Attachment

Abstract

To provide an attachment that amplifies a stroke of an existing pick-and-place device.SOLUTION: An attachment 1 comprises: a lever 14 which is rotatably attached to a block 11 fitted to an output part OU; a slide member 13 which is movable along a pick-place orthogonal direction guide 19 provided along a pick-place orthogonal direction; a pick-place direction guide 12 which movably guides the block 11 along a pick-place direction; a support member 15 which connects one end of the lever 14 and the slide member 13; and a head 16 which is rotatable together with the other end of the lever 14, and is connected to the block 11 so that a distance in the pick-place orthogonal direction becomes a constant position when the output part OU is reciprocated.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an attachment for a pick and place device that is attached to the pick and place device and amplifies the stroke of the gate motion operation of the pick and place device. [Background technology]

[0002] A pick-and-place device is known as a device used in processes such as picking up (picking) objects such as electronic devices from a feeder, transporting them, and supplying (placing) them to an assembly jig (see Patent Document 1). In a pick-and-place device, an output unit performs a gate motion operation in which it repeats a downward movement, upward movement, movement to the right, downward movement, upward movement, and movement to the left along a predetermined path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-192649 A Summary of the Invention [Problem to be solved by the invention]

[0004] Pick and place devices are designed to match the stroke of the gate motion operation. In addition, pick and place devices with long strokes tend to be large in size. If the pick and place device becomes too large, there is a risk that the pick and place device cannot be installed at a designated position in the factory.

[0005] An object of the present invention is to provide an attachment that can amplify the stroke of a conventional pick-and-place device by attaching it to the conventional pick-and-place device. [Means for solving the problem]

[0006] Means 1 is an attachment attached to a pick and place device having an output part that, when reciprocating between a pick position and a place position, moves back and forth via a vertex located at a midpoint between the pick position and the place position and spaced apart in a pick place orthogonal direction perpendicular to a pick place direction connecting the pick position and the place position, and includes a block attached to the output part, a lever rotatably attached to the block and having one end and the other end located on either side of a rotation center, a pick place orthogonal direction guide attached to the pick and place device and provided along the pick place orthogonal direction, and a slide movable along the pick place orthogonal direction guide. a pick and place direction guide attached to the slide member and arranged along the pick and place direction to guide the block movably along the pick and place direction; a support member connecting the one end of the lever to the slide member and positioning the one end of the lever on the place side of the output part when the output part is positioned on the pick position side, and positioning the one end of the lever on the pick position side of the output part when the output part is positioned on the place position side; and a head that is rotatable with the other end of the lever and is connected so that the distance between the block and the pick and place direction perpendicular to the pick and place direction is constant when the output part moves back and forth.

[0007] Means 2 is the attachment described in Means 1, characterized in that the support member is a link rotatably connected to the one end of the lever and the slide member, respectively.

[0008] Means 3 is the attachment described in Means 1, characterized in that the support member is a link rotatably connected to the one end of the lever and the slide member, respectively, and the lever has a long hole at the one end, and the connection position between the lever and the link can be adjusted using the long hole.

[0009] Means 4 is an attachment described in Means 1, characterized in that the support member is a plate fixed to the slide member and having a long hole formed along a direction perpendicular to the pick-place, and one end of the lever is movably connected to the long hole.

[0010] Means 5 is an attachment described in any of means 1 to 4, characterized in that it is attached to the slide member and includes a second pick place direction guide arranged along the pick place direction, and the second pick place direction guides the head movably along the pick place direction.

[0011] Means 6 is an attachment described in any of means 1 to 4, characterized in that it is attached to the block and includes a second pick place direction guide arranged along the pick place direction, and the second pick place direction guides the head movably along the pick place direction. Effect of the Invention

