JP2000261197A - Electronic component mounting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To adequately change the control speed and control acceleration of each of control shafts of an electronic component mounting apparatus. SOLUTION: A work station 3 has stored a table which collects, every component, optimum control velocities and optimum accelerations in control shafts that a part feeder 8 mounted on a component supply 9, a rotary head 6 and an XY table 5 have. When the component mounting starts, the work station 3 acquires from the table the optimum control speed and optimum acceleration of an electronic component under control in the control shafts and controls the control shafts according to their values. If there are a plurality of electronic components under control in a certain control shaft, the station controls this shaft according to the optimum control speed and optimum acceleration of one electronic component having a min. value among the components.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component mounting apparatus, and more particularly, to an electronic component mounting apparatus that has a plurality of control axes and arranges electronic components on a printed wiring board by appropriately controlling these control axes. About.

[0002]

2. Description of the Related Art As a device for automatically mounting an electronic component on a printed wiring board, an electronic component mounting device is known.

[0003] Such an electronic component mounting apparatus is provided with a parts feeder that holds the electronic components and feeds out the held electronic components as necessary, and a plurality of nozzles that suck the electronic components. A rotary head mechanism that corrects the electronic components fed from the feeder so that they face the proper direction, and eliminates defective components.
The rotary head mechanism comprises an XY table for moving the printed wiring board to a position where components are mounted.

[0004]

By the way, there are optimal control speeds and control accelerations (hereinafter referred to as control speeds, etc.) in electronic components. May be damaged.

The control speed and the like differ depending on the size of the component and the form of control. For example, the length of the component when rotating the component, the height of the component when moving the component in parallel, and the like. The weight is a factor for determining the optimum control speed and the like.

[0006] In the electronic component mounting apparatus, the axis of the parallel movement system,
Since it has a plurality of control axes such as a rotary system axis and a vertical movement system axis, depending on the form of electronic components to be handled,
It is necessary to determine the control speed and the like of each control axis.

However, in the conventional electronic component mounting apparatus, the control speed or the like of the entire apparatus is divided into, for example, eight levels, and one of the control speeds is set. Therefore, considering the case of handling electronic components that are weak in rotation but strong in translation, even if the translation can be controlled at the highest speed, etc., the rotation is moved to level 2. In such a case, it was necessary to select level 2 as the control speed of the entire apparatus. As a result, there has been a problem that the working speed is unnecessarily reduced.

[0008] The present invention has been made in view of the above points, and an object of the present invention is to provide an electronic component mounting apparatus capable of performing optimal control according to each component.

[0009]

According to the present invention, there is provided an electronic component having a plurality of control axes and mounting the electronic component on a printed wiring board by appropriately controlling the control axes. In the mounting apparatus, a storage means for storing appropriate control information indicating an appropriate control speed or control acceleration for each component of each control axis, and the storage means for storing the appropriate control information of an electronic component to be operated by each control axis. An electronic component mounting apparatus is provided, comprising: a search unit that searches from a search unit; and a control unit that controls each control axis in accordance with a search result of the search unit.

The storage means stores appropriate control information indicating an appropriate control speed or control acceleration for each component of each control axis. The search means searches the storage means for proper control information of the electronic component to be operated by each control axis.
The control unit controls each control axis according to a search result of the search unit.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an external view showing an embodiment of the present invention. As shown in FIG. 1, an electronic component mounting apparatus according to the present invention includes a main body 1 for mounting electronic components on a printed wiring board, a belt conveyor 2 for transferring the printed wiring board, a workstation 3 for controlling the main body 1, and the like. It is constituted by.

The main body 1 has an XY table 5 for moving the printed wiring board 10 in an arbitrary direction in a horizontal plane, and a rotary head having a plurality of nozzle blocks 7 having a plurality of nozzles 7a for sucking electronic components. 6 is built-in.

