Component mounting device and component mounting method

Abstract

The component mounting device (1) is provided with: a holding member capable of moving in a plane direction parallel to the surface of a substrate (200) and a normal direction orthogonal to the surface of the substrate (200) in a state in which a main body (101) of a lead component (100) is held; a three-dimensional measurement device (7) that measures the three-dimensional shape of each of the plurality of leads (110) of the lead member (100) in a state in which the main body (101) is held by the holding member; a calculation unit (12) that calculates control points (CP) at each of a plurality of positions in the normal direction on the basis of three-dimensional data indicating a three-dimensional shape when the average value of the coordinates of the plurality of leads (110) in the plane direction is defined as the control point (CP); and a control unit (14) that, on the basis of the position data of the plurality of holes (210) provided in the substrate (200) and the plurality of control points (CP), moves the holding member holding the main body (101) such that the plurality of leads (110) are respectively inserted into the plurality of holes (210).

Description

Technical Field

[0001] This invention relates to a component mounting device and a component mounting method. Background Technology

[0002] Component mounting apparatuses are used in the production of electronic devices to mount components onto a substrate. Patent Document 1 discloses a component mounting apparatus for mounting lead components onto a substrate.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2021-093560 Summary of the Invention

[0004] The lead assembly is mounted to the substrate by inserting its lead into a hole in the substrate. However, when the lead assembly is pressed into the substrate by gradually inserting the lead into the hole with the lead bent and the lead inserted until the base of the lead is inserted, the middle or base of the lead may come into contact with the inner surface of the hole in the substrate under excessive force. If the middle or base of the lead is subjected to excessive force from the inner surface of the hole in the substrate, the load on the lead increases, and the quality of the lead assembly may be degraded.

[0005] The purpose of this invention is to smoothly insert the lead wire of the lead wire component into the hole of the substrate.

[0006] According to one aspect of the present invention, a component mounting apparatus includes: a holding member capable of moving in a planar direction parallel to the surface of a substrate and a normal direction orthogonal to the surface of a substrate while holding the main body of a lead component; a 3D measuring device for measuring the 3D shape of each of the plurality of leads of the lead component while the main body is held by the holding member; a calculation unit for calculating control points at each of the plurality of positions in the normal direction based on 3D data representing the 3D shape, using the average value of the coordinates of the plurality of leads in the planar direction as a control point; and a control unit for moving the holding member holding the main body based on the position data of the plurality of holes provided on the substrate and the plurality of control points, so that each of the plurality of leads is inserted into the plurality of holes respectively.

[0007] The effects of the invention

[0008] According to the component mounting apparatus of the present invention, the leads of the lead component are smoothly inserted into the holes of the substrate. Attached Figure Description

[0009] Figure 1 This is a perspective view showing the component mounting device according to the first embodiment.

[0010] Figure 2 This is a side view showing the component mounting device according to the first embodiment.

[0011] Figure 3 This is a perspective view of the robot hand according to the first embodiment.

[0012] Figure 4 This is a side view showing the lead wire component held by the robot hand according to the first embodiment.

[0013] Figure 5 This is a diagram showing the lead wire component according to the first embodiment from below.

[0014] Figure 6 This is a perspective view showing the 3D measuring device according to the first embodiment.

[0015] Figure 7 This is a diagram used to explain the movements of the robotic arm according to the first embodiment.

[0016] Figure 8 This is a hardware structure diagram illustrating the control device according to the first embodiment.

[0017] Figure 9 This is a block diagram illustrating the component mounting apparatus according to the first embodiment.

[0018] Figure 10 This is a diagram used to explain the control points involved in the first embodiment.

[0019] Figure 11 This is a diagram used to explain the control points involved in the first embodiment.

[0020] Figure 12 This is a flowchart illustrating the component mounting method according to the first embodiment.

[0021] Figure 13 This is a diagram used to explain the component mounting method according to the first embodiment.

[0022] Figure 14 This is a diagram used to explain the method for calculating control points involved in the second embodiment.

[0023] Figure 15 This is a flowchart illustrating the component installation method according to the second embodiment. Detailed Implementation

[0024] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, but the present invention is not limited thereto. The structural elements of the embodiments described below can be appropriately combined. In addition, sometimes some structural elements are not used.

[0025] In this embodiment, a local coordinate system is established in the component mounting device 1, and the positional relationships of each part are explained with reference to this local coordinate system. An XYZ orthogonal coordinate system is established as the local coordinate system. The direction of the X-axis, parallel to the specified plane, is defined as the X-axis direction. The direction of the Y-axis, parallel to the specified plane and orthogonal to the X-axis, is defined as the Y-axis direction. The direction of the Z-axis, parallel to both the X-axis and Y-axis, is defined as the Z-axis direction. The direction of rotation or tilting about the X-axis is defined as the θX direction. The direction of rotation or tilting about the Y-axis is defined as the θY direction. The direction of rotation or tilting about the Z-axis is defined as the θZ direction. The specified plane is the XY plane. The Z-axis is orthogonal to the specified plane. In this embodiment, the specified plane is set to be parallel to the horizontal plane. The Z-axis direction is the vertical direction. These positional relationships are relative directions set with respect to the component mounting device 1. Furthermore, the statement "the specified plane is set to be parallel to the horizontal plane" does not mean that the specified plane is only parallel to the horizontal plane. In this embodiment, the specified plane may also be tilted relative to the horizontal plane.

[0026] [First Embodiment]

[0027] The first embodiment will be described.

[0028] <Component Mounting Device>

[0029] Figure 1 This is a perspective view showing the component mounting device 1 according to the first embodiment. Figure 2 This is a side view showing the component mounting device 1 according to the first embodiment. (Example) Figure 1 and Figure 2 As shown, the component mounting device 1 has a base 2, a component supply component 3, a base plate support component 4, a robot arm 5, a robot manipulator 6, and a 3D measuring device 7.

[0030] The base 2 provides support for the component supply component 3, the substrate support component 4, the robot arm 6, and the 3D measuring device 7.

