JPH0276640A - Insert/drawout mechanism for four-fingered pin - Google Patents
Insert/drawout mechanism for four-fingered pinInfo
- Publication number
- JPH0276640A JPH0276640A JP22762988A JP22762988A JPH0276640A JP H0276640 A JPH0276640 A JP H0276640A JP 22762988 A JP22762988 A JP 22762988A JP 22762988 A JP22762988 A JP 22762988A JP H0276640 A JPH0276640 A JP H0276640A
- Authority
- JP
- Japan
- Prior art keywords
- pin
- extraction
- fingers
- finger
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 132
- 238000003780 insertion Methods 0.000 claims abstract description 99
- 230000037431 insertion Effects 0.000 claims abstract description 99
- 238000000605 extraction Methods 0.000 claims description 81
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000000758 substrate Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 239000013585 weight reducing agent Substances 0.000 description 2
- 206010011224 Cough Diseases 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、垂直壁面に高密度に多数設けられた穴へ微細
ピンを挿抜する自動化機構に関し、特に、微細ピンを把
持する複数の指、挿抜動作時のコンプライアンス機構、
挿抜力制御と制振の機能を与える機構に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automated mechanism for inserting and extracting microscopic pins into and out of holes provided in a large number at high density on a vertical wall surface, and in particular, the present invention relates to an automated mechanism for inserting and extracting microscopic pins into and from holes provided in a large number at high density on a vertical wall surface. Compliance mechanism during insertion/extraction operation,
This relates to a mechanism that provides insertion/extraction force control and vibration damping functions.
微細ピンを挿抜する装置の例として、ピンボードマトリ
ックスタイプの高密度配線切替装置がある。この装置は
、垂直基板面に設けられた多数の穴(配線交差位置)に
導通用の微細ピンを水平方向に挿抜して配線の切替を行
う構成となっている。An example of a device for inserting and removing minute pins is a pinboard matrix type high-density wiring switching device. This device is configured to switch wiring by horizontally inserting and extracting fine conductive pins into and from a large number of holes (wiring intersection positions) provided on a vertical substrate surface.
第5図はマトリックスタイプの基板lに形成された穴1
aとこれら穴1aに挿入される微細ピン2との関係を示
し、縦方向の導線(図示せず)と横方向の導線(図示せ
ず)が穴1aの位置で微小空間分離されて交差している
。そこで導体である微細ピン2を穴1aに挿入すると、
その穴1aで交差している所定の縦方向の導線と横方向
の導線とが接続される。なお、縦方向の導線には1つの
横方向の導線しか接続されない。従って導通の役割を果
たす微細ピン2が最も密集する配置は図に示す対角線に
配列されたときである。Figure 5 shows hole 1 formed in matrix type substrate l.
A and the micro pins 2 inserted into these holes 1a are shown, and the vertical conducting wire (not shown) and the horizontal conducting wire (not shown) are separated by a small space and intersect at the position of the hole 1a. ing. Then, when inserting the fine pin 2, which is a conductor, into the hole 1a,
A predetermined vertical conducting wire and a horizontal conducting wire intersecting at the hole 1a are connected. Note that only one horizontal conducting wire is connected to the vertical conducting wire. Therefore, the arrangement in which the fine pins 2 that play the role of conduction are most concentrated is when they are arranged diagonally as shown in the figure.
このように微細ピン2を穴1aに水平方向に挿抜するこ
とは、装置の高倍転化と小形軽量化が要求される。特に
、挿抜機構の軸心と穴の軸心に相対位置誤差があっても
支障なく挿抜動作を行うことができ、また穴に挿入され
た微細ピンの接触信頼性の点から大きな挿抜力が要求さ
れ、さらに微細ピンと穴との不具合で生じる過大な挿抜
力を検知して致命的な障害を未然に防ぐことが要求され
る。また、装置設備空間の制約、省電力化等の点から小
形軽量化が望まれる。Inserting and extracting the fine pin 2 into the hole 1a in the horizontal direction in this manner requires the device to be highly efficient and to be compact and lightweight. In particular, even if there is a relative position error between the axis of the insertion/extraction mechanism and the axis of the hole, the insertion/extraction operation can be performed without any problem, and a large insertion/extraction force is required from the viewpoint of contact reliability of the fine pin inserted into the hole. Furthermore, it is required to prevent fatal failures by detecting excessive insertion/extraction force caused by defects between minute pins and holes. Further, from the viewpoint of equipment space limitations, power saving, etc., a smaller size and lighter weight is desired.
一方、微細ピンが高密度に実装配置されているので、挿
抜動作時の振動により挿抜機構が挿入済微細ピンに接触
(干渉)すると、回線短絡や微細ピン変形の原因となり
、該配線切替装置を含むシステム全体の障害となる恐れ
があった。On the other hand, since the fine pins are mounted and arranged in a high density manner, if the insertion/extraction mechanism contacts (interferes with) the inserted fine pins due to vibration during insertion/extraction operation, it may cause a short circuit or deformation of the fine pins, causing the wiring switching device to There was a risk that it would cause a failure of the entire system.
以上から、°この種の装置に要求される条件としては、
■微細ピンの水平方向の挿抜動作の高信頼化■微細ピン
挿抜機構部の小形軽量化
■微細ピン挿抜機構部の割振性の確保
等である。From the above, the conditions required for this type of device are: ■ High reliability of the horizontal insertion/extraction operation of fine pins ■ Miniaturization and weight reduction of the fine pin insertion/extraction mechanism ■ Ensuring allocability of the fine pin insertion/extraction mechanism etc.
このような微細ピンを穴へ挿抜する作業の従来技術とし
て、産業ロボットを用いるものがある。As a conventional technique for inserting and extracting such fine pins into holes, there is a method using an industrial robot.
