JP2003110286A - Mounting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mounting machine which does not require timer management for each of a plurality of set carrying speeds when a circuit board is carried. SOLUTION: A control means controls a carrying means 11 which carries the circuit board 10 in a fixed direction to a specific carrying speed and a reduced speed in order to make the circuit board 10 reach a specific processing position P1. Namely, respective set values of the carrying speed V, the reduced sped Vd, the processing position P1, and a carrying start position P0 are stored. When the circuit board 10 is positioned on the basis of a reference mark 10a provided at a precedent end of the circuit 10a as an origin, a previously set value of a speed reduction start position P0 is sorted. The distance from the carrying start position P0 to the speed reduction start position 2 is calculated and divided by the set value V of the carrying speed to calculate a speed reduction time of control to the reduced speed Vd, and the speed is reduced according to the calculated value of the speed reduction time. The speed reduction time is calculated as a function, so only timer management based upon the calculated value is needed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting machine for mounting components such as electronic components on a circuit board.

[0002]

2. Description of the Related Art As an example of a mounting machine for mounting components such as electronic components on a circuit board, there is a material coating device for coating a paste or liquid material such as an adhesive.

As shown in FIG. 3A, the material coating device 1
Is provided with a coating section 2 and a circuit board regulating section 3. The coating unit 2 is supported by the X-direction robot 4, and as shown in FIG. 3B, a plurality of syringes 7 each having a coating nozzle 5 at its end and containing the material 6, and a lighting unit (not shown). A recognition camera 8 provided with (1), a mechanism for moving each coating nozzle 5 up and down in the Z direction, and a mechanism for rotating each coating nozzle 5.

The circuit board regulating portion 3 is supported on the Y table 9, and as shown in FIG.
Circuit board conveying means 11 for conveying 0 in the X direction, and material 6
It has a discarding tape 12 for discarding, and the circuit board 10 can be positioned with respect to the coating nozzle 5 in the XY directions.

A loader 13 having means for loading the circuit board 10 into the circuit board conveying means 11 is arranged on the upstream side of the circuit board regulating section 3, and a material is provided on the downstream side of the circuit board regulating section 3. An unloader 14 having a means for conveying the coated circuit board 10 to the downstream side is arranged.

The controller 15 carries out all the controls in the material coating apparatus 1 including the coating section 2 and the circuit board regulating section 3. The controller 15 also controls the entire board transfer operation in which the circuit board transfer means 11 transfers the circuit board 10 to the circuit board regulating portion 3 and supports it.

Therefore, the circuit board 10 is carried into the circuit board conveying means 11 by the loader 13, is conveyed to the circuit board regulating portion 3 by the circuit board conveying means 11, is positioned and regulated in the X direction, and the material 6 is At the time of coating, the Y table 9 is positioned in the Y direction corresponding to the Y coordinate value of each coating position on the circuit board 10.

On the other hand, the coating unit 2 is operated by the X-direction robot 4 in accordance with the X coordinate value of each coating position on the circuit board 10.
In a state of being positioned in the direction and recognized by the recognition camera 8, the material is applied to the surface of the circuit board 10 by moving each application nozzle 5 up and down in the Z direction and rotating.

The circuit board 10 on which the material application is completed is conveyed to the downstream side by the unloader 14. Hereinafter, a series of operations related to substrate transfer will be described with reference to the timing chart of FIG. Here, there are two types of transfer criteria for board transfer. Depending on which point on the circuit board is used as the origin to determine the material coating position and component mounting position, the left side of the board (in the transfer direction A left reference whose origin is the position of the reference pin 10a along the leading end) or a right reference whose origin is the position of the reference pin 10b on the right side of the substrate (the trailing end along the transport direction) is selected. To be done.

FIG. 4 (a) is a timing chart for left reference, and FIG. 4 (b) is a timing chart for right reference. 4A and 4B, the loader 13 includes a loader transport motor 13a, an inlet side substrate detection sensor 13b, and an outlet side substrate detection sensor 13c. Circuit board carrier 1
The reference numeral 1 includes a table transport motor 11a, a table arrival detection sensor 11b, and a substrate stopper 11c. The "table" referred to here means the circuit board transfer means 11. That is, the table carrying motor 11a is a motor for carrying the circuit board carrying means 11, and the table arrival detection sensor 11b is the circuit board carrying means 1.
1 is a sensor that detects that the circuit board 10 has arrived at 1. An unloader 14 has an unloader transport motor 14a, an inlet side substrate detection sensor 14b, and an outlet side substrate detection sensor 14c.

