JPH06684U - Work handling device - Google Patents

Abstract

(57) [Abstract] [Purpose] When gripping the package 1 of the work W having a large number of leads 2, the position of the lead 2 can be used as the coordinate reference of the robot, and the insertion accuracy into the substrate hole is improved. [Structure] A clamp for holding a lead 2 is provided on the side of a table on which a work W is temporarily placed. Comb-shaped guide teeth corresponding to the leads 2 are formed at the joints of the clamps, and the position of the work W is corrected with the leads 2 as a reference during clamping. Hand unit 30 for gripping the work W
The air chuck 37 is the linear ball slider 33.
It is slidable with respect to the base portion 31 via, and when the work W is gripped on the table, it slides following the position of the work W. In this state, the brake cylinder operates and the air chuck 37 is fixed to the base portion 31.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a handling device for gripping a work, in which a plurality of leads are arranged in a row on a side portion of a package, with reference to the position of the lead.

[0002]

[Prior art]

 2. Description of the Related Art Conventionally, automatic assembly apparatuses have been widely used in which various electronic components are mounted on a printed circuit board by using a robot. In this type of automatic assembly machine, generally, a robot hand grips electronic parts that are sequentially supplied to a predetermined position by a work supply mechanism, conveys the electronic parts to a predetermined position on the printed circuit board, and then electronically mounts them on the hole of the printed circuit board. The operation of inserting the leads of the parts is repeated. During this handling, unless the robot positions the work on the basis of the position of the lead, accurate insertion into the hole cannot be performed, so it is necessary to configure the fingers of the robot hand to directly grasp the lead. is there.

[0003]

[Problems to be solved by the device]

 By the way, as shown in FIG. 11, an electronic component to be the work W has a thin and small rectangular shape and has a package 1 on which some components are mounted in advance, and a plurality of packages are provided on one side portion thereof. There is a type in which the leads 2 are lined up. If a robot W is used to attach a work W of this type to a hole in the printed circuit board, the robot hand will easily interfere with other parts if it holds the lead, increasing the mounting density on the printed circuit board. I can't.

However, when both ends 1a, 1b of the package 1 are held by the robot hand, the positions of both ends 1a, 1b of the package 1 are necessarily ensured with respect to the positions of the leads 2 with high accuracy. However, since the lead 2 may be displaced in the longitudinal direction of the package 1, the position of the lead 2 becomes inaccurate in the gripped state, and there is a problem that the assembly onto the printed circuit board cannot be performed smoothly. Therefore, such assembling work had to rely on the manual work of the manufacturer, and the work efficiency was very poor.

[0005]

[Means for Solving the Problems]

 Therefore, in this invention, the chuck part of the robot hand is slidable, and the work package is held with the lead position as a reference. That is, the work handling device according to the present invention is a handling device for gripping a work in which a plurality of leads are arranged side by side on a package, and a table on which the work is temporarily placed and the table. Side clamps, which clamps multiple leads of a temporarily placed work piece at the same time, and a clamp that is formed on at least one of the joints of the clamps and that individually taps each lead in place. -Shaped comb-teeth-shaped guide teeth, a slide unit slidably supported along the work lead row direction with respect to the base of the hand unit, and a work package installed on this slide unit. A chuck mechanism that holds the workpiece from both sides in the lead row direction, and this chuck mechanism operates while holding the workpiece, and And a brake mechanism for fixing the knit to the base portion.

[0006]

[Action]

 The work is temporarily placed on the table side, and a plurality of leads are held by a clamp. At this time, since at least one of the joint portions of the clamp has tapered comb-teeth-shaped guide teeth, each lead is guided to a predetermined position along the guide teeth during clamping, and the table is always referenced with the lead position as a reference. The work can be positioned on top. On the other hand, since the chuck mechanism of the hand unit is slidable with respect to the base portion, when the chuck mechanism holds the package of the work, the chuck mechanism slides according to the position of the package on the table. Then, in this state, the brake mechanism operates to fix the slide unit to the base portion. Therefore, the base portion and the lead of the work are always kept in a fixed positional relationship, and the work is gripped with the lead as a reference regardless of the molding error of the package.

