JPS6150721A - Compensating device for automatic assembling machine - Google Patents

Abstract

PURPOSE:To enable compensation of part inserting position of an automatic assembling machine by providing plural position detectors detecting positions of part insertion from two directions and calculating deviation from insertion standard position of the part. CONSTITUTION:An electronic part 5 is held by holding claws 4, 4' and supplied to a measurement station by a robot arm 1. This time, a lead wire 7 of the electronic part 5 is pressed to a measuring unit sticked to a sliding unit of linear potentiometers 11, 11'. Under this condition, deviation amount from a standard position of the lead wire 7 is calculated by a deviation calculating unit and stored as compensation data 22. Then, the electronic part 5 is supplied to an insertion station on which a printed circuit board is mounted by the robot arm 1. This time, positioning of the robot arm 1 is made upon the part insertion position instructing value compensated in a compensating calculation unit 24.

Description

[Detailed Description of the Invention] [Field of Application for M Writers 1] The present invention is based on the invention! I! For example, it is useful for correcting the insertion position of parts in an automatic 11Ti assembly machine for electronic parts.

[Conventional method 1: 1 printed circuit board] In an automatic insertion assembly machine for assembling electronic components, the printed circuit board or components are relatively moved so that the component is directly above the assembly position of the printed circuit board. Insert the lead wire of the component into the insertion hole, cut it, clinch it, and assemble it.How to position the component by gripping the component body?
! Positioning is performed assuming that the position of the lead wire is constant with respect to the portion to be removed, that is, the chuck reference. It is well known that in automatic insertion and assembly machines, variations in the lead wire position of inserted parts with respect to the chuck reference are a major cause of assembly failures. Although this N measure (C) is required to improve the lead dimensional accuracy of lt6 products, it is not practical because it leads to an increase in the unit price of IIK products.

As a countermeasure for assembly machines, a method is known in which the position of the lead wire of a component is optically detected using an industrial television camera (ITV) and the assembly position is corrected.

This method requires the use of a computer to process the pattern BJ, and the processing speed is slow, requiring more than 0.1 seconds, and the system is complicated and expensive. be.

[Problem to be solved by the invention 1 The present invention seeks to solve the above-mentioned problems,
It is an object of the present invention to provide an inexpensive device capable of performing correction with sufficient accuracy for practical use using a timer or tr&.

[Means and effects for solving the problems] The present invention is generally applicable to electronic components, in which the dimensional accuracy between the lead wires of the component is high, but the chuck of the component body: There is a large variation in the position of the lead wires with respect to the JA standard. This study focused on the characteristics of the parts.

That is, in the present invention, while the gripping claws of the automatic composing machine are gripping the part, the position of at least one part insertion part of the part is fixed at two positions.
A plurality of position detectors are arranged to detect from the direction, and the deviation of the inserted part position of the gripped part from the reference position is calculated based on the output of the position detector, and the deviation from the reference position is determined based on the value.
The present invention is characterized by comprising means for correcting the component insertion position command value of the I1 assembly method.

According to the configuration of the present invention, the position of at least one component insertion part is directly detected and the deviation from the reference position is detected by one degree.
By correcting the assembly position, the part body and the part insertion site i? ! Variations in dimensions up to can be corrected.

Therefore, the assembly position fl? with sufficient accuracy in practice? Corrections can be made.

[Example] An example of the present invention will be described based on the drawings. h) Figure 1 is
The lead wire position of automatic insertion tachiiso to which the present invention is applied! ! FIG. 3 is a perspective view of the measurement station. A chuck holding shaft 2 is attached to a robot arm 1 for vertical movement, and a chuck unit 3 is fixed to the chuck holding shaft 2. The chuck unit 3 includes a pair of gripping claws 4,
In order to detect the position in the X direction of one lead #i7 of one part 5 where the part 4' is gripping the attached part 5,
The measuring element 8 is fixed to a rod 91, and the rod 9 is held on a base 13 by a linear bearing 10 so as to be slidable in the X direction. The measuring stylus 8 is fixed to a slider of a linear body 3 meter 11 which is a position detector, and is urged in the pushing direction by the compressive force of the spring 12. Similarly, in order to detect the position of the lead wire 7 in the Y direction at right angles to the X direction, a measuring element 8', a rod 9', a linear bearing 10', a linear potentiometer 11' and an upward spring 12 are used.
A position detection mechanism consisting of `` is disposed on the base 13.

Figure 2 is a Matata-style diagram showing the configuration of the disaster example.

