CN112534975A

CN112534975A - Correction device and robot with same

Info

Publication number: CN112534975A
Application number: CN201980036438.6A
Authority: CN
Inventors: 木村俊满
Original assignee: Kawasaki Heavy Industries Ltd
Current assignee: Kawasaki Heavy Industries Ltd
Priority date: 2018-05-31
Filing date: 2019-05-30
Publication date: 2021-03-19
Also published as: TW202003182A; WO2019230897A1; JP7339729B2; TWI772647B; JP2019212678A

Abstract

A correction device for correcting the shape of a lead of an electronic component, the correction device comprising a first correction jig having a groove, the groove having a pair of inner walls facing in a width direction at a distance corresponding to a diameter dimension of the lead, the pair of inner walls each having a correction portion extending linearly in parallel with each other in an extending direction orthogonal to the width direction and the depth direction when viewed in the depth direction orthogonal to the width direction.

Description

Correction device and robot with same

Technical Field

The present invention relates to an orthotic device and a robot provided with the orthotic device.

Background

Conventionally, a correction device for correcting the shape of a lead of an electronic component is known. As such a correction device, for example, a lead correction unit and a jig proposed in patent document 1 are available.

In patent document 1, a lead correction unit provided in a robot hand has a notch groove. The lead correction unit corrects the bending of the lead by engaging the lead with the notch groove in a state where the tip is fixed by the jig.

Patent document 1: japanese Kokai publication Sho 61-9899

However, patent document 1 has a problem of a complicated structure because the shape of the lead is corrected using both the lead correction unit and the jig. Further, since the tip of the lead needs to be fixed by a jig and then the lead needs to be engaged with the notch groove of the lead correction unit, there is a problem that the procedure for correcting the lead is complicated.

Disclosure of Invention

Accordingly, an object of the present invention is to provide a correction device capable of easily correcting the shape of a lead of an electronic component with a simple structure, and a robot including the correction device.

In order to solve the above-described problem, a correction device according to the present invention is a correction device for correcting a shape of a lead of an electronic component, the correction device including a first correction jig having a groove, the groove having a pair of inner walls facing in a width direction at a distance corresponding to a diameter dimension of the lead, the pair of inner walls each having a correction portion extending linearly in parallel with each other in an extending direction orthogonal to the width direction and the depth direction when viewed in a depth direction orthogonal to the width direction.

According to the above configuration, the wire can be passed through while correcting the shape by abutting the wire against the correction portions of the pair of inner walls. As a result, the correction device of the present invention can easily correct the shape of the lead of the electronic component with a simple configuration.

The pair of inner walls have a guide portion at least one of both ends in the extending direction, respectively, and the interval in the width direction of the guide portion becomes narrower toward the center portion in the extending direction.

According to the above configuration, the lead can be guided to the correction unit by the guide unit. This makes it possible to more easily correct the shape of the wire.

The first correction jig may also have: a pair of substrates each formed in a plate shape; and a fixing member for fixing the pair of substrates to each other such that the main surfaces of the pair of substrates constitute the pair of inner walls.

According to the above configuration, the shape of the lead of the electronic component can be corrected by the first correction jig having a simple configuration, and the maintainability can be improved.

In order to solve the above problem, a robot according to the present invention includes the straightening device according to any one of the above aspects, and the robot includes: a robot arm; and an end effector attached to the robot arm, the end effector having the correction device and a holding device for holding the electronic component, the first correction jig being configured to: the guide wire held by the holding device and relatively moved is brought into contact with the correcting portion of the groove, thereby allowing the guide wire to pass therethrough while correcting the shape.

According to the above configuration, it is possible to provide a robot capable of easily correcting the shape of a wire of an electronic component with a simple configuration by using a first correction jig configured to pass the wire while correcting the shape by abutting the wire held by a holding device and relatively moving against a correction portion of a groove.

The holding device may include: a rotating member mounted to be rotatable with respect to the robot arm; and a holding mechanism fixed to the rotating member so as to radially extend around a rotation axis of the rotating member, wherein the first correction jig is configured to: the wire held and rotated by the holding mechanism is brought into contact with the correction portion of the groove, and the wire is passed while correcting the shape.

According to the above configuration, the electronic component can be held by the holding mechanism while rotating the rotating member, and the shape of the lead of the electronic component can be corrected by the correction device. Therefore, the shape of the lead of the electronic component can be corrected efficiently.

The holding device may include a plurality of holding mechanisms provided at intervals in a rotational direction of the rotating member, and the holding device may hold the plurality of electronic components by rotating the rotating member to hold the electronic components by the plurality of holding mechanisms, respectively.

