JP6688429B1 - Pin press-fitting management device, management method, management program, and method for manufacturing pin-attached substrate - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately detect a press-fitting defect of a press-fit pin. A management device (10) measures a torque of a motor (23) for advancing and retracting a head (21) holding a pin (30) press-fitted into a through hole (41) of a substrate (40) and a pin (30) for measuring the torque of a motor (23). Torque product calculator 11c for obtaining the integral value of the torque of the motor 23 during the monitoring period from when the pin 30 is pressed into the through hole 41 until the press fitting of the pin 30 is completed, and the integral value of this torque is a predetermined reference. It has a failure determination unit 11d that determines whether or not it is within the range. [Selection diagram] Figure 1

Description

  The present invention relates to a management device, a management method, and a press-fitting management program for managing the process of press-fitting press-fit pins (terminals) into a board constituting a vehicle-mounted power module, for example. The present invention also relates to a method for manufacturing a pin attachment substrate such as an on-vehicle power module.

  In recent years, a connection method using press-fit pins (press-fit connection) has attracted attention as a connection method for mounting electronic components and the like on a substrate on which electrical wiring is formed. Press-fit connection has been conventionally used for assembling large-scale computers etc. as a connection method between boards, which is difficult to solder-connect, but with the recent development of electric vehicles, in-vehicle ABS (electronic control unit) etc. It is being diverted to the assembly of modules. Press-fit connection is expected to be used mainly in the electric vehicle industry because it does not require solder connection and the connection process is easy, and there is little new capital investment because the already established process can be used. Has been done.

  For press-fit connection, for example, as shown in FIG. 1, the press-fit pin 30 is press-fitted into the through hole 41 provided in the wiring board 40, and the press-fit pin 30 is electrically connected to the wiring in the through hole 41. Connect to. Since the connecting portion 32 of the press-fit pin 30 generally has a spring structure whose outer diameter is larger than the inner diameter of the through hole 41, after the press-fit pin 30 is press-fitted into the through hole 41, the connecting portion 32 is not pressed. It is held in the through hole 41 by the action of the spring structure 32. In addition, the surface of the press-fit pin 30 is generally plated with Sn (plating) to ensure connectivity with the Cu wiring in the through hole 41. Therefore, according to the press-fit connection, unlike the conventional solder connection, it is possible to perform connection without heating, at room temperature, and in a short time.

  Further, in press-fit connection, it is important to insert the press-fit pin at an appropriate depth in the through hole of the wiring board in order to optimize the electric connection performance and ensure the reliability of the product. Here, in Patent Document 1, in order to quantitatively determine the press-fitting defect of the press-fit pin into the through hole of the wiring board, a pressure sensor is arranged between the cylinder and the press-fitting head, and the press-fit pin is pressed. It has been proposed to detect pressure input changes. In addition, in this document, as a cause of the press-fitting failure that can be determined by the above-described technique, there is a poor accuracy of the press-fit pin and a poor inner diameter of the through hole of the wiring board.

Japanese Patent Laid-Open No. 8-330792

  By the way, it is considered that the technique described in Patent Document 1 is premised on that a plurality of press-fit pins supported by the press-fitting head are simultaneously press-fitted into the through holes of the printed circuit board. However, when press-fitting multiple press-fit pins at the same time, even if a pressure sensor is installed between the cylinder and the press-fitting head to detect changes in the press-in force, which press-fit pin fails to press-fit into which through hole. Is difficult to identify. Further, even if a press-fitting failure occurs in a certain press-fit pin, if the press-fitting state of another press-fit pin is proper, the press-fitting failure may be overlooked.

  Further, particularly in the production process of the vehicle-mounted power module, since strict reliability is required, it is required to press-fit one or a few press-fit pins into the through holes of the board accurately and at high speed. Further, the press-fitting head is generally a heavy member, but it is necessary to repeat stroke work (generally, one stroke is 1 second or less) for accelerating and decelerating such a head toward the substrate in a short time. . When the press-fitting head having such a large weight is moved up and down at a high speed, even if a pressure sensor is provided between the cylinder and the press-fitting head as in the technique described in Patent Document 1, the pressure input changes in most of the sensor. As a result, it is considered that the press-fitting failure cannot be accurately detected. Therefore, the technique of Patent Document 1 has a problem that it is not suitable for the process of press-fitting a small number of press-fit pins at high speed.

