JP2002237698A - Method and apparatus for controlling position of nozzle tip section in electronic component-mounting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for controlling the positioning of a load in an electronic component-mounting machine that can obtain a position to the Z direction of a nozzle tip section, based on a signal outputted from a servo motor for moving the nozzle tip section to the Z direction (an upper direction), when electronic components are to be mounted, and to provide an apparatus for controlling the positioning of the load in the electronic component-mounting machine. SOLUTION: A main controller 1 obtains the height of the electronic component, based on the signal outputted from the servo motor 9, when the electronic component is to be mounted, and sets the maximum height of placed electronic components to an operation-starting position Pz. A positioning controller 2 confirms the position to the Z direction of the current nozzle tip section, based on the signal outputted from the servo motor 9, and outputs a command speed to servo drives 3 and 6, when the position to the Z direction of the current nozzle tip section coincides with the operation-starting position Pz.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for controlling the positioning of a nozzle tip (load position) of an electronic component mounting machine having an electronic component mounting head that operates in a horizontal plane and a vertical direction.

[0002]

2. Description of the Related Art A conventional electronic component mounting machine having an electronic component mounting head that operates in a horizontal direction (hereinafter, referred to as an XY direction) and a vertical direction (hereinafter, referred to as a Z direction) is known. The electronic components on the electronic component supply table are simultaneously sucked by the plurality of nozzles of the electronic component supply table, the electronic component mounting head is moved in parallel to the substrate, and the electronic components are moved to predetermined mounting positions on the substrate in a preset order. The components are mounted, and when all the mounted electronic components have been picked up, the operation returns to the electronic component supply table, and the operation of simultaneously picking up the next electronic component to be mounted on each nozzle is repeated. At this time, it is necessary for the electronic component mounter to perform positioning control of the nozzle tip (the site where the electronic component is sucked).

The operation control of the electronic component mounting head unit in the XYZ directions (however, the operation control in the Z direction includes the operation control of the nozzles) is performed by driving a mechanical mechanism such as a ball screw. In other words, the actuators such as a plurality of servo motors included in these mechanical mechanisms are driven and driven.
By controlling, the position of the nozzle tip is controlled in the XYZ directions.

[0004] The positioning control of the nozzle tip in a conventional electronic component mounting machine having an electronic component mounting head that operates in the XYZ directions will be described with reference to the drawings. FIG. 5 is a block diagram showing a configuration of a nozzle tip positioning control device in the electronic component mounting machine. FIG.
, The servo driver 3, the servo motor 4, and the mechanical mechanism 5 are control mechanisms for controlling the operation of the tip of the nozzle in the X direction (the operation of the electronic component mounting head itself in the X direction). 7, a mechanical mechanism 8 is a control mechanism for controlling the operation of the nozzle tip in the Y direction (the operation of the electronic component mounting head itself in the Y direction), and includes a servo driver 9 and a servo motor 1
0, the mechanical mechanism 11 is a control mechanism for controlling the operation (nozzle up / down operation) of the nozzle tip in the Z direction. However, the servo driver 9 and the like are for the nozzles that are currently performing the up-and-down operation (the operation in the Z direction, that is, the operation in the vertical direction) among the servo drivers and the like that control the respective nozzles. 3, 6 and the like control the operation of the electronic component mounting head in the XY directions, that is, the operation in the horizontal plane direction.

The main controller 1 starts operation with target parameters P (x, y, z), maximum speed V (x, y, z) and maximum acceleration α (x, y, z) of the nozzle tip, which are operation parameters. A command C is given to the positioning controller 2, and the positioning controller 2 issues command speeds X,
Y and Z are calculated and output. Each servo driver 3,
Reference numerals 6 and 9 drive and control the servo motors 5, 8, and 11 provided in the respective mechanical mechanisms 5, 8, and 11 based on the input command speeds X, Y, and Z.

The operation of the mechanical mechanism 11 when mounting the electronic component on the board is an elevating operation. The mechanical mechanism 11 descends from a certain height and rises to the certain height when the electronic component is pressed on the board. This elevating operation performed by the mechanical mechanism 11 is nothing less than the elevating operation performed by the nozzle tip, and as a result, the nozzle tip also descends from a predetermined height (a height that is a base point of the nozzle elevating operation). It will rise to the predetermined height.

