JP2017030090A - Robot hand, information processor manufacturing device, and information processor manufacturing method - Google Patents

Abstract

An object is to enable a member to be correctly inserted into a socket. A robot hand 20 according to an embodiment includes a gripping member 22, a guide member 62, and a pushing member 30. The gripping member 22 grips the button battery 110 which is an example of a member, and conveys the button battery 110 to the socket 112. The guide member 62 has a contact portion 64 and a guide portion 66. The contact part 64 is in contact with the socket 112. The guide part 66 performs positioning with respect to the socket 112 of the button battery 110 and guide to the socket 112 of the button battery 110 in a state where the contact part 64 is in contact with the socket 112. The push-in member 30 pushes the button battery 110 into the socket 112 and inserts it while the button battery 110 is guided by the guide portion 66. [Selection] Figure 1

Description

  The technology disclosed in the present application relates to a robot hand, an information processing device manufacturing apparatus, and an information processing device manufacturing method.

  For example, a button battery may be used for an information processing apparatus such as a personal computer. A socket is used to fix the button battery. As such a socket, for example, there is a socket having a wall portion provided along a side surface of the button battery, and the button battery is inserted inside the wall portion (see, for example, Patent Document 1).

JP 2012-16459 A JP-A-9-141588 JP 2002-361588 A

  However, when the button battery is inserted into the socket, the button battery may not be correctly inserted into the socket if the position of the button battery is shifted with respect to the socket. Such a problem may occur even in a member inserted into the socket other than the button battery.

  An object of the technology disclosed by the present application is to enable a member to be correctly inserted into a socket as one aspect.

  In order to achieve the above object, according to a technique disclosed in the present application, a robot hand including a gripping member, a guide member, and a pushing member is provided. The gripping member grips the member and transports the member to the socket. The guide member has a contact portion and a guide portion. The contact portion is in contact with the socket. The guide portion performs positioning of the member conveyed to the socket with respect to the socket and guide of the member inserted into the socket in a state where the contact portion is in contact with the socket. The pushing member is inserted by pushing the member into the socket in a state where the member is guided by the guide portion.

  According to the technique disclosed in the present application, the member can be correctly inserted into the socket.

It is a perspective view of a button battery insertion device. It is a perspective view of the button battery insertion device seen from the direction different from FIG. It is a principal part enlarged view of a robot hand. It is a perspective view which shows the state in which the button battery was conveyed by the socket. It is a figure explaining a mode that a button battery is inserted in a socket. It is a figure explaining the 1st process of a button battery insertion method. It is a principal part enlarged view of FIG. It is a figure explaining the 2nd process of a button battery insertion method. It is a figure explaining the 3rd process of a button battery insertion method. It is a principal part enlarged view of FIG. It is a figure explaining the 4th process of a button battery insertion method. It is a principal part enlarged view of FIG. It is a figure explaining a mode that a button battery is inserted in a socket. It is a figure explaining the 5th process of a button battery insertion method. It is a figure explaining the 6th process of a button battery insertion method. It is a figure which shows an information processing apparatus manufacturing apparatus.

  Hereinafter, an embodiment of the technology disclosed in the present application will be described.

  FIG. 4 shows a button battery 110 which is an object to be transported of a button battery insertion device to be described later, and a socket 112 into which the button battery 110 is inserted. In FIG. 4, the button battery 110 is in a temporarily inserted state before being fully inserted into the socket 112. The button battery 110 is an example of a “member” inserted into the socket 112.

  The socket 112 is mounted on a substrate 114 provided in an information processing apparatus such as a personal computer, for example. The socket 112 has a bottom wall portion 116, a first standing wall 118, a second standing wall 120, a first claw portion 122, and a second claw portion 124.

