JPS61173822A - Robot hand - Google Patents
Robot handInfo
- Publication number
- JPS61173822A JPS61173822A JP60011999A JP1199985A JPS61173822A JP S61173822 A JPS61173822 A JP S61173822A JP 60011999 A JP60011999 A JP 60011999A JP 1199985 A JP1199985 A JP 1199985A JP S61173822 A JPS61173822 A JP S61173822A
- Authority
- JP
- Japan
- Prior art keywords
- pilot pin
- hand
- shaping
- robot
- robot arm
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、所定に位置決めしかつその位置での固定手段
を設けたロボットハンドに間するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot hand that is positioned at a predetermined position and provided with means for fixing it at that position.
従来、例えば第１図に示す如きリード端子２が突出した
電子部品１をプリント基板に挿入組み立てする際、第２
図に示す如く、電子部品（ワーク）１の端子２を拡開整
形してから挿入していることが多い。このとき、第３図
に示す如く、未整形のワーク１をロボットハンド１０で
チャッキングしたまま、ロボットハンド１０を固定状態
にして整幾ナスゝシｌ＋ 室外、ｆｌ却九青イ４１ハ鎗
φ誹色倶るために望ましい。Conventionally, when assembling an electronic component 1 with protruding lead terminals 2 as shown in FIG.
As shown in the figure, terminals 2 of an electronic component (work) 1 are often expanded and shaped before being inserted. At this time, as shown in FIG. 3, while the unshaped workpiece 1 is being chucked by the robot hand 10, the robot hand 10 is held in a fixed state and the shaping is performed outside. Desirable for denigration.
この場合、一般に通常、電子部品の端子の整形には１〜
１０ｋｇ程度の応力がかかり、これがロボットハンド１
０の取り付けられたロボットアーム１４端への応力とな
る。ロボットのハンドを取り付けるべきアーム端におけ
るロボットの推力は、一般に可搬重量と等しく、また外
部からの応力に対して設定された位置及び姿勢を維持す
るための反力に等しく設定されている。In this case, generally speaking, the shaping of the terminals of electronic components is
A stress of about 10 kg is applied, and this is the robot hand 1.
0 will be the stress on the attached end of the robot arm 14. The thrust of the robot at the end of the arm to which the robot's hand is attached is generally set equal to the payload, and equal to the reaction force for maintaining a set position and attitude against external stress.
すなわちこの整形時には、通常第３図中矢印に示す応力
が作用し、この結果、点線に示すように、ロボットハン
ド及びロボットアーム１４がわずかに変位し、その結果
、第４図に示す如く、部品３１において本来整形すべき
形状のり−ド３２に対して点線に示すように所定の形状
に比して変形してしまい、不満足な形状となってしまう
。That is, during this shaping, the stress shown by the arrow in FIG. 3 normally acts, and as a result, the robot hand and robot arm 14 are slightly displaced as shown by the dotted line, and as a result, the parts are damaged as shown in FIG. 4. At 31, the shape of the glue 32 that should originally be shaped is deformed compared to the predetermined shape as shown by the dotted line, resulting in an unsatisfactory shape.
このように、従来は、ハンドの位置が不安定となって所
定の位置とのずれとなって生ずるため、整形寸法に誤差
が生じ、自動岨み立て挿入が不可鹸（二な乙と賃らケ点
と、かみ。In this way, conventionally, the position of the hand becomes unstable and deviates from the predetermined position, resulting in an error in the shaping dimensions and making it impossible to insert the automatic ridge. ke point and kami.
本発明はこれらの欠点を除去するため、かかる応力が直
接ロボットアーム端へ作用することを防ぎ、かつ整形等
の加工位置に正確に位置決め可能としたこの種ａボ・７
トハンドを提案することを主たる目的とする。In order to eliminate these drawbacks, the present invention prevents such stress from acting directly on the end of the robot arm, and makes it possible to accurately position the robot arm at a processing position such as shaping.
