JPH04354198A - Component inserting apparatus - Google Patents

Abstract

PURPOSE:To flexibly cope with a component having different lead terminals and to improve an inserting accuracy of a component inserting apparatus for inserting the component having lead terminals. CONSTITUTION:In a component inserting apparatus having means 5 for inputting position information of a lead terminal of a component to be inserted, means 6 for measuring a bent deviated amount of the terminal, means 7 for deciding the terminals having different shapes and sizes or the terminals having different insertion holes diameter and shapes, etc., optimum inserting position deciding means 8 for deciding an optimum inserting position from information obtained from the means, and robot drive means 9, a component defective state is correctly decided, and even if the shape, size of the terminal are difference, the optimum inserting position can be accurately decided.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is applicable to lead terminals with different shapes and sizes or lead terminals with different insertion hole diameters and hole shapes.
A component insertion device that recognizes the lead terminal position of an insertion component that has lead terminals at the same time, determines the lead terminal defect status for each lead terminal type, and eliminates insertion defects and enables efficient insertion. It is related to.

0002

2. Description of the Related Art Conventionally, automatic insertion of insertion parts having lead terminals has been extremely difficult, and reducing insertion errors has been a major challenge. Recently, recognition devices are used to recognize the position of the lead terminal tip by making full use of image processing technology, obtain information on the defective state of the lead terminal of the component, and judge whether it is possible to insert the component or not, thereby efficiently inserting the component. A method to try this has been reported. However, when inserting a component that has lead terminals with different shapes and sizes, or lead terminals with different insertion hole diameters and hole shapes, the defective state of the lead terminal can be accurately determined from the amount of bending and deviation of the lead terminal. However, a method for determining the optimal insertion position had not yet been established.

0003

[Problem to be solved by the invention] According to the conventional method,
Regardless of the insertion of parts with lead terminals of different shapes and sizes, or lead terminals with different insertion hole diameters and hole shapes, defective states can be determined simply as if they were the same lead terminal. to determine whether insertion is possible or not. For this reason, it is difficult to accurately judge the defective state of the lead terminal of the component and to correctly determine the optimal insertion position, which has been an obstacle to progress in reducing insertion defects.

The present invention solves these conventional problems and accurately determines the defective states of different types of lead terminals and accurately determines whether a component can be inserted or not. , it is an object of the present invention to provide a device that can correctly determine the optimal insertion position.

[0005]

[Means for Solving the Problems] The component insertion device of the present invention can judge and insert defective lead terminals of different shapes and sizes or lead terminals with different insertion hole diameters and hole shapes by type. The present invention is characterized in that it has means for determining whether the lead terminal cannot be inserted or not, and means for determining the optimum insertion position based on the lead terminal defect status information for each type. Further, when determining whether insertion is possible or not, the device is characterized in that it has means for ordering the determination depending on the type of lead terminal.

[0006]

[Operation] According to the component insertion device of the present invention, it is possible to detect a defective lead terminal of an insertion component having lead terminals of different shapes and sizes or lead terminals with different insertion hole diameters and hole shapes. Components can be inserted efficiently by recognizing the defective state of the lead terminal, correctly determining whether insertion is possible or not, and determining the optimal insertion position from the lead terminal defect information. This will greatly contribute to reducing insertion errors and realizing 24-hour factory operation.

[0007]

[Embodiment] As an embodiment of the present invention, a component insertion device for inserting the support legs of a heat sink and the lead terminals of an IC attached to the heat sink into a printed circuit board (Fig. 1
This will be explained using FIG. 6).

In FIGS. 1 and 2, 1A is a heat sink, 1B is
is an integrated circuit element (IC), 1C is a lead terminal of IC 1B, 1D is a support leg of heat sink 1A, and 1E is a printed circuit board. The cross-sectional shape of the IC lead terminal 1C is circular, and the cross-sectional shape of the support leg 1D of the heat sink is rectangular. 2 is a robot arm, 3 is a chuck for holding the heat sink 1A to which the IC 1B is fixed, and is fixed to the robot arm 2. 4 is a lighting source for illuminating the tips of both lead legs. , 5 is a camera, 6 is a displacement measuring means, 7 is a dissimilar lead terminal determining means, 7A is a heat sink displacement determining means,
Reference numeral 7B indicates a pin displacement determination means, 8 an insertion position determination means, and 9 a robot drive means.