With the left reference, the position of the right end (rear end) of the circuit board 10 changes when the board size changes, and the board stopper 11 positioned on the left side of the circuit board 10 is changed.
The position of c is fixed. With the right reference, the position of the left end (leading end) of the circuit board 10 changes when the board size changes, and the position of the board stopper 11c located on the left side of the circuit board 10 is variable. With either the left reference or the right reference, at the start of the transfer, there is no circuit board 10 loaded into the circuit board transfer means 11, and the circuit board 10 must be loaded up to the exit side board detection sensor 13c of the loader 13. Becomes

Therefore, in the left reference (see FIG. 4 (a)), when the start key of the equipment is operated from the above state, the controller signal for starting the transportation is issued as shown in, and the loader attached to the loader 13 is sent. Transport motor 1
3a is started to rotate, and the table transfer motor 1 mounted on the circuit board transfer means 11 as shown in
The rotation of 1a is started, and the circuit board 10 is carried in from the loader 13 to the circuit board carrying means 11. The circuit board 10 which moves in this way is detected by the outlet side sensor 13c of the loader 13 as shown in, and when the circuit board 10 has finished passing through the outlet side sensor 13c, the loader carrying motor 13c is stopped and the table 13 The transport motor 11a is kept rotating.

At this time, at the same time as the rotation of the table conveying motor 11a is started, a soft timer is set as indicated by, and the soft timer measures the preset time and notifies the time-up. Simultaneously with the time-up, the table conveyance motor 11a is set to the speed deceleration ON state as shown in, and the conveyance speed V is decelerated to the deceleration speed Vd, and the circuit board 10 thus decelerated is set in the controller 15. The substrate stopper 11c, which is previously positioned at the position P1, collides with the substrate stopper 11c and is stopped. The speed deceleration at this time is performed to reduce the impact of the circuit board 10 colliding with the board stopper 11c. The arrival of the circuit board 10 is detected by the table arrival detection sensor 11b mounted near the board stopper 11c as indicated by, and the table conveyance motor 11a is stopped when the arrival is completed.

As a result, the circuit board 10 is positioned and regulated in the X direction by the circuit board regulating portion 3 and is supported in the Y direction corresponding to the Y coordinate value of each coating position on the circuit board 10. After the positioning, the material is applied by the application unit 2. After the material application is completed, the support is released and the material is carried out to the unloader 14.

On the other hand, with the right reference (see FIG. 4 (b)), similarly to the left reference, a controller signal for starting the transfer is issued as shown in, the rotation of the loader transfer motor 13a is started, and as shown in. Table transport motor 11
a is started to rotate, and the loader 13 causes the circuit board carrier 1
The circuit board 10 is loaded into the board 1. When the exit side sensor 13c of the loader 13 detects the passage of the circuit board 10 as shown in FIG. 5, the loader carrying motor 13c is stopped and the table carrying motor 11a is kept rotating.

Next, unlike the above-described left reference, when the circuit board 10 has finished passing through the outlet side sensor 13c, the table conveying motor 11a is turned on and decelerated as shown in, and conveyance is performed. The circuit board 10 is decelerated from the speed V to the deceleration speed Vd, and the circuit board 10 decelerated thereby collides with the board stopper 11c prepositioned at the position P1 set by the controller 15 and is stopped. That is,
The circuit board 10 is decelerated by the same distance if the dimensions along the carrying direction are the same. The position P1 is set as a position commensurate with the position P1 ′ that the trailing end of the circuit board 10 should reach. The arrival of the circuit board 10 is detected by the table arrival detection sensor 11b mounted near the board stopper 11c as indicated by, and the table conveyance motor 11a is stopped when the arrival is completed. The subsequent operation is the same as the left reference.

[0017]

By the way, the controller 15 for control described above is the motor for table conveyance 11
Eight speed settings are managed for a (speed 1 to speed 1
8. The value of each speed is fixed), and the speed is controlled. Which of the eight speed settings is to be used is predetermined by the operator who uses the mounting machine and is stored in the controller 15. A speed of 8 is always used for speed deceleration in order to mitigate the impact when the circuit board 10 collides with the board stopper 11c. For example, speed 1 → 8 for high-speed mounting and speed for medium-speed mounting. The speed is 3 → 8, and the speed is 4 → 8 in low-speed mounting.

