JP2006332537A - Mounting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mounting device capable of easily preventing the interferences of nozzles. <P>SOLUTION: The mounting device is provided with a head 41 and a nozzle storing device 50, and performs a nozzle storing treatment that stores the nozzle 51 in a storage 55 from the head 41 and a nozzle attaching treatment that attaches the nozzle 51 to the head 41 from the storing section 55. The mounting device obtains and holds information (information on nozzle on the head side) related to the attaching condition of the nozzle 51 attached to the head 41 based on the information from nozzle detecting means when the nozzle 51 is taken out of the storage 55 by the nozzle attaching treatment. The mounting device obtains information on a storing condition of the nozzle 51 in the nozzle storing device 50 based on the information from the nozzle detecting means when the nozzle storing treatment or the nozzle attaching treatment is performed, and compares the information with the information on the nozzle on the head side previously obtained to suspend the current treatment if a non-alignment occurs. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a mounting machine in which a nozzle mounted on a head can be exchanged.

A mounting machine (mounter) for mounting an electronic component on a printed circuit board is provided with a head that is movable on a base, and the electronic component is sucked and held by a nozzle provided on the head. In such a mounting machine, a nozzle storage device (nozzle stocker) in which nozzles are stored on a base is provided, the head moves to the storage device, and the nozzle mounted on the head is replaced with another nozzle. What is known to be coughing is generally known.
JP-A-10-17397 (FIG. 1)

  Although the mounting machine described above is normally provided with nozzle detection means for detecting the presence of a nozzle in the storage section on the nozzle storage device side, the detection means for detecting the presence of the nozzle is provided on the head side. Not provided. For this reason, if the nozzle is stored in the nozzle storage part even though the nozzle is mounted on the head side due to an operator's mistake, the mounting machine has a nozzle in the nozzle storage part. Therefore, it is judged that the nozzle is not attached to the head, and the nozzle on the head side interferes with the nozzle on the storage unit side when trying to install the nozzle stored in the nozzle storage unit. Such problems occur.

  Therefore, in the mounting machine disclosed in Patent Document 1, an ID (nozzle information storage medium) is provided for the nozzle, and reading means for reading information from the ID of the nozzle is provided on the head side, so that information on the nozzle mounted on the head side is accurately obtained. Thus, there is provided a technology capable of preventing problems such as interference between the nozzles by comparing the nozzle installation state on the head side with the nozzle installation state on the storage device side. However, the mounting machine disclosed in this document requires a separate information reading device on the head side, resulting in an increase in cost and a problem that it cannot be easily adopted.

  The present invention has been made in view of the above problems, and an object thereof is to provide a mounting machine that can easily prevent problems such as interference between nozzles.

  The present invention provides the following means.

[1] A head provided movably on a base and having a component suction nozzle detachable, and a nozzle storage device provided on the base and having a nozzle storage section for storing the nozzle. A mounting machine configured to perform a nozzle storing process for storing the nozzle mounted on the head in a nozzle storage unit and a nozzle mounting process for mounting the nozzle stored in the nozzle storage unit on the head,
The nozzle storage device is provided with nozzle detection means for detecting the presence of a nozzle in the nozzle storage unit,
When the nozzle is taken out from the nozzle storage by the nozzle attachment process, information on the mounting state of the nozzle mounted on the head (nozzle information on the head side) is acquired based on the information from the nozzle detection means. Keep it,
When performing nozzle storage processing or nozzle attachment processing, information (nozzle information on the storage device side) regarding the storage state of the nozzle in the nozzle storage device is acquired based on information from the nozzle detection means, and the storage device side Compared with the previous nozzle information and the nozzle information on the head side acquired during the previous nozzle attachment process, if both information are inconsistent, the current processing is stopped. Machine.

[2] When a series of processes of the nozzle storing process and the nozzle attaching process is a nozzle replacement process,
The mounting machine according to the preceding item 1, wherein the head information on the current storage device side is compared with the nozzle information on the head side acquired during the previous nozzle replacement process when the nozzle replacement process is performed.

  [3] The mounting machine according to item 1 or 2, wherein a stop notification unit is provided for notifying that the current process is stopped when the current process is stopped.

  According to the mounting machine according to the invention [1], when the nozzle information on the head side acquired at the previous nozzle attachment and the nozzle information on the current storage device do not match, the current operation is stopped. For this reason, for example, the head on which the nozzle is mounted can be prevented from accessing the storage unit in which the nozzle is stored, and interference between the nozzles can be prevented.

  According to the mounting machine according to the above invention [2], it is possible to reliably prevent interference between nozzles during nozzle replacement.

