JP2002368492A - Electric component mounting method and electric component mounting system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate a forcible mounting operation of electric components under the condition that lead-wires and positioning pin are displaced when an electric component including lead-wires and positioning pins is mounted by inserting such a component to the insertion hole formed to a printed circuit board in an electric component mounting system. SOLUTION: A connector 42 including lead-wire 40 is mechanically positioned through holding by a chuck 100 and a holding head 102 is also positioned to the upper part of the printed circuit board 12. Under the condition that the connector is held, the chuck 100 is moved downward and in this case, the upper limit value of the driving force is set previously depending on a kind of connector. Since the lead-wire and printed circuit board are in the contact condition, if the holding head does not reach the component mounting position even after passage of a constant period, the mounting operation of connector of this cycle is stopped and the connector is exhausted. Moreover, this condition is notified to a worker.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for mounting an electric component (including an electronic component) on a circuit board to assemble an electric circuit. The present invention relates to a method and an apparatus for mounting an electric component including an insert such as a lead and a positioning pin extending from a main body on a circuit board by inserting the insert into an insertion hole of the circuit board.

[0002]

2. Description of the Related Art In a conventional electric component mounting system, an electric component with an insert is held by a mounting head, and the mounting head and a circuit board holding device are positioned according to a control program. By approaching each other to a predetermined position,
Inserting the insert into the insertion hole has been performed. At this time, there is no problem if the insertion body and the insertion hole are properly positioned, but if the insertion body and the insertion hole are misaligned for some reason, the insertion body is strongly pressed against the circuit board. As a result, the electric components, the circuit board, the mounting head, and the like may be damaged.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and even if the relative positioning between the insertion body and the insertion hole is not properly performed, the present invention is not limited to this. An object of the present invention is to prevent a component, a circuit board, a mounting head, and the like from being damaged. As in the case of the claims, each aspect is divided into sections, each section is numbered, and if necessary, the other sections are cited in a form in which the numbers are cited. This is for the purpose of facilitating the understanding of the present invention, and should not be construed as limiting the technical features and combinations thereof described in the present specification to those described in the following sections. . In addition, when a plurality of items are described in one section, the plurality of items need not always be adopted together. It is also possible to select and adopt only some of the items.

[0004] In the following items, (1) corresponds to claim 1, (3) to claim 2, and (4) to claim 3.
In addition, (5) corresponds to claim 4, and (6) corresponds to claim 5.

(1) A method for mounting an electric component including a component main body and an insert such as a lead and a positioning pin extending from the component main body on a circuit board, wherein the electric component and the circuit board are A positioning step of positioning the insert at a relative position facing an insertion hole formed in the circuit board,
An insertion step of causing the electric component and the circuit board to approach each other based on the driving force of the driving source while controlling the driving force of the driving source so as not to exceed a predetermined upper limit driving force, and inserting the insert into the insertion hole; A method for mounting an electric component, comprising: As described above, if the insertion body is inserted into the insertion hole by bringing the electric component close to the circuit board while controlling the driving source so that the driving force does not exceed the upper limit driving force, if the insertion body is inserted If the relative positioning with respect to the hole is not performed properly and the insert comes into contact with the surface of the circuit board, it is possible to prevent the electrical components and the circuit board from being further approached. What is necessary is just to set the magnitude of the upper limit driving force as such. For example, if the insert is a lead,
The upper limit driving force is set to a size that does not cause one lead to buckle, and in the case of positioning pins, to a size that does not damage the circuit board or the mounting head. (2) In the inserting step, when a relative position between the electric component and the circuit board in a direction perpendicular to a surface of the circuit board does not reach a predetermined target position, the insertion into the insertion hole of the insert is performed. The electrical component mounting method according to the above mode (1), including a non-information generation step of generating non-insertable information indicating that the insertion of the electronic component is impossible. If the insert comes into contact with the circuit board as described above, the electric component and the circuit board cannot be further approached, so that the electric component and the circuit board do not reach a predetermined target position. This fact, for example,
An operation amount detector such as an encoder provided in the drive source, a non-contact type detector such as a photoelectric switch, a proximity switch or the like, or a contact type detector such as a micro switch which is operated by a dog which moves integrally with the mounting head. Can be detected. (3) An apparatus for mounting an electric component including a component body and an insert such as a lead and a positioning pin extending from the component body on a circuit board, the board holding device holding the circuit board; A mounting head that holds components and mounts the circuit board held by the substrate holding device, and the substrate holding device and the mounting head are arbitrarily arranged in a plane substantially parallel to the surface of the circuit board held by the substrate holding device. A relative movement device for relatively moving to the relative position, an approach / separation device for approaching and separating the mounting head from / to the substrate holding device, and controlling the relative movement device based on predetermined position data. A control device for controlling the approach / separation device based on predetermined force data. This electrical component mounting system is suitable for implementing the method described in (1). (4) The approach / separation device uses an electric motor as a drive source, and the control device controls the electric motor such that a driving force of the electric motor does not exceed a predetermined upper limit driving force. A motor control unit that operates the mounting head in a direction to approach the substrate holding device,
The electrical component mounting system according to (3), wherein the force data includes upper limit driving force data representing the upper limit driving force. Servo motors are preferred as electric motors. (5) reading the upper limit driving force data from a manual input device for inputting the upper limit driving force data in accordance with an operation of an operator, and mounting control data including data on a relative position between the mounting head and the substrate holding device; The electric component mounting system according to (4), including at least one of a reading unit and a receiving unit that receives the upper limit driving force data transmitted from a host computer connected to the electric component mounting system. If the upper limit driving force data can be input by any of the above means, the type of the electric component, particularly the shape of the insert,
An appropriate upper limit driving force can be easily set according to the dimensions. If a plurality of the above means are provided (especially if three means are provided), setting of the upper limit driving force is further facilitated. (6) When the mounting head is approached to the substrate holding device by the approach / separation device, it is impossible to insert the insert into the insertion hole based on the fact that the mounting head does not move to a predetermined position. Including means for generating non-insertable information that generates non-insertable information indicating that
The electrical component mounting system according to any one of the above (5). (7) The insertion-impossible information generating means measures time elapsed since the start of operation of the approach / separation device in a direction in which the mounting head approaches the substrate holding device, and the mounting head is at a predetermined position. And a scheduled position arrival detecting means for detecting that the mounting head has reached the scheduled position even though the time measured by the timing means has reached a set time. The electrical component mounting system according to the above mode (6), wherein the unreachable information is generated when no detection is made. According to the non-insertable information generating means of this section, the non-insertable information can be generated quickly and reliably. (8) Automatic stopping means for automatically stopping the operation of the electric component mounting system based on the insertion impossible information, and notification for notifying a worker that the insertion body cannot be inserted into the insertion hole. The electric component mounting system according to the above mode (6) or (7), which includes at least one of means. If the automatic stop means is provided, the electric component mounting system is automatically stopped when the insertion body cannot be inserted into the insertion hole, so that damage to the electric components, the circuit board, the mounting head, etc. is reliably prevented. be able to. Further, if the notification means is provided, the operator can reliably recognize that the insertion impossible state has occurred, and can take appropriate measures.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described by way of an example in which the present invention is applied to an electric component mounting system described below. In FIG. 1, reference numeral 10 denotes a base. The electrical component mounting system includes a wiring board conveyor 14 that transports a printed wiring board 12 as a circuit board. Further, there are provided a component supply device 16 for supplying electric components, and a component mounting device 18 for receiving the electric components from the component supply device 16 and mounting the components on the printed wiring board 12.

