JPS58223578A - Pick and place unit - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a pick and place unit.

An example of a conventional pick-and-place unit is shown in FIG. That is, on the pace 8, a pair of guides 9 are fixed on both sides of a cylinder 40 fixed in the center. A first movable base 6 is coupled to a pair of guide pawls 1o that slidably pass through the guide 9 and to the cylinder 40 opening,')9. This movable base 6 also has a pair of guides 25 arranged on both sides of the cylinder 5 and the bottle. A pair of guide pavers 26 slidably pass through this guide 25.
A second moving pace 7 is coupled to the rods of the cylinders 5 and 5. A required chuck is attached to the lower end surface of the movable base 7, and parts are assembled into a trap.

In such a big and place unit,
The amount of movement of the first and second moving bases 6 and 7 is the same as the stroke of the normal cylinders 4 and 5. When changing the amount of movement of each moving cylinder 6 and 7, it is necessary to provide a stopper 2 at each guide lever (10 and 26) or to
We have devised measures such as inserting collar 3 into rod 5.

However, in order to change the amount of movement (stopping position) of each moving base 6 and 7 using these stoppers 2 and collars 3, it is necessary to manually change the position of the stoppers 2 or replace the collars 3 each time. This makes management complicated. Especially when used in automatic assembly processes for high-mix, low-volume production.
Adjustments are required every time the product type changes, which has the disadvantage of lowering productivity, such as lowering the operating rate of the entire assembly process.

SUMMARY OF THE INVENTION An object of the present invention is to provide a big-and-place unit that overcomes the above-mentioned drawbacks of the prior art and can easily change the stopping position to accommodate a high-mix, low-volume production assembly line.

In order to achieve the above object, in the present invention, a rotary drive source, a rotary brake coupled to the rotary drive source, and a feed screw are arranged on the pace of the pick-and-place unit, and a rotary brake and a feed screw coupled to the rotary drive source are arranged and screwed onto the feed screw. A movable stopper is provided at a position, and a fixed stopper is arranged on the movable base to face the movable strike and the movable stopper, and the stopping position is determined by the contact of each stopper. The electromagnetic valve for deceleration is provided with a detection line for detecting the relative position of the movable stopper and the fixed stopper, and the movable base is decelerated and stopped in response to a signal from this detector.

The present invention will be specifically explained below according to embodiments shown in the drawings.

FIG. 2 shows an embodiment of the big-and-place unit according to the present invention, in which a pair of guides 9 are placed above the pace 8.
α・9b is attached.

A fixed stop, pawl 11, is fixed to one end of a pair of guide pavers 10α, 10h that slide while being guided by the guides 9α, 9h. A movable base 12 is attached to the other end of the guide pavers 10α and 10b.

This moving base 12 has a cylinder 1 fixed to the pace 8.
3, the cylinder 13 is connected to the main solenoid valve 14,
The linear movement is caused by the operation of the sub-electromagnetic valve 15 and the throttle valve 16. Even more busy, the feed screw 17 is on the bearing 18 on top of the pace 8.
It is rotatably supported by α・18h. One end of the feed screw 17 is connected to the brake 19 and the pulse motor 2.
0 is concatenated.

Therefore, when the brake 19 is turned off and the pulse motor 20 is driven, the feed screw 17 rotates. A movable stopper 21 is attached to the feed screw 17 and has a female thread that engages with the feed screw 17.

A groove is formed on the lower surface of the movable stopper 21 to fit into the rail 22 formed on the pace 8.
The rotation of the movable stopper 21 causes the movable stopper 21 to move linearly. Here, the feed screw 17 is a fixed stroke,
The holes are made to penetrate so that they do not interfere with each other. Furthermore, a proximity sensor 26 is mounted on the top surface of the movable stopper 21.
is attached, and a displacement plate 24 for operating the proximity sensor 23 is attached to the fixed bar 11.

