JP3147276B2 - Component insertion device and component insertion method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component insertion device and a component insertion method for reinserting a component after an insertion error without inserting a component into a component to be inserted. It is about.

[0002]

2. Description of the Related Art Hitherto, various component insertion devices for inserting an electronic component or the like having a main body and a foot projecting from the main body into a mounting hole of a circuit board or the like have been developed. In such a component insertion device, the position of the electronic component with respect to the finger of the robot may shift the foot of the electronic component and the mounting hole of the circuit board, resulting in an insertion error. In this case, it is necessary to shift the position of the electronic component and reinsert it. As such a component insertion device having a component reinsertion function, for example, one disclosed in Japanese Patent Application Laid-Open No. 6-47690 is known. With this conventional component insertion device, when a sensor that detects whether or not insertion has been performed correctly detects that an insertion error has occurred, the finger holding the component is lifted as it is using a moving means such as a robot, and then horizontally moved. After a predetermined amount of movement in the direction, insertion is attempted again, and the above operation is repeated until normal insertion is achieved.

A similar device is disclosed in Japanese Patent Laid-Open No. 5-3 / 1993.
One such as disclosed in US Patent No. 18355 is known. This conventional apparatus includes a sensor for detecting whether or not insertion has been performed normally, a finger for gripping a part, an assembly robot for moving the finger, and a search for moving the assembly robot in the vicinity of the insertion position by a predetermined search method. An operation control device, and a controller having means for correcting the target insertion position data by performing statistical processing from the position information obtained by the search operation and the detection information as to whether or not the insertion has been normally performed. I have.

[0004]

However, in the former of the prior arts described above, there is no description of a method for performing reinsertion, and the component to be inserted interferes with members near the insertion position, which causes more serious problems. There is a possibility that an accident may occur in which a damaged component or inserted component is damaged.

[0005] Further, even if the parts are automatically reinserted, it takes a lot of time until the parts are correctly inserted.
The operation rate of the automatic machine is reduced, and the meaning of automatic recovery is lost.

[0006] In the former of the above-mentioned conventional example, there is no description of a solution for these two important items.

Further, in the latter of the above-mentioned conventional examples, a device has been proposed in which errors due to manual teaching of the robot are reduced and insertion errors are reduced, but the problem is described with reference to FIGS. 7 and 8. Will be explained.

FIG. 7 is a diagram showing a state in which a component is grasped from the pallet 3 by a claw 103 of a finger portion of a conventional robot and taken out. As shown in FIGS. 7A and 7B, the component 101 is stored in the shape hole of the pallet 3, but the pallet 3 is a pallet made of, for example, a high-foam resin with low processing accuracy. . Since the processing accuracy of the pallet 3 is poor, a large gap is created between the component 101 and the shape hole of the pallet 3 in the X and Y directions of FIGS. 7A and 7B.

The finger has a structure in which the part can be centered by the claw 103 at the center of the finger (Y direction in FIG. 7A). Even if the placement accuracy is poor (even if the play between the parts and the figure hole is large), the accuracy can be improved by the finger claws. However, in the X direction shown in FIG. 7B, the difference between the shape hole of the pallet 3 and the external dimensions of the component becomes the accuracy of taking out the component by the robot, and the accuracy is significantly worse than that in the Y direction.

A component 101 shown in FIGS. 7A and 7B is a transformer in this embodiment, and is a component 10 shown in FIG.
Reference numeral 2 denotes a board.
1 is inserted into the hole 112 of the substrate. FIG. 7 (a)
In this case, the positional accuracy of the feet of the transformer is high, and it can be inserted into the hole with high accuracy even when the transformer is inserted into the substrate shown in FIG.
However, as shown in FIG. 7B, the accuracy of the foot of the transformer in the X direction is a position Xp ′ (110) having an error compared to the virtual center Xp (109). In this state, as shown in FIG. 8 (b), when an attempt is made to insert into the board, Xd '(10) having an error from the hole position Xd (105) of the board.
The component is displaced in 6), so that it becomes impossible to insert (insertion error). (At this time, (Xp'-Xp) = (X
d'-Xd). In the former conventional example, the basic method of recovering this insertion error is described, but when it is actually applied, no specific method is described in terms of interference with peripheral parts and recovery time. .

The latter conventional method is a method of statistically obtaining the robot position in the state shown in FIG. 8B. However, when the accuracy of the pallet described above is poor (large backlash), the center where all pallets can be inserted is used. You cannot find points.

