JP2002271097A - Electronic component mounting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress vibration of a rotor in a rotation driving motor by increasing a current for a prescribed time of period even during the stop of the rotation driving motor at the timing of suction, recognition and mounting of electronic components in an electronic component mounting apparatus. SOLUTION: A rotary table rotates intermittently via an index unit, and moves to each station. In this case, since the position of the table is recognized by a rotation angle detector 65, from the completion of stop of the image pick-up station just before the present station until the completion of stop of the present station a host CPU 74 provides a current value increase command to a driving circuit 82 of a pulse motor 31 for rotating the table via a serial interface 79 and a microcomputer 78. Thus, a current moving upward from the circuit 82 is provided to the motor 31 and a holding torque of the rotor does not decrease.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction head of a plurality of mounting heads arranged at the periphery of a rotary table intermittently rotated by driving of an index unit by a driving motor to take out electronic components at a suction station and to send the electronic components to an imaging station. The imaging camera picks up an image of the electronic component sucked by the suction nozzle, and rotates the motor by a rotation drive motor based on the recognition result of the image picked up by the camera with the suction nozzle of the mounting head moved by the rotation of the table. The present invention relates to an electronic component mounting apparatus that corrects the rotation of a suction nozzle by an amount corresponding to a rotational direction deviation and mounts the electronic component on a printed board at a mounting station.

[0002]

2. Description of the Related Art When a rotary drive motor is stopped, its current is reduced to a low current value for the purpose of suppressing heat generation and an overall current value. Holding torque decreases.

[0003]

Accordingly, the rotor is vibrated by the turning acceleration of the rotary table due to this decrease. Particularly, when the vibrator is vibrated by an imaging station for imaging the electronic component sucked by the suction nozzle. There is a problem that the image becomes blurred and the accuracy of the position recognition of the electronic component is not good with the speeding up of the mounting device.

Accordingly, the present invention increases the current value for a certain period even when the rotation driving motor for rotating the suction nozzle is stopped, at the timing of suction, recognition, and mounting of the electronic component in the electronic component mounting apparatus. An object of the present invention is to suppress vibration of a rotor of a rotary drive motor due to disturbance.

[0005]

Means for Solving the Problems For this reason, the first invention provides
The suction nozzles of a plurality of mounting heads arranged around the periphery of the rotary table intermittently rotated by the drive of the index unit by the drive motor take out electronic components at the suction station, and are sucked by the suction nozzle by the imaging camera at the imaging station. The electronic component is imaged, and the suction nozzle of the mounting head is moved by the rotation of the table. The suction nozzle is rotated by a rotation driving motor based on the recognition result of the image picked up by the camera based on the recognition result of the camera. In an electronic component mounting apparatus that corrects and mounts the electronic component on a printed circuit board at a mounting station, a rotation angle detector that detects a rotation angle of the rotary table and an angle information from the rotation angle detector. Even when the rotary drive motor is stopped, a current value increase command is given to the drive circuit. Characterized in that it consists of a Gosuru controller.

According to a second aspect of the present invention, the rotation angle detector detects a rotation angle of the rotary table, and the control device controls the rotation angle of the rotary table from a station immediately before the imaging station to the imaging station. Is controlled to give a current value increase command to the drive circuit of the rotary drive motor.

A third aspect of the present invention is characterized in that the controller controls the drive circuit so as to give a current increase command to the drive circuit while the rotary drive motor is stopped at the suction station or the mounting station.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. 1 and 2, reference numeral 1 denotes a Y that moves in the Y direction by driving a Y-axis motor 2.
Reference numeral 3 denotes an XY table which is moved in the X direction on the Y table 1 by driving the X-axis motor 4 and consequently moves in the XY directions.
A printed circuit board 6 on which an electronic component (hereinafter, referred to as an electronic component) is mounted is fixed and mounted on fixing means (not shown).

