WO2021166248A1 - Support - Google Patents

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Publication number
WO2021166248A1
WO2021166248A1 PCT/JP2020/007221 JP2020007221W WO2021166248A1 WO 2021166248 A1 WO2021166248 A1 WO 2021166248A1 JP 2020007221 W JP2020007221 W JP 2020007221W WO 2021166248 A1 WO2021166248 A1 WO 2021166248A1
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WO
WIPO (PCT)
Prior art keywords
lead
pair
component
lead wire
leads
Prior art date
Application number
PCT/JP2020/007221
Other languages
English (en)
Japanese (ja)
Inventor
隆 山本
広己 鈴木
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2022501577A priority Critical patent/JP7182746B2/ja
Priority to PCT/JP2020/007221 priority patent/WO2021166248A1/fr
Publication of WO2021166248A1 publication Critical patent/WO2021166248A1/fr

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Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components

Definitions

  • the present invention relates to a holder that holds a plurality of leads of a lead component by a plurality of claws.
  • the lead component held by the holder is mounted on a board or the like, but in order to properly mount the lead component on the board or the like, correction of the lead is desired. Therefore, it is an object of the present invention to appropriately correct the leads of the lead parts held by the holder.
  • the present specification includes a plurality of claws for holding a plurality of leads of a lead component, and the plurality of leads are based on imaging data of the plurality of leads held by the plurality of claws.
  • holders that straighten the plurality of leads by controlling the position of the claws.
  • a plurality of leads are corrected by controlling the positions of the plurality of claws based on the imaging data of the plurality of leads held by the plurality of claws. This makes it possible to appropriately straighten the leads of the lead parts held by the holder.
  • FIG. 1 shows the component mounting machine 10.
  • the component mounting machine 10 is a device for executing component mounting work on the circuit base material 12.
  • the component mounting machine 10 includes a device main body 20, a base material transfer holding device 22, a component mounting device 24, a mark camera 26, a parts camera 28, a loose component supply device 30, a component supply device 32, and a control device (see FIG. 8) 36.
  • Examples of the circuit board 12 include a circuit board, a base material having a three-dimensional structure, and the like, and examples of the circuit board include a printed wiring board and a printed circuit board.
  • the device main body 20 is composed of a frame 40 and a beam 42 mounted on the frame 40.
  • the base material transfer holding device 22 is arranged at the center of the frame 40 in the front-rear direction, and has a transfer device 50 and a clamp device 52.
  • the transport device 50 is a device that transports the circuit base material 12
  • the clamp device 52 is a device that holds the circuit base material 12.
  • the base material transport / holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position.
  • the transport direction of the circuit base material 12 is referred to as the X direction
  • the horizontal direction perpendicular to that direction is referred to as the Y direction
  • the vertical direction is referred to as the Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.
  • the component mounting device 24 is arranged on the beam 42, and has two work heads 60 and 62 and a work head moving device 64.
  • the work head moving device 64 includes an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. Then, the two work heads 60 and 62 are integrally moved to an arbitrary position on the frame 40 by the X-direction moving device 68 and the Y-direction moving device 70. Further, as shown in FIG. 2, the work heads 60 and 62 are positioned and mounted on the sliders 74 and 76 so as to be detachably detachable with one touch without using a tool, and the Z-direction moving device 72 is mounted on the sliders 74 and 76. The 76s are individually moved in the vertical direction. That is, the work heads 60 and 62 are individually moved in the vertical direction by the Z-direction moving device 72.
  • the work heads 60 and 62 grip the parts and perform the mounting work of the gripped parts.
  • the work heads 60 and 62 include a pair of gripping claws 80, a claw actuating mechanism 82, and a pushing mechanism 84.
  • FIG. 3 is a diagram showing the internal structure of the work heads 60 and 62, and the housings of the work heads 60 and 62 are omitted.
  • the claw operating mechanism 82 includes a slide mechanism 90, a ball screw mechanism 92, a transmission mechanism 94, and an electromagnetic motor 96.
  • the slide mechanism 90 is composed of a pair of sliders 98, a pair of connecting bodies 100, and a pair of holding blocks 102.
  • the pair of sliders 98 are held by the head bodies 104 of the work heads 60 and 62 so that they can be linearly approached and separated in the left-right direction.