The mechanical mechanism 11 is provided with one or more height detecting sensors 13, and outputs a detection signal when the mechanical mechanism 11 moves from the certain height by an amount (predetermined amount) captured by each. . That is, when the tip of the nozzle is located at the position (height) captured by the height detection sensor 13, a detection signal is output.

The input / output controller 12 is a positioning controller 2 based on a detection signal from the height detection sensor 13.
Is output. As shown in FIG. 6, the positioning controller 2 outputs command speeds X, Y, and Z calculated based on the given operation parameters to the servo drivers 3, 6, and 9, respectively. That is, the servo driver 9
In the (Z direction), a command speed Z is output in synchronization with an operation start command C from the main controller 1, and the servo driver 9 drives the servo motor 10 based on the command speed Z.
Control. Servo drivers 3 and 6 (X and Y directions)
Output the command speeds X and Y in synchronization with the operation start signal D from the input / output controller 12.
6 drives and controls the servomotors 4 and 7 based on the command speeds X and Y.

Next, the operation of the electronic component mounter having the above-described nozzle tip positioning control device when mounting electronic components on a substrate will be described. In the electronic component mounting machine, when each nozzle simultaneously sucks the electronic component on the electronic component supply table, the electronic component is raised to the predetermined height, and first, the electronic component mounted on the substrate is sucked. The electronic component mounting head is moved in parallel so that the corresponding nozzle is located directly above the predetermined mounting position. When it arrives just above the mounting position, the nozzle is lowered to perform a search operation. By this search operation, an appropriate pressure is applied to the electronic component, and the electronic component is pressed against the land on the substrate. Then, the nozzle is raised to the predetermined height, and then the electronic component mounting head is moved so that the nozzle holding the electronic component to be mounted on the substrate is located directly above the predetermined mounting position. When the above operation is repeated and all the electronic components sucked by each nozzle have been mounted, the process returns to the electronic component supply table in order to suck a new electronic component to each nozzle.

In the above-described conventional electronic component mounter, when one nozzle operates after mounting the electronic component on the substrate, that is, when the nozzle is raised to start moving in the XY directions, From the viewpoint of shortening the mounting time, the movement of the nozzle in the XY direction is started before the nozzle has finished ascending to the predetermined height (that is, the movement of the nozzle in the obliquely upward direction is stopped at the predetermined height). Until you reach it). Hereinafter, as an example of the operation at the time of raising the nozzle after mounting the electronic components, the operation of returning to the electronic component supply table after the mounting of all the electronic components sucked by the nozzles will be described.

FIG. 7 shows an electronic component on the electronic component supply table 19 for attracting a new electronic component B17 after the nozzle 15 of the electronic component mounting head mounts the electronic component A16 at the position P0 on the substrate 14. FIG. 9 is a conceptual diagram showing a state in which the position returns to a position P1 where B17 exists. When positioning the tip of the nozzle 15 from the position P0 to the position P1 when the mounted electronic component C18 is located along the way as shown in FIG. The movement of the electronic component mounting head, that is, the tip of the nozzle 15 in the X and Y directions has been started after the height detection sensor detects that the electronic component has moved higher than the mounted electronic component C18. For example, when one height detection sensor is provided for each mechanical mechanism, the height detected by the height detection sensor is
When mounting the electronic component having the maximum height among all electronic components mounted on the substrate, the height may be adjusted to the height (position of the mechanical mechanism) where the nozzle tip is located. In this way, the height detection sensor does not output a detection signal unless the nozzle tip does not rise until the tip of the nozzle exceeds the maximum height after mounting the electronic component.
Do not start moving in the direction. Further, by providing a plurality of height detection sensors for each mechanical mechanism, it is possible to change the operation start timing of the nozzle tip in the XY directions according to the maximum height of the mounted electronic components. However, the height detected by each of the plurality of height detection sensors provided for each mechanical mechanism is constant for each mechanical mechanism. In this case, a detection signal that is output each time the nozzle tip (mechanism mechanism) passes a position captured by each height detection sensor during a search operation (when the nozzle tip is descending) is input to the main controller. . The main controller determines the amount of movement of the nozzle tip from the predetermined height from the detection signal, determines and stores the maximum height of the mounted electronic components from the amount of movement, and according to the maximum height. The value of the operation parameter is changed and given to the positioning controller, and the data of the maximum height is given to the input / output controller. The input / output controller stores the data of the maximum height, compares the data with the detection signal from the height detection sensor, and outputs an operation start signal D.

