JPH024159B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a machine hand for conveying and assembling electronic components into a member to be assembled, such as a printed circuit board, and particularly relates to a machine hand that is configured separately from the electronic components. The present invention relates to a machine hand for assembling an electronic component with a seat, which is suitable for accurately assembling the electronic component and the electronic component into a member to be assembled.

[Prior art]

2. Description of the Related Art Conventionally, a seat has been used to be interposed between an electronic component and a component to be assembled when the electronic component is assembled into the component. The seat is used to prevent heat and conduction of electronic components, and is generally made of an insulating material and separate from the electrical components.

In addition, a cushion plate may be installed to protect electrical components from vibrations, etc.

Furthermore, a plate-like member having a complicated structure, such as printed wiring, may be interposed.

Therefore, the electronic component seat applied to the device of the present invention is a general term for members to be positioned and interposed between the electronic component and the member to be assembled.

Next, step 1 of assembling electronic components equipped with the above seats.
An example will be explained with reference to FIG.

In FIG. 1, 1 is an electronic component, 19 is a board that is a member to be assembled, and 3 is the electronic component 1 and the board 19.
It is a seat that should be interposed between.

Two leads 2 are implanted on the bottom surface of the electronic component 1 with a predetermined bit p. Further, the seat 3 is provided with two holes 4 having the same pitch as the pitch p of the two leads 2. Further, the substrate 19 is also provided with two through holes 20 having the same pitch as the pitch p of the two leads.

In order to assemble the above members, the hole 4 must be properly aligned with the through hole 20 and the lead 2 must be inserted.

Conventionally, when incorporating the electronic component 1 not provided with the seat 3 onto the board 19, the electronic component 1 is gripped and transported to the board 19, and then the electronic component 1 is assembled onto the board 19.
An automatic machine that aligns and inserts the lead 2 into the through hole 20 of No. 9 has been put into practical use.

However, an automatic machine that assembles the through hole 20 and the hole 4, and then the hole 4 and the lead 2 using the seat 3 as described above, has not yet been developed, and this work has been done exclusively. It is done by hand.

[Purpose of the invention]

In view of the above-mentioned circumstances, the present invention aims to provide a magic hand that can automatically integrate an electronic component having a separately constructed seat by correctly positioning it in a member to be incorporated. .

[Summary of the invention]

In order to achieve the above object, the machine hand for assembling electronic components with a seat according to the present invention is supported by a conveying means for conveying the electronic components, and the electronic components are held and assembled into the component to be assembled. electronic component assembling means, and a seat that is supported integrally with the electronic component assembling means by the conveying means and is configured separately from the electronic component, and is assembled into the member to be assembled. a seat adsorption means for adsorbing the seat on the seat assembly means; a seat positioning means for positioning the seat when the seat is adsorbed by the seat adsorption means; seat pushing means that operates in the opposite direction to the suction direction with a force weaker than the suction force and moves the seat away from the suction means when the suction by the seat suction means is released; and the seat is incorporated into the assembled member. and a driving means for driving the seat suction means in the front and back direction with respect to the member to be assembled when the assembly is completed.

[Embodiments of the invention]

Next, FIGS. 2 to 5 showing one embodiment of the present invention will be described.

FIG. 2 is a partial cross-sectional view showing a machine hand for assembling electronic components with a seat according to the present invention. In the same figure, 5
The gripper 66 and the seat assembly means 9, which constitute the electronic component assembly means, are supported via the base 8 by a connecting rod fixed to a pick-and-place device (not shown) such as a robot, which constitutes the conveyance means. ing.

The gripper 6 includes two gripping claws 6a and 6b, which are driven to open and close by a cylinder 7 to grip and release the electronic component 1.

The seat incorporating means 9 includes a vacuum suction device 12 and a stepped tubular pusher 14, which constitute a seat suction means.
Two guide pins 13 constituting seat positioning means
and a cylinder 11 constituting a driving means, two slide bars 10, and a spring 1 constituting a seat pushing means.
5.

The vacuum suction device 12 is connected to two slide bars 10 supported by the base 8 via slide bearings 9a so as to be vertically movable, and is moved vertically by a cylinder 11. Further, the vacuum suction device 12 has two guide pins 1 at the same pitch as the two leads 2 of the electronic component 1 on its bottom surface.
3 is installed, and a vacuum suction port 16 is formed in the upper side wall to be connected to a vacuum supply source (not shown) via a vacuum hose (not shown).

The stepped tubular pusher 14 has a small diameter portion 14.
a is loosely fitted into the through hole 12a formed on the bottom surface of the vacuum suction device 12 so as to be freely slidable in the vertical direction, and its large diameter portion 14b is loosely and freely slidable in the vertical direction inside the vacuum suction device 12. When the stepped portions 14c of the small diameter portion 14a and the large diameter portion 14b contact the inner bottom surface of the vacuum suction device 12 due to the downward bias of the spring 15, they form a stopper and escape downward. It is blocked. Further, the hollow hole 14c of the small diameter portion 14a functions as a vacuum suction port, and is configured to suction and hold the seat 3 at its lower end surface. Furthermore, the stepped tubular pusher 14 is urged downward by the spring 15. The spring 15 is set to be weaker than the adsorption force for adsorbing the seat 3 to the bottom surface of the vacuum adsorber 12.
2 so as not to interfere with the action of attracting the seat 3 to the bottom surface of the seat 3. When the supply of vacuum air from the vacuum suction port 16 is stopped, the spring 15 is biased downward to move the seat 3' (indicated by a phantom line) suctioned to the bottom surface of the vacuum suction device 12 to the vacuum suction surface. 12 in the direction of separating it from the bottom surface.

