JP4360869B2 - Component mounter - Google Patents

Description

  The present invention is a component mounting machine for mounting a component on a mounted body such as a circuit board, and a linear motor for a component mounting machine in which a mounting head for mounting the component is attached and the mounting head is moved linearly It is related with the component mounting machine provided with.

  Conventionally, as shown in FIG. 14, in the component mounting machine 20 by the XY robot system that moves the mounting head 1 for holding and transferring the components independently in the X direction and the Y direction, The Y-axis robots 5 and 5 extending along the Y direction are arranged in parallel to each other. Further, an X-axis robot 7 extending in the X direction is installed on these Y-axis robots 5. The mounting head 1 is attached to the X-axis robot 7. Both the Y-axis robot 5 and the X-axis robot 7 have a ball screw mechanism. In the X-axis robot 7, the mounting head 1 is driven in the X direction by the ball screw mechanism and moves in the X direction while being guided along the X direction by a guide rail 7 b laid on the X-axis robot 7. As described above, the mounting head 1 can be moved in the X direction and the Y direction by the Y-axis robot 5 and the X-axis robot 7.

The main body portion 7a of the X-axis robot 7 is mainly made of aluminum, and the guide rail 7b laid on the main body portion 7a is made of an iron material. Therefore, by repeatedly moving the mounting head 1 in the X direction while being guided by the guide rail 7b, the guide rail 7b generates heat due to frictional heat, and a temperature difference is generated between the guide rail 7b and the main body portion 7a. As described above, since the material of the guide rail 7b and the main body 7a is different, there is a difference in the amount of thermal deformation between the guide rail 7b and the main body 7a in the X direction, and the X-axis robot 7 is deformed so as to bend. Resulting in. In order to prevent the deformation, a configuration has been proposed in which two reinforcing members 7c made of iron corresponding to the guide rail 7b are attached to the main body portion 7a on the back side of the guide rail 7b in the main body portion 7a (for example, (See Patent Document 1).
JP 2002-176294 A

On the other hand, with respect to the X-axis robot that performs the above-described function, a configuration in which the mounting head is driven by a linear motor instead of the ball screw mechanism is being realized. As described above, in the case of the ball screw mechanism, the heat generating portion is the guide rail 7b, and the heat generating portion has a relatively small capacity. On the other hand, when a linear motor is used, the heat generation part is a drive unit that constitutes the linear motor and has a coil part laid in the X direction, and the heat generation capacity is very large compared to the case of the ball screw mechanism. Therefore, the amount of thermal deformation of the X-axis robot is also considered to be very large compared to the case of the ball screw mechanism.
An object of this invention is to provide the component mounting machine provided with the linear motor for component mounting machines which aimed at reduction of the amount of thermal deformation.

A component mounting machine according to an embodiment of the present invention includes a Y-axis robot extending in the Y-axis direction, a component suspended by the Y-axis robot, and movable in the Y-axis direction by the Y-axis robot. In a component mounting machine having an X-axis robot that suspends a mounting head for mounting the circuit board on the circuit board and moves the mounting head in the X-axis direction orthogonal to the Y-axis direction.
The X-axis robot is
A body frame extending in the X-axis direction;
A linear motor provided in the main body frame along the X-axis direction and having a movable part for suspending the mounting head; and driving the movable part in the X-axis direction;
A guide rail that is laid along the X-axis direction on the main body frame so as to face the mounting head and guides the movement of the mounting head in the X-axis direction,
The main body frame has a mounting surface that is opposite to the surface on which the guide rail is laid and is in contact with the Y-axis robot, and heat generated by the linear motor is generated on the mounting surface. provided radiating fins formed along the moving direction of the upper Symbol X-axis robot grooves for reducing the thermal deformation of the main body frame and the heat radiation from the frame,
It is characterized by that.

Further, the heat radiation fins are provided on the entire surface of the superscript Quito surface, it is also possible to configure Te material above the guide rail and the coefficient of thermal expansion are equal.

Further, the mounting surface has a heat radiation reinforcing member provided along the X-axis direction corresponding to the guide rail and suppressing the thermal deformation of the main body frame and radiating heat from the main body frame. , the heat radiation fins may be by Uni configured Ru is formed in a region sandwiched between the heat radiating reinforcing member at superscript Quito surface at both ends of the main body frame in the X-axis direction.

