Summary of the invention
Problems to be solved by the invention
In addition, connecting pin is pressed into welding using pin insertion apparatus in the previous example documented by above patent document 1
In the connecting element of insulate electrical substrate, therefore, when connecting element is welded to insulate electrical substrate, solder attachment is in connection
The inside of element or dust is attached to and keeps in internal situation or pin insertion apparatus in the manufacturing process of connecting element
In the case where generating positional shift between connecting pin and connecting element, the connecting pin that is carried out using pin insertion apparatus it is chimeric by
It hinders and can not be smoothly pressed into.
However, there are following an open questions: can not differentiate that the chimeric of connecting pin carried out using pin insertion apparatus is
It is no to be hindered, it can confirm by visual observation in the case where connecting pin is broken off, still, be bent or connect in connecting pin
It sells in inclined situation, can confirm by visual observation if bending, inclination are big, if but bending, tilting and small being difficult to pass through
Visually confirm, thus can not correctly not determine pin insert state it is good whether.
Therefore, the present invention is to be conceived to an open question of above-mentioned previous example and complete, and its purpose is to provide one
Kind can correctly determine the pin insert state realized using pin insertion apparatus it is good whether pin insertion apparatus and pin insertion
Bad determination method.
The solution to the problem
In order to achieve the above object, a mode of pin insertion apparatus according to the present invention is for pressing the pin into quilt
Be fixed on the pin insertion apparatus of the hollow cylinder of substrate, which has: pin insertion head keeps above-mentioned pin simultaneously
It is inserted into above-mentioned cylinder;Vibrating sensor, is installed on pin insertion head, and detection is inserted into above-mentioned pin insertion head to above-mentioned cylinder
Vibrational energy during above-mentioned pin;And the bad determination unit of insertion, based on the vibration detected by the vibrating sensor
Energy detection value and decision threshold determine that above-mentioned pin is bad to the insertion of above-mentioned cylinder.In addition, involved by the above-mentioned present invention
And pin insertion apparatus a mode in, it is desirable to aforesaid substrate is by having the insulated electro of insulating substrate and wired circuit
Base board is constituted, above-mentioned cylinder is made of the electric conductivity cylinder with canister portion and flange part, the flange part above-mentioned cylinder with
To radially projecting at the end of the side of above-mentioned wired circuit connection, above-mentioned pin is made of conductive metal.
In a mode of above-mentioned pin insertion apparatus according to the present invention, it is desirable to above-mentioned vibrating sensor
By strain transducer (strain sensor), piezoelectric transducer (piezo sensor), acoustic emission sensor (Acoustic
Emission sensor) any of constitute.
In a mode of above-mentioned pin insertion apparatus according to the present invention, also can be set to: above-mentioned insertion is bad
Determination unit is entered the vibrational energy detected value detected by above-mentioned vibrating sensor, calculates the square of the vibrational energy detected value
Root is judged to being inserted into bad when the peak value of calculated root mean square has been more than above-mentioned decision threshold.
In a mode of above-mentioned pin insertion apparatus according to the present invention, also can be set to: above-mentioned insertion is bad
Determination unit has flame storage unit, the flame storage unit storage be judged to being inserted into undesirable cylinder identification information and
The maximum value of above-mentioned root mean square.
In addition, also can be set in a mode of above-mentioned pin insertion apparatus according to the present invention: having driving
The pin of above-mentioned pin insertion head is inserted into control unit, and the above-mentioned bad determination unit of insertion is inserted into when being judged to being inserted into bad to above-mentioned pin
Control unit sends the decline stop signal for stopping the decline of above-mentioned pin insertion head, above-mentioned pin insertion control unit receive it is above-mentioned
When declining stop signal, stop the decline of above-mentioned pin insertion head.
In addition, the mode that pin according to the present invention is inserted into bad determination method has following steps: detection is being incited somebody to action
Electric conductivity pin is pressed into the vibrational energy generated when the electric conductivity cylinder for being fixed in insulate electrical substrate;And based on detecting
Vibrational energy detected value and pre-determined decision threshold determine insertion of the above-mentioned electric conductivity pin to above-mentioned electric conductivity cylinder
State it is good whether.
It is desirable that, carrying out the detection of above-mentioned vibrational energy using acoustic emission sensor.
The effect of invention
According to the present invention, when pressing the pin into the cylinder for being fixed in substrate, detection is transmitted to the pin insertion of retaining pin
Head vibrational energy come determine pin insert state it is good whether, therefore can correctly judge the good of pin insert state and
It is no.