However, in the case of the left reference, as described above, the rotation of the table conveying motor 11a is used as a trigger to start decelerating the motor 11a. Therefore, deceleration is started at a different position unless the timer is managed for each speed. As a result, the transport time is lost. Therefore, 8
A timer is required for each speed setting of the stage,
It is necessary to use as many as eight timers inside the controller 15 that can be installed in a limited number for transportation purposes.

On the other hand, in the case of the right reference, as described above, since the circuit board 10 finishes passing the exit side board detection sensor 13c of the loader 13 and the table transfer motor 11a is decelerated at the same time. If there is a notch or the like, the circuit board 10 may be erroneously detected as having finished passing, and deceleration may be started earlier, which may extend the carrying time.

The present invention solves the above problem, and eliminates or reduces the need for timer management for each speed setting, and provides a mounting machine that can quickly convey a circuit board regardless of the presence or absence of a notch. To aim.

[0021]

In order to solve the above problems, at least one of the deceleration start position and the board size is preset and inputted, and the deceleration time is a function of the set value and the actually selected transport speed. Since it is only necessary to manage the timer on the basis of the calculated value, it is possible to eliminate the sensor management of the board and eliminate the delay in the transfer time due to the notch.

According to the first aspect of the present invention, a carrying means for carrying the circuit board in a fixed direction, and the carrying means are sequentially controlled at a set carrying speed and deceleration speed to process the circuit board in a predetermined manner. A mounting machine having a control means for reaching a position, wherein the control means stores each of the set values of the carrying speed, the deceleration speed, the processing position, and the carrying start position, and sets the circuit board at its leading end. When positioning is performed with the reference mark provided on the section as the origin, the value of the deceleration start position set in advance is stored, the distance from the transport start position to the deceleration start position is calculated, and the calculated value of the distance is The deceleration time to be controlled to the deceleration speed is calculated by dividing by the set value of the transport speed, and the deceleration is executed based on the calculated value of the deceleration time.

According to a second aspect of the present invention, a carrying means for carrying the circuit board in a fixed direction, and the carrying means are sequentially controlled to a set carrying speed and deceleration speed to process the circuit board in a predetermined manner. A mounting machine having a control means for reaching a position, wherein the control means stores each of the set values of the carrying speed, the deceleration speed, the processing position, and the carrying start position, and the circuit board is set at the trailing end. When positioning is performed by using the reference mark provided on the section as the origin, the size of the circuit board that is input in advance in the carrying direction is stored, and the size of the circuit board is divided by the set value of the carrying speed. The deceleration time to be controlled to the deceleration speed is calculated, and the deceleration is executed based on the calculated value of the deceleration time.

According to a third aspect of the present invention, a carrying means for carrying the circuit board in a fixed direction, and the carrying means are sequentially controlled at a set carrying speed and deceleration speed to process the circuit board in a predetermined manner. A mounting machine having a control means for reaching a position, wherein the control means stores each of the set values of the carrying speed, the deceleration speed, the processing position, and the carrying start position, and the circuit board is set at the trailing end. When positioning is performed with the reference mark provided on the section as the origin, the value of the deceleration start position set in advance and the size of the circuit board along the carrying direction that is input in advance are stored, and The sum of the distance to the deceleration start position and the dimensions of the circuit board is calculated, and the deceleration time to be controlled to the deceleration speed is calculated by dividing the calculated value by the set value of the transport speed. Calculated value of Those that are configured to perform the deceleration based.

[0025]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be specifically described with reference to the drawings. FIG. 1 is a timing chart showing the board transfer operation of the mounting machine in the embodiment of the present invention. Since the entire configuration of this mounting machine is the same as the conventional one described as the material coating device with reference to FIGS. 3 to 4, each member is denoted by the same reference numeral as in FIGS. 3 to 4, and detailed description thereof is omitted. .

With either the left reference or the right reference, the circuit board 10 that has been loaded into the circuit board transfer means 11 at the start of transfer.
Instead, the condition is that the circuit board 10 is carried in to the exit side board detection sensor 13c of the loader 13. The controller 15 previously sets the transport start position P0 and the processing position P1.
And the transport speeds 1 to 7 and the deceleration speed 8 are stored,
The following equations (1) and (2) are stored.

