JPS63221990A - End section effector for robot device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to robotic devices, and more particularly to robotic systems using end actuators.

BACKGROUND OF THE INVENTION Robotic devices are commonly used in many industrial fields. One important area is robotic equipment that inserts electronic components into predetermined locations on printed wiring boards. in general,
The printed wiring board moves on a conveyor along an assembly line. At each independent station along the assembly line, an inserter inserts like parts. Conventional robotic equipment can generally handle only one size or shape of part, requiring the machine to be replaced or modified to accommodate different parts.

Thus, typically different machine stations can be used to insert parts of different sizes or shapes. Of course, this greatly increases the capital cost of the product insertion line and increases the physical space required to accommodate and support the assembly line. For robotic parts with non-standard shapes and sizes, or when small quantities are used in circuits, manual labor is typically used to complete the insertion process for each board. This further reduces the speed and efficiency of assembly onto a wiring board.

A typical conventional robotic device includes a robotic arm that is adjusted to move during a predetermined series of movements. An end effector is coupled to the robotic arm. The gripper unit attached to this robot arm grips each component as the robot arm moves to the component supply station, holds the component while the robot arm moves from the component supply station to the printed wiring board, and holds the component while the robot arm moves from the component supply station to the printed wiring board. It is calibrated to release the component when inserted into a hole formed in a printed wiring board. Typically, once all the components have been mechanically or manually inserted into the board, the board is moved to a soldering station where the components are soldered to the board.

Problems to be Solved by the Invention As far as the applicant is aware, conventional robotic devices have not been able to process parts having significantly varying sizes and shapes. A separate end effector is then typically required for each different type of part. Such equipment also typically processes parts of the same type.
Problems arise due to changes in the nominal size of the component body and changes relative to the leads. Many parts are formed by molding or dipping materials, which can result in significant variations in size and shape, as well as changes in the body relative to the lead. Therefore, significant variations from the nominal size may result in incomplete automatic insertion and the risk of removal of the component even though it is electrically within spec. This removal of electrically in-spec components increases the cost of assembling the wiring board.

It is an object of the present invention to provide a robotic system that can be adjusted to handle parts of varying size.

Another object of the present invention is to provide an end effector that is tailored to handle non-standard electronic components where the relationship between the component body and the leads varies from component to component.

Another object of the invention is to provide a robot arm end effector that is adjusted to compensate for changes in direction from the body to the lead to accurately place parts without damaging the part or bending the lead. It is to be.

Yet another object of the present invention is to provide a robotic system that is tailored to accurately place components on printed wiring boards, even in close proximity to other components.

(Means for Solving the Problems) In the end effector of the first robot device according to the present invention, a component body, at least one component lead from the component body, and an electronic component characterized by garlic. An end effector for use in conjunction with a robot for insertion into a printed wiring board, the end effector having first and second jaw members coupled to the robot for grasping the body of the component. a component gripping mechanism, actuation means for opening and closing the jaw members relative to the body of the electronic component, and X, Y relative to a predetermined portion of said robot.

A tracking means operated during a tracking state that allows linear and rotational movement of the gripping mechanism with respect to each of the three orthogonal axes of the Z coordinate system within the operating range of the movement, and whose position is constrained. in response to a reaction force exerted on said gripping mechanism when said jaw member is closed relative to the body of said gripping mechanism relative to said robot during the following state of tracking means comprising means for permitting movement of said gripping mechanism from an initial position to any position of use relative to said robot within said operating range; and rotation about at least said orthogonal axis. A fixing actuated subsequent to said follow-up condition to fix the position of said part gripping mechanism relative to said robot in said position of use with respect to a linear movement about two of said orthogonal axes. It consists of means.

In the end effector of the second robot device according to the present invention, in the robot component insertion system for processing an electronic component that includes a component body and at least one component lead from the component body, a programmable robot consisting of a parts acquisition station adapted to deliver parts to predetermined locations; a robot controller; a robot arm; and an end effector coupled to said robot arm; for controlling a robot arm and an end effector during a predetermined sequence of movements of grasping the body of a component at said acquisition station and inserting the leads of said component into a predetermined hole formed in a printed wiring board; a robot, the controller having means for gripping the body of the electronic component, the end effector comprising a component gripping mechanism having first and second jaw members for gripping the body of the electronic component; actuating means for opening and closing the jaw members and linear movement and rotation of the gripping mechanism relative to a predetermined portion of said robot about each of the three orthogonal axes of the x, y, z coordinate system; compliant means actuated during a compliant state for permitting movement within an operating range of movement, said gripping mechanism being activated when said jaw member is closed relative to the body of the part whose position is being constrained; during said follow-up state in response to a recoil force exerted on said Grid Pink mechanism from an initial position relative to said robot to any use position relative to said robot within said operating range; , a following means comprising means for permitting movement of said gripping mechanism, and said part clipping mechanism for fixing a position of said part clipping mechanism relative to said robot in said position of use within said operating range; locking means which are activated following the above-mentioned tracking condition while the jaw members of are closed on the above-mentioned parts and the leads of h are constrained to the above-mentioned stations.

In the end effector of the third robot device according to the present invention, in the robot component insertion system for processing an electronic component having a component body and at least one component lead from the component body, a parts acquisition station for supplying parts to predetermined locations; a programmable robot I, comprising a robot controller, a robot arm, and an end effector coupled to said robot arm; A controller includes means for controlling a robot arm and an end effector to grab a component at an acquisition station and insert said component into a predetermined hole in a printed wiring board, said robot a robot comprising means for using said predetermined position of said lead as a reference for determining the position of said component lead relative to an arm; said end effector; The end effector includes means for grasping at an acquisition station and then maintaining a relationship between the part lead and the robot arm, the end effector having a first jaw member, a second jaw member, and a means for moving the jaw member to the part body. a component body gripping mechanism comprising an operating mechanism for opening and closing relative to the jaw member, a structural member for transporting the jaw member, and a coupling means for coupling the gripping mechanism to the robot arm, The coupling means includes a connecting link member having a first end and a second end, and a first compliance mechanism coupled to the robot arm and coupled to the first end of the connecting link. means actuated during a first state to permit rotation of said connecting link member in the vicinity of a first compliance point relative to said robot arm; and said connecting link member for preventing said rotation. said second end of said connecting link member coupled to said structural member carrying said jaw member; and said second end of said connecting link member coupled to said structural member carrying said jaw member. a second compliance mechanism coupled to the structural member, the means being actuated during the first state to permit rotation of the connecting link member in the vicinity of a second compliance point relative to the structural member; a second compliance mechanism comprising means actuated during said second state for fixing the position of said connecting link member to prevent said rotation, said connecting link member; The first and second compliance mechanisms further include means for permitting movement between the robot arm and the structural member during the first state.

