JPH02139999A - Holding mechanism - Google Patents

Abstract

PURPOSE:To obtain an economical and simple holding mechanism with a single mechanism by a method wherein information concerning various leads and pitches is given to a control circuit beforehand. CONSTITUTION:If a stepping motor 1 is rotated in accordance with pitch information given to the control circuit of the stepping motor 1 beforehand, a pole screw 3 is turned and a certain vertical stroke is given to a piece 4. Claws 9 which is always brought into contact with the piece 4 are horizontally opened and closed by the stroke of the piece 4, a plate 10, a guide pin 12 and a shaft 11. The rod 6 of a cylinder 5 is made to descend and the tips of the claws 9 and a spring board 13 are closed and a component 16 is chucked by the force of the spring board. In this state, the component 16 is transferred to the position of a targeted through-holes and the leads of the component 16 are inserted. If the rod 19 of a cylinder 18 is made to descend and the rod 6 of the cylinder 5 is made to ascend while the upper surface of the component 16 is pushed down by a pusher 20 and the tips of the claws 9 and the spring board 15 are opened, the component 16 is inserted into the through-holes of a board 18.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、把持機構Ｋｉシ、特に小量・多ｍＫ渡るリー
ド・ピッチの異る、電子部品を早−の機構にて挿入・把
持するに好適な把持機構に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention is a gripping mechanism, particularly for inserting and gripping electronic components with different lead pitches ranging from small amounts to many meters, using a fast mechanism. The present invention relates to a gripping mechanism suitable for.

〔従来の技術〕[Conventional technology]

従来のｆｅｌｌは、特開昭６０−９９６８８号公報に記
載のようｋ、リード・ピッチの異る電゛子部品を把持挿
入するために、リードを把持する可動ジ璽−を有するユ
ニットを２ｉａ１以上設け、それらユニットの自動切換
を行う機構となっていえ。As described in Japanese Unexamined Patent Application Publication No. 60-99688, the conventional Fell has a unit with a movable jaw for gripping leads of 2ia1 or more in order to grip and insert electronic parts with different lead pitches. A mechanism for automatically switching between these units should be provided.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

上記従来技術は、リード・ピッチの異る電子部品が更に
多種に渡る場合について配慮されておらず、この場合に
は、把持機構を複数個設けるか、挿入ヘッドを複数個設
けなければならず、経済的でなくまた、機構も複雑にな
る問題点があった。The above conventional technology does not take into account the case where there are a wide variety of electronic components with different lead pitches, and in this case, it is necessary to provide multiple gripping mechanisms or multiple insertion heads. There were problems in that it was not economical and the mechanism was complicated.

本発明の目的は、多種に渡るリード・ピッチの異る電子
部品を把持・挿入する場合に、単一の機構によシ、経済
的かつ簡素な把持機構を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide an economical and simple gripping mechanism using a single mechanism when gripping and inserting electronic components having a wide variety of different lead pitches.

〔課題を解決するための手段〕[Means to solve the problem]

上記目的は、鉛直下方に頂点を持ち、頂点から左・右に
一定角度面を持つたくさび状の駒と、前記駒の上・下移
動量を制御できる回転体及びその制御回路と、前記駒の
左・右の一定角度面に各々接触し、かつ前記駒の上・下
動作に同期して左・右に動作する一対の板と、部品を把
持する為に前記一対の駒に対向して設けた更に一対の板
と、上記一対の板を水平に動作する様にカイトするビン
及び、常に前記一対の板が駒に接触する様に取付けた引
張ルばねを設け、あらかじめ、多種に渡るリード・ピッ
チ情報を、前記制御回路に与えておくことによシ、達成
される。The above purpose is to provide a wedge-shaped piece having an apex vertically downward and a constant angle surface to the left and right from the apex, a rotating body and its control circuit that can control the amount of upward and downward movement of the piece, and a left and right side of the piece.・A pair of plates each touching a fixed angle surface on the right and moving left and right in synchronization with the up and down movements of the pieces, and a further plate provided opposite to the pair of pieces for gripping parts. A pair of plates, a kite that moves the pair of plates horizontally, and a tension spring attached so that the pair of plates are always in contact with the pieces are provided, and various lead pitch information is provided in advance. This is achieved by providing the above control circuit with the following.