According to the above configuration, the shapes of the leads of the plurality of electronic components can be corrected by the correction device while the electronic components are held by the plurality of holding mechanisms, respectively, by rotating the rotating member. Therefore, the shapes of the leads of the plurality of electronic components can be efficiently corrected.

The above-mentioned orthotic devices may also be: the wire harness further includes a second correction jig, each of the second correction jigs including: a first contacted portion contacted with one side portion in the pitch direction of the lead wire which is held by the holding device and relatively swings; and a second contacted portion that is contacted with the other side portion in the pitch direction of the conductive wire that is held by the holding device and relatively swung, wherein the interval between the first contacted portion and the second contacted portion is equal to the pitch of the conductive wire.

According to the above configuration, the shape of the conductive wire in the first direction orthogonal to the plane intersecting the longitudinal direction and the pitch direction of the conductive wire can be corrected by the first correction jig, and the shape of the conductive wire in the pitch direction can be corrected by the second correction jig.

The configuration may be such that: the conductive wire includes a first conductive wire and a second conductive wire, the second correction jig is capable of reciprocating in a first direction orthogonal to a plane intersecting a longitudinal direction and a pitch direction of the conductive wire, the second correction jig includes a first protrusion, a second protrusion, and a third protrusion each arranged at an interval from each other and protruding in the first direction, the first protrusion is arranged at one end in the arrangement direction, the second protrusion is arranged at a center in the arrangement direction, the third protrusion is arranged at the other end in the arrangement direction, a first contacted portion contacted with one side portion of the first conductive wire in the pitch direction is configured as a portion of a side surface of the first protrusion on the side of the second protrusion, and a second contacted portion contacted with the other side portion of the first conductive wire in the pitch direction is configured as a portion of a side surface of the second protrusion on the side of the first protrusion, the first contacted portion that is contacted with one side portion of the second conductive wire in the pitch direction is configured as a portion of the side surface of the second protrusion that is closer to the third protrusion side, and the second contacted portion that is contacted with the other side portion of the second conductive wire in the pitch direction is configured as a portion of the side surface of the third protrusion that is closer to the second protrusion side.

According to the above structure, the shape of the wire in the pitch direction can be easily corrected by the second correction jig of a simple structure.

The end effector may further include a detection device for detecting whether or not the shape of the wire is abnormal.

According to the above configuration, the presence of an abnormality in the wire can be detected by the detection device.

The detection device may further include: a light projector for irradiating the wire held by the holding device and relatively moved with light; and a light receiver for receiving the light irradiated from the light projector.

According to the above configuration, the shape of the wire can be corrected by the correction device, and the presence of an abnormality in the wire can be detected by the detection device.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, it is possible to provide a correction jig capable of easily correcting the shape of a lead of an electronic component with a simple structure, and a robot including the correction jig.

Drawings

Fig. 1 is a schematic diagram showing an overall configuration of an orthotic device and a robot including the orthotic device according to an embodiment of the present invention.

Fig. 2 is a diagram showing a state in which a plurality of electronic components are held in a holding device provided in the robot.

Fig. 3 is an external perspective view of a first correction jig provided in a correction device according to an embodiment of the present invention.

Fig. 4 is a schematic view showing a state in which a shape in a first direction orthogonal to a plane intersecting with a longitudinal direction and a pitch direction of a wire is corrected by using a first correction jig provided in a correction device according to an embodiment of the present invention.

Fig. 5 is an external perspective view of a second correction jig provided in the correction device according to the embodiment of the present invention.

Fig. 6 is a schematic view showing a state in which the pitch direction shape of the lead wires is corrected by the second correction jig provided in the correction device according to the embodiment of the present invention.

Fig. 7 is a schematic view showing a case where an abnormality in the shape of the lead wire is detected by the detection device provided in the robot.

Detailed Description

Hereinafter, an orthotic device and a robot including the orthotic device according to an embodiment of the present invention will be described with reference to the drawings. The present invention is not limited to the embodiment. In the following, the same or corresponding elements are denoted by the same reference numerals throughout the drawings, and redundant description thereof will be omitted.

(robot 10)

Fig. 1 is a schematic diagram showing an overall structure of a robot including a correction device and a correction device according to the present embodiment. As shown in fig. 1, the robot 10 includes the rectification device 30 of the present embodiment. The robot 10 includes: a base 12 fixed to the carriage; a pair of

robot arms

13a, 13b supported by the base 12; and a control device 14 shown by a dotted line in the figure and housed in the base 12. Further, the robot 10 includes: an end effector 20a attached to the robot arm 13 a; and an end effector 20b attached to the robot arm 13 b.