  According to the mounting machine according to the invention [3], the operator can quickly recognize the operation stop, and can efficiently perform the post-processing.

  FIG. 1 is a plan view showing a mounting machine according to an embodiment of the present invention. As shown in the figure, this mounting machine includes a conveyor 20 that is disposed on a base 10 and conveys a printed circuit board P, component supply units 30 that are disposed on both sides of the conveyor 20, and an upper portion of the base 10. And a head unit 40 for mounting electronic components.

  The component supply unit 30 is provided on the front side and the rear side upstream portion with respect to the conveyor 20, and includes a plurality of rows of tape feeders 31. (Tray feeder 32). The component supply unit including the tape feeder 31 is suitable for supplying small chip components, and the component supply unit including the tray feeder 32 is suitable for supplying large electronic components. The components supplied from these component supply units 30 can be picked up by the head unit 40.

  The head unit 40 is movable in a region extending between the component supply unit 30 and the mounting position on the printed circuit board P so that components can be picked up from the component supply unit 30 and mounted on the printed circuit board P. Specifically, the head unit 40 is supported by a head unit support member 42 extending in the X axis direction (substrate transport direction of the conveyor 20) so as to be movable in the X axis direction. The guide rails 43, 43 extending in the Y-axis direction (a direction orthogonal to the X-axis in the horizontal plane) are supported so as to be movable in the Y-axis direction. The head unit 40 is driven in the X axis direction by the X axis motor 44 via the ball screw 45, and the head unit support member 42 is driven in the Y axis direction by the Y axis motor 46 via the ball screw 47. To be done.

  In addition, a plurality of heads 41 are mounted on the head unit 40 side by side in the X-axis direction. Each head 41 is driven in the vertical direction (Z-axis direction) by an elevating mechanism using a Z-axis motor as a drive source, and is driven in the rotation direction (R-axis direction) by a rotation drive mechanism using an R-axis motor as a drive source. It has come to be.

  At the tip of each head 41, a suction nozzle 51 is provided for sucking electronic components and mounting them on the substrate. Each nozzle 51 is supplied with a negative pressure from a negative pressure means (not shown) at the time of component suction, and can suck the electronic component with a suction force by the negative pressure. The nozzle 51 is detachably attached to the head 41, and is configured so that the nozzle 51 can be replaced as will be described in detail later.

  In this mounting machine, the head unit 40 moves to the component supply unit 30 where a predetermined component is sucked by the nozzle 51, and in that state, moves to the substrate P on the conveyor 20, and the sucked component is moved to the substrate P. It is mounted at a predetermined position. When this operation is repeated and all the components are mounted on the board P, the board P is carried out by the conveyor 20, and the next board P is carried in by the conveyor 20, and the above-mentioned board P is loaded on the board P. In the same way as above, parts are mounted.

  On the other hand, in the movable region of the head unit 40, a nozzle storage device 50 is provided in the rear side upstream portion of the conveyor 20.

  The nozzle storage device 50 is provided with a plurality of nozzle storage portions 55, and each nozzle storage portion 55 can store a predetermined nozzle 51.

  When replacing the nozzle 51 of the head 41, the head unit 40 moves to the mounting position of the nozzle storage device 50, and the nozzle 51 attached to the head 41 of the head unit 40 is moved to the corresponding nozzle storage portion 55. After storing (nozzle storage processing), the new nozzle 51 stored in the other storage unit 55 is taken into the head 41 of the head unit 40 (nozzle attachment processing), and the nozzle 51 is replaced (nozzle replacement processing). Can be done.

  In the present invention, the nozzle storage device 50 may be fixed at the height position of the movable region of the head 41. However, the nozzle storage device 50 is configured to be movable in the vertical direction, and the nozzle is replaced when the nozzle is replaced. The storage device may be raised to the height of the movable region of the head 41.

  In the present embodiment, the plurality of nozzles 51 and the plurality of nozzle storage units 55 in the nozzle storage device 50 correspond one-to-one, and each nozzle 51 is stored in the corresponding storage unit 55. It has become.

  Further, each storage unit 55 is provided with a nozzle detection sensor made up of a non-contact type sensor such as an optical sensor. Whether each nozzle 55 is stored in each storage unit 55 based on output information from each nozzle detection sensor. Whether or not can be detected.

  Further, in the present embodiment, no dedicated detection means for detecting the installation state of the nozzle 51 is provided on the head unit 40 side, and the mounting machine determines whether or not the nozzle 51 is mounted on the head 41. Is not directly grasped.