In the fourth end effector of a robot device according to the present invention, a robot for inserting a lead of an electronic component into a printed wiring board characterized by a component body and a component lead from at least one component body. - an end effector for use in conjunction with an electronic component, the actuation means for opening and closing the jaw member relative to the body of the electronic component and permitting controlled incremental rotation in the vicinity of a first compliance point; , means for selectively locking to prevent said incremental rotation, said first compliance means being coupled to said robot; and said means being coupled to said first compliance means by a connecting link member, said means being selectively lockable to prevent said incremental rotation; a second compliance means coupled to said clipping mechanism for permitting controlled incremental rotation in the vicinity of said clipping mechanism and lockable to prevent said incremental rotation; said first and second compliance means being lockable to prevent said incremental rotation; , is capable of relative linear movement, and selectively performs the linear movement and rotational movement of the clipping mechanism relative to each of the three orthogonal axes in the three-dimensional space, and the robot-soto cooperating to selectively prevent rotation of the clipping mechanism relative to the clipping mechanism.

A fifth end effector of a robot device according to the present invention, in a robot component insertion system, is a programmable robot comprising a robot controller, a robot arm, and an end effector coupled to the robot arm. , a controller comprising a controller for controlling a robot arm and an end effector during a predetermined sequence of movements of sequentially grasping and inserting a component into a printed wiring board, and placing the component in a predetermined position relative to the component lead. a part acquisition station adapted to dispense the part; and an end effector coupled to the robotic arm, the end effector configured to: (a) engage the controller to grasp the part; a fixed first jaw member, a movable second jaw member, and pneumatic means adapted to move said second jaw member relative to said first jaw member. A clipping means comprising:
The above-mentioned pneumatic means includes first and second air pressure means disposed within the cylinder.
a composite piston assembly having a piston member, the second jaw member being carried by the rod, and the second piston biasing the second piston to an expanded position relative to the first piston. spring means slidably mounted on said rod relative to said first piston; said clipping means;
said spring member is adapted to actuate said pneumatic means to drive said jaw member to a clamping position when said composite piston assembly is driven to a compressed position; (b) a clipping means for driving said composite piston assembly to said expanded position to move said piston an expansion stroke upon release; and (b) compliance means for coupling said clipping means to said robotic arm. (a first state in which the position of the clipping means can be moved within a predetermined movement range with respect to the robot arm; and a horizontal position of the clipping mechanism in the robot arm);
- a compliance means selectively operable in a second state in which the jaw member is substantially fixed with respect to the arm 18; Adapted to release the above parts.

A sixth end effector for a robot device according to the present invention, which includes a first jaw member, a second jaw member, and an actuation means for opening and closing the jaw members. a clipping mechanism comprising;
Compliance means for coupling said clipping means and said robotic device, comprising first and second compliance mechanisms combined together by coupling linking means, said first compliance The mechanism is coupled to the robotic device, the second compliance mechanism is coupled to the clipping mechanism, and the compliance means includes:
a first state (in this state, the clipping mechanism can move freely within a predetermined movement range with respect to the robot device) and a second state (in this state, the position of the clipping device is said first compliance mechanism comprises a first split ball and socket assembly, said first compliance mechanism being adapted to act with said first split ball socket assembly; The assembly includes a first socket member fixedly coupled to the robotic device, and a floating socket member coupled to the first socket member, the assembly including a floating socket member that cooperates with the first socket member to separate the assembly. a floating socket member disposed to define a socket cavity; first and second split ball members adapted to be disposed within the socket cavity, one on each side of the connecting link; a first actuating means for exerting a compressive force on the socket member so as to substantially fix the position of said connecting link relative to said first compliance mechanism. .

OPERATION The present invention comprises an end effector adapted for use with a programmable servo robot system. The end effector consists of a part gripping mechanism coupled to a robot arm by a compliance mechanism. This gripping mechanism consists of two gripper jaw members and is pneumatically actuated to open and close the grip. The compliance mechanism is arranged to operate in two states. In the first floating state, the gripping means
The gripping means of the robot arm on which the actuating body is attached (can be moved freely within a predetermined range of movement with respect to the plate). In the second state, the gripping means are held fixed with respect to the mounting plate. The actuating means are Compliance mechanism 2
It is equipped to operate selectively in one state.

The insertion cycle of the robot system of the present invention consists of the following steps. (1) Open the gripping mechanism, place the compliance mechanism in the first state, and position the end effector over the part to be acquired at the parts acquisition station. (2) Close the gripping mechanism over the component and place the compliance mechanism in the first state to grip the component without pre-stressing or deforming the component or lead. (3)
The compliance mechanism is actuated to the second fixed state without prestressing or deforming the component or lead. (4) Remove the parts lead from the parts acquisition station. (5) Move the robot arm toward the wiring board and insert the component into the predetermined position.

(6) Loosen the gripping mechanism and retract the arm.

EXAMPLE The present invention consists of a novel robotic system and end effector specifically adapted for handling non-standard parts. The following description of the preferred embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications of the disclosed embodiments will be readily apparent. This invention is not limited to the disclosed embodiments, but is to be accorded the widest scope that incorporates the principles and novel features of the invention.

The perspective view of FIG. 1 shows the components of a robot system according to the invention. In a preferred embodiment, robot 10:
It consists of a model RT-3000 sold by Seiko Instruments USA Inc. The robot is a programmable, 4-axis DC servo robot with a nominal position repeatability of ±0.00'1 inch.

The robot arm 15 extends from the robot body 20 along an axis 25. This arm can selectively extend and retract along axis 25 and can rotate about central axis 30 of robot body 20. The body 20 is also selectively extendable and retractable along the axis 30, allowing the arm 15 to be lowered.

