JPH07110476B2 - Parts transfer device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parts conveying apparatus which can simplify the apparatus and reduce the cost.

[0002]

2. Description of the Related Art Conventionally, for example, a so-called pick-and-place device is used in which an electronic component supplied to a predetermined position is picked up from the position, conveyed to a substrate to be mounted, and further mounted on the substrate. Various types of parts transporting devices are known.

FIG. 5 shows an example of a conventional component transfer device. In the apparatus shown in the figure, a vertically moving cylinder 4 is attached to a moving body 3 which is reciprocally moved on a guide rail 2 by an air cylinder 1, and an air chuck 5 is attached to a lower end of a rod of the vertically moving cylinder 4. ing. In order to assemble the electronic component gripped by the air chuck 5 on the substrate in a direction different from the picked-up state, the vertical movement cylinder 4 is provided so as to be rotatable about its axis, and is vertically moved by a rotary cylinder (not shown). The cylinder 4 is rotated by a predetermined angle.

[0004]

In the above-described component carrying apparatus, the movement of the moving body 3, the driving of the vertically moving cylinder 4, and the rotational movement of the vertically moving cylinder 4 are individually performed by the air apparatus mainly including the air cylinder. Since this is done, a plurality of air devices, piping for the air devices and a control device are required, and there is a problem that the device becomes complicated and the cost becomes high. Further, since each air needs to be driven in time series, there is a problem that its sequential control mechanism becomes complicated.

Therefore, the present invention has been made to solve the above problems, and an object thereof is to provide a holding device.
It is intended to reduce the manufacturing cost of the component transfer device by simplifying the driving device and the electric control device while ensuring that the device can move reliably and stably .

[0006]

In order to achieve the above object, the present invention has the following constitution. That is, the parts conveying apparatus of the present invention, by a driving device provided on the base, the first movable body, said first reciprocable in a mobile in the same direction, which is provided to freely reciprocate in the base A second movable body guided by the second movable body, a third movable body mounted on the second movable body, and reciprocally provided in a direction intersecting with the moving direction of the second movable body, is fixed to one end of the third moving body, a holding device for holding a component to be transported, said fixed to the other end of the third moving body in contact with the engaging portion provided on the first mobile and interlocking portion with a recess formed to <br/> engaged, provided at a predetermined interval on the base, a first stopper and a second stopper and the second moving body abuts said second before moving body of
When positioned between the serial first stopper and the second stopper, wherein when the first moving body is moved third moving body of the first moving body together with the second moving body so that it can move in the same direction as the moving direction, the direction in which the concave portion of the interlocking portion and the engaging portion of the first movable body is engaged with the third moving body of
A component transfer device comprising a biasing member for biasing,
In a state in which serial second moving body is abutting the first stopper or said second stopper, still, when the first moving body is moved, the engagement portion of the first moving body moving the third moving body by pressing the interlocking part against the urging force of the urging member in the direction to protrude to the second moving body
The slope of the connecting portion that abuts the engaging portion.
It is characterized in that it is formed in a substantially V shape on the side .

Further, in the above-described component transfer device, the holding device is rotatably provided at an end of the third moving body with the moving direction of the third moving body as an axis, and the base is provided with a front portion.
A friction rail is arranged in the moving direction of the second moving body, and a friction ring provided on the holding device rolls on the friction rail to rotate the holding device, and the holding device rotates at a predetermined rotation angle. As described above, the third stopper and the fourth stopper for stopping the rotation of the holding device are provided on the third moving body, and the holding device has a predetermined resistance at the stop position stopped by the third stopper and the fourth stopper. By providing the holding means so as to be held by force, the attitude control of the holding device can be performed at the same time with the operation of the first moving body.

[0008]

According to the component carrying device of the present invention, first, the first moving body can be moved along the base by the driving device. When the second moving body is located between the first stopper and the second stopper, the third moving body moves together with the second moving body when the first moving body moves. Move in the moving direction of the moving body. Then, when the second moving body moves to the upper position where the gripping device picks up the component, the second moving body strikes against the first stopper and stops at this position. When the first moving body still moves, the first moving body presses one slope of the V-shaped concave portion provided in the connecting portion of the third moving body to resist the biasing force of the spring. , The third moving body to the second
Can be moved in a direction projecting with respect to the moving body, so that the holding device can be moved to a position where it abuts on the component. In this way, the holding device moves and the holding device operates to hold the component.