[0012] According to the present invention, since the head is connected to the tip of the lever, the stroke in the gate motion operation of the pick-and-place device can be amplified. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a perspective view of a pick-and-place device according to a first embodiment. [Diagram 2] FIG. 4 is a diagram showing an example of a path along which an output unit moves; [Diagram 3] FIG. 2 is a front view of the attachment mounted on the pick and place device. [Figure 4] FIG. 2 is a right side view of the attachment mounted on the pick and place device. [Diagram 5]11A and 11B are diagrams for explaining the assembly order of the attachment. [Figure 6] 11A and 11B are diagrams for explaining the assembly order of the attachment. [Figure 7] 11A and 11B are diagrams for explaining the assembly order of the attachment. [Figure 8] 11A and 11B are diagrams for explaining the assembly order of the attachment. [Figure 9] 1A to 1C are diagrams for explaining the operation of a pick-and-place device and an attachment. [Figure 10] 1A to 1C are diagrams for explaining the operation of a pick-and-place device and an attachment. [Figure 11] 1A to 1C are diagrams for explaining the operation of a pick-and-place device and an attachment. [Figure 12] 1A to 1C are diagrams for explaining the operation of a pick-and-place device and an attachment. [Figure 13] An example of stroke amplification is shown in FIG. 13(a) which is a front view of the trajectory of the reciprocating movement of the output part of a pick-and-place device when no attachment is attached, and FIG. 13(b) which is a front view of the trajectory of the reciprocating movement of the head when an attachment is attached to the same pick-and-place device. [Figure 14] FIG. [Figure 15] FIG. [Figure 16] FIG. 11 is a front view showing the attachment of the second embodiment. [Figure 17] FIG. 11 is a front view showing the attachment of the second embodiment. [Figure 18] FIG. 11 is a front view showing the attachment of the third embodiment. [Figure 19] FIG. 11 is a front view showing the attachment of the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings, etc. It should be noted that the present invention is not limited to the embodiment.

[0015] [First embodiment] A pick-and-place device is a device for transporting an object from a predetermined position to another position by performing a gate motion operation. The gate motion operation is an operation of moving an output unit OU along a predetermined path described later.

[0016] In the following description, as shown in each drawing, directions relative to the pick-and-place device will be referred to as up, down, right, left, front, rear, etc., for the sake of convenience.

[0017] 1 is a perspective view of a pick-and-place device according to the first embodiment. The pick-and-place device PPD includes a motor M, a power transmission mechanism (not shown), an output unit OU, and a housing C.

[0018] The motor M is a motor for moving the output unit OU along a predetermined path, and is, for example, a servo motor.

[0019] The power transmission mechanism is a mechanism that transmits the driving force of the motor M to the output unit OU. The power transmission mechanism is composed of a combination of parts such as a cam and an actuator.

[0020] The output unit OU is a member that moves along a predetermined path by the driving force of the motor M. The predetermined path includes two straight path extending in the vertical direction, and an arc path that connects the upper ends of the two straight path with an upwardly convex arc.

[0021] The output unit OU repeats a downward movement, an upward movement, a movement to the right, a downward movement, an upward movement and a movement to the left along the path, that is, a reciprocating movement.

[0022] The output unit OU includes a shaft (not shown) extending between the inside and outside of the housing C, and a flat plate member P attached to an end of the shaft. The shaft and the flat plate member P may be separate members or may be an integrated member. An end effector is generally attached to the flat plate member P of the output unit OU.

[0023] The object is transported by gripping it with the end effector. However, in the present invention, as described later, a lever is directly or indirectly attached to the output unit OU. Note that CL is the center line of the output unit.

[0024] The housing C is a box-shaped member that houses the power transmission mechanism. The housing C is manufactured, for example, by processing a metal plate. As shown in Fig. 1, in the following, among the faces of the housing C, the face on which the motor M is attached is referred to as the rear face, and the face parallel to the rear face is referred to as the front face.

[0025] A motor M is attached to the rear surface of the housing C. An opening is formed in the front surface of the housing C along the path along which the output unit OU moves. The opening is composed of a straight line portion SP corresponding to the straight line path of the output unit OU and an arc portion AP corresponding to the arc path of the output unit OU. A movable cover that does not impede the movement of the output unit OU may be placed on the opening.

[0026] 2 is a diagram showing an example of a path along which the output unit OU moves. As described above, the path is a path along which the output unit OU moves back and forth between descending, ascending, moving to the right, descending, ascending, and moving to the left.

[0027] In the following, for convenience, the lower end position on the left side of the path of the output unit OU is referred to as the pick position P1 (first position P1) as the position where the end effector grasps the target object (in the normal use state when no attachment is attached). Also, for convenience, the lower end position on the right side is referred to as the place position P2 (second position P2) as the position where the end effector releases the grasp of the target object. Also, the upper end of the path is referred to as the vertex PP.

