JPH0342717B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention is used in a device for handling small components using a suction nozzle, such as a chip-shaped electronic component mounting device in an electronic circuit mounting process.

(b) Conventional technology Chip-shaped electronic components are normally sucked into a suction nozzle and transported to a substrate. Adhesive or paste-like solder is applied to the board, and components are pressed onto this.In order to accurately place the component in the desired location, the component must be pressed while the component is being sucked into the suction nozzle. It is necessary to align the center of the camera to the correct position. Therefore, an operation is performed in which the component sucked by the suction nozzle is held between correcting claws to correct the positional deviation. The applicant filed the patent application in 1982.
The device proposed in No. 164139 (see Japanese Unexamined Patent Publication No. 57-89535) is also used for this purpose. By the way, chip-shaped electronic components come in various sizes. If you widen the opening of the straightening claws to position a large part, when you try to position a small part with this, the speed of the straightening claws will increase too much by the time you reach the small part, causing the part to chip. It may occur. In order to solve this problem, the above-mentioned patent application No. 164139 of 1982,
Alternatively, in the device proposed by the applicant in Patent Application No. 174514 of 1988 (see Japanese Patent Application Laid-Open No. 60-67089), a step is provided on the inner surface of the correcting claw, and the nail can be adjusted according to the size of the part. It has the same effect as changing the opening.

(c) Problems to be solved by the invention The configuration of the above-mentioned prior art had the following problems.

A: Because the inner surface of the orthodontic nail is provided with multiple positioning surfaces, the finishing of the nail is difficult.

B: The cam stroke for inserting the part between the straightening claws is set to match the lowest stage, resulting in a longer stroke and forcing the part to move rapidly. Furthermore, when fitting parts to the upper stage, the stopper must be engaged to bring the parts to a sudden stop during the smooth descent along the cam curve, which tends to cause parts to fall off due to the shock.

The present invention provides a device that can handle large and small parts without using a method of adding steps to the correction nail,
This is an attempt to solve this problem.

(d) Means for Solving the Problems In the present invention, the following elements are incorporated into the component positioning device.

a. A pair of straightening claws arranged facing each other to sandwich the parts sucked by the suction nozzle.

b. Means for supporting the correction claw so that it can move in the centripetal direction and the centrifugal direction.

c Spring that biases the correction claw in the centripetal direction.

d. A cam that brings the cam follower protruding from the straightening claw into contact and causes the straightening claw to move in the centrifugal direction.

e. A driving means for applying a constant stroke displacement to the cam in order to open and close the correction claw.

f. means for changing the general relative position of the cam with respect to said cam follower for shifting the centripetal and centrifugal ends of movement of the straightening pawl;

(e) Operation When the driving means applies forward displacement of a predetermined stroke to the cam, the cam moves the correcting claw in the centrifugal direction by a distance corresponding to the amount of displacement of the cam. When the cam is moved back, the correction claw returns to the centripetal direction. As the cam repeats forward and backward movements, the correction claw repeatedly opens and closes. As long as the general relative position of the cam and cam follower does not change, the centripetal movement end and centrifugal movement end of the straightening claw remain constant; however, if this is changed, the contact position of the cam follower with respect to the cam surface changes, causing the straightening claw to The centripetal movement end and the centrifugal movement end are shifted. That is, the correcting claw can be opened and closed in the open position for large parts, and in the closed position for small parts.

(f) Example An example will be explained based on the drawings. The main part of the positioning device 1 is a circular rotary disk 2, which is supported by rollers 3 so as to be rotatable around a vertical axis. Three rollers 3 are arranged at 120° intervals, and each is pivotally supported by a base 4, which is a stationary member. Reference numeral 5 denotes an electric motor supported by a base 4, which connects a pulley 6 at the end of the shaft and the rotary disk 2 with a belt 7, and rotates the rotary disk 2 through a required angle.