According to the component mounting machine which is an aspect of the present invention, by providing the heat dissipation structure, it is possible to suppress an increase in the temperature of the main body frame due to heat generated by the linear motor. Therefore, it is possible to reduce the thermal deformation of the main body frame due to the difference in thermal expansion coefficient between the guide rail and the main body frame.
Moreover, it can construct easily by making the said heat radiating structure into a heat sink. Moreover, by using the heat dissipation structure as a heat dissipation fin, the heat dissipation efficiency can be further improved as compared with the heat dissipation plate, and therefore, thermal deformation of the main body frame can be further reduced. Moreover, the thermal deformation of the main body frame can be further reduced by providing the heat radiation reinforcing member and the heat radiation fin.

A component mounter according to an embodiment of the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected about the same component in each figure.
As shown in FIG. 1, the component mounter is suspended by Y-axis robots 160a and 160b extending in the Y-axis direction and Y-axis robots 160a and 160b, respectively. And an X-axis robot 170 that suspends a mounting head 180 that mounts components on a circuit board and moves the mounting head 180 in the X-axis direction orthogonal to the Y-axis direction.
More specifically, as shown in FIG. 2, a component is placed at a substantially central portion of the base 102 in an orthogonal direction 191 that is orthogonal to the substrate transport direction 190 corresponding to the X-axis direction and that corresponds to the Y-axis direction. A substrate transfer device 106 for transferring and positioning the substrate (workpiece) 105 to be mounted in the substrate transfer direction 190 is provided. In addition, on the operation side 101a of the base 102, a component supply device 107a is provided in each of the loading areas 114a and 114b (which may be collectively referred to as “loading area 114”) divided by the separation member 113 of the gantry. 107b (collectively referred to as “component supply device 107” in some cases) are installed. In this embodiment, a so-called tray-type component supply device 107a that has a tray 1071 that accommodates the component 1073 and supplies the component 1073 from the tray 1071 is provided in the left loading area 114a toward the base 102, and the right side. In the loading area 114b, a so-called cassette-type component supply device having a reel around which a tape containing components is wound and a cassette 1072 for feeding the component by feeding the tape is provided in parallel along the component conveying direction 190. 107b is provided. The loading area 114 and the type of the component supply apparatus to be installed are not related, and a tray type or a cassette type may be provided on both the left and right sides.
A component recognition device 109 for recognizing a component taken out from the component supply device 107 is disposed on the side of the component supply device 107 on the side of the substrate transfer device 106.

Further, as shown in FIG. 3, a Y-axis robot 160 that is supported at both ends by the gantry 104 and extends in the orthogonal direction 191 is erected. The Y-axis robot 160 has two units, a Y-axis robot 160a arranged corresponding to the tray-type component supply device 107a and a Y-axis robot 160b arranged corresponding to the cassette-type component supply device 107b. . The Y-axis robots 160a and 160b arranged in this way are arranged in parallel to each other with a predetermined interval in the substrate transport direction 190 with the connecting member 140 as the center.
As shown in detail in FIGS. 4 and 5, the Y-axis robot 160 includes a highly rigid beam-shaped main body 163 having a substantially portal-shaped cross-section with a low height, and both side portions at the lower end of the beam-shaped main body 163. The movable portion 166 is movably supported by the guide rail 164 disposed in the position via the linear guide member 165. Further, the beam-shaped main body 163 is provided with a feed screw mechanism 168, and a movable portion 166 is attached to a nut portion of the feed screw mechanism 168. Therefore, the Y-axis robot 160 is configured to move and position the movable portion 166 in the orthogonal direction 191 by operating the feed screw mechanism 168 with the drive motor 167 provided at the other end of the Y-axis robot 160. Yes.

