JPS6171700A - Electronic part inserting gripper - Google Patents

Electronic part inserting gripper

Info

Publication number
JPS6171700A
JPS6171700A JP59192517A JP19251784A JPS6171700A JP S6171700 A JPS6171700 A JP S6171700A JP 59192517 A JP59192517 A JP 59192517A JP 19251784 A JP19251784 A JP 19251784A JP S6171700 A JPS6171700 A JP S6171700A
Authority
JP
Japan
Prior art keywords
electronic component
cam follower
protrusion
lead
claw member
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
Application number
JP59192517A
Other languages
Japanese (ja)
Inventor
佐々木 泰輔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP59192517A priority Critical patent/JPS6171700A/en
Publication of JPS6171700A publication Critical patent/JPS6171700A/en
Pending legal-status Critical Current

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  • Supply And Installment Of Electrical Components (AREA)
  • Manipulator (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。
(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 〔発明の利用分野〕 本発明は電子交換機電子パッケージの如く、多数個の電
子部品を挿設してなるプリント基板に上記′電子部品を
挿入する電子部品挿入グリッパ−に係り、特に電子部品
が実装済のプリント基板に追加実装するに好適な、電子
部品挿入グリッパ−に関するものである。
[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an electronic component insertion gripper for inserting electronic components into a printed circuit board on which a large number of electronic components are inserted, such as an electronic package for an electronic exchange. In particular, the present invention relates to an electronic component insertion gripper suitable for additional mounting on a printed circuit board on which electronic components have already been mounted.

〔発明の背景〕[Background of the invention]

電子交換機用1子パツケージの如きプリント基板には、
部品実装後に回路特性をチェックして、その特性に適合
した電子部品を追加実装する場合が多い。この追加実装
を自動的、かつ効率的に行うため自動挿入装置が必要と
なる。しかし、既に他の電子部品が実@されているため
、残されている挿入面積(シャドウエリアと称す)が狭
隘となり、自動挿入が困難となる欠点があった。
Printed circuit boards such as single-child package for electronic switching equipment,
After components are mounted, circuit characteristics are often checked and electronic components that match the characteristics are additionally mounted. An automatic insertion device is required to perform this additional mounting automatically and efficiently. However, since other electronic components have already been installed, the remaining insertion area (referred to as a shadow area) becomes narrow, making automatic insertion difficult.

従来採用されている挿入グリッパ−の1例として特開昭
55−196号が上げられる。これは固定爪とから形成
され、該爪間に電子部品の17−ドを挾持して挿入する
もので、固定爪を挿入方向に細長に形成すると共に、こ
れを実装済の電子部品側に配設し干渉防止し、一方の可
動爪を実装されていない側に向け、これを揺動せしめて
リードとの挟持を開放するものである。しかしながら、
上記グリッパ−はリードを挾持したままで電子部品を挿
入しなければならず、シャドウエリアによっては実妄済
の電子部品に干渉し、これを損傷したり、変形させたり
する不具合が生する懸念があった。
An example of a conventionally employed insertion gripper is disclosed in Japanese Patent Application Laid-Open No. 1987-196. This is formed from fixed claws, and the 17-card of the electronic component is inserted between the claws.The fixed claw is formed elongated in the insertion direction, and is placed on the side of the mounted electronic component. One of the movable claws is turned toward the unmounted side and swung to release the grip between the lead and the lead. however,
The above-mentioned gripper must insert the electronic component while holding the lead, and there is a concern that depending on the shadow area, it may interfere with the actual electronic component, causing damage or deformation. there were.

その他のグリッパ−もリードを挾持したまま挿入するも
ので上記と同様な問題点ををしている。
Other grippers insert the lead while holding it, and suffer from the same problems as above.

〔発明の目的〕[Purpose of the invention]

本発明は上記問題点を解決するもので、その目的は狭隘
なンヤドウエリアに挿入可能であり、同実装の電子部品
を損傷あるいは変形させることな(挿入でき、かつ自動
挿入を可能とする電子部品挿入グリッパ−を提供するこ
とにある。
The present invention is intended to solve the above-mentioned problems, and its purpose is to provide an electronic component insertion system that can be inserted into a narrow space without damaging or deforming the electronic components mounted thereon. The purpose of the present invention is to provide a gripper.

