JP2001024397A - Surface-mounting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently inspect suction state of parts by an optical detection means, while improving the operating efficiency of each suction head in a surface-mounting machine, where a plurality of suction heads and the optical detection means are mounted to a head unit. SOLUTION: A laser unit 30 is mounted to the surface-mounting machine, where a plurality of suction heads 20a-20d are mounted to a head unit and at the same time, the projection of suction parts by each suction head is detected for examining the suction state of the parts. The laser unit 30 is provided with two stages, namely upper laser generation parts 31a and 31b and lower detectors 32a and 32b. Then, when parts are to be sucked, adjacent parts are offset above sand below by the controller of the packaging machine, and each suction head is controlled so that each part can be arranged with respect to detectors 32a and 32b in the positional relationship.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface mounter having a head unit having a plurality of suction heads.

[0002]

2. Description of the Related Art Conventionally, a suction head is mounted on a movable head unit, and an electronic component is sucked from a tape feeder or the like of a component supply unit and transferred to a positioned printed circuit board, and a predetermined position on the printed circuit board is determined. A surface mounter (hereinafter simply referred to as a mounter) which is mounted on a head unit is generally known, and recently, a plurality of suction heads are mounted side by side on a head unit so that a plurality of components can be simultaneously suctioned. There has been proposed a mounting machine for improving mounting efficiency.

In this type of mounting machine, an optical detecting means for detecting a suction state of a component based on detection of a projection of a suction component is mounted on a head unit. A mounting machine has also been developed which can efficiently check the suction state of components by checking the suction state of components.

[0004]

In the above-described mounting machine, generally, after the components are sucked, the suction head is rotated while the head unit moves onto the printed circuit board to rotate the components at a predetermined mounting angle (orientation). ), And when the head unit reaches above the mounting position, the suction head is lowered to mount components.

However, in a mounting machine equipped with a plurality of suction heads, adjacent components may interfere with each other when the components are set at a mounting angle after the components are mounted, depending on the shape of the components. Therefore, in such a case, the mounting operation is performed without using the suction heads on both sides of the suction head that sucks the component, for example, by predicting the possibility of interference. Also, due to the relationship between the distance between each suction head and the size of the component, there is a case where the component suction itself cannot be performed by the adjacent suction head. In this case, it is necessary to use the suction heads on both sides of the suction head for sucking the component. Without performing the mounting operation.

However, in this case, the function of a mounting machine equipped with a plurality of suction heads is greatly reduced, and the mounting efficiency cannot be sufficiently improved. Therefore, it is necessary to improve this point. In this case, it is necessary to consider so that the inspection of the suction state of the component by the optical detection means can be efficiently performed.

The present invention has been made in view of the above circumstances, and has a head unit including a plurality of suction heads and optical detecting means for checking a suction state of a component sucked by each suction head. It is an object of the present invention to provide a surface mounter capable of efficiently inspecting the suction state of a component by an optical detection unit while increasing the operation rate of each suction head.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a head unit having a plurality of suction heads for picking up components which can be rotated and moved up and down, and a projection of the components sucked by the suction heads. Optical detecting means for examining the suction state of the component based on the detection of the component, and a head mounting means for controlling the driving of each suction head, the optical detection means for lifting the suction head A light irradiating unit and a light receiving unit that are arranged to face each other across the space and extend in the arrangement direction of the suction head,
At least a plurality of light receiving sections are provided to enable the projection detection of the component at different height positions, and the head control means makes at least one suction head vertically move relative to the suction head adjacent thereto after the component is sucked. The suction head is driven so as to be offset, and in order to check the suction state of the component sucked by each suction head, the light receiving unit corresponding to this positional relationship is held while maintaining the vertical positional relationship between the suction components. It is configured to control each suction head so as to arrange each component (claim 1).