The rotary disk 2 has four correction claws 8a, 8b, 8c, 8
d are supported at 90° intervals. As shown in Figure 6,
Each correction claw is sandwiched between a pair of guides 10, 10, and is slidable in the radial direction. Orthodontic nail 8
a and 8b form a pair and face each other, sandwiching the long side of the component 11. The correction claws 8c and 8d also form a pair and face each other, sandwiching the short side of the component 11. The component 11 is a suction nozzle 12 supported on an index table or the like.
It is attracted to the nails and carried between the orthodontic nails. A shaft 13 is vertically fixed to the center of the rotary disk 2, and pinions 14 and 15 are rotatably supported on the outside thereof. The upper pinion 14 has correction claws 9a, 9b.
A rack 16 fixed to the straightening claws 8a, 8b engages with the lower pinion 15 from both sides. Each straightening claw has one leg hanging downward, and the rack is fixed to this leg. The leg portions 18 hanging down from the correction claws 9a, 9b support a cam follower 19 at their lower ends. The cam follower 19 is composed of a roller. Each correction claw is also biased in the centripetal direction by tension coil springs 20 and 21 (FIG. 9) stretched between it and the rotary disk 2. Correction nails 9a, 9
The spring 21 that biases the correction claws 8a and 8b is stronger than the spring 20 that biases the correction claws 8a and 8b. pinion 14,1
5 is provided with a notch with an angle of just over 180 degrees, and the remaining fan-shaped protrusions are used as engagement parts 22 and 23 for rotation transmission.
(Fig. 10). 24 is a back up pin that protrudes upward from inside the shaft 13 and has a diamond tip at the upper end;
As seen in FIG. 3, it can be moved up and down with respect to the shaft 13, and is pushed up to the highest position by a spring 25. This back-up pin 24 hits the bottom surface of the component 11 that is descending while being attracted to the suction nozzle 12, and prevents the component 11 from falling off due to inertia when the descent is stopped.

It is the cam 26 inserted between the rollers 19, 19 that moves the correction claws 8a, 8b, 9a, 9b centripetally biased by the springs 20, 21 in the centrifugal direction. The cam 26 has a truncated conical outer shape and is fixed to the upper end of a shaft 28 that is vertically and rotatably supported by a bearing portion 27 of the base 4 . Shaft 28 is cam 2
It functions as a main drive stage that gives a constant stroke displacement to the motor. The shaft 28 is moved up and down by a plate cam 29, but the plate cam 29 does not directly contact the shaft 28, but a swing block 30 is interposed between them. The swing block 30 is pivotally supported on the base 4 by a shaft 31 and is swingable around a horizontal axis.
The upper and lower sides are provided with projecting pieces 32 and 33 extending in a direction parallel to 1. Also, the swinging block 30 has a shaft 31
A lever 34 is made to protrude in a direction perpendicular to the
The roller-shaped cam follower 35 at the tip of the plate cam 2
It is in contact with 9. This lever 34 is integrated with the main structure of the swing block 30, but another lever 36 is provided at the end of the shaft 31.
This lever 36 can be rotated independently of the swing block 30. The lever 36 has a shaft 3 at its tip.
A shaft 37 is fixed in a direction parallel to 1, and this shaft 37
The large diameter portion 38 of the shaft 28 is brought into contact with the end surface of the shaft 28.
A rising portion 39 is formed on the overhang piece 33, and a shaft 4 is formed in this rising portion 39 in parallel with the shaft 31.
0 is fixed. Seesaw levers 41 and 42 are pivotally supported on the shaft 40. seesaw lever 41,
42 have their front ends abutted against the lower surface of the shaft 37, respectively. 43 and 44 are air cylinders fixed to the overhang piece 32. The rod 45 of the air cylinder 43 pushes down the rear end of the seesaw lever 41 until it hits the stopper bolt 46 fixed to the overhang piece 33 (see FIG. 4). At this time, the seesaw lever 41 lifts the shaft 37 at its front end. The rod 47 of the air cylinder 44 connects the rear end of the seesaw lever 42 to the overhanging piece 33.
Push down until it hits the stopper bolt 48 fixed to the (see Figure 5). As a result, the seesaw lever 42 also lifts the shaft 37, but the lifting distance is greater than that of the seesaw lever 41.
When the air cylinders 43 and 44 are not operating, the large diameter portion 38 of the shaft 37 is connected to the stopper bolt 4 directly below it.
It drops to the point where it hits 9 (see Figure 3). Axis 2
8 is like this, seesaw lever 41 or 4
2 and is supported by a shaft 37 in a lifted or non-lifted state, and the rocking block 3
It will move up and down with the oscillation of 0. In other words, the air cylinders 43 and 44 are connected to the general relative position of the cam 26 with respect to the cam follower 19 (the cam 26 vibrates vertically and faces the cam follower 19, but the midpoint of the vibration is the typical position of the cam 26 with respect to the cam follower). (named like this). Furthermore, cam 26
A recess 50 for receiving the lower end of the shaft 13 is provided on the top surface of the
is formed.

