JPH0624517A - Robot hand for printed board - Google Patents
Robot hand for printed boardInfo
- Publication number
- JPH0624517A JPH0624517A JP18424292A JP18424292A JPH0624517A JP H0624517 A JPH0624517 A JP H0624517A JP 18424292 A JP18424292 A JP 18424292A JP 18424292 A JP18424292 A JP 18424292A JP H0624517 A JPH0624517 A JP H0624517A
- Authority
- JP
- Japan
- Prior art keywords
- printed board
- robot hand
- edges
- printed
- claw member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、部品を実装した多数の
プリント板を収容ラックの所定位置に納置又は取り出し
を行う、自動マテリアルハンドリング装置におけるロボ
ットハンドに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand in an automatic material handling device for storing or taking out a large number of printed boards on which parts are mounted at a predetermined position of a storage rack.
【０００２】[0002]
【従来の技術】図３に従来の一例のプリント板用ロボッ
トハンドを示し、(a) は構成斜視図、(b) は取り出し直
前、(c) は取り出し中、(d) は取り出し完了、図４はプ
リント板後縁部の保持状態正面図である。2. Description of the Related Art FIG. 3 shows a conventional robot hand for a printed board, (a) is a perspective view of the structure, (b) is just before taking out, (c) is taking out, (d) is taking out, and FIG. 4 is a front view of the holding state of the rear edge of the printed board.
【０００３】部品を実装し完成したプリント板を一時格
納し、次工程の要求により払い出す自動マテリアルハン
ドリング装置が用いられる。これは、壁面に収容ラック
が設けられ、プリント板がロボットハンドに掴まれ、垂
直面をＸＹに移動して所定位置に停止し、納置する。
又、取り出しは所定位置まで移動したロボットハンドに
より収容ラックから取り出され、掴持したまま再度出口
まで移動し、排出させる。これらの動作は、全てコンピ
ュータにより制御される。An automatic material handling device is used in which a completed printed board on which components are mounted is temporarily stored and is paid out in accordance with a request for the next process. In this, a storage rack is provided on the wall surface, the printed board is gripped by the robot hand, and the vertical surface is moved to XY, stopped at a predetermined position, and stored.
In addition, the robot is taken out from the storage rack by the robot hand that has moved to a predetermined position, and while being held, it is moved to the outlet again and discharged. All of these operations are controlled by the computer.
【０００４】この従来の一例のロボットハンド69は、図
３の(a) に示す如くで、プリント板９の前両縁端を挟持
し、基板49の上を前後方向に往復移動させる挟持部29
と、基板49の上に載せたプリント板９の後両縁部を支持
する上下可動の支持座７とから構成される。As shown in FIG. 3A, the robot hand 69 of this conventional example clamps both front edges of the printed board 9 and reciprocates the board 49 in the front-back direction.
And a vertically movable support seat 7 that supports both rear edges of the printed board 9 placed on the substrate 49.
【０００５】挟持部29は、基板49に前後方向に設けた所
定長さの２個のスリット48に緩嵌して往復移動すると共
に、鉤形で凹形状先端を備える爪部材19の２個を対向さ
せ、先端の間隔を所定の範囲可動できるようにしてあ
る。The holding portion 29 loosely fits into two slits 48 of a predetermined length provided on the base plate 49 in the front-rear direction and reciprocates, and at the same time, two hook members 19 having hook-shaped concave tips are provided. They are opposed to each other so that the distance between the tips can be moved within a predetermined range.
【０００６】支持座７は、円形の座面71とその中央に先
細のテーパピン72を垂設した棒体で垂直に移動し、基板
49の板面下に埋没した状態と所定高さに突出した状態と
がある。The support seat 7 is vertically moved by a rod body having a circular seat surface 71 and a tapered taper pin 72 vertically provided at the center of the seat surface 71.
There are a state of being buried under the plate surface of 49 and a state of protruding to a predetermined height.
