JP3265538B2 - Robot hand device for board insertion and removal - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand device for inserting and extracting a printed circuit board mounted in a shelf box of an electronic device.

[0002]

2. Description of the Related Art In recent years, various robot hand devices for assembling electronic devices and the like have been put to practical use. FIG. 5 is a perspective view showing a conventional robot hand device for inserting and removing a pin from a plate material.
Is a plate member, and 33 is a hole provided in the plate member.

A robot hand device for inserting or removing the pin 31 into or out of a hole 33 of a plate material 32 is as follows.
4 to 45. That is, 34 is a motor, 35 is a screw shaft rotated in both forward and reverse directions by the motor 34, and 36 is a slider having a screw shaft 35 screwed to one end thereof and passed therethrough. When the screw shaft 35 is rotated forward, the screw shaft 35 moves forward in a direction approaching the plate 32, and when the screw shaft 35 is rotated reversely, the screw shaft 35 moves backward in a direction away from the plate 32.

Reference numerals 37a and 37b denote support shafts slidably mounted on the rear side in holes provided at the other end of the slider 36, reference numeral 38 denotes a load detection plate attached to the tips of the support shafts 37a and 37b, and reference numeral 39 denotes a load detection plate. A gripper for gripping the pin 31;
40 is a supporting member that can open and close this gripping claw 39,
Reference numeral 41 denotes a compliance mechanism including a plurality of coil springs. The support member 40 is attached to the front surface of the load detection plate 38 via the compliance mechanism 41.

[0005] 42 is a solenoid, 43 is a movable shaft of the solenoid 42, this movable shaft 43 is the slider 36
And a leading end thereof is connected to a rear end of the gripping claw 39 in the housing 40. 44
Is a coil spring disposed so as to extend between the slider 36 and the load detection plate 38 around the movable shaft 43. Reference numeral 45 denotes a load detection sensor. The load detection sensor 45 is normally attached to the load detection plate 38. The slider 36 is fixed to the slider 36 via a metal fitting (not shown) so as to be positioned at a predetermined interval from the slider 36.

In this configuration, the extraction and insertion of the pin 31 into the hole 33 of the plate 32 are performed as follows. First, in the case of insertion, the solenoid 42 is driven in advance to close the gripping claws 39, and the rear portion of the pin 31 is gripped in advance. In this state, the entire robot hand device is moved by a mechanism (not shown), and the pin 31 held by the holding claws 39 is positioned so as to face the hole 33.

[0007] Here, the motor 34 rotates forward and the slider 36 advances toward the plate 32 by the screw shaft 35, and the load detecting plate 3 is integrated with the slider 36.
8, gripping claws 39, housing 40, and solenoid 42
Etc. also move forward. As a result, the pin 31 is inserted into the hole 33, and the motor 34 stops after a certain amount of rotation. At this point, the gripper 39 reaches a predetermined position and the pin 31 is completely inserted into the hole 33. You.

After that, the driving of the solenoid 42 is released, whereby the gripping claw 39 is opened by the tensile force of a spring (not shown) provided in the housing 40 and the pin 31 is released. The slider 36 rotates in the reverse direction, and the load detection plate 38 and the gripper 39
Then, the operation returns to the original position, and the insertion operation of the pin 31 is completed.

The pin 31 gripped by the gripping claws 39
Is positioned so as to face the hole 33, the pin 31
Is shifted from the hole 33, when the gripping claw 39 moves forward together with the slider 36, the pin 31 hits the plate member 32 and receives a load due to the reaction force. In such a case, since the rear portions of the support shafts 37a and 37b supporting the load detection plate 38 are slidably mounted in the holes provided in the slider 36, the slider 3
While the load detection plate 38 does not move forward while the detection sensor 45 moves forward, the load detection plate 38 is detected by the detection sensor 45, and the rotation of the motor 34 is stopped based on the detection signal.

Thereafter, the motor 34 is rotated in the reverse direction so that the slider 36 returns to the original position, and the entire robot hand device is moved by a mechanism (not shown) to retry the positioning operation. Will be retried. In this retry operation, when the load detection plate 38 is detected by the detection sensor 45 in the same manner as described above, the processing is performed manually by a staff member.

When removing the pin 31 from the plate 32,
The entire robot hand device is moved by the mechanism (not shown), and the gripping claws 39 are positioned so as to face the pins 31 inserted into the holes 33 of the plate material 32. At this time, the solenoid 42 is not driven, and the gripping claws 39 are opened by the tension of a spring (not shown).