  Alternatively, if the press-fitting pin has a relatively small size of about 1 to 3, the press-fitting head has a weight enough to press-fit the press-fitting pin into the through hole by its own weight. For this reason, when several press-fit pins are press-fitted into the through hole, the pressure required for this is likely to be sufficient with the weight of the press-fitting head, and even if a pressure sensor is provided between the cylinder and the press-fitting head. It is considered that the sensor hardly detects the change in the pressure input, and as a result, the press-fitting failure cannot be accurately detected. Therefore, when a pressure sensor is provided between the cylinder and the press-fitting head as in Patent Document 1, when press-fitting a small number of small press-fit pins into the through holes at high speed, press-fitting of the press-fit pins is performed. There is a problem that it is difficult to properly detect defects.

  Therefore, an object of the present invention is to provide a press-fitting management technique capable of accurately detecting a press-fitting defect of a press-fit pin.

  The inventors of the present invention have diligently studied means for solving the problems of the prior art, and as a result, the integrated value of the torque of the head advancing / retreating motor during the press-fitting period of the press-fit pin into the through-hole was calculated as follows. It was found that the pressure change significantly depending on the press fit state of the hole. The present invention has been completed based on the idea that it is possible to accurately detect a press-fitting defect of a press-fit pin by monitoring such a torque integral value of the motor. Specifically, the present invention has the following configurations and steps.

  A first aspect of the present invention relates to a press-fit management device for press-fit pins. The management device according to the present invention includes a torque measurement unit, a torque product calculation unit, and a defect determination unit. The torque measuring unit measures the torque of the motor for advancing and retracting (specifically, raising and lowering) the head holding the pin press-fitted into the through hole of the substrate. The term “advancing and retracting” of the head means advancing and retracting the head with respect to the substrate. For example, when the substrate is below the head, "advancing" means lowering the head toward the substrate, "regressing" means raising the head away from the substrate, and When it is above the head, it means the opposite operation. It is also possible to arrange the head and the substrate substantially horizontally. The torque product calculation unit obtains an integrated value of the motor torque (hereinafter, also referred to as “torque product”) during the monitoring period from the time when the pin comes into contact with the substrate to the time when the press fitting of the pin into the through hole is completed. The torque of the motor may be a positive torque that rotates the motor in the direction in which the head is lowered, or a negative torque that rotates the motor in the direction that raises the head (a direction that resists the lowering of the head). It may be. The failure determination unit determines whether or not the torque product is within a predetermined reference range. For example, when the torque product is out of the standard, the hole diameter of the through hole or the outer shape of the pin is out of the specified range, the insertion position of the pin is misaligned, or the inside of the through hole is It is conceivable that the plating thickness and frictional resistance are out of the specified range.

  The research conducted by the present inventors has revealed that the torque product of the motor during the above monitoring period shows a significant difference depending on the size of the hole diameter of the through hole when the outer shape of the press-fit pin is constant. Therefore, for example, when the press-fit pin has a constant outer shape, it is easy to determine whether the through hole has an appropriate diameter by determining whether or not this torque product is within the reference range. Can be judged. Further, the press-fitting process of the press-fit pin can be performed at high speed by moving the head forward and backward (for example, moving up and down) by the motor, but in that case, it is generally difficult to detect the press-fitting defect of the pin. . For example, even if the torque value when the press-fit pin comes into contact with the wiring board is simply measured, if the pin press-fitting process is performed at high speed, there is almost no difference in the motor torque value due to the size of the hole diameter. On the other hand, as in the present invention, by calculating the torque product of the motor generated during the period from when the press-fit pin contacts the wiring board to when the press fitting of the pin into the through hole is completed, Even when press-fitting the fit pin at a high speed, a significant difference can be obtained depending on the size of the hole diameter. Thus, it can be said that the management device of the present invention is suitable for the process of press-fitting the press-fit pin at high speed.

