JP2922763B2 - Mounting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting apparatus for assembling components having poor positioning accuracy with high reliability.

[0002]

2. Description of the Related Art Conventionally, when an electronic component such as a transformer is mounted on a circuit board, a component picked up from a supply position by a robot is temporarily placed on a positioning jig at a fixed position and positioned. Thereafter, a method of picking up the component again from the positioning jig and mounting it on the substrate has been adopted.

[0003]

However, in the above-mentioned conventional example, since the operation of temporarily placing the component on the positioning jig during the transport of the component is intervened, there is a problem that the tact time is lengthened accordingly. there were.

Accordingly, the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to omit an operation of placing components on a positioning jig during the transportation of components, thereby shortening the tact time. It is to provide a device.

[0005]

Means for Solving the Problems The above-mentioned problems are solved,
In order to achieve the object, a mounting apparatus according to the present invention is a mounting apparatus that grasps an article at a first position, conveys the article to a second position, and performs operations such as assembly, and grasps the article at the first position. A pair of fingers, a servomotor for driving the pair of fingers to open and close, position detecting means for detecting the open / close position of the fingers, and detecting a moving speed of the finger from a detection value of the position detecting means. And a first command for supplying a current value small enough to overcome the moving resistance of the finger and move the finger smoothly.
Commanding means, a second commanding means for instructing the servo motor to supply a current value large enough to reliably grip the article, and the pair of fingers gripping the article. A transporting means for transporting the article to the second position by moving the article from the first position to the second position in the state, and a position moved integrally with the finger by the transporting means. Adjusting means,
Position adjusting means for adjusting the position of the article with respect to the finger in parallel with the transfer operation by the transfer means,
When grasping the article at the first position, the finger is brought close to the article by a command current value from the first command means, and the finger comes into contact with the article, and the speed detection means causes the finger to move. After detecting the stop, the command current value from the second command means is supplied to the servomotor to securely grip the article, and the position adjustment means moves the article to the finger. When adjusting the position, the command current value from the second command means is switched to the command current value from the first command means,
And control means for reducing the gripping force of the finger to adjust the position of the article. Further, in the mounting apparatus according to the present invention,
The position adjusting means adjusts the position of the article with respect to the finger while supporting the article from below, thereby preventing the article from dropping.

[0006]

As described above, since the mounting apparatus according to the present invention is constituted, a small current value is applied to the servomotor when the finger is moved from a position away from the article to a position in contact with the article. Also, when the finger comes into contact with the article, the article is not subjected to an excessive impact force, thereby preventing the article from being deformed or damaged. Further, by applying a large current value to the servomotor after the finger comes into contact with the article, the article can be transported in a state of being securely gripped. Further, it is possible to position the article with respect to the finger while maintaining the gripping state of the finger with the finger in a state where the gripping force of the finger is weakened, and it is possible to position the article in parallel with the article transport operation. Therefore, the step of positioning the article by the positioning jig is omitted, and the tact time can be reduced.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a schematic configuration of an embodiment of a mounting apparatus according to the present invention.

The mounting apparatus 10 is schematically composed of a mounting robot 12 arranged on a base (not shown) and stockers 14 arranged on both sides of the mounting robot 12 and supplying components to the mounting robot 12. .

The mounting robot 12 sequentially picks up the parts W from the pallets P stocked in the stocker 14, and mounts the assembly table 12a in front of the mounting robot 12.
It is assembled on the upper circuit board 16. The mounting robot 12 is provided with a hand 18 for picking up the component W, and the hand 18 can be freely moved in the up, down, left, and right directions by a moving mechanism 20 constituting a central portion of the mounting robot 12. ing.

FIG. 2 is an enlarged side view of a part of the hand 18 in FIG. FIG. 3 is a front view of FIG. 2 viewed from the right, and FIG. 4 is a rear view of FIG. 2 viewed from the left.

