WO2016088192A1 - Part-gripping tool - Google Patents

Part-gripping tool Download PDF

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Publication number
WO2016088192A1
WO2016088192A1 PCT/JP2014/081816 JP2014081816W WO2016088192A1 WO 2016088192 A1 WO2016088192 A1 WO 2016088192A1 JP 2014081816 W JP2014081816 W JP 2014081816W WO 2016088192 A1 WO2016088192 A1 WO 2016088192A1
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WO
WIPO (PCT)
Prior art keywords
component
hole
air
air chamber
pair
Prior art date
Application number
PCT/JP2014/081816
Other languages
French (fr)
Japanese (ja)
Inventor
範明 岩城
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to JP2016562118A priority Critical patent/JP6472815B2/en
Priority to PCT/JP2014/081816 priority patent/WO2016088192A1/en
Publication of WO2016088192A1 publication Critical patent/WO2016088192A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components

Definitions

  • the present invention relates to a component gripper that grips and detaches a component by approaching / separating a plurality of claws.
  • 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.
  • the gripping force can be arbitrarily changed.
  • 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.
  • 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.
  • 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.
  • a component gripping tool 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.
  • 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.
  • the moving force of the piston is reduced, and the gripping force by the plurality of claws is also reduced.
  • 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.
  • 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
  • the clamp device 52 is a device that holds the circuit substrate 12.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the component gripper 66 detaches the component, the component is mounted on the circuit substrate 12.
  • 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.
  • the component mounter 10 employs a component gripper 66 that can arbitrarily change the gripping force.
  • a specific structure of the component gripping tool 66 will be described.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the piston 106 is urged downward by the elastic force of the coil spring 136 as described above.
  • 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.
  • 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.
  • 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.
  • the pressing member 110 comes into contact with 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the gripping force by the pair of claws 67 is adjusted when the operator rotates the adjustment knob 160.
  • 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.
  • 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.
  • 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.
  • the gripping force by the pair of claws 67 is increased, and the part to be gripped is securely gripped.
  • the adjustment knob 160 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.
  • 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.
  • 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.
  • a triangle mark 166 is marked on the adjustment knob 160
  • 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%.
  • 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.
  • 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.
  • 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.
  • 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.
  • the adjustment knob 160 that is rotationally adjusted is used as a member that closes the through hole 162.
  • 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.
  • the amount of air leakage from the air chamber 135 is adjusted manually, but it can also be adjusted automatically.
  • a mechanism for rotating the adjustment knob 160 at an arbitrary angle by a stepping motor or the like can be provided.
  • 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.
  • a gear or the like is used.
  • Various mechanisms such as a mechanism, a mechanism using hydraulic pressure, and the like can be employed.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)
  • Supply And Installment Of Electrical Components (AREA)

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

部品把持具Parts gripper
　本発明は、複数の爪の接近・離間により部品を把持・離脱する部品把持具に関するものである。 The present invention relates to a component gripper that grips and detaches a component by approaching / separating a plurality of claws.
　部品把持具には、複数の爪の接近・離間により部品を把持・離脱するものがある。このような部品把持具では、部品を確実に把持するべく、部品把持具による部品の把持力は、高いことが望まれる。一方で、強度の低い部品が、部品把持具により把持される場合には、部品の破損，変形等を防止するべく、部品把持具による部品の把持力は、低いことが望まれる。このようなことに鑑みて、把持力を任意に変更することが可能な部品把持具の開発が進められている。具体的には、例えば、下記特許文献に記載されているように、電磁モータの駆動力により、複数の爪を接近・離間させることで、部品を把持・離脱する部品把持具では、電磁モータへの印加電流を調整することで、部品把持具の把持力が調整される。 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.
特開昭６０－２４２９２０号公報JP-A-60-242920
　上記特許文献に記載の部品把持具によれば、把持力を任意に変更することが可能となる。しかしながら、部品把持具には、エア圧を利用して、複数の爪を接近・離間させることで、部品を把持・離脱する部品把持具が存在する。具体的には、部品把持具が、エア室へのエアの供給・排出により移動するピストンを有しており、ピストンの移動方向の力が、複数の爪を接近・離間させる方向の力に変換されることで、部品が複数の爪により把持・離脱される。このように、エア圧を利用して、複数の爪を接近・離間させる構造の部品把持具では、上記特許文献に記載の技術を用いることができず、把持力を任意に変更することができない。本発明は、そのような実情に鑑みてなされたものであり、本発明の課題は、エア圧を利用して、複数の爪を接近・離間させる構造の部品把持具において、把持力を任意に変更することである。 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.