[0012] Accordingly, the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to re-insert a component in a short time without troublesome operation when an insertion error occurs. It is an object of the present invention to provide a component insertion device and a component insertion method that can be performed.

[0013]

Means for Solving the Problems The above-mentioned problems are solved,
In order to achieve the object, a component insertion device of the present invention includes a robot for gripping a workpiece with a pair of claws and inserting the workpiece into the inserted component, and inserting the workpiece into the inserted component by the robot. Detecting means for detecting whether or not the workpiece has been inserted normally; and setting in advance to move the workpiece to a position where it can be normally inserted when the detecting means detects that the workpiece has not been correctly inserted. Control means for sequentially moving the robot based on the obtained movement pattern, storage means for storing at which step of the movement pattern the workpiece was successfully inserted, and After repeating the insertion into the insertion part a plurality of times, based on the data stored in the storage means, there was a high probability that the work was successfully inserted normally. And a rearranging means for rearranging the order of the moving pattern so that the step is positioned above the moving pattern, wherein the moving pattern is set so as to move the pair of claws only in a direction perpendicular to the gripping direction. It is characterized by being done.

Further, the component insertion apparatus according to the present invention is characterized in that, in setting the movement pattern in advance, means for setting an order of the movement pattern and an operation area are further provided.

Further, according to the component insertion method of the present invention, a workpiece is gripped by a robot having a pair of claws for gripping the workpiece, and the workpiece is transported to a preset insertion position and inserted into the inserted component. And a second step of detecting whether or not the workpiece has been inserted normally when the robot inserts a workpiece into the inserted part.
And in the second step, when it is detected that the work has not been correctly inserted in the second step, in order to move the work to a position where the work is normally inserted, based on a preset movement pattern, A third step of moving the robot, a fourth step of storing in the storage means which step of the movement pattern has successfully inserted the workpiece, and a first step of moving the robot from the first to fourth steps. After repeating the process a plurality of times, based on the data stored in the storage means, based on the data stored in the storage means, the movement pattern so that the probability that the probability of successfully inserting the workpiece was high is positioned higher than the movement pattern Reorder the 5th
Wherein the movement pattern is set so as to move the pair of claws only in a direction perpendicular to the gripping direction.

Further, in the component insertion method according to the present invention, a step of setting the movement pattern in advance at the time of the first insertion operation of the work into the part to be inserted is provided before the first step. It is characterized by:

[0017]

As described above, since the component insertion device and the component insertion method according to the present invention are configured, when a workpiece is inserted into a component to be inserted by a robot, if the insertion fails, the robot is moved according to a preset operation pattern. Is moved and reinsertion is performed, and at which step in the operation pattern the reinsertion was successful is memorized, and the operation step having a high reinsertion success probability is placed at the top of the operation pattern. By rearranging, the robot quickly moves to a position where the probability of successful insertion is high while repeating the insertion operation, so that the time for the reinsertion operation can be reduced. Also, by limiting the operation pattern when performing the reinsertion operation to a direction orthogonal to the gripping direction of the pair of claws, that is, a direction in which the positional displacement between the claws and the component is considered to be large, unnecessary movement is reduced. , The re-insertion operation can be performed more quickly.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a diagram showing an entire configuration of an automatic assembling machine to which a component insertion device and a component insertion method according to an embodiment are applied. In FIG. 1, a robot 10 is disposed at a substantially central portion of the automatic assembling machine, and a hand 12 for gripping a workpiece is provided at a distal end thereof. Robot 10
A stocker 18 for supplying a pallet 16 containing the work 14 is provided on the left side in FIG. In this embodiment, the work 14 accommodated in the pallet 16
Is a transformer as shown in FIG. The printed circuit board 2 on which the transformer 14 is mounted is located on the near side of the robot 10 in the drawing.
A conveyor 22 for transporting the printed circuit board 0 is disposed. The conveyor 22 carries out the operation of transporting the printed circuit board 20 to the mounting position 24 and unloading the printed circuit board 20 on which the transformer 14 is mounted from the mounting position 24. An unillustrated positioning unit for positioning the printed circuit board 20 is disposed at the mounting position 24 located in the middle of the conveyor 10, and the printed circuit board 20 is accurately positioned at the mounting position 24 by the positioning unit. Known supply devices 26 and 28 such as a parts feeder, a tape feeder, and a stick feeder that supply various parts are arranged on the right side of the robot 10 in the drawing. Each component of the automatic assembling machine is controlled by a controller (not shown).

