JPH11320283A - Printed board mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a misinsert preventive key to be mounted automatically. SOLUTION: A robot 5 is moved to a housing placed on a slide table 8, and surface unevenness of the housing is recognized, and the position is stored in a memory. The robot 5 is moved to over a misinsert preventive key supplied from a parts feeder 7 and clamped by the forefront of a chuck 6 provided at the tip end of the chuck part 6. The robot 5 is again moved to the housing placed on the slide table 8, and the misinsert preventive key is inserted to the specified surface unevenness part. If at this time, mismounted condition is sensed by a sensor installed on the chuck 6, the inserting motion is repeated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an erroneous insertion prevention key mounting apparatus, an erroneous insertion prevention key mounting method, and a recording medium, and more particularly to an automatic mounting of an erroneous insertion prevention key by recognizing a position of a housing. The present invention relates to an erroneous insertion prevention key mounting device, an erroneous insertion prevention key mounting method, and a recording medium.

[0002]

2. Description of the Related Art As shown in FIG. 3, a key groove 3 is formed in a housing 2 formed on a printed circuit board 4 in a component state. 1 is inserted.
The number and positions of the key grooves 3 and the erroneous insertion prevention keys 1 are different to prevent erroneous insertion.

[0003]

However, the automatic mounting in which the erroneous insertion preventing key 1 is automatically mounted in the key groove 3 of the housing 2 involves detecting the position of the key groove 3 and erroneously inserting the key into the key groove 3. Since the handling of the prevention key 1 is difficult, it is usual to perform the operation manually. When such manual operation is performed, since a single component is mounted, there has been a problem that erroneous mounting often occurs.

[0004] The present invention has been made in view of such a situation, and it is an object of the present invention to enable automatic mounting of an erroneous insertion prevention key and suppress erroneous mounting.

[0005]

According to a first aspect of the present invention, there is provided an erroneous insertion prevention key mounting apparatus for mounting an erroneous insertion prevention key on a housing, wherein an edge of an uneven portion of the housing is detected. Detecting means for detecting the position of the housing based on the position of the edge detected by the detecting means, a clamping means for clamping the erroneous insertion preventing key, and a clamping means for recognizing the position recognized by the recognizing means. A moving means for moving the erroneous insertion prevention key clamped by the moving means, and an insertion means for inserting the erroneous insertion prevention key moved to the position by the moving means into a predetermined portion of the housing. Also,
The detecting means can detect the edge of the uneven portion of the housing by irradiating the housing with predetermined light and receiving the reflected light from the housing. Further, the insertion means can insert the erroneous insertion prevention key into a predetermined portion of the housing based on the position of the edge of the uneven portion detected by the detection means. Further, an erroneous insertion detecting means for detecting erroneous insertion of the erroneous insertion preventing key into the housing by the inserting means can be further provided. An erroneous insertion prevention key mounting method according to claim 5, which is an erroneous insertion prevention key mounting method for mounting the erroneous insertion prevention key on a housing, wherein the edge of the uneven portion of the housing is detected and the detected edge position Based on the position of the housing, the erroneous insertion prevention key is clamped, the erroneously inserted prevention key is moved to the recognized position, and the erroneously inserted prevention key moved to that position is fixed on the housing. Characterized in that it is inserted into the site of A recording medium according to a sixth aspect is characterized by recording a program capable of executing the method for mounting an erroneous insertion prevention key according to the fifth aspect. In the erroneous insertion prevention key mounting device, the erroneous insertion prevention key mounting method, and the recording medium according to the present invention, the edge of the uneven portion of the housing is detected, and the position of the housing is recognized based on the detected edge position. Then, the erroneous insertion prevention key is clamped, the clamped erroneous insertion prevention key is moved to the recognized position, and the erroneous insertion prevention key moved to that position is inserted into a predetermined portion of the housing.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The outline of an embodiment of the device for mounting an erroneous insertion prevention key according to the present invention will be described below. FIG.
2 shows a configuration example of an embodiment of the erroneous insertion prevention key mounting device of the present invention, and FIG. 2 shows a detailed configuration example of the chuck section 6 of FIG.