Specific embodiment
In the following, illustrating pin insertion apparatus according to the present invention in conjunction with attached drawing.
Firstly, explanation can apply conductive connector drum 1 of the invention and be pressed into the connector drum 1
Conductive connecting pin 2.
Connector drum 1 is for example formed by copper.As shown in Fig. 2, the connector drum 1 is by hollow cylindrical portion 1a and in the circle
Radially extended the flange part 1b and 1c that two ends of canister portion 1a are formed are constituted.In flange part 1b and 1c, in peripheral side
Being formed with makes the solder inwardly outer notch 1d flowed.Moreover, as shown in (a) of Fig. 1 and (b) of Fig. 1, so that connector drum 1
The cylindrical portion 1a mode vertical relative to the upper surface of insulate electrical substrate 3, by using the welding of solder 5 by connecting cylinder
The flange part 1c of one side of body 1 is fixed on the wired circuit 4 for being formed in insulate electrical substrate 3.
As shown in (b) of (b) of Fig. 1, (a) of Fig. 2 and Fig. 2, it is rectangular by copper wires structure that connecting pin 2, which is by section,
At threadlike body cut into specific length and be formed as the threadlike body section cornerwise length be greater than connection conductor 1 circle
Made of the quadrangular shape of the internal diameter of canister portion 1a, the connecting pin 2 long enough compared with the length of connector drum 1.
Then, using pin insertion apparatus 11 shown in Fig. 3, connecting pin 2 is inserted into from top is fixed on insulated electro roadbed
The connector drum 1 of plate 3, and be fitted in the cylindrical portion 1a of connector drum 1.
As shown in figure 3, pin insertion apparatus 11 is configured with insulate electrical substrate XY platform 13 on base station 12, which can
Make to configure the insulate electrical substrate 3 on XY platform 13 to move in the horizontal direction.
Supporting part 15 more is configured with by inboard position than XY platform 13 on base station 12.Configured with upper at supporting part 15
Lower direction mobile mechanism 16, the up and down direction mobile mechanism 16 will be inserted into head 14 with the relatively configured pin of insulate electrical substrate 3
It is supported in a manner of it can move along the vertical direction.In the back side of supporting part 15, it can rotatably carry and be wound with threadiness
The reel (reel) 17 of body 18, threadlike body 18 are fed into pin via the guiding elements 19 for the front-surface side for being configured at supporting part 15
It is inserted into head 14.
Pin insertion head 14 has the clamping section 20 for keeping threadlike body 18 and driving and reversing mechanism 20c.Clamping section 20, which has, to be divided
One and half clamping body 20a and 20b.The half clamping body 20a of one side is fixed on pin insertion head 14, the half clamping body 20b of another party
It can movably be supported by driving and reversing mechanism 20c.
Driving and reversing mechanism 20c has following state and keeping half clamping body 20b mobile: being clamped by half clamping body 20a and half
Body 20b holds the clamped condition of threadlike body 18 (connecting pin 2);And the release shape of the holding of release threadlike body 18 (connecting pin 2)
State.
Though also, do not illustrated, it is next configured with threadlike body 18 is cut into specific length at pin insertion head 14
As the cutting element of connecting pin 2, the threadiness is cut off using the cutting element when threadlike body 18 is inserted into connector drum 1
Body 18.Can also threadlike body 18 is cut into specific length make threadlike body 18 become connecting pin 2 after be inserted into connector drum
1。
Acoustic emission sensor (hereinafter referred merely to as AE sensor) 25 is configured at half clamping body 20a of clamping section 20, it should
AE sensor 25 is used as detecting the vibrating sensor of the vibrational energy generated when being fitting to connection pin 2 to connector drum 1.
The AE sensor 25 detects AE (sound emission) wave.AE wave is to be based on to accumulate when material deforms or destroys in inside
Elastic energy as sound wave (elastic wave, AE wave) release the phenomenon that and release.The AE wave mainly has as ultrasonic wave area
Tens of kHz~number MHz radio-frequency component of the frequency in domain.
Here, as shown in figure 4, being configured in AE sensor 25: the box-like by one side open of aluminum or stainless steel
Shielding box 26;By wave plate 27, the opening end face of the shielding box 26 is covered, is formed by insulants such as aluminium oxide;And piezoelectricity
(PZT) element 29 are mounted on the inner face side towards shielding box 26 by wave plate 27 across silver-colored evaporation film 28, wherein in shape
It is connected with external output line 31 at the same silver-colored evaporation film 30 of the side opposite with silver-colored evaporation film 28 of the piezoelectric element 29,
The outside output line 31 is connect with connector 32.