However, in the case where one height detection sensor is provided, even after the electronic component having a low height is mounted, the nozzle tip (the electronic component mounting) is required until the nozzle tip reaches the maximum height. The operation of the head section in the X and Y directions cannot be started, which hinders speeding up. Further, when a plurality of height detection sensors are provided, the number of height detection sensors is limited due to physical restrictions, and the operation start position of the nozzle tip in the XY directions after mounting electronic components is accurately determined. Cannot be set. In addition, when the number of height detection sensors increases, a processing delay in the input / output controller occurs, which hinders an increase in speed (FIG. 8 shows an example of a measurement waveform with a delay). Further, an increase in the number of sensors and wirings may cause an increase in cost and a decrease in reliability due to disconnection.

[0013]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned conventional problems, and uses a servomotor for moving the nozzle tip in the Z direction at the time of mounting electronic components without using a height detection sensor. It is an object of the present invention to provide a method of controlling the positioning of the nozzle tip of an electronic component mounting machine capable of obtaining the position of the nozzle tip in the Z direction based on an output signal, and an apparatus therefor.

[0014]

Means for Solving the Problems Claim 1 of the present invention
The method of controlling the positioning of the nozzle tip of the electronic component mounting machine described above is a method of controlling the positioning of the nozzle tip of an electronic component mounting machine including an electronic component mounting head that operates in a horizontal plane and up and down directions. When moving the nozzle tip in the horizontal direction after mounting the electronic component, determine the height of the electronic component based on the signal output from the servo motor for moving the nozzle tip in the vertical direction when mounting the electronic component, The maximum height of the mounted electronic components is set as the operation start position of the nozzle tip in the horizontal plane direction, and is output from the servo motor for moving the nozzle tip in the vertical direction after mounting the electronic components. The position of the current nozzle tip in the vertical direction is confirmed based on the signal, and the operation start position is compared with the current position of the nozzle tip in the vertical direction. When matched, with a positioning controller driving and controlling the servo motor for moving the nozzle tip by outputting the command speed for the horizontal direction to the horizontal plane.

According to a second aspect of the present invention, there is provided a method for controlling the positioning of a nozzle tip of an electronic component mounting machine, comprising the steps of: positioning a nozzle tip of an electronic component mounting machine having an electronic component mounting head that operates in a horizontal plane and a vertical direction; A control method for moving a nozzle tip in a horizontal plane after mounting an electronic component on a substrate, based on a signal output from a servomotor for moving the nozzle tip in a vertical direction when mounting the electronic component. Calculate the height of the electronic component, set the operable range in the horizontal plane direction of the nozzle tip using the maximum height of the mounted electronic components and a predetermined height, and set the nozzle after the electronic component is mounted. Check the current position of the nozzle tip in the vertical direction based on the signal output from the servomotor for moving the tip in the vertical direction, When the position relative to the vertical direction of the current of the nozzle tip is within the driving servo motor for positioning controller moves the nozzle tip by outputting the command speed for the horizontal direction to the horizontal direction,
It is characterized by controlling.

According to a third aspect of the present invention, there is provided a positioning control device for a nozzle tip of an electronic component mounting machine, the positioning of the nozzle tip of an electronic component mounting machine having an electronic component mounting head that operates in a horizontal plane and a vertical direction. The control device obtains the height of the electronic component based on a signal output from a servomotor for moving the tip of the nozzle in a vertical direction when mounting the electronic component, and determines the maximum height of the mounted electronic components. Main controller that stores the height of the nozzle as the operation start position of the nozzle tip in the horizontal plane direction, and stores the operation start position output from the main controller, and moves the nozzle tip in the vertical direction after mounting the electronic components. Check the current vertical position of the tip of the nozzle based on the signal output from the servo motor for the operation start position and the current A positioning controller for driving and controlling a servomotor for outputting a command speed in the horizontal plane direction and moving the nozzle tip section in the horizontal plane when the position of the nozzle tip in the vertical direction is compared with and matched with the position in the vertical direction. It is characterized by.