Here, the motor 34 rotates forward and the slider 36 advances toward the plate 32 by the screw shaft 35, and the load detecting plate 3 is integrated with the slider 36.
8, gripping claws 39, housing 40, and solenoid 42
Etc. also move forward. When the motor 34 rotates a predetermined amount, it stops, and when the gripper 39 reaches a predetermined position,
Subsequently, the solenoid 42 is driven.

As a result, the rear portion of the gripper 39 is pulled in the opposite direction via the drive shaft 43 of the solenoid 42 against the pulling force of the spring (not shown).
Is closed, and the rear end of the pin 31 is inserted into the hole 33 of the plate member 32 at the front end. After that, the motor 34 rotates in the reverse direction, and the slider 36
Retreats in a direction away from the plate member 32, and the load detecting plate 38, the gripping claws 39, the housing 40, the solenoid 42, and the like also retreat integrally with the slider 36, and are thus gripped by the gripping claws 39 as described above. The pin 31 is pulled out from the hole 33 of the plate 32.

When the motor 34 rotates a predetermined amount, the motor 34 stops, the slider 36 returns to its original position together with the load detecting plate 38 and the gripping claws 39, and the operation of extracting the pin 31 is completed. By the way, there is an electronic device in which a plurality of shelves are provided in a frame and a plurality of printed circuit boards are mounted in each of the shelves, such as an exchange used in a telephone office. It is planned to insert and remove a printed circuit board with a robot hand device, but when introducing the robot hand device to insert and remove the printed circuit board,
There are the following problems.

[0015]

That is, in the above-mentioned conventional robot hand device, the gripping claw which moves back and forth with the slider simply grips a small component such as a pin, so that it is particularly difficult to insert and remove the small component. Does not cause
When applied to the insertion and removal of a printed circuit board, when the rear end of the printed circuit board is gripped by gripping claws, the leading end of the printed circuit board fluctuates, which makes it easy to insert or remove the board. There is a problem that extraction is difficult.

Further, when inserting and removing the printed circuit board, it is necessary to consider the fitting of the mutual ends of the printed circuit board and the connectors provided in the shelf box. Although it is required to perform insertion and removal without applying a load, there is a problem that the above-mentioned robot hand device cannot respond to this request.

The present invention has been made in order to solve these problems, and it is possible to reliably and stably insert and remove a printed board from a shelf box, and to apply an unreasonable load to gripping claws, a printed board, and the like. It is an object of the present invention to realize a robot hand device for inserting and removing a substrate that does not need to be applied.

[0018]

In order to achieve this object, the present invention provides a slider which moves forward and backward with respect to a shelf box by means for converting the rotational force of a motor rotatable in both forward and reverse directions into linear motion. A support shaft slidably mounted in a hole provided in the slider, a support member fixed to a tip of the support shaft, and a rear end of a printed circuit board to be inserted into or removed from the shelf box. A gripping claw supported by the support member to be able to open and close so as to be able to grip the gripped portion formed on the gripper; gripping claw opening / closing means for opening and closing the gripping claw; and a gripping claw and the slider. A first coil spring, a load detection plate fixed to a rear end of the support shaft, and a spring having the same spring force as the first coil spring, and disposed between the load detection plate and the slider. The second When an abnormal load is applied to the coil spring and the gripping claw when inserting or removing the printed circuit board and the first or second coil spring is compressed, the amount of compression is detected via the load detection plate. A load detecting means fixed to the slider, and a printed circuit board disposed above and below a forward and backward path of the gripping claws, and holding the gripped portion by the gripping claws on the front side of the opposing surfaces. A pair of board holding rails having holding grooves to control the rotation direction and speed of the motor when inserting or removing the printed circuit board from or to the shelf box, and from the output signal of the load detecting means, an abnormal load is applied to the gripping claws. Judge whether it was added,
Control means is provided for controlling the motor to stop rotating when an abnormal load is applied.

[0019]

According to the present invention having such a configuration, when inserting a printed circuit board, the gripping claws are closed to hold the gripped portion of the printed circuit board, and the printed circuit board is drawn into the holding groove of the board holding rail. The printed circuit board is pushed out of the holding groove of the board holding rail and inserted into the shelf box by holding the gripper forward with the slider by the forward rotation of the motor, and the connector of the printed circuit board and the connector in the shelf box are inserted. After the gripping claw is opened, the gripping claw is opened and the gripper claw is retracted together with the slider by reverse rotation of the motor, and when removing the printed circuit board, with the gripper opened, the motor rotates forward and the slider together with the slider. After the gripping claw is moved forward and the gripped portion of the printed circuit board in the shelf box is gripped at a predetermined position, the gripping claw is retracted together with the slider. More, the printed circuit board connector out of its connector in the shelf box, further a printed board holding draw between the substrates holding the rails together withdrawn from the shelf box.

