JPH0430923A - Insertion method of multiple pin - Google Patents

Abstract

PURPOSE:To certainly insert the many pins contained in a base plate by inserting a pin into the hole of the base plate, which becomes the home position of the other pins, detecting contact pressure, inserting pins so as to form the first line in the X axis direction while taking this pin as a reference pin, checking its horizontality in the X axis direction, and then checking the horizontality of pins in the Y axis direction with the base plate inclined to the Y direction and placed on the another base plate. CONSTITUTION:Contact pressure is detected with hole 3-1 of a base plate B corresponding to the pin 1-1 at a corner of a base plate A, which is the home position for many pins, aligned. In the next step, pins 1, which forms the first line in the X axis direction, are inserted into holes, and its horizontality is checked, and finally pins 1 are inserted in the direction of the Y axis, and its horizontality is checked. Owing to this constitution, the many pins can certainly and effectively be inserted into the holes of the base plate B without spoiling the environment of the pins 1 and the base plate B.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method for inserting a multi-pin component, in which a large number of pins loosely fitted on a board A are inserted into a large direction provided on a board B.

(Prior Art) Conventionally, a large number of pins were inserted into a board or the like by inserting them one by one, but this method had the disadvantage that it took time as the number of pins increased.

In order to compensate for this drawback, the pins are stored in advance in a board A having a hole diameter larger than the pin diameter, and a board B formed in the same pattern as the board A and having a hole diameter corresponding to the pin diameter is stacked on top of the board A. The pins were inserted into the board B at the same time while supporting vibrations, etc.

(Problem to be Solved by the Invention) However, in order to process the above method mechanically, it is necessary to reliably position the substrate B on the substrate A, and even though the substrate B is finally positioned, the substrate In some cases, the pins of A could not be inserted into the board B if the pins were bent or the pins were not aligned. Therefore, in order to detect pitch misalignment and perform highly accurate positioning,
This has been accompanied by difficulties in terms of cost, insertion speed, etc.

The present invention has been made in view of the above circumstances, and its purpose is to propose a method for inserting a multi-pin component by efficiently inserting a large number of pins housed in the board A into the board. It is.

(Means for Solving the Problems) A method for inserting a multi-pin component of the present invention to achieve the above object is to horizontally insert a board A having a hole diameter larger than the pin diameter and having a predetermined pattern in which a large number of pins can be arranged. A board B with a hole diameter approximately the same as the pin diameter and the same pattern as the board A is attached to a 6-axis attitude control device, and one corner of this base Fi is tilted close to the board A, and the origin is Insert the pin at the position of
The first row in the direction is inserted to check the horizontality in the X direction, and then the substrate B is tilted in the Y direction and placed over the substrate A to check the horizontality in the Y direction. It is.

(Function) The method for inserting a multi-pin component of the present invention according to the method described above is as follows:
Detect the contact pressure by aligning the pin in one corner of the board A, which will be the origin, with the corresponding hole in the base FiB, then insert the first row of pins in the X direction to check the horizontality, and finally in the Y direction. Since the horizontal confirmation is performed by inserting the pins, the insertion of a large number of pins into the board B can be performed reliably and efficiently without damaging the environment between the pins and the board B.

(Embodiment) An embodiment of the present invention will be described below with reference to FIGS. 1 to 4.

FIG. 1 shows an algorithm for inserting multi-pin components. The substrate A used here has holes 2 for accommodating pins 1 perforated according to a preset pattern. The holes 2 have a diameter larger than the pin diameter, and the pins 1 are accommodated in each of these holes 2.

This substrate A is placed horizontally on the bed of, for example, a six-axis attitude control device (not shown).

On the other hand, board B is made to have the same size as board A,
A hole 3 is provided, which is formed in the same pattern as that provided on the substrate A, and has a hole diameter that is approximately the same as the pin diameter of the pin 1. This board B is attached to the operating part of a 6-axis attitude control device, and is controlled by the device in the X, Y, and X directions.
It is designed to rotate around the direction.

The substrate B is operated by such a six-axis attitude control device as follows.

■ By starting, board B is approached to board A at an angle θ8, θY so that the hole 3-1 in one corner, which is the origin, is aligned with the pin 1-1, which is the origin of board A. Figure (a)).

