JPH0666540B2 - Cable assembly equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable assembling apparatus for welding a printed circuit board to the tip of a tape-shaped cable, and more particularly to a cable assembling apparatus that automatically detects a supply error between the cable and the circuit board. The present invention relates to a cable assembly device suitable for welding a cable at a correct position on a pad portion.

[Conventional technology]

When welding a cable arranged in a tape shape to a printed circuit board, correct alignment between the signal line of the cable and the welding pad of the circuit board is extremely important for reducing defects during welding. Therefore, this alignment is generally performed by a human who visually checks each one and corrects it with tweezers, which requires a lot of manpower and man-hours.

Conventionally, as a cable assembly automation device for reducing the manpower and man-hour required for this alignment, for example, JP-A-61-75
There is one described in Japanese Patent No. 589. This is to detect the position of the signal line using a beam sensor during the terminal processing of the cable, and automatically move the board by this detected distance to align the signal line of the cable and the pad of the board. is there.

[Problems to be Solved by the Invention]

The above conventional technique uses a beam sensor to
Only the individual signal wires (core wires) are detected for alignment, and no consideration has been given to the error in the pitch of the signal wires of the welding pad and / or cable on the board There is a problem that correct alignment can be guaranteed only for the signal line and the welding pad.

An object of the present invention is to correct the deviation amount even if there is a pitch error, a shape change, etc. in the welding pad or the signal line, and perform the positioning of the welding pad of the board and the signal line of the cable accurately and efficiently. An object of the present invention is to provide a cable assembling apparatus that has made it possible.

[Means for Solving the Problems]

In the cable assembling apparatus of the present invention, first imaging means for imaging the welding pad portion on the board before movement, second imaging means for imaging the left end and right end signal lines of the cable, and the first imaging means. The center position of the welding pad group on the substrate is calculated from the imaged data, the center position of the signal group on the cable is calculated from the imaged data of the second imager, and the calculated value is used to calculate the welding pad group and the signal line group. It is characterized by comprising means for obtaining the amount of positional deviation and means for correcting the substrate position according to the obtained amount of positional deviation and moving the substrate to the cable position.

[Work]

Regarding the board, since the board supply error is small, for example, the center welding pad group on the board is imaged, and two welding pads facing the center of the welding pad group are detected within a preset search range, and the weight is applied. Take the average. Thereby, the pitch error is canceled and the center positions of all the welding pads on the substrate are calculated. For cables, so that you can correctly check for changes in the shape of signal lines,
The left end and the right end of the signal line are detected and the weighted average is taken. As a result, the center positions of all the signal lines on the cable are calculated regardless of the shape change of the detection target.

According to the calculated center position, the positional deviation between the welding pad and the signal line is obtained, the board position is corrected, and further, the welding electrode position is corrected if necessary. As a result, when the board is moved to the cable position, the welding pad and the welding electrode of the board can be properly aligned and welded to the signal line of the cable.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall configuration diagram of an embodiment of a cable assembling apparatus according to the present invention, and shows an example of a configuration in which the left and right substrates can be assembled at a single time. In FIG. 1, the board imaging device 100 includes a lens 4 for imaging the welding pad portion of the board, a camera 5, and an optical system moving mechanism 6 for moving these to the left and right board positions. The cable image pickup device 200 includes a lens 7 and a camera 8 for picking up a signal line of a left cable, a lens 9 and a camera 10 for picking up a signal line of a right cable, and an optical system moving mechanism 11 for moving these. Consists of.

The microcomputer 34 exchanges data with the panel 35, the sequencer 36, the recognition device 37, and the pulse motor controller 38,
Control the whole thing. The sequencer 36 mainly controls the mechanical movement of each part according to the instruction of the microcomputer 34. The recognition device 37 captures images from the board camera 5, the left signal line camera 8 and the right signal line camera 10 and calculates the center positions of all the welding pads on the left and right boards and the center positions of all the signal lines on the left and right cables. The correction amount is calculated and transferred to the microcomputer 34. The recognizing device 37 controls the substrate optical system moving mechanism 6 and the cable signal line optical system moving mechanism 11.

FIG. 2 is a detailed view of the board and the cable.
(A) is a plan view of the substrate, in which a large number of welding pads 40 are arranged in a line on the substrate 1.

