JP5588232B2 - Drilling device - Google Patents

Description

  The present invention relates to a perforating apparatus.

  2. Description of the Related Art Conventionally, as a punching device for punching a strip-shaped workpiece W as a workpiece, a punching device including a workpiece feeding device that transports the workpiece W to a predetermined plane position of a punching mechanism and a punching die at a predetermined plane position. 2. Description of the Related Art A perforating apparatus including a perforating mold feeding device that transports the perforated metal is known (for example, see Patent Documents 1 and 2).

  FIG. 6 is a plan view of the perforating apparatus 1000 described in Patent Document 1. FIG. As shown in FIG. 6, the conventional punching device 1000 includes a workpiece feeding device (first workpiece feeding device 1310 and second workpiece feeding device 1320) that moves the workpiece W in one direction (Y-axis direction), and a first workpiece feeding device 1320. And a table 1200 on which a workpiece feeding device 310 and a second workpiece feeding device 320 are mounted and the workpiece W can be moved in the other direction (X-axis direction) perpendicular to the one direction (Y-axis direction).

International Publication No. WO2005 / 118239 Pamphlet International Publication No. WO2004 / 110665 Pamphlet

  In the conventional punching device 1000, a feed device (first work feed device 1310 and second work feed device 1320) in one direction (Y direction) and a table 1200 movable in the other direction (X-axis direction) are used. Therefore, there is a problem that the perforating apparatus 1000 is increased in size.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a punching device that can be miniaturized.

[1] The perforating apparatus of the present invention is arranged on the front end side of a plurality of arms connected in multiple stages, an arm drive motor that rotates the arms around the rotation axis of each arm, and the most advanced arm of the multistage connection. An arm mechanism having a tip side motor for rotating the tip side rotation shaft, a punching mechanism having a punch for punching a sheet-like member and a die, a base holding at least the arm mechanism, and the tip A sheet-like member holding part that is held by a side rotation shaft to detachably hold the sheet-like member; an image recognition part that can recognize a planar position of the sheet-like member; and the sheet that is recognized by the image recognition part The arm drive motor that moves the sheet-shaped member based on the current planar position of the sheet-shaped member until the predetermined punching position of the sheet-shaped member matches the planar position of the punching mechanism portion Characterized in that it comprises a and the distal-side motor and a control unit for controlling driving.

  For this reason, according to the punching device of the present invention, the sheet-like member is moved (conveyed) from the current plane position of the sheet-like member until the predetermined punching position of the sheet-like member matches the plane position of the punching mechanism portion. Since a so-called articulated arm mechanism is used as means, the drilling device can be downsized.

  Moreover, according to the punching device of the present invention, the sheet-like member can be moved at a high speed. The effect is particularly remarkable when the amount of movement is large.

  In addition, according to the punching device of the present invention, since the punching device can be reduced in size, power consumption is reduced accordingly.

  Further, according to the punching device of the present invention, the arm mechanism section includes a plurality of arms connected in multiple stages, an arm drive motor that rotates the arm around the rotation axis of each arm, and the cutting-edge arm connected in multiple stages. And a front-end motor that rotates the front-end rotation shaft disposed on the front-end side, the sheet-like member can be moved in parallel without being rotated in the plane direction before and after the sheet-like member is moved. Is possible. Therefore, it is easy to match the predetermined punching position of the sheet-like member after movement with the planar position of the punching mechanism, and the punching position of the sheet-like member is performed at an accurate position as in the conventional punching device described above. It is possible.

  The sheet-like member of the present invention may be any material as long as it can be perforated, and can be applied to any application. For example, a resin sheet or a metal thin plate may be used. It is preferably applied to a circuit board using a resin sheet. Further, the sheet-like member of the present invention may be in the form of a strip or a square, or may be in the form of a tape.

  The plurality of arms connected in multiple stages according to the present invention means a plurality of arms such as two or three arms. In that case, the arms are connected to each other.

[2] In the punching device of the present invention, it is preferable that the sheet-like member holding part includes an adsorption part that adsorbs the sheet-like member to the upper side in the vertical direction.

  With this configuration, when the sheet-like member is moved from the standby position to the predetermined punching position, and when the sheet-like member is moved to the next predetermined position after punching at the position, the sheet-like member is moved to the next predetermined position. It is possible to prevent contact with a table or the like. Therefore, it is possible to prevent the sheet-like member from being damaged during movement.

[3] In the punching device of the present invention, it is preferable that the sheet-like member holding portion includes a frame member fixed to the distal end side rotation shaft, and the suction portion is held by the frame member.

  With this configuration, since the frame member is fixed to the distal end side rotation shaft, the planar angular position of the moved frame member is easily determined by driving control of the distal end side motor. Therefore, the variation in the plane angle position is reduced. For this reason, the planar position of the suction portion before and after the movement does not vary, each suction location of the sheet member by the suction portion is stabilized, and suction strain and suction peeling of the sheet member can be prevented.

[4] In the punching device of the present invention, when the sheet-like member is moved and when the punching mechanism portion is punching the sheet-like member, the sheet-like member is moved upward in the vertical direction. It is preferable to further include a sheet-like member blowing device for blowing up.