微細ピンを穴へ挿入するには高い精度の位置決めが要求
されるため、ばね変形を等を利用して位置誤差を吸収す
るコンプライアンス機構が必要である。そこで、産業ロ
ボットの先端の手首部分にコンプライアンス機構を固定
し、その先にハンド機構を設置して、所定の穴位置や挿
入量を産業ロボットの動作毎に教示し、位置決め制御動
作をさせることにより挿抜作業を実行させていた。Inserting a fine pin into a hole requires highly accurate positioning, so a compliance mechanism is required that uses spring deformation or the like to absorb positional errors. Therefore, by fixing a compliance mechanism to the wrist at the tip of the industrial robot, and installing a hand mechanism at the end of the compliance mechanism, it is possible to teach the predetermined hole position and insertion amount for each operation of the industrial robot, and to perform positioning control operations. The insertion/extraction work was performed.
コンプライアンス機構の例としては、特公昭56−26
531で提供される遠隔心合わせ機構3がある。An example of a compliance mechanism is the
There is a remote centering mechanism 3 provided by 531.
第6図はその機構の概要を示す図ある。該機構3は、微
細ピンに相当する挿入部材2°の端部に近い位置、ある
いはその端部のある位置に実際の回動中心aを設定し、
挿入部材2°を静かに穴に持って行く動作に伴って力と
回転モーメントを発生させ、回転運動発生機構31及び
挿入部材2“と連結された並進運動発生機構32を設け
、挿入部材2′が並進運動によって穴を探し、次いで別
個の独立した回動運動によって挿入部材2°の軸心を穴
の軸心と一致するように回動するようにした装置である
。FIG. 6 is a diagram showing an outline of the mechanism. The mechanism 3 sets the actual rotation center a at a position near the end of the insertion member 2° corresponding to the fine pin, or at a position at the end thereof,
A rotational motion generating mechanism 31 and a translational motion generating mechanism 32 connected to the inserting member 2'' are provided to generate force and rotational moment as the inserting member 2° is gently brought into the hole. In this device, the hole is searched by a translational movement, and then the axis of the insertion member 2° is rotated to coincide with the axis of the hole by a separate and independent rotational movement.
従って、挿入部材2′である微細ピンの軸心と穴の軸心
に相対位置決め誤差があっても、挿入部材21の先端が
少しでも穴に入っていれば、挿入可能であった。Therefore, even if there was a relative positioning error between the axis of the fine pin that is the insertion member 2' and the axis of the hole, the insertion was possible as long as the tip of the insertion member 21 entered the hole even slightly.
一方、微細ピンを把持するハンド機構としては、対向し
た2本指構造を用いて機構の単純化を図り、作業対象と
指との接触摩擦力を利用して把持する構造のものがあっ
た。On the other hand, as a hand mechanism for grasping a fine pin, there has been a structure in which the mechanism is simplified by using a two-finger structure opposed to each other, and the mechanism is grasped by utilizing the contact friction force between the fingers and the workpiece.
ところが、このようなコンプライアンス機構とハンド機
構とを組み合わせた産業用ロボットには、一般に水平方
向の挿抜動作信頼性、小形軽量化、割振性に問題があっ
た。即ち、 。However, industrial robots that combine such a compliance mechanism and a hand mechanism generally have problems with horizontal insertion/extraction operation reliability, compactness and weight reduction, and allocation performance. That is, .
(a)、 2本指での把持では、対向する指と直角方
向に相対位置決め誤差が生じるとピンを確実に挿抜でき
なくなり、上記要件■を満足しえなくなる。(a) When gripping with two fingers, if a relative positioning error occurs in the direction perpendicular to the opposing fingers, the pin cannot be inserted and removed reliably, making it impossible to satisfy the above requirement (2).
(b)、挿抜力を大きくするには指開閉アクチュエータ
の出力を太き(することになり、上記要件■が満たせな
くなる。(b) In order to increase the insertion/extraction force, the output of the finger opening/closing actuator must be made thicker, making it impossible to satisfy the above requirement (2).
(C)、多関節リンク機構である産業用ロボットの先端
部に、コンプライアンス機構とハンド機構が連結され、
その先端部に挿抜負荷が加えられ、さらに、重いサーボ
モータが自由度の数だけ関節部に配置されるため、高精
度位置決めと割振性を実現しようとすると機構が大形重
量化し、これによっても上記要件■を満足しえなくなる
。(C) A compliance mechanism and a hand mechanism are connected to the tip of an industrial robot, which is an articulated link mechanism.
An insertion/extraction load is applied to the tip, and heavy servo motors are placed at the joint for the number of degrees of freedom, so attempting to achieve high precision positioning and allocation requires a large and heavy mechanism. It becomes impossible to satisfy the above requirement (■).
(d)0機構の軽量化を図ろうとすると、剛性が低下し
、機構先端部に取付けであるハンド機構の振動振幅が許
容幅以上になって、ハンド機構と挿入済隣接微細ピンと
が干渉し、上記要件■を満足しえな(なる。(d) If an attempt is made to reduce the weight of the 0 mechanism, the rigidity will decrease, and the vibration amplitude of the hand mechanism attached to the tip of the mechanism will exceed the allowable range, causing interference between the hand mechanism and the inserted adjacent fine pin. The above requirement (■) cannot be satisfied.