On the other hand, a pair of guides 25α are provided on the end surface of the moving base 12.
・25b is attached. This guide 25cL・
A pair of guide pavers 26α and 2 that move guided by 25h.
64, a stopper 2 is fixed to one end of the guide pawl 25h. A movable base 7 is fixed to the lower end of each guide pad 26 (L/2675).
The rod 27 of the cylinder 5 attached to the cylinder 2 is connected to the movable base 7 via a joint 28. Therefore, the movable base 7 moves linearly by the operation of the solenoid valve 29 of the cylinder 5. Here, the mouth of cylinder 5,
7 is fitted with color 3. The control device 30 controls the pulse motor 20 and the brake 19, and the main solenoid valve 14 for driving the cylinder 16. Sub solenoid valve 15 and cylinder 5
The driving solenoid valve 29 is controlled.

The operation will be explained below according to the order of operation. When the cylinder 5 turns off the solenoid valve 29, it is pulled, and the movable base 7 moves along the guides 25α and 25b together with the guide pads 26α and 264 in the direction of arrow J, and the collar 3 fitted on the rod 27 of the cylinder 5 moves toward the cylinder. It rises until it hits 50 bodies. Next, when the main solenoid valve 14 and the auxiliary solenoid valve 15 are turned off, the cylinder 13 is pulled, and the movable base 12 moves toward the guide pad 10.
It moves along the guides 9α and 9b along with α and 10b in the direction of the arrow, and retreats to the stroke end of the cylinder 130 and enters the standby state.

Next, the movable stopper 21 is positioned. First, the pulse motor 20 is powered on, and then the brake 19 is changed from a braking state to a releasing state. Next, when the pulse motor 20 is driven by the control device 30 and the feed screw 17 is turned, the movable stopper 21 moves along the rail 22 in the direction of arrow H and stops at the origin position set by the control device 30. Then, when the pulse motor 20 is driven by the number of pulses newly set by the control device 30 and the feed screw 17 is turned, the movable stopper 21
moves along the rail 22 in the direction of arrow 1 and is newly positioned. After that, the brake 19 is put into a braking state, and then the pulse motor 20 is turned off, and the positioning operation of the movable stopper 21 is completed.

The above is the setup process when changing the operating stroke of the pick-and-place unit.

After the setup is completed, the cylinder 3 performs a pushing operation when the main solenoid valve 14 is turned on, and the moving base 12. is guidepa 10
Move in the direction of arrow N with α・10b, fixed strike, and par 1. At this time, the pressure plate 24 attached to the fixed stopper 1 turns on the proximity sensor 23 attached to the movable stopper 21, and at the same time, the solenoid valve 15 is turned on by the control device 30, and the throttle valve 16 turns on the cylinder 5. The exhaust flow rate is reduced, the moving base 12 is decelerated, and moves forward at a low speed until the fixed stopper 11 hits the movable stopper 21. Therefore, the inertia load due to the load on the movable base 12 when stopped is reduced, and the thrust of the cylinder 15 acts on the movable stopper 21 via the fixed stopper 11, and rotational force is generated in the feed screw 17, but the rotational force is greater than this rotational force. If the brake 19 has a sufficiently large braking torque, the feed screw 17 will not rotate.

Therefore, the positioning function is fulfilled while the movable striker 21 remains stopped. Next, the cylinder 5 is connected to the solenoid valve 29
When turned ON, the moving base 7 moves to the guide pa 26α.
- Along with 26h, the stopper 2 fixed to the guide pad 26b descends in the direction of arrow P along the guides 25α and 25bK until it hits the upper end surface of the guide 25A. Next, when the solenoid valve 29 is turned OFF, the cylinder 5 is pulled, and the movable base 7 moves along the guides 25α and 25A together with the guide pads 26α and 26.6 in the direction of arrow J. 3 rises until it hits the cylinder 50 body.

Next, when the main solenoid valve 14 and the auxiliary solenoid valve 15 are turned off, the cylinder 13 is pulled, and the movable base 12 moves toward the guide pad 10.
α・10b is fixed and moved back together with bar 11 in the direction of the arrow to the stroke end. Next, the cylinder 5 is connected to the solenoid valve 29
When turned ON, the moving base 7 moves in the direction of the arrow, and the stopper 2 fixed to the guide pad 26b moves toward the guide 25b.
The cylinder 5 descends until it touches the upper end surface, and when the solenoid valve 29 is turned OFF, the cylinder 5 is pulled, and the movable base 7 moves in the direction of arrow M to move the collar 3 fitted onto the rod 27 of the cylinder 5.
rises until it touches the main body of the cylinder 50.