[0031] Component supply component 3 supplies lead components 100. Component supply component 3 includes a tray for configuring lead components 100. Multiple lead components 100 are configured in component supply component 3. The multiple lead components 100 may be the same type or different types.

[0032] The substrate support member 4 supports the substrate 200 on which the lead member 100 is to be mounted. The substrate support member 4 supports the substrate 200 in such a way that the upper surface (surface) of the substrate 200 is parallel to the XY plane.

[0033] Robotic arm 5 is a holding component that holds the lead wire component 100. Robotic arm 5 is located at the front end of the robotic arm 6.

[0034] The robotic arm 6 moves the robotic hand 5. The robotic arm 6 comprises a multi-jointed robot. The robotic arm 6 is a vertical multi-jointed robot. Alternatively, the robotic arm 6 can also be a horizontal multi-jointed robot. The robotic arm 6 has: a base component 6A fixed to the base 2; a rotating component 6B supported on the base component 6A; a first arm 6C connected to the rotating component 6B; a second arm 6D connected to the first arm 6C; and a third arm 6E connected to the second arm 6D. The robotic hand 5 is mounted on the third arm 6E.

[0035] Rotating component 6B is rotatably supported on base component 6A about a rotation axis TX. The rotation axis TX is parallel to the Z-axis. First arm 6C is rotatably connected to rotating component 6B about a first rotation axis AX1. The first rotation axis AX1 is orthogonal to the Z-axis. Second arm 6D is rotatably connected to first arm 6C about a second rotation axis AX2. The second rotation axis AX2 is parallel to the first rotation axis AX1. Third arm 6E is rotatably connected to second arm 6D about a third rotation axis AX3. The third rotation axis AX3 is parallel to the second rotation axis AX2.

[0036] The robotic arm 6 has: a rotary actuator that rotates a rotary component 6B; a first rotary actuator that rotates a first arm 6C; a second rotary actuator that rotates a second arm 6D; and a third rotary actuator that rotates a third arm 6E.

[0037] The 3D measuring device 7 measures the 3D shape of the lead wire component 100 held by the robot hand 5. The 3D measuring device 7 detects the 3D shape of the lead wire component 100 based on the phase shift method. The 3D measuring device 7 can detect the coordinates (position) of the lead wire component 100 in the local coordinate system.

[0038] <Robot Hand>

[0039] Figure 3 This is a perspective view of the robot hand 5 according to the first embodiment. The robot hand 5 has: a connecting member 5A, which is mounted on the third arm 6E; a rotating member 5B, which is supported on the connecting member 5A; and a pair of moving members 5C, which are supported on the rotating member 5B.

[0040] Rotating component 5B is rotatably supported on connecting component 5A about rotation axis RX. Rotation axis RX is orthogonal to the third rotation axis AX3. A pair of moving components 5C move in a direction of approaching each other and in a direction of separation. A clamping part 5D is provided at the lower end of the moving component 5C. The pair of clamping parts 5D approach and separate from each other.

[0041] The robot hand 5 has: a rotary actuator that rotates a rotating component 5B; and a gripping actuator that brings a pair of moving components 5C closer together or separates them.

[0042] With the lead member 100 positioned between a pair of clamping portions 5D, the pair of clamping portions 5D approach each other, thereby holding the lead member 100 in place by the clamping portions 5D. The pair of clamping portions 5D separate from each other, thereby releasing the lead member 100 from the clamping portions 5D.

[0043] The robot arm 5, while holding the lead member 100, can move in both a plane direction parallel to the upper surface of the substrate 200 and a normal direction orthogonal to the upper surface of the substrate 200. As described above, the substrate support member 4 supports the substrate 200 such that the upper surface of the substrate 200 is parallel to the XY plane. The plane direction parallel to the upper surface of the substrate 200 includes the X-axis direction and the Y-axis direction. The normal direction orthogonal to the upper surface of the substrate 200 is the Z-axis direction. Furthermore, while holding the lead member 100, the robot arm 5 can also move in the θX, θY, and θZ directions. That is, the lead member 100 can be moved by the robot arm 5 in the X-axis, Y-axis, Z-axis, θX, θY, and θZ directions, respectively.

[0044] A force sensor 8 is configured on a moving part 5C. The force sensor 8 is capable of detecting the load borne by the clamping part 5D.

[0045] <Lead Wire Components>

[0046] Figure 4 This is a side view showing the lead wire component 100 held by the robot hand 5 according to the first embodiment. Figure 5 This is a view of the lead wire component 100 according to the first embodiment from below.

[0047] The lead component 100 has a body 101 and a plurality of leads 110 protruding from the body 101.

[0048] The main body 101 includes a housing made of synthetic resin. Components such as coils are arranged within the internal space of the main body 101. Leads 110 are metallic protrusions. Leads 110 are connected, for example, to components arranged within the internal space of the main body 101.

[0049] Lead wire 110 protrudes downward from the lower surface of body 101. Multiple leads 110 are provided. Lead wire 110... Figure 5 Three leads are provided. In addition, there can be two leads or more than four leads. When the lead component 100 is mounted on the substrate 200, the lower surface of the main body 101 is opposite to the upper surface of the substrate 200.

[0050] The robotic arm 5 holds the main body 101 of the lead wire component 100. A pair of clamping parts 5D hold the lead wire component 100 by clamping the main body 101. The robotic arm 5 is capable of moving in a plane direction parallel to the upper surface of the substrate 200 and in a normal direction orthogonal to the upper surface of the substrate 200 while holding the main body 101 of the lead wire component 100.

[0051] <3D Measurement Device>

[0052] Figure 6 This is a perspective view showing the 3D measuring device 7 according to the first embodiment. (Example) Figure 6 As shown, the 3D measuring device 7 measures the 3D shape of the lead wire component 100 while the main body 101 is held by the robot arm 5. The 3D measuring device 7 also measures the 3D shape of each of the multiple leads 110 while the main body 101 is held by the robot arm 5.