Robot 10 also includes a central controller and keyboard interface, not shown in FIG. 1, through which the system operator uses the central controller. As is well known to those skilled in the art, the system controller can be programmed to perform predetermined movement and actuation sequences. Therefore, the controller is programmed with the known location of the component stack held at the acquisition station and the known location of the printed wiring board into which the component is to be inserted.

The end effector is attached to the extendable end of the arm 15. As is well known to those skilled in the art, end effectors are used to act on parts to be handled by a robotic system. Part 60 is available at acquisition station 7
Delivered to 0. The robot controller is programmed to move the robot arm to move the end effector on the acquisition station 70 and then lower the end effector to grab the next part on the conveyor line. There is.

Acquisition station 70 uses a pneumatically operated component lead clamping vise 600 (FIG. 11). This vise 600 grips the component lead and fixes the component at a predetermined acquisition point. Therefore, the position of the part lead at the acquisition station is a known parameter. The end effector grips the part with its body rather than its lead. Thus, in conventional effector systems known to applicants, changes in the size of the component body at the end effector create preload tension on the component lead or bend the lead. As a result, insertion may become impossible if the lead is moved too far from its nominal position, resulting in failure of component insertion by the robotic system.

The end effector according to the invention alleviates this problem. The end effector clipping mechanism is coupled to the robot arm mounting plate by a novel compliance mechanism. This compliance mechanism ensures that while the part is being gripped,
The clipping mechanism is moved through a predetermined range with respect to the mounting plate, and the clipping mechanism is brought to a clamping equilibrium position at part 2. Thus, the compliance mechanism is fixed in an equilibrium position while the component is inserted into the wiring board. The novel end effector thus provides a means to maintain the part relative to the robot mounting flange and to allow accurate placement of the part lead.

The novel end effector 100 is shown in more detail in FIGS. 2-10. FIG. 2 is a side view in the direction of arrow 2 of FIG. 1, with the cylindrical shroud 105 shown in cross-section to illustrate various aspects of the device. As shown in FIG. 2, the actuating body includes a screw fastener 112.
includes a circular interface plate 110 that is secured to the robot arm mounting flange 22 by. shroud 1
05 is formed with an inwardly directed lip 107.

Lip 107 connects flange 22 and interface plate 1
10 and is compressed by a fastener 112 between the two to maintain the position of the enclosure 105.

The actuating body also includes a circular lower plate 120.

three counterbalance springs +30 are coupled between the interface plate 110 and the lower plate 120;
They are spaced 120° apart around the periphery of plates 110, 120. The spring 130 takes up some of the weight of the clipping mechanism 400, lower plate 120, and lower assembly 300, reducing the insertion force exerted by the actuator device on the part and reducing friction, thus reducing friction. , the clipping mechanism 400 is allowed to "float" more freely when the compliance mechanism is in the first floating state.

Two separate ball and socket assemblies 200 are secured to the lower surface of the interface plate 11O.A lower separate ball and socket assembly 300 is attached to the upper surface of the lower plate +20. fixed to the surface.

Assemblies 200, 300 are coupled together by connecting link 150.

Clipping mechanism 400 is fixed to the lower surface of plate 120. As also shown on the bottom of the actuator in FIG. 3, the clipping mechanism includes a fixed gripping jaw 410 and a movable gripping jaw 420. The gripping jaws 420 are actuated by a double-acting air cylinder 430 to move along a slot formed in the lower surface of the plate 120.

As is clear from FIG. 2, the bottom plate 120 can move within a certain range without contacting the inner surface of the shroud 105. As explained in more detail below, when the compliance mechanism is in the first state, the upper and lower assemblies 200, 300 are arranged so that the lower plate 120 is lower than the upper plate 110.
It is adjusted so that it can move freely within a predetermined range.

FIG. 5 shows the end effector 110 taken along line 5-5 in FIG.
, and further shows the outer shroud 105 partially in section to show the air cylinder 430. The upper ball and socket assembly 200 includes a fixed ball socket 205, a floating ball socket 210,
and separate ball members 215, 220. The fixed ball socket 220 is attached to the screw fastener 2
07 on the bottom surface of the interface plate 110. The tension bolt 225 has a socket 205°210,
It passes through a line of holes formed in the separate ball members 215, 220 and the connecting link +50. Nut 230 holds bolt 225 in the assembled position. As shown in cross-section in FIG. 5, when the bolt 225 is actuated by the lever 235, the ball member 215
Close the ball sockets 205, 210 on 220.

Lower assembly 300 corresponds to assembly 200. A fixed socket 305 is secured to the upper surface of the lower plate 120 by a screw fastener 307.

The tension bolt 325 has a floating ball socket 310;
The separate ball members 315 , 320 fit through the fixed socket 305 and the aligned holes formed in the slots 155 formed in the connecting link 150 . Nut 330 secures tension bolt 325 in the assembled position. The actuated lever 335 tensions the bolt 325 and the ball socket 305,
310 is closed over the separated ball members 315, 320 and connecting link +50.

6-8 illustrate the upper and lower assemblies 200.
300 is shown in more detail. Connecting link 150, shown in cross-section in FIG. . Slot 155 allows assembly 300 to be moved along the length of slot 155 in longitudinal relationship with assembly 200.

The purpose of this extra freedom of movement is explained below.

Using the cross-sectional view of the lower assembly 300 in FIG.
The operating mechanism of the assembly will be explained. Lower assembly 300 is also shown in cross-section in FIG. The actuated lever 335 causes the tension bolt 325 to cause the end 336 to
It is held against fatigue block 340. In a preferred embodiment, separate socket members 305, 310 include
A steel fatigue block 340, machined from aluminum, is used to reduce fatigue caused by repeated contact of socket member 310 by end 336 of lever arm 335. Opposite end 338 of lever arm
Now, a pin 350 projects from the socket 310 and fits into a groove 355 (see FIG. 2) formed in the lever 335 to further constrain the lever arm 335.

A pair of threaded retaining bolts 345, 350 pass through holes in socket member 310 and threadably engage threaded holes formed in fixed socket member 305. bolt 3
45, 350 are not tightened so that adjacent surfaces of sockets 305, 310 are constrained into contact, but allow movement of the adjacent surfaces relative to each other.

