JP2021122928A - Gripping device - Google Patents

Abstract

To grip a component properly by a plurality of claws in the state where a strip is in contact with the component.SOLUTION: A gripping device includes a plurality of claws for gripping a component by approaching/separating depending on driving force of a first electromagnetic motor, a strip abutting on the component gripped by the plurality of claws, for specifying the position of the component, and a movement mechanism for moving the strip depending on driving force of a second electromagnetic motor.SELECTED DRAWING: Figure 3

Description

The present invention relates to a gripping device that grips a part with a plurality of claws.

The following patent document describes a technique relating to a gripping device for gripping a part with a plurality of claws in a state where the metal is in contact with the part.

Japanese Unexamined Patent Publication No. 2012-139808

In the present specification, it is an object of the present invention to appropriately grip a part with a plurality of claws in a state where the metal is in contact with the part.

In order to solve the above problems, the present specification includes a plurality of claws that grip a part by approaching and separating from each other depending on a driving force of a first electromagnetic motor, and a component gripped by the plurality of claws. Disclosed is a gripping device comprising a deposit that abuts and defines the position of the component and a moving mechanism that moves the deposit by relying on the driving force of a second electromagnetic motor.

In the present disclosure, the winnings move depending on the driving force of the electromagnetic motor. As a result, for example, by moving the current according to the dimensions of the component to be gripped, it is possible to appropriately grip the component with a plurality of claws in a state where the current is in contact with the component.

It is a perspective view which shows the component mounting machine. It is a perspective view which shows the component mounting apparatus. It is the schematic which shows the work head. It is the schematic which shows the gripping claw of the conventional work head. It is the schematic which shows the gripping claw of the conventional work head. It is the schematic which shows the gripping claw of the conventional work head. It is the schematic which shows the work head in the state which held the small part. It is the schematic which shows the work head in the state which held the lead part. It is a schematic diagram which shows the work head in the state which the lead component is pressed against a circuit base material.

Hereinafter, examples of the present invention will be described in detail as embodiments for carrying out the present invention with reference to the drawings.

FIG. 1 shows a component mounting machine 10. The component mounting machine 10 is a device for executing component mounting work on the circuit base material 12. The component mounting machine 10 includes an apparatus main body 20, a base material transfer holding device 22, a component mounting device 24, imaging devices 26 and 28, a component supply device 30, and a loose component supply device 32. Examples of the circuit board 12 include a circuit board, a base material having a three-dimensional structure, and the like, and examples of the circuit board include a printed wiring board and a printed circuit board.

The apparatus main body 20 is composed of a frame 40 and a beam 42 mounted on the frame 40. The base material transfer holding device 22 is arranged at the center of the frame 40 in the front-rear direction, and has a transfer device 50 and a clamp device 52. The transport device 50 is a device that transports the circuit base material 12, and the clamp device 52 is a device that holds the circuit base material 12. As a result, the base material transport / holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit base material 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.

The component mounting device 24 is arranged on the beam 42, and has two work heads 60 and 62 and a work head moving device 64. The work head moving device 64 includes an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. Then, the two work heads 60 and 62 are integrally moved to an arbitrary position on the frame 40 by the X-direction moving device 68 and the Y-direction moving device 70. Further, as shown in FIG. 2, the work heads 60 and 62 are positioned and attached to the sliders 74 and 76 so that the operator can attach and detach them with one touch without using a tool, and the Z direction moving device 72 is mounted on the sliders 74 and 76. The sliders 74 and 76 are individually moved in the vertical direction. As a result, the work heads 60 and 62 are individually moved in the vertical direction by the Z-direction moving device 72.

The work heads 60 and 62 grip the parts and perform mounting work of the gripped parts. As shown in FIG. 3, a pair of gripping claws 80 and 82, a claw operating mechanism 84, and a winning amount 86 And the money transfer mechanism 88. Note that FIG. 3 is a diagram showing the internal structure of the work heads 60 and 62, and the housings of the work heads 60 and 62 are omitted.

The gripping claws 80 and 82 are composed of a main body portion 90 and a claw portion 92. The main body 90 is generally rod-shaped and is arranged in a posture extending in the vertical direction. A claw portion 92 is attached to the lower end portion of the main body portion 90. The claw portion 92 has a tapered shape, and is positioned and attached to the lower end portion of the main body portion 90 so that the operator can attach and detach it with one touch without using a tool. Further, a through hole (not shown) penetrating in the left-right direction is formed at the upper end portion of the main body 90.

