WO2020066823A1 - Teaching position setting method and teaching position setting device - Google Patents

Teaching position setting method and teaching position setting device Download PDF

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Publication number
WO2020066823A1
WO2020066823A1 PCT/JP2019/036703 JP2019036703W WO2020066823A1 WO 2020066823 A1 WO2020066823 A1 WO 2020066823A1 JP 2019036703 W JP2019036703 W JP 2019036703W WO 2020066823 A1 WO2020066823 A1 WO 2020066823A1
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component
teaching position
insertion hole
teaching
operations
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PCT/JP2019/036703
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French (fr)
Japanese (ja)
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俊満 木村
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川崎重工業株式会社
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Priority to CN201980049552.2A priority Critical patent/CN112512756A/en
Priority to JP2020548584A priority patent/JPWO2020066823A1/en
Publication of WO2020066823A1 publication Critical patent/WO2020066823A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components

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  • the present invention relates to a teaching position setting method and a teaching position setting device.
  • Patent Literature 1 discloses a technique of updating and learning a teaching position when a lead cannot be inserted during practical use of board assembly. In this technique, an insertion operation is attempted at a plurality of positions near a teaching position. The average value of the inserted one or more position data is set as a new teaching position.
  • the average value of the plurality of positions may be located at a position distant from the center of the position range, and even if updated, it may not be inserted in a subsequent operation. Therefore, it is necessary to repeat trial and error of the insertion operation, and unless it is repeated, the teaching position cannot be brought close to the center of the insertable range.
  • an object of the present invention is to provide a method and an apparatus that can easily bring a teaching position closer to the center of a position range where insertion is possible when automatically inserting a first component into a second component.
  • a teaching position setting method includes: A method for setting a teaching position of a component insertion device that performs an operation of inserting a first component into an insertion hole of a second component, A component lowering step of gripping the first component, moving the first component to a current teaching position and lowering the first component toward the insertion hole of the second component, And correcting the current teaching position when the first component cannot be inserted into the insertion hole in the component lowering step,
  • the correcting step includes: An exploring step of repeating a series of operations of horizontally moving the grasped first component from the current teaching position and descending toward the second component until the first component can be inserted into the insertion hole; An initial insertion position obtaining step of obtaining a position at which the electronic component can be inserted into the insertion hole in the searching step as an actual initial insertion position, Based on the current teaching position and the actual initial insertion position, to obtain a temporary center position, a temporary center obtaining step, A series of operations for moving the first component from a first side
  • the temporary center position is acquired based on the actual initial insertion position, and the temporary center position is acquired.
  • the operation of inserting the first component into the second component again is tried as a reference.
  • the trial is performed while moving the first component so as to approach the temporary center position from both sides in the first horizontal direction, thereby acquiring two limit positions that can be inserted into the second component.
  • the center of this limit position is acquired as a new teaching position.
  • the teaching position can be brought closer to the center of the position range in which the first component can be inserted into the insertion hole, and the occurrence of a situation where the first component cannot be inserted thereafter can be suppressed.
  • a teaching position setting device An apparatus for setting a teaching position of a component insertion device that performs an operation of inserting a first component into an insertion hole of a second component, A robot arm, A hand attached to the tip of the robot arm and gripping the first component; A control device for controlling the operation of the robot arm and the hand, The control device includes: Holding the first component with the hand, moving the first component to a pre-stored current teaching position, lowering the first component toward the insertion hole of the second component, When the first component could not be inserted into the insertion hole, the current teaching position is configured to be corrected, The control device, in correcting the current teaching position, Controlling the robot arm to repeat a series of operations of horizontally moving the first component gripped by the hand from the current teaching position and descending toward the second component until it can be inserted into the insertion hole, Acquiring a position where the first component can be inserted into the insertion hole as an actual initial insertion position, Based on the current teaching position and the actual initial initial insertion position
  • the teaching position when automatically inserting the first component into the insertion hole of the second component, the teaching position can be easily brought closer to the center of the position range in which the first component can be inserted.
  • FIG. 4 is a block diagram illustrating a control system of a component insertion device or a teaching position setting device. It is explanatory drawing of the relationship between a lead and an insertion hole, and the insertion possible range. It is a flowchart which shows an example of the teaching position setting method performed at the time of delivery to the work site of a component insertion device. It is a flowchart which shows an example of the teaching position setting method performed during the component insertion work by a component insertion device. It is a flowchart which shows a correction process. It is explanatory drawing of a search process and a temporary center acquisition process. It is explanatory drawing of a limit position acquisition process and a teaching position acquisition process.
  • FIG. 1 is a front view showing the configuration of the component insertion device 1 according to the embodiment.
  • the component insertion device 1 performs an operation of inserting the lead wire 92 of the electronic component 90 into an insertion hole 96 formed in the substrate 95, for example.
  • the component insertion device 1 includes a double-armed robot 2, a first hand 5, and a second hand 6.
  • the double-armed robot 2 includes a base 21, a first robot arm 3, and a second robot arm 4 (hereinafter, referred to as a robot arm 4). Simply called "arm").
  • the first arm 3 and the second arm 4 are of a horizontal articulated type.
  • the first arm 3 includes a first base arm 31 that is swingably connected to a base 21 around a first axis L1 perpendicular to the base 21, and a second shaft that is perpendicular to the distal end of the first base arm 31.
  • a first tip arm 32 swingably connected around L2a; a first wrist 33 connected to a tip of the first tip arm 32 so as to be vertically movable; and a lower end of the first wrist 33
  • a first mounting portion 34 connected to be swingable about a vertical third axis L3a.
  • the second arm 4 also includes a second proximal arm 41, a second distal arm 42, a second wrist 43, and a second mounting portion 44.
  • the second base arm 41 is swingable about the first axis L1 with respect to the base 21, and the second tip arm 42 is swingable about the second axis L2b with respect to the second base arm 41.
  • the second mounting portion 44 can swing around the third axis L3b with respect to the second wrist portion 43.
  • the first hand 5 and the second hand 6 have basically the same structure.
  • the first hand 5 has a base 51 fixed to the first mounting part 34, a rotating part 52 rotatable around a hand axis Lha horizontal to the base 51, and attached to the rotating part 52 to grip the electronic component 90.
  • One or more (for example, eight) first grip portions 53 are provided.
  • the second hand 6 also has a base 61, a rotating part 62 and one or more second gripping parts 64, the base 61 is fixed to the second mounting part 44, and the rotating part 62 It is rotatable around a hand axis Lhb that is horizontal to the base 61.
  • FIG. 2 is a rear view showing the first hand 5.
  • the base 51 has a vertically extending plate-shaped vertical portion 51a.
  • the base 61 also has a vertical portion 61a.
  • a rotation actuator 59 that drives the rotation of the rotation part 52 is attached to the back of the vertical part 51a, and the rotation part 52 is arranged on the front side of the vertical part 51a.
  • the rotating part 52 is formed in a disk shape as an example, and the central axis of the rotating part 52 is positioned coaxially with the first hand axis Lha.
  • the one or more grip portions 53 extend radially from the peripheral edge of the rotating portion 52.
  • the holding unit 53 has a pair of grippers that can approach or separate from each other, and can hold the electronic component 90 by bringing the pair of grippers close to each other, and hold the electronic component 90 by separating the pair of grippers. Electronic component 90 can be released.
  • FIG. 3 is a block diagram illustrating a configuration of a control system of the component insertion device 1 according to the embodiment.
  • the component insertion device 1 includes a controller 70.
  • the controller 70 is housed in the base 21 of the double-arm robot 2 as an example (see FIG. 1).
  • the controller 70 includes a memory storing a program related to execution of an operation of inserting the lead wire 92 into the substrate 90, a CPU executing the program stored in the memory, and various actuators 36-39, 46 controlled by the program. -49, 58, 59, 68 and 69 are provided.
  • the electronic component 90 held by the hands 5, 6 is moved to a teaching position described in a program (that is, stored in a memory), and the electronic component 90 is lowered toward the substrate 95. Let it. Thus, the leads 92 of the electronic component 90 are automatically inserted into the insertion holes 96 of the substrate 95.
