe 114, a through hole 116 penetrating in the axial direction of the air flow pipe 114 is formed. Further, the attachment 102 generally has a disk shape, and a through hole 118 having the same diameter as the through hole 116 of the air flow pipe 114 is formed in the center of the attachment 102. Then, the attachment 102 is fixed to the lid portion 112 of the outer housing 100 so that the two through holes 116 and 118 communicate with each other. The component gripper 66 is attached to the lower end surfaces of the work heads 60 and 62 in the attachment 102.

The inner housing 104 generally has a covered cylindrical shape, and a convex portion 122 projecting upward is formed in the central portion of the lid portion 120 of the inner housing 104. A through hole 124 penetrating in the vertical direction is formed in the central portion of the convex portion 122, and the diameter of the through hole 124 is slightly larger than the outer diameter of the air flow pipe 114 of the outer housing 100. Further, the outer diameter of the inner housing 104 is slightly smaller than the inner diameter of the outer housing 100. Then, the lid portion 120 of the inner housing 104 is inserted into the outer housing 100 so as to face the lid portion 112 of the outer housing 100. Further, the air flow pipe 114 of the outer housing 100 is inserted into the through hole 124 of the convex portion 122 of the inner housing 104. As a result, the lid 120 of the inner housing 104 moves in the vertical direction inside the outer housing 100.

Further, a coil spring 126 is arranged in a compressed state between the lid portion 112 of the outer housing 100 and the lid portion 120 of the inner housing 104. As a result, the inner housing 104 is urged downward by the elastic force of the coil spring 126. A large diameter portion 128 projecting in the radial direction is formed on the outer peripheral surface of the inner housing 104, and an annular stopper 130 is attached to the lower end surface of the outer housing 100. The inner diameter of the stopper 130 is slightly smaller than the outer diameter of the large diameter portion 128 of the inner housing 104, and the large diameter portion 128 is located above the stopper 130. Therefore, the downward movement of the inner housing 104 urged by the coil spring 126 is restricted by the large diameter portion 128 coming into contact with the stopper 130.

Further, the piston 106 generally has a bottomed cylindrical shape, and a recess 134 is formed in the central portion of the bottom 132 of the piston 106. The outer diameter of the piston 106 is slightly smaller than the inner diameter of the inner housing 104, and the piston 106 is fitted into the inner housing 104 with the bottom 132 facing downward. As a result, the air chamber 135 is partitioned by the piston 106 and the inner housing 104, and the piston 106 moves in the vertical direction inside the inner housing 104. Further, the coil spring 136 is arranged in a compressed state between the convex portion 122 of the inner housing 104 and the concave portion 134 of the piston 106. As a result, the piston 106 is urged downward by the elastic force of the coil spring 136.

The link mechanism 108 also includes a base 138, a pair of sliders 140, a pair of brackets 142, a pair of arms 144, and a stopper 146. The base 138 is generally plate-shaped and is fixed to the lower end of the inner housing 104. A rail 148 is formed on the lower end surface of the base 138 so as to extend in the radial direction of the inner housing 104, and a pair of sliders 140 are slidably fitted to the rail 148. The pair of sliders 140 are symmetrically arranged around the central portion of the rail 148.

Further, the pair of brackets 142 are fixed side by side to the lower end surface of the recess 134 of the piston 106 in a slightly separated state. The direction in which the pair of brackets 142 are lined up coincides with the direction in which the rail 148 extends. One end of the pair of arms 144 is rotatably connected to the pair of brackets 142, and the other end of the pair of arms 144 is rotated in a direction away from each other. A pair of sliders 140 are rotatably connected to the other end of the pair of arms 144. As a result, the piston 106 moves in the vertical direction, so that the pair of arms 144 rotates, and the pair of sliders 140 approach and separate.