In FIGS. 2 to 4, reference numeral 22 denotes a pair of fingers that are driven to open and close by a drive source described later. When a component is gripped by the finger 22, a gripping force can be adjusted by a configuration described later.
24 is a component pusher.

Reference numeral 26 denotes a positioning block. As shown in FIG. 5, a horn-shaped hole 28 as shown in FIG. 6 is formed corresponding to the position of the lead of the component W (for example, a transformer).

The positioning block 26 is rotationally driven in a horizontal plane by a rotational drive source 30 fixed to a block support member 29.

The block support member 29 includes a guide 32
, So that it can be moved up and down freely.
It is driven up and down.

Next, a schematic operation of the mounting apparatus configured as described above will be described.

First, the component W is picked up from the pallet P stored in the stocker 14 by the hand 18. At this time, since the positioning accuracy of the component W on the pallet P is poor, the hand 18 is in a correct state as shown in FIG.
8A and 8B, the component W is gripped in a state where the component W is tilted or shifted. FIG. 9 shows the form of the hand 18 immediately after grasping.

In order to correct the inclination and displacement of the part W as shown in FIG. 8, first, the cylinder 34 is operated to
Then, the block support member 29 is lowered.

Next, the rotation drive source 30 is operated to operate as shown in FIG.
As described above, the positioning block 26 is rotated to be positioned below the component W.

Further, by operating the cylinder 34, FIG.
The block support member 29 is raised as shown in FIG.

At this time, the lead of the component W is called into the hole 28 by the calling portion 28a of the hole 28, and the component W slides on the finger 22 as shown in FIG. Then, the inclination and displacement of the component W are corrected, and the component moves to an accurate position as shown in FIG.

At the time of this series of positioning operations, the gripping force of the finger 22 on the component W is weakened by the configuration described later, and the component W is easily shifted with respect to the finger 22.

After a series of positioning operations, the component W is mounted on the board 16.

FIG. 14 is a flowchart showing a series of component mounting operations described above.

First, in step S1, the finger 22
Picks up the component W from the pallet P.

Next, in step S2, the finger 22 is moved to a point above the pallet P.

In step S3, the moving mechanism 20 is operated to start moving the finger 22 to a point above the substrate 16.

In step S3, when the finger 22 starts moving, step S4 is performed during the movement of the finger 22.
In step S11, the positioning operation of the component W with respect to the finger 22 is performed.

First, in step S4, the cylinder 34 is operated to operate the block support member 29 as shown in FIG.
Is lowered.

Next, in step S5, the rotary drive source 30 is operated to move the positioning block 2 as shown in FIG.
6 is rotated and positioned below the component W.

In step S6, the gripping force of the finger 22 is weakened to easily shift the component W.

In step S7, the cylinder 34 is operated to raise the block support member 29 as shown in FIG. At this time, the lead of the component W is called into the hole 28 by the calling portion 28a of the hole 28, and the component W slides on the finger 22 as shown in FIG.
The component W is positioned, the inclination and displacement of the component W are corrected, and the component moves to an accurate position as shown in FIG.

In step S8, in a state where the component W is at the correct position, the gripping force is restored to a strong state in order to firmly grip the component W with the finger 22.

In step S9, the cylinder 34 is operated again to lower the block support member 29.

In step S10, the rotation drive source 30 is operated to rotate the positioning block 26 as shown in FIG.

Thereafter, in step S11, the cylinder 34 is operated to raise the block support member 29 again.

Next, in step S12, it is determined whether or not the finger 22 has finished moving to a position above the substrate 16. In step S12, if the finger 22 has already moved, the process proceeds to step S13. If the finger 22 has not yet moved, the process proceeds to step S13 after the finger 22 has finished moving.

In step S13, the moving mechanism 20 is operated to lower the finger 22, and the component W is inserted into the board 16.

Thus, the operation of assembling the component W onto the board 16 is completed.

Next, a detailed configuration of the hand 18 and a method of controlling the gripping force in the component positioning operation will be described. <Structure> FIG. 15 is a view showing the structure of the hand 18.