  • each of the pair of connecting bodies 100 is composed of a plurality of block-shaped members, and the pair of holding blocks 102 are connected to the pair of sliders 98 via the plurality of block-shaped members. ing.
  • the pair of sliders 98 approach and separate in the left-right direction
  • the pair of holding blocks 102 also approach and separate in the left-right direction.
  • each of the pair of gripping claws 80 is composed of a main body 106 and a claw 108 as shown in FIG.
  • the main body 106 generally has a block shape, and the claw 108 is fixed to the main body 106 so as to extend downward from the lower end surface of the main body 106.
  • a connecting portion 110 is formed on the upper surface of the main body 106, and the main body 106 is attached to the lower surface of the holding block 102 of the slide mechanism 90 via the connecting portion 110.
  • the main body 106 of the gripping claw 80 is positioned and attached to the lower surface of the holding block 102 so that the operator can attach / detach it with one touch without using a tool.
  • the claws 108 of the pair of gripping claws 80 mounted on the pair of holding blocks 102 are formed with V-grooves 112 on the opposite side surfaces so as to extend in the vertical direction.
  • the ball screw mechanism 92 is composed of a screw rod 120 and a pair of nuts 122.
  • the screw rod 120 is arranged so as to extend in the left-right direction, and is held by the head body 104 so as to rotate around the axis of the screw rod 120. Then, the screw rod 120 is inserted into a through hole 126 formed in a pair of sliders 98 at both ends. Further, on the outer peripheral surface of the screw rod 120, a first screw groove (not shown) is formed from the center to the left end, and a second screw groove (not shown) is formed from the center to the right end. (Not shown) is formed.
  • the first thread groove is formed on the outer peripheral surface of the screw rod 120 so as to swivel in a predetermined direction, and the second thread groove swivels in the direction opposite to that of the first thread groove. It is formed on the outer peripheral surface of the screw rod 120. Further, each of the pair of nuts 122 holds a plurality of bearing balls (not shown), and one of the pair of nuts 122 is screwed into the first thread groove through the plurality of bearing balls. The other of the pair of nuts 122 is screwed into the second thread groove. A pair of nuts 122 are fixed inside the through holes 126 of the pair of sliders 98. As a result, as the screw rod 120 rotates, the pair of nuts 122 linearly approach and separate from each other, and the pair of sliders also approach and separate from each other.
  • the transmission mechanism 94 has two pulleys 130 and 132 and a belt 134.
  • the pulley 130 is fixed to the end of the screw rod 120 coaxially with the screw rod 120.
  • the pulley 132 is fixed to the motor shaft 136 coaxially with the motor shaft 136 of the electromagnetic motor 96.
  • the electromagnetic motor 96 is arranged so that the motor shaft 136 is parallel to the screw rod 120. Then, the belt 134 is wound around the two pulleys 130 and 132.
  • the claw operating mechanism 82 can controlably approach and separate the pair of gripping claws 80. That is, the pulley 132 is rotated by the operation of the electromagnetic motor 96, and the belt 134 is rotated, so that the pulley 130 is rotated. Then, the screw rod 120 rotates together with the pulley 130, and the pair of sliders 98 approaches and separates from the pair of nuts 122, so that the pair of gripping claws 80 approach and separate from each other. As a result, the work heads 60 and 62 can grip various types of parts by using a pair of gripping claws 80.
  • the electromagnetic motor 96 is a servomotor, and a pair of gripping claws 80 approach and separate from each other in a controllable manner at positions in the left-right direction. At this time, for example, by performing feedback control or the like using an encoder, the gripping claw 80 can be moved to an arbitrary position in the left-right direction and the positioning can be stopped by the operation of the electromagnetic motor 96.
  • the pushing mechanism 84 has a pusher 140, a slide block 142, and an air cylinder (see FIG. 8) 144.
  • the slide block 142 is held by the head body 104 so as to be slidable in the vertical direction between the pair of holding blocks 102 of the claw actuating mechanism 82.
  • a pusher 140 is fixed to the lower surface of the slide block 142 so as to extend downward, and the lower end of the pusher 140 is a pair of gripping claws 80 mounted on the pair of holding blocks 102. It extends to the middle.
  • An air cylinder 144 is connected to the slide block 142.
  • the air cylinder 144 expands and contracts, so that the pusher 140 slides in the vertical direction between the pair of gripping claws 80, and the parts gripped by the pair of gripping claws 80 in contact with the pusher 140. Is pushed downward.