During the sequence operations described above, by opening and closing the chuck (not shown) attached to the moving base 7 to hold and release the parts, it is possible to take out and assemble the parts. becomes.

In the above embodiment, a case has been described in which one movable stopper 21 controls the stop position of the movable base 12 in the pushing direction of the cylinder 13. 23, adding one set of shikiri plate 24 and movable stopper 21, cylinder 13
Needless to say, the stop position of the movable base 12 in the pulling direction can also be controlled. Further, similar control can be performed for the moving base 7 as well.

Note that as the control device 30, a sequence control device including positioning control of the movable stopper 21 using a numerical control device may be used.

Further, the process of positioning the movable base 12 by pushing the cylinder 13 is shown in FIGS. 3(α), (b), and (C). Among these three examples of solenoid valve switching control methods, method (α) is the method described in the above embodiment. (A) is cylinder 13
In this method, the proximity sensor 23 is operated by the pusher plate 24, the main solenoid valve 14 is temporarily turned off, and the sub solenoid valve 15 is turned on. Also, (C)
is a method in which the main solenoid valve 14 is only temporarily turned off, but the sub solenoid valve 15 is not operated. In either method, the position at which the proximity sensor 23 is operated by the displacement plate 24 is set in advance as the switching timing of the solenoid valve from the relationship between the load and speed of the moving base 12. It serves as a kind of shock absorber by alleviating the impact acting on 21.

As described above, according to the present invention, the movable stopper movable by the feed screw is provided on the base, and the fixed stopper facing the front movable stopper is provided on the movable base.
By moving the movable stopper on the base side, the stopping position of the movable base can be arbitrarily and easily set. In addition, the movable strut, bar and fixed strut horns are included.

Since the relative position is inspected and the movable base is decelerated and then stopped and positioned by switching control of the solenoid valve for driving the cylinder, it is possible to improve the stopping accuracy. Therefore, the operation rate of the entire assembly process for high-mix, low-volume production can be improved,
It has the effect of greatly improving productivity.

[Brief explanation of the drawing]

FIG. 1 is an external view of the main body of a conventional big-and-place unit, FIG. 2 is an external view of the main body of a big-and-place unit according to the present invention, and FIG. 3 is a positioning process diagram. 9・・・・・・・・・Guide 10・・・・・・
...Guide pa 11 ...Fixed stopper 12 ...Moving base 16 ......
・Cylinder 14...--Main solenoid valve 15...
......Sub solenoid valve 16...-- Throttle valve
17...Feed screw 19...
・Brake 20...Pulse motor 21・
......Movable stopper 22...--Rail 26...
・Proximity sensor 24・・・・・Shikiri plate 60・
2... Control device $ 1 Figure

Claims (1)

[Claims] a pace in which a first cylinder and a guide member are arranged at a predetermined interval; one end of a first sliding member that slidably penetrates the guide member and is coupled to one end of the mouth and door of the cylinder;
and a first movable base in which a second cylinder and a guide member are arranged at a predetermined interval, one end of a second sliding member that slidably passes through the second guide member, and the second a second moving pace connected to one end of the rod of the cylinder, and the moving direction of the second moving base intersects with the moving direction of the first moving base at a predetermined angle. 22. G, a feed screw disposed on the pace in parallel with the first cylinder and rotatably; a rotary brake and a rotary drive source coupled to one end of the feed screw; A movable stop and pa are formed with a female thread to be screwed into the feed screw and are slidably arranged on the pace, and a fixed stop and pa are provided on the first sliding member to face the movable stopper. , a detection mechanism is provided for detecting the relative position of the fixed stopper and the movable stopper, and a detection signal 9 of the detection mechanism is used to switch a solenoid valve provided between the first cylinder and the pneumatic source. Deeds, 1st
A big-and-place unit, characterized in that it is provided with a control means for reducing the operating speed of the cylinder.