WO2019230887A1

WO2019230887A1 - Lead wire inserting device and lead wire inserting method

Info

Publication number: WO2019230887A1
Application number: PCT/JP2019/021537
Authority: WO
Inventors: 俊満木村
Original assignee: 川崎重工業株式会社
Priority date: 2018-05-31
Filing date: 2019-05-30
Publication date: 2019-12-05
Also published as: JP7116596B2; CN112243601B; CN112243601A; TW202005514A; TWI716889B; JP2019212681A

Abstract

A lead wire inserting device provided with: first and second robot arms; a first hand attached to a tip end of the first robot arm; a second hand attached to a tip end of the second robot arm; a bending jig for bending a lead wire at an arbitrary angle; and a control device which controls the operation of the first and second robot arms. The control device is configured to cause: the first hand to hold an electronic component; the first robot arm to operate to introduce a lead wire of the electronic component being held by the first hand into the bending jig, thereby bending the lead wire; the second hand to hold the electronic component being held by the first hand; the first hand to release the electronic component; and the second robot arm to operate to insert a tip end of the lead wire of the electronic component being held by the second hand into a through-hole.

Description

Lead wire insertion device and lead wire insertion method

The present invention relates to an apparatus and a method for bending a lead wire of an electronic component with a lead wire and inserting the lead wire into a through hole of a substrate.

Patent Document 1 discloses an apparatus for bending an electronic component with a lead wire and inserting it into a through hole. An electronic component is picked by a nozzle configured to be vertically movable.

Japanese Patent Laying-Open No. 2015-216175

According to the method of Patent Document 1, in order to insert an electronic component after bending into a through hole, the attitude of a bending jig must be changed. Increases tact time and complicates jig configuration.

Therefore, an object of the present invention is to provide a lead wire insertion apparatus and method capable of improving work efficiency and simplifying the configuration.

A lead wire insertion device according to an aspect of the present invention is a device that bends a lead wire of an electronic component with a lead wire and then inserts the lead wire into a through hole of a substrate, and includes the first and second robot arms, A first hand attached to the tip of the robot arm; a second hand attached to the tip of the second robot arm; a bending jig for bending the lead wire at an arbitrary angle; and the first and first A control device for controlling the operation of the two robot arms, the control device causing the first hand to grip an electronic component and operating the first robot arm to hold the electronic by the first hand. The lead wire of the component is introduced into the bending jig, whereby the lead wire is bent, and the electronic component held by the first hand is transferred to the second hand. And holding the electronic component by the first hand, operating the second robot arm, and inserting the tip of the lead wire of the electronic component held by the second hand into the through-hole. A lead wire insertion device configured.

According to the above configuration, the bent lead wire can be inserted into the through hole of the substrate using the two arms. In the case of the horizontal articulated type after bending, it is difficult to insert it into the substrate as it is, but it is possible to insert it quickly by moving the electronic component from one arm to the other.

A lead wire insertion method according to an aspect of the present invention is a method of bending a lead wire of an electronic component with a lead wire and then inserting the lead wire into a through hole of a substrate, wherein the first robot arm has a first hand attached to a tip portion. And a step of preparing a second robot arm having a second hand attached to the tip thereof, a step of causing the first hand to grip an electronic component, a movement of the first robot arm, and a gripping by the first hand Introducing the lead wire of the electronic component into the bending jig, thereby bending the lead wire, causing the second hand to grip the electronic component gripped by the first hand, and A step of causing the first hand to release the electronic component and thereby moving the electronic component; and an operation of operating the second robot arm to hold the electronic component by the second hand The tip of the goods of the lead and a step of inserting into the through hole.

According to the present invention, it is possible to provide a lead wire insertion device and method that can improve work efficiency and simplify the configuration.

