JPH0722236B2 - Electronic component insertion device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for inserting various electronic components into a printed circuit board, and more particularly to an electronic component insertion device suitable for inserting odd-shaped components such as coils and connectors. .

[Conventional technology]

As a conventional device, a modular device is provided as described in JP-A-57-199296. However, the above-mentioned component has many leads, there are many lead bends and lead position deviations, and there is a problem that many insertion defects occur in the method of simply grasping and inserting the body of the component.

[Problems to be solved by the invention]

The above-mentioned conventional technology does not consider the alignment between the board hole and the lead for a component having a lead that is flexible and easily bent, or a component in which the position of the lead deviates from the outer shape of the component, resulting in defective insertion. was there. In addition, when the insertion failure occurred, the machine had to be stopped and the operator had to restore the machine, so that the fully automatic operation could not be performed. Furthermore, since the component mounting head and the connecting frame of the shaft for moving the anvil head to the entire board insertion range move, the work area becomes large and the device installation area becomes large.

An object of the present invention is to solve the above-mentioned drawbacks of the prior art, and to provide a small-sized device having high insertion reliability and high productivity.

[Means for solving problems]

In order to improve the insertion reliability, in the component supply unit, the leads are straightened, the lead tip positions are aligned, and if necessary, the lead tips are V-cut to improve the compatibility with the board holes. For parts to be inserted by gripping the body of the part, when gripping the part body with the insertion head chuck,
It is gripped by the lead board and absorbs the deviation between the component body and the lead position. For parts such as DIPIC where the lead is outside the part body, position the lead tip by guiding it with a Y-shaped groove. When the insertion is defective, the defective components are removed and the reinsertion operation is performed. Therefore, defective insertion is detected in the component insertion process, and the defective component is discharged to the discharge station without releasing the grip of the component. Then, reinsertion is performed with new parts. When detecting defective insertion, no excessive load is applied to the leads to prevent component damage. In order to miniaturize the device, the insertion head and the clinch are configured so that they can be moved by being guided by the guide rails. By the above, the said objective is achieved.

[Action]

For a component to be inserted by gripping the body of the component, in order to absorb the error between the outer shape of the component and the lead position, the lead is positioned and fixed by the component delivery unit to the insertion head of the component supply unit, and in that state, The insertion head is lowered to grip the component body, and at this time, the chuck of the insertion head is floated by the thrust type air bearing structure. Hold the body of the component with the chuck in a floating state. Then, the chuck shifts by the amount of deviation between the component outer shape and the lead position. After that, the floating state of the chuck is stopped and the chuck is fixed. This allows the component to be gripped on the basis of the lead. After that, the fixing of the leads is released, the insertion head rises, and the leads are moved onto the printed board and inserted. As described above, it is possible to absorb the positional deviation of the lead and the external shape of the component. For components such as DIPIC, which have flexible leads and are formed outside the component body, first spread the leads with a comb-shaped straightening die in which the lead bends are formed at regular pitches between the leads. Align the directions. Next, the tip of the lead is V-cut to facilitate entry into the board hole. The lead of the component thus corrected and V-cut is grasped by the chuck of the insertion head.
At this time, a Y-shaped groove is formed in the chuck, and the lead is guided and positioned along the groove. At this time, the flexible lead can be accurately positioned in the chuck groove by guiding the lead into the chuck groove from the axial direction of the lead tip, which is hard to bend.

For a component that is inserted by chucking the component body, the lead is not inserted into the substrate hole when the component is inserted by lowering the insertion head, and the lowering of the chuck stops. And determine the relative position of the insertion head. In addition, for the component for chucking the lead, the insertion height of the component is detected after the insertion and the determination is made.

Further, in order to downsize the device, an insertion head and a Y-axis frame that allows the clinch to be guided by a guide rail are mounted on the X-axis table, and by this, only the insertion head and the clinch can be moved.

〔Example〕

Hereinafter, an electronic component inserting machine according to the present invention will be described with reference to FIGS.
This will be specifically described with reference to the drawings. As shown in FIG. 1 to FIG. 3, the electronic component inserting machine includes a frame A, an X-direction positioning unit B, a Y-direction positioning unit C, a board transfer rail D, an insertion head E, E ′ clinch F, and a component supply unit G. , G'parts storage part H, lead straightening part J, lead tip cutting part K, parts delivery part L, L '
It consists of

The lead straightening section J is shown in FIGS. 4 to 10. Parts 50
(Dial inline package IC) is straightening type 703,704
Supplied and positioned on top. The straightening molds 703 and 704 are formed with comb-shaped projections 705 that engage with the pitch of the leads 51. The bent lead 53 is straightened by the protrusion 705 by moving the straightening dies 703 and 704 in the arrow direction 707. Base 710
A guide 711 is fixed on the top, and guide pieces 712 and 713 are slidable. Correction molds 703 and 704 are fixed to the guide pieces 712 and 713. Further, drive pieces 714, 715 are fixed to the lower portions of the guide pieces 712, 713. Links 716,717 are pins on the driving pieces 714,715
It is rotatably connected by 718 and 719. Link 716,7
The other end of 17 is rotatably connected to a cylinder block 720 by a pin 721. The cylinder block 720 is attached and fixed to the thin lid 722. The cylinder 722 is attached to columns 723 and 724 fixed to the base 710. The cylinder block 720 is prevented from rotating by pins 725 and 726 that can be fixed to the columns 723 and 724. With such a structure, when the cylinder 722 is driven, the straightening mold reciprocates. This bends the lead 53
To correct. On the other hand, the component is continuously supplied from the component storage portion H by sliding on the rail 727 on the lower surface of the component. Rail 727
Parts guides 728 and 729 are provided above. Further, there is an inverted L-shaped bracket 730 fixed to the base 710.
A cylinder 732 having a component stopper pin 731 attached to the rod tip is fixed to the bracket 730. Further, the cylinder 733 is fixed to the bracket 730, and the L-shaped stopper 73
Drive 4 U-shaped guide 735 for stopping rotation of stopper 734
Is fixed to the bracket 730. With the above configuration, the component 50 supplied from the component housing H is positioned by the stopper pin 731. When the cylinder 722 is driven and the lead straightening is completed, the stopper pin 731 is lifted and the component 5
Flow 0 to the next step. Next, the stopper pin 731 is lowered, the cylinder 733 is driven to raise the stopper 734, and the next component is flown to the correction position.