  The management device according to the present invention preferably manages a press-fitting device in which one pin is press-fitted into one through hole by the head moving back and forth once. As described above, by press-fitting only one pin into the through hole at a time, the accuracy of the press-fitting process is improved and the press-fitted state of each pin can be accurately determined. This can contribute to improving the reliability of the product.

  In the present invention, it is preferable that the motor generate a negative torque in a direction that resists the progress of the head during the monitoring period. When the pin is press-fitted into the through hole of the board, the motor may generate a positive torque in the direction in which the head advances. Further, the pin may be one that is pressed into the through hole with a large positive torque to some extent (for example, press-fitting for an in-vehicle module), or one that can be pressed into the through hole by the weight of the head (for example, a computer Press fit). In this case, it is preferable that the torque product calculation unit obtains an integral value of the negative torque of the motor during the monitoring period. As described above, by controlling the progress of the head by generating a negative torque by the motor so as to resist the progress of the head (for example, lowering), the pin can be stably press-fitted into the through hole. Further, by determining whether or not the negative torque product is within a predetermined reference range, even if the pin is press-fitted into the through hole at high speed, it is possible to easily and accurately prevent the pin from being press-fitted. Can be detected. Further, as in the invention described in Patent Document 1, when detecting a change in the pressure input applied when the press-fit pin is press-fitted, the pin is first pressed with a pressure that does not pass through the through hole, and then the pressure is gradually increased. There is a problem that it takes time to insert the pin once, because it is necessary to raise the pin and insert the pin into the through hole. On the other hand, as in the present invention, the braking force (negative torque of the motor) for stopping the descent of the head having a certain weight is measured, and the integrated value thereof is obtained, whereby the pin and the substrate are Sufficient pressure (due to the own weight of the head) can be loaded in advance, and it is not necessary to gradually increase the pressure as in Patent Document 1, so there is no delay in working time (insertion speed). There is an advantage.

  The second aspect of the present invention relates to a program for managing pins. A program according to the present invention causes a computer to function as the management device according to the first aspect described above. More specifically, the program according to the present invention includes a step of measuring a torque of a motor for advancing and retracting a head holding a pin press-fitted into a through hole of a substrate, and a step of measuring the torque of the motor from the time when the pin comes into contact with the substrate. The step of obtaining the integral value of the torque of the motor during the monitoring period until the press-fitting of the pin to the step of determining and the step of determining whether the integral value of the torque is within a predetermined reference range are performed by the computer. Let it run.

  A third aspect of the present invention relates to a pin press-fitting management method. The management method according to the present invention comprises a step of measuring a torque of a motor for advancing and retracting a head holding a pin press-fitted into a through hole of a substrate, and a press fit of the pin into the through hole after the pin contacts the substrate. Includes a step of obtaining an integrated value of the torque of the motor during the monitoring period until the completion of step 1, and a step of determining whether or not the integrated value of the torque is within a predetermined reference range.

  It is preferable that the press-fitting management method according to the present invention further include the step of positioning the substrate so that the through hole is located directly below the pin. As described above, the through hole of the substrate is at an appropriate position, and the pin is inserted into the through hole, so that the press-fitting defect of the pin can be appropriately detected. As a method of positioning the board, a method of adjusting the position by the outer shape of the board, a method of detecting the position of the through hole with a camera or the like, and the like can be considered.

  A fourth aspect of the present invention relates to a method of manufacturing a pin attachment board. An example of the pin-attached substrate is a substrate that constitutes a vehicle-mounted power module, a large computer, or the like. The manufacturing method according to the present invention includes a step of advancing and retracting a head holding a pin by a motor to press the pin into a through hole of a board, a step of measuring a torque of the motor, and a through step from when the pin contacts the board. It includes a step of obtaining an integrated value of the torque of the motor during the monitoring period until the press-fitting of the pin into the hole is completed, and a step of determining whether or not the integrated value of the torque is within a predetermined reference range. .

  According to the present invention, it is possible to accurately detect the press-fitting failure of the press-fit pin. Particularly, even when one or a small number of press-fit pins are press-fitted into the through holes at the same time, and the pins are press-fitted into the through holes due to the weight of the head, according to the present invention, the press-fit pins are not press-fitted properly. Can be accurately detected.

