JP2003090862A - Head positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a head positioning device capable of correcting the rotating angle of an attraction nozzle without leading to an enlargement of the circumference of a head or an increase in part cost. SOLUTION: In this head positioning device, the head 6 having the attraction nozzle (work contact part) 7 is connected to the intersection of an X-axial beam 14 reciprocating in X-axial direction and a Y-axial beam 14 reciprocated in Y-axial direction, and the head 6 is positioned to a target position by relatively moving it in X-axial and Y-axial directions by the X-axial and Y-axial beams 14 and 15. The head 6 comprises an X-axial head part 16 connected to the X-axial beam 14 and a Y-axial head part 17 connected to the Y-axial beam 15, which are relatively rotatably connected, and the Y-axial head part 17 having the attraction nozzle 7 is rotated by the positional deviation between both end parts of the Y-axial beam 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a head positioning device for positioning a suction nozzle and a measuring terminal at a target position in a component mounting apparatus having a sucking nozzle or an electric characteristic measuring device having a measuring terminal. .

[0002]

2. Description of the Related Art For example, in a component mounting apparatus that automatically assembles and mounts electronic components, it is required to increase the speed of a head mounted with a suction nozzle and increase the positioning accuracy. .

From the viewpoint of increasing the speed and precision of such a head, a head positioning device having an orthogonal biaxial mechanism may be adopted. That is, as shown in FIG. 6, this head positioning device connects both ends of the X-axis beam 51 to a pair of actuators 50, 50 that reciprocate in the X-axis direction, and a pair of actuators reciprocate in the Y-axis direction. 52, 52 to both ends of the Y-axis beam 53,
A head 54, which is constrained to one side in each of the X-axis and Y-axis directions, is slidably connected to the intersection of the axis and Y-axis beams 51 and 53, and a suction nozzle 55 is attached to the head 54 in the Z-axis direction (vertical direction in the drawing). It has a structure in which it is reciprocally mounted and rotatable about an axis.

Further, in the component mounting apparatus, the deviation of the workpiece sucked and held by the suction nozzle in the X- and Y-axis directions and the deviation around the axis are obtained by image processing, and the workpiece is moved according to the deviation. The amount and the rotation angle of the suction nozzle are corrected.

In the case of performing such correction around the axis of the suction nozzle, conventionally, the position of the workpiece is supported by rotatably supporting the suction nozzle by the head and rotating the suction nozzle by a servomotor through a rotation mechanism. It is common to make a correction.

[0006]

By the way, when the structure in which the suction angle is corrected by the servo motor through the rotation mechanism as in the above-mentioned conventional structure is adopted, the head surrounding the suction nozzle is supported. As the size increases,
There is a problem that the cost increases as the number of parts increases.

The present invention has been made in view of the above conventional circumstances, and provides a head positioning device capable of correcting the rotation angle of a suction nozzle without increasing the size around the head and increasing the cost of parts. The purpose is to do.

[0008]

According to a first aspect of the present invention, an X-axis beam reciprocally driven in the X-axis direction and a Y-axis beam reciprocally driven in a Y-axis direction orthogonal to the X-axis beam intersect each other. A head having a work contact portion is connected to the above-mentioned X-axis and Y-axis.
In a head positioning device configured to position a head at a target position by relatively moving the head in the X-axis and Y-axis directions by an axial beam, the head is connected to the X-axis beam, and an X-axis head unit and a Y-axis beam are provided. Y connected to
A shaft head portion is connected so as to be capable of relative rotation, and either one of the X-axis and Y-axis head portions having the work contact portion is rotated by the positional deviation of both ends of the X-axis beam or the Y-axis beam. The feature is to let.

According to a second aspect of the present invention, in the first aspect, the X-axis and Y-axis beams are reciprocally driven by linear motors connected to both ends of each beam.

According to a third aspect of the present invention, in the first or second aspect, the X-axis beam and the Y-axis beam are each formed by arranging two beam portions in parallel. .

According to a fourth aspect of the present invention, in the first aspect, the work contact portion is a suction nozzle for sucking and holding the work.

According to a fifth aspect of the present invention, in the first aspect, the work contact portion is a measuring terminal for measuring the electrical characteristics of the work.

[0013]

According to the head positioning device of the first aspect of the present invention, the head is such that the X-axis head section and the Y-axis head section are rotatably connected to each other, and one of the heads has a work contact section. Since the head portion is rotated by the positional deviation of the one beam, the deviation of the work contact portion is corrected by giving the deviation to the beam according to the deviation of the work contact portion around the axis. It is possible to eliminate the need for a rotating mechanism, a servomotor, etc. for rotating the workpiece contact portion. As a result, the area around the head can be made compact, the entire apparatus can be made compact, and the cost of parts can be reduced.

