JP6295431B2 - 挿入ヘッド、部品挿入装置及び部品実装ライン - Google Patents
挿入ヘッド、部品挿入装置及び部品実装ライン Download PDFInfo
- Publication number
- JP6295431B2 JP6295431B2 JP2014181937A JP2014181937A JP6295431B2 JP 6295431 B2 JP6295431 B2 JP 6295431B2 JP 2014181937 A JP2014181937 A JP 2014181937A JP 2014181937 A JP2014181937 A JP 2014181937A JP 6295431 B2 JP6295431 B2 JP 6295431B2
- Authority
- JP
- Japan
- Prior art keywords
- component
- pair
- gripping
- leaded
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003780 insertion Methods 0.000 title claims description 108
- 230000037431 insertion Effects 0.000 title claims description 108
- 210000000078 claw Anatomy 0.000 claims description 81
- 239000000758 substrate Substances 0.000 claims description 33
- 230000036544 posture Effects 0.000 description 23
- 230000005540 biological transmission Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/306—Lead-in-hole components, e.g. affixing or retention before soldering, spacing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53174—Means to fasten electrical component to wiring board, base, or substrate
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53174—Means to fasten electrical component to wiring board, base, or substrate
- Y10T29/53183—Multilead component
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Manipulator (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
Description
1A 部品実装装置
1B 部品挿入装置
2 基板
2a 挿入孔
3 表面実装部品
4 リード付部品
4L リード
21 トレイ
22 トレイフィーダ(部品供給部)
23 挿入ヘッド
24 把持爪
42 揺動軸(軸部材)
44 把持爪保持部材
61 揺動機構
62 間隔変更機構
70 部品認識カメラ(部品認識手段)
80 制御装置(制御手段)
92 コンベア
Fm 揺動面(面)
Claims (6)
- 部品挿入装置に備えられ、リード付部品を一対の把持爪により把持して前記リード付部品のリードを基板に設けられた挿入孔に挿入する挿入ヘッドであって、
水平な軸部材と、
前記軸部材上を移動自在に設けられ、前記軸部材に直交する面内を延びる前記一対の把持爪を保持する一対の把持爪保持部材と、
前記軸部材を回転駆動して前記一対の把持爪保持部材を前記軸部材の中心軸線回りに揺動させる揺動機構と、
前記一対の把持爪保持部材を前記軸部材上で移動させて前記一対の把持爪の間隔を変更する間隔変更機構とを備えたことを特徴とする挿入ヘッド。 - 前記リード付部品を認識する部品認識手段を備えたことを特徴とする請求項1に記載の挿入ヘッド。
- 前記リード付部品を供給する部品供給部と、請求項2に記載の挿入ヘッドと、前記部品認識手段による前記リード付部品の認識結果に基づいて前記挿入ヘッドの前記揺動機構及び前記間隔変更機構を制御することにより前記部品供給部が供給する前記リード付部品を前記一対の把持爪に把持させる制御手段とを備えたことを特徴とする部品挿入装置。
- 前記部品供給部は複数の前記リード付部品をトレイ又はコンベアに載せた状態で供給し、前記複数のリード付部品はそれぞれ前記トレイ又は前記コンベア上でまちまちの方向を向いていることを特徴とする請求項3に記載の部品挿入装置。
- 請求項3又は4に記載の部品挿入装置と前記基板に表面実装部品を実装する部品実装装置とが連結されて成ることを特徴とする部品実装ライン。
- 前記部品挿入装置が前記部品実装ラインに含まれる全ての前記部品実装装置よりも前記基板の流れの下流側に配置されたことを特徴とする請求項5に記載の部品実装ライン。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014181937A JP6295431B2 (ja) | 2014-09-08 | 2014-09-08 | 挿入ヘッド、部品挿入装置及び部品実装ライン |
US14/800,343 US10051745B2 (en) | 2014-09-08 | 2015-07-15 | Insertion head, component insertion device, and component mounting line |