【０００７】収容ラック８に納置したプリント板９の取
り出し又は入口での受領は以下のとおりである。支持座
７が埋没状態にあり、挟持部29が２個の爪部材19を最大
に拡開させ、前方に進みスリット48の端にて停止する。The printed board 9 stored in the storage rack 8 is taken out or received at the entrance as follows. The support seat 7 is in a buried state, and the holding portion 29 expands the two claw members 19 to the maximum extent, and moves forward and stops at the end of the slit 48.
【０００８】次に図３の(b) のように爪部材19間を縮
め、凹形状先端にてプリント板９の前部両縁端を挟持
し、図３の(c) のようにそのまま挟持部29を後退させ、
挟持部29が過ぎると基板49の下から支持座７が突き出て
来て、テーパピン72にてセンタリングアクションを行い
プリント板９の両縁裏面を座面71にて支持して、挟持部
29が図３の(d) のようにスリット48の端にて停止するこ
とにより、挟持されたプリント板９は収容ラック８から
完全に取り出され、ロボットハンド69の基板49の上に平
行に載置された状態となり取り出しが完了する。Next, as shown in FIG. 3 (b), the space between the claw members 19 is contracted, and the front edges of the printed board 9 are clamped by the concave tips, and are clamped as they are as shown in FIG. 3 (c). Retract part 29,
When the holding portion 29 has passed, the support seat 7 projects from under the substrate 49, and the centering action is performed by the taper pin 72 to support the back surfaces of both edges of the printed board 9 on the seat surface 71, and the holding portion 7 is held.
By stopping 29 at the end of the slit 48 as shown in FIG. 3D, the sandwiched printed board 9 is completely taken out from the storage rack 8 and placed in parallel on the substrate 49 of the robot hand 69. It will be put in the placed state and the extraction will be completed.
【０００９】後は所定位置まで搬送移動して行き、排出
する。又、ロボットハンド69の上のプリント板９を収容
ラック８に納置又は出口への排出は以下のとおりであ
る。After that, the sheet is transported to a predetermined position and discharged. The printed board 9 on the robot hand 69 is stored in the storage rack 8 or discharged to the outlet as follows.
【００１０】図３の(d) の状態から、先ず挟持部29が前
記と逆方向に移動を開始し、図３の(c) のように移動中
にプリント板９の後両縁部が収容ラック８のレール状の
格納部に填まり、スライドして挿入されて行く。この
際、爪部材19が近づくと支持座７が動き埋没状態にな
り、爪部材19を通過できるようにする。From the state shown in FIG. 3 (d), first, the holding portion 29 starts moving in the opposite direction to the above, and as shown in FIG. 3 (c), both rear edges of the printed board 9 are accommodated during movement. It fits into the rail-shaped storage part of the rack 8 and is inserted by sliding. At this time, when the claw member 19 approaches, the support seat 7 moves and becomes buried, so that the claw member 19 can be passed.
【００１１】挟持部29がプリント板９を持ってスリット
48の端部にて停止すると、プリント板９は収容ラック８
に十分に納置されており、図３の(b) のように挟持部29
は爪部材19を最大に拡開させ、プリント板９を離してか
ら後退移動し、スリット48の反対端に停止して戻り完了
する。勿論、支持座７は埋没状態のままである。The holding portion 29 holds the printed board 9 and slits it.
When stopped at the end of 48, the printed board 9 is placed in the storage rack 8.
It is fully stored in the holding part 29 as shown in Fig. 3 (b).
The claw member 19 is opened to the maximum, the printed board 9 is released, and the claw member 19 is moved backward. Of course, the support seat 7 remains buried.