Next to the belt conveyor 2, there is disposed a component supply unit 9 on which a plurality of parts feeders 8 for storing electronic components and for feeding out and supplying the stored components as needed are mounted. .

FIG. 2 is a perspective view showing a detailed configuration example of the parts feeder 8. As shown in FIG. As shown in this figure, the parts feeder 8 comprises a reel holder 8a, a clamp lever 8
b, top tape winding section 8c, feed lever 8
d, a component suction section 8e, and the like.

The reel 30a or the reel 40a shown in FIG. 3 is set on the reel holder 8a. FIG.
A rectangular hole punch carrier type component tape 30 is wound around a reel 30a shown in FIG. The square hole punch carrier tape 30b constituting the square hole punch carrier type component tape 30 has a square hole mounting hole 30c for inserting components into a band-shaped carrier tape formed of paper or plastic, and transports the tape. Hole 30f for
Are formed. This square hole punch carrier tape 3
Electronic components are respectively inserted into square hole mounting holes 30c formed in Ob, and a top tape 30d and a bottom tape 30e are stuck on upper and lower sides thereof to prevent the components from falling.

An emboss carrier forming component tape 40 is wound on a reel 40a shown in FIG.
The embossed carrier tape 40b constituting the embossed carrier forming component tape 40 has an embossed mounting hole 40c which is a concave hole for inserting a component into a strip-shaped carrier tape formed of paper or plastic, and an embossed mounting tape 40b for transferring the tape. A perforation 40f is formed. Electronic components are respectively inserted into the embossed mounting holes 40c formed in the embossed carrier tape 40b, and a top tape 40d is affixed to an upper portion thereof to prevent the components from dropping.

The reels 30a and 40a on which the carrier tape having the electronic components inserted therein are wound as described above are mounted on a reel holder 8a of the parts feeder 8 shown in FIG. Then, when the feed lever 8d is pressed, the ratchet mechanism is used to feed out the feed holes 30f and 40f provided in the carrier tape as a guide by the pitch of the electronic components. As a result, the electronic component is supplied to the component suction section 8e, and the top tapes 30d and 40d of the electronic component sent to the front end are peeled off, so that the component can be taken out. The peeled top tapes 30d and 40d are wound around the top tape winding unit 8c.

FIG. 4 is a diagram showing a detailed configuration example of a mechanism for peeling off the top tape 30d of the parts feeder 8 shown in FIG. As shown in this drawing, a carrier tape unreeled from the reel holder 8a is developed inside the component suction part 8e. The top tape 30d affixed to the upper part of the carrier tape passes through a slit 8f provided in the component suction part 8e, and the top tape winding part 8c.
It is wound up. As a result, an upward (upward in the figure) force is applied to the top tape 30d, so that the top tape 30d is separated from the carrier tape. When the top tape 30d is peeled in this manner, the electronic components inserted into the square mounting holes 30c are exposed, and the shutter 8
The nozzle 7a is sucked at the timing when g is opened.

The parts feeder 8 as described above is
At least as many parts as required are prepared and mounted on the movable tables 9c and 9d of the parts supply unit 9 shown in FIG.
As shown in FIG. 5, the component supply unit 9 includes a mounting table 9a, a supporting slide shaft 9b, movable tables 9c and 9d, a servo motor 9
e, 9f, and a ball screw 9g.

The movable tables 9c and 9d are provided with a supporting slide shaft 9
It is possible to move in parallel in the left and right directions in FIG. The movable base 9c is provided with a servo motor 9e, and the movable base 9c is moved in an arbitrary direction by a latch mechanism including the servo motor 9e and a ball screw 9g.

The movable base 9d is provided with a servo motor 9f.
The movable platform 9d is moved in an arbitrary direction by the latch mechanism constituted by g.

Such a component supply section 9 is disposed beside the belt conveyor 2 shown in FIG.
The necessary components are supplied to the rotary head 6 by the operation of f.

