JP2009016394A - Electronic component mounting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To securely detect heights etc., of lower ends of electronic components suctionally held by respective suction nozzles even if a line sensor has a fitting error etc. <P>SOLUTION: A photodetection unit 46 is provided at a position which is 11.25 off a suction position. As a nozzle support 31 rotates clockwise intermittently, a suction nozzle 15 sucking an electronic component passes at a constant speed between a reflector 44 of a line sensor unit 37 and the photodetection unit 46 and then while the nozzle support 31 is rotated by a nozzle rotating motor 33, the height of the lower end of the electronic component suctionally held by the suction nozzle 15 is detected at predetermined intervals of time. In this case, a CPU 90 performs control such that when the suction nozzle 15 is moved to a height detection position for the lower end of the electronic component, the suction nozzle 15 moves to a target rotation angle position defined by 180°+head rotation angle offset value-11.25°+photodetection unit detection position offset value (of corresponding nozzle number)-22.5°×(the nozzle number-1). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention provides a component supply unit that includes a nozzle support that includes a plurality of suction nozzles with a predetermined interval at the peripheral edge and can be intermittently rotated by a rotary motor, and a line sensor, and supplies electronic components to a component suction position The present invention relates to an electronic component mounting apparatus that detects the height of the lower end of an electronic component picked up and taken out by a predetermined suction nozzle, the suction posture of the electronic component picked up by the suction nozzle, the presence or absence of a suction nozzle for taking out the electronic component, and the like.

An electronic component mounting apparatus that lowers a predetermined stroke in accordance with the detected height of the electronic component sucked and held by the suction nozzle and mounts it on a printed circuit board is widely known in Patent Document 1 and the like.
JP 2003-110293 A

  However, a plurality of suction nozzles are provided at predetermined intervals on the peripheral edge of the nozzle support, and the electronic components sucked and held by the suction nozzles are rotated and rotated by a rotary motor. Since the height of the lower end of the electronic component is detected while passing between the nozzle support and the attachment error of the line sensor or the attachment error of each suction nozzle to the nozzle support, the nozzle support Since only a certain range of the rotation angle is detected, there is a possibility that only a part of the electronic component can detect the height of the lower end or not at all.

  Similarly, when detecting the posture of the electronic component sucked and held by the suction nozzle, the line sensor detects the suction nozzle while passing between the light emitting element and the light receiving element of the line sensor. If there is a large mounting error or mounting error of each suction nozzle to the nozzle support, the posture of the electronic component sucked and held by the suction nozzle may not be detected.

  Further, when detecting the presence or absence of the suction nozzle, the suction nozzle is detected while passing between the light emitting element and the light receiving element of the line sensor. If the attachment error of each suction nozzle to the support is large, there is a possibility that the presence or absence of the suction nozzle cannot be detected.

  In this case, only a part of the electronic component can detect the height of the lower end, cannot be detected at all, the posture of the electronic component sucked and held by the suction nozzle, or the presence or absence of the suction nozzle cannot be detected If the detection range of the electronic component is set to be wide, the line sensor may be erroneously detected when something other than the suction nozzle or the electronic component is attached near the suction nozzle that sucks the electronic component. there were.

  Therefore, the present invention can reliably detect the height of the lower end of the electronic component sucked and held by each suction nozzle even if there is a mounting error of the line sensor or each suction nozzle to the nozzle support. The purpose is to do.

  For this reason, the first invention is provided with a nozzle support that includes a plurality of suction nozzles at predetermined intervals at the peripheral edge and can be intermittently rotated by a rotary motor, and a component supply unit that supplies electronic components to a component suction position. A line sensor that detects the height of the lower end of the electronic component taken out by the suction nozzle, and the suction nozzle that sucks and holds the electronic component passes between the light emitting element and the light receiving element of the line sensor at a constant speed. The height of the lower end of the electronic component is detected every predetermined time while the nozzle support is rotated by a rotary motor, and the nozzle is lowered by a predetermined stroke according to the detected height of the lower end and mounted on the printed circuit board. In the electronic component mounting apparatus, a storage device for storing attachment errors of the respective suction nozzles to the nozzle support, and the labels corresponding to the attachment errors stored in the storage device. Wherein characterized in that a control device for controlling the initiation and timing of the end of the height detection of the lower end of the electronic component sucked and held by the suction nozzle by Nsensa.

  According to a second aspect of the present invention, there is provided a predetermined suction from a nozzle support that is provided with a plurality of suction nozzles with a predetermined interval at the peripheral portion and can be intermittently rotated by a rotary motor, and a component supply unit that supplies electronic components to a component suction position. A line sensor for detecting the suction posture of the electronic component picked up by the nozzle, and the nozzle support so that the suction nozzle that sucks and holds the electronic component passes between the light emitting element and the light receiving element of the line sensor at a constant speed. In an electronic component mounting apparatus that detects the suction posture of the electronic component at predetermined time intervals while rotating the body by a rotary motor, a storage device that stores an attachment error of each suction nozzle to the nozzle support, and the storage device Ties that start and end detection of the suction posture of the electronic component sucked and held by the suction nozzle by the line sensor according to each stored mounting error Characterized by providing a control device for controlling the ring.