The robot 10 can be set in a limited space (e.g., 610mm × 620mm) corresponding to one person. Hereinafter, a direction in which the pair of robot arms are deployed is referred to as a left-right direction, a direction parallel to the axis of the base shaft is referred to as an up-down direction, and a direction orthogonal to the left-right direction and the up-down direction is referred to as a front-back direction. The robot 10 of the present embodiment is applied to a mounting site of a wiring board (not shown), and performs a work of mounting an electronic component on the wiring board while holding and conveying the electronic component.

(A pair of

robot arms

13a, 13b)

Each of the pair of

robot arms

13a and 13b is a horizontal articulated robot arm configured to be movable with respect to the base 12. The pair of

robot arms

13a and 13b can operate independently or in association with each other. Further, the robot arm 13b has the same structure as the robot arm 13 a. Therefore, only the robot arm 13a is explained here, and the same explanation of the robot arm 13b is not repeated.

The robot arm 13a has joints J1 to J4. A servo motor (not shown) for driving is provided in the robot arm 13a so as to correspond to the joints J1 to J4. The robot arm 13a has a link 15 and a toggle link 17. In this example, the link 15 includes a first link 15a and a second link 15 b. The first link 15a is coupled to a base shaft 16 fixed to the upper surface of the base 12 via a rotary joint J1 and is rotatable about a rotary shaft L1 passing through the axial center of the base shaft 16. The second link 15b is coupled to the distal end of the first link 15a via a rotary joint J2 and is rotatable about a rotary shaft L2 defined at the distal end of the first link 15 a.

The toggle link 17 has a mechanical interface 19 to which the end effector 20a is attached, and is coupled to the distal end of the second link 15b via a linear joint J3 and a rotary joint J4. The toggle link 17 can be moved up and down with respect to the second link 15b by the linear joint J3. The toggle link 17 can be pivoted about a pivot axis L3 perpendicular to the second link 15b by a pivot joint J4.

The rotation axis L1 of the first link 15a of the robot arm 13a and the rotation axis L1 of the first link 15a of the robot arm 13b are positioned on the same straight line, and the first link 15a of the robot arm 13a and the first link 15a of the robot arm 13b are arranged so as to have a height difference between them.

(end effector 20a)

Fig. 2 is a diagram showing a state in which a plurality of electronic components are held in a holding device provided in a robot. The end effector 20a has: a holding device 21 for holding a plurality of electronic components E; and a correction device 30 for correcting the shape of the wire EL of the electronic component E.

(holding means 21)

The holding device 21 has: a rotary member 22 mounted to be rotatable with respect to the robot arm 13 a; and eight holding mechanisms 24 fixed to the rotating member 22 so as to extend radially about the rotating shaft 23 of the rotating member 22.

The rotary member 22 is formed in a disc shape. The rotary member 22 is attached to the robot arm 13a via a base 29 so that the thickness direction thereof coincides with the front-rear direction of the robot 10. The rotating member 22 can be rotated about the rotating shaft 23 by a motor not shown.

The eight holding mechanisms 24 are arranged at equal intervals (with intervals provided therebetween) in the rotation direction of the rotating member 22. The eight holding mechanisms 24 have the same configuration as each other. Therefore, in fig. 2, in order to avoid complication of the appearance, only the holding mechanism 24 located on the leftmost side is described in detail with reference numerals, and the detailed reference numerals of the remaining seven holding mechanisms 24 are appropriately omitted, and the description thereof is not repeated.

The holding mechanism 24 has: a radial extension portion 25 extending radially about the rotation shaft 23 of the rotating member 22; and a holding portion 26 provided at a front end portion of the radially extending portion 25. The holding portion 26 is a known structure for holding the electronic component E by clamping the electronic component E from both sides. However, the holding portion 26 is not limited to this case, and may be a known structure for holding the electronic component E by negative pressure suction, or may be a structure for holding the electronic component E by another method.

(correction device 30)

The correction device 30 of the present embodiment includes: a first correction jig 40 arranged along an upper right portion in fig. 2 of the track of the wire EL held and rotated by the holding mechanism 24; and a second correction jig 60 disposed along the uppermost portion in fig. 2 of the same rail.

(first correcting jig 40)

Fig. 3 is an external perspective view of a first correction jig provided in the correction device of the present embodiment. As shown in fig. 3, the first correction jig 40 has a groove 41. The groove 41 has a pair of

inner walls

42, 42 opposed in the width direction at a distance corresponding to the diameter dimension of the wire EL. The pair of

inner walls

42, 42 each have a correction portion 43, and the correction portions 43 linearly extend in parallel to each other in an extending direction orthogonal to the width direction and the depth direction when viewed in the depth direction orthogonal to the width direction. Further, both ends of the groove 41 in the extending direction are open, respectively.

