| 摘要 |
An end effector for an industrial manipulator acquires, loads and inserts a dual in-line package device into a printed circuit board, DIP socket or the like. The end effector includes a gripper body which defines a chamber portion therein and a pair of multi-fingered gripper means operably associated with the body portion for reciprocal movement between a first, fully extended device acquisition position and a second, fully retracted position within the body portion chamber. The body portion also includes retaining means for removably retaining a DIP device in said chamber after the disengagement of the gripper means. Pneumatic cylinders are provided to effect the aforementioned reciprocal movement and to urge the DIP device from the retaining means and insert the device into a circuit board or the like. The retaining means both hold the DIP device during the loaded state and align the DIP connector pins for insertion into the circuit board or the like.
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