[0028] Although the pick position P1 and the place position P2 are referred to as pick and place for convenience, they may be reversed, and may be any positions as long as they are the start point and end point of the reciprocating movement of the output unit OU.

[0029] The output unit OU moves from the pick position P1 to the place position P2 via the vertex PP, and then moves from the place position P2 to the pick position P1 via the vertex PP. That is, the output unit OU moves back and forth via the vertex PP when moving back and forth between the pick position P1 and the place position P2.

[0030] The direction connecting the pick position P1 and the place position (left-right direction in the figure) is referred to as the pick-place direction, and the direction perpendicular to the pick-place direction (up-down direction in the figure) is referred to as the pick-place perpendicular direction.

[0031] The vertex PP is the midpoint on the path between the pick position P1 and the place position P2, and is located away from the straight line connecting the pick position P1 and the place position P2 in the pick-place orthogonal direction. The pick position P1 and the place position P2 are in a positional relationship that is line-symmetrical with respect to the straight line that passes through the vertex PP in the pick-place orthogonal direction.

[0032] Fig. 3 is a front view of the attachment 1 attached to the pick-and-place device PPD. Fig. 4 is a right side view of the attachment 1 attached to the pick-and-place device PPD.

[0033] The output unit OU in FIG. 3 is disposed at a pick position P1, and the output unit OU in FIG. 4 is disposed at a vertex PP.

[0034] The attachment 1 is a device that amplifies the stroke of the pick-and-place device PPD. Specifically, it amplifies the stroke in the pick-and-place direction.

[0035] The stroke is the distance an object can be transported by the pick-and-place device PPD, i.e., the distance it can take to grip (pick) an object, transport it, and release (place) it.

[0036] The attachment 1 comprises a block 11, a pick and place direction guide 12, a slide member 13, a lever 14, a support member 15, a head 16, a second pick and place direction guide 17, a slider 18, a pick and place perpendicular direction guide 19, and a guide fixing portion 20.

[0037] The block 11 is a member that is fixed to an output unit OU of the pick-and-place device PPD. The block 11 is, for example, a rectangular parallelepiped member. A lever 14, which will be described later, is attached to the front surface of the block 11 so as to be rotatable about a rotation center RC.

[0038] A through hole penetrating the block 11 in the left-right direction is formed near the upper end of the block 11. A guide 11A is attached to the edge of the through hole for moving the block 11 along a pick and place direction guide 12, which will be described later. The guide 11A is, for example, a sliding bearing.

[0039] The pick and place direction guide 12 is attached to the slide member 13 and is provided along the pick and place direction to guide the block 11 movably along the pick and place direction.

[0040] The pick and place direction guide 12 is a cylindrical shaft that is provided in the horizontal direction and has its ends attached to the left and right slide members 13. The shape of the shaft is not limited to this, and it may be a prismatic shape.

[0041] The slide members 13 are a pair of members that move in a direction perpendicular to the pick and place (up and down direction) at predetermined positions on the right and left sides of the pick and place device PPD.

[0042] The slide member 13 supports both ends of the pick and place direction guide 12. That is, both ends of the pick and place direction guide 12 are fixed to the slide member 13. The slide member 13 is formed, for example, by processing a metal plate.

[0043] The lever 14 is attached to the block 11 so as to be rotatable about a rotation center RC. The lever 14 is attached to the block 11 so as to be rotatable about a center line CL of the output portion OU or a line parallel to the center line CL as a rotation center RC.

[0044] The lever 14 is, for example, a long and thin plate-like member. The center line CL of the output unit OU is the center line of the axis that constitutes the output unit OU. In other words, the center line CL is a line that extends from the front to the rear of the pick-and-place device PPD. Therefore, the lever 14 can rotate within a plane parallel to the front surface of the housing C.

[0045] The lever 14 has one end and another end positioned with the one end sandwiching a rotation center RC therebetween.

[0046] A connecting portion H is disposed at one end of the lever 14, which is a predetermined distance away from the rotation center RC. The connecting portion H is, for example, a through hole extending in the front-rear direction. The through hole is, for example, a circular hole. A support member 15 is connected to the connecting portion H, as described later.

