JP2000036695A - Parts mounter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parts mounter capable of simple centering and shortening a line process time without using of an image recognition device. SOLUTION: When a part 22 is attracted and fastened by a suction nozzle 12 and its pair of fastening tips 34A and 34B, the tip contacts of the fastening tips 34A and 34B orthogonal to the center axis of a slide pipe of the suction nozzle 12 end and formed long in a direction of X and Y of an X-Y robot 18 makes it possible to automatically center them in the direction of X and Y and an angle adjustment in a direction of θ axis.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting method using a chip mounter for mounting electronic components such as resistors, capacitors, ICs, connectors and the like at predetermined positions on a circuit board, and a component mounting apparatus used for the method.

[0002]

2. Description of the Related Art A component mounting device (chip mounter) sucks an electronic component supplied from a component supply device by a suction nozzle attached to a suction head movable in the X and Y directions, and moves the suction head to XY. The electronic component is mounted on the circuit board by moving the suction nozzle to a predetermined position on the circuit board by moving the electronic component by a predetermined amount in the direction and releasing the sucked electronic component from the suction nozzle.

In such a component mounting apparatus, when a component is sucked by the suction nozzle, there is a deviation between the center of the component in the X and Y directions and the central axis of the suction nozzle, and an angular deviation around the central axis.

For this reason, conventionally, a parallel light beam is emitted from a laser light emitting portion arranged in parallel to a laser light receiving portion, and a component sucked by the suction nozzle is inserted into the parallel light beam in the axial direction of the suction nozzle. (Z-axis direction), the position of the component, the center of the suction nozzle and the center of the component are determined from the relationship between the length of the shadow portion of the component obtained by the laser receiving unit and the rotation angle (θ) of the suction nozzle. Is calculated, and the suction nozzle is set to θ so that the deviation is corrected.
In addition to rotating the suction head in the X and Y directions, the movement amount of the suction head in the X and Y directions is also corrected, and the component is mounted at a predetermined position on the circuit board in a predetermined posture.

[0005]

However, when the component has a long shape in one direction, such as a connector, it is difficult to measure with a parallel laser beam. Therefore, an image recognition device provided on a suction head is used. Then, the part is divided into a plurality of parts in the longitudinal direction and recognized, and centering is performed.

For this reason, the centering time becomes longer,
There was a problem that the mounting tact time could not be reduced.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and is capable of easily performing centering and shortening a mounting tact time without using an image recognition device. An object is to provide a component mounting device.

[0008]

According to the present invention, there is provided a head unit movable between a component supply unit and a component mounting unit, and the head unit is movable in the Z-axis direction and rotatable in the θ-axis direction. A suction nozzle provided with a holding device for holding the component by vacuum suction, wherein the holding device holds the component in the short direction, and the holding action causes X The above object is achieved by making one center in the direction or the Y direction coincide with the center of the suction nozzle.

[0009] Further, it may be configured such that the sandwiching operation causes the sandwiched component to coincide with one of the X direction and the Y direction of the component mounting apparatus by the sandwiching operation, and corrects the component angle around the Z axis. .

The present invention also provides a head unit movable between a component supply unit and a component mounting unit, and a head unit that is movable in the Z-axis direction and rotatable in the θ-axis direction and is vacuum-adsorbed. A suction nozzle provided with a clamping device for clamping the component, and a component mounting device comprising: a clamping device that clamps the component in the short-side direction by the clamping device, and detects a position in the longitudinal direction by optical detection means; Calculating the component mounting position correction amount from the positional displacement amount in the longitudinal direction of the component,
The above object is achieved by correcting and mounting the center of the suction nozzle based on the component mounting position correction amount.

Further, the present invention provides a method for moving the lens in the Z-axis direction.
A head unit that includes a suction nozzle that is rotatable in the axial direction and is movable in the X-Y direction between a component supply unit and a component mounting unit; and irradiates a component that is sucked by the suction nozzle with parallel rays. A parallel light irradiating unit, including a light receiving unit that receives the parallel light after irradiating the component and outputs a signal corresponding to a shadow portion and a bright portion of the component, and includes a projection width based on the signal of the shadow portion. And a width measuring device for detecting the position of the component and the position of the component relative to the suction nozzle based on the detected projection width. An arithmetic unit that calculates the component mounting position correction amount of the head unit and outputs the arithmetic result to the movement control device of the head unit;
A head unit including the suction nozzle is provided with a holding device for holding the component when the suction nozzle comes into contact with a component supplied from the component supply unit. The object of the present invention is achieved by a configuration in which the pinching operation is performed equally on the left and right sides with one straight line orthogonal to an extension of the center axis of the suction nozzle in the direction of the tip end as the symmetry axis.