The pair of

inner walls

42, 42 also have guide portions 44 at both ends in the extending direction, respectively, the guide portions 44 being narrower in the interval in the width direction toward the center portion in the extending direction.

The first correction jig 40 includes: a pair of

substrates

45, 45 each formed in a plate shape; and fixing

members

48a, 48b, 48c for fixing the pair of

substrates

45, 45 to each other such that the main surfaces of the pair of

substrates

45, 45 constitute the pair of

inner walls

42, 42. The guide portion 44 is configured by fixing the pair of

bases

45 and 45 in a manner to face each other in the thickness direction as described above.

The first corrective clamp 40 is configured to: the lead EL held and rotated by the holding mechanism 24 is brought into contact with the correction unit 43 of the groove 41, thereby allowing the lead EL to pass therethrough while correcting the shape.

The pair of

bases

45 and 45 have end surfaces that protrude and curve substantially upward in fig. 3 when viewed in the depth direction of the groove 41. By providing the pair of

base bodies

45, 45 with such a shape, the first correction jig 40 can be miniaturized and can be provided such that the groove 41 extends along a part of the trajectory of the wire EL held and rotated by the holding mechanism 24.

Fig. 4 is a schematic view showing a case where the shape in the first direction orthogonal to the plane intersecting the longitudinal direction and pitch direction of the lead is corrected by the first correction jig provided in the correction device of the present embodiment. Fig. 4(a) is a schematic view showing a state immediately before the electronic component is inserted into the first correction jig. Fig. 4(B) is a schematic view showing a state where the first conductive wire is in contact with the guide portion of the groove. Fig. 4(C) is a schematic view showing a case where the first and second wires are passed while correcting the shape by abutting the first and second wires against the correction portion of the groove. Fig. 4 (D) is a schematic view showing a state immediately after the shape of the first direction of the wire is corrected.

As shown in fig. 4, the lead EL of the electronic component E of the present embodiment includes a first lead EL1 and a second lead EL 2. Each of the first conductive line EL1 and the second conductive line EL2 is deformed in shape in a first direction (a direction toward the depth of the paper in fig. 4) perpendicular to a plane intersecting the longitudinal direction and the pitch direction, and is deformed in shape in the pitch direction (a direction toward the left and right of the paper in fig. 4).

As shown in fig. 4, the first lead EL1 held and rotated by the holding mechanism 24 abuts on a guide portion 44 formed at the left end of the drawing sheet in the extending direction of the groove 41, and is guided to the correcting portion 43. Thereafter, the second lead EL2 is also led to the correction unit 43. The first lead EL1 and the second lead EL2 guided to the correction unit 43 are brought into contact with the correction unit 43, respectively, and pass through the groove 41 (and the first correction jig 40) while correcting the shape.

At this time, in detail, the first conductive wire EL1 and the second conductive wire EL2 are each configured to correct a distortion of a shape in a first direction orthogonal to a plane intersecting the longitudinal direction and the pitch direction by the first correction jig 40.

(second correcting jig 60)

Fig. 5 is an external perspective view of a second correction jig provided in the correction device of the present embodiment. As shown in fig. 5, the second correcting jig 60 has, with respect to the conductive lines EL (i.e., the first conductive line EL1 and the second conductive line EL2 each other): a first abutted portion 61 that abuts against one side portion in the pitch direction of the conductive wire EL that is held by the holding mechanism 24 and swings in the rotation direction of the rotating member 22; and a second contacted portion 62 that is contacted with the other side portion in the pitch direction of the conductive wire EL that is held by the holding mechanism 24 and swings in the rotation direction of the rotating member 22. The interval between the first abutted portion 61 and the second abutted portion 62 is equal to the interval between the conductive lines EL.

The second correction jig 60 includes a first protrusion 66, a second protrusion 67, and a third protrusion 68, which are arranged at a distance from each other and protrude in the first direction. A first protrusion is disposed at one end in the arrangement direction, a second protrusion is disposed at the center in the arrangement direction, and a third protrusion is disposed at the other end in the arrangement direction. In the present embodiment, the first projection 66, the second projection 67, and the third projection 68 are arranged such that their arrangement direction extends in the same direction as the left-right direction of the robot 10.

The second correcting jig 60 is mounted on the base 29 mounted on the robot arm 13a so as to be capable of reciprocating in a first direction orthogonal to a plane intersecting with the longitudinal direction and pitch direction of the conductive wire EL. The second correcting jig 60 is disposed on the rear side of the first correcting jig 40 in the rotational direction of the rotating member 22.