During the operation of inserting and removing the printed circuit board, the control means determines whether or not an abnormal load is applied to the gripping claw based on an output signal of the load detecting means. Is controlled to stop the rotation of. Therefore, according to this, not only the gripping portion of the printed circuit board is gripped by the gripping claws, but also the printed circuit board is held by the board holding rails arranged above and below the forward and backward paths of the gripping claws. The end of the printed circuit board does not fluctuate when the printed circuit board is inserted into or removed from the box. This eliminates the failure of inserting or removing the printed circuit board due to the fluctuation of the front end of the printed circuit board, and enables stable and reliable insertion and removal of the printed circuit board. It becomes possible.

In addition, during the operation of inserting and removing the printed circuit board, the control means determines whether or not an abnormal load is applied to the gripping claw based on the output signal of the load detecting means. Since the rotation is controlled to be stopped, it is possible to prevent an unreasonable load from being applied to the gripping claws and the printed circuit board held by the gripping claws, and to prevent the printed circuit board and the like held by the gripping claws from being imposed. Damage can be prevented.

[0022]

Embodiment An embodiment will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of a robot hand device for inserting and removing a board according to the present invention, and FIG. 2 is a perspective view showing a state after the board is inserted in the embodiment of FIG. In the figure, 1 is a printed board, 2 is a T-shaped gripped portion formed at the center of the rear end of the printed board 1, 3 is a connector attached to the tip of the printed board 1, and 4 is a pair with the connector 3. This is a connector provided in a shelf box A on which the printed circuit board 1 is mounted, and is provided with a guide rail (not shown) for each printed circuit board mounting position in the frame A.

The board insertion / extraction robot hand device according to the present embodiment for inserting or removing the printed circuit board 1 from / to the shelf box A comprises the following 5-27a and 27b. That is, 5 is a motor, 6 is this motor 5
A rotation amount detection sensor (rotation amount detection means) for detecting the rotation amount of the screw shaft; a screw shaft 7 rotated in both forward and reverse directions by a motor 5; a slit plate 8 arranged in parallel with the screw shaft 7; The slit 10 provided on the slit plate 8 is a slider having one end screwed with the screw shaft 4 and passed therethrough. The slider 10 approaches the shelf box A when the motor 5 rotates the screw shaft 7 forward. When the screw shaft 7 is rotated in the reverse direction, the screw shaft 7 is retracted away from the shelf A. Therefore, the screw shaft 7 is used as conversion means for converting the rotation of the motor 5 into a linear motion. ing.

Reference numeral 11 denotes the slits 9a to 9d of the slit plate 8.
A slit detection sensor that optically detects 9c, and is fixed to the slider 10. 12a and 12b are support shafts slidably mounted in holes provided at the other end of the slider 10, and 13 is a gripper 2 of the printed circuit board 1.
Is a supporting member that supports the gripping claw 13 so that the gripping claw 13 can be opened and closed. The support member 14 is attached to the tips of the support shafts 12a and 12b.

Reference numeral 15 denotes a load detecting plate attached to the rear ends of the support shafts 12a and 12b. Reference numeral 16 denotes a slider via a metal fitting (not shown) so as to face the load detecting plate 15 at a regular interval at a regular interval. A load detection sensor (load detection means) fixed to 10 has a structure in which an output signal changes in accordance with a change in distance from the load detection plate 15.

Reference numeral 17 denotes a solenoid, 18 denotes a movable shaft of the solenoid 17, and the movable shaft 18
The slider 10 penetrates the slider 10, and the distal end thereof is connected to the rear end of the gripping claw 13 in the housing 14.
Here, the movable shaft 18 opens the gripping claws 13 by driving the solenoid 17.
3, a spring (not shown) for pulling the rear end
4 and these constitute a means for opening and closing the gripping claws 13.

Reference numeral 19 denotes a first coil spring disposed so as to extend between the slider 10 and the housing 14 around the movable shaft 18. Reference numeral 20 denotes a slider 10 and a load detecting plate around the movable shaft 18. The second coil springs are arranged so as to extend between the first and second connectors 15 and 20, and the spring forces of the two coil springs 19 and 20 are equal to each other and constant when the connectors 3 and 4 are normally fitted or pulled out. The volume is set to be compressed.

Reference numeral 21 denotes a control unit. The control unit 21 recognizes the amount of compression of the first and second coil springs 19 and 20 based on a change in the output signal of the load detection sensor 15, and controls the load detection sensor 15, It functions as control means for controlling the motor 5 and the solenoid 17 based on signals from the rotation amount detection sensor 6 and the slit detection sensor 11 and information sent from a host device (not shown).

