Pick and Place Machine

Abstract

To provide a pick-and-place device capable of changing an attitude of a work-piece by one driving device while making a conveyance locus of the work-piece into a linear form.SOLUTION: Pick-and-place devices 1, 2, 3 comprises: a first moving member 40 capable of linearly moving in a first direction; second moving members 50, 150, capable of linearly moving in a second direction, in which cam surfaces 51, 151 comprising two dimensional curved cam parts 51a, 151a are formed; a follower member 60 capable of moving along the cam surface; a cam arm 70 constituted so as to move the follower member along the cam surface by oscillating rotation around a drive axis line L2 of itself; driving devices 80, 280 constituted so as to oscillating-rotate the cam arm; an output member 90 which is constituted so as to linearly move in the first direction with respect to a base member with the first moving member, and is constituted so as to attache / detach a work-piece.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a pick and place machine. [Background technology]

[0002] One known pick-and-place device is one that can hold a workpiece in an initial position, change the position of the workpiece while it is being transported, and then release the workpiece in the changed position. This type of pick-and-place device, which uses a single drive unit, is described in Patent Documents 1 and 2.

[0003] Patent Document 1 describes a pick and place device that uses a U-shaped cam to flip a workpiece while it is being transported. This pick and place device holds the workpiece at an initial position, flips the workpiece while lifting and moving it laterally from the initial position, and releases the workpiece at a position different from the initial position. Specifically, this pick and place device has a U-shaped workpiece transport trajectory, and can flip the workpiece when transporting it to a position different from the initial position.

[0004] Patent Document 2 describes a pick and place device that uses a cam plate and a Geneva gear to flip a workpiece while it is being transported. This pick and place device holds the workpiece at an initial position, flips the workpiece while lifting it from the initial position, and releases the workpiece at the same position as the initial position. This pick and place device transports the workpiece along a linear path. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Utility Model Registration No. 3225052 [Patent Document 2] Japanese Patent Application Publication No. 4-101949 Summary of the Invention [Problem to be solved by the invention]

[0006] Using multiple drive units to lift and flip a workpiece is possible with a simple configuration. However, using multiple drive units increases costs and power consumption. Therefore, it is useful to change the position of the workpiece using a single drive unit, as described in Patent Documents 1 and 2.

[0007] Incidentally, workpiece transport trajectories include a U-shaped transport trajectory as described in Patent Document 1 and a linear transport trajectory as described in Patent Document 2. The pick-and-place device described in Patent Document 2 has a cam plate and a Geneva gear, resulting in a complex configuration. In particular, the cam plate and the Geneva gear work together, requiring high machining precision and assembly precision for both components. This results in high costs.

[0008] On the other hand, the pick and place device described in Patent Document 1 has a configuration in which a driven member moves along a U-shaped cam surface, and as a configuration having one driving device, it has a simpler configuration than the device described in Patent Document 2. However, the pick and place device described in Patent Document 1 does not meet the need for a linear workpiece transport trajectory because the workpiece transport trajectory is U-shaped rather than linear.

[0009] The present invention has been made in consideration of the above background, and aims to provide a pick-and-place device that can change the posture of a workpiece using a single drive device while keeping the workpiece transport trajectory linear. [Means for solving the problem]

[0010] One aspect of the present invention is a pick and place device that holds a workpiece in an initial posture, changes the posture of the workpiece while linearly moving the held workpiece in a reference linear direction, and releases the workpiece whose posture has been changed, A base member; a first movable member that is guided so as to be linearly movable relative to the base member in a first direction that is the reference linear direction; a second movable member that is guided so as to be linearly movable relative to the base member in a second direction intersecting the first direction, and that has a cam surface formed thereon that includes a two-dimensional curved cam portion; a driven member configured to be movable along the cam surface and taking a position according to the position of the cam surface; a cam arm having an arm base end supported by the second moving member so as to be rotatable about a drive axis relative to the second moving member, and having an arm tip end eccentric to the drive axis supporting the driven member, and configured to move the driven member along the cam surface by the rotation of the arm itself about the drive axis; a drive device attached to the second moving member and configured to drive the cam arm to rotate relative to the second moving member about the drive axis; an output member attached to the driven member, supported by the first moving member so as to be rotatable about an axis perpendicular to the first direction and the second direction relative to the first moving member, configured to be linearly movable in the first direction relative to the base member together with the first moving member, and configured to allow the workpiece to be attached and detached; The pick and place device includes: [Effects of the Invention]

[0011] In the pick-and-place device of the above aspect, the drive device drives the cam arm to rotate about the drive axis relative to the second movable member. As the cam arm rotates, the driven member supported at the tip of the arm moves along the cam surface of the second movable member. The output member is attached to the driven member. Therefore, when the second movable member is used as a reference, the output member moves along the cam surface of the second movable member and assumes a posture corresponding to the position of the cam surface.

[0012] However, the output member is rotatably supported by the first moving member, and the first moving member is guided so as to move linearly in a first direction, which is a reference linear direction, relative to the base member, so that the movement direction of the output member relative to the base member is limited to the reference linear direction.