Reference numeral 7 denotes a supply table on which a number of component supply devices 8 for supplying the electronic components 5 are provided. Reference numeral 9 denotes a supply stand drive motor, which rotates the ball screw 10 so that the supply stand 7 is guided by the linear guide 12 through a nut 11 fitted with the ball screw 10 and fixed to the supply stand 7, and X Move in the direction. Reference numeral 13 denotes a rotary table which rotates intermittently, and a mounting head 1 having a plurality of suction nozzles 14 as take-out nozzles at the outer edge of the table 13.
5 are arranged at equal intervals in accordance with the intermittent pitch.

Next, a main stop station for stopping the intermittent rotation of the rotary table 13 will be described. The stop position of the rotary table 13 of the mounting head 15 of the mounting head 15 in which the suction nozzle 14 sucks and takes out the component 5 from the supply device 8 is described. The upper part in FIG. 1 is a suction station I, and the suction nozzle 14 sucks the component 5 by lowering the mounting head 15 at the suction station I.

Reference numeral II denotes an imaging station in which the mounting head 15 sucking the component 5 stops due to the intermittent rotation of the rotary table 13, an image of the component 5 is captured by the imaging camera 16, and the displacement of the component 5 with respect to the suction nozzle 14 is recognized. Is done.

Reference numeral III denotes a mounting station at which the mounting head 15 stops to mount the component 5 sucked and held by the suction nozzle 14 on the printed circuit board 6 (a position indicated by a black circle in FIG. 1). X by lowering head 15
The component 5 is mounted on the printed board 6 stopped at a predetermined position by the movement of the Y table 3.

Reference numeral 18 denotes a power line 18A for transmitting a current from a driving circuit 82 (see FIG. 4) stored in a rotary table 13 for driving a pulse motor 31 as a current driving load described later. Power line 18B for transmitting current to vacuum valve 44, which is a current driving load
And a cable including an electric wire for transmitting and flowing a current to another current driving load, and is connected to each mounting head 15. The cable 18 has an origin detecting element 4 to be described later.
3 are provided with communication lines 18C and 18D. A vacuum tube 19 communicates with a vacuum source (not shown) for sucking the electronic component 5 from the suction nozzle 14.

The mounting head 15 is mounted on a linear guide 22 via a head block 21 and is vertically movable with respect to the rotary table 13.

The mounting head 15 will be described below with reference to FIG. In the mounting head 15, a pulse motor 31 for rotating the suction nozzle 14 is incorporated and formed.

Reference numeral 32 denotes a rotor as a rotating body of the motor 31, which is rotatable in the θ direction within the stator 30 serving as a housing. The θ direction is a direction rotating around an axis extending vertically (vertical axis). Reference numeral 33 denotes a permanent magnet buried around the entire circumference of the rotor 32, and an iron core 34 magnetized by the magnet 33 is provided on the upper and lower sides of the permanent magnet repeatedly in the circumferential direction. Reference numeral 35 denotes an iron core attached to the inner wall of the stator 30 over the entire circumference thereof. The iron core 35 has a plurality of protrusions in the circumferential direction of the stator 30, and a coil 36 is wound around the protrusion. ing.

A pulse-like current from the cable 18 flows through the coil 36, and the rotor 32 rotates by a predetermined angle according to the number of pulses due to a repulsive force against the protrusion of the iron core 34 magnetized by the permanent magnet 33. I do. Reference numeral 38 denotes a bearing that rotatably supports the rotor 32 with respect to the stator 30.

The suction nozzles 14 are provided so as to be vertically movable by penetrating the rotor 32 in the vertical direction, and a vacuum suction hole 40 is formed from the tip of the nozzle 14. The vacuum suction hole 40 is provided in the middle of the side
And a communication hole 37 formed in the rotor 32.
Through the vacuum chamber 39 extending in the axial direction of the rotor 32. An engagement body 42 is formed at an upper portion of the nozzle 14 and is urged downward by a pressing spring 50. On the upper part of the rotor 32, a lever 46 for engaging with the engaging body 42 of each suction nozzle 14 and holding the suction nozzle 14 in an elevated state against the spring 50 swings in the axial direction of the rotor 32. It is attached by being urged by a spring 47. When the lever 46 is swung by a lever rotating device (not shown) so as to open its lower end against a spring 47, the suction nozzle 14 held by the lever 46 as shown on the left side of FIG. In this state, the component 5 is projected and the component 5 is sucked. In the state on the left side of FIG. 3 in which the engagement body 42 is held and housed by the lever 46 without using the nozzle 14, the opening of the body of the nozzle 14 does not communicate with the communication hole, and the communication hole 37 is formed on the side surface of the nozzle 14. To prevent the vacuum from leaking.

