JPS6335396B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention grips electronic components such as hybrid ICs, which tend to have large errors in relative dimensions between lead terminals and external parts, with multi-degree-of-freedom grippers and holds them in a predetermined position. This invention relates to a multi-degree-of-freedom gripper for a robot that is inserted into a printed circuit board or the like at the mounting position.

[Prior art]

Conventionally, the method of inserting electronic components such as hybrid ICs, which tend to have large errors in the relative dimensions of lead terminals and their external shapes, into a printed circuit board, etc. in a predetermined position has relied on the manual labor of an operator. Ta. Therefore, there was a drawback that working efficiency was poor. This is because when inserting the electronic component into a printed circuit board, etc., it is necessary to grasp the external part of the electronic component. This is because the lead terminals do not match the insertion holes of the printed circuit board, etc., making the insertion work difficult and causing damage to the electronic components.

That is, as shown in FIG. 1, a fixing block 28 forming a guide hole 31 into which the lead terminal 27 is inserted is placed on the base 30 at a predetermined position. The electronic component 26 is positioned by inserting the lead terminal 27 into the guide hole 31. On the other hand, a gripper 44 is fixed to the robot 40. The gripper 44 is formed of claws 25, 25 that grip the outer portion 26a of the electronic component 26, and an opening/closing mechanism that opens and closes the claws 25, 25. The opening/closing mechanism includes a threaded rod 42 that forms a right-hand thread and a left-hand thread that are screwed into the claws 25, 25, a rotation mechanism 43 that rotates the threaded rod 42, a rotation mechanism 43 that supports the threaded rod 42, the rotation mechanism, etc., and supports the robot 40. Fixing member 4 fixed to the side
1. With the above configuration, the claws 25, 25 of the gripper 44 of the robot 40 can be opened and closed at a fixed position. Therefore, the outer shape 26a of the electronic component 26 and the lead terminal 2
If there is a dimensional error between
6 is not inserted into the fixed block 28. Therefore,
Even if the robot 40 moves a predetermined distance in the direction of a printed circuit board (not shown) as indicated by arrow A, the electronic component 26 cannot be inserted into the printed circuit board. Conversely, if the position of the robot 40 is fixed, the claws 25, 25 can hold the electronic component 26.
can't grasp it. Therefore, insertion of the electronic component 26 as described above had to be done manually. This increases work time and
The disadvantage was that the manufacturing cost was high.

[Purpose of the invention]

The present invention was proposed to solve the above-mentioned drawbacks, and its purpose is to automate the insertion of electronic components, improve work efficiency, and prevent the occurrence of defective products due to incorrect insertion. The goal is to provide grip.

[Summary of the invention]

The present invention enables the external shape of an electronic component such as a hybrid IC to be positioned by inserting a lead terminal into a guide hole of a fixed block placed on a flat base.
A gripper for a robot is configured to grip the electronic component with a gripper attached to the robot and insert the electronic component into a printed circuit board, etc. at a predetermined position. A floating block that is freely movable by rolling in a direction and only by friction; a positioning means that acts perpendicularly to the floating block to position the floating block at approximately the center of its floating range; The gripper is provided with a holding means that acts from the vertical direction to fix and hold the floating block in its floating position, and a gripper integrally formed with an opening/closing mechanism for opening and closing claws fixed to the floating block and gripping the electronic component, After the floating block is positioned by the positioning means, the opening/closing mechanism is activated so that the gripper freely grips the electronic component, and the floating position is held by the holding means.

[Embodiments of the invention]

Embodiments of the present invention will be described below based on the drawings.

First, an outline of the embodiment will be explained with reference to FIGS. 2 and 3.

A fixing block 28 is placed on the flat base 30, and the electronic component 26 is positioned by inserting the lead terminal 27 into a guide hole 31 formed in the fixing block 28.

The fixed part 45 is composed of a cylinder box 3 suspended from a suspension rod 1 fixed to a robot (not shown), a housing 10 attached to the cylinder box 3, and the like. The floating block 12 is supported within the housing 10 via thrust bearings A13 and B14, and a gap is formed between the floating block 12 and the housing 10 in the above-mentioned planar direction. Therefore, the floating block 12 can freely move by this gap. In other words, the holding means 46 having a degree of freedom is
It is composed of a pressing means 5 provided in the cylinder box 3 of the fixed part 45, and an elastic member 16 provided at a position opposing the pressing means 5 of the floating block 12. The gripper 47 includes a body block 18 fixed to the floating block 12 and claws 25 and 2 that grip the outer portion 26a of the electronic component 26.
5 and a motor supported by the body block 18, a gear connected thereto, and an opening/closing mechanism for the pawl 25, which includes a threaded rod 21 screwed into the pawl 25, etc.