As shown in FIGS. 11 to 16, the lead tip cutting portion K cuts the lead 51 shown in FIG. 5 into a V shape like the tip of the lead 51 shown in FIG. Part 50 is a cutter die 801
It is slid on the rail portion 802 and is transported and positioned on the cutter portion. The cutter die 801 is fixed to the cutter base 803. The cutter die 801 is based on the cutters 804 and 805
It is slidably guided with 803. Links 806, 807 are rotatably attached to cutters 804, 805 by pins 808, 809. The other ends of links 806, 807 are cylinder blocks 810, 811.
Is rotatably attached by means of pins 814 and 815 together with links 812 and 813. The links 812 and 813 are rotatably attached to bearings 816 and 817 provided on the cutter base 803 by pins 818 and 819. Cylinder block 810,811 is cylinder 82
It is fixed to 0,821 rods 822,823. Cylinder 820,
821 is fixed to a U-shaped cylinder bracket 824 attached to the cutter base 803. The cutter die 801 has a convex V-shape, and the cutters 804 and 805 have a concave V-shape. With the above configuration, when the cylinders 820 and 821 are driven, the cutters 804 and 805 operate by the link mechanism, and the tips of the leads 51 are cut into a V shape by the cutter die 801. The component housing H is shown in FIGS. 17 to 24. parts
50 is stored in a stick-shaped magazine 54. A plurality of stick magazines 54 are stored in the cassette case 601, and the stick magazines 54 are set as a unit in the storage section. The cassette case 601 has pins 602 that support the magazine 54,
It is secured by a split pin 603. After setting the cassette case in the storage part, remove the split pin 603 and
And the magazines 54 are sequentially supplied. Cassette case
The 601 is guided and positioned by the case guides 604 and 605.
The cassette case 601 is a stepped portion 606,60 of the case guide 604,605.
Receive at 6 '. The bottom of the magazine 54 is the magazine receiving L
Supported by metal fittings 607 and 608. L metal fittings 607 and 608 are levers 609,
It is fixed at 610. The levers 609 and 610 are rotatably attached to the inverted L-shaped brackets 611 and 612 by pins 613 and 613 '. A rotatable link 615 is connected to one end of the levers 609 and 610 by a pin 614, and the link 615 is pivotally connected to a joint 618 fixed to a cylinder rod 617 by a pin 616. The cylinders 619 and 620 are fixed to the brackets 611 and 612. U-shaped brackets 621 and 622 are attached to the case guides 604 and 605, and cylinders 623 and 624 are fixed. Further, stop levers 625 and 626 are rotatably attached to the brackets 621 and 622 by pins 627 and 628. In addition, the adjustment stoppers 629,6 are attached to the brackets 621,622.
30 is screwed. The case guides 604, 605 and the brackets 611, 612 are attached to the supply base 500. A rail base 501 is fixed to the supply base 500, and a rail 727 is fixed thereon. With the above configuration, the cassette case 601 containing the magazine 54 can be attached to the case guide 6
When set to 04,605, the split pin 603 of the cassette case is removed, and the pin 602 is removed, the magazine 54 descends and is set on the L metal fittings 607,608. At this time, the cylinders 623 and 624 are driven and the stop levers 625 and 626 are operated in the arrow direction 645. Then, from the magazine 54, the component 50 is moved to the rail 72.
7 Slide up. When there are no parts 50 in the magazine 54,
The cylinders 619 and 620 are operated, the L metal fittings 607 and 608 are rotated, and the empty magazine 54 is ejected. At this time, the stop lever 625 is operated in the direction opposite to the arrow 645 to support the upper magazine 54 as shown in FIG. As a result, the component 50 is delivered from the component storage unit H. The component supply unit G receives the component 50 from the component storage unit H and conveys it to the component delivery unit L.

The rotating unit base 510 is attached to the supply base 500.
C-shaped lever that can be rotated with a pin 511 on the rotating part base 510
512 are connected. A stop lever 514 in which a slot is formed at the tip of the lever 512 and a pin 513 is loosely engaged is guided by a link holder 515 and a lid 516 so as to be vertically slidable.

A spring hook 517 is embedded in the link holder 515. On the other hand, a spring lever 518 is embedded in the stop lever 514. A tension spring 519 is hung on both spring hooks. The link holder 515 is fixed to the rotary unit base 510. The link holder 515 can be rotated with the pin 520. The rotation block 521
Is installed. Parts guide 5 for rotating block 521
22,523 is fixed. Furthermore, a joint 525 that can be rotated by a pin 524 is attached to the bottom of the rotation block 521,
The rod 527 of the cylinder 526 is screwed into the joint 525. The rod 527 is passed through the U-shaped gap portion of the lever 512. Further, the R portion of the joint 525 is in contact with the lever 512. The cylinder 526 is fixed to the supply base 500. It is rotatably attached to the cylinder bracket 528 with a pin 529. With the above configuration, when the cylinder 526 is operated, the rotation block 521 is tilted and horizontally operated. Along with that, the stop lever 514 also moves up and down. When the rotation block 521 is tilted, the stop lever 514 rises and serves as a stopper for the component 50. Therefore, when receiving the component 50 after straightening the lead, raise the cylinder rod 527 and move the component 50 with the rotary block 521.
To receive. When the cylinder rod 527 is lowered after receiving,
The rotating block 521 becomes horizontal and the stop lever 514 descends to send the component 50 to the next process. Next, component feeding will be described.