According to the second aspect of the invention, since the X-axis and Y-axis beams are reciprocally driven by the linear motor, it is possible to speed up the head and enhance the positioning accuracy.

According to the third aspect of the present invention, since the X-axis and Y-axis beams are arranged by arranging the two beam portions in parallel, the supporting rigidity of the head can be increased, and the positioning accuracy can be secured by increasing the speed. .

According to the fourth aspect of the present invention, since the work contact portion is constituted by the suction nozzle, the deviation around the axis of the work suction-held by the suction nozzle as described above can be corrected by the positional deviation of the beam. Therefore, the rotating mechanism and the servomotor can be eliminated, and the same effect as that of the first aspect can be obtained.

According to the fifth aspect of the present invention, the work contact portion is constituted by the measuring terminal. Therefore, for example, when inspecting the electrical characteristics of the electronic component mounted on the substrate, the deviation of the measuring terminal from the axis is measured. It can be corrected by position deviation,
The same effect as that of the first aspect can be obtained.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings.

1 to 5 show claims 1, 2, 3, 4
2 is a diagram for explaining a head positioning device according to an embodiment of the invention of FIG. 1, FIG. 1 is a plan view of a component mounting device including the head positioning device, FIG. 2 is a control block diagram of the head positioning device, and FIG. 3 is a head. 4 is a perspective view showing the rotating operation of the head.

In FIG. 1, reference numeral 1 denotes a component mounting device provided with the head positioning device of the present embodiment, which is a rectangular fixed bed 2 provided with a component supply part 3 and a component mounting part 4 and both of them. It has a schematic structure in which a component image pickup section 5 is arranged between them.

Above the fixed bed 2 is a head 6
The head 6 is provided with a suction nozzle 7 movably in the Z-axis direction. Then, the work W supplied to the component supply unit 3 is suction-held by the suction nozzle 7, and the head 6 is moved to X-axis.
The workpiece W is moved relative to the axial and Y-axis directions to place the workpiece W on the component mounting portion 4.
It is attached to the substrate (not shown) set in the.

The component image pickup unit 5 picks up an image of the work W sucked and held by the suction nozzle 7 by a camera (not shown) when the head 6 moves from the component supply unit 3 to the component mounting unit 4, and picks up an image. The deviation of the X-axis and the Y-axis with respect to the center point of the suction nozzle 6 of the workpiece W thus obtained is obtained, and
Are calculated, and the position correction amount of the work W is calculated according to these deviations.

X1 axis, X2 axis, Y1 axis, and Y2 axis linear motors 10, 1 are provided on the respective side edges of the fixed bed 2.
1, 12, 13 are arranged. Each of the linear motors 10 to 13 is composed of fixed rails 10a to 13a laid and fixed to each of the side edge portions, and a movable member 10a13b that linearly reciprocates on the fixed rails 10a to 13a.

The movable members 10b on the X1 axis and X2 axis sides,
An X-axis beam 14 formed by arranging two cylindrical beam portions 14a and 14b in parallel with each other is connected between 11b. Two cylindrical beam portions 15a are provided between the movable members 12b and 13b on the Y1 axis and Y2 axis sides.
Y-axis beam 15 in which 15b are arranged in parallel
Are bridged and connected. This X-axis beam 14, Y
The head 6 is mounted at the intersection of the axial beams 15.

The head 6 comprises an upper X-axis head section 16 and a lower Y-axis head section 17, and the Y-axis head section 1
The boss portion 17a formed on the X-axis head portion 1
The X-axis head unit 16 and the Y-axis head unit 17 are relatively rotatably connected to each other by being inserted into the insertion hole 16a formed in the bearing 6 through the rotary bearing 18.

Two beam insertion holes 16b and 16b are formed in the X-axis head portion 16, and the beam portions 14a and 14b of the X-axis beam 14 are respectively formed in the beam insertion holes 16b.
Are slidably inserted through the linear motion bearings 19, 19. Further, two beam insertion holes 17b, 17b are formed in the Y-axis head portion 17, and the beam portions 15a, 15 of the Y-axis beam 15 are formed in the respective beam insertion holes 17b.
b is slidably inserted through the linear motion bearings 20, 20. As a result, the head 6 is supported so as to be relatively movable in the X-axis and Y-axis directions.