FIG. 2 depicts a state in which the gripper 6 has already gripped the electronic component 1, and the base 8 is driven via the connecting rod 5 to move the vacuum suction device 12 to the guide 1 of the seat.
It is in a state where it is directly facing directly above No. 7.

The guide 17 described above is attached to the outlet of a supply means (not shown) for the seats 3, and a large number of seats 3 are pushed up one after another in a stacked state.
A position sensor 18 for the seat 3 detects the position of the uppermost seat 3 and provides feedback to a supply device (not shown) to align the height of the uppermost seat 3 with the upper end of the guide 17.

In order to assemble a seat-mounted electronic component using the apparatus of this embodiment, the cylinder 11 is extended from the state shown in FIG. Then, the pusher 14 compresses the spring 15 and contracts into the body of the vacuum suction device 12. When the guide pin 13 is fitted into the hole 4 of the seat 3 and the seat 3 is vacuum-adsorbed, the cylinder 11 is contracted and the vacuum suction device 12 is raised, it becomes the state shown in FIG. 3 and is located at the top stage. The single seat 3 that had been placed is lifted up.

Next, the base 8 is moved while holding the electronic component 1 and the seat 3, and the seat 3 held under suction is brought to face a predetermined position of the board 19, which is a member to be assembled, and the vacuum suction device 12 is covered by the cylinder 11. When it is advanced toward the assembly member and the seat 3 is brought into contact with the predetermined position, the state shown in FIG. 4 will be obtained. At this time, the guide pin 13 passes through the hole 4 of the seat 3 and fits into the through hole 20 of the board 19 which is the member to be assembled, thereby positioning the seat 3. In this state, when the vacuum suction is released and the vacuum suction device 12 is retreated upward, the seat 3 remains at a predetermined position. In this case, even if the seat tries to rise together with the suction device 12 due to friction between the guide pin 13 and the hole 4 in the seat, the pusher 14 biased by the spring 15 pushes down the seat 3, and the guide pin 13 moves into the hole. The spacer 3 is pressed against the substrate 19 until it is completely removed from the spacer 4 to prevent it from shifting.

After placing the seat 3 at a predetermined position on the board 19 as described above, as shown in FIG. 1's lead 2 is inserted into the hole 4 of the seat and the through hole 20 of the board. When the cylinder 7 is operated to open the gripping claws 6a and 6b of the gripper and the electronic component 1 is released, the assembly work is completed. Incorporate correctly into 19.

That is, since the gripper 6 and the seat assembling means 9, which constitute the electronic component assembling means, are supported by the same base 8 with a fixed relative position, the seat assembling means 9 has the seat positioning means and the seat pushing means. Since the lead 2 of the electronic component 1 can be conveyed by the connecting rod 5 and properly aligned and incorporated into the hole 4 of the seat 3 and the through hole 20 of the board 19, it can be easily carried out.

In the above example, a pair of gripping claws 6a and 6b are used as a means for holding the electronic component 1, but when carrying out the present invention, vacuum suction, an electromagnetic chuck, etc. can be arbitrarily selected as a means for holding the electronic component 1. can do.

〔Effect of the invention〕

Since the present invention is configured as described above, an electronic component having a seat configured separately from the electronic component can be automatically correctly positioned and incorporated into a member to be incorporated. .

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the work of assembling an electronic component with a seat, and FIGS. 2 to 5 are partial sectional views of a magic hand for assembling electronic components with a seat according to the present invention. FIG. 3 shows the state of the preparation posture, FIG. 3 shows the state where the seat is sucked, FIG. 4 shows the state where the seat has been transported to the part to be assembled, and FIG. 5 shows the state just before the work is completed. 1...Electronic component, 2...Lead, 3...Seat, 4
... hole, 6 ... gripper, 7, 11 ... cylinder, 8 ... base, 9 ... seat assembly means, 12 ...
Vacuum suction device, 13... Guide pin, 14... Pusher, 15... Spring, 19... Board, 20... Through hole.

Claims (1)

[Claims] 1. A machine hand that holds and transports the electronic component and incorporates it into the member to be assembled, supported by a conveyance means that transports the electronic component, holds the electronic component and incorporates it into the member to be assembled. an electronic component assembling means; a seat assembling means for holding a seat that is supported integrally with the electronic component assembling means on the conveying means and configured separately from the electronic component and assembling it into the to-be-assembled member; and the seat assembly means includes a seat adsorption means for adsorbing the seat, a seat positioning means for positioning the seat when the seat is adsorbed by the seat adsorption means, and an adsorption force by the seat adsorption means. a seat pushing means that operates in the opposite direction to the suction direction with a weaker force and moves the seat away from the seat suction means when the suction by the seat suction means is released; and when the seat is assembled into the member to be assembled. and a driving means for driving the seat suction means in the front and back direction with respect to the member to be assembled when the assembly is completed.