WO2016088192A1

WO2016088192A1 - Part-gripping tool

Info

Publication number: WO2016088192A1
Application number: PCT/JP2014/081816
Authority: WO
Inventors: 範明岩城
Original assignee: 富士機械製造株式会社
Priority date: 2014-12-02
Filing date: 2014-12-02
Publication date: 2016-06-09
Also published as: JPWO2016088192A1; JP6472815B2

Abstract

In a part-gripping tool (66) in which multiple claws (67) move toward and away from each other by moving a piston (106) using the supply and discharge of air from an air chamber (135) and utilizing the movement of said piston (106), the amount of air leakage from the air chamber (135) is adjusted using an adjustment valve. As a result, by, for example, making the amount of air leakage from the air chamber (135) to be 0 or reduced, the force moving the piston (106) increases and the force of gripping by the multiple claws (67) also increases. On the other hand, by increasing the amount of air leakage from the air chamber (135), the force moving the piston (106) decreases and the force of gripping by the multiple claws (67) also decreases. Thus, with the part-gripping tool (66) described in the present invention, the force of gripping by the multiple claws (67) can be changed to a chosen magnitude by adjusting the amount of air leakage from the air chamber (135).

Description

Parts gripper

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

There are parts gripping tools that grip and detach parts by the approach and separation of multiple nails. In such a component gripping tool, it is desired that the gripping force of the component by the component gripping tool is high in order to securely grip the component. On the other hand, when a low-strength component is gripped by the component gripper, it is desired that the gripping force of the component by the component gripper is low in order to prevent damage or deformation of the component. In view of such a situation, development of a component gripper capable of arbitrarily changing the gripping force is underway. Specifically, for example, as described in the following patent document, a component gripper that grips and detaches a component by moving a plurality of claws closer to or away from each other by the driving force of the electromagnetic motor is applied to the electromagnetic motor. By adjusting the applied current, the gripping force of the component gripper is adjusted.

JP-A-60-242920

According to the component gripping tool described in the above patent document, the gripping force can be arbitrarily changed. However, there is a component gripper that grips and detaches a component by using air pressure to move a plurality of claws closer to and away from each other. Specifically, the component gripper has a piston that moves when air is supplied to and discharged from the air chamber, and the force in the direction of movement of the piston is converted to a force that moves the claws closer to and away from each other. As a result, the component is gripped and detached by the plurality of claws. As described above, in the component gripper having a structure in which a plurality of claws are approached and separated using air pressure, the technique described in the above-mentioned patent document cannot be used, and the gripping force cannot be arbitrarily changed. . The present invention has been made in view of such a situation, and an object of the present invention is to arbitrarily apply a gripping force to a component gripper having a structure in which a plurality of claws are approached and separated using air pressure. Is to change.

In order to solve the above-described problems, a component gripping tool according to the present invention is a component gripping tool that grips / detaches a component by approaching / separating a plurality of claws, and the component gripping tool has an air flow to an air chamber. A piston that moves by supplying / discharging the piston, a conversion mechanism that converts a force in the moving direction of the piston into a force in a direction in which the plurality of claws approach and separate, and an adjustment that adjusts the amount of air leakage from the air chamber And a valve.

In the component gripping tool described in the present invention, the piston is moved by supplying / discharging air to / from the air chamber, and a plurality of claws are approached / separated using the movement of the piston. The amount of air leakage from the air chamber is adjusted by the adjustment valve. For this reason, for example, by reducing the amount of air leakage from the air chamber to 0 or less, the force that the piston moves increases, and the gripping force by the plurality of claws also increases. On the other hand, by increasing the amount of air leakage from the air chamber, the moving force of the piston is reduced, and the gripping force by the plurality of claws is also reduced. As described above, according to the component gripping tool described in the present invention, the gripping force by the plurality of claws can be changed to an arbitrary magnitude by adjusting the amount of air leakage from the air chamber.

It is a perspective view which shows a component mounting machine. It is a perspective view which shows the component mounting apparatus of a component mounting machine. It is sectional drawing which shows the components holding | gripping tool in the state where a pair of nail | claw was spaced apart. It is sectional drawing which shows the components holding | gripping tool in the state where a pair of nail | claw approached. It is an external view which shows a component holding tool.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.