CN201510445465.2A CN105407698B (zh) | 2014-09-08 | 2015-07-27 | ***头、元件***装置及元件安装线 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014181937A JP6295431B2 (ja) | 2014-09-08 | 2014-09-08 | 挿入ヘッド、部品挿入装置及び部品実装ライン |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016058468A JP2016058468A (ja) | 2016-04-21 |
JP6295431B2 true JP6295431B2 (ja) | 2018-03-20 |
Family
ID=55438873
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014181937A Active JP6295431B2 (ja) | 2014-09-08 | 2014-09-08 | 挿入ヘッド、部品挿入装置及び部品実装ライン |
Country Status (3)
Country | Link |
---|---|
US (1) | US10051745B2 (ja) |
JP (1) | JP6295431B2 (ja) |
CN (1) | CN105407698B (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6920581B2 (ja) * | 2017-03-31 | 2021-08-18 | パナソニックIpマネジメント株式会社 | 部品搭載方法及び部品搭載装置 |
JP7397564B2 (ja) * | 2017-06-06 | 2023-12-13 | 川崎重工業株式会社 | リード線の挿入方法 |
US10399234B2 (en) * | 2017-09-11 | 2019-09-03 | Applied Robotics, Inc. | Self-locking rotary handwheel assembly for a robotic parallel gripper assembly |
EP3687267B1 (en) * | 2017-09-22 | 2024-05-15 | Fuji Corporation | Component supply device |
JP2019160973A (ja) * | 2018-03-12 | 2019-09-19 | オムロン株式会社 | 部品挿入装置、部品挿入方法、およびプログラム |
CN112223325B (zh) * | 2020-09-30 | 2021-09-21 | 温州市日康机械科技厂 | 一种机械手及其操作方法 |
CN115008194B (zh) * | 2022-06-02 | 2023-09-22 | 江苏伍昌新材料科技有限公司 | 一种高效不锈钢杯盏自动化焊接设备 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0223012A3 (de) * | 1985-10-16 | 1988-11-30 | Preh Industrieausrüstungen GmbH | Montageeinrichtung |
JPS6471684A (en) * | 1987-09-09 | 1989-03-16 | Teijin Seiki Co Ltd | Gripper |
US4833776A (en) * | 1988-01-29 | 1989-05-30 | Westinghouse Electric Corp. | Tactile retrieval and insertion and method for electronic components in through-hole printed circuit boards |
JPH01234191A (ja) * | 1988-03-10 | 1989-09-19 | Internatl Business Mach Corp <Ibm> | マニピユレータ・アセンブリ |
JPH09130095A (ja) * | 1995-10-27 | 1997-05-16 | Matsushita Electric Ind Co Ltd | 縦型電子部品挿入方法とその装置 |
JP3605980B2 (ja) * | 1997-01-28 | 2004-12-22 | 松下電工株式会社 | 部品供給方法及び装置 |
JP2004200386A (ja) * | 2002-12-18 | 2004-07-15 | Matsushita Electric Ind Co Ltd | 部品実装機の配線配管装置 |
JP5408186B2 (ja) * | 2011-05-12 | 2014-02-05 | 株式会社安川電機 | ハンドおよびロボット |
JP5925510B2 (ja) * | 2012-02-08 | 2016-05-25 | Juki株式会社 | 電子部品実装装置及び電子部品実装方法 |
WO2013157121A1 (ja) * | 2012-04-19 | 2013-10-24 | 株式会社安川電機 | ロボットシステム |
-
2014
- 2014-09-08 JP JP2014181937A patent/JP6295431B2/ja active Active
-
2015
- 2015-07-15 US US14/800,343 patent/US10051745B2/en active Active
- 2015-07-27 CN CN201510445465.2A patent/CN105407698B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN105407698A (zh) | 2016-03-16 |
US20160073514A1 (en) | 2016-03-10 |
US10051745B2 (en) | 2018-08-14 |
CN105407698B (zh) | 2019-10-22 |
JP2016058468A (ja) | 2016-04-21 |
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