According to a fourth aspect of the present invention, there is provided a positioning control device for a nozzle tip of an electronic component mounting machine, wherein the nozzle tip positioning of the electronic component mounting machine having an electronic component mounting head that operates in a horizontal plane direction and a vertical direction. The control device obtains the height of the electronic component based on a signal output from a servomotor for moving the tip of the nozzle in a vertical direction when mounting the electronic component, and determines the maximum height of the mounted electronic components. A main controller that sets and stores an operable range in the horizontal plane direction of the nozzle tip using the height and a predetermined height, and stores the operable range output from the main controller, after mounting electronic components. Check the current position of the nozzle tip with respect to the vertical direction based on the signal output from the servomotor for moving the nozzle tip in the vertical direction. When the current position of the nozzle tip in the up-down direction is within the operable range, a positioning speed for driving and controlling a servomotor for outputting a command speed in the horizontal plane direction and moving the nozzle tip in the horizontal plane direction is output. And a controller.

According to the present invention, the position of the nozzle tip in the Z direction is obtained based on a signal output from a servomotor for moving the nozzle tip in the Z direction (vertical direction) when mounting electronic components. In addition, accurate, reliable, inexpensive, and high-speed positioning control of the nozzle tip can be performed.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to FIGS. Note that members having the same configuration as the above-described conventional example are denoted by the same reference numerals, and description thereof will be omitted.

FIG. 1 is a diagram showing XYZ according to an embodiment of the present invention.
FIG. 4 is a block diagram illustrating a configuration of a nozzle tip positioning control device of an electronic component mounting machine including an electronic component mounting head that operates in a direction. FIG. 2 is a diagram showing a command speed output from the positioning controller to each servo driver. The electronic component mounter mounts the electronic component by lowering the nozzle from the predetermined height and mounts the electronic component to the predetermined height after mounting, as in the conventional example.

The main controller 1 instructs the positioning controller 2 to set a target position P (x, y, z), a maximum speed V (x, y, z) and a maximum acceleration α (x, y, z) of the nozzle tip as operating parameters. ), An operation start command C, an operation start position Pz, and an axis designation A, and the positioning controller 2 stores these commands. The operation start position Pz is
This is the position (height) at which the tip of the nozzle starts operating in the X and Y directions after mounting the electronic component, and data transmitted from the encoder of the servo motor 9 during the search operation (the predetermined height during the search operation of the tip of the nozzle This is the maximum height of the mounted electronic components determined by the main controller 1 based on the amount of movement from the above. The main controller 1 stores this maximum height and gives it to the positioning controller 2. The axis designation A designates a currently operating nozzle among a plurality of nozzles (axes) of the electronic component mounting head unit. Operation start position Pz and axis designation A
Are set only for the servo drivers 3 and 6 in the X and Y directions. By setting these,
When operating the servo drivers 3 and 6, the positioning controller 2 checks the current position of the designated nozzle tip, that is, the current position (height) of the nozzle tip in the Z direction, and determines that position as the operation start position. The command speeds X and Y are output to the servo drivers 3 and 6 after confirming that they match Pz.

As shown in FIG. 2, the positioning controller 2 calculates a command speed for each of the servo drivers 3, 6, and 9 based on the given operation parameters, and calculates each command speed for each of the servo drivers 3, 6, and 9. Output to That is, the command speed Z is output to the servo driver 9 (Z direction) in synchronization with the operation start command C from the main controller 1. For the servo drivers 3 and 6 (X and Y directions), the set operation start position Pz and axis designation A
When the current position of the nozzle tip in the Z direction coincides with the operation start position Pz, the command speeds X and Y are output.

The operation of the positioning controller 2 after mounting the electronic components on the substrate will be described below with reference to the operation flowchart of the positioning controller in the present embodiment shown in FIG.

