JP3641545B2 - Core slider mounting apparatus and core slider mounting method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a core slider mounting apparatus and a core slider mounting method for mounting a core slider on a work such as a suspension constituting a head of a hard disk drive.
[0002]
[Prior art]
Conventionally, there is a robot mounter as a device for mounting a core slider of a hard disk drive on a suspension. In this robot mounter, a suspension having a bonded portion is fixed to a jig board, and after an adhesive is applied to the bonded portion of the suspension by a dispenser, the core slider is attracted and attracted by the chuck of the robot head from the core slider storage portion. Be transported.
[0003]
The core slider is once placed on the positioning unit, adjusted in position, and again attracted by the chuck of the robot head, transferred to the adherend of the suspension, and brought into contact with the adherend in the adsorbed state. UV light is irradiated from the irradiation section, and the adhesive is temporarily cured. Such a robot mounter is a cell type and space-saving.
[0004]
[Problems to be solved by the invention]
By the way, the robot mounter as proposed above is a semi-automatic machine in which the cell type equipment and the operator are integrated, and the work for fixing the work to the jig panel is performed via a rotary table for the purpose of safety. This face-to-face work is a complete manual work. For this reason, despite the work in the clean room, it was coexisting with people.
[0005]
In addition, since it is a manual operation, fixing the work to the jig panel required a certain skill in order to increase accuracy.
[0006]
In addition, there was an error due to variations in the products present in the workpiece itself.
[0007]
In addition, since the target accuracy is in units of microns, a predetermined number of man-hours are required for maintenance of the jig panel.
[0008]
In addition, while the configuration is simple, the color as a mass production system was somewhat thin. Furthermore, since each processing step is performed continuously and the main curing step is a separate facility, there is a limit to shortening the cycle time.
[0009]
The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a core slider capable of mounting the core slider with high accuracy regardless of variations in workpieces and jig boards. To provide a mounting apparatus and a core slider mounting method.
[0010]
The above and other objects and novel features of the present invention will be apparent from the description of this specification and the accompanying drawings.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, the core slider mount device according to the present invention is configured such that a work such as a suspension having at least one bonded portion is set via a jig board, and the work is placed in the XY axis direction and the rotation direction. A work table that is displaced to a predetermined position, and
A dispenser that applies a photocurable adhesive to a predetermined portion of the adherend of the workpiece;
A spot irradiation unit for irradiating the adhesive applied from the dispenser with UV light;
A core slider positioner having a first alignment pawl for sandwiching and aligning the core slider for mounting on the workpiece from the X-axis direction (or Y-axis direction);
On the core slider positioner, the core slider positioned in the X-axis direction (or Y-axis direction) by the first alignment claw is clamped from the Y-axis direction (or X-axis direction) for alignment. A core mount chuck having a second alignment claw and a function of adsorbing and transferring the core slider, which has been aligned on the core slider positioner by the first and second alignment claws, in the Z-axis direction; ,
Figure recognition means for recognizing the posture of the work set on the work table and obtaining work figure recognition information;
Based on the workpiece shape recognition information, and having an error correction means for correcting an alignment error between the adherend portion of the workpiece and the core slider,
The core mount chuck adsorbs the core slider while the second alignment claw on the core mount chuck side where the core slider has been aligned continues to hold the core slider from the time of the alignment.
The work table on which the work is set is transferred to the bottom of the core slider transferred upward by the core mount chuck, and after correcting an alignment error between the adherend portion of the work and the core slider, the core slider is corrected. It is characterized by mounting.
[0014]
Furthermore, the core slider mounting method according to the present invention includes a step of setting a work on a work table via a jig board,
Applying an adhesive to a predetermined portion of the bonded portion of the workpiece;
A step of adsorbing a core slider for mounting on the workpiece to a core slider positioner, and sandwiching and aligning the core slider from the X-axis direction and the Y-axis direction by first and second alignment claws;
A step of sucking and transferring the core slider, which has been aligned by the first and second alignment claws, by means of a core mount chuck, and transferring the workpiece on the work table below the core slider;
Recognizing the posture of the workpiece and obtaining workpiece shape recognition information;
Correcting the alignment error between the adherend portion of the workpiece and the core slider based on the workpiece shape recognition information;
A step of pre-curing the adhesive by UV irradiation while pressing the core slider against the adherend of the workpiece via the adhesive,
The core mount chuck adsorbs the core slider in a state where the second alignment claw on the core mount chuck side where the core slider has been aligned continues to hold the core slider from the time of the alignment. It is characterized by.
[0016]
Therefore, according to the present invention, the core slider is sandwiched and aligned in the XY-axis direction by the first and second alignment claws, and the workpiece is adhered based on the workpiece shape recognition information of the workpiece set on the workpiece table. Since the core slider is mounted after correcting the alignment error between the part and the core slider, in addition to the mechanical position adjustment of the core slider, comprehensive alignment by image recognition of the adherend part of the workpiece can be performed, The accuracy of mounting the core slider is improved.
[0017]
Further, since the core slider is adsorbed by the core mount chuck while being held between the second alignment claws, a position shift that occurs when the core slider is delivered by the core slider positioner is avoided, which contributes to improvement of the mounting accuracy of the core slider. The
[0018]
Also, by providing a workpiece shape recognition means that can optically recognize the posture of the workpiece and the core slider in the same field of view, the alignment error between the workpiece adherent part and the core slider based on the workpiece / core slider shape recognition information Is corrected, the mounting accuracy of the core slider is greatly improved.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the description of the embodiments, the same reference numerals are given to the same functions.
[0020]
1 is a front view of a core slider mount device according to an embodiment of the present invention, FIG. 2 is a side view of the core slider mount device according to the embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. FIG. 4 is a plan view of the core slider positioner in the core slider mount device according to the embodiment of the present invention.
[0021]
The core slider mount device shown in FIG. 1 is provided with a workpiece replacement unit 2 for loading and unloading a workpiece such as a suspension having at least one bonded portion on the operator side on the leg base 1.
[0022]
On the downstream side of the work replacement unit 2, a work is set via a jig panel 3, and a work table 4 for transferring the work in the XY axis direction and the rotation direction is disposed. Is provided.
[0023]
Further, above the work table 4, a dispenser 6 that applies a photocurable adhesive to a predetermined portion of the work adherend and a work posture of the work set on the work table 4 are optically recognized. An optical camera 7 corresponding to a work form recognizing unit that corrects an alignment error between the adherend portion of the work and the core slider S (see FIG. 3) is provided based on the work form recognition information. Note that the dispenser 6 is configured to apply an adhesive to the end of the bonded portion of the workpiece based on the workpiece shape recognition information from the workpiece shape recognition means , and the optical camera 7 is shown in FIG. As shown in FIG. 3, the dispenser 6 is provided between a dispenser 6 and a core mount chuck 14 described later.
[0024]
Further, on the opposite side of the leg base 1 from the workpiece replacement part 2, a core slider accommodating part 8 in which a predetermined number of core sliders S are accommodated in an orderly manner is provided. It can move in the axial direction.
[0025]
In the vicinity of the core slider accommodating portion 8, there is a first alignment claw 10 that adsorbs the core slider S extracted from the core slider accommodating portion 8 and performs nipping alignment in the X-axis direction (or Y-axis direction). A core slider positioner 11 is provided.
[0026]
A core mount chuck 14 is provided above the core slider positioner 11, and the core slider S extracted from the core slider accommodating portion 8 is placed on the core mount chuck 14 on the core slider positioner 11 in the Y-axis direction (or X-axis). The second alignment claw 12 for nipping and positioning from the axial direction) and the spot irradiation unit 13 for irradiating the adhesive applied from the dispenser 6 with UV light are mounted, and the core slider S is attached to the second alignment claw 12. And are sucked and transferred in the Z-axis direction. Two spot irradiation units 13 are installed at a predetermined angle from the bonding surface. In the figure, reference numeral 15 denotes a monitor.
[0027]
Next, a core slider mounting method using such a core slider mounting apparatus will be described.
[0028]
First, the operator sets the work on the jig board 3. The jig board 3 is raised by a lifter (not shown) and placed on the work table 4.
