JP4381832B2 - Surface mount machine - Google Patents

Description

The present invention relates to a surface mounter that is an automatic machine to which a servo amplifier is applied.

  For example, a surface mounter, which is an automatic machine for mounting electronic components such as semiconductor integrated circuits on a printed circuit board, is generally provided so as to be movable relative to the mounter body and the mounter body. And a head unit that moves between the component supply unit and the installation position of the printed circuit board. In addition, the head unit includes a plurality of mounting heads for mounting electronic components on a printed circuit board, and a plurality of motors provided for each of the plurality of mounting heads. On the other hand, a servo amplifier for controlling the motor is provided.

  FIG. 4 is a block diagram showing a configuration of a motor control device 40 in a conventional surface mounter. As shown in FIG. 4, the motor controller 40 in the conventional surface mounter includes a main controller 41a, a sub-controller 41b, a plurality of servo amplifiers 42, and communication paths 43a, 43b, 43c.

  The main controller 41a is a control circuit provided on the mounting machine main body side, and has a main computer that controls the entire surface mounting machine.

  The sub-controller 41 b is a control circuit provided on the head unit 32 side, and has a sub-computer that controls the head unit 32.

  The servo amplifier 42 is a servo control circuit that controls the driving of each motor 34 so as to move the mounting head to a target position (for example, height position, circumferential direction θ position). One for each.

  The communication paths 43a, 43b, and 43c are communication for exchanging data related to the control of the motor 34 between the main controller 41a and the sub-controller 41b, the sub-controller 41b and the servo amplifier 42, and the servo amplifier 42 and the servo amplifier 42, respectively. It is a route.

  As shown in the figure, one servo amplifier 42 of the head unit 32 in a conventional surface mounter is generally provided for each motor 34, and according to signals from the servo control unit 46 and the servo control unit 46. And a drive circuit unit 47 that controls driving of the motor 34. A power supply line 49 for supplying electric power is arranged from the drive circuit unit 47 to the motor 34, and an encoder signal for monitoring the rotation of the motor 34 from the motor 34 to the servo control unit 46. Each input line 48 is routed.

As a technology that can be mounted on such a surface mounter, for example, in Patent Document 1, in the NC unit of the control device that is a main controller, driver type information and motor driver address information are added to target position data A technique that can be mounted on an electronic component mounting machine that sequentially transfers this as serial data to a plurality of motor drivers is disclosed.
Japanese Patent Laid-Open No. 11-149308

  However, since the conventional electronic component mounting machine includes one servo control unit and one drive circuit unit for one motor as disclosed in Patent Document 1 described above, a large number of mounting heads are provided. In a head unit having a large number of servo amplifiers, a large number of servo amplifiers are provided, and it is inevitable that the size of the head unit is increased.

  If a large number of servo amplifiers are installed in the head unit, it will be difficult to efficiently and orderly wire the servo amplifiers and motors, and the amount of screws, spacers, etc. for mounting the servo amplifiers on the head unit will also be reduced. As a result of the increase, there is a problem that not only the cost for manufacturing increases but also the reliability against vibration and noise becomes low.

  The present invention has been made in view of the above problems. The servo amplifier can be made compact, and the wiring between the servo amplifier and the motor can be efficiently and orderly. It is an object to provide a high-performance servo amplifier and surface mounter.

The present invention for solving the above-described problems is provided with a mounting machine main body and a movable relative to the mounting machine main body, and moves between a component supply unit of an electronic component and an installation position of a printed board. A head unit, a plurality of mounting heads of four or more even numbers arranged in the head unit, a plurality of motors that individually drive the plurality of mounting heads up and down in the head unit, and the head unit are provided. A plurality of servo control units for the plurality of motors and a servo amplifier that controls the motors arranged on the same substrate with a plurality of drive circuit units, and the surface mount machine, the plurality of motors, Driven by the servo amplifier and mounted on the head unit so as to have the same number as the plurality of mounting heads, and the plurality of mounting heads In the servo amplifier, half the servo control units of the mounting head are arranged in a line in the mounting direction of the mounting head on the substrate and the servo amplifier A plurality of drive circuit units arranged in a line in the arrangement direction of the mounting heads so as to correspond to the motors on both sides of a row of control units; and a drive circuit unit in which each servo control unit is arranged on both sides thereof. are connected, each of the driver circuit portion is a surface mounting machine, characterized in that it is connected and the corresponding motor.