[0013] On the other hand, the output member moves along the cam surface of the second moving member. The cam surface of the second moving member has a two-dimensional curved cam portion. Therefore, the output member moves two-dimensionally, not one-dimensionally, relative to the second moving member.

[0014] Therefore, the second moving member is guided so as to move linearly in the second direction relative to the base member. In other words, the output member moves two-dimensionally relative to the second moving member, but the second moving member moves linearly in the second direction relative to the base member. Therefore, the movement of the output member can be limited to linear movement in the first direction, which is the reference linear direction relative to the base member. In other words, the posture of the workpiece held by the output member can be changed by a single drive device while the transport trajectory of the workpiece is set to the reference linear direction.

[0015] Furthermore, the pick and place device of the above aspect does not have a Geneva gear as in the conventional device, other than the cam surface, and therefore has a simple configuration, which allows for cost reduction of the device.

[0016] As described above, according to the above aspect, it is possible to provide a pick and place device that can change the posture of a workpiece using a single drive device while keeping the workpiece transport trajectory linear. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a front view of a pick-and-place device according to a first embodiment. [Figure 2] FIG. 2 is a right side view of the pick-and-place device of the first embodiment. [Figure 3] FIG. 2 is a rear view of the pick-and-place device of the first embodiment. [Figure 4] FIG. 4 is a cross-sectional view taken along line IV-IV of FIG. [Figure 5] 3 is a cross-sectional view of the pick-and-place device in FIG. 2 with the partition plate removed, taken along the line VV. [Figure 6] 6 is a cross-sectional view taken along the line VI-VI in FIG. 2. [Figure 7] FIG. 7 is a cross-sectional view taken along the line VII-VII in FIG. 2. [Figure 8] FIG. 10 is a front view of the pick and place device with the partition plate removed, showing the driven member positioned at one end of the cam surface. [Figure 9] 9 is a cross-sectional view of the pick-and-place device including the partition plate taken along line IX-IX of FIG. 8. FIG. [Figure 10] FIG. 10 is a front view of the pick and place device with the partition plate removed, showing the driven member positioned midway along the cam surface. [Figure 11] FIG. 10 is a front view of the pick and place device with the partition plate removed, showing the driven member positioned midway along the cam surface. [Figure 12] FIG. 10 is a front view of the pick and place device with the partition plate removed, showing the driven member positioned midway along the cam surface. [Figure 13] FIG. 10 is a front view of the pick-and-place device with the partition plate removed, showing the driven member positioned at the other end of the cam surface. [Figure 14] FIG. 10 is a front view of the pick-and-place device of the second embodiment, showing a state in which the partition plate has been removed and the driven member is positioned at one end of the cam surface. [Figure 15] FIG. 10 is a front view of the pick-and-place device of the second embodiment, showing a state in which the partition plate has been removed and the driven member is positioned at the other end of the cam surface. [Figure 16] FIG. 11 is a right side view of the pick-and-place device of the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] (Embodiment 1) 1. Configuration of pick and place device 1 The configuration of the pick and place apparatus 1 of this embodiment will be described with reference to Figures 1 to 7. In the following description, the left side will be the left side of Figure 1, the right side will be the right side of Figure 1, the front side will be the front side of Figure 1, and the back side will be the back side of Figure 1. In addition, in this embodiment, the description will be given assuming that the reference straight line direction is the up-down direction in Figure 1 and the direction of the attitude rotation axis L1 is the front-to-back direction in Figure 1.

[0019] The pick and place device 1 is configured to hold a workpiece W in an initial orientation, change the orientation of the workpiece W while linearly moving the held workpiece W in a reference linear direction, and remove the workpiece W after changing its orientation. In this embodiment, the pick and place device 1 is configured to hold the workpiece W in its initial orientation on a placement table T as a predetermined position. Furthermore, the pick and place device 1 is configured to reverse the orientation of the workpiece W while linearly moving the held workpiece W in the reference linear direction, and remove the reversed workpiece W from the placement table T (shown in FIG. 2) as a predetermined position. The orientation of the workpiece W is reversed by rotating the workpiece W around an orientation rotation axis L1.

[0020] The pick and place apparatus 1 includes a base member 10, a first guide member 20, a second guide member 30, a first moving member 40, a second moving member 50, a driven member 60, a cam arm 70, a drive device 80, and an output member 90.

[0021] The base member 10 is a member fixed to an installation surface. In this embodiment, the base member 10 includes a base member main body 11, a pair of columnar portions 12, a guide support portion 13, and a partition plate 14. In this embodiment, the base member 10 is composed of five elements 11 to 14, but the five elements 11 to 14 may be integrated into one element, or the base member 10 may be composed of a number of elements other than five.

[0022] The base member main body 11 is formed of an L-shaped plate when viewed from the right side, for example. The base member main body 11 may be any shape other than L-shaped, such as T-shaped, rectangular, or triangular. The base member main body 11 is attached to an installation surface. The pair of columnar portions 12 are formed in an elongated shape and are fixed to the front surface of the base member main body 11 near the left and right ends, respectively, and extend above the base member main body 11. In other words, the pair of columnar portions 12 face each other in the left-right direction, and a space is formed between the pair of columnar portions 12. The pair of columnar portions 12 may also be fixed to the rear surface of the base member main body 11.

