JPS641262B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a hand portion of an assembly robot that automatically inserts an IC into a through hole of a printed circuit board.

B. Prior art In order to save labor and improve productivity in mounting DIP (Dual Inline Package) type ICs (hereinafter simply referred to as ICs) on printed circuit boards, as shown in Figure 1, assembly robots have been developed in recent years. are being widely adopted. This type of assembly robot has a hand section that moves under automatic control in the three-dimensional directions of XYZ, and this hand section picks up the IC1 from the supply device, carries it to the mounting position on the printed circuit board, and carries it to the mounting position on the printed circuit board.
The IC lead 1a is automatically inserted into the through hole of the printed circuit board.

A particularly important point in the operation of the hand section is that the IC1 mounting operation can be carried out reliably. i.e.
If the IC lead 1a is bent or the timing of supply is off, an insertion/fixation failure occurs in which the IC 1 is not mounted in the through hole of the printed circuit board, resulting in a significant drop in production efficiency and a delay in the introduction of assembly robots. effect cannot be obtained.

C. Purpose of the Invention The present invention provides a means for detecting whether an IC has been chucked and a means for detecting whether the chucked IC has been inserted into a through hole of the printed circuit board, in the hand portion of an assembly robot that mounts an IC on a printed circuit board. By providing this, the operation of the hand section can be monitored, and if mounting fails, a new IC can be checked and the mounting operation can be performed again.
The purpose is to ensure reliable implementation.

D. Structure of the Invention The present invention includes a chuck holder that moves in the three-dimensional directions of XYZ, a fixed chuck that protrudes from the bottom of the chuck holder and has a pair of opposing gripping surfaces into which IC leads are fitted, and a chuck holder that moves up and down. a rod that is freely inserted and has a cam surface of a predetermined shape formed on a part of the outer surface; and a rod that is fixedly attached to the tip of the rod and inserted into the fixed chuck.
A pusher for pushing an IC, a pair of lead guide levers that are pivotally supported by the chuck holder at both outer positions of the fixed chuck and that regulate the position of the IC lead held by the fixed chuck from the outside, and the lead guide lever. A cam follower attached to the rod and in contact with the cam surface of the rod, an elastic member that biases the lead guide pawl stretched between the lead guide levers in the opening direction, and a retractable protruding member provided at the bottom of the pusher. The device is characterized by comprising a first detection section that detects the presence or absence of an IC based on the movement of an IC presence/absence detection piece, and a second detection section that detects the insertion state of the IC by detecting the vertical movement position of the rod. do.

E. Embodiment The structure of an embodiment of the IC insertion robot hand 2 of the present invention will be described with reference to FIGS. 2 and 3. First, 3 is a chuck holder of the IC insertion robot hand 2 that is moved in the three-dimensional directions of XYZ by an assembly robot body (not shown), and 4 is a pair of opposing chucks that are drilled in the lower part of the chuck holder 2 and into which the IC leads are fitted. A fixed chuck 5 having gripping surfaces 4a, 4a is inserted into the chuck holder 3 so as to be movable up and down, and a rod 6 has a cam surface 5a of a predetermined shape that is continuous with concave, convex, and concave portions on a part of its outer surface.
7 is a pusher fixed to the tip of the rod 5 and inserted into the fixing chuck 4 for pushing the IC; 7 is a cylinder provided in the chuck holder 3 and houses a spin 7a for moving the rod 5 up and down; 8; , 8 are lead guide levers 8a, 8a which are pivotally supported on the chuck holder 3 via fulcrum pins 9, 9 at both outer positions of the fixed chuck 4.
is provided at the tip of the lead guide levers 8, 8,
A pair of lead guide claws for regulating the position of the IC leads held by the fixed chuck from the outside, 8
b, 8b are eccentric pins protruding from a part of the lead guide levers 8, 8; 8c, 8c are eccentric pins 8b;
a cam follower made of a ball bearing fitted to the rod 8b and abutting against the cam surface 5a of the rod 5;
Reference numeral 10 denotes an elastic member such as a spring, which is stretched between protrusions 8d fixed to a part of the lead guide levers 8, 8, and biases the lead guide claws 8a, 8a in the opening direction; 11, as shown in FIG. Pushya 6 as shown
An IC presence/absence detection piece 11b is attached to the lower end of a support rod 11a that is vertically movably inserted into a through hole 6a drilled on one side.
A shielding plate 11c is fixed at the upper end, and the chuck holder 3
An optical sensor 11d detects the presence or absence of the shielding plate 11c.
A bracket 12a extending from the rod 5 is a permanent magnet 1.
2b is fixed, and a permanent magnet 12 is attached to the chuck holder 3.
This is a second detection means constructed by fixing a magnetic sensor 12c facing the sensor b.