  The first standing wall 118 and the second standing wall 120 are each erected from the bottom wall portion 116 and are disposed to face each other. The first claw portion 122 is formed at the upper end of the first standing wall 118 and protrudes toward the second standing wall 120. On the other hand, the second claw portion 124 is formed at the upper end of the second standing wall 120 and protrudes toward the first standing wall 118.

  The 2nd nail | claw part 124 is formed smaller than the 1st nail | claw part 122, and is formed in the center part of the left-right direction of the 2nd standing wall 120. As shown in FIG. Notches 126 and 128 are formed in the respective central portions of the first standing wall 118 and the second standing wall 120, and positive spring terminals (not shown) are disposed in the notches 126 and 128, respectively. A negative spring terminal (not shown) is disposed on the bottom wall portion 116.

  The button battery 110 is formed in a disk shape. The button battery 110 is inserted into the socket 112 in the following manner by a regular method. That is, as shown in the upper diagram of FIG. 5, first, the button battery 110 is transported to the socket 112. At this time, the button battery 110 is in a temporarily inserted state before being fully inserted into the socket 112, and one end portion 110 </ b> A of the button battery 110 is inserted below the first claw portion 122, and the other end portion of the button battery 110. 110B is placed on the second standing wall 120 (including the second claw portion 124).

  Subsequently, as described above, after the button battery 110 is transferred to the socket 112, the other end 110B of the button battery 110 is pushed toward the first standing wall 118 as shown in the middle diagram of FIG. The battery 110 is positioned closer to the first standing wall 118 than the tip of the second claw portion 124. At this time, the one end 110A of the button battery 110 is pressed against the positive spring terminal provided on the first standing wall 118 side.

  5, the upper surface of the other end portion 110B of the button battery 110 is pushed toward the bottom wall portion 116, and the button battery 110 is pushed into the bottom wall portion 116. Are arranged in parallel with the bottom wall 116. Further, the button battery 110 is pushed to the second standing wall 120 side by the positive spring terminal provided on the first standing wall 118 side, and the other end portion 110B of the button battery 110 is inserted below the second claw portion 124. Is done.

  In this way, the button battery 110 is inserted into the socket 112. In a state where the button battery 110 is inserted into the socket 112, the button battery 110 is sandwiched between a pair of positive spring terminals disposed in the notches 126 and 128 of the first standing wall 118 and the second standing wall 120, and the pair of positive electrodes The positive terminal of the button battery 110 is connected to the spring terminal. Further, the negative electrode of the button battery 110 is connected to the negative spring terminal provided on the bottom wall 116.

  A button battery insertion device 10 shown in FIGS. 1 and 2 is a device for inserting the above-described button battery 110 into a socket 112, and includes a robot arm 18 and a robot hand 20. 1 to 3, the arrow UD indicates the vertical direction of the robot hand 20, and the arrow LR indicates the horizontal direction of the robot hand 20.

  The robot hand 20 is connected to the tip of the robot arm 18. The robot hand 20 includes a gripping member 22, a lifting cylinder 24, an opening / closing mechanism 26, a guide mechanism 28, a pushing member 30, a cam mechanism 32, a fixed member 34, a movable member 36, a linear guide 38, a slide shaft 40, a compression spring 42, and the like. Is provided.

  The grip member 22 is formed in a pipe shape, and extends from the fixed member 34 toward the distal end side (lower side) of the robot hand 20. A suction device (not shown) is connected to the proximal end portion of the gripping member 22 via a pipe or the like, and a suction head 44 (suction pad) for gripping the button battery 110 is connected to the distal end portion of the gripping member 22. Is provided. The elevating cylinder 24 is fixed on a fixed member 34, and the gripping member 22 is raised and lowered in the vertical direction of the robot hand 20 by the elevating cylinder 24.