The claw operating mechanism 84 includes a guide rail 100, a ball screw mechanism 102, a transmission mechanism 104, and an electromagnetic motor 106. The guide rail 100 is arranged so as to extend in the left-right direction, and is fixed to the inside of the housings (not shown) of the work heads 60 and 62. The guide rail 100 holds a pair of gripping claws 80, 82 in a vertically extending posture so as to be slidable in the left-right direction in the main body 90 of each gripping claw 80, 82.

The ball screw mechanism 102 is composed of a screw rod 110 and a pair of nuts 112 and 114. The screw rod 110 is arranged above the guide rail 100 in a state parallel to the guide rail 100 so as to extend in the left-right direction. The screw rod 110 is inserted into the through hole of the main body 90 of the pair of gripping claws 80 and 82 at both ends. Further, on the outer peripheral surface of the screw rod 110, a screw groove 116 is formed from the center to the left end portion, and a screw groove 118 is formed from the center to the right end portion. The thread groove 116 is formed on the outer peripheral surface of the screw rod 110 so as to swivel in a predetermined direction, and the screw groove 118 is formed in the screw rod 110 so as to swivel in a direction different from that of the screw groove 116. It is formed on the outer peripheral surface. Further, the nuts 112 and 114 hold a plurality of bearing balls (not shown), and the nut 112 is screwed into the thread groove 116 and the nut 114 is screwed into the thread groove 118 through the plurality of bearing balls. doing. Then, the nut 112 is fixed inside the through hole of the main body 90 of the gripping claw 80, and the nut 114 is fixed inside the through hole of the main body 90 of the gripping claw 82.

The transmission mechanism 104 has two gears 120 and 122 and a belt 124. The gear 120 is fixed to the end of the screw rod 110 coaxially with the screw rod 110. Further, the gear 122 is fixed to the motor shaft 126 coaxially with the motor shaft 126 of the electromagnetic motor 106. The electromagnetic motor 106 is arranged so that the motor shaft 126 is parallel to the screw rod 110. Then, the belt 124 is wound around the two gears 120 and 122.

With such a structure, the claw actuating mechanism 84 makes it possible to bring the pair of gripping claws 80 and 82 close to each other and separate them, and to grip the parts by the claw portions 92 of the gripping claws 80 and 82. That is, the gear 122 is rotated by the operation of the electromagnetic motor 106, and the belt 124 is rotated, so that the gear 120 is rotated. Then, the screw rod 110 rotates together with the gear 120, and the pair of nuts 114 linearly approaches and separates from each other, so that the pair of gripping claws 80 and 82 also linearly approach and separate from each other. As a result, the electric component 130 located between the pair of gripping claws 80 is gripped by the pair of gripping claws 80 and 82. That is, the electric component 130 is gripped by the pair of gripping claws approaching and separating from each other depending on the driving force of the electromagnetic motor 106. The electromagnetic motor 106 is a servomotor, and the pair of gripping claws 80 and 82 are controlledly approached and separated from each other at the position in the sliding direction, so that the electric component 130 is gripped with an appropriate gripping force.

Further, the money moving mechanism 88 includes a slide mechanism 150, a ball screw mechanism 152, a transmission mechanism 154, and an electromagnetic motor 156. The slide mechanism 150 includes a slider 160 and a guide rail 162. The slider 160 has a generally cylindrical shape, and is arranged in a posture extending in the vertical direction. A winning amount 86 is attached to the lower end surface of the slider 160. The money 86 is positioned and attached so that the operator can attach and detach it with one touch without using a tool. The slider 160 is held by the guide rail 162 so as to be slidable in the vertical direction. The inside of the slider 160 is hollow, and the cavity is open to the upper end surface of the slider 160.

The ball screw mechanism 152 is composed of a screw rod 170 and a nut 172. The screw rod 170 is inserted into the slider 160 through an opening on the upper end surface of the slider 160 in a posture extending in the vertical direction. A screw groove 178 is formed on the outer peripheral surface of the screw rod 170 from the upper end to the lower end. Further, the nut 172 holds a plurality of bearing balls (not shown), and is screwed into the thread groove 178 via the plurality of bearing balls. Then, the nut 172 is fixed inside the slider 160.

The transmission mechanism 154 has two gears 180 and 182 and a belt 184. The gear 180 is fixed to the upper end of the screw rod 170 coaxially with the screw rod 170. Further, the gear 182 is fixed to the motor shaft 186 coaxially with the motor shaft 186 of the electromagnetic motor 156. The electromagnetic motor 156 is arranged so that the motor shaft 186 is parallel to the screw rod 170. Then, the belt 184 is wound around the two gears 180 and 182.