[0007]

Embodiment An embodiment of the present invention will be described below in detail with reference to the drawings.

The handling device of the present invention is roughly composed of a work fixing device for fixing the work W with the lead 2 as a reference, and a robot for actually gripping and transferring the work W from the work fixing device. There is.

1 to 3 show the structure of the work fixing device side, in which a flat table 12 is fixed to the upper part of a frame 11, and the central part of this table 12 is as shown in FIG. Further, a pair of slits 13 through which the lead 2 portion of the work W can penetrate are formed. Notches 13a for supporting both ends of the package 1 of the work W are provided at both ends of the slit 13, and this portion does not penetrate to the lower surface. Clamps 14 and 15 are arranged on the lower surface of the table 12 so as to face each other with the slit 13 interposed therebetween. The clamps 14 and 15 are chucked to the movable portions 17 and 18 of the air chuck 16 supported by the frame 11. It is attached via brackets 19 and 20. In the illustrated example, since the work W is processed two by two, exactly the same mechanism is provided for each slit 13.

As shown in detail in FIGS. 4 and 5, the clamps 14 and 15 include a clamp 14 having a comb tooth-shaped guide tooth 21 at a joint portion and a groove 22 into which the guide tooth 21 can be fitted. And a clamp 15 provided in the connecting portion, and the plurality of leads 2 are held together by the contact and separation thereof. The guide teeth 21 are formed in correspondence with the pitch and the number of the leads 2 of the work W, but as shown in FIG. 6, each of the guide teeth 21 has a triangular shape so that the tooth side surface 21a is tapered. The bottom portion 21b, which is formed on the bottom surface and in which the lead 2 is finally positioned, has a flat concave shape.

FIG. 7 shows a state in which the work W is positioned with the lead 2 as a reference by the clamps 14 and 15 having the guide teeth 21 as described above.

Next, FIGS. 8 to 10 show the configuration of the hand unit 30 side. The hand unit 30 has a base portion 31 attached to a wrist portion of a robot (not shown), and a brake support bracket 32 is provided on a side surface of the base portion 31. As shown in FIG. 10, the base portion 31 has an elongated rectangular shape when viewed from above, and a linear ball slider 33 that slides along the longitudinal direction is attached to the lower surface of the base portion 31. The linear ball slider 33 has an outer rail 33a and an inner rail (not shown) that can slide on each other. A substantially L-shaped finger plate 36 is fixed by 35. A small air chuck 37 is fixed to the inside of the corner of the finger plate 36 with a screw 38. That is, a slide unit mainly composed of the finger plate 36 and the air chuck 37 is slidably supported by the base portion 31 via the linear ball slider 33. A pair of stoppers 39, 40 are arranged so as to face both ends of the outer rail 33a from both the left and right sides of the plate portion 36a of the finger plate 36, and restrict excessive movement.

The air chuck 37 has movable fingers 41, and holds the work W from both sides in the lead row direction with the fixed fingers 42 formed on a part of the finger plate 36. There is. In order to secure the grip, concave grooves 41a, 42a corresponding to the thickness of the package 1 are provided inside the tips of the fingers 41, 42.

A brake cylinder 43 made of a small air cylinder is attached to the brake support bracket 32 as a brake mechanism, and a brake pad 45 at the tip of a rod 44 protruding from the cylinder 43 has a plate of the finger plate 36. It is arranged to face the side surface of the portion 36a.