Referring to FIGS. 7 and 8, a pair of air cylinders are fitted to the floating ball socket 310. rod 36
4 and 384 extend from air pistons 362 and 382, respectively, and the air pistons 362 and 382 are alternately conveyed within circular holes 374 and 394 formed in floating socket member 310.

Air lines 370 and 390 each have a passage 372
．． Fixed object 36 communicating with holes 374, 394 through 392
It will lead you to 8,388. To minimize air leakage between the pistons 362, 382 and the bore wall, each piston has a respective O-ring gasket seal 366.
386 has been adapted.

When lines 370, 390 are pressurized, the resulting pressure forces individual pistons 366, 386 into passages 372, 392.
The rod 364 , 384 thus contacts the end 338 of the actuating lever 335 and pushes the lever 335 away from the socket member 310 . Tension bolt 3
25 serves as a fulcrum, and causes the force applied by the lever end 336 to be exerted on the far block 340, and the force exerted by the nut 330 on the socket member 305. These forces on the two socket members 305, 310 result in opposing forces on the separate ball members 315, 320, thereby fixing the ball members relative to the socket members.

Separate ball members 315, 320 are arranged such that surface 316 of ball member 315 contacts adjacent surface 321 of ball member 320 when lever 335 is actuated. Additionally, the separate ball members are constructed such that there is approximately 0.0005 inch clearance between the connecting link 150 and adjacent separate ball members such that the connecting link 150 is can freely slide relative to the hole socket assembly 300 along the range.

In a preferred embodiment, a source of air pressure to secure or lock the assembly 300 and air pistons 362,3 are provided.
A valve is provided to switch lines 370, 390 between retracting 82 and a vacuum source to release assembly 300 from its fixed position. The vacuum overcomes the frictional resistance to piston retraction created by the O-ring seal. Suitable means for overcoming other resistances, such as springs, will be readily apparent to those skilled in the art.

The upper assembly 200 is the lower assembly 300.
It works in the same way as described for .

However, no substantial vertical movement of link 150 relative to assembly 200 is provided. This is because a hole, not a slot, is formed in link I50 for passing tension bolt 225 therethrough.

A double acting air cylinder for activating the gripping mechanism is shown in FIGS. 5, 9 and 10. Air cylinder 43
0 includes a piston assembly 450 attached to one end of rod 435.

Rod 435 passes through an opening formed in fixed gripper jaw 410. Sliding gripper jaw 4
20 is fixed to the other end of the rod 435.

FIG. 9 is a cross-sectional view of compound piston assembly 450 taken along line 9--9 of FIG. assembly 45
0 includes a first piston member 455 that is integrally formed with rod 435. Piston 435 is U-seal 456
and a tension spring 457 fitted therein. Spring 457 urges outer lip 458 of seal 456 outwardly into contact with the inner circumference of cylinder 430 .

The second piston member 460 is slidably held at the end of the piston 435 by a button screw 480 and a washer 4-81. A screw 480 is secured within a threaded hole formed in the end of rod 435.

A hole 462 is formed in piston 460. rod 4
The movement of the piston 460 of 35J: is restricted in one direction by a screw 480 and a washer 481.

A pair of washer wave springs 470 and 475 are connected to the rod 435 between the first piston 455 and the second piston 460.
mounted concentrically at the top.

Springs 470 and 475 are fully extended as piston 460 contacts washer 481 to urge second piston 460 to the separated position shown in FIG.

The air cylinder 430 is a double-acting cylinder, and pressurized air passes through the air passages 492 and 494 in the direction indicated by the arrow 49.
with the cap end 440 of the cylinder in the direction of 0 or arrow 4
It connects with the rod end of the cylinder in the direction of 85. To close the gripping mechanism, pressurized air is introduced into the rod end of the cylinder, moving rod 435 and gripper jaw 420 in the direction of arrow 485 so that jaw 420 closes against the part or fixed jaw 4.10. O-ring seal 465 connects U-cup seal 4 to piston 455.
Wave springs 470, 475 are shown as distance rcJ in FIG. The part movement stroke compresses the parts into the compressed configuration shown in FIG.

Compound piston assembly 450 provides a novel gripper release means. One of the problems inherent in known actuator gripper devices is that when air pressure is released to the pneumatic gripper assembly to release the part from the actuator after insertion, if the frictional lag on the part is large enough, the part will be transported. or be displaced from the inserted position when the actuating body is pulled up. If the gripping mechanism is opened after insertion and before the actuator is pulled up, the gripper jaws may contact other components on the circuit board due to the opening stroke. In that case, the component may be damaged and/or misaligned. In closely spaced power distribution boards, the clipper jaws may not be able to move far enough apart.

Compound piston assembly 450 solves this problem. When air pressure is released from the rod end of the cylinder, the compressed wave springs 470,475 are released and exert an expansion force on the pistons 455,460. The friction delay acting on the piston 455 by the U-cup ring 456 causes the piston 460 to
65, so the piston 4
55, rod 435 and gripper jaw 420 are at a distance substantially equal to distance rcJ in the direction of arrow 490 (J
During movement, piston 460 remains substantially stationary. When the jaw mechanism opens by a distance rcJ, there is no longer any delay in acting on the part when the gripper mechanism is pulled up from the inserted part, yet the opening movement is relatively small and protects the neighboring parts.

When the gripping mechanism is lifted off the printed wiring board, pressurized air is allowed to enter the cap end of the air cylinder 430 and gripper jaws 4.10, 420.
fully open. In the preferred embodiment, this feature allows insertion of parts within 0.05 inches of adjacent parts.

A pair of vent holes (not shown) are formed in the second piston 460 so that the cap end of the air cylinder communicates with the space between the first and second pistons 4,55,460. The vent prevents this space from becoming pressurized and prevents compression of the two pistons.

Referring to FIG. 5, an insertion failure sensor 580 is provided on the socket member 210 and is adapted to detect the presence of the socket member 310 of the lower assembly 300. Sensor 580 includes a spring-loaded plunger 582 that fits into a corresponding hole formed in socket member 210. The plunger acts as a target for sensor 580.

The purpose of the sensor is to detect failures when inserting components into the wiring board. In such a failure, the leads are not inserted into the pre-formed holes in the wiring board, so that the leads come into contact with the surface of the wiring board.

When the actuating body is lowered, the parts, lower assembly 300
, the lower plate 120 and gripping mechanism remain stationary, but the assembly 200 and ~48- link 150 are lowered within the slot 155.