According to this configuration, a plurality of mounting heads and a plurality of motors are arranged in a row in the head unit, and the motor is driven by the servo amplifier in which the servo control unit is arranged in a row. As a result of the efficient and orderly wiring between the servo amplifier and the motor in the head unit of the machine, the cost for manufacturing the surface mounter can be reduced. In addition, in a head unit with severe vibration and noise, the control board can be made compact with little influence of vibration and noise, so the reliability of the surface mounter can be improved. In addition, since the servo control units of the servo amplifier are arranged in the mounting head arrangement direction, the servo amplifier and the motor can be wired more efficiently and orderly.
Specifically, since the servo control unit and the drive circuit unit for a plurality of motors are arranged on the same substrate, the servo amplifier is made compact, and between the power source for driving the motor and each servo control unit. A communication path can be comprised on the same board | substrate and a connection harness can be abbreviate | omitted. As a result, not only the cost for manufacturing the servo amplifier can be reduced, but also the reliability of the servo amplifier against vibration and noise can be increased.
In addition, since the drive circuit unit is arranged on both outer sides of the servo control unit arranged on the inner side of the substrate, a larger number of drive circuit units are arranged on a substrate having a smaller area, and the servo control unit and the drive circuit unit are arranged between them. The wiring length can be minimized. Since the servo control unit wiring area and the drive circuit unit can be separated so that noise generated in the drive circuit unit does not affect the servo control unit wiring area, the servo amplifier can be made more compact. It can be made reliable.
Further, if the servo control unit is arranged in a row, when a plurality of motors are arranged in a row, wiring between the servo amplifier and the motor can be efficiently and orderly. Connection errors during manufacturing and maintenance are reduced.

  As described above, according to the present invention, the servo amplifier can be made compact and the wiring between the servo amplifier and the motor can be efficiently and orderly. High servo amplifier and surface mounter can be realized.

  Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a plan view showing a schematic configuration of a surface mounter 10 according to an embodiment of the present invention, and FIG. 2 is a side view showing a schematic configuration of the surface mounter 10 according to an embodiment of the present invention.

  As shown in FIGS. 1 and 2, a surface mounter 10 according to an embodiment of the present invention is an automatic machine that mounts an unillustrated electronic component on a printed circuit board P. The mounter body 1 and the mounter body 1 and a head unit 2 provided so as to be relatively movable with respect to 1.

  The mounting machine body 1 has a base 3 on which conveyors 4 and 4 for transporting the printed circuit board P are arranged, and the printed circuit board P transports on the conveyors 4 and 4. Thus, it stops at a predetermined mounting work position shown in the figure.

  In addition, component supply units 5 and 5 are arranged on both sides of the conveyors 4 and 4, and the component supply units 5 and 5 are provided with multiple rows of tape feeders 5 a and 5 a. Each of the tape feeders 5a and 5a is configured such that small chip components such as IC transistors and capacitors are accommodated at predetermined intervals, and the held tape is led out from the reel. An electronic component is taken out from the tape feeders 5a and 5a by the head 13.

  The head unit 2 is provided above the base 3 so as to be movable relative to the mounting machine main body 1, and in the X-axis direction (left-right direction in FIG. 1) and Y-axis direction (up-down direction in FIG. 1). The electronic components can be transferred from the component supply units 5 and 5 to the printed circuit board P.

  More specifically, the base 3 of the mounting machine body 1 is provided with a fixed rail 6, and a support member 7 of the head unit 2 is arranged along the fixed rail 6 so as to be movable in the Y-axis direction. The movement of the member 7 in the Y-axis direction is performed by an X-axis servo motor 9 via a ball screw 8. The head unit 2 is supported so as to be movable in the X-axis direction along the support member 7, and the movement in the X-axis direction is performed by the Y-axis servo motor 12 via the ball screw 11.

  A plurality of mounting heads 13 are mounted on the head unit 2, and in this embodiment, eight mounting heads 13 are arranged in a row in the X-axis direction.

