| 摘要 |
PURPOSE:To improve the rate of operation and reduce the number of components to be discarded by adding a correction value arbitrarily set to a teaching/instruction value when an insertion failure of a component is generated and successively reinserting in automatic mode in compliance to the corrected instruction value. CONSTITUTION:A control device 6 for a component insertion robot 4 is designed to comprise a teaching/operation section 61, an arithmetic control section 62 which corrects positional and rotational deviation, a servo control section 63 which actuates a hand section 42 to a component insertion point, and a memory section 64 which stores instruction data or the like. When a insertion start instruction enters the arithmetic operation section 62 from the teaching/operation section, the servo control section 63 controls the arms and the hand section 42 of the robot 4 and receives a component 2. Then, it is inserted into a printed wiring board 1 where the insertion work is determined by a signal transmitted from an insertion detector. When the component is not inserted, the insertion positional deviation of the component 2 is corrected so that it may be inserted once again in automatic mode. |