In the following explanation, the robot 10 supplies the transformer 14 supplied from the stocker 18 to the pallet 1
6 and inserted into the printed circuit board 20 positioned on the conveyor 22.

FIG. 2 is a side view of a main part of the automatic assembling machine as viewed from the side. 2, the robot 10 has transformers 14 in the X and Z directions shown in the figure, the S direction which is the rotation direction of the finger 36, and the Y direction which is the depth direction in the figure.
The finger 36 (including the claw 38 of the holding portion) holding the finger can be moved.

The conveyor 22 fixes the printed circuit board 20 in position. The cushion unit 32 is attached to the distal end of the robot, has a finger 36 connected to the other end, and has a sensor 34 for detecting when the transformer 14 cannot be inserted into the printed circuit board 20. When the transformer 14 cannot be inserted into the printed circuit board 20, the cushion unit 32
The finger 36 is elastically supported so that the finger 6 can move relative to the tip of the robot in the vertical direction. The electrical components of the robot 10, the conveyor 22, the sensor 34, the finger 36, and a supply device (not shown)
0, and the controller 40 performs all these controls. Further, an operation device 42 having a display for display and a keyboard for input is connected to the controller 40.

Next, how the insertion error of the transformer 14 is recovered in the automatic assembling machine configured as described above will be described with reference to FIGS.

First, the transformer 14 is operated by the robot 10.
Before insertion into the printed circuit board 20 of FIG.
An input table as shown in FIG. Here, -1 is input as the correction direction order. Numeral 1 indicates the X direction, and-indicates from the minus direction. If Y, enter 2 and add a sign. The reference So is the angle of the finger rotation axis at the tip of the robot. Further, the user inputs the range of movement in each direction and the amount of movement. In this example, L = ± 1.0
The range of mm is moved in increments of 0.5 mm. When the transformer 14 is mounted on a circuit board by rotating the transformer 14 by a predetermined angle Se, for example, the correction amount is X (i) = Lcos
(Se−So), Y (i) = Lsin (Se−So). In this example, since Se = 0 °, the correction order table is as shown in FIG. 3B. Here, the correction is performed only in the X direction, and the correction is not performed in the Y direction. As described above with reference to FIG. This is because it is considered that there is little displacement in the Y direction.

The values of such an input table are determined by the size of the transformer and the interference around the insertion position of the printed circuit board. In the present embodiment, as shown in FIG. 4, there is a capacitor that interferes on the plus side in the X direction.
If 4 is moved in the positive direction of X unnecessarily, it may collide with a capacitor and break the substrate. Therefore, the approach of reinsertion is performed from the negative side in the X direction.

In this way, based on the input table, the controller 40 creates a correction order table necessary for performing an insertion error recovery operation. FIG. 3B shows this correction order table, where i indicates the order, and X (i) and Y (i) are necessary to create the i-th insertion target position data of the robot 10. The amount of correction. Initially, this table is created only in the correction direction order (that is, moving the transformer 14 from the minus direction of X). FIG. 3B is an initial table in which a negative value in the X direction is entered at the beginning of the correction order, and the value in the Y direction is the same.
In this table, Q (i) for storing information on which correction position and how many times the insertion has become normal is prepared, and the initial values are all 0.

Next, an operation procedure for performing an actual insertion operation will be described with reference to flowcharts shown in FIGS.

In steps S1 to S13, the hand 12 of the robot 10 moves above the pallet 3 of the stocker 18 (steps S2 to S3), and the finger 36 holds the transformer 14 via the melon 38 (finger). Close) take out (Step S4 to Step S)
6) Insert the printed circuit board 20 on the conveyer 22 into the fixed printed circuit board 20 (step S8), detect the normal (sensor off) insertion by the sensor 34 (step S9 NO), and release the transformer 14 (step S1).
1) shows a series of operations in which the robot retreats to the sky (step S12). In other words, it represents a normal insertion operation that does not require a reinsertion operation.

On the other hand, steps S14 to S25
Represents the flow of the reinsertion operation.

