JP3005157B2 - Component insertion method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for inserting a component into which a component having terminals is to be inserted by inserting the component into the hole of a member having a hole.

[0002]

2. Description of the Related Art When electronic components such as transistors, capacitors, etc. having terminals are inserted into holes of a printed circuit board and soldered to form an electric circuit, the electronic components are formed by a robot hand. There is known a method and an apparatus for picking up and inserting a lead terminal into a hole of a circuit board.

On the other hand, the electronic parts and the like are often coated with an insulating wax around the parts for the purpose of preventing electric leakage.

When the above wax-coated parts are picked up by a robot hand and terminals are inserted into holes of a circuit board, and then the gripping of the robot hand is released, as shown in FIGS. The component inserted due to the adhesion of the wax is separated from the circuit board,
There has been such a problem that some of the terminals are separated from the holes.

As a technique that can be applied to solve the above-mentioned problem, there is Japanese Patent Publication No. 31837/1987.

[0006] In the above technique, after the detection by the component lead detecting means, the lead can be bent by the lead bending means of the component to prevent the detachment of the component.

[0007] However, in the prior art, there is a problem that the vibration at the time of the bending operation of the lead causes detachment of other components mounted on the circuit board and deviation from the mounting position.

[0008]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and when a terminal of a component to which wax or the like is applied is inserted into a hole of a circuit board, detachment of the component, disconnection of the terminal, and connection to another component. We propose an insertion method and device that do not have a negative effect.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is a method of inserting a component having terminals into a hole of a substrate and inserting the component, wherein the component is picked up and held by a gripping claw. Maintaining the component holding by the gripping claws, inserting the terminal of the component into the hole of the substrate, holding the terminal of the inserted component by a holding member, and maintaining the holding of the inserted terminal by the holding member. The problem is solved by releasing the holding of the component by the gripping claw.

Further, the present invention relates to a method for inserting a component having a terminal and having a surface coated with an adhesive, wherein the component is picked up and held by a gripping claw with a gripping force corresponding to the adhesive. The terminal of the component is inserted into the hole of the board by maintaining the component, and the terminal of the inserted component is held by the holding member. The holding of the inserted terminal by the holding member is maintained by the gripping claw. The problem was solved by releasing the holding of the parts.

[0011]

[0012]

[0013]

FIG. 1 is a view showing one embodiment of the present invention. In the drawing, reference numeral 1 denotes a main body of an electronic component such as a transistor and a capacitor.

Reference numerals 1a and 1a denote the terminals of the component 1. In this embodiment, two terminals are shown. However, four or more terminals may be provided as in an integrated circuit chip.

Reference numeral 2 denotes wax applied around the body of the component 1.

Reference numeral 4 denotes a printed circuit board. Holes 4a, 4 through which the terminals 1a of the components are inserted are inserted into the printed circuit board 4.
a, --- are formed.

The printed circuit board 4 is carried by a board carrying means (not shown) and is fixedly supported at a predetermined position by a board fixing member 6.

Numeral 8 is a means for gripping the component 1, comprising a robot arm 8a, gripping members 8b, 8b, and a main body 8c for opening and closing the gripping members 8b, 8b.
The operation of the gripping means 8 is controlled by a control means 10 described later.

Reference numeral 12 denotes terminal holding means, and 12a, 12
a is a terminal holding member, 12b and 12b are finger bodies 12
c is a jaw member supported to be openable and closable.

Numeral 14 denotes a driving means for hydraulically driving the terminal holding members 12a, 12a.
4b is a regulator, 14c and 14c are solenoid valves, 14
d and 14d indicate supply pipes, and 14e and 14e indicate speed controllers, respectively.

FIG. 2 is a control block diagram for controlling the operation of the apparatus. The control means 16 controls the entire apparatus such as the gripping means 8, the terminal holding means 12, and the substrate transport means (not shown). .

