JP2006093536A - Electronic component mounting device and electronic component mounting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electronic component mounting device and an electronic component mounting method capable of quickly/accurately obtaining the plane coordinate position and height of a component extraction part of parts feeders arranged side by side to the component supply part of a batch exchange carriage system. <P>SOLUTION: Recognition marks provided on the upper surfaces of erected parts 26 at both side parts of the parts feeders 12 arranged side by side on a carriage 16 which is the component supply part of the batch exchange carriage system are recognized by a camera 33 integrated with a transfer head 30 and the position of the component extraction part of each parts feeder 12 is computed and obtained in a computing component on the basis of the position recognized result of the two recognition marks. Also, the nozzle 32 of the transfer head 31 is grounded on the upper surface of erected bodies 26 and the height of the component extraction part of each parts feeder 12 is computed and obtained in the computing part on the basis of the measured result of the height of the two erected bodies 26. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an electronic component mounting apparatus and an electronic component mounting method for picking up an electronic component from a parts feeder of a component supply unit of a batch exchange cart system and mounting the electronic component on a substrate.

  The electronic component mounting apparatus vacuum picks up and picks up the electronic components of a parts feeder such as a tape feeder or tube feeder provided in the component supply unit to the lower end of the nozzle of the transfer head, and places it on the substrate positioned in the positioning unit. It is designed to be implemented. In recent years, a batch replacement cart system has been proposed as a component supply unit (Cited document 1).

The parts supply unit of the collective exchanging cart system is configured by arranging parts feeders on a cart that can move on the floor surface. When the electronic component of the parts feeder becomes out of stock during the electronic component mounting, the cart is separated from the electronic component mounting device and replaced with a new cart prepared in advance. According to such a batch replacement carriage type component supply unit, there is an advantage that the component supply unit can be quickly replaced when the electronic parts of the parts feeder are out of stock or the type of the substrate is changed. In the present invention, a system in which parts feeders are arranged side by side on a carriage moving on the floor as described above and the parts feeder is exchanged together with the carriage is referred to as a collective exchange carriage system parts supply unit.
JP 2004-6469 A

  When replacing the carriage to replace the parts feeder, etc., in the parts supply section of the collective exchange truck system, the parts provided in each parts feeder before restarting the mounting of the electronic parts by the transfer head The position of the take-out portion (generally opened as a component take-out port for exposing one electronic component at the tip of the parts feeder) must be recognized.

  For this reason, conventionally, a camera that moves in the horizontal direction integrally with the transfer head is provided, and the position of each part pick-up part of each part feeder arranged in parallel by this camera is recognized one by one, and the recognition result The plane coordinate position (XY coordinate data) of the component take-out unit based on is registered in the storage unit.

  However, in the above conventional method, it is necessary to obtain the plane coordinate data of the parts pick-up parts of all the part feeders one by one while moving the camera in the horizontal direction, and this recognition work takes a considerable time. . Therefore, the bulk exchanging cart type has the advantage that the parts feeder can be exchanged quickly by exchanging the cart, but this recognition work takes a long time, so the merit is greatly reduced. It was.

  The camera can obtain plane information (plane coordinate position of the component take-out unit), but cannot obtain the height data. Therefore, the optimum vertical stroke of the nozzle necessary for picking up the electronic component in the component take-out portion is unknown, and an electronic component pickup error is likely to occur due to excess or shortage of the vertical stroke.

  SUMMARY OF THE INVENTION An object of the present invention is to provide an electronic component mounting apparatus and an electronic component mounting method that solve the above-described problems of the component supply unit of the collective exchange cart system.

  According to the first aspect of the present invention, an electronic component is picked up by a nozzle from a component supply unit of a collective exchange cart system, a positioning unit of a board, and a component feeder of a parts feeder arranged in parallel with the component supply unit, and is used as a positioning unit. A transfer head to be mounted on the positioned substrate, horizontal movement means for moving the transfer head in the horizontal direction, features provided on both sides of the component supply unit, and the transfer head integrally A recognition unit provided for recognizing the feature part, and a plane of each component take-out part of each part feeder based on plane coordinate data of the feature part obtained by the recognition unit recognizing the feature part from above And a calculation unit for calculating the coordinate position.