With such a structure, the winnings moving mechanism 88 can move the winnings 86 in the vertical direction. That is, the gear 182 is rotated by the operation of the electromagnetic motor 156, and the belt 184 is rotated, so that the gear 180 is rotated. Then, the screw rod 170 rotates together with the gear 180, and the nut 172 slides in the axial direction of the screw rod 170, so that the winning metal 86 moves in the vertical direction. That is, the winning amount 86 moves in the vertical direction depending on the driving force of the electromagnetic motor 156. The electromagnetic motor 156 is a servomotor, and the money 86 moves in a controllable position in the vertical direction. That is, by performing feedback control or the like using the encoder, the winning amount 86 can be moved to an arbitrary position in the vertical direction by the operation of the electromagnetic motor 156.

Further, as shown in FIG. 2, the image pickup apparatus 26 is attached to the slider 74 in a state of facing downward, and is moved together with the work head 60 in the X direction, the Y direction, and the Z direction. As a result, the image pickup apparatus 26 images an arbitrary position on the frame 40. As shown in FIG. 1, the image pickup apparatus 28 is arranged between the base material transport and holding apparatus 22 on the frame 40 and the component supply apparatus 30 in a state of facing upward. As a result, the image pickup apparatus 28 images the parts gripped by the work heads 60 and 62. The imaging devices 26 and 28 are two-dimensional cameras, and form two-dimensional imaging data.

The component supply device 30 is arranged at one end of the frame 40 in the front-rear direction. The parts supply device 30 includes a tray-type parts supply device 190 and a feeder-type parts supply device 192. The tray-type component supply device 190 is a device that supplies components in a state of being placed on the tray. The feeder type component supply device 192 is a device that supplies components by a tape feeder and a stick feeder.

The loose component supply device 32 is arranged at the other end of the frame 40 in the front-rear direction. The loose parts supply device 32 is a device that aligns a plurality of parts that are scattered apart and supplies the parts in the aligned state. Examples of the parts supplied by the parts supply device 30 and the loose parts supply device 32 include electronic circuit parts, solar cell components, power module components, and the like. Further, electronic circuit parts include parts having leads, parts having no leads, and the like.

In the component mounting machine 10, components are mounted on the circuit substrate 12 held by the substrate transfer holding device 22 according to the above-described configuration. Specifically, the circuit base material 12 is conveyed to a working position, and is fixedly held by the clamp device 52 at that position. Next, the image pickup apparatus 26 moves above the circuit base material 12 and images the circuit base material 12. As a result, information regarding an error in the holding position of the circuit base material 12 by the clamp device 52 and the like can be obtained. Further, the component supply device 30 or the loose component supply device 32 supplies the electric component 130 at a predetermined supply position. Then, one of the work heads 60 and 62 moves above the electric component 130 and grips the electric component 130. At this time, the work heads 60 and 62 grip the side surface of the electric component 130 with a pair of gripping claws 80 and 82 in a state where the metal portion 86 is in contact with the upper surface of the electric component 130.

Specifically, the control device (not shown) that controls the operation of the component mounting machine 10 stores the height dimension and the width dimension of the supplied type of component to be gripped. Here, the height dimension of the type of component to be supplied is a dimension indicating the distance between the upward-facing surface and the downward-facing surface of the component to be supplied at the supply position, and is supplied at the supply position. It is the vertical dimension of the part. Therefore, the height direction of the supplied type of component is the vertical direction of the component to be supplied at the supply position. Further, the width dimension of the supplied type component is a dimension indicating the distance between a pair of opposite side surfaces of the component supplied at the supply position, and is a dimension in the left-right direction of the component supplied at the supply position. Is. Therefore, the width direction of the supplied type of component is the left-right direction of the component supplied at the supply position.