  By setting it as such a structure, when the sheet-like member moves, the sheet-like member can be prevented from being damaged without bringing the sheet-like member into contact with the surface of the base such as a table. In addition, even when the punching mechanism portion punches the sheet-like member, the area around the punching portion is not brought into contact with the base surface of the die or the like, so that a large pressure by the punching mechanism portion does not work. It is also possible to do. Therefore, damage around the perforated portion of the sheet-like member can be prevented.

[5] Preferably, the punching device of the present invention further includes an arm mechanism drive motor that moves the arm mechanism in the vertical direction.

  In the punching device of the present invention, the sheet-like member holding portion can be moved in the vertical direction in conjunction with the movement of the arm mechanism portion in the vertical direction by the arm mechanism portion drive motor. Accordingly, the vertical height of the sheet-like member can be optimally adjusted with respect to the die surface before punching the sheet-like member. For example, the sheet-like member can be held slightly higher in the vertical direction than the die surface, and then the punch can be lowered toward the die for punching.

  Further, by slightly raising the sheet-like member held by the sheet-like member holding portion in the vertical direction, when the sheet-like member is moved from the standby position to the predetermined punching position, and after the punching at the position, When moving to the predetermined position, it is possible to prevent the sheet-like member from coming into contact with a die, a base or the like. Therefore, it is possible to prevent the sheet-like member from being damaged during conveyance. Further, in the area around the perforated portion, when the punch is lowered and perforated, it is possible to prevent damage to the lower surface of the sheet-like member without contacting the die.

[6] The punching apparatus of the present invention preferably further includes a punching unit drive motor that moves the punch and a punching unit including a punch drive unit that can move the punch in the vertical direction.

  By adopting such a configuration, the punch can be retracted to the vertically raised position. In that case, when the sheet-like member is moved from the standby position to the first predetermined punching position, the operation of the arm mechanism portion and the sheet-like member holding portion is not hindered.

  In addition, since the position of the punch in the vertical direction with respect to the die can be adjusted, an optimum punch height can be obtained according to changes in the punching conditions such as the material, thickness, and punching diameter of the sheet-like member.

[7] In the punching device of the present invention, the base includes a table on which the sheet-like member is placed and the die is attached in a standby state before the sheet-like member is punched, and the base. A main pillar portion protruding in the vertical direction is provided, and the arm mechanism portion is pivotally supported on one side in the horizontal direction so as to be swingable in the horizontal direction, and the horizontal portion protrudes on the other side. The arm mechanism part drive motor is disposed on the main pillar part, the punching unit drive motor is disposed on the horizontal part, and the punching unit is vertically disposed on the tip side of the horizontal part. It is preferable that the image recognition unit is disposed in the vicinity of the punch in the punching unit.

  Thus, the base and the main pillar part are comprised in the base. Here, a die is arranged on the table. An arm mechanism that is pivotally supported so as to swing in the horizontal direction is formed on one side of the main column, and a horizontal portion is formed on the other side. A punching unit is disposed on the front end side of the horizontal portion, and a punch, an image recognition unit, and the like are disposed on the punching unit. For this reason, the rotation operation of each arm of the arm mechanism unit can be performed freely without being hindered by the punch and the image recognition unit. Therefore, it is possible to perforate the sheet-like member over a high range. Further, it is easy to perforate a sheet-like member having a large planar area.

  In addition, since the arm mechanism drive motor arranged in the main pillar can be arranged in the vicinity of the arm mechanism, the arm mechanism drive motor moving mechanism in the vertical direction by the arm mechanism drive motor can be easily configured. . Similarly, since the punching unit drive motor disposed in the horizontal portion can be disposed in the vicinity of the punching unit, a mechanism for moving the punching unit in the vertical direction by the punching unit drive motor can be easily configured. In addition, an image recognition unit is arranged in the vicinity of the punch, and even if the punch moves in the vertical direction, the image recognition unit moves in the same manner. Therefore, the image recognition unit accurately positions the sheet-like member in the vicinity of the punch. Can be recognized.

1 is a perspective view of a punching device 10 according to an embodiment. 1 is a plan view of a punching device 10 according to an embodiment. The principal part sectional drawing of the periphery of the punching mechanism part 200 in the punching apparatus 10 which concerns on embodiment. Sectional drawing of the peripheral part of the punching mechanism part 200 and the sheet-like member holding part 400 in the punching apparatus 10 which concerns on embodiment. The operation | movement figure of the arm mechanism part 100 in the punching apparatus 10 which concerns on embodiment. The top view of the perforation apparatus 1000 described in patent document 1. FIG.

  Hereinafter, a perforating apparatus of the present invention will be described based on an embodiment shown in the drawings.

[Embodiment]
FIG. 1 is a perspective view of a punching device 10 according to an embodiment. FIG. 2 is a plan view of the punching device 10 according to the embodiment. In FIG. 2, the arm mechanism unit 100 is moved to the initial position. FIG. 3 is a cross-sectional view of the main part around the punching mechanism 200 in the punching apparatus 10 according to the embodiment. FIG. 4 is a cross-sectional view of the periphery of the punching mechanism 200 and the sheet-like holding unit 400 in the punching device 10 according to the embodiment.

  First, the configuration of the punching device 10 according to the embodiment will be described.