  As shown in FIG. 3, the opening / closing mechanism 26 includes an opening / closing cylinder 46, a pair of driving members 48, a pair of driven members 50, and a pair of elastic members 52. The opening / closing cylinder 46 is fixed below the fixing member 34. The open / close cylinder 46 has a pair of open / close portions 54 arranged in the left-right direction of the robot hand 20. The pair of opening / closing parts 54 opens / closes (contacts / separates) in the left-right direction of the robot hand 20. The pair of drive members 48 are fixed to each opening / closing part 54, and move along the left-right direction of the robot hand 20 with the movement of each opening / closing part 54. The pair of driven members 50 are separated from the driving members 48.

  As shown in FIG. 2, the pair of driven members 50 are fixed to the driving members 48 via linear guides 56. The linear guide 56 is provided for each of the pair of driven members 50. The pair of linear guides 56 are arranged with the left-right direction of the robot hand 20 as the axial direction, and the pair of driven members 50 are moved in the left-right direction of the robot hand 20 relative to the drive members 48 by the linear guides 56. It is possible.

  As shown in FIG. 3, each drive member 48 is formed with a first fixed wall 58, and each driven member 50 is formed with a second fixed wall 60. The pair of first fixed walls 58 and the pair of second fixed walls 60 extend in the vertical direction of the robot hand 20. The pair of first fixed walls 58 are disposed between the pair of second fixed walls 60, and the first fixed walls 58 and the second fixed walls 60 are opposed to each other in the left-right direction of the robot hand 20. .

  As an example, the pair of elastic members 52 are each formed by a coil spring, and are disposed between each first fixed wall 58 and the second fixed wall 60. One end of each elastic member 52 is connected to the first fixed wall 58, and the other end of each elastic member 52 is connected to the second fixed wall 60.

  The guide mechanism 28 has a pair of guide members 62 for positioning and guiding the button battery 110. The pair of guide members 62 are provided integrally with each of the driven members 50 described above, and extend from the driven members 50 toward the distal end side of the robot hand 20. The pair of guide members 62 are each formed in a plate shape, and are arranged to face the robot hand 20 in the left-right direction.

  The distal end portion of each guide member 62 is formed as a contact portion 64 that contacts the side surface of the bottom wall portion 116 of the socket 112. A portion of each guide member 62 closer to the base end than the contact portion 64 is formed as a guide portion 66 that positions and guides the button battery 110. The contact portion 64 is disposed so as to be offset from the guide portion 66 to the outside of the pair of guides corresponding to the shape of the socket 112. The guide portion 66 is formed so as to be in contact with the side surface of the button battery 110 in a state where the contact portion 64 is in contact with the side surface of the bottom wall portion 116.

  As shown in FIGS. 1 and 2, the pushing member 30 is formed in a rod shape and extends in the vertical direction of the robot hand 20. A shaft portion 68 extending in the left-right direction of the robot hand 20 is provided at a substantially central portion in the length direction of the pushing member 30, and the pushing member 30 can rotate to the fixed member 34 via the shaft portion 68. It is supported by.

  A bent portion 70 that is bent in an L shape is formed at the distal end portion (lower end portion) of the pushing member 30. The lower surface of the bent portion 70 is formed as a pushing surface 72. In addition, a pushing protrusion 74 that protrudes toward the distal end side (lower side) of the robot hand 20 is formed from the pushing surface 72.

  The pushing surface 72 is formed by a curved surface that is convex toward the tip side of the robot hand 20. As will be described later, the pushing surface 72 has a function of pushing the button battery 110 conveyed to the socket 112 toward the first standing wall 118 (see FIG. 12). Further, as will be described later, the pushing protrusion 74 has a function of pushing the button battery 110 pushed into the first standing wall 118 side by the pushing surface 72 into the bottom wall portion 116 side (see also FIG. 12).

  The guide mechanism 28 is fixed to the fixing member 34 via the opening / closing mechanism 26, the pair of driving members 48, the pair of driven members 50, and the like. The movable member 36 is disposed closer to the proximal end (upper side) of the robot hand 20 than the fixed member 34, and the distal end portion of the robot arm 18 is connected to the movable member 36. The movable member 36 and the fixed member 34 are formed in a plate shape, and face the robot hand 20 in the vertical direction.