<Configuration of component mounter>
FIG. 1 shows a component mounter 10. The component mounter 10 is a device for performing a component mounting operation on the circuit substrate 12. The component mounting machine 10 includes an apparatus main body 20, a base material conveyance holding device 22, a component mounting device 24,

imaging devices

26 and 28, a component supply device 30, and a bulk component supply device 32. The circuit substrate 12 includes a circuit board, a three-dimensional structure substrate, and the like, and the circuit board includes a printed wiring board and a printed circuit board.

The apparatus main body 20 includes a frame portion 40 and a beam portion 42 that is overlaid on the frame portion 40. The substrate conveyance holding device 22 is disposed in the center of the frame portion 40 in the front-rear direction, and includes a conveyance device 50 and a clamp device 52. The conveyance device 50 is a device that conveys the circuit substrate 12, and the clamp device 52 is a device that holds the circuit substrate 12. Thereby, the base material transport and holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position. In the following description, the conveyance direction of the circuit substrate 12 is referred to as an X direction, a horizontal direction perpendicular to the direction is referred to as a Y direction, and a vertical direction is referred to as a Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.

The component mounting device 24 is disposed in the beam portion 42 and includes two

work heads

60 and 62 and a work head moving device 64. As shown in FIG. 2, a component gripper 66 is detachably provided on the lower end surface of each

work head

60, 62. The component gripping tool 66 has a pair of claws 67. The components are gripped by bringing the pair of claws 67 close to each other, and the gripped components are detached by separating the pair of claws 67 from each other. To do. The work head moving device 64 includes an X direction moving device 68, a Y direction moving device 70, and a Z direction moving device 72. Then, the two

working heads

60 and 62 are integrally moved to arbitrary positions on the frame portion 40 by the X-direction moving device 68 and the Y-direction moving device 70. The

work heads

60 and 62 are detachably attached to the

sliders

74 and 76, and the Z-direction moving device 72 individually moves the

sliders

74 and 76 in the vertical direction. That is, the

work heads

60 and 62 are individually moved in the vertical direction by the Z-direction moving device 72.

The imaging device 26 is attached to the slider 74 in a state of facing downward, and is moved together with the work head 60 in the X direction, the Y direction, and the Z direction. Thereby, the imaging device 26 images an arbitrary position on the frame unit 40. As shown in FIG. 1, the imaging device 28 is disposed between the base material conveyance holding device 22 and the component supply device 30 on the frame portion 40 so as to face upward. Thereby, the imaging device 28 images the components gripped by the component grippers 66 of the

work heads

60 and 62.

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

The bulk component supply device 32 is disposed at the other end portion of the frame portion 40 in the front-rear direction. The separated component supply device 32 is a device for aligning a plurality of components scattered in a separated state and supplying the components in an aligned state. That is, it is an apparatus that aligns a plurality of components in an arbitrary posture into a predetermined posture and supplies the components in a predetermined posture. Note that examples of the components supplied by the component supply device 30 and the bulk component supply device 32 include electronic circuit components, solar cell components, and power module components. Electronic circuit components include components having leads and components not having leads.

<Operation of component mounter>
In the component mounter 10, the component mounting operation is performed on the circuit substrate 12 held by the substrate conveyance holding device 22 with the above-described configuration. Specifically, the circuit substrate 12 is transported to the work position, and is fixedly held by the clamp device 52 at that position. Next, the imaging device 26 moves above the circuit substrate 12 and images the circuit substrate 12. Thereby, the information regarding the error of the holding position of the circuit base material 12 is obtained. In addition, the component supply device 30 or the bulk component supply device 32 supplies components at a predetermined supply position. Then, one of the work heads 60 and 62 moves above the component supply position, and holds the component by the component gripper 66. Subsequently, the work heads 60 and 62 holding the components move above the imaging device 28, and the components held by the component gripper 66 are imaged by the imaging device 28. As a result, information on the error of the component holding position can be obtained. Subsequently, the work heads 60 and 62 holding the components are moved above the circuit substrate 12 and the held components are corrected for errors in the holding position of the circuit substrate 12, errors in the holding position of the components, and the like. To do. Then, when the component gripper 66 detaches the component, the component is mounted on the circuit substrate 12.