　上記課題を解決するために、本発明に記載の部品把持具は、複数の爪の接近・離間により部品を把持・離脱する部品把持具であって、当該部品把持具が、エア室へのエアの供給・排出により移動するピストンと、ピストンの移動方向の力を、前記複数の爪が接近・離間する方向の力に変換する変換機構と、前記エア室からのエアの漏れ量を調整する調整弁とを備えることを特徴とする。 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.
　本発明に記載の部品把持具では、エア室へのエアの供給・排出により、ピストンを移動させ、そのピストンの移動を利用して、複数の爪が接近・離間する。そして、エア室からのエアの漏れ量が、調整弁によって調整される。このため、例えば、エア室からのエアの漏れ量を０、若しくは、少なくすることで、ピストンの移動する力は大きくなり、複数の爪による把持力も大きくなる。一方、エア室からのエアの漏れ量を多くすることで、ピストンの移動する力は小さくなり、複数の爪による把持力も小さくなる。このように、本発明に記載の部品把持具によれば、エア室からのエアの漏れ量を調整することで、複数の爪による把持力を任意の大きさに変更することが可能となる。 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.
部品実装機を示す斜視図であるIt is a perspective view which shows a component mounting machine. 部品実装機の部品装着装置を示す斜視図である。It is a perspective view which shows the component mounting apparatus of a component mounting machine. １対の爪が離間した状態の部品把持具を示す断面図である。It is sectional drawing which shows the components holding | gripping tool in the state where a pair of nail | claw was spaced apart. １対の爪が接近した状態の部品把持具を示す断面図である。It is sectional drawing which shows the components holding | gripping tool in the state where a pair of nail | claw approached. 部品把持具を示す外観図である。It is an external view which shows a component holding tool.
　以下、本発明を実施するための形態として、本発明の実施例を、図を参照しつつ詳しく説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.
　＜部品実装機の構成＞
　図１に、部品実装機１０を示す。部品実装機１０は、回路基材１２に対する部品の実装作業を実行するための装置である。部品実装機１０は、装置本体２０、基材搬送保持装置２２、部品装着装置２４、撮像装置２６，２８、部品供給装置３０、ばら部品供給装置３２を備えている。なお、回路基材１２として、回路基板、三次元構造の基材等が挙げられ、回路基板として、プリント配線板、プリント回路板等が挙げられる。 <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.
　装置本体２０は、フレーム部４０と、そのフレーム部４０に上架されたビーム部４２とによって構成されている。基材搬送保持装置２２は、フレーム部４０の前後方向の中央に配設されており、搬送装置５０とクランプ装置５２とを有している。搬送装置５０は、回路基材１２を搬送する装置であり、クランプ装置５２は、回路基材１２を保持する装置である。これにより、基材搬送保持装置２２は、回路基材１２を搬送するとともに、所定の位置において、回路基材１２を固定的に保持する。なお、以下の説明において、回路基材１２の搬送方向をＸ方向と称し、その方向に直角な水平の方向をＹ方向と称し、鉛直方向をＺ方向と称する。つまり、部品実装機１０の幅方向は、Ｘ方向であり、前後方向は、Ｙ方向である。 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.
　部品装着装置２４は、ビーム部４２に配設されており、２台の作業ヘッド６０，６２と作業ヘッド移動装置６４とを有している。各作業ヘッド６０，６２の下端面には、図２に示すように、部品把持具６６が着脱可能に設けられている。部品把持具６６は、１対の爪６７を有しており、それら１対の爪６７を接近させることで、部品を把持し、１対の爪６７を離間させることで、把持した部品を離脱する。また、作業ヘッド移動装置６４は、Ｘ方向移動装置６８とＹ方向移動装置７０とＺ方向移動装置７２とを有している。そして、Ｘ方向移動装置６８とＹ方向移動装置７０とによって、２台の作業ヘッド６０，６２は、一体的にフレーム部４０上の任意の位置に移動させられる。また、各作業ヘッド６０，６２は、スライダ７４，７６に着脱可能に装着されており、Ｚ方向移動装置７２は、スライダ７４，７６を個別に上下方向に移動させる。つまり、作業ヘッド６０，６２は、Ｚ方向移動装置７２によって、個別に上下方向に移動させられる。 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.
