Tactile retrieval and insertion and method for electronic components in through-hole printed circuit boards

A tactile retrieval and insertion device for the retrieval and insertion of electronic components into through-hole printed circuit boards comprising:

• (a) a supporting means through which the entire apparatus may be maneuvered;
• (b) at least two cooperating assemblies slidably attached to said supporting means in a direction parallel to a first axis and used for grasping an electronic component while furthermore providing information to verify proper retrieval and insertion of an electronic component, each of said assemblies comprising:
• (i) a frame;
• (ii) a first subframe having a first elongated finger with an extending end for clamping the leads on an axial component or for clamping the body on other types of components;
• (iii) a first mounting means attaching said first subframe to said frame and permitting movement of said first subframe relative to said frame in a direction parallel to a second axis, said second axis being perpendicular to said first axis, such that a compressive force, caused by contact during component retrieval or insertion between said extending end of said first elongated finger and a printed circuit board or a component improperly aligned during insertion into a printed circuit board, in a direction parallel to said second axis against said extending end of said first elongated finger will displace said first subframe relative to said frame;
• (iv) a first means for measuring the relative displacement, parallel to said second axis, of said first subframe relative to said frame wherein said first means for measuring provides information to evaluate the position and orientation of said assembly and of said electronic component;
• (v) a second subframe having a second elongated finger with an extending end for pushing the component, said second subframe oriented such that said second finger is disposed in an abutting parallel relationship with said first finger, with said extending end of said second finger being space above said extending end of said first finger;
• (vi) a second mounting means attaching said second subframe to said frame and permitting movement of said second subframe relative to said frame in a direction parallel to said second axis, such that a compressive force, caused by contract during component retrieval or insertion between said extending end of said second elongated finger and one axial lead of an axial component or the body of another component, in a direction parallel to said second axis against said extending end of said second elongated finger will displace said second subframe relative to said frame;
• (vii) a second means of measuring the relative displacement, parallel to said second axis, of said second subframe relative to said frame wherein said second means for measuring provides further information to evaluate the position and orientation of said electronic component;
• (c) a means for moving said assemblies together or apart along said first axis, such that the component may be grasped or released based on the movement of said assemblies along said first axis.

A tactile retrieval and insertion device for the retrieval and insertion of electronic components into through-hole printed circuit boards comprising:

• (a) a supporting means through which the entire apparatus may be maneuvered;
• (b) at least two cooperating assemblies slidably attached to said supporting means in a direction parallel to a first axis and used for grasping an electronic component while furthermore providing information to verify proper retrieval and insertion of an electronic component, each of said assemblies comprising:
• (i) a frame;
• (ii) a first subframe having a first elongated finger with an extended end for clamping the leads on an axial component or for clamping the body on other types of components;
• (iii) a first mounting means including a post attached to said frame and said post slidably attached to said first subframe and a coil spring oriented in a direction parallel to attached at one end to said frame and at the other end to said first subframe such that said first subframe is permitted to slide relative to said frame and sliding motion is resisted by said coil springs;
• (iv) a first means for measuring the relative displacement, parallel to a said second axis, of said first subframe relative to said frame, said first means including a linear potentiometer attached to said frame and to said first subframe such that movement between said frame and said first subframe may be monitored to verify proper retrieval and insertion of an electronic component;
• (v) a second subframe having a second elongated finger with an extending end for pushing the component, said second subframe oriented such that said second finger abuts said first finger and said extending end of said second finger resting above said extending end of said first finger;
• (vi) a second mounting means including a pair of leaf springs, each oriented in a direction parallel to said first axis, fixed at one end to said frame and fixed at the other end to said second subframe such that said second subframe is permitted to move relative to said frame in a direction parallel to said second axis and movement is resisted by said leaf springs;
• (vii) a second means of measuring the relative displacement, parallel to said second axis, of said second subframe relative to said frame, said means including a Hall effect displacement sensor device having a magnet and a sensor, each mounted to said frame and to said second subframe such that movement between said frame and said second subframe may be monitored to verify proper retrieval and insertion of an electronic component.

A method of tactile retrieval of multisized, multishaped electronic components resting in known orientations and positions into through-hole printed circuit boards using an assembly having a first set of resilient displacement sensitive fingers, called servo-fingers, for gripping the component and a recessed resilient second set of displacement sensitive fingers, called pushers, for pushing the component, each set of fingers being slidably attached to a frame along a common axis to permit retraction and expansion of the fingers about a component comprising:

• (a) advancing the assembly toward the PCB with the servo-fingers gripping the component until the servo-fingers contact the PCB, indicating by the relative displacement of each servo-finger that the component leads have entered their respective PCB holes;
• (b) further advancing the assembly toward the PCB with the servo-fingers gripping the component until the pusher fingers contact the component body indicated by the relative displacement of the pusher fingers;
• (c) further advancing the assembly toward the PCB with the pusher fingers contacting the component and sliding the component through the servo-fingers until the pusher fingers are stopped as the component contacts the PCB, indicating by the relative displacement of each pusher finger and each servo-finger that the component body has contacted the PCB and the component is properly seated;
• (d) holding the assembly stationary thereby urging the component against the PCB while maneuvers to attach the component to the PCB are executed.