JPH0727103Y2 - Pickup head - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a pickup head capable of gripping, for example, a can type work at a correct position.

(Prior Art) For example, a can type work is inserted and held in an equal pitch hole provided in a carrier tape, the carrier tape is advanced by one pitch, and the work at the pickup position is picked up and carried to a bonding processing stage or the like. In order to do so, the conventional method is for the operator to carry it with tweezers.
There are a method of carrying using vacuum suction, a method of using a spring type pickup device, and the like.

(Problems to be solved by the invention) However, in any of the above methods, a work cannot be picked up at a correct position, and therefore, a pickup head is required that can always hold a predetermined gripping force and grip a work at a correct position. The problem was how to solve this problem.

(Means for Solving the Problems) The present invention has been made to solve the above problems, and the means is to support the head main body so that the heads are rotatable and the rotation axes are parallel to each other. The first gripping claw and the second gripping claw, a first rotating member fixed to the rotating shaft of the first gripping claw and having a first slope, and a rotation of the second gripping claw. A second rotating member fixed to the moving shaft and having a second inclined surface symmetrically provided with the first inclined surface; and a second rotating member provided between the head main body and the first rotating member. A relatively strong first spring for urging the first gripping claw in the article gripping direction via a first rotating member, and the head main body and the second rotating member. Second
A second spring that is weaker than the strength of the first spring that biases the second grip claw in the article gripping direction via the rotating member, and a first spring that is fixed to the first grip claw. A stopper for restricting the article gripping position of the first gripping claw, a contact surface of the stopper provided on the head body side, and the first slope and the second slope fixed to the head body. By pressing the intersecting portion, the first and second rotating members are moved to the first spring and the second rotating member, respectively.
And a pressing means for rotating the spring against the biasing force of the spring.

(Embodiment) Hereinafter, an embodiment of the present invention will be described with reference to FIG.
The explanation will be given based on FIG. 2 which is a view of the grasping claw portion in the direction of arrow A, FIG. 3 which is a side view, and FIG. 4 which is a rear view of FIG.

W is a can type work, which is inserted and held in holes formed in the carrier tape 1 at equal pitches.
Numeral 2 is a magazine for supporting the carrier tape 1, which is fixed on an XY table (not shown) and is fed one pitch in the direction of arrow X while the carrier tape 1 is supported by the operation of the XY table. M is a workpiece gripping position.

Next, the configuration of the entire pickup head will be described. _3-1 is a first gripping claw, _3-2 is a second gripping claw, and a V-shaped gripping portion 4 as shown in FIG.

5 _-1 and 5 _-2 are rotation axis of the rotating shaft and the second gripping claws of respective first gripping claws, are respectively rotatably supported on the head body 6. 7 the stopper which is screwed into the first gripping claws 3 _-1 adjustably by screws, 8 is a contact surface of the stopper provided at a portion out of the head body 6 Zhang.

9 _-1 is a first rotating member having a first slope 10 _-1 and fixed to a rotating shaft 5 _-1 , 9 _-2 is a second symmetric member which is symmetrical to the first slope 10 _-1 . Is a second rotating member having a slope 10 _-2 and fixed to the rotating shaft _5-2 .

_{Reference numeral} 11 _-1 is a first bending rod fixed to the first rotating member 9 _-1 , and a pin 12 _-1 fixed to the tip portion of the first bending rod 11 _-1 and the head body 6 side. A first spring 13 _-1, which has a relatively large tensile force, is stretched between and.

_11-2 is the second bent rod which is fixed to the second rotating member 9 _-2, pin _12-2 which is fixed to the distal end of the second bent rod _11-2 and the head body 6 side Between the first spring 13
Tensile strength than _-1 weak second spring 13 _-2 is stretched.

Further, in this embodiment, the roller 14 is placed at the portion where the both slopes 10 _-1 and 10 _-2 intersect.

15 is a push whose main body is fixed to the head main body 6.
A pull solenoid whose actuator 16 is always in contact with the roller 14. FIG. 4 shows the pull state.

The operation of the apparatus of this embodiment having the above structure will be described.

As shown in the figure, when the push-pull solenoid 15 is in the pull state, the first grasping pawl _3-1 has a strong spring 13
_{-1 by} the pulling force of the first bending bar 11 _-1 , the first rotating member
9 _-1 , via the turning shaft 5 _-1 , is urged clockwise P1 in FIG. 1 with respect to the turning center of the turning shaft until the stopper 7 contacts the contact surface 8. .

At this time the second gripping claws 3 _-2 second bent rod _11-2 by relatively weak pulling force of the spring 13 _-2 second rotating member 9 _-2, the pivot shaft _5-2 Via the rotation center of the rotation shaft in the counterclockwise direction P ₂ in FIG.