A feature of the present invention is that a robot 5 (FIG. 1) capable of recognizing the position of an uneven portion of the housing 2 into which the erroneous insertion prevention key 1 shown in FIG. By providing the clamping portion 6 for clamping the insertion preventing key 1 and inserting the key, the erroneous insertion preventing key 1 is provided.
The automatic mounting of the is possible.

More specifically, the robot 5 having the automatic position recognition function shown in FIGS. 1 and 2 is used, and the chuck part 6 of the robot 5 is placed on the part having the housing 2 shown in FIG. The slide table 8 is moved to a predetermined position. Then, a light emitting unit (not shown) of the position recognition (reflection type) sensor 9 attached to the chuck unit 6 emits light.
The light emitted by the light emission of the light emitting unit of the sensor 9 is applied to the uneven portion of the housing 2 and is irregularly reflected. Then, the reflected light enters the sensor 9.

As a result, the sensor 9 detects an uneven portion of the housing 2. The sensor 9 is turned ON / OFF according to the detection result.
Outputs an OFF signal. That is, when an uneven portion is detected, an ON signal is output. When no uneven portion is detected, O is output.
Outputs the FF signal.

The robot 5 outputs O
Based on the N / OFF signal, the edges of the concave and convex portions of the housing 2 in FIG. 3 are read, and their positions are recognized. Information (coordinates) of the recognized position is stored in a memory (not shown). Then, the robot 5 moves the chuck section 6 toward the parts feeder 7. Then, the chuck tip 10 at the tip of the chuck 6 clamps the erroneous insertion prevention key 1 supplied from the parts feeder 7, and the concave / convex portion of the housing 2 at the previously recognized position stored in the memory, Insert the wrong insertion prevention key 1.

The chuck section 6 has a slide mechanism section 11 and a sensor 12 for detecting a mounting error. As will be described later, it is possible to detect a mounting error of the erroneous insertion prevention key 1 on the concave / convex section by the chuck tip section 10. When it is detected, the mounting operation of the erroneous insertion prevention key 1 is executed again.

Hereinafter, a configuration example of an embodiment of a device for mounting an erroneous insertion prevention key according to the present invention will be described in detail with reference to FIGS. As shown in FIG. 1, the apparatus for mounting an erroneous insertion prevention key according to the present invention includes a robot 5 having a position recognition function, a parts feeder 7 for exclusively supplying the erroneous insertion prevention key 1, and a mounting apparatus shown in FIG. A positioning mechanism for determining the position of the target work (here, the printed circuit board 4);
The robot 5 is configured by a slide table 8 having a warp prevention mechanism for preventing warp and a slide mechanism.
Movement of the erroneous insertion prevention key 1 from a position supplied by the parts feeder 7 to a mounting position (a position where a work to be mounted is present), that is, movement in the X-axis, Y-axis, and Z-axis directions, and around the W-axis. The rotation is made. Further, the robot 5 is provided with a chuck section 6 as shown in FIG.

The chuck unit 6 shown in FIG. 2 includes a position recognition sensor 9 for recognizing the position of the edge of the uneven portion of the housing 2, a chuck tip 10 for clamping the erroneous insertion prevention key 1, and an erroneous insertion prevention key. A slide mechanism 11 for avoiding mounting error of the first housing 2 on the housing 2 and a sensor 12 for detecting erroneous insertion are provided.

Next, the operation will be described. In FIG. 1, first, a work is set on the slide table 8 and an operation command is transmitted to the robot 5 by operating an operation box (not shown). In response to this, the robot 5 moves the chuck unit 6 based on the stored mounting data (transmitted from outside) in order to recognize the position of the work to be mounted. When the chuck 6 moves above the target work, the light emitting unit of the position recognition sensor 9 shown in FIG. The light emitted from the light emitting unit is applied to the target work, and after being irregularly reflected at the uneven portion, the reflected light enters the sensor 9. The sensor 9 recognizes the position of the edge of the uneven portion of the housing 2 shown in FIG. 3 based on the reflected light.