【００１２】[0012]
【発明が解決しようとする課題】しかしながら、 部品を半田付け実装したプリント板９には反りが発
生し、図４に点線にて示すように反り、プリント板９の
後縁部が座面71から浮いた状態になり、大きい反りでは
両縁端が浮いてしまう。 又、挟持部29の爪部材19にてプリント板９の前部両
縁端を挟持するのに、反りにより先端の凹形状の中央か
らずれてプリント板９の縁端を保持したり、両縁端が同
時にでなく保持されると、プリント板９を反らせたり、
尻振りを起こすように挟持力が作用し、図示省略するが
後部縁では支持座７のテーパピン72を越えた位置に浮き
上がってしまうことも稀に生じる。 かように、プリント板９が後縁部にて支持座７から
浮いた状態になると、収容ラック８の所定位置に格納で
きなくなってしまう。 無理やり格納させるとプリント板９を損傷させる恐
れもある。等の問題点があった。However, the printed board 9 on which the components are mounted by soldering is warped, and as shown by the dotted line in FIG. 4, the rear edge of the printed board 9 is separated from the seat surface 71. It will be in a floating state and both edges will float with a large warp. Further, when the front edge edges of the printed board 9 are clamped by the claw members 19 of the clamping portion 29, the edge edges of the printed board 9 are held by shifting from the center of the concave shape of the tip due to the warp, or both edge edges are held. If the edges are held at the same time, the printed board 9 may be warped,
A pinching force acts so as to cause a tail swing, and although it is not shown in the figure, it rarely floats up to a position beyond the taper pin 72 of the support seat 7 at the rear edge. As described above, when the printed board 9 is floated from the support seat 7 at the rear edge portion, it cannot be stored in the predetermined position of the accommodation rack 8. Forcibly storing it may damage the printed board 9. There were problems such as.
【００１３】本発明は、かかる問題点に鑑みて、反りが
あるプリント板に対しても、無理なく確実に納置できる
ようにするロボットハンドを提供することを目的とす
る。In view of the above problems, it is an object of the present invention to provide a robot hand capable of reliably and reliably placing a printed board having a warp.
【００１４】[0014]
【課題を解決するための手段】上記目的は、図１に示す
如く、部品を実装した多数のプリント板を収容ラックの
所定位置に納置又は取り出しを行う、自動マテリアルハ
ンドリング装置におけるロボットハンドであって、先端
凹状で鉤形の爪部材１を対向配設し、プリント板９の前
部両縁端を挟持し、前後方向に定距離を往復可動する挟
持部２と、凹形状の接触部を有する複数個のガイドロー
ラ３を、対向させ弾性的押圧を加えて、前記プリント板
９の両縁端を移動自在に挟持し、且つ前記挟持部２の爪
部材１の外形に接して拡開、復旧自在としたローラ挟持
部５と、を平らな基板４上に配設する、本発明のプリン
ト板用ロボットハンドにより達成される。The above object is to provide a robot hand in an automatic material handling apparatus for placing or taking out a large number of printed boards on which components are mounted at a predetermined position of a storage rack, as shown in FIG. The hook-shaped claw members 1 having a concave tip are arranged so as to oppose each other, and both front edge edges of the printed board 9 are sandwiched, and the sandwiching portion 2 which is movable back and forth by a constant distance in the front-rear direction and the concave contact portion. The plurality of guide rollers 3 are opposed to each other and elastically pressed to clamp both edges of the printed board 9 so as to be movable, and to contact the outer shape of the claw member 1 of the holding portion 2 to expand the same. This is achieved by the robot hand for a printed board according to the present invention, in which the recoverable roller holding portion 5 and the flattened board 4 are arranged.
【００１５】[0015]
【作用】即ち、ロボットハンド６の基板４上にて、プリ
ント板９は前部縁端を対向した爪部材１で挟持固定し、
後部縁端も対向する複数個のガイドローラ３により挟持
され、しかも接触部は凹状であり押圧接触しているの
で、縁端の移動と共に一番深い谷部の定位置に両側の縁
端が位置され、反りがあってもガイドローラ３の位置に
て両側縁端が定位置に矯正される。従って、挟持部２を
移動して挟持したプリント板９を収容ラック８に向けて
押し出しても、近くのガイドローラ３にて位置出しが行
われており、殆ど反りの影響が無く確実に納置すること
ができる。In other words, the printed board 9 is fixed on the board 4 of the robot hand 6 by sandwiching the front edge of the printed board 9 with the facing claw members 1.