[0047] Using the rotation center RC as a reference, a roller 14A that rotates about a rotation axis extending back and forth is attached to the other end at a position opposite to the end where the connecting part H is located. As will be described later, the roller 14A acts on the head 16 to move the head 16 left and right.

[0048] The support member 15 connects one end of the lever 14 to the slide member 13, and positions one end of the lever 14 on the place side of the output unit OU (block 11) when the output unit OU (block 11 attached thereto) is positioned on the pick position side, and positions one end of the lever 14 on the pick position side of the output unit OU (block 11) when the output unit OU (block 11) is positioned on the place position side. In other words, the support member 15 supports the lever 14 to keep it in a predetermined position in accordance with the reciprocating movement of the output unit OU (block 11).

[0049] The support member 15 is connected to the connecting portion H at one end of the lever 14, and guides the connecting portion H so that the connecting portion H moves along a predetermined trajectory when the output portion OU moves back and forth between the pick position P1 and the place position P2.

[0050] In this embodiment, the support member 15 is a rod-shaped link. The support member 15 may be a member whose length is adjustable.

[0051] A pin 15A extending forward and backward is formed on one end of the support member 15. The pin 15A is inserted into a connecting portion H of the lever 14, whereby the support member 15 and the lever 14 are rotatably connected to each other.

[0052] The other end of the support member 15 is rotatably connected to a predetermined position of the slide member 13 by a rotation shaft extending in the front-rear direction.

[0053] That is, the support member 15 is rotatably connected at both ends to one end of the lever 14 and the slide member 13, respectively.

[0054] The predetermined trajectory along which the connecting portion H of the lever 14 moves is a substantially linear trajectory in a direction perpendicular to the pick and place direction.

[0055] The head 16 is rotatable with the other end of the lever 14 and is connected so that the distance between the output section OU (the block 11 fixed thereto) and the block 11 in the direction perpendicular to the pick-place is constant when the output section OU (the block 11 fixed thereto) moves back and forth.

[0056] The head 16 is a member that moves in the pick and place direction (left and right direction) upon receiving a force from the lever 14. The head 16 is, for example, a member having a rectangular parallelepiped shape.

[0057] An elongated hole 16B penetrating in the front-rear direction is formed in the head 16. The elongated hole extends along a direction perpendicular to the pick-place (up-down direction). A roller 14A attached to the lever 14 is inserted into the elongated hole 16B.

[0058] As the lever 14 rotates in accordance with the reciprocating movement of the output unit OU, the head 16 receives a force toward the right or left from the lever 14. This causes the head 16 to move in the pick and place direction (left and right direction).

[0059] A through hole penetrating in the pick and place direction (left and right direction) is formed in the head 16. A guide 16A for moving the head 16 along a second pick and place direction guide 17 is attached to the edge of the through hole. The guide is, for example, a sliding bearing.

[0060] In this embodiment, the second pick place direction guide 17 is attached to the slide member 13 below the pick place direction guide 12 and is arranged along the pick place direction to guide the head 16 movably along the pick place direction.

[0061] The second pick-place direction guide 17 is a cylindrical shaft that is provided in the horizontal direction and has its ends attached to the left and right slide members 13. The shape of the shaft is not limited to this, and it may be a prismatic shape.

[0062] The slide member 13 supports both ends of the second pick and place direction guide 17. That is, both ends of the second pick and place direction guide 17 are fixed to the slide member 13.

[0063] The second pick and place direction guide 17 includes two shafts arranged apart from each other in the pick and place orthogonal direction (up and down direction). The number of shafts may be one.

[0064] When head 16 moves back and forth in the pick-place direction (left and right direction), roller 14A moves back and forth along long hole 16B in a direction perpendicular to the pick-place, and the position of the other end of lever 14 and head 16 in the direction perpendicular to the pick-place (up and down direction) changes, so that head 16 is at a constant distance from block 11 in the direction perpendicular to the pick-place when output section OU moves back and forth.

[0065] An end effector (not shown) is attached to the head 16. The end effector is, for example, a robot hand or a magnet.

[0066] When the attachment 1 is attached to the pick-and-place device PPD, the end effector picks up an object when the output unit OU reaches a pick position P1, and releases the object when the output unit OU reaches a place position P2.

[0067] The position of the head 16 when the output unit OU reaches the pick position P1 is referred to as the pick position P3 (third position P3). Also, the position of the head 16 when the output unit OU reaches the place position P2 is referred to as the place position P4 (fourth position P4).