Further, the suction nozzle is capable of sucking a component at a distal end thereof and being axially movable to a proximal end side by a negative pressure applied to a proximal end side, and sucking the slide pipe by the negative pressure. With a force smaller than the force, in the axial direction and
A spring that biases in the direction in which the distal end protrudes, wherein the holding device is arranged in conjunction with the axial direction of the slide pipe,
Opened when the slide pipe moves toward the tip, and
It has a holding piece that is closed when moving in the proximal direction,
A contact portion that is long in a direction parallel to the symmetry axis may be provided at the component holding side tip of the holding piece.

Further, the tip of the slide pipe may be closed with an embolus.

In the present invention, when the component is sucked by the suction nozzle, the component is sandwiched in the short direction of the component by the holding means, and the center of the component in the X direction or the Y direction is positioned with respect to the center of the suction nozzle. Since the mechanical centering is performed, that is, the mechanical centering is performed, the mounting tact time is greatly reduced.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a component mounting apparatus 10 according to the present invention.
As shown in the figure, it is movable in the Z-axis direction,
A head unit 20 that includes a suction nozzle 12 that is rotatable around the axis) and that is movable in the XY directions by an XY robot 18 between a component supply unit 14 and a component mounting unit 16 such as a substrate; A parallel light irradiator 24A that irradiates a parallel light beam to the component 22 that is sucked by the nozzle 12,
A light receiving unit 24B is provided for receiving the parallel rays after irradiating the component 22 and outputting a signal corresponding to a shadow portion and a bright portion of the component 22, and projecting the component 22 from the signal of the shadow portion. Width measuring device 24 for detecting width (see FIG. 2)
And the suction nozzle 1 based on the detected projection width.
2, a component mounting position shift amount of the component 22 with respect to the component 2, and a component mounting position correction amount when mounting the sucked component 22 to the component mounting unit 16 are calculated from the suction position shift amount, and the calculation result is An arithmetic unit 28 (see FIG. 3) for outputting to the movement control unit 26 of the head unit 20;
And a clamping device 30 for clamping the component 22 when the component 22 is suctioned by the suction nozzle 12.

The suction nozzle 12 is provided with a slide pipe 32 capable of sucking the component 22 at a distal end (lower end in the figure) and axially moving toward the proximal end by a negative pressure applied to the proximal end. .

The holding device 30 includes a pair of holding pieces 34A, 34 arranged on both sides of the slide pipe 32.
B, so that the component 22 sucked to the lower end surface of the slide pipe 32 is sandwiched from both sides thereof.

The structure of the suction nozzle 12 and the holding device 30 will be described in more detail.

As shown in FIGS. 1 and 4, the suction nozzle 12 is screwed at its upper end to a lower end of a slide shaft 36 on the head unit 20 side, and this slide shaft 36 moves up and down (moves in the Z-axis direction). ), The whole is moved up and down.

The suction nozzle 12 has a negative pressure chamber 12A to which a negative pressure is transmitted via the slide shaft 36 inside the suction nozzle 12, and the negative pressure in the negative pressure chamber 12A The light is transmitted to the distal end (lower end) of the slide pipe 32 via the negative pressure hole 12B passing through the center.

The slide pipe 32 is supported slidably in the axial direction (vertical direction) in the negative pressure chamber 12A at a large diameter portion 32A on the base end (upper end) side.
It is urged downward by a spring 12C mounted in the negative pressure chamber 12A.

The slide pipe 32 by the spring 12C
Is set such that the slide pipe 32 rises against the urging force of the spring 12C when a negative pressure for component suction is applied to the negative pressure chamber 12A. Have been.

The suction nozzle 1 of the slide pipe 32
A pair of parallel chamfers 32C is formed on the outer periphery of the small diameter portion 32B protruding downward from the second main body 12D.
A pin 32D that penetrates the small diameter portion 32B and the negative pressure hole 12B inside the small diameter portion 32B is attached to the chamfered portion 32C.