On the lower surface of the movable portion 166 of the Y-axis robot 160, the central portion of the X-axis robot 170 extending in the substrate transport direction 190 is mounted and fixed. Accordingly, the arrangement interval between the pair of Y-axis robots 160a and 160b is set to be slightly longer than the length of the X-axis robot 170 in the substrate transfer direction 190, as shown in FIG.
As shown in FIGS. 6 and 7, the X-axis robot 170 includes a main body frame 171 formed in a substantially gate shape having a flat cross-sectional shape and mainly made of an aluminum material casting. The movable portion 174 is supported by the iron guide rail 172 arranged and extending in the substrate transport direction 190 via the linear guide member 173 so as to be movable in the substrate transport direction 190. A mounting head (working head) 180 having a nozzle 182 that holds components from the component supply device 107 and mounts them on the substrate 105 is mounted on the movable portion 174. Further, a linear motor 175 is provided in the internal space of the main body frame 171 above the moving path of the movable portion 174 along the substrate transport direction 190, and the movable portion 174 is moved in the substrate transport direction 190 by the linear motor 175. And is configured to position. The linear motor 175 is attached to the upper portion 171b of the main body frame 171 and the bottom plate 171d of the main body frame 171, and has a configuration in which a conductor portion 174a of the movable portion 174 is disposed facing the magnet. Therefore, by exciting the magnet, the conductor portion 174a, that is, the movable portion 174 moves in the substrate transport direction 190. The position of the movable portion 174 is configured to be detected by reading a linear scale 176 fixed to one side surface of the main body frame 171 with a reader 177 attached to one side of the movable portion 174. Further, stoppers 178 for restricting the moving end of the movable portion 174 are provided on both sides in the vicinity of both ends of the main body frame 171.

  The linear motor 175 generates heat by energizing the linear motor 175, and the heat is conducted to the main body frame 171 mainly composed of aluminum. As described above, the guide rail 172 made of iron is attached to the main body frame 171 in the same direction as the extending direction of the main body frame 171. Aluminum and iron have different coefficients of thermal expansion, and the main body frame 171 and the guide rail 172 also have different rising temperatures. Therefore, as the temperature of the main body frame 171 increases, as shown in FIG. The main body frame 171 undergoes thermal deformation so that both end portions 171e of the main body frame 171 are bent downward. Accordingly, as shown in FIG. 9, when the mounting head 180 is located at the end of the X-axis robot 170, the nozzle 182 provided in the mounting head 180 is displaced by about 40 μm in the “A” dimension in the X direction, that is, the substrate transport direction 190. To do. The “end” and “center” shown in FIGS. 9 and 10 refer to the center 170a of the X-axis robot 170 when the mounting head 180 is positioned at the end of the X-axis robot 170, as shown in FIG. A position where the mounting head 180 is located 150 mm away from the substrate transport direction 190 is “end”, and a time when the mounting head 180 is located at the center 170 a of the X-axis robot 170 is “center”.

In order to reduce the thermal deformation, the X-axis robot 170 is provided with a heat dissipation structure for releasing heat from the main body frame 171 of the X-axis robot 170. In the present embodiment, as the heat radiating structure, a heat radiating plate 179 made of a material having the same coefficient of thermal expansion as the guide rail 172, that is, an iron material, is attached to the entire surface of the Y axis robot mounting surface 171a of the X axis robot 170. As described above, the X-axis robot 170 is attached by bringing the Y-axis robot mounting surface 171a into contact with the movable portion 166 of the Y-axis robot 160, and the thickness of the heat radiating plate 179 is a guide for the thickness of the movable portion 166. About half of the above is preferable. In addition, the plate | board thickness of the heat sink 179 is 5 mm-20 mm, Preferably it is 6 mm-14 mm. In the present embodiment, the thickness of the heat sink 179 is 6 mm.
As described above, since the linear motor 175 that is a heat generating portion is provided along the main body frame 171, the temperature rise of the main body frame 171 is much larger than that of the conventional ball screw mechanism. Therefore, even if a heat radiating plate is provided only at a position facing the guide rail 172 on the Y-axis robot mounting surface 171a, it is not possible to obtain the effect of reducing the thermal deformation of the main body frame 171. Therefore, in this embodiment, the heat sink 179 is provided on the entire surface of the Y-axis robot mounting surface 171a as described above.

