JP4895119B2 - Modular component mounting system and control method thereof - Google Patents

Description

  The present invention relates to a module type component mounting system in which a plurality of mounting machine modules are aligned and arranged adjacent to each other in the circuit board conveyance direction, and a control method thereof.

In recent years, as described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2004-104075), in order to easily cope with various production forms of electronic component mounting boards, a plurality of mounting machine modules are arranged as circuits. A modular component mounting system has been developed in which a circuit board is sequentially transferred to each mounter module and components are mounted on the circuit board by arranging and arranging adjacent to each other in the board transfer direction. In this modular component mounting system, the X-axis slide mechanism that moves the work head (mounting head) of each mounting machine module in the circuit board transport direction (hereinafter, this direction is defined as the “X-axis direction”) When a component is mounted on a large circuit board that does not fit within the width of one mounter module, a two-stage slide mechanism is used so that it can move to the work area of the adjacent mounter module. The circuit board is positioned so as to straddle adjacent mounting machine modules, and “stranding production” is performed in which mounting work is performed on the large circuit board with only one mounting machine module.
JP 2004-104075 A

  In the modular component mounting system configured as described above, the state in which the X-axis slide mechanism is extended to the work area of the adjacent mounter module during cross-over production (that is, the overhang from the fulcrum supporting the X-axis slide mechanism to the work head) In the long state), the work head is moved at high speed in the Y-axis direction and the Z-axis direction, so that inertia (moment of inertia) acting on the X-axis slide mechanism increases. For this reason, when positioning the work head at the time of straddling production, the rigidity of the X-axis slide mechanism is insufficient with respect to the inertia, the X-axis slide mechanism vibrates, and the positioning accuracy of the work head is deteriorated.

  As a countermeasure, if the structure of the X-axis slide mechanism is increased, it is inevitable that the X-axis slide mechanism and its support structure will be large and heavy, and the requirements for weight reduction and compactness will be met. I can't.

  On the other hand, during normal production in which the circuit board fits within the width of one mounting machine module, the working head moves within the mounting machine module, so the overhang from the fulcrum of the X-axis slide mechanism to the working head Becomes shorter. For this reason, during normal production, the inertia acting on the X-axis slide mechanism is smaller than during straddling production, and the problem of deterioration in positioning accuracy of the work head due to inertia does not occur.

  In consideration of these circumstances, in the conventional modular component mounting system, the control parameters of the servo motor that drives the work head in the Y-axis direction and Z-axis direction are used as the basis for the weak rigidity of the X-axis slide mechanism during production. By setting as described above, the inertia at the time of straddling production is reduced, and the positioning accuracy of the work head is ensured.

  However, in the conventional modular component mounting system, even during normal production, the same control parameters as during straddle production are used, so during normal production, the movement speed and acceleration of the work head are excessively limited, As a result, there is a disadvantage that the mounting cycle time during normal production is extended and productivity is lowered.

  The present invention has been made in consideration of such circumstances, and the object thereof is therefore a module type capable of achieving both improvement in productivity during normal production and securing of positioning accuracy of the work head during straddling production. A component mounting system and a control method thereof are provided.

In order to achieve the above object, the present invention arranges a plurality of mounting machine modules each having a work head for holding a component suction nozzle or a dispenser adjacent to each other in the conveyance direction of the circuit board. In a modular component mounting system that sequentially transports circuit boards and mounts components on the circuit boards, the working head of each mounting machine module is defined as the circuit board transport direction (hereinafter, this direction is defined as the “X-axis direction”). The X-axis slide mechanism to be moved in order to make it possible to carry out “cross production” in which work is performed with only one mounter module on a large circuit board located across adjacent mounter modules. the working head is a two-stage slide mechanism that combines two X-axis slide for movement to the working area of the mounting machine module next, the straddle raw Sometimes one X-axis slide that supports the work head slides to the working area of the adjacent mounting machine module, and the production method to be switched according to the production control program is the straddle production or the circuit board 1 It is determined whether the production is normal production within the width of the mounting machine module, and the control parameter of at least one of the motors that drives the work head in the X-axis, Y-axis, and Z-axis directions For low rigidity, which is set in consideration of the fact that the rigidity of the X-axis slide mechanism is lower than that at the time of normal production. Considering that the rigidity of the X-axis slide mechanism is higher during the normal production than during the straddling production. Set is obtained by the switched on the control parameter for the high rigidity.

  In this way, during normal production, the motor control parameters are switched to the high rigidity control parameters set on the basis of the high rigidity of the X-axis slide mechanism during normal production. It is possible to control to switch to the control parameter for low stiffness set based on the low stiffness of the X-axis slide mechanism at the time of production across the parameters, and normal production while ensuring the positioning accuracy of the work head at the time of production It is possible to shorten the mounting cycle time and improve the productivity during normal production.