Then, before the parts are gripped by the work heads 60 and 62, the vertical position of the balance 86 is adjusted and defined by the balance moving mechanism 88 according to the height dimension of the type of component to be gripped. .. At this time, for example, the vertical direction of the metal fitting 86 is such that the distance between the lower end surface of the metal fitting 86 and the tip of the claw portion 92 of the gripping claws 80 and 82 is shorter than the height dimension of the part to be gripped. The position of is adjusted. Further, before the parts are gripped by the work heads 60 and 62, the positions of the pair of gripping claws 80 and 82 in the left-right direction are adjusted by the claw actuating mechanism 84 according to the width dimension of the parts to be gripped. At this time, for example, the positions of the pair of gripping claws 80 and 82 in the left-right direction are adjusted so that the distance between the pair of gripping claws 80 and 82 is longer than the width dimension of the parts to be gripped. Then, after the work heads 60 and 62 have moved above the component to be gripped, that is, the electric component 130, the work head is operated by the operation of the Z-direction moving device 72 until the deposit 86 comes into contact with the upper surface of the electric component 130. 60 and 62 descend. Subsequently, the pair of gripping claws 80, 82 is operated by the operation of the claw actuating mechanism 84 until the pair of gripping claws 80, 82 come into contact with the pair of side surfaces of the electric component 130 to grip the component with an appropriate gripping force. Approaches. As a result, as shown in FIG. 3, the electric component 130 is gripped by the pair of gripping claws 80 and 82 on the pair of side surfaces in a state where the metal portion 86 is in contact with the upper surface of the electric component 130. At this time, the lower end surface of the electric component 130 gripped by the pair of gripping claws 80 and 82 is located below the lower ends of the gripping claws 80 and 82. In this way, when the electric component 130 is gripped by the work heads 60 and 62, the gripped component is moved and mounted on the circuit equipment in a state where the electric component 130 is positioned in the height direction. It is gripped by the work heads 60 and 62 so as not to cause a shift.

Then, when the electric component 130 is gripped by the work heads 60 and 62, the work heads 60 and 62 move above the image pickup device 28, and the electric component 130 gripped by the work heads 60 and 62 by the image pickup device 28. Is imaged. As a result, information on the holding posture of the work heads 60 and 62 of the electric component 130 and the like can be obtained. Next, the work heads 60 and 62 move above the circuit base material 12 and descend until the lower end surface of the electric component 130 gripped by the work heads 60 and 62 comes into contact with the circuit base material 12. As a result, the electric component 130 gripped by the work heads 60 and 62 is mounted on the circuit base material 12. At the time of mounting on the circuit base material 12, the electric component 130 is mounted on the circuit base material 12 based on the holding position of the circuit base material 12, the holding posture of the electric component 130, and the like. As described above, in the component mounting machine 10, the component to be mounted is gripped by the pair of gripping claws 80 and 82 in a state where the component to be mounted is positioned in the height direction of the component by the money 86, and the gripped component is a circuit base. It is attached to the material 12. As a result, when the gripped parts are moved and mounted on the circuit equipment, they are not dropped or misaligned, and it is possible to perform appropriate mounting work.

However, in the conventional work head, when the type of the component to be mounted is changed, it may be necessary to replace the gripping claw that grips the component. Specifically, the conventional work head is equipped with, for example, a pair of gripping claws 200 shown in FIG. A stepped surface 202 is formed at the tip of the gripping claw 200, and has a stepped shape. The distance between the stepped surface 202 and the tip of the gripping claw 200 is shorter than the height dimension of the electric component 130. Then, the height direction of the component is positioned in a state where the step surface 202 is in contact with the upper surface of the electric component 130, and the pair of opposite side surfaces of the electric component 130 is a portion below the step surface 202 of the gripping claw 200 (hereinafter,). , Described as "grip portion") 206. As a result, the electric component 130 can be gripped by the grip claw 200 so that the gripped component is not dropped or misaligned when the gripped component is moved and mounted on the circuit equipment.

However, the height dimension of an electric component smaller than the electric component 130, for example, the electric component 210 shown in FIG. 5, is shorter than the distance between the stepped surface 202 and the tip of the gripping claw 200. When such an electric component 210 is to be gripped by the gripping claw 200, the tip of the gripping claw 200 is a mounting surface on which the electric component 210 is placed before the upper surface of the electric component 210 comes into contact with the stepped surface 202. And so on. Therefore, as shown in FIG. 5, the electric component 210 is gripped by the grip portion 206 with the upper surface not in contact with the stepped surface 202, and when the gripped component is moved and mounted on the circuit equipment. There is a risk of dropping or misalignment.

Therefore, when the component to be gripped is the electric component 210, a pair of gripping claws 220 shown in FIG. 6 is attached to the work head instead of the gripping claw 200. A stepped surface 222 is also formed at the tip of the gripping claw 220, and has a stepped shape. The distance between the stepped surface 222 and the tip of the gripping claw 220 is shorter than the height dimension of the electric component 210. Therefore, with the stepped surface 222 in contact with the upper surface of the electric component 210, the pair of opposite side surfaces of the electric component 210 are gripped by the portion of the gripping claw 220 below the stepped surface 222, that is, the gripping surface 226. be able to. As a result, the electric component 210 can be gripped by the grip claw 220 so that the gripped component is not dropped or misaligned when the gripped component is moved and mounted on the circuit equipment.