  According to a second aspect of the present invention, the characteristic part is provided on the upper surface of the solid body standing on both sides of the component supply part.

  Invention of Claim 3 is an electronic component mounting method using the electronic component mounting apparatus of Claim 1 or 2, Comprising: It is in the plane coordinate position of each component pick-up part of each parts feeder calculated | required by the said calculating part. Based on this, the horizontal movement means is driven to move the nozzle of the transfer head above the component take-out port to pick up the electronic component and mount it on the substrate positioned in the positioning portion.

  According to a fourth aspect of the present invention, an electronic component is picked up by a nozzle from a component supply unit of a collective exchange cart system, a positioning unit of a board, and a component take-out unit of a parts feeder arranged in parallel with the component supply unit. A transfer head to be mounted on the substrate positioned on the substrate, horizontal movement means for moving the transfer head in the horizontal direction, vertical movement means for moving the nozzle of the transfer head up and down, and both sides of the component supply unit And a part take-out part of each part feeder based on the height of the landing part obtained by driving the vertical movement means to land the nozzle on the landing part. And an arithmetic unit for calculating the height.

  The invention according to claim 5 is a solid body in which the landing portion is erected on both sides of the component supply unit.

  A sixth aspect of the present invention is an electronic component mounting method using the electronic component mounting apparatus according to the fourth or fifth aspect, wherein the horizontal movement means is driven so that the nozzle of the transfer head is a component of a parts feeder. The board is moved above the take-out part, and the electronic parts are picked up by moving the nozzle up and down based on the height of each part take-out part of each part feeder obtained by the calculation part, and the board positioned on the positioning part Implemented.

  According to the first to third aspects of the present invention, when the carriage is replaced for replacement of the parts feeder or the like and the mounting of the electronic component is resumed, the feature unit on both sides of the component supply unit is recognized. Is obtained by calculating the plane coordinate position of each part take-out part of each part feeder based on the plane coordinate data of the characteristic part obtained by this, and the nozzle of the transfer head is taken out. The electronic component can be reliably picked up by moving it to the correct position directly above the part.

  According to the fourth to sixth aspects of the present invention, when the mounting of the electronic component is resumed by exchanging the carriage for exchanging the parts feeder or the like, the nozzle is placed on the landing portion on both sides of the component supplying unit. By landing and calculating the height of each part take-out part of each part feeder by the calculation part, the nozzle of the transfer head is moved up and down with a correct stroke above each part take-out part and the electronic parts are moved. It can be reliably picked up.

  Next, embodiments of the present invention will be described with reference to the drawings. 1 is a plan view of an electronic component mounting apparatus according to an embodiment of the present invention, FIG. 2 is a side view of the electronic component mounting apparatus according to an embodiment of the present invention, and FIGS. FIGS. 4A and 4B are side views of the electronic component mounting apparatus according to the embodiment of the present invention in the setting of the component supply unit, and FIGS. 4A and 4B show the recognition position of the recognition mark of the electronic component mounting apparatus according to the embodiment of the present invention. 5 (a) and 5 (b) are front views during measurement of the height of the landing portion of the electronic component mounting apparatus according to one embodiment of the present invention, and FIG. 6 is one embodiment according to the present invention. FIG. 7 is a block diagram of a control system of the electronic component mounting apparatus, FIG. 7 is an explanatory diagram of a method for calculating a positional deviation in the X and Y directions of the component extracting unit in one embodiment of the present invention, and FIG. It is explanatory drawing of the position shift calculation method of the height direction of a part.

  First, the overall structure of the electronic component mounting apparatus will be described with reference to FIGS. The substrate 1 is positioned between a pair of left and right guide rails 2 as positioning portions. The substrate 1 is conveyed in the X direction along the guide rail 2 by a conveyor (not shown). In the present invention, the substrate transport direction is the X direction, and the direction orthogonal thereto is the Y direction.