In FIG. 15, reference numeral 101 denotes a servo motor,
Reference numeral 102 denotes a pulse encoder for position detection connected to the servomotor 101; 103, a timing pulley attached to a rotary output shaft of the servomotor; 104, a timing belt; 105, a timing pulley located on the opposite side of the pulley 103; Is a ball screw with both left and right screws cut. 107 and 108 are linear guides,
Reference numerals 22a and 22b denote fingers which are movable parts to which nuts (not shown) for the ball screws 106 (not shown) are attached, and reference numerals 111 and 112 denote finger stoppers separately attached to the finger parts and the fixed frame 113. . Reference numeral 115 denotes an origin sensor for determining the origin position of the finger. Reference numeral 114 denotes a body mounting flange for mounting the entire hand 18 to the tip of the mounting robot 12.

The operation of the hand 18 is controlled by the servo motor 1
The rotation output of No. 01 is transmitted to the timing pulley 103, the timing belt 104, and the timing pulley 105, and the ball screw 106 is rotated. Thereby, the finger 2
2a and 22b can move linearly in a direction away from or in the direction of approach, and the workpiece can be gripped by these two fingers. The pulse encoder 102 attached to the servomotor 101 causes the finger 22
The positions of a and 22b can be detected. Further, the origins of the positions of the fingers 22a and 22b can be set with reference to the origin sensor 115. When the fingers 22a and 22b move away, before the finger 22a contacts the frame 113, the finger 2
The stopper 112 of the frame 113 contacts the stopper 112 of the frame 2b.

FIG. 16 shows a hardware configuration diagram of a control device for controlling the operation of the hand 18.

A central processing unit (C) 201 realizes control.
PU), and 202 is bus-coupled to the CPU 201.
A non-volatile memory (ROM) including a series of control processing algorithm programs and a man-machine interface program, and a power-backed-up memory (RAM) 203 capable of storing teaching data. Reference numeral 204 denotes a current value counter connected to the pulse encoder 102 connected to the servo motor 101 and capable of counting the current position of the servo motor. Reference numeral 208 denotes a D / A converter connected to the servo motor through a torque amplifier 209, which can output an analog current instruction to the torque amplifier 209 according to an instruction from the CPU 201. 206 is a CPU for transmitting information from the origin sensor 115
This is an I / O interface for importing the data into the 201. A communication interface 211 connects the external teaching device 212 to the CPU. 202, 20
3, 204, 206, 208 and 211 are all buses 21.
3 is connected to the CPU 201.

FIG. 17 is a control block diagram relating to a method for controlling the gripping force of the hand 18. FIG. 17 includes two loops: a positioning control loop (shown by a solid frame in the figure) and a gripping force control loop (shown by a broken frame in the figure). The positioning control loop is a loop for positioning the finger at the “preparation position”, and the gripping force control loop is a loop for controlling the gripping force generated by the finger after the finger is placed at the preparation position. Positioning to the standby position is explained first positioning control loop.

Command position register 301 in FIG.
Is a register that stores a target designated position for gripping the target work W. This command position is a position where there is some margin for the size of the target work W, that is, the position of the target work W when positioned there. The fingers 22a, 22b are moved to positions where there is a certain distance between the fingers 22a, 22b.
This is a position at which the servo motor 101 serving as the drive source of 2b is operated, and is a target command position in a preparation stage before shifting to the actual gripping operation of the work W. The target command position from the command position register 301 is output to the adder 302. The adder 302 determines the target command position and the finger 22
The position deviation between a and 22b from the current position is obtained and output to the position loop gain multiplier 303. The position loop gain multiplier 303 calculates a target moving speed by multiplying the position deviation by a predetermined control gain, and outputs the result to the adder 304. Adder 3
04 is the input target moving speed and the finger 22
A speed deviation between the current moving speeds a and 22b is obtained and output to the speed loop gain multiplier 305. Speed loop gain multiplier 305 multiplies the input speed deviation by a predetermined control gain, and outputs a target command current to adder 307. The adder 307 obtains a current deviation between the input target command current and the current command current currently output to the servomotor 101, and calculates the current deviation.
Output to The torque amplifier 308 amplifies the input current deviation and outputs the amplified current deviation to the servo motor 101 as a command current. The servo motor 101 is driven by the input command current, generates torque, and
a, 22b are opened and closed to perform positioning. Encoder 10
2 outputs a signal corresponding to the rotation of the servo motor 101 to the current position counter 204 in order to detect the current position of the fingers 22a and 22b.
4 calculates the current position based on a signal from the encoder 102 and sets it as the current position. Also, the current position counter 204
Is set as the current speed through the differentiator 313. These are conventional positioning control loops.