  As shown in FIGS. 1 and 2, the punching device 10 according to the embodiment is an arm mechanism unit 100, a punching mechanism unit 200, a base 300 that holds at least the arm mechanism unit 100, and a sheet-like member. An image recognition unit capable of recognizing a planar position of the circuit board 600 and a sheet-like member holding unit 400 that detachably holds the circuit board 600 (see FIG. 4; not shown in FIGS. 1 and 2). Based on the recognition camera 500 and the current planar position of the circuit board 600 recognized by the image recognition camera 500, an arm that moves the circuit board 600 until the predetermined drilling position of the circuit board 600 matches the planar position of the punching mechanism 200. A control unit (not shown) that controls driving of the first arm driving motor 160 and the second arm driving motor 170, which are driving motors, and the front end side motor 180. ) And a.

  The arm mechanism unit 100 is a first arm rotation shaft 130 disposed on one end side of the first arm 110, the second arm 120, and the first arm 110, and the other end side of the first arm 110, and one end of the second arm 120. The second arm rotating shaft 140 disposed on the side (first arm 110 side) and the second arm distal end rotating shaft 150 disposed on the other end (tip) of the second arm 120 are provided. The first arm 110 is pivotally supported at one end side by a first arm rotation shaft 130 so as to be rotatable in the horizontal direction (parallel to the paper surface of FIG. 2), and the second arm 120 is supported at one end side by a second arm rotation shaft 140. The shaft is rotatably supported by the horizontal direction.

  The arm mechanism unit 100 includes a first arm drive motor 160 disposed coaxially with the first arm rotation shaft 130, a second arm drive motor 170 disposed coaxially with the second arm rotation shaft 140, and a second arm tip side shaft. 150 and a front end motor 180 arranged coaxially.

  The first arm 110 can be rotated in the horizontal direction by the first arm drive motor 160 with the first arm rotation shaft 130 as a rotation axis. The second arm 120 can be rotated in the horizontal direction by the second arm drive motor 170 with the second arm rotation shaft 140 as a rotation axis. The second arm distal end side rotation shaft 150 is moved to a planar position determined by the horizontal rotation of the first arm 110 and the second arm 120. Further, the second arm distal end side rotating shaft 150 can be rotated horizontally by driving the distal end side motor 180.

  The arm of the arm mechanism unit 100 according to the embodiment of the present invention is composed of two stages of arms including a first arm 110 and a second arm 120. The second arm 120 corresponds to the most advanced arm with multistage connection.

  The horizontal rotation of the first arm 110 and the second arm 120 is continued by driving the first arm driving motor 160 and the second arm driving motor 170 until the second arm distal end side rotation shaft 150 reaches a predetermined plane position. To do. The rotation of the second arm distal end side rotation shaft 150 is continued by driving the distal end side motor 180 until the planar position of the second arm distal end side rotation shaft 150 reaches a predetermined planar position. The driving of the first arm driving motor 160, the second arm driving motor 170, and the distal end side motor 180 is controlled by a program of a control controller (not shown) as a control unit. A sheet-like member holding portion 400 described later is held at the lower end in the vertical direction of the second arm distal end side rotation shaft 150.

  The above arm mechanism unit 100 is called a horizontal articulated robot, and is called SCARA (Selective Compliance Assembly Robot Arm).

  As will be described in detail later, the punching mechanism unit 200 includes a punch 210, a die 220, and a punch driving unit 211 that drives the punch in a vertical direction as shown in FIG. 3, and punches a circuit board 600 that is a sheet-like member at a predetermined location. To do. The punching unit 710 includes a punch 210 and a punch driving unit 211.

  The circuit board 600 is composed mainly of an epoxy resin in which an electronic circuit element such as a semiconductor element is mounted on the front surface or the back surface, and a conductive pattern is formed on the surface for conduction of each electronic circuit element and conduction to an external electronic device. It is a resin sheet. The circuit board 600 of the present embodiment preferably has a rectangular shape with a size ranging from about 250 mm wide and 250 mm long to about 500 mm wide and about 600 mm long. The thickness of the circuit board 600 is preferably about 300 μm. The perforating apparatus 10 of the present invention perforates a predetermined portion of the circuit board 600. A plurality of predetermined locations on the circuit board 600 are set in advance.

  The base 300 includes a table 310 and a main column part 320.

  The table 310 occupies most of the plane of the base 300, and the circuit board 600 is placed in a standby state before the circuit board 600 is drilled.

  The main column part 320 is configured to protrude from the base 300 in a vertical direction (a direction perpendicular to the plane of FIG. 2 and a horizontal direction). The main column part 320 is arranged on one side of the horizontal direction so that the arm mechanism part 100 is pivotally supported so as to be swingable in the horizontal direction, and the horizontal part 330 is arranged in a direction substantially perpendicular to the arrangement direction of the arm mechanism part 100. Projecting configuration. The arm mechanism portion 100 is pivotally supported by the first arm rotation shaft 130 so as to be swingable with respect to the main column portion 320.

  An arm mechanism drive motor 700 that drives the arm mechanism 100 so as to be movable in the vertical direction is disposed at substantially the center of the plane of the main column part 320. Further, a punching unit 710 is disposed on the front end side of the horizontal portion 330 so as to be movable in the vertical direction with respect to the horizontal portion 330. The punching unit 710 is connected to the front side wall of the horizontal portion 330 by a dovetail structure and is moved in the vertical direction by a punching unit drive motor 711. In addition, as long as the punching unit 710 is configured to be movable in the vertical direction with respect to the side wall on the front end side of the horizontal portion 330, a structure other than the dovetail structure may be employed.

