JPH01160096A - Automatic holding device - Google Patents

Abstract

PURPOSE:To enable an electronic component to be positioned properly and to enable the component to be held securely by providing a pair of chuck hands which can slide freely in a direction which crosses the reference line at right angle for an arm and can open and close, the opening and closing means, and a locking means. CONSTITUTION:When a part to be engaged 6a of a part to be held 6 is properly fitted to a main unit 6b, each hand 9 of a chuck hand 1 is held at a symmetrical position in reference to a reference line 1 by a locking means and the parts to be held 6 is lifted. Also, if the part to be engaged 6a is fitted to the main unit 6b being deviated toward X direction, the position of part to be engaged 6a is fixed and held by the locking means 3 to allow the object to be held 6 to be lifted while the part to be engaged 6a slid left and right in reference to the reference line 1 and each hand 9 effectively absorbs the deviation. Thus, even if a deviation occurred, insertion into a specified fitting hole on a printed board can be made positively since electronic components are securely fixed and shifted.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is directed to automatically grasping and lifting objects to be grasped, such as ICs, transistors, resistors, etc., which are correctly positioned on a parts tray or the like. The present invention relates to an automatic gripping device that can grasp and lift an object, and more particularly, to an automatic gripping device that can grasp and lift an object while ensuring accurate positional accuracy with respect to the object during the gripping operation.

[Conventional technology]

For example, various robots have been proposed and developed that can automatically mount electronic components such as ICs, transistors, resistors, coils, etc. onto printed circuit boards.

For example, when performing automatic loading work, such robots first grasp electronic components on a parts tray at a predetermined work position, move them to a printed circuit board prepared at another work location, and then place them. A device equipped with an automatic gripping device having a chuck hand or the like is known to allow the user to place the device in place.

That is, as shown in FIG. 7, this automatic gripping device normally picks up an electronic component 101, which has been transported to a predetermined work place by a parts tray (hereinafter referred to as tray) 103 on a conveyor belt 100, by hand 102. It is designed to be opened and closed, grasped, and lifted and moved to another work location.

By the way, these electronic components are printed circuit boards (not shown).
When moving it to the side and mounting it there, the position for mounting on the printed circuit board side is determined in advance, that is, the predetermined mounting position on the printed circuit board is to insert the terminal etc. of the electronic component into the hole. It is designed to allow Therefore, the tray 103 is placed on the guide 1 so that the tray 103 does not shift relative to the previous conveyor belt 100.
04 and is properly positioned.

Furthermore, in order to correctly position the electronic component with respect to the tray, the terminal 101a side of the electronic component 101 is correctly engaged with a groove 103a provided on the tray 103 side in FIG. 7, thereby ensuring accurate positioning. Is going.

In this way, the terminal side of the electronic component is correctly positioned, and the chuck hand provided on the automatic gripping device of the robot arm reliably grips the electronic component.

[Problem to be solved]

However, as shown in FIG. 8, for example, the electronic component 1
If the terminal 101a protruding downward on the 01 side is misaligned with respect to the main body 101b, even if the terminal 101a side is correctly positioned, the main body 10 to be grasped will
There are cases where the chuck hand 102 side fails to grip the 1b side, and this problem often occurs especially with parts with poor precision, which is an obstacle to automated work.

Therefore, in order to be able to reliably grasp electronic components even if the main body side is misaligned with the correctly positioned terminal, for example, slide the chuck side horizontally against the arm side of the Robo Nodo. However, if the chuck side is made to be able to slide freely in this way, the chuck will swing unnecessarily after gripping the main body side, and the terminals that have been positioned will shift from their correct positions. As a result, the terminal cannot be inserted correctly into the mounting hole on the printed circuit board side.

This situation is not limited to the automation of electronic components, but also applies to various fields.

In view of the above-mentioned drawbacks of the conventional art, the present invention aims to accurately grip and lift objects even if the positional accuracy is somewhat rough in mounting the main body side and the engaged part side. It is an object of the present invention to provide an automatic gripping device that can grip and move the engaged part while ensuring the relative position of the engaged part with respect to a predetermined reference line before lifting with high accuracy.

