JPH0145016B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a soldering robot, and particularly to a gripper having a function of evaluating soldering (tensile) strength after soldering.

[Technical background of the invention]

The gripper of a conventional soldering robot is constructed as shown in FIGS. 1 and 2. That is, a pair of fingers 4 are attached to a gripper body 2 provided on the lower surface of the robot body 1 so as to be rotatable about a parallel axis 3.

Although not shown in the drawings as it is not directly related to the present invention, a pneumatic actuation mechanism is provided in the gripper body 2. When air pressure is applied from the opening 5, the fingers 4 are closed, and when the air chamber is opened to the atmosphere, the fingers 4 are closed. It is made to open.

Note that the soldering iron 6 is operated by another robot.

Soldering is performed as follows. First, the fingers 4 of the gripper sandwich the lead wire 7, position the end of the lead wire 7 at the position of the terminal 8 to be soldered, and use a soldering iron 6 by another robot.
solder in close proximity.

Conventionally, evaluation of soldering strength after soldering as described above has been carried out as follows. That is, the soldering strength is evaluated to be sufficient if the soldered lead wire is pulled with a constant force and the lead wire does not fall off from the terminal.

[Problems with background technology]

In order to carry out the above evaluation method in a conventional robot, it is sufficient to pull and move the robot body 1 in the direction of arrow A in Fig. 1 with a constant force. It is necessary to add functions to the robot to detect changes in the tensile force when the object falls off.

Adding the above functions not only made the robot more expensive, but also made the teaching program more complex.

[Purpose of the invention]

The present invention has been made based on the above-mentioned circumstances, and an object of the present invention is to obtain a wire gripper for a soldering robot that can evaluate soldering strength without complicating the robot itself.

[Summary of the invention]

In the present invention, a first gripper holding part is attached to a tool attachment part of a robot body, and a gripper body is attached to a gripper body having a pair of fingers that can be opened and closed, and is connected by an axis perpendicular to the opening and closing direction of the fingers. a second gripper holding part rotatably pivotally connected to the first gripper holding part; a stopper pin attached to a side surface of the second gripper perpendicular to the opening/closing direction of the fingers; a stopper part provided on the first gripper holding part; a support part provided on the side surface of the first gripper holding part perpendicular to the opening/closing direction of the fingers; attached to the support part, and the second
The above object is achieved by configuring the gripper with a spring body that applies an adjustable spring force to the gripper holding part, and a position detection sensor that is attached to the support part and detects contact and separation with the second gripper holding part. ing.

[Embodiments of the invention]

3 and 4 are a front view and a cut side view of one embodiment of the present invention, FIG. 5 is an enlarged sectional view of a part thereof, and FIG. 6 is an exploded view of the main components of the embodiment. FIG. In these figures,
The tool mounting part 11 on the bottom surface of the robot body 1 has an inverted U.
The gate-shaped mounting plate 12 has a character-shaped main frame 12a and a U-shaped frame 12b provided at the lower end thereof to protrude perpendicularly to the main frame 12a, with the surface of the main frame 12a parallel to the axis of the arm. , is attached at the upper end of the main frame 12a. The main frame 12a and the gate-shaped mounting plate 12 constitute a first gripper holding section.

On the upper surface of the gripper body 2, an L-shaped mounting plate 13 that fits into the main frame 12a is vertically protruded from the upper surface. It is rotatably supported by 12b and connected to the tool attachment part 11 of the robot body 1. The mounting plate 13 serves as a second gripper holding section. This support is achieved by having a pin 16 driven into the L-shaped mounting plate 13 perpendicular to the finger opening/closing axis supported by a bearing 15 fitted into a bearing hole 14 of the U-shaped frame 12b.

Further, a stopper plate 17 is fixed to the surface of the gate-shaped mounting plate 12 from which the U-shaped frame 12b protrudes, in contact with the upper surface of the U-shaped frame 12b, and the L-shaped mounting plate 13 has a stopper plate 17 fixed to the surface where the U-shaped frame 12b protrudes. A stop screw pin 18 is screwed in oppositely to the . The stop screw pin 18 has a dome-shaped tip 19 at the end facing the stop plate 17. Further, the position is fixed by tightening a nut 20 screwed onto the opposite end.

A shallow U-shaped support plate 21 is fixed to the upper part of the other side of the main frame 12a of the gate-shaped mounting plate 12, and a spring screw pin 22, the details of which will be explained later with reference to FIG. 5, is fixed to the lower part of this support plate. Further, on the upper part, position detection sensors 23, which will be explained in detail later, are mounted so as to face the center of the L-shaped mounting plate 13, with their axes parallel to the finger opening/closing axis.

The spring screw pin 22 includes a spring cylinder 24 that is screwed into the support part 21, and a pin 2 that has a dome-shaped tip that protrudes from the tip and has a flange inside the spring cylinder 24.
5, a spring 26 housed in the spring tube 24, and a spring force adjustment screw 2 screwed into the open end of the spring tube 24.
7. The spring screw pin 22 can be moved forward and backward with respect to the support part 21 by rotating it, and is fixed in position by tightening a nut 28 screwed into the spring cylinder 24.