First, the positioning controller 2 is in a state of waiting for an operation start command C from the main controller 1 (step 1), and each command such as an operation start command C and an operation parameter is sent from the main controller 1. When given, the process proceeds to step 2. In step 2, the command speeds X, Y, and Z for the servo drivers 3, 6, and 9 are calculated based on the operation parameters given from the main controller 1, and the axis designation A is set to any of the servo drivers. Is determined. Since the operation start position Pz and the axis designation A are set in the servo drivers 3 and 6 and are not set in the servo driver 9, the positioning controller 2 sends the servo driver 9 for which the axis designation A is not set in step 3 to the servo driver 9. Command speed Z
Is output in synchronization with the operation start command C, and in step 4, the current position of the nozzle tip in the Z direction is confirmed in accordance with the setting of the operation start position Pz and the axis designation A, and is compared with the operation start position Pz. . The positioning controller 2 confirms the current position of the nozzle tip in the Z direction based on data sent from an encoder provided in the servo motor 9. As a result of comparing the current position of the tip of the nozzle in the Z direction with the operation start position Pz, if they match, the process proceeds to step 5 and outputs the command speeds X and Y to the servo drivers 3 and 6.
That is, the positioning controller 2 compares both the operation start position Pz and the operation start position Pz until the current position of the nozzle tip in the Z direction matches the operation start position Pz according to the setting of the axis designation A.

The main controller 1 stores the maximum height of the mounted electronic components based on the data transmitted from the encoder of the servo motor 9 during the search operation, and stores the maximum height and the predetermined height. May be used to set the operable range, and may be provided to the positioning controller 2 instead of the operation start position Pz.

As shown in FIG. 4, the operable range described above is set for the servomotors 3 and 6, and after the electronic components are mounted, the nozzle tip moves in the X and Y directions (the electronic component mounting head unit). Until the operation in the XY directions is completed, it may be continued to check whether the current position of the nozzle tip in the Z direction is within the operable range. That is, FIG.
As shown in step 5, the operation in the X and Y directions is started.
Thereafter, it is continued to check whether or not the current position of the nozzle tip in the Z direction is within the operable range until the operation of the nozzle tip in the XY directions is completed (steps 6 and 7). Of the tip of the nozzle
When the position in the direction deviates from the operable range, the operation may be stopped (step 8). As a result, interference with an obstacle in the Z direction can be prevented.

[0027]

According to the present invention, the position of the nozzle tip in the Z direction is obtained based on the signal output from the servomotor for moving the nozzle tip in the Z direction at the time of mounting the electronic component, thereby obtaining an accurate position. Thus, reliable, inexpensive and high-speed positioning control of the nozzle tip can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a nozzle tip positioning control device of an electronic component mounting machine having an electronic component mounting head unit operating in XYZ directions according to an embodiment of the present invention.

FIG. 2 is a diagram showing a command speed output from a positioning controller to each servo driver according to the embodiment of the present invention.

FIG. 3 is an operation flowchart of a positioning controller according to the embodiment of the present invention.

FIG. 4 is an operation flowchart of a positioning controller according to the embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a nozzle tip positioning control device in a conventional electronic component mounting machine having an electronic component mounting head that operates in the XYZ directions.

FIG. 6 is a diagram showing each command speed output from a conventional positioning controller to each servo driver.

FIG. 7 is a view showing an electronic component B on an electronic component supply table for adsorbing a new electronic component B after a nozzle included in the electronic component mounting head mounts the electronic component A at a position P0 on the substrate;
Conceptual diagram showing a state of moving to a position P1 in which there exists

FIG. 8 is a diagram illustrating an example of a measured waveform when a processing delay occurs in an input / output controller of an electronic component mounting apparatus including a conventional height detection sensor.

