Grip device and component mounting device

Abstract

To inhibit increase of the size of a grip device and expand a range of a component size which can be gripped by the grip device.SOLUTION: A grip device grips a component by opening or closing arms to mount the component. The grip device includes: a fixed arm; a movable arm which moves in an opening / closing direction in which the movable arm moves close to or away from the fixed arm; and a device body to which the fixed arm is fixed and which has a drive mechanism for operating the movable arm. The fixed arm is attached to the device body in such a manner that a fixed position may be adjusted along the opening / closing direction.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 Art

[0002] In the technical field related to component mounting devices, a gripping device that holds components by opening and closing an arm is known. Patent Document 1 discloses a gripper nozzle including a nozzle body, a fixed arm and a movable arm provided on the nozzle body, and an arm driving device. The movable arm rotates by a hinge mechanism so as to move from one of a direction approaching and a direction separating from the fixed arm to the other.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the gripper nozzle of Patent Document 1, the range of component sizes that can be gripped is determined by the movable range of the tip of the movable arm. When the size of the component to be gripped is outside the range of component sizes that can be gripped, it is necessary to manufacture a gripping device with special specifications. In order to suppress an increase in the types of gripping devices, it is desired that one gripping device can hold components of various sizes. However, simply increasing the movable range of the movable arm will cause the entire gripping device to become larger.

[0005] The technology disclosed in this specification aims to expand the range of component sizes that can be gripped while suppressing an increase in the size of the gripping device.

Means for Solving the Problems

[0006] This specification discloses a gripping device used in a component mounting apparatus. The gripping device is a gripping device that grips a component by opening and closing an arm to perform component mounting, and includes a fixed arm, a movable arm that moves in an opening and closing direction approaching and separating from the fixed arm, and a device body that has a drive mechanism for operating the movable arm while the fixed arm is fixed. The fixed arm is attached to the device body so that its fixed position can be adjusted along the opening and closing direction.

[0007] This specification discloses a component mounting apparatus. The component mounting apparatus includes a component supply device that supplies components, a substrate support device that supports a substrate, and the above-described gripping device, and further includes a mounting head that mounts the components held by the gripping device on the substrate.

Advantages of the Invention

[0008] According to the technology disclosed in this specification, it is possible to expand the range of component sizes that can be gripped while suppressing an increase in the size of the gripping device.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings. In the embodiments, 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 orthogonal to the X-axis in the predetermined plane is defined as the Y-axis direction. The direction parallel to the Z-axis orthogonal to each of the X-axis and the Y-axis is defined as the Z-axis direction. The rotational direction or tilting direction about the X-axis is defined as the θX direction. The rotational direction or tilting direction about the Y-axis is defined as the θY direction. The rotational direction or tilting direction about the Z-axis is defined as the θZ direction. The plane including the X-axis and the Y-axis is the XY plane. The plane including the Y-axis and the Z-axis is the YZ plane. The plane including the Z-axis and the X-axis is the ZX plane. The predetermined plane is the XY plane. In the embodiments, the predetermined plane is assumed to be parallel to the 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 the right. The -Y direction is the left. The +Z direction is the up. The -Z direction is the down.

[0011] [Component Mounting Device] FIG. 1 is a diagram schematically showing a component mounting apparatus 1 according to an embodiment. The component mounting apparatus 1 mounts a component C on a substrate P. As shown 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.

[0012] The component supply device 2 supplies the component C. The component supply device 2 includes a tray that supports a plurality of components C. Note that the component supply device 2 may include a feeder that feeds out a tape on which the component C is held from a tape reel.

[0013] 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.

[0014] The mounting head 4 has a grip device 6 that holds the component C. The mounting head 4 mounts the component C held by the grip device 6 on the substrate P. The mounting head 4 is moved in each of the X-axis direction and the Y-axis direction by a head moving device 7.

[0015] The grip device 6 is supported by the mounting head 4 via a rod 8. A grip moving device 9 is provided on the mounting head 4. The grip device 6 is moved in each of the Z-axis direction and the θZ direction with respect to the mounting head 4 by the grip moving device 9. The grip moving device 9 moves the grip device 6 by moving the rod 8.

[0016] A plurality of gripping devices 6 are provided on the mounting head 4. A gripping movement device 9 is provided for each of the plurality of gripping devices 6. The plurality of gripping devices 6 can move integrally in the X-axis direction and the Y-axis direction together with the mounting head 4. The plurality of gripping devices 6 can be moved separately in the Z-axis direction by the gripping movement device 9. Regarding the movement in the θZ direction, the plurality of gripping movement devices 9 may move the corresponding gripping devices 6 one by one separately in the θZ direction, or, for example, the plurality of gripping devices 6 may be moved together in the θZ direction by a shared θZ driving motor and a driving force transmission mechanism. The plurality of gripping movement devices 9, for example, integrally (simultaneously) move the three gripping devices 6 in FIG. 1 in the θZ direction by a shared single θZ driving motor and a driving force transmission mechanism. The number of gripping devices 6 driven in the θZ direction by one θZ driving motor can be appropriately set according to the total number of gripping devices 6 provided on the mounting head 4. For example, the mounting head 4 may be configured to move six gripping devices 6 in the θZ direction in groups of three by two θZ driving motors. Alternatively, the mounting head 4 may be configured to move eight gripping devices 6 in the θZ direction in groups of two by four θZ driving motors. The plurality of gripping devices 6 separately grip the component C by opening and closing the arm and perform component mounting.