FIG. 6 shows the workstation 3 shown in FIG.
FIG. 3 is a diagram showing an example of the configuration. As shown in this figure, the workstation 3 has a CPU (Central Processing Uniform).
t) 3a, ROM (Read Only Memory) 3b, RAM (R
andom Access Memory) 3c, GD (Graphic Driver)
3d, HDD (Hard Disk Drive) 3e, and I /
An F (Interface) 3f is configured, and a CRT (Cathode Ray Tube) monitor 60 is connected to the outside thereof.

The CPU 3a controls various parts of the apparatus and executes various processes in accordance with programs stored in the RAM 3c and the like. The ROM 3b stores basic programs executed by the CPU 3a, data, and the like.

The RAM 3c temporarily stores programs to be executed by the CPU 3a, data in the middle of calculations, and the like. G
The D3d executes a drawing process according to the font data and the drawing command supplied from the CPU 3a, and outputs an obtained image to the CRT monitor 60.

The HDD 3e stores programs executed by the CPU 3a and data on components handled in the main unit 1. The I / F 3f is connected to the main unit 1 and exchanges control commands and data with the main unit 1. An input device such as a keyboard (not shown) is connected to the I / F 3f.

FIG. 7 is a diagram schematically showing the component supply section 9, the rotary head 6, and the XY table 5. A number (two in this example) of parts feeders 8 according to the type of the component to be mounted is placed on the component supply unit 9, and by driving the movable tables 9c and 9d, a desired electronic device is mounted. A part is selected and supplied to a predetermined nozzle 7a provided in the rotary head 6.

In this example, two movable tables 9c and 9d are provided, and each of the movable tables 9c and 9d is independently controlled in the ZA axis direction and the ZB axis direction and is translated to a desired position.

The rotary head 6 has a plurality of nozzle blocks 7, and transfers the sucked parts by rotating clockwise about a rotary shaft (center axis).

FIG. 8 is a diagram for explaining the outline of the nozzle block 7. As shown in this drawing, the nozzle block 7 is provided with five nozzles N1 to N5 having different suction portions in size, and sucks an electronic component by making the inside of the nozzle a negative pressure.

The nozzles N1 to N5 are rotatable independently of each other. In a rotation correction stage, which will be described later, the nozzle which sucks the electronic component is rotated by an external motor to correct the direction of the electronic component. .

Each of the nozzles can be independently moved in the vertical direction (perpendicular to the plane of the paper), so that when the electronic components are sucked or when the electronic components are mounted on a printed circuit board, they are externally movable. And is moved to a desired position.

Furthermore, the nozzle block 7 itself is also rotatable, and is configured to select a desired nozzle by being rotated by an external motor in a nozzle selection stage described later.

Returning to FIG. 7, when the rotary head 7 is rotated, various operations are executed in each nozzle block 7 according to its position. The position where this operation is performed is called a stage. This embodiment has six stages: a nozzle selection stage S1, a suction stage S2, a component recognition stage S3, a rotation correction stage S4, a mounting stage S5, and a component disposal stage S6.

In the nozzle selection stage S1, a desired nozzle is selected from the nozzles N1 to N5 by rotating the nozzle block 7 by a nozzle selection motor (not shown) (so as to come to the outermost periphery). .

In the suction stage S2, the nozzle 7 is moved downward by a suction motor (not shown), and only one component is sucked from the parts feeder 8, and then the nozzle 7 is moved upward. Return to.

In the component recognition stage S3, the suction angle of the component is recognized by image processing, and the loss of the component (such as the lack of the mold or the bending of the lead wire) is detected.
In the rotation correction stage S4, the nozzle 7a is appropriately rotated by a rotation correction motor (not shown) with reference to the suction angle of the component detected in the component recognition stage S3 so that the nozzle 7a has an appropriate angle.