(2) When the substrate B is lowered onto the substrate A while maintaining the inclined states θ8 and θ7, and the pin l-1 is inserted into the hole 3-1, the contact pressure is detected (FIG. 1(b)).

■ When it is confirmed that the pin l-1 is inserted into the hole 31 by detecting this contact pressure, a torque T7 is applied around the Y axis and the tilt displacement θ7→O occurs to the board B including the origin. Each row of pins is inserted into a corresponding hole in the board B. Insertion of each pin in this end row is confirmed when θv-0 is reached (FIG. 1(C)).

(2) Next, the substrate B is tilted so that the tilt displacement is θx-+O, and the base FiB is placed over the base FiA. At this time, the horizontal confirmation is confirmed at t1 since θ=◯, and all of the many pins housed on the board A are inserted into the board B (FIG. 1(d)).

The above-mentioned operation is shown in a flowchart as shown in FIG.

That is, if any one of the contact pressure detection result, the horizontal confirmation of θ, and the horizontal 1syJ of θ7 is No, then the process is returned to the previous step and restarted.

Then, the insertion of all pins is confirmed, and when it is OK, the board B is removed from the attitude control device with a display indicating that the insertion is complete.

FIG. 3 is a sequence diagram showing the above steps and displacements in each operating state.

As shown in Fig. 3 (1), ■When the force F2 in the insertion direction increases during the process of pin insertion and exceeds a certain level,
Proceed to the next step. After the first pin is inserted, the force F2 in the insertion direction acts at a constant pressure, and as shown in Figure 3 (2), when the first row is inserted, the slope of θ7 decreases and the force F2 is applied around the Y axis. This indicates that the torque Ty becomes full (see FIG. 3 (3)). Next, in order to insert all the rows, a torque TX is applied around the X axis as shown in Figure 3 (5), and this causes the
As shown in , the initial setting value θ,. The slope that was previously settled down to near zero. After all pins are inserted, only F2 remains constant and all others become 0, and the insertion process is completed.

Figure 4 is an example in which insertion is easier if either the hole or the pin is chamfered. In the figure, 3-1 is the hole that serves as the origin of the base +NB, and starting from this hole 3-1, board B is inserted. If all of the provided holes 3 are chamfered, insertion becomes easy. Alternatively, if the tip of the pin 1 housed in the board A and inserted into the board B is rounded in a chamfered manner, insertion will be facilitated.

(Effects of the Invention) As explained above, the method for inserting a multi-pin component of the present invention is as follows:
Board A, which has a hole diameter larger than the pin diameter and has a predetermined pattern that allows a large number of pins to be arranged, is installed horizontally, and board B, which has a hole diameter that is approximately the same as the pin diameter and has the same pattern as board A, is placed in a 6-axis position. Attach it to the control device, and connect one corner of this base +ff1B to the board A.
, insert the pin at the origin position into base iB, detect its contact pressure, insert the first row in the board B
By tilting the pin in the X direction and placing it over the board A to check the horizontality in the X direction, the large number of pins housed in the board A can be efficiently and reliably inserted into the board B. There is.

[Brief explanation of drawings]

1 to 4 show an embodiment of the present invention, and FIG.
) to (d) are explanatory diagrams showing the algorithm for inserting multi-pin components, FIG. 2 is a flowchart of the method for inserting multi-pin components, FIG. 3 is a sequence diagram of the method for inserting multi-pin components, and FIG. 4 is a board diagram. FIG. 3 is an enlarged perspective view of the main parts of B and the pin. 1... Pin 2. 3... Hole A... Board B... Board patent applicant Matsushita Electric Works Co., Ltd.

Claims (1)

[Claims] A board A with a predetermined pattern that has a hole diameter larger than the pin diameter and in which a large number of pins can be arranged is installed horizontally, and a board B with a hole diameter that is approximately the same as the pin diameter and the same pattern as the board A is placed in a 6-axis attitude control device. , tilt one corner of this board B close to the board A, insert a pin at the origin position into the board B, detect the contact pressure, and measure the first row in the X direction with this pin as a reference. A method for inserting a multi-pin component, characterized in that the horizontality in the X direction is checked by inserting the component, and then the board B is tilted in the Y direction and placed over the board A to check the horizontality in the Y direction.