The vacuum chamber 39 communicates with the vacuum tube 19 via a rotary joint 49 rotatable above the rotor 32. The rotary joint 49 includes a rotating end 51 having a hollow portion (not shown) and a fixed end 52 having a hollow portion (not shown) rotatably provided on the rotating end 51 by a ball bearing (not shown).

In FIG. 2, reference numeral 57 denotes an index unit, which rotates the output shaft of a motor (not shown) to
The output shaft is decelerated by 8 and input to the unit 57. The output shaft of the unit 57 intermittently rotates by indexing a predetermined angle, and drives the intermittent rotation of the rotary table 13 connected to the output shaft. An index input shaft (not shown), which is an output shaft of the speed reducer 59, is provided through the housing 59 of the index unit 57.

Reference numeral 26 denotes an elevating lever which moves up and down to swing a swing lever 27 of the component supply device 8, and swings the lever 27 to feed a tape (not shown) wound in a tape reel 28. Electronic components 5 stored in tape
Is supplied to the suction position of the nozzle 14.

The rotary table 13 is rotatably mounted on a base 29.
The XY table 3 also moves with respect to the base 29.

The lower end 48 of the rotor 32 has a disk shape, and the magnet 41 is embedded at one location on the circumference of the lower end 48. The stator 30 is provided with an origin detecting element 43 (Hall IC) as a current driving load for detecting the origin, and outputs an origin detecting signal when the magnet 41 faces the origin detecting element due to the rotation of the rotor 32. The signal current flows through the communication line 18D in the cable 18 and the signal is input to the microcomputer 78 in the rotary table 13.

A vacuum valve 44 as a current driving load is mounted on the head block 21. The vacuum valve 44 is provided in the rotary table 13 to supply a negative pressure to the vacuum chamber 39 of the head 15 via the vacuum tube 19. Vacuum passage 4
It has a function of switching to communicate with a vacuum source (not shown) via 5 or a function of switching the vacuum chamber 39 to an atmosphere open state. The vacuum valve 44 is an electromagnetic valve, and is driven by a current flowing through the power line 18B in the cable 18 under the control of a microcomputer 78 in the rotary table 13 which will be described later.

As shown in FIG. 3, the cable 18 is detachably connected to the mounting head 15 by a connector 54 as a head-side connecting member. The connector 54 is composed of a driving-side connector 55 fixed to the cable 18 and a driven-side connector 56 fixed to the head 15. The driving-side connector 55 is attached to and detached from the driven-side connector 56. A power line 18A for passing a drive current of the motor 31 to each terminal of the driven connector 56, communication lines 18C and 18D for passing a signal current from the origin detection element 43, a power line 18B for passing a current for driving the vacuum valve 44, and the like. It is fixed by soldering or the like. The cable 18 is detachably connected to the rotary table 13 by a table-side connecting member 53 (see FIG. 4) which is an integral connector.

Referring to FIG. 4, a control block of the electronic component automatic mounting apparatus will be described. Reference numeral 74 denotes a host CPU, based on various data and the like stored in the RAM 75,
The electronic component 5 according to the program stored in the ROM 76
It controls various operations related to mounting of. 77 is CPU7
4 is a bus line for connecting a RAM 75 and the like.

In the RAM 75, mounting data (not shown) is stored for each type of the printed circuit board 6. The component data is supplied from the component supply device 8 at a position on the supply table 7 indicated by the reel number in the order of the step numbers of the data. 5 is taken out and mounted at the coordinate position of the printed circuit board 6 at the angular position indicated by the mounting angle data. When only the mounting angle data rotates the suction nozzle 14 due to the rotation of the rotor 32, the electronic component 5 taken out of the component supply device 8 is set to the mounting angular position if the sucked posture is correct.