After this, the first moving body is moved in the opposite direction, but the second moving body is brought into contact with the slope of the connecting portion.
The moving body is urged in the first stopper direction. For this reason, the second moving body does not move immediately, and while the end of the first moving body moves to the most recessed position of the recess of the connecting portion, the third moving body is moved by the biasing force of the spring. It is moved so that the holding device is lifted while holding the part. Then, when the first moving body continues to move further , the second moving body moves in a predetermined direction together with the first moving body. When the holding device moves to the upper position where the component is placed, the second moving body stops against the second stopper.

When the first moving body still moves, the first moving body presses the other slope of the V-shaped concave portion, so that the third moving body resists the biasing force of the spring. The parts held by the holding device can be moved to a predetermined placement position by being pressed. In this way, the holding device positions the component at the mounting position, and by releasing the holding of the holding device, the component is mounted at the predetermined mounting position.

[0011] After this, the first moving body is moved to the first stopper direction, the second moving body by the urging force of the first moving body in contact with the inclined surface of the connecting joint portion of the second It is biased toward the stopper. For this reason, the second moving body does not move immediately, and while the end of the first moving body moves to the most recessed position of the recess of the connecting portion, the third moving body is moved by the biasing force of the spring. Move, this allows
The holding device is lifted into place. By repeating the above operation, the parts can be sequentially transported.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a front view showing an embodiment of the component carrying device according to the present invention, and a detailed mechanism is partially shown by a sectional view, and FIG. 2 is a side view of FIG. As shown in FIGS. 1 and 2, 10 is a first moving body, which is formed in a U-shape. This first moving body is a support plate that serves as a base so that one of the U-shaped tip portions 10a reciprocates along the component transport path.
12 , the bearing 22 at the middle portion 10b of the U-shape
It is rotatably mounted via a. Also, the first
A roller 14, which is an engaging portion, is rotatably attached to one of the U-shaped end portions 10a of the moving body 10 of FIG.
A drive device for rotating the first moving body 10 is rotatably connected to the other U-shaped tip portion 10c by a connecting portion 21 . This drive device is not particularly limited, but in the illustrated embodiment, an air cylinder 20 rotatably fixed to the back surface of the support plate 12 by a shaft 24 is used. Of course, the first moving body 10 may be directly driven by the driving force of the motor or through a gear, a belt, a chain, or the like.
May be rotated.

Reference numeral 18 denotes a second moving body, which is formed in a strip shape, and has an upper end portion 18 in the drawing of the strip shape.
a through the bearing 22b at the first moving body 10
It is rotatably provided by being fitted in the U-shaped middle portion 10b. By the rotation of the second moving body 18, the strip-shaped lower end portion 18b can reciprocate along the component transport path.

Reference numeral 28 denotes a third moving body, which is provided on the second moving body 18 so as to be movable in a direction orthogonal to the moving direction of the second moving body 18, and by a spring 30 in the drawing. It is biased upward. As shown in FIG. 1, the third moving body 28 includes a connecting portion 32 in which a concave portion 33 that expands upward in a substantially V shape is formed, and the connecting portion 32.
Shafts 34 fixed in parallel downward from the lower part of the
And a connecting portion 36 fixed to the lower end of the shaft 34 and to which a holding device 38 is attached. In addition,
In the third moving body 28, the two shafts 34 are
It is fitted through a bearing into a through hole of a guide portion 18c provided in the lower part of the moving body 18, and thereby guided in a vertical direction. Further, 19 is a regulating member is stopped by the third moving Jo Tokoro position downward of the mobile 28. As the holding device 38 attached to the connecting portion 36 of the third moving body 28, an air chuck in which the chuck piece 40 is opened and closed by compressed air is used in the illustrated embodiment. Of course, a suction cup, a toggle type chuck or the like may be used, and when an air chuck or a suction cup is used, it can be easily controlled by a solenoid valve or the like.

Reference numerals 41 and 42 denote a first stopper and a second stopper, which are fixed to the support plate 12 and place the second moving body 18 at a position where the holding device 38 picks up a component or a component. When it reaches the upper position, it stops its movement. The first stopper 41 and the second stopper 41
The stopper 42 allows the second moving body 18 to move within a range narrower than the range in which the first moving body 10 can reciprocate. Reference numeral 44 denotes a magnet, which is fixed to each side surface of the second moving body 18 so as to face each of the first stopper 41 and the second stopper 42. The magnet 44 is a holding means, and holds the second moving body 18 stopped by contacting the first stopper 41 and the second stopper 42 in a stationary state with a predetermined resistance force.
You can As the holding means, another suction means or a mechanical device provided with a spring which is provided on the stopper side and which is locked to the second moving body 18 and urges the second moving body 18 to press against the stopper side with a predetermined pressing force. Means or the like may be used. Further, the magnet 44 is fixed to the stopper side,
Of course, the attracted member may be provided on the second moving body.