According to this surface mounter, components to be sucked by adjacent suction heads can be held at different height positions. Therefore, even if components which interfere with each other if the components are sucked and held at the same height position by the adjacent suction heads, those components can be sucked and held by the adjacent suction heads. In the inspection of the suction state of the component by the optical detection means, the projection is detected by arranging the component on the light receiving unit corresponding to the height position of the component, so that the suction component is vertically offset. Also, it is possible to efficiently check the suction state of the parts.

In this surface mounter, the head control means determines the vertical positional relationship of each suction component according to the type of the suction component, and based on the determination, determines the height position of each suction head after component suction. It is configured to control (claim 2).

According to this configuration, it is possible to appropriately adjust the height positional relationship so as to avoid interference between the components in accordance with the type of the components, and to recognize in that state.

Further, the optical detecting means is configured to divide the projection range of the suction component in the light receiving portion according to the size of the component stored in advance and to check the suction state of the component. 3). Thus, when recognizing the upper suction component, the projection of the head that has sucked the lower component is not erroneously recognized as a component.

[0013] The optical detecting means may be provided individually with an irradiating section corresponding to each light receiving section (claim 4), or provided with one irradiating section movable vertically. At the time of projection detection, the movement may be controlled by the movement control means such that the irradiation unit faces the light receiving unit for which projection is to be detected.

In this case, in the configuration of claim 5, the movement control means is configured to move the irradiation unit in order to detect the projection in order from the lower part sucked by the suction head, and during the projection detection. It is preferable that each of the suction heads is controlled by the head control means so as to mount the lower component already detected. In this case, the inspection of the suction component and the mounting of the component can be performed efficiently.

[0015]

Embodiments of the present invention will be described with reference to the drawings.

FIGS. 1 and 2 show an example of a surface mounter according to the present invention. As shown in FIG. 1, a conveyor 2 for transporting a printed board is disposed on a base 1 of a surface mounter (hereinafter, abbreviated as a mounter), and a printed board 3 is transported on the conveyor 2. Is stopped at the mounting work position.

On the front and rear sides of the conveyor 2, component supply units 4 are provided. Each component supply unit 4 includes:
Each of the tape feeders 4a has a plurality of rows of tape feeders 4a, and each of the tape feeders 4 accommodates small pieces of components such as ICs, transistors, and capacitors at predetermined intervals, and the tape holding the tapes is led out from a reel. At the same time, a ratchet type feeding mechanism is provided at the tape feed-out end, and the tape is fed out intermittently as components are picked up by the head unit 5 described later.

Above the base 1, a head unit 5 for mounting components is mounted.
Move in the X-axis direction (the direction of the conveyor 2) and the Y-axis direction (the direction orthogonal to the X axis on a horizontal plane).

That is, a pair of fixed rails 7 extending in the Y-axis direction and a ball screw shaft 8 driven to rotate by a Y-axis servomotor 9 are disposed on the base 1. A head unit support member 11 is disposed on the support member 11, and a nut portion 12 provided on the support member 11 is screwed to the ball screw shaft 8. A guide member 13 extending in the X-axis direction and a ball screw shaft 14 driven by an X-axis servomotor 15 are disposed on the support member 11 so that the head unit 5 can move on the guide member 13. A nut portion (not shown) provided in the head unit 5 is screwed to the ball screw shaft 14. The ball screw shaft 8 is rotated by the operation of the Y-axis servo motor 9 to move the support member 11 in the Y-axis direction, and the ball screw shaft 14 is rotated by the operation of the X-axis servo motor 15, thereby causing the head unit to rotate. 5 moves in the X-axis direction with respect to the support member 11.

The head unit 5 is provided with a plurality of suction heads for picking up components. In this embodiment, as shown in FIG. 2, four suction heads 20a to 20d are provided.
Are arranged in a line in the X-axis direction.

