JPH0679677A - Thin wire gripping mechanism - Google Patents

Abstract

PURPOSE:To provide a thin wire gripping mechanism which well suits a small and light automatic machine for wiring thin wires upon a printed wiring board. CONSTITUTION:A thin wire gripping mechanism includes a fixing finger 21, moving finger 22, spring 24 to energize the moving finger 22 in the direction of going apart from the fixing finger 21, two air cylinders 25, 26 to move the moving finger 22 in the direction of approaching the fixing finger 21, and two stoppers 27, 28 to restrict the strokes of the air cylinders 25, 26. In the initial state, the spacing between the fixing finger 21 and moving finger 22 is much larger than the dia. of the thin wire held, becomes smaller than the dia. of the thin wire with operation of the air cylinder for closing 25, and becomes a little larger than the dia. of the thin wire with operation only of the air cylinder for loosening 26.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fine wire gripping mechanism, and more particularly to a fine wire gripping mechanism in a device for wiring a fine wire on a printed wiring board.

[0002]

2. Description of the Related Art When manufacturing a printed wiring board, it is necessary to wire a wire on the printed wiring board once manufactured in order to correct manufacturing defects and cope with design changes. Is being done. The work of wiring this wire consists of bonding at the wire start point side, routing in the middle part of the wire (wiring at a position that does not interfere with other wiring etc.), and wire bonding at the wire end point side. In the case of a wiring board, an operator has conventionally performed this series of work using tweezers under a microscope.

However, this work, for example, has a diameter of 0.1 mm.
It is a fine work using the following covered wires, and it requires considerable skill to do this manually, and when the tweezers make strong contact with the densified multilayer printed wiring board, its insulating layer is destroyed. There is a risk of short circuit between conductor layers. Therefore, automation of this wiring work is desired.

By the way, when automating the wiring work, a robot having a two-fingered mechanical hand for gripping a wire is usually used. In this case, especially in the case of the fine work as described above, it is better not to release the wire from the hand during the series of work described above. This is because the position of a fine wire fluctuates once it is released from the hand, and in order to grip it again, the spatial position of the wire is recognized with an accuracy of several tens of μm, and the wire being wired and the wire already wired This is because it is extremely difficult to realize these with the current visual recognition technology.

In order to prevent the wire from being released from the hand during the above series of operations, the hand has a closed state in which the wire is firmly gripped and an open state in which the wire is released.
It must be possible to stably realize a loose state in which the wire can be held loosely and slid. If the movement of the fingers is driven by a motor, it is relatively easy to control the distance between the two fingers, and the loose state can be stably realized.

However, if the finger is driven by a motor, the hand becomes large and heavy. The wiring work of the wire is complicated, and the hand portion requires at least three degrees of freedom of XYZ. Therefore, if the hand is large and heavy, the mechanism for moving the hand becomes large and interferes with other mechanisms.

An object of the present invention is to solve the above problems and to provide a small and lightweight thin wire gripping mechanism suitable for an automatic machine for wiring a thin wire on a printed wiring board.

[0008]

According to the present invention, the object is to [1] individually actuate a fixed finger, a moving finger, and a spring acting to separate the moving finger from the fixed finger. A plurality of linear motion actuators that move the moving finger in a direction approaching the fixed finger, and a plurality of stoppers that limit the strokes of the moving finger at mutually different positions during each operation of the plurality of linear motion actuators. [2] The thin wire gripping mechanism is characterized in that the moving finger is configured to move to different positions by the operation of different linear motion actuators.
A fixed finger, a moving finger, a spring that acts in a direction to separate the moving finger from the fixed finger, a single pneumatic linear actuator that moves the moving finger in a direction approaching the fixed finger, and And a pneumatic pressure switching means for switching the pressure of the air supplied to the dynamic actuator, wherein the moving finger is moved to different positions by supplying air of different pressure to the linear motion actuator. [3] In the above [1] and [2], the thin wire gripping mechanism is provided with convex portions on both sides of a part for gripping at least one thin wire of the fixed finger and the moving finger. Will be achieved.