The host CPU 74 sends data representing the distance to move the XY table 3 to the drive circuits 60 and 61 for driving the Y-axis motor 2 and the X-axis motor 4 in the X and Y directions based on the mounting data. A microcomputer 7 which is instructed via the interfaces 62 and 63 and which will be described later.
In FIG. 8, a signal of the control data is sent based on the mounting angle data.

The bus line 77 further includes a pulse motor 3
The pulse motor 31 is mounted on the mounting head 15 of the rotary table 13 that rotates with respect to the base 29, and the host CPU 74 is mounted in the base 29. Therefore, the wiring between the pulse motor 31 and the CPU 74 cannot be connected by soldering a lead wire at this portion. For this purpose, a microcomputer 78 is connected as control means for driving each pulse motor 31 via the slip ring 80. A serial interface (not shown) is incorporated in the microcomputer 78. Wiring from the slip ring 80 is connected to an interface (not shown) in a current loop multi-drop communication mode by the number corresponding to the pulse motor 31. It is connected to a computer 78. Each microcomputer 78 is connected to a drive circuit 82 that drives the pulse motor 31 by supplying a current thereto.

When an angle amount to be rotated by the pulse motor 31 is given from the host CPU 74, the microcomputer 78 calculates and generates a speed waveform corresponding to the angle amount, and the driving circuit 82 uses data based on the waveform.
Transmits the current for driving the pulse motor 31 to the cable 18.
It is a thing to flow.

The drive circuit 82 includes the vacuum valve 4
4 is connected via the cable 18. When the corresponding mounting head 15 reaches the suction station I, the vacuum valve 44 turns on the vacuum and causes the suction nozzle 14 to vacuum-suck the component 5, so that the head 15 is mounted on the mounting station II.
When the pressure reaches I and the head 15 descends to mount the component 5, the vacuum is turned off and the pressure is switched to the atmospheric pressure. The drive circuit 82 supplies a switching drive current for this purpose, and the control is performed by the microcomputer 78 based on a command from the host CPU 74. The microcomputer 78 is connected to the origin detecting element 43 via the cable 18, and a detection signal is transmitted to the computer 78.

Reference numeral 65 denotes a rotation angle detector such as an optical encoder or a resolver.
To detect the rotation angle of the rotary table 13. Based on the angle information from the rotation angle detector 65 via the interface 66, the host CPU 74 gives a current value increase command to the drive circuit 82 of the pulse motor 31 via the serial interface 79 and the microcomputer 78, and The increased current flows through the power line 18A and is given to the pulse motor 31.

That is, when the operation of the pulse motor 31 is stopped, the current value is generally reduced for the purpose of suppressing heat generation and the overall current value. Since the holding torque of the rotor 32 decreases, there is a problem that the rotor 32 is vibrated and vibrated by the turning acceleration of the rotary table 13 due to the decrease. Therefore, the pulse motor 31 flows to the pulse motor 31 based on the angle information from the rotation angle detector 65, that is, for example, between the end of the stop of the station immediately before the imaging station II and the end of the stop of the imaging station II, as described above. The value of the current (hereinafter referred to as “current value”) is increased (to 130% of the driving current during rotation).
75), the pulse motor 31 due to disturbance
The vibration of the rotor 32 is suppressed.

Accordingly, when the electronic component 5 sucked by the conventional suction nozzle 14 is vibrated by the imaging station for imaging, the image becomes a blurred image, and the position of the electronic component is recognized with the speeding up of the mounting device. There has been a problem that a situation in which it becomes impossible occurs, but this problem can be solved.

The operation of the above configuration will be described below. First, the electronic component 5 of the electronic component automatic mounting device
The operation of the automatic operation of mounting on the printed circuit board 6 will be described. When the device is powered on, each mounting head 15
Of the rotation angle of the suction nozzle 14 (that is, the rotation angle of the rotor 32) is detected. That is, the rotor 32 is rotated at a low speed, a detection signal is output at a position where the origin detection element 43 faces the magnet 41, the signal current is transmitted via the cable 18, detected by the microcomputer 78, and the origin position is stored. Is done.