The suction heads 20a to 20d can be moved up and down and rotated around the R axis with respect to the frame 5a of the head unit 5, respectively. That is, FIG.
As shown in FIG.
Each of the sub-frames 25 is supported so as to be able to move up and down, and these sub-frames 25 are connected to an elevating mechanism such as a ball screw mechanism driven by a Z-axis servo motor 24 fixed to the frame 5a. The suction heads 20a to 20d are rotatably supported by the sub-frames 25, respectively, and the suction heads 20a to 20d are connected to an R-axis servo motor 26 mounted on the sub-frame 25, respectively. When the Z-axis servo motor 24 operates, the suction heads 20a to 2
The suction heads 20a to 20d rotate with respect to each sub-frame 25 when 0d moves up and down and the R-axis servo motor 26 operates.

At the lower end of each of the suction heads 20a to 20d, there is provided a nozzle 21 for picking up a component. At the time of picking up a component, a negative pressure is supplied to the tip of the nozzle 21 from a negative pressure supply means (not shown). The components are attracted by the suction force of the pressure.

The head unit 5 is further provided with a laser unit 30 for checking the suction state of the components based on the detection of the projection of the components sucked by the nozzles 21 of the suction heads 20a to 20d.

As shown in FIG. 6, the laser unit 30 is a laser generating unit which is arranged opposite to each other in the Y-axis direction with a space S passing when the nozzle 21 of each of the heads 20a to 20d moves up and down. (Illuminating unit) and a detector (light receiving unit), and is configured to irradiate the attracted component with parallel rays to detect the projection of the component, and output the data to a controller described later. As shown in the figure, the laser generating section and the detector are respectively arranged in two stages (the laser generating sections 31a and 31b and the detector 32).
a, 32b) so that the projection of the component can be detected at different heights.

The laser generating units 31a and 31b and the detectors 32a and 32b
The suction heads 20 a to 20 d are formed in a slender shape extending in the arrangement direction of the suction heads 20 a to 20 d, so that the components sucked by the suction heads 20 a to 20 d can be checked by the common laser unit 30.

Although the illustration of the mounting machine is omitted,
A controller having a computer as a component is provided, and each servo motor 9, 15 for driving the head unit is provided.
Also, the drive units such as the servo motors 24 and 26 for driving the suction heads 20a to 20d and the laser unit 30 are all connected to this controller. Then, at the time of mounting, in order to perform the component mounting operation described below,
The head unit 5 and the like are controlled in accordance with a program stored in advance, and recognition of a suction component is performed based on projection data output from the laser unit 30. That is, in this embodiment, the controller functions as the head control unit of the present invention, and the laser unit 30 and the controller function as the optical detection unit of the present invention.

Next, the mounting operation of components by the mounting machine will be described with reference to the flowchart of FIG.

First, prior to the component suction operation, data of the component to be sucked by each of the suction heads 20a to 20d,
For example, data on the type and size of the component is read out, and the suction heads 20a to 20d where the suction components may interfere with each other are predicted based on the data (steps S1 and S2). That is, if the suction components are held at the same height position, the suction heads 20a to 20d that may possibly interfere with adjacent suction components are predicted. This prediction takes into account the interference at the time of component pick-up and the possibility of interference at the time of adjusting the mounting angle (direction) of each picked-up component around the R-axis, taking into account the expected component pick-up deviation amount (the tendency of the pick-up deviation). Predict. The component data is input in advance via input means such as a keyboard and stored in a storage unit in the controller.

Next, the ascending stop position of each of the suction heads 20a to 20d, that is, the stop height position after picking up the components, is determined, and the picking order of the components is further determined (step S3).
S4).

Based on the possibility of the above-mentioned interference, the ascending stop position of each of the suction heads 20a to 20d is determined, for example, as shown in FIG. 5 and FIG.
h is vertically offset and the upper suction component Ch
(In FIG. 5, the suction component C by the suction heads 20a and 20c is used.
h) is the laser generator 3 on the upper side of the laser unit 30
1a and the detector 32a, the lower suction part C
h (in FIG. 5, the suction parts Ch by the suction heads 20b and 20d) are determined to be interposed between the laser generator 31b and the detector 32b on the lower side of the laser unit 30, respectively. In order to determine the order of picking up the components by the suction heads 20a to 20d, the suction stop position of the component is picked up by the suction head of the upper side first, and then the suction stop position of the component is picked up by the suction head of the lower side. Decide to do. Note that suction heads at the same height position are determined based on a predetermined optimization method that takes into account the component supply position and the like.