With this positioning control loop, the fingers 22a and 22b are positioned at a preparation position as a preparation operation for gripping the target work W. When the finger is positioned at the preparation position, there is a certain distance between the finger 22a and the target workpiece W to be gripped. Therefore, teaching for accurate positioning as in the past is not required, and the teaching operation is simplified. Grasping Force Control Next, the operation for the fingers to actually grip the target work is performed as follows.

After the fingers 22a and 22b are positioned at the preparatory positions, the loop changeover switch 306 is switched from the positioning control loop side (position b in FIG. 17) to the gripping force control loop (position a). At this time, the command gripping force switch 319 is first connected to the first command gripping force 316 side (position c). Then, the first command gripping force 316
Is set and output to the gripping force / torque calculation unit 318.

The gripping force / torque calculation unit 318 has a conversion function for converting a commanded gripping force into a torque (current) value. When a commanded gripping force is input, a necessary torque (current) value is calculated, and Output as torque (current) value. Generally, a servomotor generates torque proportionally to a command current value, and naturally, the torque and the force generated by the torque are in a proportional relationship. Things are always in a proportional relationship. Therefore, a simple conversion function is prepared in the gripping force / torque calculation unit 318.

The first command gripping force is determined by the gripping force torque calculator 31.
8, the torque (current) is calculated by the conversion function.
The value is converted to a command value, and the
6 to the adder 307. Then, a constant current value control is performed by a current control loop (a loop returning from the torque amplifier 308 to the adder 307) to generate a constant torque in the servo motor 101, and the fingers 22a, 2
2b is operated to bring the fingers 22a and 22b into contact with the target workpiece W.

Here, the first command gripping force will be described. After the gripping force / torque calculation section 318, the command current value has an area where the fingers 22a and 22b do not operate when the command current value is small due to the inherent sliding resistance of the fingers 22a and 22b. A value equal to or greater than a current value at which the finger portion can actually operate by overcoming the sliding resistance is set as a command current value. This value is inversely converted and set in the form of a first command gripping force.

According to the first command gripping force, the finger 22
When the fingers 22a and 22b actually contact the target work W, the command gripping force switch 319 is moved to the second command gripping force (d position) side. Switch.

The timing of switching the switch 319 from the position c to the position d is the time when the rotation speed of the motor 101 becomes zero after the loop switching switch 306 is switched from the positioning control loop to the gripping force control side. This speed monitoring is performed by the speed monitor 320. When the current speed becomes 0, it is determined that the fingers 22a and 22b have contacted the target work W, and the command gripping force is switched to the second command gripping force side. That is, the switch 319 is switched.

Then, when the switch is switched to the second command gripping force 317 side, the second command gripping force is output to the gripping force / torque calculation unit 318, and the command torque (corresponding to the second command gripping force) is converted by the conversion function. The current value is output to the adder 307 through the loop switch 306 as a command value. Then, the constant current value control is performed by the current control loop, a constant torque is generated in the servo motor 101, the hand mechanical mechanism is operated, and the finger portion can achieve the target gripping force on the target work.