[0029]
The work clamper 5 is lowered to fix the work. The optical camera 7 recognizes the presence / absence of a work set on the work table 4 and the work posture, and obtains work form recognition information.
[0030]
Based on the workpiece shape recognition information from the optical camera 7, an adhesive is applied from the dispenser 6 to the end of the bonded portion of the workpiece. At this time, the adhesive is discarded by the dispenser 6 in advance.
[0031]
The core slider S is extracted from the core slider accommodating portion 8 and adsorbed to the core slider positioner 11. Thereafter, the core slider S is sandwiched and aligned in the XY-axis direction by the first and second alignment claws 10 and 12 that are pneumatically operated.
[0032]
Thereafter, the core slider S is attracted by the core mount chuck 14 while being held between the second alignment claws 12 and transferred upward, and the workpiece on the work table 4 is transferred below the core slider S.
[0033]
Based on the workpiece shape recognition information from the optical camera 7, the alignment error between the bonded portion of the workpiece and the core slider S is corrected.
[0034]
The core slider S is irradiated with UV from the spot irradiation unit 13 while pressing the core slider S against the bonded portion of the workpiece through the adhesive by the core mount chuck 14 to temporarily cure the adhesive. In this case, the number of installed spot irradiation units 13, the irradiation angle, and the like vary depending on the shape and characteristics of the target core slider S.
[0035]
Thereafter, the work that has been mounted is returned to the work table 4 and carried out of the work replacement unit 2.
[0036]
As described above, according to the core slider mounting apparatus of the present embodiment, the core slider S is sandwiched and aligned in the XY axis direction by the first and second alignment claws 10 and 12 and set on the work table 4. Since the core slider S is mounted after correcting the alignment error between the workpiece adhesion portion and the core slider S based on the workpiece recognition information of the workpiece, the mechanical position of the core slider S is mounted. In addition to the adjustment, comprehensive positioning can be performed by image recognition of the adherend portion of the work, and the mounting accuracy of the core slider S is improved.
[0037]
Furthermore, since the core slider S is adsorbed by the core mount chuck 14 while being sandwiched by the second alignment claws 12, misalignment that occurs when the core slider S is delivered by the core slider positioner 11 is avoided. The mounting accuracy is improved.
[0038]
In addition, as a core slider mount device according to another embodiment, the second alignment claw 12 has a function of moving the core slider S in the Z-axis direction in addition to the alignment function, so that the spot irradiation unit 13 is The optical camera 7 that recognizes the posture of the workpiece and the core slider S in the same field of view may be provided without the core mount chuck 14 being excluded.
[0039]
According to this, the posture of the workpiece and the core slider S is recognized in the same field of view, and the alignment error between the workpiece adherent portion and the core slider S is corrected based on the workpiece / core slider shape recognition information obtained thereby. Therefore, the mounting accuracy of the core slider S can be greatly improved. The optical camera 7 can also be used for inspection of a workpiece after mounting.
[0040]
【The invention's effect】
As can be understood from the above description, the present invention is configured to position the core slider with the first and second alignment claws in the XY-axis direction and perform alignment, and to recognize the workpiece shape of the workpiece set on the workpiece table. After correcting the alignment error between the workpiece adherent part and the core slider, the core slider is mounted. Therefore, in addition to the mechanical position adjustment of the core slider, the image recognition of the adherend part of the work is performed. Comprehensive alignment can be performed, and the mounting accuracy of the core slider can be improved.
[0041]
Further, since the core slider is adsorbed by the core mount chuck while being held between the second alignment claws, a position shift that occurs when the core slider is delivered by the core slider positioner can be avoided, thereby contributing to an improvement in the mounting accuracy of the core slider. .
[0042]
In addition, by providing a workpiece shape recognition means that can recognize the posture of the workpiece and the core slider from the same field of view, it is possible to correct the alignment error between the workpiece adherent and the core slider based on the workpiece / core slider shape recognition information. As a result, the mounting accuracy of the core slider can be dramatically improved.
