CN102742378A - A component mounting machine - Google Patents
A component mounting machine Download PDFInfo
- Publication number
- CN102742378A CN102742378A CN2010800612544A CN201080061254A CN102742378A CN 102742378 A CN102742378 A CN 102742378A CN 2010800612544 A CN2010800612544 A CN 2010800612544A CN 201080061254 A CN201080061254 A CN 201080061254A CN 102742378 A CN102742378 A CN 102742378A
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- Prior art keywords
- ozzle
- parts
- pick
- part mounting
- ozzles
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Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/0409—Sucking devices
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
Abstract
A component mounting head arranged to pick up components at a picking position and place the components at a mounting position, the component mounting head comprising a plurality of nozzles, which are vertically movable downwards and upwards for enabling said picking and placing, wherein the component mounting head is arranged to control a plurality of picking operations including at least picking a single component with each nozzle and picking a single component with at least two nozzles in common.
Description
Technical field
The present invention relates to the method for component mounter device, installation head and installing component, wherein adopted the technology of picking up and placing.
Background technology
Be used for such as printed circuit board (PCB) (PCB) or be used for picking up on the substrates such as substrate of system in package (SiP) parts and the putting type machine of installing component (pick-and-place); Receiving different often is the restriction of conflicting requirement, such as installation rate, installation accuracy, size, price etc.Statement " pick up and place " it will be apparent to those skilled in the art that to describing such fitting operation; Wherein installation head moves to the parts supply area; Here installation head is picked up one or more parts from one or more parts feeders; Move to the installation region then, here installation head is placed into said one or more parts on the substrate.A main example of conventional prior art component mounter device is shown in Fig. 1 of accompanying drawing.It comprises: machine frame 1; Assembly supply device 3 comprises a plurality of parts feeders, and is configured in the place, parts supply area of machine frame 1; Have first beam that is attached to machine frame 1 or the saddle system 5 of X beam 7 and the second quadrature beam or Y beam 9; Be attached to the installation head 11 of X beam 7 movably; With the sheet material transfer system 13 that is attached to machine frame 1.Assembly supply device 3 provides electronic unit to installation head 11.Sheet material transfer system 13 transmits substrate between the working region of conveyer circuit and component mounter device.Installation head 11 is movably along X beam 7, and the X beam is movably along Y beam 9.Thus, saddle system 5 makes it possible between assembly supply device 3 and substrate, move installation head 11.In addition, installation head 11 vertically is movably, and can be around the vertical axis rotation.It also comprises aspirator.This makes it possible to pick up electronic unit through activating aspirator from assembly supply device 3, transmits them to substrate, and in accurate location they is discharged on the substrate.From picking up during the transmission of substrate, pass through vision centralising device 15, the exact position of pick-up part to obtain.
Usually expectation assembly supply device 3 has big capacity, and promptly it should be able to load many various parts spools in device.This need be used for sizable space of assembly supply device.In addition, hope that saddle system and installation head all are fast with point-device.Therefore, expectation makes the saddle system as far as possible little, because big system will have bigger quality, this needs stronger motor, this so that in system, cause more multiple heat.Heating makes and is difficult to obtain point-device system, because be necessary to obtain handling with certain mode from the influence of thermal expansion.
On the other hand, traditional pick up with place machine in, the saddle system is necessary enough big, so that can arrive all parts of assembly supply device.Be that installation head possibly must be changed pick tool every now and then on the other hand, so that can pick up the parts of all kinds, these parts maybe be significantly different on size, shape and weight.
Summary of the invention
The purpose of this invention is to provide a kind of solution that can realize picking up and placing more flexibly and efficiently operation.
This purpose is achieved through part mounting head defined in the appended claims, component mounter device and method.
Therefore, according to an aspect of the present invention, a kind of part mounting head is provided, its be configured to the take-off location pick-up part and in the installation site placing component.Said part mounting head comprises a plurality of ozzles, and these ozzles can vertically move up and down can carrying out and saidly pick up and place.Said part mounting head is configured to control multiple pick-up operation, said pick-up operation comprise at least with each ozzle pick up single parts and with at least two ozzles jointly (in common) pick up single parts.Owing to have the possibility that use is picked up single parts more than one ozzle, the size of ozzle can adapt to small parts, and needn't before picking up large component, change.Therefore, said part mounting head has been realized the ability of handling the remarkable various parts of size under the situation of pick tool such as ozzle tool tip or ozzle for example changing, thus make the component mounter device pick up and place operation more flexibly with efficient.
Description of drawings
Below with reference to accompanying drawing exemplary embodiment of the present invention is described, in the accompanying drawing:
Fig. 1 shows a kind of component mounter device of prior art;
Fig. 2 schematically shows the some parts of the parts fitting operation of one embodiment of the invention;
Fig. 3 is the perspective schematic view of an embodiment of installation head of the present invention;
Fig. 4 is the schematic sectional view of the part of the installation head among Fig. 3;
Fig. 5-7 schematically shows the different embodiment and different parts pick-up situation of installation head of the present invention;
Fig. 8 a-8d shows the operating sequence of being undertaken by the installation head of one embodiment of the present of invention;
Fig. 9 is the perspective schematic view of an embodiment of component mounter device of the present invention;
Figure 10-the 12nd, the schematic plan of an embodiment of component mounter device;
Figure 13 is the perspective schematic view of an embodiment of installation head of the present invention; And
Figure 14 and 15 schematically shows other parts pick-up situation.
Embodiment
The purpose of this invention is to provide a kind of solution that can realize picking up and placing more flexibly and efficiently operation.This purpose is achieved through part mounting head defined in the appended claims, component mounter device and method.
