Apparatus for the acquistion and insertion of dual in-line package components
This application is a continuation of application Ser. No. 513,135, filed July 12, 1983, now abandoned. 
    
    
     BACKGROUND OF THE INVENTION 
     The invention relates generally to end-effectors utilized in the automated installation of electronic components in printed circuit boards. More particularly, the invention provides an end-effector for the acquisition and insertion of dual in-line package components into printed circuit boards or dual in-line package sockets. 
     A dual in-line package is a type of housing for integrated circuits. Typicaly, the dual in-line package, or DIP, is a molded plastic container about 3/4&#34; long and 1/3&#34; wide. Heretofore, for example, it has been known to install the DIP device according to one of the techniques described below. U.S. Pat. No. 4,283,836 discloses an apparatus for sequentially inserting a number of DIP components which are loaded into the apparatus. In U.S. Pat. No. 3,727,284, an electrical component insertion apparatus manipulates the component&#39;s leads prior to insertion into the circuit board. The circuit board is mounted on a panagraphic mechanism which cooperates with the gripper to align and insert components. Finally U.S. Pat. No. 3,780,415 shows a DIP inserter with a rotatable, grooved lead aligner which swings up out of the way for component insertion. All of these component manipulators are somewhat bulky and thus limit the component configuration of the board being constructed. As a result, fewer components can be inserted into a given circuit board area. 
     It is an object of this invention to provide an apparatus which minimizes the surface area of a circuit board which must be dedicated to the spare requirements of an end effector. 
     It is a further object of this invention to provide an end effector which acquires, loads and transports a DIP to a component location while automatically aligning the DIP connector pins for insertion. 
     SUMMARY OF THE INVENTION 
     An end effector for acquiring, loading and inserting a dual in-line package into a circuit board or a DIP socket includes a gripper body with a chamber therein adapted to receive a DIP device thereinto. A pair of multi-fingered gripper means are operably associated with the body portion for reciprocal movement from a first fully extended, device acquisition position and a second fully retracted position within the chamber, thus loading the device into a retaining means which both holds the DIP device within the chamber and aligns the DIP&#39;s component pins. Pneumatic cylinders are operably associated with both the finger gripper means to effect the reciprocal movement of the finger means and pneumatic cylinders are provided to eject the loaded DIP device from the chamber&#39;s retaining means. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The above as well as other features and advantages of this invention will become apparent through consideration of the detailed description in connection with the accompanying drawings in which: 
     FIG. 1 is a isometric view of an end effector with section cut away, for the acquisition, transport and insertion of a dual in-line package device; 
     FIG. 2 is a cross-sectonal, side elevation view of the apparatus according to this invention; 
     FIG. 3 is a cross-sectional, front elevation view of the apparatus according to this invention; 
     FIG. 4 is a partial, cross sectional, side elevation of the gripper of this invention as it engages the dual in-line package device; 
     FIG. 5 is a partial, cross sectional, side elevation of the gripper of this invention with the dual in-line package device in the &#34;loaded&#34; state; and 
     FIG. 6 is a partial, cross sectional, side elevation of the gripper of this invention in the &#34;insertion&#34; state as a dual in-line package device is inserted into a printed circuit board or I.C. socket. 
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Considering FIGS. 1 through 3, the end effector according to this invention is generally indicated by the reference character 11. This end effector 11 can be mounted on the arm of an industrial manipulator (shown in dash dot at 12) directly or in combination with a compliant device. These mounting techniques are known to those skilled in the art and therefore not illustrated herein in detail. 
     The present end effector or DIP gripper 11 includes a body portion 13 which has a framework as at 15 by which the gripper is removably mounted onto an industrial manipulator and a chamber 17 in the lower portion thereof. The side wall sections 19 of the body 13 include a combination dual in-lline package device lead positioning and retaining surface 21 and a cam-like recessed region 23. The cam-like recessed region 23 provides a greater cross-sectional dimension than the cross-sectional dimension between the opposed positioning and retaining surfaces 21 of the side wall sections 19. A carriage structure 25 is suspended within the body chamber 17 by means of at least one, and preferably two vertically positioned pneumatic cylinders 27, for reciprocal vertical movement within the chamber 17. Each cylinder 27 is mounted in a cylinder support member 29 which is in communication with a pressurized and controllable source of air (not shown) through lines 31. The carriage 25 includes a rod 33 atop of which is a cross member 35. The pistons 37 of each cylinder 29 are operably associated with the cross member 35 to effect the aforedescribed reciprocal movement. A pair of multi-fingered gripping means 39 are operably associated with the carriage structure 25. These gripping means 39 engage and lift a dual in-line package device 41 into the chamer 17 as will be described hereinafter in detail. At least one, and preferably two DIP device 41 ejection means 42 are also mounted in the gripper 11. 
