WO2022215308A1 - 自動配線装置、配線基板の製造方法及び自動配線用基板 - Google Patents
自動配線装置、配線基板の製造方法及び自動配線用基板 Download PDFInfo
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- WO2022215308A1 WO2022215308A1 PCT/JP2022/000026 JP2022000026W WO2022215308A1 WO 2022215308 A1 WO2022215308 A1 WO 2022215308A1 JP 2022000026 W JP2022000026 W JP 2022000026W WO 2022215308 A1 WO2022215308 A1 WO 2022215308A1
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- wire
- pipe
- automatic wiring
- wiring device
- shaft
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- 239000000758 substrate Substances 0.000 title claims description 39
- 238000004519 manufacturing process Methods 0.000 title claims description 12
- 238000003466 welding Methods 0.000 claims description 26
- 238000005520 cutting process Methods 0.000 claims description 12
- 238000013459 approach Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 59
- 210000000078 claw Anatomy 0.000 description 40
- 230000000694 effects Effects 0.000 description 11
- 239000004606 Fillers/Extenders Substances 0.000 description 9
- 239000011247 coating layer Substances 0.000 description 6
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F11/00—Cutting wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F23/00—Feeding wire in wire-working machines or apparatus
-
- 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
-
- 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
- H05K13/06—Wiring by machine
Definitions
- the present disclosure relates to an automatic wiring device, a wiring board manufacturing method, and an automatic wiring board.
- Patent Document 1 discloses an automatic wiring device for wiring electric wires to electric appliances.
- This automatic wiring device includes a wire feeding device, a wire holding device, and a wire wiring device.
- the wire feeding device feeds the wire to the wire holding device.
- the wire holding device holds the wire delivered from the wire feeding device.
- the wire feeding device cuts the wire when the wire of the required length for the electric appliance is delivered to the wire holding device.
- the wire wiring device holds the wires held by the wire holding device and carries them to the electrical appliance.
- the wire wiring device inserts both ends of the wire into holes of the appliance to wire the wire to the appliance.
- the automatic wiring device disclosed in Patent Document 1 does not have the function of shaping the cut wire and the function of maintaining the shape of the shaped wire. Therefore, with this automatic wiring device, it is not possible to wire electric wires in a desired shape to electric appliances.
- the present disclosure has been made in view of the above problems, and an object of the first aspect thereof is to provide an automatic wiring device capable of wiring a wire rod to a product in a desired shape.
- An object of a second aspect of the present disclosure is to provide a method for manufacturing a wiring board, which enables wiring of a wire in a desired shape to a product.
- An object of a third aspect of the present disclosure is to provide an automatic wiring substrate suitable for the automatic wiring device of the present disclosure.
- the automatic wiring device of the present disclosure includes a wire processing machine and a wire assembly machine.
- the wire processing machine includes a cutter that can cut the wire.
- a wire rod assembling machine includes an assembling hand capable of assembling a wire rod into a product, and an actuator capable of moving the assembling hand.
- the assembly hand includes a first gripper capable of gripping the wire, a second gripper capable of gripping the wire, a first shaft capable of contacting the wire, and movable or extendable toward the wire, and and a second shaft that can contact the wire.
- the manufacturing method of the wiring board of the present disclosure using the automatic wiring device of the present disclosure comprises the steps of forming a wire rod by an assembly hand, cutting the formed wire rod using a cutter, and determining the shape of the cut wire rod. assembling the cut wire to the terminal included in the product while holding it with an assembly hand.
- the automatic wiring substrate of the present disclosure includes a substrate and terminals provided on the substrate.
- the terminal is formed of a pair of elastically deformable thin plates.
- the terminal includes a root portion and a retaining portion.
- the first gap width of the root portion is smaller than the maximum gap width of the holding portion.
- the first gripper and the second gripper grip the wire rod until the wire rod is assembled to the product.
- the wire rod cut by the wire rod processing machine can be maintained in a desired shape by the first gripper, the second gripper, the first shaft, and the second shaft until the wire rod is assembled to the product.
- a wire rod can be wired in a desired shape to a product.
- the wires are attached to the product including the terminals using the automatic wiring device of the present disclosure.
- a wire rod can be wired in a desired shape to a product.
- the automatic wiring board of the present disclosure includes a terminal including a root portion and a holding portion. Therefore, by inserting the wire into the holding portion from the distal end of the holding portion with respect to the substrate using the automatic wiring device of the present disclosure, the wire can be assembled to the terminal in a desired shape.
- the automatic wiring board of the present disclosure is suitable for the automatic wiring device of the present disclosure.
- FIG. 1 is a schematic front view of an automatic wiring device according to Embodiment 1;
- FIG. 1 is a schematic plan view of a wire processing machine of the automatic wiring device according to Embodiment 1;
- FIG. 2 is a schematic enlarged front view of an assembly hand of the automatic wiring device of Embodiment 1;
- FIG. 4 is a schematic enlarged bottom view of an assembly hand of the automatic wiring device of Embodiment 1;
- FIG. It is a schematic plan view of a product. It is a schematic partial enlarged side view of a product.
- 1 is a schematic front view of an automatic wiring device, showing one step of a wire wiring method using the automatic wiring device of Embodiment 1;
- FIG. 8 is a schematic enlarged bottom view of the automatic wiring device viewed from the direction of arrow VIII shown in FIG. 7, showing one step of the wire wiring method using the automatic wiring device of Embodiment 1;
- FIG. 9 is a schematic enlarged bottom view of the automatic wiring device, showing a step subsequent to the steps shown in FIGS. 7 and 8 in the wire wiring method using the automatic wiring device of Embodiment 1;
- FIG. 10 is a schematic enlarged bottom view of the automatic wiring device, showing a step subsequent to the step shown in FIG. 9 in the wire wiring method using the automatic wiring device of Embodiment 1;
- FIG. 11 is a schematic enlarged bottom view of the automatic wiring device, showing a step subsequent to the step shown in FIG.
- FIG. 12 is a schematic enlarged bottom view of the automatic wiring device, showing a step subsequent to the step shown in FIG. 11 in the wire wiring method using the automatic wiring device of Embodiment 1;
- FIG. 13 is a schematic side view of the automatic wiring device, showing a step subsequent to the step shown in FIG. 12 in the wire wiring method using the automatic wiring device of Embodiment 1;
- FIG. 14 is a schematic partial enlarged side view of a product, showing a step subsequent to the step shown in FIG. 13 in the wire wiring method using the automatic wiring device of Embodiment 1;
- FIG. 14 is a schematic partial enlarged front view of a product, showing a step subsequent to the step shown in FIG.
- FIG. 14A and 14B in the wire wiring method using the automatic wiring device of the first embodiment is a schematic plan view of a product, showing a step subsequent to the step shown in FIG. 14 in the wire wiring method using the automatic wiring device of Embodiment 1;
- FIG. 9 is a schematic front view of an automatic wiring device according to Embodiment 2;
- FIG. 11 is a schematic enlarged front view of an assembly hand of the automatic wiring device of Embodiment 2;
- FIG. 11 is a schematic enlarged bottom view of an assembly hand of the automatic wiring device of Embodiment 2; It is a schematic plan view of a product.
- FIG. 11 is a schematic front view of an automatic wiring device according to Embodiment 3;
- FIG. 11 is a schematic partial enlarged side view of a product, showing one step of a wire wiring method using the automatic wiring device of Embodiment 3;
- FIG. 11 is a schematic partial enlarged side view of a product, showing one step of a wire wiring method using the automatic wiring device of Embodiment 3;
- FIG. 12 is a schematic front view of an automatic wiring device according to Embodiment 4;
- FIG. 12 is a schematic enlarged front view of an assembly hand of the automatic wiring device of Embodiment 4;
- FIG. 14 is a schematic enlarged bottom view of an assembly hand of the automatic wiring device of Embodiment 4;
- FIG. 11 is a schematic partial enlarged side view of a product, showing one step of a wire wiring method using the automatic wiring device of Embodiment 4;
- FIG. 28 is a schematic partially enlarged side view of a product, showing a step subsequent to the step shown in FIG. 27 in the wire wiring method using the automatic wiring device of Embodiment 4;
- FIG. 11 is a schematic front view of an automatic wiring device according to Embodiment 5;
- FIG. 11 is a schematic enlarged front view of a wire rod forming machine of an automatic wiring device according to Embodiment 5;
- FIG. 11 is a schematic enlarged plan view of a wire rod forming machine of an automatic wiring device according to Embodiment 5;
- FIG. 11 is a schematic enlarged front view of a wire rod forming machine of an automatic wiring device, showing one step of a wire wiring method using the automatic wiring device of Embodiment 5;
- FIG. 11 is a schematic enlarged plan view of a wire rod forming machine of an automatic wiring device, showing one step of a wire wiring method using the automatic wiring device of Embodiment 5;
- FIG. 34 is a schematic enlarged front view of a wire rod forming machine of the automatic wiring device, showing the next step of the steps shown in FIGS. 32 and 33 in the wire wiring method using the automatic wiring device of Embodiment 5;
- FIG. 11 is a schematic enlarged plan view of a wire rod forming machine of an automatic wiring device according to Embodiment 5;
- FIG. 11 is a schematic enlarged front view of a wire rod forming machine of an automatic wiring device, showing one step of a
- FIG. 34 is a schematic enlarged plan view of a wire rod forming machine of the automatic wiring device, showing a step subsequent to the steps shown in FIGS. 32 and 33 in the wire wiring method using the automatic wiring device of Embodiment 5;
- 36 is a schematic enlarged front view of the wire rod forming machine of the automatic wiring device, showing the next step of the steps shown in FIGS. 34 and 35 in the wire wiring method using the automatic wiring device of Embodiment 5.