At the mounting stage S5, the nozzle 7a is moved downward by a mounting motor (not shown) to mount the component at a predetermined position on the printed wiring board 10.
The nozzle 7a is moved upward and returned to the original position. At this time, the XY table 5 is driven by an X-axis motor and a Y-axis motor (not shown), and controls the printed wiring board 10 to come to a predetermined position. Note that the mounting process is not performed on the component determined to be defective in the component recognition stage S3, and the component is transferred to the next stage while being suctioned by the nozzle.

In the component discarding stage S6, the component determined to be defective in the component recognizing stage S3 is discarded. The rotary head 6 is rotated by a rotary head motor (not shown) in units of 30 degrees to move each nozzle block 7 to each stage.

As described above, the control axis of the electronic component mounting apparatus of the present embodiment includes the nozzle selection stage S
No. 1 nozzle selection axis, component suction axis of suction stage S2, ZA axis and ZB axis of component supply unit 9, rotation correction stage S
There are a total of nine axes: a rotation correction axis of 4, a component mounting axis of the mounting stage S5, a rotary axis of the rotary head 6, an X axis and a Y axis of the XY table 5.

In the HDD 3e of the workstation 3,
As shown in FIG. 9, each electronic component is recorded in association with optimal control information (control speed and control acceleration) in each axis of the electronic component, and each control axis is controlled with reference to this information. Is done.

In the example shown in FIG. 9, the component supply numbers 001 and 00, which are ID numbers assigned to the respective components, are used.
2,... Are shown on the horizontal axis, and the optimum control information of each component is shown at the corresponding position. For example, a part with a part supply number of “001” has a size of “1.0
× 0.5 ”, and the axial speed is
The X and Y axes are 100%, and the ZA and ZB axes are 90%. As the axial acceleration, the X and Y axes are 100
%, And the ZA and ZB axes are set to 80%.

Such optimum control information is appropriately read from the HDD 3e by the CPU 3a, and the CPU 3a controls each control axis according to the value. Next, the operation of the above embodiment will be described. Hereinafter, a control process for each control axis will be described with reference to a flowchart.

The nozzle selection axis of the nozzle selection stage S1 shown in FIG. 7 is in a state where the target electronic component is not sucked, so that the control is always performed at a control speed of 100%.

Next, in the suction stage S2, the parts feeder 8 in which the electronic components are stored is moved in the ZA axis direction and the ZB axis direction, respectively, so that the control is performed in accordance with the components stored in each parts feeder 8. It is necessary to set the speed etc.

FIG. 10 is a flowchart illustrating an example of a process for controlling the suction axis. When this flowchart is started, the following processing is executed. [S1] The CPU 3a determines the Z-axis speed (ZA) of the target electronic component from the optimum control information stored in the HDD 3e.
Or ZB axis speed) and Z axis acceleration. [S2] The CPU 3a determines the acquired Z-axis speed and Z
Z axis motor (ZA axis motor or ZB
Shaft motor). [S3] After waiting until the rotary head 6 rotates by 30 degrees, the CPU 3a returns to step S1 and repeats the same processing.

Next, an example of processing for controlling the component suction axis (the control axis for moving the nozzle 7a in the vertical direction) of the component suction stage S2 will be described with reference to FIG.
When this flowchart is started, the following processing is started. [S10] The CPU 3a acquires the optimum control speed and the optimum control acceleration of the component suction axis for the target electronic component from the optimum control information stored in the HDD 3e. [S11] The CPU 3a controls the suction shaft motor based on the acquired optimal control speed and optimal control acceleration. [S12] After waiting until the rotary head 6 rotates by 30 degrees, the CPU 3a returns to step S10 and repeats the same processing.

Next, an example of a process for controlling the rotation correction axis (control axis for rotating the nozzle 7a) of the rotation correction stage S4 will be described with reference to FIG. When this flowchart is started, the following processing is started. [S20] The CPU 3a acquires the optimum control speed and the optimum control acceleration of the rotation correction axis for the target electronic component from the optimum control information stored in the HDD 3e. [S21] The CPU 3a controls the rotation correction shaft motor based on the obtained optimum control speed and optimum control acceleration. [S22] After waiting for the rotary head 6 to rotate by 30 degrees, the CPU 3a returns to step S20 and repeats the same processing.