FIG. 1 is a block diagram conceptually showing the functional configurations of the management device and the press-fitting device. FIG. 2 is an explanatory diagram showing that there is a difference in torque product during the monitoring period due to a difference in hole diameter of the through hole. FIG. 3 is a graph showing the relationship between the hole diameter and the torque product. FIG. 4 is a graph showing a torque product management area in relation to the hole diameter.

  Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. The present invention is not limited to the modes described below, and includes those appropriately modified within the scope obvious to those skilled in the art from the modes described below.

  FIG. 1 schematically shows a functional configuration of a system including a management device 10 and a press-fitting device 20. The press-fitting device 20 is a device for press-fitting the press-fit pin 30 into the through hole 41 of the wiring board 40. As the press-fitting device 20, an existing one can be appropriately adopted. The management device 10 has a function of controlling the press-fitting operation of the press-fit pin 30 by the press-fitting device 20 and inspecting whether the press-fitting operation is normally performed. A general-purpose computer can be used as the management device 10, and a program for causing the computer to execute the processing unique to the present invention may be installed.

  The press-fitting device 20 basically includes a head 21 that holds the press-fit pin 30, an elevator 22 that raises and lowers the head 21 toward the wiring board 40, and a servo motor 23 that applies a rotational torque to the elevator 22. A motor controller 24 that controls the rotation of the servo motor 23 is provided.

  The elevator 22 has a cam mechanism that converts the rotational movement of the shaft of the servo motor 23 into a linear movement. The head 21 is attached to the tip of the elevator 22. In the present embodiment, the head 21 is configured to hold the press-fit pins 30 one by one, and one press-fit pin 30 is press-fitted into one through hole 41 of the wiring board 40 by one lifting operation. To do. The head 21 may be configured to hold a plurality of press fit pins 30 at one time. Although not shown, the head 21 may be provided with a mechanism for cutting out each press-fit pin 30 from the bundle member to which the plurality of press-fit pins 30 are connected when the press-fitting is performed.

  The servo motor 23 generates a rotation torque for moving the head 21 up and down under the control of the motor controller 24. In the present specification, the torque for moving (specifically, lowering) the head 21 toward the wiring board 40 is referred to as "positive torque", and the torque in the opposite direction is referred to as "negative torque". That is, the negative torque is a force in the direction of resisting the lowering of the head 21, and corresponds to a braking force for keeping the press-fit pin 30 at a predetermined depth in the through hole 41 of the wiring board 40 during the press-fitting operation. . Since the rotary motion of the shaft of the servo motor 23 is converted into a linear motion by the elevator 22, the rotary torque of the servo motor 23 causes the head 21 to move up and down with respect to the wiring board 40.

  The motor controller 24 controls the rotation of the servo motor 23 according to the control command from the management device 10. The motor controller 24 receives, for example, information on the press-fitting depth of the press-fit pin 30 from the management device 10 as a control command, and controls the servo motor 23 so that the press-fit pin 30 reaches a predetermined depth based on this command. .

  The press-fitting device 20 further includes a torque sensor 25 for detecting the rotation torque of the servo motor 23. The torque sensor 25 is provided, for example, around the shaft of the servo motor 23. As the torque sensor 25, one that detects the torque of the servo motor 23 by a known method such as a magnetostrictive type, a strain gauge type, a piezoelectric type, or an optical type may be adopted. The information (digital signal) detected by the torque sensor 25 is output to the management device 10.

  The press-fit pin 30 is a conductive terminal component that is press-fitted into the through hole 41 of the wiring board 40, and is made of a metal material such as copper or aluminum, or is plated with these metals. Metal plating is also applied to the through holes 41 of the wiring board 40. Therefore, by press-fitting the press-fit pin 30 into the through hole 41, both can be energized. The term "press fit" means that the pin is kept in contact with the substrate by the restoring force generated when the tip of the pin is pushed into the through hole 41 of the wiring substrate 40. For example, in the embodiment shown in FIG. 1, a coupling portion 32 that comes into contact with the inner wall of the through hole 41 is provided near the lower end of the core portion 31 of the press fit pin 30. The coupling portion 32 has an elliptical shape with an opening formed in the center, and the metal material forming the press-fit pin 30 has a bifurcated shape. The lateral width of the coupling portion 32 is wider than the lateral width of the core portion 31. Further, the lateral width of the coupling portion 32 is designed to be wider than the inner diameter of the through hole 41. Therefore, when the press-fit pin 30 is press-fitted into the through hole 41, the coupling portion 32 elastically deforms while contacting the inner wall of the through hole 41, and the force that restores the coupling portion 32 and the through hole 41 causes the coupling portion 32 to restore. The contact state is maintained.