- FIG. 36 is a schematic enlarged plan view of the wire rod forming machine of the automatic wiring device, showing the next step of the steps shown in FIGS. 34 and 35 in the wire wiring method using the automatic wiring device of Embodiment 5.
- FIG. 34 is a schematic enlarged plan view of a wire rod forming machine of the automatic wiring device, showing a step subsequent to the steps shown in FIGS. 32 and 33 in the wire wiring method using the automatic wiring device of Embodiment 5
- 36 is a schematic enlarged front view of the wire rod forming machine of the automatic wiring device, showing
- FIG. 38 is a schematic enlarged front view of the wire rod forming machine of the automatic wiring device, showing the next step of the steps shown in FIGS. 36 and 37 in the wire wiring method using the automatic wiring device of Embodiment 5.
- FIG. FIG. 38 is a schematic enlarged plan view of a wire rod forming machine of the automatic wiring device, showing a step subsequent to the steps shown in FIGS. 36 and 37 in the wire wiring method using the automatic wiring device of Embodiment 5; 40 is a schematic front view of the wire rod forming machine of the automatic wiring device, showing the next step of the steps shown in FIGS. 38 and 39 in the wire wiring method using the automatic wiring device of Embodiment 5.
- FIG. 40 is a schematic enlarged plan view of the automatic wiring device viewed from the direction of arrow XLI shown in FIG. 40, showing the next step of the steps shown in FIGS. is.
- FIG. 42 is a schematic enlarged plan view of the automatic wiring device, showing a step subsequent to the steps shown in FIGS. 40 and 41 in the wire wiring method using the automatic wiring device of Embodiment 5;
- FIG. 43 is a schematic front view of a wire rod forming machine of the automatic wiring device, showing a step subsequent to the step shown in FIG. 42 in the wire wiring method using the automatic wiring device of Embodiment 5;
- FIG. 14 is a schematic front view of an automatic wiring device according to Embodiment 6;
- FIG. 20 is a schematic enlarged front view of an assembly hand of the automatic wiring device of Embodiment 6;
- FIG. 21 is a schematic enlarged side view of an assembly hand of the automatic wiring device of Embodiment 6;
- FIG. 21 is a schematic partially enlarged front view of an automatic wiring device, showing one step of a wire wiring method according to Embodiment 6;
- FIG. 21 is a schematic partial enlarged view of an automatic wiring device, showing one step of a wire wiring method according to Embodiment 6;
- FIG. 49 is a schematic partially enlarged front view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 47 and 48 in the wire wiring method of Embodiment 6;
- FIG. 49 is a schematic partially enlarged view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 47 and 48 in the wire wiring method of Embodiment 6;
- FIG. 51 is a schematic partially enlarged front view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 49 and 50 in the wire wiring method of Embodiment 6;
- FIG. 51 is a schematic partially enlarged view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 49 and 50 in the wire wiring method of Embodiment 6;
- FIG. 53 is a schematic partially enlarged front view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 51 and 52 in the wire wiring method of Embodiment 6;
- FIG. 53 is a schematic partially enlarged view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 51 and 52 in the wire wiring method of Embodiment 6;
- FIG. 55 is a schematic partially enlarged front view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 53 and 54 in the wire wiring method of Embodiment 6;
- FIG. 55 is a schematic partial enlarged view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 53 and 54 in the wire wiring method of Embodiment 6;
- Embodiment 1 An automatic wiring device 1 according to a first embodiment will be described with reference to FIGS. 1 to 4.
- FIG. The automatic wiring device 1 is a device for cutting a wire rod 5 delivered from a reel 6, forming it into a desired shape, and wiring it to a product 7 shown in FIGS.
- the wire 5 may be, for example, an electric wire covered with an insulating coating layer, or a bare electric wire without an insulating coating layer.
- an automatic wiring device 1 includes a wire processing machine 2 and a wire assembly machine 3 . 1 and 2, the wire processing machine 2 includes a base plate 10, rollers 11 and 12, retainers 14 and 15, and a cutter 16. As shown in FIG. 1 , the wire processing machine 2 includes a base plate 10, rollers 11 and 12, retainers 14 and 15, and a cutter 16. As shown in FIG. 1 , the wire processing machine 2 includes a base plate 10, rollers 11 and 12, retainers 14 and 15, and a cutter 16. As shown in FIG.
- the base plate 10 supports rollers 11 and 12, retainers 14 and 15, and a cutter 16. Rollers 11 , 12 may feed wire 5 from reel 6 towards cutter 16 . Rollers 11 and 12 guide wire 5 toward cutter 16 . The rollers 11 and 12 sandwich the wire rod 5 respectively.
- the retainers 14 , 15 can hold the wire 5 .
- the holders 14 and 15 are, for example, openable and closable holding chucks. Cutter 16 can cut wire 5 .
- the wire rod assembling machine 3 includes an assembling hand 20 and an actuator 28 .
- the assembly hand 20 can grip the wire rod 5 and assemble it into the product 7 (see FIGS. 5 and 6).
- the assembly hand 20 includes a support member 21 , a first gripper 22 , a second gripper 23 , a first shaft 24 and a second shaft 25 .
- the assembly hand 20 may further include a cylinder 26 and a connecting plate 27.
- the support member 21 supports the first gripper 22 , the second gripper 23 , the first shaft 24 and the second shaft 25 .
- Support member 21 may further support cylinder 26 .
- the support member 21 is, for example, a support plate.
- the support member 21 has a first main surface 21a facing the wire 5 .
- the first main surface 21a extends, for example, along the x-axis direction and the y-axis direction.
- the normal direction of the first main surface 21a is the z-axis direction.
- the first gripper 22 and the second gripper 23 are attached to the first main surface 21a of the support member 21, for example.
- the first gripper 22 and the second gripper 23 can grip the wire 5 .
- the first gripper 22 includes a first gripping chuck 22a and a first gripping claw 22b attached to the tip of the first gripping chuck 22a (the distal end of the first gripping chuck 22a with respect to the support member 21).
- the first gripping chuck 22 a is attached to the support member 21 .
- the first gripping claws 22b are composed of a first pair of first gripping claws 22b and a second pair of first gripping claws 22b.
- the second pair of first gripping claws 22b is separated from the first pair of first gripping claws 22b by a distance g (see FIGS. 3, 4 and 14B).
- the tips of the first pair of first gripping claws 22b can be opened and closed by the first gripping chuck 22a.
- the tips of the second pair of first gripping claws 22b can be opened and closed by the first gripping chuck 22a.
- the second gripper 23 is separated from the first gripper 22.
- the second gripper 23 includes a second gripping chuck 23a and a second gripping claw 23b attached to the tip of the second gripping chuck 23a (the distal end of the second gripping chuck 23a with respect to the support member 21).
- the second gripping chuck 23 a is attached to the support member 21 .
- the second gripping claws 23b are composed of a first pair of second gripping claws 23b and a second pair of second gripping claws 23b.
- the second pair of second gripping claws 23b is separated from the first pair of second gripping claws 23b by a distance g (see FIGS. 3 and 4).
- the tips of the first pair of second gripping claws 23b can be opened and closed by the second gripping chuck 23a.
- the tips of the second pair of second gripping claws 23b can be opened and closed by the second gripping chuck 23a.
- the first shaft 24 is a fixed shaft that is fixed to the support member 21.
- the first shaft 24 can contact the wire 5 .
- the first shaft 24 is separated from the wire rod.
- the first shaft 24 contacts the wire rod 5 when the assembly hand 20 is positioned near the wire rod processing machine 2 by the actuator 28 .
- the first shaft 24 may be a shaft that can move toward the wire 5 or a shaft that can expand and contract toward the wire 5 .
- the second shaft 25 is a shaft that can move toward the wire rod 5.
- the second shaft 25 is connected to the cylinder 26 via a connecting plate 27 .
- the cylinder 26 can move along the normal direction (z-axis direction) of the first main surface 21 a of the support member 21 . Movement of the cylinder 26 is transmitted to the second shaft 25 via the connecting plate 27 .
- the second shaft 25 can move toward the wire rod 5 along the normal direction (z-axis direction) of the first main surface 21 a of the support member 21 .
- the second shaft 25 may be a shaft that can extend and contract toward the wire rod 5 .
