JPH0682954B2 - Rotation control device for mounting head - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a small mounting head that can be attached to the tip of a robot, for example. The present invention relates to a rotation regulating device for a mounting head, which is capable of realizing directional insertion positioning.

Configuration of Conventional Example and Problems Thereof FIG. 1 is a side sectional view and a plan view of a conventional insertion head, 1 is an insertion chuck portion, 2 is a cylinder piston for opening / closing operation of the chuck, and 3 is a piston for vertically moving the chuck. Rods 4 are rotation supporting parts of the rod, and a part of them is
A flange portion 5 is provided, and a connecting pin 6 is attached to this portion. This connecting pin is fitted and assembled with the slide groove 8'of the slide block 8 of the rotary drive cylinder 7. Reference numeral 9 is a rotary connecting rod attached to the other end of the flange, and an upper portion of the rod is a connecting plate 10 attached to the upper end of the chuck up / down piston rod 3.
Are fitted through a slidable bearing bush 11.
In such a configuration, the rotation operation of the insertion chuck is changed from the sliding block 8 by the back and forth movement of the drive cylinder 7.
The rotary support portion 4 rotates via the connecting pin 6 of the flange 5, and then the chuck upper and lower piston rods 3 rotate via the rotary connecting rod 9 and the connecting plate 10. However, in this configuration, since the position control of the drive cylinder is two positions forward and backward, the rotation operation of the insertion chuck is usually 2 ° of 0 ° and 90 °.
It is usually only possible to deal with directions, which is extremely inconvenient when dealing with polar electronic components.

Therefore, in view of the above problems, the present invention is directed to an insertion chuck,
Position regulation in the direction of rotation is at least 0 °, 90 °, 180 °,
The robot is intended to be carried out at four positions of 270 °, and further, in order to realize it, the size and weight of the device can be reduced, and the cost of control can be reduced without using a pulse motor or the like as a drive source. As a kind of touring such as,
The purpose of the present invention is to provide an insertion head that is easy to install and easy to use.

Configuration of the Invention The rotation regulating device for the mounting head according to the present invention has the same basic concept up to the vertically moving piston rod of the insertion chuck, but is compatible with a wide range of rotation from 0 ° to 270 °. The entire device is miniaturized by using a spur gear as a part and directly connecting it to a driving gear that meshes with the spur gear to use a rotary cylinder. Also, the method of controlling the rotational position is simplified without using a method such as a pulse motor which requires a high control cost. The method is to arrange four magnets on the boss part of the drive side gear at the position where the circumference is divided in 90 ° units, and correspondingly, provide two detection side sensors and one rotation angle. And the other one for detecting the origin stop position. Further, the position regulation of the rotation is performed by providing a notch in the stopper hitting portion on a part of the driven side rotating shaft, and operating the stopper lever engaged with the notch with the cylinder according to the program instruction of the rotation angle detecting sensor described above. It is designed to stop at each position of 90 °, 180 °, 270 °.

Description of Embodiments An embodiment of the present invention will be described below. FIG. 2 is a side view of an insertion head according to the present invention, in which 12 is an insertion chuck, 13 is a cylinder piston for opening / closing operation of the chuck, 14 is a piston rod for up / down operation of the chuck, and 15 is a rotation support portion of the rod. A rotary gear 16 is attached to the upper end of the gear, and a boss 17 of the gear is provided with a notch at a contact portion with respect to a stopper 18 in accordance with a rotary indexing angle.
Reference numeral 19 is a drive gear, which is attached to a shaft 21 of a rotary cylinder 20 fixed to the housing. Four magnets 23 are arranged on the boss portion 22 of the drive gear at a position corresponding to the indexing angle of the rotary gear.
At a position corresponding to this, a magnet for detection and a sensor 24 are installed by a bracket 25.

