Grip device and component mounting device

Abstract

To increase a movable stroke of a grip device and improve versatility to a component.SOLUTION: A grip device includes a body member, a first movable member guided to the body member in a vertical direction, a pair of second movable members which are guided to the body member in a horizontal direction so as to mutually approach or separate, and a pair of link members. The link member includes a joint part rotatably connected to the body member, a first link part which extends from the joint part and is connected so as to be relatively movable to the first movable member, and a second link part which extends in a direction different from the first link part from the joint part and is connected so as to be relatively movable to the second movable member.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The technology disclosed in this specification relates to a gripping device and a component mounting device. [Background technology]

[0002] In the technical field relating to component mounting devices, a clamping means as disclosed in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-126949 A Summary of the Invention [Problem to be solved by the invention]

[0004] When a gripping device (clamping means) is used to hold parts, it is required that the device be able to hold parts of various sizes. If the movable stroke of the gripping device is small, it becomes difficult to hold parts of various sizes, and the device becomes less versatile for use with parts.

[0005] The technology disclosed in this specification aims to increase the movable stroke of the gripping device and improve versatility for parts. [Means for solving the problem]

[0006] This specification discloses a gripping device used in a component mounting apparatus. The gripping device includes a main body member, a first movable member guided in the up-down direction by the main body member, a pair of second movable members guided in the left-right direction by the main body member so as to move toward or away from each other, and a pair of link members. The link members include a joint portion rotatably connected to the main body member, a first link portion extending from the joint portion and connected to the first movable member so as to be relatively movable, and a second link portion extending from the joint portion in a direction different from the first link portion and connected to the second movable member so as to be relatively movable. Effect of the Invention

[0007] According to the technology disclosed in this specification, the movable stroke of the gripping device is increased, and versatility for parts is increased. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a component mounting apparatus according to an embodiment. [Diagram 2] FIG. 2 is a perspective view showing the gripping device according to the embodiment. [Diagram 3] FIG. 3 is a perspective cross-sectional view showing a gripping device according to an embodiment. [Figure 4] FIG. 4 is a front view showing the grip device according to the embodiment. [Diagram 5] FIG. 5 is a cross-sectional view showing a gripping device according to an embodiment. [Figure 6] FIG. 6 is a front view showing the operation of the grip device according to the embodiment. [Figure 7] FIG. 7 is a cross-sectional view showing the operation of the gripping device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment will be described with reference to the drawings. In the embodiment, a three-dimensional orthogonal coordinate system is set, and the positional relationship of each part will be described with reference to the three-dimensional orthogonal coordinate system. The direction parallel to the X-axis in a predetermined plane is defined as the X-axis direction. The direction parallel to the Y-axis perpendicular to the X-axis in the predetermined plane is defined as the Y-axis direction. The direction parallel to the Z-axis perpendicular to each of the X-axis and Y-axis is defined as the Z-axis direction. The direction of rotation or tilt around the X-axis is defined as the θX direction. The direction of rotation or tilt around the Y-axis is defined as the θY direction. The direction of rotation or tilt around the Z-axis is defined as the θZ direction. The plane including the X-axis and Y-axis is the XY plane. The plane including the Y-axis and Z-axis is the YZ plane. The plane including the Z-axis and X-axis is the ZX plane. The predetermined plane is the XY plane. In the embodiment, the predetermined plane is parallel to a horizontal plane. The X-axis direction is the front-rear direction. The Y-axis direction is the left-right direction. The Z-axis direction is the up-down direction. The +X direction is the front. The -X direction is the rear. The +Y direction is to the left. The -Y direction is to the right. The +Z direction is up. The -Z direction is down.

[0010] [Component mounting equipment] Fig. 1 is a diagram illustrating a component mounting apparatus 1 according to an embodiment. The component mounting apparatus 1 mounts a component C on a substrate P. As illustrated in Fig. 1, the component mounting apparatus 1 includes a component supply device 2, a substrate support device 3, a mounting head 4, and a control device 5.

[0011] The component supplying device 2 supplies the components C. The component supplying device 2 includes a tray that supports a plurality of the components C. Note that the component supplying device 2 may include a feeder that pays out a tape on which the components C are held from a tape reel.

[0012] The substrate support device 3 supports the substrate P. The substrate P is transported to the substrate support device 3 by a substrate transport device (not shown). The substrate transport device includes a conveyor belt that transports the substrate P. The substrate support device 3 includes a clamp mechanism that fixes the substrate P transported by the substrate transport device.

[0013] The mounting head 4 has a gripping device 6 that holds a component C. The mounting head 4 mounts the component C held by the gripping device 6 onto a board P. The mounting head 4 is moved in both the X-axis direction and the Y-axis direction by a head moving device 7.

[0014] The gripping device 6 is supported by the mounting head 4 via a rod 8. A gripper moving device 9 is provided on the mounting head 4. The gripping device 6 is moved in the Z-axis direction and the θZ direction relative to the mounting head 4 by the gripper moving device 9. The gripper moving device 9 moves the rod 8 to move the gripping device 6.