Then, the signal routing to extend out from the connector 32 of AE sensor 25 is bad with insertion as shown in Figure 7
Determination unit 40 connects.As shown in figure 5, the bad determination unit 40 of the insertion has: analog signal pre-processes circuit 33, is entered AE
The AE signal of sensor 25;A/D conversion circuit 34 converts the analog signal exported from analog signal pretreatment circuit 33
For digital signal;And determination unit 35, the digital signal being converted to is analyzed.Analog signal pre-process circuit 33 by
AE preamplifier 33a and bandpass filter 33b is constituted, which believes the AE exported from AE sensor 25
Number amplification, bandpass filter 33b from the amplified signal amplified by AE preamplifier 33a extract AE wave frequency rate at
Point.
Decision circuit 35b, flame storage unit whether determination unit 35 has signal processing circuit 35a, pin insertion well
35c and display unit 35d.Signal processing circuit 35a is entered the amplified AE wave number word letter inputted from A-D conversion circuit 34
Number, the AE wave digital signal will be carried out to sentence whether rms signal obtained from root mean square (RMS) processing is output to pin insertion well
Determine circuit 35b.
Whether pin insertion is good decision circuit 35b by the rms signal exported from signal processing circuit 35a with it is preset
Decision threshold be compared to carry out pin insert state it is good whether determine, be less than pin in rms signal and be inserted into bad decision threshold
It is judged as that pin insert state is good when value, in the case where rms signal has been more than that pin is inserted into bad decision threshold, is judged as that pin is inserted
It is bad to enter state.It then, will under determining that result is inserted into undesirable situation for pin in decision circuit 35b whether pin insertion is good
The identification information of the maximum value of rms signal and the connector drum for currently carrying out pin insertion stores flame in couples and deposits
Storage portion 35c, and they are shown on display unit 35d.At the same time, sentence in decision circuit 35b whether pin insertion is good
Break and be inserted into undesirable situation for pin, i.e. in the case that the value of rms signal has been more than decision threshold, is sent out to pin insertion control unit 36
Send the decline stop signal for stopping the decline of pin insertion head 14.Then, pin insertion control unit 36 is receiving decline stopping letter
Number when, make pin insertion head 14 decline stop.It is inserted into from the stroke sensor 37 of the descending stroke of test pin insertion head 14 to pin
36 input travel of control unit detects signal.Pin insertion control unit 36 carries out following control: the mobile control of insulate electrical substrate, control
XY platform 13 keeps insulate electrical substrate mobile so that connector drum 1 be located at the threadlike body 18 that is clamped by pin insertion head 14 just under
Side;And pin insertion control, drive up and down direction mobile mechanism 16 and driving and reversing mechanism 20c carry out pin insertion head 14 on move down
Dynamic and threadlike body 18 holding and release.
Then, illustrate the movement of above embodiment.
Firstly, as shown in figure 3, the insulate electrical substrate 3 for being welded with connector drum 1 to be placed on to the XY of pin insertion apparatus 11
It is on platform 13 and fixed.In pin insertion apparatus 11, the threadlike body 18 on reel 17 is fed into via guiding elements 19
Pin insertion head 14.The front end of the threadlike body 18 is with the prominent specific length of the degree not abutted with connector drum 1 by half clamping body
20a and 20b is held.
In this state, when pin insertion apparatus 11 starts movement, XY platform 13 is controlled, so that first will be inserted into
The center of the cylindrical portion 1a of the connector drum 1 of threadlike body 18 (connecting pin 2) is located in the threadlike body 18 held by clamping section 20
Front end underface.At this point, utilizing the plane for the photographic device (not shown) shooting connector drum 1 for being configured at pin insertion head 14
Thus image is correctly attached the positioning of cylinder 1.
Then, when the positioning of connector drum 1 is completed, as shown in fig. 7, up and down direction mobile mechanism 16 is worked and is sold
Head 14 is inserted into decline.The threadlike body 18 (connecting pin 2) clamped by clamping section 20 is inserted into the company for being fixed on insulate electrical substrate 3
The inside of the cylindrical portion 1a of connect cylinder body 1.At this point, since cornerwise length in the section of connecting pin 2 is greater than the circle of connector drum 1
The internal diameter of canister portion 1a, therefore threadlike body 18 (connecting pin 2) is pressed into connector drum 1.