[0023] The guide support portion 13 is formed, for example, in a T-shape. The guide support portion 13 is fixed to the innermost surface of the upper end portions of the pair of pillar portions 12. The portion of the T-shape of the guide support portion 13 extending in the left-right direction is configured to extend outward in the left-right direction beyond each of the pair of pillar portions 12.

[0024] The partition plate 14 is formed in a flat plate shape and separates a front area from a rear area. The partition plate 14 separates the front area where the workpiece W is moved from the rear area where the components constituting the cam mechanism and drive mechanism of the pick and place device 1 are located. The partition plate 14 serves as a safety cover for the operator and a decorative cover. As shown in Figures 1 and 4, the partition plate 14 has an elongated through hole 14a formed in a first direction, which is the reference linear direction. In this embodiment, the first direction, which is the reference linear direction, is the up and down direction in Figure 1.

[0025] The first guide member 20 is attached to the base member 10 and serves to guide the base member 10 in a first direction that coincides with the reference linear direction. The first guide member 20 includes a first fixed element 21 and a first sliding element 22.

[0026] The first fixed element 21 is fixed to the base member 10. In this embodiment, the first fixed element 21 is fixed to the front surface of the guide support portion 13 of the base member 10. More specifically, the first fixed element 21 is fixed to a portion extending in the first direction at the center of the T-shape of the guide support portion 13 in the left-right direction. For example, the first fixed element 21 is made up of a plurality of short members arranged in the first direction. The first sliding element 22 is configured to be able to move linearly (slide) in the first direction while being guided in the first direction relative to the first fixed element 21. In this embodiment, the first sliding element 22 is formed in an elongated shape extending in the first direction. However, the first fixed element 21 may be a elongated member and the first sliding element 22 may be a short member.

[0027] The second guide member 30 is attached to the base member 10 and is a member for guiding in a second direction that intersects with the first direction. In this embodiment, the second direction is a direction perpendicular to the first direction. Therefore, the second direction is the horizontal direction in FIG. 1. By making the first direction and the second direction perpendicular to each other, the first guide member 20 and the second guide member 30 can be independent guide members.

[0028] The second guide member 30 includes a second fixed element 31 and a second sliding element 32. The second fixed element 31 is fixed to the base member 10. In this embodiment, the second fixed element 31 is fixed to the rear surface of the guide support portion 13 of the base member 10. Specifically, the second fixed element 31 is fixed to a portion extending in the second direction at the upper end of the T-shape of the guide support portion 13. For example, the second fixed element 31 is formed in an elongated shape extending in the second direction. The second sliding element 32 is configured to be able to move linearly (slide) in the second direction while being guided in the second direction relative to the second fixed element 31. In this embodiment, the second sliding element 32 is composed of a plurality of short members. However, the second fixed element 31 may be a short member and the second sliding element 32 may be a long member.

[0029] The first moving member 40 is guided relative to the base member 10 so as to be linearly movable in a first direction, which is a reference linear direction. Specifically, the first moving member 40 is fixed to the first slide element 22 of the first guide member 20. The first moving member 40 is guided by the first guide member 20 in its linear movement in the first direction. The first moving member 40 is positioned to pass through a through hole 14a in the partition plate 14 and is movable in the first direction within the through hole 14a. In this embodiment, the first moving member 40 protrudes forward from the front surface of the partition plate 14 and protrudes backward from the rear surface of the partition plate 14. Furthermore, the first moving member 40 is formed with a through hole 40a having an inner circumferential surface centered on a posture rotation axis L1 that is perpendicular to the first direction and the second direction. In this embodiment, the central axis of the through hole 40a coincides with the posture rotation axis L1, but it may be eccentric from the posture rotation axis L1. However, it is simpler to make the central axis of the through-hole 40a coincide with the posture rotation axis L1.

[0030] The second moving member 50 is guided so as to be linearly movable in the second direction relative to the base member 10. Specifically, the second moving member 50 is fixed to the second slide element 32 of the second guide member 30. The second moving member 50 is guided by the second guide member 30 to move linearly in the second direction.

[0031] Furthermore, a cam surface 51 is formed on the second moving member 50. In this embodiment, the cam surface 51 is configured as a grooved cam. The cam surface 51 has at least a two-dimensional curved cam portion 51a. The two-dimensional curved cam portion 51a is formed in a curved shape in a two-dimensional coordinate system when the first direction and the second direction are each used as coordinate axes.

[0032] In this embodiment, the curved cam portion 51a has a curved shape with the center of curvature located on one side of the curve. In other words, the curved cam portion 51a has an arc shape. In particular, in this embodiment, the curved cam portion 51a has a mountain-shaped arc shape. The mountain-shaped arc shape here means an arc shape in which tangents at both ends of the arc coincide with the first direction. The curved cam portion 51a may be a circular arc with a constant curvature, an elliptical arc with a variable curvature, or an arc similar to a circular arc or an elliptical arc.