When the suction order is determined, first, the head unit 5 is moved to the first component suction position (n = 1) of the component supply unit 4.
And suck the parts (steps S5 to S5).
7). At this time, if possible, the components are simultaneously sucked by a plurality of suction heads whose upper stop positions are higher, or the components are simultaneously sucked by a plurality of suction heads whose lower stop positions are lower.

When the picking up of the component at the picking position is completed, it is determined whether or not there is another component to be picked up (step S8). The component is moved to the suction position (n + 1) (step S9), and the next component is similarly sucked. When the component is sucked in this way, as described above, the suction head 20a
By determining the ascending stop position of ~ 20d,
As shown in FIG. 6, each of the suction parts has a laser generator 31a,
Upper and lower parallel rays 33a, 33 emitted from 31b
It is set at a height position that blocks b.

On the other hand, when it is determined in step S8 that there are no other components to be sucked, that is, when all the components have been sucked, the head unit 5 is moved onto the printed circuit board 3 and the laser unit is moved during this movement. The suction state of the components held by the suction heads 20a to 20d by the unit 30 is checked, and each suction component is adjusted to a predetermined mounting angle (direction) around the R axis (step S10).

The suction state of the parts is determined by the suction heads 20a to 20a.
Inspection is performed by detecting each projection while rotating each suction component with the rotation of 20d. At this time, as described above, the laser generator and the detector are provided in two stages, upper and lower, and the laser generator and the detector are formed in a slender shape extending in the arrangement direction of the suction heads 20a to 20d. The projections of the suction components on the lower side and the lower side are simultaneously detected, and the suction states of these components are simultaneously checked. At this time, when examining the suction state of the upper component, for example, the suction heads (for example, the suction heads 20b and 20d in FIG. 5) that pick up the lower component in accordance with the size of the component stored in advance are used. The projection range of the upper detector 32a is divided so as to exclude the projection, and the suction state of the component is checked. In this way, when recognizing the upper suction component, the projection of the suction head that has sucked the lower component is not erroneously recognized as a component.

When the inspection of the suction component is completed, step S1 is performed.
Then, it is determined whether there is a component to be mounted, that is, whether or not the component to be mounted on the head unit 5 is sucked. Then, when it is determined that there is a component to be mounted, it is further determined whether there is a suction component by the lower suction head, that is, whether there is a component whose lifting stop position is suctioned by the lower suction head. If it is determined that there is a suction component, and if it is determined that there is a suction component, the suction component of the lower suction head is mounted on the printed circuit board 3 in a predetermined order while moving the head unit 5 to the target position (step S12). , S14). At this time, the components are mounted in consideration of a suction error or the like determined according to the suction state of the components checked in step S10.

On the other hand, if it is determined in step S12 that there is no suction component by the lower suction head, that is, if it is determined that mounting of all suction components by the lower suction head has been completed, then the upper side is determined. Are mounted on the printed circuit board 3 in a predetermined order (step S13). Also in this case, the component mounting is performed in consideration of the suction error and the like determined according to the component suction state checked in step S10.

When there are finally no more components to be mounted (NO in step S11), the process returns to step S1 and terminates this flowchart.

According to the mounting machine described above, the lifting stop position of each of the suction heads 20a to 20d after component suction is vertically offset based on the possibility of interference between adjacent suction components as described above. Even if components that interfere with each other when held on the same plane (at the same height position) or components that interfere with each other when rotated during adjustment of the mounting angle, the adjacent suction heads 20a to 20d are used. Can be sucked and mounted. Therefore, components can always be mounted using all of the suction heads 20a to 20d, thereby increasing the operating rate of each of the suction heads 20a to 20d.