The operation of the IC insertion robot hand 2 will be explained with reference to FIGS. 4 to 8.

Initially, the robot hand 2 moves to a predetermined position of the chute end 13 to which the IC1 is supplied, as shown in FIG. 4, with the rod 5 raised in order to receive the IC1. At this time, the lead guide claws 8a, 8a at the tips of the lead guide levers 8, 8 are opened wider than the fixed chuck 4 because the cam followers 8c, 8c fit into the lower recesses of the cam surface 5a of the rod 5. Here, as shown in FIG. 5, the robot hand 2 is lowered by a predetermined length, and the IC 1 is fitted into the fixed chuck 4. At this time, IC1
The leads 1a, 1a on both sides of the lead are closed from a V-shaped open state to a substantially parallel state, and are held in the fixed chuck 4 by the repulsive force accompanying this opening. Here, the robot hand 2 is raised to lift the IC 1 from the chute terminal end 13, and the robot hand 2 is further moved to the IC insertion position on the printed circuit board for alignment. In this state, the cylinder 7 is driven to lower the rod 5. As it descends, the cam followers 8c, 8c ride on the convex part at the center of the cam surface 5a, as shown in FIG. The leads 1a, 1a on both sides are positioned so that they have the same dimensions as the spacing between the lead insertion holes of the printed circuit board. As the rod 5 further descends, the pusher 6 at the tip of the rod 5 comes into contact with the main body of the IC1, pushing the IC1 downward, as shown in FIG. At this time, the lead guide claws 8a, 8a are in a completely closed state, so the leads 1a, 1a of the IC 1 are connected to the through holes 14a, 14a of the printed circuit board 14.
Acts as a guide to be inserted into the Furthermore, Rod 5
When the IC 1 is lowered, the leads 1a, 1a of the IC 1 are inserted into the through holes 14a, 14a of the printed circuit board 14, and then the cam followers 8c, 8c are inserted into the guide surface 5 of the rod 5, as shown in FIG.
Enter the recess on the upper side of a, and insert the lead guide claw 8.
a, 8a open, pusher 6 is lead 1 of IC1
a, 1a through the through hole 14 of the printed circuit board 14
a, 14a to the final position. During this insertion operation, the through holes 14a, 14a themselves act as guides. After that, when the robot hand 2 is raised, the IC 1 is left on the printed circuit board 14 because the leads 1a, 1a try to spread in a V-shape due to their elasticity, and are caught in the through holes 14a, 14a. . The robot hand 2 raises its rod 5 and moves to the chute end 13 again to insert the next IC 1 into another position on the printed circuit board.

During the insertion operation, the first detection means 11 and the second detection means 11
The detection means 12 detects a malfunction and ensures reliable insertion by the following operation.

When the robot hand 2 checks the IC 1 on the chute terminal part 13, the first detection means 11 detects whether or not there is an IC there, and also detects a defective IC that cannot be inserted into the printed circuit board. When you go to a place to throw something away, there is a provision in place to make sure it is disposed of.

Whether or not there is an IC on the chute termination section 13 is checked in the state shown in FIG. In other words, if the IC1 is on the chute terminal end 13, the IC presence/absence detection piece 11b hits the main body of the IC1 and is pushed up, and the shielding plate 11c is moved above the detection position L of the photo sensor 11d, as shown in FIG. Since it moves and the photo sensor 11d outputs an output, it can be confirmed that IC1 is present. On the other hand, if there is no IC1, the IC presence/absence detection piece 11b moves down toward the shot terminal end 13, and the shielding plate 11c blocks the light from the photo sensor 11d, so that no output is produced. If there is no IC1, raise the robot hand 2 and attach it to the chute end 13.
After waiting until IC1 is sent, it starts checking again.

To check whether the defective IC1 has been discarded by the robot hand 2, check if the robot hand 2 is defective.
This is done when the pusher 6 is lowered as shown in FIG. 10 above the IC collection position. If the IC1 remains in the robot hand 2, the IC presence/absence detection piece 11c will be detected even though the pusher 6 is lowered.
It hits IC1 and does not descend. Therefore, the shielding plate 1
1b blocks the light from the photo sensor 11d, and the photo sensor 11d does not output any output. To confirm that the IC has been discarded, the IC presence/absence detection piece 11c is lowered in this state.
This occurs when the shielding plate 11b is lowered below the light detection position L of the photo sensor 11d and the photo sensor 11d outputs an output.

Note that the optical sensor 1 used as the first detection means 11
For 1d, other means such as a mechanical micro switch can also be used.

The second detection means 12 detects insertion failure by detecting the movement of the rod 5 when it is lowered above the insertion position of the printed circuit board.

