JP2000307295A - Method of teaching for correcting position of tray feeder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correct a position by facilitating a positioning operation. SOLUTION: In this method of teaching, in a tray feeder in which pallets are successively taken out from a magazine in which pallets are housed to supply to a pickup position, the relative position is detected between a draw part 5 for picking up a pallet from the magazine and a tray feeder main body or the electronic component mounting device. In this case, the horizontal relative position is detected by recognizing a recognition mark provided on the draw part 5 by a camera 14 provided on the electronic component mounting device, then a height position of the draw part 5 is sensed by a height sensing means provided on the transfer head. Thus, a positioning operation can be facilitated and a corrected positional accuracy can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching method for position correction of a tray feeder for detecting a position for position correction in a tray feeder for supplying an electronic component stored in a tray to an electronic component mounting apparatus. .

[0002]

2. Description of the Related Art In an electronic component mounting apparatus, a method using a tray feeder is known as a method for supplying electronic components such as semiconductor chips. This tray feeder stores a plurality of trays each storing a plurality of electronic components in a flat shape in a container such as a magazine, sequentially removes the trays from the magazine according to the order of use, and supplies the trays to a pickup position of a transfer head. When this tray feeder is connected to the electronic component mounting apparatus, it is necessary to perform position adjustment for maintaining the relative positional relationship between the tray feeder and the electronic component mounting apparatus at a predetermined accuracy. Conventionally, position detection is performed by manually positioning the tray feeder and the electronic component mounting apparatus during the connection operation, and recognizing the recognition mark provided on the pallet by the electronic component mounting apparatus after the connection. .

[0003]

However, since the tray feeder is replaced at a high frequency according to the type of electronic component to be mounted, each time the tray feeder is connected to the electronic component mounting apparatus, the above-described positioning operation is performed. This positioning work requires a lot of labor and time. In addition, even after the connection, conventionally, only one recognition mark provided on the pallet was recognized.
Data for position correction is not always sufficient, and appropriate position correction in the mounting operation after connection has not been performed.
As described above, when connecting the conventional tray feeder to the electronic component mounting apparatus, it takes time and effort to locate the position,
There is a problem that it is difficult to perform appropriate position correction.

Accordingly, an object of the present invention is to provide a teaching method for correcting a position of a tape feeder, which can simplify a positioning operation and perform an appropriate position correction.

[0005]

According to a first aspect of the present invention, there is provided a teaching method for correcting a position of a tray feeder, wherein a pallet is sequentially taken out of a container containing a pallet for holding a tray in which electronic components are stored. In a tray feeder for supplying electronic components to be supplied to a pickup position by a transfer head, a teaching method for correcting a position of a tray feeder for detecting a relative position of a drawer for removing the pallet from the container with respect to a tray feeder main body, The relative position in the horizontal direction is detected by recognizing a feature point provided in the drawer by an image recognition means provided in the electronic component mounting apparatus.

According to a second aspect of the present invention, there is provided a teaching method for correcting a position of a tray feeder, wherein a pallet is sequentially taken out of a container storing a pallet holding a tray in which electronic components are stored, and a pickup position is set by a transfer head of an electronic component mounting apparatus. In a tray feeder for supplying electronic components to be supplied to the tray feeder, a position correction teaching method of a tray feeder for detecting a relative position of a drawer that takes out the pallet from the container with respect to a tray feeder main body,
The relative position in the height direction is detected by detecting the height position of the drawer section by height detecting means provided in the transfer head of the electronic component mounting apparatus.

According to a third aspect of the present invention, there is provided a teaching method for correcting a position of a tray feeder, wherein a pallet is sequentially taken out of a container storing a pallet holding a tray in which electronic components are stored, and a pickup position is set by a transfer head of an electronic component mounting apparatus. In a tray feeder for supplying electronic components to be supplied to a tray feeder, a position correction teaching method for a tray feeder for detecting a relative position of a drawer for taking out the pallet from the container with respect to the electronic component mounting apparatus, provided in the drawer The relative position in the horizontal direction is detected by recognizing the obtained feature points by the image recognition means provided in the electronic component mounting apparatus.