(e)、水平方向の挿抜動作に対してこの種遠隔心合わ
せ機構のようなコンプライアンス機構は、自重とハンド
機構の重さにより、重力方向に回動運動と並進運動を生
じて変位し、挿入部材(微細ピン)の軸心が穴の軸心と
一致しなくなり、挿抜動作を困難にしたり、あるいは微
細ピンに過大な負荷を加えて損傷の原因となり、上記要
件■を満足しえなくなる。(e) In response to insertion/extraction operations in the horizontal direction, a compliance mechanism such as this type of remote centering mechanism is displaced by rotational movement and translational movement in the direction of gravity due to its own weight and the weight of the hand mechanism. The axis of the member (fine pin) will no longer match the axis of the hole, making insertion and removal operations difficult, or applying an excessive load to the fine pin, causing damage, making it impossible to satisfy the above requirement (2).
また、上記(al (blの問題を解決させる方法とし
て、第7図に示すように3本の指4でピン2を把持する
ことが考えられる。しかし、該図からも明らかのように
、隣接する微細ピン2Aと指4Aが干渉し、把持できな
くなる。In addition, as a method to solve the problem of (al (bl) mentioned above, it is conceivable to grasp the pin 2 with three fingers 4 as shown in FIG. 7. However, as is clear from the figure, The fine pin 2A interferes with the finger 4A, making it impossible to grip it.
本発明は以上のような事情に鑑みてなされたもので、挿
入済隣接微細ピンと干渉せず、相対位置決め誤差があっ
ても高信頼度で水平方向の挿抜動作を行い、かつ、該挿
抜動作中の過大な挿抜力を簡便制御し、制振性を有する
小形軽量な4指ピン挿抜機構を提供することである。The present invention has been made in view of the above circumstances, and is capable of performing horizontal insertion/extraction operations with high reliability even if there is a relative positioning error without interfering with inserted adjacent fine pins, and during the insertion/extraction operations. To provide a compact and lightweight four-finger pin insertion/extraction mechanism that easily controls excessive insertion/extraction force and has vibration damping properties.
このため、本発明は、マトリックス状に高密度配列され
た穴へ微細ピンを挿抜する挿抜機構において、
挿抜アクチュエータによって把持外枠部内の前後方向に
案内移動可能な挿抜可動部と、該挿抜可動部内に上下、
左右及び後方から弾性支持され且つ前方端部に微細ピン
押付部が形成された指機構保持部と、上記挿抜可動部に
設けられ且つ上記指機構保持部に対する後方からの押し
付けにより上記指機構保持部の一部が圧接される揺動軸
受部と、上記指機構保持部の前方部に開閉アクチュエー
タにより開閉可能に90度の間隔で内側を向くように枢
着され且つ把持面に微細ピンの凹状溝に噛み合う凸部を
有する4本の指とを具備するように構成した。For this reason, the present invention provides an insertion/extraction mechanism for inserting/extracting fine pins into holes arranged in a high-density matrix, which includes: an insertion/extraction movable part that can be guided in the front and rear directions within the gripping outer frame by an insertion/extraction actuator; up and down,
A finger mechanism holding part that is elastically supported from the left and right and from the rear and has a fine pin pressing part formed at the front end; and a finger mechanism holding part that is provided in the insertion/extraction movable part and is pressed against the finger mechanism holding part from the rear. a rocking bearing part to which a part is pressed, and a swing bearing part that is pivoted to the front part of the finger mechanism holding part so as to be opened and closed by an opening/closing actuator so as to face inward at an interval of 90 degrees, and a concave groove with a fine pin in the gripping surface. and four fingers having convex portions that engage with the fingers.
以下、本発明の実施例の4指ピン挿抜機構について説明
する。本例の4指ピン挿抜機構の要旨は、指の把持面に
凸部を設けた複数の指を挿入済み隣接ピンと干渉しない
位置に配置し、従来では、ハンド機構、コンプライアン
ス機構、及び挿抜方向の駆動・案内機構を個別に連結し
ていたものを1つの機構に統合し、水平方向のコンプラ
イアンス機構、挿抜力制御、割振の3つの機能を同時に
満足させるようにした構成である。Hereinafter, a four-finger pin insertion/extraction mechanism according to an embodiment of the present invention will be described. The gist of the four-finger pin insertion/extraction mechanism of this example is that multiple fingers with convex portions on their gripping surfaces are placed in positions where they do not interfere with inserted adjacent pins. This structure integrates the drive and guide mechanisms that were previously connected individually into one mechanism, and satisfies the three functions of horizontal compliance mechanism, insertion/extraction force control, and allocation at the same time.
第1図は本例の4指ピン挿抜機構を適用したシステムの
正面図である。咳図において、5は4指ピン挿抜機構、
6はマトリックス状に高密度配列された電気接点に相当
する穴が開いている基板1の前面を示し、該前面1の平
面に沿って上記4指ピン挿抜機構口が縦横に移動するよ
うになっている。FIG. 1 is a front view of a system to which the four-finger pin insertion/extraction mechanism of this example is applied. In the cough diagram, 5 is the 4-finger pin insertion/extraction mechanism;
Reference numeral 6 indicates the front surface of the substrate 1 in which holes corresponding to electrical contacts arranged in a high density matrix are formed, and the four-finger pin insertion/extraction mechanism opening moves vertically and horizontally along the plane of the front surface 1. ing.
即ち、該4指ピン挿抜機構5を上下に移動させるY案内
機構7、及び該Y案内機構7を左右方向に移動させるX
案内機構8が設けられいる。よって、4指ピン挿抜機構
5は、Y案内機構7に対する上下移動と、Y案内機構7
のX案内機構8に対する左右移動により、基板1の全面
の任意の位置(穴)に移動することができる。そして、
該4指ピン挿抜機構5の作動により水平方向の微細ピン
挿抜動作が行われる。このように、微細ピンを挿抜する
機構と基板1のXY平面の位置決めを行う機構とが独立
した機構になっている。That is, the Y guide mechanism 7 moves the four-finger pin insertion/extraction mechanism 5 up and down, and the X guide mechanism 7 moves the Y guide mechanism 7 in the left-right direction.