　撮像装置２６は、下方を向いた状態でスライダ７４に取り付けられており、作業ヘッド６０とともに、Ｘ方向，Ｙ方向およびＺ方向に移動させられる。これにより、撮像装置２６は、フレーム部４０上の任意の位置を撮像する。撮像装置２８は、図１に示すように、フレーム部４０上の基材搬送保持装置２２と部品供給装置３０との間に、上を向いた状態で配設されている。これにより、撮像装置２８は、作業ヘッド６０，６２の部品把持具６６に把持された部品を撮像する。 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.
　部品供給装置３０は、フレーム部４０の前後方向での一方側の端部に配設されている。部品供給装置３０は、トレイ型部品供給装置７８とフィーダ型部品供給装置（図示省略）とを有している。トレイ型部品供給装置７８は、トレイ上に載置された状態の部品を供給する装置である。フィーダ型部品供給装置は、テープフィーダ、スティックフィーダ（図示省略）によって部品を供給する装置である。 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).
　ばら部品供給装置３２は、フレーム部４０の前後方向での他方側の端部に配設されている。ばら部品供給装置３２は、ばらばらに散在された状態の複数の部品を整列させて、整列させた状態で部品を供給する装置である。つまり、任意の姿勢の複数の部品を、所定の姿勢に整列させて、所定の姿勢の部品を供給する装置である。なお、部品供給装置３０および、ばら部品供給装置３２によって供給される部品として、電子回路部品，太陽電池の構成部品，パワーモジュールの構成部品等が挙げられる。また、電子回路部品には、リードを有する部品，リードを有さない部品等が有る。 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.
　＜部品実装機の作動＞
　部品実装機１０では、上述した構成によって、基材搬送保持装置２２に保持された回路基材１２に対して部品の装着作業が行われる。具体的には、回路基材１２が、作業位置まで搬送され、その位置において、クランプ装置５２によって固定的に保持される。次に、撮像装置２６が、回路基材１２の上方に移動し、回路基材１２を撮像する。これにより、回路基材１２の保持位置の誤差に関する情報が得られる。また、部品供給装置３０若しくは、ばら部品供給装置３２は、所定の供給位置において、部品を供給する。そして、作業ヘッド６０，６２の何れかが、部品の供給位置の上方に移動し、部品把持具６６によって部品を保持する。続いて、部品を保持した作業ヘッド６０，６２が、撮像装置２８の上方に移動し、撮像装置２８によって、部品把持具６６に保持された部品が撮像される。これにより、部品の保持位置の誤差に関する情報が得られる。続いて、部品を保持した作業ヘッド６０，６２が、回路基材１２の上方に移動し、保持している部品を、回路基材１２の保持位置の誤差，部品の保持位置の誤差等を補正する。そして、部品把持具６６が部品を離脱することで、回路基材１２に部品が装着される。 <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.
　＜部品把持具の構造＞
　上述したように、部品実装機１０では、部品把持具６６が、１対の爪６７の接近により部品を把持し、１対の爪６７の離間により部品を離脱することで、装着作業が行われている。このため、部品を確実に把持するべく、部品把持具６６による部品の把持力は、高いことが望まれる。一方で、強度の低い部品が、部品把持具６６により把持される場合には、部品の破損，変形等を防止するべく、部品把持具６６による部品の把持力は、低いことが望まれる。このようなことに鑑みて、部品実装機１０では、把持力を任意に変更することが可能な部品把持具６６が採用されている。以下に、部品把持具６６の具体的な構造に関して説明する。 <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.
　部品把持具６６は、図３に示すように、アウターハウジング１００と、アタッチメント１０２と、インナーハウジング１０４と、ピストン１０６と、リンク機構１０８と、押え部材１１０と、１対の爪６７とを含む。 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.