The rear edge is also sandwiched by a plurality of guide rollers 3 facing each other, and the contact portion is concave and is in pressure contact, so that the edge on both sides is positioned at the fixed position of the deepest valley as the edge moves. Even if there is a warp, both side edges are straightened at the position of the guide roller 3. Therefore, even if the sandwiched portion 2 is moved and the sandwiched printed board 9 is pushed out toward the accommodation rack 8, the guide roller 3 is positioned near it, and there is almost no influence of warpage, and the printed board 9 is reliably stored. can do.
【００１６】又、プリント板９の縁端をガイドローラ３
が確実に捉えるのは、挟持部２の移動に伴い爪部材１も
一緒に移動する時に、ローラ挟持部５の位置を通過して
行くが、この初回の往路には、爪部材１の外形にガイド
ローラ３の凹状の接触部が接触し、その形状により弾性
的押圧力に抗して押し広げられるが、基板４から爪部材
１の先端部までとガイドローラ３までのプリント板９の
挟持レベルは、同一にしてあるので外形から外れること
はなく、プリント板９を挟持して復路を挟持部２が戻っ
て来て爪部材１が通過すると、通過の瞬間から押圧力に
よりガイドローラ３がプリント板９の縁端に接触して挟
持し、ローラのためプリント板９の移動に追従して縁端
を挟持し続けることができる。Further, the edge of the printed board 9 is connected to the guide roller 3
What is surely captured is that when the claw member 1 moves together with the movement of the holding portion 2, it passes through the position of the roller holding portion 5. The concave contact part of the guide roller 3 comes into contact with the guide roller 3 and spreads out against the elastic pressing force due to its shape. The clamping level of the printed board 9 from the substrate 4 to the tip of the claw member 1 and the guide roller 3 is held. Since they are the same, they do not deviate from the outer shape. When the printed board 9 is held and the holding part 2 returns on the return path and the claw member 1 passes, the guide roller 3 prints by the pressing force from the moment of passing. The edges of the plate 9 can be contacted and pinched, and the rollers can follow the movement of the printed board 9 to continue to pinch the edges.
【００１７】これにより、プリント板９の何れの支持点
においても、凹状の谷部の定位置に縁端が位置されて挟
持され、反りや爪部材１の挟持ずれがあっても、支持点
にて定位置からずれることは皆無となる。As a result, at any supporting point of the printed board 9, the edge is positioned and clamped at a fixed position of the concave valley portion, and even if there is a warp or a clamping deviation of the claw member 1, the supporting point is supported. There is no deviation from the fixed position.
【００１８】かくして、本発明により、反りがあるプリ
ント板に対しても、無理なく確実に納置できるようにす
るロボットハンドを提供することが可能となる。As described above, according to the present invention, it is possible to provide a robot hand capable of reliably and reliably placing a printed board having a warp.
【００１９】[0019]
【実施例】以下図面に示す実施例によって本発明を具体
的に説明する。全図を通し同一符号は同一対象物を示
す。図１に本発明の一実施例を示し、(a) は構成斜視
図、(b) は取り出し直前 (c) は取り出し中 (d) は取
り出し完了、図２は本発明の他の実施例のローラ挟持部
を示し、(a) はプリント板挟持状態、(b) は爪部材の外
形による拡開状態である。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail with reference to the embodiments shown in the drawings. Throughout the drawings, the same reference numerals denote the same objects. FIG. 1 shows an embodiment of the present invention, (a) is a perspective view of the configuration, (b) is just before taking out, (c) is taking out, (d) is taking out, and FIG. 2 shows another embodiment of the present invention. The roller sandwiching portion is shown, (a) is a printed board sandwiched state, and (b) is an expanded state due to the outer shape of the claw member.