As the upper assembly 200 is lowered, the plunger of the proximity sensor contacts the upper adjacent surface of the socket member 310 and is pushed outward. In the preferred embodiment, upward movement of the plunger 0.0 fins activates the proximity sensor 580, indicating a failed component insertion.

The robot controller can then decide whether to attempt to reinsert the part or discard the part and obtain a new part.

Referring to FIG. 5, a second proximity sensor 585 is mounted to the lower plate 120 and is adapted to detect a failure to obtain parts condition. This sensor 585 is adjusted to activate when the gripping jaws 410, 420 are sufficiently spaced apart. Activation of the second proximity sensor 585 indicates to the robot controller that the gripping mechanism is not gripping the part, allowing a decision to obtain another part.

FIG. 1I shows a block diagram illustrating the interaction of the pressure and electrical systems of the preferred embodiment. robot controller 600
is adapted to control the pressure system via a plurality of electrically actuated pressure valves. The controller 600 is
It receives input data from a number of sensor transducers installed in the system.

As is well known to those skilled in the art, robot controllers are programmable to operate the robot consistent with predetermined sequences of steps and movements.

Controlled, filtered, pressurized air is supplied to the system via line 505. Vacuum generator 5IO is connected to line 5
It is driven by pressurized air via 06. In a preferred embodiment, vacuum generator 510 includes a MI6 vacuum generator from PIAB USA, Inc. (65 Sharp Streed, Hingham, Mass. 02043). This device includes line 5 coupled to valve 545.
Vacuum 12. Arrow 511 indicates the exhaust port of vacuum generator 510. Such arrows are generally used in FIG. 11 to indicate exhaust ports.

Pressurized air is supplied via line 505 to valve 515.5.
20,525,530,535,540.

Valve 515 is a five-boat two-way valve adapted to operate the double-acting air piston of the acquisition station's lead clamping vise 600. Electrical wiring 516 is coupled between electrical actuator valve 515 and an output of controller 500. The valve 515 is
Two high pressure power boats are provided that push the end of the air piston 602 of the clamp 600 via air lines 517,518. Two ports of valve 515 are coupled to the exhaust port. Thus, an electrical control signal from the controller 6°O causes the component lead clamp vice to open or
Closed.

The acquisition station further includes a component lead sensor 590.
The sensor 590 is adapted to detect the presence of a component lead in the lead clamping vice 600. In a preferred embodiment, sensor 590 is
52005- of Scanamatic Corporation (+3060, PO Box S, Elbridge, New York)
Includes 3 LED type photoelectric sensor. In this sensor,
The LED generates light that is coaxially transmitted through the outer diameter of the optical fiber to the target. Light is reflected by the component leads and returns through the inner optical fiber bundle to the phototransistor transducer. The output terminal of sensor 590 is coupled to controller 600 via electrical wiring 591 to provide a signal indicating the presence of a component lead in the vice.

The acquisition station also has a "vise open" sensor 59.
5 and transmits a signal indicating the "vise open" condition to the controller 60.
Adapted to send to 0. The sensor includes a Model 37XL31-003 Hall Effect Proximity Sensor from Honeywell Corporation, Microswitch Division, Marpolo, Mass.

As will be readily apparent to those skilled in the art, the sensor 590.595
The information provided by enables the controller to cause the vise to grasp the lead of a part being delivered to the vise by a conveyor or other conventional means, and then to release the part lead.

Pressure valve 520.525.530.535 is SMC
Includes NVS4114-00520 3-boat valve from Nicomagic Inc., 5538 West Imond Streed, Indianapolis, IN 46241. Each valve also has a boat associated with an exhaust port. The high pressure output boat of valve 520 is
It is coupled to one input port of valve 545. The output of vacuum generator 510 is coupled to another input port of valve 545. The output of valve 525 is coupled to a pilot boat (control boat) of valve 545. Valve 545 includes a model VAI25A valve from Humphrey Products, PO Box 2008, Mazu, Michigan 49003. This valve operates to switch output line 546 between a high pressure source and a vacuum source due to valve pilot boat pressure. Pressure line 546 is coupled to four single acting air cylinders located in the upper and lower assemblies 200,300. Thus, the controller connects assemblies 200, 3 with control valves 525, 545.
Pressurized air or vacuum can be supplied to the air cylinder that operates the 00.

The insertion failure sensor 580 described above is placed on the floating socket member 210. In a preferred embodiment, the sensor includes a FYGE/MIO-0 proximity sensor from Honeywell Corporation's Microswitch Division. The output signal is sent to controller 500 via electrical wiring 581 to provide a sensor signal indicative of a failed insertion, as described above.

The gripping mechanism air cylinder 430 has a valve 530
, 535, 540, 570, 575.

The outputs of valves 530 and 535 pass to valve 570 through pressure regulators 550 and 555 and check valves 560 and 565, respectively. Regulators 550', 555 may be configured to operate at different pressure levels (e.g., IO or 20 psi).
can be separately adjusted to provide valve 570 with The purpose of using two regulators is to allow the controller to select between two grip pressures. The controller is adapted to select the grip pressure by actuating valve 570. The valve 570, in the preferred embodiment, includes a Humphrey Products 3El type valve.

The output of valve 570 passes through a quick exhaust valve 575;
The rod end of air cylinder 430 is reached.

Valve 575 includes a Humphrey Products SQE type valve and is adapted to rapidly vent the pressurized air applied to valve 575 when the pressure from valve 570 fails to decrease. Valve 575 increases the cycle time of the system.

Valve 540 is a robot output valve (Seiko RT
-3000 robot), the output of which is coupled to the cap end of a double-acting air cylinder 430.

Valves 570 and 540 are actuated simultaneously by controller 500 to actuate cylinder 430. Therefore, to close the grip, valve 570 is opened and valve 540 is closed. To fully open the grip, valve 540 is opened and valve 570 is closed. To release the part, valve 570 is closed, thereby removing pressurized air from both the cap and rod ends of air cylinder 530.

A sensor 585 is provided to detect the "closed" position of the gripper assembly. In the preferred embodiment, sensor 585 is a FYGE/MIO-0 proximity sensor from Honeywell Corporation's Microswitch Division.