〔発−明の概要〕[Summary of the invention]

本発明は上記目的を達成するために、ロボット等゛の可
搬駆動機構側に固定されるシリンダブロックに、該シリ
ンダブロックから突出する細長な突出部を形成してなる
押出しビンを摺動自在に保持し、壊押出しビンの上記突
出部の中間位置にその半径方向に張り出すカムフォロア
を設けると共に、上記突出部を挾んで対峙して配設され
る1対のレバー状の爪部部を上記シリンダブロックに揺
動自在に枢着せしめ、該爪部材の相qに離隔又は近賽す
る開閉端部に上記電子部品のリードに係合する係上部を
形放し、かつ該係上部力、)ら上記突出部の軸線に沿っ
て上記カムフォロア側に広がり、該カムフォロアを案内
支持するテーパー部を形成せしめ、移動手段によって上
記爪部材の上記係止部を閉操作すると共に、上記挿出し
ビンを押し出して上記爪部材の開操作と電子部品の挿入
動作とを同時に行わしめるように形成される電子部品挿
入グリッパ−を響勺としたものである。
In order to achieve the above object, the present invention has a cylinder block fixed to a portable drive mechanism side of a robot, etc., and an elongated protrusion protruding from the cylinder block, so that an extrusion bottle can be slid freely. A cam follower is provided at an intermediate position of the protrusion of the broken extrusion bottle and protrudes in the radial direction, and a pair of lever-shaped pawls disposed facing each other across the protrusion are attached to the cylinder. The block is pivotably attached to the block, and an engaging part that engages with the lead of the electronic component is released at the opening/closing end part of the claw member that is spaced from or close to the part q, and the engaging part force is applied to the above. A tapered part is formed that extends toward the cam follower along the axis of the protrusion, and guides and supports the cam follower, and the moving means closes the locking part of the claw member, and pushes out the ejecting bottle. The gripper is an electronic component insertion gripper that is formed so as to simultaneously perform the opening operation of the claw member and the insertion operation of the electronic component.

〔発明の実施例〕[Embodiments of the invention]

以下、本発明の実施例を図面に基づき説明する。 Embodiments of the present invention will be described below based on the drawings.

まず、本実施例の概要を説明する。First, an outline of this embodiment will be explained.

ヤ1図に示す々口く、懸架棒1を介しシリンダブロック
2は図示しないロボット等の可搬駆動棒構に懸架される
As shown in FIG. 1, the cylinder block 2 is suspended via a suspension rod 1 to a portable drive rod structure such as a robot (not shown).

押出しビン3はシリンダブロック2に摺動自在に支持さ
れ、ンリンタ゛ブロック2から突出する突出部5aは細
長に形成され、その先端には挿入される。「子部品17
の91部が当接する。また突出f’A 5 aの中間部
には半径方向に張出すカムフォロア19が嵌着される。
The extrusion bottle 3 is slidably supported by the cylinder block 2, and a protrusion 5a protruding from the printer block 2 is formed into an elongated shape, and is inserted into the tip thereof. "Child part 17
The 91st part of the contact comes into contact. Further, a cam follower 19 extending in the radial direction is fitted into the intermediate portion of the protrusion f'A 5 a.

し型状のレバー部材である1対の爪部材8はその股元部
を回転@9を介しシリンダブロック2に枢支され、挿入
される電子部品に係合する1:←1開閉端には電子部品
17のリード18のつけ根部J′rfYfを挾持する係
止部16が形成される。また爪部材8には係止部16か
ら突出部3aの軸線に沿ってカムフォロア19側だ向っ
て広がる細長なテーパー部24が老成される。カムフォ
ロア19はテーパー部24に案内支持される。
A pair of claw members 8, which are wedge-shaped lever members, are pivoted to the cylinder block 2 through rotation @9 at their crotches, and engage an electronic component to be inserted. A locking portion 16 is formed to clamp the root portion J'rfYf of the lead 18 of the electronic component 17. Further, the pawl member 8 is provided with an elongated tapered portion 24 that extends from the locking portion 16 toward the cam follower 19 side along the axis of the protruding portion 3a. The cam follower 19 is guided and supported by the tapered portion 24.

駆動手段は後に詳印する如く、爪部材8に当接する開閉
ビン10と、開閉ビン10および押出しビン3に動力源
からの動力を伝える機構と、上記開閉ビン10等と開閉
ビン10により動作される爪部材8とを元の位置に復帰
させるためのばね14、 7. 15等とから形成され
る。
As will be detailed later, the driving means is operated by the opening/closing bin 10 that comes into contact with the claw member 8, a mechanism for transmitting power from a power source to the opening/closing bin 10 and the pusher bin 3, and the opening/closing bin 10, etc., and the opening/closing bin 10. a spring 14 for returning the claw member 8 to its original position; 7. 15 mag.

