JP2002503890A - Parts assembly equipment - Google Patents

Abstract

(57) [Problem] To provide a component assembling apparatus capable of accurately arranging components with a simple structure. An apparatus is provided for arranging components on a substrate. The apparatus comprises: (i) one or more bar-like members, one or more component holders for placing components on a substrate, and (ii) a pair of guide rails, A component mounted on the guide rail by a mounting base on which a member can move along the guide rail; and (iii) changing the position of the movable mounting base on the guide rail so that the component mounting unit is mounted on the board. Control means for setting various directions. The device can be used to mount components on a printed circuit board. The device can mount components on a printed circuit board at high speed. The device offers high component placement accuracy, mechanical simplicity and high component throughput.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

【Technical field】

The present invention relates to an array of components.
s) an apparatus and a method for the placement of parts during the manufacture.

[0002]

BACKGROUND OF THE INVENTION

Arrays of parts are assembled for a number of purposes. Typically, "packages" and discrete circuit components are located on a substrate, such as a printed circuit board.

[0003] These parts come in a variety of forms and shapes.
Can be taken. For example, the integrated circuit may be of the dual in-line pin (DIP) type. Other components such as capacitors, resistors, sensor packages or piezo-acoustic transducers may also have to be added to the printed circuit board to form a particular circuit.

[0004] A variety of machines are available for assembling arrays of parts. These machines tend to have certain common characteristics. Among them are some form of feeder or feeder mechanism for moving parts to the machine, ie to the position where the parts array is to be assembled. Picking and transport having any configuration
The device (s) will then pick up the individual components from the feed mechanism and place them on the substrate on which the component array will be assembled.

[0005] Known component assembling machines are often very complex. Such a machine must be able to place components at certain points in space that must be reached by moving through all three dimensions. In addition, each component must be oriented correctly for placement on the substrate. Obviously, a component placed in the wrong direction will have its leads or leads connected to the wrong hole or receptacle (s) on the printed circuit board.
sockets). Alternatively, the leads may bend or break during the component insertion operation.

[0006] Known prior art component placement or placement devices include actuators or actuators for moving the placement head in all three dimensions. This allows the head to move in each of the "x", "y" and "z" directions. The head itself is equipped with a motor or electric motor or other rotating mechanism, which can rotate the component before placing it on the substrate. This motor or other rotating mechanism thus sets the parts it holds in the correct orientation or orientation before placing them on the parts. This direction is conveniently referred to as the “theta (θ)” axis.

FIG. 1 shows a very simplified diagram of a prior art component placement device. Mounting head 1
2 carries a motor 14. The motor 14 rotates the components in the correct direction before placing them on the printed circuit board. The motor 14 thus sets the direction or azimuth "theta" for the part.

Other elements shown in FIG. 1 are (i) a pair of guide rails 2 and 4, (ii) a cross member 10 that carries a mounting head 12. The mounting head 12 can be slidably mounted on the cross member 10. The crossover member 10 forms a substantially right angle with each of the guide rails 2 and 4. (Iii) two mounts 6 and 8; The mounting serves to connect the cross member 10 to the guide rails 2 and 4.

In operation, first, a component is picked up from the component supply mechanism by an engagement member that is a part of the placement head 12 described above. The engaging member is, for example, a pair of jaws or scissors (ja) mounted on the motor 14.
ws), or by fingers or fingers. The engagement member is not shown in FIG. 1 and can be considered to be blocked from view by the motor 14 when viewing the device shown in FIG.

The mounting head 12 in FIG. 1 is moved to a point lying on a printed circuit board on which components are to be mounted. This movement is made possible by moving the mounts or mounts 6 and 8 along their respective guide rails 2 and 4. Before the component is placed on the board, the motor 14 rotates the component until the orientation of the component is correct for placement on the printed circuit board.

[0011]

SUMMARY OF THE INVENTION

A component placement or placement device according to the present invention is at least one component holding portion or holder for placing components on a substrate, wherein the component holding portion is mounted on a first linear support portion. A second and a third linear support portion, wherein the first linear support portion is the second linear support portion.
And the first and second movable mounts respectively mounted on the third linear support and the first and second movable supports along the second and third linear supports. A second movable mount, and changing the positions of the first and second movable mounts on the second and third linear support portions to thereby allow various positions of the component holding portion with respect to the substrate. Control means for setting a direction or a direction.