The information (coordinate data of the concave and convex portions of the housing 2) obtained as a result of the position recognition is stored in the memory (not shown) of the robot 5 as mounting position information. next,
In order to supply parts, the robot 5 moves the chuck unit 6 to above the parts supply unit of the parts feeder 7,
The chuck part 6 is lowered, and the component is clamped by the chuck tip 10 shown in FIG. After the clamping, the chuck unit 6 moves up and performs a horizontal movement to a certain position of the workpiece based on the mounting position information stored in the memory.

The robot 5 is located at a certain position of the work, that is,
When the chuck portion 6 moves to the mounting position, the chuck portion 6 is then lowered, and the erroneous insertion prevention key 1 previously clamped by the chuck distal end portion 10 is mounted on the housing 2. At this time, a shift or the like occurs in the mounting position of the erroneous insertion prevention key 1, and whether or not mounting error has occurred is detected by the sensor 12 provided in the chuck unit 6 shown in FIG. That is, when a mounting error occurs, the block including the chuck tip 10 is moved by the action of the slide mechanism 11 to the housing 2.
And is slid upward by being relatively pressed by the convex portion of Therefore, by detecting this, the sensor 12 can detect a mounting error of the erroneous insertion prevention key 1.

When the sensor 12 detects a mounting error, it transmits a predetermined signal indicating the detection to the robot 5. Upon receiving this signal, the robot 5 repeats the operation of recognizing the position of the work and mounting the component (key for preventing erroneous insertion) on the work again.

As described above, the speed of mounting the erroneous insertion prevention key 1 on the work can be improved, and the number of erroneous mountings and unmounted ones can be reduced. This makes it possible to improve the quality.

In the above embodiment, the case where the erroneous insertion prevention key is inserted into the housing has been described. However, the present invention can be applied to a case where other parts are mounted on the work.

A control program for controlling the operation of the above embodiment can be provided by being recorded on a CD-ROM, a ROM, or the like.

[0021]

As described above, according to the erroneous insertion prevention key mounting apparatus, the erroneous insertion prevention key mounting method, and the recording medium of the present invention, the edge of the uneven portion of the housing is detected.
Recognizing the position of the housing based on the detected position of the edge, clamping the erroneous insertion prevention key, moving the clamped erroneous insertion prevention key to the recognized position, and moving the erroneous insertion to that position Since the prevention key is inserted into a predetermined portion of the housing, the erroneous insertion prevention key can be automatically mounted, and erroneous mounting can be suppressed.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration example of an embodiment of a device for mounting an erroneous insertion prevention key according to the present invention.

FIG. 2 is a view showing a detailed configuration of a chuck section 6 of FIG.

FIG. 3 is a view showing a structure of an erroneous insertion prevention key 1 and a housing 2;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Mis-insertion prevention key 2 Housing 3 Keyway 4 Printed circuit board 5 Robot 6 Chuck part 7 Parts feeder 8 Slide table 9 Sensor 10 Chuck tip part 11 Slide mechanism part 12 Sensor 21 Connector 22 PKG

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[Procedure amendment]

[Submission date] April 9, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Name of invention

[Correction method] Change

[Correction contents]

[Title of the Invention] Printed circuit board mounting device

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0005

[Correction method] Change

[Correction contents]

[0005]