[0053] The 3D measuring device 7 includes a projection device 7A, an imaging device 7B, and a computing device 7C. The projection device 7A and the imaging device 7B are each housed in a housing 7D. The projection device 7A and the imaging device 7B are each fixed to the housing 7D. A transparent component 7E is disposed at an opening at the upper end of the housing 7D. An example of the transparent component 7E is a glass plate.

[0054] With the main body 101 held by the robotic arm 5, the projection device 7A illuminates the lead wire component 100 with striped pattern light. The projection device 7A includes: a light source; a light modulation element that modulates the light emitted from the light source to generate striped pattern light; and an emission optical system that emits the striped pattern light generated by the light modulation element. Examples of light modulation elements include a digital micromirror device (DMD), a transmissive liquid crystal panel, or a reflective liquid crystal panel.

[0055] The imaging device 7B captures an image of the lead member 100, which is illuminated by striped pattern light, from a predetermined viewpoint. The viewpoint of the imaging device 7B refers to the relative shooting position and angle of the imaging device 7B with respect to the lead member 100. The imaging device 7B includes: an imaging optical system that images the striped pattern light reflected from the lead member 100; and an imaging element that acquires image data of the lead member 100 via the imaging optical system. Examples of imaging elements include a CMOS image sensor (Complementary Metal Oxide Semiconductor Image Sensor) or a CCD image sensor (Charge Coupled Device Image Sensor).

[0056] The arithmetic unit 7C performs image processing on the captured data of the lead component 100 captured by the imaging device 7B. The arithmetic unit 7C includes a computer system. The arithmetic unit 7C has a processor such as a CPU (Central Processing Unit), a memory such as ROM (Read Only Memory) or RAM (Random Access Memory), and an input / output interface including input / output circuitry capable of inputting and outputting signals and data.

[0057] The 3D measuring device 7 measures the 3D shape of the lead wire component 100 held by the robot hand 5 based on the phase shift method.

[0058] The projection device 7A projects the striped pattern light onto the lead wire member 100 while simultaneously shifting the phase of the striped pattern light with a sinusoidal brightness distribution. The lead wire member 100, held by the robotic arm 5, is positioned above the transparent member 7E. The striped pattern light emitted from the projection device 7A is projected onto the lead wire member 100 via the transparent member 7E.

[0059] The imaging device 7B images the lead wire component 100, which is illuminated by striped patterned light. The imaging device 7B images the lead wire component 100 via the transparent component 7E. The imaging device 7B images the lead wire component 100 from below. The viewpoint of the imaging device 7B is defined as below the lead wire component 100. The robotic arm 6 operates, and the position and orientation of the lead wire component 100 held by the robotic arm 5 change, thereby changing the relative position and relative angle between the lead wire component 100 and the imaging device 7B. The change in the relative position and relative angle between the lead wire component 100 and the imaging device 7B, thereby changing the relative viewpoint of the imaging device 7B relative to the lead wire component 100.

[0060] The processing unit 7C performs image processing on the image data of the lead component 100 captured by the imaging device 7B based on the phase-shifting method, and calculates the 3D data representing the 3D shape of the lead 110. The 3D data of the lead 110 includes the bending amount of the lead 110 in the 3D space defined by the local coordinate system and the coordinates (position) of the lead 110. When the angle of the lead 110 relative to the body 101 at the design value is set as the ideal angle, and the actual angle of the lead 110 relative to the body 101 is set as the actual angle, the bending amount of the lead 110 refers to the difference between the ideal angle and the actual angle.

[0061] <Robot Arm Movements>

[0062] Figure 7This diagram illustrates the operation of the robotic arm 6 according to the first embodiment. The component mounting device 1 includes at least a control device 9 for controlling the robotic arm 6. Figure 7 As shown, holes 210 are provided on the substrate 200 for inserting the leads 110 of the lead member 100. The number of holes 210 is equal to the number of leads 110. When there are 3 leads 110, there are 3 holes 210. One lead 110 is inserted into one hole 210. The control device 9 controls the robot arm 6 based on the measurement data of the 3D measurement device 7, so that the multiple leads 110 of the lead member 100 are respectively inserted into the multiple holes 210 of the substrate 200.

[0063] <Control Device>

[0064] Figure 8 This is a hardware structure diagram illustrating the control device 9 according to the first embodiment. The control device 9 includes a computer system 1000. The computer system 1000 has a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage device 1003, and an interface 1004 including input / output circuitry. The functions of the control device 9 are stored as a computer program in the storage device 1003. The processor 1001 reads the computer program from the storage device 1003, expands it to the main memory 1002, and executes the aforementioned processing according to the computer program. Furthermore, the computer program can also be transmitted to the computer system 1000 via a network.

[0065] Figure 9 This is a block diagram illustrating the component mounting device 1 according to the first embodiment. For example... Figure 9 As shown, the component mounting device 1 has a 3D measuring device 7, an input device 10, and a control device 9.

[0066] The input device 10 is operated by the operator, thereby generating input data. Examples of input devices 10 include a computer keyboard, touch panel, mouse, and voice input device.

[0067] The control device 9 has an acquisition unit 11, a calculation unit 12, a decision unit 13 and a control unit 14.

[0068] The acquisition unit 11 acquires 3D data representing the 3D shape of each of the multiple leads 110, measured by the 3D measuring device 7. Additionally, the acquisition unit 11 acquires input data from the input device 10. The input data package contains position data of multiple holes 210 provided on the substrate 200. The position data of the holes 210 represents the coordinates (positions) of the holes 210 in a 3D space defined by a local coordinate system. The position data of the holes 210 is, for example, known data derived from the design data of the substrate 200. The operator can input the position data of the holes 210 to the control device 9 via the input device 10.

[0069] The calculation unit 12 calculates the control points CP involved in the lead 110 based on the 3D data of the lead 110.

[0070] Figure 10 and Figure 11 These are diagrams used to explain the control point CP involved in the first embodiment. Figure 10 The control point CP is shown in the lead 110 without bending. Figure 11 The control point CP is shown in the curved lead 110.