Image information of the tips of both lead terminals illuminated by the illumination source 4 is outputted by the camera 5, and is binarized by the deviation measuring means 6. The terminal position is recognized and the amount of bending deviation of both lead terminals is determined. The amount of bending deviation of the lead terminal obtained by processing the image information from the camera 5 by the deviation amount measuring means 6 is determined by the dissimilar lead terminal determining means 7. It is determined whether the lead legs can be inserted or not by determining whether the lead legs are defective or not. In this case, a method will be adopted in which the heat sink foot 1D is prioritized and determined first, and then the IC foot 1C is determined. The deviation amount of the lead terminal obtained by the deviation amount measuring means 6 is determined by the heat sink foot deviation determining means 7A, which first determines whether the heat sink foot is defective and determines that the heat sink can be inserted, and then determines the pin deviation. Means 7
B determines whether the IC leg is defective. If it is determined that insertion is possible through the above process, the optimum insertion position is determined by the optimum insertion position determination means 8, and the optimum insertion position information is transmitted to the robot drive means 9, and the robot arm 1
is moved and inserted. If it is determined that insertion is not possible, the insertion operation is interrupted, a new part is supplied, and the same process is repeated.

Next, the basic principle of lead terminal determination and optimal insertion position determination will be explained using FIG. 3. To make it easier to understand the basic principle, only the leg with the maximum bending deviation and the leg with the minimum bending deviation are shown, and the other legs are omitted. Further, for ease of understanding, only the amount of bending deviation in the X direction is considered as a problem. 10 in the diagram
, 12 are virtually provided holes for inserting heat sink feet, 11, 13
1 is a heat sink foot (corresponding to the heat sink support foot 1D in FIGS. 1 and 2), 14 and 16 are hypothetical holes for IC foot insertion, 1
5 and 17 indicate IC legs (corresponding to the IC lead terminal 1C in FIGS. 1 and 2). As shown in FIG. 2, the cross-sectional shape of the IC foot is circular, the heat sink foot cross-sectional shape is rectangular, and the insertion hole shape provided in the printed circuit board also has a shape corresponding to the cross-sectional shape. In the state of FIG. 3, the heat sink foot 13
Comparing the insertion hole 12 and the hypothetically created insertion hole 12, the heat sink foot 1
3 protrudes outside the virtually provided insertion hole 12, so it cannot be inserted as is. The heat dissipation plate foot determination will be explained in this defective state. Find the absolute value of the difference between the maximum deviation X1 (max) and the minimum deviation X1 (min) of the heat sink foot deviation obtained from the deviation measurement means 6, and compare it with the allowable deviation obtained from the hole diameter. It is determined that insertion is not possible, and if it is small, it is determined that insertion is possible, and the correction amount is {X
1(max)+X1(min)}/2 to correct the insertion position coordinates. Assuming that the heat sink foot could be inserted, FIG. 4 shows a state in which only the heat sink foot condition was considered and corrected. In this state, both the heat sink feet 11 and 13 are inserted into the virtually created insertion holes 10 and 12, but as the insertion position is corrected, the IC feet 15 are placed outside the hypothetically created IC foot insertion holes 14. appears and cannot be inserted in this state. Therefore, for IC legs 15 and 17, the absolute value of the difference between the maximum deviation DXD and the minimum deviation DXC is calculated and compared with the allowable deviation amount obtained from the hole diameter, and after confirming that insertion is possible, the heat sink correction amount is determined. IC foot correction amount taken into consideration {DXC+DXD
}/2 is given, and if this is within the heat sink movable amount C, {DXC+DXD}/2 is determined as the IC foot correction amount, and is added to the previous heat sink foot correction amount to determine the optimal insertion position coordinates. The state is shown in FIG. If it is larger than the heatsink plate movable amount C, the amount of movement C that allows the heatsink foot 13 to approach the hypothetically provided heatsink foot insertion hole 12 is determined as the IC foot correction amount, and after the correction The IC leg is determined again, and if it is possible to insert it, the insertion coordinates are determined in addition to the heat sink correction amount.

The operation of the component inserting device constructed as described above will be explained using the flowchart shown in FIG.