[0017] 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 movement device 7 and the gripping movement device 9. The mounting head 4 can move between the component supply device 2 and the substrate support device 3. After holding the component C supplied from the component supply device 2 with the gripping device 6, the mounting head 4 transports it to the substrate P supported by the substrate support device 3. The mounting head 4 mounts the component C held by the gripping device 6 on the substrate P.

[0018] [Gripping 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 cross-sectional view showing the gripping device 6 according to the embodiment.

[0019] As shown in FIGS. 2, 3, and 4, the grip device 6 includes a device main body 10, a fixed arm 50, and a movable arm 30.

[0020] The device main body 10 includes a cylinder part 11, a cup part 12, and an arm block 13. The device main body 10 has a drive mechanism 20 for operating the movable arm 30 while the fixed arm 50 is fixed thereto.

[0021] The cylinder part 11 is substantially cylindrical. The central axis MX of the cylinder part 11 extends in the vertical direction. The cylinder part 11 has an internal space 14. The internal space 14 of the cylinder part 11 includes a small-diameter part 14A, a medium-diameter part 14B, and a large-diameter part 14C. The small-diameter part 14A is disposed above the medium-diameter part 14B. The medium-diameter part 14B is disposed above the large-diameter part 14C. The inner diameter of the small-diameter part 14A is smaller than the inner diameter of the medium-diameter part 14B. The inner diameter of the medium-diameter part 14B is smaller than the inner diameter of the large-diameter part 14C. The central axis of the small-diameter part 14A, the central axis of the medium-diameter part 14B, and the central axis of the large-diameter part 14C coincide. An opening 11A is provided at the upper end of the small-diameter part 14A. A support surface 11B is provided at the boundary between the lower end of the small-diameter part 14A and the upper end of the medium-diameter part 14B. In a plane orthogonal to the central axis MX, the support surface 11B is ring-shaped surrounding the central axis MX. The support surface 11B faces downward. An opening 11D is provided at the lower end of the large-diameter part 14C.

[0022] The cup part 12 is fixed to the lower part of the cylinder part 11. The cup part 12 has a cylindrical part 12A and a flange part 12B. The cylindrical part 12A is disposed around the lower part of the cylinder part 11. The cylindrical part 12A is attached to the lower part of the cylinder part 11. The flange part 12B is connected to the upper part of the cylindrical part 12A. The flange part 12B projects annularly outward in the radial direction of the central axis MX from the cylindrical part 12A.

[0023] The arm block 13 is fixed to the lower part of the cylinder part 11. The arm block 13 has a cylindrical part 13A and a plate part 13B. The cylindrical part 13A is inserted into the large-diameter part 14C through the opening 11D. A guide hole 15 is provided inside the cylindrical part 13A. The guide hole 15 is long in the vertical direction. The guide hole 15 penetrates from the upper end to the lower end of the cylindrical part 13A. The central axis of the cylindrical part 13A extends in the vertical direction. The central axis MX of the cylinder part 11 and the central axis of the cylindrical part 13A coincide.

[0024] The plate part 13B is connected to the lower part of the cylindrical part 13A. The plate part 13B has a front surface and a rear surface. Each of the front surface and the rear surface of the plate part 13B is substantially parallel to the YZ plane. The plate part 13B includes a first plate part 131 and a second plate part 132. The first plate part 131 is disposed above the second plate part 132. The first plate part 131 is connected to the lower part of the cylindrical part 13A. In the left-right direction, the dimension of the first plate part 131 is smaller than the dimension of the second plate part 132.

[0025] The plate part 13B has a main body opening 16 that is long in the vertical direction. The main body opening 16 penetrates the front surface and the rear surface of the plate part 13B. The upper end part of the main body opening 16 is connected to the lower end part of the guide hole 15. That is, the guide hole 15 and the main body opening 16 are connected. The lower end part of the main body opening 16 is disposed above the lower end part of the plate part 13B.

[0026] The main body opening 16 is rectangular and long in the vertical direction. In the left-right direction, the dimension of the main body opening 16 is larger than the dimension of the guide hole 15. The dimension of the main body opening 16 in the vertical direction is set according to the vertical stroke amount of the piston 21 described later.

[0027] 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. The sub-guide opening 17 is provided linearly in the left-right direction. The main-guide opening 18 is provided linearly in the left-right direction. The sub-guide opening 17 and the main-guide opening 18 are substantially parallel. Each of the sub-guide opening 17 and the main-guide opening 18 is provided in the second plate portion 132. The sub-guide opening 17 penetrates the front surface and the rear surface of the second plate portion 132. The main-guide opening 18 penetrates the front surface and the rear surface of the second plate portion 132.

[0028] The sub-guide opening 17 and the main-guide opening 18 are provided on the right side (+Y direction) of the second plate portion 132 in the left-right direction. The sub-guide opening 17 and the main-guide opening 18 extend rightward (+Y direction) from near the central axis MX in the left-right direction.

[0029] The plate portion 13B has a relief portion 60. The relief portion 60 is long in the left-right direction. The relief portion 60 is an opening (through-hole) that penetrates the front surface and the rear surface of the second plate portion 132. The relief portion 60 allows the fixing member 65 for fixing the fixed arm 50 to be inserted into the relief portion 60 and enables the fixing member 65 to move in the left-right direction. The relief portion 60 is provided linearly in the left-right direction. The relief portion 60 is provided on the left side (-Y direction) of the second plate portion 132 in the left-right direction. The relief portion 60 extends leftward (-Y direction) from near the central axis MX in the left-right direction. The relief portion 60 is aligned with the main-guide opening 18 in the left-right direction. The left-right dimension of the relief portion 60 is smaller than the left-right dimension of the main-guide opening 18.