  • FIG. 4 shows the relationship between the lead 92 and the insertion hole 96.
  • the planar shape of the insertion hole 96 is larger than the cross-sectional shape of the lead 92 to allow the lead 92 to be inserted.
  • the shape and size of the position range in which the lead 92 can be inserted when the electronic component 90 is lowered are determined.
  • this position range is referred to as “insertable range H”.
  • the cross sections of the lead 92 and the insertion hole 96 are circular, and the insertable range H is circular. If the teaching position is within the insertable range H, the lead 92 can be inserted into the insertion hole 96.
  • the teaching position is initialized based on the CAD data of the board 95 and the electronic component 90 so as to fall within the insertable range H.
  • the ideal teaching position that is initially set is referred to as an “initial teaching position”.
  • the controller 70 also stores a correction program for automatically correcting the teaching position. For this reason, the above-described component insertion device 1 also serves as a teaching position setting device for setting a teaching position.
  • the teaching position is corrected before putting the electronic component 90 into practical use, when the electronic component 90 is lowered from the teaching position currently stored in the memory, the electronic component 90 is inserted into the insertion hole 96 again due to the same factors as described above. Sometimes you can't. In order to deal with such a situation, the teaching position is automatically corrected and updated by the correction program.
  • the controller 70 executes the teaching position setting method for setting the teaching position by executing such a correction program.
  • the teaching position setting method is also used for correcting an initial teaching position at the time of delivery to a work site, and is also used for updating learning of a teaching position during an insertion operation.
  • the electronic component 90 cannot be inserted into the insertion hole 96 by referring to the teaching position (current teaching position A) currently stored in the memory, the current teaching position A is corrected and 90 can be inserted into the insertion hole 96.
  • “current teaching position A” is the initial teaching position.
  • FIGS. 5 to 7 are flowcharts showing a teaching position setting method.
  • FIG. 5 illustrates a process performed when the component insertion device 1 is delivered to a work site
  • FIG. 6 illustrates a process performed while the component insertion device 1 performs the component insertion work.
  • the initial teaching position is set as described above (initial teaching position setting step S10).
  • the initial teaching position is the current teaching position A.
  • the electronic component 90 is gripped by the hands 5 and 6, the electronic component 90 is moved to the initial teaching position as the current teaching position A, and the electronic component 90 is lowered toward the insertion hole 96 of the board 95 (component lowering).
  • Step S11 the component lowering step S11 is a trial step of trying whether or not the electronic component 90 can be inserted into the board 95 at the initial teaching position.
  • the correction step S50 includes a search step S51, an initial insertion position acquisition step S52, a temporary center acquisition step S53, a limit position acquisition step S54, and a teaching position acquisition step S55.
  • search step S ⁇ b> 51 electronic component 90 is moved horizontally in a state in which electronic component 90 is separated upward from substrate 95 along a predetermined search trajectory P from current teaching position A. A series of operations of lowering the electronic component 90 toward the substrate is repeated until the electronic component 90 is inserted into the insertion hole 96.
  • a spiral shape is shown as the shape of the search locus P, but the shape is not particularly limited.
  • the electronic component 90 is moved along the search locus P by a very small amount.
  • a plurality of search positions S for searching whether or not insertion is possible in the search step S51 are set at small intervals along the search trajectory P.
  • the position where the electronic component 90 has been inserted into the insertion hole 96 in the search step S51 is acquired as the actual initial insertion position B.
  • Executing the correction step S50 means that the current teaching position A is out of the insertable range H.
  • the actual initial insertion position B is positioned at the outer edge of the range H within the insertable range H.
  • the temporary center position C is obtained based on the current teaching position A and the actual initial insertion position B. More specifically, on the line Q passing through the current teaching position A and the actual initial insertion position B, the line is separated from the actual initial insertion position B by a predetermined offset amount R on the opposite side to the current teaching position A. Is set as the temporary center position C. In consideration of the size of the insertable range H that can be grasped in advance, the offset amount R is set to an amount that allows the temporary center position C to be within the insertable range H.
  • a limit position acquisition step S54 in a limit position acquisition step S54 according to the present embodiment, two of a first side (left side in the drawing) and a second side (right side in the drawing) in a horizontal first direction (hereinafter, also referred to as X direction) are used. And two places, a first side (upper side in the drawing) and a second side (lower side in the drawing), in a horizontal second direction (hereinafter also referred to as Y direction) orthogonal to the first direction, for a total of four places Get the limited position of.
  • a virtual straight line SX extending in the X direction passing through the temporary center position C is assumed.
  • the electronic component 90 is lowered toward the substrate 95 at a position away from the temporary center position C by a predetermined distance to the first side along the virtual straight line SX.
  • the predetermined distance is set, for example, equal to the diameter of the insertable range H. If the electronic component 90 cannot be inserted, the electronic component 90 is moved by a small amount along the virtual straight line SX so as to approach the temporary center position C, and the electronic component 90 is lowered toward the substrate 95. This series of operations is repeated until the electronic component 90 is inserted into the insertion hole 96.
  • the position of the electronic component 90 at that time is acquired as the limit position DX1 on the first side in the X direction.
  • a virtual straight line SY passing through the temporary center position C and extending in the Y direction is assumed.
  • a limit position DX2 on the second side in the X direction, a limit position DY1 on the first side in the Y direction, and a limit position DY2 on the second side in the Y direction are acquired.
  • the four limit positions DX1, DX2, DY1, and DY2 are set at the outer edges of the insertable range H, similarly to the actual initial insertion position B described above.
  • the center position E of the acquired limit position is acquired as a new teaching position.
  • the X direction position of the center position E is the center of the two limit positions DX1 and DX2 in the X direction.
  • the center position E in the Y direction is the center of the two limit positions DY1 and DY2 in the Y direction.
  • the center position E obtained in this manner is newly set as the teaching position instead of the current teaching position A.
  • the new teaching position (center position E) set in this way is set to a position close to the true center of the insertable range H. Therefore, when the component insertion device 1 is put to practical use, it is possible to suppress a situation in which the electronic component 90 cannot be inserted again.
  • Part lowering step S21 is an operation step during the part insertion operation. If the electronic component 90 can be inserted into the board 95 in the component lowering step (working step) S21 (S22: YES), the current teaching position A is maintained (S23). In order to insert the next electronic component 90 into the insertion hole 96, the component insertion operation is continued. If the electronic component 90 cannot be inserted into the board 95 in the component lowering step (working step) S21 (S22: NO), a correction step S50 (see FIG. 7) for correcting the teaching position is executed as described above.
  • the process returns to the flow in FIG. 6 and the component insertion operation is performed based on the new teaching position E.
  • the new teaching position (center position E) set in this way is also set to a position near the true center of the insertable range H. Therefore, when the component insertion device 1 is put to practical use again, it is possible to suppress occurrence of a situation where the electronic component 90 cannot be inserted.
  • the above configuration can be appropriately changed, deleted, and / or added within the scope of the present invention.
  • the limit position obtaining step S54 two limit positions in the X direction or in the Y direction may be derived, and in the teaching position obtaining step S55, the center position of the two limit positions may be obtained as the teaching position. .
  • the teaching position can be made closer to the center, and in this modification, the teaching position can be set quickly.
  • the electronic component is inserted into the board, the first component as the component to be inserted and the second component as the component to be inserted are not limited to the electronic component and the board.

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  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

A method comprising: a step of repeating a series of operations in which a first component is caused to be moved from a current teaching position horizontally and is caused to be lowered toward a second component, until insertion into an insertion hole is possible; a step of acquiring a position at which the first component was able to be inserted into the insertion hole as an actual initial insertion position; a step of acquiring a provisional center position on the basis of the current teaching position and the actual initial insertion position; a step of acquiring two limit positions in which the first component was inserted into the insertion hole by performing a series of operations in which the first component is caused to be moved closer to the provisional center position from a first side in a first direction passing the provisional center position and is caused to be lowered toward the second component, and by performing a similar series of operations from a second side in the same direction; and a step of acquiring a central position of the acquired limit positions as a new teaching position.