  According to a third aspect of the present invention, an electronic component is provided from a nozzle support that includes a plurality of suction nozzles with a predetermined interval at the periphery and can be intermittently rotated by a rotary motor, and a component supply unit that supplies the electronic component to a component suction position. A line sensor for detecting the presence or absence of the suction nozzle to be taken out, and for a predetermined time while rotating the nozzle support by a rotary motor so that the suction nozzle passes at a constant speed between the light emitting element and the light receiving element of the line sensor. In the electronic component mounting apparatus that detects the presence or absence of the suction nozzle every time, a storage device that stores an attachment error of each suction nozzle to the nozzle support, and the suction according to each attachment error stored in the storage device And a control device for controlling the timing of starting and ending detection of the presence / absence of nozzles.

  The present invention can reliably detect the height and suction posture of the lower end of the electronic component sucked and held by each suction nozzle even if there is a mounting error of the line sensor or a mounting error of each suction nozzle to the nozzle support. The presence or absence of the suction nozzle can be detected. Therefore, it is possible to detect the presence / absence of the suction nozzle before the operation of taking out the electronic component and to determine the type of suction nozzle associated with the detection of the presence / absence of the suction nozzle.

  Hereinafter, an embodiment of an electronic component mounting apparatus according to the present invention will be described with reference to the accompanying drawings. 1 is a plan view of the electronic component mounting apparatus 1, FIG. 2 is a front view of a lower main body of the electronic component mounting apparatus 1, and FIG. 3 is a right side view of the electronic component mounting apparatus 1 on the base 2 of the apparatus 1. On the feeder bases 3A, 3B, 3C, and 3D, a plurality of component supply units 3 that supply various electronic components one by one to the component take-out position (component suction position) are fixed in parallel and detachable in a stationary state. ing. A supply conveyor 4, a positioning unit 5, and a discharge conveyor 6 are provided between the opposing component supply unit 3 groups. The supply conveyor 4 sequentially conveys the printed circuit board P received from the upstream to the positioning unit 5, and after the electronic components are mounted on the substrate P positioned by the positioning unit 5 by the positioning unit 5, it is conveyed to the discharge conveyor 6. The

  Reference numeral 8 denotes a pair of front and rear beams which are provided in the left and right portions of the mounting apparatus 1 and which are long in the X direction, and sliders 11 fixed to the beams 8 along the pair of left and right guides 10 by driving the linear motors 9. By sliding, the printed circuit board P on the positioning unit 5 and the component take-out position above the component supply unit 3 are individually moved in the Y direction. The linear motor 9 includes a pair of upper and lower stators 9A fixed to the base 2 and a mover 9B fixed to lower portions of mounting plates provided at both ends of the beam 8.

  Each beam 8 is provided with a mounting head body 7 that moves along a guide 13 by a linear motor 14 in the longitudinal direction (X direction). As shown in FIG. 3, the linear motor 14 includes a pair of front and rear stators 14A fixed to the beam 8, and a mover 14B provided between the stators 14A and provided on the mounting head body 7. Composed.

  Each mounting head body 7 includes a mounting head 16 having a suction nozzle 15 biased downward by 16 springs 12. Each mounting head 16 of each mounting head body 7 is provided with a substrate recognition camera 19 for imaging a positioning mark attached to the positioned printed circuit board P.

  Hereinafter, the lifting device of the mounting head 16 and the mounting head 16 will be described in detail with reference to FIGS. 5 and 6. Reference numeral 20 denotes a base of the mounting head body 7 that moves along the guide 13, and 21 denotes a beam-side base fixed to the base 20. Reference numeral 22 denotes a mounting head side base fixed to the upper and lower portions of the mounting head 16, and a head lifting device 23 is provided between the mounting head side base 22 and the beam side base 21.

  The head lifting device 23 includes a guide 24 for guiding the mounting head 16 when the mounting head 16 is lifted, a ball screw 25 attached to the beam side base 21, a head lifting motor 26 that drives the ball screw 25 to move the mounting head 16 up and down, A lifting nut 27 screwed with the ball screw 25 and a head lifting motor 26 are mounted and a support 28 that rotatably supports the upper portion of the ball screw 25. The lifting nut 27 is fixed to the head-side base 22 and the like. Yes. For this reason, as the ball screw 25 is rotated by the rotation of the head lifting / lowering motor 26, the lifting nut 27 is lifted / lowered. As a result, the mounting head 16 is guided by the guide 24 and is lifted / lowered.

  The slip ring 30 is provided for communication between the mounting apparatus main body and the mounting head 16 and for supplying power to the rotary motor of the nozzle support section. Reference numeral 31 denotes a nozzle support that supports 16 suction nozzles 15 arranged on the circumference at a peripheral portion at a predetermined angle at a predetermined angle at a lower portion of the mounting head 16, and 32 is a mounting head 16. A lower outer cylinder 33 is a nozzle rotation motor for θ rotation of the suction nozzle 15 provided between the outer cylinder 32 and the nozzle support 31. The rotor 34 of the nozzle rotation motor 33 is provided on the outer peripheral surface of the nozzle support 31 and is provided so as to be rotatable in the θ direction together with the nozzle support 31 inside a stator 35 provided on the outer cylinder 32.