According to a fourth aspect of the present invention, there is provided a teaching method for correcting the position of a tray feeder, wherein a pallet is sequentially taken out of a container storing a pallet holding a tray in which electronic components are stored, and a pickup position is set by a transfer head of an electronic component mounting apparatus. In a tray feeder for supplying electronic components to be supplied to a tray, a method for teaching a position of a tray feeder for detecting a relative position of a drawer for taking out the pallet from the container with respect to the electronic component mounting apparatus, comprising: The relative position in the height direction is detected by detecting the height position by height detecting means provided in the transfer head of the electronic component mounting apparatus.

According to the present invention, in detecting the relative position of the drawer for taking out a pallet with respect to the tray feeder main body or the electronic component mounting apparatus, the image recognition means provided with the feature provided in the drawer for the electronic component mounting apparatus. By detecting the relative position in the horizontal direction by recognizing the height position of the drawer, the relative position in the height direction is detected by detecting the height position of the drawer by the height detecting means provided in the transfer head of the electronic component mounting apparatus. By detecting the position, the positioning operation at the time of connection can be simplified, and the position correction accuracy can be improved.

[0010]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1A is a perspective view of a tray feeder according to an embodiment of the present invention, FIG. 1B is a diagram showing a state where the tray feeder is connected to an electronic component mounting apparatus, and FIG. 2 is a side view of the tray feeder. FIG. 3 is a perspective view of a magazine and a drawer of the tray feeder, FIG. 4 is a plan view of a magazine and a pallet of the tray feeder, and FIG.
Is a partial perspective view of the tray feeder, FIG. 5B is a partial plan view of the tray feeder, FIG. 6A is a partial perspective view of a drawer of the tray feeder, and FIG. 7 and 8 are flowcharts of a teaching method for correcting the position of the tray feeder.

First, the overall structure of the tray feeder will be described with reference to FIG. In FIG. 1A, a pallet supply mechanism having the same configuration is disposed on the tray feeder 1 symmetrically with respect to a center line CL. The pallet 3 is provided with a tray 2 in which a large number of electronic components are stored in a grid.
The pallets 3 are stored in the magazine 4 in a stacked state.
Two sets of magazines 4 are fixedly arranged in the vertical direction in each of the left and right pallet supply mechanisms, and on the electronic component mounting apparatus side of the magazine 4 (the near side in FIG. 1A),
A drawer 5 for pulling out the pallet 3 from the magazine 4 is arranged so as to be able to move up and down by a lift 7.

Above the upper magazine 4, there is provided a discharge portion 8 for accommodating electronic components discharged without being mounted.
Further, a replenishing unit 6 for retrieving a pallet on which an empty tray is mounted after the electronic components have been picked up and resupplying the pallets after replenishing the electronic components is disposed above the discharge unit 8. Each of the above elements is housed in a cover case 9, and a cover 10 that can be opened and closed is provided above the supply unit 6. Similarly, a door that can be opened and closed is provided on the rear side of the magazine 4 so that the magazine 4 can be mounted and removed and the pallet 3 can be stored in the magazine 4.

As shown in FIG. 1B, the tray feeder 1 is used in connection with an electronic component mounting apparatus 11. The raised position of the drawer 5 is the pick-up position of the electronic component by the transfer head 12, and the tray 2 mounted on the pallet 3 pulled out of the magazine 4 is transferred by raising the drawer 5. It is supplied to the pickup position of the head 12. The electronic components picked up by the transfer head 12 are mounted on the substrate 13 positioned at the mounting section.