Description

教示位置設定方法および教示位置設定装置Teaching position setting method and teaching position setting device
　本発明は、教示位置設定方法および教示位置設定装置に関する。 The present invention relates to a teaching position setting method and a teaching position setting device.
　電子部品のリードを基板の挿入穴に自動挿入するにあたり、電子部品を掴んだハンドを予め定められた教示位置に移動し、そこで挿入動作を行っても、リードを挿入穴に挿入できないことがある。特許文献１では、基板組立ての実用時にリードを挿入できなかった場合に教示位置を更新学習する技術を開示している。この技術では、教示位置近傍の複数位置で挿入動作が試行される。挿入できた１以上の位置データの平均値が新たな教示位置とされる。 When automatically inserting the leads of the electronic component into the insertion hole of the board, the hand holding the electronic component may be moved to a predetermined teaching position, and even if the insertion operation is performed there, the lead may not be inserted into the insertion hole in some cases. . Patent Literature 1 discloses a technique of updating and learning a teaching position when a lead cannot be inserted during practical use of board assembly. In this technique, an insertion operation is attempted at a plurality of positions near a teaching position. The average value of the inserted one or more position data is set as a new teaching position.
特開平８－１４８８９３号公報JP-A-8-148894
　挿入穴のリードに対する寸法差に応じて、リードを挿入穴に挿入可能な位置範囲が存在する。しかし、上記の例では、複数位置の平均値は、当該位置範囲の中心から離れた位置となる可能性があり、更新してもその後の作業で不挿入となる可能性がある。そのため、挿入動作の試行錯誤を繰り返す必要が生じ、また、繰り返さなければ教示位置を挿入可能範囲の中心に近づけることができない。 位置 There is a position range where the lead can be inserted into the insertion hole according to the dimensional difference between the insertion hole and the lead. However, in the above example, the average value of the plurality of positions may be located at a position distant from the center of the position range, and even if updated, it may not be inserted in a subsequent operation. Therefore, it is necessary to repeat trial and error of the insertion operation, and unless it is repeated, the teaching position cannot be brought close to the center of the insertable range.
　そこで本発明は、第１部品を第２部品に自動挿入するにあたって、挿入可能な位置範囲の中心に教示位置を容易に近づけられる方法および装置を提供することを目的とする。 Therefore, an object of the present invention is to provide a method and an apparatus that can easily bring a teaching position closer to the center of a position range where insertion is possible when automatically inserting a first component into a second component.
　本発明の一形態に係る教示位置設定方法は、
　第１部品を第２部品の挿入穴に挿入する作業を行う部品挿入装置の教示位置を設定する方法であって、
　前記第１部品を把持し、前記第１部品を現在の教示位置に移動させて前記第２部品の前記挿入穴に向けて下降させる、部品下降工程と、
　前記部品下降工程において、前記第１部品を前記挿入穴に挿入できなかった場合に、前記現在の教示位置を修正する、修正工程と、を備え、
　前記修正工程が、
　　把持した第１部品を前記現在の教示位置から水平に移動して前記第２部品に向けて下降させる一連の動作を、前記第１部品を前記挿入穴に挿入できるまで繰り返す、探り工程と、
　　前記探り工程で前記電子部品を前記挿入穴に挿入できた位置を、実初期挿入位置として取得する、初期挿入位置取得工程と、
　　前記現在の教示位置と前記実初期挿入位置とに基づいて、仮中心位置を取得する、仮中心取得工程と、
　　前記第１部品を前記仮中心位置を通過する水平な第１方向の第１側から前記仮中心位置に近づくように移動させて前記第２部品に向けて下降させる一連の動作と、前記第１部品を前記第１方向の第２側から前記仮中止に近づくように移動させて前記第２部品に向けて下降させる一連の動作とを実施し、前記第１部品が前記挿入穴に挿入された２つの限界位置を取得する、限界位置取得工程と、
　　取得された限界位置の中央位置を新たな教示位置として取得する、教示位置取得工程と、を含む。 A teaching position setting method according to an embodiment of the present invention includes:
A method for setting a teaching position of a component insertion device that performs an operation of inserting a first component into an insertion hole of a second component,
A component lowering step of gripping the first component, moving the first component to a current teaching position and lowering the first component toward the insertion hole of the second component,
And correcting the current teaching position when the first component cannot be inserted into the insertion hole in the component lowering step,
The correcting step includes:
An exploring step of repeating a series of operations of horizontally moving the grasped first component from the current teaching position and descending toward the second component until the first component can be inserted into the insertion hole;
An initial insertion position obtaining step of obtaining a position at which the electronic component can be inserted into the insertion hole in the searching step as an actual initial insertion position,
Based on the current teaching position and the actual initial insertion position, to obtain a temporary center position, a temporary center obtaining step,
A series of operations for moving the first component from a first side in a horizontal first direction passing through the temporary center position to approach the temporary center position and descending toward the second component; A series of operations of moving the component from the second side in the first direction to approach the temporary stop and lowering the component toward the second component was performed, and the first component was inserted into the insertion hole. A limit position obtaining step of obtaining two limit positions;
Acquiring a center position of the acquired limit position as a new teaching position.
　前記構成によれば、探り工程で第１部品を挿入できた位置をそのまま新たな教示位置として取得するのではなく、この実初期挿入位置に基づいて仮中心位置を取得し、この仮中心位置を基準として再び第１部品を第２部品に挿入する作業が試行される。試行は、水平な第１方向の両側から仮中心位置に近づくように第１部品を移動させながら実行され、それにより第２部品に挿入できた２つの限界位置が取得される。この限界位置の中央が新たな教示位置として取得される。これにより、第１部品を挿入穴に挿入可能な位置範囲の中心に教示位置を近づけることができ、その後は第１部品を挿入できない事態が発生するのを抑制できる。 According to the configuration, instead of acquiring the position where the first component can be inserted in the search process as a new teaching position, the temporary center position is acquired based on the actual initial insertion position, and the temporary center position is acquired. The operation of inserting the first component into the second component again is tried as a reference. The trial is performed while moving the first component so as to approach the temporary center position from both sides in the first horizontal direction, thereby acquiring two limit positions that can be inserted into the second component. The center of this limit position is acquired as a new teaching position. Thus, the teaching position can be brought closer to the center of the position range in which the first component can be inserted into the insertion hole, and the occurrence of a situation where the first component cannot be inserted thereafter can be suppressed.
　本発明の一形態に係る教示位置設定装置は、
　第１部品を第２部品の挿入穴に挿入する作業を行う部品挿入装置の教示位置を設定する装置であって、
　ロボットアームと、
　前記ロボットアームの先端部に取り付けられて前記第１部品を把持するハンドと、
　前記ロボットアームおよび前記ハンドの動作を制御する制御装置と、を備え、
　前記制御装置は、
　　前記ハンドで前記第１部品を把持し、前記第１部品を予め記憶されている現在の教示位置に移動させ、前記第１部品を前記第２部品の前記挿入穴に向けて下降させ、
　　前記第１部品を前記挿入穴に挿入できなかった場合に、前記現在の教示位置を修正するように構成されており、
　前記制御装置は、前記現在の教示位置を修正するにあたり、
　　前記ハンドで把持した前記第１部品を前記現在の教示位置から水平に移動して前記第２部品に向けて下降させる一連の動作を前記挿入穴に挿入できるまで繰り返すよう前記ロボットアームを制御し、
　　前記第１部品を前記挿入穴に挿入できた位置を、実初期挿入位置として取得し、
　　前記現在の教示位置と前記実初期挿入位置とに基づいて、仮中心位置を取得し、
　　前記第１部品を前記仮中心位置を通過する水平な第１方向の第１側から前記仮中心位置に近づくように移動させて前記第２部品に向けて下降させる一連の動作と、前記第１方向の第２側から前記仮中心位置に近づくように移動させて前記第２部品に向けて下降させる一連の動作とを実施するよう前記ロボットアームを制御し、
　　前記第１部品が前記挿入穴に挿入された２つの限界位置を取得し、
　　取得された限界位置の中央位置を新たな教示位置として取得する、ように構成されている。 A teaching position setting device according to one embodiment of the present invention,
An apparatus for setting a teaching position of a component insertion device that performs an operation of inserting a first component into an insertion hole of a second component,
A robot arm,
A hand attached to the tip of the robot arm and gripping the first component;
A control device for controlling the operation of the robot arm and the hand,
The control device includes:
Holding the first component with the hand, moving the first component to a pre-stored current teaching position, lowering the first component toward the insertion hole of the second component,
When the first component could not be inserted into the insertion hole, the current teaching position is configured to be corrected,
The control device, in correcting the current teaching position,
Controlling the robot arm to repeat a series of operations of horizontally moving the first component gripped by the hand from the current teaching position and descending toward the second component until it can be inserted into the insertion hole,
Acquiring a position where the first component can be inserted into the insertion hole as an actual initial insertion position,
Based on the current teaching position and the actual initial insertion position, obtain a temporary center position,
A series of operations for moving the first component from a first side in a horizontal first direction passing through the temporary center position to approach the temporary center position and descending toward the second component; Controlling the robot arm to perform a series of operations of moving from the second side of the direction to approach the temporary center position and descending toward the second component,
The first part acquires two limit positions inserted in the insertion hole,
The center position of the obtained limit position is obtained as a new teaching position.