[Means for solving problems]

That is, the present invention uses a robot or the like to grip an object that is provided with a main body and an engaged portion for positioning the body on a predetermined reference line in a predetermined work place. An automatic gripping device installed on the arm side of the machine,
In order to fix and grasp the object while absorbing the deviation from the reference line on the side of the main body of the object to be grasped, it is attached to the arm side so that it can slide freely in the direction perpendicular to the reference line with respect to the arm and can be opened and closed. a pair of chuck hands, an opening/closing means that enters the chuck hands while pressing a tapered surface to open and close the chuck hands, and slides the chuck hands against the arm side after lifting the object to be gripped. The locking means prevents the secured portion from shifting from the reference position on the arm side while blocking the movement.

[Effect]

In the automatic gripping device of the present invention, the chuck hand side can freely slide relative to the arm side in a direction perpendicular to the grain feeding direction of the gripped object, and the engaged part side can be attached to the main body side. Even if the object is misaligned due to its condition or shape, the conveyed object can be reliably gripped by sliding in the direction toward the grip hand or in a direction that absorbs the misalignment.

Further, in the automatic gripping device of the present invention, the locking means fixedly locks the chuck hand after gripping and lifting the object to prevent the chuck hand from being accidentally swiveled. The relative positional relationship between the engaged portion side and the predetermined reference line side before lifting the object is maintained with high precision.

〔Example〕

An embodiment of the present invention will be described below with reference to the accompanying drawings.

Figures 1 to 3 show an automatic gripping device according to the present invention, and this automatic gripping device is attached to the tip end of the arm of a robot for mounting electronic components onto a printed circuit board. , chuck hand 1, and opening/closing means 2
and a locking means 3.

In the figure, reference numeral 4 denotes a conveyor belt for conveyance means, 5 a tray placed on the conveyor belt 4 and positioned by a guide not shown, and 6 a tray covered with a groove 5a serving as an engaging portion of the tray 5. This is an object to be gripped, such as an IC, which is correctly positioned with respect to a predetermined reference line β by engaging the engaging portion 6a. However, this reference line 1 is a line used as a reference when performing various preset tasks by aligning it with the center line passing through the center of the arm 7 on the robot side. In this embodiment, since the object 6 to be grasped is mounted on the printed circuit board side, as long as the engaged part 6a is aligned with the reference line ρ, there is no misalignment of the engaged part side with respect to the main body 6b side. The engaging portion 6a can be correctly inserted into the mounting hole on the printed circuit board even if the mounting hole is not fixed.

The chuck hand 1 is for gripping an object 6 to be gripped, and is provided on the tip side of a base 8 attached to an arm 7 of the robot. ), and is composed of a pair of hands 9 that can be slid in the X direction perpendicular to the left side of the screen and can be opened and closed. Note that these hands 9 are adapted to freely slide along a pair of slide shafts 1o fixed along the X direction on the side of the base body 8, and each of these hands 9 is equipped with a tension spring 11, which will be described later. The side is fixed and its tension spring 1
1, elastic force is always applied in the direction of approaching each other, so that the object to be gripped 6 can be gripped reliably.

Further, a cam follower 12 is rotatably attached to the upper end surface of these hands 9 to open and separate both hands 9 while fitting into the tapered surface of opening/closing means 2 to be described later.

The opening/closing means 2 is for opening and closing the chuck hand 1 by moving forward and backward while pressing and pressing a tapered surface toward the chuck hand 1. And in this example,
As shown in FIGS. 2 and 4, a tension spring 11 and a cam follower 12 provided on the hand 9 side, a tapered body 13 having a pointed tapered surface 13a toward the chuck hand 1, and this tapered body a cylinder 14 attached to the base body 8 side for raising and lowering the cylinder 13 along the X direction;
A guide shaft 1 is inserted into a guide hole 8a on the base body 8 side to regulate and guide the movement of the tapered body 13 in the X direction.
It consists of 5. The tapered body 13 is attached to the chuck hand 1 prior to the gripping operation by the chuck hand 1.
In order to open the hand 9 to the left and right, it descends downward by the driving force of the piston 14, and as shown in FIG. 4, the tip side enters between the cam followers 12 and pushes the hand 9 to the left and right. It looks like this. The cylinder 14 is connected to the chi body 13 via a piston (circuit) and a piston rod 13a that are operated by the pressure of air supplied from the air supply mechanism (circuit) side.