1A to 1C are explanatory diagrams of electronic components. It is a front view which shows the whole structure of an insertion apparatus. It is a rear view which shows a hand. It is a block diagram which shows the structure of the control system of an insertion apparatus. FIGS. 5A to 5D are operation diagrams showing an electronic component insertion operation by the insertion device. It is a flowchart which shows the insertion method performed by the insertion apparatus.

Hereinafter, embodiments will be described with reference to the drawings. Throughout the drawings, the same or corresponding elements are denoted by the same reference numerals, and detailed description thereof is omitted.

1A to 1C are diagrams showing an example of an electronic component 90 handled by the lead wire insertion device according to the embodiment. The electronic component 90 includes an electronic component main body 91 and one or more (for example, two) lead wires 92 extending from the electronic component main body 91. An example of the electronic component 90 is an electrolytic capacitor.

Originally, the two lead wires 92 extend straight and parallel from the electronic component main body 91. As shown in FIG. 1A, in the production site where the lead wire insertion device 10 is introduced, the electronic component 90 is attached to the tape 99 with the lead wire 92 extending vertically. The lead wire insertion device 1 (see FIG. 2) picks up the electronic component 90 and bends the lead wire 92 at an arbitrary angle. As shown in FIG. 1B, by this bending process, the lead wire 92 has a proximal end portion 92a extending from the electronic component main body 91 and a continuous distal end portion that is bent from the proximal end portion by a certain bending angle. 92b is formed. Typically, the folding angle is 90 degrees, but other angles (particularly obtuse angles) may be used. As shown in FIG. 1C, the lead wire insertion device 1 inserts the leading end portion 92 b of the lead wire 92 into the through hole 96 of the substrate 95 after performing such a bending process. For example, the substrate 95 is placed in a horizontal posture, and the through holes 96 are opened on the upper and lower surfaces of the substrate 95. The lead wire insertion device 1 inserts the tip 92b into the through hole 96 from above with the tip 92b extending vertically.

FIG. 2 is a front view showing the configuration of the lead wire insertion device 1 according to the embodiment. As shown in FIG. 2, the lead wire insertion device 1 includes a double-arm robot 2, a first hand 5, and a second hand 6. The double-arm robot 2 includes a base 21, a first robot arm 3, and a second robot arm 4 (hereinafter simply referred to as “arm”). The first arm 3 and the second arm 4 are horizontal articulated type. The first arm 3 includes a first base arm 31 connected to the base 21 so as to be swingable about a vertical first axis L1 and a vertical second axis at the tip of the first base arm 31. A first tip arm 32 that is swingably connected around L2a, a first wrist portion 33 that is connected to the tip portion of the first tip arm 32 so as to be vertically movable, and a lower end portion of the first wrist portion 33 And a first mounting portion 34 that is swingably connected around a vertical third axis L3a. Similarly to the first arm 3, the second arm 4 also includes a second proximal end arm 41, a second distal end arm 42, a second wrist portion 43, and a second attachment portion 44. The second base end arm 41 can swing around the first axis L1 relative to the base 21, and the second tip end arm 42 can swing around the second axis L2b relative to the second base end arm 41. The second wrist portion 43 can be moved up and down in the vertical direction with respect to the second tip arm 42, and the second attachment portion 44 can swing around the third axis L <b> 3 b with respect to the second wrist portion 43. With this configuration, the first hand 5 and the second hand 6 can change the three-dimensional positions independently of each other.

The first hand 5 and the second hand 6 basically have the same structure. The first hand 5 includes a base 51 fixed to the first mounting portion 34, a rotating portion 52 that can rotate around a hand axis Lha that is horizontal to the base 51, and an electronic component 90 ( One or more (e.g., eight) first gripping portions 53 that grip a grip (see FIG. 1) are provided. Similarly to the first hand 5, the second hand 6 also has a base 61, a rotating part 62, and one or more second gripping parts 63. The rotating part 62 is around a hand axis Lhb that is horizontal to the base 61. It can be rotated.