That is, by appropriately setting the air pressure applied to the cylinder 7 that lowers the rod 5, when the leads 1a, 1a of the IC 1 do not enter the through hole and hit the printed circuit board 14 due to lead bending, etc.
Cylinder 7 to prevent pusher 6 from moving any further.
After the rod 5 starts its downward movement and a predetermined time elapses, for example 0.7 seconds, the upper and lower air chambers of the cylinder 7 are filled with air, and the rod 5
The driving force of the rod 5 is set to zero, and after the set time has elapsed, the position of the rod 5 is determined by the second test.
It is detected by the detection means 12 of. Second detection means 12
The magnetic sensor 12c generates an analog output e according to the position l of the opposing permanent magnet 12b, as shown in FIG. 12, and can detect the position of the rod 5 after the IC insertion operation. . If the insertion operation is performed normally, the pusher 6 reaches the position shown in the imaginary line in FIG. 11, and the permanent magnet 12b occupies the position A and generates an output a. Due to incorrect insertion, the pusher 6 stops at the solid line position in Figure 11, and the permanent magnet 12b
If it occupies the position of B, the output will be b,
Poor insertion is detected. In this case, the IC1 remains in the fixed chuck 4, so the robot hand 2 is moved to the defective IC recovery position, where this IC is discarded and a new IC is re-chucked.
Insert it again into the same position on the printed circuit board.
Note that the second detection means 12 can detect the position of the rod 5 over a wide range when a magnetic sensor 12c is used.
It is also possible to detect the retracted state where b occupies the position C in FIG. 11, and it can also be used to control the cylinder 7.

Note that the second detection means 12 is not limited to the one using the magnetic sensor 12c as in this embodiment, but may use another sensor, for example, a plurality of sets of light emitting/receiving elements.

F. Effects of the Invention The present invention includes a fixed chuck having parallel gripping surfaces facing each other, a pusher that moves up and down within the chuck, and a pusher that moves in conjunction with the pusher from both outsides of the fixed chuck.
A robot hand with a lead guide arm that regulates the position of the IC leads is used to chuck the IC and insert it into the through-hole of the printed circuit board, making it possible to automatically insert the IC at high speed. The production efficiency of the electronic equipment used can be improved. In particular, the robot hand of the present invention is
The first step is to detect the presence or absence of ICs and confirm the discharge of defective ICs.
and a second detection means capable of detecting faulty IC insertion into the printed circuit board, and when the robot hand does not operate normally, it can perform repair actions such as ejecting and re-inserting the faulty IC. This ensures reliable IC insertion and provides a highly reliable assembly robot. Therefore, by eliminating the problem of IC insertion failure on the printed circuit board,
It is possible to significantly reduce the labor involved in manual inspections and improve production efficiency.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a DIP type IC, FIGS. 2 and 3 are front views and side sectional views showing one embodiment of the present invention, and FIGS. 4 to 8 are each an embodiment of the present invention. 9 is a side sectional view illustrating the detection operation of the first detection means when the IC is turned on,
FIG. 10 is a side view illustrating the detection operation of the first detection means when IC is discarded, FIG. 11 is a side view illustrating the operation of the second detection means, and FIG. 12 is a side view illustrating the operation of the second detection means. FIG. 3 is a diagram showing output characteristics of a take sensor. 1... IC, 2... Robot hand, 3... Chuck holder, 4... Fixed chuck, 5... Rod, 6... Pusher, 7... Cylinder, 8... Lead guide lever, 8a... Lead guide claw , 8
c... Cam follower, 8d... Protrusion, 9... Fulcrum pin, 10... Elastic member, 11... First detection means, 12... Second detection means.

Claims (1)

[Claims] 1. A chuck holder that moves in the three-dimensional directions of XYZ, and a
A fixed chuck having a pair of opposing gripping surfaces into which an IC lead is fitted, a rod that is attached to the chuck holder so as to be movable up and down and has a cam surface of a predetermined shape formed on a part of the outer surface, and a fixed chuck that is fixed to the tip of the rod. installed and inserted into the fixed chuck above.
a pusher for pushing an IC; a pair of lead guide levers that are pivotally supported by the chuck holder at both outer positions of the fixed chuck and that regulate the position of the IC lead held by the fixed chuck from the outside; and the lead guide lever. A cam follower attached to the rod and in contact with the cam surface of the rod, an elastic member that biases the lead guide pawl stretched between the lead guide levers in the opening direction, and a retractable protruding member provided at the bottom of the pusher. A first detection part detects the presence or absence of an IC by the movement of the IC detection piece, and a first detection part detects the presence or absence of an IC by detecting the vertical movement position of the rod.
A robot hunt for IC, characterized in that it includes a second detection section that detects the insertion state of the IC.