Fig. 6 is a schematic view showing a state where the shape in the pitch direction of the wires is corrected by the second correction jig provided in the correction device lock of the present embodiment. Fig. 6(a) is a schematic view showing a state immediately before the shape of the lead of the electronic component is corrected by the second correction jig. Fig. 6(B) is a schematic view of a state where the first lead wire is in contact with the first protrusion and the second lead wire is in contact with the second protrusion. Fig. 6(C) is a schematic view showing a state where the first conductive wire is in contact with the second protrusion and the second conductive wire is in contact with the third protrusion.

The first conductive wire EL1 and the second conductive wire EL2 held by the holding mechanism 24 and rotated are corrected for distortion in a first direction orthogonal to a plane intersecting the longitudinal direction and the pitch direction by the first correction jig 40, and then rotated to the position of the second correction jig 60 in the rotational direction.

At this time, the second leveling jig 60 is positioned on the deeper side of the drawing sheet in fig. 6 so that the rotation of the first conductive wire EL1 and the second conductive wire EL2 is not hindered by the first protrusion 66, the second protrusion 67, and the third protrusion 68. As shown in fig. 6 a, in a state where the first lead EL1 is positioned between the first projection 66 and the second projection 67 and the second lead EL2 is positioned between the second projection 67 and the third projection 68 in a front view (i.e., in a front-rear direction of the robot 10), the second straightening clamp 60 moves from the depth side to the front side of the drawing sheet.

After this state, the electronic component E held by the holding portion 26 swings in the rotation direction of the rotating member 22. Specifically, as shown in fig. 6(B), first, the electronic component E is swung to the left, so that one side portion of the first conductive wire EL1 in the pitch direction abuts against a portion of the side surface of the first protrusion 66 on the second protrusion 67 side, and one side portion of the second conductive wire EL2 in the pitch direction abuts against a portion of the side surface of the second protrusion 67 on the third protrusion 68 side. Next, as shown in fig. 6(C), by the electronic component E swinging to the right, the other side portion of the first conductive wire EL1 in the pitch direction is brought into contact with a portion of the side surface of the second protrusion 67 on the side of the first protrusion 66, and the other side portion of the second conductive wire EL2 in the pitch direction is brought into contact with a portion of the side surface of the third protrusion 68 on the side of the second protrusion 67.

As described above, the first contacted portion 61 that is contacted with one side portion of the first lead EL1 in the pitch direction is configured as a portion of the side surface of the first protrusion 66 that is closer to the second protrusion 67. The second contacted portion 62 that is contacted with the other side portion of the first lead EL1 in the pitch direction is configured as a portion of the side surface of the second protrusion 67 that is closer to the first protrusion 66. The first contacted portion 61 that is contacted with one side portion of the second lead EL2 in the pitch direction is configured as a portion of the side surface of the second protrusion 67 that is closer to the third protrusion 68. The second contacted portion 62 that is contacted with the other side portion of the second lead EL2 in the pitch direction is configured as a portion of the side surface of the third protrusion 68 that is closer to the second protrusion 67. Thereby, the first conductive line EL1 and the second conductive line EL2 are respectively corrected for shape distortion in the pitch direction by the second correction jig 60.

(end effector 20b)

The end effector 20b shown by a broken line in fig. 2 may have a structure for holding a guide jig for guiding a lead of the electronic component E to a through hole provided through the wiring board, for example, or the end effector 20b may have any other structure.

(Effect)

The correction device 30 of the present embodiment can pass the lead EL while correcting the shape by contacting the lead EL with the correction portion 43 of the pair of

inner walls

42, 42 of the first correction jig 40. As a result, the correction device 30 of the present embodiment can easily correct the shape of the lead EL of the electronic component E with a simple structure.

In the correction device 30 of the present embodiment, the lead wire EL can be guided to the correction unit 43 by the guide unit 44. This makes it easier to correct the shape of the wire EL.

In the present embodiment, since the first correction jig 40 includes the pair of

substrates

45, 45 and the fixing members 48a to 48c for fixing the pair of

substrates

45, 45 to each other so that the main surfaces of the pair of

substrates

45, 45 form the pair of inner walls 42, the shape of the lead EL of the electronic component E can be corrected with a simple configuration. Further, since the respective members can be disassembled by removing the fixing members 48a to 48b, the maintainability can be improved.

Further, in the robot 10 including the correction device 30 of the present embodiment, the first correction jig 40 is configured to: the lead EL held and rotated by the holding device 21 is brought into contact with the correction unit 43 of the groove 41, thereby allowing the lead EL to pass therethrough while correcting the shape. As a result, the robot 10 of the present embodiment can easily correct the shape of the lead EL of the electronic component E with a simple structure.