Movable members 12b, 1 for the Y1 axis and Y2 axis
3b includes rotary movable members 12 through rotary bearings 40 and 41.
b'and 13b 'are rotatably connected. These rotary movable members 12b 'and 13b' have relief recesses 12c,
13c is formed, and the escape recesses 12c and 13c are formed.
One ends of the beam portions 15a and 15b are slidably engaged with the linear bushes 42 and 43 interposed therebetween.
This absorbs the difference in the amount of movement of the movable members 12b and 13b in the Y-axis direction.

In this way, each beam 15 of the Y-axis beam 15 is
Since the escape structures are provided on the a and 15b, the load inertias of the Y1 axis and the Y2 axis when the two beam portions 15a and 15b are adopted can be evenly distributed.

The suction nozzle 7 is arranged on the lower surface of the Y-axis head portion 17. This suction nozzle 7 is
It has a structure in which a nozzle body 22 is inserted and arranged in a nozzle holder 21 mounted and fixed to the shaft head portion 17 so as to be able to move up and down in the Z-axis direction. The nozzle holder 21 has a structure in which a lid member 24 is connected and fixed to the lower surface of a bottomed cylindrical holder main body 23 that opens downward, and a cylindrical spring receiving portion is provided in the center of the holder main body 23. 23a is integrally formed.

The nozzle body 22 has a structure in which a nozzle tip 26 is connected and formed on a lower surface of a bottomed cylindrical sliding member 25 having an opening. A stopper 25a is formed on the sliding member 25, and the stopper 25a is engaged with a stopper hole 24a formed in the lid member 24, thereby preventing the nozzle body 22 from rotating around the axis and coming off. Has been done.

A suction hole 26a is formed in the axis of the nozzle tip 26, and the suction hole 26a communicates with a suction passage 24b formed in the lid member 24. A suction hose 27 is connected to the outer surface opening of the suction passage 24b. A vacuum suction device (not shown) is connected to the extension end of the suction hose 27, and the negative pressure generated by the vacuum suction device is opened from the suction passage 24b to the lower end surface of the nozzle tip 26 through the suction hole 26a. It reaches the suction port 26b.

A coil spring 28 for urging the nozzle body 22 downward is disposed between the bottom surface of the sliding member 25 and the spring receiving portion 23a of the holder body 23.

A voice coil motor 30 is provided in the suction nozzle 7 for absorbing shocks when the work W is sucked and mounted. The voice coil motor 30 has a structure in which a magnet 31 arranged and fixed on the inner peripheral surface of the holder body 23 and a coil 32 arranged and fixed on the outer peripheral surface of the sliding member 25 face each other. Coil motor 3
By controlling the current to 0, the urging force at the time of adsorption and mounting can be varied. The lid member 24 is provided with an optical linear scale head 44, and the sliding member 25 is provided with an optical scale 45 to detect the movement amount of the sliding member 25.

The component device 1 is provided with a controller 33 for controlling the positioning of the head 6 at a target supply position and mounting position.

The controller 33 is an X-axis position sensor 3 arranged along the X1-axis side linear motor 10.
The position detection signal of the movable member 10b from 4 is read, and the Y1 axis and Y2 axis position sensors 35 and 3 arranged along the Y1 axis and Y2 axis linear motors 12 and 13, respectively.
The position detection signals of the respective sliding members 12b and 13b from 6 are read, and the X of each movable member 10b to 13b is adjusted so that the center of the suction nozzle 7 coincides with the target supply position and mounting position based on these detected values. It is configured to control the movement amount in the axis and Y-axis directions. An optical linear scale, a magnetic sensor, or the like is used for each of the position sensors 34 to 36.

The X1 axis and X2 axis linear motors 10,
11 is driven by a common X-axis driver 37, and Y1
Axis and Y2 axis linear motors 12 and 13 are Y1
It is independently driven by the axis driver 38 and the Y2-axis driver 39.

Further, the controller 33 is configured to correct the movement amounts of the movable members 10b to 13b in the X-axis and Y-axis directions based on the X-axis and Y-axis correction signals from the component image pickup section 5. ing.

Further, the controller 33 controls the Y-axis beam 15 based on the correction signal from the component imaging section 5 about the axis θ.
The moving amounts of the movable members 12b and 13b on the Y1 axis and the Y2 axis are changed so that the beam portions 15a and 15b have a positional deviation. As a result, the Y-axis head section 17 rotates by a predetermined angle with respect to the X-axis head section 16, and the nozzle tip 26 accordingly rotates by a predetermined angle, and the θ around the axis of the work W is corrected.