The connecting portion 32 is provided in the upper portion of the third moving body 28 and has a concave portion 33 formed in a substantially V-shaped concave shape.
Within the range in which the second moving body 18 reciprocally rotates, the roller 14 provided at the end of the first moving body 10 engages at the most recessed position of the recess 33. In order to reciprocate the second moving body 18, the first moving body 10
And the second moving body 18 are connected. Also, this connecting part 3
When the first moving body 10 moves beyond the range in which the second moving body 18 can reciprocate, the roller 14 of the first moving body 10 causes the slope 32 of the concave portion 32 to move.
By pressing a and 32b, the third moving body 28
The first moving body 10 and the third moving body 28 are connected so that the first moving body 10 and the third moving body 28 can be moved against the biasing force of the spring 30. air
When the cylinder 20 is most extended or most contracted
At this time, the holding device 38 can be moved to the lowest position,
That state can be easily maintained. In this way, the holding device
The vertical movement of the table 38 is formed in a substantially V shape of the connecting portion 32.
On the slopes 32a and 32b of the recess, the engaging portions of the first moving body 10
Since a roller 14 is brought into contact with the holding device 3,
It is possible to move the 8 up and down reliably and stably.

Further, in the illustrated embodiment, the third is held device 38 connected to the lower end of the moving body 28, through the thus bearing 47 to the shaft portion 46, the moving direction of the third moving body It is provided rotatably around axes that are provided in parallel . A friction rail 50 is arranged on the base 12 in the moving direction of the second moving body 18, and a friction ring 52 provided on the holding device 38 rolls on the friction rail 50 to rotate the holding device 38. This holding device 38
So as to regulate the rotation at a predetermined rotation angle.
A third stopper 55a and a fourth stopper 55b for stopping the rotation of the are provided on the support piece 54 protruding from the third moving body 28 (FIGS. 2 and 3). further,
The third stopper 55a and the fourth stopper 55b are holding means so that the holding device 38 is held with a predetermined resistance force at the stop position where it is stopped by the third stopper 55a and the fourth stopper 55b. It is formed by a magnet. The friction rail 50 is fitted at both ends thereof to the pin 16 provided on the supporting plate 12, and the pin 1 is attached to the pin 16.
6 is movably supported in the axial direction, and a spring 56 elastically mounted between the support plate 12 and the friction plate 52
Being pressed against.

Therefore, when the second moving body 18 moves along with the movement of the first moving body 10, the holding device 38 is centered on the axis by the friction between the holding device 38 and the friction rail 50. In, it is possible to rotate in an angle range of 90 degrees. Third stopper 55a or fourth stopper 55b
However, after coming into contact with the notched end surface of the friction ring 52, slippage occurs between the friction ring 50 and the friction rail 50, and it becomes possible to move in the same posture. Further, as shown in FIGS. 1 and 3, the friction rail 50 is provided with a projection 51, and the friction ring is provided with a projection 53 corresponding thereto. Thus, the holding device 38 is in contact with the protruding portion 53 with the projection 51 when moving abuts, third consisting of a magnet as a holding means, the fourth stopper 55a, than it is possible to reliably release the holding by 55b . The holding means for holding the holding device 38 is not limited to the magnet,
It goes without saying that a locking member or the like using the elasticity of the spring may be used.

Next, the operation will be described. First, the second
The description will be given from the state in which the moving body 18 of FIG. 6 is stopped against the first stopper 41 with a magnet and the holding device 38 is located at the upper position A where the parts are picked up. At this position, the air chuck that is the holding device 38 is in an open state. And this condition air cylinder 2 0 is driven, the first moving body 10 rotates to the right obliquely upward in the drawing of FIG. 1, the rollers 14 are provided on the interlocking portion 32 of the third moving body 28 By pressing the right slope 32a of the V-shaped recess 33 in the drawing against the biasing force of the spring 30, the third moving body 28 can be moved diagonally downward to the right, whereby the holding device 38 is provided. Moves to a predetermined position B where the abuts on the component. In this manner, the holding device 38 abuts against the component and operates to hold the component.