　アウターハウジング１００は、概して、有蓋円筒状をなし、アウターハウジング１００の蓋部１１２の中央部に、アウターハウジング１００の内部に向かって延び出すエア流通管１１４が配設されている。エア流通管１１４の内部には、それの軸方向に貫通する貫通穴１１６が形成されている。また、アタッチメント１０２は、概して円板状をなし、それの中央には、エア流通管１１４の貫通穴１１６と同径の貫通穴１１８が形成されている。そして、２つの貫通穴１１６，１１８が連通するように、アタッチメント１０２が、アウターハウジング１００の蓋部１１２に固定されている。なお、部品把持具６６は、アタッチメント１０２において作業ヘッド６０，６２の下端面に装着される。 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.
　インナーハウジング１０４は、概して、有蓋円筒状をなし、インナーハウジング１０４の蓋部１２０の中央部に、上方に突出する凸部１２２が形成されている。凸部１２２の中央部には、上下方向に貫通する貫通穴１２４が形成されており、その貫通穴１２４の径は、アウターハウジング１００のエア流通管１１４の外径より僅かに大きくされている。また、インナーハウジング１０４の外径は、アウターハウジング１００の内径より僅かに小さくされている。そして、インナーハウジング１０４の蓋部１２０が、アウターハウジング１００の蓋部１１２と向かい合うように、アウターハウジング１００内に挿入されている。さらに、インナーハウジング１０４の凸部１２２の貫通穴１２４に、アウターハウジング１００のエア流通管１１４が挿入されている。これにより、インナーハウジング１０４の蓋部１２０が、アウターハウジング１００の内部において、上下方向に移動する。 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.
　また、アウターハウジング１００の蓋部１１２とインナーハウジング１０４の蓋部１２０との間には、コイルスプリング１２６が圧縮された状態で配設されている。これにより、インナーハウジング１０４は、コイルスプリング１２６の弾性力により下方に向かって付勢されている。なお、インナーハウジング１０４の外周面には、径方向に突出する大径部１２８が形成されており、アウターハウジング１００の下端面には、円環状のストッパ１３０が取り付けられている。そのストッパ１３０の内径は、インナーハウジング１０４の大径部１２８の外径より僅かに小さくされており、その大径部１２８は、ストッパ１３０の上方に位置している。このため、コイルスプリング１２６により付勢されたインナーハウジング１０４の下方への移動は、大径部１２８がストッパ１３０に接触することにより、規制される。 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.
　また、ピストン１０６は、概して、有底円筒状をなし、ピストン１０６の底部１３２の中央部に、凹部１３４が形成されている。ピストン１０６の外径は、インナーハウジング１０４の内径より僅かに小さくされており、ピストン１０６は、底部１３２を下方に向けた状態で、インナーハウジング１０４内に嵌入されている。これにより、ピストン１０６とインナーハウジング１０４とによって、エア室１３５が区画され、ピストン１０６は、インナーハウジング１０４の内部において、上下方向に移動する。また、インナーハウジング１０４の凸部１２２とピストン１０６の凹部１３４との間に、コイルスプリング１３６が圧縮された状態で配設されている。これにより、ピストン１０６は、コイルスプリング１３６の弾性力により下方に向かって付勢されている。 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.
　また、リンク機構１０８は、ベース１３８と、１対のスライダ１４０と、１対のブラケット１４２と、１対のアーム１４４と、ストッパ１４６とを含む。ベース１３８は、概して板状をなし、インナーハウジング１０４の下端部に固定されている。そのベース１３８の下端面には、インナーハウジング１０４の径方向に延びるようにレール１４８が形成されており、そのレール１４８に、１対のスライダ１４０がスライド可能に嵌合されている。なお、１対のスライダ１４０は、レール１４８の中央部を中心に対称的に配設されている。 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.