　前記構成によれば、上述した方法と同様の作用が得られる。 According to the above configuration, the same operation as the above-described method can be obtained.
　本発明によれば、第１部品を第２部品の挿入穴に自動挿入するにあたって、挿入可能な位置範囲の中心に教示位置を容易に近づけることができる。 According to the present invention, when automatically inserting the first component into the insertion hole of the second component, the teaching position can be easily brought closer to the center of the position range in which the first component can be inserted.
実施形態に係る部品挿入装置あるいは教示位置設定装置の構成を示す正面図である。It is a front view showing composition of a parts insertion device or a teaching position setting device concerning an embodiment. ハンドを示す背面図である。It is a rear view showing a hand. 部品挿入装置あるいは教示位置設定装置の制御系を示すブロック図である。FIG. 4 is a block diagram illustrating a control system of a component insertion device or a teaching position setting device. リードと挿入穴の関係、および、挿入可能範囲の説明図である。It is explanatory drawing of the relationship between a lead and an insertion hole, and the insertion possible range. 部品挿入装置の作業現場への納入時に実行される教示位置設定方法の一例を示すフローチャートである。It is a flowchart which shows an example of the teaching position setting method performed at the time of delivery to the work site of a component insertion device. 部品挿入装置による部品挿入作業中に実行される教示位置設定方法の一例を示すフローチャートである。It is a flowchart which shows an example of the teaching position setting method performed during the component insertion work by a component insertion device. 修正工程を示すフローチャートである。It is a flowchart which shows a correction process. 探り工程および仮中心取得工程の説明図である。It is explanatory drawing of a search process and a temporary center acquisition process. 限界位置取得工程および教示位置取得工程の説明図である。It is explanatory drawing of a limit position acquisition process and a teaching position acquisition process.
　以下、図面を参照しながら実施形態について説明する。全図を通じて同一又は対応する要素には同一の符号を付して重複する詳細な説明を省略する。 Hereinafter, embodiments will be described with reference to the drawings. The same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant detailed description will be omitted.
　図１は、実施形態に係る部品挿入装置１の構成を示す正面図である。部品挿入装置１は、一例として、電子部品９０のリード線９２を基板９５に形成された挿入穴９６に挿入する作業を行う。部品挿入装置１は、双腕ロボット２、第１ハンド５、および第２ハンド６を備えており、双腕ロボット２は、基台２１、第１ロボットアーム３および第２ロボットアーム４（以下、単に「アーム」という）を備えている。第１アーム３および第２アーム４は水平多関節型である。第１アーム３は、基台２１に対して鉛直の第１軸Ｌ１周りに揺動可能に連結された第１基端アーム３１と、第１基端アーム３１の先端部に鉛直の第２軸Ｌ２ａ周りに揺動可能に連結された第１先端アーム３２と、第１先端アーム３２の先端部に鉛直方向に昇降可能に連結された第１手首部３３と、第１手首部３３の下端部に鉛直の第３軸Ｌ３ａ周りに揺動可能に連結された第１取付部３４とを備える。第１アーム３と同様にして、第２アーム４も、第２基端アーム４１、第２先端アーム４２、第２手首部４３および第２取付部４４を備える。第２基端アーム４１は基台２１に対して第１軸Ｌ１周りに揺動可能であり、第２先端アーム４２は第２基端アーム４１に対して第２軸Ｌ２ｂ周りに揺動可能であり、第２取付部４４は第２手首部４３に対して第３軸Ｌ３ｂ周りに揺動可能である。この構成により、第１ハンド５および第２ハンド６は、三次元的な位置を互いに独立して変更可能である。 FIG. 1 is a front view showing the configuration of the component insertion device 1 according to the embodiment. The component insertion device 1 performs an operation of inserting the lead wire 92 of the electronic component 90 into an insertion hole 96 formed in the substrate 95, for example. The component insertion device 1 includes a double-armed robot 2, a first hand 5, and a second hand 6. The double-armed robot 2 includes a base 21, a first robot arm 3, and a second robot arm 4 (hereinafter, referred to as a robot arm 4). Simply called "arm"). The first arm 3 and the second arm 4 are of a horizontal articulated type. The first arm 3 includes a first base arm 31 that is swingably connected to a base 21 around a first axis L1 perpendicular to the base 21, and a second shaft that is perpendicular to the distal end of the first base arm 31. A first tip arm 32 swingably connected around L2a; a first wrist 33 connected to a tip of the first tip arm 32 so as to be vertically movable; and a lower end of the first wrist 33 And a first mounting portion 34 connected to be swingable about a vertical third axis L3a. Similarly to the first arm 3, the second arm 4 also includes a second proximal arm 41, a second distal arm 42, a second wrist 43, and a second mounting portion 44. The second base arm 41 is swingable about the first axis L1 with respect to the base 21, and the second tip arm 42 is swingable about the second axis L2b with respect to the second base arm 41. In addition, the second mounting portion 44 can swing around the third axis L3b with respect to the second wrist portion 43. With this configuration, the first hand 5 and the second hand 6 can change the three-dimensional positions independently of each other.
　第１ハンド５および第２ハンド６は、基本的に同一の構造を有する。第１ハンド５は、第１取付部３４に固定されるベース５１、ベース５１に対して水平なハンド軸Ｌｈａ周りに回転可能な回転部５２、回転部５２に取り付けられて電子部品９０を把持する１以上（例えば、８個）の第１把持部５３を有する。第１ハンド５と同様にして、第２ハンド６も、ベース６１、回転部６２および１以上の第２把持部６４を有し、ベース６１は第２取付部４４に固定され、回転部６２はベース６１に対して水平なハンド軸Ｌｈｂ周りに回転可能である。 The first hand 5 and the second hand 6 have basically the same structure. The first hand 5 has a base 51 fixed to the first mounting part 34, a rotating part 52 rotatable around a hand axis Lha horizontal to the base 51, and attached to the rotating part 52 to grip the electronic component 90. One or more (for example, eight) first grip portions 53 are provided. Similarly to the first hand 5, the second hand 6 also has a base 61, a rotating part 62 and one or more second gripping parts 64, the base 61 is fixed to the second mounting part 44, and the rotating part 62 It is rotatable around a hand axis Lhb that is horizontal to the base 61.