[0015] A plurality of gripping devices 6 are provided in the mounting head 4. A gripper moving device 9 is provided for each of the plurality of gripping devices 6. The plurality of gripping devices 6 are capable of moving separately.

[0016] The gripping device 6 can be moved in four directions, the X-axis direction, the Y-axis direction, the Z-axis direction, and the θZ direction, by the head moving device 7 and the gripper moving device 9. The mounting head 4 can move between the component supplying device 2 and the board supporting device 3. The mounting head 4 holds the component C supplied from the component supplying device 2 with the gripping device 6, and then transports it to the board P supported by the board supporting device 3. The mounting head 4 mounts the component C held by the gripping device 6 on the board P.

[0017] [Grip device] Fig. 2 is a perspective view showing the gripping device 6 according to the embodiment. Fig. 3 is a perspective cross-sectional view showing the gripping device 6 according to the embodiment. Fig. 4 is a front view showing the gripping device 6 according to the embodiment. Fig. 5 is a cross-sectional view showing the gripping device 6 according to the embodiment.

[0018] As shown in FIGS. 2, 3, 4, and 5, the grip device 6 has a main body member 10, a first movable member 20, a second movable member 30, a link member 40, and a coil spring 50.

[0019] The main body member 10 includes a cylinder portion 11, a cup portion 12, and a support portion 13.

[0020] The cylinder portion 11 is substantially cylindrical. The central axis MX of the cylinder portion 11 extends in the vertical direction. The cylinder portion 11 has an internal space 14. The internal space 14 of the cylinder portion 11 includes a small diameter portion 14A, a medium diameter portion 14B, and a large diameter portion 14C. The small diameter portion 14A is disposed above the medium diameter portion 14B. The medium diameter portion 14B is disposed above the large diameter portion 14C. The inner diameter of the small diameter portion 14A is smaller than the inner diameter of the medium diameter portion 14B. The inner diameter of the medium diameter portion 14B is smaller than the inner diameter of the large diameter portion 14C. The central axis of the small diameter portion 14A, the central axis of the medium diameter portion 14B, and the central axis of the large diameter portion 14C coincide with each other. An opening 11A is provided at the upper end of the small diameter portion 14A. A support surface 11B is provided at the boundary between the lower end of the small diameter portion 14A and the upper end of the medium diameter portion 14B. In a plane perpendicular to the central axis MX, the support surface 11B is ring-shaped surrounding the central axis MX. The support surface 11B faces downward. A support surface 11C is provided at the boundary between the lower end of the medium diameter portion 14B and the upper end of the large diameter portion 14C. In a plane perpendicular to the central axis MX, the support surface 11C is ring-shaped surrounding the central axis MX. The support surface 11C faces downward. An opening 11D is provided at the lower end of the large diameter portion 14C.

[0021] The cup portion 12 is fixed to the lower portion of the cylinder portion 11. The cup portion 12 has a tubular portion 12A and a flange portion 12B. The tubular portion 12A is disposed around the lower portion of the cylinder portion 11. The tubular portion 12A is attached to the lower portion of the cylinder portion 11. The flange portion 12B is connected to the upper portion of the tubular portion 12A. The flange portion 12B is provided so as to extend radially outward from the central axis MX.

[0022] The support portion 13 is fixed to the lower portion of the cylinder portion 11. The support portion 13 has a cylindrical portion 13A and a plate portion 13B. The cylindrical portion 13A is inserted into the large diameter portion 14C through the opening 11D. A guide hole 15 is provided inside the cylindrical portion 13A. The guide hole 15 is long in the vertical direction. The central axis of the cylindrical portion 13A extends in the vertical direction. The central axis MX of the cylinder portion 11 and the central axis of the cylindrical portion 13A coincide with each other.

[0023] The plate portion 13B is connected to the lower portion of the cylindrical portion 13A. In the left-right direction, the center of the cylindrical portion 13A and the center of the plate portion 13B coincide with each other. The plate portion 13B has a front surface and a rear surface. The front surface and the rear surface of the plate portion 13B are substantially parallel to the YZ plane. The plate portion 13B includes a first plate portion 131 and a second plate portion 132. The first plate portion 131 is disposed above the second plate portion 132. The first plate portion 131 is connected to the lower portion of the cylindrical portion 13A. In the left-right direction, the center of the first plate portion 131 and the center of the second plate portion 132 coincide with each other. In the left-right direction, the dimension of the first plate portion 131 is smaller than the dimension of the second plate portion 132.

[0024] The plate portion 13B has a main body opening 16 that is long in the vertical direction. The main body opening 16 is formed to penetrate the front surface of the plate portion 13B and the rear surface of the plate portion 13B. The upper end of the main body opening 16 is connected to the lower end of the guide hole 15. In other words, the guide hole 15 and the main body opening 16 are connected. The lower end of the main body opening 16 is located above the lower end of the plate portion 13B. In the vertical direction, the lower end of the main body opening 16 is located in the second plate portion 132.

[0025] The main body opening 16 has a rectangular shape that is long in the up-down direction. In the left-right direction, the main body opening 16 is formed in the center of the plate portion 13B. In the left-right direction, the center of the guide hole 15 and the center of the main body opening 16 coincide with each other. In the left-right direction, the dimension of the guide hole 15 is smaller than the dimension of the main body opening 16.

