JPS6032400A - Different type component inserting system - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] Technical Field of the Invention The present invention relates to an apparatus for inserting and transferring electronic components onto a board.
In particular, the present invention relates to an odd-shaped part insertion method that enables the transfer of odd-shaped parts.

PRIOR ART AND PROBLEMS In this type of conventional equipment, it is particularly difficult to insert irregularly shaped parts with various shapes into a board.

Although there are many types of substrates, there are only a small number of them, so there are various problems such as the following.

(11) Due to variations in the shape of the parts, the supply methods for small parts are different, and when changing parts, it is necessary to replace the entire part supply device, and a lot of time is required for setup.

(2) Robots that handle parts usually have only one type of parts supply device (stick, taping, etc.), and the versatility of robots is not fully utilized.

(3) The positioning of the board during transport requires manual adjustment of the width of the guide rail for guiding the board so as to correspond to the external dimensions of the board, which requires time and effort. Further, even when this width change is automatically performed, there are problems such as requiring data input each time.

(4) In order to accommodate differences in board reference hole dimensions (distance from external shape, hole diameter) for board positioning, it is necessary to replace the reference bottle, resulting in a large loss of time.

Purpose of the Invention The present invention is intended to solve the above-mentioned problems once and for all.
The purpose is to provide an odd-shaped part insertion method suitable for inserting and transferring small amounts of odd-shaped parts, and to improve the automatic insertion rate of electronic parts.

Examples of the invention Hereinafter, the present invention will be explained in detail with reference to the drawings.

FIG. 1 shows an outline of the irregularly shaped component insertion device according to the present invention.

In the figure, 1.11 is a storage conveyor, 2.12 is a rack lifting device, 3.15 is a board storage rack, 4 is a board transport positioning device, 5, 6.7 is a parts supply device, and 8 is a robot (parts transfer equipment).

First, the overall outline of this odd-shaped component insertion device will be explained as follows.

The plurality of parts supply devices 5, 6, 7 are standardized and assembled in the enclosure of the robot 8, and are each equipped with a module stand 47 that can be easily assembled and replaced depending on the target parts. . I: The robot 8 has a tool change mechanism to accommodate the shape of the part. The board transport and positioning device 4 works in conjunction with the board storage rack 3 to automatically set the width of the guide rail for board support according to the type of board, and also to automatically set the width of the guide rail for board support in response to changes in the dimensions of the board reference hole. The reference pin position is automatically adjusted to automatically accommodate differences in the board. In addition, this odd-shaped part insertion device is configured in units of cells centered on robots, and synchronization between cells.

Group control is now used for management, and since each cell has its own control section, independent driving is possible.

Next, the details of the configuration 1 function of each member will be explained in relation to each other.

A summary of the structure and function of each member is as follows.

The storage conveyor 1 is a device that transports the substrate storage racks 3. When the substrate storage racks 3 are carried by this storage conveyor 1 to the rack lifting device (substrate supply device) 2, the rack lifting device 2 lowers the substrate storage racks 3 one after another at a preset fixed pitch (or rise)
let The substrates are sequentially pulled out from the bottom of the substrate storage rack 3 by the substrate transport and positioning device 4 and fixedly supported by the assembly station. Here, after the robot 8 is equipped with an approximate hand, the robot 8 takes out irregularly shaped parts from the parts supply devices 5 and 6 and inserts them into the board. After the insertion of the odd-shaped component is completed, the board is transported on the board transport and positioning device 4, and is placed in a board storage rack 16 that is sequentially raised (or lowered) at a fixed pitch within a rack elevating device (board storage device) 12 on the ejection side. After the rack is fully loaded, it is carried out through the storage conveyor 11 on the discharge side.

The effects of these two configurations will be explained in detail as follows.