[0071] A control point CP is the average of the coordinates of multiple leader lines 110 in the planar direction. That is, the control point CP is the average of the coordinates of multiple leader lines 110 in both the X-axis and Y-axis directions. The control point CP can also be regarded as the centroid or center point of multiple leader lines 110 in the planar direction.

[0072] The coordinates of the leader 110 in the local coordinate system are measured by the 3D measuring device 7. The calculation unit 12 is able to calculate the control point CP based on the 3D data representing the 3D shape of the leader 110 measured by the 3D measuring device 7.

[0073] Lead 110 includes a first lead 111, a second lead 112, and a third lead 113. The first lead 111, second lead 112, and third lead 113 are positioned along the Y-axis. Control point CP contains the average of the coordinates of the first lead 111, the second lead 112, and the third lead 113 along the X-axis, and the average of the coordinates of the first lead 111, the second lead 112, and the third lead 113 along the Y-axis.

[0074] The calculation unit 12 calculates the control points CP at multiple locations along the normal direction. That is, the calculation unit 12 calculates the control points CP at multiple locations (heights) along the Z-axis. In this embodiment, the calculation unit 12 calculates the first control point CPa representing the control point CP at the first height Ha, the second control point CPb representing the control point CP at the second height Hb, and the third control point CPc representing the control point CP at the third height Hc. The second height Hb is higher than the first height Ha. The third height Hc is higher than the second height Hb.

[0075] The first control point CPa represents the control point CP at the front end (lower end) of the lead 110. The second control point CPb represents the control point CP at the middle part of the lead 110, which is closer to the body 101 than the front end of the lead 110. The third control point CPc represents the control point CP at the base end (upper end) of the lead 110, which is closer to the body 101 than the middle part of the lead 110.

[0076] The first control point CPa is the average of the coordinates (x1a, y1a) of the leading end of the first lead 111, the coordinates (x2a, y2a) of the leading end of the second lead 112, and the coordinates (x3a, y3a) of the leading end of the third lead 113 in both the X-axis and Y-axis directions. The coordinates of the first control point CPa in the X-axis direction are [(x1a + x2a + x3a) / 3]. The coordinates of the first control point CPa in the Y-axis direction are [(y1a + y2a + y3a) / 3].

[0077] The second control point CPb is the average of the coordinates (x1b, y1b) of the middle portion of the first lead 111, the coordinates (x2b, y2b) of the middle portion of the second lead 112, and the coordinates (x3b, y3b) of the middle portion of the third lead 113 in both the X-axis and Y-axis directions. The coordinates of the second control point CPb in the X-axis direction are [(x1b + x2b + x3b) / 3]. The coordinates of the second control point CPb in the Y-axis direction are [(y1b + y2b + y3b) / 3].

[0078] The third control point CPc is the average of the coordinates (x1c, y1c) of the base end of the first lead 111, the coordinates (x2c, y2c) of the base end of the second lead 112, and the coordinates (x3c, y3c) of the base end of the third lead 113 in both the X-axis and Y-axis directions. The coordinates of the third control point CPc in the X-axis direction are [(x1c + x2c + x3c) / 3]. The coordinates of the third control point CPc in the Y-axis direction are [(y1c + y2c + y3c) / 3].

[0079] like Figure 10As shown, when each of the three lead wires 110 (111, 112, 113) is straight, that is, when each of the three lead wires 110 is parallel to the Z-axis, the first control point CPa, the second control point CPb, and the third control point CPc are arranged parallel to the Z-axis. That is, when each of the three lead wires 110 is straight, the coordinates of the first control point CPa, the second control point CPb, and the third control point CPc are consistent in the planar direction. Furthermore, when each of the three lead wires 110 is straight, the coordinates of the center of the main body 101 are consistent with the coordinates of the first control point CPa, the second control point CPb, and the third control point CPc in the planar direction.

[0080] In the following description, the coordinates of the control point CP when the lead wires 110 (111, 112, 113) are not bent are appropriately referred to as the reference coordinates.

[0081] like Figure 11 As shown, if at least one of the multiple leads 110 bends, the coordinates of the control point CP move from the reference coordinates in the planar direction. As an example, Figure 11 This shows an example of the first lead 111 bending in the -Y direction. For example... Figure 11 As shown, if the first lead 111 bends in the -Y direction, the first control point CPa moves from the reference coordinate of the first control point CPa in the -Y direction, and the second control point CPb also moves from the reference coordinate of the second control point CPb in the -Y direction.

[0082] The determination unit 13 determines the insertion direction of the lead wire 110 based on multiple control points CP. The determination unit 13 determines the insertion direction of the line VC connecting the multiple control points CP. Figure 11 In the example shown, the determination unit 13 determines the line VC connecting the first control point CPa, the second control point CPb, and the third control point CPc as the insertion direction of the lead 110 relative to the substrate 200. Figure 11 In the example shown, line VC is tilted relative to the Z-axis. Line VC is tilted towards the -Y direction while pointing towards the -Z direction. The insertion direction of lead 110 is the direction of tilt relative to the Z-axis.

[0083] Based on the position data of the plurality of holes 210 of the substrate 200 obtained by the acquisition unit 11 and the plurality of control points CP, the control unit 14 outputs control commands to move the robot arm 5 holding the main body 101, so that the plurality of leads 110 are respectively inserted into the plurality of holes 210. Based on the position data of the holes 210 and the plurality of control points CP, the control unit 14 outputs control commands to the robot arm 6, so that the three leads 110 are each inserted into the holes 210 of the substrate 200 one by one.

[0084] After the control unit 14 inserts the front end of the lead wire 110 into the hole 210, it moves the robot hand 5 in the insertion direction determined based on multiple control points CP (CPa, CPb, CPc).

[0085] <Component Installation Method>

[0086] Figure 12 This is a flowchart illustrating the component mounting method according to the first embodiment. The operator operates the input device 10 to input the position data of the holes 210 of the substrate 200 to the control device 9. The acquisition unit 11 acquires the position data of the holes 210 of the substrate 200 from the input device 10 (step SA1).

[0087] The control unit 14 controls the robot arm 6 so that the lead wire component 100 of the component supply unit 3 is held by the robot arm 5. The robot arm 5 holds the body 101 of the lead wire component 100 to be mounted on the substrate 200 in the component supply unit 3. (See reference...) Figure 6 As explained, the control unit 14 controls the robot arm 6 so that the 3D measuring device 7 measures the lead wire component 100 held by the robot arm 5. With the main body 101 held by the robot arm 5, the 3D measuring device 7 measures the 3D shape of each of the plurality of leads 110 of the lead wire component 100. The acquisition unit 11 acquires 3D data representing the 3D shape of each of the plurality of leads 110 from the 3D measuring device 7 (step SA2).

[0088] The calculation unit 12 calculates the control points CP at multiple positions along the normal direction based on the 3D data representing the 3D shapes of the multiple leads 110 obtained in step SA2 (step SA3). (Refer to...) Figure 10 and Figure 11 As explained, in this embodiment, the calculation unit 12 calculates the first control point CPa at the first altitude Ha, the second control point CPb at the second altitude Hb, and the third control point CPc at the third altitude Hc.

[0089] The decision unit 13 determines the insertion direction of the lead wire 110 based on the multiple control points CP (CPa, CPb, CPc) calculated in step SA3 (step SA4). See reference... Figure 11 As explained, the determination unit 13 determines the line VC connecting the first control point CPa, the second control point CPb, and the third control point CPc as the insertion direction of the lead member 100 relative to the substrate 200.

[0090] Based on the position data of the multiple holes 210 of the substrate 200 and the multiple control points CP (CPa, CPb, CPc) obtained in step SA1, the control unit 14 moves the robot arm 5 holding the main body 101 so that the multiple leads 110 (111, 112, 113) are respectively inserted into the multiple holes 210 (step SA5).

[0091] Figure 13 This diagram illustrates the component mounting method according to the first embodiment. The control unit 14 controls the robot arm 6 so that the front ends of each of the plurality of leads 110 (111, 112, 113) are inserted into holes 210 in the substrate 200. The coordinates of the front ends of each of the plurality of leads 110 are measured by the 3D measuring device 7. The coordinates of the holes 210 in the substrate 200 are input from the input device 10. The inner diameter of the hole 210 is larger than the diameter of the lead 110. Based on the measurement data from the 3D measuring device 7 and the input data from the input device 10, the control unit 14 controls the robot arm 6 so that at least a portion of the coordinates of the front ends of the leads 110 coincides with the coordinates of the holes 210 in the substrate 200. That is, the control unit 14 controls the robot arm 6 to align the front ends of the leads 110 with the holes 210 in the substrate 200.

[0092] The control unit 14 controls the robot arm 6 based on the first control point CPa at the front end of the lead wire 110, so that the front end of the lead wire 110 is aligned with the hole 210 of the substrate 200. After controlling the robot arm 6 so that the average value (center of gravity) of the coordinates of the plurality of (3) holes 210 in the planar direction is consistent with the coordinates of the first control point CPa, the control unit 14 inserts the front ends of the plurality of leads 110 into the holes 210 of the substrate 200.

[0093] After the control unit 14 inserts the leading end of the lead 110 into the hole 210 of the substrate 200, it moves the robot arm 5 along the insertion direction determined in step SA4. For example, if the first lead 111 bends in the -Y direction, the line VC connecting the first control point CPa, the second control point CPb, and the third control point CPc is oriented in the -Z direction and tilted in the -Y direction. After the control unit 14 inserts the leading end of the lead 110 into the hole 210 of the substrate 200, it moves the robot arm 5 along the insertion direction indicated by the line VC.

[0094] For example, if the first lead 111 is bent, even if the front ends of each of the multiple leads 110 (111, 112, 113) are inserted into the hole 210 of the substrate 200, and the lead member 100 is pressed into the substrate 200 parallel to the Z-axis in such a way that the lead 110 is inserted into the hole 210 of the substrate 200 up to the base end of the lead 110, the middle portion or base end of the first lead 111 may come into contact with the inner surface of the hole 210 of the substrate 200 with a relatively strong force. That is, when from... Figure 13 When the lead component 100 descends parallel to the Z-axis as shown, the middle portion or base end of the first lead 111 may come into contact with the inner surface of the hole 210 of the substrate 200 with a relatively strong force. If the middle portion or base end of the first lead 111 is subjected to a relatively strong force from the inner surface of the hole 210 of the substrate 200, the load borne by the first lead 111 increases, and the quality of the lead component 100 may be reduced.

[0095] In this embodiment, multiple control points CP (CPa, CPb, CPc) are calculated, and the insertion direction of the lead component 100 is determined based on the line VC connecting the multiple control points CP. The line VC can be regarded as the average value of the bending amount of the multiple leads 110 (111, 112, 113). By inserting the lead component 100 into the substrate 200 along the line VC, the force on one of the multiple leads 110 from the inner surface of the hole 210 is prevented from becoming too large. In other words, even if the lead 110 is bent, by inserting the lead component 100 into the substrate 200 along the line VC, the force on the lead 110 from the inner surface of the hole 210 is distributed (averaged) to the multiple leads 110. As a result, the load borne by the lead 110 is prevented from increasing, and the quality of the lead component 100 is prevented from deteriorating.

[0096] <Effect>

[0097] As described above, according to this embodiment, the component mounting device 1 includes: a robotic arm 5 as a holding member, which is capable of moving in a planar direction parallel to the surface of the substrate 200 and a normal direction orthogonal to the surface of the substrate 200 while holding the main body 101 of the lead member 100; a 3D measuring device 7, which measures the 3D shape of each of the plurality of leads 110 (111, 112, 113) of the lead member 100 while the main body 101 is held by the robotic arm 5; and a calculation unit 12, which... When the average value of the coordinates of the plurality of leads 110 in the planar direction is set as the control point CP, the control points CP (CPa, CPb, CPc) of the plurality of positions (heights) in the normal direction are calculated based on the 3D data representing the 3D shape of each of the plurality of leads 110; and the control unit 14 moves the robot arm 5 holding the main body 101 based on the position data of the plurality of holes 210 provided on the substrate 200 and the plurality of control points CP, so that the plurality of leads 110 are respectively inserted into the plurality of holes 210.