Reference numerals 22a and 22b denote guide pins provided above and below the slider 10, and reference numerals 23a and 23b denote substrate holding rails which are disposed above and below the path for moving the gripping claws 13 forward and backward. A holding groove 24 is formed on the front side of the opposing surfaces of 23b, and a guide groove 26 having a wide portion 25 is formed on the rear side, and the guide pin 2 is provided in each guide groove 26.
2a and 22b are slidably fitted.

The tip of the holding groove 24 is slightly widened in a tapered shape. Reference numerals 27a and 27b denote compliance mechanisms each including a plurality of coil springs. The board holding rails 22a and 22b are supported by the compliance mechanisms 27a and 27b so that they can slightly move up, down, left and right independently of the slider 10 and the like. .

The entire board insertion / extraction robot hand device can be moved vertically and horizontally by a mechanism (not shown). Next, the operation of the above-described configuration will be described with reference to FIGS.
FIG. 3 shows the movement of the gripper 13 when the printed circuit board is inserted.
FIG. 4 is a diagram showing the reverse speed and the output of the load detection sensor 16;
Is the forward movement of the gripping claws 13 during the removal of the printed circuit board,
FIGS. 4A and 4B are diagrams showing the reversing speed and the output of the load detection sensor 16, in which the solid line indicates forward movement and the broken line indicates backward movement.

First, the case where the printed circuit board 1 is inserted into the shelf box A will be described. As shown in FIG. 1, the control unit 21 drives the solenoid 17 in advance, closes the gripping claws 13 with the movable shaft 18, The gripper 13 grips the gripped portion 2 of the printed circuit board 1 and the printed circuit board 1
Are drawn into the holding grooves 24 of the board holding rails 22a and 22b and held.

At this time, the slider 10 stands by at the rear end of the moving range of the screw shaft 7, that is, at the initial position, and the gripping claw 10 is also located at the corresponding initial position. In this state, the entire board inserting / removing robot hand device is moved again by a mechanism (not shown), and the connector 3 of the printed circuit board 1 held by the holding claws 13 is positioned so as to face the connector 4 at a desired position.

Thereafter, when the control unit 21 rotates the motor 5 forward at a high speed, the screw shaft 7 also rotates to move the slider 10 toward the shelf box A, and the gripping claws 13 and the solenoid 17 are also mounted on the substrate. Holding rail 23
a and 23b advance together with the slider 10,
First, the connector 3 of the printed board 1 gripped by the gripping claws 13 is pushed out from between the board holding rails 23a and 23b.

As the slider 10 advances, the slit detection sensor 11 moves the slit 9a of the slit plate 8
, The control unit 21 switches the rotation of the motor 5 from high speed to low speed based on the detection signal, whereby the forward speed of the slider 10 and the gripping claws 13 and the like also becomes low, and the printed circuit board 1 The leading end is pushed out from between the board holding rails 23a and 23b and inserted into the shelf box A. At this time, the board holding rails 23a and 23b
When the shelf A is displaced in the vertical direction, the tip corner of the printed circuit board 1 abuts against the shelf A, and a load due to the reaction force is applied to the gripping claws 13.

In this case, since the support shafts 12a and 12b to which the support member 14 of the gripping claw 13 and the load detection plate 15 are attached are slidably mounted in the holes provided in the slider 10, the slider 10 and the load detection While the sensor 16 moves forward, the gripping claws 13 and the load detecting plate 15 do not move forward, so that the first coil spring 19 is compressed by the slider 10 and the support member 14, and the load detecting sensor 16 15 and its output signal changes.

The control unit 21 recognizes the amount of compression of the first coil spring 19 based on the change in the output signal of the load detection sensor 16, and when the amount of compression exceeds a preset value, the output signal of the load detection sensor 16 is output. Is greater than or equal to the range a shown in FIG. 3, the control unit 21 determines that an abnormal load has been applied due to a defective position of the gripping claws 13 and stops the rotation of the motor 5.

Thereafter, the control section 21 reversely rotates the motor 5 so that the slider 10 and the gripping claws 13 return to the initial positions. After the positioning operation is retried, the forward movement of the slider 10 and the gripping claws 13 and the like is retried. Even in this retry operation, when an abnormal load is applied, the attendant is notified, and the attendant performs processing.

