JP4527131B2 - Mounting machine - Google Patents

Description

The present invention relates to a mounting apparatus for mounting components on a substrate.

  In recent years, competition for development of mounting machines that mount and mount chip components (resistors, capacitors, coils, etc.) and ICs (Integrated Circuits) on a substrate has intensified.

  Recently, there is an increasing eagerness to purchase mounting machines that are low in cost and excellent in production capability, while maintaining a certain level of mounting performance rather than higher performance, and the development of such mounting machines has become an urgent task. ing.

  Generally, when configuring a production line using multiple mounting machines, the position of the conveyor of each mounting machine needs to be on the same line, and between the mounting machines due to the external shape (unevenness) of the mounting machines Since there is inevitably a gap, it is necessary to connect the gap with a conveyor or the like.

As a conventional mounting machine, a printed wiring board assembling apparatus configured to mount components by moving a mounting head in the Y direction while conveying a substrate in the X direction by a conveyor is disclosed in Patent Document 1 below. . In this printed wiring board assembling apparatus, the tape feeder mounting direction (longitudinal direction) and the substrate transport direction of the conveyor are the same, and the conveyor (supply conveyor and transport conveyor) protrudes from the machine body in consideration of continuous production. It is said that. In this case, the arrangement space of the entire mounting machine is inevitably long in the board conveyance direction (X direction).
Japanese Patent No. 2919486

  As described above, in the conventional mounting machine disclosed in the above publication, since the conveyor is projected in advance in the board transport direction (X direction) from the machine body of the mounting machine, there are a plurality of production forms with only one mounting machine. Even in the production form in which the mounting machines are connected, there is a problem in that an installation space for arranging the mounting machines is taken as much as the protrusion of the conveyor.

The present invention has been made to solve such problems, and has an object to provide a mounting machine that is compact in the substrate transport direction, can be used in various production forms and installation locations, and is low in cost. To do.

A mounting machine according to the present invention is a mounting machine for mounting a component on a board, and has a pair of belts that convey the board in a first direction, and the belts rotate in parallel to each other in the first direction. A conveyor , a substrate moving unit provided at the upper part of the conveyor, and a substrate moving unit including the conveyor in the first direction in the unit, and an end position for substrate loading and a substrate unloading A base that is mounted so as to be movable over the end position for the substrate, a servo device that moves the substrate moving unit in the first direction, and a second direction that intersects the first direction. A movable component mounting head and a servo device for moving the head in the second direction are provided, and the substrate moving unit is moved to the end position for loading the substrate when loading the substrate. Implemented in state Accepting the board located outside, when mounting the component, moving the board moving unit in the first direction and moving the component mounting head in the second direction to mount the component on the board, At the time of carrying out the board, the board on which the component is mounted is carried out of the mounting machine while the board moving unit is moved to the end position for carrying out the board.
A mounting machine according to a second aspect of the present invention is the mounting machine according to the first aspect, wherein the mounting machine is provided in the unit for moving the board, and the board is raised and fixed at a component mounting position, and the board is mounted after the component is mounted. And an elevating mechanism for lowering to the original position.

According to the present invention, the entire unit for moving a board, which is a unit including a mechanism including a conveyor for carrying a board, is movable in a first direction that is the same direction as the board carrying direction, and for mounting components. The head is movable in the second direction, so that the board is received, components are mounted, and the board is unloaded. Therefore, it is compact in the board transport direction and can be used in various production forms and installation locations, and is low in cost. A mounting machine can be provided.

  Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 are configuration diagrams schematically showing a mounting machine according to an embodiment of the present invention. FIG. 1 is a perspective view of the mounting machine of this embodiment, FIG. 2 is a plan view thereof, and FIG. FIG. 4 is a side view of the mounting machine viewed from the X direction, and FIG. 4 is a side view of the mounting machine viewed from the Y direction.

  As shown in FIGS. 1 to 4, the mounting machine includes a base 11, X-direction guide rails 12a and 12b, a substrate conveyor 13, belts 13a and 13b, an X-direction engaging member 14, an X-direction servo motor 15, and an X-direction servomotor 15. Direction encoder 16, X direction feed screw 17, X direction feed screw receiver 18, fixed camera illumination device 19, fixed camera 20, feeder bank 21, tape feeder 22, head unit 23, suction head 24, Y direction frame 25, Y Direction guide rails 26a and 26b, Y direction servo motor 27, Y direction encoder 28, Y direction feed screw 29, Y direction feed screw receiver 30, moving camera 31, replacement nozzle storage 32, conveyor width variable timing belt 8 and A variable stroke conveyor unit 10 having pulleys 9a, 9b and the like is provided.

  The X direction refers to the first direction in which the printed circuit board P is conveyed, and the Y direction refers to the second direction that intersects the X direction. In the case of this example, the first direction and the second direction are orthogonal to each other, but need not necessarily intersect at 90 °, and may be 80 °, for example. If the first direction and the second direction intersect, the component can be mounted. Each of the tape feeders 22 has a component suction point 22a.

The base 11 is provided with a recess 11a. The recessed portion 11a, when the other machine of the same shape as the own apparatus is connected to the counter and / or the same direction, and the belt 13a, 13 b of each of the substrate conveyor 13 arranged to run in a straight line, This is to prevent the tape feeder 22 set (attached) to the feeder bank 21 of the own machine from coming into contact with other machines even if it protrudes from the base part of the own machine.

  On the base 11, a variable stroke conveyor unit 10 as a board transport unit for holding the printed board P in a horizontal posture and moving it in the X direction, and a moving mechanism thereof are provided.

  As shown in FIG. 4, the variable stroke conveyor unit 10 includes a replacement nozzle storage portion 32 (see FIGS. 2 and 3), an elevating mechanism 120, a clamp mechanism 110, a substrate backup mechanism 130, and a belt drive mechanism for the substrate conveyor 13. Further, a variable conveyor width mechanism or the like is provided, and the entire variable stroke conveyor unit 10 including these mechanisms is movable in the X direction with respect to the base 11. In addition, description of each mechanism is later mentioned using FIG.