When being pressed into threadlike body 18 (connecting pin 2), AE sensor 25 measures the (connection of threadlike body 18 by means of clamping section 20
Pin 2) vibration, from AE sensor 25 export AE signal.The AE signal is amplified by AE preamplifier 33a, and is filtered by band logical
Wave device 33b extracts the analog signal of supersonic zone shown in (a) of Fig. 6.The analog signal is converted by A-D conversion circuit 34
For the signal processing circuit 35a for being input to determination unit 35 after digital signal.
In signal processing circuit 35a, root mean square processing is carried out to digital signal to be converted to shown in (b) of Fig. 6
Rms signal.The value of rms signal is compared by decision circuit 35b with decision threshold whether pin insertion is good, is in rms signal
It is judged as that pin insert state is good when below decision threshold.When the kilter of the pin insert state is persistently and as connecting pin 2
The front end of threadlike body 18 when being pressed into specified position in connector drum 1, stroke sensor 37 shown in fig. 5 becomes out
(ON) state, the ON signal are provided to pin insertion control unit 36.Then, pin insertion control unit 36 is receiving stroke sensor
When 37 ON signal, holding of the clamping section 20 to electric conductivity connecting pin 2 is released.Up and down direction mobile mechanism 16 is worked and is sold
It is inserted into head 14 to rise, when rising to specified position, threadlike body 18 is held by clamping section 20 again.At this point, by clamping section 20
Hold the position of the ratio cutting predetermined position specific length against the top of threadlike body 18.Then, pin insertion control unit 36 makes (not shown)
Cutting part works to cut off threadlike body 18, becomes connecting pin 2.
Movement more than repeating, whole connector drum of the Lai Zhihang threadlike body 18 (connecting pin 2) in insulate electrical substrate 3
1 indentation.Then, the completed insulate electrical substrate 3 of operation is taken out from XY platform 13, new insulate electrical substrate 3 is placed in XY
Platform 13 executes above-mentioned pin insert action.In addition, since connector drum 1 is by the wired circuit 4 of insulate electrical substrate 3
The solder 5 of coating is welded in insulate electrical substrate 3, therefore generates solder such as Fig. 9 during soldering sometimes
(a)~(c) shown in be attached to like that connector drum 1 cylindrical portion 1a inner peripheral surface failure welding.
That is, there are following situations etc. for the concrete example of the failure welding: when being welded to connect cylinder 1 to insulate electrical substrate 3,
As shown in (a) of Fig. 9, until solder 5 is attached to the upper end side of the inner peripheral surface of cylindrical portion 1a;As shown in (b) of Fig. 9, on solder 5
It is raised to the centre of the inner peripheral surface of cylindrical portion 1a;As shown in (c) of Fig. 9, solder 5 is attached to one of the inner peripheral surface of cylindrical portion 1a
Point.When the inner peripheral surface generation failure welding like this in the cylindrical portion 1a of connector drum 1, connecting pin 2 is being pressed into connection
During cylinder 1 and its front end reach before solder attachment portion, as shown in Figure 10, the RMS letter exported from signal processing circuit 35a
Number level changed below decision threshold Sth.Therefore, it is judged as that pin is inserted into decision circuit 35b whether pin insertion is good
Normally, continue to be pressed into the threadlike body 18 as connecting pin 2 to connector drum 1.
However, when reaching solder attachment portion as the front end of the threadlike body 18 of connecting pin 2 as shown in Figure 8, to even
The indentation of outbound 2 generates obstacle, and therefore, as shown in Figure 10, the maximum value for becoming rms signal is more than the degree of decision threshold Sth
Big rms signal.Therefore, decision circuit 35b exports bad detection letter to pin insertion control unit 36 whether good from pin insertion
Number.The decline for selling the pin insertion head 14 of insertion apparatus 11 as a result, is stopped.It then, will be more than the rms signal of decision threshold Sth
Maximum value and be currently pressed into threadlike body 18 connector drum 1 intrinsic identification information storage to flame storage unit
35c.Then, these information are shown on display unit 35d.
As described above, stop indentation before the threadlike body 18 for being pressed into connector drum 1 is substantially bent or fractures, because
This is reliably prevented from causes to damage or impact insulate electrical substrate 3 to pin insertion apparatus 11.