On the other hand, the holding pieces 34A and 34B are respectively attached to two plate-like support plates 12E extending in parallel from the lower end of the cylindrical suction nozzle body 12D to both sides of the slide pipe 32, respectively. It is swingably supported by swing shafts 38A and 38B parallel to the pin 32D.

The holding pieces 34A and 34B are shown in FIG.
As shown in the figure, the pin 32D, the swing shafts 38A,
The contact portions 35A and 35B which are formed to be wide in the direction parallel to 8B and which come into contact with the component 22 at the front end (lower end in the figure) are provided respectively.

The holding pieces 34A and 34B are shown in FIGS.
As shown in FIG. 3, passive portions 39A and 39B which bend and extend in the direction of the pin 32D at right angles at positions supported by the swing shafts 38A and 38B are provided.
At the tips of A and 39B, they are swingably engaged with the pins 32D, respectively. The passive units 39A, 39A
The engagement positions of B with the pins 32D are opposite to each other across the small diameter portion 32B of the slide pipe 32.

Thus, the holding pieces 34A, 34B
When the slide pipe 32 moves up and down, the swing shaft 38 is moved through the pin 32D and the passive portions 39A and 39B.
When the slide pipe 32 moves upwards while swinging about the slide pipes 32A and 38B, the holding pieces 34A and 34B are brought into contact with each other by the contact portions 35A and 35B.
When the part 22 adsorbed at the end of the slide pipe 32 is sandwiched and the slide pipe 32 is lowered, the contact portions 35A, 35
B is caused to swing in the direction in which it separates. Reference numeral 40 in FIG. 1 denotes a Z-axis motor.
Is for moving the slide shaft 36 up and down via a pinion 42A attached to the output shaft and a rack 42B attached to the slide shaft 36 side.

The slide shaft 36 is supported by the frame 20A of the head unit 20 via a vertical guide 46 so as to be slidable in the vertical direction. The Z-axis motor 40 is supported by the frame 20A.

Reference numeral 44 in FIG. 1 indicates a θ-axis motor.
The θ-axis motor 44 controls the angle of the slide shaft 36 around the central axis via a belt 44A.

A reference numeral 41 in FIG. 1 denotes a rotary encoder for detecting the rotation speed and direction of the Z-axis motor 40;
Reference numeral 5 denotes a rotary encoder for detecting the rotation speed of the θ-axis motor 44, and reference numeral 48 denotes a vacuum tube for supplying a negative pressure.

Next, the operation of the component mounting apparatus 10 according to the above embodiment will be described.

The head unit 20 is moved in the X and Y directions by the XY robot 18 with respect to the components 22 supplied one by one from the component supply unit 14, and when the suction nozzle 12 comes directly above the component 22, The suction nozzle 12 is lowered by the motor 40.

The tip (lower end) of the suction nozzle 12 is
A negative pressure is applied to the negative pressure chamber 12A of the suction nozzle 12 at the timing of contact with the upper surface of the nozzle. This negative pressure chamber 12
Due to the negative pressure of A, the component 22 is attracted to the tip of the small diameter portion 32B of the slide pipe 32.

Since no air flows into the negative pressure chamber 12A from the outside, the negative pressure increases due to the suction of the component 22, and the slide pipe 32 is sucked upward in the drawing against the urging force of the spring 12C. .

Due to the upward displacement of the slide pipe 32, the passive portions 39A and 39B of the holding pieces 34A and 34B are pulled upward via the pins 32D, whereby the holding pieces 34A and 34B move the swing shafts 38A and 38B. As a center, the contact portions 35A and 35B are swung in a direction approaching each other.

Due to the swing of the holding pieces 34A, 34B, the contact portions 35A, 35B are brought into contact with the slide pipe 32.
The component 22 that is being sucked is sandwiched between the lower ends of the components.

Here, the flange portion 12F of the suction nozzle 12
The positioning notch 12G formed in the nozzle replacement device (not shown) is fitted with a positioning pin provided in a nozzle replacement device (not shown) so as to regulate the rotation of the suction nozzle 12 in the θ-axis direction. The nozzle 12 is mounted.

The component mounting device inserts the suction nozzle 12 mounted on the nozzle exchanging device into the slide shaft 36 so that the longitudinal direction of the contact portions 35A and 35B is the short direction of the component 22 in the component supply portion 14. Parallel to XY
The robot 18 is set so as to be parallel to the X direction or the Y direction.