A pudding according to claim 1 wherein :
The board mounting device has a keyway and an error that can be fitted into the keyway.
Insertion prevention key is formed on the printed circuit board
Printed circuit board that mounts PKG on provided housing
A mounting device for detecting an edge of an uneven portion of a housing, a detecting means provided at an arm portion of the robot , and a robot for recognizing a position of the edge of the uneven portion detected by the detecting device. )
And recognition means has a storage hands for storing the position of the edge of the concave-convex portion
Parts and parts feeder (7) for supplying keys for preventing mis-insertion
Provided on the arm of the robot (5) , which clamps the key for preventing incorrect insertion from the parts feeder (7).
Clamping means which moves together with ejecting means and recognition means, and recognition
Based on the position of the edge of the uneven part recognized by the means
Moving means for moving the erroneous insertion prevention key clamped by the clamping means ;
Insertion means for inserting the erroneous insertion prevention key moved above the position of the edge into the uneven portion of the housing, and a printed circuit board
And a slide table (8) on which
To prevent incorrect insertion of the key into the housing.
Provided just above the clamping means and slides upward
A slide mechanism (11) and a sensor (12) are provided for detection.
The means irradiates predetermined light toward the housing, and
By receiving the reflected light from the housing, the housing
It detects the edges of a plurality of uneven portions, and includes an insertion unit.
Are the edges of the plurality of irregularities detected by the detection means.
The key to prevent incorrect insertion based on the position of the housing.
Is inserted into the housing, and the detecting means
When detecting the edge of the part, the moving means is a slide table
Move the detection means near the housing placed on the
Detection means detects the edges of the plurality of uneven portions of the housing.
Out, and memorize the detected edge positions of the plurality of irregularities.
After the step memorizes, the plurality of uneven portions stored in the storage means are
Based on the edge position information, the moving means
Move the means to the position of the parts feeder and
Prevents incorrect insertion clamped from parts feeder
Press the key again on the housing mounted on the slide table.
To prevent it from being erroneously inserted.
Insert the key into the concave / convex part, and
Based on the information on the position of the edge of the projection, the moving means
Move the ramp to the parts feeder position and
Insertion clamped from the parts feeder by the
Key on the slide table again.
Move it over the irregularities on the housing, and
The operation of inserting the key into the concave / convex part is
Number of times corresponding to the number of incorrect insertion prevention keys to be inserted into the convex part
It is characterized by being repeatedly performed . According to the present invention,
In the lint board mounting device, the robot (5)
The detection means provided on the
Edges are detected and provided on the arm of the robot (5).
Recognition means that the irregularities detected by the detection means
Recognizing the position of the edge, the storage means stores the edge of the uneven portion.
The position is memorized and the parts feeder (7) is inserted
Is provided on the arm portion of the robot (5),
The clamping means, which moves together with the detecting means and the recognizing means,
Clamp the wrong insertion prevention key from the feeder (7),
The moving means detects the edge of the uneven portion recognized by the recognition means.
Clamped by the clamping means based on the position of the
Moving the wrong key for preventing incorrect insertion,
Misinsertion moved above the position of the edge of the uneven part due to
Insert the lock key into the uneven part of the housing and slide
The printed circuit board is placed on the table (8), and the clamp
A slide mechanism that is provided just above the step and slides upward
(11) and the sensor (12) are prevented from being erroneously inserted by the insertion means.
Detects incorrect insertion of key into housing. And detection
The means irradiates predetermined light toward the housing, and
By receiving the reflected light from the housing, the housing
It detects the edges of a plurality of uneven portions, and includes an insertion unit.
Are the edges of the plurality of irregularities detected by the detection means.
The key to prevent incorrect insertion based on the position of the housing.
Is inserted into the housing, and the detecting means
When detecting the edge of the part, the moving means is a slide table
Move the detection means near the housing placed on the
Detection means detects the edges of the plurality of uneven portions of the housing.
Out, and memorize the detected edge positions of the plurality of irregularities.
After the step memorizes, the plurality of uneven portions stored in the storage means are
Based on the edge position information, the moving means
Move the means to the position of the parts feeder and
Prevents incorrect insertion clamped from parts feeder
Press the key again on the housing mounted on the slide table.
To prevent it from being erroneously inserted.
Insert the key into the concave / convex part, and
Based on the information on the position of the edge of the projection, the moving means
Move the ramp to the parts feeder position and
Insertion clamped from the parts feeder by the
Key on the slide table again.
Move it over the irregularities on the housing, and
The operation of inserting the key into the concave / convex part is
Number of times corresponding to the number of incorrect insertion prevention keys to be inserted into the convex part
It is performed repeatedly.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0021

[Correction method] Change

[Correction contents]

[0021]