Next, the structure of each part of the tray feeder will be described. In FIG. 2, the tray feeder 1 is a caster 20.
Frames 22, 23 are erected on a base member 21 supported by A and 20B so as to be able to move laterally. An elevating unit 7 having a motor 24 and a feed screw 25 is provided on the frame 22, and the drawer unit 5 is moved up and down by driving the elevating unit 7. Also frame 2
2 includes a roller 26 for leveling the tray feeder 1.
Is provided. The roller 26 is provided in the electronic component mounting apparatus. The roller 26 has a function of coming into contact with a level matching unit provided in the electronic component mounting apparatus to match the level of the tray feeder 1 with the reference level of the electronic component mounting apparatus.

A magazine accommodating section 30 is fixed to the frame 23. The magazine accommodating section 30 accommodates two upper and lower magazines 4. A door 31 is provided behind the magazine accommodating section 30 so that the magazine 4 can be mounted and removed. A discharge unit 8 and a supply unit 6 are provided above the magazine storage unit 30.

Next, the pallet 3 stored in the magazine 4 and the drawer 5 for pulling out the pallet 3 will be described with reference to FIGS. As shown in FIG. 3, a plurality of pallets 3 are stored in a magazine 4 in a rack (not shown). The pallet 3 has a tray 2 in which a large number of electronic components P are stored. Pallet 3
An engagement portion 3a having a notch is provided at a front end portion (left side in FIG. 3) of the.

In front of the magazine 4, there are provided two guide members 36 which extend vertically. A slide member 35 that slides along a guide member 36 is provided at the front end of the table 5a of the drawer unit 5 that moves up and down in front of the magazine 4, and the table 5a is positioned at a predetermined position with respect to the magazine 4. The ascent / descent operation is performed in a state where it is kept.

The drawer 5 has a pallet moving mechanism driven by a motor 34. By driving the motor 34, the moving block 32 reciprocates in the direction of the arrow on the table 5a. The moving block 32 is provided with two rollers 33, and the moving block 32 is reciprocated in a state where the rollers 33 are engaged with the notched portions of the engaging portions 3a of the pallet 3, so that FIG. As shown in the figure, the pallet 3 in the magazine 4 can be pushed into the magazine 4 and stored. In the reciprocating motion of the pallet 3, the position of the pallet 3 is regulated by the guide rail 37 provided on the table 5a and the guide member 36 vertically extending vertically.

The tray feeder for supplying electronic components is configured as described above, and the operation will be described below. First, in FIG. 1, a pallet 3 in which electronic components are stored is stored in a predetermined storage position in a magazine 4. When the mounting operation by the electronic component mounting apparatus starts, the drawer 5
Moves up and down to the height position of the pallet 3 of the predetermined electronic component. Next, as shown in FIG. 4, the moving block 32 is moved to the mounting device side in a state where the rollers 33 of the moving block 32 are engaged with the engaging portions 3 a of the pallet 3.
The pallet 3 is pulled out onto the table 6a of the drawer 6.

Thereafter, the drawer 6 rises to the pickup position and stops. In this state, as shown in FIG. 1B, the transfer head 12 of the electronic component mounting apparatus 11 moves onto the drawer 6, where the suction nozzle moves the drawer 6.
Electronic components are picked up from the tray 2 mounted on the upper pallet 3, and then the transfer head 12 moves onto the substrate 13 and mounts the electronic components on the substrate 13.

Next, a description will be given of the teaching process for correcting the position of the tray feeder. In this teaching, a correction value for correcting an error in a suction position or a suction height at the time of pickup by the transfer head 12 is obtained and stored. First, the position correction teaching for detecting the relative position of the drawer unit 5 with respect to the tray feeder main body will be described with reference to the flowcharts of FIGS. This teaching is an offset teaching for a single tray feeder, and detects variations due to various factors at the time of assembling and adjusting the tray feeder, and stores the detected correction value in a storage device of each tray feeder.

In the flow of FIG. 7, the tray feeder 1
Is connected to the electronic component mounting apparatus 11 (ST1). Then, when processes such as leveling work of the tray feeder 1 and connection of data transfer wiring are completed and the tray feeder 1 and the electronic component mounting apparatus 11 can be interlocked, a teaching operation is started (ST2). . As shown in FIG. 5A, the board recognition camera 14, which is an image recognition means provided in the electronic component mounting apparatus 11, is moved onto the drawer 5, and the recognition mark M, which is a feature point on the movement block 32.
c is recognized (ST3), and then the moving block 32 is moved (see the moving block 32 shown by the broken line), and the recognition mark (the recognition mark M'c shown by the broken line) is recognized again (S).
T4).