  As a movement range of the variable stroke conveyor unit 10 on the base 11, on the carry-in side in the X direction, the end of the belts 13a and 13b on the variable stroke conveyor unit 10 moves to a position protruding about 50 mm from the end of the base 11. It is possible (in the direction of the dashed-dotted arrow Xi). Further, on the carry-out side in the X direction, the end portions of the belts 13a and 13b on the variable stroke conveyor unit 10 can move to a position protruding about 250 mm from the end of the base 11 (in the direction of the two-dot chain line arrow Xo). .

  The variable stroke conveyor unit 10 is engaged with an X-direction feed screw 17 via an X-direction engaging member 14 made of, for example, a nut member. The X-direction engaging member 14 is fixed to the variable stroke conveyor unit 10. The X-direction feed screw 17 is installed between the X-direction servo motor 15 and the X-direction feed screw receiver 18 and is rotated by a predetermined amount by the X-direction servo motor 15, thereby being connected to the X-direction engagement member 14. The variable stroke conveyor unit 10 is moved in the X direction. The X-direction encoder 16 constitutes an X-axis servo device together with the X-direction servo motor 15, and functions as a sensor and an actuator as the servo device, respectively.

The variable stroke conveyer unit 10 is therefore smoothly moving together with the load is supported, moves the pair of X-direction guide rails 12a that are disposed in parallel to each other and pass in the X direction, the upper 12b in the X direction . Furthermore, the variable stroke conveyor unit 10 is provided with a pair of belts 13a and 13b of the substrate conveyor 13 so as to rotate in parallel with each other in the X direction. The board conveyor 13 is for carrying out a printed board P1 on which components are mounted and carrying in a printed board P2 on which new parts are mounted. The belt conveyor 13a, 13b moving in the X direction is used to transfer the printed board P to a variable stroke conveyor. It is conveyed in the X direction on the unit 10. That is, the variable stroke conveyor unit 10 is a unit for moving the substrate as referred to in the present application.

  The printed circuit board P, whose conveyance is stopped on the substrate conveyor 13, is raised by the elevating mechanism 120 in a state where the lower surface is supported by the substrate backup mechanism 130 provided in the variable stroke conveyor unit 10. The variable stroke conveyor unit 10 itself is fixed by the clamp mechanism 110. Then, after the components are mounted on the surface of the printed circuit board P by the suction head 24, the components are lowered to the original position by the lifting mechanism 120, and are clamped for mounting by moving the variable stroke conveyor unit 10 and driving the substrate conveyor 13. It is unloaded from the position and sent to the next process. The variable stroke conveyor unit 10 may be moved together with the lowering operation of the lifting mechanism 120. The board conveyors 13a and 13b are integrated with the variable stroke conveyor 10 in the X direction, and the board moving table 10 is moved in the X direction so that the printed circuit board P is loaded at the end position or carried out. The end position of can be varied. The maximum allowable movement width in the X direction of the board conveyors 13a and 13b is determined within the range in which there is no interference with the periphery of the mounting machine on which the mounting machine is installed, and the X direction length of the X direction guide rails 12a and 12b. . If the printed circuit board P has a length in the X direction that is slightly larger than the maximum allowable movement width and not more than the maximum allowable length, it can be mounted.

  The base 11 is provided with a conveyor width adjusting mechanism capable of moving the widths of the belts 13a and 13b of the board conveyor 13 in the Y direction in correspondence with the width of the printed board P.

  That is, one belt of the substrate conveyor 13, for example, the support portion of the belt 13 a is connected to the conveyor width variable timing belt 8 that is stretched between the pulleys 9 a and 9 b at both ends in the Y direction in the Y direction. The timing belt 8 is rotated / moved by a motor (not shown) to change the distance between the belt 13a and the belt 13b facing the belt 13a (the state shown is set to the maximum width). Is the case).

  The conveyor width varying mechanism of this example moves the one belt 13a side of the substrate conveyor 13, but in addition, both the substrate conveyors 13a and 13b may be moved. In this embodiment, in order to reduce the tact time by setting the distance between the tape feeder 22 which is a component supply unit and the printed circuit board P as close as possible, the belt 13a side of the substrate conveyor 13 opposite to the tape feeder 22 is disposed. I try to move it.

  Further, as shown in the drawing, the Y direction is such that the variable stroke conveyor unit 10 (the belts 13a and 13b of the board conveyor 13) intersects (is straddled) and this direction extends downward in the Y direction in FIG. There is a head unit moving mechanism including the frame 25. The Y-direction frame 25 of this head unit moving mechanism is supported by the base 11, and a head unit 23 for mounting components picked up from the tape feeder 22 on the printed circuit board P is movably mounted in the Y direction. ing.

The Y direction frame 25 is provided with a pair of Y direction guide rails 26a and 26b on the upper portion thereof in parallel with each other. The head unit 23 is guided in the Y direction by the guide rails 26a and 26b. Further, the head unit 23 is engaged with a Y-direction feed screw 29 disposed in the Y-direction frame so as to extend in the Y-direction by an engagement member (not shown) , and the feed screw 29 rotates by a required amount. By this, it moves in the Y direction by a predetermined amount via the engagement member.

Incidentally, the Y-direction lead screw 29 is installed between the Y-direction servomotor 27 provided on the side close to the variable stroke conveyer unit 10 and the Y-direction lead screw received 30 provided on the opposition side. The Y-direction encoder 28 constitutes a Y-axis servo device together with the Y-direction servo motor 27, and functions as a sensor and an actuator as the servo device, respectively.

  The Y-direction servomotor 27 can also be provided at the end of the Y-direction feed screw 29 on the side close to the tape feeder 22. In this embodiment, in consideration of the actual operating state, for example, to replace the tape feeder 22, the front side of the X-direction encoder 16 in FIGS. 1. Since the operator has a working space on the side where the Y-direction feed screw receiver 30 in FIG. 2 is provided, the arrangement as described above is performed to improve the workability of the operator by avoiding the protrusion shape as a device on these sides. I have to. Thereby, a compact outer shape is realized in the X direction and the Y direction as a whole.