Flexible and general part mounting head of the present invention is configured to control multiple pick-up operation, and said pick-up operation comprises at least with each ozzle and picks up single parts and pick up single parts with at least two ozzles.Owing to have the possibility that use is picked up single parts more than one ozzle, the size of ozzle can adapt to small parts, and needn't before picking up large component, change.Therefore; Said part mounting head has been realized the ability of handling the size various parts under the situation of pick tool such as ozzle tool tip or ozzle for example changing; Thereby what make the component mounter device picks up and places operation more flexibly with efficient, so that realize general operation through the whole output capacity that increases machine.
According to an embodiment of part mounting head, dispose ozzle end impact detector and detect of the impact of ozzle end the surface, wherein the ozzle end is the bottom of ozzle.
An embodiment according to part mounting head; It comprises the ozzle retainer; Said ozzle retainer comprises vertically moving ozzle miter guide, and wherein said ozzle end impact detector is attached to said ozzle miter guide and the ozzle that detects with respect to said ozzle miter guide moves.
According to an embodiment of part mounting head, it further comprises the ozzle terminal position detector that is configured to detect the terminal upright position of each ozzle, and wherein said ozzle end is the bottom of ozzle.
According to an embodiment of part mounting head, it further comprises ozzle group synchronizer, is used for the ozzle of at least one ozzle group synchronously, and said ozzle group is made up of at least two ozzles, is used to pick up single parts.Possibly take place ozzle the vertical moving of for example ozzle or aspect the distance of parts surface incomplete synchronous situation, perhaps the surface taking place not exclusively is the situation on plane.So ozzle group synchronizer is favourable.
According to an embodiment of part mounting head, carry out a synchronous method and be by means of the servomotor of the independently vertical moving of each corresponding ozzle and control the servo controller of said servomotor.
An embodiment according to part mounting head; It comprises the ozzle retainer; Said ozzle retainer comprises vertically moving ozzle miter guide; Wherein said ozzle is maintained at one of non-active position and active position, and wherein ozzle is set to against the base of said ozzle miter guide by spring downward bias when being in active position.Therefore, the spring biases strength pushing ozzle is followed the ozzle miter guide and is moved down, and when the impact part surface, if it continues to move down, then the spring biases strength allows ozzle from ozzle miter guide retraction, thereby eliminates the risk of damaging ozzle.
An embodiment according to part mounting head; It comprises the parts clamping device; It is terminal that said parts clamping device is attached to a plurality of ozzles; And for vertical moving and for the clamping operation is controlled, and said clamping operation realizes by means of the ozzle that control ozzle end is attached to said parts clamping device.This clamping device helps picking up and has the parts that are inappropriate for the peculiar shape of picking up with suction nozzle.
According to a further aspect in the invention, a kind of method of controlling the ozzle of installation head is provided, said installation head is configured to place said parts at take-off location place pick-up part and at installed position, and said method comprises:
-vertically move said ozzle up and down saidly to pick up and place carrying out, thus carry out one or more in a plurality of pick-up operations, and said pick-up operation comprises with an ozzle and picks up single parts and jointly pick up single parts with at least two ozzles.
According to an embodiment of said method, it is included in has accomplished parts and has picked up the said installation head of back rotation, and during moving to the installation site through the vision centralising device.Advantageous particularly when this is picked up at several parts side by side.Through rotating said installation head, parts can be in series rather than are passed through the vision centralising device abreast.
In accordance with a further aspect of the present invention, a kind of component mounter device is provided, it comprises: the parts supply area; The sheet material transfer system is configured to substrate is remained on the almost fixed position in the working region of said component mounter device; Like the above part mounting head that limits; With the saddle system, support said installation head, and be configured to move said installation head to carry out picking up and placing of parts.
Below will other purpose of the present invention and advantage be described by means of exemplary embodiment.
With reference to figure 3; The embodiment of part mounting head 300 comprises: installation head body 301, rotatably be attached to the vacuum controller 303 of installation head body 301, rotatable ozzle retainer 305; And by a plurality of ozzles 313 of ozzle retainer 305 maintenances, but said rotatable ozzle retainer 305 comprises ozzle selected cell 307 that is attached to vacuum controller 303 and the ozzle miter guide 309 that is rotatably supported by vertical moving framework element 311.Ozzle miter guide 309 can vertically move by means of framework element 311, and ozzle selected cell 307 is vertically fixing.