  In FIG. 1, reference numeral 11 denotes a camera that captures an image of the state of a component adsorbed by the nozzle 51 of the head unit 40 so as to detect a positional deviation of the component. Further, reference numeral 49 denotes a camera attached to the head unit 40 so that a mark on the substrate can be detected by imaging the substrate P.

  FIG. 2 is a block diagram showing a control system in this mounting machine. As shown in the figure, in the mounting machine of this embodiment, a control device 1 such as a personal computer includes a main arithmetic unit 2 such as a CPU, a storage unit 3, a communication control unit 4, an axis control unit 5, and an image processing unit 6. The I / O control unit 7 is provided. The main arithmetic unit 2 controls driving of the mounting machine based on information stored in advance or information from various detection means, and executes nozzle replacement processing in addition to mounting processing described later. . The storage unit 3 stores various types of information necessary for the operation, and also stores information about nozzles 51 stored in a nozzle storage device 50 described later. The communication control unit 4 processes signals when communicating with devices such as other mounting machines. The axis controller 5 controls the Z-axis motor, Y-axis motor, Z-axis motor, and R-axis motor for moving the head via an encoder. The image processing unit 6 processes an image captured by the camera 11. The I / O control unit 7 processes information from the nozzle detection sensor 56 and controls driving of the nozzle storage shutter opening / closing mechanism 12. The nozzle storage shutter opening / closing mechanism 12 is for opening and closing a shutter (not shown) provided in the nozzle storage device 50. When the shutter is opened, the nozzle 51 stored in the nozzle storage device 50 is opened. At the same time, the stored nozzle 51 is closed when closed.

  In the present embodiment, the storage unit 3 stores information about the storage unit 55 of the nozzle storage device 50 and information about the stored nozzles 51 as a table. That is, as shown in FIG. 3, storage position numbers 1, 2,... N are assigned to each nozzle storage unit 55 in a predetermined order, and all coordinate positions x1, XYZR directions corresponding to the storage units 55 are obtained. ..., x2,..., y1, y2..., z1, z2. Further, the type a, b, c... Of the nozzle 51 to be stored is stored for each nozzle storage section 55 of the storage position number 1, 2,. Further, in this table, head numbers 1 to 8 are assigned to the nozzle storage portions 55 of the storage position numbers 1, 2,. The head numbers 1 to 8 indicate the correspondence between the nozzle storage unit 55 and the head 41, and indicate which head 41 accesses the nozzle storage unit 55. For example, only the head 41 with the head number 1 accesses the storage position 55 with the storage position number 1 to attach and detach the nozzle 51, and only the head 41 with the head number 2 has access to the storage position 55 with the storage position number 2. Configured to access.

  The types and types of the nozzles 51 are not necessarily different for each storage unit 55, and the same type of nozzles 51 may be stored in the plurality of storage units 55.

  Next, the nozzle replacement operation in the mounting machine of this embodiment will be described in detail. First, as shown in step S1 of FIG. 5, a (previous) nozzle replacement process is performed. That is, the head unit 40 moves to the position of the nozzle storage device 50 and stores the nozzle 51 mounted on the head 41 in the nozzle storage section 55 at a position corresponding to the nozzle 51 (nozzle storage processing). Subsequently, the nozzles 51 stored in the predetermined nozzle storage portion 55 are respectively attached to the heads 41 of the head unit 40 (nozzle attachment processing). Thereby, nozzle replacement is performed.

  Here, in the present embodiment, the nozzle information on the head side is acquired during the nozzle replacement process in step S1. That is, based on information from the nozzle detection sensor, it is determined which nozzle 51 of the storage unit 55 is attached to the head 41, and the information table regarding the nozzle storage device shown in FIG. Information about the type of the nozzle 51 attached is acquired. For example, when the nozzles 51 with the storage position numbers 1 to 8 are attached by the head 41, it is determined that the nozzles with the storage position numbers 1 to 8 are attached to the head 41 based on information from the nozzle detection sensor. Further, by referring to the information table (FIG. 3) of the nozzle storage device 50, as shown in FIG. 4, the type 41 nozzle 51 is mounted on the head 41 of the head number 1, and similarly the head number 2 , 3... Are determined to be equipped with type b, c... Nozzles, and the information is stored in the storage unit 3 as a table (step S2).

  Subsequently, after performing a mounting process or the like with the replaced nozzle 51, when nozzle replacement is performed again (step S3), nozzle information on the nozzle storage device side is acquired. That is, based on information from the nozzle detection sensor, the nozzle information on the storage device side such as in which storage portion 55 in the nozzle storage device 50 the nozzle 51 does not exist is acquired (step S4).