The feed frame 530 is fixed to the supply base 500. A rail 531, a stopper plate 532, and a cylinder bracket 533 are attached to the feed frame 530. A cylinder 506 having a piece 535 attached to the tip of a rod 534 is fixed to the cylinder bracket 533. There is a beam frame 536 associated with the piece 535 and a T-slot. Beam frame 5
A linear guide 537 is fixed to 36 and can slide on the rail 531. The beam frame 536 has a cylinder 538.
Is attached, and a piece 540 is provided at the tip of the rod 539 and is combined with the T groove of the upper and lower blocks 541. The upper and lower blocks 541 are slidably engaged with the upper and lower rails 542. The upper and lower rails 542 are fixed to the beam frame 536. Square holes are formed in the upper and lower blocks 541, and a slide bar 543 is slidably engaged therewith. And a rotatable cam follower 544 is attached to the slide bar 543,
The feed beam 545 is fixed to the other end. Further, a spring hooking pin 546 is embedded and a tension spring 547 is hooked. The other end of the tension spring 547 is hooked on a spring hooking pin 548 embedded in the upper and lower blocks 541. Cam follower 544
Is in contact with a cam 549 attached to the beam frame 536. Push plate 550 is part 50 of the feed beam 545.
The feed pitch is fixed. With the above configuration, when the cylinder 538 is driven and the rod 539 is lowered,
The push plate 550 descends and further advances slightly along the inclination of the cam 549. When the cylinder 536 is driven in this state and the rod 534 is moved forward, the rear portion of the component 50 is pushed by the push plate 550, and the component 50 is conveyed to the delivery section L.
By repeating the operations of the cylinders 506 and 538 as described above, the parts are sequentially conveyed. The component 50 slides on the component rail 551.
The component rail 551 is attached to a base 552 fixed to the supply base 500.

Depending on the shape of the parts to be inserted, the magazine as shown in Fig. 30.
There is a component 57 in which the lead 56 is housed with the lead 56 in a horizontal direction. Therefore, in order to make the lead 56 face the substrate 40, it is necessary to invert the component 57 as shown by the arrow. The component supply unit G'of such a component will be described.

The component supply G'is shown in FIGS. Supply base
Guide rails 560 are arranged on 500 'for slidingly receiving components 57 from magazine 55. Guide rail 560 has a lid 561
Is fixed. Further, the bracket 562 is fixed. The cylinder 563 is fixed to the bracket 562 and the rod 56
A presser pin 565 slidably engaged with 4 is attached. The holding pin 565 is inserted into the slot 566 through the pin 567 fixed to the rod 564. A compression spring 568 is incorporated between the rod 564 and the presser pin 565. An L-shaped stopper 568 is fixed to the guide rail 560. The cylinder bracket 570 is attached to the supply base 500 ′, and the rotary cylinder 571
To fix. A bevel gear 573 is attached to the rod 572 of the rotary cylinder 571 and meshes with the bevel gear 574. The bevel gear 574 is a U-shaped bearing 575 fixed to the supply base 500 ′.
Fixed to a shaft 576 that rotatably engages with.
A 90 ° conversion block 577 is fixed to the shaft 576. A lid 578 is fixed to the conversion block 577 to form an opening through which the component 57 passes. With the above configuration, the magazine 55
The parts 57 supplied from the guide rail 560 are guided to L
It is sent to the position of the shape stopper 568. At this time, the conversion block 577 operates the rotary cylinder 571, and the guide rail 56
It has rotated from 0 to the position to receive the part 57. Therefore part 5
7 is housed in the opening formed by the conversion block 577 and the lid 578. In this state, the component 57 that is continuously supplied is replaced with the component 57 that is one component after the component 57 that has been accommodated in the opening.
And press it with the presser pin 565. Then, by operating the rotary cylinder 571 and rotating the bevel gear 573, the conversion block 577 rotates and the posture of the component 57 is converted. After conversion, the rotation of the rotation block 579 is stopped in the direction of arrow 580 by the operation of the cylinder 526 ', and the part 57 is received. Rotate in 581 direction after receiving Block 5
When 79 is operated, the component 57 becomes horizontal as shown in FIG.
After that, the cylinders 538 'and 506' are operated, and the parts supply unit G
Similarly to the above, the component 57 is conveyed to the delivery section L '. A parts guide 582 is fixed to the rotation block 579. The part 57 slides on the part rail 551 '. The component rail 551 'is attached to a base 552' fixed to the supply base 500.

The parts transfer section L is shown in FIGS. 25 and 27. A guide pin 900 is slidably attached to the base 552. The guide pin 900 is fixed to the positioning rail 901. A compression spring 903 is arranged with the guide pin 900 as a guide. base
There is a stop screw 904 in 552, which serves as a stopper for lowering the positioning rail 901. The positioning rail 901 has a protrusion 905,
There is a hole 906 for vacuuming the component 50 and a hose 907 is fixed to the bottom. With the above configuration, the component 50 conveyed by the component supply unit G hits the protrusion 905 and is then positioned and fixed by vacuum suction.

The parts transfer section L'is shown in FIGS. 37 to 40. Guide bars 920 and 921 are fixed to the parts rail 551 ′ and clamp plate
Guide the 922 slidably. A plate 923 is fixed to one end of the guide bars 920 and 921. A cylinder 924 and stopper screws 925 and 926 are fixed to the plate 923. In addition, a compression spring 92 is provided between the component rail 551 ′ and the clamp plate 922.
7,928 are installed. Further, a stopper 929 for positioning the lead 56 is fixed to the component rail 551 '.
With such a configuration, when the cylinder 924 is driven and the rod 930 is moved forward, the clamp plate 922 is pushed, and as a result, the lead 56 is positioned and fixed.