  • the mark camera 26 is attached to the slider 74 in a state of facing downward, and is moved together with the work head 60 in the X direction, the Y direction, and the Z direction. As a result, the mark camera 26 images an arbitrary position on the frame 40.
  • the parts camera 28 is arranged between the base material transport holding device 22 on the frame 40 and the parts supply device 32 in a state of facing upward.
  • the work heads 60 and 62 holding the parts move above the parts camera 28 by the operation of the work head moving device 64, so that the parts camera 28 images the parts held by the work head 60.
  • the parts camera 28 includes an image pickup device 150, a lens 152, and a laser illumination 154.
  • the image pickup device 150 has an image pickup device (not shown), and is arranged so that the light receiving surface faces upward.
  • the lens 152 is fixed to the light receiving surface side of the image pickup apparatus 150, that is, the upper surface side in FIG.
  • the laser illumination 154 is composed of four laser irradiation devices (only two laser irradiation devices are shown in the figure) 156.
  • the four laser irradiation devices 156 are arranged at four equal positions so as to surround the component to be imaged from the surroundings. Then, the four laser irradiation devices 156 irradiate the component to be imaged with laser light from four lateral locations. As a result, the component to be imaged is imaged by the image pickup apparatus 150.
  • the mark camera 26 and the parts camera 28 are two-dimensional cameras, and capture a two-dimensional image.
  • the loose parts supply device 30 is arranged at one end of the frame 40 in the front-rear direction.
  • the loose parts supply device 30 is a device that aligns a plurality of parts that are scattered apart and supplies the parts in the aligned state. That is, it is a device that aligns a plurality of parts in an arbitrary posture in a predetermined posture and supplies the parts in the predetermined posture.
  • the component supply device 32 is arranged at the other end of the frame 40 in the front-rear direction.
  • the parts supply device 32 includes a tray-type parts supply device 160 and a feeder-type parts supply device 162.
  • the tray-type component supply device 160 is a device that supplies components in a state of being placed on the tray.
  • the feeder type component supply device 162 is a device for supplying components by a tape feeder 170, or a loose component feeder device for supplying a plurality of components in a scattered state.
  • the structure of the tape feeder 170 will be described below, but the structure of the tape feeder 170 will be briefly described because it is described in detail in Japanese Patent Application No. 2019-150273 filed earlier by the applicant.
  • the tape feeder 170 is detachably attached to the slot of the tape feeder holding base 172 fixedly provided at the other end of the frame 40.
  • the tape feeder 170 is a taped lead component supply device in which the axial component is removed from the taped component (see FIG. 6) 180 and the lead wire of the removed axial component is bent and supplied to the work heads 60 and 62.
  • the taped component 180 is composed of a plurality of axial components 190 and two carrier tapes 192.
  • the plurality of axial parts 190 are all parts of the same type, and each of all the axial parts 190 generally includes a columnar part body 196 and two lead wires 198.
  • the two lead wires 198 are generally linear, and are fixed to both end faces of the component body 196 coaxially with the axis of the component body 196.
  • the axial component 190 is taped to the two carrier tapes 192 at the tips of the two lead wires 198, that is, the ends opposite to the component body 196, while being sandwiched between the two carrier tapes 192.
  • the plurality of axial parts 190 are taped on two carrier tapes 192 at equal pitches.
  • the tape feeder 170 is composed of a storage box 200 and a feeder main body 202.
  • the direction from the storage box 200 toward the feeder main body 202 is described as the front, and the direction from the feeder main body 202 toward the storage box 200 is described as the rear.
  • the taped parts 180 are stored in the storage box 200 in a folded state. Then, the taped component 180 stored in the storage box 200 is pulled out, and the taped component 180 extends to the upper end surface of the feeder main body 202.
  • the feeder main body 202 is provided with a feeding device 210, a lead cutting device 212, and a bending device 214.
  • the feeding device 210 feeds the taped component 180 extending on the upper surface of the feeder main body 202 toward the front. At this time, the feeding device 210 feeds the taped component 180 at the same pitch as the arrangement pitch of the axial component 190 taped to the taped component 180.
  • a lead cutting device 212 is arranged on the front side of the feeding device 210, and in the lead cutting device 212, every time the taped component 180 is fed by the feeding device 210, the cutter is set to 1 of the taped component 180.
  • the pair of lead wires 198 is cut at a predetermined position. As a result, one axial component 190 is separated from the taped component 180.