[0026] The plate portion 13B has a sub-guide opening 17 that is long in the left-right direction, and a main guide opening 18 that is long in the left-right direction. The sub-guide opening 17 is provided above the main guide opening 18. A pair of sub-guide openings 17 are provided in the left-right direction. A pair of main guide openings 18 are provided in the left-right direction. Each of the sub-guide openings 17 and the main guide opening 18 is provided in the second plate portion 132. The sub-guide opening 17 is formed so as to penetrate through the front and rear surfaces of the second plate portion 132. The main guide opening 18 is formed so as to penetrate through the front and rear surfaces of the second plate portion 132.

[0027] The sub-guide opening 17 includes a sub-guide opening 17L and a sub-guide opening 17R provided to the right of the sub-guide opening 17L. The left sub-guide opening 17L is provided to the left of the center of the second plate portion 132 in the left-right direction. The right sub-guide opening 17R is provided to the right of the center of the second plate portion 132 in the left-right direction.

[0028] The sub-guide opening 17 has a rectangular shape that is long in the left-right direction. The dimensions of the sub-guide opening 17L and the dimensions of the sub-guide opening 17R are equal in the up-down and left-right directions. The positions of the sub-guide opening 17L and the sub-guide opening 17R are equal in the up-down direction.

[0029] The lower part of the main body opening 16 is disposed between the sub-guide opening 17L and the sub-guide opening 17R. The right end of the sub-guide opening 17L is disposed to the left of the main body opening 16. The left end of the sub-guide opening 17R is disposed to the right of the main body opening 16. In other words, the main body opening 16 and the sub-guide opening 17 are not connected. The left end of the sub-guide opening 17L is disposed to the right of the left end of the second plate portion 132. The right end of the sub-guide opening 17R is disposed to the left of the right end of the second plate portion 132.

[0030] The main guide opening 18 includes a main guide opening 18L and a main guide opening 18R provided to the right of the main guide opening 18L. The left main guide opening 18L is provided to the left of the center of the second plate portion 132 in the left-right direction. The right main guide opening 18R is provided to the right of the center of the second plate portion 132 in the left-right direction.

[0031] The main guide opening 18 has a rounded rectangular shape that is long in the left-right direction. The dimensions of the main guide opening 18L and the main guide opening 18R are equal in the up-down and left-right directions. The positions of the main guide opening 18L and the main guide opening 18R are equal in the up-down direction.

[0032] The lower end of the main body opening 16 is disposed above the main guide opening 18. The left end of the main guide opening 18L is disposed to the right of the left end of the second plate portion 132. The right end of the main guide opening 18R is disposed to the left of the right end of the second plate portion 132.

[0033] The left sub-guide opening 17L and the left main guide opening 18L are substantially parallel to each other. In the left-right direction, the dimensions of the sub-guide opening 17L and the dimensions of the main guide opening 18L are substantially equal. In the left-right direction, the positions of the sub-guide opening 17L and the main guide opening 18L are substantially equal.

[0034] The right sub-guide opening 17R and the right main guide opening 18R are substantially parallel to each other. In the left-right direction, the dimensions of the sub-guide opening 17R and the dimensions of the main guide opening 18R are substantially equal. In the left-right direction, the positions of the sub-guide opening 17R and the main guide opening 18R are substantially equal.

[0035] Furthermore, the plate portion 13B has main body pins 19. A pair of main body pins 19 are provided. Support holes 13C are formed in the first plate portion 131 of the plate portion 13B. The support holes 13C are formed on the left and right sides of the main body opening 16. The support holes 13C are formed so as to penetrate the front and rear sides of the first plate portion 131. The main body pins 19 are inserted into the support holes 13C of the first plate portion 131. The main body pins 19 include a main body pin 19L arranged on the left side of the main body opening 16 and a main body pin 19R arranged on the right side of the main body opening 16.

[0036] The first movable member 20 is guided in the up-down direction by the main body member 10. The main body member 10 has a movement space in which the first movable member 20 is disposed. The movement space is provided inside the main body member 10. The movement space includes the internal space 14 of the cylinder portion 11, the guide hole 15 of the cylindrical portion 13A, and the main body opening 16 of the plate portion 13B. The first movable member 20 is guided in the up-down direction by at least a portion of the inner surface of the movement space.

[0037] The first movable member 20 has a piston 21, a piston rod 22, and a first slide pin .

[0038] The piston 21 is disposed in the medium diameter portion 14B. The piston 21 moves in the up-down direction in the medium diameter portion 14B. The piston 21 is guided in the up-down direction by the inner surface of the medium diameter portion 14B.

[0039] The piston 21 includes a large diameter portion 21A and a small diameter portion 21B. The large diameter portion 21A is disposed above the small diameter portion 21B. The outer diameter of the large diameter portion 21A is larger than the outer diameter of the small diameter portion 21B. The central axis of the large diameter portion 21A and the central axis of the small diameter portion 21B coincide with each other. A support surface 21C is provided at the boundary between the lower end portion of the large diameter portion 21A and the upper end portion of the small diameter portion 21B. In a plane perpendicular to the central axis MX, the support surface 21C is ring-shaped and surrounds the central axis MX. The support surface 21C faces downward.