As described above, in the conventional work head, in order to properly grip the electric component 210 of a different type and shape, it is necessary to replace the grip claw 200 mounted on the work head with the grip claw 220, which is replaced. The tact time becomes longer due to the work. On the other hand, in the work heads 60 and 62 used in the component mounting machine 10, the vertical position of the deposit 86, that is, the position in the height direction of the component is changed so as to be controllable by the deposit moving mechanism 88. Is possible. Therefore, as shown in FIG. 7, the distance between the lower end surface of the metal portion 86 and the lower end surface of the claw portions 92 of the gripping claws 80 and 82 is shorter than the height dimension of the electric component 210. The vertical position of the gold 86 is adjusted. As a result, the lower end surface of the metal fitting 86 is in contact with the upper surface of the electric component 210, and the height direction of the gripped component is positioned, and the pair of opposite side surfaces of the electric component 210 are gripped by the claw portion 92. Can be done. As described above, in the work heads 60 and 62, the vertical position of the balance 86 can be changed in a controllable manner according to the height dimension of the part to be gripped, so that it is necessary to replace the gripping claws. It is possible to significantly reduce the tact time.

Furthermore, in the work heads 60 and 62, the parts gripped by the pair of gripping claws 80 and 82 can be pressed downward by the metal fitting 86. Specifically, for example, during the mounting work of the lead component 230 shown in FIG. 8, the work heads 60 and 62 grip the component body 232 of the lead component 230 with a pair of gripping claws 80 and 82. At this time, the balance 86 is set so that the distance between the lower end surface of the balance 86 and the lower end of the claw portions 92 of the gripping claws 80 and 82 is shorter than the height dimension of the component body 232 of the lead component 230. The vertical position has been adjusted. As a result, the pair of opposite side surfaces of the component body 232 are gripped by the gripping claw 220 in a state where the metal fitting 86 is in contact with the upper surface of the component body 232 of the lead component 230.

Then, the lead component 230 gripped by the work heads 60 and 62 has a pair of through holes formed in the circuit base material 12 by the operation of the X-direction moving device 68 and the Y-direction moving device 70 of the working head moving device 64. Move above 236. Then, the work heads 60 and 62 are lowered by the operation of the Z-direction moving device 72 of the working head moving device 64, and the pair of leads 234 of the lead parts 230 held by the working heads 60 and 62 penetrate the pair. It is inserted into the hole 236. At this time, the lowering of the work heads 60 and 62 is stopped before the lower surface of the component body 232 of the lead component 230 comes into contact with the circuit base material 12. That is, the work heads 60 and 62 are lowered until the pair of leads 234 are inserted into the pair of through holes 236, and the work heads 60 and 62 are before the lower surface of the component body 232 comes into contact with the circuit base material 12. The descending motion of is stopped. Then, by operating the claw operating mechanism 84, the pair of gripping claws 80 and 82 are separated from each other, so that the gripping claws 80 and 82 are released from gripping the lead component 230. Subsequently, the money 86 is lowered by the operation of the money movement mechanism 88, so that the lead component 230 is pressed downward by the money 86. At this time, as shown in FIG. 9, the money 86 is lowered until the lower surface of the component body 232 comes into contact with the upper surface of the circuit base material 12. As a result, the lead 234 is press-fitted into the through hole 236 and inserted into the through hole 236 up to the root, so that the lead component 230 is attached to the circuit base material 12.