  • the bending device 214 clamps the pair of lead wires 198 of the axial component 190 separated from the taped component 180, and the bending device 214 in a state where the pair of lead wires 198 is clamped rises.
  • the tip portion outside the clamped portion of the pair of lead wires 198 is lowered. Bend to face.
  • the axial component 190 in which the pair of lead wires 198 is bent is supplied. That is, the position where the bending device 214 is raised becomes the supply position of the tape feeder 170, and the axial component 190 is supplied at that position.
  • the control device 36 includes a controller 220, a plurality of drive circuits 222, and an image processing device 226.
  • the plurality of drive circuits 222 include the transfer device 50, a clamp device 52, work heads 60 and 62, an X-direction moving device 68, a Y-direction moving device 70, a Z-direction moving device 72, an electromagnetic motor 96, an air cylinder 144, and a tray type. It is connected to the component supply device 160, the tape feeder 170, and the loose component supply device 30.
  • the controller 220 includes a CPU, ROM, RAM, etc., and is mainly a computer, and is connected to a plurality of drive circuits 222.
  • the controller 220 is also connected to the image processing device 226.
  • the image processing device 226 processes the image data obtained by the mark camera 26 and the parts camera 28, and the controller 220 acquires various information from the image data.
  • components are mounted on the circuit substrate 12 held by the substrate transfer holding device 22 according to the above configuration.
  • the transport device 50 transports the circuit base material 12 to the working position according to the command of the controller 220, and the clamp device 52 fixedly holds the circuit base material 12 at that position.
  • the mark camera 26 moves above the circuit base material 12 according to the command of the controller 220, and images the circuit base material 12.
  • the controller 220 acquires information regarding the positions of the pair of through holes (see FIG. 11) 230 formed in the circuit base material 12.
  • the loose parts supply device 30 or the parts supply device 32 supplies parts at a predetermined supply position.
  • the supply of the axial component 190 by the tape feeder 170 of the component supply device 32 will be described.
  • the tape feeder 170 operates the feeding device 210, the lead cutting device 212, and the bending device 214 to supply the axial parts 190.
  • the axial component 190 in which the lead wire 198 is bent is supplied at the supply position of the tape feeder 170.
  • the lead wire 198 is bent downward, but the bending angle of the lead wire 198 is 90 degrees or less, for example, about 45 degrees. Therefore, the pair of lead wires 198 of the axial component 190 supplied by the tape feeder 170 are generally bent in a V shape as shown in FIG.
  • the electromagnetic motor 96 is operated so that the distance between the pair of gripping claws 80 becomes the set distance K before holding the axial parts 190.
  • the position of the gripping claw 80 in the left-right direction is positioned.
  • the work heads 60 and 62 move above the supply position of the tape feeder 170 by the operation of the work head moving device 64.
  • the work heads 60 and 62 move above the supply position so that the pair of lead wires 198 of the axial component 190 is located below the pair of gripping claws 80.
  • the pair of gripping claws 80 abuts on the pair of lead wires 198 of the axial component 190, and as shown in FIG. 10, the pair of gripping claws 80 makes a pair.
  • the lead wire 198 of the above is further bent.
  • the axial component 190 is fitted between the pair of gripping claws 80 positioned without moving the lead wire 198 to the bending force, and the elastic force of the pair of lead wires 198 causes the axial component 190.
  • the lead wire 198 is inserted into the V groove 112 formed in the claw 108 of the gripping claw 80.
  • the positional deviation of the axial component 190 gripped by the gripping claw 80 is prevented.
  • the work heads 60 and 62 are lowered so that the lower end of the gripping claw 80 is located above the tip of the lead wire 198.
  • the axial component 190 is gripped by the gripping claw 80 with the tip of the lead wire 198 exposed from the lower end of the gripping claw 80 when viewed from the side.
  • the axial component 190 is gripped by the gripping claw 80 so that the tip of the lead wire 198 is not held by the gripping claw 80.
  • the distance between the tips of the pair of lead wires 198 of the axial component 190 gripped by the gripping claw 80 (hereinafter, referred to as “lead-to-lead distance”) is L1. That is, the above-mentioned set distance K is set so that the distance between leads is L1.
  • the distance between the leads is defined as the distance between the center of one tip of the pair of lead wires 198 and the center of the other tip.