【００２０】本実施例は何れも前述の従来例と同じ自動
マテリアルハンドリング装置のロボットハンドに適用し
たものである。一実施例は、図１の(a) に示す如く、ロ
ボットハンド６の平らな基板４と、プリント板９を挟持
し前後に往復移動する挟持部２と、縁端を挟持するロー
ラ挟持部５とから成る。Each of the present embodiments is applied to the robot hand of the same automatic material handling device as the above-mentioned conventional example. In one embodiment, as shown in FIG. 1A, a flat substrate 4 of a robot hand 6, a holding portion 2 for holding a printed board 9 and reciprocating back and forth, and a roller holding portion 5 for holding an edge portion. It consists of and.
【００２１】基板４には、挟持部２が前後に往復移動す
るスリット48が２個平行に設けられ、更にローラ挟持部
５の位置には２個の短いスリット47が直角方向に対向し
て設けてある。The substrate 4 is provided with two slits 48 in parallel with each other to reciprocate the nipping portion 2, and at the position of the roller nipping portion 5, two short slits 47 are provided so as to oppose each other in the right angle direction. There is.
【００２２】挟持部２は、前記スリット48に緩嵌して往
復移動すると共に、両側に対向して鉤形の爪部材１を間
隔可変に設けてある。爪部材１の先部は斜めに折れ曲が
り、先端はＶ字形の凹形状に成形してある。The holding part 2 is loosely fitted in the slit 48 to reciprocate, and the hook-shaped claw members 1 are provided on both sides so as to be variable in interval. The tip of the claw member 1 is bent obliquely, and the tip is formed in a V-shaped concave shape.
【００２３】ローラ挟持部５は、前記スリット47に緩嵌
し移動自在に立設した軸部材51と、この軸部材51の一端
に軸支され周縁にＶ溝の凹形状接触部を形成したガイド
ローラ３と、対向する軸部材51の他端間に引合力を与え
る引張ばね52とから成り、常時対向したガイドローラ３
同士はスリット47の内側端にあり、弾性的引張力が与え
られている。The roller holding portion 5 is a guide in which a shaft member 51 which is loosely fitted in the slit 47 and erected movably and a shaft contact portion which is rotatably supported at one end of the shaft member 51 and has a V-groove concave contact portion formed on the periphery thereof. The guide roller 3 is composed of a roller 3 and a tension spring 52 that applies an attractive force between the other ends of the shaft members 51 that face each other.
The two are located at the inner end of the slit 47 and are given an elastic tensile force.
【００２４】収容ラック８に納置されたプリント板９の
取り出しは以下のとおりである。手前の端部にあった挟
持部５が、両方の爪部材１を最大に拡開させ、スリット
48内を前進移動し、他端にて停止する。The printed board 9 stored in the storage rack 8 is taken out as follows. The sandwiching part 5 located at the front end spreads both claw members 1 to the maximum,
It moves forward in 48 and stops at the other end.
【００２５】この移動途中にてローラ挟持部５のガイド
ローラ３に、爪部材１の外形の傾斜状の先部が当り、そ
の傾斜により無理なくガイドローラ３は接触したまま、
引張力に抗して外方の押力を受け、スリット47内を移動
し図１の(b) のように対向間隔は拡開される。During this movement, the inclined tip of the outer shape of the claw member 1 hits the guide roller 3 of the roller holding portion 5, and the inclination causes the guide roller 3 to be kept in contact with each other.
It receives an outward pushing force against the tensile force and moves in the slit 47 to widen the facing interval as shown in FIG. 1 (b).