  The detailed structure in which the punching unit 710 can move in the vertical direction with respect to the front end side wall of the horizontal portion 330 as described above is as follows. That is, as shown in FIG. 3, the punching unit drive motor 711 for moving the punching unit 710 in the vertical direction is first arranged in the horizontal portion 330. As the punching unit drive motor 711 rotates, the punching unit 710 is moved in the vertical direction by a transmission mechanism (not shown).

  Although the punching unit 710 constitutes a part of the horizontal portion 330, the punch 210 is arranged on the lower surface side in the vertical direction of the punching unit 710 so as to protrude downward in the same direction.

  The punch 210 moves up and down in the vertical direction by the punch driving unit 211 to punch the circuit board 600. The punch drive unit 211 includes, for example, a punch drive motor, and includes a reciprocating motion conversion mechanism that reciprocates by rotation of the punch drive motor. The punch 210 reciprocates in the vertical direction by the reciprocating motion of the reciprocating motion conversion mechanism. The punch 210 protrudes from the lower end of the punching unit 710. In this embodiment, the two punches 210 and 210 are alternately inserted into the openings of the two dies 220 and 220, respectively, to punch the circuit board 600. In this embodiment, the combination of the punch 210 and the die 220 is two pairs, but may be a pair or three or more pairs.

  The two dies 220 and 220 that constitute a part of the punching mechanism are arranged on the base 300 side at a planar position corresponding to the two punches 210 and 210. The dies 220 and 220 are fixedly held on the base 300, particularly the table 310. The dies 220 and 220 are exposed at a notch portion at a substantially central position of the table 310, and are arranged so that the surface thereof is substantially the same height as the surface of the table 310.

  When the punch 210 is lowered into the die 220 by the punch driving unit 211, the circuit board 600 disposed between the punch 210 and the die 220 is punched.

  An image recognition camera 500 serving as an image recognition unit is configured using a CCD or CMOS image sensor or the like, and is disposed in a punching unit 710. The image recognition camera 500 is disposed in the vicinity of the punch 210 on the lower surface side in the vertical direction of the punching unit 710. The image recognition camera 500 can always accurately recognize the planar position of the circuit board 500 in the vicinity of the punch 210 even if it moves in the vertical direction together with the punch 210. Therefore, the current plane position of the circuit board 600 can be accurately recognized with reference to the plane position of the punch 210, and the predetermined punching position of the circuit board 600 can be accurately aligned with the plane position of the punch 210 by the arm mechanism unit 100.

  The sheet-like member holding unit 400 detachably holds the circuit board 600 that is a sheet-like member, and moves the circuit board 600 from the standby position for punching to the planar positions of the punch 210 and the die 220 of the punching mechanism 200 ( Transport). The sheet-like member holding part 400 is fixed to the lower surface side of the second arm distal end side rotating shaft 150 of the arm mechanism part 100.

  The sheet-like member holding unit 400 is illustrated in FIGS. 1 and 2. The sheet-shaped member holding unit 400 includes a plate-shaped frame member 410 having a rectangular outer shape and a suction unit 420 (see FIG. 4) arranged near the four corners of the frame member 410.

  As shown in FIG. 2, the frame member 410 is fixed to the lower surface of the second arm distal end side rotation shaft 150 by a connecting plate 430. The connecting plate 430 fixes one side of the frame member 410 as shown in FIG. The second arm tip side rotation shaft 150 is fixed to the lower surface. Therefore, the frame member 410 operates integrally with the second arm distal end side rotation shaft 150, and when the second arm distal end side rotation shaft 150 is rotated by the distal end side motor 180, the frame member 410 also rotates according to the rotation. .

  The suction part 420 is arranged at the four corners of the frame member 410, and as shown in FIG. 4, the suction pad 421 of the suction part 420 protrudes downward (on the table 310 side) from the lower surface of the frame member 410, and The upper tube 422 (opposite the table 310) is press-fitted into the four corner holes 411 (see FIG. 2) of the frame member 410 and extends upward. The upper tip side of the tube 422 is connected to a vacuuming device. Therefore, when the lower surface side of the suction pad 421 approaches the vicinity of the surface of the circuit board 600, the suction pad 421 sucks the circuit board 600 and holds it on the lower surface of the suction pad 421. In addition, illustration of the adsorption | suction part 420 is abbreviate | omitted in FIG.1, FIG.2, FIG.5.

  The frame member 410 has an L-shaped member 412 attached to one end thereof as shown in FIGS. The L-shaped member 412 is used to determine the temporary placement position of the circuit board 600 when the circuit board 600 is temporarily placed on the table 310 as shown in FIG. That is, when the worker puts one corner of the circuit board 600 on the L-shaped member 412, and aligns each side of the circuit board 600 with the corresponding side of the frame member 410, the temporary placement position is defined.

  On the base 300, a sheet-like member blowing device 800 is configured. The sheet-like member blowing device 800 is shown in FIG.