  By the way, in a system configured so that the component suction nozzle or dispenser held by the work head can be replaced with a different type, if the component suction nozzle or dispenser is replaced with a different weight, the weight on the work head side changes. The inertia acting on the X-axis slide mechanism also changes.

  In consideration of this point, in a system configured such that the component suction nozzle or dispenser held in the work head can be replaced with a different type, the motor is controlled according to the weight of the component suction nozzle or dispenser held in the work head. The parameters may be switched. In this way, when the weight of the work head changes when the component suction nozzle or dispenser is replaced with a different one, the motor control parameters are adjusted to match the work head weight (inertia). Since it is possible to switch, even if the weight on the work head side changes due to replacement of the component suction nozzle and dispenser, it is possible to improve the productivity during normal production while ensuring the positioning accuracy of the work head during straddling production it can.

  Further, considering that the inertia acting on the X-axis slide mechanism increases as the distance between the fulcrum supporting the X-axis slide mechanism and the position of the work head increases, the fulcrum supporting the X-axis slide mechanism The control parameter of the motor may be switched according to the distance from the position of the working head. In this way, it is possible to switch the motor control parameter to a more appropriate control parameter in response to the change of the inertia due to the movement of the work head during the span production or the normal production.

Hereinafter, an embodiment embodying the best mode for carrying out the present invention will be described.
First, the configuration of the modular component mounting system will be described with reference to FIG.
A plurality of mounting machine modules 12 are arranged on the base table 11 of the module type component mounting system so as to be adjacent to each other in the circuit board conveyance direction. Each mounting machine module 12 is configured by mounting a component supply device 14, a circuit board transport device 15, a component imaging device 16, a component mounting device 17, and the like on a main body bed 13. An operation panel unit 19 is provided. The circuit boards are sequentially conveyed by the circuit board conveying device 15 of each mounting machine module 12 and the components are mounted on the circuit board by the component mounting device 17.

Next, the configuration of the component mounting device 17 will be described with reference to FIGS.
2 is a perspective view showing an XY-axis moving device that moves the work head 22 in the XY-axis direction. FIG. 3 is an assembly of the work head 22 to the second X-axis slide 42 of the X-axis slide mechanism 23. FIG. 4 is a cross-sectional view illustrating the configuration of the X-axis slide mechanism 23, FIG. 5 is a perspective view illustrating the configurations of the Y-axis slide mechanism 24 and the X-axis slide mechanism 23, and FIG. (B) is a figure explaining the relationship between the movement range of the X-axis slide mechanism 23 and the working head 22 at the time of normal production, and the width | variety of the mounting machine module 12, FIG.6 (c), (d) is straddle. It is a figure explaining the relationship between the movement range of the X-axis slide mechanism 23 and the working head 22, and the width | variety of the mounting machine module 12 at the time of production.

  As shown in FIGS. 2 and 3, the component mounting device 17 includes a rotary work head 22 that holds a plurality of component suction nozzles 21 (or dispensers) in a replaceable manner, and transports the work head 22 to a circuit board. An X-axis slide mechanism 23 that moves in a direction (hereinafter, this direction is defined as “X-axis direction”), and the X-axis slide mechanism 23 together with the work head 22 in the Y-axis direction (direction orthogonal to the circuit board transport direction). A Y-axis slide mechanism 24 that is moved to the position of the head and a nozzle lifting / lowering mechanism 53 that lifts and lowers the component suction nozzle 21 of the work head 22 during the component suction operation and mounting operation.

  The Y-axis slide mechanism 24 drives the Y-axis slide 33 along the Y-axis guide 34 by rotating the Y-axis ball screw 32 by the Y-axis motor 31 attached to the upper frame 18 side of the mounting machine module 12. It is configured to slide in the axial direction (see FIG. 5).

  On the other hand, as shown in FIGS. 4 and 5, the X-axis slide mechanism 23 is a two-stage slide mechanism in which two X-axis slides 41 and 42 are combined, and guides the first X-axis slide 41 in the X-axis direction. By attaching the first guide 43 and the first X-axis motor 44 to the support plate 33a fixed perpendicularly to the Y-axis slide 33, the first X-axis ball screw 45 is rotationally driven by the first X-axis motor 44. The first X-axis slide 41 is configured to slide along the first guide 43 in the X-axis direction. Then, a second guide 46 for guiding the second X-axis slide 42 in the X-axis direction and a second X-axis motor 47 are attached to the first X-axis slide 41, and the second X-axis motor 47 rotates and drives the second X-axis ball screw 48. Thus, the second X-axis slide 42 is configured to slide in the X-axis direction along the second guide 46.