  As shown in FIG. 2, these mounting heads 13 have suction nozzles 13 a at their tips, and can suck electronic components with suction force due to negative pressure supplied to the suction nozzles 13 a. The suction nozzle 13a is provided so as to be relatively movable with respect to the main body of the head unit 2, and is moved up and down (moved in the Z-axis direction) relative to the frame of the head unit 2 and the nozzle central axis (R-axis). Although not shown in detail, the suction posture for sucking the electronic component from the component supply portion of the electronic component, the holding posture for lifting and holding the electronic component in the sucked state, and the printed circuit board P with the electronic It is comprised so that it may move between each with the supply attitude | position which mounts components.

  The head unit 2 also has a plurality of motors 14 and 15 for driving the mounting head 13 so that the mounting head 13 can be moved between the above postures with respect to each of the plurality of mounting heads 13, that is, raising and lowering each head. Eight Z-axis motors 14 for driving and two R-axis motors 15 for simultaneously rotating the heads by half are arranged in a row. The motors 14 and 15 employ servo motors so that the mounting head 13 can be driven with high accuracy.

  Here, with reference to FIG. 2, FIG. 3, the motor control apparatus which controls the some motors 14 and 15 is demonstrated. FIG. 3 is a block diagram showing a schematic configuration of the servo amplifier 22 according to the embodiment of the present invention.

First, as shown in FIG. 2, the motor control device according to the embodiment of the present invention includes a main controller 21, a servo amplifier 22, and a communication path 23.
The main controller 21 is a control circuit provided on the mounting machine body 1 side, and a main computer unit 24 that controls the entire surface mounting machine 10 and a plurality of mounting heads 13 based on commands from the main computer unit 24. And an NC circuit 25 for numerically calculating a target position for each unit time.

  The NC circuit 25 is provided with a communication unit 25b for exchanging data relating to the drive control of the motors 14 and 15 with the servo amplifier 22, via which the NC circuit 25 servos the numerically calculated target position data. It is configured to transmit to the amplifier 22.

  The servo amplifier 22 controls the driving of the motors 14 and 15 so as to move the mounting heads 13 to the target positions of the mounting heads 13 calculated by the NC circuit 25 of the main controller 21. It is provided on the head unit 2 side.

  The communication path 23 is provided between the main controller 21 and the servo amplifier 22, and exchanges data related to drive control of the motors 14 and 15 between the main controller 21 and each servo amplifier 22. It is.

  This communication path 23 is a serial communication path, and exchanges target position data and other data between the main controller 21 and the servo amplifier 22 as data related to drive control of the motors 14 and 15. In the present embodiment, the communication path 23 includes a bundled mounter main body side cable 23a, a head unit side cable 23b, and a connector 23c that connects between them.

  A power supply path 50 is provided in parallel with the communication path 23. The power supply path 50 is bundled with the mounting machine main body side cable 23a, and the mounting unit main body side power cable 50a from the DC power source provided in the base 3 and the head unit side power cable bundled with the head unit side cable 23b. 50b and the power line connector 50c which connects between them.

  Next, the servo amplifier 22 of the surface mounter 10 according to the embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 3, the servo amplifier 22 according to the embodiment of the present invention is configured by arranging a servo control unit 26 and a drive circuit unit 27 for the motors 14 and 15 on the same substrate 22a.

  The servo control unit 26 is a circuit for processing the target position data from the NC circuit 25 and the encoder signals from the motors 14 and 15 by a local CPU. The servo control unit 26 is arranged in a row inside the substrate 22a. The arrangement of the parts 26 is generally arranged along the arrangement direction of the mounting heads 13.

  The servo amplifier 22 is configured to control the two motors 14 and 15 by one servo control unit 26, respectively, and an encoder signal input circuit 28 corresponding to the servo control unit 26 has each servo control. Two units are arranged in the vicinity of the unit 26 so as to feed back the rotation information of the motors 14 and 15.

  The drive circuit unit 27 is a circuit that supplies electric power controlled by the servo control unit 26 to the motors 14 and 15. The drive circuit units connected to the respective servo control units 26 on both outer sides of the servo control unit 26. 27 are arranged two by two. That is, the servo control units 26 are arranged in a row in the X-axis direction at the central portion 22b on the upper surface of the substrate 22a, and the drive circuit portions 27 corresponding to the motors 14 and 15 are arranged on the side portions 22c on both sides of the central portion 22b. Each is arranged in a row in the X-axis direction. A power path 52 connected to the head unit side cable 23b by a connector 51 is formed inside the lower substrate of the side portions 22c on both sides, and the drive circuit portions 27 are connected in parallel. A power line 29 is connected from the drive circuit section 27 to the motors 14 and 15 via connectors 30.