〔作用〕[Effect]

リード・ピッチの異る電子部品の情報を回転体の制御回
路に与えると、回転体の回転変化量が前記くさび状の駒
の上・下移動量を変化させ、前記くさび状の駒の左・右
の一定角度面に各々接触した板が左・右に一定量だけ開
閉運動を行う。またガイドピンによりて前記板の運動方
向を水平に案円し、更に左・右の板を引張シばねＫよっ
て連結することｋよシ、左・右の板が常に前記駒に接触
する。以上によシ、リード・ピッチの異る電子部局の情
報を回転体の制御回路に与えておくだけで、前記駒の動
きに合わせて、前記板を開・閉できるので、単一の機構
にて、リード・ピッチの異る電子部品を把持・挿入する
ことが可能となる。When information about electronic components with different lead pitches is given to the control circuit of the rotating body, the amount of change in the rotation of the rotating body changes the amount of upward and downward movement of the wedge-shaped piece, and the left and right sides of the wedge-shaped piece are changed. Each plate in contact with a surface at a fixed angle opens and closes by a fixed amount to the left and right. Furthermore, the direction of movement of the plates is horizontally guided by guide pins, and the left and right plates are connected by tension springs K, so that the left and right plates are always in contact with the pieces. Based on the above, the board can be opened and closed in accordance with the movement of the pieces by simply providing information on the electronic parts with different lead pitches to the control circuit of the rotating body, so a single mechanism can be used. , it becomes possible to grip and insert electronic components with different lead pitches.