FIG. 3 is a rear view showing the first hand 5. Since the basic configuration of the second hand 6 is the same as that of the first hand 5, only the configuration of the first hand 5 will be described here, and the description regarding the second hand 6 will be omitted. As shown in FIGS. 2 and 3, the base 51 has a plate-like vertical portion 51a extending vertically. Similarly, the base 61 has a vertical portion 61a. A rotation actuator 58 for rotating the rotation unit 52 is attached to the back surface of the vertical unit 51a shown in FIG. 3, and the rotation unit 52 is disposed on the front side of the vertical unit 51a. The rotating part 52 is formed in a disk shape as an example, and the central axis of the rotating part 52 is positioned coaxially with the first hand axis Lha. The one or more gripping portions 53 extend radially from the peripheral edge of the rotating portion 52. In the illustrated example, eight gripping parts 53 are arranged at equal intervals in the circumferential direction of the rotating part 52, and the first hand 5 is formed in a rudder shape as a whole. The structure of the grip part 53 and the method of gripping electronic components by the grip part 53 are not particularly limited. As an example, the gripping portion 53 has a pair of grippers that can approach or separate from each other, and can grip the electronic component 90 by bringing the pair of grippers close to each other, and can grip and grip the electronic component 90 by separating the pair of grips. The electronic component 90 can be released.

FIG. 4 is a block diagram showing a configuration of a control system of the lead wire insertion device 1 according to the embodiment. As shown in FIG. 4, the lead wire insertion device 1 includes a controller 70. As an example, the controller 70 is housed in the base of the double-arm robot 2 (see FIG. 2). The controller 70 includes a memory that stores a program related to execution of an operation of inserting the lead wire 92 into the board 95, a CPU that executes a program stored in the memory, and various actuators 36-39, 46 controlled by the program. -Interfaces connected to -49, 58, 59, 68, 69 are provided.

The actuators provided in the first arm 3 and the first hand 5 include a proximal rotation actuator 36 that rotates the first proximal arm 31 relative to the base 21, and a first distal arm 32 as the first proximal arm 31. An intermediate rotary actuator 37 that is driven to rotate, a tip rotary actuator 38 that drives the first attachment portion 34 to rotate relative to the first wrist portion 33, and a lift actuator that moves the first wrist portion 33 up and down relative to the first tip arm 32. 39, a rotary actuator 58 for rotating the rotating part 52 of the first hand 5 with respect to the base 51, and one or more first gripping parts 53 are provided corresponding to the electronic parts 90. One or more (the same number as the first gripping parts 53) gripping actuators 59 for performing the gripping or releasing operation are included. Similarly, the actuators provided in the second arm 4 and the second hand 6 include a proximal rotation actuator 46, an intermediate actuator 47, a distal rotation actuator 48, a lift actuator 49, a rotation actuator 68, and one or more (second The same number of gripping actuators 69 as the gripping portions 63 are included. Actuators 36-39 are first arm actuators that drive the first arm 3, and actuators 46-49 are second arm actuators that drive the second arm 4.

FIGS. 5A to 5D and 6 are diagrams for explaining the operation of inserting the lead wire 92. FIG. The operations of the

arms

3 and 4 and the

hands

5 and 6 in the following description are controlled by the controller 70.

First, the first arm 3 and the first hand 5 are driven, and one electronic component 90 is held by one holding portion 53 (S1). More specifically, by driving the first arm 3, the first hand 5 is moved horizontally, and the first hand 5 is positioned above the electronic component 90 to be gripped. As illustrated in FIG. 5A, by driving the rotating unit 52, the gripping unit 53 that does not grip the electronic component 90 is positioned at a position extending downward from the rotating unit 52 (so-called “6 o'clock position”). The grip part 53 is brought close to the electronic component 90 by lowering the first wrist part 33 and the first hand 5. As shown in FIG. 5B, the electronic component main body 91 of the electronic component 90 is gripped by driving the grip portion 53. As described above, the electronic component 90 is attached to the tape 99 such that the lead wire 92 extends vertically. After gripping the electronic component 90, the electronic component 90 is detached from the tape 99 by raising the first wrist 33 and the first hand 5. By driving the first arm 3, the first hand 5 and thus the electronic component 90 are moved while the electronic component 90 is gripped by the first grip portion 53.