  As shown in FIG. 4, the sheet-like member blowing device 800 has a large number of small holes 311 formed in the table 310, and compressed air supplied from a compressed air supply unit (not shown) is blown up from the small holes 311. Configured. When air is blown up from the small holes 311, the circuit board 600 placed on the table 310 is lifted upward from the surface of the table 310. When the circuit board 600 is lifted, when the circuit board 600 is moved to a predetermined position by the arm mechanism unit 100, the lower surface of the circuit board 600 does not contact the surface of the table 310, or the number of contact positions is reduced. Further, when the circuit board 600 is lifted from the table 310 when the circuit board 600 is drilled, even if the portion of the circuit board 600 where the punch 210 descends is bent toward the surface side of the table 310 at the time of drilling, The lower surface of the circuit board 600 does not contact the surface of the table 310. Accordingly, it is possible to prevent damage to the lower surface of the circuit board 600 and disconnection and short-circuiting of the wiring pattern. When the circuit board 600 is lifted as described above, the surface of the table 310 has a slight gap t. The gap t is preferably about 0.2 to 0.3 mm on average although it varies somewhat depending on the location of the circuit board 600.

  As shown in FIG. 4, the circuit board 600 is also lifted from the surface of the table 310 by being sucked by the suction portion 420 and has the gap t. In this case, the suction pads 421 are arranged at the four corners of the frame member 410, but are lifted by the suction pads 421 only at the four corners. Therefore, the circuit board 600 may be loosened to the surface side of the table 310 in the region where the suction pads 421 are not arranged. Therefore, if a large number of small holes 311 are arranged in an area where the suction pad 421 is not arranged, the lower surface of the circuit board 600 can secure a gap t from the surface of the table 310 by the air blown up even if the slack occurs in the circuit board 600. it can. Therefore, it is preferable that the small holes 311 are narrower than the distance between the suction pads 421 arranged in the frame member 410 and more than the number of the suction pads 421.

  Next, the operation of the punching device 10 will be described. The operation is illustrated in FIG.

  First, in the punching device 10, the arm mechanism unit 100 and the frame member 410 move to the standby position A. This standby position A is a preset position among the positions of the arms 110 and 120 and the frame member 410 shown by solid lines in FIG. The arms 110 and 120 of the arm mechanism unit 100 move to the standby position A by driving the motors 160, 170, and 180 based on the program of the control controller. Accordingly, the frame member 410 of the sheet-like member holding unit 400 also moves to the standby position A. Note that before the arm mechanism unit 100 moves to the standby position A, the arm mechanism unit 100 is raised to the upper predetermined position in the vertical direction by the arm mechanism unit drive motor 700. Therefore, the frame member 410 is also raised to the predetermined position.

  Before the arm mechanism unit 100 moves to the standby position A, the punching unit 710 is moved upward in the vertical direction (direction away from the table 310) by the punching unit drive motor 711 and waits at the standby height position. Accordingly, the punch 210 and the image recognition camera 500 are also waiting on the upper side. The punching unit 710 may wait on the upper side even when the arm mechanism 100 moves to the standby position A or after the arm mechanism 100 moves to the standby position A. The standby height position is above the height of the punch 210 in FIG.

  Here, the circuit board 600 to be punched is set at the standby position A of the frame member 410 on the table 310. The set circuit board 600 is indicated by a two-dot chain line. In this set, the operator aligns one corner of the rectangular plane of the circuit board 600 with the right angle portion of the L-shaped member 412 of the frame member 410 at the standby position A, and sandwiches the one corner of the circuit board 600. This is done by aligning two sides parallel to the X axis and Y axis of the table 310, respectively. The circuit board 600 may be set at the standby position A of the frame member 410 using a separate setting device. The circuit board 600 set at the standby position A of the frame member 410 is indicated by a two-dot chain line in FIG.

  Next, the arm mechanism unit 100 and the frame member 410 are moved to the suction position B of the circuit board 600. The suction position B is a position set in advance in the positions of the arms 110 and 120 and the frame member 410 of the alternate long and short dash line in FIG. As described above, the arms 110 and 120 and the second distal-end-side rotation shaft 150 are moved to the above positions by driving the motors 160, 170, and 180 according to a program. The frame member 410 of the sheet-like holding member 400 also moves to the suction position B. The frame member 410 after the movement is a position translated in a plane in relation to the frame member 410 before the movement. This parallel movement is performed by driving the motors 160, 170 and 180. Hereinafter, when the circuit board 600 is moved so that each predetermined perforated portion of the circuit board 600 coincides with the arrangement position of the punch 210 and the die 220, the frame member 410 moves in parallel as described above. By this parallel movement, the planar position after the movement becomes accurate.

  Next, at the suction position B, the arm mechanism unit 100 is lowered to the table 310 side by driving the arm mechanism moving motor 700 and approaches until the suction pad 421 substantially contacts the surface of the circuit board 600. At this time, the suction pad 421 sucks the circuit board 600 because the tube 422 is evacuated. At this time, the image recognition camera 500 recognizes the current plane position of the circuit board 600 according to the program of the control controller. That is, the image recognition camera 500 reads a plurality of reference positions such as a reference hole of the circuit board 600 and recognizes the current position of the circuit board 600. The image recognition camera 500 recognizes the current position of the circuit board 600 after the descent. However, since the distance between the image recognition cameras 500 is approaching, the recognition accuracy of the current position is improved.