[0068] The slider 18 is a member that moves in sliding contact with a pick-place perpendicular direction guide 19 to guide the slide member 13 when the slide member 13 moves in the pick-place perpendicular direction (up and down direction).

[0069] The slider 18 is fixed at a predetermined position on the slide member 13. The slider 18 is formed with a through hole that penetrates in the up-down direction, for example. The shape of the through hole is, for example, circular. A pick-and-place orthogonal direction guide 19 is inserted into the through hole.

[0070] The pick-place orthogonal direction guide 19 is attached so as to be fixed to the pick-and-place device PPD, and is provided along the pick-place orthogonal direction (up-down direction).

[0071] The pick place orthogonal direction guide 19 is a member that guides the slide member 13 together with the slider 18 when the slide member 13 moves in the pick place orthogonal direction (up and down direction). In other words, the slide member 13 is movable along the pick place orthogonal direction guide 19.

[0072] The pick-place orthogonal direction guide 19 is, for example, a cylindrical shaft. The shape of the shaft is not limited to this, and may be a prism shape. The pick-place orthogonal direction guide 19 is inserted into a through hole of the slider 18.

[0073] The pick-place orthogonal direction guide 19 is attached to guide fixing portions 20 at its upper and lower ends.

[0074] The guide fixing portion 20 is a member for attaching the pick and place orthogonal direction guide 19 to the housing C of the pick and place device PPD. The guide fixing parts 20 are a pair of members provided on the left and right sides of the pick-and-place device PPD, and are made of, for example, sheet metal.

[0075] The guide fixing portion 20 is fixed, for example, to the rear surface of the housing C of the pick-and-place device PPD by means of screws 20a at two locations on each of the left and right sides.

[0076] The guide fixing portion 20 supports the upper and lower ends of the pick place orthogonal direction guide 19. In other words, the upper and lower ends of the pick place orthogonal direction guide 19 are fixed to the guide fixing portion 20.

[0077] The assembly procedure for the attachment 1 will be described with reference to FIGS. 5 to 8 and 3. FIG. The assembly order is merely an example and is not limited to this.

[0078] 5, a block 11 is fixed to an output section OU of the pick-and-place device PPD. A shaft of a pick-place direction guide 12 is inserted into a through hole provided in the left-right direction of the block 11. Slide members 13 are attached to both ends of the shaft of the pick-place direction guide 12, and sliders 18 are fixed to the slide members 13.

[0079] Next, as shown in FIG. 6, the shaft of the second pick and place direction guide 17 is inserted into the head 16, and both ends of the shaft are fixed to the slide member 13.

[0080] 7, the lever 14 is attached to the block 11. The roller 14A attached to the other end of the lever 14 is inserted into the elongated hole 16B of the head 16.

[0081] 8, pin 15A at one end of the link of support member 15 is inserted into connecting part H at one end of lever 14. Furthermore, the other end of the link of support member 15 is attached to slide member 13.

[0082] 3, the shaft of the pick-place orthogonal direction guide 19 is inserted into the through-hole of the slider 18, and the shaft of the pick-place orthogonal direction guide 19 is fixed to the guide fixing part 20. In addition, the guide fixing part 20 is fixed to the rear surface of the pick-and-place device PPD, completing the attachment 1 to the pick-and-place device PPD.

[0083] Next, the operations of the pick-and-place device PPD and the attachment 1 will be described with reference to FIGS.

[0084] 3 shows the state of the attachment 1 when the block 11 (output unit OU) is located at the pick position P1. At this time, the angle between the support member 15 and the lever 14 is the largest.

[0085] When the output unit OU is located at the pick position P1, the connecting unit H is located on a line passing through the midpoint of the line connecting the pick position P1 and the place position P2 and the vertex PP.

[0086] The head 16 is located at pick position P3, which is the leftmost position within the movement range of the head 16. The pick position P3 of the head 16 is located to the left of the pick position P1 of the output unit OU.

[0087] Fig. 9 shows the state when the block 11 (output unit OU) has moved upward from the pick position P1. The output unit OU is located between the pick position P1 and the apex PP. At this time, the angle between the support member 15 and the lever 14 is smaller than that in the state shown in Fig. 3. Also, the head 16 receives a force from the lever 14 and moves to the right from the pick position P3.