The insertion head E is shown in FIGS. 41 to 44, and the lead 51 of the component 50 is positioned and chucked to lead the hole 31 of the substrate 30.
Insert 51. The chuck 300 is rotatably supported by the fulcrum pin 301. The fulcrum pin 301 is attached to the box 302. The chuck 300 is housed in the square hole 302a of the box 302. A pin 303 is attached to the upper end of the chuck 300, and a roller 304 is rotatably attached. A compression spring 30 that presses the roller 304 against the cam 305.
6 is mounted between the chuck 300 and the box 302. The cam 305 is attached to the piston 307. Box 302 is attached to rotating block 308
Has a cylindrical bore 309 that engages a piston 307 to form a cylinder. Therefore, the piston 16 reciprocates up and down by alternately injecting air pressure from the arrows 310 and 311. Then, since the cam 305 moves up and down, the chuck 300 rotates about the fulcrum pin 301 as a fulcrum. The cam 305 descends to grip the leads 51, and the pitch P between the leads at that time is determined by the adjusting screw 312.
Adjust by.

The rotating block 308 has a flange 314 fixed to the upper portion thereof and is rotatably supported by the upper and lower blocks 313. Upper and lower block 3
13 has a cylindrical bore 315 that engages piston 316 to form a cylinder. A lid 347 is attached to the upper part of the cylindrical hole.
The piston 316 is fixed to the vertical guide support 317.
The vertical guide support 317 is attached to the Y-direction positioning unit C. A guide bar 318 is fixed to the vertical guide support 317, and the guide bar 318 and the vertical block 313 are slidably combined. Therefore, by alternately injecting air pressure from the arrows 319 and 320, the upper and lower blocks 313 move up and down, and as a result, the component 50 can be lowered toward the substrate 30, and the chuck can be raised after further insertion. A rack guide 321 is fixed to the upper and lower blocks 313 and guides the rack 322. Rack 322 is bracket 323 mounted on vertical guide support 317
It is connected and fixed to a rod 325 of a cylinder 324 which is fixed to. The rack 322 meshes with a pinion portion 326 formed on the upper part of the rotation block 308. When the cylinder 324 is operated with the above configuration, the rack 322 reciprocates and the rotation block 308 rotates. This causes the component 50 to rotate.
As for the amount of rotation, the stroke of the cylinder 324 is regulated so as to rotate 90 °, and the substrate 30 can be inserted at 0 ° and 90 °.

Further, a bracket 327 is attached to the upper and lower blocks 313. A pusher cylinder 328 is attached to the bracket 327. Piston rod 3 of pusher cylinder 328
A block 330 is attached to 29. A shock absorber 331 is attached to the block 330, a cap 333 is attached to the tip of the rod 332, and the block 330 abuts against a stopper 334 protruding from a bracket 327. The block 330 has a T-shaped hole 335 formed therein. The T-shaped hole 335 incorporates a rod 337 having a collar 336 for preventing the fitting and lowering. Washers 338 and 339 are incorporated in the rod 337, and the washer 339 is supported by the nut 340. A spring 341 is incorporated between the washers 338 and 339. The rod 337 has a pusher block 342 attached at its tip through holes formed in the rotation block 308, the piston 307, and the cam 305. A proximity sensor 343 is attached to the block 330. Chuck 3 from the above configuration
At 00, the lead 51 of the electronic component 50 is chucked in a state of slightly protruding from the tip of the chuck 300, and air pressure is flown in from the arrow 320 to descend toward the substrate 30 and be inserted. After that, when air pressure is introduced from the arrow 344 and the piston rod 329 is lowered, the block 330 is lowered by the shock absorber 331 at a substantially constant speed, so that the rod 337 starts to lower. In this state, the gap L between the block 330 and the upper surface of the collar 336 is maintained. As the descent continues, the busher block 342 comes into contact with the component 50, and when it goes down further, the gap L contracts and the block 330 and the collar 336 abut.

The pressing force to the component 50 while maintaining the clearance L is the spring 341.
Depends on the strength of. The spring 341 has a spring force weaker than the buckling strength of each lead 51. Therefore, by the time the brim 336 hits the block 330, the lead 51 of the component 50
Never bend. However, since a stronger pressing force is required for insertion, when the brim 336 hits the block 330 as a result, the force required for insertion is applied by pressing with the force obtained by subtracting the resistance of the shock absorber 331 from the descending force of the cylinder 328. obtain.

A pin 345 is fixed to the block 330 and is guided by the hole 346 of the bracket 327 to prevent the block 330 from rotating.

In addition, the vertical guide support 317 has a shock absorber 348.
Is fixed, and when the upper and lower blocks 313 descend, just before the leads 51 reach the upper surface of the substrate 31, the hole bottom 3 of the upper and lower blocks 313 is fixed.
46 and the head 349 of the shock absorber 348 collide with each other, and the cushion works.

As a result, the flexible lead will not be damaged when it comes into contact with the wall of the hole during insertion, or when the insertion is defective.