[0033] The cam surface 51 has a pair of linear cam portions 51b, 51b in addition to a two-dimensional curved cam portion 51a. The pair of linear cam portions 51b, 51b are formed parallel to the first direction. Therefore, the pair of linear cam portions 51b, 51b are parallel to each other. The pair of linear cam portions 51b, 51b are connected to both ends of the curved cam portion 51a. Furthermore, the pair of linear cam portions 51b, 51b have the same length. In other words, the cam surface 51 forms a U-shaped cam surface, with the upper side being the convex side of the U and the lower side being the open side of the U. Furthermore, the cam surface 51 is formed in the range in which the through hole 40a of the first moving member 40 moves in the first direction.

[0034] A through hole 52 is formed in the second moving member 50 near the center of the U-shaped cam surface 51. The through hole 52 has an inner circumferential surface centered on a drive axis L2 in a direction perpendicular to the first direction and the second direction. The through hole 52 is formed to coincide with the position of the first moving member 40 in the second direction. In other words, the through hole 52 is located on the far side of the first moving member 40.

[0035] The driven member 60 is configured to be movable along the cam surface 51 and to assume a posture according to the position of the cam surface 51. The driven member 60 can assume a posture associated with rotation about the posture rotation axis L1. The driven member 60 includes a driven member main body 61, a cam follower 62, a shaft portion 63, and a bearing 64.

[0036] The driven member body 61 is formed in, for example, an oval shape. However, the driven member body 61 can be formed in any shape, such as a circle. The two cam followers 62 have cylindrical outer peripheral surfaces and are rotatably supported on the driven member body 61. Furthermore, the two cam followers 62 are engaged with grooved cams that form the cam surface 51. In other words, when the two cam followers 62 move along the cam surface 51 while engaged with the cam surface 51, the posture of the driven member body 61 changes depending on the relative positions of the two cam followers.

[0037] In this embodiment, the driven member 60 has two cam followers 62, but it may also have one long (for example, oval or arc-shaped) cam follower 62 whose posture changes along the cam surface 51. It may also have three or more circular cam followers 62. However, in the case of a long cam follower 62 or three or more circular cam followers 62, it is necessary to adjust the arrangement, shape, size, etc. in accordance with the shape of the groove cam that constitutes the cam surface 51.

[0038] The shaft portion 63 is fixed to the driven member main body 61, and the central axis of the shaft portion 63 forms the attitude rotation axis L1. In this embodiment, the shaft portion 63 is located near the center of the two cam followers 62. The bearing 64 is provided on the outer peripheral surface of the shaft portion 63, and the outer ring of the bearing 64 is configured to be rotatable relative to the shaft portion 63 around the attitude rotation axis L1.

[0039] The cam arm 70 includes a cam arm base shaft portion 71 located at the base end of the arm, and a cam arm main body portion 72 that is integrally formed with the cam arm base shaft portion 71 and extends radially. The cam arm base shaft portion 71 is formed in a cylindrical shape, and is rotatably supported via a bearing in the through hole 52 of the second moving member 50. Therefore, the cam arm base shaft portion 71 is supported by the second moving member 50 so as to be swingably rotatable about the drive axis L2 relative to the second moving member 50.

[0040] The arm tip of the cam arm main body 72 is located at a position eccentric to the drive axis L2. Therefore, the cam arm main body 72 oscillates and rotates about the drive axis L2. Furthermore, the arm tip of the cam arm main body 72 supports the driven member 60. Specifically, the arm tip of the cam arm main body 72 rotatably and slidably supports the shaft portion 63 of the driven member 60 via the bearing 64 of the driven member 60. Furthermore, when the cam arm main body 72 oscillates and rotates about the drive axis L2, the arm tip of the cam arm main body 72 engages with the bearing 64 of the driven member 60. Therefore, the cam arm main body 72 is configured to move the driven member 60 along the cam surface 51 by the oscillating rotation of the cam arm main body 72 about the drive axis L2.

[0041] In this embodiment, the arm tip of the cam arm main body 72 is formed into a U-shaped claw shape that opens radially outward. By forming it into a U-shaped claw shape, it is possible to rotatably and slidably support the bearing 64 of the driven member 60. However, the arm tip of the cam arm main body 72 can have any configuration other than a U-shaped claw shape, such as using a linear guide.

[0042] The drive device 80 is attached to the second moving member 50 and configured to drive the cam arm 70 to oscillate and rotate about the drive axis L2 relative to the second moving member 50. In this embodiment, the drive device 80 includes a gear mechanism 81 and a motor 82. The gear mechanism 81 is configured, for example, by a bevel gear. However, various configurations can be adopted for the gear mechanism 81. The gear mechanism 81 is connected to the cam arm base shaft portion 71 of the cam arm 70.