  37 is a detection means for detecting the presence / absence of a component and a suction posture (suction state) that are provided projecting downward from the center of the head support 31; a detection means for detecting the height of the lower end of the electronic component D; A line sensor unit as a means (presence / absence detection means, nozzle diameter detection means), which is provided at the lower end of a support body 38 provided substantially at the center of each mounting head 16 and has an LED in the upper part of a cylindrical light emitting unit attachment body 41. A light emitting unit 45 configured by disposing a light emitting element 42 such as a lens 43 below and a reflector 44 having a conical reflecting surface 44a below the lens 43, and the outer cylinder. The light receiving unit 46 includes a plurality of light receiving elements CCD elements which are fixed to the bottom surface 32 and receive light from the light emitting element 42 via the reflector 44.

  For example, when the component provided on the mounting head 16 performs suction, the suction operation of the electronic component D by the selected suction nozzle 15 ends, and the height of the lower end surface of the electronic component D every time the nozzle support 31 rotates. By detecting the position as a boundary position where the light receiving state of each CCD element changes from light shielding to light receiving, the electronic component is normally sucked as shown in FIG. The state is detected separately from the case of the oblique suction state. That is, the suction nozzle 15 descends and picks up and picks up the electronic component D from the component supply unit 3. After the lift, the nozzle support 31 is rotated by driving the nozzle rotation motor 33 to suck and hold the electronic component D. 15, the electronic component D attracted by the suction nozzle 15 during the turning is located between the reflector 44 and the light receiving unit 46, so that the height position of the lower end surface of the electronic component D at a plurality of positions. By detecting this, it is possible to detect the presence / absence of a component, the suction posture, the thickness of the electronic component sucked and held by the suction nozzle 15, and the like.

  Further, the presence or absence of the suction nozzle 15 can be detected while the suction nozzle 15 is turned. The detection is performed when the nozzle support 31 moves while rotating. However, when the electronic component D is positioned between the reflector 44 and the light receiving unit 46, the rotation is stopped and detected. It may be.

  When the suction nozzle 15 does not suck the electronic component D, light to be shielded (by the sucked electronic component) out of the light from the light emitting element 42 is received by the light receiving unit 46. Therefore, the absence of the electronic component D is detected, and the suction nozzle 15 is communicated with the vacuum source 47 by the operation of a solenoid valve 82 which is a vacuum valve on / off operation body (described later) provided on the side of each nozzle shaft 64. The flow path is shut off, the vacuum passage from the vacuum source 47 is cut off to stop the vacuum suction operation to prevent leaks, and the surface that should not be sucked is adsorbed, so-called standing or adsorbed diagonally. If it is detected, the suction nozzle 15 is moved above the collection box 79 and the electronic component D is dropped.

  Next, the nozzle raising / lowering device 50 provided in the mounting head 16 will be described. Reference numeral 51 denotes a nozzle lifting / lowering motor attached to the head-side base 22; 52, a ball screw which is rotated by the nozzle lifting / lowering motor 51 by a rotation shaft 511 of the nozzle lifting / lowering motor 51 being connected by a connecting member 59; Lifting body which is screwed to 52 and moves up and down by the rotation of the ball screw 52, 55 is a guide attached to the head side base 22 to guide the lifting and lowering body 53, 56 is a roller which is rotatably attached to the lower end of the lifting body 53 It is.

  Further, 57 is a first cylinder body in which the central axis 60 of the mounting head 16 penetrates the center, and an annular flange 58 formed in the first cylinder body 57 is positioned on the roller 56, and the first cylinder The body 57 is supported by the roller 56. Here, the first cylindrical body 57 is composed of, for example, a ball spline, and is biased downward by a spring 61 whose lower end is in contact with the upper surface of the collar portion 58 and rotates θ with the rotation of the pulley described later. The roller 56 moves up and down as the lifting body 53 moves up and down. Reference numeral 62 denotes a nozzle support member that is fixed to the lower portion of the first cylindrical body 57 and rotates θ together with the first cylindrical body 57. An elevating support piece 63 that extends horizontally in the circumferential direction is formed at the lower end of the nozzle support member 62. Has been. The elevating support piece 63 moves up and down as the first cylindrical body 57 moves up and down, and a predetermined suction nozzle 15 among the plurality of suction nozzles 15 is lowered by the lowering of the lift support piece 63.

  That is, a roller 65 is rotatably attached to the upper end of each nozzle shaft 64 extending upward from each suction nozzle 15, and the upper end of the nozzle shaft 64 of one suction nozzle 15 selected by a nozzle selection device described later. While the roller 65 is on the upper surface of the lifting support piece 63, the roller 65 moves up and down by the lowering of the nozzle support member 62 and the lifting support piece 63 as the first cylindrical body 57 is lowered. That is, when the elevating support piece 63 and the roller 65 are lowered to, for example, the positions indicated by the elevating support piece 63A and the roller 65A, the predetermined suction nozzle 15 is also lowered along with the lowering. Further, the suction nozzle 15 is lowered by a predetermined stroke by controlling the rotation amount of the nozzle lifting / lowering motor 51 and adjusting the stop height when the lifting / lowering body 53 is lowered.