As will be apparent to those skilled in the art, other electrical and pressure system layouts may be used to implement the invention. Additional lead clamping vises and acquisition stations can be readily incorporated into the system to increase system capacity.

The types of valves and sensors can also be quickly modified to suit individual purposes.

As will be apparent from the foregoing description, the compliance mechanism of the preferred embodiment is configured to move the connecting link 150 over a predetermined range with respect to the ball and socket assembly 200 on the second side when the mechanism is in the first floating state. It is adapted to. The range of movement is generally around the tension bolt 225 and between the link 150 and the socket member 205°21.
Clearance between adjacent surfaces of 0 and tension bolt 2
25 is determined by the amount of clearance between the separated ball member 2+5, 220, the hole inserted into the socket member 205, 210, and the core tension bolt. The required range of travel for use of the preferred embodiment is relatively small, and in fact the respective clearances shown in the drawings are slightly exaggerated for illustrative purposes. The actual range of movement required is a function of the individual use.

The compliance mechanism is further adapted to allow a predetermined range of movement of the lower plate 120 and the lower assembly 300 with respect to the connecting link +50 when the mechanism is in the first state. The range of movement is generally around the tension bolt 330 and the clearance between the link and adjacent surfaces of the socket members 305, 310 and the ball members 315, 32 from which the tension bolt 330 is separated.
0 and the clearance between the bolt and the hole inserted into the socket member 305, 310.

An additional degree of freedom is provided by a slot 155 formed in the link 150 of the assembly 300! 50 is allowed in the area of slot I55.

The multiple ranges of movement enabled by the compliance mechanism is one of the novel features of the present invention.

When the compliance mechanism is in the first state, the gripping mechanism can find a clamping equilibrium position for the part held in the clamping vise at the acquisition station. This equilibrium point can shift from the nominal clamping point due to changes in the component body or changes in the relationship between the component body and the leads. Due to the freedom of movement of the compliance mechanism, the lower plate can move slightly, for example from a horizontal position to an oblique position, and the gripping yaw can be slightly displaced from the central axis of the actuating body. be. The ability to force the actuator to find its own clamping equilibrium means that the compliance mechanism can accommodate deviations in part size. Without a compliance mechanism, misalignment would create a preload on the lead, bending the lead, or causing a shift in the position of the lead with respect to the robot arm when the part lead is released from the acquisition station.

After a predetermined "float time" sufficient to find the clamping equilibrium position, the compliance mechanism is actuated to the second or fixed state. In this state, the horizontal position of the gripping mechanism is fixed with respect to the robot mounting flange. As explained above, the vertical motion to the ``two''
Slot 155 of link 150 still allows.

With the compliance mechanism in a fixed state, the component can be released from the lead clamping vise at the acquisition station, and the robot moves from the acquisition station to a point on the printed wiring board where the component is to be inserted. You can move the arm. The robot arm is then lowered to insert the component leads into the preformed holes in the wiring board.

To further facilitate the insertion process, the robot controller is programmed to lower the component onto the robot arm a predetermined distance above the wiring board location, typically until the leads contact the wiring board, and Next, make the robot arm vibrate. This oscillating motion facilitates lead insertion.
Move the leads back and forth across the individual wiring board holes. The arm then completes its downward stroke.

The degree of vibration depends on the requirements of the individual use.

In a preferred embodiment, the oscillatory or horizontal motion is 0
．． The size ranges from 0.002 inches to 0.02 inches.

A typical insertion cycle time for a robotic system according to a preferred embodiment is about 2.5 seconds. During this cycle time, the "float" time of the compliance mechanism, i.e., the time the compliance mechanism is in the first state after the gripping mechanism closes on the part, is typically 5
Less than 0 milliseconds. Cycle times and float times obviously vary with individual use.

A typical insertion cycle consists of the following steps.

Place the part to be inserted at the specified acquisition point, and -60
- Clamp in a pneumatic clamping vise, for example.

Bring the robot arm to the second point of the parts you need to obtain. The compliance mechanism is placed in a first floating state, the gripping mechanism is fully opened, and the gripper jaws are lowered to a point where the jaws are positioned two opposite sides of the part. Typically, the fixed jaws are placed approximately 1732 inches from adjacent sides of the part to lower the arm.

The arm is then moved horizontally to bring the fixed jaw to the side of the part and actuate the gripping mechanism,
The movable jaws are closed on opposite sides of the part to grip the part.

Since the compliance mechanism is in the first floating state, it grips the part without preloading or bending the leads.

Once the predetermined float time has elapsed, the compliance mechanism is actuated to a second fixed state to lock the compliance mechanism. This operation produces substantially no preload on the component leads. Next, activate the pneumatic clamp at the acquisition station to release the part.

The robot arm then picks up the part, moves it to a predetermined board position, and begins a downward insertion stroke. The vibrations described above are used during the insertion stroke. Once the component is inserted into the circuit board, air pressure is released to the gripper air cylinder, causing the gripper air cylinder rod to retract and release the component during its expansion stroke. Next, pull up the robot arm and fully open the gripper jaws. Returning the robot arm to the parts acquisition point allows the system to immediately begin the next cycle.

The embodiments described above are merely illustrative of the many possible special embodiments of the invention that can be described in detail. Many modifications to the principles of the invention will readily occur to those skilled in the art without departing from the spirit and scope of the invention.

EFFECTS OF THE INVENTION The invention described above can be used to insert standard as well as non-standard parts. Using the present invention, more than one dozen different types of components (including standard and non-standard components) can be inserted into a printed wiring board in a closely spaced arrangement. Using the compliance mechanism of the present invention, the system can accommodate each type and size of parts. Using the novel release mechanism of the present invention, the system allows for the insertion of components in close-space arrangements.