  For example, when it is detected based on information from the nozzle detection sensor that the nozzles 51 do not exist in the storage portions 55 of the storage position numbers 1 to 8, the nozzles 51 of the storage position numbers 1 to 8, that is, types a to h. The nozzles 51 are determined to be attached to the heads 41 having the head numbers 1 to 8, and this information is acquired as the storage device side nozzle information.

  Subsequently, the nozzle information on the head side acquired at the previous nozzle replacement is compared with the nozzle information on the current storage device side acquired at the current nozzle replacement (step S5). If the nozzle information matches (matches), the nozzle replacement operation is continued (step S6).

  The case where the information on both nozzles coincides indicates that when information indicating that the nozzle 51 does not exist in the predetermined storage unit 55 is held in the storage device side nozzle information, the nozzle 51 to be stored at that position is the head 41. This is a case where the information that the nozzle is attached to the side is held in the head-side nozzle information. For example, in the above example, both nozzle information matches. That is, in the nozzle information on the storage device side, information indicating that the nozzles 51 of types a to h are attached to the heads 41 having the head numbers 1 to 8 is held, and the previous head side nozzle information acquired in step S2 The information that the nozzles 51 of the types a to h are mounted on the heads 41 of the head numbers 1 to 8 is held, and the information on both nozzles is the same.

  In the nozzle replacement operation in step S6, similarly to the nozzle replacement operation in step S1, the nozzles 51 attached to the head 41 are stored in the corresponding nozzle storage portions 55, and then the other nozzle storage portions 55 are stored in the head 41. The other nozzle 51 is attached. The nozzle replacement may be performed by replacing the nozzles 51 mounted on the plurality of heads 41 at a time, or by replacing only one nozzle.

  After completing the current nozzle replacement in this way, new head-side nozzle information is acquired by the current nozzle replacement (see FIG. 4), and rewriting is performed (step S7).

  On the other hand, if the previous head-side nozzle information does not match the current storage device-side nozzle information in step S5, the nozzle information does not match, and a predetermined warning lamp is turned on. Then, the operator is notified by flashing or generating a predetermined warning sound (step S8), and the nozzle replacement operation (apparatus operation) is stopped (step S9). In the present embodiment, a stop notification means (warning generation means) for notifying the operator of the stop state is configured by a warning generation monitor, a warning light, a warning sound generator, and the like.

  Here, when the nozzle information does not match, for example, in the head side nozzle information, the information that the nozzles 51 of types a to h are attached to the heads 41 of head numbers 1 to 8 is held. In the nozzle information on the storage device side, head number 1 is detected by detecting that there is no nozzle in storage unit 55 of storage position numbers 1 to 7 and nozzle 51 is in storage unit 55 of position number 8. In this case, it is determined that the nozzles of types a to g are attached to the heads 41 to 7 and the nozzles are not attached to the head 41 having the head number 8, and the information is retained. In short, the information indicating that the nozzle is present in the predetermined storage unit 55 is held in the storage device side nozzle information, but the nozzle to be stored in the storage unit 55 is mounted on the head side. This is a case where the information that the head side nozzle information is held in the head side nozzle information.

  As a cause of the discrepancy between the nozzle information in this way, a case where the nozzle 51 is manually removed by an operator is assumed. For example, when the nozzle 52 of the head 41 of the number 8 among the head numbers 1 to 8 is dirty, the operator removes the nozzle 51 of the head 41 of the number 8 and cleans it, and then removes the nozzle 51 from the nozzle storage device. The storage position 55 is returned to the storage section 55 of 50, and the nozzle 51 of the storage section 55 is automatically mounted on the head 41 of the head number 8 by the mounting machine. In this case, in the previous head side nozzle information, information indicating that the nozzles 51 are mounted on the heads 41 having the head numbers 1 to 8 is held, whereas in the current storage device side head information, storage is performed. Since it is detected that the nozzle 51 is stored in the storage unit 55 of the position number 8, information that the nozzle 51 is not mounted on the head 41 of the head number 8 is acquired, and both nozzle information becomes inconsistent, The operation is stopped.

  In this embodiment, since this configuration is adopted, in particular, it is possible to reliably prevent problems such as nozzles interfering with each other even if there is an operator's nozzle return mistake. That is, as shown in FIG. 6A, after the operator manually removes and cleans the nozzle 51 attached to the head 41 of head number 4 among the head numbers 1 to 4, the nozzle 51 is placed in the nozzle storage device 50. In the case of returning, the operator should return to the nozzle storage unit 55 of number 4 in the case where the operator accidentally returns it to the nozzle storage unit 55 of number 3 as shown in FIG. Assuming that the nozzle replacement operation is continued as it is, the mounting machine attempts to store the nozzle 51 mounted on the number 3 head 41 in the number 3 nozzle storage section 55 as shown in FIG. They will interfere with each other.