Based on the results of recognition of the above two points, the XYθ of the relative position of the drawer 5 with respect to the tray feeder main body is obtained.
A position correction value in the direction is calculated (ST5). That is, by detecting the coordinates at two different positions of the moving block 32 driven and moved by the drawer drive shaft, the relative displacement of the moving block 32 in the original position of the moving block 32 in the X and Y directions and the θ The shift (θ2) is calculated.

Next, the transfer head 12 of the electronic component mounting apparatus 11 is moved down and sucked to one point (one of points P1, P2 and P3) on the upper surface of the table 5a shown in FIG. The lower end of the nozzle is touched, and the height of the table 5a at that point is measured (ST6). This height measurement is
The touch is detected by a touch sensor, which is height detecting means provided in the transfer head 12, and the height position of the Z-direction drive shaft of the transfer head at that time is read. Then, a correction value in the Z direction is calculated from the height measurement result (ST
7). The correction amounts in the XYθ direction and the Z direction are stored in the storage device of the tray feeder 1 (ST8), and the teaching process ends.

Next, with reference to FIGS. 6 and 8, position correction teaching for detecting the relative position of the drawer of the tape feeder with respect to the electronic component mounting apparatus 11 will be described. This teaching is an offset teaching in a state in which the tray feeder 1 is connected to the electronic component mounting apparatus 11, detects an error generated in level setting and alignment work at the time of connection, and sets the correction value as a correction value.
Is stored in the storage device.

In the flow of FIG. 8, the tray feeder 1
Is connected to the electronic component mounting apparatus (ST1). Processing such as leveling work of the tray feeder 1 and connection of data transfer wiring is completed, and the tray feeder 1 and the electronic component mounting apparatus 1 are finished.
When it becomes possible to link with No. 1, the teaching operation is started (ST2). As shown in FIG. 6B, the camera 14 for board recognition is moved above the elevating unit 7, and the recognition marks MA and MB as characteristic points provided on the plate 7 b on the top plate 7 a of the elevating unit 7. (ST1)
3).

From the recognition result, the electronic component mounting apparatus 1
The position correction value in the XYθ direction of the relative position (relative position on the horizontal plane) of the drawer unit 5 with respect to 1 is calculated (S
T14). That is, as shown in FIG. 6B, by detecting the positions of the recognition marks MA and MB, the shift amount Δx between the center line CL1 of the tray feeder 1 and the center line CL2 of the electronic component mounting apparatus 11 and the Y direction , The deviation amounts Δy1 and Δy2 and the angle deviation θ1 in MA and MB are calculated.

Next, the transfer head 12 is lowered onto the table 5a, and the lower end of the nozzle is touched at three points P1, P2 and P3 shown in FIG.
By measuring the height positions h1, h2, and h3 of P3, a correction value in the height direction (Z direction) of the table 5a and a correction value of the table flatness indicating the inclination of the table 5a are obtained (ST15). Then, the correction values of the XYθ direction, the Z direction, and the table flatness are stored in the storage device of the electronic component mounting apparatus 11, and the teaching process ends.

The correction value obtained by the above teaching is used for correcting the suction position by the transfer head 12 when mounting electronic components. As a result, it is possible to improve the suction position accuracy and reduce mounting errors caused by a position defect during suction. Also, by performing such teaching, even if there are some errors in the alignment and leveling work, these errors can be covered by position correction on the data. For this reason, it is possible to simplify the positioning work conventionally used for assembling / adjusting or connecting the tray feeder to the electronic component mounting apparatus, thereby reducing the work load and improving the position correction accuracy. it can.