  Reference numeral 66 denotes a third cylindrical body which is provided under the nozzle support member 62 and can be rotated by θ. The upper portion of the third cylindrical body 66 has the same height as the elevation support piece 63 of the nozzle support member 62 before being lowered. A substantially disc-shaped fixed support piece 67 is formed at this position. As shown in FIG. 7, the fixed support piece 67 is formed with a notch 68 corresponding to the lift support piece 63, and each roller 65 at the upper end of the nozzle shaft 64 of the nozzle 15 excluding the descending nozzle 15 is fixed. It is supported by a support piece 67. That is, the fixed support piece 67 is formed with a notch 68 at a position of approximately 180 °, which is an angle obtained by dividing the nozzle 15 by a fraction of 16 in the circumferential direction. The elevating support piece 63 is located.

  70 is a nozzle selection device provided in the mounting head 16, 71 is a nozzle selection motor for selecting a descending nozzle, 72 is a first pulley fixed to a rotation shaft 73 of the nozzle selection motor 71, and 74 is a central shaft 60. A second pulley 75 rotatably supported on the belt, 75 is a belt passed between the first pulley 72 and the second pulley 74, and 76 is located outside the central shaft 60 and is the center of the second pulley 74. The spring 61 is provided between the second pulley 74 and the flange portion 58 of the first cylinder 57.

  The first cylinder 57 is positioned outside the outer peripheral surface of the lower part of the rotating body 76, and the first cylinder 57 rotates as the second pulley 74 rotates due to the action of the first cylinder 57 as a ball spline. When the body 76 rotates with the rotation of the body 76 and the lifting / lowering body 53 is lifted / lowered, the body 76 descends along with the lifting / lowering 76.

  In other words, when the nozzle selection motor 71 rotates when the electronic component D is picked up and mounted, the first cylinder 57 rotates via the first pulley 72 belt 75, the second pulley 74, and the rotating body 76 when the nozzle selection motor 71 rotates. Further, the nozzle support member 62 connected to the first cylinder 57 rotates together with the third cylinder 66, and the lifting support piece 63 of the nozzle support member 62 is below the nozzle shaft 64 extending from the selected nozzle 15. To position. In such a state, when the nozzle lifting / lowering motor 51 rotates and the lifting / lowering body 53 descends according to the height of the lower end of the electronic component to be sucked and mounted, the first cylinder 57 and the nozzle support member 62 are lowered accordingly. Only the nozzle 15 selected by the lowering of the lifting support piece 63 is lowered by a predetermined stroke according to the height of the lower end of the electronic component.

  Reference numeral 80 denotes an air switching valve, which is provided at an equiangular interval corresponding to each nozzle 15 at a position on the outer side in the circumferential direction from each nozzle 15 and can individually switch between air suction and blowing. The air switching valve 80 includes a case 81 provided in the upper part, and a solenoid valve 82 in which the upper part is located in the case 81 and the energization is controlled by a signal from the CPU 90. The solenoid valve 82 is an annular electromagnet 83 provided on the inner surface of the case 81, and moves up and down in the case 81 by energizing and de-energizing the electromagnet 83, and a cylindrical permanent magnet 84 corresponding to the electromagnet 83 at the upper part. It is comprised from the channel | path switching body 85 etc. in which this was provided. An air blow passage 86, a nozzle communication passage 87, and a evacuation passage 88 are formed in this order from the top to the bottom between the passage switching body 85 and the cylinder portion 81A below the case 81. Further, the nozzle shaft 64 is formed with a nozzle shaft passage 100 communicating with the internal passage of the nozzle 15 and the nozzle communication passage 87, and the nozzle passage 100 and the evacuation passage through the nozzle communication passage 87 when the passage switching body 85 is raised and lowered. 88 or communication with the air blow passage 86 is switched.

  That is, when the passage switching body 85 is raised by energization of the electromagnet 83 of the solenoid valve 82, the evacuation passage 88 and the nozzle communication passage 87 communicate with each other, and the nozzle communication passage 87 and the air blow passage 86 communicate with each other. The suction nozzle 15 is closed, and the internal passage of the suction nozzle 15 communicates with the vacuum source 47 via the nozzle shaft passage 100, the nozzle communication passage 87, and the evacuation passage 88, and the suction nozzle 15 maintains vacuum suction of the electronic components. Further, when the electromagnet 83 is de-energized and the passage switching body 85 is lowered, the evacuation passage 88 and the nozzle communication passage 87 communicated with the vacuum source 47 are blocked, and the nozzle communication passage 87 and the air blower are used. The passage 86 communicates to stop the vacuum suction of the electronic component D by the suction nozzle 15, and air from the air supply source 48 enters the internal passage of the suction nozzle 15, the air blow passage 86, the nozzle communication passage 87, and the nozzle shaft passage 100. Is blown through.