[0030] In addition, the plate portion 13B has a body pin 19. One body pin 19 is provided. A support hole 13C is formed in the first plate portion 131 of the plate portion 13B. One support hole 13C is formed to the right of the body opening 16. The support hole 13C penetrates the front and rear surfaces of the first plate portion 131. The body pin 19 is inserted into the support hole 13C of the first plate portion 131.

[0031] The drive mechanism 20 operates the movable arm 30. The movable arm 30 moves in the opening and closing direction of approaching and separating from the fixed arm 50. The opening and closing direction is the left - right direction (Y - axis direction). The fixed arm 50 is fixed to the apparatus main body 10. During the mounting operation by the component mounting apparatus 1, the fixed arm 50 is fixed to the apparatus main body 10 and does not move. The gripper device 6 sandwiches the component C by one fixed arm 50 and one movable arm 30. When the movable arm 30 moves in the direction approaching the fixed arm 50, the gripper device 6 closes and the component C is gripped. When the movable arm 30 moves in the direction away from the fixed arm 50, the gripper device 6 opens and the gripping of the component C is released.

[0032] The drive mechanism 20 has a piston 21, a piston rod 22, a first slide pin 23, a coil spring 24, and a link member 40. The link member 40 will be described later.

[0033] The piston 21 is disposed in the middle - diameter portion 14B. The piston 21 moves in the vertical direction in the middle - diameter portion 14B. The piston 21 is guided in the vertical direction on the inner surface of the middle - diameter portion 14B. The piston 21 contacts the inner surface of the middle - diameter portion 14B. The piston 21 divides the internal space 14 of the cylinder portion 11 so as to restrict the movement of gas between the region above the piston 21 and the region below the piston 21.

[0034] 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 upper surface of the large-diameter portion 21A faces the support surface 11B of the cylinder portion 11 in the vertical direction. The central axis of the large-diameter portion 21A and the central axis of the small-diameter portion 21B coincide. 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 orthogonal to the central axis MX, the support surface 21C is in a ring shape surrounding the central axis MX. The support surface 21C faces downward.

[0035] The coil spring 24 is disposed in the internal space 14. The coil spring 24 is disposed around the piston rod 22. The upper end portion of the coil spring 24 can contact the support surface 21C of the piston 21. The lower end portion of the coil spring 24 contacts the upper end portion of the cylindrical portion 13A. The coil spring 24 is a compression coil spring. The coil spring 24 generates an elastic force (biasing force) so that the piston 21 moves upward.

[0036] The piston rod 22 protrudes downward from the piston 21. At least a part of the piston rod 22 is disposed in the middle-diameter portion 14B. At least a part of the piston rod 22 is disposed in the large-diameter portion 14C. At least a part of the piston rod 22 is disposed in the guide hole 15. At least a part 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.

[0037] 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 in 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 portion of the first slide pin 23 protrudes forward from the front surface of the piston rod 22. The front end portion of the first slide pin 23 protrudes forward from the front surface of the plate portion 13B. When the piston rod 22 moves in the vertical direction, the first slide pin 23 moves in the vertical direction at the main body opening 16.

[0038] The movable arm 30 is provided on the right side of the central axis MX in the left - right direction. The movable arm 30 is movably attached to the apparatus main body 10. The movable arm 30 is guided in the opening - closing direction (left - right direction) of approaching or separating from the fixed arm 50 by the apparatus main body 10.

[0039] FIG. 5 is an exploded perspective view showing the movable arm 30 according to the embodiment. The movable arm 30 includes a base portion 31, a slider portion 32, a second slide pin 33, and a gripping portion 34.

[0040] The base portion 31 supports each of the slider portion 32 and the second slide pin 33. At least a part of the base portion 31 is disposed behind the plate portion 13B.

[0041] The slider portion 32 protrudes in the X - axis direction from the opposing surface of the base portion 31 that faces the second plate portion 132. The slider portion 32 protrudes forward from the opposing surface of the base portion 31 that faces forward.

[0042] 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 is inserted into the sub - guide opening 17 from behind the second plate portion 132. The slider portion 32 can move in the opening - closing direction (left - right direction) while being guided by the sub - guide opening 17.

[0043] 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 that faces the second plate portion 132. The second slide pin 33 protrudes forward from the opposing surface of the base portion 31 facing forward.

[0044] 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 can move in the left-right direction while being guided by the main guide opening 18. The second slide pin 33 protrudes forward from behind the second plate portion 132, passes through the main guide opening 18, and protrudes forward of the second plate portion 132. The tip of the second slide pin 33 engages with the link member 40.

[0045] The gripping portion 34 protrudes downward from the lower portion of the base portion 31. The gripping portion 34 is disposed below the plate portion 13B. The gripping portion 34 contacts the component C and grips the component C together with the fixing arm 50.

[0046] The movable arm 30 moves in the opening and closing direction by the operation of the link member 40 of the drive mechanism 20. At least a part of the link member 40 is connected to the apparatus main body 10. At least a part of the link member 40 is connected to the movable arm 30. The link member 40 is disposed forward of the plate portion 13B.

[0047] The link member 40 has a joint portion 41, a first link portion 42, and a second link portion 43.

[0048] The joint portion 41 is rotatably connected to the apparatus main body 10. The joint portion 41 is rotatably supported by the main body pin 19. The joint portion 41 has an opening 41A in which the main body pin 19 is disposed. The joint portion 41 is rotatable about the rotation axis RX while being supported by the main body pin 19. The rotation axis RX is parallel to the X-axis.