〔実施例〕〔Example〕

以下、本発明の一実施例を第１−９第２図及び・第３図
によシ説明する。本実雄側によれば、外部から、回転及
び鉛直方向に固定されたステッピング・モータ１のシャ
フトにジ■インド２を介しボールねじ３が取付けられて
いる。ボールねじ３は、くさび状の駒４の軸受に案内さ
れておシ、ボールねじ３が回転することＫよって駒４は
上・下に移動可能となりている。シリンダ５０ロツド６
には、駒７が固定されておシ、駒７には、シャフト８が
回転自由に取付けられ、その両端には、爪９が回転自由
に取シ付けられている。また、爪９は、外部に回転自由
に取シ付けられた滑シキーの付いたシャフト１１　Ｋよ
シ、精度良く案内されておシ、やはシ、外部に固定され
た板１０とガイドピン１２に案内されている。駒４の斜
辺部と爪９の斜辺部は同じ傾斜てあシ、谷々爪９の間に
引張シばね１３が取ル付けである為、駒４が上・下動す
ると爪９はなめらかに動作させることができる。２本の
シャフト１１の同じ側の同じ位置には°、ギヤ２１がか
み合う様に取り付けてあシ、２ケの爪９に対向しかつ、
該爪９よル幅広の板ばね１５が取シ付けられた爪１４が
取シ付けられている。また、外部に固定されたシリンダ
１８のロッド１９には、部品押し出し用のブツシャ２０
が取ル付けである。（ただし、シャフト８及びシャフト
１１の端にはストッパ２２が取ル付けられている。〕 前記の構成によシ、第２図及び第５図において、シリン
ダ５０ロツド６を上昇すると、駒７が上昇し、シャフト
８によシ、爪９がシャフト１１を中心にシャフト１１と
共に回転し、同時に、シャフト１１０回転力がギヤ２１
を伝わシ、相対するシャフト１１を回転させ、板ばね１
５と爪９の先端部を開口させる。次に、あらかじめステ
ッピングモータ１の制御回路に与えたピッチ情報によシ
、ステッピングモータ１を回転させると、その回転数だ
け、ボールねじ３を回転させ、駒４を一定量上（口方向
）・下（イ方向）ストロークさせる（駒４は、板１０に
よってガイドされている）。引張ルばね１３によシ、適
切に引張られ、駒４に常に接触している爪９は、駒４の
ストローク及び板１０、ガイドピン１２とシャツ）１１
によシ、水平方向に開（凸方向）・閉（二方向）動作を
行う。部品１６をつかめる位置まで全体を移動させると
、シリンダ５のロッド６を下降させ、爪９と板ばね１３
の先端を閉じ、部品１６を板ばね力によシチャックする
。この状態で全体を基板１８上の目的のスルーホール位
置迄移動させ、全体を下降し、部品１６のリードを挿入
する。Hereinafter, one embodiment of the present invention will be explained with reference to FIGS. 1-9, 2 and 3. According to this report, a ball screw 3 is attached from the outside via a hinge 2 to the shaft of a stepping motor 1 which is fixed in the rotational and vertical directions. The ball screw 3 is guided by a bearing of a wedge-shaped piece 4, and as the ball screw 3 rotates, the piece 4 can move up and down. cylinder 50 rod 6
A piece 7 is fixed to the piece 7, a shaft 8 is rotatably attached to the piece 7, and claws 9 are rotatably attached to both ends of the shaft 8. In addition, the pawl 9 is attached to a shaft 11 with a sliding key that is freely rotatably attached to the outside, and is guided with precision by a shaft 11 K, which is attached to the outside for free rotation, and a plate 10 and a guide pin 12 that are fixed to the outside. are guided by. The oblique side of the piece 4 and the oblique side of the claw 9 have the same slope, and a tension spring 13 is attached between the valleys and the claws 9, so when the piece 4 moves up and down, the claw 9 moves smoothly. It can be made to work. A gear 21 is attached to the same position on the same side of the two shafts 11 so as to mesh with each other, and faces the two claws 9, and
A claw 14 to which a wide leaf spring 15 is attached is attached to the claw 9. Further, a rod 19 of the cylinder 18 fixed to the outside has a button 20 for pushing out parts.
is attached. (However, stoppers 22 are attached to the ends of the shafts 8 and 11.) Due to the above structure, in FIGS. 2 and 5, when the cylinder 50 and the rod 6 are raised, the piece 7 is The claw 9 rotates around the shaft 11 together with the shaft 11, and at the same time, the rotating force of the shaft 110 is transferred to the gear 21.
is transmitted, rotates the opposing shaft 11, and rotates the leaf spring 1.
5 and the tips of the claws 9 are opened. Next, when the stepping motor 1 is rotated according to the pitch information given in advance to the control circuit of the stepping motor 1, the ball screw 3 is rotated by the number of rotations, and the piece 4 is moved upward by a certain amount (in the mouth direction). Stroke downward (direction A) (piece 4 is guided by plate 10). The pawl 9, which is properly tensioned by the tension spring 13 and is in constant contact with the piece 4, controls the stroke of the piece 4, the plate 10, the guide pin 12 and the shirt 11.
It also opens (convex direction) and closes (two directions) in the horizontal direction. When the entire part 16 is moved to a position where it can be grasped, the rod 6 of the cylinder 5 is lowered, and the pawl 9 and leaf spring 13 are lowered.
The tip of the part 16 is closed and the part 16 is chucked by the force of the leaf spring. In this state, the entire assembly is moved to the target through hole position on the board 18, the entire assembly is lowered, and the leads of the component 16 are inserted.

次にシリンダ１８０ａツド１９を下降させ、ブツシャ２
０を部品１６の上面から、下方に押しながら、シリンダ
５０ロツド６を上昇させ、爪９と板はね１５の先端を開
かせると、部品１６は、基板１８のスルーホールに挿入
される。挿入後、全体は次の部品を挿入する為の準備を
行う。Next, lower the cylinder 180a and push the button 2.
0 from the upper surface of the component 16 downward, the cylinder 50 rod 6 is raised to open the tips of the pawl 9 and the plate spring 15, and the component 16 is inserted into the through hole of the board 18. After insertion, the whole is prepared for insertion of the next part.