Further, the position detection sensor 23 has its end screwed to the support plate 21, and can move forward and backward with respect to the support plate 21 by rotating it, and is fixed in position by tightening a nut 29. This position detection sensor 23 has a contactor 3 protruding from its end surface.
0 is pressed and has a normally closed contact that opens when it is pushed in a predetermined amount.

As shown in FIG. 7, the lead wire 7 is soldered to the terminal 8 using the robot main body 1 equipped with the gripper of the present invention having the above configuration and a soldering iron 6 of another robot. When the soldering is completed, the robot body 1 is moved in the direction of pulling the lead wire 7 as shown by arrow A in FIG. Then, the fingers 4 of the gripper grip the lead wire between their tips, and the tips of the fingers do not move with respect to the lead wire 7, so
While tension is applied to the lead wire, the gripper body 2 and hence the L-shaped mounting plate 13 are rotated by θ counterclockwise about the pin 16 (movement amount l). As a result, the upper end of the L-shaped mounting plate 13 pushes the contact 30 of the position detection sensor 23, opening the normally closed contact of the sensor.

The movement of the robot 1 is stopped by opening this normally closed contact.

The tension applied to the lead wire when the robot body 1 moves is determined by the distance from the shaft 16 to the position where the finger 4 grips the lead wire, and the distance from the shaft 16 to the contact 30 of the position detection sensor 23. ratio and the spring force being applied to the contact 30. Therefore, the spring force applied to the contactor 30 is adjusted so that a predetermined tension is applied to the lead wire 7.

By doing the above, a predetermined tension is applied to the lead wire 7 by the movement of the robot body 1, and the normally closed contact of the position detection sensor 23 is opened to stop the movement and maintain the stopped state for a certain period of time.
At this time, if the solder does not fall off, the normally closed contact remains open, and if it does, the L-shaped mounting plate 13
is pushed back by the spring pin 22, and the normally closed contact is closed.

Therefore, if the normally closed contact of the position detection sensor 23 is maintained in the open state for a certain period of time after the robot body 1 has stopped, it can be evaluated that the soldering strength is sufficient, and during that time the contact is closed. In some cases, the soldering strength can be evaluated as insufficient.

〔Effect of the invention〕

As is clear from the above, according to the gripper of the present invention, there is no need to provide the robot with expensive tension generation and detection functions, so the configuration of the robot does not become complicated, and furthermore, a complicated teaching program is not required. Soldering strength can be evaluated without any problems. However, since all soldered parts can be evaluated immediately after soldering by a robot, the value of automation is not lost. moreover,
As described above, since the tension applied to the lead wires can be set arbitrarily, it is possible to accommodate changes in the evaluation strength due to differences in the thickness of the lead wires.

Further, the gripper of the present invention can be used not only for evaluating soldering strength but also for applying a certain tension to a lead wire and straightening the lead wire.

[Brief explanation of drawings]

Fig. 1 is a front view of a conventional gripper, Fig. 2 is a perspective view thereof, Fig. 3 is a front view of an embodiment of the present invention, Fig. 4 is a partially cutaway side view thereof, and Fig. 5 is a part thereof. FIG. 6 is an exploded perspective view of the main components of the embodiment, and FIGS. 7 and 8 are partially cutaway schematic side views for explaining the operation of the embodiment. It is. 1...Robot body, 2...Gritzpa body,
4...Finger, 7...Lead wire, 8...Terminal,
11... Arm portion, 12... Gate-shaped mounting plate, 12a...
Main frame, 12b... U-shaped frame, 13... L-shaped mounting plate, 17... Stopper plate, 18... Stop screw pin, 21... Support plate, 22... Spring screw pin,
23...Position detection sensor.

Claims (1)

[Scope of Claims] 1. A first gripper holding portion attached to a tool attachment portion of a robot main body, and a first gripper holding portion attached to a gripper body having a pair of fingers that can be opened and closed, and arranged on an axis perpendicular to the opening and closing direction of the fingers. Accordingly, a second gripper holding part rotatably pivotally connected to the first gripper holding part, a stopper pin attached to a side surface of the second gripper perpendicular to the opening/closing direction of the fingers, and a stopper pin facing the stopper pin are provided. 1st above
a stopper portion provided on the gripper holding portion; a support portion provided on a side surface of the first gripper holding portion perpendicular to the opening/closing direction of the fingers; and the support with the axis parallel to the direction perpendicular to the opening/closing direction of the fingers. a spring body that is attached to the second gripper holder and applies an adjustable spring force to the second gripper holder; and a position detection sensor that is attached to the supporter and detects contact with and separation from the second gripper holder. Gritspa characterized by. 2. Claim 1, characterized in that the first gripper holding part has a gate-shaped main frame, and the second gripper holding part is rotatably pivoted inside the main frame. Grizpa. 3. Claim 1, characterized in that the second gripper holding part is pivotally connected to the first gripper holding part on the side closer to the gripper body with respect to the tool mounting part of the robot main body. Grizpa. 4. A patent claim characterized in that the shaft rotatably supporting the second gripper holding part is located at a position deviated from the axis passing through the center of gravity of the gripper body, so that the stopper pin engages with the stopper part when no load is applied. The gripper according to item 1 of the range. 5. The gripper according to claim 1, wherein the position detection sensor is a contact type having a contact point that is operated by pressure of the second gripper holding portion.