[0049] Each of the first link portion 42 and the second link portion 43 is provided so as to extend from the joint portion 41. Each of the first link portion 42 and the second link portion 43 extends in the YZ plane. The second link portion 43 extends from the joint portion 41 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.

[0050] 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 has an arcuate rectangular shape that is long in the extending direction of the first link portion 42. The first slide pin 23 and the first link opening 44 are relatively movable. The first slide pin 23 is disposed in the first link opening 44 so as to be relatively movable with respect to the first link portion 42.

[0051] 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 has a groove shape (notch shape) that is long in the extending direction of the second link portion 43. The second slide pin 33 and the second link opening 45 are relatively movable. The second slide pin 33 is disposed in the second link opening 45 so as to be relatively movable with respect to the second link portion 43.

[0052] FIG. 6 is an exploded perspective view showing a fixed arm 50 according to an embodiment. FIG. 7 is a cross-sectional view of the fixed arm 50 according to the embodiment as viewed from the opening and closing direction. FIG. 7 shows an XZ cross-section passing through the fixing member 65 in FIG. 2. The fixed arm 50 cooperates with the movable arm 30 to grip the component C. The fixed arm 50 is attached to the apparatus main body 10 so that the fixed position can be adjusted along the opening and closing direction. The fixed position of the fixed arm 50 in the opening and closing direction can be adjusted by an operator when the component mounting apparatus 1 is not in operation.

[0053] In the embodiment, the fixed arm 50 is detachable from the apparatus main body 10. The grip device 6 includes a fixing member 65 that releasably fixes the fixed arm 50 to the apparatus main body 10. The fixed arm 50 is attached to the arm block 13 (second plate portion 132) of the apparatus main body 10 by the fixing member 65.

[0054] The fixed arm 50 has a first portion 51 fixed to the apparatus main body 10 and a second portion 52 that grips the component C together with the movable arm 30. The fixed arm 50 extends in the vertical direction as a whole. The upper end portion of the second portion 52 is connected to the lower end portion of the first portion 51. The fixed arm 50 integrally has the first portion 51 and the second portion 52.

[0055] The first portion 51 branches into two, a one-side portion 51A and the other-side portion 51B, from the upper end portion of the second portion 52. The one-side portion 51A is adjacent to one of the front surface and the rear surface of the second plate portion 132, and the other-side portion 51B is adjacent to the other of the front surface and the rear surface of the second plate portion 132. That is, the first portion 51 is provided so as to sandwich the second plate portion 132 from the front and the rear. The one-side portion 51A and the other-side portion 51B each have a mounting hole 53A and a mounting hole 53B for mounting the fixing member 65. The mounting hole 53A penetrates the one-side portion 51A in the front-rear direction. The mounting hole 53B penetrates the other-side portion 51B in the front-rear direction. The mounting hole 53A and the mounting hole 53B are coaxially arranged in the front-rear direction. The fixing member 65 can pass through one of the mounting hole 53A and the mounting hole 53B and mount the tip portion to the other of the mounting hole 53A and the mounting hole 53B. In the embodiment, the mounting hole 53A and the mounting hole 53B are threaded holes in which female threads are formed on the inner surface, and the fixing member 65 is a threaded member in which male threads are formed on the outer peripheral surface of the shaft portion. The outer diameter of the shaft portion of the fixing member 65 is smaller than the inner dimension of the relief portion 60 of the second plate portion 132. The outer diameter of the head portion of the fixing member 65 is larger than the diameter of the mounting hole 53A and the mounting hole 53B.

[0056] The fixing member 65 passes through one of the mounting holes 53A and 53B, further passes through the relief portion 60 of the second plate portion 132, and is mounted on the other of the mounting holes 53A and 53B. When the screw of the fixing member 65 is tightened, the head of the screw and the first portion 51 on the rear surface side of the second plate portion 132 (the other portion 51B in the case of FIG. 6) sandwich the second plate portion 132 and the first portion 51 on the front surface side of the second plate portion 132 (the one portion 51A in the case of FIG. 6). Thereby, the fixing arm 50 is fixed to the second plate portion 132 by the fixing member 65.

[0057] By loosening the fastening of the fixing member 65, the fixing of the fixing arm 50 is released, so that the fixing arm 50 can be moved relative to the second plate portion 132. The relief portion 60 enables the fixing member 65 to move together with the fixing arm 50 within the formation range of the relief portion 60. Thereby, the fixing arm 50 can adjust its fixing position along the opening / closing direction (left-right direction) within the formation range of the relief portion 60. The relief portion 60 has a length L along the opening / closing direction (left-right direction). Due to the relief portion 60, the position adjustment of the fixing arm 50 can be performed while the fixing member 65 is attached to the fixing arm 50.

[0058] The apparatus main body 10 has a guide portion 61 for guiding the position adjustment of the fixing arm 50 along the opening / closing direction. The guide portion 61 is a concave groove formed in the plate portion 13B. The guide portion 61 is provided on the front surface and the rear surface of the second plate portion 132 respectively. The guide portion 61 extends linearly in the opening / closing direction (left-right direction). The guide portion 61 is formed above the relief portion 60 in the second plate portion 132.