Next, the first arm 3 and the first hand 5 are driven, and the lead wire 92 of the electronic component 90 is bent (S2). The bending of the lead wire 92 is realized by introducing the tip of the electronic component 90 being held into the groove of the bending jig 80. At that time, the bending angle of the lead wire 92 can be adjusted according to the amount of pressing of the electronic component 90 into the bending jig 80. Thus, the bending jig 80 can bend the lead wire at an arbitrary angle. In the present embodiment, as an example, the bending angle is 90 degrees.

The bending jig 80 may be provided within the movable range of the first arm 3, but may be provided in the second hand 6. As will be described later, after the bending process (S2), the electronic component 90 is not replaced (S3). If the bending jig 80 is provided in the second hand 6, the first arm 3, the first hand 5, the second arm 4, and the second hand 6 required from the bending process S <b> 2 to the holding change (S <b> 3). The air cut becomes shorter and contributes to the reduction of tact time.

As shown in FIG. 5B, specifically, in the bending process (S2), the rotating unit 52 is driven to rotate and displace the electronic component 90 at the “6 o'clock position” around the horizontal hand axis Lha. As an example, the lead wire 92 is in a state of extending horizontally when it is displaced by 90 degrees. By driving the first arm 3, the electronic component 90 is moved horizontally, the tip of the lead wire 92 is introduced into the groove of the bending jig 80, and the tip of the lead wire 92 is pressed against the groove. Thereby, as shown in FIG. 1B, the leading end 92b of the lead wire 92 is bent at an arbitrary bending angle (90 degrees in this example) with respect to the base end 92a extending from the electronic component main body 91. It becomes. Here, the controller 70 controls the operation of the first arm 3 so that the amount and attitude of the first arm 3 with respect to the bending jig 80 are predetermined by the program. Thereby, a desired bending angle is obtained. In other words, an arbitrary bending angle can be obtained by adjusting the approach amount and the posture. Since this is realized by controlling the

robot arms

3 and 4, the degree of freedom in adjusting the bending angle is increased.

Next, the second arm 4 and the second hand 6, and the first arm 3 and the first hand 5 are driven, and the bent electronic component 90 is changed from the first arm 3 to the second arm 4 (S3). In the present embodiment, the first arm 3 is a horizontal articulated type, the operation axis (first hand axis Lha) of the first hand 5 is directed horizontally, and the distal end portion 92b is parallel to the first hand axis Lha. Therefore, the leading end 92b of the lead wire 92 after the bending process (S2) remains horizontally oriented no matter how the first arm 3 and the first hand 5 are moved. For this reason, as shown in FIG. 1C, the tip 92b cannot be inserted from above into the through hole 96 in a posture in which the tip 92b is oriented vertically.

Therefore, in this embodiment, taking advantage of the horizontal articulated double arms, the electronic component 90 held by the first holding portion 53 is held by the second holding portion 63, and the first holding portion 53 is electronic. The part 90 is released. FIG. 5C shows the first gripping portion 53 that grips the electronic component main body 91 after bending as viewed in the direction of arrow C in FIG. 5B. Then, by driving the second arm 4, the second gripping portion that is in a posture extending horizontally from the second rotating portion 62 (that is, the second gripping portion that is in a posture extending in parallel with the tip end portion 92 b of the lead wire 92). 2), the electronic component main body 91 is gripped from the side opposite to the tip of the lead wire 92. When the gripping operation by the second gripping part 63 is finished, the electronic part 90 gripped by driving the first gripping part 53 is released. Thereby, the transfer (S3) is completed.