  The head unit 23 is guided and moved as described above by the mechanism on the Y direction frame 25 side, and the suction head 24 is directly connected to the component suction point 22a of the tape feeder 22 serving as the component supply unit and the printed circuit board P. 2 and 4, the suction head 24 protrudes from the head unit 23 to the left side so that it can move in the vertical direction (Z direction). Such an overhanging shape makes it easy to secure a space around the suction head 23 when the head unit 23, particularly the suction head 24, is maintained in the work space described above, and the head unit 23 is removed from the airframe. In addition, only the individual suction heads 23 can be easily attached and detached.

  In this embodiment, four (at least one) suction heads 24 are arranged in a line in the Y direction on the head unit 23, and each head unit 23 is detachably attached. The lower ends of the four suction heads 24 can be moved up and down independently by an elevating mechanism constituted by a motor (not shown) and a rack and pinion gear structure. Each of the four suction heads 24 is individually mounted with a motor for driving the R axis, and the rotational force is transmitted to the straight spline shafts of the individual suction heads 24 by pulleys and belts. Direction). Further, a negative pressure (suction force) is supplied from a negative pressure supply means (not shown) to a suction nozzle that is detachably attached to the lower end portion of each suction head 24 during component suction. By this suction force, the component can be sucked by the suction nozzle. The head unit 23 is provided with a moving camera 31. This moving camera 31 is for recognizing the presence and accurate position of the printed circuit board P by imaging the printed circuit board P (particularly the fiducial mark marked thereon) from above. Furthermore, it is possible to recognize the storage state of the suction nozzles in the replacement nozzle storage unit 32 described later.

  The X-direction coordinates of the component suction points 22a of the tape feeder 22 are set to coincide with the X-direction coordinates of the suction head 24. As a result, when the head unit 23 is present on the Y-direction frame 25 on the tape feeder 22 side as the component supply unit (the state shown in the drawing), the head unit 23 moves in the Y direction to move the head unit 23 below the predetermined suction head 24. The component suction point 22a can be positioned. In this state, the individual suction heads 24 are moved up and down to suck and pick up predetermined parts.

  In the replacement nozzle storage portion 32 attached to the variable stroke conveyor unit 10, a plurality of suction nozzles to be attached to the front end portion of the suction head 24 are respectively stored in holes arranged in a row.

  Here, an operation in which the suction head 24 exchanges the suction nozzle with the replacement nozzle storage portion 32 will be described. When the suction head 24 exchanges the suction nozzle with the replacement nozzle storage portion 32, first, among the suction heads 24, the one that performs nozzle replacement and the empty seat of the replacement nozzle storage portion 32 that should store the suction nozzle. Align with the position.

  For this purpose, the variable stroke conveyor unit 10 is moved to a predetermined position in the X direction with the replacement nozzle storage portion 32, and the head unit 23 is moved to a predetermined position in the Y direction.

  Next, the suction head 24 to be replaced with the nozzle is lowered, and the suction nozzle is inserted into the empty seat position of the replacement nozzle storage portion 32. Here, a shutter (not shown) of the replacement nozzle storage portion 32 is moved in the horizontal direction and engaged with the suction nozzle. In this state, the suction head 24 is raised, the engagement of the suction head 24 and the suction nozzle by a notch mechanism (not shown) is released, and the suction nozzle is removed from the suction head 24 while being held in the replacement nozzle storage portion 32. be able to. When the suction head 24 is raised, the suction nozzle can be moved in and out without interfering with the shutter at all nozzle storage positions of the replacement nozzle storage section 32 by moving the shutter to the original position.

  Next, the suction head 24 is aligned with the replacement nozzle storage portion 32 in which the suction nozzle to be newly mounted is stored. For this, the variable stroke conveyor unit 10 is moved to a predetermined position in the X direction with the replacement nozzle storage portion 32. Since the current position can be applied as it is in the Y direction, it is not particularly necessary for a new movement.

  Then, the suction head 24 from which the suction nozzle has been removed is lowered to the suction nozzle position where the replacement nozzle storage portion 32 is to be mounted. Thereby, a notch mechanism (not shown) is engaged between the suction head 24 and the suction nozzle.

  When the notch mechanism is engaged, the suction head 24 is raised. As a result, the suction head 24 is in a state in which the suction nozzle is mounted, and a new vacant seat is generated in the replacement nozzle storage portion 32. As described above, the suction nozzle 24a can be replaced.

  Further, the fixed camera 20 is configured such that the imaging direction is directed from the lower side to the upper side, and the X direction coordinate of the optical axis thereof substantially coincides with the X direction coordinate of the suction head 24. Thereby, when the position (Y direction) of the head unit 23 is at the position of the reference numeral 23 a in FIGS. 2 and 3, the component picked up from below by the fixed camera 20 is imaged. This imaging operation is for recognizing the detailed position / orientation of the picked-up component, and the position correction amount when the component is mounted on the printed circuit board P is determined from the imaging data picked up by the fixed camera 20. Calculate and achieve highly accurate implementation. In addition, the mounting history of the suction nozzle to the suction head 24 is managed by the control device 50 described later based on the imaging data. A fixed camera illumination device 19 is provided above the fixed camera 20 to improve the illumination conditions of the components sucked by the suction head 24.

  As described above, in this embodiment, the optical axis of the fixed camera 20 exists substantially on the extension of the arrangement of the component suction points 22a (this is indicated by a line L in FIG. 1). As a result, parts can be picked up and imaged smoothly by moving the head unit 23 in the Y direction. Further, if the fixed camera 20 is a line camera and the line arrangement direction is the X direction, the picked-up parts can be imaged if the head unit 23 passes through the fixed camera 20 without stopping the movement in the Y direction. In addition, the tact time is further reduced. The fixed camera 20 has a line sensor in which arrangement lines of photoelectric conversion elements are arranged corresponding to the left-right direction, and stops moving when a picked-up component passes across the arrangement line. Capture and recognize parts without any problems.