[0059] The fixed arm 50 has an engagement rib 54 that engages with the guide portion 61. The engagement rib 54 is formed on the surfaces of one part 51A and the other part 51B that face each other in the front-rear direction. The engagement rib 54 extends linearly in the opening / closing direction (left-right direction). The engagement rib 54 protrudes into the guide portion 61 formed by a concave groove. Thereby, the guide portion 61 guides the fixed arm 50 to move linearly along the opening / closing direction (left-right direction). The guide portion 61 limits the movable direction of the fixed arm 50 to the opening / closing direction (left-right direction) so that the fixed arm 50 does not move in the up-down direction.

[0060] As shown in FIG. 7, the apparatus main body 10 has a restricting portion 62 that contacts a part of the fixed arm 50 and restricts the fixing angle deviation of the fixed arm 50. The restricting portion 62 is provided integrally with the guide portion 61. The restricting portion 62 is constituted by the inner surface of the guide portion 61 formed by a concave groove. The restricting portion 62 is composed of the upper inner surface and the lower inner surface of the guide portion 61. The restricting portion 62 is a flat surface parallel to the XY plane. The restricting portion 62 is in surface contact with the engagement rib 54 of the fixed arm 50. Thereby, the fixed arm 50 is prevented from being fixed in a state inclined in the θX direction around the X axis.

[0061] The second portion 52 of the fixed arm 50 extends linearly downward from the lower end portion of the first portion 51. The second portion 52 has a plate-like shape. The second portion 52 has a flat plate shape that extends substantially in the up-down direction and the front-rear direction. The second portion 52 is provided straddling the one part 51A and the other part 51B of the first portion 51. In the left-right direction, one side surface 52A and the other side surface 52B of the second portion 52 are flat surfaces along the XZ plane. The side surfaces 52A and 52B are substantially parallel. Among the side surface 52A and the side surface 52B, the one closer to the movable arm 30 functions as a gripping surface that contacts the component C.

[0062] In the embodiment, the second portion 52 is offset in the opening and closing direction with respect to the first portion 51. That is, the horizontal position of the second portion 52 is shifted with respect to the horizontal center position of the first portion 51 (the center positions of the mounting holes 53A and 53B and the fixing member 65). In the posture shown in FIG. 6, the second portion 52 is offset in the +Y direction with respect to the first portion 51. The fixing arm 50 can change the position of the second portion 52 with respect to the first portion 51 in the opening and closing direction.

[0063] As shown in FIG. 7, the fixing arm 50 and the portion (the second plate portion 132, the guide portion 61, the relief portion 60) of the apparatus main body 10 to which the fixing arm 50 is attached are symmetrical with respect to the left and right when viewed from the opening and closing direction (Y-axis direction). The fixing arm 50 has a reversible structure that can be attached to the plate portion 13B with the direction reversed. That is, the fixing arm 50 can select either the direction in which one portion 51A is disposed on the front surface (+X direction side surface) of the plate portion 13B or the direction in which the other portion 51B is disposed on the front surface (+X direction side surface) of the plate portion 13B. When the fixing arm 50 is reversed, the direction in which the second portion 52 is offset with respect to the first portion 51 changes.

[0064] FIG. 8 is a diagram showing an example of mounting the fixing arm 50 when the second portion 52 is disposed on the right side with respect to the first portion 51. FIG. 9 is a diagram showing an example of mounting the fixing arm 50 when the second portion 52 is disposed on the left side with respect to the first portion 51.

[0065] As shown in FIG. 8, when the fixing arm 50 is fixed to the plate portion 13B in the direction in which one portion 51A is disposed on the front surface of the plate portion 13B, the second portion 52 is disposed at a position offset in the direction approaching the movable arm 30 with respect to the first portion 51. In this case, the side surface 52A functions as a gripping surface. Therefore, in FIG. 8, the gripping surface of the fixing arm 50 is offset in the +Y direction by the length L1 from the horizontal center position of the first portion 51 to the side surface 52A of the second portion 52.

[0066] As shown in FIG. 9, when the fixing arm 50 is fixed to the plate portion 13B in such a direction that the other portion 51B is arranged on the front surface of the plate portion 13B, the second portion 52 is arranged at a position offset to the side away from the movable arm 30. In this case, the side surface 52B functions as a gripping surface. Therefore, in FIG. 9, the gripping surface of the fixing arm 50 is offset in the -Y direction by the length L2 from the center position in the left-right direction of the first portion 51 to the side surface 52B of the second portion 52.

[0067] Thus, for one fixed position, the fixing arm 50 can select two types of offset directions for the second portion 52. By changing the offset direction of the second portion 52 with respect to the first portion 51, the position of the gripping surface of the fixing arm 50 (the second portion 52) can be changed. In addition to the fact that the position of the first portion 51 can be changed by the length L of the relief portion 60, the position of the gripping surface with respect to the first portion 51 can be changed, so that the range within which the position can be adjusted in the +Y direction and the -Y direction is extended. Hereinafter, as shown in FIG. 8, a state in which the second portion 52 is offset toward the movable arm 30 side (+Y direction) with respect to the first portion 51 is referred to as a narrow-width form. As shown in FIG. 9, a state in which the second portion 52 is offset in the direction away from the movable arm 30 (-Y direction) with respect to the first portion 51 is referred to as a wide-width form.

[0068] [Operation] Next, the operation of the grip device 6 will be described. FIG. 10 is a front view showing the operation of the grip device 6 according to the embodiment.

[0069] As shown in FIGS. 3 and 4, air is supplied into the internal space 14 through the opening 11A. The air is supplied to the upper end portion of the piston 21. The piston 21 moves downward while compressing the coil spring 24 by the force of the air. The piston 21 moves downward while being guided by the inner surface of the middle-diameter portion 14B. The piston rod 22 moves downward integrally with the piston 21 while being guided by the inner surface of the guide hole 15.