[0009]

FIG. 1 is a diagram for explaining the principle of the present invention. Figure (A),
(B) and (C) show the open state, the closed state, and the loose state of the thin wire gripping mechanism of claim 1, respectively. This mechanism includes a fixed finger 11 fixed to a base body 10, a moving finger 12 fixed to a moving body 13, a spring 14, two linear actuators 15 and 16 for moving the moving body 13, and a moving body. It is composed of three stoppers 17, 18 and 19 for positioning 13.
The moving body 13 is guided by a linear guide (not shown) and moves linearly.

In FIG. 1A, two linear actuators are shown.
Neither 15 nor 16 are operating, and the moving body 13 is in contact with the opening stopper 19 by the force of the spring 14. The distance between the fixed finger 11 and the moving finger 12 is sufficiently larger than the diameter of a thin wire (not shown) to be gripped, and is in an open state.

In FIG. 1B, the first linear actuator is shown.
15, the movable body 13 is moved against the force of the spring 14 until it comes into contact with the closing stopper 17. The distance between the fixed finger 11 and the moving finger 12 is smaller than the diameter of a thin wire (not shown) to be gripped, and the finger is in a closed state.

In FIG. 1C, the second linear actuator is shown.
Only 16 operates, the projection 16a provided on the rod abuts the loose stopper 18, and the moving body 13 closes.
Neither 17 nor the stopper 19 for opening is touching. Fixed finger
The distance between 11 and the moving finger 12 is slightly wider than in the closed state, and is in a loose state.

As described above, by using one of the two fingers as a fixed finger and using the direct-acting type actuator, one finger interval can be defined by a combination of one actuator and one stopper. . Also, the initial state is stabilized by the combination of the spring and the stopper. In order to form a loose state in addition to the open state and the closed state, one actuator and one stopper are added, but a linear actuator such as an air cylinder is much smaller than a motor with a positioning function. In addition to being lightweight, there is no need to convert rotational movement into linear movement, so the overall size and weight can be reduced.

According to a second aspect of the present invention, the finger spacing is changed by adjusting the input to the linear motion actuator. The actuator and the stopper are provided to form a loose state in addition to the open state and the closed state. No need to add with. A separate device for controlling the input to the linear actuator is required, but the thin wire gripping mechanism can be made smaller and lighter than that of claim 1.

[0015]

EXAMPLE An example of a fine wire gripping mechanism according to the present invention is shown in FIGS.
This will be described with reference to FIG. FIG. 2 is a diagram showing a first embodiment of the present invention. In this example, an air cylinder is used as the linear actuator. In the figure, 20 is a base, 21 is a fixed finger, 22 is a moving finger, 23 is a moving body, 24 is a spring, 25 is a closing air cylinder, 26 is a loose air cylinder, 27 is a closing stopper, and 28 is a loose. It is a stopper for.

The fixed finger 21 is fixed to the base body 20, the moving finger 22 is fixed to the moving body 23, and the moving body 23 is guided by the linear guide 23a fixed to the base body 20 and moves linearly. The spring 24 is a tension coil spring, and both ends thereof are fixed to the base body 20 and the moving body 23, respectively. Since the stroke of the piston of the air cylinder is limited to the inside of the cylinder, the opening stopper is omitted in this example. Therefore, the closing air cylinder 25,
At least one of these rods is in contact with the moving body 23 when neither the loose air cylinder 26 is operated.

When the closing air cylinder 25 is operated, the rod extends and the moving body 23 closes.
Hit 27. At this time, the distance between the fixed finger 21 and the moving finger 22 is slightly smaller than the diameter of the thin wire (not shown) to be grasped (for example, if the diameter of the thin wire is 100 μm, it will be 80 μm or less in consideration of the deformation of the covering material). Stopper for closing 27
Adjust the position of.

When the loose air cylinder 26 is operated,
The rod extends and the projection 26a provided on the rod hits the closing stopper 27. At this time, the fixed finger 21 and the moving finger
The position of the loose stopper 28 is adjusted so that the distance between the loose wire 22 and 22 is slightly larger than the diameter of the thin wire to be gripped (for example, 120 μm or more if the diameter of the thin wire is 100 μm).