Can know that from Fig. 4 ozzle extends through the hole in the ozzle miter guide 309.Insert in the ozzle selected cell 307 upper end of each ozzle 313.Each ozzle 313 is provided with spring 315; Spring 315 extends between the bottom surface 317 of ozzle selected cell 307 and spring base 319, and spring base 319 is by providing around ozzle and the flange 321 between the end face of the bottom surface of ozzle selected cell 307 and ozzle miter guide 309.Ozzle 313 is setovered to ozzle miter guide 309 by spring owing to spring 315, and can regard the spring that is biased the base that overcomes ozzle miter guide 309 as.In unactivated state, ozzle 313 is kept by ozzle selected cell 307.In state of activation, ozzle 313 obtains discharging from ozzle selected cell 307.Therefore, when moving down ozzle miter guide 309, be in those ozzles of unactivated state,, kept, and those ozzles 313 that are in state of activation are followed ozzle miter guide 309 and moved down by ozzle selected cell 307 such as the ozzle of the leftmost side among Fig. 4.This ozzle moves to be actually by gravity and causes alone, but is not stuck in order to ensure ozzle, and the spring biasing is along same direction pushing ozzle 313.In addition, part mounting head 300 comprises shock detector 323, and shock detector 323 is configured to detect the impact of ozzle end to a surface (the normally end face of parts 327).In the present embodiment, shock detector is an ozzle moving detector 323, and it for example is installed in said flange 321 places, perhaps ozzle miter guide 309 places.Each ozzle 313 has the terminal or tool tip 325 of the ozzle that comprises its bottom.Tool tip 325 is removable, and it is normally changed in the back that is worn.When the beginning pick-up part, but vertical moving framework element 311 is in its upper side position,, uses ozzle selected cell 307 to select ozzle 313 here.Before vertical moving was with pick-up part, ozzle retainer 305 rotated to expected angle.Use ozzle selected cell 307 vertically to discharge ozzle to be used then.Force the ozzle 313 that obtains discharging to drop on the ozzle miter guide 309 through ozzle spring 315 independently, the ozzle of being selected will be followed the vertical moving of removable framework element or Z framework 311.When the Z framework moves down, moving detector 323 will detect along with relatively moving between ozzle 313 and the ozzle miter guide 309, and whether arbitrary ozzle 313 stops.Whether moving down of Z framework 311 will stop when one or more ozzles 313 are obtained Mechanical Contact with parts 327, depend on and confirm that one or more ozzles 313 will be used to promote parts (or a plurality of parts) 327.When ozzle stopped, the associated vacuum valve that is included in the vacuum controller 303 started, and one or more parts are sucked on one or more ozzles.Picking up a plurality of parts can carry out simultaneously, perhaps independently to carry out in proper order.Pick up parts 327 and can use one or more ozzles to carry out, and can come synchronously with ozzle group synchronizer.When picking up when accomplishing, installation head 300 all parts by the state of vertical-lift under, flatly move to the put area of substrate (for example printed circuit board (PCB)) 329 tops.During this moved, centralising device was such as vision centralising device 203 as shown in Figure 2, with the position of detecting institute's pick-up part, to obtain the correct installation site of each parts.Installation is to carry out similar in appearance to the mode of picking up.At upper side position, before moving on the printed circuit board (PCB) 329 downward vertically, select and rotate ozzle to be used.Obtain when contacting when parts 327 and printed circuit board (PCB) 329, the vacuum valve of vacuum controller 303 stops, and parts 327 are discharged on the printed circuit board (PCB) 329.
For this multitube mouth installation head 300, each is processed parts can use a plurality of ozzles 313.This will reduce the quantity of the required different tool tip 325 of the wide parts scope of processing from the small parts to the large component.Usually, the size of tool tip is necessary to be matched with the size of parts.When handling large component with single ozzle, tool tip is necessary size made and obtains enough vacuum force and enough big contact area.Vacuum force is necessary can move and rotating parts.Need support region, obtain stable vertical moving, and do not make mass action power cause that parts tilt to lose then the risk of suction.Tool tip can not be excessive, because when using big tool tip to handle small parts, and the risk that exists parts possibly partly get into the vacuum hole in the tool tip, this will make machine placing component correctly.Pick up with place machine in, changing tool tip needs the time, therefore changes the installation rate that tool tip will reduce machine.A large amount of if desired different tools are terminal so that can place all parts to printed circuit board (PCB), and then this also will increase extra tool tip cost for placing.Therefore, reducing required tool changing thereby reduce required number of tools, all is important for increasing installation rate with reducing cost both.
According to the present invention, replace using large-scale tool tip, can use to have two or more terminal ozzles of small instruments and tools.Through using some small instruments and toolss terminal, what vacuum and bearing area will be with ozzles with big tool tip is suitable.Pick up single parts with one group of ozzle, can be synchronous by ozzle group synchronizer.
Make to pick up to add and place the component mounter device and in the short period, place more multi-part, can use a plurality of ozzles.Through using a plurality of ozzles, can pick up and place a plurality of parts in each cycle of picking up, passing through vision centralising device and parts placement from parts.Under the situation of a plurality of parts of phase weekly, the time that each parts spent is able to reduce, so machine installing component quickly.When during picking up, using a plurality of ozzle, the quickest way of pick-up part is to pick up all ozzles simultaneously, will be called multiple picking up from now on.In order to carry out multiple picking up, parts in the feedway and the interval between the ozzle are necessary basic identical, and the orientation of the circuit of parts in the assembly supply device and installation head ozzle is necessary basic identical.Traditionally, when making a large amount of installation head nozzle configuration become to be used for multiple pick up and when using the line sensor sighting device, line sensor is necessary that long enough is to catch the outline line of all parts that picked up.This be because the orientation of circuit of the parts in the assembly supply device perpendicular to the preferred moving direction from the assembly supply device to the printed circuit board (PCB).Has the long transmission line transducer and is expensive and drain space.According to the present invention, the interval of ozzle can be minimized, and each independent ozzle does not need independent rotating mechanism, and this has saved the space.Another advantage is, compares with the orientation of line sensor in the vision centralising device, can ozzle be rotated into vertical orientated.Through this orientation; When through the vision centralising device; The required line sensor length of outline line of catching all parts is minimized, and perhaps optimization to be obtaining than the possible general operation that more manys in the present component mounter device, saves the space and reduces the cost of device.In addition, when using should orientation the time, the employed illumination level of vision centralising device can be adjusted respectively for each parts, this also help more flexibly with more general component mounter device pick up and place operation.This is shown in Fig. 2; Wherein installation head 201 is picked up several parts side by side at take-off location 207 places; Before through vision centralising device 203, revolve and turn 90 degrees; And go in the way of printed circuit board (PCB) 205 with this position of rotation through the vision centralising device at it, 205 places are placed into installation site 209 with each parts at printed circuit board (PCB).This means that the parts that picked up are in series rather than abreast to pass through vision centralising device 203.
The advantage of shared rotating mechanism is in installation head, to exist more spaces and cost to be reduced.These resources that obtain discharging can be used to realize high accuracy and performance.For example:
The more high-resolution of position of rotation encoder
Big swivel bearing with preload is to avoid mechanical play
The bigger motor and the gear that are rotated
In a word, multitube mouth installation head has only a rotation to move, and all ozzles all rotate around same axis, and does not exist independently ozzle rotation to move.