The insertion head E'shown in FIGS. 45 to 49 is applied to the case of inserting a component having a shape in which the lead 56 is extended downward from the component body like the component 57. Chuck
350 is fixed to the slide block 351. The slide block 351 is slidably guided by a guide bar 352. One end of a pin 353 is embedded in the slide block 351, and a roller 354 is rotatably attached to the other end.
The roller 354 is in contact with the chuck cam 355 by a compression spring 356. The chuck cam 355 is fixed to the piston 359 of the cylinder 358 of the chuck holder 357. Cylinder 358
The lower opening of is closed with a lid 360. The piston 359 is biased upward by a compression spring 361. With such a structure, when air pressure is introduced from the air pressure intake port 362, the piston 359 descends, thereby closing the chuck 350, and when the inflow of air pressure is stopped, the compression spring 361 raises the piston 359 to compress the chuck 350. Open with spring 356. The chuck holder 357 is guided by the chuck box 363 by the guide bar 364 and is vertically movable. Guide bar 36
Both ends of the chuck 4 are supported by a chuck box 363 and a plate 366 that is fixed to the legs 365 of the chuck box 363. Chuck holder 3
A hole 367 is formed in 57 and a compression spring 368 is incorporated therein.
The load of the compression spring 368 is approximately the same as the weight of the chuck 350 and the like incorporated in the chuck holder 357. A cylinder 369 is screwed and fixed to the chuck box 363. By operating the cylinder 369, the tip rod 370
Can hold the collar of the chuck holder 357.
Further, the proximity sensor 371 is fixed to the chuck box 363, and the sensor dog 372 is fixed to the chuck holder 357, and when the chuck holder 357 moves upward, it can be detected. A flange 373 is fixed to the upper part of the chuck box 363. The flange 373 is sandwiched by the lower plate 374, the intermediate plate 375, and the upper plate 376 to form an air thrust bearing. An air pressure inlet 377 and an air passage 378 are circumferentially formed in the lower plate 374, and a nozzle 379 is formed at an appropriate position. Similarly, the upper plate 376 also has an air intake port 380 and an air passage 38.
1. The nozzle 382 is formed at an appropriate place. Further, a pneumatic exhaust port 383 is formed at an appropriate position on the intermediate plate 375. With such a structure, when compressed air flows in from the air pressure intake ports 377 and 380, it becomes an air thrust bearing, and the entire chuck forming part attached to the flange 373 floats. Flange 373 has holes 384, bottom plate
A pin 385 embedded in 374 engages. As a result, the planar movement of the chuck component is regulated more than necessary. The upper plate 376 is fixed to the rotating block 398 '. A clamp cylinder 386 is formed on the rotating block 308 '.
When the piston 387 is operated, the flange 375 is pressed. The rotating block 308 'can be moved up and down and rotated on the upper and lower blocks 313' as with the insertion head E.

Clinch F is shown in FIGS. Crunch claw 40
0 is rotatably attached to the clinch house 401 together with a lever 403 rotatably attached by a pin 402. A torsion spring 404 is applied to the crunch claw 400 and the lever 403 through a pin 402 so that the clinch claws 400 and 400 'are urged to close each other. A limit switch 405 is attached to the lever 403. A pin 406 is fixed to the clinch claw and is loosely fitted in a hole 407 provided in the lever 403. The lever 403 has a roller rotatably attached to a pin 408.
9 is fixed. Further, a tension spring 410 is applied to the lever to bring the roller 409 into contact with the piston 411. The clinch house 401 is fixed to a rotating block 435. A cylinder 435 is formed on the rotation block 412. A lid 413 is fixed to the lower portion of the rotation block 435. Further, a compression spring 414 is arranged inside. Further, a compression spring 414 is arranged inside. The rotating block 435 is rotatably attached to the upper and lower blocks 415. A pinion 416 is fixed to the lid 413 and meshes with a rack 417. The rack 417 is guided by the U-shaped groove 418 of the upper and lower blocks 415 and is slidable.
An L fitting 419 is fixed to the rack 417, and the L fitting 419 is loosely fitted to a joint 423 at the tip of a rod 422 of a cylinder 421 mounted on a bracket 420 fixed to an upper and lower block 415. With such a configuration, when the cylinder 412 is operated and the piston 411 is raised, the clinch claws 400 and 400 'are closed. The rise of the piston is adjusted by the stopper screw 424 attached to the clinch house 401, and as a result, the closing amount of the clinch pawl can be changed. The clinch house 401 also has an adjustable kiban support 425 to support the downward bow of the kiban 30.

When the cylinder 421 is operated, the rack 417 is operated and the pinion 416 is rotated, so that the crunch claws 400 and 400 ′ are moved to 90 degrees.
It can rotate at °.

The upper and lower blocks 415 are slidably combined with a guide bar 427 fixed to the upper and lower guide blocks 426. Upper and lower blocks 4
15 has a cylinder 428 which engages a piston 429. A lid 430 is fixed to the top of the cylinder 428. piston
429 is fixed to the vertical guide block 426. Therefore, when the cylinder 428 is operated, the upper and lower blocks 415 move up and down, and as a result, the clinch claw 400 rises to the lower surface of the substrate 30 and leads 51.
After bending, descend.

Adjusting screw 436 is attached to lever 403 and clinch house
It is in contact with 401. This adjusts the opening amount of the clinch claw 400.

When the lead 51 is bent, the piston 411 is raised and the clinch claw 400 is closed, and the clinch claw 400 comes into contact with the lead 51. When the piston 411 is further raised and tightened, the clinch claw 4
00 moves toward the opening due to the bending resistance of the lead 51. At this time, the clinch claw 400 separates from the limit switch 405, and the switch state is switched. If you further advance the piston 411,
The movement of the pin 406 is restricted in the hole 407, and this time, the clinch claw 400 moves in the closing direction to bend the lead 51. If there is no lead when the component 50 is improperly inserted, the clinch claw 400 does not move in the opening direction, so the state of the limit switch 405 does not change.

This makes it possible to detect whether the insertion is good or bad. From the above, the force of pressing the clinch claw 400 of the torsion spring 404 is set to be weaker than the bending resistance of the lead 51.

The Y-direction positioning unit C is shown in FIGS. 54 to 57. The Y frame 200 is placed and fixed on the X table 150 of the X direction positioning unit B. The Y frame 200 is provided with Y direction feed screws 205, 206 pivotally supported by bearings 201, 202, 203, 204, and guide nuts 208, 209 fixed to the insertion head base 207 and Y direction rails 211, 212 are slidably fitted and inserted. The nut 213 fixed to the head base 207 and the Y direction feed screw 206 are screwed together,
By rotating the Y direction feed screw 206, the insertion head base 207
Is guided by the Y-direction guide rails 211 and 212 to move in the Y-direction.