  Between the movable member 36 and the fixed member 34, a linear guide 38 is provided that is arranged with the vertical direction of the robot hand 20 as the axial direction. The movable member 36 is fixed to the fixed member 34 via the linear guide 38, and can be brought into and out of contact with the fixed member 34 in the length direction of the robot arm 18.

  The slide shaft 40 is disposed with the vertical direction of the robot hand 20 as the axial direction. One end of the slide shaft 40 is fixed to the movable member 36. On the other hand, the other end side of the slide shaft 40 passes through the fixing member 34, and a stopper 76 for preventing the fixing member 34 is provided at the other end of the slide shaft 40. A compression spring 42 is provided coaxially with the slide shaft 40 between the movable member 36 and the fixed member 34, and the compression spring 42 has a length of the robot arm 18 with respect to the fixed member 34. It expands and contracts by moving in and out of the direction.

  The cam mechanism 32 includes a roller 78 and a cam member 80. A rotation shaft 82 whose axial direction is the left-right direction of the robot hand 20 is provided at the base end portion (upper end portion) of the pushing member 30, and the roller 78 (cam follower) is rotatably supported by the rotation shaft 82. Has been. The cam member 80 extends from the movable member 36 toward the fixed member 34, and a cam surface 84 is formed at the distal end portion of the cam member 80.

  The cam surface 84 has a curved surface 84A having the same curvature as the outer peripheral surface of the roller 78, and a fillet surface 84B formed continuously above the curved surface 84A. Usually, the movable member 36 is biased away from the fixed member 34 by the elastic force of the compression spring 42, and in this state, the roller 78 is brought into contact with the cam surface 84.

  Further, a projection-shaped locking portion 86 is provided between the base end portion (upper end portion) of the push-in member 30 and the shaft portion 68, and one end of the tension spring 88 is locked to the locking portion 86. Has been. The other end of the tension spring 88 is locked to a bar-shaped locking member 90 protruding from the fixing member 34. The roller 78 is biased toward the cam surface 84 by the tensile force of the tension spring 88. The cam mechanism 32 operates (turns) the push-in member 30 as the movable member 36 approaches the fixed member 34.

  Next, a button battery insertion method using the button battery insertion device 10 will be described.

  First, as shown in the upper diagram of FIG. 6, the robot hand 20 is moved above the tray 130 in accordance with the operation of the robot arm 18. Further, the suction head 44 provided at the distal end portion of the gripping member 22 protrudes below the pair of guide members 62 in accordance with the operation of the elevating cylinder 24. Then, the robot hand 20 is lowered with the operation of the robot arm 18 and the suction machine is operated, so that one button battery 110 among the plurality of button batteries 110 arranged on the tray 130 is attracted to the suction head 44 ( Gripped).

  Subsequently, as shown in the lower diagram of FIG. 6, the robot hand 20 moves in accordance with the operation of the robot arm 18, and the button battery 110 is conveyed to the socket 112. At this time, the robot hand 20 is inclined so that the one end 110A of the button battery 110 is positioned below the other end 110B.

  As shown in FIG. 7, one end portion 110 </ b> A of the button battery 110 is inserted below the first claw portion 122. The other end 110B of the button battery 110 is placed on the second standing wall 120 (including the second claw portion 124). Thus, the button battery 110 is temporarily inserted into the socket 112 in an inclined state.

  Subsequently, as shown in the left diagram of FIG. 8, the suction state by the suction head 44 is released by stopping the suction machine, and the gripping member 22 is raised with the operation of the elevating cylinder 24. Further, as shown in the right diagram of FIG. 8, the robot hand 20 is returned to a straight state as the robot arm 18 is operated, and the robot hand 20 is moved above the socket 112.