In the above description, the gripping force is instructed. However, since it is a constant current value control, a method of directly inputting a command current value for a target gripping force from the beginning to the current control loop, There is a method of giving instructions in the form.

Here, in order to hold the target workpiece W with the target gripping force by the fingers 22a and 22b, the reason why the two-stage control is performed such as the first command gripping force and the second command gripping force is that the target gripping force is different from the target gripping force. When the corresponding command values are given at one time, the target work W and the fingers 22a and 22b are positioned at the above-described preparation position so that there is a space between them. When the gripping force is applied, the generated gripping force actually applied to the work may greatly change, and considering that a collision may occur, the gripping force instantaneously applied to the target work W is
It becomes a very large gripping force with respect to the target gripping force, and has a bad effect on the target work W, that is, it deforms, breaks, flies without being able to grip, and the generated gripping force varies. turn into. Therefore, the finger portion is operated stably and reliably by the first command gripping force 316, and there is no large change in the gripping force at the time of collision (considering a constant value) without considering the interval with the target work.
Even if there are variations in the gripping force generated when contact (collision) occurs, such command values are set so that those values do not exceed the target gripping force, and the fingers 22a and 22b are set to the target workpiece. Contact W. From the state where the fingers 22a and 22b are in contact with the target workpiece W, the gripping force generated with respect to the command current value increases proportionally. Therefore, by giving the command current value corresponding to the target gripping force, A stable target gripping force can be obtained.

FIG. 18 shows an example in which a command value corresponding to the target gripping force is given at one time, and FIG. 19 shows an example of the command value (current) and the generated gripping force in the above embodiment. FIG.
As shown in FIG. 9, the method according to the present embodiment has a smaller gripping force generated at the time of contact and a smaller fluctuation range.

Next, the gripping process will be described with reference to FIGS.

FIG. 20 is a flowchart showing the overall operation of moving a robot hand mechanism by a robot arm (not shown) and transporting a work. The operation of transporting the work will be described with reference to FIG. In the description of this operation, there is a portion that overlaps with the portion described in the flowchart of FIG.

First, in step S21, the moving mechanism 20 moves the hand 18 to a position where the hand 18 can actually hold the target workpiece W to be gripped. Next, in step S22, the operation shifts to the operation in which the fingers 22a and 22b of the hand 18 grip the target work. In step S23, when the gripping operation is completed, the hand 18 is moved to the mounting position of the target work W by the moving mechanism 20. start. Next, in step S24, the positioning operation of the workpiece W in steps S4 to S11 in FIG. 14 is executed. Next, in step S25, the hand 18
It is determined whether or not the movement to the assembling position has been completed, and if the movement has been completed, the flow proceeds to step S26. In step S26, the hand 18 performs a work release operation for assembling the target work W. Then, if the operation is continued, the operation returns to the first operation, and if not, the operation is terminated (step S27).

FIG. 21 is a diagram showing the process of the effective part of the finger gripping operation in steps S22 to S24 of FIG. 20, and FIG. 22 is a flowchart thereof.

Step 1 in FIG. 21 corresponds to steps S31 to S33 in FIG. First, in order for the fingers 22a and 22b to move to a position where there is some room for the target work W, a target position and a target speed are set (steps S31 and S32), and the fingers 22a and 22b move to the target positions. Positioning is performed (step S33).

In STEP 1 of FIG. 21, the fingers 22a,
22b is positioned near the workpiece W,
In EP2, the operation is shifted to the operation in which the fingers 22a and 22b actually grip the target work W from the vicinity of the work W. First, a command value is given to the servomotor 101 to drive the fingers 22a and 22b. This is the first command gripping force set in step S34 in FIG. How to determine the first command gripping force is determined by the fingers 22a, 22
b is a command value (current value or gripping force etc) that allows stable and reliable movement.

As an example, FIG. 24 shows the relationship between the displacement of the fingers 22a and 22b with respect to the command current value. From FIG. 24, it can be seen that the fingers 22a and 22b are stably and reliably displaced from the command current value of about 150 mA for the mechanism used here, so 150 mA is set as the first command value. .