If it is determined in step S9 that the sensor 34 has not been properly inserted, the process proceeds to step S14.
To the insertion error counter MIS in the controller 40.
Is incremented by one. In step S15, the operator is notified that the reinsertion operation is being performed by an alarm light (not shown) or the like. In step S16, the re-insertion correction counter is set to 1. In step S18, the value of the correction counter is checked for a value larger than a predetermined number of times (8 in this example), and if it is smaller, the process proceeds to step S19. In step S19, the operation device 42
The hand 12 is further raised by an amount H (the amount of elevation of the hand 12 in the Z-axis direction required to separate the transformer 14 from the printed circuit board 20) registered in an input table in the controller 40 in advance, and the transformer 14 is mounted on the printed circuit board. 2
Move away from 0. In step S20, the robot position data for reinsertion is calculated using the correction order table, and the hand 12 is moved to that position in the horizontal plane. For example, when the number of insertion errors MIS = 0, the correction order table is as shown in FIG.
(B), when the correction order is i = 1, the correction amounts X = −1.0 mm and Y = 0 mm, and the robot 10
The initial descent position data of (hand 12) is P4 = [X4
d, Y4d, Z4d, S4d], the new corrected sky position is [X4d + (-1.0), Y4d + (0), Z4d + H,
S4d]. Next, the process proceeds to step S21, where [X4d + (-1.0), Y4
d + (0), Z4d, S4d], and attempts to reinsert the transformer 14. Step S22
Then, it is confirmed again by the sensor 34 whether or not the insertion has been performed normally. If the insertion is not normal (sensor ON), the correction order i is increased by one, and the operations from step S17 to step S22 are performed again. However, the correction order exceeds 8 in step S18,
If the number becomes 9 or more, an error alarm lamp (not shown) is turned on in step S27. Then, step S28
Moves the hand 12 to the retreat position (the position above the Z direction), stops the operation of the robot in step S29, and waits for the operator to perform a return operation.

If the operations in steps S17 to S22 are performed and the normal insertion is performed, in step S23, the reinsertion frequency data Q (i) corresponding to the position order i in which the data was successfully inserted is added. 1 is added. For example, FIG.
In this state, if it is determined that normal insertion was possible with i = 1, Q (1)
= 1. Next, proceeding to step S24, the alarm output of reinsertion (retry) is stopped, and in step S25, the correction order table is changed. This change is made when reinserting N times. In this example, if N = 40, FIG.
3C is changed as a result of repeating reinsertion as shown in FIG. 3C. In step S25, since the correction direction of the input table is −1, the order of priority in the minus direction cannot be changed. ) Is negative and the frequency Q
Rearrange in order from the highest (i). Then X
By rearranging the values of (i) in the plus direction, the correction order table becomes as shown in FIG.

When step S25 is completed, step S1
Returning to 0, similarly to the normal insertion, the transformer is released from the finger in step S11, and in step S12, the hand 12 moves to the space P3 above the board, and the operation of inserting the transformer into the printed board is completed. As described above, in the present embodiment, in the first insertion, the robot moves to the insertion target position and performs an insertion operation, and if an insertion error occurs at this time, the set correction direction is changed. On the basis of the order and the area information, a new movement pattern for reinsertion is created and inserted. Further, it is determined whether or not the reinsertion operation has been performed normally. If the result is normal, if the result is not stored, the reinsertion operation is performed again in the set order or area of the correction direction. .
Further, the result of the reinsertion operation can be displayed on a display or the like.

As described above, in this embodiment, even if the re-insertion operation is performed, the operation of damaging the part to be inserted can be avoided by using the order of the correction direction and the area information set in advance by the input means. At the same time, the reinsertion operation can be performed efficiently.

Also, since the conditions under which reinsertion has been performed normally can be stored as a result, by rearranging the order in the order of higher frequency of occurrence, the recovery time for insertion errors can be reduced.

Further, since the normal first insertion and the reinsertion are operated separately, it is possible to prevent the occurrence of frequent insertion errors during the first insertion by changing the position data of the normal insertion.

As described above, according to the present embodiment: 1. At the time of reinsertion, only the direction of the component that cannot be corrected by the gripping operation is corrected, so that the operation rate can be efficiently improved.

2. Component damage due to interference between the inserted component and the inserted component can be prevented. For example, in the example of FIG. 4, re-insertion is attempted from a direction where there is no interference of the capacitor. Therefore, even if the transformer is shifted to the capacitor side, it can be inserted properly before collision.

2. Since re-insertion is performed sequentially from the position of the highest probability of successful re-insertion from the past data, the operation rate can be increased. For example, FIGS. 3C and 3D of the present embodiment.
5 and FIG. 6, the time of steps S1 to S12 in FIG.
Assuming that the time of 21 is 0.5 seconds, 1000 transformers are inserted, and reinsertion is performed 40 times, and the frequency is as shown in FIGS. 3C and 3D, the operation rate is 98.times. In the case of FIG. 0%, FIG.
In the case of (d), it was able to increase to 98.3%.

