JPH07171783A - Robot hand - Google Patents

Abstract

PURPOSE:To facilitate the handling of flexible material such as a flexible printed board anti eliminate the buckling of parts so as to improve work efficiency in a robot hand being the hand effector of a robot. CONSTITUTION:In a robot hand fitted to the tip part of a robot through a case, a moving chuck mechanism 2 is attracted toward fixed a chuck mechanism 1 by applying a current to an electromagnet 5 so as to narrow the spacing between both chucks. While keeping this state, a flexible printed board is gripped by both chucks. When the current to the electromagnet 5 is cut off, the moving chuck mechanism 2 generates force in the direction of being separated from the fixed chuck mechanism 1 by the repulsion of a coil spring 7 so as to impart tension to the flexible printed board.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand, and more particularly to a robot hand that handles flexible objects.

[0002]

2. Description of the Related Art Conventionally, most of the robot hands for assembly used in the industry have one chuck mechanism, by which the parts are gripped, moved, positioned, and inserted to perform assembly. I'm working.
Further, although some chucks have two chuck mechanisms, each chuck mechanism structurally grips separate parts.

A known example of the prior art is Japanese Patent Laid-Open No. 63-745.
No. 45 publication is known.

This conventional robot hand will be described with reference to the drawings.

FIG. 4 is a perspective view of a conventional robot double hand.

A chuck 34a directly attached to the base 33 at the tip of the robot 31 and X, Y tables 35 and 36.
A chuck 34b attached to the Y table 36 is provided, and the X and Y tables 35 and 36 are moved in the X and Y directions by the X and Y motors 37 and 38, respectively. The chuck 34a holds the socket 21a with the pair of tabs 39a, and the chuck 34b holds the pair of tabs 39a.
The socket 21b connected to the socket 21a by the flexible vinyl wire 22 is gripped by b. And the plugs 24a, 2
The position of 4b is measured, and the data is used to determine the chucks 34a, 3
4b and by inserting the pins 26a, 26b of each plug into the connection holes of the sockets 21a, 21b,
The two printed circuit boards 25a and 25b can be electrically connected automatically.

As described above, one of the two gripping portions is provided on the table which moves in a plane, and the table is driven by the motor, so that the printed circuit boards are connected to each other by using the vinyl wire connector having the connectors at both ends. Connect automatically.

In this way, in the known example, the connectors at both ends of the vinyl wire are separately held by the two chucks, and the tables are driven to perform the positioning separately.

[0009]

In the above-mentioned conventional robot hand, when an attempt is made to insert a flexible object such as a flexible printed circuit board which is easily buckled in the lateral direction into the connector, one chuck mechanism is used. Since the two connectors are held, there is a problem that the parts are buckled due to the insertion resistance force of the connectors, which makes the work difficult.

[0010]

A robot hand of the present invention has two chuck mechanisms, one or both of which can move and apply a force in a direction connecting both chuck parts, and an object gripped by both chucks. It is characterized by having a mechanism for applying tension to the.

The robot hand of the present invention has a moving chuck mechanism having a suction piece and movably installed along a slide guide, and a slide having an electromagnet attached to a position facing the suction piece and attracting the suction piece. A fixed chuck mechanism fixed to the case together with the guide, a spring installed between the movable chuck mechanism and the fixed chuck mechanism to push back the suction piece, or an air cylinder instead of the electromagnet and the spring. There is.

[0012]

[Function] A flexible object such as a flexible printed circuit board 2
It is gripped by one chuck, and then a force is generated in a direction in which both chucks are separated. Tension is generated in the flexible object gripped by this force. At this time, the tension is T and the chuck interval is L.
Then, a lateral elastic modulus of 4 T / L is generated in the grasped flexible object, and the lateral rigidity is increased. As a result, the parts are less likely to buckle when inserting a flexible object, and the work efficiency is improved.

[0013]

Embodiments of the present invention will now be described with reference to the drawings.

FIG. 1 is a perspective view of an embodiment of a robot hand according to the present invention.

Fixed chuck mechanism 1 and slide guide 3,
4 is fixed to a case (not shown), and the moving chuck mechanism 2 is movably installed along the slide guides 3 and 4. An electromagnet 5 is attached to the fixed chuck mechanism 1, and a suction piece 6 is attached to the movable chuck mechanism 2 at a position facing the electromagnet 5. A coil spring 7 is installed between the fixed chuck mechanism 1 and the movable chuck mechanism 2.