Further, since the holding device 21 includes the rotating member 22 and the holding mechanism 24 fixed to the rotating member 22 so as to extend radially, the electronic component E can be held by the holding mechanism 24 while rotating the rotating member 22, and the shape of the lead EL can be corrected by the correcting device 30. Therefore, the shape of the lead EL of the electronic component E can be corrected efficiently.

Since the eight holding mechanisms 24 are provided, the shapes of the lead wires EL of the eight electronic components E can be corrected by the correction device 30 while rotating the rotating member 22 and holding the electronic components E by the eight holding mechanisms 24, respectively. The shapes of the lead wires EL of the eight electronic components E can be corrected by the correction device 30 while the electronic components E held by the eight holding mechanisms 24 are mounted on a wiring board (not shown) while the rotating member 22 is rotated. Therefore, the shapes of the wires EL of the eight electronic components E can be efficiently corrected.

Further, the correction device 30 of the robot 10 further includes the second correction jig 60, so that the shape of the conductive wire EL in the first direction orthogonal to the plane intersecting the longitudinal direction and the pitch direction of the conductive wire EL can be corrected by the first correction jig 40, and the shape of the conductive wire EL in the pitch direction can be corrected by the second correction jig 60.

Further, the robot 10 can correct the shape of the wire EL in the pitch direction by the second correction jig 60 having a simple structure including the first protrusion 66, the second protrusion 67, and the third protrusion 68.

(modification example)

Many modifications and other embodiments of the invention will come to mind to one skilled in the art to which this invention pertains having the benefit of the teachings presented in the foregoing descriptions. Accordingly, the foregoing description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The detailed configuration and/or functions thereof can be substantially changed without departing from the spirit of the present invention.

Fig. 7 is a schematic diagram showing a case where an abnormality in the shape of the lead wire is detected by a detection device provided in the robot. Fig. 7(a) is a schematic view when viewed in the direction of the light beam irradiated from the detection device, and fig. 7(B) is a schematic view when viewed in the rotational direction in a state after the electronic component is cut in the longitudinal direction at the center in the pitch direction of the lead wires. As shown in fig. 7, the end effector 20a of the robot 10 may further include a detection device 80 for detecting whether or not the shape of the wire EL is abnormal.

The detection device 80 includes a light projector 82, and the light projector 82 irradiates a light ray R indicated by a broken line in the drawing to the wire EL held by the holding mechanism 24 and rotated. The detection device 80 further includes a light receiver 84, and the light receiver 84 is held by the holding mechanism 24 and receives the light beam R emitted from the light projector 82. The projector 82 irradiates the light ray R in a tangential direction of the track of the wire EL held and rotated by the holding mechanism 24. As shown in fig. 7, the light projector 82 is disposed on the front side of the sheet in fig. 2, and the light receiver 84 is disposed on the back side of the sheet in fig. 2.

With the above configuration, the detection device 80 can determine that there is no abnormality in the shape of the wire EL when the light ray R projected from the light projector 82 is blocked by the wire EL. Further, the detection device 80 can determine that the shape of the wire EL is abnormal when the light ray R projected from the light projector 82 is not blocked by the wire EL.

At this time, while the rotary member 22 is rotated and the electronic components E are held by the eight holding portions 26, the shape of the lead EL can be corrected by the first correction jig 40 and the abnormality in the shape of the lead EL can be detected by the detection device 80.

The detection device 80 may be disposed between the first correction jig 40 and the second correction jig 60 in the rotation direction of the rotating member 22, for example. As a result, the presence or absence of an abnormality in the shape of the wire EL is detected for the wire EL in which the above-described strain in the first direction is corrected by the first correction jig 40, and only when an abnormality is detected, the wire EL can be swung at the position of the second correction jig 60 to correct the strain in the pitch direction. That is, when the abnormality of the wire EL is not detected by the detection device 80, the wire EL does not need to be swung at the position of the second correction jig 60, and therefore the shape of the wire EL can be corrected more efficiently.

The detection device 80 shown in fig. 7 is a transmission type detection device in which the light receiver 84 faces the light projector 82 through the lead EL held and rotated by the holding mechanism 24, but is not limited to this. For example, the detection device 80 may be a reflection-type detection device in which the light projector 82 and the light receiver 84 are disposed on the same side. In this case, the detection device 80 can determine that there is no abnormality in the shape of the wire EL when the light ray R emitted from the light projector 82 strikes the wire EL and is reflected and received by the light receiver 84. The detection device 80 may determine that the shape of the wire EL is abnormal when the light beam R emitted from the light projector 82 does not strike the wire EL and is not reflected and is not received by the light receiver 84.