[0040] The piston rod 22 protrudes downward from the piston 21. At least a portion of the piston rod 22 is disposed in the medium diameter portion 14B. At least a portion of the piston rod 22 is disposed in the large diameter portion 14C. At least a portion of the piston rod 22 is disposed in the guide hole 15. At least a portion of the piston rod 22 is disposed in the main body opening 16. The piston rod 22 is guided in the vertical direction by the inner surface of the guide hole 15.

[0041] The first slide pin 23 is disposed at the lower part of the piston rod 22. The first slide pin 23 is fixed to the lower part of the piston rod 22. A support hole 22A is formed at the lower part of the piston rod 22. The support hole 22A is formed so as to penetrate the front and rear surfaces of the piston rod 22. The first slide pin 23 is inserted into the support hole 22A of the piston rod 22. The front end part of the first slide pin 23 protrudes forward from the front surface of the piston rod 22. The rear end part of the first slide pin 23 protrudes rearward from the rear surface of the piston rod 22. As the piston rod 22 moves up and down, the first slide pin 23 moves up and down in the main body opening 16. The front end part of the first slide pin 23 protrudes forward from the front surface of the plate part 13B. The rear end part of the first slide pin 23 protrudes rearward from the rear surface of the plate part 13B.

[0042] The second movable members 30 are provided in a pair in the left-right direction. The second movable members 30 include a second movable member 30L and a second movable member 30R provided to the right of the second movable member 30L. The left second movable member 30L is provided to the left of the center of the plate portion 13B in the left-right direction. The right second movable member 30R is provided to the right of the center of the plate portion 13B in the left-right direction.

[0043] The pair of second movable members 30 are guided in the left-right direction by the main body member 10 so as to move toward or away from each other.

[0044] The second movable member 30 has a base portion 31, a slider portion 32, a second slide pin 33, and a finger portion .

[0045] The base portion 31 is plate-shaped. The base portion 31 supports the slider portion 32 and the second slide pin 33. At least a portion of the base portion 31 of the second movable member 30L is disposed rearward of the plate portion 13B. At least a portion of the base portion 31 of the second movable member 30R is disposed forward of the plate portion 13B.

[0046] The slider portion 32 protrudes in the X-axis direction from the opposing surface of the base portion 31 facing the second plate portion 132. The slider portion 32 of the second movable member 30L protrudes forward from the opposing surface of the base portion 31 facing forward. The slider portion 32 of the second movable member 30R protrudes rearward from the opposing surface of the base portion 31 facing rearward.

[0047] The slider portion 32 has a quadrangular prism shape. The slider portion 32 is disposed in the sub-guide opening 17. The slider portion 32 of the second movable member 30L is disposed in the sub-guide opening 17L. The slider portion 32 of the second movable member 30R is disposed in the sub-guide opening 17R. The slider portion 32 can move in the left-right direction while being guided by the sub-guide opening 17.

[0048] The second slide pin 33 is disposed below the slider portion 32. The second slide pin 33 protrudes in the X-axis direction from the opposing surface of the base portion 31 facing the second plate portion 132. The second slide pin 33 of the second movable member 30L protrudes forward from the opposing surface of the base portion 31 facing forward. The second slide pin 33 of the second movable member 30R protrudes rearward from the opposing surface of the base portion 31 facing rearward.

[0049] The second slide pin 33 is cylindrical. The second slide pin 33 is disposed in the main guide opening 18. The second slide pin 33 of the second movable member 30L is disposed in the main guide opening 18L. The second slide pin 33 of the second movable member 30R is disposed in the main guide opening 18R. The second slide pin 33 can move in the left-right direction while being guided by the main guide opening 18.

[0050] The finger portion 34 protrudes downward from the lower portion of the base portion 31. The finger portion 34 is disposed below the plate portion 13B. When the left second movable member 30L and the right second movable member 30R approach each other, the part C is sandwiched between the finger portion 34 of the second movable member 30L and the finger portion 34 of the second movable member 30R. The part C is held by the grip device 6 as the part C is sandwiched between the pair of finger portions 34. When the left second movable member 30L and the right second movable member 30R move away from each other, the part C sandwiched between the finger portion 34 of the left second movable member 30L and the finger portion 34 of the right second movable member 30R is released from the grip device 6.

[0051] A pair of link members 40 are provided. At least a portion of the link member 40 is connected to the main body member 10. At least a portion of the link member 40 is connected to the first movable member 20. At least a portion of the link member 40 is connected to the second movable member 30. The link member 40 includes a link member 40L connected to the left second movable member 30L, and a link member 40R connected to the right second movable member 30L. The left link member 40L is disposed forward of the plate portion 13B. The right link member 40R is disposed rearward of the plate portion 13B.

[0052] The link member 40 has a joint portion 41 , a first link portion 42 and a second link portion 43 .