　図２は、第１ハンド５を示す背面図である。ここでは第１ハンド５の構成のみ説明して第２ハンド６に関する説明を省略する。図１および図２に示すように、ベース５１は、鉛直に延びる板状の鉛直部５１ａを有する。ベース６１も同様に鉛直部６１ａを有する。鉛直部５１ａの背面には、回転部５２を回転駆動する回転アクチュエータ５９が取り付けられており、鉛直部５１ａの正面側に回転部５２が配置されている。回転部５２は、一例として円盤状に形成されており、回転部５２の中心軸は第１ハンド軸Ｌｈａと同軸状に位置づけられる。１以上の把持部５３は、回転部５２の周縁部から放射状に延びている。図示例では、８個の把持部５３が、回転部５２の周方向に等間隔をおいて配置されており、第１ハンド５は全体として舵状に形成されている。把持部５３の構造および把持部５３による電子部品９０の把持方法は特に限定されない。一例として、把持部５３は、互いに近接または離隔可能な一対のグリッパを有し、一対のグリッパを近接することで電子部品９０を把持することができ、一対のグリッパを離隔することで把持している電子部品９０を放すことができる。 FIG. 2 is a rear view showing the first hand 5. Here, only the configuration of the first hand 5 will be described, and description of the second hand 6 will be omitted. As shown in FIGS. 1 and 2, the base 51 has a vertically extending plate-shaped vertical portion 51a. The base 61 also has a vertical portion 61a. A rotation actuator 59 that drives the rotation of the rotation part 52 is attached to the back of the vertical part 51a, and the rotation part 52 is arranged on the front side of the vertical part 51a. The rotating part 52 is formed in a disk shape as an example, and the central axis of the rotating part 52 is positioned coaxially with the first hand axis Lha. The one or more grip portions 53 extend radially from the peripheral edge of the rotating portion 52. In the illustrated example, eight grip portions 53 are arranged at equal intervals in the circumferential direction of the rotating portion 52, and the first hand 5 is formed in a rudder shape as a whole. The structure of the grip 53 and the method of gripping the electronic component 90 by the grip 53 are not particularly limited. As an example, the holding unit 53 has a pair of grippers that can approach or separate from each other, and can hold the electronic component 90 by bringing the pair of grippers close to each other, and hold the electronic component 90 by separating the pair of grippers. Electronic component 90 can be released.
　図３は、実施形態に係る部品挿入装置１の制御系の構成を示すブロック図である。図３に示すように、部品挿入装置１は、コントローラ７０を備えている。コントローラ７０は、一例として、双腕ロボット２の基台２１に収納されている（図１を参照）。コントローラ７０は、リード線９２を基板９０に挿入する作業の実行に係るプログラムを記憶したメモリ、メモリに記憶されているプログラムを実行するＣＰＵ、および当該プログラムで制御される各種アクチュエータ３６－３９，４６－４９，５８，５９，６８，６９と接続されるインターフェイスを備えている。 FIG. 3 is a block diagram illustrating a configuration of a control system of the component insertion device 1 according to the embodiment. As shown in FIG. 3, the component insertion device 1 includes a controller 70. The controller 70 is housed in the base 21 of the double-arm robot 2 as an example (see FIG. 1). The controller 70 includes a memory storing a program related to execution of an operation of inserting the lead wire 92 into the substrate 90, a CPU executing the program stored in the memory, and various actuators 36-39, 46 controlled by the program. -49, 58, 59, 68 and 69 are provided.
　コントローラ７０の制御により、ハンド５，６で把持された電子部品９０をプログラムに記述されている（すなわち、メモリに記憶されている）教示位置に移動させ、電子部品９０を基板９５に向かって下降させる。これにより、電子部品９０のリード９２が基板９５の挿入穴９６に自動挿入される。 Under the control of the controller 70, the electronic component 90 held by the hands 5, 6 is moved to a teaching position described in a program (that is, stored in a memory), and the electronic component 90 is lowered toward the substrate 95. Let it. Thus, the leads 92 of the electronic component 90 are automatically inserted into the insertion holes 96 of the substrate 95.
　図４は、リード９２と挿入穴９６の関係について示している。挿入穴９６の平面視形状は、リード９２の挿入を許容するため、リード９２の断面形状よりも大きい。挿入穴９２とリード９６の寸法差に基づいて、電子部品９０を下降したときにリード９２を挿入できる位置範囲の形状および大きさが定まる。以下、この位置範囲を「挿入可能範囲Ｈ」という。図４に示す例では、リード９２および挿入穴９６の断面が円形であり、挿入可能範囲Ｈが円形である。教示位置が挿入可能範囲Ｈ内に入っていれば、リード９２を挿入穴９６に挿入できる。作業用プログラムをコントローラ７０に記憶するにあたり、教示位置は、基板９５および電子部品９０のＣＡＤデータ等に基づき、この挿入可能範囲Ｈ内に収まるように初期設定される。以下、この初期設定される理想的な教示位置を「初期教示位置」という。 FIG. 4 shows the relationship between the lead 92 and the insertion hole 96. The planar shape of the insertion hole 96 is larger than the cross-sectional shape of the lead 92 to allow the lead 92 to be inserted. Based on the dimensional difference between the insertion hole 92 and the lead 96, the shape and size of the position range in which the lead 92 can be inserted when the electronic component 90 is lowered are determined. Hereinafter, this position range is referred to as “insertable range H”. In the example shown in FIG. 4, the cross sections of the lead 92 and the insertion hole 96 are circular, and the insertable range H is circular. If the teaching position is within the insertable range H, the lead 92 can be inserted into the insertion hole 96. When the work program is stored in the controller 70, the teaching position is initialized based on the CAD data of the board 95 and the electronic component 90 so as to fall within the insertable range H. Hereinafter, the ideal teaching position that is initially set is referred to as an “initial teaching position”.
　しかし、部品挿入装置１を実際に作業現場に納入し、初期教示位置から電子部品９０を下降させても、何らかの要因（基板９５の位置決め誤差、基板９５の加工誤差、電子部品９０の加工誤差、ハンド５，６に対する電子部品９０の位置誤差等）で電子部品９０を基板９５の挿入穴９６に挿入できないことがある。このような事態に対処して部品挿入装置１を実用に供せるようにするため、コントローラ７０は教示位置を自動的に修正する修正用プログラムも記憶している。このことから、前述した部品挿入装置１は、教示位置を設定する教示位置設定装置としての役割も果たす。 However, even if the component insertion device 1 is actually delivered to a work site and the electronic component 90 is lowered from the initial teaching position, some factors (positioning error of the substrate 95, processing error of the substrate 95, processing error of the electronic component 90, The electronic component 90 may not be able to be inserted into the insertion hole 96 of the board 95 due to a positional error of the electronic component 90 with respect to the hands 5 and 6). In order to deal with such a situation and make the component insertion device 1 practically usable, the controller 70 also stores a correction program for automatically correcting the teaching position. For this reason, the above-described component insertion device 1 also serves as a teaching position setting device for setting a teaching position.
　また、実用に供する前に教示位置を修正しても、現にメモリに記憶されている教示位置から電子部品９０を下降させたときに、上記同様の要因で再び電子部品９０を挿入穴９６に挿入できなくなることもある。このような事態に対処できるように、修正用プログラムによって、教示位置が自動的に修正されて更新される。 Even if the teaching position is corrected before putting the electronic component 90 into practical use, when the electronic component 90 is lowered from the teaching position currently stored in the memory, the electronic component 90 is inserted into the insertion hole 96 again due to the same factors as described above. Sometimes you can't. In order to deal with such a situation, the teaching position is automatically corrected and updated by the correction program.
　コントローラ７０は、このような修正用プログラムを実行することで、教示位置を設定する教示位置設定方法を実施する。教示位置設定方法は、作業現場への納入時の初期教示位置の修正にも利用され、挿入作業中の教示位置の更新学習にも利用される。いずれにせよ、現にメモリに記憶されている教示位置（現在の教示位置Ａ）を参照しても電子部品９０を挿入穴９６に挿入できない場合に、当該現在の教示位置Ａを修正して電子部品９０を挿入穴９６に挿入できるようにする。作業現場への納入時では、「現在の教示位置Ａ」が初期教示位置となる。 (4) The controller 70 executes the teaching position setting method for setting the teaching position by executing such a correction program. The teaching position setting method is also used for correcting an initial teaching position at the time of delivery to a work site, and is also used for updating learning of a teaching position during an insertion operation. In any case, if the electronic component 90 cannot be inserted into the insertion hole 96 by referring to the teaching position (current teaching position A) currently stored in the memory, the current teaching position A is corrected and 90 can be inserted into the insertion hole 96. At the time of delivery to the work site, “current teaching position A” is the initial teaching position.