Reference numeral 18 denotes gripping members 8b, 8 of the gripping means 8.
b is a control means of the gripping means for adjusting the gripping force and gripping stroke of the gripping member. The gripping force and stroke of the gripping member are determined based on information such as the shape of the gripping component 1 and the adhesive force of the applied wax. Make adjustments.

Reference numeral 20 denotes a driving means 1 for the terminal holding means 12.
4 for controlling the operation timing of the gripping means 12.

Next, the method and operation of the present apparatus will be described with reference to the operation flowchart of FIG.

First, teaching of the movement trajectory from the component pick-up position of the robot arm 8a of the gripping means 8 according to the type of component to be assembled to the circuit board 4 to the component insertion position into the circuit board fixing member 6 shown in FIG. Then, the moving operation of the robot arm 8a is stored in the teaching storage unit 22 of the control unit 16. Step one.

Further, the terminal holding member 12 of the terminal holding means 12 is provided in accordance with the type of the component to be assembled.
The input means 26 is used to input strokes a, 12a and setting information of the holding force of the holding member under the control of the speed controllers 14e, 14e. Step two.

Next, the circuit board 4 on which the components are assembled is transferred to a fixing position of the board fixing member 6 by a robot (not shown) or a circuit board conveying means such as a conveyor means.

The transport of the circuit board 4 to the fixed position is detected by board detection means 24 (not shown). Step 3.

When the board is detected by the board detecting means, the gripping means 8 picks up the component from the component storage position, and then moves the component 1 down onto the circuit board 4 and the terminal 1a of the component. , 1a into the holes 4a, 4a of the circuit board 4 are performed based on the teaching, and the presence or absence of the terminal is detected by the detecting operation of the terminal detecting means 6a provided near the circuit board fixing member. The detection signal is sent to the control means 16. Step 4.

When the insertion of the component terminal is confirmed in step 4, the terminal holding means 12 operates.

In the terminal holding means 12, the holding force, stroke, etc. of the terminal holding means are determined in step 2 according to the type of the component 1 to be attached to the substrate 4, so that the shape of the component, the wire of the terminal, The terminals are held by a force corresponding to, for example, the component main body 1 and the circuit board 4.
Fixedly held on top. Step 5.

After the parts are held by the operation of the terminal holding means 12, the holding members 8b,
Release of component gripping by 8b is performed.

This component grip release operation is performed after a predetermined time has elapsed from the start of the operation of the terminal holding means 12.
This is executed by performing the release operation of b, 8b. Step 6.

After the releasing operation of the component by the gripping member, the terminal holding operation by the terminal holding means 12 is released, and the terminal holding means moves to the next position below the hole where the component is to be mounted on the circuit board 4. And enter the standby state. Step 7.

Thereafter, the gripping means 8 picks up the next component to be mounted from the storage position, moves it to a predetermined mounting position on the circuit board, and repeats each step of the above-described process. Step 8.

As described above, in the method of mounting the component 1 on the circuit board 4 according to the present embodiment, the terminals 1a, 1a of the component 1 having terminals are inserted into the holes 4a, 4a of the circuit board 4. Then, in the component insertion method of attaching the component to the circuit board, the component is gripped by gripping means 8, the terminals 1a, 1a are inserted into the holes of the circuit board, and then the holes are inserted through the holes. The component 1 is gripped by the proposal of a component insertion method that releases the gripping state of the gripping means while maintaining the state where the terminal is held in the holding state, and then releases the holding state of the terminal. Gripping member 8b. It is possible to eliminate the risk of detachment of components due to vibration or the like, displacement of components, or the like at the time of the grip release operation of 8b.

Further, in the component insertion device of the present invention, the terminal of the component is inserted into the holes 4a, 4a of the circuit board 4 by the means 8 for gripping the component 1, and after the terminal is inserted, the means 12 for holding the terminal is provided. With the proposal of a device that is configured to release the gripping of the gripping means while maintaining the terminal in the holding state, detachment or mounting of the component is also required for the mounting work of the component where the adhesive substance such as wax is attached to the component. A component insertion device that does not shift from the position was obtained.