  Then, as shown in the left diagram of FIG. 9, the pair of guide members 62 are opened in accordance with the operation of the opening / closing cylinder 46. Further, the robot hand 20 descends with the operation of the robot arm 18, and the tip portions (lower end portions) of the pair of guide members 62 are brought into contact with the substrate 114 (see also the left diagram in FIG. 10).

  Subsequently, as shown in the right diagram of FIG. 9, the pair of guide members 62 are closed in accordance with the operation of the opening / closing cylinder 46. When the pair of guide members 62 are in a closed state, the pair of contact portions 64 formed at the distal end portion of each guide member 62 is brought into contact with the socket 112 from both sides of the socket 112. At this time, more specifically, the pair of contact portions 64 are in contact with the side surfaces of the bottom wall portion 116 of the socket 112 (see also the right view of FIG. 10).

  In addition, in a state where the pair of contact portions 64 are in contact with the socket 112, the pair of guide portions 66 are in contact with the button battery 110 from both sides of the button battery 110. The button battery 110 is positioned in the left-right direction with respect to the socket 112 by the pair of guide portions 66, and the positional deviation of the button battery 110 is eliminated.

  An elastic member 52 is provided between each driven member 50 provided with the guide portion 66 and each drive member 48 provided on the opening / closing portion 54 of the opening / closing cylinder 46. For this reason, even if the robot hand 20 is displaced in the left-right direction with respect to the socket 112, this displacement is absorbed by the deformation of the elastic member 52, and the button battery 110 is positioned in the left-right direction with respect to the socket 112. .

  Subsequently, as shown in the middle diagram from the left diagram in FIG. 11, the robot arm 18 is lowered. When the robot arm 18 is lowered, the movable member 36 connected to the tip of the robot arm 18 is pushed into the side (lower side) approaching the fixed member 34.

  Further, when the movable member 36 is pushed toward the side closer to the fixed member 34 (lower side), the roller 78 moves from the curved surface 84A of the cam surface 84 to the fillet surface 84B while rolling on the cam surface 84. As a result, the pushing member 30 rotates about the rotation shaft 82 so that the tip of the pushing member 30 moves toward the button battery 110 side.

  Further, when the pushing member 30 rotates about the rotation shaft 82 as described above, the pushing surface 72 comes into contact with the other end portion 110B of the button battery 110 as shown in the upper drawing to the middle drawing of FIG. The button cell 110 is pushed into the first standing wall 118 by the pushing surface 72. At this time, the pushing surface 72 is in sliding contact with the other end portion 110 </ b> B of the button battery 110 in order from the front end side to the rear end side of the bent portion 70.

  11, when the push-in member 30 is further rotated around the rotation shaft 82, as shown in the lower view of the button battery 110, as shown in the lower view of FIG. 12. The pushing protrusion 74 contacts the upper surface of the other end 110B. Then, the button battery 110 is pushed into the bottom wall portion 116 by the pushing protrusion 74.

  As shown in the upper diagram of FIG. 13, when the button battery 110 is pushed by the pushing surface 72, the pushing protrusion 74 passes through the inside of the notch 128 formed in the second standing wall 120. 13, the upper end of the second standing wall 120 is at a position higher than the upper surface of the button battery 110, and between the upper end of the second standing wall 120 and the upper surface of the button battery 110, A step 92 is formed. However, since the length of the pushing protrusion 74 is longer than the step 92, the pushing by the pushing protrusion 74 is ensured.

  As described above, the button battery 110 is inserted into the socket 112 by the two-step pressing operation by the pressing operation of the pressing surface 72 and the pressing operation of the pressing protrusion 74.

  Subsequently, as shown in FIG. 14, the robot arm 18 is raised. When the robot arm 18 is raised, the movable member 36 is moved to the side away from the fixed member 34 (upper side). When the movable member 36 is moved away from the fixed member 34, the roller 78 moves from the fillet surface 84B of the cam surface 84 to the curved surface 84A while rolling on the cam surface 84.