The locking means 3 prevents the chuck hand 1 from wobbling on the slide shaft 10 when the object to be grasped 6 is lifted, and prevents the positional deviation of the engaged portion 6a of the object to be grasped 6 from the reference line p. We aim to effectively prevent this, and this is the baseline! This is for keeping the positional relationship of the object to be grasped 6 constant. In this example, the third
As shown in FIG. 4 and FIG. 4, in order to press and fix the chuck hand 1 from above, there is a pressing body 17 having a rubber material 16 with a large frictional force fixed to the tip side, and this pressing body 17 and a piston rod. 18a and the cylinder 18 connected via the piston 18 (circuit) and attached to the base body 8 side so as to be driven by the pressure of air sent from the air supply mechanism side (not shown), and the X direction of the pressing body 17. It is comprised of a guide shaft 19 fitted into a guide hole 8b on the base body 8 side to regulate and guide the movement of the base body 8. Note that the moving operation of this pressing body 17 and the chuck hand 1
The suppression operation does not particularly need to use fluid pressure such as air pressure in this embodiment, and it is also possible to use, for example, the driving force and locking force of a motor.

Therefore, according to the automatic gripping device of this embodiment, when the engaged portion 6a of the object to be gripped 6 is correctly attached to the main body 6b without any attachment error as shown in FIG. , each hand 9 of the chuck hand 1 is set to the reference line by the locking means 3! The object to be grasped 6 is lifted while maintaining a line-symmetrical position with respect to the object.

Further, according to the automatic gripping device of this embodiment, for example, the sixth
As shown in the figure, when the engaged part 6a is attached to the main body 6b in a state where it is displaced and shifted in the Each hand 9 effectively absorbs the deviation while sliding up to the reference line! On the other hand, the locking means 3 fixes and holds the position of the engaged portion 6a as it is, and lifts the object to be grasped 6.

Therefore, even if the grasped object 6a is displaced from the main body 6b, the engaged portion 6a can be moved while being reliably fixed while keeping it aligned with the reference line l.
It can be inserted reliably into a predetermined mounting hole on a printed circuit board.

〔effect〕

As described above, according to the automatic gripping device according to the present invention, the chuck hand is slidably attached to the arm side, and the shape of the engaged part side with respect to the main body side is slightly misaligned or deformed. Even if such deviations and deformations occur, they can be effectively absorbed by the sliding movement of the chuck hand, so even objects with poor shape precision can be gripped reliably, allowing various automated tasks to be carried out. The level of reliability will be dramatically improved.

Further, according to the automatic gripping device according to the present invention, since the sliding movement of the chuck hand can be freely fixed and locked at a desired position by the locking means, the relative position of the object to be gripped with respect to the arm side immediately before gripping and lifting. The effects are extremely human-friendly, as relationships can be maintained with high precision and, in turn, highly accurate automated work can be performed.

[Brief explanation of the drawing]

1 is a schematic perspective view showing an automatic gripping device according to the present invention, FIG. 2 is a sectional view taken along the -1 arrow in FIG. 1, and FIG. 3 is a sectional view taken along the FIG. 4 is an exploded perspective view showing the main parts of the automatic gripping device according to the present invention, FIGS. 5 and 6 are explanatory views for explaining the operation of the automatic gripping device according to the present invention, and FIG. FIG. 8 is a schematic cross-sectional view for explaining the automatic mold gripping device. FIG. 8 is a schematic cross-sectional view for explaining the drawbacks of the conventional automatic gripping device. 6b...Body. 6a...Engaged part. 6......Object to be grasped. 7・・・・・・・・・Arm. 1...Chuck hand. 13a...Tapered surface. 2......Opening/closing means. 3......Lock means. Applicant NEC Home Electronics Co., Ltd. Agent Patent Attorney Masu 1) Takeo

Claims (1)

[Claims] 1. It is attached to the arm side of a machine tool such as a robot in order to grip the main body side of an object to be grasped, which has a main body and an engaged part for positioning on a certain reference line in a predetermined work place. The automatic gripping device is capable of sliding freely relative to the arm in a direction perpendicular to the reference line, and can be opened and closed in order to fix and grip the object while absorbing deviation from the reference line on the side of the main body of the object to be grasped. a pair of chuck hands attached to the arm side in a possible state, an opening/closing means that enters the chuck hands while pressing a tapered surface to open and close the chuck hands, and a means for lifting the object to be gripped. 1. An automatic gripping device comprising a locking means for preventing a sliding movement of a chuck hand relative to an arm side and for preventing displacement of an engaged portion from a reference position on the arm side.