After this, the first moving body 10 is rotated in the opposite direction by the air cylinder 20, and the first moving body 10 is moved.
While the ends of is moved to the left obliquely downward in the drawing of FIG. 1, the
The roller 14 of the moving body 10 of No. 1 abuts on the slope 32a.
While moving , the second moving body 18 moves toward the first stopper 41
Is held by a magnet 44 fixed to the side surface of the second moving body 18 facing the first moving body 18 with a predetermined resistance force, and the first moving body 10 is biased by the biasing force of the first moving body 10 that abuts the right slope 32a of the connecting portion 36. It is in a state of being urged in the direction of coming into contact with the first stopper 41. Even if the holding means including the magnet 44 is not provided, the first
Of course, the state in which the second moving body 18 is in contact with the first stopper 41 can be maintained only by the urging force of the moving body 10. Therefore, the second moving body 18 does not move immediately, and the third moving movement occurs while the roller 15 at the end of the first moving body 10 moves to the most recessed position of the recess 33 of the connecting portion 32. The body 28 is moved upwards by the biasing force of the spring 30, which causes the holding device 38 to be lifted while holding the component. Then, when the first moving body 10 moves further leftward, the second moving body 1
The holding by the first stopper 41 and the magnet 44 of No. 8 is released, and the third moving body 28 and the second moving body 18 move leftward together with the first moving body 10. In this way, when the holding device 38 moves to the upper position C where the parts are placed, the second moving body 18 strikes the second stopper 42 and stops.

When the first moving body 10 further moves to the left, the first moving body 10 presses the left slope 32b of the V-shaped recess 33, so that the third moving body 28 is spring-loaded. It can be moved against the urging force of 30, so that the component held by the holding device 38 can be positioned at the predetermined mounting position D. In this way, the holding device 38 positions the component at the mounting position, and then the holding device 38 releases the holding of the component, so that the component is mounted at the predetermined mounting position.

[0022] After this, the first moving body 10 is moved to the right in the drawing of FIG. 1, the roller of the first moving body 10
When 14 is in contact with the slope 32b, the second moving body 18 is held by the magnet 44 fixed to the side surface of the second moving body 18 with a predetermined resistance force, and the connecting portion 32 is provided. Is in a state of being urged in a direction of abutting on the second stopper 42 by the urging force of the first moving body 10 abutting on the left slope 32b. Even if the holding means including the magnet 44 is not provided, the first
Of course, the state in which the second moving body 18 is in contact with the second stopper 42 can be maintained only by the urging force of the moving body 10. Therefore, the second moving body 18 does not move immediately, and while the end of the first moving body 10 returns to the most recessed position of the recess 33 of the connecting portion 32, the third moving body 28 is moved.
Is moved by the urging force of the spring 30, which causes the holding device 32 to be lifted to a predetermined position along with the third moving body 28. Then, when the first moving body 10 moves further to the right, the holding of the second moving body 18 by the second stopper 42 and the magnet 44 is released,
The second moving body 18 moves to the right along with the first moving body 10. When the holding device 38 moves to the upper position for picking up the component, the second moving body 18 stops by stopping against the first stopper 41. As a result, one cycle of component transportation is completed, and the components can be sequentially transported by repeating this operation.

Next, another embodiment will be described with reference to FIG. The first moving body 60 is provided on a first rail 65 provided on the support plate 62 along the component transport path so as to be reciprocally movable in the horizontal direction. The first moving body 60 is reciprocally driven by an air cylinder 66 fixed to a support plate 62. In addition, the second moving body 68 is provided along the second rail 70 provided on the support plate 62, and
The movable body 60 is reciprocally movable in the same direction.
A third moving body 74 including a connecting portion 76, a shaft 77, and a connecting portion 78 is movably provided on the second moving body 68 in a direction orthogonal to the moving direction of the second moving body 68. There is. In addition, the third moving body 74 is provided with a spring 72 disposed between the second moving body 68 and the connecting portion 76.
Is urged in the direction of pressing the first moving body 60 . A holding device 80 that holds the component is attached to the lower end of the third moving body 74.

The support plate 62 has a second moving body 68 on the supporting plate 62.
A position where the holding device 80 picks up a component, which is located within a range narrower than the range in which the first moving body 60 reciprocates,
A first stopper 82 and a second stopper 84 that stop the movement of the component when the component is placed above the position are fixed. A substantially V-shaped recess 75 is formed in the connecting portion 76 of the third moving body 74. Then, within the range in which the second moving body 68 reciprocates,
The first moving body 6 is arranged so that the end portion of the first moving body 60 engages with the recess 75 to reciprocate the second moving body 68.
0 and the second moving body 68 are connected to each other.