  On both sides of the guide rail 2, a collective exchanging cart type component supply unit 10 is disposed. This will be described below. In FIGS. 1 and 2, reference numeral 11 denotes a base member that is horizontally long in the X direction, and a number of parts feeders 12 are arranged in parallel on the upper surface with a pitch in the X direction. The parts feeder 12 is a tape feeder and includes a supply reel 13 below as shown in FIG. The electronic component storage tape 14 wound around the supply reel 13 is fed upward. In FIG. 1, P <b> 1 to Pn are component take-out portions of each part feeder 12.

  2 to 4, reference numeral 16 denotes a carriage, which is formed by attaching casters 18 to the lower surface of a base 17. Supports 19 are erected on the left and right sides of the base 17, and a base 20 is mounted on the upright 19. A plate-like clamp member 21 is erected directly above the pillars 19 on both sides of the base 20. A cylinder 22 as vertical movement means is mounted on the lower surface of the base member 11, and the lower end portion of the downward rod 23 is coupled to the base portion 20. Reference numeral 29 denotes an operation handle provided on both sides of the carriage 16, and the operator holds the operation handle 29 and moves the carriage 16 on the floor surface. Reference numeral 24 denotes a plate-like heightwise positioning member provided on the side of the guide rail 2. As shown in FIG. 4, two positioning members 24 are provided corresponding to the two left and right clamp members 21. The cylinder 22 is provided at the center of the lower surface of the base member 11, and guides 25 for guiding the vertical movement of the carriage 16 are provided on both sides of the cylinder 22.

  Next, the setting operation of the component supply unit 10 will be described with reference to FIGS. As shown in FIG. 3 (a), with the rod 23 of the cylinder 22 protruding downward and the base 20 in the low position, the operator operates the operation handle 29 to move the carriage 16 over the floor F. The base member 11 and the clamp member 21 are positioned above and below the positioning member 24 as shown in FIG. 3B by moving and moving forward toward the positioning member 24 (arrow A). When the rod 23 of the cylinder 22 is pulled upward, the base member 11 is lowered (arrow B) as shown in FIG. 3C, and the carriage 16 is lifted from the floor F (arrow C). The positioning member 24 is firmly sandwiched from above and below by the member 11 and the clamp member 21. As a result, the component supply unit 10 is positioned and set at a predetermined height.

  In FIG. 1 to FIG. 3, two right and left rod-like solid bodies 26 as standing portions are erected on both sides of the component supply unit 10 (both sides on the guide rail 2 side of the base member 11 in this embodiment). Has been. As shown in FIG. 1, a recognition mark 27 as a characteristic portion is formed on the upper surface of the raised body 26.

2 and 4, reference numeral 30 denotes a transfer head unit. As shown in FIG. 4, this transfer head unit 30 is a multiple transfer head unit in which a plurality of transfer heads 31 are integrally assembled, and each transfer head 31 has an electronic component at its lower end. It has a nozzle 32 for vacuum suction. In FIG. 4, the transfer head unit 30 includes a camera 33 as a recognition unit, a motor MZ in the Z-axis direction as a vertical movement unit that moves each transfer head 31 or each nozzle 32 up and down, and each nozzle 32. A motor Mθ or the like that rotates θ about the axis is integrally assembled.

  In FIG. 1, reference numeral 40 denotes an X direction table, and the transfer head unit 30 moves in the X direction along the X direction table 40. Reference numeral 41 denotes a Y direction table. The X direction table 40 is installed on the Y direction table 41 and moves in the Y direction. That is, the X direction table 40 and the Y direction table 41 serve as a horizontal direction moving unit that horizontally moves the transfer head unit 30 in the X direction and the Y direction.

  In FIG. 1, a nozzle stocker 50 and an observation unit 51 are provided between the guide rail 2 and the component supply unit 10. The transfer head unit 30 arrives above the nozzle stocker 50, where the nozzle 32 is moved up and down to replace the nozzle. Further, the transfer head unit 30 picked up by picking up the electronic component of the parts feeder 12 of the component supply unit 10 by vacuum suction to the lower end of the nozzle 32 arrives above the observation means 51 including a camera while moving to the substrate 1. The position of the electronic component is recognized. Then, the transfer head unit 30 mounts the electronic component at a predetermined coordinate position on the substrate 1 after correcting the positional deviation of the electronic component determined as a result of the position recognition by a known means.