As described above, the printed circuit board according to the present invention
According to the mounting device, it is provided on the arm portion of the robot (5).
Detection means detects the edge of the uneven part of the housing
And a recognition means provided on an arm portion of the robot (5).
Is the position of the edge of the uneven portion detected by the detecting means.
And the storage means stores the position of the edge of the uneven portion.
And the parts feeder (7) supplies an incorrect insertion prevention key,
Detecting means provided on an arm portion of the robot (5);
The clamping means that moves together with the recognition means
Clamp the wrong insertion prevention key from
Is the position of the edge of the uneven part recognized by the recognition means.
Is incorrectly clamped by the clamping means based on
Move the entry prevention key so that the insertion means
Erroneous insertion prevention key moved above the position of the edge of the uneven part
The slide table.
The printed circuit board is placed on (8) and directly above the clamping means
Slide mechanism (11) that is provided at the
And the sensor (12) serve as a key for preventing incorrect insertion by the insertion means.
Detect erroneous insertion into the housing. And the detection means,
A predetermined light is radiated toward the housing, and from the housing
By receiving the reflected light of the
The edge of the convex portion is detected, and the inserting means detects the edge.
The position of the edge of the plurality of irregularities detected by the means
Insert the wrong key into the uneven part of the housing
The detecting means is an edge of the uneven portion of the housing.
The moving means is placed on the slide table when detecting
Move the detection means to the vicinity of the housing
The step detects and detects the edges of multiple irregularities on the housing
The storage means stores the positions of the edges of the
After that, the positions of the edges of the plurality of uneven portions stored in the storage means are
On the basis of the position information, the moving means
To the feeder position, and
Re-insert the incorrect insertion prevention key clamped from the
And the uneven part of the housing placed on the slide table
And the insertion means moves the key to prevent
Inserted into the recesses and the edges of the plurality of uneven portions stored in the storage means.
Moving means, based on information on the position of the
To the parts feeder position, and
Erroneous insertion prevention key clamped from the parts feeder
Again for the housing placed on the slide table.
Move it over the uneven part, and insert the key
The operation of inserting into the uneven part is to insert it into the uneven part of the housing.
Repeat the number of times corresponding to the number of incorrect insertion prevention keys to be
Since this is performed, the automatic mounting of the erroneous insertion prevention key can be efficiently performed, and erroneous mounting can be suppressed.

Claims (6)

[Claims] 1. An erroneous insertion prevention key mounting device for mounting an erroneous insertion prevention key on a housing, comprising: detecting means for detecting an edge of an uneven portion of the housing; and a position of the edge detected by the detecting means. Recognizing means for recognizing the position of the housing; clamping means for clamping the erroneous insertion preventing key; and moving the erroneous insertion preventing key clamped by the clamping means to the position recognized by the recognizing means. A device for mounting an erroneous insertion prevention key, comprising: a moving unit for moving the key; and an insertion unit for inserting the erroneous insertion prevention key moved to the position by the moving unit into a predetermined portion of the housing. 2. The method according to claim 1, wherein the detecting unit irradiates a predetermined light toward the housing and receives light reflected from the housing, thereby detecting an edge of the uneven portion of the housing. Item 2. An erroneous insertion prevention key mounting device according to Item 1. 3. The housing according to claim 2, wherein the insertion unit inserts the erroneous insertion prevention key into a predetermined portion of the housing based on a position of an edge of the uneven portion detected by the detection unit. 2. The device for mounting an erroneous insertion prevention key according to 1. 4. The erroneous insertion prevention key mounting apparatus according to claim 1, further comprising erroneous insertion detection means for detecting erroneous insertion of the erroneous insertion key into the housing by the insertion means. 5. An erroneous insertion prevention key mounting method for mounting an erroneous insertion prevention key on a housing, comprising detecting an edge of an uneven portion of the housing, and determining a position of the housing based on the detected position of the edge. Recognizing and clamping the erroneous insertion prevention key, moving the clamped erroneous insertion prevention key to the recognized position, and attaching the erroneous insertion prevention key moved to the position to a predetermined portion of the housing. A method for mounting an erroneous insertion prevention key, wherein the key is inserted into a key. 6. A recording medium on which a program capable of executing the method for mounting an erroneous insertion prevention key according to claim 5 is recorded.