[0070] As shown by the change from FIG. 10(A) to FIG. 10(B), when the piston rod 22 moves downward, the first slide pin 23 also moves downward. The first slide pin 23 moves downward while sliding within the first link opening 44. As the first slide pin 23 moves downward, the link member 40 rotates about the rotation axis RX (body pin 19) such that the tip of the first link portion 42 moves downward.

[0071] As the link member 40 rotates such that the tip of the first link portion 42 moves downward, the tip of the second link portion 43 moves away from the central axis MX.

[0072] As the tip of the second link portion 43 moves away from the central axis MX, the second slide pin 33 moves rightward 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 in the direction away from the central axis MX, the movable arm 30 moves away from the fixed arm 50.

[0073] When the movable arm 30 moves in the opening and closing direction, the second slide pin 33 is guided by the main guide opening 18, and the slider portion 32 is guided by the sub-guide opening 17. The movable arm 30 is guided by each of the sub-guide opening 17 and the main guide opening 18, and thus translates in the opening and closing direction without tilting in the θX direction and the θY direction. In this way, when air is supplied to the internal space 14 and the piston 21 moves downward, the movable arm 30 moves away from the fixed arm 50. That is, the grip device 6 is in the open state shown in FIG. 10(B).

[0074] When the movable arm 30 moves away from the fixed arm 50 with the component C sandwiched between the movable arm 30 and the fixed arm 50, the component C is released from the grip device 6.

[0075] As shown in FIGS. 3 and 4, when the supply of air to the internal space 14 is stopped, the piston 21 moves upward with respect to the apparatus main body 10 due to the elastic force of the coil spring 24. When the piston 21 moves upward, the piston rod 22 and the first slide pin 23 also move upward. As shown by the change from FIG. 10(B) to FIG. 10(A), when the first slide pin 23 moves upward, the link member 40 rotates about the rotation axis RX so that the tip of the first link portion 42 moves upward.

[0076] When the link member 40 rotates so that the tip of the first link portion 42 moves upward, the tip of the second link portion 43 moves leftward so as to approach the central axis MX. As the tip of the second link portion 43 moves so as to approach the central axis MX, the second slide pin 33 moves so as to approach 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 so as to approach the central axis MX, the movable arm 30 moves so as to approach the fixed arm 50. The movable arm 30 is guided by each of the sub-guide opening 17 and the main guide opening 18.

[0077] In this way, when the supply of air to the internal space 14 is stopped and the piston 21 moves upward, the movable arm 30 approaches the fixed arm 50. That is, the grip device 6 assumes the closed state shown in FIG. 10(A).

[0078] When the movable arm 30 approaches the fixed arm 50 with the component C disposed between the movable arm 30 and the fixed arm 50, the component C is sandwiched between the movable arm 30 and the fixed arm 50. The component C is held by the grip device 6.

[0079] [Fixed Position Adjustment] Next, the adjustment of the fixed position of the fixed arm 50 will be described. The size of the component C that can be gripped by the gripper device 6 is determined by the distance between the fixed arm 50 and the movable arm 30 in the opening and closing direction. That is, the dimensional range corresponding to the difference between the distance between the movable arm 30 and the fixed arm 50 in the open state and the distance between the movable arm 30 and the fixed arm 50 in the closed state corresponds to the range of the component sizes that can be gripped by the gripper device 6.

[0080] As described above, the fixed arm 50 can adjust its fixed position along the opening and closing direction (left - right direction) within the formation range of the relief portion 60. The fixed arm 50 can be position - adjusted within a range corresponding to the length L between both ends of the relief portion 60. Also, the fixed arm 50 can select two types of forms, a narrow - width form and a wide - width form, with different positions of the gripping surface, by reversing the orientation when attaching it to the apparatus main body 10. As a result, the gripper device 6 of the embodiment can grip components C of various dimensions.

[0081] FIG. 11 is an explanatory diagram showing the position - adjustment range of the fixed arm 50 in the wide - width form. FIG. 12 is an explanatory diagram showing the position - adjustment range of the fixed arm 50 in the narrow - width form.

[0082] As shown in FIG. 11, in the wide - width form, with the fixed arm 50 fixed at the fixed position PL which is the left - hand end of the relief portion 60, when in the open state, the distance DO1 between the movable arm 30 and the fixed arm 50 becomes the maximum distance. With the fixed arm 50 fixed at the fixed position PR which is the right - hand end of the relief portion 60, when in the closed state, the distance DC1 between the movable arm 30 and the fixed arm 50 becomes the minimum distance. In the wide - width form, the gripper device 6 can grip components C within the dimensional range from the distance DC1 to the distance DO1.

[0083] As shown in FIG. 12, in the narrow-width form, with the fixed arm 50 fixed at the fixed position PL, when in the open state, the distance DO2 between the movable arm 30 and the fixed arm 50 becomes the maximum distance. With the fixed arm 50 fixed at the fixed position PM in the middle of the release portion 60, when in the closed state, the distance DC2 between the movable arm 30 and the fixed arm 50 becomes the minimum distance. In the narrow-width form, the gripping device 6 can grip the component C within the dimensional range from the distance DC2 to the distance DO2.

[0084] In the narrow-width form, when the fixed arm 50 is fixed at the fixed position PM and in the closed state, the movable arm 30 and the fixed arm 50 come into contact. That is, the magnitude of the distance DC2 becomes 0 [mm]. Thus, in the embodiment, the fixed arm 50 is position-adjustable to the position where it contacts the movable arm 30 in the closed state in the opening and closing direction. Therefore, it is also possible to grip a component C with a small width dimension.