The contact portions 35A and 35B of the pair of holding pieces 34A and 34B are
Perpendicular to the extension line below the central axis of
The robot 18 is set so as to move symmetrically with respect to a straight line in a direction orthogonal to the X direction or the Y direction.

In this manner, the holding pieces 34A, 34B
The component 22 sandwiched in the short direction by the contact portion 35
A, 35B is pressed by the A, 35B to correct the shift in the short direction, the center line in the short direction becomes a position orthogonal to the center axis of the slide pipe 32, and the long direction is the contact portion 35A, 35B. By correcting the deviation in the θ-axis direction so as to be parallel, it automatically matches the X direction or the Y direction of the XY robot 18.

As a result, the part 22 is held by the holding pieces 34A,
When the holding operation is completed by 34B, the centering in the short direction and the correction in the θ-axis direction are completed.

In this state, when the light passes through the parallel light beam irradiating section 24A and the light receiving section 24B in the width measuring instrument 24, a shadow portion due to the projected image of the component 22 in the longitudinal direction is generated in the light receiving section 24B. Is the same as the length of the component 22 in the longitudinal direction. Therefore, the arithmetic unit 28 immediately calculates the amount of deviation between the center of the component 22 in the longitudinal direction and the central axis of the suction nozzle 12, and controls the movement. The calculation result is output to the device 26. Therefore, the XY robot 18
Indicates that the arithmetic unit 2 is moving toward the component mounting unit 16.
8, the head unit 20 is driven in the XY directions so as to correct the deviation between the center line in the longitudinal direction of the component 22 and the center axis of the suction nozzle 12 based on the calculation result in the component mounting section 16. The component 22 can be mounted at a predetermined position at a predetermined position.

When the component 22 is delivered to the component mounting section 16, if the negative pressure to the suction nozzle 12 is released, the slide pipe 32 descends and the holding pieces 34 A, 34 B release the component 22, and at the same time, the negative pressure is released. Slide pipe 32
The component 22 is separated from the leading end of the component and is transferred onto the component mounting section 16.

In the above embodiment, the contact portions 35A and 35B of the holding pieces 34A and 34B are set in advance so as to be parallel to the X direction or the Y direction of the XY robot 18. The invention is not limited to this, and the component 22 can be held by the holding pieces 34A, 34B as long as the rotation angle of the holding pieces 34A, 34B in the X direction or the Y direction of the XY robot 18 in the θ-axis direction can be detected in advance. After being held by the width measuring device 24, the contact portion 35 is
The slide shaft 36 and the suction nozzle 12 may be rotated in the θ-axis direction so that A and 35B are parallel to the X direction or the Y direction.

In the above embodiment, the component 22 is sucked by the tip of the slide pipe 32. However, depending on the type of the component, there may be a case where a hole is formed on the upper surface of the component to prevent suction. is there.

In this case, as shown in FIG. 8, the distal end of the slide pipe 32 is closed with a plug 32E, and the component 22 is held only by the holding pieces 34A and 34B.
May be held.

The holding pieces 34A and 34B are attached to the suction nozzle 12 as long as they can move in the X and Y directions together with the slide pipe 32. 12 may be attached.

Further, the holding device 30 holds the component 22 with a pair of holding pieces 34A and 34B. However, the holding device 30 may hold the component 22 with three or more holding pieces.

The width measuring device 24 irradiates a parallel laser beam to the component 22.
The laser beam may be irradiated so as to scan the laser beam in the longitudinal direction of the component 22, a line sensor, a combination of an LED array and a light receiving element array, or the like.

[0051]

Since the present invention is constructed as described above, when a part is received from the part supply unit, the centering in the X direction or the Y direction can be performed simultaneously with the reception, and at the same time as the reception or at the same time. By adjusting the angle of the component in the θ-axis direction before the width measurement, the width measuring device measures only the longitudinal direction of the component, and quickly and reliably mounts the component at a predetermined position on the component mounting part. It has an excellent effect of being able to.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a main part of a component mounting apparatus according to the present invention.

FIG. 2 is a schematic plan view showing a configuration of a width measuring device in the component mounting apparatus.

FIG. 3 is a block diagram showing a control system in the component mounting apparatus.