The vertical moving of ozzle can be implemented by following device
Actuator independently
Common moving actuator with the combination of ozzle selected cell
The combination of independent movement actuator and common moving actuator
Traditionally, the multitube mouth installation head that has some closely-spaced ozzles be suitable for at a high speed with limited precision installation small parts.As stated, multitube mouth installation head can also be used for placing large component with high accuracy.
When adopting a plurality of ozzles to pick up with placing component, importantly the height fluctuation of employed ozzle is low.If the fluctuation of ozzle height is big, then the attraction between ozzle and the parts will be lower.
With reference to figure 5; The ozzle height fluctuation; Be that ozzle 325 is owing to some inexactnesies move to differing heights; Can between ozzle 325 and parts 327, cause air leak, and reduce the contact area between ozzle 325 and the parts 327, this is because between nozzle surface and parts surface, have angular error.Under worst case, parts 327 come off before installation, perhaps can not pick-up part 327.For these negative effects are minimized, when use provided the synchronous ozzle group synchronizer of mechanical ozzle, the mechanical tolerance on employed tool tip and the ozzle length must be high.When using servo synchronous ozzle to move, servo controller must be operated with high accuracy.Servo synchronous ozzle moves any mechanical differences that can adapt between ozzle or the parts upper surface, and this compares with the mechanical synchronization of ozzle is advantage.Synchronously can compensate parts that each ozzle length, end face has differing heights, have the tool tip of different length through servo, and the wearing and tearing of compensation tool tip.Can comprise the ozzle of tool tip at tool tip stage of replacement measurements, and when picking up and placing synchronously, compensate any difference.Servo is for example through being provided for the independent servomotor 1305 of vertical moving for each ozzle 1303 synchronously, and is provided with that the servo controller 1307 of control servomotor 1305 obtains, schematically illustrated like Figure 13.Servomotor 1305 is configured in the appropriate location that is positioned at somewhere, ozzle miter guide 1309 top of installation head, and it is vertically fixing but still is rotatable.In the present embodiment, above-mentioned ozzle end impact detector is configured to detect the arrival that stops of nozzle performance usually.For example, the unexpected increase of the braking torque that servomotor 1305 is stood can be detected, perhaps stopping of the rotation of the output shaft of motor or ozzle moves stop and can being detected when driving servomotor 1305.
In addition, move control in order to increase ozzle, device is set comes faults condition etc., ozzle terminal position detector 1313 is configured to detect the terminal upright position of each ozzle.Ozzle terminal position detector all is useful in all embodiment of installation head.For example, in the situation of the parts surface part with differing heights, these highly can be programmed in advance, thereby guarantee gradually correctly to confirm that all ozzles have arrived the respective surfaces part and arrived correct surface portion.In addition,, can quicken ozzle is moved into the operation that contacts with parts, can be divided into the time comparatively fast, and near parts the time, slow down away from parts because should move by means of position detector.As another example, for the embodiment that uses servomotor and servo controller, servo controller can be configured to by means of the input from ozzle terminal position detector 1313 at least two ozzle ends are in alignment with each other.
With reference now to Fig. 6,, another method of ozzle is a tool tip to be made be used for a plurality of ozzles synchronously, and like this, a plurality of ozzles will obtain via public tool tip synchronously.Therefore, for example two ozzles 601 become a tool tip 603 by means of two and are combined into one, i.e. the type of Y coupling, it the has diameter output ozzle 605 bigger than the ozzle 601 of being combined.Therefore, compared with situation about being kept by two combination ozzles 601, parts 607 are kept by single still bigger ozzle 605.
With reference to figure 7,, possibly need clamping device 703 in order to pick up and place strange shape part.When use has the synchronous a plurality of ozzle 701 of SERVO CONTROL, can use some ozzles to control fixture.For example, three alignment ozzles 701 use with the clamping device 703 that has from two claws 705 of sidepiece hold assembly 707, and obtain operation by means of raising and reducing by two outside ozzles 701.
Shown in Fig. 8 a-8d, the order that the controlled respectively clamping device of vertical moving of use ozzle carries out when coming pick-up part is following:
1. open instrument.Two sidepiece ozzles 801,803 move down with respect to middle ozzle 802, and this relatively moves the claw of opening clamping device 805.
2. move down.Then all three ozzles synchronously be moved downward to can hold assembly 807 height.
3. closure tool.Sidepiece ozzle 801,803 moves up with respect to middle ozzle 802, up to parts 807 by claw 805 clampings.For holding member 807, sidepiece ozzle 801 and 803 is forced to move up constantly, and this gives clamping action power on the sidepiece of parts 807.During this step, middle ozzle 802 keeps static.
4. move up with parts.All three ozzles 801,802,803 synchronously move up.In order to keep the clamping action power on parts 807, sidepiece ozzle 801 and 803 still is forced to respect to middle ozzle 802 and moves up.
According to another embodiment of part mounting head, shown in Figure 14 and 15, it is configured to pick up the parts with non-flat forms end face.This means that different ozzles are in remarkable different height place and part bonding.Corresponding with the foregoing description, and shown in figure 14, and installation head comprises rotatable ozzle retainer 1405 and a plurality of spring biasing ozzles 1411 that kept by ozzle retainer 1405.Ozzle retainer 1405 and then comprise vertically fixing ozzle selected cell 1407 and vertically moving ozzle miter guide 1409.
In first example, the 3rd inclined surface part 1419 that parts 1415 have first low flat surfaces part 1417, the second higher flat surfaces part 1421 and extend to higher flat surfaces part 1421 from low flat surfaces part 1417.The length of supposing parts comprises first, second and the 3rd ozzle 1423,1425,1427, and they are configured in the top of each surface portion 1417,1419 and 1421 respectively when being positioned take-off location.For pick-up part 1415, the first ozzles 1423 and the 3rd ozzle 1427 discharge from ozzle selected cell 1407, thereby get into state of activation.