     The multi-fingered gripping means 39 has an upper mounting section 43 adapted to be received by the carriage structure 25 in a pivoting or hinge-like relationship by means of a pin 45 inserted into a bore 47 in the upper mounting section 43 and through a bore 49 in the carriage structure. A biasing means 51 is operably associated with each of the multi-fingered gripping means 39. The biasing means 51 is shown as a resilient wire member mounted onto the carriage structure 25 and positively urging the gripping means 39 out away from the carriage structure 25 into an &#34;open&#34; position. The gripping means 39 also includes a plurality of fingers 53 depending downwardly from the upper mounting section 43. Each finger 53 comprises an elongated portion 55 which terminates in an inwardly curving tooth-like member 57 with a bearing surface 59. There is a curved outer portion 58 having a radius selected to enhance the cooperation of the fingers 53 with the cam-like surface 23 during gripper manipulation. The number and dimensions of the fingers 53 provided on each gripping means 39 are selected in order to effectively cooperate with a dual in-line package device (DIP) 41. The DIP 41 basically includes a body portion 61 which is a generally rectangular housing containing integrated circuits. The standard form is a molded plastic container about 3/4 inch long and 1/3 inch wide, with two rows of pins 63 spaced 0.1 inch between centers as at 65 depending therefrom. A single row of pins 63 may consist of seven or eight individual pin contacts. The illustrated embodiment of this invention is equally well suited for either a fourteen or sixteen pin DIP devices, even though for the sake of simplicity, only a sixteen pin DIP device 41 is illustrated. In the typical, commercially available DIP device, the contact pins 63 are not completely positioned for immediate insertion into a DIP socket or the like. Generally, the leads are positioned outwardly about 5° from the normal, and the two rows of pins must be slightly compressed toward each other so that pin alignment with the socket or receptical is achieved. The apparatus of this invention is so configured that the DIP device pins are automatically repositioned for alignment with and insertion into the DIP socket. The multi-fingered gripper means 39 can be manufactured from die hardenable steel which resists curling upon tempering. The fingers 53 are of such a size that they fit between the pins 63 of the DIP device 41 as at 65. The preferred embodiment has a total of five fingers 53 depending from each multi-finger gripper means 39. However, the number of fingers utilized in manipulating a DIP device may vary and the number of fingers provided during the manufacture of the gripper can also deviate. Obviously, at least two fingers 53 must be provided on each multi-fingered gripping means 39, and they must be positioned relative to each other such that each finger can slip between a pair of adjacent DIP body pin leads as at 65. 
     The unique functional relationship of the various components of the gripper 11 will be more fully appreciated through consideration of FIGS. 4 through 6 which illustrate the operation of the DIP gripper 11. In FIG. 4, the gripper 11 is shown in a &#34;ready state&#34; in which the carriage structure 25 is in its extended position, unsheathing the multi-finger gripper means 39 from the body chamber 17. The unsheathed multi-finger gripper means 39 are urged into a spaced-apart or open relationship by the action of the biasing means 51. The gripper 11 is lowered down over the DIP device 41 so that the unsheathed multi-finger gripper means 39 straddle the DIP device 41. 