A guide mechanism 8 is provided. Therefore, the four-finger pin insertion/extraction mechanism 5 can move up and down with respect to the Y guide mechanism 7 and
By moving left and right with respect to the X guide mechanism 8, it is possible to move to any position (hole) on the entire surface of the substrate 1. and,
By the operation of the four-finger pin insertion/extraction mechanism 5, a fine pin insertion/extraction operation in the horizontal direction is performed. In this way, the mechanism for inserting and extracting the fine pins and the mechanism for positioning the substrate 1 on the XY plane are independent mechanisms.
なお、X案内機構8とY案内機構7には、ボールネジ、
う・シフピニオン、リニアモータ、ベルト・プーリ等の
機構の使用が考えられるが、何れの機構であってもよい
。また、案内機構が直交座標系でも円筒座標系でもあっ
ても4指ピン挿抜機構5の構造には影響はない。また、
前記発明の背景の項で述べた3要求条件はどの機構、座
標系においても要求されることである。Note that the X guide mechanism 8 and the Y guide mechanism 7 include a ball screw,
Mechanisms such as a shift pinion, a linear motor, and a belt/pulley may be used, but any mechanism may be used. Further, even if the guide mechanism is an orthogonal coordinate system or a cylindrical coordinate system, the structure of the four-finger pin insertion/extraction mechanism 5 is not affected. Also,
The three requirements described in the Background of the Invention section are required for any mechanism or coordinate system.
第2図は4指ピン挿抜機構5の斜視図、第3図はその断
面図である。これらの図において、9は把持外枠部で、
内側に第3図に示すように高精度のリニアガイド部10
によって挿抜方向に案内移動される挿抜可動部11が設
けられている。12は把持外枠部9の背面部に取り付け
たモータ等で成る挿抜アクチュエータで、その回転ねじ
部12aが挿抜可動部11の背面部に螺合されていて、
その正逆回転により挿抜可動部11が把持外枠部9内を
往復動するようになっている。FIG. 2 is a perspective view of the four-finger pin insertion/extraction mechanism 5, and FIG. 3 is a sectional view thereof. In these figures, 9 is a gripping outer frame part;
As shown in Fig. 3, there is a highly accurate linear guide section 10 inside.
An insertion/extraction movable part 11 is provided which is guided and moved in the insertion/extraction direction by. Reference numeral 12 denotes an insertion/extraction actuator consisting of a motor or the like attached to the back surface of the gripping outer frame 9, and its rotary threaded portion 12a is screwed to the rear surface of the insertion/extraction movable section 11.
The insertion/removal movable part 11 reciprocates within the gripping outer frame part 9 by the forward and reverse rotation.
13は挿抜可動部11内に設けた指機構保持部で、その
頭部13aが挿抜可動部11より前方に突出し、その先
端部に微細ピン押付部13bが凸形状に形成されている
。そして、該頭部13aには正面から見て上下左右の対
称位置即ち90度の角度間隔で4本の指14が軸15で
回動可能に枢着されている。名指14の把持面には凸部
14aが形成されている。なお、指14の把持面の幅は
、相対位置誤差があっても挿入済み隣接微細ピンに干渉
しない微細ピン直径以下にする必要がある。Reference numeral 13 denotes a finger mechanism holding section provided within the movable insertion/extraction section 11, the head 13a of which protrudes forward from the movable insertion/extraction section 11, and a fine pin pressing section 13b formed in a convex shape at its tip. Four fingers 14 are pivotably mounted on the head 13a about a shaft 15 at symmetrical positions vertically and horizontally, that is, at angular intervals of 90 degrees when viewed from the front. A convex portion 14a is formed on the gripping surface of the index finger 14. Note that the width of the gripping surface of the fingers 14 needs to be less than or equal to the diameter of the fine pin so that it does not interfere with the inserted adjacent fine pin even if there is a relative position error.
16は指機構保持部13内に装着されたソレノイド等で
成る開閉アクチュエータ、17は該開閉アクチュエータ
16に備えられた駆動伝達機構部で、この駆動伝達機構
部17に名指14の作用部14bが係合され、開閉アク
チュエータ16のリニ゛ア駆動力をここで回転力に変換
して4本の名指14を同時に開閉させる。このように4
本の指14は1個の開閉アクチュエータ16で開閉され
、微細ピン2を四方から把持する。Reference numeral 16 denotes an opening/closing actuator such as a solenoid installed in the finger mechanism holding section 13, and 17 denotes a drive transmission mechanism section provided in the opening/closing actuator 16. The action section 14b of the famous finger 14 is attached to this drive transmission mechanism section 17. When engaged, the linear driving force of the opening/closing actuator 16 is converted into rotational force to open and close the four index fingers 14 at the same time. Like this 4
The fingers 14 are opened and closed by one opening/closing actuator 16 and grip the fine pin 2 from all sides.
18は上方弾性体、19は下方弾性体、2oは後方弾性
体で、これら弾性体18.19.2oは指機構保持部1
3と挿抜可動部11との間に介在され、上方弾性体18
はピン挿抜時の上方向の負荷に抗して指機構保持部13
をその上面で支持し、下方弾性体19は下方向の負荷と
指機構保持部13の重力成分に抗して指機構保持部13
をその底面で支持し、また、後方弾性体20は挿抜方向
の負荷に対して指機構保持部13をその背面で弾性支持
する。また、21は挿抜可動部11の左右側面部に設け
た左右弾性体(第2図参照)で、ピン挿抜時の指機構保
持部13の左右側面部に対する負荷をその左右の側面で
弾性支持する。18 is an upper elastic body, 19 is a lower elastic body, 2o is a rear elastic body, and these elastic bodies 18, 19, 2o are the finger mechanism holding part 1
3 and the insertion/extraction movable part 11, the upper elastic body 18
The finger mechanism holding portion 13 resists the upward load when the pin is inserted and removed.
is supported on its upper surface, and the lower elastic body 19 resists the downward load and the gravitational component of the finger mechanism holder 13 to support the finger mechanism holder 13.