[0088] Fig. 10 shows the state of the attachment 1 when the block 11 (output part OU) is located at the apex PP. At this time, the angle between the support member 15 and the lever 14 is smaller than that in the state shown in Fig. 9. Also, the connecting part H is located at the highest position of the trajectory along which the connecting part H moves. At this time, the head 16 is located at the center of the movement range of the head 16.

[0089] Fig. 11 shows the state when the block 11 (output part OU) moves from the apex PP toward the place position P2. At this time, the angle between the support member 15 and the lever 14 is smaller than that in the state shown in Fig. 10. Also, the head 16 is located further to the right than the position shown in Fig. 10.

[0090] 12 shows the state of the attachment 1 when the block 11 (output unit OU) reaches the place position P2. At this time, the angle between the support member 15 and the lever 14 becomes the smallest.

[0091] When the output unit OU is located at the place position P2, the connecting unit H is located on a line passing through the midpoint of the line connecting the pick position P1 and the place position P2 and the vertex PP.

[0092] The head 16 is located at a place position P4, which is the rightmost position within the movement range of the head 16. The place position P4 of the head 16 is located to the right of the place position P2 of the output unit OU.

[0093] In this way, when the output unit OU moves between the pick position P1 and the place position P2, the head 16 moves between the pick position P3 and the place position P4, and the distance between the pick position P3 and the place position P4 of the head 16 (the distance in the pick-place direction) becomes longer than the distance between the pick position P1 and the place position P2 of the output unit OU (the distance in the pick-place direction). That is, the stroke in the pick-place direction is amplified.

[0094] Figure 13 shows an example of stroke amplification, where Figure 13(a) is a front view of the trajectory of the reciprocating movement of the output part of a pick-and-place device when no attachment is attached, and Figure 13(b) is a front view of the trajectory of the reciprocating movement of the head when an attachment is attached to the same pick-and-place device.

[0095] When no attachment is attached, the reciprocating movement distance (stroke) of the output part of the pick-and-place device in the direction perpendicular to the pick-place (up and down direction) is 102 mm, with a straight section of 42 mm and an arc section of 60 mm radius, and the reciprocating movement distance (stroke) in the pick-place direction (left and right direction) is 120 mm in diameter (Figure 13(a)).

[0096] The reciprocating movement distance (stroke) of the attachment head mounted on the pick-and-place device in the direction perpendicular to the pick-and-place (up-down direction) is 102 mm, with a straight section of 42 mm and an arc section of 60 mm radius, and the reciprocating movement distance (stroke) in the pick-and-place direction (left-right direction) is 240 mm in diameter (Figure 13(b)).

[0097] In this way, by mounting the attachment, it is possible to double the reciprocating movement distance (stroke) in the pick-and-place direction without changing the reciprocating movement distance in the direction perpendicular to the pick-and-place direction.

[0098] When an attachment is installed to double the stroke, the overall width of the attached pick-and-place device in the pick-place direction (left-right direction) is only about 1.4 times the size of a pick-and-place device without the attachment. This allows for a more compact design compared to a pick-and-place device that is twice the size without the attachment. A similar reduction in overall height in the direction perpendicular to the pick-place (up-down direction) can also be achieved. This prevents the pick-and-place device from becoming too large, and saves space in the factory.

[0099] Also, if a pick-and-place device twice the size were prepared without the attachment, the mechanism would become larger, causing the operating speed of the output section to drop and the cycle time to increase by, for example, 1.33 times.However, if the attachment is installed, the pick-and-place device can be used as is, so the operating speed does not drop and the cycle time can be maintained.

[0100] The attachment 1 can be easily attached to an existing pick-and-place device PPD.

[0101] The attachment 1 includes a slide member 13, a pick and place direction guide 12, and a second pick and place direction guide 17, and is capable of stabilizing the movements of the block 11 and the head 16.

[0102] The support member 15 is connected to one end of the lever 14 and guides the rotation of the lever 14, so that the one end can be moved along a predetermined trajectory. As a result, if the output unit OU moves from the pick position P1 to the place position P2 via the apex PP, the head 16 can be moved smoothly from the pick position P3 to the place position P4.