Next, a series of operations in the configuration of the above embodiment will be described. First, another robot hand (not shown) grips the work W and temporarily places it in the slit 13 of the table 12 in the work fixing device. At this time, since the clamps 14 and 15 are open to each other, the work W falls halfway into the slit 13 and is supported on the notches 13a at both ends. In this state, the air chuck 16 operates and the clamps 14 and 15 are closed. As a result, the lead 2 of the work W is firmly clamped between the clamps 14 and 15. However, since the lead 2 is guided to a predetermined position by the action of the guide teeth 21, the work W is laterally moved along with the clamp. The lead 2 is moved a little and always comes to the bottom portion 21b of the guide tooth 21. That is, the work W is positioned with the lead 2 as a reference.

Next, the hand unit 30 shown in FIGS. 8 to 10 moves to the position of the work W on the table 12, and the air chuck 37 holds the package 1 of the work W between the fingers 41 and 42. To do. At this point, the brake cylinder 43 is in the brake released state, and the air chuck 37 and the like can slide on the base portion 31. Therefore, when the fingers 41 and 42 are closed, the package 1 is held, and at the same time, the finger plates 36 and the like slide to the appropriate positions with respect to the base portion 31 in a form conforming to the position of the package 1. Then, the brake cylinder 43 is operated after the fingers 41 and 42 hold the package 1. As a result, the brake pad 45 is pressed against the plate portion 36a of the finger plate 36, and the relative positional relationship between the base portion 31 and the finger plate 36 and the like is fixed as it is. Therefore, the hand unit grips the work W based on the position of the lead 2. When the brake cylinder 43 is actuated, the clamps 14 and 15 are opened in that state, and thereafter, a desired operation such as assembly to a printed circuit board is performed.

As described above, according to the above-described embodiment, the coordinate axis of the robot is always based on the lead 2 of the work W and is not influenced by the error of the package 1. It can be inserted securely.

[0018]

[Effect of device]

 As is clear from the above description, according to the workpiece handling apparatus of the present invention, the lead portion is always positioned with reference to the lead position, although the package portion of the workpiece W is actually held by the chuck mechanism. The work can be held in this state, and when automating the insertion of the printed circuit board into the hole, etc., reliable work can be performed, and a complicated configuration such as lead position detection and correction is unnecessary. Further, it is far more advantageous in terms of space as compared with the case of gripping the lead portion of the work, and does not reduce the mounting density on the printed circuit board.

[Brief description of drawings]

FIG. 1 is a side view showing a structure of a handling device according to the present invention on a side of a work fixing device.

FIG. 2 is a front view of the same.

FIG. 3 is a plan view of the same.

FIG. 4 is an enlarged plan view of a clamp.

FIG. 5 is an enlarged sectional view of the clamp.

FIG. 6 is an enlarged view of guide teeth of a clamp.

FIG. 7 is a cross-sectional view showing a workpiece fixed state by a clamp.

FIG. 8 is a front view of the hand unit.

FIG. 9 is a side view of the same.

FIG. 10 is a plan view of the same.

FIG. 11 is a front view of the work W.

[Explanation of symbols]

 W ... Work 1 ... Package 2 ... Lead 12 ... Table 14, 15 ... Clamp 21 ... Guide tooth 30 ... Hand unit 31 ... Base part 33 ... Linear ball slider 37 ... Air chuck 43 ... Brake cylinder

Claims (1)

[Scope of utility model registration request] 1. A handling device for gripping a work, in which a plurality of leads are arranged in a row on a side portion of a package, wherein the work is a table on which the work is temporarily placed, and the table is provided and temporarily placed on the table side. A clamp that holds a plurality of leads of a workpiece all at once, and a comb-teeth-shaped guide tooth that is formed on at least one of the joints of the clamp and that is individually tapered to receive each lead at a predetermined position. A slide unit supported slidably along the work lead row direction with respect to the base portion of the hand unit,
A chuck mechanism provided on the slide unit for holding the workpiece package from both sides in the lead row direction, and a brake for operating the chuck mechanism while holding the workpiece and fixing the slide unit to the base portion. A work handling device including a mechanism.