  Further, a protrusion 33 held by the head 21 is provided above the core 31 of the press-fit pin 30. The core portion 31 of the press-fit pin 30 has a small frictional resistance and is difficult to be held by the head 21, but by providing such a protrusion 33, the head 21 and the press-fit pin 30 engage with each other. The press fit pin 30 can be held accurately. Further, when the press-fit pin 30 is press-fitted, the head 21 pushes the press-fit pin 30 into the through hole 41 of the wiring board 40 while pressing the protrusion 33, so that the positive torque generated by the servo motor 23 is applied to the press-fit pin 30. 30 can be efficiently transmitted.

  Next, the functional configuration of the management device 10 will be described. As shown in FIG. 1, the management device 10 includes a controller 11 and a display unit 12. The controller 11 includes a processor such as a CPU, a storage storing a program, a memory having a work space for reading and writing a calculation result in the processor, and the like. The controller 11 includes functional elements such as a motor command unit 11a, a torque measurement unit 11b, a torque product calculation unit 11c, and a defect determination unit 11d. These functional elements are basically realized as software functions by arithmetic processing of a processor according to a program. However, these functional elements may be realized as a hardware circuit. The display unit 12 also displays the calculation result of the controller 11 and the like. As the display unit 12, a known display device such as a liquid crystal display or an organic EL display may be adopted.

  The motor command unit 11a provides the motor controller 24 of the press-fitting device 20 with drive conditions of the servo motor 23 and the like as control commands. Specifically, the motor command unit 11a performs various operations such as the press-fitting depth of the press-fit pin 30 (specifically, the z-axis coordinate (see FIG. 2)) and the rotation speed of the servo motor 23 (the moving speed of the head 21). The condition is provided to the motor controller 24 as a control command. The motor controller 24 drives the servo motor 23 according to the control command from the motor command unit 11a. As a result, the head 21 descends, and the press-fit pin 30 is press-fitted into the through hole 41 of the wiring board 40. Specifically, the motor controller 24 drives the servo motor 23 so that the press-fit pin 30 is inserted to the designated depth at the rotation speed designated by the motor command unit 11a. The torque sensor 25 detects the torque generated by the servo motor 23 when the head 21 is lowered and raised.

  The torque measuring unit 11b measures the rotation torque of the servo motor 23 based on the detection information of the torque sensor 25. Specifically, the torque measuring unit 11b measures the rotation torque of the servo motor 23 in real time and records the result.

  The data in the first row of FIG. 2 shows an example of a time chart of the value (torque value) of the rotation torque of the servo motor 23 measured by the torque measuring unit 11b. In addition, in FIG. 2, the press fit pin 30 having substantially the same size is press-fitted into the through hole 41 having a hole diameter of 1.10 mm and the press fit pin 30 is press fit into the through hole 41 having a hole diameter of 1.20 mm. Are shown in comparison with each other. Further, FIG. 2 shows data when press-fitting pins 30 of relatively small size are press-fitted. In this example, the press-fitting pins 30 are press-fitted into the through holes 41 of the wiring board 40 by the weight of the head 21. The Rukoto. For this reason, while the press-fit pin 30 and the wiring board 40 are in contact with each other, the servo motor 23 is operated in order to prevent the press-fit pin 30 from being excessively pushed into the through hole 41 due to the weight of the head 21. A negative torque is generated to brake the descent of the head 21.