<Structure of component gripper>
As described above, in the component mounting machine 10, the component gripping tool 66 grips the component by the approach of the pair of claws 67 and removes the component by the separation of the pair of claws 67, so that the mounting operation is performed. ing. For this reason, it is desired that the gripping force of the component by the component gripper 66 is high in order to grip the component reliably. On the other hand, when a low-strength component is gripped by the component gripper 66, it is desirable that the gripping force of the component by the component gripper 66 is low in order to prevent damage or deformation of the component. In view of the above, the component mounter 10 employs a component gripper 66 that can arbitrarily change the gripping force. Hereinafter, a specific structure of the component gripping tool 66 will be described.

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

The outer housing 100 generally has a cylindrical shape with a lid, and an air circulation pipe 114 extending toward the inside of the outer housing 100 is disposed at the center of the lid portion 112 of the outer housing 100. A through hole 116 penetrating in the axial direction of the air circulation pipe 114 is formed in the air circulation pipe 114. The attachment 102 has a generally disk shape, and a through hole 118 having the same diameter as the through hole 116 of the air circulation pipe 114 is formed at the center thereof. And the attachment 102 is being fixed to the cover part 112 of the outer housing 100 so that the two through-

holes

116 and 118 may connect. The component gripping tool 66 is attached to the lower end surfaces of the work heads 60 and 62 in the attachment 102.

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

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

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

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

The pair of brackets 142 are fixed to the lower end surface of the concave portion 134 of the piston 106 side by side in a slightly spaced state. Note that the direction in which the pair of brackets 142 are aligned with the direction in which the rail 148 extends. One end of a pair of arms 144 is rotatably connected to the pair of brackets 142, and the other end of the pair of arms 144 is rotated away from each other. A pair of sliders 140 are rotatably connected to the other ends of the pair of arms 144. Thereby, when the piston 106 moves in the vertical direction, the pair of arms 144 rotate, and the pair of sliders 140 approach and separate.

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

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

Further, the pair of claws 67 are fixed to the lower end surfaces of the pair of sliders 140 so as to extend downward. The presser member 110 is fixed to the lower end surface of the base 138 so as to be positioned between the pair of claws 67.

In the component gripping tool 66 having the above structure, when air is sucked from the air chamber 135, the component is gripped by the pair of claws 67, and the air is supplied to the air chamber 135. The part gripped by the claw 67 is detached. Specifically, when air is not supplied to the air chamber 135, the piston 106 moves downward due to the elastic force of the coil spring 136 as shown in FIG. 3. At this time, since the pair of sliders 140 are separated by the movement of the link mechanism 108 described above, the pair of claws 67 are also separated.

Then, when the component gripping tool 66 in a state where the pair of claws 67 are separated from each other is pressed toward the component to be gripped, the pressing member 110 comes into contact with the component to be gripped. When the presser member 110 contacts the component to be gripped, the inner housing 104 moves into the outer housing 100 against the elastic force of the coil spring 126, so that the presser member 110 contacts the component. Impact is alleviated.

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

When the component gripped by the component gripping tool 66 is mounted on the circuit substrate 12, a positive pressure is slightly supplied to the air circulation pipe 114 by the positive / negative pressure supply device. Thereby, air is supplied to the air chamber 135, and the piston 106 moves downward as shown in FIG. At this time, the pair of sliders 140 are separated and the pair of claws 67 are also separated by the movement of the link mechanism 108 described above. As a result, the parts gripped by the pair of claws 67 are detached and the parts are mounted on the circuit substrate 12.

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

In addition, a disc-shaped adjustment knob 160 is disposed on the outer peripheral surface of the outer housing 100 so as to cover the through-hole 162, and the adjustment knob 160 is rotatable around its central portion. Yes. The adjustment knob 160 has a through hole 164 having substantially the same shape as the through hole 162. When the adjustment knob 160 is rotated, the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 are Overlap. It should be noted that a plate-like packing (not shown) is attached to the back surface of the adjustment knob 160, and if the through hole 162 of the outer housing 100 does not overlap the through hole 164 of the adjustment knob 160, the plate It is closed by a packing of the shape.