- the second shaft 25 can contact the wire 5 .
- the second shaft 25 is separated from the wire rod.
- the second shaft 25 contacts the wire 5 when the assembly hand 20 is positioned near the wire processing machine 2 by the actuator 28 and the second shaft 25 moves or extends toward the wire 5 .
- actuator 28 can move assembly hand 20 .
- Actuator 28 is connected to support member 21 .
- the actuator 28 can move the assembly hand 20 in three directions (x-axis direction, y-axis direction, and z-axis direction).
- Actuator 28 is, for example, a three-axis actuator or an articulated robot.
- the product 7 to which the wires 5 are wired using the automatic wiring device 1 will be described with reference to FIGS.
- the product 7 is, for example, a printed wiring board.
- Product 7 includes substrate 8 and terminals 9 provided on substrate 8 .
- the terminal 9 is made of metal, for example. Terminals 9 are each formed of a pair of elastically deformable thin plates, such as leaf springs.
- the width w of the terminal 9 (see FIG. 14B) is greater than the previously described spacing g (see FIGS. 3, 4 and 14B). Therefore, when the wire 5 is gripped by the first gripping claws 22b and the second gripping claws 23b and the wire 5 is attached to the terminal 9, the first gripping claws 22b and the second gripping claws 23b are prevented from interfering with the terminal 9.
- the width w of the terminal 9 is the length of the terminal 9 in the direction along the surface of the substrate 8 to which the terminal 9 is fixed, which is perpendicular to the direction in which the pair of thin plates forming the terminal 9 are separated from each other. be.
- Terminal 9 includes a root portion 9a, a holding portion 9b, and a tapered portion 9c.
- the root portion 9 a is the portion of the terminal 9 that is closest to the substrate 8 .
- the terminal 9 is fixed to the substrate 8 at the base portion 9a.
- the root portion 9a prevents the wire rod 5 from falling from the holding portion 9b.
- the gap width G 1 of the root portion 9 a is smaller than the diameter of the wire 5 .
- the gap width G1 of the root portion 9a is the distance between a pair of laminae at the proximal end of the root portion 9a with respect to the retainer portion 9b.
- the holding portion 9b can hold the wire rod 5 .
- the maximum gap width (gap width G 2 ) of the holding portion 9b is equal to or larger than the diameter of the wire 5 and larger than the gap width G 1 of the root portion 9a.
- the maximum gap width of the holding portion 9b is the maximum distance between the pair of thin plates in the holding portion 9b.
- the wire 5 is assembled to the product 7 by being accommodated in the holding portion 9b.
- the tapered portion 9 c can smoothly guide the wire 5 to the distal end of the holding portion 9 b with respect to the substrate 8 .
- the gap width of the tapered portion 9c becomes narrower as it approaches the holding portion 9b.
- a gap width G3 at the proximal end of the tapered portion 9c with respect to the holding portion 9b is smaller than the maximum gap width of the holding portion 9b and smaller than the diameter of the wire 5 .
- Gap width G3 is the distance between a pair of laminae at the proximal end of tapered portion 9c relative to retainer portion 9b.
- FIG. 7 A method of wiring the wire 5 according to the present embodiment using the automatic wiring device 1 will be described with reference to FIGS. 7 to 16.
- FIG. The wiring method of the wire 5 according to the present embodiment includes a step of forming the wire 5 , a step of cutting the wire 5 , and a step of attaching the wire 5 to the product 7 .
- rollers 11 and 12 are rotated.
- the wire 5 is pulled out from the reel 6 by rollers 11 and 12 and sent toward the cutter 16 .
- Rollers 11 and 12 guide wire 5 toward cutter 16 .
- the wire 5 is held by holders 14, 15, for example by closing a holding chuck.
- the assembling hand 20 is moved along the first main surface 21a (specifically, in the -x direction), and in a plan view (plan view from the z-axis direction) of the first main surface 21a, the first gripper 22 (first gripping claw 22b) is positioned between the holders 14 and 15. As shown in FIG. At this time, the first shaft 24 contacts the side surface of the wire rod 5 .
- the first gripper 22 (first gripping claws 22b) grips the wire rod 5 by closing the first gripping claws 22b by the first gripping chuck 22a.
- the wire 5 is released from the retainers 14, 15, for example by opening the retaining chucks.
- the assembling hand 20 is moved by the actuator 28 to move the first shaft 24 to the distal side of the reel 6 with respect to the cutter 16 in plan view of the first main surface 21a (plan view from the z-axis direction). 9, it is positioned on the -x direction side with respect to the cutter 16).
- the assembly hand 20 (support member 21) is rotated around the first shaft 24 by the actuator 28. As shown in FIG. For example, the assembly hand 20 (support member 21) rotates clockwise around the first shaft 24. As shown in FIG. Since the first shaft 24 is in contact with the side surface of the wire 5 , the wire 5 is bent by the first shaft 24 .
- the cylinder 26 (see FIGS. 1 and 3) is operated to move the second shaft 25 toward the wire 5 or extend the second shaft 25 toward the wire 5.
- the second shaft 25 contacts the side surface of the wire 5 .
- the side surface of the wire 5 with which the second shaft 25 contacts is, for example, the side opposite to the side surface of the wire 5 with which the first shaft 24 contacts.
- the assembly hand 20 (support member 21) is rotated around the second shaft 25 by the actuator .
- the assembly hand 20 (support member 21) rotates counterclockwise around the second shaft 25.
- the wire 5 is bent by the second shaft 25 .
- the assembly hand 20 (supporting member 21) is moved along the first main surface 21a (specifically, in the -x direction) by the actuator 28, and the first main surface 21a is viewed from above (from the z-axis direction).
- the second gripper 23 (second gripping claw 23b) is located on the side of the cutter 16 distal from the reel 6 (in FIG. 11, the side of the -x direction with respect to the cutter 16).
- the second gripper 23 (second gripping claws 23b) grips the wire 5 by closing the second gripping claws 23b with the second gripping chuck 23a.
- the wire rod 5 is molded.
- actuator 28 moves assembly hand 20 gripping wire 5 from a position above wire processing machine 2 to a position above product 7 .
- the assembly hand 20 that grips the wire 5 is moved toward the substrate 8 by the actuator 28 .
- the wire 5 contacts the tapered portion 9c of the terminal 9.
- the wire 5 is gripped by the first gripping claws 22b and the second gripping claws 23b, even if the wire 5 is a wire having flexibility such as a stranded wire or a lead wire, the wire 5 is pulled from the tapered portion 9c.
- the wire 5 is prevented from being deformed in the direction away from the substrate 8 by receiving the reaction force.
- the tapered portion 9c is expanded by the wire rod 5, and the tapered portion 9c is deformed outward.
- the assembly hand 20 gripping the wire 5 is further moved toward the substrate 8 by the actuator 28 .
- the wire rod 5 is accommodated in the holding portion 9b of the terminal 9.
- the gap width G 1 (see FIG. 6) of the root portion 9a and the gap width G 3 (see FIG. 6) at the proximal end of the tapered portion 9c with respect to the holding portion 9b are smaller than the diameter of the wire 5 . Therefore, the wire 5 is prevented from slipping out of the holding portion 9 b of the terminal 9 .
- the wire rod 5 is thus assembled into the product 7 .
- the product 7 to which the wire 5 is assembled is the wiring board 100 .
- the manufacturing method of the wiring board 100 of the present embodiment includes the steps of forming the wire 5, cutting the wire 5, and assembling the wire 5 described above.
- the first gripper 22 and the second gripper 23 continue to grip the wire 5 until the wire 5 is assembled to the product 7 .
- the wire rod 5 cut by the wire rod processing machine 2 is shaped into a desired shape by the first gripper 22, the second gripper 23, the first shaft 24, and the second shaft 25 until the wire rod 5 is assembled to the product 7. can be maintained. Therefore, the wire 5 can be wired to the product 7 in a desired shape.
- the automatic wiring device 1 of this embodiment includes a wire processing machine 2 and a wire assembly machine 3 .
- the wire processing machine 2 includes a cutter 16 capable of cutting the wire 5 .
- the wire assembling machine 3 includes an assembling hand 20 capable of assembling the wire 5 to the product 7 and an actuator 28 capable of moving the assembling hand 20 .
- the assembly hand 20 includes a first gripper 22 capable of gripping the wire 5, a second gripper 23 capable of gripping the wire 5, a first shaft 24 capable of contacting the wire 5, and movable toward the wire 5. Alternatively, it includes a second shaft 25 that is extendable and that can contact the wire rod 5 .
- the first gripper 22 and the second gripper 23 grip the wire rod 5 until the wire rod 5 is assembled with the product 7 .
- the wire rod 5 cut by the wire rod processing machine 2 is shaped into a desired shape by the first gripper 22, the second gripper 23, the first shaft 24, and the second shaft 25 until the wire rod 5 is assembled to the product 7. can be maintained. Therefore, the automatic wiring device 1 can wire the wire 5 to the product 7 in a desired shape.
- the assembly hand 20 further includes a support member 21 .
- the support member 21 supports the first gripper 22 , the second gripper 23 , the first shaft 24 and the second shaft 25 .
- Actuator 28 is connected to support member 21 .
- the first gripper 22, the second gripper 23, the first shaft 24 and the second shaft 25 can be moved collectively.
- the configuration of the automatic wiring device 1 can be simplified. Efficiency in assembling the wire 5 to the product 7 is improved.
- the first shaft 24 is a fixed shaft fixed to the support member 21 . Therefore, the configuration of the automatic wiring device 1 can be simplified.
- the wire processing machine 2 further includes holders 14 and 15 capable of holding the wire 5 .
- the retainers 14 and 15 prevent the remainder of the wire 5 cut by the cutter 16 from being rewound onto the reel 6 and allow the remainder of the wire 5 to be quickly supplied to the assembly hand 20 .
- the retainers 14, 15 allow a larger number of wires 5 to be assembled into the product 7 in a shorter time. Efficiency in assembling the wire 5 to the product 7 is improved.
- the wire processing machine 2 further includes rollers 11 and 12 capable of feeding the wire 5 from the reel 6 toward the cutter 16 .
- the rollers 11 and 12 enable the wire rod 5 to be quickly supplied to the assembly hand 20.
- the retainers 14, 15 allow a larger number of wires 5 to be assembled into the product 7 in a shorter time. Efficiency in assembling the wire 5 to the product 7 is improved.
- the manufacturing method of the wiring board 100 of the present embodiment using the automatic wiring device 1 comprises a step of forming the wire 5 by the assembling hand 20, a step of cutting the formed wire 5 using the cutter 16, and a step of cutting the wire 5 by using the cutter 16. assembling the cut wire 5 to the terminal 9 included in the product 7 while maintaining the shape of the cut wire 5 with an assembly hand 20. - ⁇
- the wire rod 5 is attached to the product 7 including the terminals 9 using the automatic wiring device 1 of the present embodiment. According to the method of manufacturing the wiring board 100 of the present embodiment, the wires 5 can be wired to the product 7 in a desired shape.
- the automatic wiring substrate (product 7 ) of this embodiment includes a substrate 8 and terminals 9 provided on the substrate 8 .
- the terminal 9 is formed of a pair of elastically deformable thin plates.
- Terminal 9 includes a root portion 9a, a holding portion 9b, and a tapered portion 9c.
- the first gap width (gap width G 1 ) of the root portion 9a is smaller than the maximum gap width of the holding portion 9b.
- the gap width of the tapered portion 9c becomes narrower as it approaches the holding portion 9b.
- the second gap width (gap width G 3 ) at the proximal end of the tapered portion 9c with respect to the holding portion 9b is smaller than the maximum gap width of the holding portion 9b.
- the automatic wiring board (product 7) of the present embodiment has a terminal 9 including a root portion 9a, a holding portion 9b, and a tapered portion 9c. Therefore, by inserting the wire 5 into the holding portion 9b from the distal end of the holding portion 9b with respect to the substrate 8 using the automatic wiring device 1 of the present embodiment, the wire 5 can be attached to the terminal 9 in a desired shape. obtain.
- the tapered portion 9 c smoothly guides the wire 5 to the distal end of the holding portion 9 b relative to the substrate 8 .
- the automatic wiring substrate of this embodiment is suitable for the automatic wiring device 1 of this embodiment.
- Embodiment 2 An automatic wiring device 1b according to the second embodiment will be described with reference to FIGS. 17 to 19.
- FIG. The automatic wiring device 1b can wire the wires 5 to both the product 7 (see FIG. 5) and the product 7b (see FIG. 20).
- Product 7 b differs from product 7 in the arrangement of terminals 9 .
- the automatic wiring device 1b of the present embodiment has the same configuration as the automatic wiring device 1 of the first embodiment, but differs mainly in the following points.
- the assembly hand 20 further includes a shaft horizontal movement mechanism 30.
- the shaft horizontal movement mechanism 30 is provided on the support member 21 .
- the shaft horizontal movement mechanism 30 can change the relative positional relationship between the first shaft 24 and the second shaft 25 in the direction along the first main surface 21a.
- the shaft horizontal movement mechanism 30 includes, for example, guide rails 31 and slide plates 32 .
- the guide rail 31 is provided on the support member 21 . Specifically, the guide rail 31 is fixed to the first main surface 21 a of the support member 21 . The guide rail 31 extends along the direction along the first main surface 21a. The guide rail 31 extends, for example, in the y-axis direction.
- the slide plate 32 supports the first shaft 24.
- the first shaft 24 is supported by the support member 21 via the shaft horizontal movement mechanism 30 .
- the slide plate 32 slides on the guide rails 31 .
- the first shaft 24 moves with respect to the second shaft 25 together with the slide plate 32 .
- the automatic wiring device 1b can wire the wires 5 to both the product 7 (see FIG. 5) and the product 7b (see FIG. 20).
- the slide plate 32 may further support the first gripper 22.
- the first gripper 22 is supported by the support member 21 via the shaft horizontal movement mechanism 30 . Therefore, while maintaining the relative positional relationship between the first shaft 24 and the first gripper 22 in the direction along the first main surface 21a, the relative position between the first shaft 24 and the second shaft 25 is increased.
- the positional relationship and the relative positional relationship between the first gripper 22 and the second gripper 23 can be varied.
- the shaft horizontal movement mechanism 30 may be able to move the first shaft 24 and the first gripper 22 in the x-axis direction and the y-axis direction.
- the automatic wiring device 1b of the present embodiment has the following effects in addition to the effects of the automatic wiring device 1 of the first embodiment.
- the assembly hand 20 further includes a shaft horizontal movement mechanism 30 provided on the support member 21.
- the support member 21 has a first main surface 21a facing the wire 5 .
- the shaft horizontal movement mechanism 30 can change the relative positional relationship between the first shaft 24 and the second shaft 25 in the direction along the first main surface 21a.
- the automatic wiring device 1b can assemble the wire rods 5 to multiple types of products 7, 7b in which the arrangement of the terminals 9 is different. Efficiency in assembling the wire 5 to the products 7, 7b of multiple types is improved.
- the shaft horizontal movement mechanism 30 includes a first guide rail (guide rail 31) provided on the support member 21, and a first slide plate ( slide plate 32).
- the first slide plate supports the first shaft 24 and the first gripper 22 .
- the relative position between the first shaft 24 and the first gripper 22 in the direction along the first main surface 21a is increased.
- the positional relationship and the relative positional relationship between the first gripper 22 and the second gripper 23 can be varied. Efficiency in assembling the wire 5 to the products 7, 7b of multiple types is improved.
- Embodiment 3 An automatic wiring device 1c according to the third embodiment will be described with reference to FIG.
- the automatic wiring device 1c of the present embodiment has the same configuration as the automatic wiring device 1 of the first embodiment, but differs mainly in the following points.
- the wire assembling machine 3 further includes a force sensor 35 provided between the actuator 28 and the assembling hand 20. As shown in FIG.
- the force sensor 35 is a sensor that detects the magnitude of the load applied to the force sensor 35 and the direction of the load.
- the force sensor 35 includes, for example, multiple strain gauges.
- the assembling hand 20 is moved.
- the wire 5 receives a force from the terminal 9 along the normal direction of the first main surface 21a.
- the force sensor 35 detects force along the normal direction of the first main surface 21a.
- the direction of the force detected by the force sensor 35 when inserting the wire 5 into the terminal 9 using the assembling hand 20 causes the wire 5 to move toward the terminal in the direction along the first main surface 21a (see FIG. 21).
- 9 can be checked to see if it is properly positioned. Then, if the wire 5 is improperly positioned with respect to the terminal 9 in the direction along the first main surface 21 a of the support member 21 , before inserting the wire 5 into the holding portion 9 b of the terminal 9 , the actuator 28 moves the wire assembling hand 20 in the direction along the first main surface 21a to properly position the wire 5 with respect to the terminal 9 in the direction along the first main surface 21a.
- the actuator 28 moves the wire assembling hand 20 in the direction normal to the first main surface 21a to move the wire 5 to the terminal. 9 is inserted into the holding portion 9b.
- the automatic wiring device 1c of the present embodiment has the following effects in addition to the effects of the automatic wiring device 1 of the first embodiment.
- the wire rod assembling machine 3 further includes a force sensor 35 provided between the actuator 28 and the assembling hand 20.
- the automatic wiring device 1c can wire the wire 5 to the product 7 accurately.
- Embodiment 4 An automatic wiring device 1d according to the fourth embodiment will be described with reference to FIGS. 24 to 26.
- FIG. An automatic wiring device 1d of the present embodiment has the same configuration as the automatic wiring device 1 of the first embodiment, but differs mainly in the following points.
- the assembly hand 20 further includes welding units 36 and 37. As shown in FIG.
- the welding unit 36 is arranged closer to the first gripper 22 than the second gripper 23.