[0007] The component supply device 16 includes a tray-type component supply device 20 and a feeder-type component supply device 30.
The feeder-type component supply device 30 includes a plurality of feeders 32, and is supported on a table 34 such that the component supply units of each feeder 32 are aligned in a horizontal plane. The table 34 is movable along a pair of guide rails 36 extending in the Y-axis direction. The table 34 is located at a position close to the wiring board conveyor 14 and supplies electric components to the component mounting device 18. The feeder 32 is moved to an exchange position where the feeder 32 is exchanged, which is a position away from the conveyor 14. Although not shown, the feeder 32 holds the electrical components in the form of taped electrical components held on a carrier tape. Storage recesses are formed at equal intervals in the carrier tape, and the electrical components are stored in the storage recesses, respectively, and a cover tape is attached so as to cover the opening of the storage recess, thereby preventing the electrical components from jumping out. . The feeder 32 feeds the taped electrical components one pitch at a time while peeling off the cover tape, and positions the electrical components in the component supply unit. The electrical components supplied by the feeder 32 have no leads.

The tray-type electronic component supply device 20 includes:
Provided upstream of the feeder-type electronic component supply device 30;
A relatively large electric component such as a connector 42 having a lead 40 (see FIG. 7) is accommodated in a component tray 44 and supplied. The component trays 44 are accommodated one by one in a large number of tray accommodation boxes 46 arranged vertically.
Each of these tray storage boxes 46 is supported by a support member (not shown), and is sequentially raised to a component supply position by a lifting device provided in a column 48. Above the component supply position, the component mounting device 18 has a connector. 42
It is necessary to secure a space for taking out.

Therefore, the tray accommodating box 46 to which the connector 42 has been supplied is raised by the space at the same time as the next tray accommodating box 46 is raised to the component supply position, and is retracted to the upper evacuation area. Can be This tray-type electronic component supply device 20 is the same as the electronic component supply device described in Japanese Patent Publication No. 2-57719, except that the component trays 44 are stored one by one in the tray storage box 46. Description is omitted.

As shown in FIGS. 7 to 9, the connector 42 has a main body 50 in a rectangular container shape, and is mounted on the printed wiring board 12 with the opening 52 facing upward. Body 50
Inside, a plurality of pins 54 are erected. The pins 54 have a length that does not protrude outside the main body 50 in the illustrated example.

When the connector 42 is mounted on the printed wiring board 12 on the bottom surface of the main body 50, a plurality of leads 40 are provided on the bottom surface 55 on the printed wiring board 12 side. At right angles to 55, they extend in a straight line and parallel to each other. These leads 40 have a square cross-sectional shape in the illustrated example, and are provided in a plurality of rows parallel to the longitudinal direction of the main body, two rows in the illustrated example, and are arranged in the longitudinal direction from the free end side. When viewed in parallel, they all appear to overlap the main body 50. At the mounting position where the connector 42 of the printed wiring board 12 is mounted,
As shown in FIG. 10, the same number of insertion holes 56 as the leads 40 are formed.

In this embodiment, the connector 42 is housed in the housing recess of the component tray 44 with the opening 52 of the main body 50 facing upward and the lead 40 being vertical.
It is positioned in the main body 50 and housed in a state where it is supported by the lead 40 from below. Connector 42
May be housed in the housing recess while being positioned and supported in the main body 50.

The wiring board conveyor 14 is provided with a pair of side frames 60. An endless conveyor belt (not shown) is wound around the side frames 60, and the printed circuit board is moved by a driving device. 12 is conveyed.
The inner surface of the side frame 60 constitutes a guide surface for guiding the movement of the printed wiring board 12. The wiring board conveyor 14 also serves as a positioning support device for the printed wiring board 12.

The component mounting device 18 includes a moving device that can move in the horizontal direction. The moving device includes a pair of ball screws 70 extending in the Y-axis direction, and a pair of guide rails 72 extending in a direction parallel to the ball screws 70.
The Y-axis slide 74 is screwed to the ball screw 70 via a nut, and is slidably fitted to the guide rail 72 via a guide block so as to be movable in the Y-axis direction. The Y-axis slide 74 includes the tray-type electric component supply device 20 and the feeder-type electric component supply device 30
The guide rail 72 and the ball screw 70 are disposed near both ends of the guide rail 72 and the ball screw 70, respectively. Each of the ball screws 70 is connected to a servomotor 76 as a drive source.
The two servo motors 76 are rotated in synchronization with each other.