Further, the first moving body 60 is replaced by the second moving body 6
When the movable body 8 moves beyond the reciprocating range of 8, the roller 64 provided at the lower end of the first moving body 60 presses the slope of the concave portion 75, so that the third moving body 74 is spring-loaded. The above-mentioned connecting portion 76 connects the first moving body 60 and the third moving body 74 so that they can move against the biasing force of 72. Also in the component transfer device of this embodiment, the holding device 80 can be moved and moved up and down by the movement of the first moving body 60 as in the embodiment of FIG. In addition, the control device can be simplified.

In the above-described embodiment of the present invention, electronic parts with leads such as transistors and electric field capacitors are automatically lifted from the supply part to which the electronic parts are supplied, and the electronic parts are conveyed to a predetermined board mounting position. Then, it is convenient when the component is pushed into the substrate to a predetermined position for mounting. Although various preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and many modifications can be made without departing from the spirit of the invention. That is.

[0027]

According to the component carrying apparatus of the present invention ,
By the movement of the first moving body by the drive device, the holding device
Can be moved and can be moved up and down in two places. Protection
The vertical movement of the holding device is a concave portion of the connecting portion formed in a substantially V shape.
Since the engaging portion of the first moving body abuts on the slope of
The holding device can move reliably and stably. Therefore, the present invention
According to the above, the holding device can be moved reliably and stably.
While ensuring, simplification of drive unit and electric control unit
With this, it is possible to significantly reduce the manufacturing cost of the component transfer device. Further, according to the invention of claim 2, since the holding device can perform a predetermined rotation only by the movement of the first moving body and the posture of the component can be controlled also in the rotation direction, the electronic component with the lead wire can be mounted on the substrate. It is suitable when it is mounted on.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

2 is a side view of the embodiment of FIG.

FIG. 3 is a plan view illustrating a rotation mechanism of the embodiment of FIG.

FIG. 4 is a front view showing another embodiment of the present invention.

FIG. 5 is a schematic diagram illustrating a conventional technique.

[Explanation of symbols]

 10 First moving body 12 Support plate 14 Roller 18 Second moving body 20 Air cylinder 28 Third moving body 30 Spring 32 Connecting portion 32a Right slope 32b Left slope 33 Recess 34 Shaft 36 Connecting portion 38 Holding device 41 First stopper 42 Second stopper 44 Magnet 46 ShaftDepartment  50 friction rail 52 friction ring 55a third stopper 55b fourth stopper

Claims (2)

[Claims] By 1. A driving apparatus provided in the base, first a first moving body provided to freely reciprocate in the base, which is reciprocably guided in said first mobile in the same direction A second moving body, a third moving body mounted on the second moving body, and reciprocally provided in a direction intersecting with a moving direction of the second moving body; and a third moving body is secured to one end, a holding device for holding a component to be transported, said fixed to the other end of the third moving body, a recess for engagement by contact with the engaging portion provided on the first mobile and formed interlocking unit, provided at a predetermined interval on the base, the second and the first stopper and the second stopper moving body abuts said second mobile is the first stopper and when located between the second stopper, the third moving body when said first moving body is moved in the second shift First with the body 1
Biasing for movement in the same direction as the moving direction of the moving body, the recess and the direction in which the engagement portion of the first moving body engaging the <br/> interlocking portion, the third moving body of the And a biasing member
A transport device, the second moving body of the first stopper or the second
When the first moving body still moves in the state of being brought into contact with the stopper of, the engaging portion of the first moving body presses the connecting portion against the urging force of the urging member. moves in a direction to protrude the third moving body relative to the second moving body
The slope of the connecting portion that abuts the engaging portion.
A component transfer device having a substantially V shape on the side . Wherein said third the holding device on the end of the moving body is rotatably provided a moving direction of the third moving body as an axis, said the base direction of movement of the second moving body A friction rail is disposed in the holding device, and a friction ring provided on the holding device rolls on the friction rail to rotate the holding device. The rotation of the holding device is stopped so that the holding device rotates at a predetermined rotation angle. The third stopper and the fourth stopper are provided on the third moving body, and the holding device is held by the holding device with a predetermined resistance force at the stop position stopped by the third stopper and the fourth stopper. The component transfer device according to claim 1, further comprising: