Teaching position setting method and teaching position setting device

Abstract

A method comprising: a step of repeating a series of operations in which a first component is caused to be moved from a current teaching position horizontally and is caused to be lowered toward a second component, until insertion into an insertion hole is possible; a step of acquiring a position at which the first component was able to be inserted into the insertion hole as an actual initial insertion position; a step of acquiring a provisional center position on the basis of the current teaching position and the actual initial insertion position; a step of acquiring two limit positions in which the first component was inserted into the insertion hole by performing a series of operations in which the first component is caused to be moved closer to the provisional center position from a first side in a first direction passing the provisional center position and is caused to be lowered toward the second component, and by performing a similar series of operations from a second side in thesame direction; and a step of acquiring a central position of the acquired limit positions as a new teaching position.

Description

technical field [0001] The present invention relates to a teaching position setting method and a teaching position setting device. Background technique [0002] When automatically inserting lead wires of electronic components into the insertion holes of the board, there are cases where the lead wires cannot be inserted into the insertion holes even if the hand holding the electronic component is moved to a predetermined teaching position and inserted there. Patent Document 1 discloses a technique for updating a learning teaching position when a wire cannot be inserted during practical assembly of a substrate. In this technique, insertion actions are attempted at multiple locations near the taught location. The average value of one or more position data that can be inserted is used as the new teaching position. [0003] Patent Document 1: Japanese Patent Application Laid-Open No. 8-148893 [0004] Depending on the size difference of the insertion hole relative to the lead ...

AI Technical Summary

Problems solved by technology

However, in the above example, the average value of a plurality of positions may be a position deviated from the center of the position range, and even if it is updated, it may not be inserted in subsequent operations.

Therefore, it is necessary to repeat the trial and error of the insertion operation, and if it is not repeated, the teaching position cannot be brought close to the center of the insertable range.

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