【００２６】次に爪部材１間を縮め、Ｖ字形先端にてプ
リント板９の前部両縁端を挟持固定し、図１の(c) のよ
うにそのまま挟持部２を後退させ、挟持部２が過ぎると
爪部材１の外形に押圧接触していたガイドローラ３は、
そのままプリント板９の縁端にＶ字形接触部を押圧接触
させて、対向同士にて挟持する。Next, the claw members 1 are contracted, and the front edges of the printed board 9 are clamped and fixed by the V-shaped tip, and the clamp portion 2 is retracted as it is as shown in FIG. When 2 passes, the guide roller 3 that was in pressure contact with the outer shape of the claw member 1
The V-shaped contact portion is pressed into contact with the edge of the printed board 9 as it is, and is sandwiched between the opposing members.
【００２７】更に、プリント板９が移動すれば、ガイド
ローラ３は回転して接触対応しながら、決して挟持を解
くことなく、ますます縁端を谷部の中央位置に導き保持
するように作用する。Further, when the printed board 9 moves, the guide roller 3 rotates and responds to the contact, and nevertheless releases the nipping, and further guides and holds the edge to the central position of the valley. .
【００２８】挟持部２が図１の(d) のようにスリット48
の端にて停止することにより、挟持されたプリント板９
は収容ラック８から完全に取り出され、ロボットハンド
６の基板49の上に平行に載置された状態となり取り出し
が完了する。The holding part 2 has a slit 48 as shown in FIG.
The printed board 9 is clamped by stopping at the edge of
Are completely taken out from the accommodation rack 8 and placed in parallel on the substrate 49 of the robot hand 6, and the taking out is completed.
【００２９】後は所定位置まで搬送移動して行き、排出
する。又、ロボットハンド６の上のプリント板９を収容
ラック８に納置又は出口へ排出するのは以下のとおりで
ある。After that, the sheet is transported to a predetermined position and discharged. Further, the printed board 9 on the robot hand 6 is stored in the accommodation rack 8 or discharged to the exit as follows.
【００３０】図１の(d) の状態から、先ず挟持部２が前
記と逆方向に前方に移動を開始し、図１の(c) のように
移動中に、ガイドローラ３により位置出し挟持されたプ
リント板９の後両縁部が収容ラック８のレール状の格納
部に確実に填まり、スライドして挿入されて行く。From the state shown in FIG. 1 (d), first, the sandwiching portion 2 starts to move forward in the opposite direction to the above, and during the movement as shown in FIG. 1 (c), it is positioned and sandwiched by the guide roller 3. Both rear edges of the printed board 9 are securely fitted into the rail-shaped storage portion of the accommodation rack 8 and are slidably inserted.
【００３１】更にガイドローラ３は、爪部材１が近づく
と先端の折り曲げ傾斜部に接触し拡開される。挟持部２
がプリント板９を保持してスリット48の端部にて停止す
ると、プリント板９は収容ラック８に十分に納置されて
おり、図３の(b) のように挟持部２は爪部材１を最大に
拡開させ、プリント板９を離してから後退移動し、スリ
ット48の反対端に停止して戻り完了する。勿論、ローラ
挟持部５のガイドローラ３は爪部材１の戻りの通過と共
に、引張ばね52によりスリット47の対向内側端に戻った
状態となる。Further, when the claw member 1 approaches, the guide roller 3 comes into contact with the bent inclined portion at the tip end and spreads out. Holding part 2
When the holder holds the printed board 9 and stops at the end of the slit 48, the printed board 9 is sufficiently stored in the storage rack 8, and the holding portion 2 is provided with the claw member 1 as shown in FIG. 3 (b). Is expanded to the maximum, the printed board 9 is released, and then it is moved backward, stopped at the opposite end of the slit 48, and returned and completed. As a matter of course, the guide roller 3 of the roller holding portion 5 is returned to the facing inner end of the slit 47 by the tension spring 52 as the claw member 1 passes through.
【００３２】他の実施例は、図２に示す如くで、ローラ
挟持部の機構が上記一実施例と異なるのみである。本ロ
ーラ挟持部55は、一端に上記のガイドローラ３、他端に
引張ばね53を取付け、基板４に支点を軸支させた支持杆
54が、ガイドローラ３を対向させて一対から成る。The other embodiment is as shown in FIG. 2, except that the mechanism of the roller holding portion is different from the one embodiment. The roller gripping portion 55 has a guide rod 3 attached to one end thereof and a tension spring 53 attached to the other end thereof, and a support rod having a fulcrum pivotally supported on the substrate 4.