A ball screw 80 extending in the X-axis direction is provided in the Y-axis slide 74, and a pair of guide rails 8
2 are provided (see FIG. 2). The X-axis slide 84 is screwed into the ball screw 80 via a nut,
By being fitted to the guide rail 82 via a guide block, it can be moved in the X-axis direction with respect to the Y-axis slide 74. The ball screw 80 is connected to a servomotor 86 as a driving source, and the X-axis slide 84 is moved in the X-axis direction by rotating the ball screw 80.

A plurality of component holding heads (hereinafter, simply referred to as holding heads) for receiving electric components such as the connector 42 from the component supply device 16 and mounting the components on the printed wiring board 12 are fixed to the X-axis slide 84. . One of the plurality of holding heads is a chuck 10 shown in FIG.
0 is a chuck type holding head 102 for holding a component, and other component holding heads are not shown,
A suction nozzle is provided to hold the component by suction.

Hereinafter, the chuck type holding head 102 will be described. A pair of vertically extending guide rails 104 (only one guide rail is shown in the figure) is provided on the side surface of the X-axis slide 84,
Although not shown, ball screws parallel to the guide rails 104 are provided so that the elevating member 106 movable relative to the X-axis slide 84 in the vertical direction is guided. If the ball screw is rotated by a Z-axis motor 108 (see FIG. 11) as a driving source, the elevating member 106 is moved up and down along the guide rail 104.

The chuck 100 is rotatably held by the lifting member 106. Specifically, the lifting member 106
, A θ-axis motor 110 is provided to rotate the mounting member 112 via a pinion, a gear, or the like. A cylindrical chuck main body 114 is detachably mounted below the mounting member 112, and is rotatable about a vertical axis together with the mounting member 112 and can be moved up and down. As shown in FIG. 3, an inner sleeve 116 is slidably fitted to the outer periphery of the chuck body 114, and an outer sleeve 118 is slidably fitted to the outer periphery of the inner sleeve 116. Inner and outer sleeves 116, 118
Slots 120, 121 extending in the axial direction are formed through the peripheral wall of the chuck body 114, the phases of the slots 120, 121 are matched, and a common pin 122 is inserted to form the chuck body 114 in the horizontal direction. Fixedly inserted into the holding hole 124, the rotation of the sleeves 116 and 118 with respect to the chuck body 114 is prevented, and
Axial relative movement is restricted.

Inner sleeve 116 and outer sleeve 1
Compression coil springs (hereinafter simply referred to as springs) 126 and 12
8 are disposed, and each of the sleeves 116 and 118 is urged in a direction to move downward. Outer sleeve 118
A flange portion 130 is formed radially outward from the outer periphery of the upper end of the flange portion 130. At the lower end of the outer sleeve 118, engagement protrusions 132 projecting inward are formed at two locations facing each other. The end surfaces of the engaging projections 132 that face each other are inclined surfaces 136 that are inclined in such a direction that they approach each other as they go upward. An engagement notch 134 for engaging with the engagement protrusion 132 in the same phase as the engagement protrusion 132 of the inner sleeve 116 is formed. The engagement notch 134 is provided in each of the sleeves 116 and 118.
Are formed so as to have a gap with the engagement convex portion 132 in a state where is located at the lower end position. Outer sleeve 11
8 is raised and the engagement projection 132 is
6, the outer sleeve 118 is engaged.
It is raised integrally. The portion of the inner sleeve 116 where the engagement notch 134 is not formed is the outer sleeve 1
The tapered inner peripheral surface 138 having the same inclination as the inclined surface 136 is formed on the inner periphery of the lower end portion of the portion having substantially the same length as the portion where the 18 engaging projections 132 are formed.

At the lower end of the chuck body 114, two pairs of holding members 140 and 142 are rotatably held (however, only one pair is shown in FIG. 3). Holding member 14
Reference numerals 0 and 142 have a plate-like shape, and are disposed in a pair along a perpendicular plane perpendicular to each other, and are rotated in a vertical plane by pins 144 standing in a direction perpendicular to the respective vertical planes. Supported as possible. The holding projections 14 are provided at the lower ends of the two pairs of holding members 140 and 142, respectively.
6,148 are provided, and the distance between the first holding protrusions 146 provided at the lower end of the first holding member 140, which is the first pair of holding members, is large, and the distance between the first holding protrusions 146, which is the second pair of holding members, is large. The interval between the second holding projections 148 of the two holding members 142 is narrowed. Further, inclined surfaces 150 are formed on lower portions of the outer side surfaces of the holding members 140 and 142, respectively, and are inclined in such a direction as to approach each other as they go upward. Slope 15
The inclination of 0 is a sloped surface 136 formed at a portion of the outer sleeve 118 facing each other, and a tapered inner peripheral surface 138 formed at the inner periphery of the lower end of the inner sleeve 116.
Is parallel to

The holding members 140 and 142 are engaged with a compression coil spring (hereinafter simply referred to as a spring) 170 on the outer surface near the upper end portion, so that portions above the respective pins 144 approach each other. In other words, the holding projections 146 facing each other,
148 are urged to rotate in directions away from each other. When the inner and outer sleeves 116 and 118 are located at the lower end positions with respect to the chuck body 114, the holding members 140 and 142 form a pair of holding projections 146 and 148 against each other against the urging force of the spring 170. Closed, but closed
6 and 118 are raised with respect to the chuck body 114, the holding projection 14
6, 148 are rotated in a direction away from each other to be in an open state.