　図５～図７は、教示位置設定方法を示すフローチャートである。図５は、部品挿入装置１の作業現場への納入時に実施される処理を示し、図６は、部品挿入装置１による部品挿入作業の実行中に実施される処理を示す。 FIGS. 5 to 7 are flowcharts showing a teaching position setting method. FIG. 5 illustrates a process performed when the component insertion device 1 is delivered to a work site, and FIG. 6 illustrates a process performed while the component insertion device 1 performs the component insertion work.
　図５を参照して、前述したとおり、初期教示位置が設定される（初期教示位置設定工程Ｓ１０）。ここでは、初期教示位置が現在の教示位置Ａとなる。そして、ハンド５，６で電子部品９０を把持し、電子部品９０を現在の教示位置Ａとしての初期教示位置に移動させ、電子部品９０を基板９５の挿入穴９６に向けて下降させる（部品下降工程Ｓ１１）。ここでの部品下降工程Ｓ１１は、初期教示位置で電子部品９０を基板９５に挿入できるかどうか試行する試行工程である。 初期 Referring to FIG. 5, the initial teaching position is set as described above (initial teaching position setting step S10). Here, the initial teaching position is the current teaching position A. Then, the electronic component 90 is gripped by the hands 5 and 6, the electronic component 90 is moved to the initial teaching position as the current teaching position A, and the electronic component 90 is lowered toward the insertion hole 96 of the board 95 (component lowering). Step S11). Here, the component lowering step S11 is a trial step of trying whether or not the electronic component 90 can be inserted into the board 95 at the initial teaching position.
　部品下降工程（試行工程）Ｓ１１において電子部品９０を基板９５に挿入できた場合（Ｓ１２：ＹＥＳ）は、教示位置の修正を要しない。初期教示位置を維持して（Ｓ１３）、教示位置設定方法が終了する。部品下降工程（試行工程）Ｓ１１において電子部品９０を基板９５に挿入できなかった場合（Ｓ１２：ＮＯ）、このままでは部品挿入装置１を実用に供せない。そこで教示位置を修正する修正工程Ｓ５０を実行する。 (4) If the electronic component 90 can be inserted into the board 95 in the component lowering step (trial step) S11 (S12: YES), the teaching position does not need to be corrected. The initial teaching position is maintained (S13), and the teaching position setting method ends. If the electronic component 90 cannot be inserted into the board 95 in the component lowering step (trial step) S11 (S12: NO), the component insertion device 1 cannot be put to practical use as it is. Therefore, a correction step S50 for correcting the teaching position is executed.
　図７に示すように、修正工程Ｓ５０は、探り工程Ｓ５１、初期挿入位置取得工程Ｓ５２、仮中心取得工程Ｓ５３、限界位置取得工程Ｓ５４、および、教示位置取得工程Ｓ５５を含む。 As shown in FIG. 7, the correction step S50 includes a search step S51, an initial insertion position acquisition step S52, a temporary center acquisition step S53, a limit position acquisition step S54, and a teaching position acquisition step S55.
　図８を参照して、探り工程Ｓ５１では、現在の教示位置Ａから予め定められた探り軌跡Ｐに沿って電子部品９０が基板９５から上方に離れた状態で電子部品９０を水平に移動させて電子部品９０を基板に向けて下降させるという一連の動作を、電子部品９０が挿入穴９６に挿入されるまで繰り返す。図示例では、探り軌跡Ｐの形状として渦巻状を示すが、形状は特に限定されない。電子部品９０を挿入穴９６に挿入できなかったときは、電子部品９０を探り軌跡Ｐに沿って微小な量だけ移動させる。換言すれば、探り工程Ｓ５１において挿入可否を探る複数の探査位置Ｓが、探り軌跡Ｐに沿って微小な間隔をおいて設定されている。 Referring to FIG. 8, in search step S <b> 51, electronic component 90 is moved horizontally in a state in which electronic component 90 is separated upward from substrate 95 along a predetermined search trajectory P from current teaching position A. A series of operations of lowering the electronic component 90 toward the substrate is repeated until the electronic component 90 is inserted into the insertion hole 96. In the illustrated example, a spiral shape is shown as the shape of the search locus P, but the shape is not particularly limited. When the electronic component 90 cannot be inserted into the insertion hole 96, the electronic component 90 is moved along the search locus P by a very small amount. In other words, a plurality of search positions S for searching whether or not insertion is possible in the search step S51 are set at small intervals along the search trajectory P.
　初期挿入位置取得工程Ｓ５２では、この探り工程Ｓ５１で電子部品９０が挿入穴９６に挿入できた位置を、実初期挿入位置Ｂとして取得する。修正工程Ｓ５０を実行しているということは、現在の教示位置Ａが挿入可能範囲Ｈから外れていたことを意味する。実初期挿入位置Ｂは、この挿入可能範囲Ｈ内において当該範囲Ｈの外縁部に位置づけられる。 In the initial insertion position acquisition step S52, the position where the electronic component 90 has been inserted into the insertion hole 96 in the search step S51 is acquired as the actual initial insertion position B. Executing the correction step S50 means that the current teaching position A is out of the insertable range H. The actual initial insertion position B is positioned at the outer edge of the range H within the insertable range H.
　仮中心取得工程Ｓ５３では、現在の教示位置Ａと実初期挿入位置Ｂとに基づいて、仮中心位置Ｃを取得する。より具体的には、現在の教示位置Ａと実初期挿入位置Ｂとを通過する線Ｑ上であって、実初期挿入位置Ｂから現在の教示位置Ａとは反対側に所定オフセット量Ｒだけ離れた位置が、仮中心位置Ｃとして設定される。オフセット量Ｒは、予め把握可能な挿入可能範囲Ｈのサイズに鑑みて、仮中心位置Ｃを挿入可能範囲Ｈ内に収めることができるような量に設定される。 In the temporary center obtaining step S53, the temporary center position C is obtained based on the current teaching position A and the actual initial insertion position B. More specifically, on the line Q passing through the current teaching position A and the actual initial insertion position B, the line is separated from the actual initial insertion position B by a predetermined offset amount R on the opposite side to the current teaching position A. Is set as the temporary center position C. In consideration of the size of the insertable range H that can be grasped in advance, the offset amount R is set to an amount that allows the temporary center position C to be within the insertable range H.
　図９を参照して、本実施形態に係る限界位置取得工程Ｓ５４では、水平な第１方向（以下、Ｘ方向ともいう）の第１側（図面左側）と第２側（図面右側）の２か所、および、第１方向に直交する水平な第２方向（以下、Ｙ方向ともいう）の第１側（図面上側）と第２側（図面下側）の２か所、合計４か所の限定位置を取得する。 Referring to FIG. 9, in a limit position acquisition step S54 according to the present embodiment, two of a first side (left side in the drawing) and a second side (right side in the drawing) in a horizontal first direction (hereinafter, also referred to as X direction) are used. And two places, a first side (upper side in the drawing) and a second side (lower side in the drawing), in a horizontal second direction (hereinafter also referred to as Y direction) orthogonal to the first direction, for a total of four places Get the limited position of.
　Ｘ方向第１側に関し、仮中心位置Ｃを通過してＸ方向に延びる仮想直線ＳＸを想定する。仮中心位置Ｃからこの仮想直線ＳＸに沿って第１側に所定距離離れた位置で電子部品９０を基板９５に向けて下降させる。この所定距離は、一例として、挿入可能範囲Ｈの直径と同等に設定される。電子部品９０を挿入できなければ、そこから微小な量だけ仮想直線ＳＸに沿って仮中心位置Ｃに近づくように移動し、電子部品９０を基板９５に向けて下降させる。電子部品９０が挿入穴９６に挿入されるまでこの一連の動作を繰り返す。電子部品９０が挿入穴９６に挿入されたら、そのときの電子部品９０の位置を、Ｘ方向第１側の限界位置ＤＸ１として取得する。 に 関 し With respect to the first side in the X direction, a virtual straight line SX extending in the X direction passing through the temporary center position C is assumed. The electronic component 90 is lowered toward the substrate 95 at a position away from the temporary center position C by a predetermined distance to the first side along the virtual straight line SX. The predetermined distance is set, for example, equal to the diameter of the insertable range H. If the electronic component 90 cannot be inserted, the electronic component 90 is moved by a small amount along the virtual straight line SX so as to approach the temporary center position C, and the electronic component 90 is lowered toward the substrate 95. This series of operations is repeated until the electronic component 90 is inserted into the insertion hole 96. When the electronic component 90 is inserted into the insertion hole 96, the position of the electronic component 90 at that time is acquired as the limit position DX1 on the first side in the X direction.