[0053] The joint portion 41 is rotatably connected to the main body member 10. The joint portion 41 is rotatably supported by the main body pin 19. The joint portion 41 of the link member 40L is rotatably supported by the main body pin 19L. The joint portion 41 of the link member 40R is rotatably supported by the main body pin 19R. The joint portion 41 has an opening 41A in which the main body pin 19 is disposed. The joint portion 41, while supported by the main body pin 19, is rotatable about a rotation axis RX. The rotation axis RX is parallel to the X-axis.

[0054] The first link portion 42 and the second link portion 43 are provided so as to extend from the joint portion 41. The first link portion 42 and the second link portion 43 are provided so as to extend from the joint portion 41. The first link portion 42 and the second link portion 43 are provided so as to extend in a direction different from that of the first link portion 42. The first link portion 42 is provided so as to extend from the joint portion 41 toward the central axis MX. The second link portion 43 is provided so as to extend downward from the joint portion 41. In the embodiment, the first link portion 42 and the second link portion 43 are substantially perpendicular to each other. The first link portion 42 and the second link portion 43 are arranged so as to be perpendicular to each other.

[0055] The first link portion 42 has a first link opening 44 in which the first slide pin 23 is disposed. The first link opening 44 is a rounded rectangular shape that is long in the extension direction of the first link portion 42. The first slide pin 23 and the first link opening 44 are movable relative to each other. The first slide pin 23 is disposed in the first link opening 44 so as to be movable relative to the first link portion 42. The front end of the first slide pin 23 is disposed in the first link opening 44 of the link member 40L. The rear end of the first slide pin 23 is disposed in the first link opening 44 of the link member 40R.

[0056] The second link portion 43 has a second link opening 45 in which the second slide pin 33 is disposed. The second link opening 45 is a groove-like shape that is long in the extension direction of the second link portion 43. The second slide pin 33 and the second link opening 45 are movable relative to each other. The second slide pin 33 is disposed in the second link opening 45 so as to be movable relative to the second link portion 43. The second slide pin 33 of the second movable member 30L is disposed in the second link opening 45 of the link member 40L. The second slide pin 33 of the second movable member 30R is disposed in the second link opening 45 of the link member 40R.

[0057] The coil spring 50 is disposed in the internal space 14. The coil spring 50 is disposed around the piston rod 22. The upper end of the coil spring 50 is capable of contacting the support surface 21C of the piston 21. The lower end of the coil spring 50 contacts the upper end of the cylindrical portion 13A. The coil spring 50 is a compression coil spring. The coil spring 50 generates an elastic force (biasing force) so as to move the first movable member 20 upward.

[0058] In the embodiment, a bushing 60 is disposed between the outer peripheral surface of the coil spring 50 and the inner peripheral surface of the large diameter portion 14C. The bushing 60 is supported on the upper end portion of the cylindrical portion 13A. The bushing 60 holds the lower portion of the coil spring 50. The bushing 60 prevents the coil spring 50 from moving in the radial direction of the central axis MX.

[0059] [Operation] Next, the operation of the grip device 6 will be described. Air is supplied to the internal space 14 through the opening 11A. When air is supplied to the internal space 14, the pair of second movable members 30 move away from each other. When the supply of air to the internal space 14 is stopped, the pair of second movable members 30 move closer to each other. Figures 2 to 5 show a state in which the supply of air to the internal space 14 is stopped and the pair of second movable members 30 move closer to each other. In a state in which the supply of air is stopped, the first movable member 20 moves upward relative to the main body member 10 due to the elastic force of the coil spring 50. As shown in Figures 3 and 5, the first movable member 20 moves upward until the piston 21 hits the support surface 11C.

[0060] Fig. 6 is a front view showing the operation of the gripping device 6 according to the embodiment. Fig. 7 is a cross-sectional view showing the operation of the gripping device 6 according to the embodiment.

[0061] As shown in Figs. 6 and 7, air is supplied to the internal space 14 through the opening 11A. The air is supplied to the upper end of the first movable member 20. The first movable member 20 moves downward by the force of the air supplied to the upper end of the first movable member 20. The piston 21 moves downward while being guided by the inner surface of the medium diameter portion 14B. The piston rod 22 moves downward while being guided by the inner surface of the guide hole 15. When the first movable member 20 moves downward with the upper end of the coil spring 50 in contact with the support surface 21C of the piston 21, the coil spring 50 is compressed.

[0062] When the first movable member 20 moves downward, the first slide pin 23 also moves downward. The first slide pin 23 is disposed in a first link opening 44 of the link member 40 so as to be relatively movable. In addition, the joint portion 41 is rotatably supported by the main body pin 19. The first slide pin 23 is slidable in the first link opening 44. When the first slide pin 23 moves downward, the link member 40 rotates about the rotation axis RX so that the tip end of the first link portion 42 moves downward.

[0063] The second slide pin 33 is disposed so as to be relatively movable in the second link opening 45 of the link member 40. The second slide pin 33 is slidable in the second link opening 45. When the link member 40 rotates so that the tip end of the first link portion 42 moves downward, the tip end of the second link portion 43 moves away from the central axis MX.