  49A is a switching valve whose one end communicates with the air switching valve 80, and switches the other end between communicating with the vacuum source 47 and sucking the suction nozzle 15 or communicating with the air supply source 48 and blowing out the suction nozzle 15. It is a valve. 49B is an open / close valve having one end communicating with the air switching valve 80 and the other end communicating with the air supply source 48. When the electronic component is mounted by the suction nozzle 15, the air switching valve 80 switches from air suction to air blowing. The vacuum is broken when the air switching valve 80 is switched to the air blowing when the suction nozzle 15 starts sucking and sucking the electronic component by opening the air supply source 48 before the air is turned on. It is a valve to do.

  As shown in FIG. 3, reference numeral 89 denotes a component recognition camera, which is provided on the mounting plate 99 of the base body 2 in correspondence with each of the mounting heads 16. In order to recognize the position with respect to the XY direction and the rotation angle, all the electronic components D sucked and held by the plurality of suction nozzles 15 are collectively imaged and the suction nozzles 15 It can also be confirmed whether or not the part D is sucked and held.

  Next, a description will be given below based on a control block diagram of the electronic component mounting apparatus 1 of FIG. Reference numeral 90 denotes a CPU (Central Processing Unit) as a control unit that performs overall control of the mounting apparatus 1, and the CPU 90 is connected to a RAM (Random Access Memory) 92 and a ROM (Read. Only memory) 93 is connected. Based on the data stored in the RAM 92, the CPU 90 controls the operation related to the component mounting operation of the electronic component mounting apparatus 1 according to the program stored in the ROM 93. That is, the CPU 90 controls the driving of the linear motors 9 and 14 and the opening / closing valve 49B and the switching valve 49A provided for each mounting head 16 via the interface 94 and the driving circuit 95.

  The RAM 92 stores mounting data related to component mounting. For each mounting order (step number), the X direction (indicated by X), the Y direction (indicated by Y), and the angle within the printed circuit board. Information (indicated by Z), arrangement number information of each component supply unit 3, and the like are stored. The RAM 92 stores component arrangement data, which stores the types of electronic components (component IDs) and the arrangement coordinates of the supply units 3 corresponding to the arrangement numbers of the component supply units 3. Has been.

  A recognition processing device 91 is connected to the CPU 90 via an interface 94, and recognizes an image captured by the component recognition camera 89 and recognizes an image captured by the board recognition camera 19. Processing is performed by the component recognition processing device 91.

  The images taken by the component recognition camera 89 and the board recognition camera 19 are displayed on a monitor 96 as a display device. The monitor 96 is provided with various touch panel switches 97, and when the operator operates the touch panel switch 97, various settings including settings for teaching designation can be performed.

  The light receiving unit 46 of the line sensor unit 37 is connected to the CPU 112 of the detection controller 111 via the interface 110. The CPU 112 is connected to a RAM (Random Access Memory) 113 and a ROM (Reset) via the bus line. -De-only memory) 114 is connected. The CPU 112 is connected to the CPU 90 through an interface 115, a serial line 116, and an interface 94.

  Here, the presence / absence of the electronic component D sucked and held by the suction nozzle 15 is detected, the suction posture (suction state) is detected, and the height of the lower end of the electronic component D held by the suction nozzle 15 is detected. In order to detect the presence of the suction nozzle 15, the suction nozzle 15 that holds and holds the electronic component D of the 16 suction nozzles 15 or any suction nozzle 15 for which the type of the suction nozzle 15 is desired to be determined is a light emitting unit. The light emitting unit 45 constituting the line sensor unit 37 is rotated together with the nozzle support 31 by the nozzle rotating motor 33 so as to be positioned between the light receiving unit 46 and the light receiving unit 46.

  Here, the teaching of the offset for mounting each suction nozzle 15 to the nozzle support 31, that is, the teaching of the offset of the line sensor detection position will be described with reference to FIG.

  First, since 16 suction nozzles 15 are arranged on the nozzle support 31, the angular interval between the suction nozzles 15 is 22.5 degrees. First, the 12 o'clock angular position of the nozzle support 31 is set. And how much the virtual reference connecting the 6 o'clock angular position deviates from the design reference. This deviation amount is a head rotation angle offset value, and is stored in the RAM 92.

  The light receiving unit 46 is disposed at the middle position between the 6 o'clock angular position of the nozzle support 31 and a position 22.5 degrees away from this position. That is, the light receiving unit 46 is disposed at a position of minus 11.25 degrees clockwise from the 6:00 position of the virtual reference, but the mounting error of the light receiving unit 46 or the attachment of each suction nozzle 15 to the nozzle support 31 Since there is an error, the detection angle range of the line sensor unit 37, that is, the angle range from when the CPU 90 starts taking in the detection result (the height of the lower end of the electronic component) to the end is determined in advance. The angle range, that is, the range of 15 degrees, minus 11.25 degrees from the virtual reference position at 6 o'clock, and plus or minus 7.5 degrees from the clockwise position. The position of the detection angle range of the sensor unit 37 is slightly shifted.

  It is necessary to obtain the deviation of the position of the detection angle range, that is, the deviation of the optical axis as the light receiving unit detection position offset value for each suction nozzle 15 and store it in the RAM 92. The light reception unit detection position offset value is stored in each suction nozzle. The teaching of the light receiving unit detection position offset value calculated every time and stored in the RAM 92 will be described below.