  More specifically, as shown in the data on the first line of FIG. 2, in the present embodiment, in the state before the descent start point of the head 21, the servo motor 23 keeps the head 21 in the air in the negative torque. Generate. Immediately after the descent start point of the head 21, the servo motor 23 temporarily generates a large positive torque in order to descend the stationary head 21 toward the wiring board 40. After that, the state in which the servo motor 23 is once weak and generates negative torque continues, but the head 21 continues to descend during that time. Immediately before the press-fit pin 30 contacts the wiring board 40, the servo motor 23 temporarily generates a large negative torque in order to reduce the descending speed of the head 21 by resisting the inertia acting on the descending head 21. Let After that, from the time the press-fit pin 30 contacts the wiring board 40 (pin contact start point) to the time when the press-fit depth of the press-fit pin 30 reaches a predetermined depth (stroke end point), the weight of the head 21 is used. While press-fitting the press-fit pin 30 into the through hole 41 of the wiring board 40, the servo motor 23 generates a weak negative torque in order to prevent the press-fit pin 30 from being excessively pushed into the through hole 41. Brake the head 21 downward. After that, when the press-fitting of the press-fit pin 30 is completed, the holding of the press-fit pin 30 by the head 21 is released, and only the head 21 is raised again while leaving the press-fit pin 30 on the wiring board 40. At this time, the servo motor 23 generates a negative torque for raising the head 21. As described above, by referring to the data on the first line in FIG. 2, it is possible to grasp the behavior of the head 21 according to whether the torque of the servo motor 23 is positive or negative.

  The torque product calculation unit 11c calculates the integrated value of the rotation torque of the servo motor 23 during the predetermined period based on the torque value measured by the torque measurement unit 11b. Specifically, in the present embodiment, the torque product calculation unit 11c is in the monitoring period from when the press fit pin 30 contacts the wiring board 40 to when the press fit of the press fit pin 30 into the through hole 41 is completed. The calculation for obtaining the integral value of the rotation torque of the servo motor 23 at is performed. The monitoring period is a short time of, for example, 500 to 1000 msec or 700 to 800 msec.

  The data in the second row of FIG. 2 indicates the integrated value of the torque (torque product) calculated by the torque product calculation unit 11c. Here, the period from the pin contact start point to the stroke end point is set as the monitoring period, and the torque product during this monitoring period is determined. In the data on the second line of FIG. 2, the value of the torque product at the end point of the monitoring period indicates the final torque product of the monitoring period. The period before and after the monitoring period is a period in which the torque product is not calculated (cancellation period). Therefore, on the data shown in FIG. 2, the torque product in the period before the monitoring period is zero (not calculated), and the torque product in the period after the monitoring period matches the torque product in the monitoring period.

  As shown in the data in the first row of FIG. 2, when the size of the press-fit pin 30 is the same, the torque when the diameter of the through hole 41 is 1.10 mm and when it is 1.20 mm The torque value of the servo motor 23 measured by the measuring unit 11b has almost no difference in its waveform or numerical value. Therefore, for example, assuming that the hole diameter of 1.20 mm is an appropriate value and the hole diameter of 1.10 mm is an abnormal value, even if the waveform or numerical value of the torque value of the servo motor 23 is monitored, the hole diameter of 1.10 mm ( It can be said that it is difficult to detect that there is any abnormality when press-fitting the press-fit pin 30 into the through hole 41 having an abnormal value.

  On the other hand, focusing on the data on the second line in FIG. 2, when the size of the press-fit pin 30 is almost the same, the case where the diameter of the through hole 41 is 1.10 mm and the case where it is 1.20 mm. It can be seen that there is a significant difference in the value of the torque product of the servo motor 23 during the monitoring period calculated by the torque product calculation unit 11c. Therefore, similarly to the above, assuming that the hole diameter of 1.20 mm is an appropriate value and the hole diameter of 1.10 mm is an abnormal value, the torque product value of the servo motor 23 during the monitoring period is calculated to obtain the hole product. When press-fitting the press-fit pin 30 into the through hole 41 having a diameter of 1.10 mm, it is possible to surely detect that there is any abnormality as compared with the through hole 41 having a hole diameter of 1.20 mm which is an appropriate value. Becomes As described above, by determining the torque product of the servo motor 23 (data of the second row) during the monitoring period, it is difficult to detect the press-fit process only from the torque value (data of the first row). Can be easily detected.