[0043] The motor 82 is connected to the gear mechanism 81. Therefore, the motor 82 drives the cam arm 70 to oscillate and rotate about the drive axis L2 via the gear mechanism 81. The position of the motor 82 is controllable. That is, the motor 82 is configured to be positionable at any position during oscillating rotation. In this embodiment, the drive device 80 is configured to include the gear mechanism 81, but the motor 82 may be directly connected to the cam arm base shaft portion 71 of the cam arm 70 without including the gear mechanism 81.

[0044] The output member 90 includes an output shaft portion 91 and an output mechanism 92. The output shaft portion 91 is attached coaxially with the shaft portion 63 of the driven member 60. The output shaft portion 91 is supported via a bearing in the through hole 40a of the first moving member 40 so as to be oscillatingly rotatable about the attitude rotation axis L1 relative to the first moving member 40. Furthermore, because the output shaft portion 91 is supported in the through hole 40a of the first moving member 40, the output shaft portion 91 is configured to be linearly movable in the first direction together with the first moving member 40 relative to the base member 10.

[0045] The output mechanism 92 is provided on the front surface of the output shaft portion 91 and is configured to be able to attach and detach the workpiece W. The output mechanism 92 is configured, for example, by a fluid cylinder device, and is able to hold and detach the workpiece W depending on the fluid supplied. In this embodiment, the output mechanism 92 is exemplified by a chuck capable of holding the workpiece W. Note that the output mechanism 92 can also use an adsorption member capable of holding the workpiece W, in addition to a chuck.

[0046] 2. Operation of pick and place device 1 The operation of the pick and place device 1 will be described with reference to FIGS. 8 to 13. As shown in FIGS. 8 and 9, a workpiece W is positioned in an initial position on a placement table T (shown in FIG. 9). The workpiece W has an elongated shape, and the initial position of the workpiece W is, for example, in a position where the longitudinal direction coincides with the up-down direction. In addition, to clearly show the change in the position of the workpiece W, the workpiece W has a convex portion on one end surface in the longitudinal direction and a concave portion on the other end surface, and the initial position of the workpiece W has the convex portion positioned downward.

[0047] 8 and 9. Specifically, the cam follower 62 of the driven member 60 is positioned at one end of the U-shaped cam surface 51. In other words, the cam follower 62 of the driven member 60 is positioned at the end of one linear cam portion 51b of the cam surface 51. At this time, the two cam followers 62 are aligned in the first direction (vertical direction).

[0048] Furthermore, in the range of movement in the first direction, the driven member 60 is located at the lowest end of the cam surface 51, and therefore the first moving member 40 is also located at the lowest end. In addition, in the range of movement in the second direction, the driven member 60 is located at the right end of the cam surface 51, and therefore the second moving member 50 is located at the left end. The output mechanism 92 of the output member 90 is positioned so that it can hold the workpiece W in its initial position. In other words, the shaft portion 63 and bearing 64 of the driven member 60 are positioned on the lower right side with respect to the drive axis L2. Therefore, the arm tip of the cam arm main body portion 72 of the cam arm 70 is positioned so as to face the lower right side with respect to the drive axis L2.

[0049] 10, the motor 82 of the drive unit 80 is driven to rotate the cam arm 70 counterclockwise in FIG. 10. As the cam arm 70 rotates counterclockwise, the driven member 60 engaged with the arm tip of the cam arm main body 72 of the cam arm 70 follows. At this time, the two cam followers 62 of the driven member 60 move along the cam surface 51 because they are engaged with the grooved cams that form the cam surface 51.

[0050] First, the two cam followers 62 move linearly upward along one linear cam portion 51b of the cam surface 51. The positional relationship (direction) between the two cam followers 62 does not change. Therefore, the driven member 60 moves linearly upward without changing its rotational posture. At this time, the shaft portion 63 of the driven member 60 slides while rotating relative to the arm tip portion of the cam arm main body 72. In other words, the distance between the posture rotation axis L1, which is the central axis of the shaft portion 63 of the driven member 60, and the drive axis L2 of the cam arm 70 changes successively.

[0051] Furthermore, the output member 90 moves together with the driven member 60, and moves linearly in the first direction relative to the base member 10 together with the first moving member 40. Therefore, as the driven member 60 moves linearly upward without rotating, the output member 90 moves linearly upward relative to the base member 10 without rotating.

[0052] Next, as shown in FIG. 11 , the motor 82 of the drive device 80 is driven to further rotate the cam arm 70 counterclockwise. As the cam arm 70 rotates counterclockwise, the driven member 60 engaged with the arm tip of the cam arm main body 72 of the cam arm 70 follows. At this time, the two cam followers 62 of the driven member 60 move in a curved line along the curved cam portion 51 a of the cam surface 51. Therefore, the positional relationship (direction) between the two cam followers 62 changes. The driven member 60 rotates counterclockwise while moving along the curved cam portion 51 a, relative to the second moving member 50. In other words, the driven member 60 rotates counterclockwise while moving in a direction having an upward component and a leftward component, relative to the second moving member 50.

[0053] However, the output member 90 moves together with the driven member 60, and moves linearly together with the first moving member 40 in the first direction relative to the base member 10. In other words, the first moving member 40, the driven member 60, and the output member 90 are movable in the first direction relative to the base member 10, but movement in a direction perpendicular to the first direction is restricted.