The release member 18 for opening and closing the chuck 100, as shown in FIG.
0 is mounted so as to be able to move up and down. A solenoid 182 as an elevating device is attached to the attachment member 112 vertically downward, and an output rod 186 of the solenoid 182 is provided.
(See FIG. 5) is coupled to the release member 180. As shown in FIG. 5, the release member 180 is formed in a plate shape extending in the horizontal direction, and is formed with a substantially semicircular engagement notch 188 so as to avoid interference with the outer peripheral surface of the outer sleeve 118. It is adapted to engage with the part 130. A pair of guide bushes 190 are vertically provided on both sides of the rod 186 on the release member 180, while a pair of guide bars 191 are erected on the mounting member 112, and both are slidably fitted. This constitutes a guide device that moves the release member 180 up and down while maintaining the horizontal position.

When the release member 180 is raised with respect to the chuck 100, the outer sleeve 118 is first raised with respect to the chuck body 114 against the urging force of the spring 128, and then the inner sleeve 116 is raised. , The chuck 100 is opened. On the other hand, if the release member 180 is lowered, the spring 12
The sleeves 116 and 118 are lowered by the urging forces of 6,128, so that the second holding member 142 is closed first, and then the first holding member 140 is closed. Therefore, the connector 42 is first sandwiched by the second holding projections 148 to be positioned in the width direction, and then sandwiched by the first holding projections 146 to be positioned in the longitudinal direction.
The second holding projection 148 is configured to correct the rotational position error of the connector 42 about the vertical axis.
It is desirable that the width be wider than 6 (see FIG. 6).

An image pickup device 194 including a line sensor 192 is provided between the wiring board conveyor 14 and the component supply device 16. The imaging device 194 is a control device 2 described later.
In the present embodiment, the imaging device 194 mainly captures an image of the electric component held by the suction nozzle, and acquires a holding position error (center position error and rotation position error) of the electric component. Is done.

This electric component mounting system is controlled by a control device 200 shown in FIG. The control device 200 is mainly configured by a computer 204 including an internal storage device 202. The control device 200 is connected to an operation panel 206 operated by an operator. The operation panel 206 includes a display device 208, a keyboard 210, and the like. The control device 200 is further connected to a servo system 214. The servo system 214 includes a plurality of drive circuits 216, and is connected to the X-axis, Y-axis, Z-axis, and θ-axis servomotors 76, 86, 108, and 110 via the drive circuits 216. Each servo motor 76, 86, 108,
110 is an encoder 218 for monitoring the amount of rotation.
And is connected so that information from the encoder 218 is transmitted to the servo system 214. Control device 2
00 is also connected to a solenoid 182 and a line sensor 192. Control device 200 is further connected to a host computer 220, and information including a production program is transmitted. Information including those production programs,
The information is temporarily stored in the external storage device 222, called up as necessary, and stored in the internal storage device 202. Information such as a production program is stored in a storage medium such as a floppy (registered trademark) disk or the like.
Can also be read.

A mounting operation for mounting an electric component on the printed wiring board 12 by the electric component mounting system configured as described above will be described. The main part of the mounting operation is already well known and will be briefly described, and the part related to the present invention, that is, the part for mounting the connector 42 to the printed wiring board 12 by the chuck-type holding head 102 will be described in detail. explain. Hereinafter, the chuck-type holding head 102 is simply referred to as a holding head 102.

The printed wiring board 12 is controlled by the control device 200.
Is instructed to mount electric components, the printed wiring board 12 is transported to the mounting position by the wiring board conveyor 14 and is positioned and supported. Subsequently, various electric components are taken out from the feeder-type component supply device 30 by the holding head having the suction nozzles and mounted on the printed wiring board 12, and after the mounting is completed, the holding head 102 is moved to the tray-type component supply device. It is positioned directly above the connector 42 housed in the connector 20. As the chuck 100 is lowered toward the connector 42, the release member 180
Is relatively raised by the solenoid 182 and pushes up the outer sleeve 118. When the outer sleeve 118 reaches a certain relative height, the engagement protrusion 132 engages the lower end surface 134 of the inner sleeve 116 and the inner sleeve 11
6 is raised integrally with the outer sleeve 118, and the chuck 100 is opened. After the chuck 100 reaches the lower end position, that is, the height at which the connector 42 can be received while maintaining the open state, the release member 180 is relatively lowered, the chuck 100 is closed, and the connector 42 is closed. It is held by the chuck 100. As shown in FIG. 6, the first holding member 1 having the first holding protrusion 146
The connector 42 is held so that the longitudinal direction of the connector 42 coincides with the opening / closing direction of the connector 40.

As described above, the connector 42 is positioned and held on the component tray 44.
4, the pair of holding protrusions 146 and 148 can hold the connector 42 without interfering with the component tray 44. The holding members 140 and 142 of the chuck 100 are urged in the opening direction by a spring 170, and the sleeves 116 and 118 rotate in the closing direction against the urging force. Holding members 140, 142
Since the sleeves 116 and 118 are also configured to be axially symmetric, the pair of holding members 140 and 142 are opened and closed while maintaining the state of axial symmetry, and while the connector 42 is mechanically positioned at the center of the chuck 100. Hold.

While holding the connector 42, the holding head 102 is positioned above a connector mounting position, which is a type of electric component mounting position set on the printed wiring board 12, and the θ-axis motor 110 is driven. Accordingly, the connector 42 is rotated around the vertical axis, and the orientation of the connector 42 around the axis is determined. When the Z-axis motor 108 is driven, the holding head 102 is lowered, and the leads 40 of the connector 42 are inserted into the insertion holes 56 of the printed wiring board 12. When the holding head 102 is further lowered, the connector 42 is temporarily fixed by the adhesive applied on the printed wiring board 12 in advance. In this system, the lower end position of the holding head 102 is set in advance according to the type of the electric component such as the connector 42, and when the lower end position is reached, the release member 180 is again set.
Is raised to open the chuck 100 to release the connector 42. The connector 42 is the printed wiring board 1
After being temporarily fixed to 2, the holding head 102 is raised to the original position, the chuck 100 is closed, and the mounting operation of one connector 42 is completed.