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

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

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

Further, in the component gripping tool 66, the amount of air leakage from the air chamber 135 can be adjusted simply by forming a through hole 162 that penetrates the air chamber 135 and providing an adjustment knob 160 that closes the through hole 162. Is possible. That is, it is possible to adjust the gripping force of the component gripper 66 simply by adding a very simple structure to the existing component gripper.

Furthermore, in the component gripper 66, a triangle mark 166 is marked on the adjustment knob 160, and a scale 168 is marked on the outer housing 100 at a position corresponding to the triangle mark 166. The scale 168 is marked with numerical values (not shown) of 0%, 25%, 50%, and 100%. When the adjustment knob 160 is rotated so that the triangle mark 166 coincides with the scale 168, the triangle The through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 overlap according to the value of the scale 168 that coincides with the mark 166. That is, when the adjustment knob 160 is rotated so that the triangle mark 166 coincides with the scale 168 of 0%, the overlap amount between the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 is 0%. That is, the two through

holes

162 and 164 do not overlap at all. When the adjustment knob 160 is rotated so that the triangle mark 166 coincides with the 100% scale 168, the amount of overlap between the through hole 164 of the adjustment knob 160 and the through hole 162 of the outer housing 100 is 100%. That is, the two through

holes

162 and 164 completely overlap. As a result, the operator can appropriately adjust the gripping force of the component gripping tool 66 by appropriately adjusting the amount of leakage from the air chamber 135.

In addition, this invention is not limited to the said Example, It is possible to implement in the various aspect which gave various change and improvement based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the amount of air leakage from the air chamber 135 is adjusted by adjusting the opening degree of the through hole 162 with the adjustment knob 160, but various members are used. The amount of air leakage from the air chamber 135 can be adjusted. Specifically, for example, the amount of air leakage from the air chamber 135 may be adjusted using a pressure valve, check valve, linear valve, or the like that can adjust the flow rate.

In the above-described embodiment, the adjustment knob 160 that is rotationally adjusted is used as a member that closes the through hole 162. However, various members can be used as long as they can move while the through hole 162 is closed. Is possible. Specifically, for example, it is possible to employ a member that can slide in a state in which the through hole 162 is closed.

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

In the above embodiment, the link mechanism 108 is used as a mechanism for converting the force in the moving direction of the piston 106 into the force in the direction in which the pair of claws 67 approach and separate from each other. However, a gear or the like is used. Various mechanisms such as a mechanism, a mechanism using hydraulic pressure, and the like can be employed.

66: Parts gripper 67: Claw 100: Outer housing (outer shell member) 106: Piston 108: Link mechanism (conversion mechanism) 135: Air chamber 160: Adjustment knob (closing member) (adjustment valve) 162: Through hole (second 1 through hole) (regulating valve) 164: through hole (second through hole) (regulating valve)

Claims

In the component gripper that grips and detaches parts by approaching and separating multiple claws,
The component gripper is
A piston that moves by supplying and discharging air to the air chamber;
A conversion mechanism that converts a force in the moving direction of the piston into a force in a direction in which the plurality of claws approach and separate; and
A component gripping tool comprising: an adjustment valve that adjusts the amount of air leakage from the air chamber.
The regulating valve
A first through hole penetrating from the air chamber to the surface of the outer shell member of the component gripper;
A closing member that closes the first through hole and is movably disposed on the outer shell member;
A second through hole formed in the closing member,
The amount of air leakage from the air chamber is adjusted according to the amount of overlap between the first through hole and the second through hole when the blocking member is moved. Parts gripper.
The blocking member is
An adjustment knob rotatably disposed on the outer shell member,
The regulating valve
The amount of air leakage from the air chamber is adjusted according to the amount of overlap between the first through hole and the second through hole when the adjustment knob is manually rotated. 2. The component gripping tool according to 2.