54 is a pair of guide rollers 3 facing each other.
【００３３】支持杆54は、くの字形に成形した杆金具
で、折曲部を支点とし基板４に軸支させ、その一端にガ
イドローラ３を軸支させ、他端と基板４との間に引張ば
ね53を取付け、ガイドローラ３が対向間隔を縮める向き
に弾性的に付勢してある。The supporting rod 54 is a rod-shaped metal fitting, which is pivotally supported by the base plate 4 with the bent portion as a fulcrum, the guide roller 3 is pivotally supported at one end thereof, and between the other end and the base plate 4. A tension spring 53 is attached to the guide roller 3, and the guide roller 3 is elastically biased in a direction to reduce the facing distance.
【００３４】又、ガイドローラ３の基板４からのレベル
は上記と同じに挟持用の爪部材１のレベルに揃えてあ
る。従って、プリント板９の両側の縁端を対向するガイ
ドローラ３にて挟持する状態は図２の(a) のようにな
り、更に、挟持部２の移動に伴い通過中は、図２の(b)
に示すように、爪部材１に接触してその外形により拡開
され、爪部材１の戻り通過後は元通りに復する。Further, the level of the guide roller 3 from the substrate 4 is aligned with the level of the sandwiching claw member 1 as described above. Therefore, the state in which both edges of the printed board 9 are sandwiched by the guide rollers 3 facing each other is as shown in FIG. 2 (a), and further, as the sandwiching portion 2 moves, the state shown in FIG. b)
As shown in FIG. 3, the claw member 1 is contacted and expanded by its outer shape, and after the claw member 1 returns and passes, the claw member 1 returns to its original shape.
【００３５】上記各実施例は一例を示したものであり、
各部の機構、形状、材料は上記のものに限定するもので
はない。対向するガイドローラ３を間隔自在に押圧接触
させる機構は、公知技術の他の機構によっても差支えな
い。Each of the above embodiments is an example.
The mechanism, shape, and material of each part are not limited to the above. The mechanism for pressing the guide rollers 3 facing each other so as to be spaced apart from each other may be any mechanism known in the art.
【００３６】又、ガイドローラ３の接触部の凹形状はＶ
形に限らず、台形、楕円弧、円弧でも差支えない。The concave shape of the contact portion of the guide roller 3 is V
Not limited to the shape, it may be a trapezoid, an elliptic arc, or an arc.
【００３７】[0037]
【発明の効果】以上の如く、本発明のロボットハンドに
より、反りがあるプリント板に対しても、無理なく確実
に納置できるようにするロボットハンドが得られ、プリ
ント板の反りからの浮きによる納置不能やそれによる損
傷が皆無となり、又収容ラック側での特別な安全処置を
講ずることも無く格納でき、その効果は大きい。As described above, with the robot hand of the present invention, it is possible to obtain a robot hand that allows a printed board having a warp to be reliably and reliably placed, and the printed board is lifted from the warp. There is no inability to store it and damage due to it, and it can be stored without taking special safety measures on the side of the storage rack, which is a great effect.
【図１】 本発明の一実施例 (a) 構成斜視図 (b) 取り出し直前 (c) 取り出し中
(d) 取り出し完了FIG. 1 is an embodiment of the present invention (a) a perspective view of the configuration (b) immediately before taking out (c) during taking out
(d) Removal completed
【図２】 本発明の他の実施例のローラ挟持部 (a) プリント板挟持状態 (b) 爪部材の外形による拡開
状態FIG. 2 is a roller pinching portion according to another embodiment of the present invention (a) a printed board pinching state (b) an expanded state due to an outer shape of a claw member
【図３】 従来の一例のプリント板用ロボットハンド (a) 構成斜視図 (b) 取り出し直前 (c) 取り出し中
(d) 取り出し完了FIG. 3 is a perspective view of a conventional robot hand for a printed board (a). (B) Just before taking out (c) Taking out
(d) Removal completed
【図４】 プリント板後縁部の保持状態正面図FIG. 4 is a front view of a holding state of a rear edge of a printed board.