The rear elastic body 20 elastically supports the finger mechanism holding portion 13 on its back surface against the load in the insertion/extraction direction. Reference numeral 21 denotes left and right elastic bodies (see Figure 2) provided on the left and right sides of the movable insertion/extraction part 11, which elastically support the load on the left and right sides of the finger mechanism holding part 13 during pin insertion/extraction. .
22は挿抜可動部11の前面縁部に形成した揺動軸受部
で、指機構保持部13の頚部に形成した凹部13cに係
合され、後方弾性体20のばね力で前方側に押し付けら
れる該指機構保持部13を摩擦力で接触支持する。23
は指14に加わる挿抜力を検知するために挿抜可動部1
1の内面に取り付けた位置検出センサである。Reference numeral 22 denotes a swing bearing part formed on the front edge of the movable insertion/extraction part 11, which is engaged with a recess 13c formed in the neck of the finger mechanism holding part 13, and is pressed forward by the spring force of the rear elastic body 20. The finger mechanism holding portion 13 is contacted and supported by frictional force. 23
The insertion/extraction movable part 1 is used to detect the insertion/extraction force applied to the finger 14.
This is a position detection sensor attached to the inner surface of 1.
さて、本例の4指ピン挿抜機構5で基板1の穴1aに挿
入されている微細ピン2を把持・選択するには、まず、
Y案内機構7及びX案内機構8を駆動させて挿抜機構5
を目的の微細ピン2の位置に合わせる。そして、挿抜ア
クチュエータ12、を正転させて、挿抜可動部11をリ
ニアガイド部10に沿って正確に前進させ、4指14を
開いた状態のまま、微細ピン押付部13bを微細ピン2
に押し当てる。さらに挿抜アクチュエータ12の正転を
続けると、挿抜可動部11は前進するが、指機構保持部
13は動けないので、その分後方弾性体20が圧縮変形
する。後方弾性体20の力/変位特性に基づき、該後方
弾性体20の変位を位置検出センサ23で検出すること
により、微細ピン押押付部13bIJ(m細ピン2を押
し付けている力を検知することができる。Now, in order to grasp and select the fine pin 2 inserted into the hole 1a of the board 1 with the four-finger pin insertion/extraction mechanism 5 of this example, first,
The insertion/extraction mechanism 5 is operated by driving the Y guide mechanism 7 and the X guide mechanism 8.
to the desired position of fine pin 2. Then, the insertion/extraction actuator 12 is rotated in the normal direction to advance the insertion/extraction movable part 11 accurately along the linear guide part 10, and while the four fingers 14 are kept open, the fine pin pressing part 13b is pressed against the fine pin 2.
press against. If the insertion/extraction actuator 12 continues to rotate forward, the insertion/extraction movable part 11 moves forward, but the finger mechanism holding part 13 does not move, so the rear elastic body 20 is compressed and deformed accordingly. Based on the force/displacement characteristics of the rear elastic body 20, the position detection sensor 23 detects the displacement of the rear elastic body 20, thereby detecting the force pressing the fine pin pressing portion 13bIJ (m fine pin 2). Can be done.
この位置検出センサ23は、光検知方式、渦電流方式等
の相対変位を計測するものなら、どれでも使用可能であ
る。また、連続的な変位信号を検出できるものでも、リ
ミットスイッチ方式のものでも利用可能である。The position detection sensor 23 may be any sensor that measures relative displacement, such as a photodetection method or an eddy current method. Further, it is also possible to use a device that can detect continuous displacement signals or a limit switch type device.
その動作原理を発光受光方式のセンサを例にしてここで
説明すると、発光素子を挿抜可動部11に設置し、受光
素子を指機構保持部13に設置する。指機構保持部13
に力が作用し始めると、上記のように後方弾性体20が
圧縮変形し、その変位が光量変化となって受光素子で検
出される。後方弾性体20の力/変位特性をリニアに設
計できるので、挿抜動作中に加わる力を連続に或いは限
界点で計測できる。位置検出センサ23を設置する位置
は、挿抜可動部11と指機構保持部13の相対変位を計
測できる位置であれば、どこでも良い。The principle of operation will be explained here using a light emitting light receiving type sensor as an example. A light emitting element is installed in the insertion/removal movable part 11, and a light receiving element is installed in the finger mechanism holding part 13. Finger mechanism holding part 13
When a force starts to act on the rear elastic body 20, the rear elastic body 20 is compressed and deformed as described above, and the displacement becomes a change in the amount of light and is detected by the light receiving element. Since the force/displacement characteristics of the rear elastic body 20 can be linearly designed, the force applied during the insertion/extraction operation can be measured continuously or at a limit point. The position detection sensor 23 may be installed at any position as long as the relative displacement between the insertion/removal movable part 11 and the finger mechanism holding part 13 can be measured.
そして、挿抜可動部11と指機構保持部13との相対変
位を検知し、所定の力で微細ピン押付部13bが微細ピ
ン2を押し付けたところで挿抜アクチュエータ12を停
止させる。Then, the relative displacement between the insertion/extraction movable part 11 and the finger mechanism holding part 13 is detected, and the insertion/extraction actuator 12 is stopped when the fine pin pressing part 13b presses the fine pin 2 with a predetermined force.