  • the work heads 60 and 62 move above the parts camera 28 and are moved by the parts camera 28.
  • the axial component 190 is imaged. Since the tip of the lead wire 198 is exposed from the lower end of the gripping claw 80 when viewed from the side, the work heads 60 and 62 are the lead wires of the axial component 190 being gripped as shown in FIG.
  • the tip of the 198 is moved above the parts camera 28 so that the laser light emitted from the laser irradiation device 156 of the parts camera 28 hits the tip of the parts camera 28.
  • the tips of the pair of lead wires 198 of the axial parts 190 held by the work heads 60 and 62 are imaged by the parts camera 28, and the controller 220 acquires information regarding the positions of the tips of the pair of lead wires 198. ..
  • the work heads 60 and 62 are above the circuit base material 12 so that the pair of through holes 230 of the circuit base material 12 and the tips of the pair of lead wires 198 of the axial component 190 coincide with each other in XY coordinates. Move to.
  • the distance between the pair of through holes 230 is also set to L1, which is the same as the distance between the leads. Therefore, as the work heads 60 and 62 are lowered, as shown in FIG. 11, a pair of lead wires 198 of the axial component 190 are inserted into the pair of through holes 230 of the circuit base material 12.
  • the lower end of the lead wire 198 is inserted into the through hole 230, and the lower ends of the gripping claws 80 stop lowering the work heads 60 and 62 before they come into contact with the upper surface of the circuit base material 12.
  • the pusher 140 is lowered by the operation of the air cylinder 144 of the work head 60, so that the axial component 190 gripped by the pair of gripping claws 80 is pushed downward by the pusher 140.
  • the lead wire 198 is inserted into the through hole 230 up to the root, so that the axial component 190 is mounted on the circuit base material 12.
  • the axial component 190 gripped by the pair of gripping claws 80 of the work heads 60 and 62 is mounted on the circuit base material 12.
  • the lead wire 198 may be bent rather than directly.
  • a pair of lead wires 198 may be bent at the tip in a direction away from each other. In such a case, even if the distance between the pair of gripping claws 80 is set to the set distance K, the distance between the leads 198 is longer than the distance L1 when the lead wires 198 are straight and not bent.
  • a pair of lead wires 198 may be bent in a direction approaching each other at the tip. In such a case, even if the distance between the pair of gripping claws 80 is the set distance K, the distance between the leads is shorter than L1. In this way, when the distance between the leads of the axial parts 190 gripped by the pair of gripping claws 80 becomes longer or shorter than that of L1, the tips of the pair of lead wires 198 become the pair of through holes 230. It may not be possible to insert it. Therefore, in the conventional component mounting machine, when the axial component 190 held by the work head is imaged by the mark camera 26 during the component mounting work, the lead-to-lead distance is calculated based on the imaging data.
  • the setting range of the distance between the leads is a range in which the tips of the pair of lead wires 198 can be inserted into the pair of through holes 230 based on L1, the inner diameter of the through hole 230, the wire diameter of the lead wire 198, and the like. It is set.
  • the tape feeder 170 by arranging the tape feeder 170 with a straightening device for correcting the bending of the lead wire 198 of the axial component 190 taped to the taped component 180, the lead wire of the axial component 190 supplied by the tape feeder 170 is provided. It is possible to prevent the bending of 198.
  • disposing the straightening device on the tape feeder 170 has problems such as an increase in cost due to the disposing of the straightening device and securing of a space for disposing the straightening device.
  • the lead wire 198 may be bent due to a chipped cutter of the lead cutting device 212, poor sharpness, or improper attachment.
  • the lead-to-lead distance is calculated based on the imaged data, and the calculated lead is calculated.
  • the lead wire 198 is corrected by controlling the operation of the electromagnetic motor 96 based on the distance.
  • the operation of the electromagnetic motor 96 is controlled so that the distance between the pair of gripping claws 80 becomes the set distance K, as in the conventional method, and the tape feeder 170
  • the axial component 190 is gripped by a pair of gripping claws 80 at the supply position of.
  • the work heads 60 and 62 holding the axial component 190 move above the parts camera 28, and a pair of lead wires 198 of the axial component 190 are imaged by the parts camera 28.
  • the controller 220 calculates the read-to-lead distance based on the imaging data.
  • the work heads 60 and 62 holding the axial component 190 hold the axial component 190 as in the conventional method. It moves above the circuit base material 12 and its axial component 190 is mounted on the circuit base material 12.