[0054] Therefore, as the driven member 60 moves an upward component relative to the second moving member 50, the first moving member 40 and the output member 90 move linearly upward relative to the base member 10. Furthermore, as the driven member 60 moves a leftward component relative to the second moving member 50, the second moving member 50 moves rightward in the second direction relative to the base member 10. Furthermore, the driven member 60 and the output member 90 take postures according to the position of the cam surface 51 on which the cam follower 62 is located.

[0055] Next, as shown in FIG. 12 , the motor 82 of the drive unit 80 is driven to further rotate the cam arm 70 counterclockwise. As the cam arm 70 rotates counterclockwise, the driven member 60 engaged with the arm tip of the cam arm main body 72 of the cam arm 70 follows. At this time, the two cam followers 62 of the driven member 60 move curvedly along the curved cam portion 51 a of the cam surface 51 and then enter the other linear cam portion 51 b. Therefore, the positional relationship (direction) of the two cam followers 62 changes. The driven member 60 rotates counterclockwise while moving along the curved cam portion 51 a relative to the second moving member 50. In other words, the driven member 60 rotates counterclockwise while moving in a direction having a downward component and a leftward component relative to the second moving member 50.

[0056] Therefore, as the driven member 60 moves a downward component relative to the second moving member 50, the first moving member 40 and the output member 90 move linearly downward relative to the base member 10. Furthermore, as the driven member 60 moves a leftward component relative to the second moving member 50, the second moving member 50 moves rightward in the second direction relative to the base member 10. Furthermore, the driven member 60 and the output member 90 take postures according to the position of the cam surface 51 on which the cam follower 62 is located.

[0057] Next, as shown in FIG. 13 , the motor 82 of the drive unit 80 is driven to rotate the cam arm 70 counterclockwise. As the cam arm 70 rotates counterclockwise, the driven member 60 engaged with the arm tip of the cam arm main body 72 of the cam arm 70 follows. At this time, the two cam followers 62 of the driven member 60 move linearly downward along the other linear cam portion 51b of the cam surface 51. The positional relationship (direction) between the two cam followers 62 does not change. Therefore, the driven member 60 moves linearly downward without changing its rotational posture. At this time, the shaft portion 63 of the driven member 60 slides while rotating relative to the arm tip of the cam arm main body 72. In other words, the distance between the posture rotation axis L1, which is the central axis of the shaft portion 63 of the driven member 60, and the drive axis L2 of the cam arm 70 changes sequentially.

[0058] In this way, the workpiece W is inverted relative to its initial orientation and positioned on the table T (shown in FIG. 9). During this time, the workpiece W moves in the first direction but does not move in a direction perpendicular to the first direction. In other words, the workpiece W is inverted while moving in the first direction.

[0059] Here, the motor 82 can be positioned at any position. As shown in FIGS. 8 and 13, the motor 82 is configured to be able to position the cam arm 70 at rotation angles corresponding to one end position and the other end position of the cam surface 51 as the position of the driven member 60. Furthermore, the motor 82 is configured to be able to position the cam arm 70 at a rotation angle corresponding to an intermediate position on the cam surface 51. For example, as shown in FIGS. 10, 11, and 12, the motor 82 can position the cam arm 70. However, the motor 82 may be configured to be able to be positioned at the three rotation angles shown in FIGS. 8, 11, and 13, or at the five rotation angles shown in FIGS. 8, 10, 11, 12, and 13. In addition to these, the motor 82 can be positioned at any rotation angle.

[0060] 3.Effects According to the pick and place apparatus 1 of this embodiment, as described above, the cam arm 70 is rotated about the drive axis L2 relative to the second moving member 50 by the drive of the drive device 80. As the cam arm 70 rotates, the driven member 60 supported on the arm tip portion of the cam arm main body 72 moves along the cam surface 51 of the second moving member 50. The output member 90 is attached to the driven member 60. Therefore, when the second moving member 50 is used as a reference, the output member 90 moves along the cam surface 51 of the second moving member 50 and takes a posture corresponding to the position of the cam surface 51.

[0061] However, the output member 90 is rotatably supported by the first moving member 40, and the first moving member 40 is guided so as to move linearly in a first direction which is a reference linear direction relative to the base member 10. Therefore, the movement direction of the output member 90 relative to the base member 10 is limited to the first direction which is the reference linear direction.

[0062] On the other hand, the output member 90 moves along the cam surface 51 of the second moving member 50. The cam surface 51 of the second moving member 50 has a two-dimensional curved cam portion 51a. Therefore, the output member 90 moves two-dimensionally relative to the second moving member 50, rather than one-dimensionally.

[0063] Therefore, the second moving member 50 is guided so as to move linearly in the second direction relative to the base member 10. In other words, the output member 90 moves two-dimensionally relative to the second moving member 50, but the second moving member 50 moves linearly in the second direction relative to the base member 10. Therefore, the movement of the output member 90 can be limited to linear movement in the first direction, which is the reference linear direction, relative to the base member 10. In other words, the posture of the workpiece W held by the output member 90 can be changed by a single drive device 80, while the transport trajectory of the workpiece W held by the output member 90 is set as the reference linear direction.