  Further, the head unit 23 that has been picked up and imaged as described above can be positioned on the printed circuit board P (for example, 23b in the figure) by extending the movement of the movement. The Y direction is positioned by a servo device including the Y direction servo motor 27, and the X direction is positioned by a servo device including the X direction servo motor 15. In this state, the individual suction heads 24 can be raised and lowered to mount predetermined components on the printed circuit board P at predetermined positions.

  As described above, below the Y-direction frame 25, the variable stroke conveyor unit 10 that is movable in the X direction, the fixed camera 20 that images the upper side from below, and the component suction points 22 a are arranged in the Y direction. The three tape feeders 22 are arranged in the Y direction in this order. With such an arrangement, the movement of the head unit 23 is not wasted and an efficient operation can be obtained.

  Here, with reference to FIG. 5, the detail of each mechanism of the variable stroke conveyor unit 10 is demonstrated. Of the two printed boards P1 and P2 shown in FIG. 5, the printed board P1 is a board at a board fixing position, and the printed board P2 is a board that is carried in and out before and after component mounting. Shall.

  As shown in FIG. 5, the variable stroke conveyor unit 10 movably mounted on the base 11 includes an elevating mechanism 120, a clamp mechanism 110, a substrate backup mechanism 130, a substrate conveyor 13 drive mechanism, and a conveyor width variable mechanism. Each mechanism is provided.

  The elevating mechanism 120 includes an elevating cylinder 121 as an elevating means, a push-up plate 122 as a plate member, a link mechanism including a support shaft 123, a lever member 125, a rotating shaft 124, and the like before and after component mounting. This is a mechanism for raising and lowering the printed circuit board P1 while maintaining its horizontal posture. The rotating shaft 124 supports the bottoms on both sides of the push-up plate 122. The push-up plate 122 is supported by the lift cylinder 121 at its substantially central portion, and is pushed up and down as the lift cylinder 121 moves up and down.

  The link mechanism is in contact with the lower surface of the push-up plate 122 so that the two mechanisms move in the same manner, and the rotating shaft 124 with the support shaft 123 as a fulcrum as the lifting cylinder 121 moves up and down. Is rotated in the direction of arrow C, and the push-up plate 122 operates so as to be kept horizontal during ascending and descending. The support shafts 123 are respectively supported by the variable stroke conveyor 10, and both ends of a link member (not shown) are engaged with the rotation shafts 124 on the left and right sides shown in FIG. Further, at least one rotating shaft 124 is provided with a torsion spring (not shown) that urges the lever member 125 toward the push-up plate 122. Because of the link member and the torsion spring, the push-up plate 122 can be moved up and down while maintaining the level.

  The substrate backup mechanism 130 is disposed on the upper surface of the push-up plate 122 of the lifting mechanism 120 and functions as a spacer that supports the printed circuit board P <b> 1 that is lifted and lowered by the lifting mechanism 120. This spacer has at least one replaceable backup pin for supporting the printed circuit board P1 from the lower surface and preventing the printer board P from being deformed by its own weight, and has a plurality of holes, and inserts the backup pin into a desired hole. And a piece member fixed by a magnetic force directly below a desired position of the push-up plate 122 (a position in the back surface area of the printed circuit board P1 that needs to be distorted).

  The clamp mechanism 110 includes a guide plate 111 (locking portion) having a hook-shaped cross section fixed to the upper part of the belts 13a and 13b on the variable stroke conveyor unit 10 itself, belts 13a and 13b on which the printed circuit board P1 is placed, and an elevating mechanism. This is realized by a cooperative operation of 120 guide plates 111 and the like.

  In other words, the clamp mechanism 110 sandwiches and fixes the printed circuit board P1 raised together with the belts 13a and 13b by the lifting mechanism 120 between the belts 13a and 13b and the guide plate 111 fixed to the variable stroke conveyor unit 10. That is, the lifting cylinder 121 also serves as a clamping cylinder.

  The drive mechanism of the board conveyor 13 includes pulleys 52 and 53 provided at substantially both ends in the X direction of the variable stroke conveyor unit 10, a narrow belt 13 b (13 a) stretched around the pulleys 54 and 55, a motor 56, have. A belt 13b (13a) is hung on the pulleys 54 and 55 in an S shape. The pulley 55 is rotationally driven by a motor 56. When the motor 56 is driven to rotate, the belts 13a and 13b of the board conveyor 13 move along the path formed by the pulley group, and the printed board P placed on the belts 13a and 13b is moved.

  Since the width of the substrate conveyor 13 (belts 13a and 13b) (interval between the pulleys 52 and 53) is longer than the unit width in the X direction of the variable stroke conveyor unit 10, the variable stroke conveyor unit 10 is configured as the base 11. The end of the board conveyor 13 (belts 13a, 13b) can be protruded from the end of the base 11 when moved in the range of the width in the X direction. In addition to using the substrate conveyor 13 for fixing the substrate, the substrate conveyor 13 can also serve as a bridge with other aircraft. In other words, the variable stroke conveyor unit 10 is used not only for substrate transfer and substrate fixing inside the base 11 but also as a bridging function, so that the conveyor for loading and unloading substrates is provided outside the variable stroke conveyor unit 10. It is not necessary to provide a new device, so that the cost of the device itself can be reduced and the mounting machine can be adapted to various line layouts.

  The conveyor width variable mechanism includes pulleys 57 and 58, a belt 59, a motor 60, and the like. The pulley 58 is driven by the motor 60 and the pulley 57 is rotated together with the belt 59. That is, after the driving force for changing the width of the board conveyor 13 in accordance with the width of the printed board P is transmitted to the motor 60, the pulley 58, the belt 59, and the pulley 57, the pulley 9a shown in FIG. The conveyor width is varied by the timing belt 8 for varying the width 9b and the conveyor width.