  First, when the work manager presses the teaching start switch portion of the touch panel switch displayed on the monitor 96, the CPU 90 first returns the nozzle rotation motor 33 to the origin position and then drives the nozzle at a constant speed. Since the rotary motor 33 is controlled to rotate the nozzle support 31 to rotate each suction nozzle 15 at a constant speed, each suction nozzle 15 passes between the reflector 44 and the light receiving unit 46 while rotating. The CPU 112 controls the line sensor unit 37 to detect the presence of the suction nozzle 15 at regular time intervals.

  The CPU 90 obtains the amount of deviation between the position where the suction nozzle 15 is detected by the line sensor unit 37 and the position of the suction nozzle 15 of the design standard, that is, the light receiving unit detection position offset value, and stores it in the RAM 92.

  Next, the operation of sucking and mounting the electronic component D by the electronic component mounting apparatus 1 will be described in detail below with the above configuration. First, when the work manager presses the operation start switch portion of the touch panel switch displayed on the monitor 96, the CPU 90 first returns the nozzle rotation motor 33 to the origin position, and moves the printed board P from the upstream device to the supply conveyor 4. Through the positioning unit 5 and the positioning mechanism starts the positioning operation.

  Next, the CPU 90 executes an electronic component D suction operation according to the mounting data stored in the RAM 92. That is, the suction nozzle 15 corresponding to the component type of the electronic component is mounted according to the mounting data in which the XY coordinate position where the printed circuit board P is to be mounted, the rotation angle position around the vertical axis, the arrangement number, and the like are specified. The electronic component to be removed is sucked out from the predetermined component supply unit 3.

  At this time, the linear motors 9 and 14 are controlled by the CPU 90 so that the suction nozzle 15 of each mounting head 16 of each mounting head body 7 is located above the top electronic component of each component supply unit 3 that stores the electronic component to be mounted. In the Y direction, the linear motor 9 is driven by the drive circuit 95 to move each beam 8 along the pair of guides 10. In the X direction, the linear motor 14 is also driven by the drive circuit 95. Each mounting head body 7 moves along the guide 13.

  Since each predetermined supply unit 3 has already been driven and components can be taken out at the component suction position, the head lifting motor 26 is based on signals output from the CPU 90 via the interface 94 and the drive circuit 95. Rotates, and the mounting head 16 moves down along the guide 24 to a predetermined height. Next, when the suction nozzle (hereinafter referred to as “the first suction nozzle”) 15 that first picks up an electronic component is deviated from the suction position, that is, the 6 o'clock suction position shown in FIG. A signal for moving the suction nozzle 15 to the suction position is output, the nozzle rotation motor 33 is driven to rotate, and the nozzle support 31 of the mounting head 16 is rotated about the central axis 60 by θ.

  When the roller 65 gets on the lifting support piece 63, the CPU 90 sends a signal to the nozzle via the interface 94 and the drive circuit 95 based on the rotation angle of the nozzle support 31 and the angle of the side edge of the lifting support piece 63. Output to the lifting motor 51. Then, based on this signal, the nozzle raising / lowering motor 51 rotates in a direction to lower the first suction nozzle 15, and the lifting body 53 and the lifting support piece 63 are lowered by the rotation of the ball screw 52, so that the first suction nozzle 15 is predetermined. , I.e., a height suitable for adsorbing electronic components from the preset supply unit 3. That is, by the θ rotation of the nozzle support 31 and the descending of the lifting support piece 63, the first suction nozzle 15 turns and descends, the roller 65 reaches the center of the lifting support piece 63, and the first suction nozzle 15 sucks. The position reaches the position and descends to a height suitable for sucking the electronic component, and the first suction nozzle 15 sucks and takes out the electronic component.

  When the suction operation of the electronic component by the first suction nozzle 15 is completed, the CPU 90 outputs a signal to the nozzle lifting motor 51, and the nozzle lifting motor 51 moves up the first suction nozzle 15 based on this signal. As the ball screw 52 rotates, the elevating body 53 rises to a predetermined height, that is, the height before the descent.

  And when electronic components can be chain-sucked by the mounting head 16, as in the case of the first suction nozzle, among the 16 suction nozzles 15 provided on the nozzle support 31 as described above, that is, the second suction nozzle. The remaining selected suction nozzles of No. 16 to No. 16 are also subjected to multi-chain suction (as many electronic components D as possible are continuously sucked). That is, electronic components are supplied from the component supply unit 3 to the remaining suction nozzles 15, and the nozzle support 31 rotates intermittently by the rotation of the nozzle rotation motor 33, and each suction nozzle 15 is stopped when the nozzle support 31 is stopped. Moves up and down and holds electronic components by suction.

  Then, the height of the lower end of the electronic component sucked and held by the suction nozzle 15 by the line sensor unit 37 accompanying the suction operation of the electronic component by each suction nozzle 15 is made. That is, the light receiving unit 46 of the line sensor unit 37 is provided at a position shifted by, for example, 11.25 from the suction position shown in FIG. 8, and the electronic components are picked up by intermittent rotation of the nozzle support 31 in the clockwise direction. The suction nozzle 15 passes between the reflector 44 and the light receiving unit 46 of the line sensor unit 37 at a constant speed, and the suction nozzle 15 is rotated every predetermined time while the nozzle support 31 is rotated by the nozzle rotation motor 33. The height of the lower end of the electronic component attracted and held by the sensor is detected.