[0064] Furthermore, the pick and place device 1 of this embodiment has a simple configuration because it does not have a Geneva gear as in the conventional case, except for the cam surface 51. Therefore, the cost of the pick and place device 1 can be reduced.

[0065] In this embodiment, cam surface 51 includes curved cam portion 51a and linear cam portions 51b, 51b connected to curved cam portion 51a and parallel to the first direction. By arranging linear cam portion 51b in a direction parallel to the first direction, cam surface 51 can include linear cam portion 51b. This allows the linear transport distance of workpiece W in the first direction to be longer, increasing the degree of freedom.

[0066] In particular, in this embodiment, the cam surface 51 is a U-shaped cam surface including a curved cam portion 51a having an angled arc shape and a pair of linear cam portions 51b, 51b connected to both ends of the curved cam portion 51a. The pick and place device 1 is configured to hold the workpiece W in an initial position, reverse the position of the workpiece W while linearly moving the held workpiece W in a first direction, which is a reference linear direction, and then release the reversed workpiece W at the predetermined position. This configuration allows the workpiece W to be reversed while linearly moving in the first direction, which is a reference linear direction. In other words, the workpiece W can be reversed and returned to its initial predetermined position.

[0067] Furthermore, in this embodiment, the drive device 80 is configured to be able to position the cam arm 70 at three or more rotation angles. The positionable rotation angles include rotation angles corresponding to one end position (shown in FIG. 8), the other end position (shown in FIG. 13), and an intermediate position (shown in FIGS. 10 to 12, etc.) on the cam surface 51 as positions of the driven member 60. By positioning the workpiece W at the intermediate position in this way, various processes, such as loading and unloading the workpiece W, can be performed while the workpiece W is positioned at the intermediate position.

[0068] In this embodiment, the driving device 80 is a position-controllable motor, which makes it possible to easily achieve positioning at any desired position as described above.

[0069] In this embodiment, the second direction is preferably perpendicular to the first direction. By making the first direction and the second direction perpendicular to each other, the first moving member 40 and the second moving member 50 can be operated independently. This simplifies the configuration of the pick and place apparatus 1.

[0070] In this embodiment, the cam surface 51 is configured by a grooved cam. That is, when the driven member 60 is engaged with the grooved cam, the driven member 60 can be moved along the cam surface 51. Therefore, even if forces act on the driven member 60 in various directions, the movement of the driven member 60 can be restricted to a desired trajectory.

[0071] (Embodiment 2) The configuration of the pick and place device 2 of this embodiment will be described with reference to Figures 14 and 15. In the pick and place device 2 of this embodiment, the same components as those in the above embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

[0072] The pick and place device 2 of this embodiment is configured to hold the workpiece W in an initial orientation at a predetermined position, rotate the orientation of the workpiece W while linearly moving the held workpiece W in a reference linear direction, and release the rotated workpiece W at a position different from the predetermined position. In particular, the pick and place device 2 is configured to rotate the workpiece W by 90° relative to the initial orientation and release it at a position different from the predetermined position. The orientation of the workpiece W is rotated by rotating the workpiece W around an orientation rotation axis L1.

[0073] The pick and place apparatus 2 includes a base member 10, a first guide member 20, a second guide member 30, a first moving member 40, a second moving member 150, a driven member 60, a cam arm 70, a drive device 80, and an output member 90.

[0074] A cam surface 151 is formed on the second moving member 150. In this embodiment, the cam surface 151 is configured as a grooved cam. The cam surface 151 includes an arc-shaped curved cam portion 151a and one linear cam portion 151b connected to one end of the curved cam portion 151a. In other words, the cam surface 151 configures a J-shaped cam surface. The cam surface 151 in this embodiment configures a part of the cam surface 51 of the embodiment.

[0075] The operation of the pick and place device 2 of this embodiment will be described. As shown in FIG. 14, a workpiece W is positioned in an initial posture on a table T (shown in FIG. 9). The pick and place device 2 is in the state shown in FIG. 14. At this time, the driven member 60 is located at one end position of the cam surface 151. This state corresponds to the state shown in FIG. 8 of the first embodiment.

[0076] By driving the motor 82 of the drive device 80, the driven member 60 is positioned at the other end position of the cam surface 151. This state corresponds to the state shown in FIG. 11 of the first embodiment. Then, the output member 90 releases the workpiece W in the position and posture shown in FIG. 15. In this embodiment, the posture of the workpiece W when released is rotated 90° from the initial posture.

[0077] In this way, by making the cam surface 151, for example, a J-shaped cam surface, the posture of the held workpiece W can be rotated while moving the held workpiece W in a first direction, which is the reference linear direction, and the workpiece W can be released at a position different from the initial position at which it was held.

[0078] (Embodiment 3) The configuration of the pick and place device 3 of this embodiment will be described with reference to Fig. 16. In the pick and place device 3 of this embodiment, the same components as those in the above embodiment are denoted by the same reference numerals and description thereof will be omitted.