  Thereafter, the arm mechanism unit 100 is raised from the surface of the table 310 to a predetermined height by driving the arm mechanism moving motor 700. Accordingly, the circuit board 600 is raised to a predetermined height by being sucked by the suction pad 421. At this time, since air is blown up from the small holes 311 of the sheet-like member blowing device 800, almost the entire surface of the circuit board 600 has a gap t from the surface of the table 310. Note that the air blows up from the small hole 311 may be before the arm mechanism 100 is raised to the predetermined height, or after the air is raised to the predetermined height. Note that the timing at which the image recognition camera 500 recognizes the current position of the circuit board 600 may be after the arm mechanism unit 100 has been raised to the predetermined height.

  Next, the punching unit 710 is lowered by the driving of the punching unit drive motor 711 until the gap between the punch 210 and the die 220 becomes about 1 mm.

  Next, the motors 160, 170, 180 rotate the arms 110, 120 and the second arm distal end rotation shaft 150 until the initial predetermined drilling position of the circuit board 600 matches the planar position of the punch 210 and the die 220. To drive. This rotational drive is performed by the controller recognizing the route from the image recognition camera 500 at the suction position B to the current position of the circuit board 600 until the first predetermined drilling position of the circuit board 600 is reached. .

  Next, the punch 210 is lowered by driving the punch driving unit 211. The circuit board 600 is sandwiched between the pin of the lowered punch 210 and the opening of the die 220 to make a hole. At this time, air is ejected from the small holes 311 to push up the circuit board 600. At this time, the circuit board 600 bends to the die 220 side in the vicinity where the punch 210 is pressed against the die 220 side, but there are some gaps between the surfaces of the die 220 and the table 310 around the circuit board 600. . Due to this gap, the lower surface of the circuit board 600 is not strongly pressed against the surfaces of the die 220 and the table 310. Therefore, it is possible to prevent damage to the lower surface of the circuit board 600 and the electronic components mounted on the lower surface, and it is possible to prevent disconnection and short circuit of the conductive pattern.

  This completes the first drilling. Next, the process proceeds to the second drilling operation of the circuit board 600. When moving to the second drilling, the height position of the punch 210 is not changed. That is, the punching unit drive motor 711 is not driven.

  In this state, the motors 160, 170, and 180 of the arm mechanism unit 100 are driven until the second predetermined drilling position of the circuit board 600 matches the planar position of the punch 210 and the die 220. Thereafter, the drilling operation similar to the drilling operation at the first predetermined position is repeated.

  When the drilling of all the locations of the circuit board 600 is completed by the repetition of the above, the ejection of air from the small hole 311 stops and the vacuuming of the suction part 420 is also stopped. The circuit board 600 in which all the portions are perforated is placed on the table 310. Further, the punching unit 710 is raised to a predetermined height by the punching unit drive motor 711. Thereafter, the arm mechanism unit 100 and the frame member 410 move to the standby position A. The operator removes the drilled circuit board 600 from the table 310.

  The operator aligns the circuit board to be drilled next with the position of the L-shaped member 412 of the frame member 410 waiting at the standby position A, and a series of drilling operations are performed as described above.

  The punching device 10 according to the embodiment has the following operational effects.

  According to the punching device 10 of the embodiment, as a means for moving (carrying) the circuit board 600 from the current planar position of the circuit board 600 until the predetermined drilling position of the circuit board 600 matches the planar position of the punching mechanism portion, so-called Since the articulated arm mechanism is used, the drilling device can be downsized.

  Moreover, according to the punching apparatus 10 of the embodiment, the circuit board 600 can be moved at a high speed. The effect is particularly remarkable when the amount of movement is large.

  In addition, according to the punching device 10 of the embodiment, since the punching device can be downsized, power consumption is reduced accordingly.

  Further, according to the punching device 10 of the embodiment, the arm mechanism unit 100 includes two arms 110 and 120 that are connected in two stages, and an arm drive motor that rotates the arms around the rotation shafts 130 and 140 of each arm. 160 and 170, and a front end side motor 180 that rotates the second arm front end side rotating shaft 150 disposed on the front end side of the second arm 120 at the most advanced stage connected in two stages. Therefore, before and after moving the circuit board 600, the circuit board 600 can be moved in parallel without being rotated in the plane direction. Accordingly, it is easy to match the predetermined drilling position of the circuit board 600 after the movement with the planar position of the punching mechanism portion 200, and the drilling position of the circuit board 600 is set at an accurate position in the same manner as the above-described conventional drilling apparatus. Is possible.

  In addition, according to the punching device 10 of the embodiment, the sheet-like member holding unit 400 includes the suction unit 420 that sucks the circuit board 600 upward in the vertical direction. For this reason, when the circuit board 600 is moved from the standby position A to a predetermined drilling position, and when the circuit board 600 is moved to the next predetermined position after drilling at the position, the circuit board 600 is connected to the die 220, the base 300, or the like. Contact can be prevented. Therefore, it is possible to prevent the circuit board 600 from being damaged during movement.