次に、開閉アクチュエータ16を作動させ、駆動伝達機
構部17を介して4本の指14を同時に回動して閉じ、
指14の凸部14が微細ピン2の凹状溝2aに噛み合う
状態で微細ピン2を把持する。そして、この状態で挿抜
アクチュエータ12を逆回転させると、微細ピン2は穴
1aがら引き抜かれる。Next, the opening/closing actuator 16 is actuated, and the four fingers 14 are simultaneously rotated via the drive transmission mechanism 17 to close the opening/closing actuator 16 .
The micro pin 2 is gripped with the convex portion 14 of the finger 14 meshing with the concave groove 2a of the micro pin 2. Then, when the insertion/extraction actuator 12 is reversely rotated in this state, the fine pin 2 is pulled out through the hole 1a.
なお、微細ピン押付部13bが微細ピン2の頭部を押し
付ける時、4本の指14に共通の軸心と挿入されている
微細ピン2の軸心がずれていても、微細ピン押付部13
bと微細ピン2の頭部をとの接触摩擦力に抗した把持力
で4本格14を閉じることにより、自在に弾性支持され
た指機構保持部13が揺動運動して4本格14に共通の
軸心を微細ピン2の軸心へ合わせ込み、把持することが
可能となる。 また、微細ピン2の引抜時の力は、指1
4の凸部14aにせん断力として作用し、4本格14の
把持力には依存しない。Note that when the fine pin pressing part 13b presses the head of the fine pin 2, even if the axis common to the four fingers 14 and the axis of the inserted fine pin 2 are misaligned, the fine pin pressing part 13b presses the head of the fine pin 2.
By closing the four bars 14 with a gripping force that resists the contact friction force between the head of the fine pin 2 and the head of the fine pin 2, the finger mechanism holder 13, which is freely elastically supported, undergoes a rocking motion, which is common to the four bars 14. It becomes possible to align the axis of the fine pin 2 with the axis of the fine pin 2 and grip it. In addition, the force when pulling out the fine pin 2 is
It acts as a shearing force on the four convex portions 14a, and does not depend on the gripping force of the four bars 14.
次に、引き抜いた微細ピン2を別の穴1aに挿入するに
は、まず、Y案内機構7及びX案内機構8を駆動させ挿
抜機構5に把持されている微細ピン2を目的の穴1aに
位置合わせする。そして、挿抜アクチュエータ12を正
転させて、微細ピン2を微細ピン押付部13bで押し付
けながら穴1aに挿入し、所定の力で押し付けた後、開
閉アクチュエータ16で4本格14を開き、挿抜アクチ
エエータ12を逆転させて挿入動作を終える。Next, in order to insert the pulled out fine pin 2 into another hole 1a, first drive the Y guide mechanism 7 and the X guide mechanism 8 to insert the fine pin 2 held by the insertion/extraction mechanism 5 into the target hole 1a. Align. Then, the insertion/extraction actuator 12 is rotated in the normal direction, and the fine pin 2 is inserted into the hole 1a while being pressed by the fine pin pressing part 13b. After pressing with a predetermined force, the opening/closing actuator 16 opens the four bars 14, and the insertion/extraction actuator 12 Reverse the direction to complete the insertion operation.
この把持した微細ピン2の軸心と穴1aの軸心がずれ、
微細ピン2が穴1aの側面を擦りながら挿入する場合、
微細ピン2が受ける反力により、指機構保持部13は揺
動軸受部22から離れ、揺動運動を伴って各弾性体18
.19.20.21とバランスする状態となる。即ち、
挿入過程での微細ピン2の姿勢変化に追従して、指機構
保持部13の位置・姿勢が変化するので、微細ピン2と
穴1aの側面に過大な力をかけずに挿入動作を実行でき
る。また、加工誤差によるパリ等で微細ピン2が挿入途
中で引っ掛かりを生じた場合も同様に、後方弾性体20
のカー変位特性により過大な挿抜力を指機構保持部13
と挿抜可動部11との相対変位から検知できる。The axis of the gripped fine pin 2 and the axis of the hole 1a are misaligned,
When inserting the fine pin 2 while rubbing the side of the hole 1a,
Due to the reaction force received by the fine pins 2, the finger mechanism holding part 13 separates from the swing bearing part 22, and each elastic body 18 moves with the swing movement.
.. It will be in a state of balance with 19.20.21. That is,
Since the position and posture of the finger mechanism holder 13 changes in accordance with the change in the posture of the fine pin 2 during the insertion process, the insertion operation can be performed without applying excessive force to the side surface of the fine pin 2 and the hole 1a. . Similarly, if the fine pin 2 gets caught during insertion due to a machining error, etc., the rear elastic body 20
Due to the Kerr displacement characteristics of the finger mechanism holding part 13, excessive insertion/extraction force is
It can be detected from the relative displacement between the insertion and removal movable part 11.
上記の微細ピン2の引き抜き、挿入の何れの場合であっ
ても、4本の名指14は相互に90度間隔に配置されて
いるで、第4図に示すように、名指14が挿入済の隣接
の微細ピン2と干渉することはない。また、微細ピン2
を4方向から把持できるので、どの方向に相対位置決め
誤差を生じても、微細ピン2と4指との軸心を合わせる
ように把持することができる。Regardless of whether the fine pin 2 is pulled out or inserted, the four index fingers 14 are arranged at 90 degree intervals, and as shown in FIG. 4, when the index finger 14 is inserted There is no interference with the adjacent fine pins 2 that have been completed. Also, fine pin 2
Since the micro pin 2 can be gripped from four directions, even if a relative positioning error occurs in any direction, the pin can be gripped so that the axes of the fine pin 2 and the four fingers are aligned.