[0103] In the above-described first embodiment, an example has been described in which the connecting portion H is a circular through hole. However, the hole of the connecting portion H is not limited to a circular hole, and may be an elongated hole.

[0104] 14 and 15 are enlarged views of the vicinity of connecting portion H. Connecting portion H is an elongated hole. That is, a elongated hole penetrating in the front-rear direction along the longitudinal direction of lever 14 is formed near the end of lever 14. Also, one end of support member 15 is formed with pin 15A extending in the front-rear direction. Pin 15A is inserted into the elongated hole of lever 14, thereby connecting support member 15 and lever 14.

[0105] By providing a fixing member that rotatably fixes the pin 15A at any position in the elongated hole, the pin 15A can be fixed at any position in the elongated hole. In other words, the elongated hole can be used to adjust the connection position between the lever 14 and the support member 15. This allows the pick position P3 and place position P4 of the head 16 to be adjusted and installed.

[0106] Second Embodiment A second embodiment of the present invention will be described with reference to Figures 16 and 17. Note that a description of the same parts as in the first embodiment will be omitted, and differences will be mainly described.

[0107] In the second embodiment, the structure of the support member is different from that in the first embodiment. 16 and 17 are front views showing the attachment 1 of the second embodiment.

[0108] The support member 15 is a plate that is fixed to the slide member 13 and has a long hole 151 formed along the direction perpendicular to the pick and place, and one end of the lever 14 is movably connected to the long hole 151.

[0109] The plate of the support member 15 has a shape in which two elongated flat members cross each other. Both ends of the portion of the plate of the support member 15 extending in the left-right direction are attached and fixed to the slide member 13.

[0110] A flat plate portion extending in the pick-place orthogonal direction (up-down direction) is formed in the center of the left-right extending portion of the plate of the support member 15. A long hole 151 penetrating in the front-rear direction is formed in this flat plate portion. In other words, the plate of the support member 15 has the long hole 151 parallel to the pick-place orthogonal direction guide 19.

[0111] Furthermore, a connecting portion 14B is disposed at one end of the lever 14. The connecting portion 14B is, for example, a roller having a rotation center in the front-rear direction.

[0112] A long hole 151 formed in the plate of the support member 15 and the connecting portion 14B of the lever 14 are connected to each other. Specifically, the roller of the connecting portion 14B is inserted into the long hole 151 and is connected so as to be able to slide and move freely.

[0113] 16, when the block 11 (output unit OU) is located at pick position P1, the head 16 is located at pick position P3. The pick position P3 of the head 16 is located to the left of the pick position P1 of the output unit OU. In addition, the connecting portion 14B of the lever 14 is located at a lower position within the elongated hole 151 of the plate of the support member 15.

[0114] When the output part OU (block 11) rises, the connecting part 14B of the lever 14 rises within the long hole 151 of the plate of the support member 15. In other words, the predetermined trajectory along which the connecting part 14B moves is a linear trajectory.

[0115] As shown in FIG. 17, when the output unit OU (block 11) reaches the apex PP, the head 16 reaches the midpoint between the pick position P1 and the place position P2 (the midpoint between the pick position P3 and the place position P4).

[0116] Thereafter, although not shown, when the output unit OU reaches the place position P2 of the output unit OU, the head 16 reaches the place position P4 of the head 16. The place position P4 of the head 16 is a position to the right of the place position P2 of the output unit OU.

[0117] That is, when the output unit OU moves between pick position P1 and place position P2 of the output unit OU, the head 16 moves between pick position P3 and place position P4 of the head 16, and the distance between pick position P3 and place position P4 of the head 16 (distance in the pick-place direction) is longer than the distance between pick position P1 and place position P2 of the output unit OU (distance in the pick-place direction). That is, the stroke in the pick-place direction is amplified.

[0118] Third embodiment A third embodiment of the present invention will be described with reference to Figures 18 and 19. Note that a description of the same parts as the first and second embodiments will be omitted, and differences will be mainly described.

[0119] In the third embodiment, the structure of the second pick and place direction guide 17 that movably guides the head 16 along the pick and place direction is different from that of the first embodiment. 18 and 19 are front views showing the attachment 1 of the third embodiment.

[0120] The second pick and place direction guide 17 is attached and fixed to the block 11 and is provided along the pick and place direction (left and right direction).