  • the distance between the pair of gripping claws 80 is adjusted so that the calculated lead-to-lead distance becomes L1, and the pair of gripping claws 80.
  • the pair of lead wires 198 gripped by the wire is corrected. Specifically, for example, as shown in FIG. 12, when the lead-to-lead distance of the axial component 190 gripped by the gripping claw 80 is calculated as (L1 + ⁇ ), the controller 220 is set to L1. Controls the operation of the electromagnetic motor 96 to bring a pair of gripping claws 80 closer to each other by a distance corresponding to ⁇ . That is, as shown in FIG.
  • the controller 220 controls the operation of the electromagnetic motor 96 so that the distance between the pair of gripping claws 80 is (K— ⁇ ).
  • the tips of the pair of lead wires 198 approach each other by a distance corresponding to ⁇ , and the distance between the leads becomes L1.
  • the controller 220 sets the lead-to-lead distance to L1.
  • the operation of the electromagnetic motor 96 is controlled to separate the pair of gripping claws 80 by a distance corresponding to ⁇ . That is, as shown in FIG.
  • the controller 220 controls the operation of the electromagnetic motor 96 so that the distance between the pair of gripping claws 80 is (K + ⁇ ).
  • the tips of the pair of lead wires 198 are separated by a distance corresponding to ⁇ , and the distance between the leads becomes L1.
  • the pair of gripping claws 80 are separated from each other so that the distance between the pair of gripping claws 80 is longer than the set distance K, the distance between the leads is widened by the elastic force of the lead wire 198.
  • the pair of lead wires 198 is maintained in a state of being sandwiched by the pair of gripping claws 80.
  • the operation of the electromagnetic motor 96 is controlled based on the calculated lead-to-lead distance, and the distance between the pair of gripping claws 80 is adjusted so that the pair of gripping claws 80 sandwiches the electromagnetic motor 96.
  • the pair of lead wires 198 is corrected so that the distance between the leads is L1.
  • the work heads 60 and 62 holding the axial component 190 move above the circuit base material 12, and the axial component 190 is mounted on the circuit base material 12.
  • the straightening device is arranged on the tape feeder, the lead wire is manually straightened by the operator, and the like.
  • the axial component 190 held by the work head can be mounted on the circuit base material 12 without performing the above.
  • the gripping claw 250 of a type different from the gripping claw 80 is composed of a main body 252 and a claw 254.
  • the main body 252 has the same shape as the main body 106 of the gripping claw 80, and the claw 254 is fixed to the main body 252 so as to extend downward from the lower end surface of the main body 252.
  • a connecting portion 256 having the same shape as the connecting portion 110 of the gripping claw 80 is formed.
  • the gripping claw 250 is attached to the lower surface of the holding block 102 of the work heads 60 and 62 in the main body 252 via the connecting portion 256 thereof.
  • the gripping claw 250 is also positioned and attached to the lower surface of the holding block 102 so that the operator can attach and detach it with one touch without using a tool.
  • the claws 254 of the pair of gripping claws 250 mounted on the pair of holding blocks 102 are formed with a pair of projecting portions 258 projecting in the direction of approaching each other on the opposite side surfaces. ing.
  • each of the pair of claws 254 has four V-grooves 260 extending in the vertical direction arranged on the lower side surface of the protrusion 258 at equal pitches in the horizontal direction. It is formed.
  • the part 270 is gripped by a pair of gripping claws 250.
  • the lead component 270 is composed of a component body 272, four lead wires 274 extending from one side surface of the component body 272, and four lead wires 276 extending from a side surface facing the side surface on which the lead wire 274 extends. It is configured.
  • the lead wires 274 and 276 extend laterally from the side surface of the component main body 272 and then bend downward.
  • the tips of the lead wires 274 and 276 bent downward extend downward from the lower surface of the component main body 272. Further, the axial component 190 is supplied after the lead wire 198 is bent in the tape feeder 170, while the lead component 270 is supplied in a state of being bent in advance by the tray type component supply device 160 or the like.
  • the work heads 60 and 62 move above the lead parts 270 supplied in the tray type parts supply device 160 and the like. At this time, the work heads 60 and 62 move above the lead component 270 so that the portion of the pair of claws 254 below the protruding portion 258 faces the lead wires 274 and 276 of the lead component 270. Then, by controlling the operation of the electromagnetic motor 96 so that the pair of gripping claws 250 approach each other, the lead wires 274 and 276 of the lead component 270 are located below the protruding portion 258 of the pair of claws 254. Is pinched. As a result, the lead component 270 is gripped by the work heads 60 and 62.