As described above, according to this embodiment, the Y-axis head section 17 is rotatably connected to the X-axis head section 16, and the Y-axis head section 17 is rotated.
The suction nozzle 7 is attached and fixed to the shaft head portion 17, and the Y-axis head portion 17 is fixed to each of the beam portions 15a, 15 of the Y-axis beam 15.
Since the rotation is performed according to the position deviation of b, the deviation of the work W can be corrected by giving deviation to each of the beam portions 15a and 15b in accordance with the deviation of the work W of the suction nozzle 7 around the axis θ. Therefore, the conventional rotating mechanism and servo motor can be eliminated. As a result, the area around the head can be made compact, the entire apparatus can be made compact, and the cost of parts can be reduced.

In this embodiment, the X-axis and Y-axis beams 14,
Since 15 is reciprocally driven by the linear motors 10 to 13, the head 6 can be speeded up and the positioning accuracy can be improved.

In addition, the X-axis and Y-axis beams 14 and 15 are
Since the beam portions 14a, 14b, 15a, 15b of the book are arranged in parallel, the supporting rigidity of the head 6 can be increased, and the positioning accuracy can be secured by increasing the speed.

Since the head 6 is supported by the two beam portions 14a, 14b, 15a and 15b of the X-axis and Y-axis beams 14 and 15 so as to surround the head 6, the orthogonal biaxial mechanism is directly driven by the linear bearings 19 and 20. The head 6 can be slidably supported with relatively simple components such as.

Further, each of the beam portions 14a, 14b, 1
Since the suction nozzle 7 is arranged at the center of the head 6 surrounded by 5a and 15b, it is possible to secure the rigidity when the nozzle body 22 is driven up and down in the Z-axis direction. In particular, it is possible to sufficiently support high-speed driving when the voice coil motor 30 is mounted, and it is possible to reduce vibration in the Z-axis direction.

In the above embodiment, the head positioning device provided in the component mounting device has been described as an example, but the present invention can also be applied to the electrical characteristic measuring device. In this case, the measuring terminals are mounted on the head. It will be. Also in this case, the same effect as that of the above-described embodiment can be obtained.

[Brief description of drawings]

FIG. 1 is a plan view of a placement device mounting apparatus in which a head positioning device according to an embodiment of the present invention is used.

FIG. 2 is a control block diagram of the head positioning device.

FIG. 3 is a cross-sectional view of the head.

FIG. 4 is a perspective view showing a rotating operation of the head.

FIG. 5 is a perspective view showing a rotating operation of the head.

FIG. 6 is a plan view of a head positioning device for explaining a formation process of the present invention.

[Explanation of symbols]

1 component mounting device 6 heads 7 Suction nozzle (work contact part) 10-13 Linear motor 14 X-axis beam 14a, 14b beam section 15 Y-axis beam 15a, 15b beam section 16 X-axis head section 17 Y-axis head section

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 2F078 CA08 CB05 CB09 CB12 CB16                       CC02 CC04                 2G003 AA00 AG11 AG13 AG20 AH00                       AH01                 3C030 AA15 BC02 DA35 DA37                 5E313 AA01 AA11 EE01 EE24 FF24                       FF26 FF28

Claims (5)

[Claims] 1. A head having a work contact portion is connected to an intersection of an X-axis beam reciprocally driven in the X-axis direction and a Y-axis beam reciprocally driven in a Y-axis direction orthogonal to the X-axis beam. Then, the head is moved to X by the X-axis and Y-axis beams.
In a head positioning device configured to position at a target position by moving the head relative to an X-axis head part connected to an X-axis beam and a Y-axis head part in which the head is positioned at a target position by relative movement in the Y-axis direction.
An X-axis head and a Y-axis head section connected to the axial beam are connected so as to be rotatable relative to each other, and the X-axis and Y-axis having the work contact section are provided.
A head positioning device characterized in that any one of the axial head portions is rotated by a positional deviation of both ends of the X-axis beam or the Y-axis beam. 2. The head positioning device according to claim 1, wherein the X-axis and Y-axis beams are reciprocally driven by linear motors connected to both ends of each beam. 3. The X-axis, Y-axis according to claim 1 or 2,
A head positioning device, wherein each of the axial beams is configured by arranging two beam portions so as to be parallel to each other. 4. The head positioning device according to claim 1, wherein the work contact portion is a suction nozzle that sucks and holds the work. 5. The head positioning device according to claim 1, wherein the work contact portion is a measurement terminal for measuring electrical characteristics of the work.