Similarly, on the clinch base 214, a nut 215 screwed to the Y-direction feed screw 205 and guide nuts 235 and 218 slidably fitted to the Y-direction guide rails 216 and 217 are fixed. In the figure, 219, 220, 221, 222 are bearings 201, 202, 203, 2
It is a housing for holding 04. 223,224,225,22
6 is a timing pulley, and 227 and 228 are timing belts. These transmission mechanisms enable the Y direction feed screws 205 and 206.
Rotate synchronously.

When the Y motor 229 rotates, the timing pulley 226 rotates, and the Y direction feed screw 205 passes through the timing belt 228.
The timing pulley 225 fixed to is rotated. It is transmitted to the Y-direction feed screw 206 via the rotation timing pulley 223, the timing belt 227, and the timing pulley 224, and the Y-direction feed screws 205 and 206 rotate synchronously.

The Y motor 229 is fixed to a plate 230 attached to the Y frame 200.

As shown in FIG. 54, the X-direction positioning unit B has the X-direction guide rail 15 with the nuts 151 and 152 for the X-table 150.
It is slidably fitted to 3,154.

For sliding in the X direction, refer to FIG. 1 and FIG.
The X-direction feed screw 155 is rotated by 6 and is performed by the X-table 150 fitted to the X-direction guide rails 153 and 154.
In this case, it moves together with the Y-direction positioning unit E.

As described above, when the insertion head E and the clinch F are moved in the X and Y directions, their weights are all moved by the X-direction guide rails 153,154 and Y-direction guide rails 211,212,216,217 while maintaining a stable support state. .

Further, when the insertion head E and the clinch F are moved in the Y direction, only the insertion head E and the clinch F are moved, and the moving weight is reduced, so that the insertion head E and the clinch F can be moved quickly.

The substrate transport rail D has a belt for feeding the substrate and a substrate guide pin mechanism for fixing the substrate in a fixed position. Details are omitted.

Next, the operation will be described. First, as shown in Figs. 4 and 19.
Component 50 with leads 51 formed outside the component body like IC
From supply to insertion (for example, a dual in-line package IC) will be explained.

The component 50 is stored in the magazine 54, and a plurality of magazines are stored in the cassette case 601. The cassette case is set in the predetermined set place of the component storage section H. The magazine 54 is cut out by the operation of the cylinders 623 and 624, and when the lowermost end, that is, the component 50 reaches a position where the component 50 flows onto the rail 727, the component slides on the rail 727 and is supplied. When the parts are no longer in the magazine as they are sequentially supplied, the cylinder is detected by a sensor (not shown).
619, 620 is driven to eject the empty magazine, and then cylinders 623, 624 are driven to drop the next magazine 54 to the bottom. At this time, the cylinders 619 and 620 have returned to the holes, so L
Receive the magazine 54 with the metal fittings 607 and 608.

As described above, the empty magazine 50 is automatically ejected. On the other hand, the component 50 slidingly supplied on the rail 727 is supplied to the lead straightening section J. Parts 50 that have been straightened as described above
Slides on the rotation block 521 of the component supply unit G. After that, the cylinder 526 is operated to convert the component 50 into the horizontal posture. Next, the cylinders 506 and 538 are operated to sequentially convey. Next, the component 50 is conveyed to the lead tip cutting section K. Then, as described above, the tip of the lead 51 is cut. Next, the component is further transported and positioned in the component transfer section L. Next, the component is gripped by the chuck of the insertion head E. The insertion head E stops moving above the component 50 of the component transfer section L by the operation of the X, Y positioning units B, C.
In this positional relationship, component delivery will be described with reference to FIGS. 58 to 60. V-shaped groove 3 on chuck 300
48 are formed by the number of lead wires 51 (for one row of the dual in-line package IC). Fig. 60 (a) shows the parts
The initial positional relationship when chucking 50 is shown. Next 60th
The upper and lower blocks of the insertion head E as shown in FIG.
313 is lowered, and the chuck 300 and pusher block 342 are lowered. Next, as shown in FIG. 60 (c), the chuck is closed. Next, as shown in FIG. 60 (d), pusher block
342 is lowered and the component 50 is lowered, and at this time, the lead 51 is guided and positioned in the groove 348. At this time, the positioning rail 901 simultaneously descends until it comes into contact with the stopper screw 904. When the lead 51 is chucked as described above, as shown in FIG. 60 (e), the chuck 300 rises while chucking the component 50, and the chucking is completed. When the component 50 is raised, the vacuum suction by the hose 907 is stopped. As shown in FIG. 59, the lead 51 has been expanded outward in a V-shape at the lead straightening portion J in advance, and the chuck 300 has made the lead 5
When 1 is gripped, it is supported by the reaction force of the lead 51. The insertion head E chucking the component 50 drives the X motor 156 and the Y motor 229 to move to the insertion position of the substrate 30. After stopping
Enter the insert operation.

In the inserting operation, air pressure is introduced from the arrow 320 in FIG. 41, and when the upper and lower blocks 313 descend, the chuck 300 holding the component 50 descends toward the substrate 30. The tip of the chuck 300 descends to the upper surface of the substrate 30 and stops. When the lead 51 enters the board hole 31 normally (Fig. 61 (a), next, as shown in Fig. 61 (c)),
The chuck 300 is opened, then the pusher cylinder 328 is operated, and the pusher block 342 inserts the component 50 into a fixed position. However, as shown in FIG. 61 (b), when the lead 51 and the substrate hole position are not aligned and an insertion failure occurs, the pusher block 342 is immediately stopped from descending, and the insertion operation is stopped.
The chuck 300 is raised, the component 50 is raised, the XY positioning units B and C are operated, the component 50 is discharged to a discharge station (not shown), and the component is again gripped by the component transfer section L. , Perform reinsertion operation. If the lead 51 is not inserted into the hole 31 of the printed circuit board 30 as shown in FIG. 61 (b), the lead 51 protruding from the tip of the chuck 300 is struck against the upper surface of the substrate 30 and returned. a)
There is a step t between the normal state and the height of the parts. This step t
Is detected by the operation of the pusher block 342.