  Further, the tensile force of the tension spring 88 acts on the pushing member 30. Thus, the push-in member 30 is rotated and returned to the original position so that the tip of the push-in member 30 moves to the opposite side of the button battery 110. At this time, the robot arm 18 is raised so that the pair of guide members 62 rises to a position where the pair of guide members 62 slightly floats from the substrate 114.

  Then, as shown in the left diagram of FIG. 15, the pair of guide members 62 is changed from the closed state to the opened state in accordance with the operation of the opening / closing cylinder 46. Further, as shown in the right diagram of FIG. 15, the robot arm 18 is further raised and the robot hand 20 is moved from the socket 112 to a position where it has been retreated upward. In the present embodiment, the button battery 110 is inserted into the socket 112 as described above.

  As shown in FIG. 16, the button battery insertion device 10 described above is incorporated into the information processing device manufacturing apparatus 100. The information processing apparatus manufacturing apparatus 100 is for manufacturing an information processing apparatus 102 such as a personal computer, for example. The button battery insertion method described above is applied to a part of the information processing apparatus manufacturing method by the information processing apparatus manufacturing apparatus 100. In this information processing apparatus manufacturing method, the button battery insertion process by the button battery insertion method described above is added to the assembly process of the information processing apparatus 102 to complete the information processing apparatus 102 according to the present embodiment.

  Next, the operation and effect of this embodiment will be described.

  As described above in detail, according to the present embodiment, when the button battery 110 is transported (temporarily inserted) into the socket 112, the pair of guide members 62 are closed along with the operation of the opening / closing cylinder 46. The contact portions 64 of the pair of guide members 62 are brought into contact with the socket 112 from both sides of the socket 112. Further, the guide portions 66 of the pair of guide members 62 are brought into contact with the button battery 110 from both sides of the button battery 110 in a state where the pair of contact portions 64 are in contact with the socket 112. The button battery 110 is positioned in the left-right direction with respect to the socket 112, and the positional deviation of the button battery 110 is eliminated.

  Further, when the button battery 110 is pushed into the socket 112 by the pushing member 30, the button battery 110 is guided by the pair of guide portions 66. As described above, the button battery 110 can be correctly inserted into the socket 112.

  In addition, since the button battery 110 can be prevented from being pushed into the socket 112 in a state where the button battery 110 is misaligned, for example, between the other end portion 110B of the button battery 110 and the second claw portion 124. Damage to the socket 112 due to interference can be suppressed.

  In addition, the pair of guide members 62 position the button battery 110 with respect to the socket 112 and guide the button battery 110 to the socket 112. Therefore, since the position of the button battery 110 is detected by a camera, a sensor or the like, and the feedback function for correcting the position of the button battery 110 based on the detection result is not necessary, the cost can be reduced.

  Further, the pushing member 30 has a pushing surface 72 and a pushing protrusion 74 protruding from the pushing surface 72. The pushing surface 72 pushes the button battery 110 toward the first standing wall 118, and the pushing projection 74 pushes the button battery 110 pushed toward the first standing wall 118 by the pushing surface 72 toward the bottom wall portion 116. Therefore, when the button battery 110 is inserted into the socket 112 by the two-step pushing operation of the pushing member 30 and the pushing protrusion 74, the other end portion 110B of the button battery 110 interferes with the second claw portion 124. Can be suppressed. Thereby, the damage of the 2nd nail | claw part 124 can be suppressed more effectively.

  Further, since the pushing member 30 has a pushing projection 74 in addition to the pushing surface 72, the button battery 110 can be pushed accurately into the bottom wall portion 116 by the pushing projection 74. Thereby, the insufficient insertion with respect to the socket 112 of the button battery 110 can be suppressed.