On the other hand, in the above operation, when the change of the output signal of the load detection sensor 16 is within the range of a, the slider 10 and the gripping claws 13 advance at a low speed and
Is inserted into the shelf box A, when the slit detection sensor 11 passes through the slit 9a, the control unit 21 determines that the forward movement is normally performed, and switches the rotation of the motor 5 from low speed to high speed.

At this time, the guide pins 22a, 22b provided on the slider 10 are connected to the board holding rails 23a,
Since the board holding rails 23a and 23b have a degree of freedom by reaching the rear end of the wide portion 25 provided in the guide groove 26 of the guide groove 26b, the guide board (not shown) provided on the shelf box A and the printed board 1 Even if the center position of the board holding rails 23a and 23b is slightly shifted to the left and right, the action of the compliance mechanisms 27a and 27b will
The printed circuit board 1 is inserted into the shelf box A without any trouble.

Then, as the slider 10 and the gripping claws 13 advance, the slit detection sensor 11
When the control unit 21 determines that the forward movement has been performed normally, the control unit 21 switches the rotation of the motor 5 from high speed to low speed. At this time, the connector 3 on the printed circuit board 1 is
The connector 3 is fitted into the connector 4 by the forward movement of the slider 10 and the gripping claws 13 due to the low-speed rotation of the motor 5 when the motor 5 rotates at a low speed. Receives a load due to the reaction force from the connector 4.

Therefore, while the slider 10 and the load detecting sensor 16 move forward, the gripping claws 13 and the load detecting plate 15 do not move forward, whereby the first coil spring 19 is compressed by the slider 10 and the supporting member 14. At the same time, the load detection sensor 16 approaches the load detection plate 15 and its output signal changes. At this time, if both connectors 3 and 4 have a normal fitting force, the first coil spring 19 is compressed by a predetermined amount. In this state, the connectors 3 and 4 are fitted together, and then the first coil spring 19 is further compressed to the limit, so that the output signal of the load detection sensor 16 temporarily stops within the range b shown in FIG. It will shift to the point c.

Accordingly, the control unit 21 recognizes the amount of compression of the first coil spring 19 from this output signal, the amount of compression of the first coil spring 19 reaches a predetermined amount, and the output signal of the load detection sensor 16 becomes If it stops within the range b, the rotation of the motor 5 is continued until the slit detection sensor 11 passes through the slit 9c. If connector 3,
While the slit detecting sensor 11 passes through the slit 9c of the slit plate 8, the first coil spring 19 is compressed to a limit at a stroke while the fitting force of the load sensor 4 is not appropriate, and the output signal of the load detecting sensor 16 When the control unit 21 moves to the point c without stopping within the range, the control unit 21 determines that an abnormal load is
Is stopped, the motor 5 is rotated in the reverse direction so that the slider 10 and the gripping claws 13 return to the initial positions, and the entire substrate inserting / removing robot hand device is moved by a mechanism (not shown) to perform the positioning operation of the gripping claws 13. After the retry, the insertion operation of the slider 10 and the gripping claws 13 and the like is retried. If an abnormal load is also applied by this series of retry operations, a notification to the attendant and processing by the attendant are performed.

As described above, when the compression of the first coil spring 19 is normally performed and the slit detection sensor 11 passes through the slit 9c, the control unit 21 performs the normal insertion of the printed circuit board 1. After the rotation of the motor 5 is determined to be stopped, the driving of the solenoid 17 is stopped to open the gripping claws 13, and the motor 5 is further rotated at a low speed in reverse to retract the gripping claws 13 together with the slider 10.

If the gripping claw 13 is not fully opened at the time of retreat, the gripping claw 13 is caught on the gripped portion 2 of the printed circuit board 1, and the second coil spring 20 is compressed by the load thereby to insert and remove. Since the output signal of the sensor 16 changes beyond the range of d shown in FIG. 3, the control unit 21 determines that an abnormal load has been applied due to the opening failure of the gripping claws 13 and stops the rotation of the motor 5.

Then, the control section 21 rotates the motor 5 forward until the slit detection sensor 11 passes through the slit 9c, retries the opening operation of the gripping claws 13, and then reversely rotates the motor 5 at a low speed again to set the slider 10 At the same time, the retreating operation of the gripping claws 13 is retried. If an abnormal load is also applied by the retry operation, a notification to a clerk and processing by the clerk are performed.

When the output signal of the insertion / extraction sensor 16 does not change when the slider 10 and the gripping claw 13 retreat, and the slit detection sensor 11 passes through the slit 9c, the control unit 21 immediately opens the gripping claw 13 at that time. Then, the rotation of the motor 5 is switched from a low speed to a high speed. Thereby, as shown in FIG. 2, the slider 10 and the gripping claws 13 return to the initial positions, and the operation of inserting the printed circuit board 1 is completed.