In the above embodiment, the case where the first straightening jig 40 includes the pair of substrates 45 and the fixing member 48 for fixing the pair of

substrates

45 and 45 to each other so that the main surfaces of the pair of

substrates

45 and 45 form the pair of

inner walls

42 and 42 has been described, but the present invention is not limited thereto. For example, the first correction jig 40 may be formed of one member formed in a substantially U shape as viewed in the extending direction of the groove 41, or may not have the fixing member 48. At this time, the groove 41 is formed by a pair of

inner walls

42, 42 and a bottom wall facing each other in the width direction when viewed in the extending direction.

In the above embodiment, the case where eight holding mechanisms 24 are provided has been described, but the present invention is not limited to this. That is, the number of the holding mechanisms 24 may be one or more and seven or less, or may be nine or more.

In the above embodiment, the case where the first contacted portion 61 and the second contacted portion 62 of the second correction jig 60 are configured as the first protrusion 66, the second protrusion 67, and the third protrusion 68 has been described, but the present invention is not limited thereto. For example, the first contacted portion 61 and the second contacted portion 62 of the second correction jig 60 may be configured as V-shaped inner walls whose width dimension becomes smaller toward the depth side in the first direction when viewed from the front side of the robot 10, or may have another configuration.

In the above embodiment, the case where the second correction jig 60 is provided to the correction device 30 has been described, but the present invention is not limited thereto, and the second correction jig 60 may not be provided.

In the above embodiment, the case where the guide portions 44 are provided at both ends in the extending direction of the pair of

inner walls

42 and 42 has been described, but the present invention is not limited to this, and the guide portions 44 may be provided at least one of both ends in the extending direction, or the guide portions 44 may not be provided. In the case where the pair of

inner walls

42 and 42 includes the guide portion 44 only at one of both ends in the extending direction, the lead EL is preferably inserted between the pair of

inner walls

42 and 42 from the side where the guide portion 44 is provided.

In the above embodiment, the case where the conductive line EL is formed of two conductive lines, i.e., the first conductive line EL1 and the second conductive line EL2, has been described, but the present invention is not limited thereto. That is, the conductive wires EL may be formed of three or more conductive wires EL. At this time, the second correction jig 60 may have four or more projections in order to correct the shape of the conductive wire EL in the pitch direction.

In the above embodiment, the case where the lead wire EL held and rotated by the holding mechanism 24 is passed through while the shape is corrected by the contact with the correcting portion 43 of the groove 41 has been described, but the present invention is not limited to this. For example, the end effector 20a may be provided with a holding device having only the holding mechanism 24 and no rotating member 22, and the end effector 20b may be provided with another holding device for holding the first correction jig 40.

According to this configuration, by operating at least one of the

robot arms

13a and 13b, the first correction jig 40 can be configured to pass the conductive wire EL while correcting the shape by bringing the conductive wire EL held by the holding device and relatively moved into contact with the correction portion 43 of the groove 41. At this time, for example, the lead wire EL may come into contact with the correction portion 43 of the groove 41 to correct the shape not by the rotational movement but by the linear movement.

For example, one of the electronic component E and the first correction jig 40 may be independently fixed to the robot 10, and the other of the electronic component E and the first correction jig 40 may be operated by a holding device held by the end effector 20a, so that the electronic component E and the first correction jig 40 move relative to each other. Alternatively, the electronic component E and the first correcting jig 40 may be manually moved relative to each other without using the robot 10 (or in cooperation with the robot 10).

In the above embodiment, the second correction jig 60 has been described as correcting the shape of the conductive wire EL held by the holding mechanism 24 and swung in the rotation direction of the rotary member 22 by making contact with the conductive wire EL. For example, the end effector 20a may be provided with a holding device having only the holding mechanism 24 and no rotating member 22, and the end effector 20b may be provided with another holding device for holding the second correction jig 60.

According to such a configuration, by swinging at least one of the

robot arms

13a, 13b, the second correcting jig 60 can be configured to correct the shape by abutting the conductive wire EL held by the holding device and swung relatively with the first abutted portion 61 and the second abutted portion 62. In this case, for example, the lead wire EL may be brought into contact with the first contacted portion 61 and the second contacted portion 62 by a linear motion instead of a rotational motion, thereby correcting the shape.

For example, one of the electronic component E and the second correction jig 60 may be fixed independently to the robot 10, and the other of the electronic component E and the second correction jig 60 may be held by the holding device of the end effector 20a and swung, whereby the electronic component E and the second correction jig 60 may be swung relative to each other. Alternatively, the electronic component E and the second correction jig 60 may be manually swung relative to each other without using the robot 10 (or in cooperation with the robot 10).