[0012] Any or each component holder of the component placement device may further include an engagement member for engaging, holding and releasing components of various shapes and dimensions. The second and third linear supports may have their axes lying substantially parallel.

One or both of the first and second movable mounts are moved along the second and third linear supports by an actuator or actuator operated by the control means. Can be possible. The component holder (s) may be movable along the first linear support by actuator (s) operated by the control means.

The first linear support may be coupled to the first and second movable mounts by first and second joints or couplings, respectively, wherein the first and second couplings are The portion allows the angle between the first linear support and the second and third linear supports to be variable.

One of the first and second couplings may slidably hold the first linear support, and the other coupling may be the first linear coupling. It is also possible to hold the first linear support without allowing the support to slide along the axis of the first linear support.

In one particular configuration of the invention, a rigid bar comprises the first linear support, and four component holders are mounted on the rigid bar, and the microprocessor comprises a microprocessor. Constitutes the control means, and there are two electric actuators. Each actuator drives one of the movable mounts independently of the other movable mounts under the control of the microprocessor, thereby setting the angle of the component holder relative to the substrate. No motors or other rotating means are mounted on the component holders themselves.

In one embodiment in which the first linear support or bar can move along its axis with respect to both mounts, the component mounting device further comprises the first linear support. At least one actuator for moving the support in the direction of its own axis.

The component mounting device can further comprise a fourth linear support, which supports a further component holder and respectively has a third and a fourth movable part. The mounting base mounts or mounts on the second and third linear supports.

The component mounting device may further act as a guide rail on which one or more further linear supports are mounted transversely on a slidable mount. A pair of linear supports may be provided.

The present invention allows for a greatly simplified mechanical and electro-mechanical structure as compared to the prior art configuration as shown in FIG.

In particular, the absence of a motor or other actuation or active rotation mechanism on the mounting head results in (i) one less motor in the device, and (ii) a motor to the mounting head. There is no need to provide a power connection, so less wiring and (iii) a lighter mounting head.

As a result of the above (iii), the rod-shaped member on which the mounting head is mounted and the guide rail supporting the rod-shaped member can have a lighter structure. The reduction in the weight of the bar results in less inertia in this element of the device. This reduced inertia allows for faster acceleration and deceleration, thus leading to faster operation of the entire device and greater substrate throughput.

A further advantage of the arrangement according to the invention lies in the accuracy with which the direction or orientation of the part can be set.
This depends on several parameters of the device. In principle, it depends on (i) the precision with which the mountings can be placed on their respective guide rails, and (ii) the design of the bar mounted on the two guide rails.
In particular, the length and the stiffness of the bar are here critical design parameters.

[0024]

[Detailed description of preferred embodiments]

2 (a) -2 (d) show simplified plan views of one embodiment of the present invention. In particular, FIG. 2 (a) shows component holders or holders 12, 14, 16 and 18 held by a bar or bar 10. Rod-shaped member 10
Form a first linear or linear support. Each component holder includes an engagement member for grasping, holding and ultimately releasing the individual component.

Each engagement member is suitable for use with components of various shapes and dimensions. The engagement member may be constituted by a set of jaws or jaws or fingers or fingers, and a "vacuum" suction arrangement may be used. The engagement member can include a process-related mounting configuration, such as a heater to allow bonding of the components after mounting.

FIG. 2 (b) shows two parallel guide rails 2 and 4. Guide rails 2 and 4 form second and third linear or linear supports.
The guide rails are almost parallel.

First and second movable mounts or pedestals 6 and 8 are shown, one on each of the guide rails 2 and 4. These movable mounts can slide along their respective guide rails. In the illustrated embodiment, each mount can be driven along its guide rail independently of the other mounts. Thus, various relative positions of the two mounts are possible. Control means, not shown in FIG. 2, controls the actuator or actuator to drive each mount to a desired position.

The component holder is designed to pick up or pick up various components. These components come from a supply mechanism not shown in FIGS. The components need to be mounted on a substrate, which can be, for example, a printed circuit board.

For simplicity, the substrate can be considered as lying on the plane containing the guide rails 2 and 4. Further, in this embodiment, the direction or orientation of the board with respect to the guide rail is constant while the components are mounted on the board. However, the scope of the present invention can include configurations where the substrate itself is on a further mounting that can change its orientation during assembly of the component on the substrate.

