JPS6363336B2 - - Google Patents

Description

Detailed Description of the Invention [Industrial Application Field] The present invention provides a method for fitting electronic components, etc., each having a plurality of protrusions, such as a lead wire, into the plurality of protrusions during handling by a special machine or a robot. This invention relates to a method for easily and reliably inserting into a socket or the like having a plurality of matching holes.

[Prior Art] In an automatic machine that assembles parts using a robot or the like, when there are multiple work stations, when a predetermined work is completed at one work station, the robot's hand or the like picks up the part and moves it to the next station. Handling work is required to insert and set up parts in predetermined positions.

Automatic insertion of parts by such handling requires a higher level of reliability than ever before, and it has been desired to provide an insertion method that can easily achieve this.

A conventional component insertion method will be shown below with reference to FIG.

Conventionally, an electronic component 2 (hereinafter referred to as a component) having a plurality of lead wires 1 as shown in the front view of FIG. 1 and the bottom view of FIG. 2 is handled by a robot or the like. When automatically inserting the component 2 into a socket 4 having multiple fitting holes 3 slightly larger than the diameter of the component 2, the component 2 is first held (grasped) by a chuck 6 provided at the tip of a hand 5 such as a robot, and then the lead wire is inserted into the socket 4. 1 and the corresponding center axes 7 and 8 of the fitting hole 3, move the part 2 to the top of the socket 4 so that the center axis 9 of the part 2 and the center axis 10 of the socket 4 coincide. Position. Next, while holding the part 2 with the chuck 6, the hand 5 is lowered so that the central axes 9 and 10 of each part do not shift, and the socket 4 is pressed down with a predetermined pressing force.
Insert the lead wire 1 of the component 2 into the fitting hole 3 of.

There is also a method in which the component 2 is held by vacuum suction using a suction cup 11, as shown in FIG. 4, instead of the chuck 6 described above, and the component 2 is inserted in the same manner as the above method.

[Problems to be Solved by the Invention] However, in the conventional method, the inclination of the central axes 9 and 10 of the component 2 and the socket 4 that occur when the component 2 is held by the chuck 6 or the suction cup 11,
If the lead wire 1 and the center axes 7, 8 of the fitting hole 3 are misaligned due to a positioning error of the center axes 9, 10 of the socket 4, deformation of the lead wire 1, etc., the component 2 may be attached to the chuck 6 or the suction cup 11. Since the lead wire 1 is completely restrained, the flexibility of the lead wire 1 alone cannot absorb the misalignment of the central axes 7 and 8, and an accident may occur where the lead wire 1 is bent and crushed during insertion, so this accident can be avoided. Therefore, there was a drawback that a highly accurate positioning mechanism and holding mechanism were required.

Furthermore, even if the above-mentioned high-precision mechanism is used, it is impossible to cope with the deviation of the center axes 7 and 8 due to the inherent deformation of each lead wire 1, so there is a drawback that accidents cannot be completely avoided. .

SUMMARY OF THE INVENTION An object of the present invention is to provide a method for automatically inserting fitting parts that is highly reliable and easily realized in automatic insertion of parts by a robot or the like.

[Means for Solving the Problems] According to the present invention, a component having at least three convex portions surrounding the center of gravity is handled by a robot or the like, and at least three convex portions that are to be respectively fitted into the at least three convex portions surround the center of gravity. In the method of automatically inserting the component into a socket or the like having multiple fitting holes, the component is held so that the at least three convex portions fit into chamfered portions formed on the ridge lines of the at least three fitting holes, respectively. a step of positioning the component to a certain degree; a step of releasing the holding of the component and leaving the component on the chamfered portion; and a step of moving the component directly above the component with a smooth contact surface with the component. The step of moving the plate and pressing down the holding plate causes the at least three convex portions to fit into the at least three fittings, respectively, without holding the component and restraining it in any direction other than the insertion direction. A method for automatically inserting a mating part is obtained, which includes the step of inserting a mating part into a mating hole.