  In FIG. 6, the control unit 60 stores necessary information such as plane coordinate reference position (XY coordinate position) data of the recognition mark 27, reference height data of the upper surface of the raised body 26, and operation program data of the apparatus. 61, and a calculation unit 62 that performs necessary calculations based on various data obtained by recognition of the camera 33 and the like. The control unit 60 controls controlled units such as the X table 40, the Y table 41, and the motors MZ and Mθ.

  This electronic component mounting apparatus has the above-described configuration, and the operation thereof will be described next. First, with reference to FIG. 4, a method for obtaining the plane coordinate position of each of the component take-out portions P1 to Pn of each part feeder 12 will be described. FIG. 4 shows a state in which the component supply unit 10 has been set in the electronic component mounting apparatus described with reference to FIG.

  First, as shown in FIG. 4A, the camera 33 of the transfer head unit 30 is positioned above one (left side) riser 26 and the plane coordinate position (x1 ′) of the recognition mark 27 on the riser 26 is set. , Y1 ′) and register it in the storage unit 61, and the calculation unit 62 calculates displacement amounts Δx1, Δy1 from the reference coordinate position (x1, y1) (see FIG. 7).

  Next, as shown in FIG. 4B, the camera 33 of the transfer head unit 30 is moved above the other (right) raising solid 26, and the plane coordinate position of the recognition mark 27 on this raising solid 26 ( x2 ′, y2 ′) is recognized and registered in the storage unit 61, and the calculation unit 62 calculates positional deviation amounts Δx2, Δy2 from the reference coordinate position (x2, y2) (see FIG. 7). Next, the calculation unit 62 determines the positions of the component take-out ports P1 to Pn of each part feeder 12 based on the positional deviation amounts Δx1, Δy1, Δx2, and Δy2 that are the plane coordinate data of the recognition mark 27 thus obtained. The deviation is calculated by the proportional distribution of errors, thereby obtaining the correct plane coordinate position of each component take-out part P1 to Pn. (Equation 1) shows an example of the calculation method. If the raising body 26 is erected as in the present embodiment and the recognition mark 27 is provided on the upper surface thereof, the recognition mark 27 can be imaged from the closest position by the upper camera 33, so that high imaging accuracy can be obtained.

  Next, a method for obtaining the heights of the takeout portions P1 to Pn of each part feeder 12 will be described with reference to FIG. First, as shown in FIG. 5 (a), one transfer head 31 of the transfer head unit 30 is positioned above one (left) raising body 26, and the motor MZ is driven there to move the nozzle 32 thereof. Lower and land on the upper surface of the raised body 26. In this way, the height Z1 ′ of the upper surface of the raised body 26 is obtained from the lowering stroke of the nozzle 32 until the nozzle 32 is lowered from the reference level and landed on the upper surface of the raised body 26, and this is registered in the storage unit 61. The calculation unit 62 obtains a height difference ΔZ1 from the reference height Z1 of the upper surface of the raised body 26 (see FIG. 8).

  Next, as shown in FIG. 5B, one transfer head 32 of the transfer head unit 30 is positioned above the other (right) riser 26, and this riser 26 is formed by the same method as described above. Is obtained, and a height difference ΔZ2 from the reference height Z2 is obtained (see FIG. 8). Thereby, the position shift in the height direction of the component take-out portions P1 to Pn of each part feeder 12 is calculated by the calculation unit 62 by proportional distribution, thereby obtaining the correct height of the component take-out portions P1 to Pn. (Equation 2) shows an example of the calculation method.

  If the raising body 26 is erected as a landing portion and the nozzle 32 is landed on the upper surface as in the present embodiment, the lowering stroke of the nozzle 32 required for landing can be shortened to increase the work efficiency. Can do.

According to the first to third aspects of the present invention, when the carriage is replaced for replacement of the parts feeder or the like and the mounting of the electronic component is resumed, the feature unit on both sides of the component supply unit is recognized. Based on the plane coordinate data of the feature part obtained by this, the plane coordinate position of each part take-out part of each part feeder is obtained quickly and accurately, and the nozzle of the transfer head is directly above the part take-out part. The electronic component can be reliably picked up by moving to the correct position.