As described above, in this embodiment, the printed circuit board 1
At the time of insertion, the gripping portion 13 of the printed circuit board 1 is
And the printed circuit board 1 is held between the board holding rails 23a and 23b, so that the leading end of the printed circuit board 1 does not fluctuate, and is held at a position where a load due to displacement or the like is applied. The forward and backward speeds of the claw 13 are controlled to be low, and when an abnormal load is applied to the gripping claw 13, the rotation of the motor 5 is controlled to be stopped. Is also gone.

Next, a case where the printed circuit board 1 is extracted from the shelf box A will be described. The entire robot hand device for inserting and removing the board is moved by a mechanism (not shown), and as shown in FIG. Is positioned so as to face the printed circuit board 1 mounted therein. At this time, the slider 10 waits at the rear end of the movement range of the screw shaft 7, that is, at the initial position, the gripping claw 13 is also located at the corresponding initial position, the solenoid 17 is not driven, and the gripping claw 13 is It is opened by the tension of a spring (not shown) provided in the support member 14.

In this state, the control unit 21 rotates the motor 5 forward at a high speed, thereby rotating the screw shaft 7 and moving the slider 10 toward the shelf box A. The support member 14, the solenoid 17, and the like also advance between the board holding rails 23a and 23b. As the slider 10 advances, the slit detection sensor 11 fixed to the slider 10 sequentially detects the slits 9a and 9b of the slit plate 8, and further reaches the slit 9c to detect the slit. Based on this, the control unit 21 switches the rotation of the motor 5 from high speed to low speed.

As a result, the slider 10 and the gripper 13
Move forward at a low speed, but at this time, the position of the gripping claws 13 with respect to the printed
Alternatively, the gripping claws 13 may be
Is not opened normally, the slit detection sensor 1
While 1 passes through the slit 9c, the gripping claw 13 hits the gripped portion 2 of the printed circuit board 1 and receives a load due to a reaction force,
Therefore, the first coil spring 19 is
The load detection sensor 16 approaches the load detection plate 15 and the output signal changes.

The control unit 21 recognizes the amount of compression of the first coil spring 19 based on the change in the output signal of the load detection sensor 16, and when the amount of compression exceeds a preset value, the output signal of the load detection sensor 16 is output. Is greater than the range of e shown in FIG. 4, the control unit 21 determines that an abnormal load has been applied to the gripping claws 13 due to a defective position or a poor opening of the gripping claws 13 and stops the rotation of the motor 5.

Thereafter, the motor 5 is rotated in reverse by the instruction of the control unit 21 so that the slider 10 and the gripping claws 13 return to the initial positions. The positioning operation of the solenoid 13 and the operation of the solenoid 17 are retried, and the forward movements of the slider 10 and the gripping claws 13 are retried.

If an abnormal load is applied even in this retry operation, the load is reported to the attendant, and a report to the attendant and processing by the attendant are performed. On the other hand, when the output of the load detection sensor 16 does not change while the slit detection sensor 11 passes through the slit 9c, and the rotation amount detection sensor 6 detects that the motor 5 has rotated by a fixed amount, the control unit 2
1 judges that the forward movement has been performed normally, and stops the rotation of the motor 5.

At this time, the gripping claws 13 are attached to the board holding rail 2.
The guide pins 22a and 22b provided on the slider 10 come out of the ends of the guide grooves 3a and 23b of the printed circuit board 1 at positions where the gripped portions 2 can be gripped. I'm moving. Thereafter, the control unit 21 drives the solenoid 17, whereby the rear portion of the gripping claw 13 is pulled in the opposite direction via the drive shaft 18 against the pulling force of the spring (not shown). The printed circuit board 1 is closed and the gripped portion 2 of the printed circuit board 1 is gripped at the tip.

Subsequently, the control unit 21 reversely rotates the motor 5 at a low speed, whereby the screw shaft 7 also reversely rotates, so that the slider 10 retreats in a direction away from the shelf box A, and accordingly the gripping claws 13 and the support members 14 and the solenoid 17 also retreat together with the slider 10, so that a pulling force is applied to the printed board 1 gripped by the gripping claws 13 as described above. At this time, the connector 3 of the printed board 1 is connected to the shelf box. Since it is fitted with the connector 4 in A, the gripping claw 13 receives a load for pulling out.