  • the height dimension of the portion of the claw 254 below the protruding portion 258 in the vertical direction is about the same as the thickness dimension of the component body 272 of the lead component 270. Therefore, the tips of the lead wires 274 and 276 of the lead parts 270 gripped by the pair of gripping claws 250 are exposed from the lower end of the gripping claws 250 when viewed from the side. Further, when the lead component 270 is gripped by the pair of gripping claws 250, the lead wire 198 is inserted into the V groove 260 formed in the claw 254 of the gripping claw 250. As a result, the misalignment of the lead component 270 gripped by the gripping claw 250 is prevented.
  • the lead component 270 is gripped by the pair of gripping claws 250, the lead component 270 is imaged by the parts camera 28 with the work heads 60 and 62 moving above the parts camera 28 and stopped. .. At this time, the lead parts 270 gripped by the work heads 60 and 62 are the parts camera 28 in a state where the tips of the lead wires 274 and 276 exposed from the lower ends of the gripping claws 250 are irradiated with laser light from the laser irradiation device 156. Is imaged by. As a result, the controller 220 acquires information regarding the tip positions of the lead wires 274 and 276. Then, in the controller 220, the distance between the leads of the lead wires 274 and the lead wires 276 facing each other is calculated.
  • the lead wire 274a and the lead wire 276a face each other
  • the lead wire 274b and the lead wire 276b face each other
  • the lead wire 274c and the lead wire 276c face each other
  • the lead wire 274d The lead wire 276d is opposed to the lead wire 276d. Therefore, the lead-to-lead distance between the lead wire 274a and the lead wire 276a, the lead-to-lead distance between the lead wire 274b and the lead wire 276b, the lead-to-lead distance between the lead wire 274c and the lead wire 276c, and the lead wire 274d and the lead wire 276d.
  • the lead-to-lead distance of is calculated.
  • the calculated lead-to-lead distance may differ depending on the pair of opposite lead wires. That is, as shown in FIG. 18, the lead-to-lead distance between the lead wire 274a and the lead wire 276a is L2, and as shown in FIG. 19, the lead-to-lead distance of the pair of the lead wire 274c and the lead wire 276c is L3 ( It may be ⁇ L2).
  • the imaging data of FIG. 20 shows the lead component 270 gripped by the work heads 60 and 62 from a downward viewpoint.
  • the tip positions of the four lead wires 274 are not located in a straight line, and the tip positions of the four lead wires 276 are not located in a straight line.
  • the four through holes (not shown) into which the four lead wires 274 are inserted are usually processed so as to be positioned in a straight line, and the four lead wires are formed.
  • the four through holes (not shown) into which the 276 is inserted are also usually processed so as to be positioned in a straight line. Therefore, the lead wires 274 and 276 are straightened so that the tip positions of the four lead wires 274 and the tip positions of the four lead wires 276 are each positioned in a straight line.
  • the lead component 270 is gripped by a pair of gripping claws 250.
  • the pair of gripping claws 250 come into contact with and grip the four lead wires 274 and the four lead wires 276 located on the outermost side. That is, the pair of gripping claws 250 extends to the outermost of the four lead wires 274, for example, the lead wire 274b and the four lead wires 276. It contacts and grips the lead wire 276, for example, the lead wire 276a.
  • the distance between the pair of through holes into which the lead wires 274 and the lead wires 276 facing each other are inserted is L3
  • the distance between the leads of the lead wires 274 and the lead wires 276 facing each other is L3.
  • the operation of the electromagnetic motor 96 is controlled. At this time, in order to narrow the distance between the leads of the lead wire 274a and the lead wire 276a from L2 to L3, the electromagnetic motor 96 is operated so that the corresponding distance of (L2-L3) and the pair of gripping claws 250 approach each other. Is controlled. As a result, the lead wire 274a and the lead wire 276a are further bent, and the distance between the leads of the lead wire 274a and the lead wire 276a becomes L3. On the other hand, as shown in FIG. 19, the distance between the leads of the lead wire 274c and the lead wire 276c is already set to L3 even before the pair of gripping claws 250 are brought close to each other.