In addition, the laser unit 30 is provided with two upper and lower laser generating sections 31a and 31b and detectors 32a and 32b for vertically inspecting the suction component while the suction component is offset vertically. Since the projection of the component can be detected at the same time, the suction state of the component can be checked efficiently.

Therefore, according to the above mounting machine, in order to avoid interference between components, the mounting is performed without using suction heads on both sides of the suction head for sucking the components, for example, sucking the components by skipping one head. The mounting efficiency can be effectively increased as compared with the conventional device that performs the operation.

In the above mounting machine, the laser generating units 31a and 31b and the detectors 32a and 32b of the laser unit 30 are connected to the suction heads 20a to 20b as described above.
Since the components are elongated in the arrangement direction of d, the suction state can be satisfactorily examined regardless of whether the components to be sucked by the suction heads 20a to 20d are arranged in the upper or lower order. Therefore, the height position relationship of the components can be appropriately adjusted so that interference can be reliably avoided according to the type of the components, and the height position at which the components are held is limited by the positions of the suction heads 20a to 20d. There is also a feature that there is no.

Incidentally, in the above mounting machine, as a modified example, for example, a configuration in which a laser unit 30 'shown in FIG.

The laser unit 30 'has the same configuration as the laser unit 30 in that it has upper and lower detectors 32a' and 32b 'as shown in FIG. The configuration is different in that a laser generation unit 31 'is shared with 32b'. That is, in the laser unit 30 ', the laser generator 31' is provided so as to be able to move up and down, and after the components are sucked, the laser generator 31 'is arranged to face the detectors 32a' and 32b 'alternatively. Thus, the projection of each component vertically offset is detected by each of the upper and lower detectors 32a 'and 32b'.

When the laser unit 30 'is mounted, the laser unit 30' is operated according to, for example, a flowchart (steps S20 to S26) in FIG. 8 instead of steps S10 to S14 in the flowchart shown in FIG.

That is, if it is determined in step S8 in FIG. 4 that there is no other component to be mounted, that is, if it is determined that all components have been sucked, the head unit 5
Is moved onto the printed circuit board 3, and the laser generating unit 31 'is arranged in the laser unit 30' so as to face the lower detector 32b ', and the suction state of the lower component is inspected (step S20).

Next, the laser generator 31 'is moved so as to face the upper detector 32a', and the inspection of the suction state of the upper component is started (step S21).

When the inspection of the upper component is started, the flow shifts to step S22 to determine whether or not there is a mounted component. Then, if there is a mounted component, it is further determined whether or not there is a lower component. If it is determined that there is a component, the head unit 5 is moved to the target position while moving.
The components on the lower side are mounted on the printed circuit board 3 in a predetermined order (steps S23 and S26).

On the other hand, if it is determined in step S23 that there is no lower part, it is determined whether the inspection of the suction state of the upper part has been completed (step S2).
4). If it is determined that the inspection has been completed, the components on the upper side are mounted on the printed circuit board 3 in a predetermined order (step S25).

When there are finally no components to be mounted (NO in step S22), the process returns to step S1 in FIG. 4 and terminates this flowchart.

According to such a mounting operation, while the suction state of the upper part is checked, the lower suction part whose inspection state has already been checked is mounted, while the parts are mounted efficiently. There is a feature that can be. In the above example, the controller functions as movement control means for the laser generator 31 '.

In the mounting machine described above, the suction heads 20a to 20d where the suction components may interfere with each other are predicted based on the component data, and the adjacent suction components which may interfere with each other are offset vertically. The suction heads 20a to 20d are controlled so that the adjacent components are always offset vertically without predicting the possibility of such interference. May be controlled.

In the component picking operation, the lower component may be picked up while checking the sucking state of the upper component picked up earlier. As described above, if the operation of recognizing the upper component and the operation of sucking the lower component are performed in parallel, the components can be mounted more efficiently.