以上によシ、単一の機構にて、爪９の動作範囲内のリー
ドピッチを有する電子部品の把持・挿入微行うことがで
きる。As described above, electronic components having a lead pitch within the operating range of the claws 9 can be grasped and inserted finely using a single mechanism.

未 本実總例特有の効果としては、相対する爪９の先端ＫＶ
＃Ｉ＃を複数個設ける事によシ、リード・ピッチを変更
する場合に％変更後のリードピッチによ〕近接するＶＳ
を使えるので、ステッピングモータ１の回転量を少なく
シ、タクトを短縮することができる。The unique effect of the unfinished example is that the tip KV of the opposing claw 9
By providing multiple #I#s, when changing the lead pitch, the adjacent VS
Since the rotation amount of the stepping motor 1 can be reduced, the takt time can be shortened.

〔発明の効果〕〔Effect of the invention〕

本発明によれば、あらかじめ、制御回路にリードピッチ
情報を与えておくだけで、単一の機構で多種に渡るリー
ドピッチの異る電子部品を把持・挿入することができる
ので、把持機構が経済的でかつ、簡素となる効果がある
。According to the present invention, electronic components with a wide variety of lead pitches can be gripped and inserted with a single mechanism by simply providing lead pitch information to the control circuit in advance, making the gripping mechanism economical. This has the effect of being both practical and simple.

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

第１図は、本発明の一実施例の斜視内、第２図は、第１
図のＡ−ＡＩＦｒ面図、第３図は第２図のＢ−Ｂ断面図
である。 １・・・ステッピング・モータ、２・・・ジ璽インド、
３・・・ボールねじ、４・・・駒、５・・・シリンダ、
６・・・ロッド、７・・・駒、８・・・シャフト、９・
・・爪、１０・・・板、１１・・・シャフト、１２・・
・ガイドピン、１５・・・引張〕ばね、１４・・・爪、
１５・・・板ばね、１６・・・部品、１７・・・基板、
１８・・・シリンダ、１９・・・ロッド、２０・・・ブ
ツシャ、・・・ギヤ。 躬FIG. 1 is a perspective view of one embodiment of the present invention, and FIG. 2 is a perspective view of an embodiment of the present invention.
FIG. 3 is a cross-sectional view taken along line A-AIFr in FIG. 2, and FIG. 3 is a cross-sectional view taken along line B-B in FIG. 1... Stepping motor, 2... Dial India,
3... Ball screw, 4... Piece, 5... Cylinder,
6... Rod, 7... Piece, 8... Shaft, 9...
...Claw, 10...Plate, 11...Shaft, 12...
・Guide pin, 15... tension spring, 14... claw,
15... Leaf spring, 16... Parts, 17... Board,
18...Cylinder, 19...Rod, 20...Butsusha,...Gear. Misfortune

Claims (1)

【特許請求の範囲】[Claims] １．電子部品の把持機構において、上・下動可能な、く
さび状の駒と、この駒の両斜面に接触し、くさび状の駒
の上・下運動により左・右に押し広げられる様な一対の
板と、部品を把持する為に設けた前記一対の板に対向し
て設けた更に一対の板と、前記一対の板が水平・左右方
向に動作する様に設けた一対のガイドピン及び左・右の
板を常に中央に引張るばねと、前記駒の上下方向駆動手
段及びその駆動量制御回路を設けた事を特徴とする把持
機構。1. A gripping mechanism for electronic components includes a wedge-shaped piece that can move up and down, and a pair of plates that contact both slopes of this piece and can be pushed out to the left and right by the upward and downward movement of the wedge-shaped piece. , a further pair of plates provided opposite to the pair of plates provided for gripping the parts, a pair of guide pins provided so that the pair of plates move horizontally and horizontally, and a pair of left and right plates. A gripping mechanism characterized by being provided with a spring that always pulls the plate to the center, a means for vertically driving the piece, and a driving amount control circuit thereof.