Next, an example of a process for controlling the mounting axis of the mounting stage S5 (the control axis for moving the nozzle 7a in the vertical direction) will be described with reference to FIG. When this flowchart is started, the following processing is started. [S30] The CPU 3a acquires the optimum control speed and the optimum control acceleration of the mounting axis for the target electronic component from the optimum control information stored in the HDD 3e. [S31] The CPU 3a controls the mounted shaft motor based on the obtained optimum control speed and optimum control acceleration. [S32] The CPU 3a stores the component number of the mounted electronic component in the mounted component table stored in the RAM 3c.

The mounted component table is a table in which component numbers of components that have already been mounted on the printed wiring board 10 are stored. [S33] After waiting for the rotary head 6 to rotate by 30 degrees, the CPU 3a returns to step S30 and repeats the same processing.

Next, an example of a process for controlling a rotary shaft (a control shaft for rotating the rotary head 6) will be described with reference to FIG. When this flowchart is started, the following processing is started. [S40] From the optimum control information stored in the HDD 3e, the CPU 3a selects the slowest optimum control speed and optimum control acceleration from among the optimum control information of the rotary shaft corresponding to the electronic component currently being sucked to the rotary head 6. Select [S41] The CPU 3a controls the rotary shaft motor based on the obtained optimum control speed and optimum control acceleration. [S42] The CPU 3a waits until the rotary head 6 rotates by 30 degrees (end of rotation), and then returns to step S40 to repeat the same processing.

Subsequently, referring to FIG. 15, the X and Y axes (X
An example of a process for controlling the Y-table 5 (a control axis that translates the Y-table 5) will be described. When this flowchart is started, the following processing is started. [S50] The CPU 3a determines whether or not the printed wiring board 10 placed on the XY table 5 is a new board. If the printed wiring board 10 is a new board, the process proceeds to step S51. Goes to step S52. [S51] The CPU 3a clears the data on the mounted component stored in the mounted component table stored in the RAM 3c. [S52] The CPU 3a first obtains the component number of the mounted electronic component from the mounted component table stored in the RAM 3c, and obtains optimal control information of the X and Y axes corresponding to the component number from the HDD 3e. Then, the slowest optimal control speed and optimal control acceleration are selected from the acquired optimal control information of the X and Y axes. [S53] The CPU 3a controls the X-axis motor and the Y-axis motor based on the acquired optimum control speed and optimum control acceleration. [S54] The CPU 3a waits until the rotary head 6 rotates by 30 degrees (rotation ends), and then returns to step S50 to repeat the same processing.

According to the above-described processing, each control axis can be optimally controlled according to the target electronic component, so that the mounting speed of the component can be improved as a whole.

The rotary shaft is controlled according to the control speed or the like corresponding to the electronic component having the minimum value among the plurality of electronic components adsorbed on the rotary head. Similarly, the X and Y axes are controlled according to the control speed and the like corresponding to the electronic component having the minimum value among the electronic components already mounted on the printed wiring board. Therefore, since the control axis is controlled at the optimum speed for the electronic component to be controlled at that time, damage to the electronic component can be prevented and mounting speed can be improved. Becomes possible.

[0055]

As described above, according to the present invention, in the electronic component mounting apparatus which has a plurality of control axes and mounts the electronic components on the printed wiring board by appropriately controlling these control axes, Storage means for storing appropriate control information indicating an appropriate control speed or control acceleration for each component of the axis; search means for searching the storage means for appropriate control information of an electronic component to be operated by each control axis; Control means for controlling each control axis according to a search result of the means;
Therefore, the mounting speed can be improved while preventing damage to the electronic components.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating a configuration example of an embodiment of the present invention.