In step S35 of FIG. 22, the switch is switched from the positioning control loop to the gripping force control loop,
In step S36, the first command value is given to the servomotor 101, and the fingers 22a and 22b move stably and reliably in the workpiece holding direction. In step S37,
Whether the fingers 22a and 22b have contacted the target workpiece W,
The current speed is monitored to determine whether the current speed is 0 or not.
If the current speed is other than “0” and the finger is still moving, the first command value is continuously provided. If the current speed becomes “0”, the finger 22
a and 22b contact the target work W, as shown in FIG.
The process proceeds to STEP 3 of FIG. 1 and step S38 of FIG.

Step 3 in FIG. 21 is specifically described in FIG.
Corresponds to steps S38 to S41 of FIG.
In TEP3, a command current value of a target gripping force for gripping the target work W is given.

First, in step S38, a second commanded gripping force (target gripping force) is set. The second command gripping force is determined in advance by assuming a state in which the fingers 22a and 22b are in contact with the work W, and it is confirmed how much gripping force is generated with respect to the command current value. . FIG. 25 is a view for this purpose.
22b is an example of plotting how the gripping force generated when the command current value is gradually increased from the state in which the workpiece 22b is in contact with the workpiece W changes. Thereby, in the second command gripping force set, the relationship with the command current value actually given can be understood.

Next, in step S39, the switch 319 is switched from the first commanded gripping force to the second commanded gripping force. Then, in step S40, the fingers 22a, 22
The second command value is given to the servo motor 101 from the state in which b is in contact with the target work W, and the second command gripping force operation is used to reliably grip the target work W with the target gripping force. Move the finger.

In step S41, it is confirmed whether or not the grip has been completed. Then, in step S42 of FIG. 23, the moving mechanism 20 starts moving the hand 18 to the assembling position while maintaining the gripping force. Then, the process proceeds to STEP 4 in FIG.

Step 4 in FIG. 21 is specifically described in FIG.
Step S43 to step S44, and
In the TEP 4 , the gripping force is set to the first commanded gripping force, that is, the gripping force is weakened and the fingers 22a, 22
2b is adjusted.

When the adjustment of the position of the work W in STEP 4 is completed, STEP 5 (Step S in FIG. 23)
In step 45), the gripping force is set to the second commanded gripping force, that is, a strong gripping force in order to securely grip the workpiece W at an accurate position. Then, the process exits the flowcharts of FIGS. Then, the process proceeds to step S25 in FIG. Then, at the position where the grasped target work W is to be assembled, the operation proceeds to the operation of releasing the work as shown in STEP 5 of FIG.

When the hand 18 is performing the gripping operation in step S22 in FIG. 20, particularly in STEP2 and STEP3 in FIG. 22, the command position register 30 in FIG.
1, the value of the current position from the counter 204 is always substituted, and in STEP 6 of FIG. 21, the operation of substituting the current position into the command position is stopped by the finger moving instruction by the position command, and Switch 30
6 is switched to a positioning control system, normal position control is performed, and the finger is moved to a position where the work can be released.

The present invention may be applied to a system composed of a plurality of devices or an apparatus composed of one device. Needless to say, the present invention can be applied to a case where the present invention is achieved by supplying a program to a system or an apparatus. Further, the present invention is applicable to a modification or a modification of the above embodiment without departing from the gist of the invention.

[0074]

As described above, according to the mounting apparatus of the present invention, in a state where the gripping force of the finger is weakened by the gripping force adjusting means, the component is adjusted by the position adjusting means while maintaining the gripping state of the finger by the finger. Can be positioned with respect to the finger, and the component can be positioned during the transport of the component. Therefore, the step of positioning the component by the positioning jig can be omitted, and the tact time can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a schematic configuration of an embodiment of a mounting apparatus according to the present invention.