A linear potentiometer and meter 1 that detects the position in the X and Y directions of the lead wire 7 of the component 5 held by the gripping claws 4 and 4'
1.11' signal is output to the electronic control device 20.
The differential calculation unit 21 in the M1 child control VC unit 20 calculates the deviation of the lead wire 7 from the reference position using the (g) of the potency 1 notator 11.11' and stores it in the correction data memory 22. In the correction calculation unit 24, the position data memory 23
The component insertion position data stored in advance is corrected using the correction data stored in the correction data memory 22, and outputted to the motor control section 25 as an actual component insertion position command value. The motor controller 25 receives feedback signals from the tough generator 27 and the pulse generator 28 based on the command value, and controls the servo motor 26 using a well-known method to drive the robot arm 1 and assemble it. Actually, a number of servo motors corresponding to the number of degrees of freedom of the robot arm 1 are connected to the motor control section 25, but these are omitted in the drawing tt42.

FIG. 3 is a sectional view taken along the line AA in FIG. 1, and is a diagram for explaining the positional relationship between the lead wire 7 of the component 5 and the probe 8. FIG. Let C be the distance between the virtual center line 15 of the chuck and the measurement surface position 16 of the probe 8 in the free state, and lead #X7 contacts the probe 8 from the 71J- state, and the probe 8 in the measurement state
Let S be the amount of movement of the probe 8 to position 18 in (The difference, that is, the deviation amount Δx=c+s−x. This calculation is executed by the deviation calculating section 21 shown in FIG. 2.

The operation will be explained. First, the gripping claws 4 and 4' grip the supplied component 5 on a component supply stage (not shown).Next, the robot arm 1 is moved and the gripped component 5 is transferred to the measuring stage shown in FIG. Position the robot arm 1 at a predetermined position on the measuring station, and connect the lead wire 7 representing the lead edge of the component 5.
are pressed against the measuring tip 818' at the same time. In this state, the deviation stirring R621 is linear botenon 1 meter 11°11'
Then, the robot arm 1 is moved and the gripped part 5 is placed on a printed circuit board (not shown). The robot arm 1 is then positioned at the component insertion position on the printed circuit board. At this time, the component insertion position data stored in advance in the position data memory 23 is corrected with the correction data/data stored in the memory 22, output as a component position command value, and the robot arm 1 is positioned. Therefore, lead wire 7 of component 5
The position of each hole in the printed circuit board is precisely determined, and the variation in the dimensions of the lead wire with respect to the component body is minimized.
, the correction was made in less than OS seconds.

In this embodiment, a sliding linear potentiometer was used as the position detector, but other position detectors such as a differential transformer, magnetic linear scale, or magnetic gap sensor may also be used. Although it has been explained as a method of correcting the positioning command value of the ascending port 7-m, the movement of the robot arm 1 is not corrected, and the printed circuit board is caused to exhibit a characteristic 'JJ+' due to the deviation of the lead wire position.
It is also possible to adopt a method of C correction.

In addition, in order to shorten the cycle time of the automatic assembly machine, we did not provide a dedicated measurement stage as shown in Figure 1, but equipped the component supply stage 1 with a lead wire position detection mechanism.
It is also possible to reduce the IJ1 time required for moving the arm 1 by gripping the component 5 by the gripping claw 414' and measuring the lead wire position at r1.

In this embodiment, the assembly ratio of electronic components is explained. However, the present invention is not limited to the assembly of electronic components. It goes without saying that the present invention is also applicable to automatic assembly machines for mechanical parts.

[5'& Bright Effects] As explained above, the present invention directly detects the position of one critical part of a typical component and corrects the assembly position.
The present invention has excellent effects in that it does not require pattern recognition processing time, has a fast correction processing speed, has a simple structure, and can provide a device that can perform sufficient correction at a low cost.

[Brief explanation of drawings]

FIG. 1 is a needle perspective view of one embodiment, FIG. 2 is an m-type diagram showing the vI configuration of the embodiment, and FIG. 3 is a sectional view taken along line A-A of the Pt51 diagram. ]...Robot arm, 2...Chuck holding pongee, 3
... Cha7 Kuuninote, 4.4'... Gripping claw, 5...
Parts, 7... Lead wire, 8, 8゛... Measuring point, 11
．． 11'...Linear potentiometer 5 meters, 20...Electronic fill all device.

Claims (1)

[Claims] With the gripping claws of the automatic assembly machine gripping the component, a plurality of position detectors are arranged to detect the position of at least one component insertion part of the component from two directions, and the output of the position detector allows the component to be gripped. 1. A correction device for an automatic assembly machine, comprising: means for calculating a deviation of the position of an insertion part of a component from a standard setting, and correcting a component insertion position of the automatic assembly machine based on the calculated deviation.