As described in FIG. 61, there is a step t in the height of parts between the good insertion (a) and the bad insertion (b), so that the pusher block 342 reaches that position. , There is a time difference in which the gap L (FIG. 41) shrinks. If this time is obtained in advance for the values for good insertion and bad insertion and is input as a parameter to the detection control system, it is possible to detect good or bad insertion by the control flow shown in FIG. It is a proximity sensor whether the brim 336 hits the block 330.
Detected by 343. The flow of FIG. 62 will be described. The chuck 300 is lowered. When the chuck 300 reaches the substrate surface,
After stopping, the pusher block 342 is lowered. After that, if the proximity sensor is turned on, it is determined that the insertion is defective, and if the proximity sensor is not turned on within the set time, it is determined that the insertion is good. When the insertion is good, the block 330 further descends, hits the brim 336, and as a result, the pressing force required for the insertion is obtained.

Next, the timing diagram shown in FIG. 63 will be described.

When the cylinder 328 is lowered and the proximity sensor 343 is in the ON state for a time t seconds from that point, there is an insertion failure, so a command is given as indicated by arrow m to stop the cylinder 328 from descending and raise it (shown by the dotted line). ). Proximity sensor if within t seconds
Cylinder 3 because insertion is good unless 343 turns ON
Continue descending 28 and descend to the home position. Therefore, the proximity sensor 343 is finally turned on.

After the insertion is completed, the clinch claw 400 of the clinch F is operated as shown in FIG. 61 (a) to bend the lead 51 and temporarily fix it to the substrate 30.

Next, insertion of a component having a shape in which the lead 56 extends from the lower surface of the component body, such as the component 57 shown in FIG. 30, will be described.

It is supplied from the component storage portion H'and supplied to the component delivery L'by the component supply portion G'to fix the lead 56. The above is as described above. The components of the component delivery section L'stand by for delivery to the insertion head E '. The insertion head E'is operated by the X, Y positioning units B ', C', so that the component transfer section L '
Stop moving above the part 57 of FIG. The lead 56 of the component 57 abuts against the stopper 929 and is positioned and fixed. The chuck 350 is lowered in this positional relationship (Fig. 64). At this point, the chuck 350 stops the floating state and presses and fixes the flange 373 by operating the piston 387. Therefore, the chuck component is fixed. Also,
Actuating cylinder 369, tip rod 370 is chuck holder
Holds the collar of 357. Next, at the lower end, the piston 387 is raised, then pneumatic pressure is introduced from 377 and 380, and the flange 373
Is floated, thus leaving the chuck component in a floating state. Next, in the floating state, the piston 359
Is lowered, the chuck 350 is closed, and the component 57 is gripped.

Next, when the gripping is completed, the floating state is stopped, the piston 387 is lowered again, and the chuck forming portion is fixed. Next, the cylinder 924 of the component transfer part L'is operated to retract the piston 930. Then, the clamp plate 922 is retracted by the action of the compression spring 927, and the fixation of the lead 56 is released. After that, the chuck 350 moves up to the upper end while holding the component 57.

Next, the XY positioning units B and C are operated to move to the board insertion position and stop. Next, the chuck is lowered, the cylinder 369 is operated immediately before the tip of the lead 56 reaches the upper surface of the substrate, and the tip rod 370 is retracted. This prevents an excessive load from being applied to the lead 56 even if there is a defective insertion.

Therefore, the compression spring 368 serves to offset the weight of the components attached to the chuck holder 357.

The proximity sensor 371 detects whether the insertion is good or bad. That is, when the insertion is good, the chuck box 363 and the chuck holder 3
The gap L of 57 does not change. When the insertion is defective, the chuck holder 357 is lowered and the lead 56 is stopped by being caught on the upper surface of the substrate or in the hole, so that only the chuck box 363 is lowered and the gap L is contracted. If the proximity sensor 371 detects at this timing, it is possible to detect whether the insertion is good or bad. When the insertion is good, the cylinder 369 is operated here to hold down the chuck holder and prevent the parts from rising during the clinching. After clinching, the chuck 350 is opened, the parts are released and the parts are lifted to complete the insertion. In the case of defective insertion, the chuck 350 is immediately lifted up, and like the insertion head E, the defective component is discharged to the discharge station, and another component is reinserted. The floating of the chuck will be described below with reference to FIGS. 65 to 67. Due to the manufacturing error of the component 57, the component body is chucked on the basis of the lead with respect to the component deviated by δ from the position where the lead 56 should be, like the lead 56 '. As a result, manufacturing errors of parts are absorbed and a high insertion success rate is obtained. The center of the insertion head E ′ and the lead positioning center Z of the component transfer part L ′ are configured together. When the lead is fixed at the component transfer section L ', the component is displaced from Z by δ. Therefore, the center of the chuck 350 is displaced by δ due to the floating. This is when chucking part 57 '
350 is performed by sandwiching the parts 57 'together. If the floating of the chuck 350 is fixed in this state,
The component 56 can be gripped by aligning the center of the insertion head E'with the center of the lead 56 '. The insertion of a component having the lead 56 on the lower surface of the component body like the component 57 has been described above.
For this shape part, lead straightening and lead tip cutting are also performed as necessary.