Therefore, the work W is gripped by both gripping claws 3 _-1 and 3 _-2, and the tensile force of the spring 13 _-1 is stronger, so that the work W is gripped at the correct position regulated by the stopper 7. .

Next, the correctly gripped work W is moved to another processing stage, and when the work grip is released, the push-pull solenoid 15 is put in the push state.

That is, in FIG. 4, the actuator 16 is moved below the illustrated state. Then, the roller 14 is pushed by the tip surface of the actuator 16. Then first order slope _10-2 towards weak spring force that is, the second rotary member 9 _-2 side is pressed, the second rotating member 9 _-2, the tensile force of the second spring 13 _-2 Against it, it rotates counterclockwise in FIG. 4, and the second gripping claw 3 _-2 fixed to its rotation axis _5-2 rotates clockwise in FIG. 1 to Q ₂ . Then, when the second grip claw 3 _-2 comes into contact with the stopper (not shown), this time the actuator 16
Tip presses the first inclined surface 10 _-1 through roller 14, the first rotating member 9 _-1 pivot shaft 5 against the tension of a strong first spring 13 _{-1 - It} rotates clockwise about the rotation center of ₁ in FIG. 4 and is fixed to the rotation axis 5 _-1 of the _first rotation center.
The gripping claw 3 _-1 is rotated counterclockwise Q ₁ in FIG. Therefore, both gripping claws 3 _-1 and 3 _-2 are opened to release the gripping.

Next, in order to grip a new work W again, first, the head body 6 is moved to the correct gripping position, and then the push
Move the pull solenoid 15 to the pull position as shown in FIG. Then, first, the first inclined surface 1 of the first rotating member 9 _-1 related to the first spring 13 _-1 having a strong spring force.
0 _-1 rotates counterclockwise in FIG.
The by follow, the first gripping claws 3 _-1 fixed to the pivot shaft 5 _-1 is rotated to the stopper 7 in the clockwise direction P ₁ in Figure 1 comes into contact with the abutment surface 8 Work Prepare for W positioning.

At the same time, the second inclined surface 10 _-2 of the second rotating member 9 _-2 associated with the second spring 13 _-2 having a weak spring force rotates clockwise in FIG. 4 to follow the actuator 16. by turning shaft _5-2 second gripping claws 3 _-2 fixed to the pivots counterclockwise direction P ₂ in Figure 1, in cooperation with the first gripping claws 3 _-1 Hold the work W at the correct position.

Although the tension spring is used as the spring in the above embodiment, the compression spring can be used by changing the mounting location.

(Effect of the Invention) As described above, according to the present invention, since the structure is as described in the utility model registration claim, the can type work or the like is grasped at the correct position,
In addition, the grip can be released, which is particularly suitable for use in a continuous automatic processing machine or the like.

[Brief description of drawings]

FIG. 1 is a front view of an embodiment of the present invention, FIG. 2 is a bottom view of the grip claw of FIG. 1 viewed from below, FIG. 3 is a side view of FIG. 1, and FIG. FIG. 4 is a sectional view taken along line IV-IV in the figure. 1 ... Carrier tape, 2 ... Magazine, 3 _-1 ... 1st
Gripping claw, 3 _-2 ... second gripping claw, 4 ... gripping part, 5 _-1 ,
5 _-2 …… Rotary axis, 6 …… Head body, 7 …… Stopper,
8 ... abutting surface, 9 _-1 ...... first rotating member, 9 _-2 ...... second rotating member, 10 _-1 ...... first slope, 10 _-2 ...... second slope ,
11 _-1 …… 1st bent bar, 11 _-2 …… 2nd bent bar, 12 _-1 ,
12 _-2 ...... pin, 13 _-1 ...... first spring, 13 _-2 ...... second spring, 14 ...... roller

Claims (1)

[Scope of utility model registration request] 1. A first grip claw and a second grip claw that are respectively rotatable with respect to a head body and are pivotally supported such that their rotation axes are parallel to each other, and a rotation of the first grip claw. A first rotating member fixed to the moving shaft and having a first inclined surface; and a second inclined surface fixed to the rotating shaft of the second grip claw and provided symmetrically to the first inclined surface. A second rotating member that is provided, and is provided between the head main body and the first rotating member, and urges the first grip claw in the article gripping direction through the first rotating member. A relatively strong first spring is provided between the head body and the second rotating member, and the second gripping claw is biased in the article gripping direction via the second rotating member. A second spring weaker than the strength of the first spring and a first spring fixed to the first grip claw. A stopper for regulating the article gripping position of the first gripping claw, an abutment surface of the stopper provided on the head body side, and an intersection portion of the first slope and the second slope fixed to the head body. By pressing the first rotating member and the second rotating member, respectively.
And a pressing means for rotating the spring against the biasing force of the spring.