　また、１対のブラケット１４２は、ピストン１０６の凹部１３４の下端面に、僅かに離間した状態で並んで固定されている。なお、１対のブラケット１４２の並ぶ方向は、レール１４８の延びる方向と一致している。それら１対のブラケット１４２には、１対のアーム１４４の一端部が回動可能に連結されており、１対のアーム１４４の他端部は、互いに離れる方向に回動している。そして、それら１対のアーム１４４の他端部に、１対のスライダ１４０が回動可能に連結されている。これにより、ピストン１０６が上下方向に移動することで、１対のアーム１４４が回動し、１対のスライダ１４０が接近・離間する。 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.
　詳しくは、図４に示すように、ピストン１０６が上昇すると、１対のブラケット１４２に連結されている１対のアーム１４４の一端部も上昇する。その際、１対のアーム１４４の他端部が互いに接近し、１対のアーム１４４の他端部に連結されている１対のスライダ１４０も接近する。一方、ピストン１０６が下降すると、図３に示すように、１対のブラケット１４２に連結されている１対のアーム１４４の一端部も下降する。その際、１対のアーム１４４の他端部が互いに離間し、１対のアーム１４４の他端部に連結されている１対のスライダ１４０も離間する。 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.
　ちなみに、ピストン１０６は、上述したように、コイルスプリング１３６の弾性力によって下方に付勢されている。このため、通常、１対のブラケット１４２に連結されている１対のアーム１４４の一端部が下降し、他端部が離間することで、１対のスライダ１４０は離間している。なお、下降した状態の１対のアーム１４４の一端部の間には、ストッパ１４６が配設されている。このため、１対のアーム１４４の一端部が、最も接近する状態まで下降した際に、それら１対のアーム１４４の一端部は、ストッパ１４６に接触し、アーム１４４の回動が規制される。つまり、コイルスプリング１３６により付勢されたピストン１０６の下方への移動は、１対のアーム１４４の一端部がストッパ１４６に接触することにより、規制される。 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.
　また、１対の爪６７は、１対のスライダ１４０の下端面に、下方に延び出すように固定されている。そして、それら１対の爪６７の間に位置するように、押え部材１１０がベース１３８の下端面に、固定されている。 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.
　上記構造とされた部品把持具６６では、エア室１３５からエアが吸引されることで、１対の爪６７により、部品が把持され、エア室１３５にエアが供給されることで、１対の爪６７に把持された部品が離脱する。詳しくは、エア室１３５にエアが供給されていない場合には、図３に示すように、ピストン１０６は、コイルスプリング１３６の弾性力により、下方に移動している。この際、上述したリンク機構１０８の動きにより、１対のスライダ１４０は離間しているため、１対の爪６７も離間している。 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.
　そして、１対の爪６７が離間した状態の部品把持具６６が、把持対象の部品に向かって押し付けられることで、把持対象の部品に、押え部材１１０が接触する。なお、押え部材１１０が把持対象の部品に接触した際に、コイルスプリング１２６の弾性力に抗して、インナーハウジング１０４がアウターハウジング１００の内部に移動するため、部品への押え部材１１０の接触の衝撃が緩和される。 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.
　押え部材１１０が把持対象の部品に接触すると、エア室１３５からエアが吸引される。詳しくは、アウターハウジング１００のエア流通管１１４には、アタッチメント１０２の貫通穴１１６を介して、正負圧供給装置（図示省略）が接続されている。そして、正負圧供給装置により、エア流通管１１４に負圧が供給されることで、エア室１３５からエアが吸引され、図４に示すように、ピストン１０６が上方に移動する。この際、上述したリンク機構１０８の動きにより、１対のスライダ１４０が接近し、１対の爪６７も接近する。これにより、１対の爪６７が、把持対象の部品を把持する。 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.
　そして、部品把持具６６により把持された部品が、回路基材１２上に装着される際には、正負圧供給装置により、エア流通管１１４に僅かに正圧が供給される。これにより、エア室１３５にエアが供給され、図３に示すように、ピストン１０６が下方に移動する。この際、上述したリンク機構１０８の動きにより、１対のスライダ１４０が離間し、１対の爪６７も離間する。これにより、１対の爪６７により把持された部品が、離脱され、回路基材１２上に部品が装着される。 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.