Specifically, as shown in FIG. 4, when the piston 106 rises, one end of the pair of arms 144 connected to the pair of brackets 142 also rises. At that time, the other ends of the pair of arms 144 approach each other, and the pair of sliders 140 connected to the other ends of the pair of arms 144 also approach each other. On the other hand, when the piston 106 is lowered, as shown in FIG. 3, one end of the pair of arms 144 connected to the pair of brackets 142 is also lowered. At that time, the other ends of the pair of arms 144 are separated from each other, and the pair of sliders 140 connected to the other ends of the pair of arms 144 are also separated from each other.

Incidentally, as described above, the piston 106 is urged downward by the elastic force of the coil spring 136. Therefore, usually, one end of the pair of arms 144 connected to the pair of brackets 142 is lowered, and the other end is separated, so that the pair of sliders 140 are separated from each other. A stopper 146 is provided between one ends of the pair of arms 144 in the lowered state. Therefore, when one end of the pair of arms 144 is lowered to the closest state, one end of the pair of arms 144 comes into contact with the stopper 146, and the rotation of the arm 144 is restricted. That is, the downward movement of the piston 106 urged by the coil spring 136 is restricted by the contact of one end of the pair of arms 144 with the stopper 146.

Further, the pair of claws 67 are fixed to the lower end surface of the pair of sliders 140 so as to extend downward. Then, the pressing member 110 is fixed to the lower end surface of the base 138 so as to be located between the pair of claws 67.

In the part gripping tool 66 having the above structure, the parts are gripped by the pair of claws 67 by sucking air from the air chamber 135, and the air is supplied to the air chamber 135 to form a pair. The part gripped by the claw 67 is released. Specifically, when air is not supplied to the air chamber 135, the piston 106 moves downward due to the elastic force of the coil spring 136, as shown in FIG. At this time, since the pair of sliders 140 are separated by the movement of the link mechanism 108 described above, the pair of claws 67 are also separated.

Then, the component gripping tool 66 with the pair of claws 67 separated from each other is pressed toward the component to be gripped, so that the pressing member 110 comes into contact with the component to be gripped. When the pressing member 110 comes into contact with the part to be gripped, the inner housing 104 moves inside the outer housing 100 against the elastic force of the coil spring 126, so that the pressing member 110 comes into contact with the part. The impact is mitigated.

When the pressing member 110 comes into contact with the part to be gripped, air is sucked from the air chamber 135. Specifically, a positive / negative pressure supply device (not shown) is connected to the air flow pipe 114 of the outer housing 100 via a through hole 116 of the attachment 102. Then, by supplying negative pressure to the air flow pipe 114 by the positive / negative pressure supply device, air is sucked from the air chamber 135, and the piston 106 moves upward as shown in FIG. At this time, due to the movement of the link mechanism 108 described above, the pair of sliders 140 approach each other, and the pair of claws 67 also approach each other. As a result, the pair of claws 67 grips the part to be gripped.

Then, when the component gripped by the component gripper 66 is mounted on the circuit base material 12, a slight positive pressure is supplied to the air flow pipe 114 by the positive / negative pressure supply device. As a result, air is supplied to the air chamber 135, and the piston 106 moves downward as shown in FIG. At this time, due to the movement of the link mechanism 108 described above, the pair of sliders 140 are separated from each other, and the pair of claws 67 are also separated from each other. As a result, the parts gripped by the pair of claws 67 are separated, and the parts are mounted on the circuit base material 12.

The parts are gripped and detached by the operation of the component gripping tool 66 described above. As shown in FIG. 5, the component gripping tool 66 is provided with the adjusting knob 160, and the adjusting knob 160 is provided by the operator. By adjusting, the gripping force of the pair of claws 67 is adjusted. Specifically, through holes 162 are shown in the side walls of the outer housing 100, the inner housing 104, and the piston 106 so as to overlap each other (in FIG. 5, only through holes 162 formed in the side walls of the outer housing 100 are shown. ) Is formed, and the air chamber 135 and the outside of the component gripper 66 communicate with each other through these three through holes.