[0064] The second slide pin 33 is disposed so as to be relatively movable in the main guide opening 18 of the body member 10. The second slide pin 33 is slidable in the main guide opening 18. As the tip of the second link portion 43 moves away from the central axis MX, the second slide pin 33 moves away from the central axis MX together with the second link portion 43 while being guided by the main guide opening 18. As the second slide pin 33 moves away from the central axis MX, the second movable member 30 moves away from the central axis MX.

[0065] When the second movable member 30 moves away from the central axis MX, not only the second slide pin 33 but also the slider portion 32 moves away from the central axis MX. The slider portion 32 is disposed so as to be movable relative to the sub-guide opening 17 of the main body member 10. The slider portion 32 is slidable in the sub-guide opening 17. As the tip of the second link portion 43 moves away from the central axis MX, the slider portion 32 moves away from the central axis MX together with the second link portion 43 while being guided by the sub-guide opening 17. The second movable member 30 can move stably while being guided by each of the sub-guide opening 17 and the main guide opening 18.

[0066] In the left link member 40L, when the link member 40L rotates about the rotation axis RX so that the tip of the first link portion 42 moves downward, the second link portion 43 moves leftward. When the second link portion 43 of the link member 40L moves leftward, the second slide pin 33 of the second movable member 30L moves leftward while being guided by the main guide opening 18L. Also, the slider portion 32 of the second movable member 30L moves leftward while being guided by the sub-guide opening 17L. As a result, the second movable member 30L moves leftward.

[0067] In the right link member 40R, when the link member 40R rotates about the rotation axis RX so that the tip of the first link portion 42 moves downward, the second link portion 43 moves to the right. When the second link portion 43 of the link member 40R moves to the right, the second slide pin 33 of the second movable member 30R moves to the right while being guided by the main guide opening 18R. Also, the slider portion 32 of the second movable member 30R moves to the right while being guided by the sub-guide opening 17R. As a result, the second movable member 30R moves to the right.

[0068] In this manner, when air is supplied to the internal space 14 and the first movable member 20 moves downward, the pair of second movable members 30 move away from each other.

[0069] When the pair of second movable members 30 move away from each other while the part C is being held between the finger portions 34 of the pair of second movable members 30, the part C is released from the grip device 6.

[0070] 2 to 5, when the supply of air to the internal space 14 is stopped, the first movable member 20 moves upward relative to the main body member 10 due to the elastic force of the coil spring 50. When the first movable member 20 moves upward, the first slide pin 23 also moves upward. As the first slide pin 23 moves upward, the link member 40 rotates about the rotation axis RX such that the tip end of the first link portion 42 moves upward.

[0071] As the link member 40 rotates such that the tip of the first link portion 42 moves upward, the tip of the second link portion 43 moves closer to the central axis MX. As the tip of the second link portion 43 moves closer to the central axis MX, the second slide pin 33 moves closer to the central axis MX together with the second link portion 43 while being guided by the main guide opening 18. As the second slide pin 33 moves closer to the central axis MX, the second movable member 30 moves closer to the central axis MX.

[0072] When the second movable member 30 moves toward the central axis MX, not only the second slide pin 33 but also the slider portion 32 moves toward the central axis MX. The slider portion 32 is disposed so as to be movable relative to the sub-guide opening 17 of the main body member 10. The slider portion 32 is slidable through the sub-guide opening 17. As the tip of the second link portion 43 moves toward or away from the central axis MX, the slider portion 32 moves toward the central axis MX together with the second link portion 43 while being guided by the sub-guide opening 17. The second movable member 30 can move stably while being guided by each of the sub-guide opening 17 and the main guide opening 18.

[0073] In the left link member 40L, when the link member 40L rotates about the rotation axis RX so that the tip of the first link portion 42 moves upward, the second link portion 43 moves to the right. When the second link portion 43 of the link member 40L moves to the right, the second slide pin 33 of the second movable member 30L moves to the right while being guided by the main guide opening 18L. Also, the slider portion 32 of the second movable member 30L moves to the right while being guided by the sub-guide opening 17L. As a result, the second movable member 30L moves to the right.

[0074] In the right link member 40R, when the link member 40R rotates about the rotation axis RX so that the tip of the first link portion 42 moves upward, the second link portion 43 moves leftward. When the second link portion 43 of the link member 40R moves leftward, the second slide pin 33 of the second movable member 30R moves leftward while being guided by the main guide opening 18R. Also, the slider portion 32 of the second movable member 30R moves leftward while being guided by the sub-guide opening 17R. As a result, the second movable member 30R moves leftward.

[0075] In this way, when the supply of air to the internal space 14 is stopped and the first movable member 20 moves upward, the pair of second movable members 30 move closer to each other.

[0076] When the pair of second movable members 30 approach each other with the part C disposed between them, the part C is sandwiched between the pair of finger portions 34. The part C is held by the grip device 6.