Therefore, while the slider 10 and the load detecting sensor 16 move backward, the gripping claws 13 and the load detecting plate 15 do not move backward, so that the second coil spring 20 is compressed by the slider 10 and the load detecting plate 15. And the load detection sensor 16 is connected to the load detection plate 15
Away from the output signal changes. Here, the second
After the coil spring 20 is compressed by a predetermined amount, that is, after the output signal of the load detection sensor 16 changes in the range of f shown in FIG.
When the second coil spring 20 is released from the connector 4 inside the connector, the load detection plate 15 approaches the load detection sensor 16 and the output signal also returns to the original state.
The control unit 21 recognizes the amount of compression of the second coil spring 20 from the change in the output signal, and determines whether the printed board 1 has been normally pulled out.

If the slider 10 retreats, the slit detection sensor 11
If the second coil spring 20 is not compressed at all before passing through c, or is compressed by a predetermined amount or more and the output signal of the load detection sensor 16 does not change, or exceeds the range of f, The rotation of the motor 5 is stopped when it is determined that there is no load or an abnormal load is applied due to a sampling failure.

Here, the state in which the second coil spring 20 is not compressed at all means that the printed board 1 and the gripping claws 13 are largely displaced in the left-right direction, and the gripped portion 2 of the printed board 1 is gripped. Not possible,
The state where the second coil spring 20 is compressed by a predetermined amount or more may be a state where the fitting force between the connectors 3 and 4 is larger than normal.

Accordingly, when such a draw-out failure occurs, the drive of the solenoid 17 is stopped by the control unit 21, and the motor 5 rotates in the reverse direction so that the slider 10 and the gripping claws 13 return to the initial positions. After the entire robot hand device for substrate insertion / removal is moved by a mechanism that does not move and the positioning operation of the gripping claws 13 is retried, the slider 10 and the gripping claws 13 move forward, the gripping claws 13 grip the printed circuit board 1, and the like. The sampling operation is retried.

If a sampling failure occurs even in this series of retry operations, a notification to the attendant and processing by the attendant are performed. In the above operation, after the second coil spring 20 is compressed by a predetermined amount until the slit detection sensor 11 passes through the slit 9c of the slit plate 8, the original state is restored. 2
1 judges that the connector 3 of the printed circuit board 1 has been normally pulled out from the connector 4 in the shelf box A, and when the slit detection sensor 11 passes through the slit 9c,
The rotation speed of the motor 5 is switched from a low speed to a high speed, and the slit detection sensor 11 is connected to the slit 9 of the slit plate 8.
When the control unit 21 detects that the rotation speed reaches “b”, the control unit 21 switches the rotation speed of the motor 5 from high speed to low speed again.

At this time, the rear end corner of the printed circuit board 1 has been pulled out to the leading ends of the board holding rails 23a and 23b, and the slider 10 is rotated by the motor 5 at a low speed.
When the board holding rails 23a and 23b and the shelf box A are vertically displaced, the slit detection sensor 11 passes through the slit 9b. Since the rear end corner of the printed circuit board 1 abuts on the front end of the board holding rail 23a or 23b and the second coil spring 20 is compressed, the control unit 21 outputs the output signal of the load sensor 16 as shown in FIG. If the value exceeds the range of g, it is determined that an abnormal load has been applied to the gripping claws 13, the rotation of the motor 5 is stopped, and the printed circuit board 1 is controlled to be pushed back, and then the same retry operation as described above is performed. .

If an abnormal load is applied even in this retry operation, a report to the attendant and processing by the attendant will be performed. On the other hand, when the board holding rails 23a and 23b and the shelf box A are not displaced in the vertical direction, the printed circuit board 1 is further pulled out from the shelf box A and the board holding rail 2
It is drawn into the holding groove 24 of 3a, 23b.

The tip of the holding groove 24 is slightly widened in a tapered shape, and the board holding rails 23a and 23b are supported by the compliance mechanisms 27a and 27b so as to be able to move up, down, left and right. Of the board holding rail 2
Since the board holding rails 23a and 23b have a degree of freedom by reaching the wide portion 25 provided in the middle of the guide groove 26 of the guide grooves 3a and 23b, the center of the holding groove 24 and the center of the printed board 1 are slightly shifted left and right. The displacement is absorbed by the inclination of the board holding rails 23a and 23b as the printed board 1 is pulled.

In this case, the second coil spring 20 is not compressed, or is only slightly compressed so that the output signal of the load sensor 16 does not exceed the range of g. 1 is determined to be normally retracted, and the low-speed rotation of the motor 5 is continued until the slit detection sensor 11 passes through the slit 9b.
1 switches the rotation speed of the motor 5 from low speed to high speed.