- Welding unit 36 includes a welding electrode 36c.
- welding unit 36 includes base arm 36a, movable arm 36b, and welding electrode 36c.
- the base arm 36a is supported by the support member 21.
- the base arm 36 a may be fixed to the first main surface 21 a of the support member 21 .
- the longitudinal direction of the base arm 36a is the normal direction (z-axis direction) of the first main surface 21a.
- the movable arm 36b is attached to the base arm 36a. Movable arm 36b can move relative to base arm 36a.
- the movable arm 36b can move in a direction (for example, the y-axis direction) along the first major surface 21a.
- Welding electrode 36c is attached to movable arm 36b. Welding electrode 36c can be moved in a direction (eg, y-axis direction) along first main surface 21a by movable arm 36b.
- the welding unit 37 is arranged closer to the second gripper 23 than to the first gripper 22 .
- Welding unit 37 is separated from welding unit 36 in the direction along first main surface 21 a of support member 21 .
- Welding unit 37 includes a welding electrode 37c.
- welding unit 37 includes a base arm 37a, a movable arm 37b, and a welding electrode 37c.
- the base arm 37a is supported by the support member 21.
- the base arm 37 a may be fixed to the first main surface 21 a of the support member 21 .
- the longitudinal direction of the base arm 37a is the normal direction (z-axis direction) of the first main surface 21a.
- the movable arm 37b is attached to the base arm 37a. Movable arm 37b can move relative to base arm 37a.
- the movable arm 37b can move in a direction (for example, the y-axis direction) along the first main surface 21a.
- the welding electrode 37c is attached to the movable arm 37b. Welding electrode 37c can be moved in a direction (eg, y-axis direction) along first main surface 21a by movable arm 37b.
- the method for wiring the wires 5 of the present embodiment includes the same steps as the method for wiring the wires 5 of the first embodiment, but differs mainly in the following points.
- FIGS. 15A and 15B after inserting the wire rod 5 into the terminal 9 (holding portion 9b) of the product 7, as shown in FIG. 37c are brought closer together.
- the welding electrodes 36c and 37c are in contact with the outer side surface of the terminal 9 (holding portion 9b), and the wire rod 5 accommodated in the terminal 9 (holding portion 9b) and the terminal 9 (holding portion 9b) are in contact with each other. 9b) are sandwiched.
- the wire 5 and the terminal 9 (holding portion 9b) are welded together by applying current or voltage to the welding electrodes 36c and 37c. Specifically, heat is generated by applying current or voltage to welding electrodes 36c and 37c.
- the wire rod 5 is a bare wire without an insulating coating layer, the wire and the terminal 9 (holding portion 9b) are welded.
- the automatic wiring device 1d of the present embodiment has the following effects in addition to the effects of the automatic wiring device 1 of the first embodiment.
- the assembly hand 20 further includes welding units 36, 37 including welding electrodes 36c, 37c.
- the automatic wiring device 1d can fix the wire 5 to the terminal 9 of the product 7 more firmly.
- the wire rod 5 is further prevented from slipping out of the terminal 9 .
- the automatic wiring device 1e of Embodiment 5 has the same configuration as the automatic wiring device 1 of the first embodiment, but differs mainly in the following points.
- the automatic wiring device 1 e of the present embodiment further includes a wire rod forming machine 4 .
- the wire rod forming machine 4 mainly includes a base member 40 , a wire gripping chuck 59 , a first pipe 54 , a second pipe 45 , a wire gripping chuck moving mechanism 55 and a pipe horizontal moving mechanism 41 .
- the wire rod forming machine 4 may further include a first pipe vertical movement mechanism 61 and a second pipe vertical movement mechanism 62 .
- the base member 40 is, for example, a base plate.
- the base member 40 includes a second major surface 40a.
- a second main surface 40 a of the base member 40 faces the first main surface 21 a of the support member 21 .
- the base member 40 supports the wire gripping chuck 59 , the first pipe 54 , the second pipe 45 , the wire gripping chuck moving mechanism 55 , and the pipe horizontal moving mechanism 41 .
- the first shaft 24 can be inserted into the first pipe 54 (see FIG. 40).
- the second pipe 45 can be inserted with the second shaft 25 (see FIG. 40).
- the pipe horizontal movement mechanism 41 can change the relative positional relationship between the first pipe 54 and the second pipe 45 in the direction along the second main surface 40 a of the base member 40 .
- the pipe horizontal movement mechanism 41 includes a first pipe horizontal movement mechanism 46 and a second pipe horizontal movement mechanism 42 .
- the first pipe horizontal movement mechanism 46 can move the first pipe 54 in a first direction (eg, x-axis direction and y-axis direction) along the second main surface 40 a of the base member 40 .
- the first pipe horizontal movement mechanism 46 includes a depth direction movement mechanism 47 and a first width direction movement mechanism 50 .
- the depth direction moving mechanism 47 can move the first pipe 54 in the depth direction (y-axis direction) of the base member 40 .
- the depth direction moving mechanism 47 includes a guide rail 48 and a slide plate 49 .
- the guide rails 48 are provided on the support member 21 . More specifically, the guide rail 48 is fixed to the second main surface 40a of the base member 40. As shown in FIG.
- the guide rail 48 extends along the depth direction (y-axis direction) of the base member 40 .
- a slide plate 49 slides on the guide rail 48 .
- the first width direction moving mechanism 50 can move the first pipe 54 in the width direction (x-axis direction) of the base member 40 .
- the first width direction movement mechanism 50 includes a base 51 , a movable rod 52 and a fixed plate 53 .
- the base 51 is fixed to the slide plate 49 .
- the movable rod 52 is supported by the base 51 .
- the movable rod 52 can move in the width direction (x-axis direction) of the base member 40 with respect to the base 51 .
- the fixed plate 53 is fixed to the movable rod 52 .
- the first pipe 54 is supported by the fixed plate 53 .
- the first pipe 54 is supported by the movable rod 52 via the fixed plate 53 .
- the first pipe 54 can move in the width direction (x-axis direction) of the base member 40 together with the movable rod 52 and the fixed plate 53 .
- the second pipe horizontal movement mechanism 42 can move the second pipe 45 in the second direction (eg, x-axis direction) along the second main surface 40a of the base member 40.
- the second pipe horizontal movement mechanism 42 includes guide rails 43 and slide plates 44 .
- the guide rails 43 are provided on the support member 21 . More specifically, the guide rail 43 is fixed to the second main surface 40a of the base member 40. As shown in FIG.
- the guide rail 43 extends along the width direction (x-axis direction) of the base member 40 .
- the slide plate 44 slides on the guide rails 43 .
- the second pipe 45 can move in the width direction (x-axis direction) of the base member 40 together with the slide plate 44 .
- At least one of the first pipe 54 or the second pipe 45 is movable toward the wire rod 5.
- both the first pipe 54 and the second pipe 45 are movable toward the wire rod 5 .
- the first pipe vertical movement mechanism 61 is provided on the fixed plate 53 .
- the first pipe vertical movement mechanism 61 can move the first pipe 54 in the normal direction (z-axis direction) of the second main surface 40 a of the base member 40 .
- the first pipe vertical movement mechanism 61 is, for example, a linear actuator.
- the second pipe vertical movement mechanism 62 is provided on the slide plate 44 .
- the second pipe vertical movement mechanism 62 can move the second pipe 45 in the normal direction (z-axis direction) of the second main surface 40 a of the base member 40 .
- the second first pipe vertical movement mechanism 61 is, for example, a linear actuator.
- At least one of the first pipe 54 and the second pipe 45 may be stretchable toward the wire rod 5. Both the first pipe 54 and the second pipe 45 may be stretchable toward the wire 5 .
- the wire gripping chuck 59 can grip the wire 5 .
- the wire gripping chuck moving mechanism 55 can move the wire gripping chuck 59 along the second main surface 40a of the base member 40 (eg, along the x-axis direction).
- the wire rod gripping chuck moving mechanism 55 includes a depth direction moving mechanism 47 and a second width direction moving mechanism 56 .
- the first pipe horizontal movement mechanism 46 and the wire gripping chuck movement mechanism 55 share the depth direction movement mechanism 47 . That is, the first pipe horizontal movement mechanism 46 and the wire gripping chuck movement mechanism 55 share the guide rail 48 and the slide plate 49 .
- the second width direction moving mechanism 56 can move the wire gripping chuck 59 in a second direction along the second main surface 40a of the base member 40 (for example, the width direction (x-axis direction) of the base member 40).
- the second width direction movement mechanism 56 includes a base 57 and a movable rod 58 .
- the base 57 is fixed to the slide plate 49 .
- a movable rod 58 is supported by a base 57 .
- the movable rod 58 can move relative to the base 57 in a second direction along the second main surface 40a of the base member 40 (for example, the width direction (x-axis direction) of the base member 40).
- the wire gripping chuck 59 is fixed to the movable rod 58 and can move along with the movable rod 58 in the width direction (x-axis direction) of the base member 40 .