[Brief explanation of the drawing]

FIG. 1 is a perspective view illustrating a robot system used in a preferred embodiment. 2 is a side view of the preferred embodiment end effector unit with the cylindrical cover of the end effector removed in the direction of arrow 2 of FIG. 1; FIG. FIG. 3 is a bottom view of the end effector of the preferred embodiment. FIG. 4 shows the end effector of the preferred embodiment at 4 of FIG.
FIG. 4 is a top sectional view taken along line -4. FIG. 5 shows a preferred embodiment of the end effector shown in FIG.
FIG. 5 is a side sectional view taken along line -5 and a view of the air cylinder of the clipper assembly. FIG. 6 is a cross-sectional view taken along line 6--6 of FIG. 5, illustrating the coupling of the separate ball and socket assemblies used in the preferred embodiment. 7 is a cross-sectional view of the lower separated ball and socket assembly taken along line 7-7 of FIG. 5; FIG. FIG. 8 is a cross-sectional view illustrating a dual air cylinder/piston arrangement used in a preferred embodiment to operate a separate ball and socket assembly. FIG. 9 is a cross-sectional view taken along line 9--9 of FIG. 5 of the air cylinder actuating the gripper mechanism used in the preferred embodiment of the invention with the air piston assembly in the expanded position. FIG. 1O is a cross-sectional view illustrating the gripper mechanism air piston assembly in the compressed position. FIG. 1+ is a functional block diagram illustrating the pressure system and electrical system of the robot system of the preferred embodiment. IO・・Robot, I5・ Robot arm, 20・・
・Robot body, 60... Parts, 70... Obtaining station, 100... End effector, 110.120...
Plate, 130...Spring, 150...Connecting link, 155...Slot, 200.300...Assembly 8 205.305...Fixed ball socket, 210
．． 310 Operating ball socket, 21.5, 22
0,315,320...separated ball, 225.3
25...Tension bolt, 230...Lever, 330...
...Natsuto, 335...Lever, 364.384...
Rod, 366.386 Piston, 400 Gripping mechanism, 410.420 Jaw, 430 Air cylinder, 450 Piston assembly, 455.460 Piston, 457 Spring, 470. 475...Spring. Figure 2, Figure 5, Figure 6, Figure 7, Figure 34-1.

Claims (15)