Description of reference numerals:

10 … robot; 12 … base station; 13 … robot arm; 15 … connecting rod; 17 … toggle lever; 20 … end effector; 21 … holding means; 22 … rotating member; 23 … rotating the shaft; 24 … retention mechanism; 25 … radial extensions; 26 … holding part; 29 … base; 30 … orthotic devices; 40 … first corrective clamp; 41 … grooves; 42 … inner wall; 43 … correction device; 44 … guide portion; 45 … a substrate; 48 … securing element; 60 … second corrective clamp; 61 … first abutted portion; 62 … a second abutted portion; 66 … first projection; 67 … second projection; 68 … third projection; 80 … detection means; 82 … light projector; 84 … optical receiver; e … electronic components; EL … wire; r … light.

Claims

1. A correction device for correcting the shape of a lead of an electronic component,

the correction device is provided with a first correction clamp which is provided with a groove,

the groove has a pair of inner walls opposed in a width direction at a distance corresponding to a diameter dimension of the wire,

the pair of inner walls each have a correction portion that linearly extends in parallel with each other in an extending direction orthogonal to the width direction and the depth direction when viewed in the depth direction orthogonal to the width direction.

2. The orthotic device of claim 1,

the pair of inner walls have guide portions at least one of both ends in the extending direction, respectively, and the interval in the width direction of the guide portions becomes narrower toward the center portion in the extending direction.

3. The orthotic device of claim 1 or 2,

the first correction jig has:

a pair of substrates each formed in a plate shape; and

and a fixing member for fixing the pair of substrates to each other such that the main surfaces of the pair of substrates constitute the pair of inner walls.

4. A robot having the orthotic device according to any one of claims 1 to 3,

the robot is provided with:

a robot arm; and

an end effector mounted to the robotic arm,

the end effector has the corrective device and a holding device for holding the electronic component,

the first corrective clamp is configured to: the lead wire held by the holding device and relatively moved is brought into contact with the correcting portion of the groove, thereby allowing the lead wire to pass through while correcting the shape.

5. Robot according to claim 4,

the holding device has: a rotating member mounted to be rotatable relative to the robot arm; and a holding portion fixed to the rotating member so as to radially extend around a rotation axis of the rotating member,

the first corrective clamp is configured to: the wire held and rotated by the holding portion is brought into contact with the correction portion of the groove, and the wire is passed while correcting the shape.

6. Robot according to claim 5,

the holding device has a plurality of holding portions arranged at intervals in a rotation direction of the rotating member, and holds the electronic components by rotating the rotating member to hold the electronic components in the plurality of holding portions, respectively.

7. A robot as claimed in any one of claims 4 to 6,

the correcting device is also provided with a second correcting clamp,

the second correction jig has, with respect to the wire, respectively:

a first abutted portion that abuts against one side portion in the pitch direction of the lead wire that is held by the holding device and that swings relatively; and

a second abutted portion that abuts against the other side portion in the pitch direction of the lead wire that is held by the holding device and that swings relatively,

the interval between the first abutted portion and the second abutted portion is equal to the interval between the wires.

8. The robot of claim 7,

the conductive line has a first conductive line and a second conductive line,

the second correcting jig is capable of reciprocating in a first direction orthogonal to a plane intersecting with a length direction and a pitch direction of the wire,

the second correction jig includes a first protrusion, a second protrusion, and a third protrusion each arranged at a distance from each other and each protruding in the first direction,

the first projection is disposed at one end in an arrangement direction, the second projection is disposed at a center in the arrangement direction, and the third projection is disposed at the other end in the arrangement direction,

a first abutted portion abutting against a portion on one side of the first lead in the pitch direction is configured as a portion on the second protrusion side in the side surface of the first protrusion,

a second abutted portion that abuts the other side portion of the first lead wire in the pitch direction is configured as a portion of the side surface of the second protrusion that is closer to the first protrusion side,

a first abutted portion that abuts against a portion on one side in the pitch direction of the second lead wire is configured as a portion on the third protrusion side in the side surface of the second protrusion,

the second contacted portion that is contacted with the other side portion of the second lead wire in the pitch direction is configured as a portion of the side surface of the third protrusion that is closer to the second protrusion side.

9. A robot as claimed in any one of claims 4 to 8,

the end effector also has a detection device for detecting whether there is an abnormality in the shape of the wire.

10. The robot of claim 9,

the detection device has:

a light projector that irradiates light to the wire held by the holding device and moved relatively; and

a light receiver that receives the light irradiated from the light projector.