The main purpose is to propose a hand.
以下本発明の一実施例について図面を参照しながら詳細
に説明する。An embodiment of the present invention will be described in detail below with reference to the drawings.
第５図は本発明の一例を示する斜視図である。FIG. 5 is a perspective view showing an example of the present invention.
４１は、ロボットのアーム１４の端部１３に取り付けら
れたハンド１２に設けられたパイロットピン嵌合札を示
し、第６図に示す如く、作業ステージ５５上に植設した
パイロットピン５２が、パイロットピン嵌合札４１に嵌
合してロボットアーム１４が所定にセットされるように
する。Reference numeral 41 indicates a pilot pin fitting tag provided on the hand 12 attached to the end 13 of the arm 14 of the robot, and as shown in FIG. The pin fitting tag 41 is fitted so that the robot arm 14 is set in a predetermined position.
このようにすることにより、第６図に示す如く、部品１
のリード線２に対して整形治具５３に取り付けられた整
形へラド５４が図中矢印方向に駆動されて整形が行なわ
れる場合、矢印の方向へ生ずる応力は、フィンガ１１、
ハンド１２゛からパイロットピン孔４１を介してパイロ
ットピン５２で受は止められることになり、ロボットの
アーム１４へは応力がかからなくなるので、ロボットア
ーム自体に、把持した推力以上の応力が加えられても、
ハンド１２の位置は変わらず、整形へラド５４による所
定の整形量がそのままリード端子２に伝達される。よっ
て、高精度の整形加工が可能となることになる。By doing this, as shown in FIG.
When the shaping rod 54 attached to the shaping jig 53 is driven in the direction of the arrow in the figure to perform shaping on the lead wire 2 of the finger 11, the stress generated in the direction of the arrow is
The pilot pin 52 passes from the hand 12' through the pilot pin hole 41 and is stopped by the pilot pin 52, and no stress is applied to the robot arm 14, so no stress greater than the gripping thrust is applied to the robot arm itself. Even though
The position of the hand 12 does not change, and the predetermined amount of shaping by the shaping pad 54 is directly transmitted to the lead terminal 2. Therefore, highly accurate shaping becomes possible.
以上述べたごとく本考案によれば、ロボットハンドの一
部にパイロットピン嵌合用孔を設け、作業ステージにパ
イロットピンを設け、該パイロットピンと嵌合用孔とを
嵌合するようにし、ロボットハンドの位置決めと固定を
行なうようにしたので、
電子部品の整形時に応力が作用して、ロボットアーム１
４の変位は発生しなくなり、その結果、電子部品は、本
来整形すべき形状を保持し、整形寸法に誤差を生じるこ
となく、その後の自動組み立て挿入が不可能になる欠点
を解消することができる。As described above, according to the present invention, a pilot pin fitting hole is provided in a part of the robot hand, a pilot pin is provided in the work stage, and the pilot pin and the fitting hole are fitted, thereby positioning the robot hand. Since the electronic parts are fixed in place, stress is applied when shaping the electronic parts, causing the robot arm 1 to
The displacement described in step 4 no longer occurs, and as a result, the electronic component maintains the shape that it should originally be shaped, and there is no error in the shaped dimensions, which eliminates the drawback that subsequent automatic assembly and insertion is impossible. .