  In FIG. 2, assuming that the press-fit pins 30 have the same size, a comparison is made between the cases where the through holes 41 having a hole diameter of 1.10 mm and the through holes 41 having a hole diameter of 1.20 are press-fitted respectively. . As shown in the data on the second line in FIG. 2, the smaller the hole diameter (on the left side in FIG. 2), the smaller the negative torque product (absolute value) of the servo motor 23 during the monitoring period. This is because when the press-fit pin 30 is inserted into the small through-hole 41, the frictional resistance between the inner wall of the through-hole 41 and the press-fit pin 30 becomes larger, and the head 21 is less likely to descend due to its own weight. It is considered that this is because the negative torque of the servo motor 23 as a force can be relatively small. On the other hand, the larger the hole diameter (on the right side in FIG. 2), the larger the negative torque product (absolute value) of the servo motor 23 during the monitoring period. This is because when the press fit pin 30 is inserted into the large through hole 41, the frictional resistance between the inner wall of the through hole 41 and the press fit pin 30 becomes small, and the head 21 easily descends in the through hole 41 due to its own weight. It is considered that in order to hold the press-fit pin 30 at a predetermined depth in the through hole 41, the negative torque of the servo motor 23 as a braking force needs to be made relatively large.

  FIG. 3 shows the correlation between the hole diameter of the through hole 41 and the negative torque product of the servo motor 23 during the monitoring period. In preparing the graph of FIG. 3, five wiring boards 40 having through holes 41 having hole diameters of 1.10 mm, 1.15 mm, 1.25 mm, and 1.30 mm are prepared, and each wiring board is manufactured using the same head 21. The press-fit pins 30 of approximately the same size were press-fitted into the through-holes 41 of 40, the negative torque product of the servo motor 23 during each monitoring period was calculated, and the average was taken for each hole diameter. The press-fit pin 30 used had an outer shape of 1.23 ± 0.02 mm. As a result of the verification, as shown in FIG. 3, it was revealed that there is a correlation between the hole diameter of the through hole 41 and the negative torque product of the servo motor 23 during the monitoring period. Further, since the same verification result has high reproducibility, by using this correlation, the negative torque product of the servo motor 23 is obtained, and thus the size of the press-fit pin 30 and the hole diameter of the through hole 41 are obtained. It was found that it becomes possible to determine whether or not the relationship of is appropriate.

  The defect determination unit 11d determines whether or not the torque product obtained by the torque product calculation unit 11c is within a predetermined reference range. Accordingly, the defect determination unit 11d can determine that the press-fit pin 30 has been properly press-fitted into the through hole 41 when the torque product is within the reference range. On the other hand, when the torque product is out of the standard range, it can be determined that some defect has occurred in the press-fit pin 30 or the through hole 41. For example, as a situation where the torque product is out of the reference, the hole diameter of the through hole 41 or the outer size of the press-fit pin 30 is out of the specified range, or the insertion position of the press-fit pin 30 is displaced. It is possible that the thickness of the plating in the through hole 41 or the frictional resistance value is outside the specified range. There are various other situations where the torque product is out of the standard, but in the present invention, it is sufficient to detect that something is wrong with the press-fit pin 30 or the through hole 41, and the type of the abnormality is specified. It is not needed to do.

  FIG. 4 shows an example of a torque product range managed by the failure determination unit 11d. In this example, the through hole 41 is designed with a hole diameter of 1.20 mm as an optimum value, and an error of −0.1 mm or +1.5 mm is allowed in the manufacturing process, and the hole diameter design margin is set to allow. Set. That is, if the hole diameter of the through hole 41 is within the range of 1.10 to 1.35 mm, it can be said that there is no problem in manufacturing the product. However, if the hole diameter design margin should be exceeded, the performance of the product cannot be guaranteed. Therefore, in the example shown in FIG. 4, the optimum value of the hole diameter of 1.20 mm is ± 1.0 mm. The range is set as a management width, and whether or not the hole diameter of the through hole 41 falls within this management width is managed. Here, in the example shown in FIG. 4, the negative torque product of the servo motor 23 corresponding to the hole diameter of 1.15 mm, which is the minimum value of the control width, is −800000, and the hole diameter of 1 that is the maximum value of the control width is 1 mm. The negative torque product of the servo motor 23 corresponding to 0.25 is −1200000. Therefore, in the example of FIG. 4, the failure determination unit 11d may determine whether the torque product obtained by the torque product calculation unit 11c falls within the control range of −800000 to −1200000.