FIG. 4 is a sectional view showing a suction nozzle and a holding device in the component mounting apparatus.

FIG. 5 is a side view of the same.

FIG. 6 is a bottom view of the same.

FIG. 7 is a front view showing a state in which components are held by the holding device.

FIG. 8 is a sectional view showing a main part of a suction nozzle in a component mounting apparatus according to another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Component mounting apparatus 12 ... Suction nozzle 12A ... Negative pressure chamber 12B ... Negative pressure hole 12C ... Spring 12D ... Suction nozzle main body 14 ... Component supply part 16 ... Component mounting part 18 ... XY robot 20 ... Head unit 22 ... Part 24 ... Width measuring device 24A ... Parallel beam irradiation unit 24B ... Light receiving unit 26 ... Movement control device 28 ... Computing device 30 ... Nipping device 32 ... Slide pipe 32D ... Pin 32E ... Embolus 34A, 34B ... Nipping piece 35A, 35B ... Contact portion 36 ... Slide shaft 38A, 38B ... swing shaft 46 ... vertical guide 48 ... vacuum tube

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F061 AA01 BA03 BB03 BD08 BE02 BE47 BF00 CA01 CC01 DB06 DD05 5E313 AA03 AA11 CC03 CC04 CC07 EE02 EE03 EE24 EE37 FF24 FF26 FF28

Claims (6)

[Claims] A head unit movable between a component supply unit and a component mounting unit;
A suction nozzle provided with a holding device for holding the component by vacuum-suctioning freely in the axial direction and rotatable in the θ-axis direction, and a component mounting device comprising: A component mounting apparatus, wherein the component is held and one center in the X direction or the Y direction of the component is made to coincide with the center of the suction nozzle by the holding operation. 2. The method according to claim 1, wherein the holding operation includes
X of the component mounting device by the pinching operation of the pinched component
A component mounting apparatus, wherein the component mounting device corrects a component angle around the Z axis by matching one of the direction and the Y direction. 3. A head unit movable between a component supply unit and a component mounting unit.
A suction nozzle provided with a holding device for holding a component by vacuum suction while freely movable in the axial direction and rotatable in the θ-axis direction, and an optical detection means for detecting a holding position of the component,
In the component mounting apparatus having the above, the short side direction of the component is pinched by the pinching device, the position in the long direction is detected by optical detection means, and the component mounting position is determined from the amount of displacement of the component in the long direction. A component mounting apparatus that calculates a correction amount, corrects the center of the suction nozzle based on the component mounting position correction amount, and mounts the component. 4. A head unit including a suction nozzle movable in the Z-axis direction and rotatable in the θ-axis direction, the head unit being movable in the X-Y direction between a component supply unit and a component mounting unit, and the suction nozzle. A parallel beam irradiating unit for irradiating the component adsorbed on the component with a parallel beam, receiving the parallel beam after irradiating the component, and receiving a signal corresponding to a shadow portion and a bright portion by the component; A width measuring device for detecting a projection width from a signal of the shadow portion, and a suction position shift amount of the component with respect to the suction nozzle based on the detected projection width, and a suction position shift amount, An arithmetic unit for calculating a component mounting position correction amount when mounting the sucked component to the component mounting unit and outputting the calculation result to a movement control device of the head unit. At A head unit including the suction nozzle is provided with a holding device for holding the component when the suction nozzle comes into contact with a component supplied from the component supply unit, and the holding operation by the holding device is performed by a central axis of the suction nozzle. A component mounting apparatus characterized in that a single straight line orthogonal to an extension line in the direction of the front end is made equally symmetric with respect to a straight line. 5. A slide pipe according to claim 1, wherein said suction nozzle is capable of sucking a component at a distal end thereof and being axially movable to a proximal end side by a negative pressure applied to a proximal end side. A spring that urges the slide pipe in the axial direction and in the direction in which the distal end protrudes with a force smaller than the suction force due to the negative pressure, wherein the holding device is disposed in conjunction with the slide pipe in the axial direction. The slide pipe is provided with a holding piece that is opened when the slide pipe moves in the distal direction and closed when the slide pipe moves in the base direction, and has a long contact in a direction parallel to the symmetry axis with the component holding side distal end of the holding piece. A component mounting device characterized by including a part. 6. The component mounting apparatus according to claim 5, wherein a tip of said slide pipe is closed by an embolus.