  Here, a supplementary description of the component supply unit including the tape feeder 22 will be given. In this embodiment, the component supply unit is provided with a feeder bank 21 as a tape feeder mounting unit to which the tape feeder 22 can be detachably attached. One or more tape feeders 22 can be fixed to the feeder bank 21 adjacent to each other and positioned. In a state where a plurality of tape feeders 22 are fixed to the feeder bank 21, the substrate conveying direction by the belts 13a and 13b of the substrate conveyor 13 is such that the supply of the additional components is in the X direction (from left to right in FIG. 1). And the mounting direction (longitudinal direction) of the tape feeder 22 are parallel (same direction).

Each tape feeder 22, respectively, IC, transistors, small pieces electronic component tape accommodating and holding the (chip components) at predetermined intervals such as a capacitor is configured to be out reel or Rashirube, by the suction head 24 The tape is intermittently fed out as the parts are picked up.

  FIG. 6 is an enlarged perspective view showing the vicinity of the component suction point 22 a of one of the plurality of tape feeders 22.

  As shown in the figure, the tape 1 has a certain thickness by embossing or the like in order to store components, and the component storage portion 3 is provided at a depth to the middle of this thickness. A cover tape 4 is affixed on the component storage unit 3, and just before the tape 1 is sent to the component suction point, it is hung on the cover tape folding unit 5 and peeled off from the tape 1 as shown in the figure.

  Further, the tape 1 is provided with a hole 2 in synchronism with the position of the component storage portion 3, for example, so that intermittent feeding of the tape 1 can be controlled. The tape 1 can be opened and closed at the component suction point by the sliding operation of the shutter 7, and the component to be sucked can be taken out as the tape 1 is intermittently fed (the state shown in the figure is the opening of the shutter 7). Status). The tape 1 after the parts are taken out is guided by the tape guide member 6 and discharged from the tape feeder 22.

  With respect to the configuration of the main part of the tape feeder 22 as described above, a straight line L (described in FIG. 1) is positioned as illustrated. Therefore, by arranging a number of tape feeders 22 adjacent to each other, the component suction points are arranged in a straight line in the Y direction.

  Instead of the feeder bank 21 to which the tape feeder 22 is mounted, a tray accommodating portion that accommodates a tray that accommodates a relatively large package IC may be provided at the same position. Also in this case, the component suction points are linear in the Y direction, and additional supply of components is performed in the X direction.

  Next, the control system of the mounting machine will be described with reference to FIG. FIG. 7 is a block diagram showing the configuration of the control system of the mounting machine according to one embodiment of the present invention. In the figure, the same components as those already described are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 7, the control system of this mounting machine is composed of a fixed camera 20, a moving camera 31, an X-axis servo device 43, a Y-axis servo device 44, a head unit servo device 40, a control device 50, and the like. Yes. The head unit servo apparatus 40 includes a Z-axis servo apparatus 41,..., An R-axis servo apparatus 42, and the like.

  The control device 50 includes an overall control unit 54, a storage unit 55 for that purpose, an image processing unit 52, a storage unit 53 for that purpose, and an interface 51 with a servo device such as an X-axis servo device.

  The moving camera 31 is connected to the image processing unit 52 of the control device 50 as shown. The fixed camera 20 is also connected to the image processing unit 52 of the control device 50 as shown in the figure.

  The interface 51 connects to the X-axis servo device 43, the Y-axis servo device 44, the Z-axis servo device 41 of the head unit servo device 40,..., The R-axis servo device 42,. The X-axis servo device 43 is configured to include the X-direction servo motor 15 in FIGS. 2 and 3, and the Y-axis servo device 44 is configured to include the Y-direction servo motor 27 in FIG.

  The overall control unit 54 performs processing for comprehensively controlling the operations of the X-axis servo device 43, the Y-axis servo device 44, the head unit servo device 40, and the operation of the substrate transport mechanism including the substrate conveyor 13. is there. Substantially, it is configured by hardware such as a microprocessor and software such as a control program.

  The storage unit 55 stores information necessary for processing performed by the overall control unit 54. Information is taken in and out from the overall control unit 54 as necessary.

  The image processing unit 52 processes imaging data obtained by the moving camera 31 and the fixed camera 20, thereby recognizing information included in the imaging data and supplying the information to the overall control unit 35. Information to be recognized will be described later. Note that the image processing unit 52 can also be substantially constituted by hardware such as a microprocessor and software such as a control program.

  The storage unit 53 stores information necessary for processing performed by the image processing unit 52. Information is taken in and out from the image processing unit 52 as necessary.

  The interface 51 outputs servo control signals generated by processing by the overall control unit 54 to the X-axis servo device 43, the Y-axis servo device 44, and the head unit servo device 40, and these servo devices 43 , 44, 40 for inputting sensor outputs.

  That is, this mounting machine attaches and detaches at least one tape feeder 22 (component supply unit) in the same direction as the board conveying direction (X direction) of the board conveyor 13 to convey the printed board P in the X direction. When the flexible feeder bank 21 (part supply unit mounting portion), the other machine and the own machine are connected to each other and / or in the same direction, and the board conveyor 13 is arranged in a straight line, A base 11 provided with a recessed portion 11a is provided so that the tape feeder 22 mounted on the feeder bank 21 does not contact (interfere) with another machine even if it protrudes from the own machine. The component supply unit includes a tape feeder 22 and a tray for supplying a relatively large flat package type IC chip.

  With the above configuration, the width of the base 11 in the X direction of this mounting machine is 1000 mm or less, and the width of the base in the Y direction is 1300 mm or less, which is very compact.

  For example, when two mounting machines are arranged opposite to each other and connected, it is necessary to arrange the belts 13a and 13b of the board conveyor 13 of each machine in a straight line in order to smoothly convey the printed board P. At this time, for example, when the tape feeder 22 having a relatively long dimension in the longitudinal direction is used, the tape feeder 22 protrudes from the end of the base 11 in this type of mounting machine.