When the holding (S3) is completed, the second arm 4 and the second hand 6 are driven, and the leading end 92b of the lead wire 92 is inserted into the through hole 96 of the substrate 95 (S4). The second gripping part 63 extends from the second rotating part 62 in parallel with the tip end part 92 b of the lead wire 92. Therefore, in this insertion step (S4), as shown in FIG. 5D, the second rotating portion 62 is driven to move the second gripping portion 63 downward from the second rotating portion 62 (so-called “6 o'clock position”). ]). Thereby, the front-end | tip part 92b of the lead wire 92 also becomes the attitude | position extended vertically. The vertical direction coincides with the direction in which the lead wire 92 is inserted into the through hole 96. By driving the second arm 4, the electronic component 90 is positioned above the through hole 96. The tip part 92b of the lead wire 92 is inserted into the through hole 96 from above by lowering the second wrist part 43 and then the second hand 6. Thereby, the insertion operation of the lead wire 92 is completed.

As described above, according to the present embodiment, the bent lead wire 92 is inserted into the through hole 96 of the substrate 95 using the double arm robot 2 having the two

arms

3 and 4 of the horizontal single joint type. Can do. In the case of the horizontal articulated type, after being bent, it is difficult to insert it into the substrate 95 as it is, but it is possible to insert it quickly by moving the electronic component 90 from one arm to the other.

Although the embodiment has been described so far, the above configuration can be appropriately changed, deleted, and / or added within the scope of the present invention. The lead wire insertion device 1 according to the embodiment includes the double-arm robot 2 having the first arm 3 and the second arm 4, but the one-arm robot having the first arm 3 and the second arm 4 having the second arm 4. One arm robot may be provided. The first arm 3 and the second arm 4 are horizontal articulated types, but other articulation methods such as a vertical articulated type may be used.

DESCRIPTION OF SYMBOLS 1 Lead wire insertion apparatus 2 Double arm robot 3 1st arm 4 2nd arm 5 1st hand 53 1st holding part 6 2nd hand 63 2nd holding part 36-39 1st arm actuator 46-49

2nd arm actuator

59 , 69 Gripping actuator 70 Controller 80 Bending jig 90 Electronic component 92 Lead wire 92b Tip portion 95 Substrate 96 Through hole

Claims

A device for bending a lead wire of an electronic component with a lead wire and then inserting the lead wire into a through hole of a board,
First and second robot arms;
A first hand attached to the tip of the first robot arm;
A second hand attached to the tip of the second robot arm;
A bending jig for bending the lead wire at an arbitrary angle;
A control device for controlling the operation of the first and second robot arms,
The controller is
Causing the first hand to hold an electronic component;
Operate the first robot arm to introduce the lead wire of the electronic component held by the first hand into the bending jig, thereby bending the lead wire,
Causing the second hand to hold the electronic component held by the first hand;
Let the first hand release the electronic component;
A lead wire inserting device configured to operate the second robot arm to insert the tip of a lead wire of an electronic component held by the second hand into the through hole.
The lead wire insertion device according to claim 1, wherein the bending jig is attached to the second robot arm.
The lead wire insertion device according to claim 1 or 2, wherein the control device adjusts a bending angle of the lead wire by adjusting a movement amount and a posture of the arm with respect to the bending jig.
The lead wire insertion device according to any one of claims 1 to 3, wherein the first and second robot arms are of a horizontal articulated type.
A method of inserting a lead wire of an electronic component with a lead wire into a through-hole of a substrate after bending.
Preparing a first robot arm with a first hand attached to the tip, and a second robot arm with a second hand attached to the tip;
Causing the first hand to grip an electronic component;
Operating the first robot arm, introducing a lead wire of an electronic component held by the first hand into a bending jig, and thereby bending the lead wire;
Causing the second hand to hold the electronic component held by the first hand, causing the first hand to release the electronic component, and thereby holding the electronic component;
And a step of operating the second robot arm and inserting a tip of a lead wire of an electronic component held by the second hand into the through hole.