In order to make machine know that second ozzle 1425 should not be activated,, there is different solutions owing to cause the inclined surface of good clamping difficulty.A solution is to use the data about component shape in the bag data that all are been programmed in any case in the machine.The user indicates the part of the flat surfaces of bag as the bag data.
Therefore; When moving down ozzle miter guide 1409; Second ozzle 1425 that is in unactivated state is kept by ozzle selected cell 1407; The first and the 3rd ozzle 1423,1427 that is in state of activation is simultaneously followed ozzle miter guide 1409 and is moved down, up to them because difference in height and engaging with respective flat surface part 1417,1421 at different time.Then, the first and the 3rd ozzle 1423,1425 is locked with respect to ozzle miter guide 1409, to guarantee their height and positions relative to each other.At last, through the ozzle miter guide 1409 that moves up, parts 1415 are got a promotion.
In second example, shown in figure 15, parts 1430 have ledge surface, and this ledge surface has first less surface portion 1431 that comprises first ozzle 1423 and the second big surface portion 1432 that comprises the second and the 3rd ozzle 1425,1427.When parts 1430 will be picked up, all three ozzles 1423,1425,1427 all were released, and the decline of ozzle miter guide engages with the end face of parts 1430 up to all three ozzles.Then, promote as described above and placing component.
According to an embodiment of component mounter device, shown in Fig. 9-12, component mounter device 901 comprises machine frame 903, mobile saddle system 905 and is attached to the fixing microscler assembly supply device 907 of machine frame 903.Saddle system 905 by machine frame 903 be supported on linear guide device 909a, 909b is last, saddle system 905 can move along directions X above that, promptly the length along assembly supply device 907 moves.Therefore, to supply with between the end 913 at the second opposite end of first end of machine frame 903 or sheet material receiving terminal 911 and machine frame 903 or sheet material be movably in saddle system 903.In the present embodiment, to move be that saddle system mobile device 915 to comprise ball-screw 917, ball assembly 919 and motor 921 is realized to saddle.Saddle moves and can use the driving mechanism of other type to realize equally, such as linear electric machine, rack-and-pinion, belt transmission etc.
Figure 12 shows the detailed view of saddle system and assembly supply device.In saddle system 905, have camera 1209 and installation head 1207, they are movably along X and Y direction, but they relative to each other have fixing relation.The mobile X and the Y beam 1203 and 1205 of being to use along the X/Y direction of camera 1209 and installation head 1207 realized.Y beam 1205 is attached to the ceiling of saddle system 905 and is immovable.Under the Y beam, for example use the linear guide device to be attached with X beam 1203.X beam 1203 can for example promptly move along Y beam 1205 along the Y direction by means of linear electric machine.In the front side of X beam 1203, for example through using the linear guide device to be attached with the X chassis 1208 of support cameras 1209 and installation head 1207.The X chassis can be for example through using linear electric machine to move along directions X.Can also use ball-screw and electric rotating machine rather than linear guide device and linear electric machine.It should be noted, can carry out simultaneously, thereby obtain installation head 1207 moving along any direction of X-Y plane along moving of X and Y direction.
Example of operation as the component mounter device; Regard to the operating sequence that following situation is described component mounter device 901 down: promptly; When three saddle alliances of needs; Being the saddle system is suspended to carry out the position that parts are installed, and arrives all parts of assembly supply device 907, so that the situation can pick up any in all parts that provided by it time.Certainly, sequence similarity is applicable to the stop position of other quantity.
1. saddle moves to leftmost side saddle alliance 1a.
2. conveyer 1102 is received at the sheet material receiving position of sheet material receiving terminal 911 printed circuit board (PCB) 1107 at position 4a place from going into into; And be sent in the working region of saddle system 905 by means of sheet material transfer system 1105; The 4b to the position, use be in the conveyer 1102 with the conveyer belt of the delivered inside device of sheet material transfer system 1105.
3. the exact position of printed circuit board (PCB) in saddle system 905 confirmed by means of the camera that is attached to X chassis 1,208 1209.
4. the position of the 6a of first of assembly supply device 907 is that the camera 1209 that for example is attached to X chassis 1208 through use is confirmed with respect to saddle system 905.
5. installation head 1207 will be sent to printed circuit board (PCB) 1107 from all parts of the 6a of first of assembly supply device 907.
6. saddle system 905 moves to the second saddle alliance 1b by means of saddle system mobile device 915 with the mode that can not change the relative position between printed circuit board (PCB) 1107 and the saddle system 905.
7. the position of the second portion 6b of assembly supply device is that the camera 1209 that for example is attached to X chassis 1208 through use is confirmed with respect to saddle system 905.
8. installation head 1207 will be sent to printed circuit board (PCB) 1107 from all parts of the second portion 6b of assembly supply device.
9. saddle system 905 moves to the 3rd position 1c with the mode that can not change the relative position between printed circuit board (PCB) 1107 and the saddle system 905.
10. the position of the third part 6c of assembly supply device 907 is for example to use the camera 1209 that is attached to X chassis 1208 to confirm with respect to saddle system 905.
11. installation head 1207 will be sent to printed circuit board (PCB) 1107 from all parts of the third part 6c of assembly supply device 907.
12. the printed circuit board (PCB) 1107 that in saddle system 905, is positioned at 4b place, position is by means of sheet material transfer system 1105; Supply with the sheet material of end 913 at the sheet material of component mounter device 901 and supply with the position; Conveyer 1105 is sent to the outside conveyer 1103 of going out internally; Position 4c to the working region, use be the delivered inside device with the conveyer of going out in conveyer belt.
Whole saddle system is removable to have solved the afoul demand of saddle system so that it can move between the different piece of assembly supply device by means of making to move the saddle invention, promptly fast, accurately, supply capacity and cost-effective design greatly.Whole saddle system move and nonessential very accurate, and and nonessential very quick.This makes saddle travel mechanism cost performance much higher compared with big so that can arrive the traditional solution that the saddle of whole assembly supply device constitutes by enough.