Then, the insulate electrical substrate 3 for stopping insertion connecting pin 2 is unloaded from XY platform 13, by new insulate electrical substrate 3
It is placed in XY platform 13, thus again proceeds with pin insertion process.
Moreover, be inserted into undesirable insulate electrical substrate 3 for producing pin, by the intrinsic of flame and connector drum 1
Identification information stored together to flame storage unit 35c, and be shown on display device 35d, therefore production can be specified
The connector drum 1 of failure welding has been given birth to confirm failure welding state.
In this way, unloading the connection for having the insulate electrical substrate 3 for the connector drum 1 for producing failure welding state
Cylinder 1 welds new electric conductivity cylinder 1 by manually, later, such as using manual pin insertion machine to remaining electric conductivity cylinder
Body 1 is pressed into connecting pin 2, and thus, it is possible to terminate pin insertion process.
At this point, AE sensor 25 is also installed at clamping section for manual pin insertion machine (not shown), analog signal is pre-
Processing circuit 33, A-D conversion circuit 34 and determination unit 35 are connected to the connector 32 of the AE sensor 25, thus, it is possible to it is upper
The pin insertion apparatus 11 stated similarly judges that pin insertion is bad.
Moreover, in the above-described embodiment, applying AE sensor 25 as vibrating sensor, therefore test pin insertion is not
Good responsiveness is fast, can promptly carry out pin insert state it is good whether determine.
In addition, also storing rms signal when being inserted into connecting pin to each connector drum 1 in the case of pin is inserted into good
Maximum value, thus, it is possible to carry out the evaluation of pin insert state.
Incidentally, by connector drum 1 it is good whether state carry out the image that shoots of X-ray and to the connection
The result that the peak value that cylinder 1 has been pressed into the rms signal in the state of connecting pin 2 is compared has obtained result shown in Figure 11.
That is, confirming following situations: in connector drum 1A~1C more than the adhesion amount of the solder of inner peripheral surface, the peak value of rms signal is super
Decision threshold Sth has been crossed, for the connector drum 1D~1F few for the adhesion amount of the solder of inner peripheral surface, the maximum of rms signal
It is worth sufficiently small compared with decision threshold Sth.Thus, it is possible to correctly carry out pin insert state according to the maximum value of rms signal
It is good whether judgement.
In addition, illustrating to cut off threadlike body 18 in pin insertion apparatus 11 in the above-described embodiment to form connecting pin 2
The case where, but not limited to this, the vibration feeder etc. for keeping the connecting pin 2 being initially switched off in advance also can be set, by connecting pin 2
By root it is supplied to clamping section 20.
In addition, the canister portion cross sectional shape of connector drum 1 and the cross sectional shape of connecting pin 2 be not limited to it is cylinder-shaped and rectangular,
It can make the rectangular canister portion of the canister portion of connector drum 1, keep the cross sectional shape of connecting pin 2 round, or make the cylinder of connector drum 1
Portion is triangle, the cross sectional shape quadrangle for making connecting pin 2 etc., as long as being formed to be pressed into connecting pin to connector drum 1
2, it will be able to be set as the combination of arbitrary shape.
In addition, illustrating that 3 side of insulate electrical substrate of pin insertion apparatus 11 carries out XY movement, pin in the above-described embodiment
Insertion head 14 situation about moving along the vertical direction, but it is mobile and by insulate electrical substrate that pin insertion head 14 can also be made to carry out XY
3 sides are fixed, and the two can also be made to carry out XY mobile, or a side is made to move in X direction, move another party along Y-direction.
In addition, above structure is not limited to as pin insertion apparatus 11, as long as can connecting pin be held and is pressed into
The structure of connector drum 1, it will be able to apply arbitrary structure.
In addition, be not limited to connector drum as cylinder, can with whether conductive independently apply arbitrary cylinder
Body, can be using the present invention in the case where being pressed into conductive or pin without electric conductivity to the cylinder.
In addition, it is not limited to AE sensor as vibrating sensor, it can be using energy such as piezoelectric transducer, strain transducers
Enough probing pins are inserted into undesirable arbitrary sensor.
Also, illustrate solder attachment in the feelings of the failure welding of the inner peripheral surface of connector drum 1 in the above-described embodiment
Condition, but not limited to this, can judge that the pin insertion in following situation etc. is bad: be attached in the inner peripheral surface of connector drum 1
Protrusion, insertion prevent object, and perhaps the cylindrical portion deformation of connector drum 1 or connector drum 1 are obliquely fixed on insulated electro roadbed
Plate 3.