[0079] The pick and place apparatus 3 of this embodiment includes a base member 10, a first guide member 20, a second guide member 30, a first moving member 40, a second moving member 50, a driven member 60, a cam arm 70, a driving device 280, and an output member 90. The driving device 280 is a fluid cylinder device such as an air cylinder or a hydraulic cylinder. The driving device 280, which is a fluid cylinder device, is preferably configured to be positionable in at least three positions. This embodiment also achieves the same effects as the first embodiment.

[0080] (others) In the above embodiment, the cam surfaces 51, 151 are grooved cams. Alternatively, the cam surfaces 51, 151 may be plate cams. A plate cam corresponds to a cam formed by only one of the grooved side surfaces on both sides that make up the grooved cam.

[0081] Furthermore, cam surfaces 51, 151 are provided with curved cam portions 51a, 151a and straight cam portions 51b, 151b. Alternatively, cam surfaces 51, 151 may be provided with only curved cam portions 51a, 151a, without providing straight cam portions 51b, 151b.

[0082] Furthermore, the driven member 60 is provided with two cam followers 62. Alternatively, the driven member 60 may be provided with one non-circular cam follower instead of the two cam followers 62. The non-circular cam follower may be, for example, elliptical or arc-shaped.

[0083] In the above embodiment, the reference linear direction is the vertical direction, but the reference linear direction may be the horizontal direction or a direction inclined relative to the vertical and horizontal directions. In this case, the first moving member 40, the driven member 60, and the output member 90 move in the reference linear direction. Therefore, the workpiece W moves in the reference linear direction and does not move in a direction perpendicular to the reference linear direction.

[0084] In the above embodiment, the first direction and the second direction are perpendicular to each other, but the second direction may be inclined relative to the first direction. [Explanation of symbols]

[0085] 1,2,3 Pick and Place Machine 10 Base member 40 First moving member 50,150 Second moving member 51,151 Cam surface 51a, 151a Curved cam section 60 driven member 70 Cam arm 80,280 Drive unit 90 Output member double work L2 drive axis

Claims

1. A pick and place device that holds a workpiece in an initial posture, changes the posture of the workpiece while linearly moving the held workpiece in a reference linear direction, and releases the workpiece whose posture has been changed, A base member; a first movable member that is guided so as to be linearly movable relative to the base member in a first direction that is the reference linear direction; a second movable member that is guided so as to be linearly movable relative to the base member in a second direction intersecting the first direction, and that has a cam surface formed thereon that includes a two-dimensional curved cam portion; a driven member configured to be movable along the cam surface and taking a position according to the position of the cam surface; a cam arm whose arm base end is supported by the second moving member so as to be swingably rotatable relative to the second moving member about a drive axis perpendicular to the first direction and the second direction, whose arm tip end is eccentric with respect to the drive axis supports the driven member, and whose swinging rotation about the drive axis of the arm itself moves the driven member along the cam surface; a drive device attached to the second moving member and configured to drive the cam arm to oscillate and rotate relative to the second moving member about the drive axis; an output member attached to the driven member, supported by the first moving member so as to be rotatable about an axis perpendicular to the first direction and the second direction relative to the first moving member, configured to be linearly movable in the first direction relative to the base member together with the first moving member, and configured to allow the workpiece to be attached and detached; A pick and place device comprising:

2. The pick and place device according to claim 1 , wherein the cam surface comprises the curved cam portion and a straight cam portion connected to the curved cam portion and parallel to the first direction.

3. the cam surface is a U-shaped cam surface including the curved cam portion having an angled arc shape and a pair of the straight cam portions connected to both ends of the curved cam portion, 3. The pick and place device according to claim 2, wherein the pick and place device is configured to hold the workpiece in the initial orientation at a predetermined position, invert the orientation of the workpiece while linearly moving the held workpiece in the reference linear direction, and release the inverted workpiece at the predetermined position.

4. the cam surface is a J-shaped cam surface including the curved cam portion having an arc shape and one of the linear cam portions connected to one end of the curved cam portion, 3. The pick and place device according to claim 2, wherein the pick and place device is configured to hold the workpiece in the initial attitude at a predetermined position, rotate the attitude of the workpiece while linearly moving the held workpiece in the reference linear direction, and release the rotated workpiece at a position different from the predetermined position.

5. the drive device is configured to be able to position the cam arm at three or more rotation angles, The pick and place device according to any one of claims 1 to 4, wherein the positionable rotation angles include rotation angles corresponding to one end position, the other end position, and an intermediate position on the cam surface as positions of the driven member.

6. The pick-and-place device of claim 5 , wherein the drive device is a position-controllable motor.

7. The pick and place device of claim 5 , wherein the drive device is a fluid cylinder device that is positionable in at least three positions.

8. The pick-and-place device according to claim 1 , wherein the second direction is a direction perpendicular to the first direction.

9. The pick-and-place device according to claim 1 or 2, wherein the cam surface is formed by a groove cam.

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