In the aforesaid operations step 4,7 and 10 in proper order of component mounter device, the current part that reaches of assembly supply device 907 is necessary 905 location with respect to the saddle system.There are several possibilities of confirming this relation:
1. use the camera 1209 that is attached to X chassis 1208 to locate the reference mark on the feeder stand (feeder bank) 1221.
2. use the camera 1209 that is attached to X chassis 1208 to locate the reference mark 1219 on each independent feeder 1223 in the feeder stand 1221.The difference of comparing with method 1 is between reference mark and carrier band, to have one-to-one relationship here.In this case, can also use crossover port 1217 as reference mark.
3. use the camera 1209 that is attached to X chassis 1208 to come the parts storage tank 1215 in the positioning element carrier band 1211.
4. use enough accurate mechanical stops.
5. use linear scale to confirm the stop position of removable saddle.
6. the rotational position sensor that is connected to the driving mechanism of saddle is confirmed the stop position of removable saddle.
The first three methods that use is attached to the camera of X chassis has advantage cheaply, in any case because this camera all needs, wait to carry the reference mark on the printed circuit board (PCB) of putting parts with the location.First method with the advantage that method 2 is compared with 3 is, but it on parts feeder or component reel without any need for the machine vision identification division.If this makes machine will handle the feeder of many different non-standard type, then first method is preferred.On the other hand, on the feeder stand for reference mark provides the space may be inconvenient, at this moment method 2 or 3 will be preferred.
The advantage that method 4,5 and 6 is compared with first three methods is after removable saddle stops, need not to obtain extra time image.On the other hand, method 4,5 and 6 is compared with first three methods and to be needed additional hardware, so first three methods possibly have the cost advantage.Mechanical stops can have two purposes: the fixed-site of confirming definite stop position and/or maintenance saddle.Mechanical stops can be by any realization in following:
1. the movable part that has arbitrary shape, it forms interlocking with respect to another part when each several part moves together.
2. removable mechanical part, it is in one direction as retainer, and the use driving mechanism keeps saddle to be fixed on this retainer.
3. be designed to the traditional braking device based on the stop mechanism of friction and be used for confirming the position transducer of accurate location.
The vision centralising device (203, Fig. 2) can dispose with distinct methods with respect to removable saddle:
1. the vision centralising device can be attached in the removable pallet module securely.
2. can be independent of removable pallet module be movably along directions X to vision centralising device 1227.
3. the vision centralising device is in a fixed position with respect to the feeder stand.In this case, need obtain good installation rate more than one vision centralising device usually.
The delivered inside device (1105, Figure 11) can be removable short conveyer as the part of removable saddle, or the long conveyer fixing with respect to the feeder stand.If the delivered inside device is fixed, then it must long enough so that can take out the printed circuit board (PCB) of entering and stay the printed circuit board (PCB) of going out.Have movably or the stationary inner conveyer between main difference be:
1. the stationary inner conveyer must be bigger, is the low solution of cost performance therefore.
2. for stationary conveyor, printed circuit board (PCB) is necessary fastened and the location several, and operation is slow, so will be consuming time.
3. for stationary conveyor, can be at the printed circuit board (PCB) upper mounting component longer than removable saddle.
4. for stationary conveyor, can adopt so-called double track (Dual Lane) conveyer.The double track conveyer has two independent paths and changes with the sheet material that reduces as time passes.
Basic mobile saddle invention can be improved with several methods, saving time, thereby increases the throughput of machine.Some are exemplified as:
An average case be when saddle when a stop position moves to next stop position; Installation head need be changed one or more erecting tools; Because different feeder stands may comprise the various parts type, this needs different erecting tools to realize picking up reliably.In this situation, can, next stop position carry out the replacing of erecting tools when moving at removable saddle.
2. if be necessary to analyze reference mark or reference marker on the feeder stand to confirm the definite stop position of removable saddle, then the XY axle of saddle can move with removable saddle simultaneously.The XY axle moves to such position, so that when removable saddle stops, the camera that is attached to installation head has been centered on benchmark or the reference marker.In addition, if camera has the lighting unit (such as bulb) that need before reaching full light intensity, warm up, then can, removable saddle activate this lighting unit before stopping.
When in a certain rest position when the feeder stand has picked up last parts, saddle can begin to move towards next stop position immediately.Simultaneously, installation head will transmit the camera of last parts to centering, place them on the printed circuit board (PCB) then.Therefore, saved the time, because removable saddle moves when the XYZ axle moves.
4. if removable saddle uses said method 4,5 or 6 to confirm the stop position of removable saddle; Other method of perhaps using some to make it possible under the follow-up situation that does not have a step consuming time, to move removable saddle is confirmed stop position; Then can move removable saddle than the more number of times of imperative, to arrive all feeder positions.For example, in above-mentioned Figure 11, removable saddle can stop at 7 diverse locations rather than 3 required positions.Advantage is to be busy with aligning parts and/or placing component at machine sometimes little moving possibly taken place in to printed circuit board (PCB); Making this little moving thus is " freely " basically, and promptly it can not contribute to completion installation required time of all parts on printed circuit board (PCB).Certainly, these little moving must the orthochronous during erection sequence be taken place, so that make the required part of installation head at orthochronous visit feeder stand.When how calculating and in erection sequence, inserting little removable saddle when and move, preferably use Optimization Software.