     Shown in phantom in FIG. 4, the DIP gripper 11 has actually engaged the DIP device 41 and is drawing the DIP device 41 into the body chamber 17. In order to engage the DIP device 41 with the multi-fingered gripper means 39, the carriage structure 25 is partially retracted into the body chamber 17 by the previously described pneumatic cylinders 27. As the carriage structure is retracted, the unsheathed and opened multi-fingered gripper means 39 are urged toward each other as they are drawn past the opposed surfaces 21 of the side walls of the chamber 17. The sheathing and closing action causes the tooth 57 of each finger 53 which is positioned between a pair of adjacent DIP pins to pass between the pins as at 65 and engage the underside 67 of the DIP body 61. The retraction of the carriage structure 25 thus causes the multi-fingered gripper means 39 to move toward a substantially parallel relationship relative to each other as defined by the opposed surfaces 21, to acquire the DIP device and to lift the device toward the loaded state. It should be noted that each row of pins of the DIP device remain, at this point, slightly spread apart and have not yet been aligned for actual component insertion. 
     The carrier structure 25 is retracted into the chamber 7 as described above until the DIP device 41 just enters the chamber 17. The surfaces 21 of the gripper side walls are contacted by the DIP pins 63 and a friction fit therebetween is established. The width of the chamber 17 between the side wall surfaces 21 is selected to accommodate the passage of the body of the DIP device therethrough while engaging the DIP structure pins. Additionally, and more importantly, the chamber width is such that the DIP pins are urged inwardly toward the longitudinal axis of the body. In other words, both rows of pins are urged toward each other into a component insertion alignment. Thus the side wall surfaces 21 perform two important functions: the alignment of the DIP device pins and as will be explained below, the frictional retention of the DIP device within the gripper&#39;s chamber 17 during the &#34;loaded state&#34;. 
     FIG. 5 illustrates the present gripper in the &#34;loaded state&#34; wherein both multi-fingered gripper means have been completely disengaged from the DIP device and the gripper 11 can be positioned to effect the insertion of the DIP device into the desired component receptacle. As previously indicated the surface 21 of the side wall of the body chamber 17 defines a first width which is chosen to accommodate the DIP device. The body chamber 17 has an interior width as at 69 which is greater than the aforedescribed first width. The chamber&#39;s interim, or second width, is selected to accommodate the complete disengagement of the multi-fingered gripper means from the DIP device as shown in FIG. 5. The cam-like surface 23 permits the smooth transition of the multi-fingered gripper means 39 at its radius 58 between the interior width of the chamber as at 69 and the first width as at 21. The necessary outward movement of the multi-fingered gripper means as they ride along the cam-like surface 23 is facilitated by the biasing means 51. At this point in time, the retraction of the carriage structure into the chamber is complete and the multi-fingered gripper means fully disengaged from the DIP device. A means for indicating that the carriage structure has been fully retracted into the chamber 17 can also be provided in the form of a travel limit switch means 81 which can be seen in FIG. 1. Such a travel limit switch means 81 can be mounted onto the frame 15 so that it is contacted by the cross member 35 when the carriage is fully retracted an the cross member at maximum elevation. The switch means 81 provides a &#34;go-no go&#34; signal to the computer control system directing the industrial manipulator-gripper system. If, for example, the DIP device was not properly acquired initially, the interruption in the gripper&#39;s operation would limit the travel of the carriage and its cross member 35, and thus fail to provide the proper &#34;go&#34; signal to the computer. 
     In FIG. 6, the gripper is engaged in the insertion of the DIP device into a DIP socket 71 which is mounted on a printed circuit board 73. In the &#34;insertion state&#34;, the ejection means 42 comprise a pair of pneumatic cylinders which are operably associated with a pressurized air supply and appropriate control circuitry, not illustrated herein. The piston 77 of each cylinder 42 effects the controlled ejection of the DIP device from the gripper chamber 17 and insertion of the same into the socket 71 through contact with the upper surface of DIP device body, as at 79. Preferably, a pair of pneumatic cylinders, generally symmetrically disposed on the body portion 13 of the gripper 11 on either side of the carriage, provide a uniform pressure for ejecting and inserting the DIP device. Once the DIP device is inserted, the pistons 77 retract into their respective cylinders 42 and the carriage structure with its associated components extended from the chamber to effectively unsheath the multi-fingered gripper means and return the gripper 11 into a &#34;ready state&#34; for the acquisition of another DIP device. 
     What has been described is an end-effector for the automated installation of electronic components in printed circuit boards, particularly the acquisition and installation of dual-in-line package devices. However, the present end-effector can also be employed for the removal of a dual in-line package device from an IC socket or a circuit board.