By attaching the heat sink 179, as shown in FIG. 10, when the mounting head 180 is positioned at the end of the X-axis robot 170, the displacement amount of the nozzle 182 provided in the mounting head 180 is reduced from about 40 μm to about 10 μm or less. Can be reduced. Therefore, the mounting accuracy of the component 1073 held by the nozzle 182 to the circuit board 105 can be improved, and the mounting accuracy can be kept within an error range.
The heat dissipation structure is not limited to the heat dissipation plate 179 described above. For example, as shown in FIG. 12, a groove 1791a formed along the orthogonal direction 191, that is, the moving direction of the X-axis robot 170 by the Y-axis robot 160 is formed on a part or the entire surface of the Y-axis robot mounting surface 171a of the main body frame 171. The heat dissipating fin portion 1791 may be formed. The reason why the groove 1791a is formed along the orthogonal direction 191 is that the X-axis robot 170 is moved in the orthogonal direction 191 by the Y-axis robot 160, and the movement allows air to pass along the groove 1791a. Therefore, the heat dissipation efficiency of the main body frame 171 of the X-axis robot 170 can be improved. The heat radiating fin portion 1791 may be formed on the heat radiating plate 179.
Thus, by providing the radiation fin part 1791, the temperature rise of the main body frame 171 can be suppressed, and the amount of thermal deformation of the main body frame 171 can be reduced.

Furthermore, a structure in which the structures shown in FIGS. 7 and 12 are mixed can be adopted. That is, as shown in FIG. 13, corresponding to the guide rail 172, the Y-axis robot mounting surface 171a of the main body frame 171 has a function as a heat sink and a function as a reinforcing plate that suppresses thermal deformation of the main body frame 171. Two heat radiation reinforcing members 1793 having parallel to each other along the substrate transport direction 190 are provided in the region 171c sandwiched between the heat radiation reinforcement members 1793 at both ends of the main body frame 171 in the substrate transport direction 190. A heat radiating fin portion 1791 can also be formed.
By including the heat radiation reinforcing member 1793 and the heat radiation fin portion 1791 in this manner, the temperature rise of the main body frame 171 can be suppressed, and the amount of thermal deformation of the main body frame 171 can be further reduced.

  In this embodiment, as shown in FIG. 7, the gap 1792 between the bottom plate 171d attached to the lower part of the main body frame 171 and the movable portion 174 is expanded from about 2 mm in the past to about 7 mm in the present embodiment. Yes. This is because the mounting head 180 is attached to the movable portion 174, and the heat of the mounting head 180 is transmitted to the main body frame 171 of the X-axis robot 170 via the movable portion 174 and further heats the main body frame 171. This is to prevent it. By widening the gap 1792, the heat insulating effect between the movable portion 174 and the bottom plate 171d of the main body frame 171 can be improved, which can contribute to the reduction of thermal deformation of the main body frame 171. Conversely, heat transfer from the linear motor 175 to the mounting head 180 can be reduced.

The operation of the component mounter 101 configured as described above will be briefly described.
As shown in FIG. 2, the two substrates 105 are transported in the substrate transport direction 190 by the substrate transport device 106 and positioned at positions corresponding to the Y-axis robot 160a and the Y-axis robot 160b, respectively. Thereafter, the Y-axis robots 160a and 160b and the X-axis robots 170 suspended from the Y-axis robots 160a and 160b are independently driven, and the mounting heads attached to the X-axis robots 170 are mounted. While positioning the nozzles 182 included in 180, the electronic components are held from the component supply devices 107 a and 107 b by the nozzles 182, and the electronic components are mounted on the respective substrates 105. Since each X-axis robot 170 is designed and arranged in a size that does not physically interfere with each other in the substrate transport direction 190 and the orthogonal direction 191, the Y-axis robots 160a, 160b, and X Each of the axis robots 170 can independently perform operations from component holding to component mounting. In addition, after the components are held and before the components are mounted, the holding posture of the components held by the nozzle 182 is recognized by the component recognition device 109, and based on the recognition result, the nozzle 182 rotates around the axis. And the position correction of the Y-axis robot 160 and the X-axis robot 170 is performed.
After all predetermined components are mounted on each substrate 105, the substrate 105 is unloaded from the component mounter 101, and a new substrate 105 is loaded into the component mounter 101.

  In the mounting operation described above, the mounting head 180 reciprocates along the substrate transport direction 190 by the X-axis robot 170. Therefore, the temperature of the main body frame 171 of the X-axis robot 170 rises due to heat generated by the linear motor 175 that is a drive source. However, since the main body frame 171 is provided with the heat radiating plate 179, the thermal deformation of the main body frame 171 is reduced as described above, and the mounting accuracy can be kept within the error range.