Details of the storage conveyor 1 and rack lifting device 2 are shown in FIGS. 2 and 3. FIG. 2 is a plan view, and FIG. 6 is a front view. The substrate storage rack 3 is carried from the storage conveyor 1 onto the rack lifting device 2 by the motor 21 of the storage conveyor 1 and the motor 22 of the rack lifting device 2, and is locked by a stopper 26. A rack information board 25 having a notched groove 24 is attached to the board storage rack 3 as shown in FIG. By detecting this, the rack information of the locked board storage rack 3 is read, and the guide rail width setting value of the board transport and positioning device 4 is commanded. 5 and 6 are a plan view and a front view of the substrate transport 1 positioning device 4, and 27 is a guide rail. Setting of the width of the guide rail 27 is performed by a guide rail variable mechanism including a motor 28 operated in accordance with the above command. When the width of the guide rail 27 is set to a desired value, the rack provided in the substrate transport positioning device 4,
The pinion 29 pulls out the board in the board storage rack 3 from the board storage rack 3, and the board transport positioning device 4
It is set at waiting station A above. When the board is set in this position, the board number 101 placed at a predetermined position on the board 100 is read by the sensor 30 (see Fig. 1) as shown in Fig. 7, and the reference number is read through the host microcomputer. The bases 31 and 32 on the dimension assembly station B are positioned by a reference pin variable mechanism including various motors as follows. That is, reference bin 3
1 is driven by the pulse motor 33 in the 9X direction, the reference pin 32
are driven by pulse motors 34 and 35 in the x and y directions to predetermined positions, respectively. After the setting of the reference bin is completed, the board is transported to the sealer assembly station B by the pulse motor 36 (see FIG. 5) and set in the position by engaging the reference hole with the reference bin 31, 32. will be tinged. In this case, the end face of the substrate is detected by the sensor 67 and counted for one hour, and the stop time of the pulse motor 36 is controlled. By arbitrarily setting this reference pin drive method and the stop time of the pulse motor 36, it is possible to reliably set the board even if the reference pin dimensions X, Y, , X, , Y differ from board to board. can do. Furthermore, since the board number is read each time, it is possible to handle random storage without being affected by the order in which the boards are stored. When the board is set in the assembly station B, the robot 8 having the tool change function 38 (see FIG. 1; since the basic function is well known, detailed explanation will be omitted),
Grasp the component from the component supplying device 5, 6.7 through the component outlet, and insert the component into a predetermined position on the board. Note that the robot hand 8 is, for example, as shown in Fig. 8.9.10.
The hand part 392 is equipped with a sensor 40 for member chucking and incorrect insertion confirmation, and the part is inserted using a spring 41 and a pusher 42 without using the robot vertical axis when inserting the part (
The same functions apply to other hands). After the component insertion is completed, the board is released from the respective reference bins 31 and 32, and after being transported to the ejection station C, the board is stored in the rack elevating device 12 on the ejection side by the rack 77 and the synion 46. It is stored in the rack 13.

By the way, the board storage rack 3 from which the first board was sent is moved by the lifting motor 46 provided in the rack lifting device 2.
The fixed pitch indexing sensor 44 shown in FIG. Move the pitch. After the first substrate is set in the assembly station, the second substrate is pulled out from the substrate storage rack 3 and set in the waiting station A. Thereafter, this operation is repeated, and when all the substrates are stored in the substrate storage rack 13, the substrate storage rack 13 is discharged from the storage conveyor 11 on the discharge side by the same movement as on the supply side. Further, the empty substrate storage rack 6 on the supply side is unlocked and discharged to the storage conveyor 1. In addition, depending on the case, it may be necessary to replace the program of the rack lifting device 2.
It is also possible to use the rack lifting device 2 alone without using the storage conveyor 1, and the rack lifting device 2 can also be directly connected to an external supply device (for example, a self-propelled vehicle).

FIG. 12 shows a module stand 47 of the parts supply device. This module stand 47 supports all parts supply devices 5, 6.7.
This is common to the guide bar 48. Lock mechanism 49. It is equipped with a sequencer 50. The guide bar 48 engages with a slide ball 52 provided at the bottom of a component storage case 51 that stores components, and guides the component storage case 51 carried in the direction of the arrow. Transported parts storage case 51
is engaged with a stopper 53 provided on the module base 47, and is fixed to the module base 47 by a locking mechanism 49 that rotates in the direction of the arrow. Therefore, the parts storage case 51
It is possible to easily attach, detach, and replace the parts with high accuracy and reproducibility, and it is possible to supply various parts. In addition, the control unit for parts supply is also connected to the sequencer 50 in the module stand 47.
It can be used in common, and various parts can be supplied by simply exchanging programs.