[0077] [effect] As described above, according to the embodiment, the grip device 6 includes a main body member 10, a first movable member 20 guided in the up-down direction by the main body member 10, a pair of second movable members 30 guided in the left-right direction by the main body member 10 so as to move toward or away from each other, and a pair of link members 40. The link members 40 include a joint portion 41 rotatably connected to the main body member 10, a first link portion 42 extending from the joint portion 41 and connected to the first movable member 20 so as to be relatively movable, and a second link portion 43 extending from the joint portion 41 in a direction different from that of the first link portion 42 and connected to the second movable member 30 so as to be relatively movable.

[0078] By providing the link member 40, when the first movable member 20 moves in the up-down direction, the pair of second movable members 30 can move in the left-right direction so as to move away from or approach each other. That is, by providing the link member 40, the first movable member 20 and the second movable member 30 can move in a direction perpendicular to each other. By providing the link member 40, the movable stroke of the second movable member 30 becomes longer with respect to the movable stroke of the first movable member 20. For example, the link ratio of the first link portion 42 is adjusted, so that the movable stroke of the second movable member 30 becomes longer. Since the movable stroke of the second movable member 30 becomes longer, the grip device 6 can hold parts C of various sizes. Therefore, the versatility of the grip device 6 for parts C is increased.

[0079] The first link portion 42 and the second link portion 43 are disposed so as to be perpendicular to each other. As a result, when the first movable member 20 moves in the up-down direction, the second movable member 30 can move largely in the left-right direction due to the rotation of the link member 40.

[0080] The main body member 10 has a main body pin 19. The joint portion 41 is rotatably supported by the main body pin 19. This allows the link member 40 to rotate smoothly relative to the main body member 10 while being supported by the main body pin 19.

[0081] The main body member 10 has a guide hole 15 that is long in the vertical direction. The first movable member 20 has a piston rod 22 that is guided in the vertical direction by the inner surface of the guide hole 15, and a first slide pin 23 that is arranged at the lower part of the piston rod 22. The first link portion 42 has a first link opening 44 in which the first slide pin 23 is arranged and that is long in the extension direction of the first link portion 42. The first slide pin 23 is arranged in the first link opening 44 so as to be movable relative to the first link portion 42. As a result, when the first movable member 20 moves in the vertical direction, the first link portion 42 can move in the vertical direction while the first slide pin 23 and the first link opening 44 slide relative to each other. Therefore, the link member 40 is smoothly rotated by the vertical movement of the first movable member 20.

[0082] The main body member 10 has a main body opening 16 that is long in the vertical direction. The lower end of the guide hole 15 and the upper end of the main body opening 16 are connected. The first slide pin 23 moves in the vertical direction in the main body opening 16. This allows the first slide pin 23 to move smoothly in the vertical direction while being connected to the first link portion 42.

[0083] The main body member 10 has a main guide opening 18 that is long in the left-right direction. The second movable member 30 has a base portion 31, a second slide pin 33 that protrudes from the base portion 31, and a finger portion 34 that protrudes downward from the lower portion of the base portion 31. The second slide pin 33 is disposed in the main guide opening 18 and moves in the left-right direction while being guided by the main guide opening 18. The second link portion 43 has a second link opening 45 in which the second slide pin 33 is disposed and that is long in the extension direction of the second link portion 43. The second slide pin 33 is disposed in the second link opening 45 so as to be movable relative to the second link portion 43. As a result, when the link member 40 rotates, the second movable member 30 can move in the left-right direction while the second slide pin 33 and the second link opening 45 slide relative to each other. Therefore, the second movable member 30 can move smoothly in the left-right direction by the rotation of the link member 40.

[0084] The main body member 10 has a sub-guide opening 17 that is long in the left-right direction. The sub-guide opening 17 is provided above the main guide opening 18. The second movable member 30 has a slider portion 32 that protrudes from a base portion 31. The slider portion 32 is disposed in the sub-guide opening 17, and moves in the left-right direction while being guided by the sub-guide opening 17. As a result, the second movable member 30 is guided by both the main guide opening 18 and the sub-guide opening 17. Therefore, the second movable member 30 can move smoothly in the left-right direction.

[0085] The sub-guide opening 17 has a rectangular shape that is long in the left-right direction. The slider portion 32 has a square prism shape. This suppresses rattling when the second movable member 30 moves in the left-right direction.

[0086] The sub-guide opening 17 and the main guide opening 18 are substantially parallel to each other. In the left-right direction, the dimensions of the sub-guide opening 17 and the dimensions of the main guide opening 18 are equal. In the left-right direction, the positions of the sub-guide opening 17 and the main guide opening 18 are equal. This allows the second movable member 30 to move significantly in the left-right direction while being guided by each of the main guide opening 18 and the sub-guide opening 17.

[0087] When the first movable member 20 moves downward, the pair of second movable members 30 approach each other and hold the part C. When the first movable member 20 moves upward, the pair of second movable members 30 move away from each other and release the part C. In this way, the grip device 6 can hold and release the part C.