　Ｘ方向第２側、Ｙ方向第１側、Ｙ方向第２側についても同様である。Ｙ方向第１側および第２側に関しては、仮中心位置Ｃを通過してＹ方向に延びる仮想直線ＳＹが想定される。Ｘ方向第２側の限界位置ＤＸ２、Ｙ方向第１側の限界位置ＤＹ１、およびＹ方向第２側の限界位置ＤＹ２が取得される。４つの限界位置ＤＸ１、ＤＸ２、ＤＹ１、ＤＹ２は、前述した実初期挿入位置Ｂと同様、挿入可能範囲Ｈの外縁部に設定される。 The same applies to the second side in the X direction, the first side in the Y direction, and the second side in the Y direction. With respect to the first side and the second side in the Y direction, a virtual straight line SY passing through the temporary center position C and extending in the Y direction is assumed. A limit position DX2 on the second side in the X direction, a limit position DY1 on the first side in the Y direction, and a limit position DY2 on the second side in the Y direction are acquired. The four limit positions DX1, DX2, DY1, and DY2 are set at the outer edges of the insertable range H, similarly to the actual initial insertion position B described above.
　教示位置取得工程Ｓ５５では、取得された限界位置の中央位置Ｅを新たな教示位置として取得する。中央位置ＥのＸ方向位置は、Ｘ方向における２つの限界位置ＤＸ１、ＤＸ２の中央である。中央位置ＥのＹ方向位置は、Ｙ方向における２つの限界位置ＤＹ１、ＤＹ２の中央である。このようにして求められた中央位置Ｅが、現在の教示位置Ａに代わって、教示位置として新たに設定される。 In the teaching position acquisition step S55, the center position E of the acquired limit position is acquired as a new teaching position. The X direction position of the center position E is the center of the two limit positions DX1 and DX2 in the X direction. The center position E in the Y direction is the center of the two limit positions DY1 and DY2 in the Y direction. The center position E obtained in this manner is newly set as the teaching position instead of the current teaching position A.
　このようにして設定された新たな教示位置（中心位置Ｅ）は、挿入可能範囲Ｈの真の中心に近い位置に設定される。したがって、部品挿入装置１を実用に供したときに、再び電子部品９０が挿入できなくなるという事態が発生するのを抑制できる。 The new teaching position (center position E) set in this way is set to a position close to the true center of the insertable range H. Therefore, when the component insertion device 1 is put to practical use, it is possible to suppress a situation in which the electronic component 90 cannot be inserted again.
　図６を参照して、部品挿入装置１による部品挿入作業でも、ハンドで電子部品９０を把持し、現在の教示位置Ａに移動させ、電子部品９０を基板９５の挿入穴９６に向けて下降させる（部品下降工程Ｓ２１）。ここでの部品下降工程Ｓ２１は、部品挿入作業中の作業工程である。部品下降工程（作業工程）Ｓ２１において電子部品９０を基板９５に挿入できた場合（Ｓ２２：ＹＥＳ）は、現在の教示位置Aを維持する（Ｓ２３）。次の電子部品９０を挿入穴９６に挿入するため、部品挿入作業が継続される。部品下降工程（作業工程）Ｓ２１において電子部品９０を基板９５に挿入できなかった場合（Ｓ２２：ＮＯ）、上記同様、教示位置を修正する修正工程Ｓ５０（図７参照）を実行する。 Referring to FIG. 6, also in the component insertion work by component insertion device 1, electronic component 90 is grasped by a hand, moved to current teaching position A, and electronic component 90 is lowered toward insertion hole 96 of substrate 95. (Part lowering step S21). The part lowering step S21 is an operation step during the part insertion operation. If the electronic component 90 can be inserted into the board 95 in the component lowering step (working step) S21 (S22: YES), the current teaching position A is maintained (S23). In order to insert the next electronic component 90 into the insertion hole 96, the component insertion operation is continued. If the electronic component 90 cannot be inserted into the board 95 in the component lowering step (working step) S21 (S22: NO), a correction step S50 (see FIG. 7) for correcting the teaching position is executed as described above.
　修正工程Ｓ５０の教示位置取得工程Ｓ５５では、中心位置Ｅが取得されると、取得された中央位置Ｅが、現在の教示位置Ａに代わって、新たな教示位置Ｅとして更新設定される。更新後は、図６のフローに戻り、新たな教示位置Ｅに基づいて部品挿入作業が実施される。 In the teaching position acquisition step S55 of the correction step S50, when the center position E is acquired, the acquired center position E is updated and set as a new teaching position E instead of the current teaching position A. After the update, the process returns to the flow in FIG. 6 and the component insertion operation is performed based on the new teaching position E.
　このようにして設定された新たな教示位置（中心位置Ｅ）も、挿入可能範囲Ｈの真の中心に近い位置に設定される。したがって、部品挿入装置１を再び実用に供したときに、電子部品９０が挿入できなくなるという事態が発生するのを抑制できる。 The new teaching position (center position E) set in this way is also set to a position near the true center of the insertable range H. Therefore, when the component insertion device 1 is put to practical use again, it is possible to suppress occurrence of a situation where the electronic component 90 cannot be inserted.
　これまで本発明の実施形態について説明したが、上記構成は本発明の範囲内で適宜変更、削除および／または追加可能である。例えば、限界位置取得工程Ｓ５４において、Ｘ方向２か所あるいはＹ方向２か所の限界位置を導出し、教示位置取得工程Ｓ５５において、２つの限界位置の中央位置を教示位置として取得してもよい。上記実施形態では教示位置を中心により近づけることができ、この変形例では教示位置の設定を速やかに行うことができる。また、電子部品を基板に挿入するとしたが、挿入する側の部品である第１部品および挿入される側の部品である第２部品は、電子部品および基板に限定されない。 Although the embodiments of the present invention have been described above, the above configuration can be appropriately changed, deleted, and / or added within the scope of the present invention. For example, in the limit position obtaining step S54, two limit positions in the X direction or in the Y direction may be derived, and in the teaching position obtaining step S55, the center position of the two limit positions may be obtained as the teaching position. . In the above embodiment, the teaching position can be made closer to the center, and in this modification, the teaching position can be set quickly. Further, although the electronic component is inserted into the board, the first component as the component to be inserted and the second component as the component to be inserted are not limited to the electronic component and the board.