  At this time, the rotation target angle position of the nozzle rotation motor 33 when the suction nozzle 15 is moved to the height detection position of the lower end of the electronic component is 180 degrees + head rotation angle offset value−11.25 degrees + light receiving unit detection position. The offset value (of the nozzle number) is −22.5 degrees × (the nozzle number of −1). This is determined by the CPU 90.

  Therefore, the CPU 90 controls the nozzle rotation motor 33 so that the suction nozzle 15 moves to the rotation target angle position. The detection angle range (15 degree range) of the line sensor unit 37 is set according to the rotation target angle position. In other words, the detection angle range is a range of 18.5 degrees to 3.5 degrees in front of the rotation target angle position, or the attachment error of the line sensor unit 37 or each suction nozzle 15 to the nozzle support 31 is determined. Even if there is an attachment error, the line sensor unit 37 can detect the height of the lower end of the electronic component securely held by each suction nozzle 15 and is stored in the RAM 92. Accordingly, the height of the lower end of the electronic component after the suction nozzle 15 is fully lifted (not rising) within the range of 22.5 degrees of one intermittent rotation angle from the 6 o'clock angular position of the nozzle support 31. Even if the detection angle range becomes narrow in order to detect this, it can be reliably detected.

  Therefore, by determining the detection angle range (15-degree range) of the line sensor unit 37 according to the rotation target angle position, the detection angle range can be made as narrow as possible, and the suction nozzle 15 that sucks the electronic components can be used. Even when an electronic component or an object other than the suction nozzle 15 is nearby, erroneous detection by the line sensor unit 37 can be avoided as much as possible. Further, the thickness of the electronic component can be obtained from the difference between the detected height of the lower end of the electronic component and the lower end of the suction nozzle 15, and the posture of the electronic component is determined from the obtained thickness of the electronic component. You can also.

  Specifically, light emitted from the light emitting element 42 of the light emitting unit 45 is reflected by the reflecting surface 44 a of the reflector 44 and received by the light receiving unit 46, and a detection value is sent to the detection controller 111. Based on this detection information, the CPU 112 can reliably detect the height of the lower end of the component in accordance with the lower end level of the electronic component D, and is stored in the RAM 113 and RAM 92.

  In the same manner, the height of the lower end of the electronic component sucked and held by each suction nozzle 15 can be detected by the line sensor unit 37, stored in the RAM 92, and then captured by the component recognition camera 89 of the electronic component imaging and recognition processing device 91. A component recognition operation such as a recognition process is performed, or when there is no abnormal posture of the electronic component, the component recognition operation is performed and the mounting operation to the printed circuit board P is performed. That is, the CPU 90 controls the linear motors 9 and 14 so that the suction nozzle 15 moves to the mounting coordinate position on the printed circuit board P positioned by the positioning unit 5 in consideration of the recognition processing result from the recognition processing device 91. In the Y direction, the linear motor 9 is driven by the drive circuit 95 to move each beam 8 along the pair of guides 10. In the X direction, the linear motor 14 is also driven by the drive circuit 95 along the guide 13. Each mounting head body 7 moves and controls the nozzle rotation motor 33, the head lifting / lowering motor 26 and the nozzle lifting / lowering motor 51 to mount electronic components on the printed circuit board P.

  In this case, the CPU 90 controls the nozzle lifting / lowering motor 51 according to the height of the lower end of the electronic component D to lower the suction nozzle 15. Therefore, since the descending amount when mounting the electronic component D on the printed circuit board P is determined according to the height of the lower end of the electronic component D, the electronic component D is mounted with an appropriate pushing amount. The component D is not damaged, and the electronic component D cannot be mounted, so that the component D is securely mounted.

  Further, as described above, since the CPU 90 controls the rotation of the nozzle support 31, the line sensor unit 37 reliably detects the presence / absence of electronic components at the lower end of the suction nozzle 15 and the detection of the suction posture. This can be done by rotating the support 31.

  That is, the light emitted from the light emitting element 42 of the light emitting unit 45 is reflected by the reflecting surface 44 a of the reflector 44 and received by the light receiving unit 46, the detection value is sent to the detection controller 111, and the detection information from the detection controller 111 is detected. Based on the above, the CPU 112 can reliably detect the presence / absence of an electronic component and the suction posture according to the lower end level of the electronic component D. Accordingly, when the CPU 112 determines that there is no electronic component based on the detection information from the detection controller 111, the operation is again performed from the component supply unit 3, or the surface that should not be picked up is picked up, so-called standing state. If it is determined that the electronic component has detected an abnormal posture state when it is sucked or sucked diagonally, the mounting head 16 and the suction nozzle 15 are removed from the collection box before the electronic component is recognized and mounted. 79 The individual disposal (collection) operation of moving upward and dropping the electronic component D is performed for each electronic component.

  Furthermore, the nozzle diameter of the suction nozzle 15 can be reliably detected. That is, the suction nozzle 15 includes a portion 15A having the same shape and outer diameter even if the type (so-called nozzle diameter) is different, and a portion 15B having a different outer diameter if the type is different. The diameter is measured and stored in the RAMs 113 and 92.