Next, FIGS. 3 and 4 are top plan views of the insertion unit,
It is a cutting plane view in AA 'surface of a side view. First of all
The arrangement relationship between the magnet 23 and the magnet sensor 24 described earlier in the figure is as shown in this figure, and the rotation direction is the counterclockwise direction. The sensor 24 is for detecting the number of passing magnets, and the sensor 26 is for detecting the origin. Further, 27 is a connecting rod fixed to the upper surface of the rotary gear 16, which is a rotary motion connecting rod described in detail in the conventional example.
The rotary motion is transmitted to the insertion chuck upper and lower rods 14 via 28. Next, the method of positioning the rotary shaft will be described with reference to FIG. 4. Reference numeral 29 is a stopper for positioning the origin, 30 is a positioning portion having a notch as a contact surface of the stopper, and 31 is a movable stopper pawl for indexing the rotation angle.
It is a stopper lever with 18 at the tip, 32 is a swing fulcrum pin, 33 is a piston of an operating cylinder, 34 is the same cylinder case part, 35 is an air intake port, 36 is a spring hook pin on the stopper side, and 37 is a cylinder case. The reference numeral 38 is a spring hooking pin on the side, and 38 is a tension spring provided between the two, which always urges the lever of the stopper in one direction (in the figure, the direction in which the tip of the stopper projects). Further, 39 is a stopper contact for indexing a rotation angle which engages with the stopper, and has three notches as 90 contact units in 90 ° units. Since this contact is a part of the rotary gear boss 17, the rotation direction is clockwise. Next, what happens to the actual rotational positioning operation in such a configuration will be described with reference to FIG. S indicates the detection timing of the origin detection sensor, and T indicates the operation of the rotation detection sensor. Further, U indicates the timing of the stopper operation. If you start from the origin position and the rotation starts,
First, the first magnet 23 passes through the position of the rotation angle detection sensor 24. If the stopper 31 is activated at this timing to stop the rotation, the insertion chuck will stop at the position rotated by 90 °. Similarly, rotational positioning at 180 ° and 270 ° is also possible by moving the stopper in and out according to the number of times the magnet has passed.In order to make the timing of stopper movement more accurate, an operating interval T1 by a timer is provided. Fine adjustment.

EFFECTS OF THE INVENTION According to the present invention, only the air cylinder needs to be rotationally driven, and the indexing angle can be set by the program command during the rotational movement. Therefore, when the insertion head is downsized and the cost is reduced, the insertion head is attached to the tip of an arm of a robot or the like, and when the electronic components are inserted or the like, depending on the insertion direction and the polarity of the electronic components, 0 °, 90 °, 180 °, 27
It is possible to insert in four directions of 0 °, and it is not necessary to consider the component supply attitude corresponding to the mounting direction in the component supply unit, and the effect is great.

[Brief description of drawings]

FIG. 1A is a side sectional view showing a conventional insertion head,
FIG. B is a plan view of the same, FIG. 2 is an overall side sectional view of an insertion head which is an embodiment of the present invention, FIG. 3 is a top plan view of the same, and FIG. 4 is a sectional view taken along line AA ′ of FIG. FIG. 5 is a timing diagram showing the actual movement of the rotary positioning operation. 1,12 …… Insertion chuck, 3,14 …… Insertion chuck vertical movement piston rod, 15 …… Rotation support, 16 …… Rotation gear, 18 …… Stopper pawl, 19 …… Drive gear, 20 …… Rotation Cylinder, 23 ...... Magnet, 24, 26 ...... Magnet sensor, 29 ...... Origin stopper, 31 ...... Movable stopper lever, 33 ...... Stopper operating piston, 39 ...... Stopper rotation contact part.

Claims (1)

[Claims] Claim: What is claimed is: 1. A rotation provided by incorporating a cylinder piston rod capable of operating up and down, and a gear provided at one end of a rotary shaft rotatably supported by a housing and a drive-side gear meshing with the gear. Having a cylinder, a plurality of transmission angle sensors for indicating the rotation angle are arranged on the circumference of the boss portion on the side of the drive gear, according to the number of rotation angle indexes, and at a position corresponding to this, for detecting rotation. The receiving switching element is fixedly arranged, and the boss portion of the rotary shaft gear on the driven side is provided with a sawtooth-shaped stopper contact surface corresponding to the number of indexes on the circumference. A rotation regulating device for the mounting head, which is provided with a stopper that is fixedly installed in the housing and that can freely move in and out, and controls the positional relationship between the above-mentioned sensors and switches by a program to operate the stopper at any position.