  A data bus 23d connected to each servo control unit 26 is formed inside the lower substrate of the central portion 22b. The data bus 23d is connected to the head unit side cable 23b via a connector 23e at the end of the substrate 22a. Connected. Two encoder signal input circuits 28 for converting the encoder signals from the motors 14 and 15 into digital signals and inputting them into the servo control units 26 are juxtaposed in the Y-axis direction in the vicinity of the servo control unit 26 in the central portion 22b. Is done. Each encoder signal input circuit 28 and each motor 14, 15 outside the substrate 22 a are connected by an encoder signal line 28 a made up of a lead wire arranged transversely above the side portion 22 c while avoiding the drive circuit portion 27.

  Further, in accordance with the mounting heads 13 arranged in a row in the X-axis direction on the head unit 2, the first motor 14 from the lower right side in FIG. 3, the first motor 14 from the lower left side, and the right side in FIG. In order of the second motor 14 from the lower side and the second motor 14 from the lower left side, the motors 14 are arranged on the head unit 2 in a single row, a staggered arrangement, or two rows in the X-axis direction. Thereby, the line length of the encoder signal line 28a and the power line 29 can be shortened.

  Next, with reference to FIG. 2 and FIG. 3, the operation of the motor control device and the servo amplifier 22 according to the embodiment of the present invention will be described.

  In the motor control device according to the embodiment of the present invention, first, the NC circuit 25 of the main controller 21 provided on the mounting machine body 1 side sets the target position for each unit time of each mounting head 13 to the mounting machine. Numerical calculation is performed as a whole control.

  Next, the NC circuit 25 transmits the target position data as serial data to the servo amplifier 22 via the communication path 23.

  The servo amplifier 22 controls the motors 14 and 15. At this time, the servo control unit 26 of the servo amplifier 22 processes the target position data from the NC circuit 25 and the encoder signals from the motors 14 and 15. Then, a command is sent to the drive circuit unit 27 to control the current supplied to the motors 14 and 15 so as to move each mounting head 13 to each target position.

  In this way, the mounting head 13 has, in the head unit 7, a suction posture for sucking the electronic component from the component supply unit of the electronic component, a holding posture for lifting and holding the electronic component in a sucked state, and the printed circuit board. It moves between each of the supply postures for mounting electronic components.

As described above, according to the servo amplifier 22 of the surface mounter 10 according to the embodiment of the present invention, the servo control unit 26 and the drive circuit unit 27 for the at least two motors 14 and 15 are arranged on the same substrate 22a. Therefore, the servo amplifier 22 can be made compact, and the power path for driving the motors 14 and 15 and the communication path between the servo control units 26 can be configured on the same substrate 22a to omit the connection harness. it can. As a result, not only can the cost for manufacturing the servo amplifier 22 be reduced, but also the reliability of the servo amplifier 22 against vibration and noise can be increased.
Next, since the drive circuit unit 27 is arranged on both outer sides of the servo control unit 26 arranged on the inner side of the substrate 22a, a larger number of drive circuit units 27 are arranged on the substrate 22a having a smaller area, and the servo control unit 26 is arranged. In addition to minimizing the wiring length between the drive circuit unit 27 and the drive circuit unit 27, the wiring area of the servo control unit 26 and the drive circuit unit 27 are separated, and noise generated in the drive circuit unit 27 is servo controlled. As a result of not affecting the wiring area of the portion 26, the servo amplifier 22 can be made more compact and reliable.

Further, since the encoder signal input circuit 28 is arranged outside the servo control unit 26, a large number of encoder signal input circuits 28 are arranged on the substrate 22a having a small area, and the servo control unit 26, the encoder signal input circuit 28, As a result, the servo amplifier 22 can be made compact and highly reliable.
Further, when a plurality of motors 14 and 15 are arranged in a row, wiring between the servo amplifier 22 and the motors 14 and 15 can be efficiently and orderly, and connection errors during manufacturing and maintenance can be reduced.

  In particular, as shown in FIG. 3, if the motors 14 and 15 are arranged in two rows and a drive circuit unit 27 is arranged on both sides of the servo control unit 26 in a corresponding arrangement, the servo amplifier 22 and the motor 14 and 15 can be effectively shortened and connection errors can be effectively prevented.