In this way, in the work heads 60 and 62, the deposit 86 is lowered by the operation of the deposit moving mechanism 88, so that the lead component 230 is pressed toward the circuit base material 12 and mounted on the circuit base material 12. NS. On the other hand, even in the conventional work head, the work head is lowered by the operation of the Z-direction moving device 72 until the lead 234 of the lead component 230 gripped by the pair of gripping claws is inserted into the through hole 236. However, in the conventional work head, even after the lead 234 is inserted into the through hole 236, the work head is lowered by the operation of the Z-direction moving device 72 until the lower surface of the component body 232 comes into contact with the circuit base material 12. The lead component 230 is mounted on the circuit substrate 12. That is, in the conventional work head, when the work head is lowered by the operation of the Z-direction moving device 72, the lead 234 is press-fitted into the through hole 236, and the lead component 230 is mounted on the circuit base material 12. At this time, since the Z-direction moving device 72 needs to lower the work head having a large mass with a large force, the lead 234 cannot be press-fitted into the through hole 236 with a minute pressure, and the circuit base material 12, An extra load may be generated on the lead component 230 and the like. On the other hand, in the work heads 60 and 62 used in the component mounting machine 10, the lead 234 is press-fitted into the through hole 236 by lowering the deposit 86 due to the operation of the deposit moving mechanism 88 as described above. , The lead component 230 is mounted on the circuit base material 12. At this time, since the deposit moving mechanism 88 only needs to lower the deposit 86 having a small mass, the lead 234 can be press-fitted into the through hole 236 with a minute pressure. Therefore, by using the work heads 60 and 62, it is possible to reduce the load on the circuit base material 12, the lead component 230, and the like when the lead component 230 is mounted. Further, even when gripping parts of different types and sizes, it is not necessary to use a gripping claw having a stepped surface, and the height of the parts to be gripped is appropriately positioned and specified by controlling the position of the balance. be able to.

The work heads 60 and 62 are examples of a gripping device and a work head. The gripping claws 80 and 82 are examples of claws. The money 86 is an example of the money. The winning money moving mechanism 88 is an example of the moving mechanism. The electromagnetic motor 106 is an example of the first electromagnetic motor. The electromagnetic motor 156 is an example of a second electromagnetic motor.

The present invention is not limited to the above examples, and can be carried out in various modes with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the electromagnetic motors 106 and 156 are built in the work heads 60 and 62, but they may be arranged outside the work heads 60 and 62. For example, the electromagnetic motors 106 and 156 are arranged on the sliders 74 and 76 to which the work heads 60 and 62 are mounted, and the work heads 60 and 62 are detachably positioned and mounted on the sliders 74 and 76 to be electromagnetically mounted. The driving force of the motors 106, 156 may be transmitted to the work heads 60, 62. Further, for example, the electromagnetic motors 106 and 156 are arranged at predetermined positions of the component mounting machine 10, and the work heads 60 and 62 move to the predetermined positions so that the driving force of the electromagnetic motors 106 and 156 works. It may be transmitted to the heads 60 and 62. In this case, at a predetermined position, the position of the contact of the work head is moved and positioned, and the gripping claw grips the part.

Further, in the above embodiment, the present invention is applied to the work heads 60 and 62, but the present invention can be applied to various devices as long as the device can grip the parts by a plurality of claws. be. Specifically, the present invention can be applied to, for example, a robot hand, a chuck, and the like. Since the chuck or the like is attached to and detached from the work head, when the present invention is applied to the chuck or the like, the electromagnetic motor for driving the money moving mechanism 88 or the like may be arranged on the chuck for work. It may be arranged on the head. The robot hand and chuck can be applied to various types of robots such as articulated robots.

Further, in the above embodiment, the position of the deposit 86 in the vertical direction is adjusted before the parts are gripped by the work heads 60 and 62, but after the parts are gripped by the work heads 60 and 62, the hit is applied. The vertical position of the gold 86 may be adjusted. That is, the parts are gripped by the pair of gripping claws 80 and 82 with the winning metal 86 moved upward. At this time, the money 86 is not in contact with the upper surface of the component. Then, after the parts are gripped by the pair of gripping claws 80, 82, the metal fitting 86 may be lowered to bring the metal fittings 86 into contact with the upper surface of the parts gripped by the gripping claws 80, 82.

60: Work head (grip device) 62: Work head (grip device) 80: Gripping claw (claw) 82: Gripping claw (claw) 86: Tow 88: Toe transfer mechanism (movement mechanism) 106: Electromagnetic motor (No. 1 electromagnetic motor) 156: electromagnetic motor (second electromagnetic motor)

Claims (3)

A plurality of claws that grip parts by approaching and separating depending on the driving force of the first electromagnetic motor,
A deposit that abuts on a part gripped by the plurality of claws and defines the position of the part, and
A gripping device including a moving mechanism for moving the winnings based on the driving force of the second electromagnetic motor. The gripping device according to claim 1, wherein the gripping device is a work head that grips the parts for mounting work, and also includes the first electromagnetic motor and the second electromagnetic motor. The moving device is
The gripping device according to claim 1 or 2, wherein the position of the winnings is controlledly moved by relying on the driving force of the second electromagnetic motor.

Images