[0085] Note that even in the narrow-width form, the fixed arm 50 can be fixed at a position to the right (+Y direction) of the fixed position PM. However, even if the fixed arm 50 is arranged to the right of the fixed position PM, only the contact position between the fixed arm 50 and the movable arm 30 changes, and the magnitude of the distance DC2 remains 0 [mm].

[0086] FIG. 13 is a schematic diagram showing the maximum distance DO1 in the wide-width form and the minimum distance DC2 in the narrow-width form superimposed. The gripping device 6 of the embodiment can grip the component C within the dimensional range between the maximum distance DO1 and the minimum distance DC2 by adjusting the position of the first portion 51 and switching between the narrow-width form and the wide-width form. Since the distance DC2 is 0 [mm], the range of sizes that can be gripped is equal to the magnitude of the distance DO1. That is, the gripping device 6 can grip the component C with a width dimension from 0 [mm] to the magnitude of the distance DO1.

[0087] Of the interval DO1, the movable range of the movable arm 30 is DA. Of the interval DO1, the adjustment range of the fixed position of the fixed arm 50 including the switching between the narrow-width form and the wide-width form is DB. In the embodiment, the adjustment range DB of the fixed position of the fixed arm 50 along the opening / closing direction is equal to or larger than the movable range DA of the movable arm 30 in the opening / closing direction. FIG. 13 shows an example in which the adjustment range DB is slightly larger than the movable range DA. Therefore, in the embodiment, the size range of the component C that the gripper device 6 can grip is more than twice the substantial value of the movable range DA of the movable arm 30.

[0088] [Effect] As described above, according to the embodiment, the gripper device 6 includes the fixed arm 50, the movable arm 30 that moves in the opening / closing direction approaching and separating from the fixed arm 50, and the device body 10 that has the drive mechanism 20 for fixing the fixed arm 50 and operating the movable arm 30. The fixed arm 50 is attached to the device body 10 so that the fixed position can be adjusted along the opening / closing direction.

[0089] By adjusting the position of the fixed arm 50, it is possible to increase the range of component sizes that the gripping device 6 can grip without increasing the movable range DA of the movable arm 30. Here, even for a gripping device in which the position of the fixed arm 50 cannot be adjusted, if the movable range DA of the movable arm 30 is increased to the interval DO1 shown in FIG. 13, the component C in the size range from the interval DC2 to the interval DO1 can be gripped in the same manner as in the embodiment. However, in order to expand the movable range DA of the movable arm 30, it is necessary to increase the size of the link member 40 and increase the movable range of the first slide pin 23 in the Z-axis direction. In order to increase the movable range of the first slide pin 23 in the Z-axis direction, it is necessary to increase the vertical dimensions of the main body opening 16 and the cylinder portion 11 to increase the stroke amount, and the outer dimensions of the gripping device (especially the vertical dimensions) increase. On the other hand, according to the embodiment, since the movable range DA of the movable arm 30 can be relatively reduced, it is possible to expand the range of component sizes that can be gripped while suppressing the increase in size of the gripping device 6. And since a single gripping device can hold components C of various sizes, an increase in the types of gripping devices 6 can be suppressed.

[0090] The fixed arm 50 has a first portion 51 fixed to the apparatus main body 10, a second portion 52 that is offset in the opening / closing direction with respect to the first portion 51 and grips the component C together with the movable arm 30, and the fixed arm 50 can change the position of the second portion 52 with respect to the first portion 51 in the opening / closing direction. Thereby, for one fixed position, the second portion 52 can be arranged at a plurality of positions. Thereby, the position adjustment range of the gripping surface (second portion 52) of the fixed arm 50 can be increased compared to the range in which the fixed arm 50 can be moved. As a result, it is possible to further expand the range of component sizes that can be gripped while suppressing an increase in the size of the gripping device 6.

[0091] The apparatus main body 10 has a regulating portion 62 that contacts a part of the fixed arm 50 and regulates the fixing angle deviation of the fixed arm 50. Thereby, when adjusting the fixing position of the fixed arm 50, it is possible to suppress the fixed arm 50 from being fixed in an inclined state. While enabling adjustment of the fixing position of the fixed arm 50, the accuracy of the gripping operation can be ensured.

[0092] The apparatus main body 10 has a guide portion 61 that guides the position adjustment along the opening and closing direction of the fixed arm 50. Thereby, the position adjustment of the fixed arm 50 can be easily performed.

[0093] The grip device 6 further includes a fixing member 65 that removably fixes the fixed arm 50 to the apparatus main body 10, and the apparatus main body 10 has a relief portion 60 for moving the fixing member 65 together with the fixed arm 50. Thereby, the fixing position of the fixed arm 50 can be adjusted without attaching and detaching the fixing member 65. Therefore, since the position adjustment of the fixed arm 50 can be easily performed, the convenience of the grip device 6 is improved.

[0094] The fixed arm 50 is position-adjustable to a position where it contacts the movable arm 30 in the closed state in the opening and closing direction. Thereby, the position adjustment of the fixed arm 50 can be performed so that thin parts C and very small parts C can also be gripped. Further, the adjustment range DB of the fixing position of the fixed arm 50 along the opening and closing direction is equal to or larger than the movable range DA of the movable arm 30 in the opening and closing direction. Thereby, the size range of the parts C that the grip device 6 can grip can be made substantially twice or more than the movable range DA of the movable arm 30 in the opening and closing direction. Therefore, while suppressing the enlargement of the grip device 6, the range of the grippable part sizes can be more effectively expanded.