1,19 爪部材 2,29 挟持部 ３
ガイドローラ 4,49 基板 5,55 ローラ挟持部 6,
69 ロボットハンド ７ 支持座 ８ 収容ラック ９
プリント板 47,48 スリット 51 軸部材 5
2,53 引張ばね 54 支持杆 71 座面 72
テーパピン1,19 Claw member 2,29 Clamping part 3
Guide roller 4,49 Substrate 5,55 Roller nip 6,
69 Robot hand 7 Support seat 8 Storage rack 9
Printed board 47,48 Slit 51 Shaft member 5
2,53 Tension spring 54 Support rod 71 Seat surface 72
Taper pin
Claims (1)
ラックの所定位置に納置又は取り出しを行う、自動マテ
リアルハンドリング装置におけるロボットハンドであっ
て、 先端凹状で鉤形の爪部材(1) を対向配設し、プリント板
(9) の前部両縁端を挟持し、前後方向に定距離を往復可
動する挟持部(2) と、 凹形状の接触部を有する複数個のガイドローラ(3) を対
向させ、弾性的押圧を加えて、前記プリント板(9) の両
縁端を移動自在に挟持し、且つ前記挟持部(2)の爪部材
(1) の外形に接して拡開、復旧自在としたローラ挟持部
(5) と、を平らな基板(4) 上に配設することを特徴とす
るプリント板用ロボットハンド。1. A robot hand in an automatic material handling device, which stores or takes out a large number of printed boards on which components are mounted at a predetermined position of a storage rack, wherein a hook-shaped claw member (1) having a concave tip is provided. Printed board arranged facing each other
The front and rear edges of (9) are sandwiched, and the sandwiching part (2) that reciprocates a fixed distance in the front-back direction and the guide rollers (3) with concave contact parts face each other, and By applying pressure, both edges of the printed board (9) are movably clamped, and the claw members of the clamping section (2) are clamped.
Roller holding part that can open and recover by contacting the outer shape of (1)
A robot hand for a printed board, characterized in that (5) and (4) are arranged on a flat substrate (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18424292A JPH0624517A (en) | 1992-07-13 | 1992-07-13 | Robot hand for printed board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18424292A JPH0624517A (en) | 1992-07-13 | 1992-07-13 | Robot hand for printed board |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0624517A true JPH0624517A (en) | 1994-02-01 |
Family
ID=16149873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18424292A Withdrawn JPH0624517A (en) | 1992-07-13 | 1992-07-13 | Robot hand for printed board |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0624517A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006043284A (en) * | 2004-08-06 | 2006-02-16 | Fujishoji Co Ltd | Game board insert molding device and game board insert molding method |
| US8408619B2 (en) | 2011-01-06 | 2013-04-02 | Seiko Epson Corporation | Robot hand |
| US8794685B2 (en) | 2011-05-11 | 2014-08-05 | Seiko Epson Corporation | Robot hand and robot |
-
1992
- 1992-07-13 JP JP18424292A patent/JPH0624517A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006043284A (en) * | 2004-08-06 | 2006-02-16 | Fujishoji Co Ltd | Game board insert molding device and game board insert molding method |
| US8408619B2 (en) | 2011-01-06 | 2013-04-02 | Seiko Epson Corporation | Robot hand |
| US8931817B2 (en) | 2011-01-06 | 2015-01-13 | Seiko Epson Corporation | Robot hand |
| US8794685B2 (en) | 2011-05-11 | 2014-08-05 | Seiko Epson Corporation | Robot hand and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19991005 |