Know that from above usually, the component mounter device comprises: machine frame; Elongated member feeder by machine frame provides is regional; With the sheet material transfer system; Be configured to pass component mounter device to sheet material and supply with the position from sheet material receiving position transmission substrate; Substrate is suspended at least one pre-position in the working region of component mounter device simultaneously, and parts are able to be installed on the substrate in the working region.Machine further comprises: installation head, be configured to pick-up part, and placing component is to substrate in said parts supply area, and said installation head is movably along first axle with along second axis perpendicular to first axle; With the saddle system, supported and support said installation head movably by said machine frame, wherein said saddle system configuration becomes the said installation head of operation, to carry out picking up and placing of parts, comprises along said first and second axis and moves said installation head.In addition; Machine also comprises: saddle system mobile device; Be attached to said machine frame and be configured to and between different saddle alliances, move said saddle system, realize said saddle system moving thus along the supply area along the 3rd axis that is parallel to said first axle; With saddle system positioner.The part of the installation head moving range coating member supply area of said saddle system; Wherein the saddle alliance is selected such that the different piece of supply area becomes and can reach for installation head, and wherein the saddle system is kept with the different saddle alliances place that is positioned at each other between the substrate.Through making the saddle system be shorter than the length of supply area and saddle system mobile device being set, it has the large-scale machine advantage of holding a large amount of parts feeders, and it still has quality than small-sized machine advantage low and small size saddle system simultaneously.
According to an embodiment of said component mounter device, saddle system positioner comprises visual unit.
An embodiment according to said component mounter device; The saddle positioner comprises the reference mark that is arranged in the supply area; Wherein visual unit is attached to installation head, and wherein the saddle system configuration becomes through in the saddle alliance, obtaining the location by means of visual unit localization reference mark.Reference mark can be configured in any suitable part place in the supply area, such as keeping on the feeder stand of feeder, perhaps on feeder being configured to.
According to an embodiment of component mounter device, visual unit is attached to installation head, and parts are arranged in the parts storage tank of parts carrier band, and the parts carrier band is arranged in the supply area, and the component mounter device is configured to by means of visual unit positioning element storage tank.
According to the embodiment of component mounter device, system's positioner comprises the various types of devices that is used to realize locking function, such as: mechanical stops; Be configured to confirm the linear scale and the linear scale detector of saddle alliance; Perhaps be connected and be configured to confirm the rotational position sensor of saddle alliance with saddle system mobile device.
According to the embodiment of component mounter device, the saddle system comprises the vision centralising device that is attached at the place, fixed position.
According to the embodiment of component mounter device, it comprise be attached to machine frame movably in case with said the 3rd parallel axes the vision centralising device that moves.
Embodiment according to the component mounter device; The sheet material transfer system comprises sheet material receiving unit, sheet material supply part and saddle components of system as directed; Said sheet material receiving unit is disposed at the machine frame place at the sheet material receiving terminal of machine; Said sheet material is supplied with part and is supplied with end at the sheet material opposite with said sheet material receiving terminal of component mounter device and be disposed at the machine frame place, said saddle components of system as directed be included in the saddle system and be positioned at said sheet material receiving terminal with sheet material supply with hold between.
In addition; As also conspicuous from the top; Usually; The method of installing component comprises in component mounter device (the microscler supply area that it comprises saddle system, sheet material transfer system and is provided with parts, said saddle system comprises removable installation head, wherein the installation head moving range of saddle system covers the part of supply area):
-mobile saddle system to the first saddle alliance;
-receive substrate at component mounter device place and substrate is sent in the parts installation region of component mounter device;
-through in the supply area that is used for pick-up part and be used for moving installation head between the substrate of placing component above that and come installing component;
-repeat following steps at least one time:
-along the length of supply area the saddle system is moved to next saddle alliance, here another part of supply area is mounted a moving range covering; With
-installing component; And
-substrate is sent out the parts installation region.
According to an embodiment of said method, when it is included in and suits owing to component differences, move to next saddle alliance the saddle system during, change at least one erecting tools of installation head.
An embodiment according to said method; It is included in and during next saddle alliance moves the saddle system, installation head is positioned at reference mark and reads the position and read the reference mark that is arranged in the supply area by means of the sighting device that is attached to installation head at said next saddle alliance place.The preferred embodiment of apparatus and method of the present invention has more than been described.They should only be counted as non-limiting example.In the scope of the present invention that claim limits, can carry out multiple modification.
For example, according to an embodiment of component mounter device, it comprises a more than installation head.
Claims (16)
1. part mounting head; Be configured to the take-off location pick-up part and in the installation site placing component; Said part mounting head comprises a plurality of ozzles; These ozzles can vertically move up and down can carrying out and saidly pick up and place, and wherein said part mounting head is configured to control multiple pick-up operation, and said pick-up operation comprises at least with each ozzle and picks up single parts and jointly pick up single parts with at least two ozzles.
2. part mounting head as claimed in claim 1 comprises the vacuum controller that is connected with ozzle.
3. according to claim 1 or claim 2 part mounting head comprises being configured to detect the ozzle end impact detector of ozzle end to the impact on surface that wherein said ozzle end is the bottom of ozzle.
4. part mounting head as claimed in claim 3; Comprise the ozzle retainer; Said ozzle retainer comprises vertically moving ozzle miter guide, and wherein said ozzle end impact detector is attached to said ozzle miter guide and the ozzle that detects with respect to said ozzle miter guide moves.
5. like claim 1,2 or 3 described part mounting heads; Comprise the ozzle retainer; Said ozzle retainer comprises vertically moving ozzle miter guide; Wherein said ozzle is maintained at one of non-active position and active position, and wherein ozzle is biased to against the base of said ozzle miter guide to lower spring when being in active position.
6. part mounting head as claimed in claim 5 comprises at least one locking mechanism with respect to the upright position of said ozzle miter guide that is used for fixing in the said ozzle.
7. like claim 1,2 or 3 described part mounting heads, comprise the servomotor of the independently vertical moving that is used for each corresponding ozzle and the servo controller of the said servomotor of control.