When the transport speed V and the deceleration start position P2 are set in the controller 15 prior to the start of the operation, the controller 15 determines that the left reference and uses the following arithmetic expression (1) stored, The deceleration time T1 to be controlled to the deceleration speed Vd is calculated. The transport start position P0 and the processing position P
1 and the deceleration start position P2 are positions corresponding to the leading end of the circuit board 10.

T1 = (P2-P0) / V .. (1) Then, the calculated deceleration time T1 is set in the soft timer. As a result, when the start key of the equipment is operated, as shown in FIG. 1 (a), a controller signal for starting the transfer is issued, and thereby the loader transfer motor 13a is started to rotate. As shown in FIG. 5, the table transfer motor 11a starts rotating, and the circuit board 10 is transferred from the loader 13 to the circuit board transfer means 11. The carry-in / carry-in of the circuit board 10 is detected by the outlet side sensor 13c of the loader 13 as shown in.

In addition, the controller signal at the start of conveyance causes the soft timer to start counting the deceleration time T1 as indicated by, and notifies the time-up. Then, at the same time as the time is up, the table transfer motor 11a is brought into the speed deceleration ON state as shown by, and the circuit board 10 decelerated thereby is pre-positioned at the processing position P1 set in the controller 15 by the substrate stopper 11c.
Crashed into and stopped.

The arrival of the circuit board 10 is detected by a table arrival detection sensor 11b mounted in the vicinity of the board stopper 11c, and the table carrying motor 11a is stopped when the arrival is completed.

The above-mentioned method starts deceleration when the leading end of the circuit board 10 reaches the fixed position P2. The deceleration start position at which the impact on the stopper 11c does not increase at the time of collision must be determined in advance by an experimental or empirical method and set in the controller 15, but the deceleration time T1
Is automatically calculated as a function of the transport speed V as described above, so that only one timer management is required.

On the other hand, prior to the start of operation, the controller 1
When the conveyance speed V and the dimension X along the conveyance direction (X direction) of the circuit board 10 are set in 5, the controller 15 determines that the reference is the right reference, and uses the stored arithmetic expression (2) below. Then, the deceleration time T2 to be controlled to the deceleration speed Vd is calculated.

T2 = X / V (2) Then, the calculated deceleration time T2 is set in the soft timer. As a result, when the start key of the equipment is operated, as shown in FIG. 1 (b), the controller signal for starting the transportation is issued, whereby the loader transportation motor 13a is started to rotate, and As shown in FIG. 5, the table transfer motor 11a starts rotating, and the circuit board 10 is transferred from the loader 13 to the circuit board transfer means 11. Although illustration is omitted, the carry-in / carry-in of the circuit board 10 is detected by the outlet side sensor 13c of the loader 13.

In addition, the controller signal at the start of conveyance causes the soft timer to start measuring the deceleration time T2 as indicated by, and notifies the time-up. Then, at the same time as the time is up, the table transfer motor 11a is brought into the speed deceleration ON state as shown by, and the circuit board 10 decelerated thereby is pre-positioned at the processing position P1 set in the controller 15 by the substrate stopper 11c.
Crashed into and stopped. As a result, the trailing end portion of the circuit board 10 is arranged at the processing position P1 'corresponding to the right reference.

The arrival of the circuit board 10 is detected by the table arrival detection sensor 11b mounted in the vicinity of the board stopper 11c, and the table carrying motor 11a is stopped when the arrival is completed.

The above method starts deceleration when the trailing end of the circuit board 10 passes the transport start position P0, and is basically the same as the conventional method described above. If the dimensions along the conveyance direction are the same, they are decelerated by the same distance and conveyed. However, the deceleration time T2 is automatically calculated as a function of the transport speed V as described above and the deceleration is started instead of monitoring the passage of the trailing end to start deceleration as in the conventional method. There is no delay in the transfer time due to the notch detection, and only one timer management is required.

Regarding the right reference, instead of the set value used in the control method shown in FIG. 1 (b), as shown in FIG. 2, the controller 15 is instructed to convey speed V, deceleration start position P2, and circuit board 10. It is also possible to set the dimension X along the conveyance direction (X direction).