The positioning device 1 operates as follows. Initially, the cam 26 is in the raised position, and the correction claws 9a, 9
b is pushed open in the centrifugal direction. This movement is transmitted to the correcting claws 8a and 8b in the order of rack 16 → pinion 14 → pinion 15 → rack 17,
The correction claws 8a and 8b also open in the centrifugal direction. Here, the component 11 is inserted between the correction claws 8a, 8b, 9a, 9b (FIG. 10). Next, as the cam 26 is lowered, each correction claw begins to move in the centripetal direction.
First, the spring 21 that holds the component 11 is the one with the weaker force.
This is a pair of correcting claws 8a and 8b which are energized by (FIG. 11). Since the straightening claws 8a and 8b are connected via the rack 17 and the pinion 15, the parts 11
is definitely moved to the center. Correction nails 8a, 8
The centripetal movement of b stops here, but the correction claw 9
a and 9b continue to move in the centripetal direction. This is possible because there is a gap between the engaging portions 22 and 23 of the pinions 14 and 15 in the rotational direction. Eventually, the correcting claws 9a, 9b also reach the component 11, and the component 11 sandwiched between the correcting claws 8a, 8b is positioned by the force of the strong spring 20 (FIG. 12). If the angle of the component 11 with respect to the suction nozzle 12 also needs to be adjusted, the rotary disk 2 is rotated by a predetermined angle by the electric motor 5. After this, the cam 26 rises again,
Each straightening claw leaves the part 11 and the suction nozzle 12 carries it away.

Next, we will explain how to deal with parts of different sizes. For convenience of explanation, 3 large, medium and small parts are shown in part 11.
A rank is established for small parts, 11a for medium-sized parts, and 1 for medium-sized parts.
1b, and the large parts will be denoted as 11c.
In the case of a small component 11a, the shaft 3 is
7 is lowered to the point where the large diameter portion 38 touches the stopper bolt 49 (that is, the air cylinders 43 and 44 are not operated), and the cam 26 is moved up and down with reference to the lower position. That is, the cam 26 causes the thin part near the upper end to be inserted between the cam followers 19, 19, and each correction claw starts moving in the centripetal direction from the slightly opened position. In this case, both the centripetal movement end and the centrifugal movement end of the correction claw are near the center of the rotary disk 2. For medium-sized parts 11b, the air cylinder 43 is operated to lift the shaft 37 as shown in FIG. The cam 26 then moves up and down at a slightly higher position. This means that the general relative position of the cam 26 with respect to the cam follower 19 has changed, the thicker part of the cam 26 intersects between the cam followers 19, 19, and the opening of the correcting claws becomes larger. That is, the centripetal movement end and the centrifugal movement end of the correction claw are slightly shifted outward when viewed from the center of the rotary disk 2. Large parts 1
For 1c, use air cylinder 4 as shown in Figure 5.
4 to further lift the shaft 37. This allows us to use the thicker part of the cam 26,
The correction claw opens wide and starts moving in the centripetal direction from there. That is, the centripetal movement end and the centrifugal movement end of the correction claw are further shifted outward.

(g) Effects of the Invention According to the present invention, the straightening claw can be opened according to the size of the part and the closing operation (straightening operation) can be started from a position not far from the part, so that the straightening claw can be prevented from accelerating too much. This prevents damage to parts. In this case, the inner surface of the straightening claw is stepped, and the support height of the part is not adjusted to adjust the free running distance of the closing operation, so the part only needs to be lowered smoothly to a constant height, and the number of stages can be adjusted. Unlike when stopping at an object height, there is no need to use a stopper to make a sudden stop, and the operation is not strained.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which Fig. 1 is a sectional view, Figs. 2 to 5 are partial configuration diagrams illustrating the mechanism of vertical movement and height adjustment of the cam, and Fig. 6 is a diagram of the rotary disk. The top view, FIGS. 7 and 8 are planar layout diagrams of the rack and pinion for opening and closing the correction claw, FIG. 9 is a bottom view of the rotary disk, FIGS. 10 to 12 are explanatory diagrams of the operation of the correction claw, and FIG. FIG. 13 is a partially enlarged sectional view showing the configuration of the backup pin. 1... Parts positioning device, 12... Suction nozzle, 11... Parts, 8a, 8b, 8c, 8d...
Straightening nail, 10... Guide (means for supporting the straightening nail so that it can move in the centripetal direction and the centrifugal direction), 20,
21... Spring that biases the correction claw in the centripetal direction, 19
...Cam follower, 26...Cam, 28...Shaft (driving means), 43, 44...Air cylinder (means for changing the general relative position of the cam with respect to the cam follower).

Claims (1)

[Claims] 1. A component positioning device comprising the following components. a. A pair of straightening claws arranged facing each other to sandwich the parts sucked by the suction nozzle. b. Means for supporting the correction claw so that it can move in the centripetal direction and the centrifugal direction. c Spring that urges the correction claw in the centripetal direction. d. A cam that brings the cam follower protruding from the straightening claw into contact and causes the straightening claw to move in the centrifugal direction. e. A driving means for applying a constant stroke displacement to the cam in order to open and close the correction claw. f. means for changing the general relative position of the cam with respect to said cam follower for shifting the centripetal and centrifugal ends of movement of the straightening pawl;