  In the case of this mounting machine, since the base 11 is provided with a recess 11a (a recess for avoiding contact with the tape feeder), the other machines can be separated from each other without the tape feeder 22 of the own machine hitting them. Can be connected without leaving a gap. The facing arrangement means that the direction of the aircraft is turned by 180 degrees and face each other.

  Here, the operation of the mounting machine of this embodiment will be described. Situations for loading the printed circuit board P into the mounting machine include a case where the printed circuit board P is loaded from the mounting machine in the previous process of the mounting machine, a case where the printed board P is loaded from the stocker, or the board conveyor 13 by the operator. An initial state such as a case of being placed on the top is conceivable.

  In this case, the overall control unit 54 of the control device 50 controls the X-axis servo device 43 so that the variable stroke conveyor unit 10 mounted on the base 11 is movable in the X direction to the end on the substrate carry-in side in FIG. And the substrate conveyor 13 provided in the variable stroke conveyor unit 10 is driven, and the printed circuit board P in any one of the above initial states is carried into the base 11.

  Subsequently, the overall control unit 54 moves the variable stroke conveyor unit 10 on the printed board P carried to the base 11 side and / or drives the belts 13a and 13b of the board conveyor 13 to be almost immediately below the component mounting position. Move to position.

  Subsequently, the printed circuit board P moved to this position is raised by the elevating mechanism 120 provided in the variable stroke conveyor unit 10, and the printed circuit board P is further lifted while being supported by the board backup mechanism 130 from below and clamped. Clamped by the mechanism 110 and fixed at the component mounting reference position (height).

  Then, the variable stroke conveyor unit 10 is moved in the X direction while moving the head unit 23 in the Y direction, and the component is mounted at a predetermined position on the surface of the printed circuit board P.

  The printed circuit board P on which the component is mounted is lowered to the original position (conveyance position of the board conveyor 13) by the lifting mechanism 120.

  When the printed circuit board P is lowered to this position, the overall control unit 54 controls the X-axis servo device 43 to move the printed circuit board P by moving at least one of the variable stroke conveyor unit 10 and the circuit board conveyor 13. The board 11 is carried out to the end of the board 11 on the board carry-out side, to a position where it substantially contacts the conveyor of the mounting machine in the next process, to the entrance of the stocker, or to a position where the operator can take the printed board P.

  At this time, since the end portions of the belts 13 a and 13 b of the substrate conveyor 13 protrude from the variable stroke conveyor unit 10, when the variable stroke conveyor unit 10 is moved to the end of the base 11 on the substrate carry-out side, The end portions of the belts 13 a and 13 b of the conveyor 13 protrude from the base 11. The amount (distance) by which the ends of the belts 13 a and 13 b of the substrate conveyor 13 protrude from the base 11 can be set to a desired value by changing the setting of the overall control unit 54 on the program.

  Here, a detailed operation accompanied by data processing in the mounting operation of components on the printed circuit board P will be described with reference to a flowchart of FIG.

  First, a printed circuit board P1 on which all components are already mounted by this mounting machine is carried out by the substrate conveyor 13, and a new printed circuit board P2 not mounted with components is moved by the substrate conveyor 13 along with the movement of the variable stroke conveyor unit 10. It is carried in.

  Then, the board conveyor 13 on the variable stroke conveyor unit 10 is driven to stop the conveyance of the printed board P at a predetermined position (directly below the board component mounting position), and the printed board P is fixed to the base 11 by the lifting mechanism 120. The guide plate (locking portion) is pushed up to the position (component mounting reference position) and clamped (step 61 in FIG. 8). Specifically, the printed board P and the belts 13a and 13b of the board conveyor 13 are lifted by the lifting mechanism 120, and printing is performed between the guide plate (locking portion) fixed to the base 11 and the belts 13a and 13b. The substrate P is sandwiched and fixed to the variable stroke conveyor unit 10. Then, the mounted list stored and held in the storage unit 55 is initialized (step 62).

  Next, the moving camera 31 is positioned on the printed board P by the X-axis servo device 43 and the Y-axis servo device 44 (step 63), and the board mark on the surface of the printed board P is imaged (step 64). Let the captured image be imaging data 1.

  Next, the image data 1 is processed by the image processing unit 52, and the substrate mark is recognized, thereby detecting and detecting the displacement of the substrate (X direction, Y direction, θ direction around the axis perpendicular to the XY plane). A mounting position correction value δ1 of each component is obtained from the positional deviation. The correction value δ1 is transferred to the overall control unit 54 and stored / stored in the storage unit 55 (step 65).

  Next, the integrated control unit 54 checks the mounted list in the storage unit 55 to determine whether there is unmounted data (step 66). If there is no unmounted data in the mounted list of the storage unit 55 as a result of this determination (N in Step 66), it indicates that the mounting of all the components has been completed. Become. If there is unmounted data in the mounted list of the storage unit 55 as a result of the determination (Y in step 66), the overall control unit 54 searches the data and determines the work procedure such as the mounting order. (Step 67).

  Next, the overall control unit 54 controls the Y-axis servo device 44 according to the determined work procedure, moves the suction head 24 to the component suction position, and sucks the component (step 68). This component suction is repeated so that the components are sucked by the nozzles of all the predetermined suction heads 24 (step 69). The suction position control of the suction head 13 in this suction operation takes into account the displacement in the Y direction of the suction head 24 detected by imaging of the fixed camera 20, which will be described later, and the Y of the suction head 24 with respect to the component. You may carry out by controlling so that a direction position shift may become small.

  Next, the Y-axis servo device 44 is controlled to move the head unit 23 so that the suction head 24 passes over the fixed camera 20 (step 70). Here, the description will be made assuming that the fixed camera 20 is a line camera. Due to the movement of the head unit 23, the suction head 24 passes in a direction (Y direction) orthogonal to the line direction (X direction) of the fixed camera 20. At this time, the suction head 24 to which the component is sucked is imaged by the fixed camera 20. This captured image is defined as imaging data 2 (step 71).