[Example] An insertion procedure based on an example of the present invention will be explained below with reference to FIGS. 5 to 7.

First, the component 2 is held by a hand 5 (Fig. 3) such as a robot, and the four lead wires 1 surrounding the center of gravity of the component 2 are chamfered into the four fitting holes 3 formed in the socket 4. The part 2 is positioned with such precision as to fit into the part 12. Thereafter, the holding of the component 2 is released and the component 2 is left on the chamfered portion 12. Here, the center of gravity of part 2 is the four lead wires 1
Since it is inside the area surrounded by , even if part 2 is left unattended, it will not fall over.

Next, after the hand 5 of the robot or the like that handled the handling has retreated to a predetermined position, the holding plate 14, which is attached to the rotating shaft 13 and has a smooth contact surface with the component 2, is rotated by the rotating shaft 13. As a result, the part 2 is rotated and moved to a position directly above the part 2. After that, rotation axis 1
A mechanism (not shown) that moves up and down via the presser plate 1
4, the lead wires 1 of the components 2 are inserted into the fitting holes 3 of the sockets 4 by applying a predetermined insertion force without holding the components 2 or restraining them in any direction other than the insertion direction. go.

Further, it is also possible to implement the presser plate 14 used in this embodiment by providing it on the robot hand 5 (FIG. 3).

[Effects of the Invention] From the above, it is possible to insert the at least three protrusions surrounding the center of gravity into at least three fitting holes without holding the component and without restraining it in any direction other than the insertion direction using the presser plate. Then, even if there is a misalignment of the center axes of the protrusion and the fitting hole due to positioning errors and inherent deformation of the protrusion, the part will be inserted in the direction where the insertion resistance is reduced, that is, the center axes of the protrusion and the fitting hole will align. Since the part is inserted into the socket etc. while shifting laterally in the direction, the part can be inserted automatically with high reliability. In this way, since the convex part is inserted into the fitting hole without holding the component, a complicated structure is required, such as providing a part of the structure that makes up the holding part with an elastic structure. Therefore, the protrusion can be easily and reliably inserted into the fitting hole. Furthermore, before inserting the at least three protrusions into the at least three mating holes, the component is positioned so that it fits within the chamfered portions machined on the ridge lines of the at least three mating holes. Since it is only necessary to leave the position in the position, the positioning can be performed in a short time without requiring high-precision positioning control, and has the advantage of being simple in structure and easily realized with an inexpensive positioning mechanism.

[Brief explanation of drawings]

FIG. 1 is a front view of the electronic component used in the example, FIG. 2 is a bottom view of the electronic component shown in FIG. 1, and FIG. 3 is a front view of a conventional example using a chuck. Fig. 4 is a front view showing another conventional embodiment using a suction cup, Figs. 5 and 6 are front views showing an embodiment according to the present invention, and Fig. 7 is a side view of Fig. 6. It is a diagram. 1... Lead wire, 2... Electronic component, 3... Fitting hole, 4
...Socket, 5...Hand, 6...Chuck, 7...Center axis of lead wire, 8...Center axis of fitting hole, 9...Center axis of electronic component, 10...Center axis of socket, 11...
Suction cup, 12... Chamfered portion, 13... Rotating shaft, 14... Pressing plate.

Claims (1)

[Claims] 1. A method of automatically inserting a component having at least three convex portions surrounding the center of gravity into a socket, etc. having at least three fitting holes to be respectively fitted with the at least three convex portions by handling by a robot or the like. holding the component and positioning the component to such an extent that the at least three convex portions fit into chamfered portions formed on the ridge lines of the at least three fitting holes; and holding the component. a step of releasing the component and leaving the component on the chamfered portion; a step of moving a presser plate with a smooth contact surface with the component directly above the component; and a step of pushing down the presser plate. , a step of inserting the at least three protrusions into the at least three fitting holes, respectively, while pressing down the parts without holding them and restraining them in any direction other than the insertion direction. Insertion method.