FIG. 13 shows a control method for group management of cells in which the present odd-shaped component insertion device is configured as a cell. Each cell centered on a robot (different-shaped parts insertion device) 2[1[1,.

200*-...... each has microcomputer 2 in the center.
01, and the drive control within each cell is performed by the microcomputer 201. Each device in the cell has its own sequencer 2
02, the sequencer 202 is the microcomputer 20.
It operates independently upon receiving the command from 1. For this purpose, each standardized device can be easily expanded, like stacking blocks. It is in charge of synchronization and management of the host microcomputer 203, and has versatility so that the number of cells can be easily increased.

Effects of the Invention As described above, according to the present invention, it is possible to easily install and replace the component supply device on the rotating board of the device for transporting and positioning the board, and on the other hand, it is possible to easily install and replace the component supply device on the rotating board of the device that transports and positions the board. Positioning is now possible. Therefore, even if the life cycle of parts becomes shorter, it can be handled simply by changing the parts supply equipment, and the equipment can be assembled according to the factory, reducing costs.In addition, it is possible to automatically insert irregularly shaped parts, which was previously considered difficult. It is possible to improve conversion rate and achieve long-term operation.

[Brief explanation of the drawing]

The drawings show an embodiment of the odd-shaped component insertion method according to the present invention, and FIG. 1 is a perspective view showing the overall outline of the odd-shaped component insertion device, and FIG. 2 is a plan view of the storage conveyor and rack lifting device on the supply side. , Fig. 3 is a front view of the same, Fig. 4 is a perspective view showing rack information reading and alignment, Fig. 5 is a plan view of the board transfer and positioning device, Fig. 6 is a front view of the same, and Fig. 7 is a reference pin. FIG. 8 is a front view of the tip of the robot arm; FIG. 9 is a partially enlarged view of FIG. 8; FIG. 10 is a sectional view taken along line 0-(a) of FIG. 9; FIG. 11 is a perspective view illustrating the fixed pitch indexing method of the board storage rack, FIG. 12 is a perspective view of the component supply device module stand, and FIG. 13 is a diagram illustrating the control system. In the figure, 1 and 11 are storage conveyors, 2.12 is a rack lifting device (board supply, storage device), 3.13 is a board storage rack, 4 is a board transfer and positioning device, 5.6.7 is a component supply device, 8 is a robot (parts transfer device), 26, 3
0.37, 40.44 are sensors, 27 is a guide rail for guiding both sides of the board, 31.32 is a reference bin for board positioning,
47 is a module stand, 50, 202 is a sequencer, 51
is a parts storage case, 200+, 200t,...
... is a cell, 201 is a microcomputer, and 203 is a host microcomputer. Patent Applicant Fujitsu Ltd. Representative Patent Attorney Gobe Tamamushi (1 other person) 3rd Part 4 Figure 5 Figure 6 Figure 7-t-3 L = □ Figure 11 Figure 12 Figure 13

Claims (1)

[Claims] a substrate supply device that sequentially positions and supplies a plurality of substrates stored in a substrate storage rack; and a substrate supply device that sequentially supplies and positions a plurality of substrates stored in a substrate storage rack; positioned at the assembly station by a reference pin that engages with a reference hole in the board;
and a board transport and positioning device that discharges the components after completion of component insertion at the assembly station, a component supply device that stores a plurality of components, and a component transfer device that transfers the components of the component supply device onto the board positioned at the assembly station. In an odd-shaped parts insertion method using an odd-shaped parts insertion device similar to the device, the parts feeding device is configured with a robot having a tool change function, and the parts feeding device is equipped with a module stand that facilitates parts replacement. A plurality of component supply devices are installed in the rotary wheel of the robot, and the substrate transport and positioning device automatically recognizes the thick information of the substrate storage rack and guides the substrates that are fed out from the supply position. A variable guide rail mechanism for moving the kite rail to a position and automatic board number recognition of the board to be fed out operate to move the reference pin with two degrees of freedom in X and Y so as to correspond to the reference hole of the board. By providing a variable mechanism for moving the reference pin,
These base lead supply devices, substrate transport and positioning devices, component supply devices, and component transfer devices are standardized so that they can be assembled arbitrarily, and then a cell configuration is created, and the cells are controlled in a group management control system. A method for inserting irregularly shaped parts.