In operation, the substrate is placed in an area between the guide rails. The component holder, for example, the component holder 14, moves to pick up the first component from the component holder. This movement is constituted by the movement of the first and second mounts 6 and 8 along the guide rails 2 and 4, respectively. Also, movement of the component holder 14 along the bar 10 and / or movement or movement of the bar 10 along its own longitudinal axis may occur.

Once the component holder 14 collects components to be placed on the board, it moves toward the board. This movement is performed in a manner similar to the operation described above in which the component holder moves to a position where it can pick up components from the supply mechanism.

An actuator or actuator for moving the first and second mounts 6 and 8 along their respective guide rails 2 and 4 extends the end of the bar 10 along the length of the guide rail. It can be located at any point.

The bar may be positioned such that it is substantially perpendicular to the guide rail. However, the actuator can also control the first and second mounts 6 and 8 independently. The mountings 6 and 8 can thus be positioned such that the bar 10 is not perpendicular to the guide rails 2 and 4. Exactly this situation is shown in FIGS. 2 (b) and (c).

The bar 10 in each of FIGS. 2B and 2C is not perpendicular to the guide rails 2 and 4. The small angle that the bar makes with respect to the perpendicular bisector of each guide rail is shown as theta (θ) in each of FIGS. 2 (b) and (c).

Obviously, said angle θ depends on the relative positions of the mountings 6 and 8 on their respective guide rails 2 and 4. Due to the incremental movement of one or both of the mountings 6 and 8, the angle θ can be set with very fine resolution.

When the component holder 14 holds a component for insertion into a board, the angle θ determines the correct direction or orientation of the component. Therefore, the present invention provides the mountings 6 and 8
The precise positioning of the parts allows the setting of the exact angle of the part to be inserted. Obviously, the control means for controlling the position of the mountings 6 and 8 are therefore the component holders 12,
You will have control over the angle of the part held by any or all of 14, 16, and 18.

The mounts or mounts 6 and 8 are designed such that the bars or bars 10 can take various angles with respect to the lines of the guide rails 2 and 4. At least one of the mounts 6 and 8 allows the bar 10 to slide therein to facilitate this. This allows the bar to have a direction or orientation as in FIGS. 2 (b) and (c), wherein the distance separating the mountings 6 and 8 is shown in FIG. 2 (a). Larger than in position.

Further, the rod-shaped member 10 can be configured to be slidable along its axis, that is, to be slidable on both the mounts 6 and 8. An actuator or actuator can be configured to transfer the bar 10 along its own axis. This movement assists or augments the movement of each individual head 12, 14, 16 or 18 relative to the bar by the actuator.
dd to) or may be replaced with the exercise.

Obviously, the invention shown in FIGS. 2 (b) and (c) does not require having an active component rotation mechanism thereon, such as a motor or electric motor. . Therefore, the component holding portion can be made lighter. Thus, the rod 10, the supports 6 and 8 and the guide rails 2 and 4 can have a lighter structure while providing the same stiffness or rigidity. If the moving part has a lower mass, the motion system will have a lower inertia, allowing faster acceleration and deceleration. This in turn increases the throughput of the component placement or placement device and therefore reduces costs.

Furthermore, the elaborate wiring required to supply power to the motor above the component holder in the prior art configuration of FIG. 1 need not be provided in the apparatus according to the present invention.

Another advantage of the configuration of FIG. 2 is the accuracy with which theta (θ) can be set. If a motor, such as motor 14, is provided on the component holder, the motor must be of a very high quality to provide the correct orientation or orientation for the component it holds. The accuracy with which theta (θ) can be set by the configuration of FIG.
And 8 depends on the accuracy with which they can be positioned on their respective guide rails 2 and 4. Generally speaking, the accuracy with which the mounts 6 and 8 can be positioned is extremely high.

The accuracy with which the theta (θ) can be set also depends on the length of the bar 10 and the distance between the guide rails 2 and 4. This is shown by simple geometric considerations. To provide greater accuracy, the component placement device can be designed with longer rods 10 and wider spaced guide rails 2 and 4.

FIG. 2D is a duplicate of the diagram shown in FIG. (D) of FIG.
) Is also the same bar-shaped member 1 inclined at an angle to a vertical line connecting the guide rails.
Contains two superimposed dotted representations of 0. These dotted representations in FIG. 2 (d) correspond to those shown in FIGS. 2 (b) and (c).