[0095] In the embodiment, the component mounting device 1 includes a component supply device 2 that supplies the component C, a substrate support device 3 that supports the substrate P, and the above grip device 6, and includes a mounting head 4 that mounts the component C held by the grip device 6 on the substrate P. Thereby, while suppressing the enlargement of the grip device 6, the range of the component sizes that can be gripped can be expanded. And since components C of various sizes can be held by one grip device, an increase in the types of grip devices 6 can be suppressed.

[0096] [Other Embodiments] In the above embodiment, an example in which the second portion 52 of the fixed arm 50 is offset with respect to the first portion 51 is shown, but the second portion 52 may not be offset with respect to the first portion 51. FIG. 14 is a schematic diagram showing another embodiment of the fixed arm 50. In FIG. 14, the second portion 52 of the fixed arm 50 is not offset with respect to the first portion 51. In the left-right direction, the center position of the second portion 52 is substantially the same as the center position of the first portion 51. In the case of FIG. 14, even if the fixed arm 50 is inverted, the position of the second portion 52 with respect to the first portion 51 does not change. The range of the component sizes that can be gripped by the grip device 6 is equal to the range in which the fixed position of the first portion 51 can be adjusted by the escape portion 60.

[0097] In the above embodiment, an example in which the first portion 51 of the fixed arm 50 is branched into two, i.e., one portion 51A and the other portion 51B, is shown, but the first portion 51 may not be branched. Also, although the mounting holes 53A and 53B, which are screw holes, are provided in the first portion 51, instead of forming screw holes in the first portion 51, the fixed arm 50 and the second plate portion 132 may be fastened with bolts and nuts. In this case, the fixing member 65 is composed of two members, i.e., bolts and nuts.

[0098] In the above embodiment, the guide portion 61 formed by the concave groove is provided in the second plate portion 132, but the guide portion 61 may not be a concave groove. The guide portion 61 may be an opening (through hole) such as the relief portion 60, or a protruding wall such as a rib. Further, the restricting portion 62 does not need to be provided in the guide portion 61, and the restricting portion 62 and the guide portion 61 may be provided separately. The inner peripheral surface of the relief portion 60 may function as the guide portion 61.

Explanation of Reference Numerals

[0099] 1... Component mounting device, 2... Component supply device, 3... Substrate support device, 4... Mounting head, 5... Control device, 6... Gripping device, 7... Head moving device, 8... Rod, 9... Gripping moving device, 10... Device main body, 11... Cylinder portion, 11A... Opening, 11B... Support surface, 11D... Opening, 12... Cup portion, 12A... Cylindrical portion, 12B... Flange portion, 13... Arm block, 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, 18... Main guide opening, 19... Main body pin, 20... Driving mechanism, 21... Piston, 21A... Large diameter portion, 21B... Small diameter portion, 21C... Support surface, 22... Piston rod, 22A... Support hole, 23... First slide pin, 30... Movable arm, 31... Base portion, 32... Slider portion, 33... Second slide pin, 34... Gripping portion, 40... Link member, 41... Joint portion, 41A... Opening, 42... First link portion, 43... Second link portion, 44... First link opening, 45... Second link opening, 50... Fixed arm, 51... First portion, 51A... One side portion, 51B... The other side portion, 52... Second portion, 52A, 52B... Side surfaces, 53A, 53B... Mounting holes, 54... Engaging rib, 60... Relief portion, 61... Guide portion, 62... Restricting portion, 65... Fixed member, C... Component, P... Substrate, DA... Movable range, DB... Adjustment range, DC1, DC2... Intervals, DO1, DO2... Intervals, MX... Central axis, PL... Fixed position, PM... Fixed position, PR... Fixed position, RX... Rotation axis.

Claims

1. A grip device that grips components by opening and closing an arm and performs component mounting, a fixed arm, a movable arm that moves in an opening and closing direction approaching and separating from the fixed arm, and a device body having a drive mechanism for fixing the fixed arm and operating the movable arm, wherein the fixed arm is attached to the device body so as to be adjustable in a fixed position along the opening and closing direction. Grip device.

2. The fixed arm has a first portion fixed to the device body and a second portion offset in the opening and closing direction with respect to the first portion and gripping a component together with the movable arm, and the fixed arm is capable of changing the position of the second portion with respect to the first portion in the opening and closing direction. The grip device according to claim 1.

3. The device body has a restricting portion that contacts a part of the fixed arm and restricts a fixing angle deviation of the fixed arm. The grip device according to claim 1.

4. The device body has a guide portion for guiding position adjustment of the fixed arm along the opening and closing direction. The grip device according to claim 1.

5. The grip device further includes a fixing member for removably fixing the fixed arm to the device body, and the device body has a relief portion for moving the fixing member together with the fixed arm. The grip device according to claim 1.

6. The fixed arm is adjustable in position to a position where it contacts the movable arm in the closed state in the opening and closing direction. The grip device according to claim 1.

7. The adjustment range of the fixed position of the fixed arm along the opening and closing direction is equal to or larger than the movable range of the movable arm in the opening and closing direction. The gripping device according to claim 1.

8. A component supply device for supplying components, A substrate support device for supporting a substrate, A mounting head having the gripping device according to any one of claims 1 to 7, and mounting the component held by the gripping device on the substrate. A component mounting device.

Images