When the component insertion apparatus is started, in step 18, the lead terminal image information from the camera 5 is binarized and the deviation amounts of all the lead terminals are measured. Then, in step 19, first select only the deviation information of the heat sink foot, find the maximum deviation and minimum deviation, compare it with the allowable deviation amount obtained from the hole diameter information, and if it is within the tolerance, proceed to step 20, and if the deviation is outside the tolerance. If so, it is determined that insertion is not possible and the part is determined to be defective. If it is within the allowable range, the insertion position correction amount of the heat sink foot is determined in step 20, and in step 21, from the heat sink foot misalignment amount, the heat sink foot correction amount, and the insertion hole diameter, the hole and the hole when the heat sink foot is inserted are determined. Clearance C between heat sink foot
is required. After determining the clearance C, that is, the movable amount C of the heat sink, in step 22, the amount of deviation of the IC foot after correcting the heat sink insertion position is calculated. In step 23, it is determined whether the IC foot can be inserted or not. The IC after correcting the insertion position of the heat sink in step 24 based on the calculated amount of deviation of the IC feet.
A foot correction amount H is calculated. Step 21, Step 2
The heat sink movable amount C obtained in step 4 and the IC foot correction amount H are compared in step 25, and if H<C, step 26
The optimum correction amount is determined as the sum of the heat sink foot correction amount and the IC foot correction amount. If H>C, the process proceeds to step 27, where the value of the IC foot correction amount H is temporarily set as the heat sink movable amount C, and in step 28, a comparison is made with the allowable deviation amount in the state after the IC foot correction obtained in step 27. If it is within the allowable range, the process proceeds to step 29, where the value obtained by adding the IC foot correction amount to the heat sink foot correction amount is determined as the optimum correction amount. If it is outside the allowable range, it is determined that insertion is not possible. The optimum insertion position determined in steps 26 and 29 is transmitted to the robot driving means 9, and the insertion operation is carried out.

According to the configuration of the above embodiment, when inserting an insertion component having different lead terminals, the lead terminal positions are recognized and the information is determined for each type of lead terminal. It can accurately determine component defects due to terminal defects, reduce insertion defects, and greatly contribute to 24-hour factory operation.

[0014]

As described above, according to the component insertion device of the present invention, even when inserting an insertion component having different legs such as an IC with a heat sink and a heat sink foot, the heat sink foot can be easily inserted. By individually determining the displacement of the IC leg and the displacement of the IC leg, it becomes possible to more accurately determine whether insertion is possible or not. Moreover, it becomes possible to correctly determine the optimal insertion position. This greatly contributes to reducing insertion errors and improving productivity.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of a component insertion device according to an embodiment of the present invention.

FIG. 2 is a perspective view of an insert part in an embodiment of the present invention.

[
Figure 3: Schematic diagram of the principle of an embodiment of the present invention

[Fig. 4] Schematic diagram of the principle of an embodiment of the present invention

[Fig. 5] Schematic diagram of the principle of an embodiment of the present invention

FIG. 6: Flowchart of one embodiment of the present invention

[Explanation of symbols]

1A Heat sink 1B IC 1C IC lead terminal 1D Heat sink supporting foot 1E Printed circuit board 2 Robot hand 3 Chuck 4 Illumination source 5 Camera 6 Displacement measuring means 7 Dissimilar lead terminal determining means 8 Optimal insertion position determining means 9 Robot Driving means 10 Hypothetically provided heat sink foot insertion hole 11 Heat sink foot 12 Hypothetically provided heat sink foot insertion hole 13 Heat sink foot 14 Hypothetically provided IC foot insertion hole 15 IC
Leg 16 Imaginary IC leg insertion hole 17 IC
feet

Claims (2)

[Claims] Claim 1: A means for obtaining positional information of a lead terminal of an insertion component, a means for measuring the amount of bending deviation of the lead terminal, and a means for obtaining positional information of a lead terminal of an insertion component, a means for measuring the amount of bending deviation of the lead terminal, and a means for obtaining positional information of the lead terminal of the insertion part, and a means for measuring the amount of bending deviation of the lead terminal. A means for determining the amount of bending deviation of lead terminals with different hole shapes by type, and a method of determining the amount of bending deviation of lead terminals with different shapes and sizes or insertion hole diameters and hole shapes by type. A component insertion device comprising: optimal insertion position determining means for determining the optimal insertion position from information obtained from the determining means; and robot driving means. 2. In a means for determining the amount of bending deviation of lead terminals having different shapes and sizes or lead terminals having different insertion hole diameters and hole shapes by type, the bending deviation amount information of the lead terminals is determined. 2. The component insertion device according to claim 1, further comprising means for performing time-series processing for each type of lead terminal.