[0098] According to this embodiment, even if the lead wire 110 is bent, after the front end of the lead wire 110 is inserted into the hole 210 of the substrate 200, the control unit 14 can smoothly insert the lead wire 110 into the hole 210 of the substrate 200 to the base end of the lead wire 110 based on multiple control points CP (CPa, CPb, CPc).

[0099] In this embodiment, the component mounting device 1 has a determination unit 13 that determines the insertion direction of the lead wire 110 based on multiple control points CP (CPa, CPb, CPc). The insertion direction is defined by a line connecting the multiple control points CP (CPa, CPb, CPc). After the front end of the lead wire 110 is inserted into the hole 210 of the substrate 200, the control unit 14 moves the robot arm 5 in the insertion direction.

[0100] The line VC can be considered as the average value of the bending amount of the multiple leads 110 (111, 112, 113). By inserting the lead component 100 into the substrate 200 along the line VC, it is possible to prevent the force on one of the multiple leads 110 from becoming excessive from the inner surface of the hole 210. In other words, even if the lead 110 bends, by inserting the lead component 100 into the substrate 200 along the line VC, the force on the lead 110 from the inner surface of the hole 210 is distributed (averaged) among the multiple leads 110. Thus, the load borne by the lead 110 is prevented from increasing, and the quality of the lead component 100 is prevented from deteriorating.

[0101] The control point CP includes a first control point CPa at the front end of the lead 110. When the front end of the lead 110 is inserted into the hole 210 of the substrate 200, the control unit 14 can control the robot arm 6 based on the first control point CPa at the front end of the lead 110 to align the front end of the lead 110 with the hole 210 of the substrate 200. After controlling the robot arm 6 so that the average value (center of gravity) of the coordinates of the plurality of (3) holes 210 in the planar direction is consistent with the coordinates of the first control point CPa, the control unit 14 can insert the front ends of each of the plurality of leads 110 (111, 112, 113) into the hole 210 of the substrate 200.

[0102] [Second Embodiment]

[0103] The second embodiment will be described. In the following description, structural elements that are the same as or equivalent to those in the first embodiment described above will be labeled with the same reference numerals, and the description of the structural elements will be omitted or simplified.

[0104] Figure 14 This diagram illustrates the calculation method for the control point CP according to the second embodiment. In this embodiment, the calculation unit 12 calculates the first control point CPa, representing the control point CP at the front end of the lead wire 110, based on 3D data representing the 3D shape of the lead wire 110. Furthermore, the calculation unit 12 calculates the third control point CPc, representing the control point CP at the base end of the lead wire 110, which is closer to the body 101 than the front end of the lead wire 110, based on the position of the robot hand 5 holding the main body 101, the first control point CPa, and the length of the lead wire 110.

[0105] like Figure 14 As shown, a centerline CL is defined on the main body 101. The centerline CL passes through the center of the main body 101 in the planar direction. That is, the centerline CL passes through the center of the main body 101 in both the X-axis and Y-axis directions. The centerline CL is parallel to the Z-axis.

[0106] The robot arm 5 holds the center of the main body 101 in the planar direction. Figure 14 In the example shown, the robot arm 5 holds the center of the main body 101 in the Y-axis direction. The robot arm 5 is capable of moving in both the planar and normal directions while holding the center of the main body 101 in the planar direction. The 3D measuring device 7 measures the 3D shape of each of the multiple leads 110 while the center of the main body 101 is held by the robot arm 5.

[0107] The calculation unit 12 calculates the first control point CPa, which represents the control point CP at the front end of the lead 110, based on the 3D data representing the 3D shape of each of the multiple leads 110 measured by the 3D measuring device 7.

[0108] The calculation unit 12 calculates the third control point CPc, representing the control point CP at the base end of the lead wire 110, based on the position of the robot hand 5, which maintains the center of the main body 101 in the planar direction, the first control point CPa calculated using 3D data, and the length of the lead wire 110. The center line CL passes through the robot hand 5. The calculation unit 12 can calculate the third control point CPc at the base end of the lead wire 110 using trigonometric function theorems, based on the position of the robot hand 5, the first control point CPa at the front end of the lead wire 110, and the length of the lead wire 110.

[0109] Furthermore, a position sensor capable of detecting the position of the robot hand 5 is installed on the robot arm 6. An encoder capable of detecting the workload of the robot arm 6 is shown as an example of a position sensor. The position sensor detects the position of the robot hand 5 in a local coordinate system. The detection data from the position sensor is sent to the control device 9. The length of the lead wire 110 is, for example, known data derived from the design data of the lead wire component 100. The operator can input the design data, including the length of the lead wire 110, to the control device 9 via the input device 10.

[0110] After calculating the first control point CPa and the third control point CPc, the determination unit 13 determines the insertion direction of the lead 110 relative to the substrate 200 based on the first control point CPa and the third control point CPc. The determination unit 13 determines the insertion direction of the lead 110 relative to the substrate 200 based on the line VC connecting the first control point CPa and the third control point CPc.

[0111] Based on the position data of the plurality of holes 210 on the substrate 200 and the first control point CPa and the third control point CPc, the control unit 14 moves the robot arm 5, which is held at the center of the main body 101, so that the plurality of leads 110 (111, 112, 113) are respectively inserted into the plurality of holes 210.

[0112] Figure 15 This is a flowchart illustrating the component mounting method according to the second embodiment. The operator operates the input device 10 to input the position data of the holes 210 in the substrate 200 to the control device 9. The acquisition unit 11 acquires the position data of the holes 210 in the substrate 200 from the input device 10 (step SB1).