Further, a disk-shaped adjustment knob 160 is arranged on the outer peripheral surface of the outer housing 100 so as to cover the through hole 162, and the adjustment knob 160 is rotatable around the central portion thereof. There is. The adjustment knob 160 is formed with a through hole 164 having substantially the same shape as the through hole 162, and when the adjustment knob 160 is rotated, the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 are formed. Overlap. A plate-shaped packing (not shown) is attached to the back surface of the adjustment knob 160, and if the through hole 162 of the outer housing 100 does not overlap with the through hole 164 of the adjustment knob 160, the plate It is closed by the shaped packing. The adjusting knob 160, the through hole 164 of the adjusting knob 160, and the through hole 162 of the outer housing 100 constitute an adjusting device according to the present embodiment, and this adjusting device functions as an adjusting valve for adjusting the amount of air leakage. It is provided on the component gripper 66 that is detachably provided with respect to the work heads 60 and 62.

With such a structure, the operator rotates the adjustment knob 160 to adjust the gripping force of the pair of claws 67. Specifically, when the part to be gripped is a high-strength part, the adjustment knob 160 is used by the operator so that the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 do not overlap. Is adjusted by. At this time, since the through hole 162 of the outer housing 100 is sealed by the packing of the adjustment knob 160, air does not leak from the air chamber 135. Therefore, the pressure in the air chamber 135 becomes relatively low due to the suction of air, and the piston 106 is pulled upward with a relatively large force. As a result, the gripping force of the pair of claws 67 is increased, and the parts to be gripped are reliably gripped.

When the part to be gripped is a low-strength part, the adjustment knob 160 is operated by the operator so that at least a part of the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 overlap. Is adjusted by. At this time, air leaks from the air chamber 135 according to the area where the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 overlap. Therefore, when air is sucked from the air chamber 135, the pressure in the air chamber 135 is lowered only to some extent, and the piston 106 is pulled upward with a relatively small force. As a result, the gripping force of the pair of claws 67 is reduced, and the part to be gripped is gripped while preventing damage and deformation of the part.

That is, in the component gripper 66, the operator can adjust the gripping force of the component gripper 66 by adjusting the adjustment knob 160 and adjusting the amount of air leaking from the air chamber 135. .. This makes it possible to easily adjust the gripping force of the component gripping tool 66 according to the component, which is very convenient.

Further, in the component gripper 66, the amount of air leaking from the air chamber 135 can be adjusted simply by forming a through hole 162 penetrating the air chamber 135 and disposing an adjustment knob 160 for closing the through hole 162. Is possible. That is, it is possible to adjust the gripping force of the component gripper 66 simply by adding a very simple structure to the existing component gripper.

Further, in the component gripper 66, the adjustment knob 160 is marked with a triangle mark 166, and the outer housing 100 is marked with a scale 168 at a position corresponding to the triangle mark 166. Numerical values (not shown) of 0%, 25%, 50%, and 100% are written on the scale 168, and when the adjustment knob 160 is rotated so that the triangle mark 166 matches the scale 168, the triangle is formed. The through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 overlap according to the numerical value of the scale 168 corresponding to the mark 166. That is, when the adjustment knob 160 is rotated so that the triangle mark 166 matches the scale 168 of 0%, the amount of overlap between the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 is 0%. That is, the two through holes 162 and 164 do not overlap at all. Further, when the adjustment knob 160 is rotated so that the triangle mark 166 matches the scale 168 of 100%, the amount of overlap between the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 is 100%. That is, the two through holes 162 and 164 completely overlap. As a result, the operator can appropriately adjust the gripping force of the component gripping tool 66 by appropriately adjusting the amount of leakage from the air chamber 135.

The present invention is not limited to the above examples, and can be carried out in various modes with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the amount of air leaking from the air chamber 135 is adjusted by adjusting the opening degree of the through hole 162 with the adjustment knob 160, but various members are used. , It is possible to adjust the amount of air leaking from the air chamber 135. Specifically, for example, the amount of air leaking from the air chamber 135 may be adjusted by using a pressure valve, a check valve, a linear valve, or the like whose flow rate can be adjusted.