- the wiring method of the wire 5 of the present embodiment comprises a step of forming the wire 5, a step of cutting the wire 5, a step of transferring the wire 5 to the assembly hand 20, and a step of attaching the wire 5 to the product 7. I have it.
- the wire gripping chuck moving mechanism 55 moves the wire gripping chuck 59 in the width direction (x-axis direction) of the base member 40.
- the wire rod gripping chuck 59 is located closer to the depth direction moving mechanism 47 than the first pipe 54 and the second pipe 45 in the width direction (x-axis direction) of the base member 40 .
- the wire rod gripping chuck 59 is positioned in the +x direction with respect to the first pipe 54 and the second pipe 45 .
- the first pipe vertical movement mechanism 61 moves the first pipe 54 toward the wire 5.
- the first pipe 54 contacts the side surface of the wire 5 .
- the second pipe vertical movement mechanism 62 moves the second pipe 45 toward the wire 5 .
- the second pipe 45 contacts the side surface of the wire 5 .
- the tip of the first pipe 54 and the tip of the second pipe 45 are located farther from the base member 40 than the wire 5 .
- the first pipe vertical movement mechanism 61 extends the first pipe 54 toward the wire rod 5
- the second pipe vertical movement mechanism 62 extends the first pipe 54 toward the wire rod 5. 2
- the pipe 45 is extended toward the wire rod 5.
- the first pipe 54 is moved in the depth direction (y-axis direction) of the base member 40 by the first pipe horizontal movement mechanism 46 (depth direction movement mechanism 47). Since the first pipe 54 and the second pipe 45 are in contact with the sides of the wire 5 , the wire 5 is bent by the first pipe 54 and the second pipe 45 . Since the first pipe horizontal moving mechanism 46 and the wire rod gripping chuck moving mechanism 55 share the depth direction moving mechanism 47, the wire rod gripping chuck 59 is also moved to the base by the wire rod gripping chuck moving mechanism 55 (depth direction moving mechanism 47). It moves in the depth direction (y-axis direction) of the member 40 . The wire gripping chuck 59 further draws the wire 5 from the reel 6 (see FIG. 29).
- the wire gripping chuck moving mechanism 55 (second width direction moving mechanism 56) moves the wire gripping chuck 59 in the width direction (x-axis direction) of the base member 40.
- the wire gripping chuck 59 may further pull the wire 5 from the reel 6 (see FIG. 29).
- the wire rod forming machine 4 forms the wire rod 5 .
- the actuator 28 moves the assembling hand 20 toward the wire rod forming machine 4 .
- the first shaft 24 and the second shaft 25 are inserted into the first pipe 54 and the second pipe 45 respectively.
- the first gripper 22 (first gripping claws 22b) and the second gripper 23 (second gripping claws 23b) grip the wire 5 .
- the actuator 28 moves the assembling hand 20 and the wire rod forming machine 4 to position the wire rod processing machine 2 between the reel 6 of the wire 5 and the assembling hand 20 (second gripper 23).
- the retainers 14, 15 of the wire processing machine 2 hold the wire 5, for example by closing holding chucks.
- a cutter 16 is used to cut the wire 5 .
- ⁇ Delivery process of wire rod 5> As shown in FIG. 43, the wire rod 5 formed by the wire rod forming machine 4 is transferred from the wire rod forming machine 4 to the wire rod assembling machine 3 while the shape of the wire rod 5 formed by the wire rod forming machine 4 is basically maintained. (the assembly hand 20).
- the assembling hand 20 is moved away from the wire rod forming machine 4 and the wire rod processing machine 2 .
- the first shaft 24 and the second shaft 25 are pulled out from the first pipe 54 and the second pipe 45, respectively.
- the first shaft 24 is at the same position as the first pipe 54
- the second shaft 25 is at the second main surface 40a. It is in the same position as the pipe 45.
- the first gripper 22 and the second gripper 23 continue to grip the wire rod 5 .
- the wire rod 5 formed by the first pipe 54 and the second pipe 45 is transferred to the wire rod forming machine. 4 is transferred to the first shaft 24 and the second shaft 25 while the shape of the wire rod 5 is basically maintained.
- the process of assembling the wire 5 of this embodiment is the same as the process of assembling the wire 5 of Embodiment 1 shown in FIGS. 13, 14A and 14B.
- the actuator 28 moves the assembling hand 20 to a position above the product 7 .
- the actuator 28 moves the assembling hand 20 toward the product 7 and pushes the wire rod 5 into the terminal 9 of the product 7 .
- the wire 5 is assembled into the product 7 as shown in FIGS. 15A, 15B and 16.
- the first gripper 22 and the second gripper 23 continue to grip the wire 5 until the wire 5 is assembled to the product 7 .
- the wire rod 5 cut by the wire rod processing machine 2 is shaped into a desired shape by the first gripper 22, the second gripper 23, the first shaft 24, and the second shaft 25 until the wire rod 5 is assembled to the product 7. can be maintained. Therefore, the wire 5 can be wired to the product 7 in a desired shape.
- the automatic wiring device 1e of the present embodiment has the following effects in addition to the effects of the automatic wiring device 1 of the first embodiment.
- the automatic wiring device 1e of the present embodiment further includes a wire forming machine 4.
- the wire rod forming machine 4 includes a base member 40 including a second main surface 40a, a wire rod gripping chuck 59 capable of gripping the wire rod 5, a first pipe 54 into which the first shaft 24 can be inserted, and a second shaft 25 to be inserted. It includes a second pipe 45 that can be moved, a wire gripping chuck moving mechanism 55 and a pipe horizontal moving mechanism 41 .
- the base member 40 supports the wire gripping chuck 59 , the first pipe 54 , the second pipe 45 , the wire gripping chuck moving mechanism 55 and the pipe horizontal moving mechanism 41 .
- the wire gripping chuck moving mechanism 55 can move the wire gripping chuck 59 along the second main surface 40a.
- the pipe horizontal movement mechanism 41 can change the relative positional relationship between the first pipe 54 and the second pipe 45 in the direction along the second main surface 40a.
- the wire 5 is formed by a wire forming machine 4 separate from the wire assembling machine 3 (assembling hand 20) that assembles the wire 5 into the product 7. Therefore, the process of forming the wire 5 and the process of assembling the wire 5 into the product 7 can be performed in parallel.
- the automatic wiring device 1e of the present embodiment can assemble a larger number of wires 5 to the product 7 in a shorter time. The efficiency of assembling the wire 5 to the product 7 is further improved.
- the pipe horizontal movement mechanism 41 includes a first pipe horizontal movement mechanism 46 capable of moving the first pipe 54 in the first direction along the second main surface 40a, a second pipe 45 in a second direction along the second main surface 40a.
- the automatic wiring device 1e of the present embodiment can assemble the wire rods 5 to a plurality of types of products 7 in which the arrangement of the terminals 9 is different.
- the first pipe horizontal movement mechanism 46 and the wire rod gripping chuck movement mechanism 55 are composed of a second guide rail (guide rail 48) and a second guide rail slidable on the second guide rail.
- a slide plate (slide plate 49) is shared.
- the relative positional relationship between the first pipe 54 and the second pipe 45 is maintained while the relative positional relationship between the first pipe 54 and the wire rod gripping chuck 59 is maintained. can change relationships. Efficiency in assembling the wire 5 to the product 7 is improved.
- At least one of the first pipe 54 and the second pipe 45 is movable or stretchable toward the wire 5.
- At least one of the first pipe 54 and the second pipe 45 can be prevented from mechanically interfering with the wire rod 5 when the wire rod gripping chuck 59 is moved to pull out the wire rod 5 .
- the wire 5 can be smoothly molded.
- Embodiment 6 The automatic wiring device 1f of Embodiment 6 will be described with reference to FIGS. 44 to 46.
- FIG. The automatic wiring device 1f of the present embodiment has the same configuration as the automatic wiring device 1 of the first embodiment, but differs mainly in the following points.
- the assembly hand 20 further includes terminal expanders 70, 71 and support members 72, 73.
- the support member 72 supports the terminal expander 70.
- support member 72 includes a first end and a second end opposite the first end.
- a recess is formed in the first end of the support member 72 and the terminal extender 70 fits into the recess.
- a first end of the support member 72 protrudes on the side opposite to the support member 21 with respect to the first gripping claw 22b.
- a second end of the support member 72 is fixed to the support member 21 .
- the support member 73 supports the terminal expander 71.
- support member 73 includes a first end and a second end opposite the first end.
- a recess is formed in the first end of the support member 73, and the terminal extender 71 is fitted in the recess.
- a first end of the support member 73 protrudes on the side opposite to the support member 21 with respect to the second gripping claw 23b.
- a second end of the support member 73 is fixed to the support member 21 .