〔The invention's effect〕

According to the present invention, a multi-lead component can be inserted with a high insertion success rate, and the component will not be damaged when the insertion is defective. In addition, an automatic reinsertion can be performed, and an inserter with high productivity can be realized. In addition, the X, Y positioning unit is small and space-efficient, and it can be used as a stand-alone type or connected in a run type.
It has the effect that it can be widely used for mass production.

[Brief description of drawings]

FIG. 1 is a plan view of an embodiment of the present invention, FIG. 2 is a front view of FIG. 1, FIG. 3 is a right side view of FIG. 1, and FIG. 5 and 5 are a relational diagram of the correction die and the lead, FIG. 6 is a sectional view taken along the line aa 'in FIG. 5, FIG. 7 is a front view of the lead correction portion J, and FIG. 7 is a right side view, FIG. 9 is a view taken in the direction of arrows bb ′ of FIG. 7, FIG. 10 is a view taken in the direction of arrows cc ′ of FIG. 7, and FIG. 11 is a partial side view of parts. FIG. 12 is a front view of the lead tip cutting portion K, and FIG. 13 is a of FIG.
-A 'arrow view, FIG. 14 is a right side view of FIG. 12, FIG. 15 is a view showing the relationship between the lead and the cutter, and FIG. 16 is e of FIG.
-E 'arrow view, FIG. 17 is an external view of the cassette case, 18
FIG. 19 is a sectional view of the cassette case, FIG. 19 is a view showing a state of storing the components in the magazine, FIG. 20 is a view showing the component storing section H in the direction of arrow ff of FIG. 3, and FIG. G-g 'arrow view,
FIG. 22 is a view taken along the arrow h-h 'of FIG. 20, and FIG.
FIG. 24 is a right side view of FIG. 23, FIG. 25 is a right side view of the component supply unit G, and FIG. 26 is a view taken along the line j--j 'of FIG.
25 is a plan view of FIG. 25, FIG. 28 is a view taken along the line kk ′ of FIG. 25, FIG. 29 is a view taken along the line ll ′ of FIG. 25, and FIG.
FIG. 31 is an explanatory view of changing the posture of a component from the magazine of the component whose leads are extended to the lower surface of the component to the surface of the substrate, FIG. 31 is a plan view of the component posture conversion of the component supply unit G ′, and FIG. FIG. 33 is a partial cross-sectional side view of the drawing, FIG. 33 is a view taken along the line MM ′ of FIG. 32, FIG. 34 is a view taken along the line nn ′ of FIG. 32, and FIG.
38 is a right side view of the component supply unit G ', and FIG. 38 is a view showing a right side view of the component supply section G', and FIG.
FIG. 37 is a plan view, FIG. 39 is a sectional view taken along the line pp ′ of FIG. 38, FIG. 40 is a sectional view taken along the line qq ′ of FIG. 38, and FIG. 41 is an insertion head. The right side view of the partial cross section of E is shown in FIG.
FIG. 43 is a sectional view taken along the line r-r 'in FIG.
FIG. 44 is a plan view of FIG. 41, FIG. 45 is a right side view of a partial cross section of the insertion head E ′, and FIG. 46 is a view taken along the line tt ′ of FIG. 45. FIG. 47 is a partial sectional view taken along the line uv ′ of FIG. 46, FIG. 48 is a partial sectional view taken along the line vv ′ of FIG. 45,
FIG. 49 is a partial sectional view taken along the line ww ′ of FIG. 45, FIG. 50 is a partial sectional side view of the clinch F, FIG. 51 is a front view of FIG. 50, and FIG. 51 is a plan view, FIG. 53 is a sectional view taken along the line xx ′ of FIG. 50, and FIG. 54 is an X, Y positioning unit B, C.
FIG. 55 is a right side view of FIG. 54, and FIG. 55 is a sectional view taken along the line yy ′ of FIG.
56 is a sectional view taken along the line zz 'of FIG. 54, FIG. 57 is a sectional view taken along the line ii' of FIG. 56, and FIG. Right side partial sectional view, No.
FIG. 59 is a view showing a lead separation state of a dual inline package shaped part, and FIG. 60 is a diagram explaining a delivery state of a dual inline package shaped part to a chuck. FIG. 61 is a diagram for explaining the insertion of a part in the shape of a dual-in-line package, FIG. 62 is a diagram showing a process at the time of defective insertion in FIG. 61, and FIG. 63 is a timing chart thereof. FIG. 64 is a view for explaining the delivery of the component to the chuck of the component whose lead is extended from the component body to the lower surface, and FIGS. 65, 66, 67 are for explaining the effect of the floating of the insertion head E ′. It is a figure. B ... X-direction positioning unit, C ... Y-direction positioning unit, E, E '... insertion head, F ... clinch, G, G' ... component supply section, H ... component storage section, J ... lead correction section, K ... lead Tip cutting part, L, L '... Parts delivery part.

Claims (1)

[Claims] 1. A mechanism for sequentially feeding magazines from a cassette case, a component housing portion for feeding components, and a lead-like bending of the fed components by a comb-shaped orthodontic type.
A lead straightening unit that expands the DIP-shaped component lead to the outside, a component supply unit that inverts the supplied component by 90 °, and changes the posture from an inclination to a horizontal position, and sends it out, and after converting the component horizontally, from the component supply unit A lead tip cutting section that cuts the tip of the sent component lead, and a component delivery section that fixes the lead of the sent component,
Insertion with a floating chuck having an air bearing structure, the chuck being configured to be vertically movable separately from the vertical movement of the insertion head, with a Y-shaped lead positioning groove, and a mechanism for detecting good or bad insertion A head, a clinch mechanism with a mechanism that detects the presence or absence of the lead after inserting the board by the operation of a clinch claw, an XY positioning unit that moves the insertion head and the clinch simultaneously in the X and Y directions, and conveys the board. An electronic component insertion device, comprising: a board transfer rail for positioning and positioning the board.