Next, when the automatic operation is started, the mounting head 1 is indexed by the index unit 57 of the rotary table 13 and is attached to the suction station I by intermittent rotation.
When the supply stage 5 is stopped, the supply stage 7 is moved by the drive of the supply stage drive motor 9, and the component supply device 8 for storing the electronic components 5 to be supplied is operated by the suction nozzle 14 of the mounting head 15 of the suction station I. The electronic component 5 is taken out by stopping at the suction position and descending the nozzle 14.

At this time, a driving current is passed to the vacuum valve 44 through the cable 18 under the control of the microcomputer 78, and the head 15 is switched by switching the vacuum valve 44.
A negative pressure is generated in the vacuum suction hole 40 of the suction nozzle 14 at an appropriate timing of the descent of the component 5, suction of the component 5 is performed, and the bent cable 18 is expanded and raised by the lowering of the mounting head 15. To bend again.

Next, the rotary table 13 is indexed by the index unit 57, performs intermittent rotation, and then moves to the imaging station II. In this case, since the rotation angle of the rotary table 13 can be known by the rotation angle detector 65, as shown in FIG.
During the period from the stop of the station immediately before the stop of the station to the stop of the imaging station II, the host CPU 74 supplies the drive circuit 82 of the pulse motor 31 via the serial interface 79 and the microcomputer 78 with 130% of the drive current during rotation. A current value increase command is given, and the current that has risen from the drive circuit 82 flows through the power line 18A and is given to the pulse motor 31. Therefore, since the holding torque of the rotor 32 does not decrease, the rotor 32 is prevented from being vibrated by the turning acceleration of the rotary table 13.

Therefore, when the electronic component 5 sucked by the conventional suction nozzle 14 is vibrated by an imaging station for imaging, the image becomes a blurred image. There has been a problem that a situation where accuracy is not good occurs, but this problem can be solved.

Then, in a state where the vibration is prevented, the electronic component 5 sucked by the suction nozzle 14 is imaged by the imaging camera 16 while the rotary table is stopped, and the image is taken at the imaging station II where the image is taken. After the stop, the CPU 74 moves to the next station. After this stop, the host CPU 74 instructs the drive circuit 82 of the pulse motor 31 via the serial interface 79 and the microcomputer 78 to decrease the current value (the drive current during rotation). 50
%), The current dropped from the drive circuit 82 flows to the power line 18A and is applied to the pulse motor 31.

Then, a recognition process is performed, and a position shift of the component 5 with respect to the suction nozzle 14 is recognized. Then, when the recognition is completed, the CPU 74 calculates an angle amount by adding an amount to be corrected (shift amount) based on the recognition result to the mounting angle data of the mounting data. Next, the calculated angle amount is output to the microcomputer 78 of the mounting head 15 via the slip ring 80 or the like, and the pulse positioning is performed by driving the pulse motor 31 at a station immediately before the mounting station III.

Further, the rotary table 13 intermittently rotates to reach the mounting station III, and the electronic component 5 for which the angular positioning has been completed is moved by moving the XY table 3 (including the amount of displacement in the XY directions). Is mounted on the printed circuit board 6 positioned at the coordinate position indicated by. Also in this case, the mounting head 15 moves up and down in a short
Bending occurs. Further, a drive current is output to the vacuum valve 44 via the power line 18B in the cable 18, the suction nozzle 14 is switched at an appropriate timing to descend, the negative pressure of the suction hole 40 is turned off, and the suction hole 40 is released to the atmospheric pressure. .

Next, when the mounting head 15 passes through the mounting station III, the CPU 74 instructs an origin detection operation, and the origin detection element 43 detects the origin and outputs a detection signal. Preparation for the component suction operation is performed.

As described above, in the present embodiment, the current value increase command is given to the drive circuit 82 of the pulse motor 31 from the stop of the station immediately before the imaging station II to the stop of the imaging station II. However, the present invention is not limited to this. At the timing of picking up, recognizing, and mounting electronic components in the electronic component mounting device, the current value is designated even during the stoppage of the pulse motor 31 due to the intermittent rotation of the rotary table. May be raised during the above-mentioned period to suppress the vibration of the rotor of the rotary drive motor due to the disturbance. That is, for example, it is raised only during the stop at the suction nozzle switching (selection) station from the mounting station to the suction station,
When the suction nozzle is switched, it may be prevented that the switching mechanism does not operate properly (it is not fixed at the original position).