Further, in the above embodiment, the rotation-adjusted adjustment knob 160 is adopted as a member for closing the through hole 162, but various forms of members are adopted as long as the member can be moved while the through hole 162 is closed. It is possible to do. Specifically, for example, it is possible to adopt a member that can slide while the through hole 162 is closed.

Further, in the above embodiment, the amount of air leaking from the air chamber 135 is manually adjusted, but it can also be adjusted automatically. Specifically, for example, it is possible to provide a mechanism for rotating the adjustment knob 160 at an arbitrary angle by a stepping motor or the like.

Further, in the above embodiment, the link mechanism 108 is adopted as a mechanism for converting the force in the moving direction of the piston 106 into the force in the direction in which the pair of claws 67 approaches and separates, but a gear or the like is used. It is possible to adopt various mechanisms such as a mechanism and a mechanism using hydraulic pressure.

66: Parts gripper, 67: Claw, 100: Outer housing (outer shell member), 106: Piston, 108: Link mechanism (conversion mechanism), 135: Air chamber, 160: Adjustment knob (blocking member), 162: Penetration Hole (first through hole) 164: Through hole (second through hole)

Claims (4)

It is held interchangeably with respect to the work head provided in the component mounting machine that executes component mounting work on the circuit base material, has a covered cylindrical outer shell member, and by approaching and separating multiple claws. In the component gripping tool that grips and detaches the component,
The part gripper
A disk-shaped attachment that is fixed to the outer shell member and communicates with a through hole formed in the central portion of the lid portion of the outer shell member is formed in the center, and is attached to the work head.
A through hole provided inside the outer shell member, communicating with the outside through a through hole formed in the side wall of the outer shell member, and a through hole formed in the central portion of the lid portion of the outer shell member and the attachment. An air chamber connected to the positive / negative pressure supply device through a through hole formed in the center of the
A piston that moves by supplying and discharging air to the air chamber,
A conversion mechanism that converts the force in the moving direction of the piston into the force in the direction in which the plurality of claws approach and separate.
A component gripping tool including an adjusting device for adjusting an amount of air leaking from a through hole formed in a side wall of the outer shell member. The adjusting device
A first through hole penetrating from the air chamber to the surface of the outer shell member of the component gripper,
A closing member that closes the first through hole and is movably arranged on the outer shell member.
It has a second through hole formed in the closing member, and has a second through hole.
The first aspect of claim 1, wherein the amount of air leaking from the air chamber is adjusted according to the amount of overlap between the first through hole and the second through hole when the closing member is moved. Parts gripper. The closing member
An adjustment knob rotatably arranged on the outer shell member.
The adjusting device
The claim is characterized in that the amount of air leaking from the air chamber is adjusted according to the amount of overlap between the first through hole and the second through hole when the adjustment knob is manually rotated. 2. The component gripper according to 2. A component mounting machine that executes component mounting work on a circuit base material.
A component gripper that has a covered cylindrical outer shell member and grips / detaches the component by approaching / separating a plurality of claws.
Including a work head that holds the component gripper interchangeably.
The part gripper
A disk-shaped attachment that is fixed to the outer shell member and communicates with a through hole formed in the central portion of the lid portion of the outer shell member is formed in the center, and is attached to the work head.
A through hole provided inside the outer shell member, communicating with the outside through a through hole formed in the side wall of the outer shell member, and a through hole formed in the central portion of the lid portion of the outer shell member and the attachment. An air chamber connected to the positive / negative pressure supply device through a through hole formed in the center of the
A piston that moves by supplying and discharging air to the air chamber,
A conversion mechanism that converts the force in the moving direction of the piston into the force in the direction in which the plurality of claws approach and separate.
A component mounting machine including an adjusting device for adjusting an amount of air leaking from a through hole formed in a side wall of the outer shell member.

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