With the above configuration, the electronic component 26 is gripped by the gripper with the robot positioned at a fixed position, the error in the external dimensions of the electronic component 26 is absorbed by the free movement of the floating block 12, and the floating block 12 is held by the holding means 46. In the floating position, the robot is fixedly held by a fixed part, and in this state, the robot is moved a predetermined distance to automatically insert the electronic component 26 into a printed circuit board or the like.

Next, this embodiment will be explained in more detail.

The electronic component 26 has an outer portion 26a and a lead terminal 27.
As mentioned above, a hybrid IC is formed from
Electronic components 26 such as the above have errors in their relative positions.

The electronic component 26 is positioned by inserting a lead terminal 27 into a guide hole 31 formed in the upper surface of a fixing block 28 placed in a fixed position on a flat base 30. A robot (not shown) grasps the outer part 26a of the electronic component 26 inserted into the fixed block 28, moves a predetermined distance, and inserts the electronic component into a printed circuit board (not shown) in a fixed position. As described above, the robot is set and controlled to move by a predetermined distance, and is not configured to absorb the error between the lead terminal 27 and the outer shape portion 26a.

As described above, the fixed part 45 includes four suspension rods 1 fixedly attached to and suspended from the robot arm (not shown) of the robot, a solid plate 2 fixed to the lower end side of the suspension rod 1, and a solid plate 2 fixed to the lower end of the suspension rod 1, and a housing 10 that is suspended on the lower end side of the cylinder box 3 and forms a space chamber 10a whose upper wall is the lower surface of the fixed plate 2; It consists of an outer nut 15 that is screwed into a threaded portion on the outer periphery. floating block 1
2 is provided in the space chamber 10a, and a thrust bearing A13 is provided between its upper surface and the lower surface of the fixed plate 2. Further, a thrust bearing B14 is provided between the lower surface of the outer nut 15 and the upper surface of the outer nut 15, and supports the floating block 12. In addition, outer nut 15
adjusts the thrust force of thrust bearing A13 and thrust bearing B14. Therefore, the floating block 12
has a degree of freedom in the direction parallel to the plane of the base 30,
Allowed to move freely. Further, a gap is formed between the floating block 12 and the space chamber 10a in the above-mentioned plane direction, and therefore, the floating block 1 is moved by this gap.
2 can move freely within the space chamber 10a.

Next, the holding means 46 will be explained.

Inside the cylinder box 3 of the fixed part 45, a cylinder 5b and a piston A5a forming a pressing means 5 in the center thereof are provided. Piston A5
The lower side of a is slidably supported in an inner circumferential hole of a flange A7 inserted into the center of the fixed plate 2. Further, an elastic member 16 made of urethane rubber or the like is inserted into the center of the upper surface of the floating block 12. An air hole 9 is formed in the cylinder box 3 and communicates with an air source (not shown) to introduce air into the cylinder 5b. The lower end of the piston A5a is provided close to the elastic member 16, and when air is introduced into the cylinder 5b and the piston A5a is lowered,
The elastic member 16 is pressurized at the lower end of the piston A5a,
The floating block 12 is held fixed.

A cylindrical hole 4 is formed on both sides of the cylinder 5b of the cylinder box 3, and a piston B6 is provided in the cylindrical hole 4. The piston B6 is slidably supported in an inner circumferential hole of a flange B8 inserted into the fixed plate 2, and has its lower end protruding into the space chamber 10a of the housing 10. The lower end of the piston B6 is formed into a conical shape, is provided at a position opposite to the piston B6 on the upper surface side of the floating block 12, and engages with a conical groove of the piece 17. Air is also introduced into the cylindrical hole 4 from the air hole 9, and the piston B6 presses the piece 17 to fix the floating block 12 at the center position.

Next, the gripper 47 will be explained.

The lower end of the floating block 12 protrudes downward from the outer nut 15, and a body block 18 is fixed to the lower end. Body block 18 has
A threaded rod 21 is supported parallel to the plane of the base 30. The threaded rod 21 is formed to protrude from the side end surface of the body block 18, and has right-handed threads and left-handed threads of the same pitch on both ends thereof. Further, a guide shaft 20 is supported on the body block 18 and is provided in parallel with a threaded rod 21 held therebetween. Further, the claws 25, 25 for gripping the external portion 26a of the electronic component 26 sandwich the body block 18, are screwed and supported on both ends of the threaded rod 21 via nuts 24, and are attached to the guide shaft 2.
0 through a ball bushing 19 so as to be freely slidable.