The electric component mounting system includes a holding head 1
When the connector 42 is held by 02, the connector 42 is mechanically positioned, so that the operation of checking the holding posture, such as imaging, is omitted and the mounting operation is performed. Therefore, even if an abnormality occurs in the shape of the lead 40 of the connector 42 or the positioning of the connector 42 with respect to the chuck 100 is inappropriate, the abnormality is not detected,
The mounting operation is performed as it is. However, if the mounting operation is performed in a state where the leads 40 are in contact with the printed wiring board 12, not only a good printed circuit board is not manufactured, but also the printed wiring board 12, the connector 42, and in some cases, the chucks 100, Z The shaft motor 108 and the like may be damaged. In the present embodiment, in order to avoid such a situation, an elevating control program for controlling the elevating operation of the holding head 102 is stored in the internal storage device 202 of the computer 204.

First, a brief description will be given. In the present electrical component mounting system, component related information relating to a plurality of types of electrical components to be mounted is stored in the host computer 220. The component-related information is selected in advance, transmitted from the host computer 220 to the control device 200, stored in the external storage device 222, and further read from the external storage device 222 into the control device 200 as needed, thereby storing the internal information. It is stored in the storage device 202. The component-related information of the connector 42 includes data of an upper limit value of a descent driving force of the Z-axis motor 108 when the holding head 102 is lowered, a descent end position, and a set time described later.
Control device 200 drives Z-axis motor 108 with a driving force that does not exceed the upper limit, and lowers holding head 102 toward the lower end position. Further, the connector 42 is determined based on at least the vertical position of the holding head 102 after a certain time has elapsed since the holding head 102 started lowering.
Is detected as to whether or not is normally mounted. Hereinafter, FIG.
This will be described in detail based on the flowchart shown in FIG.

When an electric component mounting operation is instructed, first,
Component-related information relating to a plurality of types of electrical components to be mounted this time is read from the external storage device 222 and stored in the internal storage device 202. The component-related information includes a supply position where each electric component is to be supplied, a shape, a mounting position on the printed wiring board, and the like. The component related information related to these electrical components is stored in advance in the host computer 220.
And stored in the external storage device 222, and information corresponding to the type of the electric component to be mounted this time is called out and obtained by a key operation of the operator. Data of the upper limit value of the driving force of the Z-axis motor 108, the falling end position, and the set time among the component-related information of the connector 42 are stored (S2). In S3, the flag F1 is set to 1 and
Thereafter, S2 and S3 are skipped in the execution of this program. In S4, it is determined whether or not the flag F2 is 0. Next, in S5, the holding head 102
Arrives at the component mounting position due to the movement of the X-axis and Y-axis slides 74 and 84, and waits to start descending. If the descent is started, the determination in S5 becomes YES, and the process proceeds to S6, where an elapsed time t is set to 0 when the descent is started. At S7, the flag F2 is set to 1, and thereafter, S5 and S6 are skipped in the execution of this program. In S8, it is determined whether or not the elapsed time t has exceeded a predetermined set time T. The set time T is set to be long enough to reach the position where the holding head 102 mounts the connector 42, that is, the descending end position. The descent speed of the holding head 102 is predetermined, and the descent end position of the holding head 102 is set based on the type of the connector 42.
The time that is long enough to reach the lower end position after the holding head 102 starts lowering is set as the set time T.

If the elapsed time t is shorter than the set time T,
The determination in S8 is NO, and one execution of this program ends. On the other hand, if the length of the elapsed time t is equal to or longer than the set time T, the determination in S8 is YES, and the process proceeds to S9 to determine whether or not the holding head 102 has reached the descending end position. The control device 200 detects the vertical position of the holding head 102 based on the information transmitted from the encoder 218, and the vertical position corresponds to the mounting position of the connector 42 to be mounted this time (the lower end position of the holding head 102). If so, the determination in S9 is YES, and it is determined that the connector 42 has been pressed against the printed wiring board 12 and temporarily fixed by the adhesive applied in advance, and the holding head 102 is opened according to a normal mounting program. And it is raised. In S13, the flags F1 and F2 are returned to the initial values, and the system prepares for the next mounting work of the connector 42.

On the other hand, if the holding head 102 has not reached the descending end position even after the set time T has elapsed, the determination in S9 is NO, and the process proceeds to S10, where the unreachable information is created. You. In S11, the holding head 10
2 is stopped and raised while holding the connector 42. In S12, a display indicating that the connector 42 has not been attached is output to the display device 202 and notified to the operator. This completes one execution of the program. Thereafter, the connector 42 not attached to the printed wiring board 12 is discharged out of the system by a discharge device (not shown).

It is not indispensable that the worker is notified of the unreachable information every time the holding head 102 is detected not to reach the lower end position. Is detected, the connector 42 held by the holding head 102 at that time is discharged out of the system by a discharge device (not shown), and a new connector 42 is mounted on the same printed wiring board 12 again. If the second mounting operation is performed satisfactorily, the mounting operation is continued because the poor mounting is presumed to be simply due to the connector 42. On the other hand, if the holding head 102 does not reach the lower end position even during the second mounting operation, there is a high possibility that an abnormality has occurred in the printed wiring board 12 or the electrical component mounting system. It is desirable that the operation is stopped and the worker is notified, and furthermore, the holding posture of the connector 42 is imaged to pursue the cause of the mounting failure.

As is clear from the above description, in the present embodiment, the wiring board conveyor 14 constitutes a substrate holding device, and the X-axis slide 84 and the Y-axis slide 74 cooperate with each other to constitute a relative moving device. The lifting member 106 and the Z-axis motor 108 cooperate with each other to form an approaching / separating device, the keyboard 210 forms a manual input device, and a portion of the control device 200 that executes S2 of the lifting control program is read. The part that performs S10 constitutes the means or the receiving means, and the part that executes S10 constitutes the insertion-impossible information generating means.