- the terminal expanders 70 and 71 can contact the terminals 9 (see FIGS. 47 to 56) and push the terminals 9 apart. Specifically, the terminal expanders 70 and 71 can contact the pair of elastically deformable thin plates forming the terminal 9 to widen the gap width of the terminal 9, which is the distance between the pair of thin plates. Terminal expanders 70 and 71 can make the gap width of terminal 9 larger than the diameter of wire 5 . In the present embodiment, terminal 9 does not include tapered portion 9c (see FIG. 6, etc.). The distal end of the terminal 9 from the substrate 8 (eg, the upper end of the terminal 9) is the distal end of the retaining portion 9b from the substrate 8 (eg, the upper end of the retaining portion 9b).
- the terminal expander 70 is on the side opposite to the support member 21 with respect to the first gripping claw 22b.
- the terminal extender 70 protrudes from the first end of the support member 72 on the side opposite to the first gripping claw 22b with respect to the first end of the support member 72 .
- the portion of terminal extender 70 that protrudes from the first end of support member 72 has a shape that tapers away from the first end of support member 72 .
- Terminal extender 70 is, for example, a wedge-shaped member.
- the width of the tapered tip of the terminal expander 70 is smaller than the gap width of the distal end of the terminal 9 (retaining portion 9b) from the substrate 8 .
- the maximum width of the terminal expander 70 (for example, the maximum length of the terminal expander 70 in the y-axis direction in FIG. 48) is larger than the gap width at the root portion 9a of the terminal 9. As shown in FIG.
- the terminal expander 71 is on the side opposite to the support member 21 with respect to the second gripping claw 23b.
- the terminal expander 71 protrudes from the first end of the support member 73 on the side opposite to the second gripping claw 23b with respect to the first end of the support member 73 .
- a portion of the terminal extender 71 protruding from the first end of the support member 73 has a shape that tapers away from the first end of the support member 73 .
- Terminal extender 71 is, for example, a wedge-shaped member.
- the width of the tapered tip of the terminal expander 71 is smaller than the gap width of the distal end of the terminal 9 (retaining portion 9b) from the substrate 8 .
- the maximum width of the terminal expander 71 is greater than the gap width at the base portion 9a of the terminal 9. As shown in FIG.
- FIG. 47 to 56 A method of wiring the wire 5 of the present embodiment using the automatic wiring device 1f will be described with reference to FIGS. 47 to 56.
- FIG. The method of wiring the wires 5 of the present embodiment is the same as the method of wiring the wires 5 of the first embodiment, but differs in the process of assembling the wires 5 .
- the actuator 28 moves the assembling hand 20 for gripping the wire 5 to the wire processing machine 2 (FIG. 44). ) to a position above the product 7 . Then, the assembly hand 20 is moved toward the substrate 8 by the actuator 28 .
- Terminal extenders 70 , 71 are inserted into the gaps of terminals 9 . As shown in FIGS. 49 and 50, the terminal expanders 70 and 71 contact the root portion 9a of the terminal 9 and push the terminal 9 apart. The gap width of the terminal 9 is made larger than the diameter of the wire 5 by the terminal expanders 70,71.
- the assembly hand 20 is further moved toward the substrate 8 by the actuator 28 .
- the terminal 9 is further spread, and the wire rod 5 is arranged in the gap of the holding portion 9b of the terminal 9.
- the wire rod 5 is released from the first gripper 22 by opening the first gripping claws 22b.
- the second gripping claws 23b are also opened to release the wire 5 from the second gripper 23.
- the actuator 28 moves the assembly hand 20 along the substrate 8 to pull out the terminal expanders 70 and 71 from the terminals 9 .
- the wire 5 is attached to the product 7 to obtain the wiring board 100 .
- the automatic wiring device 1f and the automatic wiring board (product 7) of the present embodiment have the following effects in addition to the effects of the automatic wiring device 1 and the automatic wiring board (product 7) of the first embodiment.
- the assembly hand 20 further includes terminal expanders 70 and 71 capable of pushing the terminals 9 apart.
- Product 7 includes terminals 9 into which wires 5 are inserted.
- the automatic wiring device 1f of the present embodiment it is possible to attach the wire 5 to the terminal 9 even for the terminal 9 that does not include the tapered portion 9c (see FIG. 6, etc.).
- the automatic wiring substrate (product 7 ) of this embodiment includes a substrate 8 and terminals 9 provided on the substrate 8 .
- the terminal 9 is formed of a pair of elastically deformable thin plates.
- Terminal 9 includes a root portion 9a and a holding portion 9b.
- the first gap width (gap width G 1 ) of the root portion 9a is smaller than the maximum gap width (gap width G 2 ) of the holding portion 9b.
- the automatic wiring board (product 7) of the present embodiment includes terminals 9 including root portions 9a and holding portions 9b. Therefore, by inserting the wire 5 into the holding portion 9b from the distal end of the holding portion 9b with respect to the substrate 8 using the automatic wiring device 1f of the present embodiment, the wire 5 can be attached to the terminal 9 in a desired shape. obtain.
- the automatic wiring substrate of this embodiment is suitable for the automatic wiring device 1f of this embodiment.
- Embodiments 1 to 6 disclosed this time should be considered as examples in all respects and not restrictive. As long as there is no contradiction, at least two of Embodiments 1 to 6 disclosed this time may be combined.
- the scope of the present disclosure is indicated by the scope of claims rather than the above description, and is intended to include all changes within the meaning and scope of equivalence to the scope of claims.