Ｓ１０　初期教示位置設定工程
Ｓ１１　部品下降工程（試行工程）
Ｓ２１　部品下降工程（作業工程）
Ｓ５０　修正工程
Ｓ５１　探り工程
Ｓ５２　初期挿入位置取得工程
Ｓ５３　仮中心取得工程
Ｓ５４　限界位置取得工程
Ｓ５５　教示位置取得工程 S10 Initial teaching position setting step S11 Component lowering step (trial step)
S21 Parts lowering process (work process)
S50 Correction step S51 Searching step S52 Initial insertion position acquisition step S53 Temporary center acquisition step S54 Limit position acquisition step S55 Teaching position acquisition step

Claims (6)

  1. 　第１部品を第２部品の挿入穴に挿入する作業を行う部品挿入装置の教示位置を設定する方法であって、
    　前記第１部品を把持し、前記第１部品を現在の教示位置に移動させて前記第２部品の前記挿入穴に向けて下降させる、部品下降工程と、
    　前記部品下降工程において、前記第１部品を前記挿入穴に挿入できなかった場合に、前記現在の教示位置を修正する、修正工程と、を備え、
    　前記修正工程が、
    　　把持した第１部品を前記現在の教示位置から水平に移動して前記第２部品に向けて下降させる一連の動作を、前記第１部品を前記挿入穴に挿入できるまで繰り返す、探り工程と、
    　　前記探り工程で前記電子部品を前記挿入穴に挿入できた位置を、実初期挿入位置として取得する、初期挿入位置取得工程と、
    　　前記現在の教示位置と前記実初期挿入位置とに基づいて、仮中心位置を取得する、仮中心取得工程と、
    　　前記第１部品を前記仮中心位置を通過する水平な第１方向の第１側から前記仮中心位置に近づくように移動させて前記第２部品に向けて下降させる一連の動作と、前記第１部品を前記第１方向の第２側から前記仮中止に近づくように移動させて前記第２部品に向けて下降させる一連の動作とを実施し、前記第１部品が前記挿入穴に挿入された２つの限界位置を取得する、限界位置取得工程と、
    　　取得された限界位置の中央位置を新たな教示位置として取得する、教示位置取得工程と、を含む、
    　教示位置設定方法。     A method for setting a teaching position of a component insertion device that performs an operation of inserting a first component into an insertion hole of a second component,
    A component lowering step of gripping the first component, moving the first component to a current teaching position and lowering the first component toward the insertion hole of the second component,
    And correcting the current teaching position when the first component cannot be inserted into the insertion hole in the component lowering step,
    The correcting step includes:
    An exploring step of repeating a series of operations of horizontally moving the grasped first component from the current teaching position and descending toward the second component until the first component can be inserted into the insertion hole;
    An initial insertion position obtaining step of obtaining a position at which the electronic component can be inserted into the insertion hole in the searching step as an actual initial insertion position,
    Based on the current teaching position and the actual initial insertion position, to obtain a temporary center position, a temporary center obtaining step,
    A series of operations for moving the first component from a first side in a horizontal first direction passing through the temporary center position to approach the temporary center position and descending toward the second component; A series of operations of moving the component from the second side in the first direction to approach the temporary stop and descending toward the second component was performed, and the first component was inserted into the insertion hole. A limit position obtaining step of obtaining two limit positions;
    Acquiring a center position of the acquired limit position as a new teaching position, including a teaching position acquiring step,
    Teaching position setting method.
  2. 　前記限界位置取得工程において、前記第１部品を前記仮中心位置を通過して前記第１方向と直交する水平な第２方向の第１側から前記仮中心位置に近づくように移動させて前記第２部品に向けて下降させる一連の動作と、前記第１部品を前記第２方向の第２側から前記仮中心位置に近づくように移動させて前記第２部品に向けて下降させる一連の動作とを実施し、前記第１部品が前記挿入穴に挿入された２つの限界位置が更に取得され、
    　前記教示位置取得工程において、前記新たな教示位置が合計４つの限界位置から取得される、
    　請求項１に記載の教示位置設定方法。     In the limit position acquiring step, the first component is moved from the first side in a horizontal second direction orthogonal to the first direction through the temporary center position so as to approach the temporary center position, and A series of operations for lowering toward the two components, and a series of operations for moving the first component from the second side in the second direction to approach the temporary center position and lowering toward the second component; And the two limit positions where the first part is inserted into the insertion hole are further obtained,
    In the teaching position acquiring step, the new teaching position is acquired from a total of four limit positions.
    The teaching position setting method according to claim 1.
  3. 　前記仮中心取得工程において、前記現在の教示位置と前記実初期挿入位置とを通過する線上であって、前記実初期挿入位置から前記現在の教示位置とは反対側に所定オフセット量だけ離れた位置が、前記仮中心位置として設定される、
    　請求項１または２に記載の教示位置設定方法。     In the provisional center acquisition step, a position on a line passing through the current teaching position and the actual initial insertion position and separated from the actual initial insertion position by a predetermined offset amount on a side opposite to the current teaching position. Is set as the temporary center position,
    The teaching position setting method according to claim 1.
  4. 　前記現在の教示位置として初期教示位置を設定する初期教示位置設定工程を更に備え、
    　前記部品下降工程が、前記第１部品を前記初期教示位置で前記第２部品の前記挿入穴に向けて下降させる、部品挿入作業前の試行工程であり、
    　前記試行工程において前記第１部品を前記挿入穴に挿入できなかった場合に、前記修正工程を行い、前記初期教示位置を前記新たな教示位置に修正する、
    　請求項１ないし３のいずれか１項に記載の教示位置設定方法。     Further comprising an initial teaching position setting step of setting an initial teaching position as the current teaching position,
    The component lowering step is a trial step before component insertion operation, in which the first component is lowered toward the insertion hole of the second component at the initial teaching position,
    When the first part cannot be inserted into the insertion hole in the trial step, the correcting step is performed, and the initial teaching position is corrected to the new teaching position.
    The teaching position setting method according to claim 1.
  5. 　前記部品下降工程が、部品挿入作業中の作業工程であり、
    　前記作業工程において前記第１部品を前記挿入穴に挿入できなかった場合に、前記修正工程を行い、前記現在の教示位置を前記新たな教示位置に更新する
    　請求項１ないし３のいずれか１項に記載の教示位置設定方法。     The component lowering process is a work process during component insertion work,
    The said correction | amendment process is performed when the said 1st component was not able to be inserted in the said insertion hole in the said work process, and the said current teaching position is updated to the said new teaching position. Teaching position setting method.
  6. 　第１部品を第２部品の挿入穴に挿入する作業を行う部品挿入装置の教示位置を設定する装置であって、
    　ロボットアームと、
    　前記ロボットアームの先端部に取り付けられて前記第１部品を把持するハンドと、
    　前記ロボットアームおよび前記ハンドの動作を制御する制御装置と、を備え、
    　前記制御装置は、
    　　前記ハンドで前記第１部品を把持し、前記第１部品を予め記憶されている現在の教示位置に移動させ、前記第１部品を前記第２部品の前記挿入穴に向けて下降させ、
    　　前記第１部品を前記挿入穴に挿入できなかった場合に、前記現在の教示位置を修正するように構成されており、
    　前記制御装置は、前記現在の教示位置を修正するにあたり、
    　　前記ハンドで把持した前記第１部品を前記現在の教示位置から水平に移動して前記第２部品に向けて下降させる一連の動作を前記挿入穴に挿入できるまで繰り返すよう前記ロボットアームを制御し、
    　　前記第１部品を前記挿入穴に挿入できた位置を、実初期挿入位置として取得し、
    　　前記現在の教示位置と前記実初期挿入位置とに基づいて、仮中心位置を取得し、
    　　前記第１部品を前記仮中心位置を通過する水平な第１方向の第１側から前記仮中心位置に近づくように移動させて前記第２部品に向けて下降させる一連の動作と、前記第１方向の第２側から前記仮中心位置に近づくように移動させて前記第２部品に向けて下降させる一連の動作とを実施するよう前記ロボットアームを制御し、
    　　前記第１部品が前記挿入穴に挿入された２つの限界位置を取得し、
    　　取得された限界位置の中央位置を新たな教示位置として取得する、ように構成されている、
    　教示位置設定装置。     An apparatus for setting a teaching position of a component insertion device that performs an operation of inserting a first component into an insertion hole of a second component,
    A robot arm,
    A hand attached to the tip of the robot arm and gripping the first component;
    A control device for controlling the operation of the robot arm and the hand,
    The control device includes:
    Holding the first component with the hand, moving the first component to a pre-stored current teaching position, lowering the first component toward the insertion hole of the second component,
    When the first component could not be inserted into the insertion hole, the current teaching position is configured to be corrected,
    The control device, in correcting the current teaching position,
    Controlling the robot arm to repeat a series of operations of horizontally moving the first component gripped by the hand from the current teaching position and descending toward the second component until it can be inserted into the insertion hole,
    Acquiring a position where the first component can be inserted into the insertion hole as an actual initial insertion position,
    Based on the current teaching position and the actual initial insertion position, obtain a temporary center position,
    A series of operations for moving the first component from a first side in a horizontal first direction passing through the temporary center position to approach the temporary center position and descending toward the second component; Controlling the robot arm to perform a series of operations of moving from the second side of the direction to approach the temporary center position and descending toward the second component,
    The first part acquires two limit positions inserted in the insertion hole,
    It is configured to acquire the center position of the acquired limit position as a new teaching position,
    Teaching position setting device.
PCT/JP2019/036703 2018-09-28 2019-09-19 Teaching position setting method and teaching position setting device WO2020066823A1 (en)

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