A bevel gear A29 is provided at the center of the threaded rod 21, and the bevel gear A29 is screwed into a bevel gear B23 connected to the motor 22. The motor 22 is also attached to the body block 18.

The gripping portions of the claws 25, 25 are formed in a V-groove shape, and are formed to reliably grip the outer portion 26a of the electronic component 26.

Next, the operation of this embodiment will be explained.

First, the piston A5a of the holding means 46 rises and separates from the elastic member 16. In this state, the piston B6 descends and moves the floating block 12 into the space chamber 10.
Hold it fixed in the center of a. The claws 25, 25 are open apart from the outer portion 26a of the electronic component 26.

Next, the robot arm (not shown) is lowered and the piston B6 is raised to make the floating block 12 movable. Here motor 2
2, the claws 25, 25 simultaneously move in the closing direction due to the right-hand and left-hand threads of the threaded rod 21.
Now, for the lead terminal 27 of the electronic component, the outer shape 2
If 6a is not formed in the correct position,
Either one of the claws 25, 25 first
It corresponds to 6a. Next, when the claw 25 is further closed, the floating block 12 moves freely because the electronic component 26 is immobile. Since the electronic component 26 is gripped by both claws 25, the floating block 12 moves freely. In this state, the piston A5a is lowered and the piston A5
Pressure is applied to the elastic member 16 at step a to fix and hold the floating block 12 at that position. During the above operation, the position of the robot remains unchanged, and the robot and lead terminal 2
The position relative to 7 also does not change. Therefore, by moving the robot a predetermined distance, the electronic component 26 can be accurately inserted into the printed circuit board.

After insertion, the claws 25, 25 are opened, and the piston A15 is raised again, and the piston B is
6 is lowered, the conical tip of the piston B6 is engaged with the piece 17, and the floating block 12 is positioned at the center.

As described above, even if there is a relative error between the lead terminal 27 of the electronic component 26 and its outer shape 26a, the robot only needs to perform a predetermined operation, and the electronic component can be automatically inserted, improving work efficiency. Can be done.

In the above embodiment, as the holding means, the piston A
Although the pressing means 5a is used, the present invention is not limited to this, and for example, a method using magnetic force may be used.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, automatic insertion of electronic components becomes possible, work efficiency can be improved, and the occurrence of defective products due to incorrect insertion can be prevented.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a state in which a gripper with no degree of freedom is fixed to a robot, FIG. 2 is a front view of an embodiment of the present invention, and FIG. 3 is a side sectional view thereof. DESCRIPTION OF SYMBOLS 1... Suspension rod, 2... Fixed plate, 3... Cylinder box, 4... Cylindrical hole, 5... Pressing means, 5a
...Piston A, 5b...Cylinder, 6...Piston B, 7...Flange A, 8...Flange B,
9...Air hole, 10...Housing, 10a...
Space chamber, 12... Idling block, 13... Thrust bearing A, 14... Thrust bearing B, 15... Outer nut, 16... Elastic member, 17... Piece, 18...
...Body block, 19...Ball bush, 2
0...Guide shaft, 21...Threaded rod, 22...
...Motor, 23...Bevel gear B, 24...Nut, 25...Claw, 26...Electronic component, 26a...
External part, 27...Lead terminal, 28...Fixing block, 29...Bevel gear A, 30...Base, 3
DESCRIPTION OF SYMBOLS 1...Guide hole, 40...Robot, 45...Fixing part, 46...Holding means, 47...Gripper.

Claims (1)

[Claims] 1. Insert the lead terminal into the guide hole of the fixed block placed on the flat base, grip the external part of the electronic component such as a hybrid IC, which is positioned, with a gripper attached to the robot, and hold the electronic component in the specified position. A gripper for a robot that is inserted into a printed circuit board or the like located in the robot includes a fixed part fixed to the robot, a floating block supported by the fixed part and able to roll in a plane direction and move freely by friction alone. positioning means that acts perpendicularly to the floating block and positions the floating block at approximately the center of its floating range;
A holding means that acts vertically on the floating block to fix and hold the floating block in its floating position, and an opening/closing mechanism that opens and closes a claw fixed to the floating block and gripping the electronic component are integrally formed. and a gripper, and after positioning the movable block by the positioning means, the opening/closing mechanism is activated to freely grip the electronic component by the gripper, and the free position is held by the holding means. A multi-degree-of-freedom gripper for robots.