　上述した部品把持具６６の作動により、部品の把持・離脱が行われるが、部品把持具６６には、図５に示すように、調整つまみ１６０が設けられており、作業者により調整つまみ１６０が調整されることで、１対の爪６７による把持力が調整される。詳しくは、アウターハウジング１００とインナーハウジング１０４とピストン１０６の各々の側壁には、互いに重なるように貫通穴（図５には、アウターハウジング１００の側壁に形成された貫通穴１６２のみが図示されている）が形成されており、それら３つの貫通穴を介して、エア室１３５と部品把持具６６の外部とが連通している。 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.
　また、アウターハウジング１００の外周面には、貫通穴１６２を覆うように、円盤状の調整つまみ１６０が配設されており、その調整つまみ１６０は、それの中央部を中心に回転可能とされている。調整つまみ１６０には、貫通穴１６２と略同形状の貫通穴１６４が形成されており、調整つまみ１６０が回転された際に、調整つまみ１６０の貫通穴１６４と、アウターハウジング１００の貫通穴１６２とが重なる。なお、調整つまみ１６０の裏面には、板状のパッキン（図示省略）が貼着されており、アウターハウジング１００の貫通穴１６２が、調整つまみ１６０の貫通穴１６４と重なっていない場合には、板状のパッキンにより塞がれる。 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.
　このような構造により、作業者が、調整つまみ１６０を回転させることで、１対の爪６７による把持力が調整される。具体的には、把持対象の部品が、強度の高い部品である場合には、調整つまみ１６０の貫通穴１６４と、アウターハウジング１００の貫通穴１６２とが重ならないように、調整つまみ１６０が作業者により調整される。この際、アウターハウジング１００の貫通穴１６２は、調整つまみ１６０のパッキンにより密閉されるため、エア室１３５からエアは漏れない。このため、エア室１３５内の圧力は、エアの吸引により、比較的低くなり、ピストン１０６は、比較的大きな力で上方に向かって引っ張られる。これにより、１対の爪６７による把持力は高くなり、把持対象の部品が確実に把持される。 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.
　また、把持対象の部品が、強度の低い部品である場合には、調整つまみ１６０の貫通穴１６４と、アウターハウジング１００の貫通穴１６２との少なくとも一部が重なるように、調整つまみ１６０が作業者により調整される。この際、調整つまみ１６０の貫通穴１６４と、アウターハウジング１００の貫通穴１６２とが重なっている面積に応じて、エア室１３５からエアが漏れる。このため、エア室１３５からエアが吸引された際のエア室１３５内の圧力は、ある程度しか低くならず、ピストン１０６は、比較的小さな力で上方に向かって引っ張られる。これにより、１対の爪６７による把持力は低くなり、部品の破損，変形等を防止しつつ、把持対象の部品が把持される。 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.
　つまり、部品把持具６６では、作業者が調整つまみ１６０を調整し、エア室１３５からのエアの漏れ量を調整することで、部品把持具６６の把持力を調整することが可能となっている。これにより、部品に応じて、容易に部品把持具６６の把持力を調整することが可能となり、非常に便利である。 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.
　また、部品把持具６６では、エア室１３５に貫通する貫通穴１６２を形成し、その貫通穴１６２を塞ぐ調整つまみ１６０を配設するだけで、エア室１３５からのエアの漏れ量を調整することが可能となっている。つまり、既存の部品把持具に、非常にシンプルな構造を追加するだけで、部品把持具６６の把持力を調整することが可能となる。 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.
　さらに、部品把持具６６では、調整つまみ１６０に三角印１６６が記され、アウターハウジング１００には、その三角印１６６に対応する位置に目盛り１６８が記されている。目盛り１６８には、０％，２５％，５０％，１００％の数値（図示省略）が記されており、三角印１６６が目盛り１６８に一致するように、調整つまみ１６０が回転されると、三角印１６６に一致する目盛り１６８の数値に応じて、調整つまみ１６０の貫通穴１６４と、アウターハウジング１００の貫通穴１６２とが重なる。つまり、三角印１６６が０％の目盛り１６８に一致するように、調整つまみ１６０が回転されると、調整つまみ１６０の貫通穴１６４と、アウターハウジング１００の貫通穴１６２との重なり量が０％、つまり、２つの貫通穴１６２，１６４は、全く重ならない。また、三角印１６６が１００％の目盛り１６８に一致するように、調整つまみ１６０が回転されると、調整つまみ１６０の貫通穴１６４と、アウターハウジング１００の貫通穴１６２との重なり量が１００％、つまり、２つの貫通穴１６２，１６４は完全に重なる。これにより、作業者は、エア室１３５からの漏れ量を適切に調整することで、部品把持具６６の把持力を適切に調整することが可能となる。 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.