Further, in the above example, after the components are sucked, the components are arranged in upper and lower two stages. However, each of the suction heads 20a to 20d is arranged so that the components are arranged in a plurality of stages.
May be controlled. In short, it is only necessary to vertically offset the suction components by the adjacent suction head so as to avoid interference between adjacent components. in this case,
A laser generator and a detector corresponding to the number of stages may be provided in the laser unit 30.

[0054]

As described above, the present invention relates to a surface mounter having a head unit provided with a plurality of suction heads and an optical detection means for checking a suction state of a component sucked by the suction head. After the components are sucked, the suction heads are driven and controlled so that at least one suction head is vertically offset with respect to the suction head adjacent thereto, thereby interfering with each other if the components are sucked and held at the same height position. Even if such components are used, the components can be suctioned by the adjacent suction heads, so that the operation rate of the suction heads can be effectively increased. Moreover, for the optical detection means, by providing the light receiving section in multiple stages,
Since the projections of the vertically offset components can be respectively detected, it is possible to efficiently check the suction state of the components as in the related art.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing an example of a surface mounter to which the present invention is applied.

FIG. 2 is a schematic front view of the same.

FIG. 3 is a front view showing a configuration of a head unit.

FIG. 4 is a flowchart illustrating an example of a mounting operation.

FIG. 5 is a schematic front view of a head unit showing a state where components are sucked by each suction head.

6 is a diagram illustrating the operation of each suction head when checking the suction state of the component by the laser unit, as viewed from the direction indicated by the arrow A in FIG. 5;

FIG. 7 is a view corresponding to FIG. 6, showing another example of a laser unit mounted on the head unit.

8 is a flowchart illustrating an example of a mounting operation when the laser unit illustrated in FIG. 7 is applied.

[Explanation of symbols]

 5 Head Unit 20a-20d Suction Head 21 Nozzle 24 Z-Axis Servomotor 26 R-Axis Servomotor 30 Laser Unit 31a, 31b Laser Generator 32a, 32b Detector

Claims (6)

[Claims] 1. A head unit comprising: a plurality of suction heads for picking up a component which can be rotated and moved up and down; and an optical detecting means for checking a suction state of the component based on detection of a projection of the component sucked by the suction head. And a head mounting means for controlling the driving of each of the suction heads, wherein the optical detecting means is disposed opposite to the suction head so that the suction head can be moved up and down. A light irradiating unit and a light receiving unit extending in the direction, and at least a plurality of light receiving units are provided so as to enable the projection detection of the component at different height positions. The suction head is driven so that at least one suction head is vertically offset with respect to the suction head adjacent thereto, and the components sucked by each suction head are A surface mounting machine characterized in that each suction head is controlled so that each component is arranged with respect to a light receiving unit corresponding to the positional relationship while maintaining a vertical positional relationship between the suction components to check a suction state. . 2. The head control means according to claim 3, wherein a vertical position relationship of each suction component is determined according to a type of the suction component, and a height position of each suction head after component suction is determined based on the determination. The surface mounter according to claim 1, wherein: 3. The device according to claim 1, wherein the optical detection unit divides a projection range of the suction component in the light receiving unit and checks a suction state of the component according to a component size stored in advance. Or the surface mounting machine according to 2. 4. The surface mounter according to claim 1, wherein the optical detection means includes an irradiation unit corresponding to each light receiving unit. 5. The optical detection means includes one irradiation unit movable in a vertical direction.
The surface mounter according to any one of claims 1 to 3, further comprising a movement control unit that controls an operation of the irradiation unit such that the irradiation unit faces the light receiving unit to detect the projection. 6. The movement control means is configured to move an irradiation unit in order to detect a projection in order from a lower part sucked by the suction head, and the head control means already detects the projection during projection detection. 6. The surface mounter according to claim 5, wherein each of the suction heads is controlled so as to mount a lower-side component that has been detected.