  As a result of the determination process, when the torque product calculated by the torque product calculation unit 11c is within the predetermined reference range, the defect determination unit 11d determines that the press-fit pin 30 is normally press-fitted into the through hole 41. To do. On the other hand, when the torque product is out of the predetermined reference range, the failure determination unit 11d determines that the press-fit pin 30 is press-fitted into the through hole 41. When the defect determination unit 11d finds a press-fitting defect, for example, the motor command unit 11a may temporarily stop the press-fitting operation of the press-fit pin 30 by stopping the driving of the servo motor 23. When the defect determination unit 11d finds a press-fitting defect, the controller 11 may display the fact that the press-fitting defect has been found on the display unit 12 to notify the worker.

  As described above, in order to express the content of the present invention, the embodiments of the present invention have been described with reference to the drawings. However, the present invention is not limited to the above-described embodiment, and includes modifications and improvements that are obvious to those skilled in the art based on the matters described in the present specification.

  For example, in the above-described embodiment, the size of the press fit pin 30 and the through hole 41 is relatively small, and the press fit pin 30 can be press-fitted into the through hole 41 by the weight of the head 21. It was supposed to generate torque. On the other hand, the present invention uses the press-fit pin 30 having a relatively large size, such as a vehicle-mounted power module, and cannot press-fit the press-fit pin 30 into the through hole 41 depending on the weight of the head 21. It also includes a form in which the servo motor 23 generates a positive torque at the time of press fitting. In this case, the torque product calculation unit 11c determines the positive torque of the servo motor 23 during the monitoring period from when the press-fit pin 30 contacts the wiring board 40 to when the press-fitting of the press-fit pin 30 into the through hole 41 is completed. The integral value may be obtained. Then, the defect determination unit 11d may determine whether or not the integral value of this positive torque is within a predetermined reference range.

10 ... Management device 11 ... Controller 11a ... Motor command part 11b ... Torque measurement part 11c ... Torque product calculation part 11d ... Defect determination part 12 ... Display part 20 ... Press-fitting device 21 ... Head 22 ... Elevator 23 ... Servo motor 24 ... Motor control Device 25 ... Torque sensor 30 ... Press-fit pin 31 ... Core part 32 ... Coupling part 33 ... Projection part 40 ... Wiring board 41 ... Through hole

Claims (7)

A torque measurement unit for measuring the torque of the motor for advancing and retracting the head holding the pin press-fitted into the through hole of the board,
A torque product calculating unit that obtains an integrated value of the torque of the motor during a monitoring period from when the pin contacts the substrate to when press fitting of the pin into the through hole is completed;
A management device having a failure determination unit that determines whether the integrated value of the torque is within a predetermined reference range. The management device according to claim 1, wherein one of the pins is press-fitted into one of the through holes by a single forward / backward movement of the head. The motor is for generating a negative torque in a direction that resists the progress of the head during the monitoring period,
The management device according to claim 1, wherein the torque product calculation unit obtains an integrated value of the negative torque of the motor during the monitoring period.   A program for causing a computer to function as the management device according to claim 1. A step of measuring the torque of the motor for advancing and retracting the head holding the pin press-fitted into the through hole of the board;
Determining an integral value of the torque of the motor during a monitoring period from when the pin contacts the substrate to when the press fitting of the pin into the through hole is completed,
A management method including a step of determining whether or not the integrated value of the torque is within a predetermined reference range. Further comprising the step of positioning the substrate such that the through hole is located directly below the pin.
The management method according to claim 5. A step of advancing and retracting the head holding the pin by a motor and press-fitting the pin into a through hole of the board;
Measuring the torque of the motor,
Determining an integral value of the torque of the motor during a monitoring period from when the pin contacts the substrate to when the press fitting of the pin into the through hole is completed,
A method for manufacturing a pin-attached substrate, comprising the step of determining whether or not the integrated value of the torque is within a predetermined reference range.

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