This fine wire gripping mechanism is in the open state when neither the closing air cylinder 25 nor the loose air cylinder 26 is in operation, and is in the closed state when the closing air cylinder 25 is in operation.
When 26 is activated and the closing air cylinder 25 is deactivated, a loose state is established.

FIG. 3 is a diagram showing a second embodiment of the present invention. In this example, a solenoid is used as the linear actuator. In the figure, 35 is a closing solenoid, 36 is a loose solenoid, 39 is an open stopper, and other parts that are the same as in FIG.

Since the small solenoid moves in the direction in which its plunger retracts when energized, it is attached to the base body 20 in the opposite direction to the air cylinder. Other than that, the relationship and operation of each unit are the same as those in the first embodiment, and therefore the description is omitted.

FIG. 4 is a diagram showing a third embodiment of the present invention. In this example, the loose air cylinder 26 and the loose stopper 28 in the first embodiment are deleted, and the air pressure supplied to the closing air cylinder 25 is changed, so that the closing air cylinder 25 alone can be used in a closed state and a loose state. Form states and. That is, when the closing air cylinder 25 is operated with a sufficiently high air pressure, the rod extends until the moving body 23 contacts the closing stopper 27 to form a closed state, and when the air pressure is lower than this, the force against the spring 24 is exerted. Is lowered, the moving body 23 is slightly returned, the distance between the fixed finger 21 and the moving finger 22 is slightly increased, and a loose state is formed.

As a means for switching the air pressure, for example, as shown in FIG. 4, an electropneumatic valve in which the output air pressure is proportional to the instruction voltage is used, and the instruction voltage to the electropneumatic valve in the closed state and the loose state is used. change.

FIG. 5 is a diagram showing an example of the shape of a fingertip. In order to prevent the thin wire 1 to be grasped from falling out in a loose state, two protrusions 21a are provided on both sides of the thin wire grasping portion of one of the two fingers (fixed finger 21 in the figure). ing. By forming the fingertips in such a shape, it is possible to secure a large distance between fingers in a loose state and to make the accuracy rough. This is applicable to all the first to third embodiments.

The present invention is not limited to the above embodiments and can be carried out in various modified forms.

[0026]

As described above, according to the present invention,
It is possible to provide a thin wire gripping mechanism that is small and lightweight and is suitable for an automatic machine for wiring a thin wire on a printed wiring board, and contributes to improved productivity in manufacturing a printed wiring board.

[Brief description of drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is a diagram showing a first embodiment of the present invention.

FIG. 3 is a diagram showing a second embodiment of the present invention.

FIG. 4 is a diagram showing a third embodiment of the present invention.

FIG. 5 is a diagram showing an example of a fingertip shape.

[Explanation of symbols]

 1 Fine wire 10, 20 Base 11, 21 Fixed finger 12, 22 Moving finger 13, 23 Moving body 14, 24 Spring 15 First linear actuator 16 Second linear actuator 16a, 26a Protrusion 17, 27 Stopper 18 , 28 Loose stopper 19, 39 Open stopper 21a Convex part 23a Linear guide 25 Close air cylinder 26 Loose air cylinder 35 Close solenoid 36 Loose solenoid

Claims (3)

[Claims] 1. A fixed finger, a moving finger, a spring acting in a direction to separate the moving finger from the fixed finger, and a plurality of springs individually operated to move the moving finger in a direction approaching the fixed finger. Of the linear motion actuators and a plurality of stoppers for restricting the strokes of the moving fingers at mutually different positions during each operation of the plurality of linear motion actuators. A fine wire gripping mechanism characterized by being configured to move to. 2. A fixed finger, a moving finger, a spring acting in a direction to separate the moving finger from the fixed finger, and a single pneumatic linear motion for moving the moving finger in a direction approaching the fixed finger. An actuator and an air pressure switching means for switching the pressure of air supplied to the linear motion actuator are provided, and the moving finger is moved to different positions by supplying air of different pressure to the linear motion actuator. A fine wire gripping mechanism characterized by the above. 3. The fine wire gripping mechanism according to claim 1, wherein convex portions are provided on both sides of a portion for gripping the thin wire of at least one of the fixed finger and the moving finger.