FIG. 2 is an enlarged side view showing a hand part in FIG. 1;

FIG. 3 is a front view of FIG. 2 as viewed from the right.

FIG. 4 is a rear view of FIG. 2 as viewed from the left.

FIG. 5 is a diagram showing the relationship between components and positioning blocks.

FIG. 6 is a view showing the shape of a positioning hole of a positioning block.

FIG. 7 is a view showing a state in which the finger correctly grips a component.

FIG. 8 is a diagram showing a state in which the finger does not properly grip a part.

FIG. 9 is a diagram showing a form of a hand immediately after gripping a component.

FIG. 10 is a view showing a state where a block support member is lowered.

FIG. 11 is a view showing a state in which a positioning block is rotated.

FIG. 12 is a view showing a state where a block support member is raised.

FIG. 13 is a diagram showing a state in which a lead of a component has entered a positioning hole.

FIG. 14 is a flowchart showing a series of component mounting operations.

FIG. 15 is a diagram showing a configuration of a hand.

FIG. 16 is a hardware configuration diagram of a control device for controlling the operation of the hand.

FIG. 17 is a control block diagram relating to a hand gripping force control method.

FIG. 18 is a diagram showing an example in which a command value corresponding to a target gripping force is given at one time.

FIG. 19 is a diagram illustrating an example of a command value (current) and generated gripping force in the case of an embodiment.

FIG. 20 is a flowchart illustrating an overall operation of moving a hand by a moving mechanism and transporting a work.

21 is a diagram showing a process of an effective portion of the finger gripping operation in steps S22 to S24 of FIG.

FIG. 22 is a flowchart showing a process of an effective part of the finger gripping operation.

FIG. 23 is a flowchart showing a process of an effective part of the finger gripping operation.

FIG. 24 is a diagram showing a relationship between a command current value and a displacement of a finger.

FIG. 25 is a diagram plotting how the gripping force generated when the command current value is gradually increased from the state in which the finger is in contact with the workpiece changes.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Mounting apparatus 12 Mounting robot 14 Stocker 16 Circuit board 18 Hand 20 Moving mechanism 22a, 22b Finger 24 Pusher 26 Positioning block 28 Hole 29 Block support member 30 Rotation drive source 32 Guide 34 Cylinder 101 Servo motor 102 Pulse encoder 103 Timing pulley 104 Timing Belt 105 Timing pulley 106 Ball screw 107, 108 Linear guide 111, 112 Stopper 113 Frame 114 Mounting flange

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B25J 13/00 B25J 15/00 B25J 15/08

Claims (2)

(57) [Claims] 1. A mounting apparatus for performing an operation such as assembling by gripping an article at a first position and transporting it to a second position, comprising: a pair of fingers for gripping the article at the first position; A servomotor for opening and closing the fingers of the finger; a position detecting means for detecting the open / close position of the finger; a speed detecting means for detecting the moving speed of the finger from a detection value of the position detecting means; First command means for commanding a motor to supply a current value small enough to overcome the moving resistance of the finger and move the finger smoothly, and the servo motor securely grips the article. A second commanding means for commanding to supply a large current value capable of supplying the electric current to the first position while holding the pair of fingers while holding the article. Transport means for moving the article from the first position to the second position and transporting the article to the second position; and position adjusting means moved integrally with the finger by the transport means. Transport operation by means
In parallel , position adjusting means for adjusting the position of the article with respect to the finger, and when grasping the article at the first position, applying the finger to the article with a command current value from the first command means. Approaching, after the finger comes into contact with the article and the speed detecting means detects that the finger has stopped, a command current value from the second command means is supplied to the servomotor, and the article is When the position of the article is adjusted with respect to the finger by the position adjusting means, the command current value from the second command means is switched to the command current value from the first command means. ,
Control means for controlling the position of the article by weakening the gripping force of the finger. 2. The apparatus according to claim 1, wherein the position adjustment unit prevents the article from falling by adjusting the position of the article with respect to the finger while supporting the article from below. Mounting device.