The control means of the present invention commands the various movements required to pick and place each component on the board. Preferably, the control means is constituted by a microprocessor. A suitably programmed industrial Pentium processor or PowerPC is suitable for this purpose.

FIG. 3 shows a plan view of the main and peripheral elements of the component assembling machine according to the invention.
FIG. 3 shows a guide rail, a mounting and two rods of the type already described with reference to FIG.

FIG. 3 shows a feeder mechanism or a feeder mechanism for supplying a component to a component assembling machine. See the upper part of FIG. The feed mechanism moves a number of parts simultaneously to the position of the part assembling machine. The supply mechanism can move slightly below the working surface of the component assembling machine. Thus, the supply tray will pass below or below the operating level of the component assembling machine as the components are moved from them.

The component assembling machine includes a number of component extractors.
ctors). Each part extractor removes a part from the feed mechanism and moves it to a point and orientation or angle from which one of the part holders can collect the part. These component extractors provide centering of the component prior to integration of the component by the component holder and the "theta (theta)" of the component.
"Set the coarse adjustment value for the azimuth. The orientation provided by the part extractor can be relatively coarse, since the present invention allows for a further, more accurate setting of the orientation of the part by the procedure previously described with respect to FIG. It is.

FIG. 4 adds an extra or additional pair of bars with multiple component holders to the configuration of FIG. Providing yet another bar and component holder further increases the speed at which components can be mounted on the board.

Although the additional bar shown in FIG. 4 is shown mounted on the same guide rail as shown in FIG. 3, this need not be the case. Further, other pairs of guide rails can be provided. The bar 10 on one pair of guide rails 2, 4 should be able to move without contacting the bar on the other pair of guide rails. Obviously, further guide rails and rods can be provided if desired.

FIG. 5 is a kinematic diagram. This figure more clearly illustrates the most basic principle of the present invention, without showing the details of FIGS. Although FIG. 5 is not necessarily a scale representation of an actual machine, it is clear that the angle theta (θ) can take a wide range of values. The upper limit of theta (θ) is mainly constrained by the feasible lengths of the guide rails and rods.
The accuracy with which the theta (θ) can be set is determined in part by the distance between the guide rails and the length of the bar 10. The greater the distance between the guide rails and the longer the length of the bar-shaped member 10, the higher the accuracy with which theta (θ) can be set.

The description given above with respect to FIGS. 2 b and 2 c clearly shows that at least one end of the bar 10 must be able to slide in one of the mountings 6 and 8. I have. FIG. 6 shows an embodiment of the present invention in which one end of the rod-shaped member 10 is fixed.
8 to FIG.

FIG. 6 shows a detailed kinematic illustration. This figure shows that the right end of the rod-shaped member is mounted on a pivot axis (on a pivot). However, the pivot prevents the bar from sliding along its length. The left end of the bar can also pivot with respect to the guide rail, defining the X2 direction. However, it can also slide through a mount that connects the bar to this guide rail. When the relative position of the two mounts changes, the angle theta (θ) changes. To accommodate these changes, the left end of the bar slides through its mount. Obviously, the bar pivots with respect to both mounts as the theta (θ) changes.

FIG. 7 shows the same structure as that shown in FIG. 3, but functions in principle as shown in FIG. Elements of FIG. 7 that correspond to those of FIG. 3 will not be described again here.

In FIG. 7, the mounting of the bar is shown in the structure described above with reference to FIG. The right end of each of the two bar members shown can only pivot on its mount. However, the left end of each bar can pivot and slide within its mounting. In the configuration of FIG. 7, each of the four component holding portions on each bar-shaped member can move along the bar-shaped member. Thus, when one or more component holders pick up a component from the supply mechanism, the component holder moves to a component extractor located above the supply mechanism under consideration. When the bar moves from the supply mechanism to a position where the board is fed through the component assembling machine, each component holder can slide along the bar to which it is mounted and the component is mounted on the board. Ready to be placed on.

The exact sequence of component placement can be determined by one skilled in the art and programmed into the microprocessor of the control unit. The basic parameters available for making this determination are the number of component feeders, the number of bars and the number of component holders on each bar. In the example of FIG. 7, a total of 18 parts supply lines and 2
There are two rod members. There are four component holders on each bar, giving a total of eight component holders.

Those skilled in the art will need to program the control means to drive the actuator or actuator of the configuration of FIG. These actuators or actuators require the rod and component holders to be in the correct position and theta (
This is a mechanism for driving in the θ) direction.