  Further, according to the punching device 10 of the embodiment, the sheet-like member holding unit 400 includes the frame member 410 fixed to the second arm distal end side rotation shaft 150, and the suction unit 420 is held by the frame member 410. Has been. With this configuration, since the frame member 410 is fixed to the second arm distal end side rotation shaft 150, the planar angle position of the moved frame member 410 is easily determined by driving control of the distal end side motor 180. Therefore, the variation in the plane angle position is reduced. For this reason, the planar position of the suction part 420 before and after movement does not vary, each suction place of the circuit board 600 by the suction part 420 is stabilized, and suction distortion and suction peeling of the circuit board 600 can be prevented.

  Further, according to the punching device 10 of the embodiment, when the circuit board 600 is moved and when the punching mechanism 200 is punching the circuit board 600, the circuit board 600 is blown upward in the vertical direction. A sheet-like member blowing device 800 is further provided. With this configuration, when the circuit board 600 moves, the circuit board 600 can be prevented from being damaged without being brought into contact with the surface of the base 300 such as the table 310. Further, even when the drilling mechanism 200 is drilling the circuit board 600, the area around the drilling portion is not brought into contact with the surface of the base 300 such as the die 220, so that a large pressure is exerted by the drilling mechanism 200. It is also possible not to have it. Therefore, damage around the perforated portion of the circuit board 600 can be prevented.

  Moreover, according to the punching device 10 of the embodiment, the arm mechanism unit driving motor 700 that moves the arm mechanism unit 100 in the vertical direction is further provided. With this configuration, it is possible to move the sheet-like member holding portion 400 in the vertical direction in conjunction with the arm mechanism portion driving motor 700 moving in the vertical direction. Accordingly, the vertical height of the circuit board 600 can be optimally adjusted with respect to the surface of the die 220 before the circuit board 600 is drilled. For example, the circuit board 600 may be held slightly higher in the vertical direction than the surface of the die 220, and then the punch 210 may be lowered toward the die 220 for punching.

  Further, by slightly raising the circuit board 600 held by the sheet-like member holding unit 400 in the vertical direction, the circuit board 600 is moved from the standby position to the predetermined punching position, and after the punching at the position is performed. It is possible to prevent the circuit board 600 from coming into contact with the die 220, the base 300 or the like when moving to the predetermined position. Therefore, it is possible to prevent the circuit board 600 from being damaged during transportation. In addition, the area around the perforated portion can prevent damage to the lower surface of the circuit board 600 without coming into contact with the die 220 when the punch 210 is lowered and perforated.

  Further, according to the punching device 10 of the embodiment, the punching unit drive motor 711 for moving the punching unit 710 including the punch 210 and the punch driving unit 211 capable of moving the punch 210 in the vertical direction is further provided. . With this configuration, the punch 210 can be retracted to the vertically raised position. In this case, when the circuit board 600 is moved from the standby position to the first predetermined drilling position, the operation of the arm mechanism unit 100 and the sheet-like member holding unit 400 is not hindered.

  Further, since the position of the punch 210 in the vertical direction with respect to the die 220 can be adjusted, an optimum height of the punch 210 is obtained according to changes in the drilling conditions such as the material, thickness, and drilling diameter of the circuit board 600. be able to.

  Further, according to the punching device 10 of the embodiment, the base 300 includes the table 310 on which the circuit board 600 is placed and the die 220 is attached in the standby state before the circuit board 600 is punched, and the base 300. The main column part 320 is protruded vertically from the base 300, and the arm mechanism part 100 is pivotally supported on one side in the horizontal direction so that the arm mechanism part 100 can swing in the horizontal direction, and horizontally on the other side. The part 330 is configured to project, the arm mechanism part drive motor 700 is disposed on the main pillar part 320, the punching unit drive motor 711 is disposed on the horizontal part 330, and the distal end side of the horizontal part 330 is A punching unit 710 is arranged to be movable in the vertical direction, and an image recognition camera 500 is arranged in the vicinity of the punch 210 in the punching unit 711. In other words, the arm mechanism portion 100 that is pivotally supported so as to be swingable in the horizontal direction is formed on one side of the main column portion 320, and the horizontal portion 330 is formed on the other side, and the punching unit 710 is disposed on the tip side of the horizontal portion 330. Are arranged, and the punching unit 710 includes the punch 210 and the image recognition unit camera 500. For this reason, the rotation operations of the arms 110 and 120 of the arm mechanism unit 100 can be performed freely without being hindered by the punch 210, the image recognition camera 500, and the like. Therefore, the circuit board 500 can be perforated over a high range. Further, the circuit board 500 having a large planar area can be easily drilled.

  In addition, since the arm mechanism unit driving motor 700 disposed in the main column part 320 can be disposed in the vicinity of the arm mechanism unit 100, the arm mechanism unit driving motor 700 moves the arm mechanism unit 100 in the vertical direction. The mechanism can be easily configured. Similarly, since the punching unit drive motor 711 disposed in the horizontal portion 330 can be disposed in the vicinity of the punching unit 710, the punching unit drive motor 711 can easily move the punching unit 710 in the vertical direction. Can be configured. In addition, the image recognition camera 500 is disposed in the vicinity of the punch 210, and even if the punch 210 moves in the vertical direction, the image recognition camera 500 moves in the same manner. The position of the substrate 500 can be accurately recognized.

  As mentioned above, although this invention was demonstrated based on said embodiment, this invention is not limited to said embodiment. The present invention can be carried out in various modes without departing from the spirit thereof, and for example, the following modifications are possible.