(B) is a side view of the cable. The signal line 41 and the ground line 42 are formed in a U shape at the tip of the cable 2, and the board 1 is inserted therein. (C) is a plan view of the cable 2 and a signal line
41 and ground lines 42 are arranged alternately.

FIG. 3 shows the left and right cables 2 fixed to the pallet. In the figure, 3 is a pallet, 43 is a left side clamper, and 44 is a right side clamper. The pallet 3 also serves as a storage for the cables 2.

FIG. 4 is a side view of the lens 7 (9) and the camera (10) of the cable image pickup device 200. That is, the tip of the cable 2
Since the image is taken from an angle of 45 °, the signal line 41 and the ground line 42
The tip positions of are different on both sides and can be distinguished. For example, the distance between the signal line 41 of the cable 2 and the ground line 42 is 2 mm, and 1
With 5 μm / picture element, there is a difference of about 94 picture elements, and they can be sufficiently distinguished.

FIG. 5 shows a control flow for welding the substrate 1, and by looping this one by one, the left and right substrates 1 are welded, and one cable assembly is completed. FIG. 6 shows the movement of the substrate 1 at this time. The solid line shows the state with the substrate and the broken line shows the state without the substrate. The operation of FIG. 1 will be described below with reference to FIGS. 5 and 6.

A large number of left and right substrates 1 are stored in the left side cassette 27 and the right side cassette 28 in advance. The uppermost height of the substrates 1 in the cassettes 27 and 28 is always controlled by the substrate pushing rod 29 and the substrate pushing motor 30. It is maintained at the same height.

The left and right uppermost substrates 1 in the left cassette 27 and the right cassette 28 are first adsorbed on the substrate adsorbing rod 31 and supplied onto the left locate block 12 and the right locate block 16. (Step 50 in FIG. 5, FIG. 6). The vertical movement of the substrate suction rod 31 is performed by the substrate suction rod vertical movement mechanism 32, and the horizontal movement is performed by the substrate transfer mechanism 33. The boards of locate blocks 12 and 16 are left board clamping mechanism 1 respectively.
It clamps with 3 and the right side board clamp mechanism 17 (step 51 of FIG. 5).

Next, after the substrate 1 is clamped, the left and right locate blocks 12, 16 are moved forward by the left locate block forward / backward moving mechanism 15 and the right locate block forward / backward moving mechanism 19 and moved to the position of the board imaging device 100 (fifth position). (Step 52 in the figure, FIG. 6).

Next, the imaging device 100 is returned, and the lens 4 and the camera 5 image the left substrate 1 on the left locate block 12. The recognition device 37 captures this image, and all the welding pads 40 on the left side substrate 1
The center position of is calculated (step 53 in FIG. 5). next,
The lens 4 and the camera 5 of the image pickup device 100 are moved to image the right side substrate 1 on the right side rocket block 16, and this image is taken into the recognition device 37 to calculate the center positions of all the welding pads 40 of the right side substrate 1. (Step 54 in FIG. 5). Here, the center positions of all the welding pads 40 on the left and right substrates 1 are calculated as follows, for example. Generally, because the board supply error is small, the center welding pad group of the board is imaged, and two welding pads (a pair of welding pads facing the center of the welding pad group) are detected within the search range set in advance. ,
The intermediate position of all the welding pads is calculated by taking the weighted average. After calculating the center positions of all the welding pads 40 on the left and right substrates 1, the left and right locate blocks 12, 16 are returned to their original positions (see red in FIG. 6).

Next, the pallet 3 to which the cable 2 is fixed is set (step 55 in FIG. 5). The imaging device 200 is returned, and the left signal line camera 8 images the left end signal line of the left cable, and similarly, the right signal line camera 10 images the left end signal line of the right cable. The recognition device 37 takes in these images and calculates the positions of the left end signal lines of the left and right cables 2 (step 56 in FIG. 5). Then, after moving the imaging device 200 by the moving mechanism 11, the left signal camera 8 images the right end signal line of the left cable, and
The right signal line camera 10 captures an image of the right end signal line of the right cable, and the recognition device 37 calculates the positions of the right end signal lines of these left and right cables (step 57 in FIG. 5).