In the present electric component mounting system, the holding posture of the connector 42 is not imaged, and the mounting operation is simplified. However, when the positioning of the connector 42 with respect to the holding head 102 is poor, or when the position of the lead 40 is Even if the shape is abnormal, the mounting work is not forcibly performed, and the printed wiring board 12, the connector 42,
Damage to the holding head 102 and the like can be avoided.

In this embodiment, the holding head 102
Is detected based on the signal of the encoder 218 of the Z-axis motor 108, but a non-contact type detector such as a photoelectric switch, a proximity switch, or the like, which is operated by a dog that moves integrally with the holding head 120, or a micro switch. A contact-type detector such as a switch may be provided, and the detection may be performed by the contact-type detector.

In the present electric component mounting system, the connector 42 is connected to the holding head 102 by the chuck 100.
The mounting position and the component shape of the connector 42 are detected by the imaging device 194, and the position of the connector 42 with respect to the holding head 102 is detected based on the detected position. May be performed. In this case, the reliability of the positioning of the connector 42 is increased, and the possibility that the lead 40 is displaced from the insertion hole 56 is reduced.
However, if the printed wiring board 12 is defective, the X-axis,
The mounting operation may be forced when the Y-axis slides 74 and 84 are mis-controlled, for example, so that the present invention is applied as a fail-safe to avoid such a situation. It is desirable.

In the present electric component mounting system, the chuck 100 has two sets of holding members 140 and 142, and can be positioned in two directions orthogonal to each other in the horizontal direction. However, as shown in FIG. Chuck 250
May have only one set of the holding member 252. However, in this case, since the connector 42 is only positioned in one direction (in the illustrated example, a direction perpendicular to the paper surface), the connector 42 is orthogonal to the holding direction of the chuck 250 of the connector 42 by the imaging device 194 or the like. It is desirable that the position in the direction of the movement is detected and the holding position error is obtained.

The present electric component mounting system can be generally used for mounting not only the connector 42 having the lead 40 but also an electric component having an insert such as a positioning pin.

The holding head for holding the electric component having the insert is not limited to the mechanical chuck that is mechanically opened and closed as described above, but may be an electric chuck in which the holding member is moved by an electric motor. One example is a linear motor chuck, which is described in Japanese Patent Application
Since it is almost the same as that described in the specification of US Pat. No. 4,637, and is not directly related to the present invention, it will be briefly described.

As shown in FIGS. 14 and 15, the holding head has substantially the same configuration as the above-described holding head 102, and a linear motor chuck 300 as a component holder is rotatably attached to the elevating member 106. . The stator 304 of the linear motor 302, which is the main part of the chuck 300, is detachably attached to the attachment member 112. The linear motor 302 is a linear DC brushless motor, and includes a stator 304 and a pair of movers 3.
06, 308 and two guides 310 for guiding the movers 306, 308 in a direction parallel to the longitudinal direction of the stator 304.

In this embodiment, the linear motor chuck 3
As shown in FIG. 16, two stators 304 extending in directions perpendicular to each other may be provided, and a pair of movers 306 and 308 may be provided on each stator so as to be movable in the longitudinal direction. It is possible. This makes it possible to position the connector 42 in both the X and Y directions.

The stator 304 includes a main body 312 made of a nonmagnetic aluminum alloy and a large number of permanent magnets 314.
Is fixed. Each of the permanent magnets 314 has a rectangular shape, and one of two opposite sides is magnetized to an N pole and the other to an S pole, and N poles and S poles are alternately arranged. Each permanent magnet 314 is fixed in such a manner that both N and S poles protrude slightly from the side of the main body 312,
The arrangement of the N pole and the S pole on the front side and the back side of the main body 312 is shifted in a staggered manner.

As shown in FIG. 15, a pair of movers 30
Each of the steel cores 6 and 308 includes two iron cores 316 opposed to each other on the front side and the rear side of the stator 304, and the iron cores 316 are connected to each other at a lower end by a table 318 to form a U-shape as a whole. I have. U-phase, V-phase, and W-phase coils are wound around each iron core 316 to form a coil unit. Each coil unit controls the armature current to directly move the movers 306 and 308 along the stator 304 by the interaction between the magnetic force generated by each coil and the magnetic force of the permanent magnet 314 of the stator 304. Is generated.

The movers 306 and 308 move by moving the guides 31 fixed to the front and back surfaces of the stator 304, respectively.
Guided by 0. Sliders 320 are fixed to inner surfaces of the movers 306 and 308 which are generally U-shaped and opposed to the stator 304, respectively, and these sliders 320 are respectively engaged with the guides 310 via balls to move. The child 306, 308 can be moved easily along the guide 310.

The origin positions of the pair of movers 306 and 308 are set at the positions at both ends in the longitudinal direction of the stator 304. These origin positions are detected by an origin detector.
The movers 306 and 308 which are distances from the origin positions
Are detected by a position detector. The origin detector is an LED in this embodiment.
Is a light-transmitting photoelectric sensor. When the light emitted from the light projector toward the light receiver is blocked by the blocking member, the movable elements 306 and 308 are assumed to have reached the origin positions. However, various sensors such as a reflection type photoelectric sensor, a contact type detector such as a limit switch, and a proximity switch can be used as the origin detector. Also,
In the present embodiment, the position detector includes a magnetic linear scale (magnescale) that detects displacement based on an electric signal obtained by moving a magnetic detection head over a magnetic scale on which a magnetic scale is provided. Have been.
However, position detectors, including optical linear scales,
Various position detectors can be used. Further, the position detector may share one magnetic scale.

Each table 318 of the movers 306 and 308
, Holding claws 330 and 332 which cooperate with each other and hold the electric component from both sides are detachably fixed.
A plurality of types of holding claws 330 and 332 are prepared, and are automatically replaced in accordance with the type of electric component to be held.