(1) In the embodiment, the arm mechanism unit 100 has a configuration in which two arms are connected, but the present invention is not limited to this. For example, it may have a configuration in which three or more arms are connected. In that case, each arm is connected to each other by each rotation axis. Each rotating shaft is rotationally driven by each arm drive motor. The most advanced arm is the last arm.

(2) In the embodiment, the frame member 410 of the sheet-like member holding part 400 is fixed to the second arm distal end side rotating shaft 150 of the arm mechanism part 100 via the connecting plate 430. It is not limited to. For example, the frame member 410 may be directly fixed to the second arm distal end side rotating shaft 150.

(3) In the embodiment, the sheet-like member holding part 400 is evacuated by the suction part 420, but the present invention is not limited to this. For example, other holding means may be used, and an adhesive material may be disposed on the frame member 410 and the adhesive material may adhere and hold the sheet-like member.

(4) In the embodiment, the arm mechanism unit drive motor 700 is disposed in the main pillar 320, but the present invention is not limited to this. It may be arranged in other places, for example, it may be arranged in the horizontal part 330.

(5) In the embodiment, the punching unit drive motor 711 is disposed in the horizontal portion 330, but the present invention is not limited to this. It may be arranged in other places, for example, it may be arranged in the main pillar part 320.

(6) Although the punching unit 710 is configured to be movable in the vertical direction with respect to the horizontal portion 330 in the embodiment, the present invention is not limited to this. For example, it may be fixed to the horizontal portion 330. In that case, the punching unit 710 and the horizontal portion 330 are integrated.

(7) In the embodiment, the circuit board is used as the sheet-like member, but the present invention is not limited to this. For example, a perforated sheet member other than the circuit board may be used. For example, a resin sheet or a metal thin plate may be used. Further, the shape may be a square shape or an irregular outer shape, or a strip shape or a tape shape.

DESCRIPTION OF SYMBOLS 10 ... Punching device, 100 ... Arm mechanism part, 110 ... 1st arm, 120 ... 2nd arm, 130 ... 1st arm rotating shaft, 140 ... 2nd arm rotating shaft, 150 ... 2nd arm front end side rotating shaft, 160 DESCRIPTION OF SYMBOLS 1st arm drive motor, 170 ... 2nd arm drive motor, 180 ... Front end side motor, 200 ... Punching mechanism part, 210 ... Punch, 211 ... Punch drive part, 220 ... Die, 300 ... Base, 310 ... Table, 311 ... Small hole, 320 ... Main pillar part, 330 ... Horizontal part. 400: sheet-like member holding part, 410: frame member, 411 ... hole, 412 ... L-shaped member, 420 ... suction part, 421 ... suction pad, 422 ... tube, 430 ... connecting plate, 500 ... image recognition camera, 600 ... Circuit board, 700 ... arm mechanism drive motor, 710 ... punching unit. 711 ... punching unit drive motor, 721 ... dovetail groove, 800 ... sheet-like member blowing device, A ... standby position, B ... suction position

Claims (5)

A plurality of arms connected in multiple stages, an arm drive motor that rotates the arm around the rotation axis of each arm, and a tip motor that rotates the tip rotation axis arranged on the tip side of the most advanced arm of the multistage connection An arm mechanism having
A punching mechanism comprising a punch for punching a sheet-like member and a die;
A base for holding at least the arm mechanism,
A sheet-like member holding portion that is held by the distal-end-side rotation shaft and detachably holds the sheet-like member;
An image recognition unit capable of recognizing a planar position of the sheet-like member;
Based on the current planar position of the sheet-like member recognized by the image recognition unit, the arm drive moves the sheet-like member until the predetermined punching position of the sheet-like member matches the planar position of the punching mechanism unit. A drilling device comprising a motor and a control unit that drives and controls the tip side motor ,
A punching unit drive motor for moving the punch and a punching unit provided with a punch drive unit capable of moving the punch in the vertical direction;
The base includes a table on which the sheet-like member is placed and the die is attached in a standby state before the sheet-like member is punched, and a main column portion that protrudes vertically from the base. And
The main pillar portion is pivotally supported so that the arm mechanism portion can swing in the horizontal direction on one side in the horizontal direction, and a horizontal portion protrudes on the other side.
In the main pillar part, the arm mechanism part drive motor is arranged,
In the horizontal portion, the punching unit drive motor is disposed,
On the distal end side of the horizontal portion, the punching unit is arranged to be movable in the vertical direction, the said punching unit punches characterized that you have been disposed the image recognition unit in the vicinity of the punch . The perforating apparatus according to claim 1,
The perforating apparatus, wherein the sheet-like member holding part includes a suction part that sucks the sheet-like member upward in the vertical direction. The perforating apparatus according to claim 2,
The sheet-like member holding portion includes a frame member fixed to the distal end side rotation shaft, and the suction portion is held by the frame member. The perforating apparatus according to claim 3,
When the sheet-like member is moved and when the punching mechanism portion is punching the sheet-like member, the sheet-like member is further provided with a sheet-like member blowing device that blows the sheet-like member upward in the vertical direction. A perforating device characterized. In the perforation apparatus in any one of Claims 1-4,
A perforating apparatus further comprising an arm mechanism drive motor that moves the arm mechanism in a vertical direction.