第１図は電子部品の整形前の形状を示す斜視図、第２図
は同じく整形後の形状を示す斜視図、第３図は従来のロ
ボットのハンドが電子部品を把持した状態を示す図、第
４図は従来の電子部品の整形後の形状を示す図、第５図
は本発明ハンドの一例を示す斜視図、第６図は同じく使
用時の説明に供する断面図である。
１・・・電子部品、２，３・・・リード線、１２川ハン
ド本体、１４・・・ロボットのアーム、４１・・・パイ
ロットピンＬ５２・・・パイロットピン。
出願人代理人 弁理士 秋 山 高第１図
第２図
第４囚FIG. 1 is a perspective view showing the shape of an electronic component before shaping, FIG. 2 is a perspective view showing the shape after shaping, and FIG. 3 is a diagram showing a conventional robot hand gripping an electronic component. FIG. 4 is a diagram showing the shape of a conventional electronic component after shaping, FIG. 5 is a perspective view showing an example of the hand of the present invention, and FIG. 6 is a sectional view for explaining the use. 1... Electronic parts, 2, 3... Lead wire, 12 River hand body, 14... Robot arm, 41... Pilot pin L52... Pilot pin. Applicant's agent Patent attorney Takashi Akiyama Figure 1
Figure 2 4th prisoner
Claims (1)
、作業ステージにパイロットピンを設け、該パイロット
ピンと嵌合用孔とを嵌合するようにし、ロボットハンド
の位置決めと固定を行なうことを特徴とするロボットハ
ンド。A robot characterized in that a pilot pin fitting hole is provided in a part of the robot hand, a pilot pin is provided in the work stage, and the pilot pin and the fitting hole are fitted to position and fix the robot hand. hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60011999A JPS61173822A (en) | 1985-01-25 | 1985-01-25 | Robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60011999A JPS61173822A (en) | 1985-01-25 | 1985-01-25 | Robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61173822A true JPS61173822A (en) | 1986-08-05 |
Family
ID=11793283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60011999A Pending JPS61173822A (en) | 1985-01-25 | 1985-01-25 | Robot hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61173822A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1414614A1 (en) * | 2001-08-09 | 2004-05-06 | Johnson & Johnson Vision Care, Inc. | Inlay station with alignment assemblies and transfer tubes |
| CN110891738A (en) * | 2017-06-01 | 2020-03-17 | 威博外科公司 | Robotic arm cart with fine position adjustment features and use thereof |
| US11564764B2 (en) | 2017-05-31 | 2023-01-31 | Verb Surgical Inc. | Cart for robotic arms and method and apparatus for registering cart to surgical table |
| US11577382B2 (en) | 2017-06-20 | 2023-02-14 | Verb Surgical Inc. | Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms |
| US11622830B2 (en) | 2017-05-22 | 2023-04-11 | Cilag Gmbh International | Robotic arm cart and uses therefor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59192478A (en) * | 1983-04-12 | 1984-10-31 | 三菱電機株式会社 | Hand device for industrial robot |
-
1985
- 1985-01-25 JP JP60011999A patent/JPS61173822A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59192478A (en) * | 1983-04-12 | 1984-10-31 | 三菱電機株式会社 | Hand device for industrial robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1414614A1 (en) * | 2001-08-09 | 2004-05-06 | Johnson & Johnson Vision Care, Inc. | Inlay station with alignment assemblies and transfer tubes |
| EP1414614A4 (en) * | 2001-08-09 | 2006-07-19 | Johnson & Johnson Vision Care | Inlay station with alignment assemblies and transfer tubes |
| US11622830B2 (en) | 2017-05-22 | 2023-04-11 | Cilag Gmbh International | Robotic arm cart and uses therefor |
| US12059275B2 (en) | 2017-05-22 | 2024-08-13 | Verb Surgical Inc. | Robotic arm cart and uses therefor |
| US11564764B2 (en) | 2017-05-31 | 2023-01-31 | Verb Surgical Inc. | Cart for robotic arms and method and apparatus for registering cart to surgical table |
| CN110891738A (en) * | 2017-06-01 | 2020-03-17 | 威博外科公司 | Robotic arm cart with fine position adjustment features and use thereof |
| CN110891738B (en) * | 2017-06-01 | 2023-09-22 | 威博外科公司 | Robot arm cart with fine position adjustment feature and use thereof |
| US11577382B2 (en) | 2017-06-20 | 2023-02-14 | Verb Surgical Inc. | Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms |
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