  Next, the imaging data 2 is processed by the image processing unit 52 to recognize the picked-up component, thereby detecting the position shift of the picked-up component, and the mounting position correction value δ2 of each picked-up component is determined from the detected position shift. It is determined (step 72). The correction value δ2 is transferred to the overall control unit 54 and stored / stored in the storage unit 55. Then, the overall control unit 54 obtains δ (= δ1 + δ2) as a final mounting position correction value from the correction value δ1 and the correction value δ2 which are obtained and held as described above, and stores and holds them in the storage unit 55. (Step 73).

  Next, the Y-direction movement of the head unit 23 is further extended and the Y-axis servo device 44 is controlled to move the suction head 24 from the normal (reference) position to the Y position corrected by the correction value. . At the same time, the X-axis servo device 44 is controlled to move the variable stroke conveyor unit 10 from the normal position to the X position corrected by the above correction. In this state, the component is mounted on the printed circuit board P by the suction head 24 (step 74). This component mounting is repeated for all the predetermined suction heads 24 (step 75). For the movement to the X position, not only the movement of the variable stroke conveyor unit 10 but also the substrate conveyor 13 may be driven.

  When the mounting of parts is completed for all the predetermined suction heads 24 (nozzles), the process returns to step 66 and the same operation / processing is performed on the unmounted data.

  The printed circuit board P on which the components are mounted in this manner is lowered to the original position parallel to the board conveyor 13 by the lifting mechanism 120. Thereafter, the overall control unit 54 controls the X-axis servo device 43 to move the variable stroke conveyor unit 10 to the carry-out end of the base 11.

  When the variable stroke conveyor unit 10 is moved to the board unloading end of the base 11, the overall control unit 54 drives the board conveyor 13 of the variable stroke conveyor unit 10 and unloads the printed circuit board P to the delivery position protruding from the machine body. Then, the printed circuit board P is transferred to the next apparatus. Further, when the variable stroke conveyor unit 10 is moved to the carry-out end of the base 11, if the substrate conveyor 13 is simultaneously driven to move the printed circuit board P to the tip positions of the belts 13a and 13b, the movement efficiency is further improved.

  Thus, according to the mounting machine of this embodiment, the substrate conveyor 13 that conveys the printed circuit board P in the X direction, the auto nozzle changer (ANC) 32, the elevating mechanism 120, the clamp mechanism 110, The variable stroke conveyor unit 10 including the substrate backup mechanism 130 is mounted so as to be movable in the X direction to the position where the substrate conveyor 13 protrudes from the end of the base 11 in the X direction. For example, in the cell production with only one mounting machine, it is possible to make the variable stroke conveyor unit 10 not to protrude from the base 11 and to make a compact arrangement and work space. Further, even when a plurality of mounting machines are connected in series, the variable stroke conveyor unit 10 moves on the base 11 to a position where the board conveyor 13 protrudes from the machine body. It is no longer necessary to project the conveyors for carrying out the substrate from the machine body, and the connection can be made with the machine bodies in contact with each other.

  As a result, it is possible to reduce the size of each mounting machine alone or in the case where a plurality of lines are organized, and various line layouts can be taken. Further, since various mechanisms (such as a lifting mechanism 120, a clamp mechanism 110, and a board backup mechanism 130) relating to the movement of the printed circuit board P and component mounting are provided in the variable stroke conveyor unit 10, these complicated mechanisms are used as the base 11. Therefore, it is possible to reduce the overall cost from the mounting machine design stage to the equipment layout. Further, since maintenance, configuration change, improvement, etc. of individual mechanisms can be performed in units of the variable stroke conveyor unit 10, the variable stroke conveyor unit 10 can be removed from the base 11 and each part can be changed and maintained. Can also be improved.

  In addition, when the relatively long tape feeder 22 is mounted on the mounting machine and the tape feeder 22 protrudes from the machine body, since the recess 11a is provided on the base 11, the mounting machine of the same type is opposed to In connecting and arranging the substrate conveyors 13 so as to be in a straight line, the tape feeder 22 is provided, so that the connection can be made without leaving a gap between the mounting machines. Accordingly, the mounting machines can be connected in various arrangement variations as described above, and it is possible to deal with line production in which a large number of mounting machines are connected and cell production from one mounting machine. Thereby, for example, a line layout (line organization) that can fit in a predetermined production line space can be easily performed.

  The variable stroke conveyor unit 10, the fixed camera 20, and the tape feeder 22 are provided in this order in the front-rear direction, and a plurality of parts are arranged on the tape feeder 22 in one direction before and after passing through the optical axis of the fixed camera 20. The component can be mounted by moving the head unit 23 in the Y direction (single axis movement) and moving the printed circuit board P in the X direction by the variable stroke conveyor unit 10, so that the pickup from the component pickup Continuous operation such as mounting on the printed circuit board P can be efficiently performed in a compact space, and component mounting efficiency can be improved. As a result, the mounting machine can be easily configured compactly in the substrate transport direction (X direction), and is also suitable as the shape of the mounting machine when the mounting machine is operated. As a result, it is possible to provide a mounting machine that is compatible with various production forms and installation locations, is compact, and is low in cost.