以上の「訛成により、挿入される電子部品17を爪部材
8で挾持し、リード18をプリント基析21の挿入穴2
2に臨ませた後、押出しビン6を移動し、カムフォロア
19で爪部材8を開放しながら突出部6aで電子部品1
7を押出し、リード18を挿入穴に完全に押し込むもの
である。
According to the above-mentioned method, the electronic component 17 to be inserted is held between the claw members 8 and the lead 18 is inserted into the insertion hole 2 of the printed circuit board 21.
2, move the push-out bottle 6, release the claw member 8 with the cam follower 19, and push the electronic component 1 with the protrusion 6a.
7 and completely push the lead 18 into the insertion hole.

次に、本実施例を更に詳細に説明する。Next, this embodiment will be explained in more detail.

シリンダブロック2の中心部には止りl:qftl穴4
が穿設され、その同一円周上の対峙する位4冴にはlヒ
り円筒穴11が穿設される。
There is a hole in the center of the cylinder block 2: qftl hole 4
are drilled, and cylindrical holes 11 are drilled in four opposing positions on the same circumference.

円筒穴4内には押出しビン3が摺動自在に支持される。A pusher bottle 3 is slidably supported within the cylindrical hole 4.

押出しピン3には上記の如く突出部32が形成され、突
出部3aにはカムフォロア19が嵌着される。
The extrusion pin 3 is formed with the protrusion 32 as described above, and the cam follower 19 is fitted into the protrusion 3a.

低部材8は主動側と従動側の2股レバーからなるL型状
の1対のレバー部材から形+ff1Fれ、股元部を(ロ
)転@9を介しシリンダブロック2に枢支され、上馬e
従動側を対峙して配設される。
The lower member 8 is shaped like a pair of L-shaped lever members consisting of a two-pronged lever on the driving side and a driven side. horse e
Arranged with the driven side facing each other.

該従動側の開閉端部にはと記の如く係LI:部16が老
成される。また上記従動側の対峙する側には上記のテー
パー部24が形成されろ。このテーパー部24はプリン
ト基板21に既に実装された電子部品25に干渉しない
ように極力細長に形成される。また上記の如くテーパー
g(S24にはカムフォロア19が当接し、案内支持さ
れる。
At the opening/closing end of the driven side, a link LI: section 16 is formed as shown below. Further, the tapered portion 24 is formed on the side facing the driven side. This tapered portion 24 is formed to be as elongated as possible so as not to interfere with the electronic components 25 already mounted on the printed circuit board 21. Further, as described above, the cam follower 19 comes into contact with the taper g (S24) and is guided and supported.

駆動:fニ一段の開閉ビン10はシリンダブロック20
円周穴11に摺動自在に支持され、その突出側の端部は
爪部材8の上記主動側のレバーに当接する。円筒穴4お
よび11の開放端部にはキャンプ3およびキャンプ12
が嵌着さね、これを閉止する。キャップ5,12には貫
通穴20.23が穿設され、w通人20.23には72
気穴を有する、プラグ6.13が嵌着される。図示しな
い動力源からの圧縮空気は矢視A、Bの如く円筒穴4.
11内に導入され、押出しビン3および開閉ピン10を
図の下方側に移動させる。円筒穴4および11の底部と
押出しビン3および開閉ビン10間にはこれ等を矢視A
、B方向と反する方向に付勢するばね7,11が介設さ
れる。また爪部材8の従動側とシリンダブロック2間に
はばね15が介設され、爪部材8の係止部16を開放す
る向きに付勢している。
Drive: The f-1 stage opening/closing bin 10 is a cylinder block 20
It is slidably supported in the circumferential hole 11, and its protruding end comes into contact with the lever on the driving side of the claw member 8. At the open ends of the cylindrical holes 4 and 11 there are camps 3 and 12.
It will fit in, so close it. A through hole 20.23 is bored in the caps 5 and 12, and a hole 72 is formed in the w passer 20.23.
A plug 6.13 with an air hole is fitted. Compressed air from a power source (not shown) is supplied to the cylindrical hole 4 as shown by arrows A and B.
11 to move the pusher bottle 3 and opening/closing pin 10 downward in the figure. These are placed between the bottoms of the cylindrical holes 4 and 11 and the push-out bottle 3 and the opening/closing bottle 10 as shown in arrow A.
, springs 7 and 11 are interposed which bias the springs in a direction opposite to the B direction. Further, a spring 15 is interposed between the driven side of the pawl member 8 and the cylinder block 2, and biases the locking portion 16 of the pawl member 8 in the direction of opening.