Next, in the recognition device 37, the weighted average of the obtained left end and right end signal line positions is calculated separately for the left and right cables, and the center positions of all the signal lines of the cable 2 are calculated (step 5 in FIG. 5).
8). Furthermore, regarding the left and right substrate 1 and cable 2,
The amounts of deviation between the already obtained center positions of all the welding pads and the center positions of all the signal lines are calculated separately. Then, based on the calculated shift amount, the left and right locate blocks 12, 18 are moved by the left and right locate block motors 14, 18.
The positions of 16 are respectively corrected, and similarly, the positions of the left and right welding electrodes 20, 23 are corrected by the left and right welding electrode moving motors 22, 25 (step 59 in FIG. 5).

Next, after the left and right locate blocks 12, 16 are integrally moved to the position of the pallet 3 by the table moving mechanism 26 (see FIG. 6), they are moved forward by the left and left locate block forward and backward moving mechanisms 15, 19 (the sixth). Fig.), Fig. 2 (b)
As shown in FIG. 5, the left and right substrates 1 are fitted to the tips of the left and right cables 2 (step 60 in FIG. 5). In this case, the welding pads 40 for the left and right substrates 1 and cables 2 are
The positional error between the signal line 41 and the signal line 41 has been corrected, and the alignment is correctly performed. In this state, the left and right welding electrode up / down mechanisms 21, 24 lower the left and right welding electrodes 20, 23 to the position of the cable 2, and then the left and right welding electrode moving motors 22, 25 move the welding electrodes 20, 23. Are sent to the left and right at equal intervals, and the signal lines 41 of the cable 2 are sequentially welded to the respective welding pads 40 of the substrate 1 (step 61 in FIG. 5). When welding is completed, the welding electrodes 20 and 23 are returned to the origin.

Next, the clamps on the substrate 1 are released from the left and right locate blocks 12 and 16 (step 62 in FIG. 5). As a result, the left and right substrates 1 are discharged while being attached to the cables 2 (step 63 in FIG. 5). Next, the left and right locate blocks 12, 16 which have become empty are returned to the substrate receiving portion by the locate block forward / backward moving mechanisms 15, 19 and the table moving mechanism 26 (step 4, FIG. 5, FIG.
).

With the above, one cable assembly is completed, and the process is repeated from step 50 for the next left and right substrates.

〔The invention's effect〕

As described above, according to the present invention, the signal line of the tape-shaped cable and the welding pad of the substrate can be efficiently and correctly aligned, and thus the above-mentioned alignment can be performed without human labor. Therefore, the cable assembly can be automated, and the number of assembly steps can be greatly reduced.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an embodiment of a cable assembling apparatus of the present invention, FIG. 2 is a detailed diagram of a board and cables, FIG. 3 is a conceptual diagram of a pallet to which cables are fixed, and FIG. 4 is a cable signal line. FIG. 5 is a conceptual diagram of an image pickup device for use in a computer, FIG. 5 is a control flowchart for explaining the operation of FIG. 1, and FIG. 6 is a conceptual diagram of substrate movement. 1 ... Substrate, 2 ... Cable, 3 ... Pallet, 20 ... Left welding electrode, 23 ... Right welding electrode, 31 ... Substrate suction rod, 34 ... Microcomputer, 35 ... Panel, 36 ... Sequencer , 37 …… recognition device, 38 …… pulse motor controller, 39 …… driver, 40 …… welding pad, 41 …… signal line, 42 …… ground line, 100 …… board imaging device, 200 …… cable Imaging device.

Claims (1)

[Claims] 1. A cable assembling apparatus for moving a board to a cable position and welding a signal line of the cable to a welding pad arranged on the board, wherein a first imaging for picking up an image of a welding pad portion on the board before moving. Means, a second imaging means for imaging the left and right end signal lines of the cable, a center position of a welding pad group on the substrate is calculated from the imaging data of the first imaging means, and the imaging of the second imaging means A means for calculating the center position of the signal line group on the cable based on the data, and a means for obtaining the positional deviation amount between the welding pad group and the signal line group by the calculated value, and correcting the board position according to the obtained positional deviation amount, A cable assembling apparatus comprising: a means for moving the substrate to a position.