　なお、本発明は、上記実施例に限定されるものではなく、当業者の知識に基づいて種々の変更、改良を施した種々の態様で実施することが可能である。具体的には、例えば、上記実施例では、貫通穴１６２の開度を調整つまみ１６０により調整することで、エア室１３５からのエアの漏れ量を調整しているが、種々の部材を用いて、エア室１３５からのエアの漏れ量を調整することが可能である。具体的には、例えば、流量を調整可能な圧力弁，逆止弁，リニア弁等を用いて、エア室１３５からのエアの漏れ量を調整してもよい。 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.
　また、上記実施例では、貫通穴１６２を塞ぐ部材として、回転調整される調整つまみ１６０が採用されているが、貫通穴１６２を塞いだ状態で移動可能であれば、種々の形態の部材を採用することが可能である。具体的には、例えば、貫通穴１６２を塞いだ状態でスライド可能な部材等を採用することが可能である。 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.
　また、上記実施例では、エア室１３５からのエアの漏れ量が、手動で調整されているが、自動で調整することも可能である。具体的には、例えば、調整つまみ１６０をステッピングモータ等により任意の角度に回転させる機構を設けることが可能である。 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.
　また、上記実施例では、ピストン１０６の移動方向の力を、１対の爪６７の接近・離間する方向の力に変換する機構として、リンク機構１０８が採用されているが、歯車等を利用した機構，油圧等を利用した機構等、種々の機構を採用することが可能である。 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：部品把持具　　６７：爪　　１００：アウターハウジング（外殻部材）　　１０６：ピストン　　１０８：リンク機構（変換機構）　　１３５：エア室　　１６０：調整つまみ（閉塞部材）（調整弁）　　１６２：貫通穴（第１貫通穴）（調整弁）　　１６４：貫通穴（第２貫通穴）（調整弁） 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 (3)

  1. 　複数の爪の接近・離間により部品を把持・離脱する部品把持具において、
    　当該部品把持具が、
    　エア室へのエアの供給・排出により移動するピストンと、
    　ピストンの移動方向の力を、前記複数の爪が接近・離間する方向の力に変換する変換機構と、
    　前記エア室からのエアの漏れ量を調整する調整弁と
    　を備えることを特徴とする部品把持具。     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.
  2. 　前記調整弁が、
    　前記エア室から当該部品把持具の外殻部材の表面に貫通する第１貫通穴と、
    　前記第１貫通穴を塞ぐとともに、前記外殻部材に移動可能に配設された閉塞部材と、
    　前記閉塞部材に形成された第２貫通穴と
    　を有し、
    　前記閉塞部材が移動された際の前記第１貫通穴と前記第２貫通穴との重なり量に応じて、前記エア室からのエアの漏れ量を調整することを特徴とする請求項１に記載の部品把持具。     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.
  3. 　前記閉塞部材が、
    　前記外殻部材に回転可能に配設された調整つまみであって、
    　前記調整弁が、
    　前記調整つまみが手動で回転操作された際の前記第１貫通穴と前記第２貫通穴との重なり量に応じて、前記エア室からのエアの漏れ量を調整することを特徴とする請求項２に記載の部品把持具。     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.
PCT/JP2014/081816 2014-12-02 2014-12-02 Part-gripping tool WO2016088192A1 (en)

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CN108366521A (en) * 2017-07-26 2018-08-03 珠海智新自动化科技有限公司 One kind is quick, intelligent to change head abnormal shape plug-in machine
JP2018148045A (en) * 2017-03-06 2018-09-20 パナソニックＩｐマネジメント株式会社 Component mounting device and component mounting method

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JP2018148045A (en) * 2017-03-06 2018-09-20 パナソニックＩｐマネジメント株式会社 Component mounting device and component mounting method
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