  Further, the robot hand 20 is provided with a cam mechanism 32, and this cam mechanism 32 operates (rotates) the push-in member 30 as the movable member 36 approaches the fixed member 34. Therefore, in order to operate the push-in member 30, the robot arm 18 may be lowered and the movable member 36 may be brought close to the fixed member 34 while the pair of guide members 62 are in contact with the substrate 114. 30 can be easily activated.

  Next, a modification of this embodiment will be described.

  In the above embodiment, the robot hand 20 is applied to the button battery insertion device 10 for inserting the button battery 110 into the socket 112, but the member insertion device for inserting a member other than the button battery 110 into the socket 112. May be applied.

  Moreover, in the said embodiment, although the holding member 22 is made into the structure which adsorb | sucks the button battery 110, you may be made into the structure which can hold the button battery 110 by methods other than adsorption | suction.

  Moreover, in the said embodiment, although the socket 112 is set as the structure which has the bottom wall part 116, the 1st standing wall 118, the 2nd standing wall 120, the 1st nail | claw part 122, and the 2nd nail | claw part 124, it is other than this. It may be the structure of.

  Moreover, in the said embodiment, although the pushing member 30 has the pushing surface 72 and the pushing protrusion 74 preferably, it may have structures other than the pushing surface 72 and the pushing protrusion 74. FIG.

  In the above embodiment, the pushing member 30 is operated by the cam mechanism 32, but may be operated by a structure other than the cam mechanism 32.

  The plurality of modified examples may be implemented in combination as appropriate.

  As mentioned above, although one embodiment of the technique disclosed in the present application has been described, the technique disclosed in the present application is not limited to the above, and various modifications may be made without departing from the spirit of the present invention. Of course, it is possible.

  In addition, the following additional remark is disclosed regarding one Embodiment of the technique which the above-mentioned this application discloses.

(Appendix 1)
A gripping member for gripping the member and transporting the member to a socket;
The contact portion that is in contact with the socket, and in a state where the contact portion is in contact with the socket, positioning of the member conveyed to the socket with respect to the socket and guide of the member inserted into the socket are performed. A guide member having a guide portion;
A pushing member that pushes and inserts the member into the socket in a state where the member is guided by the guide portion;
Robot hand equipped with.
(Appendix 2)
A pair of the guide members;
The pair of guide members are arranged to face each other,
The pair of contact portions are in contact with the socket from both sides of the socket,
The pair of guide portions performs positioning of the member and guide of the member from both sides of the member in a state where the pair of contact portions are in contact with the socket.
The robot hand according to appendix 1.
(Appendix 3)
An opening and closing mechanism having a pair of drive members that move along the opposing direction of the pair of guide members;
A pair of driven members provided with the respective guide members;
A pair of elastic members connecting the drive members and the driven members;
Further comprising
The robot hand according to appendix 2.
(Appendix 4)
The socket is
The bottom wall,
A first standing wall and a second standing wall that are respectively erected from the bottom wall portion and arranged to face each other;
A first claw portion formed at an upper end of the first standing wall and projecting toward the second standing wall;
A second claw portion formed at an upper end of the second standing wall and projecting toward the first standing wall;
Have
The gripping member is configured so that one end portion of a button battery as the member is inserted below the first claw portion, and the other end portion of the button battery is placed on the second standing wall. Transport the battery to the socket,
The pushing member is
A pressing surface that contacts the other end of the button battery and pushes the button battery into the first standing wall;
A pushing projection that protrudes from the pushing surface and contacts the upper surface of the other end of the button battery pushed to the first standing wall by the pushing surface, and pushes the button battery into the bottom wall;
Having
The robot hand according to any one of appendix 1 to appendix 3.
(Appendix 5)
A fixing member provided with the guide member;
A movable member that is connected to the distal end of the robot arm and that is movable toward and away from the fixed member in the length direction of the robot arm;
A cam mechanism that operates the push-in member as the movable member approaches the fixed member;
Further comprising
The robot hand according to any one of supplementary notes 1 to 4.
(Appendix 6)
A robot arm,
A robot hand connected to the tip of the robot arm;
With
The robot hand is
A gripping member for gripping the member and transporting the member to a socket;
The contact portion that is in contact with the socket, and in a state where the contact portion is in contact with the socket, positioning of the member conveyed to the socket with respect to the socket and guide of the member inserted into the socket are performed. A guide member having a guide portion;
A pushing member that pushes and inserts the member into the socket in a state where the member is guided by the guide portion;
Having
Information processing equipment manufacturing equipment.
(Appendix 7)
The member is conveyed to the socket in a state where the member is held by the holding member,
The contact portion of the guide member is brought into contact with the socket, and the member is positioned with respect to the socket by the guide portion of the guide member.
While the member is guided by the guide portion, the member is inserted by being pushed into the socket by a pushing member.
Information processing apparatus manufacturing method.