  According to the fourth to sixth aspects of the present invention, when the mounting of the electronic component is resumed by exchanging the carriage for exchanging the parts feeder or the like, the nozzles are attached to the landing portions on both sides of the component supplying unit. As a result, the height of each part take-out part of each part feeder or the lowering stroke of the nozzle necessary for picking up the electronic parts from each part take-out part can be quickly and accurately determined, and the nozzle of the transfer head is made into a part. The electronic component can be reliably picked up by moving up and down with a correct stroke above the take-out portion.

The top view of the electronic component mounting apparatus in one embodiment of this invention The side view of the electronic component mounting apparatus in one embodiment of this invention (A) Side view during setting of component supply unit of electronic component mounting apparatus according to one embodiment of the present invention (b) Side view during setting of component supply unit of electronic component mounting apparatus according to one embodiment of the present invention (C) The side view in the set of the component supply part of the electronic component mounting apparatus in one embodiment of this invention (A) Front view during recognition of position of recognition mark of electronic component mounting apparatus according to one embodiment of the present invention (b) Front view during recognition of position of recognition mark of electronic component mounting apparatus according to one embodiment of the present invention (A) Front view during measurement of height of landing part of electronic component mounting apparatus in one embodiment of the present invention (b) Height measurement of landing part of electronic component mounting apparatus in one embodiment of the present invention Inside view The block diagram of the control system of the electronic component mounting apparatus in one embodiment of this invention Explanatory drawing of the position shift calculation method of the XY direction of the components extraction part in one embodiment of this invention Explanatory drawing of the position shift calculation method of the height direction of the components extraction part in one embodiment of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Board | substrate 2 Guide rail 10 Parts supply part 12 Parts feeder 16 Carriage 26 Standing part 27 Recognition mark 30 Transfer head part 31 Transfer head 32 Nozzle 33 Camera 40 X table 41 Y table 60 Control part 62 Calculation part

Claims (6)

  An electronic component is picked up by a nozzle from a component supply unit of a collective exchange cart system, a substrate positioning unit, and a component feeder of a parts feeder arranged in parallel with the component supply unit, and mounted on a substrate positioned in the positioning unit. A mounting head, horizontal moving means for moving the transfer head in a horizontal direction, features provided on both sides of the component supply unit, and a feature provided integrally with the transfer head to recognize the feature And a calculation unit that calculates and obtains the plane coordinate position of each component take-out part of each part feeder based on the plane coordinate data of the feature part obtained by recognizing the feature part from above. And an electronic component mounting apparatus.   The electronic component mounting apparatus according to claim 1, wherein the characteristic part is provided on an upper surface of a solid body standing on both sides of the component supply part.   3. The electronic component mounting method using the electronic component mounting apparatus according to claim 1, wherein the horizontal direction moving unit is based on a plane coordinate position of each component take-out part of each part feeder obtained by the calculation unit. The electronic component mounting method is characterized in that the electronic component is picked up by moving the nozzle of the transfer head above the component take-out port by driving and mounted on the substrate positioned in the positioning portion.   An electronic component is picked up by a nozzle from a component supply unit of a collective exchange cart system, a positioning unit of a substrate, and a component take-out unit of a parts feeder arranged in parallel with the component supply unit, and is mounted on a substrate positioned in the positioning unit. A transfer head, horizontal movement means for moving the transfer head in the horizontal direction, vertical movement means for causing the nozzles of the transfer head to move up and down, and landing parts provided on both sides of the component supply unit; Calculating the height of each part feeder of each part feeder based on the height of the landing part obtained by driving the vertical movement means to land the nozzle on the landing part And an electronic component mounting apparatus.   4. The electronic component mounting apparatus according to claim 3, wherein the landing portion is a raised body erected on both sides of the component supply unit. It is an electronic component mounting method using the electronic component mounting apparatus according to claim 4 or 5, wherein the horizontal movement means is driven to move the nozzle of the transfer head above the component take-out portion of the parts feeder, An electronic device that picks up an electronic component by moving the nozzle up and down based on the height of each component take-out portion of each part feeder determined by the arithmetic unit, and mounts the electronic component on a substrate positioned in the positioning unit. Component mounting method.

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