8. like each described part mounting head in the above-mentioned claim, comprise the ozzle terminal position detector that is configured to detect the terminal upright position of each ozzle, wherein said ozzle end is the bottom of ozzle.
9. like each described part mounting head in the above-mentioned claim, comprise being used for the ozzle group synchronizer of the ozzle of at least one ozzle group synchronously that said ozzle group is made up of at least two ozzles, is used to pick up single parts.
10. like each described part mounting head in the above-mentioned claim; Comprise the parts clamping device; It is terminal that said parts clamping device is attached to a plurality of ozzles; And be controlled, so that vertical moving and the clamping operation of being convenient to realize by means of control ozzle end is attached to the ozzle of said parts clamping device.
11. as each described part mounting head in the above-mentioned claim; Comprise the terminal connectors of ozzle; The terminal connectors of said ozzle has at least two and goes up side opening and a public open lower side; The said side opening of going up is connected with the ozzle of respective numbers is terminal, and said open lower side has the diameter big diameter more terminal than ozzle.
12. a method is used to control the ozzle of installation head, said installation head is configured to place said parts at the take-off location pick-up part and in the installation site, and said method comprises:
-vertically move said ozzle up and down saidly to pick up and place carrying out, thus carry out one or more in a plurality of pick-up operations, and said pick-up operation comprises with an ozzle and picks up single parts and jointly pick up single parts with at least two ozzles.
13. method as claimed in claim 12 comprises:
-pick up the said installation head of back rotation having accomplished parts, and during moving to the installation site through the vision centralising device.
14. like claim 12 or 13 described methods, comprise by means of several ozzles and pick up parts that this is through controlling said ozzle to realize with facial joint of said different top with highly different different top faces.
15. a component mounter device comprises:
-parts supply area;
-sheet material transfer system is configured to substrate is remained on the almost fixed position in the working region of said component mounter device;
-like each described part mounting head among the claim 1-11; With
-saddle system supports said installation head, and is configured to move said installation head to carry out picking up and placing of parts.
16. component mounter device as claimed in claim 15, wherein, said installation head is movably along any direction in the horizontal plane.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US29132309P | 2009-12-30 | 2009-12-30 | |
| US61/291,323 | 2009-12-30 | ||
| PCT/EP2010/007983 WO2011079956A1 (en) | 2009-12-30 | 2010-12-30 | A component mounting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102742378A true CN102742378A (en) | 2012-10-17 |
Family
ID=43858347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010800612544A Pending CN102742378A (en) | 2009-12-30 | 2010-12-30 | A component mounting machine |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP2520143A1 (en) |
| JP (1) | JP2013515363A (en) |
| KR (1) | KR20120120933A (en) |
| CN (1) | CN102742378A (en) |
| WO (1) | WO2011079956A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104640432A (en) * | 2013-11-13 | 2015-05-20 | 松下知识产权经营株式会社 | Apparatus and method for mounting electronic component |
| CN113366936A (en) * | 2019-01-25 | 2021-09-07 | 迈康尼股份公司 | Electrical verification of electronic components |
| TWI810525B (en) * | 2020-02-18 | 2023-08-01 | 韓商泰克元股份有限公司 | Picking apparatus for gripping electronic component |
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| US9032611B2 (en) | 2010-09-15 | 2015-05-19 | Mycronic AB | Apparatus for generating patterns on workpieces |
| EP2695506A1 (en) | 2011-04-08 | 2014-02-12 | Micronic Mydata AB | Method and fluid transfer unit having squeegees for providing a smooth surface of fluid |
| JP6168591B2 (en) * | 2013-03-08 | 2017-07-26 | 国立大学法人横浜国立大学 | Mounting device |
| CN109952017B (en) * | 2013-10-11 | 2021-02-23 | 株式会社富士 | Component mounting machine |
| CN107512581B (en) | 2013-11-26 | 2020-08-25 | 科磊股份有限公司 | Pick-and-place head and method for picking up workpieces |
| JP7303214B2 (en) * | 2018-11-02 | 2023-07-04 | 株式会社Fuji | work machine |
| EP3668301A1 (en) * | 2018-12-11 | 2020-06-17 | Mycronic AB | Component mounting arrangement and related methods |
| FR3115653B1 (en) * | 2020-10-22 | 2022-09-09 | Continental Automotive Gmbh | Electronic box element comprising a radiator and associated adjustment method |
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- 2010-12-30 WO PCT/EP2010/007983 patent/WO2011079956A1/en active Application Filing
- 2010-12-30 CN CN2010800612544A patent/CN102742378A/en active Pending
- 2010-12-30 EP EP10805218A patent/EP2520143A1/en not_active Withdrawn
- 2010-12-30 KR KR1020127019054A patent/KR20120120933A/en not_active Application Discontinuation
- 2010-12-30 JP JP2012545165A patent/JP2013515363A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104640432A (en) * | 2013-11-13 | 2015-05-20 | 松下知识产权经营株式会社 | Apparatus and method for mounting electronic component |
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| CN104640432B (en) * | 2013-11-13 | 2019-04-05 | 松下知识产权经营株式会社 | The device and method of electronic component are installed |
| CN113366936A (en) * | 2019-01-25 | 2021-09-07 | 迈康尼股份公司 | Electrical verification of electronic components |
| US11751372B2 (en) | 2019-01-25 | 2023-09-05 | Mycronic AB | Electrical verification of electronic components |
| TWI810525B (en) * | 2020-02-18 | 2023-08-01 | 韓商泰克元股份有限公司 | Picking apparatus for gripping electronic component |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011079956A4 (en) | 2011-09-15 |
| EP2520143A1 (en) | 2012-11-07 |
| KR20120120933A (en) | 2012-11-02 |
| WO2011079956A1 (en) | 2011-07-07 |
| JP2013515363A (en) | 2013-05-02 |
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Application publication date: 20121017 |