  • the lead wire 274c and the lead wire 276c are linearly bent so that the distance between the leads becomes L3. Therefore, in order to narrow the distance between the leads of the lead wire 274a and the lead wire 276a from L2 to L3, even if the pair of gripping claws 250 are brought close to each other, the lead wire 274c and the lead wire 276c do not bend. The distance between the leads of the lead wire 274c and the lead wire 276c is maintained at L3.
  • the work heads 60 and 62 are examples of holders.
  • the gripping claw 80 is an example of a claw.
  • the axial component 190 is an example of a lead component.
  • the lead wire 198 is an example of a lead.
  • the gripping claw 250 is an example of a claw.
  • the lead component 270 is an example of a lead component.
  • the component body 272 is an example of the component body. Lead wires 274 and 276 are examples of leads.
  • the present invention is not limited to the above-mentioned examples, and can be carried out in various modes with various changes and improvements based on the knowledge of those skilled in the art.
  • the present invention is applied to work heads 60 and 62 for holding axial parts 190 or lead parts 270, but to work heads 60 and 62 for holding lead parts such as radial parts.
  • the present invention may be applied.
  • the present invention is applied to the work heads 60 and 62, but the present invention can be applied to various devices as long as the device can hold parts by a plurality of claws. be.
  • the present invention can be applied to, for example, a robot hand, a chuck, and the like. Since the chuck and the like are usually attached to and detached from the work head, when the present invention is applied to the chuck and the like, a drive source for moving the pair of gripping claws 80 and 250 is arranged on the work head. .. That is, the holder of the present invention may or may not be provided with a drive source for moving the pair of gripping claws 80, 250.
  • the parts camera 28 that captures the tip of the lead wire by irradiating the tip of the lead wire with a laser beam that is parallel to the tip of the lead wire from the side of the lead wire is adopted.
  • An imaging device that images the tip of the lead wire by irradiating the tip of the lead wire with light may be adopted.
  • the gripping claws 80 and 250 may grip the tip of the lead wire of the lead component. That is, the tip of the lead wire of the lead component gripped by the gripping claws 80 and 250 does not have to be exposed from the viewpoint from the side.
  • the lead wire of the lead component may be straightened with the lead component placed, for example, with the lead wire of the lead component in contact with a certain place, or held by a holder and installed elsewhere. You may go without. At this time, for example, by correcting the lead wire in a state where the lead wire is in contact with a certain portion, when the lead component 270 is gripped by the pair of gripping claws 250, the four lead wires 274 and 276 Even when the outermost lead wire is contacted and gripped, the parts can be stably straightened.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

Un support est pourvu d'une pluralité de griffes pour maintenir une pluralité de fils d'un composant conducteur, la pluralité de fils étant corrigés par commande des positions de la pluralité de griffes sur la base de données d'image de la pluralité de fils maintenus par la pluralité de griffes.
PCT/JP2020/007221 2020-02-21 2020-02-21 Support WO2021166248A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61231800A (ja) * 1985-04-05 1986-10-16 松下電器産業株式会社 可変ストロ−クハンド装置
JPH0399500A (ja) * 1989-09-12 1991-04-24 Fujitsu Ltd リード付部品の実装方法
JPH07263896A (ja) * 1994-03-25 1995-10-13 Mitsubishi Electric Corp リード矯正装置
JPH08330795A (ja) * 1995-06-05 1996-12-13 Sony Corp リード付き部品の装着装置
WO2017068682A1 (fr) * 2015-10-22 2017-04-27 富士機械製造株式会社 Système de conduite de travail sur un substrat et procédé d'insertion

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61231800A (ja) * 1985-04-05 1986-10-16 松下電器産業株式会社 可変ストロ−クハンド装置
JPH0399500A (ja) * 1989-09-12 1991-04-24 Fujitsu Ltd リード付部品の実装方法
JPH07263896A (ja) * 1994-03-25 1995-10-13 Mitsubishi Electric Corp リード矯正装置
JPH08330795A (ja) * 1995-06-05 1996-12-13 Sony Corp リード付き部品の装着装置
WO2017068682A1 (fr) * 2015-10-22 2017-04-27 富士機械製造株式会社 Système de conduite de travail sur un substrat et procédé d'insertion

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JP7182746B2 (ja) 2022-12-02
JPWO2021166248A1 (fr) 2021-08-26

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