PURPOSE: To eliminate causes of defects such as breakage, off-position, or pin breakage by repositioning a component which has invaded into an invalid area by a hand which holds such component.
CONSTITUTION: A stroke air cylinder 8 is fixed next to a coordinate robot 1 having a hand mounting board 7 therebetween, and the hand mounting board 7 is fixed on the stroke air cylinder 8. An inserting component 10 is inserted onto a printed board 3 while being held by a hand 9. When there is a neighboring component 13 which has invaded into an invalid area 15 or which might invade there, the two-stroke air cylinder 8 lowers one stroke, and then moves, while repositioning the neighboring component 13, to the right position, where the cylinder 8 inserts the component 13 by the second stroke. According to the constitution, the insertion can be made without generating any defects such as breakage, off-position, or pin breakage.
YAMAMOTO KENJI
SHIBATA SHIGEMASA
WATANABE TOYOICHI
| JPS60223200A | 1985-11-07 |