[0030]

According to the present invention, in detecting the relative position of the drawer for taking out the pallet with respect to the tray feeder main body or the electronic component mounting apparatus, the characteristic point provided in the drawer is provided by the image provided by the electronic component mounting apparatus. Since the relative position in the horizontal direction is detected by the recognition means, the height position of the drawer is detected by the height detection means provided in the transfer head of the electronic component mounting apparatus. Since the relative position is detected, the position can be automatically detected with high accuracy, the position finding operation at the time of connection can be simplified, and the position correction accuracy can be improved.

[Brief description of the drawings]

FIG. 1A is a perspective view of a tray feeder according to an embodiment of the present invention. FIG. 1B is a diagram illustrating a state in which the tray feeder according to the embodiment of the present invention is connected to an electronic component mounting apparatus.

FIG. 2 is a side view of the tray feeder according to the embodiment of the present invention.

FIG. 3 is a perspective view of a magazine and a drawer of the tray feeder according to the embodiment of the present invention.

FIG. 4 is a plan view of a magazine and a pallet of a tray feeder according to an embodiment of the present invention.

5A is a partial perspective view of a tray feeder according to an embodiment of the present invention. FIG. 5B is a partial plan view of the tray feeder according to an embodiment of the present invention.

6A is a partial perspective view of a drawer of a tray feeder according to an embodiment of the present invention. FIG. 6B is a partial plan view of a tray feeder according to an embodiment of the present invention.

FIG. 7 is a flowchart of a teaching method for correcting a position of a tray feeder according to an embodiment of the present invention.

FIG. 8 is a flowchart of a teaching method for correcting a position of a tray feeder according to an embodiment of the present invention.

[Explanation of symbols]

 2 tray 3 pallet 4 magazine 5 drawer 5a table 7 elevating unit 11 electronic component mounting device 12 transfer head 14 camera MA, MB, MC recognition mark

Claims (4)

[Claims] An electronic component supply tray feeder for sequentially taking out a pallet from a container storing a pallet holding a tray storing electronic components and supplying the pallet to a pickup position by a transfer head of an electronic component mounting apparatus. A teaching method for correcting the position of a tray feeder for detecting a relative position of a drawer for removing a pallet from a container with respect to a tray feeder body, wherein the electronic component mounting apparatus includes a feature point provided in the drawer. And detecting the relative position in the horizontal direction by recognizing the relative position in the tray feeder. 2. A tray feeder for supplying electronic components, which sequentially takes out pallets from a container storing pallets holding trays in which electronic components are stored and supplies the pallets to a pickup position by a transfer head of an electronic component mounting apparatus. A method for teaching a position of a tray feeder for detecting a relative position of a drawer for removing a pallet from a container with respect to a tray feeder main body, wherein a height position of the drawer is provided by a transfer head of the electronic component mounting apparatus. A teaching method for correcting the position of a tray feeder, wherein the relative position in the height direction is detected by detecting the relative position in a height direction. 3. A tray feeder for supplying an electronic component, wherein the pallet is sequentially taken out of a container storing a pallet holding a tray in which the electronic component is stored and supplied to a pickup position by a transfer head of an electronic component mounting apparatus. A method for teaching a position of a tray feeder for detecting a relative position of a drawer for removing a pallet from the container with respect to the electronic component mounting apparatus, wherein the electronic component mounting apparatus includes a feature point provided in the drawer. A method for correcting a position of a tray feeder, wherein the relative position in the horizontal direction is detected by recognizing the relative position by an image recognition unit. 4. A tray feeder for supplying an electronic component, which sequentially takes out a pallet from a container storing a pallet holding a tray storing electronic components and supplies the pallet to a pickup position by a transfer head of an electronic component mounting apparatus. A teaching method for position correction of a tray feeder for detecting a relative position of a drawer for taking out a pallet from the container with respect to the electronic component mounting device, wherein a height position of the drawer is determined by a transfer head of the electronic component mounting device. A teaching method for correcting a position of a tray feeder, wherein the relative position in the height direction is detected by detecting the position by a height detecting means provided.