The present invention can be applied to a modification or a modification of the above embodiment without departing from the spirit of the invention.

For example, in the above-described embodiment, the case where the transformer is inserted into the printed circuit board has been described. However, the present invention is not limited to this, and any transformer can be inserted as long as one component is inserted into the other component. It is applicable to such a thing.

[0041]

As described above, according to the component insertion device and the component insertion method according to the present invention, when inserting a workpiece into a component to be inserted by a robot, if the insertion fails, a predetermined operation pattern is used. The robot is moved and reinserted, and at which step of the operation pattern the reinsertion was successful is memorized, and the operation step with the highest probability of successful reinsertion is placed at the top of the operation pattern. By rearranging,
As the insertion operation is repeated, the robot quickly moves to a position where the probability of successful insertion is high, so that the time for the reinsertion operation can be reduced. Further, by limiting the operation pattern when performing the reinsertion operation to a direction perpendicular to the gripping direction of the pair of claws, that is, a direction in which the positional deviation between the claws and the component is considered to be large, unnecessary movement is reduced. , The re-insertion operation can be performed more quickly.

[0042]

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a configuration of an automatic assembly machine to which a component insertion device and a component insertion method according to an embodiment are applied.

FIG. 2 is a side view of a main part of the automatic assembling machine.

FIG. 3 is a diagram showing an input table and a correction order table.

FIG. 4 is a diagram showing an interference state between an inserted part and an inserted part.

FIG. 5 is a flowchart showing the operation of the automatic assembling machine.

FIG. 6 is a flowchart showing the operation of the automatic assembly machine.

FIG. 7 is a diagram showing variation in the center position of the insertion part.

FIG. 8 is a diagram showing a state in which a transformer as an insertion part is gripped by finger claws;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Robot 12 Hand 14 Work 16 Pallet 18 Stocker 20 Circuit board 22 Conveyor 24 Mounting position 26,28 Supply device 32 Cushion unit 34 Sensor 36 Finger 38 Claw 40 Controller 42 Scanning device

Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) B25J 3/00-3/10 B25J 9/10-9/22 B25J 13/00-13/08 B25J 19/02-19 / 06

Claims (4)

(57) [Claims] 1. A robot for gripping a workpiece with a pair of claws and inserting the workpiece into an inserted component, and detecting whether or not the workpiece has been normally inserted when the robot inserts the workpiece into the inserted component. Detecting means, and when the detecting means detects that the work has not been properly inserted, in order to move the work to a position where it can be normally inserted, the robot is sequentially operated based on a preset movement pattern. Control means for moving; storage means for storing at which step of the movement pattern the work was successfully inserted; and insertion of the work into the part to be inserted was repeated a plurality of times. later, based on the data stored in the storage means, statistically steps probability was high that performed successfully insert the workpiece on top of the movement pattern Wherein to cause location
Comprising a recombinant means rearranging the order of the movement pattern, the movement pattern, component insertion device, characterized in that it is set to move only the pair of claws in a direction perpendicular to the gripping direction. 2. The component insertion apparatus according to claim 1, further comprising a unit for setting an order of the movement patterns and an operation area when setting the movement patterns in advance. 3. A first step of gripping a workpiece by a robot having a pair of claws for gripping the workpiece, transporting the workpiece to a preset insertion position, and inserting the workpiece into the inserted component. A second step of detecting whether or not the workpiece has been inserted correctly when the robot inserts the workpiece into the inserted component; and detecting that the workpiece has not been properly inserted in the second step. A third step of sequentially moving the robot based on a preset movement pattern in order to move the work to a position where the work can be normally inserted, A fourth step of storing in the storage means whether or not the insertion was successful; and after repeating the first to fourth steps a plurality of times, the fourth step is stored in the storage means. Based on the data, statistically the steps probability was high that performed successfully insert the workpiece
A fifth step of rearranging the order of the moving pattern so as to be positioned at a higher position in the moving pattern, wherein the moving pattern moves the pair of claws only in a direction perpendicular to the gripping direction. A component insertion method characterized by being set so as to be performed. 4. The method according to claim 3, wherein a step of setting the movement pattern in advance is provided before the first step at the time of a first insertion operation of the workpiece into the inserted part. The described component insertion method.