[Claims] (1) In an end effector for use in combination with a robot for inserting an electronic component into a printed wiring board, the end effector is characterized by a component body and at least one component lead from the component body, a component gripping mechanism coupled to the robot and having first and second jaw members for grasping a component body of the electronic component; and opening the jaw members relative to the body of the electronic component;
actuating means for closing and permitting linear and rotational movement of the gripping mechanism relative to the predetermined portion of said robot with respect to each of the three orthogonal axes of the X, Y, Z coordinate system within an actuating range of movement; compliant means actuated during a compliant state for the purpose of the present invention, wherein the compliant means is responsive to a recoil force exerted on the gripping mechanism when the jaw member is closed relative to the body of the part being constrained in position; and during said tracking state, said gripping mechanism is moved from an initial position of said gripping mechanism relative to said robot to any use position relative to said robot within said operating range. tracking means including means for permitting said part relative to said robot in said position of use with respect to at least rotation about said orthogonal axis and linear movement about two of said orthogonal axes; and a locking means which is actuated following the above-mentioned follow-up condition in order to fix the position of the gripping mechanism. (2) In the end effector according to claim 1, there is provided a means for activating the following means during the following state, and a fixing means following the following state. An end effector further comprising means for actuating. (3) In the end effector as claimed in claim 1, the above-mentioned means activated during the follow-up state to permit linear and rotational movement of the gripping mechanism include: (a) the above-mentioned means; (b) a first compliance means for permitting positioning of said gripping mechanism to rotate within an operating range about a first point fixed relative to said robot; (c) second compliance means for permitting positioning of said gripping mechanism to rotate freely about a second point fixed and spaced apart from said first point; and (c) said first compliance means. and said second compliance means, said end effector comprising coupling means for coupling said first and second compliance means to permit mutual movement of said first and said second compliance means. (4) In the end effector according to claim 3, the coupling means includes a link member, and the first compliance means includes a first ball and socket fixed to the robot. a second ball and socket member assembly comprising a member assembly, the ball member comprising means for supporting a first end of the link member, the second compliance means being secured to the gripping mechanism; and means for the second ball member to support the second end of the link member, and during the tracking state, the first and second ball members move through a predetermined range of motion. an end effector, characterized in that it is allowed to rotate within its respective corresponding socket through the end effector, thereby allowing said movement of said gripping mechanism relative to said robot; (5) In the end effector described in claim 4, the fixing means compresses the first socket member against the ball member to change the position of the ball member into the socket. a first actuating means for applying a compressive force to said first socket member to secure it within said member; and a first actuating means for compressing said second socket member relative to said ball member and positioning said ball member. An end effector characterized in that it has second actuating means for exerting a compressive force on said second socket member for securing within said socket member. (6) A robotic component insertion system for processing an electronic component having a component body and at least one component lead from the component body, adapted to feed the component at a predetermined position relative to the component lead. A programmable robot consisting of a parts acquisition station, a robot controller, a robot arm, and an end effector coupled to the robot arm, and sequentially grabs the body of the part at the acquisition station and retrieves the part. a robot, the controller comprising means for controlling the robot arm and the end effector during a predetermined sequence of movements of inserting the lead of the robot into a predetermined hole formed in a printed wiring board; an end effector comprising: a component gripping mechanism having first and second jaw members for grasping the component body; and opening the jaw members relative to the body of the electronic component;
actuating means for closing and permitting linear and rotational movement of the gripping mechanism relative to the predetermined portion of said robot with respect to each of the three orthogonal axes of the X, Y, Z coordinate system within an actuating range of movement; compliant means actuated during a compliant state for the purpose of the present invention, wherein the compliant means is responsive to a recoil force exerted on the gripping mechanism when the jaw member is closed relative to the body of the part being constrained in position; and during said tracking state, said gripping mechanism is moved from an initial position of said gripping mechanism relative to said robot to any use position relative to said robot within said operating range. a following means comprising means for permitting said jaw member to rest on said part for fixing a position of said part gripping mechanism relative to said robot in said operating position within said operating range; and a fixing means which is activated subsequent to said follow-up condition while said lead is tethered to said station. (7) In the robot system as set forth in claim 6, the component obtaining station includes a lead clamping device for grasping the lead of the component in order to position the lead at the predetermined position. the robot controller comprising means for associating the predetermined position for gripping the lead with a predetermined opening position on the printed wiring board into which the lead is inserted; The device further includes means for positioning the robotic arm and the end effector to grasp the body of a component having a lead gripped by the lead clamping device; means for actuating said means for permitting linear and rotational movement of said member; and said lead for closing said jaw member on said body of said part while said movement permitting means is actuated; means for permitting a gripping mechanism to reach a gripping equilibrium position relative to said robot arm without preloading said gripping mechanism; and for substantially fixing the position of said gripping mechanism in said equilibrium position. means for actuating said securing means to said position from said obtaining station relative to said printed wiring board for inserting said component lead into an opening in said printed wiring board position; A robot system comprising: a means for moving a robot arm; and a means for moving a robot arm. (8) In the robot system set forth in claim 6, the parts acquisition station further detects the presence of a part lead with the clamping device and sends a lead sensor signal to the robot controller. A robotic system comprising lead detection means adapted to dispense. (9) In the robot system according to claim 8, the parts acquisition station further detects that the lead clamping device is fully closed, and outputs a clamping signal indicating this. A robot system comprising a vice clamping sensor means for supplying the robot controller to the robot controller. (10) A robotic system according to claim 6, further comprising: means for releasing a component into a predetermined board position by opening said jaw member an incremental distance; A robot system comprising: (11) In the robot system according to claim 10, the position of the first jaw member is fixed, and the end effector further has a position relative to the first jaw member. A robotic system characterized in that it comprises pneumatic means adapted to move said jaw members. (12) In a robot component insertion system for processing an electronic component having a component body and at least one component lead from the component body, a component for feeding the component to a predetermined position relative to the component lead. A programmable robot consisting of an acquisition station, a robot controller, a robot arm, and an end effector coupled to the robot arm, which sequentially grabs parts at the acquisition station and places the parts on a printed wiring board. A controller includes means for controlling a robot arm and an end effector for insertion into a predetermined hole, said robot as a reference for positioning a component lead relative to said robot arm. a robot comprising means for using the predetermined position of the lead; and the end effector is configured to grasp the body of the part at the acquisition station and then determine the relationship between the part lead and the robot arm. the end effector includes a first jaw member, a second jaw member, an actuation mechanism for opening and closing the jaw member relative to the component body;
A component body gripping mechanism comprising a structural member for conveying the jaw member, and a coupling means for coupling the gripping mechanism to the robot arm, the coupling means comprising a first end and a first end. a connecting link member having two ends; a first compliance mechanism coupled to the robot arm and coupled to the first end of the connecting link, the first compliance mechanism being relative to the robot arm; means actuated during a first state permitting rotation of said connecting link member in the vicinity of a first compliance point and during a second state fixing the position of said connecting link member to prevent said rotation; a second compliance mechanism coupled to said structural member carrying said jaw member and coupled to said second end of said connecting link member; , means actuated during said first condition for permitting rotation of said connecting link member in the vicinity of a second compliance point relative to said structural member; and said connecting link member for preventing said rotation. and means actuated during said second state for fixing the position of said link member, said connecting link member and said first and second compliance mechanisms.
The compliance mechanism further comprises means for permitting movement between the robot arm and the structural member during the first state. (13) An end effector used in combination with a robot for inserting leads of an electronic component into a printed wiring board, characterized by a component body and at least one component lead from the component body, , actuating means for opening and closing the jaw members relative to the body of the electronic component; and selectively lockable to allow controlled incremental rotation in the vicinity of the first compliance point and to prevent said incremental rotation. means, the first compliance means being coupled to the robot; the first compliance means being coupled to the first compliance means by a connecting link member for permitting controlled incremental rotation in the vicinity of a second compliance point; a second compliance means coupled to the clipping mechanism and lockable to prevent said incremental rotation, said first and second compliance means being capable of relative linear movement, said first and second compliance means being capable of relative linear movement; cooperating to selectively effect linear and rotational motion of said gripping mechanism relative to each of the orthogonal axes of the book, and selectively prevent rotation of said gripping mechanism relative to said robot; end effector. (14) A robot component insertion system, which is a programmable robot consisting of a robot controller, a robot arm, and an end effector coupled to the robot arm, and moves to sequentially grasp components and insert them into a printed wiring board. a robot comprising a controller for controlling the robot arm and the end effector during a predetermined sequence of;
a part acquisition station adapted to feed a part into a predetermined position relative to a part lead; and an end effector coupled to the robot arm, the end effector comprising: (a ) a fixed first jaw member and a movable second jaw member actuated by a control signal from the controller to grip the part; pneumatic means adapted to move two jaw members, said pneumatic means comprising a compound piston assembly having first and second piston members disposed within a cylinder; a second jaw member of the is carried by the rod, and the second piston includes spring means for biasing the second piston to an expanded position relative to the first piston; Said gripping means is slidably mounted relative to said rod and actuates said pneumatic means to move said jaw member into a clamping position when said compound piston assembly is driven into a compression position. gripping means adapted to drive, said spring member driving said compound piston assembly to said expanded position to move said piston an expansion stroke upon release of said pneumatic means; b) compliance means for coupling said gripping means with said robot arm, said gripping means having a first state in which the position of said gripping means can be moved within a predetermined range of movement with respect to said robot arm, and said gripping means; a second state in which the horizontal position of the mechanism is substantially fixed with respect to the robot arm; A robotic part insertion system that is adapted to release said part into a predetermined insertion position. (15) A gripping mechanism, which is an end effector for a robot device and includes a first jaw member, a second jaw member, and an actuation means for opening and closing the jaw members, and a link means are coupled to each other. Compliance means for coupling said gripping means and said robotic apparatus, comprising first and second compliance mechanisms combined together by said first compliance mechanism, said first compliance mechanism said second compliance mechanism coupled to said apparatus, said second compliance mechanism coupled to said gripping mechanism, said compliance means comprising:
a first state (in this state, the gripping mechanism can move freely within a predetermined movement range with respect to the robot device) and a second state (in this state, the position of the gripping means is in a position relative to the robot device) and a compliance means adapted to act with a first discrete ball and socket assembly (substantially fixed), the first compliance mechanism comprising a first discrete ball and socket assembly; The socket assembly includes a first socket member that is fixedly coupled to the robot device, and a floating socket member that is coupled to the first socket member and that cooperates with the first socket member to separate the socket assembly. a first floating socket member adapted to be disposed within said socket cavity, one on each side of said connecting link;
and a second separate ball member; and a first actuation means for applying a compressive force to the socket member to substantially fix the position of the connecting link relative to the first compliance mechanism. An end effector consisting of.