As a result, the printed circuit board 1 is pulled out of the shelf box A and drawn between the board holding rails 23a and 23b, and the slider 10 and the gripping claws 13 are further retreated by the high-speed rotation of the motor 5, and When the rotation amount detection sensor 6 detects that the motor 5 has been rotated in the reverse direction by a predetermined amount, the control unit 21 based on the detection signal.
Stops the rotation of the motor 5.

At this point, the slider 10 and the gripper 13
When the printed circuit board 1 is returned to the initial position, the printed circuit board 1 is further drawn between the board holding rails 23a and 23b, and the connector 3 is drawn between the board holding rails 23a and 23b to complete the drawing of the printed board 1. As described above, in this embodiment, when the printed board 1 is extracted, the printed board 1 is held between the board holding rails 23a and 23b, so that the tip of the printed board 1 does not fluctuate. The forward and backward speeds of the gripping claws 13 are controlled to be low at a position where a load due to a displacement or the like is applied,
In addition, when an abnormal load is applied to the gripping claws 13, the rotation of the motor 5 that moves the gripping claws 13 forward and backward is controlled to be stopped. Is also gone.

[0068]

As described above, the present invention not only grips the gripped portion of the printed circuit board with the gripping claws when inserting and removing the printed circuit board into and from the shelf box, but also moves the gripping claws up and down in the forward and backward paths. Since the printed circuit board is held by the board holding rails that are arranged, the printed circuit board does not fluctuate when the printed circuit board is inserted into or taken out of the shelf box. This has the effect of eliminating insertion and extraction failures and enabling stable and reliable insertion and extraction of the printed circuit board.

During the operation of inserting and removing the printed circuit board, the control means determines whether or not an abnormal load has been applied to the gripping claw based on the output signal of the load detecting means. Since the rotation is controlled to stop, it is possible to prevent an excessive load from being applied to the gripping claws and the printed circuit board held by the gripping claws, and to prevent damage to the gripping claws and the printed circuit board. The effect of being able to do so is also obtained.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of a robot hand device for inserting and removing a substrate according to the present invention.

FIG. 2 is a perspective view showing a state after the board is inserted in the embodiment of FIG. 1;

FIG. 3 is a diagram illustrating the forward and backward speeds of a gripping claw and the output of a load detection sensor when a printed circuit board is inserted.

FIG. 4 is a diagram showing the forward and backward speeds of a gripping claw and the output of a load detection sensor at the time of removing a printed circuit board.

FIG. 5 is a perspective view showing a conventional robot hand device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Printed circuit board 2 Grasped part 3 Connector 4 Connector 5 Motor 6 Rotation amount detection sensor 7 Screw shaft 8 Slit board 9a-9c Slit 10 Slider 11 Slit detection sensor 12a, 12b Support shaft 13 Gripping claw, 14 Support member 15 Load detection plate Reference Signs List 16 load detection sensor 17 solenoid 18 movable shaft 19 first coil spring 20 second coil spring 21 control unit 22a, 22b guide pin 23a, 23b board holding rail 24 holding groove 25 wide part 26 guide groove 27a, 27b compliance mechanism

──────────────────────────────────────────────────続 き Continued from the front page (72) Inventor Shigeto Wada 1-7-12 Toranomon, Minato-ku, Tokyo Oki Electric Industry Co., Ltd. (56) References JP-A-60-37199 (JP, A) 60-253296 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) H05K 7/14

Claims (1)

(57) [Claims] 1. A slider which moves forward and backward with respect to a shelf box by a conversion means which converts a rotational force of a motor rotatable in both forward and reverse directions into a linear motion, and is slidably mounted in a hole provided in the slider. A support member fixed to the tip of the support shaft, and the support so as to be able to grip a gripped portion formed at the rear end of a printed circuit board inserted into or withdrawn from the shelf box. A gripping claw supported to be openable and closable by a member; gripping claw opening and closing means for opening and closing the gripping claw; a first coil spring disposed between the gripping claw and the slider; and a rear end of the support shaft A second coil spring having the same spring force as that of the first coil spring and being disposed between the load detection plate and the slider; and Or when the first or second coil spring is compressed by applying an abnormal load to the gripping claw at the time of removal, a load fixed to the slider is detected through the load detection plate. A pair of substrates having detection means and a holding groove which is disposed above and below a path for moving the gripping claws forward and backward, and which holds a printed board on which a gripped portion is gripped by the gripping claws on the front side of the mutually facing surfaces; Holding rail, and controlling the rotation direction and speed of the motor when inserting or removing a printed circuit board from the shelf box, and determining whether an abnormal load is applied to the gripping claw from an output signal of the load detecting means. And a control means for controlling the rotation of the motor to be stopped when an abnormal load is applied.