次に、本実施例の作用を説明する。Next, the operation of this embodiment will be explained.

才1図に示す如く、挿入される電子部品17は爪部材8
の係上部16間にリード18のつけ根部を係止してて係
着される。円筒穴11内にプラグ10゜貫通穴23を介
して圧縮空気を導入すると開閉ビン10が爪部材8を押
し、これを回動させろ。これにより電子部品17は係止
部16により挟持される。この状態で押出しピン3の突
出部3 aの先端は電子部品17の1部に当接し、カム
フォロア19もテーパー部24に軽く当接する。
As shown in Figure 1, the electronic component 17 to be inserted is attached to the claw member 8.
The base of the lead 18 is locked between the locking parts 16 of the lead 18. When compressed air is introduced into the cylindrical hole 11 through the plug 10° through hole 23, the opening/closing bottle 10 pushes the claw member 8, causing it to rotate. As a result, the electronic component 17 is held between the locking portions 16. In this state, the tip of the protrusion 3a of the push-out pin 3 contacts a part of the electronic component 17, and the cam follower 19 also lightly contacts the tapered portion 24.

次に、懸架棒1を所定場所まで移動し、爪部材8に挾持
3hている電子部品17のリード18の先腑をプリント
基板21の挿入穴22に臨かせ、これを少量だけ挿入す
る。
Next, the suspension rod 1 is moved to a predetermined position, the tip of the lead 18 of the electronic component 17 held by the claw member 8 is exposed to the insertion hole 22 of the printed circuit board 21, and a small amount is inserted.

次に、円筒穴4内にプラグ6、貫通穴2oを介l、て圧
縮空気を導入し押出しピン3を図の下方に移動させると
、i3図に示す如く、カムフォロア19がテーパー部2
4に沿って下降するため爪部材8の係止部16は開放さ
れる。同時に電子部品17は押出しピン3の突出部6a
に押され、リード18を挿入穴22内に(に挿入される
Next, compressed air is introduced into the cylindrical hole 4 through the plug 6 and the through hole 2o, and the push-out pin 3 is moved downward in the figure.
4, the locking portion 16 of the claw member 8 is released. At the same time, the electronic component 17 is
, and the lead 18 is inserted into the insertion hole 22.

A’ 41aに示す如く、更に押出しピン3を下げると
、これに伴ってリード18は深く挿入され、挿入ザ了す
る。
As shown at A' 41a, when the push-out pin 3 is further lowered, the lead 18 is inserted deeply and the insertion is completed.

挿入完了後、円筒穴4,11内の圧縮空気を除去すると
、押出しピン3および開閉ピン1oはばね7,14によ
り復元され、爪部材8もはね15作用により係止部16
を開放した元の状態に復帰する。
After the insertion is completed, when the compressed air in the cylindrical holes 4 and 11 is removed, the push-out pin 3 and the opening/closing pin 1o are restored by the springs 7 and 14, and the claw member 8 also springs to the locking portion 16 due to the action of the spring 15.
Returns to the original state when released.

上記の如く、挿入されるM子部品17は爪部材8に挾持
され、リード18の先端が挿入穴221F臨む位置まで
運ば枕るが、爪部材8はその位置で停止し、1子部品1
7の開放動作の入を行う。従って爪部材8が既に実装さ
れた他の電子部品25に干渉する恐れがない。また、電
子部品17の挿入は朋長な押出しビン3aによって行な
われるためこれが他の電子部品に干渉することもない。
As described above, the M child component 17 to be inserted is held between the claw members 8 and carried to a position where the tip of the lead 18 faces the insertion hole 221F, but the claw member 8 stops at that position and the first child component 1
Perform the opening operation in step 7. Therefore, there is no possibility that the claw member 8 will interfere with other electronic components 25 already mounted. Furthermore, since the electronic component 17 is inserted using the long pusher pin 3a, it does not interfere with other electronic components.

更に、リード18の挿入中にはカムフォロア19がテー
パー部24に案内されるので押出しビン6は横倒れする
ことなく真直に移動し、確実な、かつ安定した挿入が行
われる。
Furthermore, since the cam follower 19 is guided by the tapered portion 24 during the insertion of the lead 18, the pusher bottle 6 moves straight without falling sideways, thereby ensuring reliable and stable insertion.

本実施例において駆動手段として上記櫂造のものを採用
したが、勿端これに限定するものでな(、押出しピン乙
の往復動と、爪部材8の開閉を順次行うものであればよ
い。
In this embodiment, the above-mentioned Kai-made drive means is used, but the drive means is not limited to this, as long as the reciprocating movement of the push-out pin B and the opening and closing of the claw member 8 are performed sequentially.