なお、各弾性体18.19.20.21は複数配置して
も良いし、1個であっても動作可能であり、上方弾性体
18を省略しても指機構保持部13を弾性支持すること
は可能である。Note that a plurality of elastic bodies 18, 19, 20, and 21 may be arranged, or even one elastic body can operate, and even if the upper elastic body 18 is omitted, the finger mechanism holding portion 13 is elastically supported. It is possible.
また;後方弾性体20以外の各弾性体18.19.21
に超弾性の性質を有する形状記憶合金を用い、変位にあ
まり依存しない一定の力でコンプライアンス機構を実現
できることはいうまでもない。Also; each elastic body 18, 19, 21 other than the rear elastic body 20
It goes without saying that by using a shape memory alloy with superelastic properties, a compliance mechanism can be realized with a constant force that does not depend much on displacement.
更に、形状記憶合金に流す電流を制御することで、弾性
体の長さを可変にすることができる性質を利用して、所
定の力でコンプライアンス機構を実現できることも言う
までもない。Furthermore, it goes without saying that by controlling the current flowing through the shape memory alloy, it is possible to realize a compliance mechanism with a predetermined force by taking advantage of the property that the length of the elastic body can be made variable.
更に、指機構保持部13と揺動軸受部22との接触面に
円錐状のテーパを設けることにより、後方弾性体20で
押し付けられた指機構保持部13、即ち本格14の中心
位置を一定に保持することができる。これによれば、軸
ずれにより挿抜方向に力が発生(スラスト力のみは存在
しない。)し、指機構保持部13と揺動軸受部22が離
れ、クリアランスの分かけ変位する。Furthermore, by providing a conical taper on the contact surface between the finger mechanism holding part 13 and the swing bearing part 22, the center position of the finger mechanism holding part 13, that is, the main body 14 pressed by the rear elastic body 20, can be kept constant. can be retained. According to this, a force is generated in the insertion/extraction direction due to the axis misalignment (only thrust force does not exist), and the finger mechanism holding part 13 and the swing bearing part 22 are separated and displaced by the clearance.
以上のような構成になっているで、挿抜力と把持力を各
々独立に設計でき、挿抜力の限界は指14の凸部14a
と微細ピン2の凹状溝12の材料強度に依存し、把持力
は摩擦力に依存することになる。金属材料やセラミック
ス材料を使用した場合、大きな強度の材料を選択でき、
摩擦係数を小さくできるので、小さい把持力で大きな挿
抜力を有する機構が設計できる。それ故、開閉アクチュ
エータ16を小形低容量化することにより、指機構保持
部13の小形軽量化と把持機構全体の小形軽量化が図れ
る。また、指機構保持部13を小形軽量化することによ
り重力成分の補正力を小さくできるため、柔らかいコン
プライアンス機構と小さいばね力の後方弾性体20によ
る制振機構が設計可能となる。With the above configuration, the insertion/extraction force and the gripping force can be designed independently, and the limit of the insertion/extraction force is the convex portion 14a of the finger 14.
and the material strength of the concave groove 12 of the fine pin 2, and the gripping force depends on the frictional force. When using metal or ceramic materials, you can choose materials with great strength;
Since the coefficient of friction can be reduced, a mechanism can be designed that has a large insertion/extraction force with a small gripping force. Therefore, by making the opening/closing actuator 16 smaller and having a lower capacity, the finger mechanism holding section 13 can be made smaller and lighter, and the entire gripping mechanism can be smaller and lighter. Furthermore, by making the finger mechanism holding section 13 smaller and lighter, the correction force of the gravitational component can be reduced, making it possible to design a vibration damping mechanism using a soft compliance mechanism and the rear elastic body 20 with a small spring force.
以上説明したように、本発明には以下の利点がある。 As explained above, the present invention has the following advantages.
■90度間隔で4指を配置したので、指が挿入済隣接微
細ピンと干渉しない。また、指機構保持部を3方向から
弾性体で支持しているので、柔軟に水平方向の挿抜動作
ができる。さらに、後方弾性体の力/変位特性を用いて
いるので、挿抜力を簡易に制御できる。■Since the four fingers are placed at 90 degree intervals, the fingers do not interfere with the inserted adjacent fine pins. Further, since the finger mechanism holding portion is supported by elastic bodies from three directions, insertion and removal operations in the horizontal direction can be performed flexibly. Furthermore, since the force/displacement characteristics of the rear elastic body are used, the insertion/extraction force can be easily controlled.
■微細ピンの凹状溝と噛み合うように4指に凸部を設け
ているので、大きな挿抜力を小さな把持力で実現できる
。加えて、1つの弾性体に3つの機能を兼用させている
ので、機構を小型軽量化できる。■Convex portions are provided on the four fingers to engage with the concave grooves of the micro pins, so a large insertion/extraction force can be achieved with a small gripping force. In addition, since one elastic body has three functions, the mechanism can be made smaller and lighter.
■後方弾性体で指機構保持部を揺動軸受部に押し当てて
いるので、挿抜動作時以外は指(指機構保持部)の割振
性を確保できる。■Since the finger mechanism holding part is pressed against the swing bearing part by the rear elastic body, the allocation of the fingers (finger mechanism holding part) can be ensured except during insertion/extraction operations.