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Abstract
Description
図1から図4を参照して、実施の形態1の自動配線装置1を説明する。自動配線装置1は、リール6から送り出された線材5を切断し、所望の形状に成形し、図5及び図6に示される製品7に配線する装置である。線材5は、例えば、絶縁被覆層で被覆された電線であってもよいし、絶縁被覆層のない裸の電線であってもよい。
図1及び図2を参照して、線材加工機2は、ベース板10と、ローラ11,12と、保持器14,15と、カッター16とを含む。
根元部9aは、端子9のうち最も基板8に近位する部分である。端子9は、根元部9aにおいて、基板8に固定されている。根元部9aは、線材5が保持部9bから落下することを防止する。根元部9aの空隙幅G1は、線材5の直径より小さい。根元部9aの空隙幅G1は、保持部9bに対する根元部9aの近位端における、一対の薄板の間の間隔である。
図7及び図8を参照して、ローラ11,12を回転させる。線材5は、ローラ11,12によってリール6から引き出されて、カッター16に向けて送られる。ローラ11,12は、線材5をカッター16に向けてガイドする。線材5は、例えば保持チャックを閉じることによって、保持器14,15により保持される。
図12を参照して、保持器14,15は、例えば保持チャックを閉じることによって、線材5を保持する。カッター16を用いて、線材5を切断する。
図13を参照して、アクチュエータ28によって、線材5を把持する組み付けハンド20を、線材加工機2の上方位置から製品7の上方位置に移動させる。アクチュエータ28によって、線材5を把持する組み付けハンド20を基板8に向けて移動させる。図14A及び図14Bに示されるように、線材5は端子9のテーパ部9cに接触する。線材5は第1把持爪22b及び第2把持爪23bによって把持されているため、線材5が撚線またはリード線のように可撓性を有する線材であっても、線材5がテーパ部9cから反力を受けることによって線材5が基板8から離れる方向に変形することが防止される。テーパ部9cは、線材5によって押し広げられて、テーパ部9cは外側に変形する。
図17から図19を参照して、実施の形態2の自動配線装置1bを説明する。自動配線装置1bは、製品7(図5を参照)及び製品7b(図20を参照)の両方に、線材5を配線し得る。製品7bは、端子9の配置において製品7と異なっている。
図21を参照して、実施の形態3の自動配線装置1cを説明する。本実施の形態の自動配線装置1cは、実施の形態1の自動配線装置1と同様の構成を備えるが、主に以下の点で異なる。本実施の形態の自動配線装置1cでは、線材組み付け機3は、アクチュエータ28と組み付けハンド20との間に設けられている力覚センサ35をさらに含む。力覚センサ35は、力覚センサ35に印加される荷重の大きさと当該荷重の方向とを検出するセンサである。力覚センサ35は、例えば、複数のひずみゲージを含む。
図24から図26を参照して、実施の形態4の自動配線装置1dを説明する。本実施の形態の自動配線装置1dは、実施の形態1の自動配線装置1と同様の構成を備えるが、主に以下の点で異なる。本実施の形態の自動配線装置1dでは、組み付けハンド20は、溶接ユニット36,37をさらに含む。
図29から図31を参照して、実施の形態5の自動配線装置1eを説明する。本実施の形態の自動配線装置1eは、実施の形態1の自動配線装置1と同様の構成を備えるが、主に以下の点で異なる。本実施の形態の自動配線装置1eは、線材成形機4をさらに備える。線材成形機4は、ベース部材40と、線材把持チャック59と、第1パイプ54と、第2パイプ45と、線材把持チャック移動機構55と、パイプ水平移動機構41とを主に含む。線材成形機4は、第1パイプ垂直移動機構61と、第2パイプ垂直移動機構62とをさらに含んでもよい。
線材把持チャック移動機構55は、ベース部材40の第2主面40aに沿って(例えば、x軸方向に沿って)線材把持チャック59を移動させることができる。線材把持チャック移動機構55は、奥行方向移動機構47と、第2幅方向移動機構56とを含む。第1パイプ水平移動機構46と線材把持チャック移動機構55とは、奥行方向移動機構47を共有している。すなわち、第1パイプ水平移動機構46と線材把持チャック移動機構55とは、ガイドレール48とスライド板49とを共有している。
図32及び図33に示されるように、線材把持チャック59によって線材5を把持する。第1パイプ54の先端(ベース部材40に対する第1パイプ54の遠位端)及び第2パイプ45の先端(ベース部材40に対する第2パイプ45の遠位端)は、線材5よりも、ベース部材40の近くに位置している。そのため、第1パイプ54及び第2パイプ45は、線材5に機械的に干渉せず、線材把持チャック59が線材5を把持することを妨げない。
図40及び図41に示されるように、アクチュエータ28により組み付けハンド20を線材成形機4に向けて移動させる。第1シャフト24及び第2シャフト25を、それぞれ、第1パイプ54及び第2パイプ45に挿入する。第1把持器22(第1把持爪22b)と第2把持器23(第2把持爪23b)とは、線材5を把持する。
<線材5の受け渡し工程>
図43に示されるように、線材成形機4によって成形された線材5は、線材成形機4によって成形された線材5の形状が基本的に維持されたまま、線材成形機4から線材組み付け機3(組み付けハンド20)に受け渡される。
本実施の形態の線材5の組み付け工程は、図13、図14A及び図14Bに示される、実施の形態1の線材5の組み付け工程と同じである。具体的には、アクチュエータ28によって、組み付けハンド20を製品7の上方位置へ移動させる。アクチュエータ28によって、組み付けハンド20を製品7に向けて移動させて、線材5を製品7の端子9に押し込む。こうして、図15A、図15B及び図16に示されるように、線材5は製品7に組み付けられる。
図44から図46を参照して、実施の形態6の自動配線装置1fを説明する。本実施の形態の自動配線装置1fは、実施の形態1の自動配線装置1と同様の構成を備えるが、主に以下の点で異なる。
Claims (17)
- 線材を切断し得るカッターを含む線材加工機と、
前記線材を製品に組み付け得る組み付けハンドと、前記組み付けハンドを移動させ得るアクチュエータとを含む線材組み付け機とを備え、
前記組み付けハンドは、前記線材を把持し得る第1把持器と、前記線材を把持し得る第2把持器と、前記線材に接触し得る第1シャフトと、前記線材に向けて移動可能または伸縮可能であり、かつ、前記線材に接触し得る第2シャフトとを含む、自動配線装置。 - 前記組み付けハンドは、支持部材をさらに含み、
前記支持部材は、前記第1把持器、前記第2把持器、前記第1シャフト及び前記第2シャフトを支持しており、
前記アクチュエータは、前記支持部材に接続されている、請求項1に記載の自動配線装置。 - 前記第1シャフトは、前記支持部材に固定されている固定シャフトである、請求項2に記載の自動配線装置。
- 前記組み付けハンドは、前記支持部材に設けられているシャフト水平移動機構をさらに含み、
前記支持部材は、前記線材に対向する第1主面を有しており、
前記シャフト水平移動機構は、前記第1主面に沿う方向において、前記第1シャフトと前記第2シャフトとの間の相対的位置関係を変化させ得る、請求項2または請求項3に記載の自動配線装置。 - 前記シャフト水平移動機構は、前記支持部材に設けられている第1ガイドレールと、前記第1ガイドレールをスライドし得る第1スライド板とを含み、
前記第1スライド板は、前記第1シャフト及び前記第1把持器を支持している、請求項4に記載の自動配線装置。 - 前記線材組み付け機は、前記アクチュエータと前記組み付けハンドとの間に設けられている力覚センサをさらに含む、請求項1から請求項5のいずれか一項に記載の自動配線装置。
- 前記組み付けハンドは、溶接電極を含む溶接ユニットをさらに含む、請求項1から請求項6のいずれか一項に記載の自動配線装置。
- 線材成形機をさらに備え、
前記線材成形機は、第2主面を含むベース部材と、前記線材を把持し得る線材把持チャックと、前記第1シャフトが挿入され得る第1パイプと、前記第2シャフトが挿入され得る第2パイプと、線材把持チャック移動機構と、パイプ水平移動機構とを含み、
前記ベース部材は、前記線材把持チャックと前記第1パイプと前記第2パイプと前記線材把持チャック移動機構と前記パイプ水平移動機構とを支持しており、
前記線材把持チャック移動機構は、前記第2主面に沿って前記線材把持チャックを移動させることができ、
前記パイプ水平移動機構は、前記第2主面に沿う方向において、前記第1パイプと前記第2パイプとの間の相対的位置関係を変化させ得る、請求項1から請求項7のいずれか一項に記載の自動配線装置。 - 前記パイプ水平移動機構は、前記第1パイプを前記第2主面に沿う第1方向に移動させ得る第1パイプ水平移動機構と、前記第2パイプを前記第2主面に沿う第2方向に移動させ得る第2パイプ水平移動機構とを含む、請求項8に記載の自動配線装置。
- 前記第1パイプ水平移動機構と前記線材把持チャック移動機構とは、第2ガイドレールと、前記第2ガイドレールをスライドし得る第2スライド板を共有している、請求項9に記載の自動配線装置。
- 前記第1パイプまたは前記第2パイプの少なくとも一つは、前記線材に向けて、移動可能または伸縮自在である、請求項8から請求項10のいずれか一項に記載の自動配線装置。
- 前記線材加工機は、前記線材を保持し得る保持器をさらに含む、請求項1から請求項11のいずれか一項に記載の自動配線装置。
- 前記線材加工機は、前記線材をリールから前記カッターに向けて送り得るローラをさらに含む、請求項1から請求項12のいずれか一項に記載の自動配線装置。
- 前記製品は、前記線材が挿入される端子を含み、
前記組み付けハンドは、前記端子を押し拡げ得る端子拡張器をさらに含む、請求項1から請求項13のいずれか一項に記載の自動配線装置。 - 請求項1から請求項13のいずれか一項に記載の前記自動配線装置を用いた配線基板の製造方法であって、
線材を前記組み付けハンドによって成形する工程と、
前記成形された線材を前記カッターを用いて切断する工程と、
前記切断された線材の形状を前記組み付けハンドで維持しながら、前記製品に含まれる端子に前記切断された線材を組み付ける工程とを備える、配線基板の製造方法。 - 基板と、
前記基板上に設けられている端子とを備え、
前記端子は、一対の弾性変形可能な薄板で形成されており、
前記端子は、根元部と、保持部とを含み、
前記根元部の第1空隙幅は、前記保持部の最大空隙幅より小さい、自動配線用基板。 - 前記端子は、テーパ部をさらに含み、
前記テーパ部の空隙幅は、前記保持部に近づくにつれて狭くなり、
前記テーパ部の前記空隙幅のうち、前記保持部に対する前記テーパ部の近位端における第2空隙幅は、前記保持部の前記最大空隙幅より小さい、請求項16に記載の自動配線用基板。
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Citations (6)
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JPS56129400A (en) * | 1980-03-14 | 1981-10-09 | Matsushita Electric Works Ltd | Automatic wiring system |
JPS63138676A (ja) * | 1986-11-28 | 1988-06-10 | 日本電子機器株式会社 | 調整抵抗用タ−ミナル |
JPH0715198A (ja) * | 1993-06-24 | 1995-01-17 | Matsushita Electric Works Ltd | 自動配線方法 |
JPH09211942A (ja) * | 1996-02-06 | 1997-08-15 | Ricoh Co Ltd | コロナ放電ワイヤ配線機 |
JP2012099535A (ja) * | 2010-10-29 | 2012-05-24 | Hitachi Ltd | 配線材自動立体成形装置 |
WO2018193754A1 (ja) * | 2017-04-21 | 2018-10-25 | ソニー株式会社 | ロボット装置および電子機器の製造方法 |
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Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS56129400A (en) * | 1980-03-14 | 1981-10-09 | Matsushita Electric Works Ltd | Automatic wiring system |
JPS63138676A (ja) * | 1986-11-28 | 1988-06-10 | 日本電子機器株式会社 | 調整抵抗用タ−ミナル |
JPH0715198A (ja) * | 1993-06-24 | 1995-01-17 | Matsushita Electric Works Ltd | 自動配線方法 |
JPH09211942A (ja) * | 1996-02-06 | 1997-08-15 | Ricoh Co Ltd | コロナ放電ワイヤ配線機 |
JP2012099535A (ja) * | 2010-10-29 | 2012-05-24 | Hitachi Ltd | 配線材自動立体成形装置 |
WO2018193754A1 (ja) * | 2017-04-21 | 2018-10-25 | ソニー株式会社 | ロボット装置および電子機器の製造方法 |
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