According to this embodiment, the linear motor chuck 3
00, the connector 42 is automatically positioned with respect to the holding head 102, and the position of the connector 42 can be detected as it is based on the position of the holding head 102. Can be omitted. Further, unlike the mechanical chuck 100, it is not essential that the center of the connector 42 is aligned with the center of the chuck 300, and the connector 42 having an asymmetric shape can be favorably held. In this case as well, when the holding head 102 is lowered in the same manner as in the above-described embodiment, the connector 4 is controlled so as not to exceed a predetermined lowering driving force.
2 can be prevented from being forcibly pressed against the printed wiring board 12 and damaged.

In the present embodiment, the holding claws 330, 332
It is desirable that the connector 42 be imaged and the holding position error detected in preparation for a case where the holding position error of the connector 42 due to the above or a position detection error of the movers 306 and 308 of the linear motor chuck 300 occurs. . In addition,
Although the imaging device includes a line sensor that captures a front image or a silhouette image of the main body, the imaging device may include a surface imaging device such as a CCD camera or the like, as described below. It may capture an image.

An embodiment in which the present invention is applied to yet another electric component mounting system will be described. Since the configuration of the electric component mounting system has many elements in common with the above-described system, the description of the common elements will be omitted by using the same reference numerals. As shown in FIGS. 17 to 19, in the present electric component mounting system, the holding head includes a suction nozzle, and suction-holds the connector 42 to mount the connector 42 on the printed wiring board 12. In addition, the present system includes a connector 42
And an image pickup device for picking up an outline image of the lead 40.

In the figure, reference numeral 400 denotes a base. A wiring board conveyor 402 for transporting and positioning and supporting the printed wiring board 12 on the base 400, a tray-type component supply device 20 and a feeder-type component supply device 30 as component supply devices, and the component supply devices 20 and 30 A component mounting device 408 for receiving the electrical component and mounting it on the printed wiring board 12 is provided.

The feeder-type component supply device 20 includes a plurality of feeders 32, and is fixedly supported so that the component supply units of each feeder 32 are aligned. The direction of this straight line is parallel to the feeding direction of the printed wiring board 12 by the wiring board conveyor 402, and is hereinafter referred to as an X-axis direction.
The tray-type component supply device 30 is provided on the opposite side of the feeder-type component supply device 20 with the wiring board conveyor 402 interposed therebetween.

The component mounting device 408 includes an X-axis slide 410 movable in the X-axis direction, and a Y-axis slide 412 movably attached to the X-axis slide 410. The X-axis slide 410 is screwed to a pair of ball screws 414 extending in the X-axis direction, and is slidably fitted on a guide rail 416 extending in the X-axis direction so as to be movable in the X-axis direction. ing. The X-axis slide 410 is moved in the X-axis direction by the X-axis drive motor 418 rotating the pair of ball screws 414 in synchronization with each other.
The X-axis slide 410 is formed to have a length from the feeder-type component supply device 20 to the tray-type component supply device 30, and a Y-axis slide 412 is held on its side surface 420 so as to be relatively movable. The Y-axis slide 412 is
The side surface of the shaft slide 410 is screwed to a ball screw 422 extending along the Y-axis direction, and is slidably fitted to a pair of guide rails 424 extending along the Y-axis direction, thereby enabling relative movement. Is held in.

A holding head 430 for holding electric components by suction is held on a Y-axis slide 412. Holding head 4
30 includes a support portion 442 extending vertically from a side surface 440 of the Y-axis slide 412, and the suction nozzle 444 is supported on the support portion 442 so as to be able to move up and down and rotate. The suction nozzle 444 is connected to the suction pipe 44 to which the negative pressure is supplied.
6 and a cover 452 is attached to the lower end of the suction tube 446. The cover 452 includes the connector 42 and the like.
The suction nozzle 444 has a square shape larger than the electric component to be sucked by the suction nozzle 444, and is made of a hard synthetic resin in the illustrated example. The Y-axis slide 412 is further provided with a fiducial mark camera 432 for imaging fiducial marks provided on the printed wiring board 12 and an illumination device 434.

The ball screw 41 between the tray-type component supply device 30 of the X-axis slide 410 and the wiring board conveyor 402
The image pickup device 460 provided at a position corresponding to FIG.
As shown in FIG. 9, a component camera 462 as an imaging device and a local illumination device 464 are provided. A bracket 466 protrudes from a vertical side surface of the X-axis slide 410, and a local illumination device 464 is attached to a holding plate 468, which is a holding member attached to the bracket 466. The local lighting device 464 includes a plurality of, for example, four
(Only one light projector is shown) 470, and is provided below the movement trajectory in the Y-axis direction on the X-axis slide 410 of the holding head 430. These floodlights 4
70 is disclosed in Japanese Patent Application No. 2001-8055 by the present applicant.
Since this is almost the same as that described in No. 4 and has no direct relation to the present invention, it will be briefly described. Floodlight 470
Irradiates light with a certain thickness horizontally in the directions facing each other. As a result, only a portion of a certain length between the free end and the base end of the lead 40 or only the free end of the lead 40 is illuminated, and the portion is imaged by the component camera 462, and the lead 40 is bright. A contour image is obtained.

Further, the present electric component mounting system includes a control device 480, and controls the component mounting device 408, the wiring board conveyor 402, and the like to control the printed wiring board 1 of the connector 42.
2 and so on. The imaging device 460 is connected to the control device 480.

In the component mounting device 408, the holding head 430 is moved to an arbitrary position in the horizontal plane by the X-axis slide 410 and the Y-axis slide 412, and the connector 42 is taken out from the tray-type component supply device 404, and the printed wiring board is taken out. Attach to 12 connector attachment sites.

Prior to mounting the connector 42 taken out from the tray-type component supply device 404 onto the printed wiring board 12, the holding head 430 holding the connector 42 is stopped above the image pickup device 460, or
60, the lead 40 of the connector 42 is imaged. After the imaging, the holding head 430 is moved to the position where the connector is mounted and lowered, and the connector 42 is mounted on the printed wiring board 12.
Here, when the arrangement position or the shape of the leads 40 is inappropriate, based on an image acquired by the imaging device 460, such a connector 42 is mounted before mounting.
Is eliminated.