第1図は本発明の一実施例の4指揮後機構を適用した挿
抜システムの正面図、第2図は4指揮後機構の斜視図、
第3図は同機構の断面図、第4図は本実施例の同機構の
4指の微細ピン挿抜状態を示す説明図、第5図は基板の
穴と微細ピンとの関係を示す説明図、第6図は従来の遠
隔心合わせ機構の説明図、第7図は試案の挿抜機構の3
本格による微細ピン挿抜状態を示す説明図である。
1・・・基板、1a・・・穴、2・・・微細ピン、2a
・・・凹状溝、5・・・4指ピン挿抜機構、6・・・前
面、7・・・Y案内機構、8・・・X案内機構、9・・
・把持外枠部、10・・・リニアガイド部、11・・・
挿抜可動部、12・・・挿抜アクチュエータ、12a・
・・回転ねじ部、13・・・指機構保持部、13a・・
・頭部、13b・・・微細ピン押付部、13c・・・凹
部、14・・・指、14a・・・凸部、14b・・・作
用部、15・・・軸、16・・・開閉アクチュエータ、
17・・・駆動伝達機構部、18・・・上方弾性体、1
9・・・下方弾性体、20・・・後方弾性体、21・・
・左右弾性体、22・・・揺動軸受部、23・・・変位
検出センサ。FIG. 1 is a front view of an insertion/extraction system to which a four-command post-mechanism according to an embodiment of the present invention is applied, and FIG. 2 is a perspective view of the four-command post-mechanism.
FIG. 3 is a cross-sectional view of the same mechanism, FIG. 4 is an explanatory diagram showing the insertion and removal state of the four fingers of the microscopic pin of the same mechanism of this embodiment, and FIG. 5 is an explanatory diagram showing the relationship between the hole in the board and the microscopic pin, Figure 6 is an explanatory diagram of a conventional remote centering mechanism, and Figure 7 is a diagram of a prototype insertion/extraction mechanism.
FIG. 2 is an explanatory diagram showing a state in which fine pins are fully inserted and removed. 1... Board, 1a... Hole, 2... Fine pin, 2a
...Concave groove, 5...Finger pin insertion/extraction mechanism, 6...Front surface, 7...Y guide mechanism, 8...X guide mechanism, 9...
- Gripping outer frame portion, 10... Linear guide portion, 11...
Insertion/extraction movable part, 12... Insertion/extraction actuator, 12a/
...Rotating screw part, 13...Finger mechanism holding part, 13a...
・Head, 13b... Fine pin pressing part, 13c... Concave part, 14... Finger, 14a... Convex part, 14b... Action part, 15... Shaft, 16... Opening/closing actuator,
17... Drive transmission mechanism section, 18... Upper elastic body, 1
9... Lower elastic body, 20... Backward elastic body, 21...
- Left and right elastic bodies, 22... Swing bearing section, 23... Displacement detection sensor.
Claims (1)
ンを挿抜する挿抜機構において、挿抜アクチュエータに
よって把持外枠部内の前後方向に案内移動可能な挿抜可
動部と、該挿抜可動部内に上下、左右及び後方から弾性
支持され且つ前方端部に微細ピン押付部が形成された指
機構保持部と、上記挿抜可動部に設けられ且つ上記指機
構保持部に対する後方からの押し付けにより上記指機構
保持部の一部が圧接される揺動軸受部と、上記指機構保
持部の前方部に開閉アクチュエータにより開閉可能に9
0度の間隔で内側を向くように枢着され且つ把持面に微
細ピンの凹状溝に噛み合う凸部を有する4本の指とを具
備することを特徴とする4指ピン挿抜機構。(1) In an insertion/extraction mechanism for inserting/extracting fine pins into holes arranged in a matrix with high density, there is an insertion/extraction movable part that can be guided and moved in the front and back direction within the gripping outer frame by an insertion/extraction actuator, and an upper and lower part inside the insertion/extraction movable part. A finger mechanism holding part that is elastically supported from the left and right and from the rear and has a fine pin pressing part formed at the front end; and a finger mechanism holding part that is provided in the insertion/extraction movable part and is pressed against the finger mechanism holding part from the rear. A rocking bearing part to which a part is pressed, and a front part of the finger mechanism holding part that can be opened and closed by an opening/closing actuator 9
A four-finger pin insertion/extraction mechanism comprising four fingers pivoted so as to face inward at 0 degree intervals and having convex portions on the gripping surface that engage with concave grooves of the fine pins.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22762988A JPH0767653B2 (en) | 1988-09-13 | 1988-09-13 | 4-finger pin insertion / extraction mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22762988A JPH0767653B2 (en) | 1988-09-13 | 1988-09-13 | 4-finger pin insertion / extraction mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0276640A true JPH0276640A (en) | 1990-03-16 |
JPH0767653B2 JPH0767653B2 (en) | 1995-07-26 |
Family
ID=16863908
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP22762988A Expired - Lifetime JPH0767653B2 (en) | 1988-09-13 | 1988-09-13 | 4-finger pin insertion / extraction mechanism |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0767653B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05220632A (en) * | 1992-02-10 | 1993-08-31 | Ee I Tec:Kk | Holding device and fitting device of knob or the like |
JP2008161994A (en) * | 2006-12-29 | 2008-07-17 | Mitsubishi Electric Corp | Automatic connector insertion/removal device and connector insertion/removal method |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100706298B1 (en) * | 2006-06-22 | 2007-04-13 | 주상완 | Remote center compliance device having an elastic body |
-
1988
- 1988-09-13 JP JP22762988A patent/JPH0767653B2/en not_active Expired - Lifetime
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05220632A (en) * | 1992-02-10 | 1993-08-31 | Ee I Tec:Kk | Holding device and fitting device of knob or the like |
JP2008161994A (en) * | 2006-12-29 | 2008-07-17 | Mitsubishi Electric Corp | Automatic connector insertion/removal device and connector insertion/removal method |
JP4650411B2 (en) * | 2006-12-29 | 2011-03-16 | 三菱電機株式会社 | Connector automatic insertion / extraction device and connector insertion / extraction method |
Also Published As
Publication number | Publication date |
---|---|
JPH0767653B2 (en) | 1995-07-26 |
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