[0113] With the robot arm 5 holding the center of the main body 101 in the planar direction, the 3D measuring device 7 measures the 3D shape of each of the multiple leads 110 of the lead member 100. The acquisition unit 11 acquires 3D data representing the 3D shape of each of the multiple leads 110 from the 3D measuring device 7 (step SB2).

[0114] In order to input design data, including the length of lead 110, into the control device 9, the operator operates the input device 10. The acquisition unit 11 acquires the design data, including the length of lead 110, from the input device 10 (step SB3).

[0115] The calculation unit 12 calculates the first control point CPa at the front end of the lead 110 based on the 3D data representing the 3D shape of each of the plurality of leads 110 obtained in step SA2 (step SB4).

[0116] The calculation unit 12 calculates the third control point CPc at the base end of the lead wire 110 based on the position of the robot hand 5 which maintains the center of the main body 101, the first control point CPa calculated in step SB4, and the length of the lead wire 110 obtained in step SB3 (step SB5).

[0117] The decision unit 13 determines the insertion direction of the lead wire 110 based on the first control point CPa calculated in step SB4 and the third control point CPc calculated in step SB5 (step SB6). See also... Figure 14 As explained, the determination unit 13 determines the line VC connecting the first control point CPa and the third control point CPc as the insertion direction of the lead member 100 relative to the substrate 200.

[0118] Based on the position data of the plurality of holes 210 of the substrate 200 obtained in step SB1 and the first control point CPa and the third control point CPc, the control unit 14 moves the robot arm 5 holding the main body 101 so that the plurality of leads 110 (111, 112, 113) are respectively inserted into the plurality of holes 210 (step SB7).

[0119] For reference Figure 13 As explained, the control unit 14 controls the robot arm 6, for example, based on a first control point CPa at the front end of the lead wire 110, so that the front end of the lead wire 110 is aligned with the hole 210 of the substrate 200. After the front end of the lead wire 110 is inserted into the hole 210 of the substrate 200, the control unit 14 moves the robot arm 5 in the insertion direction determined in step SB6.

[0120] As explained above, in this embodiment, the lead 110 is smoothly inserted into the hole 210 of the substrate 200 until the base end of the lead 110 is reached. For example, even if the 3D measuring device 7 cannot measure the 3D shape of the base end of the lead 110 due to the shape of the lead member 100, the control point CP of the base end of the lead 110 can be calculated according to this embodiment.

[0121] Furthermore, in this embodiment, the calculation unit 12 may also calculate the second control point CPb, which represents the control point CP of the middle part of the lead wire 110 that is closer to the main body 101 than the front end of the lead wire 110, based on the position of the robot hand 5 that maintains the center of the main body 101, the first control point CPa, and the length of the lead wire 110.

[0122] [Other Implementation Methods]

[0123] The structural elements described in the first embodiment and the structural elements described in the second embodiment can be combined. For example, the first control point CPa of the first height Ha and the second control point CPb of the second height Hb can be calculated based on the 3D data of the lead wire 110, and the third control point CPc of the third height Hc can be calculated based on the position of the robot hand 5 maintaining the center of the main body 101, the previously calculated first control point CPa, and the length of the lead wire 110.

[0124] In the above embodiment, the control point CP is assumed to include a first control point CPa, a second control point CPb, and a third control point CPc, but the number of control points CP calculated is not limited to the above example. At least two control points CP need to be calculated. As control points CP, only the control point CP at the front end of the lead 110 and the control point CP at the base end of the lead 110 may be calculated. By calculating the control point CP at the base end of the lead 110, the control unit 14 can smoothly insert the lead 110 into the hole 210 of the substrate 200 to the base end of the lead 110 based on the control point CP at the base end of the lead 110.

[0125] In the above embodiment, the 3D measuring device 7 is configured to measure the 3D shape of the lead 110 based on the phase-shifting method, but the 3D measuring device 7 is not limited to the above example. The 3D measuring device 7 can also measure the 3D shape of the lead 110 by means of a stereo camera or by means of laser scanning.

[0126] The present invention includes the following methods.

[0127] (1) A component mounting device, comprising: The holding member is capable of moving in a planar direction parallel to the surface of the substrate and in a normal direction orthogonal to the surface of the substrate while holding the main body containing the lead member. A 3D measuring device that measures the 3D shape of each of the multiple leads of the lead component while the main body is held by the holding member; The calculation unit, using the average coordinates of a plurality of leads in the planar direction as control points, calculates control points for each of the multiple positions in the normal direction based on 3D data representing the 3D shape; and The control unit moves the holding member holding the main body based on the position data of the plurality of holes provided on the substrate and the plurality of control points, so that the plurality of leads are respectively inserted into the plurality of holes.

[0128] (2) The component mounting device according to (1), wherein, It has a decision unit that determines the insertion direction of the lead based on a plurality of said control points. After the control unit inserts the front end of the lead into the hole, it moves the retaining member in the insertion direction.

[0129] (3) An assembly device according to the components described in (1) or (2), wherein, The control points include: a first control point, which represents a control point at the front end of the lead; and a second control point, which represents a control point at the middle or base end of the lead that is closer to the body than the front end.

[0130] (4) The component mounting device according to (3), wherein, The retaining member holds the center of the main body in the planar direction. The calculation unit calculates a third control point based on the position of the holding member, the first control point, and the length of the lead wire. This third control point represents a control point at the middle or base of the lead wire that is closer to the body than the front end.

[0131] (5) A component mounting device, comprising: The holding member is capable of moving in both the planar direction and the normal direction orthogonal to the surface of the substrate while holding the center of the main body of the lead member in a planar direction parallel to the surface of the substrate. A 3D measuring device, which measures the 3D shape of each of the multiple leads of the lead component while being held at the center of the main body by the holding member; The calculation unit, using the average coordinates of multiple leads in the planar direction as a control point, calculates a first control point representing the control point of the leading end of the lead based on 3D data representing the 3D shape. Based on the position of the holding member, the first control point, and the length of the lead, it calculates a second control point representing a control point at the middle or base of the lead that is closer to the main body than the leading end. The control unit moves the holding member that holds the center of the main body based on the position data of the plurality of holes provided on the substrate and the first control point and the second control point, so that the plurality of leads are respectively inserted into the plurality of holes.