  Similarly, for the other suction nozzles 15, the measurement operation and the storage operation are performed, and the nozzle diameter of the portion 15 </ b> B of the suction nozzle 15 is stored in the RAM 92 in advance.

  When attaching the suction nozzle 15 to the mounting head 16 immediately after the start of operation or replacing the suction nozzle 15 during the operation, this attachment is performed when the suction nozzle 15 is automatically or manually attached to the mounting head 16. An operation for detecting whether or not the new suction nozzle 15 to be attached is the original correct type of suction nozzle 15 to be attached will be described.

  That is, the line sensor unit 37 detects the presence or absence of the suction nozzle 15 every predetermined time while passing the suction nozzle 15 after attachment between the reflector 44 and the light receiving unit 46 at a constant speed. The nozzle diameter of the portion 15B of the suction nozzle 15 is obtained from the number of detected times at this time and stored in the RAM 92.

  Then, the CPU 90 determines which type of outer diameter the calculated nozzle diameter belongs to. In this way, it can be confirmed whether the new suction nozzle 15 after installation is the original correct type of suction nozzle 15.

  The line sensor unit 37 is not provided in the mounting head 16 but is provided in the mounting apparatus main body, the mounting head 16 moves to the position of the line sensor unit 37, and the line sensor unit 37 detects the height of the lower end of the electronic component. Alternatively, the offset value of the detection position due to the attachment error of the line sensor unit 37 or the attachment error of each suction nozzle 15 is obtained, and the detection range of the lower end height of the suction nozzle 15 is set based on the obtained offset value. You may do it.

  Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations can be made by those skilled in the art based on the above description, and the present invention is not limited to the above-described alternatives, modifications, or modifications. It includes modifications.

It is a top view of an electronic component mounting apparatus. It is a front view of an electronic component mounting apparatus. It is a right view of an electronic component mounting apparatus. It is a control block diagram of an electronic component mounting apparatus. It is a vertical front view of a mounting head body. It is a vertical side view of a mounting head body. It is a top view which shows a fixed support piece and a raising / lowering support piece. It is a schematic bottom view of a mounting head. It is an enlarged vertical front view of the lower part of a mounting head.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 7 Mounting head body 15 Adsorption nozzle 16 Mounting head 31 Nozzle support body 33 Nozzle rotation motor 37 Line sensor unit 42 Light emitting element 45 Light emitting unit 46 Light receiving unit 51 Nozzle raising / lowering motor 90 CPU
92 RAM
111 Detection controller

Claims (3)

  A nozzle support that includes a plurality of suction nozzles at a predetermined interval on the periphery and can be intermittently rotated by a rotary motor, and an electronic component that is picked up by a predetermined suction nozzle from a component supply unit that supplies the electronic component to a component suction position A line sensor for detecting the height of the lower end of the line sensor, and rotating the nozzle support so that the suction nozzle that sucks and holds the electronic component passes between the light emitting element and the light receiving element of the line sensor at a constant speed. In the electronic component mounting apparatus for detecting the height of the lower end of the electronic component every predetermined time while rotating by the step, and lowering it by a predetermined stroke according to the detected height of the lower end, and mounting on the printed circuit board, the nozzle A storage device for storing the attachment error of each suction nozzle to the support, and the suction by the line sensor according to each attachment error stored in the storage device. An electronic component mounting apparatus characterized by comprising a control device for controlling the start and when to terminate the height detection of the lower end of the electronic component sucked and held by the nozzle.   A nozzle support that includes a plurality of suction nozzles at a predetermined interval on the periphery and can be intermittently rotated by a rotary motor, and an electronic component that is picked up by a predetermined suction nozzle from a component supply unit that supplies the electronic component to a component suction position A line sensor that detects the suction posture of the line sensor, and the nozzle support is rotated by a rotary motor so that the suction nozzle that sucks and holds the electronic component passes between the light emitting element and the light receiving element of the line sensor at a constant speed. In the electronic component mounting apparatus for detecting the suction posture of the electronic component every predetermined time while storing the storage device, a storage device for storing an attachment error of each suction nozzle to the nozzle support, and each attachment error stored in the storage device The timing of starting and ending the detection of the suction posture of the electronic component held by the suction nozzle by the line sensor is controlled according to the An electronic component mounting apparatus characterized by comprising a control device.   Whether there is a nozzle support that is equipped with a plurality of suction nozzles at the peripheral edge and can be rotated intermittently by a rotary motor, and a suction nozzle that picks up electronic components from a component supply unit that supplies electronic components to the component suction position A line sensor for detecting the suction nozzle, and the suction nozzle of the suction nozzle is rotated at predetermined intervals while the nozzle support is rotated by a rotary motor so that the suction nozzle passes at a constant speed between the light emitting element and the light receiving element of the line sensor. In the electronic component mounting apparatus for detecting presence / absence, a storage device for storing the attachment error of each suction nozzle to the nozzle support, and detection of the presence / absence of the suction nozzle according to each attachment error stored in the storage device An electronic component mounting apparatus, comprising: a control device that controls timing of starting and ending.