In this case, the limited period is limited to a specific period. If the entire period during which the pulse motor 31 is stopped is raised, as described above, heat is generated or the total current value is suppressed. Because you can't.

Further, in the suction station and the mounting station, by increasing the current value while the pulse motor 31 is stopped, the vibration of the rotor of the rotary drive motor due to the turning acceleration of the rotary table 13 can be suppressed.
Accuracy at the time of sucking and mounting the electronic component can be ensured.

Although the embodiments of the present invention have been described above, various alternatives, modifications or variations are possible for those skilled in the art based on the above description, and the present invention is not limited to the above-described various embodiments without departing from the spirit thereof. It is intended to cover alternatives, modifications or variations.

[0048]

According to the present invention, at the timing of picking up, recognizing, and mounting an electronic component in the electronic component mounting apparatus, the current value is maintained for a certain period even when the rotation drive motor for rotating the suction nozzle is stopped. As a result, the vibration of the rotor of the rotary drive motor due to disturbance can be suppressed.
Therefore, it is possible to suppress the influence at a station where the rotor vibrates and gives various effects. In particular, since vibration at the station where the electronic component sucked by the suction nozzle is picked up by the camera can be suppressed, blurring of the picked-up image can be prevented, and recognition processing can be performed well.

[Brief description of the drawings]

FIG. 1 is a plan view of an electronic component mounting device.

FIG. 2 is a side view of the electronic component mounting apparatus.

FIG. 3 is a partially cutaway side view of the mounting head.

FIG. 4 is a control block diagram of the electronic component mounting device.

FIG. 5 is a timing chart of current application of a pulse motor.

[Explanation of symbols]

 Reference Signs List 13 rotary table 14 suction nozzle 15 mounting head 16 imaging camera 31 pulse motor 32 rotor 65 rotation angle detector 74 host CPU 75 RAM 82 drive circuit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Katsuhisa Usui 2-5-5 Keihanhondori, Moriguchi-shi, Osaka Sanyo Electric Co., Ltd. (72) Ikuo Takemura 2-5-5 Keihanhondori, Moriguchi-shi, Osaka No. 5 Sanyo Electric Co., Ltd. (72) Inventor Shigeru Iida 2-5-5 Keihanhondori, Moriguchi-shi, Osaka F-term in Sanyo Electric Co., Ltd. 3C007 AS08 DS05 HS04 HS27 KS05 KT04 KT11 LT12 LV04 LV21 MT04 MT05 NS03 NS17 5E313 AA01 AA11 CC01 CC04 CC07 CD06 EE02 EE03 EE24 EE37 FF24 FF26 FF29

Claims (3)

[Claims] 1. A suction nozzle of a plurality of mounting heads arranged on the periphery of a rotary table intermittently rotated by driving an index unit by a drive motor picks up an electronic component at a suction station, and suctions an electronic camera at an imaging station. An image of the electronic component adsorbed by the nozzle is picked up, and the suction nozzle is moved in the rotational direction by a rotation drive motor based on the recognition result of the image picked up by the camera with the suction nozzle of the mounting head moved by the rotation of the table. A rotation angle detector for detecting a rotation angle of the rotary table; and a rotation angle detector for detecting the rotation angle of the rotary table. Based on the angle information, a current value increase command is issued to the drive circuit even while the rotary drive motor is stopped. An electronic component mounting device, comprising: a control device for controlling the mounting of the electronic component. 2. The rotation angle detector detects a rotation angle of the rotary table, and the control device controls the rotation drive motor during a period from the station immediately before the imaging station to the imaging station due to the rotation of the rotary table. 2. The electronic component mounting apparatus according to claim 1, wherein control is performed such that a current value increase command is given to the drive circuit of (1). 3. The apparatus according to claim 1, wherein the controller controls the drive circuit so as to give a current value increase command to the drive circuit while the rotary drive motor is stopped at the suction station or the mounting station. Electronic component mounting device.