[0132] (6) The component mounting device according to (5), wherein, It has a decision unit that determines the insertion direction of the lead wire based on the first control point and the second control point. After the control unit inserts the front end of the lead into the hole, it moves the retaining member in the insertion direction.

[0133] (7) A component installation method comprising the following steps: The main body of the lead component is held by a holding member, which can move in a plane direction parallel to the surface of the substrate and in a normal direction orthogonal to the surface of the substrate, respectively. While the main body is held by the holding member, the 3D shape of each of the multiple leads of the lead member is measured; With the average coordinates of multiple leads along the planar direction set as control points, control points are calculated for each of the multiple positions along the normal direction based on 3D data representing the 3D shape; and Based on the position data of the plurality of holes provided on the substrate and the plurality of control points, the holding member holding the main body is moved so that the plurality of leads are respectively inserted into the plurality of holes.

[0134] (8) A component mounting method comprising the following steps: The holding member can move in a planar direction parallel to the surface of the substrate and in a normal direction orthogonal to the surface of the substrate, respectively, and the center of the main body of the lead member in the planar direction is held by the holding member; With the main body held at its center by the holding member, the 3D shape of each of the multiple leads of the lead member is measured. When the average value of the coordinates of the plurality of leads in the plane direction is set as the control point, the first control point representing the control point of the front end of the lead is calculated based on the 3D data representing the 3D shape. Based on the position of the retaining component, the first control point, and the length of the lead wire, a second control point is calculated. This second control point represents a control point located closer to the middle or base end of the lead wire than the front end of the main body. Based on the position data of the plurality of holes provided on the substrate and the first control point and the second control point, the holding member holding the center of the main body is moved so that the plurality of leads are respectively inserted into the plurality of holes.

[0135] This application is based on Japanese Patent Application No. 2023-164457, filed on September 27, 2023, the contents of which are incorporated herein by reference.

Claims

1. A component mounting device, comprising: The holding member is capable of moving in a planar direction parallel to the surface of the substrate and in a normal direction orthogonal to the surface of the substrate while holding the main body containing the lead member. A 3D measuring device that measures the 3D shape of each of the multiple leads of the lead component while the main body is held by the holding member; The calculation unit, using the average coordinates of a plurality of leads in the planar direction as control points, calculates control points for each of the multiple positions in the normal direction based on 3D data representing the 3D shape; and The control unit moves the holding member holding the main body based on the position data of the plurality of holes provided on the substrate and the plurality of control points, so that the plurality of leads are respectively inserted into the plurality of holes.

2. The component mounting device according to claim 1, wherein, It has a decision unit that determines the insertion direction of the lead based on a plurality of said control points. After the control unit inserts the front end of the lead into the hole, it moves the retaining member in the insertion direction.

3. The component mounting device according to claim 1, wherein, The control points include: a first control point, which represents a control point at the front end of the lead; and a second control point, which represents a control point at the middle or base end of the lead that is closer to the body than the front end.

4. The component mounting device according to claim 3, wherein, The retaining member holds the center of the main body in the planar direction. The calculation unit calculates a third control point based on the position of the holding member, the first control point, and the length of the lead wire. This third control point represents a control point at the middle or base of the lead wire that is closer to the body than the front end.

5. A component mounting device, comprising: The holding member is capable of moving in both the planar direction and the normal direction orthogonal to the surface of the substrate while holding the center of the main body of the lead member in a planar direction parallel to the surface of the substrate. A 3D measuring device, which measures the 3D shape of each of the multiple leads of the lead component while being held at the center of the main body by the holding member; The calculation unit, using the average coordinates of multiple leads in the planar direction as a control point, calculates a first control point representing the control point of the leading end of the lead based on 3D data representing the 3D shape. Based on the position of the holding member, the first control point, and the length of the lead, it calculates a second control point representing a control point at the middle or base of the lead that is closer to the body than the leading end. The control unit moves the holding member that holds the center of the main body based on the position data of the plurality of holes provided on the substrate and the first control point and the second control point, so that the plurality of leads are respectively inserted into the plurality of holes.

6. The component mounting device according to claim 5, wherein, It has a decision unit that determines the insertion direction of the lead wire based on the first control point and the second control point. After the control unit inserts the front end of the lead into the hole, it moves the retaining member in the insertion direction.

7. A component mounting method, comprising the following steps: The main body of the lead component is held by a holding member, which can move in a plane direction parallel to the surface of the substrate and in a normal direction orthogonal to the surface of the substrate, respectively. While the main body is held by the holding member, the 3D shape of each of the multiple leads of the lead member is measured; With the average coordinates of multiple leads along the planar direction set as control points, control points are calculated for each of the multiple positions along the normal direction based on 3D data representing the 3D shape; and Based on the position data of the plurality of holes provided on the substrate and the plurality of control points, the holding member holding the main body is moved so that the plurality of leads are respectively inserted into the plurality of holes.

8. A method for installing a component, comprising the following steps: The holding member can move in a planar direction parallel to the surface of the substrate and in a normal direction orthogonal to the surface of the substrate, respectively, and the center of the main body of the lead member in the planar direction is held by the holding member; With the main body held at its center by the holding member, the 3D shape of each of the multiple leads of the lead member is measured. When the average value of the coordinates of the plurality of leads in the plane direction is set as the control point, the first control point representing the control point of the front end of the lead is calculated based on the 3D data representing the 3D shape. Based on the position of the retaining component, the first control point, and the length of the lead wire, a second control point is calculated. This second control point represents a control point located closer to the middle or base end of the lead wire than the front end of the main body. Based on the position data of the plurality of holes provided on the substrate and the first control point and the second control point, the holding member holding the center of the main body is moved so that the plurality of leads are respectively inserted into the plurality of holes.

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