  On the other hand, in the mounting machine of this embodiment, when the nozzle 51 attached to the head 41 with the number 4 is mistakenly returned to the nozzle storage portion 55 with the number 3, the previous head-side nozzle In the information, the information that all the nozzles are mounted on the heads 41 of numbers 1 to 4 is held, whereas in the current storage device side nozzle information, the nozzles of number 3 of numbers 1 to 4 are stored. Since the nozzle 51 exists in the storage unit 55, information indicating that the nozzle 51 is mounted on the head 41 having the head number 3 is held, and the information on both nozzles does not match. Accordingly, in this case, the nozzle replacement operation is stopped in step S9, and it is possible to reliably prevent the nozzles from interfering with each other.

  After the nozzle replacement operation is stopped in step S9, the operator checks whether the nozzle installation state is normal (step S10). And if there is an abnormality in the nozzle installation state, after the nozzle installation state has been returned to normal by the operator's manual operation, if it is normal without any abnormality, an operation continuation command is given to the mounting machine, The nozzle replacement operation is continued (step S6). Thereafter, as described above, the head-side nozzle information is updated (step S7), and the nozzle replacement operation ends (step S11).

  As described above, according to the mounting machine of the present embodiment, in the nozzle replacement operation, when the nozzle information on the head side acquired at the previous nozzle replacement and the nozzle information on the current storage device side do not match, Since the nozzle replacement operation is stopped, it is possible to prevent the head 41 from accessing the storage unit 55 in which the nozzle 51 is stored, even though the nozzle 51 is mounted on the head 41. It is possible to prevent problems such as interference.

  In addition, in the present embodiment, it can be easily carried out simply by changing or adding data such as a program to an existing mounting machine. In addition, a nozzle information reading device or the like is not separately provided on the head side, and accordingly, the cost can be reduced and the structure can be simplified.

  Furthermore, in this embodiment, when the nozzle replacement operation is stopped, the stop notification means allows the operator to quickly recognize the operation stop, and the post-processing can be performed efficiently, further improving the production efficiency. Can be made.

  In the above embodiment, the head-side nozzle information is configured to hold the type of nozzle attached to each head. However, the present invention is not limited to this, and in the present invention, each head is used as the head-side nozzle information. Acquires and holds information about the storage position, such as which position (position number) the nozzle mounted on the nozzle is stored in, and uses the storage position as a reference for head side nozzle information and storage device side nozzles It may be determined whether the information matches (match) or does not match (inconsistency).

It is a top view of the mounting machine concerning one Embodiment of this invention. It is a block diagram which shows the control system of the said mounting machine. It is a figure which shows the table of the information regarding the nozzle storage apparatus memorize | stored in the said mounting machine. It is a figure which shows the table of the head side nozzle information acquired by the said mounting machine. It is a flowchart which shows operation | movement of the said mounting machine. It is the schematic for demonstrating nozzle interference operation | movement in the said mounting machine.

Explanation of symbols

10 base 40 head unit 41 head 50 nozzle storage device 51 nozzle 55 nozzle storage unit

Claims (3)

A head provided movably on a base and having a component suction nozzle detachably mounted thereon; and a nozzle storage device provided on the base and having a nozzle storage for storing the nozzle. A mounting machine that performs a nozzle storing process for storing the nozzles mounted in the nozzle storing unit and a nozzle mounting process for mounting the nozzles stored in the nozzle storing unit on the head,
The nozzle storage device is provided with nozzle detection means for detecting the presence of a nozzle in the nozzle storage unit,
When the nozzle is taken out from the nozzle storage by the nozzle attachment process, information on the mounting state of the nozzle mounted on the head (nozzle information on the head side) is acquired based on the information from the nozzle detection means. Keep it,
When performing nozzle storage processing or nozzle attachment processing, information (nozzle information on the storage device side) regarding the storage state of the nozzle in the nozzle storage device is acquired based on information from the nozzle detection means, and the storage device side Compared with the previous nozzle information and the nozzle information on the head side acquired during the previous nozzle attachment process, if both information are inconsistent, the current processing is stopped. Machine. When a series of processes of the nozzle storing process and the nozzle attaching process is a nozzle replacement process,
The mounting machine according to claim 1, wherein when performing the nozzle replacement process, the current head information on the storage device side is compared with the nozzle information on the head side acquired during the previous nozzle replacement process.   The mounting machine according to claim 1 or 2, further comprising stop notification means for notifying that the current process is stopped when the current process is stopped.

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