  As described above, due to thermal deformation of the X-axis robot 170, the nozzle 182 is inclined toward the center of the X-axis robot 170 as shown in FIG. When the thermal deformation is completely corrected, the X-axis robot 170 may extend along the board conveyance direction 190 due to heat, and the nozzle 182 may be positioned outside the mountable area of the circuit board 105. Therefore, by devising the heat dissipation structure, the X-axis robot 170 is intentionally bent within the error range of the mounting accuracy, and the nozzle 182 is tilted toward the center of the X-axis robot 170 so as to be within the mountable area. It may be possible to mount components. Thus, the structure provided with the heat dissipation structure can also produce a secondary effect.

  The present invention is a component mounting machine for mounting a component on a mounted body such as a circuit board, and a linear motor for a component mounting machine in which a mounting head for mounting the component is attached and the mounting head is moved linearly It can be used for component mounters equipped with

FIG. 1 is a perspective view of a component mounter according to an embodiment of the present invention. FIG. 2 is a plan view of the component mounter shown in FIG. 1 with the ceiling portion removed. FIG. 3 is a plan view of the component mounter shown in FIG. FIG. 4 is a perspective view of a Y-axis robot provided in the component mounter shown in FIG. FIG. 5 is a view of the Y-axis robot shown in FIG. 4 taken along the line AA. FIG. 6 is a perspective view of an X-axis robot provided in the component mounter shown in FIG. FIG. 7 is a view of the X-axis robot shown in FIG. FIG. 8 is a conceptual diagram for explaining a state of thermal deformation in a conventional X-axis robot. FIG. 9 is a graph showing the amount of nozzle displacement due to thermal deformation of a conventional X-axis robot. FIG. 10 is a graph showing the amount of displacement of the nozzle due to thermal deformation of the X-axis robot provided in the component mounter shown in FIG. FIG. 11 is a diagram for explaining measurement points of the displacement shown in FIGS. 9 and 10. 12 is a perspective view showing another embodiment of the heat dissipation structure provided in the X-axis robot provided in the component mounter shown in FIG. FIG. 13 is a perspective view showing another embodiment of the heat dissipation structure provided in the X-axis robot provided in the component mounter shown in FIG. FIG. 14 is a perspective view of a conventional component mounter.

Explanation of symbols

101 ... component mounting machine, 105 ... circuit board, 160 ... Y-axis robot,
170 ... X-axis robot, 171 ... Body frame, 171a ... Y-axis robot mounting surface,
172 ... Guide rail, 175 ... Linear motor, 179 ... Heat sink,
180: mounting head, 190: substrate transport direction, 191: orthogonal direction,
1073: Parts, 1791: Radiation fins.

Claims (3)

A Y-axis robot (160) extending in the Y-axis direction (191), and suspended in the Y-axis robot and movable in the Y-axis direction by the Y-axis robot, and a component (1073) is mounted on the circuit board A component mounter having an X-axis robot (170) that suspends a mounting head (180) mounted on (105) and moves the mounting head in an X-axis direction (190) orthogonal to the Y-axis direction.
The X-axis robot is
A body frame (171) extending in the X-axis direction;
A linear motor (175) provided in the body frame along the X-axis direction and having a movable part (174) for suspending the mounting head, and driving the movable part in the X-axis direction;
A guide rail (172) that is laid on the main body frame along the X-axis direction so as to face the mounting head and guides the movement of the mounting head in the X-axis direction,
The main body frame has a mounting surface that is opposite to the surface on which the guide rail is laid and is in contact with the Y-axis robot, and heat generated by the linear motor is generated on the mounting surface. provided radiating fins formed along the moving direction of the upper Symbol X-axis robot grooves for reducing the thermal deformation of the main body frame and the heat radiation from the frame,
A component mounting machine characterized by that.   The component mounting machine according to claim 1, wherein the heat radiation fin is provided on the entire surface of the mounting surface and is made of a material having a thermal expansion coefficient equal to that of the guide rail.   The mounting surface includes a heat radiation reinforcing member (1793) that is provided along the X-axis direction corresponding to the guide rail and that suppresses the thermal deformation of the main body frame and radiates heat from the main body frame. 2. The component mounting machine according to claim 1, wherein the heat radiation fin is formed in a region (171 c) sandwiched between the heat radiation reinforcing members on the mounting surface at both end portions of the main body frame in the X-axis direction.

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