FIG. 2 is a perspective view showing a detailed configuration example of the parts feeder shown in FIG.

FIG. 3 is a perspective view showing a detailed configuration example of a reel mounted on the parts feeder shown in FIG. 2;

FIG. 4 is a diagram showing a configuration example of a mechanism for peeling off a top tape of the parts feeder shown in FIG. 2;

FIG. 5 is a perspective view showing a detailed configuration example of a component supply unit shown in FIG. 1;

FIG. 6 is a block diagram showing a detailed configuration example of a workstation shown in FIG. 1;

FIG. 7 illustrates a component supply unit, a rotary head, and XY.
It is a figure which shows the outline of a table.

FIG. 8 is a view schematically showing a nozzle block shown in FIG.

9 is a diagram showing an example of optimal control information stored in the HDD shown in FIG.

FIG. 10 is a flowchart illustrating an example of processing for controlling the ZA axis and the ZB axis illustrated in FIG. 7;

11 is a flowchart illustrating an example of a process for controlling a suction axis of a nozzle in the suction stage illustrated in FIG. 7;

12 is a flowchart illustrating an example of a process for controlling a rotation correction axis of a nozzle in the rotation correction stage shown in FIG.

13 is a flowchart illustrating an example of a process for controlling a mounting axis of a nozzle in the mounting stage illustrated in FIG. 7;

FIG. 14 is a flowchart illustrating an example of a process for controlling a rotary shaft of the rotary head illustrated in FIG. 7;

15 is a flowchart illustrating an example of a process for controlling the X and Y axes of the XY table shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Body part, 2 ... Belt conveyor, 3 ... Workstation, 5 ... XY table, 6 ... Rotary head, 7 ... Nozzle block, 7a ... Nozzle, 8 ...
Parts feeder, 9 parts supply unit, 10 printed wiring board

Claims (8)

[Claims] An electronic component mounting apparatus that has a plurality of control axes and mounts electronic components on a printed wiring board by appropriately controlling these control axes, wherein an appropriate control speed for each component of each control axis is provided. A storage unit for storing appropriate control information indicating control acceleration, a search unit for searching the storage unit for the appropriate control information of an electronic component to be operated by each control axis, and a search result obtained by the search unit. And a control means for controlling each control axis. 2. The control axis is a movement axis that holds a plurality of the electronic components and that translates a parts feeder that supplies the electronic components in parallel according to the progress of work. The electronic component mounting apparatus according to claim 1, wherein the parts feeder is moved at an appropriate speed and acceleration according to the appropriate information. 3. The control axis is a movement axis that translates a nozzle that sucks the electronic component in parallel, and the control unit moves the nozzle at an appropriate speed and acceleration according to the appropriate information. The electronic component mounting apparatus according to claim 1, wherein: 4. The electronic component mounting apparatus according to claim 3, wherein the appropriate speed and acceleration are a speed and an acceleration related to a parallel movement of a nozzle when sucking the electronic component. 5. The electronic component mounting apparatus according to claim 3, wherein the appropriate speed and acceleration are speeds and accelerations related to parallel movement of nozzles when mounting the electronic component on a printed circuit board. . 6. The control axis is a rotation axis for rotating a nozzle for sucking an electronic component, and the control means is configured to rotate the nozzle at an appropriate angular velocity and angular acceleration according to the appropriate information. The electronic component mounting apparatus according to claim 1, wherein: 7. The control axis is a rotary axis for rotating a rotary head having a plurality of nozzles for sucking electronic components. 2. The electronic component mounting apparatus according to claim 1, wherein the rotary head is rotated according to appropriate control information having a minimum value. 8. The control axis is two orthogonal movement axes for moving a printed wiring board to an arbitrary position on a plane, and the control means is already mounted on the printed wiring board. 2. The electronic component mounting apparatus according to claim 1, wherein the two moving axes are respectively controlled according to appropriate information having a minimum value among the appropriate control information of the electronic component.