  Further, according to the surface mounter 10 according to the embodiment of the present invention, as a result of efficient and orderly wiring between the servo amplifier 22 and the motors 14 and 15 as described above, the cost associated with the manufacture of the surface mounter. Can be reduced. Furthermore, in the head unit with severe vibration and noise, the control board 22a can be made compact with little influence of vibration and noise, so that the reliability of the surface mounter can be improved.

  The above-described embodiment is merely a preferred specific example of the present invention, and the present invention is not limited to the above-described embodiment.

  First, the servo amplifier according to the present invention does not necessarily have to be applied to a surface mounter that mounts electronic components as described above on a printed board. The servo amplifier according to the present invention can be applied to various automatic machines as long as it is an automatic machine including a plurality of motors and a servo amplifier that controls each motor.

  In the above-described embodiment, the servo control units are arranged in a row, but those arranged in a ring shape can also be employed.

  According to such a ring-shaped servo control unit, when a plurality of motors are arranged in a ring, the servo amplifier and the motor can be wired efficiently and neatly, and connected at the time of manufacturing and maintenance. There are fewer mistakes.

  Next, the surface mounter according to the present invention is not limited to the above-described embodiment.

  For example, the base 3, the conveyors 4, 4, the component supply units 5, 5, the fixed rail 6, the support member 7, the main controller 21, the communication path 23, the NC circuit 25, etc. are not necessarily limited to the surface mounter according to the present invention. Not what you want. As the surface mounter according to the present invention, various design changes are possible as long as the surface mounter includes a mounter body, a head unit, a plurality of mounting heads, and a plurality of motors.

  Further, in the surface mounting machine according to the present invention, a plurality of mounting heads 13 and a plurality of motors 14 and 15 are arranged in a row in the head unit. An annular arrangement can also be used.

  Even with such a configuration, in the head unit of the surface mounter, wiring between the servo amplifier and the motor can be efficiently and orderly, so that the cost for manufacturing the surface mounter can be reduced. In addition, in a head unit with severe vibration and noise, the control board can be made compact with little influence of vibration and noise, so the reliability of the surface mounter can be improved.

It is a top view which shows the structure of the surface mounter by embodiment of this invention. It is a side view which shows the structure of the outline of the surface mounter by embodiment of this invention. 1 is a block diagram showing a schematic configuration of a servo amplifier according to an embodiment of the present invention. It is a block diagram which shows the structure of the motor control apparatus in the conventional surface mounter.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mounting machine main body 2 Head unit 5 Component supply part 10 Surface mounting machine 13 Mounting heads 14 and 15 Motor 20 Motor control device 22 Servo amplifier 22a Substrate 25 NC circuit 26 Servo control part 27 Drive circuit part 28 Encoder signal input terminal P Print substrate

Claims (2)

The mounting machine itself,
A head unit which is provided so as to be relatively movable with respect to the mounting machine body, and which moves between a component supply unit of an electronic component and an installation position of a printed board
A plurality of mounting heads of four or more even numbers arranged in the head unit;
A plurality of motors that individually drive up and down the plurality of mounting heads in the head unit;
Servo amplifier for controlling each motor provided in the head unit and controlling each of the plurality of servo control units and a plurality of drive circuit units for the plurality of motors on the same substrate,
The plurality of motors are driven by the servo amplifier and are mounted on the head unit so as to have the same number as the plurality of mounting heads, and are arranged in a zigzag arrangement or two rows along the arrangement direction of the plurality of mounting heads. Arranged in
In the servo amplifier, half the servo control units of the mounting head are arranged in a line in the mounting direction of the mounting head on the substrate, and correspond to the motors on both sides of the servo control unit column. The plurality of drive circuit units are arranged one by one in the mounting direction of the mounting heads, and each servo control unit is connected to the drive circuit units arranged on both sides thereof,
Each driver circuit portion, the surface mounting machine, characterized in that it is respectively connected to said corresponding motor. The servo amplifier has a plurality of encoder signal input units for inputting encoder signals from the motor to the servo control unit,
The surface mounter according to claim 1, wherein the plurality of encoder signal input units are juxtaposed in a direction orthogonal to an arrangement direction of the servo control units in the vicinity of the servo control unit.

Images