DESCRIPTION OF SYMBOLS 10 Button battery insertion apparatus 18 Robot arm 20 Robot hand 22 Holding member 26 Opening / closing mechanism 30 Pushing member 32 Cam mechanism 34 Fixed member 36 Movable member 62 Guide member 64 Contact part 66 Guide part 72 Pushing surface 74 Pushing protrusion 100 Information processing apparatus manufacturing apparatus 102 Information Processing Device 110 Button Battery (Example of Member)
110A One end part 110B The other end part 112 Socket 114 Substrate 116 Bottom wall part 118 First standing wall 120 Second standing wall 122 First claw part 124 Second claw part

Claims (5)

A gripping member for gripping the member and transporting the member to a socket;
The contact portion that is in contact with the socket, and in a state where the contact portion is in contact with the socket, positioning of the member conveyed to the socket with respect to the socket and guide of the member inserted into the socket are performed. A guide member having a guide portion;
A pushing member that pushes and inserts the member into the socket in a state where the member is guided by the guide portion;
Robot hand equipped with. The socket is
The bottom wall,
A first standing wall and a second standing wall that are respectively erected from the bottom wall portion and arranged to face each other;
A first claw portion formed at an upper end of the first standing wall and projecting toward the second standing wall;
A second claw portion formed at an upper end of the second standing wall and projecting toward the first standing wall;
Have
The gripping member is configured so that one end portion of a button battery as the member is inserted below the first claw portion, and the other end portion of the button battery is placed on the second standing wall. Transport the battery to the socket,
The pushing member is
A pressing surface that contacts the other end of the button battery and pushes the button battery into the first standing wall;
A pushing projection that protrudes from the pushing surface and contacts the upper surface of the other end of the button battery pushed to the first standing wall by the pushing surface, and pushes the button battery into the bottom wall;
Having
The robot hand according to claim 1. A fixing member provided with the guide member;
A movable member that is connected to the distal end of the robot arm and that is movable toward and away from the fixed member in the length direction of the robot arm;
A cam mechanism that operates the push-in member as the movable member approaches the fixed member;
Further comprising
The robot hand according to claim 1 or 2. A robot arm,
A robot hand connected to the tip of the robot arm;
With
The robot hand is
A gripping member for gripping the member and transporting the member to a socket;
The contact portion that is in contact with the socket, and in a state where the contact portion is in contact with the socket, positioning of the member conveyed to the socket with respect to the socket and guide of the member inserted into the socket are performed. A guide member having a guide portion;
A pushing member that pushes and inserts the member into the socket in a state where the member is guided by the guide portion;
Having
Information processing equipment manufacturing equipment. The member is conveyed to the socket in a state where the member is held by the holding member,
The contact portion of the guide member is brought into contact with the socket, and the member is positioned with respect to the socket by the guide portion of the guide member.
While the member is guided by the guide portion, the member is inserted by being pushed into the socket by a pushing member.
Information processing apparatus manufacturing method.