In this case, the controller 15 calculates the deceleration time T3 to be controlled to the deceleration speed by using the stored arithmetic expression (3) below. T3 = (P2-P0 + X) / V ... (3) Then, set this deceleration time T3 in the soft timer,
The deceleration is started in the same manner as above.

In the above method, when the trailing end of the circuit board 10 passes the position P2 closer to the processing position P1 than the transport start position P0, that is, the leading end of the circuit board 10 passes the illustrated P2 ". At this point, the deceleration starts, as in the case of the right reference described above, there is no delay in the conveyance time due to the notch detection, one timer management is sufficient, and the distance to the machining position is Even if it is long, the circuit board 10 can be reached quickly.

In the above description, the material coating device has been described, but if it is a mounting machine that requires conveyance of a circuit board,
A component mounting device or the like can be similarly configured and controlled.
Further, although it has been described that one substrate coating apparatus controls both left-handed and right-handed substrate transportation, it goes without saying that an apparatus configuration in which substrate transportation is controlled by any one of the criteria is also possible. Yes.

[0041]

As described above, according to the present invention, the deceleration start time is calculated based on the set value of the transport speed and the preset deceleration start position and / or the board size. Unlike the conventional method in which the sensor detects passage of the circuit board and starts deceleration, it is not necessary to manage the timer for each of a plurality of conveyance speeds, and the delay of the conveyance time due to the cutout of the board can be eliminated.

[Brief description of drawings]

FIG. 1 is a timing chart showing a board transfer operation of a mounting machine according to an embodiment of the present invention.

FIG. 2 is a timing chart showing another substrate transfer operation that can be performed by the mounting machine according to the embodiment of the present invention.

FIG. 3 is a perspective view showing a configuration of a material coating device in a conventional mounting machine.

FIG. 4 is a timing chart showing a substrate transfer operation of the material coating apparatus of FIG.

[Explanation of symbols] 2 Application section 3 Circuit board regulation part 10 circuit board 10a, 10b Reference pin 11 Circuit board carrier 13 loader 14 unloader 15 controller

Continued front page    F-term (reference) 3C030 DA23 DA36                 5E313 AA11 CC04 DD02 DD03 DD12                       FF11 FF32 FG05

Claims (3)

[Claims] 1. Conveying means for conveying a circuit board in a fixed direction, and control means for sequentially controlling the conveying means to a set conveying speed and deceleration speed so that the circuit board reaches a predetermined processing position. In the mounting machine provided with, the control means stores each set value of the carrying speed, the deceleration speed, the processing position, and the carrying start position, and the reference mark provided on the leading end of the circuit board. When positioning with the origin as the origin, the value of the preset deceleration start position is stored, the distance from the transport start position to the deceleration start position is calculated, and the calculated value of the distance is divided by the set value of the transport speed. A mounting machine configured to calculate a deceleration time to be controlled to the deceleration speed by performing the deceleration, and execute deceleration based on the calculated value of the deceleration time. 2. Conveying means for conveying the circuit board in a fixed direction, and control means for sequentially controlling the conveying means to a set conveying speed and deceleration speed so that the circuit board reaches a predetermined processing position. In the mounting machine, the control means stores each set value of the carrying speed, the deceleration speed, the processing position, and the carrying start position, and the circuit board is provided with a reference mark provided at a rear end thereof. When positioning with the origin as the origin, the dimensions along the carrying direction of the circuit board that are input in advance are stored, and the deceleration speed should be controlled by dividing the dimensions of the circuit board by the set value of the carrying speed. A mounter configured to calculate deceleration time and execute deceleration based on the calculated value of the deceleration time. 3. Conveying means for conveying the circuit board in a fixed direction, and control means for sequentially controlling the conveying means to a set conveying speed and deceleration speed so that the circuit board reaches a predetermined processing position. In the mounting machine, the control means stores each set value of the carrying speed, the deceleration speed, the processing position, and the carrying start position, and the circuit board is provided with a reference mark provided at a rear end thereof. In the case of positioning with the origin as the origin, the value of the preset deceleration start position and the dimension of the circuit board along the carrying direction that is input in advance are stored, and the distance from the carrying start position to the deceleration start position is stored. The sum of the dimensions of the circuit board is calculated, the deceleration time to be controlled to the deceleration speed is calculated by dividing the calculated value by the set value of the transport speed, and deceleration is performed based on the calculated value of the deceleration time. Run Mounting machine that is configured so that.