[0088] The grip device 6 includes a coil spring 50 disposed on the main body member 10. The coil spring 50 generates an elastic force such that the first movable member 20 moves upward. The first movable member 20 moves downward by the force of air supplied to the upper end of the first movable member 20. As a result, the supply and stop of air to the internal space 14 allows the first movable member 20 to move in the up and down directions. [Explanation of symbols]

[0089] 1...component mounting device, 2...component supply device, 3...substrate support device, 4...mounting head, 5...control device, 6...grip device, 7...head moving device, 8...rod, 9...gripper moving device, 10...main body member, 11...cylinder portion, 11A...opening, 11B...support surface, 11C...support surface, 11D...opening, 12...cup portion, 12A...tubular portion, 12B...flange portion, 13...support portion, 13A...cylindrical portion, 13B...plate portion, 13C...support hole, 131...first plate portion, 132...second plate portion, 14...internal space, 14A...small diameter portion, 14B...medium diameter portion, 14C...large diameter portion, 15...guide hole, 16...main body opening, 17...sub-guide opening, 17L...sub-guide opening, 17R...sub-guide opening, 18...main guide opening, 18L...main guide opening opening, 18R...main guide opening, 19...main body pin, 19L...main body pin, 19R...main body pin, 20...first movable member, 21...piston, 21A...large diameter portion, 21B...small diameter portion, 21C...support surface, 22...piston rod, 22A...support hole, 23...first slide pin, 30...second movable member, 30L...second movable member, 30R...second movable member, 31...base portion, 32...slider portion, 33...second slide pin, 34...finger portion, 40...link member, 40L...link member, 40R...link member, 41...joint portion, 41A...opening, 42...first link portion, 43...second link portion, 44...first link opening, 45...second link opening, 50...coil spring, 60...bush, C...part, MX...center axis, P...board, RX...rotating axis.

Claims

1. A body member; a first movable member that is guided in a vertical direction by the main body member; a pair of second movable members that are guided in the left-right direction by the main body member so as to move toward or away from each other; A pair of link members, the link member includes a joint portion rotatably connected to the main body member, a first link portion extending from the joint portion and connected to the first movable member so as to be relatively movable, and a second link portion extending from the joint portion in a direction different from that of the first link portion and connected to the second movable member so as to be relatively movable, The main body member has a guide hole that is long in the vertical direction, the first movable member has a piston rod that is guided in the vertical direction by the inner surface of the guide hole, and a first slide pin that is arranged on a lower part of the piston rod, the first link portion has a first link opening in which the first slide pin is disposed and which is long in an extension direction of the first link portion; The first slide pin is disposed in the first link opening so as to be movable relative to the first link portion. Grip device.

2. The first link portion and the second link portion are disposed so as to be perpendicular to each other. The gripping device of claim 1.

3. The body member has a body pin; The joint portion is rotatably supported by the main body pin. A gripping device according to claim 1 or 2.

4. The main body member has a main body opening that is long in the vertical direction, A lower end of the guide hole and an upper end of the main body opening are connected to each other, The first slide pin moves up and down in the main body opening. A gripping device according to any one of claims 1 to 3.

5. A body member; a first movable member that is guided in a vertical direction by the main body member; a pair of second movable members that are guided in the left-right direction by the main body member so as to move toward or away from each other; A pair of link members, the link member includes a joint portion rotatably connected to the main body member, a first link portion extending from the joint portion and connected to the first movable member so as to be relatively movable, and a second link portion extending from the joint portion in a direction different from that of the first link portion and connected to the second movable member so as to be relatively movable, The main body member has a main guide opening that is long in the left-right direction, the second movable member has a base portion, a second slide pin protruding from the base portion, and a finger portion protruding downward from a lower portion of the base portion, the second slide pin is disposed in the main guide opening and moves in the left-right direction while being guided by the main guide opening; the second link portion has a second link opening in which the second slide pin is disposed and which is long in an extension direction of the second link portion; the second slide pin is disposed in the second link opening so as to be movable relative to the second link portion; Grip device.

6. The main body member has a sub-guide opening that is long in the left-right direction, The sub-guide opening is provided above the main guide opening, the second movable member has a slider portion protruding from the base portion, The slider portion is disposed in the sub-guide opening and moves in the left-right direction while being guided by the sub-guide opening.

6. The gripping device according to claim 5.

7. The sub-guide opening has a rectangular shape that is long in the left-right direction, The slider portion is in the shape of a quadrangular prism.

7. The gripping device of claim 6.

8. the sub-guide opening and the main guide opening are substantially parallel; In the left-right direction, the dimension of the sub-guide opening and the dimension of the main guide opening are equal, In the left-right direction, the position of the sub-guide opening and the position of the main guide opening are equal. A gripping device according to claim 6 or 7.

9. The pair of second movable members are arranged to approach each other and hold a component when the first movable member moves downward, and are arranged to move away from each other and release the component when the first movable member moves upward. A gripping device according to any one of claims 1 to 8.

10. a coil spring disposed in the body member; The coil spring generates an elastic force so as to move the first movable member upward, The first movable member moves downward by the force of air supplied to an upper end portion of the first movable member.

10. The gripping device of claim 9.

11. a part supplying device that supplies parts; A substrate support device for supporting a substrate; a mounting head having the grip device according to any one of claims 1 to 10 and configured to mount the component held by the grip device onto the board. Component mounting equipment.

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