  In addition, this invention is not limited only to the said embodiment. In FIG. 5, the carry-in position and the carry-out position are opposite to each other with the position of the printed circuit board P1, but the carry-in position and the carry-out position may be the position (common position) of the printed circuit board P2. As described above, the maximum allowable movement width in the X direction of the board conveyors 13a and 13b is within a range where there is no interference with the periphery of the mounting machine on which the mounting machine is installed, and the X direction length of the X direction guide rails 12a and 12b. It depends on. Further, the maximum allowable movement width increases when the lengths of the board conveyors 13a and 13b are shortened. Therefore, the length of the printed board that can be mounted in the X direction, that is, the maximum allowable length can be increased. However, the problem in this case is shown in the embodiment in which the carry-in position and the carry-out position are opposite to each other with the position of the printed circuit board P1, and if the lengths of the board conveyors 13a and 13b are too short, the board fixing position PA2 Simultaneously with the unloading of the printed board P by the board conveyors 13a, 13b from the (position of the printed board P1) to the unloading position PA3, in one direction in the X direction to the unloading side of the board conveyors 13a, 13b by the movement of the variable stroke conveyor 10 Movement, movement from the carry-out side position of the board conveyors 13a, 13b to the other side in the X direction to the carry-in side position via the central position (position that is the central part of the movement range during mounting), and after receiving the printed board P Of the board conveyors 13a and 13b at the same time when the printed board P is carried from the carry-in position PA1 by the board conveyors 13a and 13b. It will take time to move in the X direction one to the central position. If possible, the length of the board conveyors 13a and 13b may be the same as the length of the base 11 in the X direction, or shorter than that by the length of the printed board P. In the above-described embodiment, the example in which the mounting machine includes one head unit 23 has been described. However, by adopting a modification as shown in FIG. 9 below, both compactness and high performance can be achieved. That is, as shown in FIG. 9, the mounting machine of this modification includes a base 11b having a shape in which the base 11 of the above embodiment is extended in the Y direction so as to be symmetric with respect to the X direction axis. ing.

  The base 11b includes two sets (two sets) of the head unit 23, the moving camera 31, the fixed camera 20, the fixed camera lighting device 19, the feeder bank 21, and the tape feeder 22 described in the above embodiment. The units 10 are arranged almost symmetrically. Two sets of head units 23 are mounted on guide rails 26a and 26b.

  That is, this mounting machine is disposed so as to face the variable stroke conveyor unit 10 having the board conveyor 13 that conveys the printed circuit board P in the X direction, with the variable stroke conveyor unit 10 interposed therebetween, and is orthogonal to the X direction. 2 sets of head units 23 that move in the direction, 2 sets of feeder banks 21 for supplying parts from the tape feeders 22 set in each of the head units 23 (the suction heads 24 thereof), and a variable including the substrate conveyor 13 And a base 11b on which the stroke conveyor unit 10 is movably mounted in the X direction. In the case of this mounting machine, the width in the X direction is the same as that in the above embodiment, and the machine body is made compact in the X direction.

  In the mounting machine of the above embodiment, since there is only one head unit 23, the component is picked up at the component suction point 22a, moved to the printed circuit board P, mounted, and then returned to the suction point 22a until the component is picked up. Time is a time loss. Therefore, in the mounting machine of this modified example, while one head unit 23 is picking up the component to the position of the component suction point 22a of the feeder bank 21, the component is previously transferred from the other tape feeder 22 to the suction head 24. Since the other head unit 23 that has been attracted moves to the corresponding position on the printed circuit board P and mounts the component, the tact time for mounting the component on one printed circuit board P can be improved, and the compactness and high performance can be achieved. Both performance can be achieved. In the mounting machines of all the above embodiments, a cover member (not shown) that covers each device on the base 11 is provided to be openable and closable above the base 11 so that each part can be maintained and inspected in the open state. At the same time, each part is protected from dust in the closed state. The variable stroke conveyor unit 10 is entirely covered with a cover member regardless of the position within the movable range.

1 is an external perspective view of a mounting machine according to an embodiment of the present invention. The top view which shows typically the structure of the mounting machine which concerns on one Embodiment of this invention. The X direction side view which shows typically the structure of the mounting machine which concerns on one Embodiment of this invention. The Y direction side view which shows typically the structure of the mounting machine which concerns on one Embodiment of this invention. The figure which shows the structure of the variable stroke conveyor unit of this mounting machine. The perspective view which expands and shows the component adsorption | suction point vicinity of one tape feeder with which this mounting machine is mounted | worn. The block diagram which shows the structure of the control system of this mounting machine. The flowchart which shows operation | movement of this mounting machine. It is a figure which shows the structure of the mounting machine of the modification of the said embodiment.

Explanation of symbols

8 Conveyor width variable timing belt 9a, 9b Pulley 10 Variable stroke conveyor unit 11, 11b Base 11a Recessed portion 12a, 12b X direction guide rail 13 Substrate conveyor 13a, 13b Belt 14 X direction engaging member 15 X direction servo motor 16 X direction encoder 17 X direction feed screw 18 X direction feed screw receiver 19 Fixed camera lighting device 20 Fixed camera 21 Feeder bank 22 Tape feeder
23 Head unit 24 Suction head 25 Y direction frame 26a, 26b Y direction guide rail 27 Y direction servo motor 28 Y direction encoder 29 Y direction feed screw 30 Y direction feed screw receiver 31 Moving camera 40 Head unit servo device 41 Z axis Servo device 42 R-axis servo device 43 X-axis servo device 44 Y-axis servo device 50 Control device 51 Interface 52 Image processing unit 53 Storage unit 54 General control unit 55 Storage unit 32 ANC
110 Clamping mechanism 120 Lifting mechanism 130 Substrate backup mechanism

Claims (2)

In a mounting machine that mounts components on a board,
A conveyor having a pair of belts for transporting the substrate in a first direction , each belt rotating parallel to each other in the first direction ;
A unit for moving the substrate provided at the upper part of the conveyor ;
A base for mounting the unit for moving the substrate including the conveyor so that the unit can move in the first direction in the unit so as to move between the end position for carrying in the substrate and the end position for carrying out the substrate;
A servo device for moving the substrate moving unit in the first direction;
A component mounting head movable in a second direction intersecting the first direction;
A servo device for moving the head in the second direction,
When the board is loaded, the board moving unit receives a board located outside the mounting machine in a state where the board moving unit is moved to the end position for board loading, and when mounting a component, the board moving unit is moved in the first direction. The component mounting head is moved in the second direction to mount the component on the substrate. When the substrate is unloaded, the substrate moving unit is moved to the end position for unloading the substrate. A mounting machine characterized in that a board on which a component is mounted is carried out of the mounting machine. The mounting machine according to claim 1,
A mounting machine provided in the board moving unit, comprising a lifting mechanism for raising the board and fixing it to a component mounting position, and lowering the board to its original position after mounting the component.

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