[0121] The second pick and place direction guide 17 is, for example, a rail. In this case, the rear surface of the head 16 has a recess that fits and engages with the rail, and the recess slides on the rail. The length of the rail in the pick and place direction (left and right direction) is set sufficiently longer than the stroke of the head 16 in the pick and place direction.

[0122] 18, when the block 11 (output unit OU) is located at pick position P1, the head 16 is located at pick position P3. The pick position P3 of the head 16 is located to the left of the pick position P1 of the output unit OU. The head 16 is also located at the left side on the rail of the second pick and place direction guide 17.

[0123] When the output unit OU (block 11) rises, the head 16 moves to the right along the rail of the second pick-place direction guide 17.

[0124] 19, when the output unit OU (block 11) reaches the apex PP, the head 16 reaches the midpoint between the pick position P1 and the place position P2 (the midpoint between the pick position P3 and the place position P4). The head 16 is also located at the midpoint on the rail of the second pick and place direction guide 17.

[0125] After that, although not shown, when the output unit OU reaches the place position P2 of the output unit OU, the head 16 reaches the place position P4 of the head 16. The place position P4 of the head 16 is a position to the right of the place position P2 of the output unit OU. Also, the head 16 is located at a right position on the rail of the second pick and place direction guide 17.

[0126] That is, when the output unit OU moves between pick position P1 and place position P2 of the output unit OU, the head 16 moves between pick position P3 and place position P4 of the head 16, and the distance between pick position P3 and place position P4 of the head 16 (distance in the pick-place direction) is longer than the distance between pick position P1 and place position P2 of the output unit OU (distance in the pick-place direction). That is, the stroke in the pick-place direction is amplified.

[0127] In addition, each technical matter in any of the embodiments, including the modified examples, may be applied to other embodiments to serve as examples. For example, an attachment may be configured by combining the plate of the support member 15 of the second embodiment with the rail of the second pick and place direction guide 17 of the third embodiment. [Explanation of symbols]

[0128] 1 Attachment 11 Blocks 11A Guide 12 Pick-Place Direction Guide 13 Slide member 14 Lever 14A Roller 14B Connection part 15 Support material 15A Pin 16 Head 16A Guide 16B long hole 17 2nd pick place direction guide 18 Slider 19 Pick-place orthogonal guide 20 Guide fixing part 20a Bis

Claims

1. An attachment to a pick and place device having an output section that, when reciprocating between a pick position and a place position, reciprocates via a vertex located at a midpoint between the pick position and the place position and spaced apart in a pick and place orthogonal direction, the pick and place direction being a direction connecting the pick position and the place position, the output section being attached to a pick and place device, A block attached to the output section; a lever rotatably attached to the block and having one end and another end positioned on either side of the one end with respect to a rotation center; A pick-place orthogonal direction guide attached to the pick-and-place device and provided along the pick-place orthogonal direction; A slide member movable along the pick-place orthogonal direction guide; a pick-place direction guide that is attached to the slide member and is provided along the pick-place direction to movably guide the block along the pick-place direction; a support member that connects the one end of the lever and the slide member, and that positions the one end of the lever closer to the place side than the output part when the output part is located on the pick position side, and positions the one end of the lever closer to the pick position than the output part when the output part is located on the place position side; a head that is rotatable with the other end of the lever and is connected to the block so that a distance between the block and the pick-place perpendicular direction is constant during reciprocation of the output section; An attachment comprising:

2. The support member is a link rotatably connected to the one end of the lever and the slide member.

2. The attachment according to claim 1 .

3. the support member is a link rotatably connected to the one end of the lever and the slide member, 2. The attachment according to claim 1, wherein the lever has an elongated hole at the one end, and a connecting position between the lever and the link can be adjusted by using the elongated hole.

4. The support member is a plate that is fixed to the slide member and has a long hole formed along a direction perpendicular to the pick-place, and the one end of the lever is movably connected to the long hole.

2. The attachment according to claim 1 .

5. a second pick-place direction guide attached to the slide member and provided along the pick-place direction, The second pick-place direction guide movably guides the head along the pick-place direction.

5. An attachment according to any one of claims 1 to 4.

6. a second pick-place direction guide attached to the block and provided along the pick-place direction; The second pick-place direction guide movably guides the head along the pick-place direction.

5. An attachment according to any one of claims 1 to 4.

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