FIG. 2 is a perspective view of another embodiment of the robot hand according to the present invention.

Fixed chuck mechanism 11 and slide guide 1
3, 14 are fixed to a case (not shown), and the moving chuck mechanism 12 is movably installed along the slide guides 13, 14. An air cylinder 15 is attached between the fixed chuck mechanism 11 and the moving chuck mechanism 12.

Next, the operation of the robot hand of this embodiment will be described with reference to the drawings.

3 (a) and 3 (b) are front views for explaining the operation of the robot hand of this embodiment.

In FIG. 3 (a), the movable chuck mechanism 2 of the robot hand attached to the robot tip 9 through the case 8 is fixed by the moving chuck mechanism 2 by energizing an electromagnet (not shown) or depressurizing the air cylinder. It is sucked in the direction of the mechanism 1 and the gap between both chucks is narrowed. While keeping this state, the flexible printed circuit board 1 with both chucks
Hold 0. Then, the electromagnet is de-energized or the air cylinder is pressurized.

In FIG. 3B, the moving chuck mechanism 2
Generates a force in a direction away from the fixed chuck mechanism 1 due to the repulsion of the coil spring (not shown), and gives a tension to the flexible printed circuit board 10.

In this embodiment, the moving chuck mechanism 2 uses a coil spring 7 having a spring constant of 0.98 N / mm.
Is 5 mm. Therefore, a tension of 4.9 N is generated on the flexible printed board 10. The chuck-to-chuck distance in the gripped state is 25 mm. As a result, the elastic modulus of the flexible printed circuit board 10 in the lateral direction is 0.78 N / mm, and the flexible printed circuit board 10 does not buckle when inserted into a connector. The elastic modulus in the lateral direction of the flexible printed circuit board 10 in the state where there is no tension is almost 0, and it is difficult to insert the flexible printed circuit board 10 into the connector.

In this embodiment, the electromagnet, the coil spring, and the air pressure by the air cylinder are used as the means for applying the tension by applying the force, but this configuration is not essential to the present invention.

[0024]

As described above, the robot hand of the present invention has two chuck mechanisms and improves the lateral rigidity by applying tension to the object gripped by both chucks. Even when a flexible object is inserted, the parts are less likely to buckle and work efficiency is improved.

[Brief description of drawings]

FIG. 1 is a perspective view of an embodiment of a robot hand according to the present invention.

FIG. 2 is a perspective view of another embodiment of the robot hand according to the present invention.

FIG. 3 is a front view for explaining the operation of the robot hand of this embodiment.

FIG. 4 is a perspective view of a conventional robot double hand.

[Explanation of symbols]

 1 Fixed chuck mechanism 2 Moving chuck mechanism 3 Slide guide 4 Slide guide 5 Electromagnet 6 Suction piece 7 Coil spring 8 Case 9 Robot tip 10 Flexible printed circuit board 11 Fixed chuck mechanism 12 Moving chuck mechanism 13, 14 Slide guide 15 Air cylinder 21a, 21b Socket 22 Vinyl wire 24a, 24b Plug 25a, 25b Printed circuit board 26a, 26b Pin 31 Robot 33 Base 34a, 34b Chuck 35 X table 36 Y table 37 X motor 38 Y motor 39a, 39b Claw

Claims (3)

[Claims] 1. A mechanism having two chucking mechanisms, one or both of which is capable of moving and applying a force in a direction connecting both chucking portions, and is provided with a mechanism for applying a tension to an object gripped by both chucking portions. And a robot hand. 2. A movable chuck mechanism that has a suction piece and is movably installed along a slide guide, and an electromagnet that is attached to a position facing the suction piece and that attracts the suction piece together with the slide guide. A robot hand comprising: a fixed chuck mechanism fixed to a case; and a spring installed between the movable chuck mechanism and the fixed chuck mechanism to push back the suction piece. 3. A moving chuck mechanism having a mounting portion and movably installed along a slide guide, and an air cylinder connected to the mounting portion for moving the moving chuck mechanism, and a case together with the slide guide. A robot hand, comprising: a fixed chuck mechanism that is fixed.