FIG. 8 shows a configuration of four rod-shaped members. The configuration of FIG. 8 almost corresponds to that of FIG. 4, but functions according to the principle shown in FIG. However, the right ends of the bars are anchored to their mountings, so that they can pivot but cannot slide through their mountings along their own axis. The left ends of the bar members can pivot on their mountings and slide through them. As described above, the configuration of FIG. 8 corresponds to the detailed kinematic illustration of FIG.

The embodiments of the invention shown in FIGS. 2-8 are not limiting and those skilled in the art will appreciate that other embodiments fall within the scope of the appended claims.

[Brief description of the drawings]

FIG. 1 is a simplified explanatory diagram of a conventional component placement device.

FIG. 2 is a simplified explanatory view of a component placement device according to the present invention.

FIG. 3 is an explanatory diagram showing main elements of a component placement device according to the present invention, including peripheral devices.

FIG. 4 is an illustration showing an enhanced version of the embodiment of the present invention shown in FIG.

FIG. 5 is a kinematic explanatory view clearly showing the most basic principle of the present invention.

FIG. 6 is a detailed kinematic explanatory view showing the principle of an embodiment of the present invention.

7 is an explanatory diagram showing main elements of a component placement device that operates according to the principle shown in FIG. 6, including peripheral devices.

FIG. 8 is an explanatory diagram showing an enhanced version of the embodiment of the present invention shown in FIG. 7;

[Explanation of symbols]

 2,4 Guide rail 6,8 Mounting stand 10 Bar-shaped member 12,14,16,18 Parts holding part

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Diggin Billy Ireland Co. Dublin Dona Bate Priory Wood 64 F-term (reference) 5E313 AA02 AA03 AA04 AA23 CD04 EE01 EE02 EE22 EE23 EE24 EE33

Claims (11)

[Claims] 1. A component placement device, comprising: at least one component holding unit for placing or placing a component on a substrate, wherein the component holding unit is mounted on a first linear support unit. A second and a third linear supporting portion, wherein the first linear supporting portion is respectively connected to the second and third linear supporting portions by first and second movable mounts. The first and second movable mounts movable along the second and third linear support portions, and the second and third linear support portions mounted on the support portion; Control means for setting various directions of the component holding part with respect to the substrate by changing positions of the first and second movable mounts on the part. apparatus. 2. The component of claim 1, wherein each of said component holders further comprises an engagement member for engaging, holding and releasing components of various shapes and dimensions. Mounting device. 3. The component mounting apparatus according to claim 1, wherein said second and third linear supports lie substantially in parallel with each other. 4. One or both of the first and second movable mounts can be moved along the second and third linear supports by an operating device operated by the control means. The component placement apparatus according to any one of claims 1 to 3, wherein: 5. The apparatus according to claim 1, wherein said one or each of said component holders is movable along said first linear support by one or more actuators operated by said control means. The component placement device according to any one of claims 1 to 4, characterized in that: 6. The device according to claim 1, wherein said first linear support portion is provided with a first and a second support, respectively.
The first and second connecting portions are attached to the first and second movable mounts by a connecting portion, and the first and second connecting portions are connected to the first linear supporting portion and the second and third linear supporting portions. The component placement device according to any one of claims 1 to 5, wherein an angle between each of the components is changed. 7. One of the first and second couplings slidably holds the first linear support, and the other coupling includes the first linear support. The component arranging device according to claim 6, wherein the part is held without allowing a sliding movement along an axial direction of the first linear support part. 8. A rigid rod-shaped member constituting the first linear support portion, four component holding portions mounted on the rigid rod-shaped member, a microprocessor constituting the control means, and Two electric actuators for driving one of the first and second movable mounts independently of the other movable mount under the control of a microprocessor. The component placement device according to claim 6. 9. The apparatus according to claim 1, further comprising at least one actuating device for moving said first linear support in an axial direction of said first linear support itself. 7. The component placement device according to any one of items 6 to 6. 10. The apparatus according to claim 1, further comprising: four linear supports, each of which supports another component holder and is provided with a third and fourth movable mounts respectively. The component placement apparatus according to any one of claims 1 to 9, wherein the component placement apparatus is mounted on a third linear support portion. 11. A further pair of linear supports acting as guide rails, wherein said linear supports are provided with one or more further linear supports. The component placement device according to any one of claims 1 to 10, wherein the component placement device is mounted on a mount that can slide in a direction.