[Explanation of symbols]

 Reference Signs List 1 Main controller 2 Positioning controller 3 Servo driver for X direction 4 Servo motor for X direction 5 Mechanical mechanism for X direction 6 Servo driver for Y direction 7 Servo motor for Y direction 8 Mechanical mechanism for Y direction 9 Servo driver for Z direction 10 Z Servo motor for direction 11 Mechanical mechanism for Z direction 12 Input / output controller 13 Height detection sensor 14 Substrate 15 Nozzle 16 Electronic component A 17 Electronic component B 18 Electronic component C 19 Electronic component supply table 19

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Seiichi Matsuo 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. F term (reference) 3C007 AS08 BS03 CY11 HS04 HS27 HT20 KS17 KS36 LT18 LV04 LV07 LV23 MT04 MT06 NS17 5E313 AA01 AA11 EE01 EE02 EE24 FF24 FF28

Claims (4)

[Claims] 1. A method for controlling the positioning of a nozzle tip of an electronic component mounting machine having an electronic component mounting head that operates in a horizontal plane direction and a vertical direction, comprising: mounting an electronic component on a substrate; When moving in the direction, the height of the electronic component is obtained based on the signal output from the servomotor for moving the nozzle tip vertically when mounting the electronic component, and the maximum of the height of the mounted electronic component is obtained. The height of the nozzle tip is set as the operation start position of the nozzle tip in the horizontal plane, and based on the signal output from the servo motor for moving the nozzle tip in the vertical direction after mounting the electronic components, the current nozzle tip is The position in the vertical direction is checked, and when the operation start position is compared with the current position of the nozzle tip in the vertical direction, when the positioning controller Positioning control method of the nozzle tip portion of an electronic component mounting apparatus, characterized in that driving and controlling the servo motor for outputting the command speed for the direction to move the nozzle tip to the horizontal direction. 2. A method for controlling the position of a nozzle tip of an electronic component mounting machine having an electronic component mounting head that operates in a horizontal plane direction and a vertical direction, comprising: mounting an electronic component on a substrate, and then positioning the nozzle tip portion in a horizontal plane. When moving in the direction, the height of the electronic component is obtained based on the signal output from the servomotor for moving the nozzle tip vertically when mounting the electronic component, and the maximum of the height of the mounted electronic component is obtained. Using the height of the nozzle and the predetermined height, the operable range of the nozzle tip in the horizontal plane direction is set, and based on the signal output from the servo motor for moving the nozzle tip in the vertical direction after mounting electronic components Check the current vertical position of the nozzle tip, and if the current vertical position of the nozzle tip falls within the operable range, perform positioning control. Positioning control method of the nozzle tip portion of an electronic component mounting apparatus, characterized in that driving and controlling a servomotor for over la moves the nozzle tip by outputting the command speed for the horizontal direction to the horizontal plane. 3. A positioning control device for a nozzle tip of an electronic component mounting machine having an electronic component mounting head that operates in a horizontal plane direction and a vertical direction, wherein the nozzle tip portion is moved vertically when an electronic component is mounted. Main controller that determines the height of the electronic component based on the signal output from the servo motor, and stores the maximum height of the mounted electronic components as the operation start position of the nozzle tip in the horizontal plane direction And storing the operation start position output from the main controller, and based on a signal output from a servomotor for moving the nozzle tip in the vertical direction after mounting the electronic component, the current vertical direction of the nozzle tip. When the operation start position and the current position of the nozzle tip in the vertical direction are compared with each other and coincide with each other, the position in the horizontal direction is determined. Positioning control apparatus of the nozzle tip portion of an electronic component mounting apparatus characterized by comprising a positioning controller for driving and controlling the servo motor by outputting a command speed for moving the nozzle tip to the horizontal direction that. 4. A positioning control device for a nozzle tip of an electronic component mounting machine having an electronic component mounting head that operates in a horizontal direction and a vertical direction, wherein the nozzle tip moves vertically when an electronic component is mounted. The height of the electronic component is obtained based on the signal output from the servo motor of the above, and it is possible to operate the nozzle tip in the horizontal direction using the maximum height of the mounted electronic components and the predetermined height A main controller for setting and storing a range, and storing the operable range output from the main controller, based on a signal output from a servomotor for vertically moving a nozzle tip after mounting electronic components. The position of the current nozzle tip in the vertical direction is confirmed, and the position of the current nozzle tip in the vertical direction is within the operable range. A positioning controller for driving and controlling a servomotor for outputting a command speed in the horizontal direction and moving the nozzle tip in the horizontal direction, and controlling the positioning of the nozzle tip of the electronic component mounting machine. apparatus.