[0043]
In addition, since the workpiece is automatically supplied, the worker only needs to set the workpiece on the supply means first, and can ensure unattended and safe work thereafter. In addition, the skill of the operator is no longer necessary, and variations in accuracy due to the operator can be eliminated.
[0044]
In addition, since the component parts of the device are arranged in the vertical direction so that multiple processing steps can be performed in parallel, the equipment size can be reduced and the size can be reduced, and the cycle time can be improved. Thus, the productivity can be further improved.
[Brief description of the drawings]
FIG. 1 is a front view of a core slider mount device showing an embodiment of the present invention.
FIG. 2 is a side view of a core slider mount device showing an embodiment of the present invention.
FIG. 3 is a front view of a core mount chuck in a core slider mount device showing an embodiment of the present invention.
FIG. 4 is a plan view of a core slider positioner in the core slider mount device showing the embodiment of the present invention.
[Explanation of symbols]
1 Leg base 2 Work replacement part 3 Jig board 4 Work table 5 Work clamper 6 Dispenser 7 Optical camera (work shape recognition means)
8 Core slider storage unit 9 Core table 10 First alignment claw 11 Core slider positioner 12 Second alignment claw 13 Spot irradiation unit 14 Core mount chuck S Core slider

Claims (5)

A work table in which a work such as a suspension having at least one adherend is set via a jig board, the work is displaced in the XY axis direction and the rotation direction, and transferred to a predetermined position;
A dispenser that applies a photocurable adhesive to a predetermined portion of the adherend of the workpiece;
A spot irradiation unit for irradiating the adhesive applied from the dispenser with UV light;
A core slider positioner having a first alignment pawl for sandwiching and aligning the core slider for mounting on the workpiece from the X-axis direction (or Y-axis direction);
On the core slider positioner, the core slider positioned in the X-axis direction (or Y-axis direction) by the first alignment claw is clamped from the Y-axis direction (or X-axis direction) for alignment. A core mount chuck having a second alignment claw and a function of adsorbing and transferring the core slider, which has been aligned on the core slider positioner by the first and second alignment claws, in the Z-axis direction; ,
Figure recognition means for recognizing the posture of the work set on the work table and obtaining work figure recognition information;
Based on the workpiece shape recognition information, and having an error correction means for correcting an alignment error between the adherend portion of the workpiece and the core slider,
The core mount chuck adsorbs the core slider while the second alignment claw on the core mount chuck side where the core slider has been aligned continues to hold the core slider from the time of the alignment.
The work table on which the work is set is transferred to the bottom of the core slider transferred upward by the core mount chuck, and after correcting an alignment error between the adherend portion of the work and the core slider, the core slider is corrected. A core slider mounting device characterized by mounting. The core slider mount device according to claim 1,
2. The core slider mount device according to claim 1, wherein the dispenser applies an adhesive to a predetermined portion of the adherend portion of the workpiece based on a signal from the figure recognition means. The core slider mount device according to claim 1,
2. The core slider mount device according to claim 1, wherein the figure recognition means is an optical camera provided between the core mount chuck and the dispenser. The core slider mount device according to claim 1,
The core slider mount device according to claim 1, wherein the spot irradiation unit is provided on the core mount chuck. A process of setting a work on a work table via a jig board;
Applying an adhesive to a predetermined portion of the bonded portion of the workpiece;
A step of adsorbing a core slider for mounting on the workpiece to a core slider positioner, and sandwiching and aligning the core slider from the X-axis direction and the Y-axis direction by first and second alignment claws;
A step of sucking and transferring the core slider, which has been aligned by the first and second alignment claws, by means of a core mount chuck, and transferring the workpiece on the work table below the core slider;
Recognizing the posture of the workpiece and obtaining workpiece shape recognition information;
Correcting the alignment error between the adherend portion of the workpiece and the core slider based on the workpiece shape recognition information;
A step of pre-curing the adhesive by UV irradiation while pressing the core slider against the adherend of the workpiece via the adhesive,
The core mount chuck adsorbs the core slider while the second alignment claw on the core mount chuck side where the core slider has been aligned continues to hold the core slider from the time of the alignment. A core slider mounting method characterized by the above.

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