〔発明の効果〕〔Effect of the invention〕

以上の説明によって明らかな如く、本発明によれば狭隘
なシャドウエリアにも挿入可能であリ、既実装f′rN
雷子部品を損傷またわ変形させることなく追加実装でき
ると共に、催実、かつ安定した挿入が可能となり、挿入
の自動化が計れる効果が上げられる。
As is clear from the above explanation, according to the present invention, it is possible to insert even into a narrow shadow area.
Additional mounting can be carried out without damaging or deforming the thunderbolt parts, and it is also possible to perform successful and stable insertion, thereby achieving the effect of automating insertion.

【図面の簡単な説明】[Brief explanation of the drawing]

才1図は本発明の一実施例の断面図、牙2図ないし矛4
図は実施例の作用を説明するための部分断面図である。 2・・・シリンダブロック、3・・・押出しビン、3a
・・・突出部、4,11・・・円筒穴、5.12・・・
キャンプ、6.13・・・プラグ、7. 14. 15
・・・ばね、8・・・爪部材、9・・回転軸、10・・
・開閉ピン、16・・係止部、17.25・・電子部品
、18・・・リード、19・・カムフォロア、20.2
3・・・空気穴、21・・プリント基板、22・・・挿
入穴、24・・・テーパー部。
Figure 1 is a sectional view of one embodiment of the present invention, and Figure 2 and 4 are
The figure is a partial sectional view for explaining the operation of the embodiment. 2... Cylinder block, 3... Extrusion bottle, 3a
...Protrusion, 4,11...Cylindrical hole, 5.12...
Camp, 6.13...Plug, 7. 14. 15
... Spring, 8... Claw member, 9... Rotating shaft, 10...
・Opening/closing pin, 16...Locking part, 17.25...Electronic component, 18...Lead, 19...Cam follower, 20.2
3... Air hole, 21... Printed circuit board, 22... Insertion hole, 24... Tapered part.

Claims (1)

【特許請求の範囲】[Claims] 可搬駆動機構に懸架され、電子部品のリードを挾持して
これをプリント基板の所定位置に挿入する電子部品挿入
グリッパーにおいて、上記可搬駆動機構側に固定される
シリンダブロックに摺動自在に支持され、該シリンダブ
ロックから突出する細長の突出部を形成すると共に、該
突出部の中間位置にその半径方向に張り出すカムフォロ
アを設けてなる押出しピンと、上記シリンダブロックに
揺動自在に枢支され、上記突出部を挾んで対峙して配設
される1対のレバー部材であつて、該レバー部材の相互
に離隔又は近接する開閉端部に上記電子部品のリードに
係合する係止部を形成すると共に、該係止部から上記突
出部軸線に沿つて上記カムフォロア側に向つて広がり、
該カムフォロアを案内支持する細長のテーパー部を上記
対峙する側に形成する爪部材と、上記押出しピンおよび
爪部材を往復動作する駆動手段とを設けることを特徴と
する電子部品挿入グリッパー。
In an electronic component insertion gripper that is suspended on a portable drive mechanism and that grips the lead of an electronic component and inserts it into a predetermined position on a printed circuit board, it is slidably supported by a cylinder block that is fixed to the portable drive mechanism side. an elongated protrusion protruding from the cylinder block, and an extrusion pin provided with a cam follower protruding in the radial direction at an intermediate position of the protrusion; A pair of lever members are disposed facing each other with the protruding portion in between, and a locking portion that engages with the lead of the electronic component is formed at the open/closed end portions of the lever members that are spaced apart or close to each other. At the same time, it spreads from the locking portion toward the cam follower side along the axis of the protrusion,
An electronic component insertion gripper comprising: a claw member forming an elongated tapered portion for guiding and supporting the cam follower on the opposing sides; and a driving means for reciprocating the ejection pin and the claw member.
JP59192517A 1984-09-17 1984-09-17 Electronic part inserting gripper Pending JPS6171700A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59192517A JPS6171700A (en) 1984-09-17 1984-09-17 Electronic part inserting gripper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59192517A JPS6171700A (en) 1984-09-17 1984-09-17 Electronic part inserting gripper

Publications (1)

Publication Number Publication Date
JPS6171700A true JPS6171700A (en) 1986-04-12

Family

ID=16292598

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59192517A Pending JPS6171700A (en) 1984-09-17 1984-09-17 Electronic part inserting gripper

Country Status (1)

Country Link
JP (1) JPS6171700A (en)

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