| 摘要 |
PURPOSE:To improve the detectability of a bent lead pin by installing in an electronic part loader a sensor for detecting that a lifting force of greater than a predetermined value is applied to a hand head. CONSTITUTION:To the outer periphery of the lower portion of the main body 11 of handhead, a sensor mounting member is attached that is protrudent downward, and a sensor 20 is attached to the tip of the sensor mounting member facing a handhead 15. If an electronic part 5 has a bent lead pin 7a, when the robot hand attracting the electronic part 5 by suction starts moving down for inserting lead pins, the bent lead pin 7a cannot be inserted in the corresponding through hole, but stops on the surface of printed circuit board 1. When the robot hand 10 moves down farther, the hand-head 15 is thrusted up into the main body 11 of hand, a ring body 18 moves up as far as the position facing the sensor 20, the sensor 20 acts to interrupt the down motion of robot hand 10, and the robot hand 10 moves up. With this, the bent lead pin 7a is protected from being squeezed between the package of electronic part 5 and the printed circuit board to be broken. |