In the present electric component mounting system, since the lead 40 of the connector 42 is imaged by the imaging device 460 and the reference mark of the printed wiring board 12 is imaged to detect the positioning position of the printed wiring board 12, the connector 42 It is satisfactorily mounted (inserted) on the printed wiring board 12.

However, for example, when the position of the insertion hole 56 formed in the printed wiring board 12 is shifted with respect to the reference mark, or when the positioning position by the X-axis and Y-axis slides 410 and 412 is inappropriate. When the result of the image processing by the imaging device 460 is different from the actual shape and position of the connector 42, or when the connector 42 is displaced from the suction nozzle 444 after capturing the holding posture of the connector 42, etc. The connector 42 cannot be mounted on the printed wiring board 12 because no abnormality can be detected.
Poor insertion may occur. As described above, if the lead 40 comes into contact with the surface of the printed wiring board 12 for some reason, the elevation control program performs a fail-safe function.

Although some embodiments of the present invention have been described in detail above, these are merely examples, and the present invention is not limited to the above-mentioned [Problems to be Solved by the Invention, Means for Solving Problems and Effects]. The present invention can be implemented in various modified and improved forms based on the knowledge of those skilled in the art, including the described embodiment.

[Brief description of the drawings]

FIG. 1 is a plan view showing an electric component mounting system according to an embodiment of the present invention.

FIG. 2 is an enlarged side view (partial cross section) showing a main part in FIG. 1;

FIG. 3 is a side sectional view showing a further enlarged view of the chuck shown in FIG. 2;

FIG. 4 is a side sectional view of the chuck seen from another direction.

FIG. 5 is an enlarged plan view (partial cross section) of another main part in FIG. 2;

FIG. 6 is a bottom view of the chuck.

FIG. 7 is a perspective view showing one mode of a connector mounted by the electric component mounting system.

FIG. 8 is a front view of the connector.

FIG. 9 is a bottom view of the connector.

FIG. 10 is a plan view showing a state in which leads of the connector are inserted into insertion holes formed in a printed wiring board.

FIG. 11 is a block diagram showing a control device of the electric component mounting system.

FIG. 12 is a flowchart showing a lifting control program.

FIG. 13 is a front view showing another aspect of the chuck in the electric component mounting system.

FIG. 14 is a front view (partial cross section) showing a linear motor chuck which is another embodiment of the chuck of the electric component mounting system.

FIG. 15 is a side sectional view of the linear motor chuck.

FIG. 16 is a bottom view of another form of the linear motor chuck.

FIG. 17 is a plan view showing an electric component mounting system according to still another embodiment.

FIG. 18 is a front view of the electric component mounting system.

FIG. 19 is a side view (partial cross section) showing the electric component mounting system in a partially enlarged manner.

[Explanation of symbols]

10: Base 18: Component mounting device 40: Lead 42: Connector 56: Insertion hole 7
4: Y-axis slide 84: X-axis slide 100: chuck 108: Z-axis motor 11
0: θ-axis motor 206: operation panel 218: encoder 22
0: Host computer 222: External storage device 224: Reading device
250: chuck 300: linear motor chuck 444: suction nozzle 460: imaging device 462: component camera 464: local illumination device

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yuji Katsumi 19, Chausuyama, Yamamachi, Chiryu, Aichi Prefecture Inside Fuji Machinery Manufacturing Co., Ltd. F term in Fuji Machine Manufacturing Co., Ltd. (reference) 5E313 AA05 AA11 EE01 EE02 EE22 FF24 FF28

Claims (5)

[Claims] 1. A method of mounting an electric component including a component main body and an insert such as a lead and a positioning pin extending from the component main body on a circuit board, wherein the electric component and the circuit board are mounted on the circuit board. A positioning step of positioning the insert at a relative position facing the insertion hole formed in the circuit board; and controlling the driving force of the driving source so as not to exceed a predetermined upper limit driving force while controlling the driving force of the driving source. Inserting the insertion body into the insertion hole by bringing the electric component and the circuit board close to each other on the basis of the electric component mounting method. 2. An apparatus for mounting an electric component including a component body and an insert such as a lead and a positioning pin extending from the component body on a circuit board, comprising: a board holding device for holding the circuit board; A mounting head that holds the electrical components and mounts the circuit board held by the substrate holding device, and the substrate holding device and the mounting head are mounted in a plane substantially parallel to the surface of the circuit board held by the substrate holding device. A relative moving device for relatively moving to an arbitrary relative position, an approaching / separating device for moving the mounting head toward and away from the substrate holding device, and controlling the relative moving device based on predetermined position data. A control device for controlling the approach / separation device based on predetermined force data. 3. The approach / separation device uses an electric motor as a driving source, and the control device controls the electric motor so that a driving force of the electric motor does not exceed a predetermined upper limit driving force. 3. The electric component mounting according to claim 2, further comprising: a motor control unit that operates the mounting head in a direction to approach the substrate holding device while controlling the driving force, and the force data includes upper limit driving force data representing the upper limit driving force. system. 4. An upper limit driving force data from a manual input device for inputting the upper limit driving force data in response to an operation of an operator, and mounting control data including data on a relative position between the mounting head and the substrate holding device. 4. The electric component mounting system according to claim 3, further comprising: at least one of a reading unit that reads out the upper limit driving force data and a receiving unit that receives the upper limit driving force data transmitted from a host computer connected to the electric component mounting system. 5. 5. When the mounting head is approached to the substrate holding device by the approach / separation device, the insertion of the insertion body into the insertion hole is prevented based on the fact that the mounting head does not move to a predetermined position. 5. The electric component mounting system according to claim 2, further comprising an insertion-impossible information generating unit that generates insertion-impossible information indicating that the insertion is impossible.