Abstract: A cut-and-clinch apparatus that cuts and bends protruding parts of two lead wires of a lead component to be respectively inserted through two of a plurality of through-holes formed in a circuit board, the cut-and-clinch apparatus includes a pair of movable elements that are used in a case where the respective protruding parts of the two lead wires are cut and bent and that are made to approach each other and separate from each other, and a movable element position control section that controls the positions of the pair of movable elements, on the basis of image data obtained by the pair of movable elements being imaged.

Abstract: A component inserting machine includes a gripping device which grips leads of an insert component which is supplied to a component supplying section using a pair of clamp members, X and Y robots which move the gripping device, a lead imaging device which images the leads which are gripped by the clamp members, and a control section which detects lead positions from an image containing the leads which are imaged by the lead imaging device and inserts the leads which are gripped by one of the clamp members into the insertion holes by moving the gripping device using the X and Y robots based on the lead positions.

Abstract: The positional accuracy of a pair of movable elements that are made to approach each other and separate from each other is improved by one driving source. The relationships between setting pitches, pitch deviation amounts, axis deviation angles, and central point deviation amounts of the pair of movable elements are stored as a deviation table. On the basis of the deviation table and a target pitch determined by the spacing between lead wires of a lead component to be inserted into a board, a pitch deviation amount, an axis deviation amount, and a central point deviation amount for the target pitch are acquired by an interpolation method (S25). Control instruction values to an x-axis motor, a y-axis motor, a ? motor, and a P motor are created taking into consideration correction values corresponding to these deviation amounts, and control is performed accordingly (S26 to S28).

Abstract: A component inserting machine includes a gripping device which grips leads of an insert component which is supplied to a component supplying section using a pair of clamp members, X and Y robots which move the gripping device, a lead imaging device which images the leads which are gripped by the clamp members, and a control section which detects lead positions from an image containing the leads which are imaged by the lead imaging device and inserts the leads which are gripped by one of the clamp members into the insertion holes by moving the gripping device using the X and Y robots based on the lead positions.