Further, according to this embodiment, the holding force of the holding member of the terminal holding means can be variably adjusted by setting the input to the control means 20, so that the length and thickness of the terminal wire can be adjusted. Since it can be adjusted according to the conditions, it can correspond to various types of parts.

FIG. 4 shows a case in which the component gripping means 8 of FIG.

Even if the gripping members 8b, b of the component gripping means are replaced with the vacuum holding means 22 of the suction holding type from the opening / closing type component gripping operation, the vacuum or the like is released when the suction is released by the wax or the like attached to the suction portion of the component 1. Although the components may be detached from the circuit board with the raising operation of the suction means, according to the method and the apparatus, the terminal holding operation by the terminal holding means works before the vacuum suction means rises, and the components are moved to the circuit. It can be fixed on a substrate.

FIG. 5 shows an embodiment in which the elastic member such as rubber or urethane is attached to the holding portions of the terminal holding members 12a, 12a of the terminal holding means of the apparatus shown in FIG. It was done.

[0042]

According to the present invention, the part is held by the gripping means 8.
After the terminals 1a, 1a are inserted into the holes of the circuit board, the terminals that have passed through the holes are maintained in a holding state to release the gripping state of the holding means. Then, according to a proposal of a component insertion method for releasing the holding state of the terminal, the gripping members 8b. It is possible to eliminate the risk of detachment of components due to vibration or the like, displacement of components, or the like at the time of the grip release operation of 8b.

Further, in the component insertion apparatus of the present invention, the terminal of the component is inserted into the holes 4a, 4a of the circuit board 4 by the means 8 for gripping the component 1, and after the terminal is inserted, the means 12 for holding the terminal is provided. With the proposal of a device that is configured to release the gripping of the gripping means while maintaining the terminal in the holding state, detachment or mounting of the component is also required for the mounting work of the component where the adhesive substance such as wax is attached to the component. A component insertion device that does not shift from the position was obtained.

Further, according to the present embodiment, the holding force of the holding member of the terminal holding means can be variably adjusted by setting the input to the control means 20, so that the length and thickness of the terminal wire can be adjusted. Since it can be adjusted according to the conditions, it was possible to cope with various types of parts.

Although the present invention has been described based on the embodiments of transistors, capacitors, transformers and the like of electronic circuit components, the present invention is not limited to the case where electronic components are inserted and mounted on a circuit board, but may be applied to other examples. It is also possible to apply the above application.

[Brief description of the drawings]

FIG. 1 is an explanatory view of an apparatus according to an embodiment suitable for explaining the present invention.

FIG. 2 is a block diagram of operation control of the apparatus shown in FIG.

FIG. 3 is an operation flowchart of the apparatus shown in FIG. 1;

FIG. 4 is a diagram showing a case where the component gripping means 8 of FIG.

FIG. 5 shows an example in which an elastic member such as rubber or urethane is attached to the holding portions of the terminal holding members 12a, 12a of the terminal holding means of the embodiment of FIG. 1 so that the contact with the terminals is moderated. FIG.

FIG. 6 is an explanatory diagram of a problem of the related art.

FIG. 7 is an explanatory diagram of a problem of the related art.

[Explanation of symbols]

1 Terminals for transistors, capacitors, transformers, etc.
Component having a, 1a,-2 Wax attached to component 1 4 Circuit board 6 Fixing member for circuit board 4 8 Holding means for component 1 12 Terminal holding means

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H05K 13/04

Claims (1)

(57) [Claims] 1. A method of inserting a component having a terminal and having a surface coated with an adhesive, wherein the component is picked up and held by a gripping claw with a gripping force corresponding to the adhesive, and the component is held by the gripping claw. Maintain and insert the terminal of the component into the hole of the board, hold the terminal of the inserted component by a holding member, maintain the holding of the inserted terminal by the holding member, and release the holding of the component by the gripping claw A method of inserting a component having a terminal, characterized in that: