초록 ▼

The invention comprises an improved end effector for a robot which is particularly advantageous in applications such as placing flat pack integrated circuits on circuit boards. The end effector includes a vacuum-operated quill for picking up the integrated circuit from a predetermined location. A pr

The invention comprises an improved end effector for a robot which is particularly advantageous in applications such as placing flat pack integrated circuits on circuit boards. The end effector includes a vacuum-operated quill for picking up the integrated circuit from a predetermined location. A pressure spring mechanism is included in the end effector permits the flat pack to be held in the desired position with a predetermined force by utilizing the robot arm to compress the pressure spring a predetermined amount. Once the integrated circuit is positioned on the circuit board, the circuit is released and the quill moved away from the board a predetermined distance by a linear actuator included in the end effector without any motion of the robotic arm.

대표청구항 ▼

An end effector for a robot for placing small components such as flat packs on a surface, comprising: a housing adapted to be fixed to the movable arm of said robot, said housing including first and second bearings in spaced-apart relationship; a hollow quill slidably mounted in said bearings and ha

An end effector for a robot for placing small components such as flat packs on a surface, comprising: a housing adapted to be fixed to the movable arm of said robot, said housing including first and second bearings in spaced-apart relationship; a hollow quill slidably mounted in said bearings and having its bore open at the working end of said quill; means for coupling a selectively actuable vacuum source to said inner bore; a train of force responsive and force producing elements in coaxial relation with said quill and including: a collar fixed to said quill; a linear bidirectional actuator in coaxial and slidable relation to said quill and coupled to selectively actuable force-source means; resilient means biasing said collar and quill in a first direction corresponding to extending said quill and toward said actuator; tactile sensor means interposed in said train and subject to changing forces applied to said quill in a direction opposite said first direction in accordance with said quill being moved by said robot into a position placing a component held by the working end of said quill, said changing forces being used to initiate further action of said end effector including actuating said linear bidirectional actuator to move said quill in a direction opposite said first direction independent of any motion of said robot arm.