  As shown in FIG. 3, the work head 22 is rotatably assembled to a support bracket 51 fixed to the second X-axis slide 42, and a component suction nozzle 21 around the central axis of the work head 22 by a head rotation motor 54. The arrangement pitch angle is intermittently rotated. A plurality of nozzle holders 55 that hold the component suction nozzle 21 are assembled to the work head 22 so as to be movable up and down (Z-axis direction). One nozzle holder 55 (component suction nozzle 21) is moved up and down by a nozzle lifting mechanism 53 using a nozzle lifting motor 52 (Z-axis motor) as a drive source.

  The X-axis slide mechanism 23, the Y-axis slide mechanism 24, the first X-axis motor 44, the second X-axis motor 47, the Y-axis motor 31, the nozzle lift motor 52 (Z-axis motor) and the head that drive the X-axis slide mechanism 23, the nozzle lift mechanism 53 described above. The rotation motor 54 is controlled by a control device (computer) that controls each device of the mounting machine module 12.

  Next, the relationship between the movement range of the two X-axis slides 41 and 42 of the X-axis slide mechanism 23 and the work head 22 and the width of the mounting machine module 12 in the X-axis direction will be described with reference to FIG. In the following description, the term “width” simply means “width in the X-axis direction”.

  In FIG. 6, AA shows the side surface of one mounting machine module 12, and the width of one mounting machine module 12 is AA-AA. In “normal production” when the circuit board is within the width (AA-AA) of one mounting machine module 12, as shown in FIGS. 6A and 6B, the movement range of the first X-axis slide 41 is as follows. Is within the width (AA-AA) of one mounting machine module 12, and the movement range of the second X-axis slide 42 supported by the first X-axis slide 41 and the work head 22 is that of one mounting machine module 12. Fits within the width (AA-AA).

  On the other hand, a large circuit board is positioned across adjacent mounting machine modules 12, and the mounting operation is performed with only one mounting machine module 12 on the large circuit board. 6 (c) and (d), the movement range of the first X-axis slide 41 is expanded more than the width (AA-AA) of one mounting machine module 12, The movement range of the second X-axis slide 42 supported by the first X-axis slide 41 and the work head 22 is expanded to the work area of the adjacent mounting machine module 12.

  In the modular component mounting system having such a configuration, the state in which the X-axis slide mechanism 23 is extended to the work area of the adjacent mounter module 12 at the time of straddling production (that is, from the fulcrum supporting the X-axis slide mechanism 23 to the work head 22). In this state, the work head 22 is moved at high speed in the Y-axis direction, and the inertia (moment of inertia) acting on the X-axis slide mechanism 23 increases. For this reason, when positioning the work head 22 during the production process, the rigidity of the X-axis slide mechanism 23 is insufficient with respect to the inertia, the X-axis slide mechanism 23 vibrates, and the positioning accuracy of the work head 22 is poor. turn into.

  As a countermeasure, if the structure of the X-axis slide mechanism 23 is increased, it is inevitable that the X-axis slide mechanism 23 and its support structure (Y-axis slide mechanism 24) are increased in size and weight. It cannot meet the demand for downsizing and compacting.

  On the other hand, during normal production in which the circuit board is within the width of one mounting machine module 12, the movement range of the working head 22 is within the single mounting machine module 12, so that the working head starts from the fulcrum of the X-axis slide mechanism 23. Overhang up to 22 is shortened. For this reason, during normal production, the inertia acting on the X-axis slide mechanism 23 is smaller than during straddling production, and the problem of deterioration in positioning accuracy of the work head 22 due to inertia does not occur.

  In the conventional modular component mounting system, the same control parameters as in the cross production are used even during the normal production, and thus the movement speed and acceleration of the work head 22 are excessively limited during the normal production. As a result, there is a drawback that the mounting cycle time during normal production is extended and the productivity is lowered.

  Therefore, in the present embodiment, the control device (computer) of the mounting machine module 12 produces the production shown in FIG. 7 for the purpose of achieving both productivity improvement during normal production and ensuring the positioning accuracy of the work head during span production. By executing the control program, the control parameters of the Y-axis motor 31 that drives the work head 22 in the Y-axis direction and the nozzle lifting / lowering motor 52 (Z-axis motor) can be set for each production method during straddling production and normal production. The control parameter is switched to a suitable one. Here, the control parameter is mainly at least one of acceleration, servo gain, torque filter coefficient, and the like. It should be noted that the control parameters of the first X-axis motor 44 and the second X-axis motor 47 that drive the work head 22 in the X-axis direction are switched to control parameters suitable for each production method during the straddling production and the normal production. May be.

  The production control program in FIG. 7 is activated every time the production method is switched between the cross production and the normal production, and plays a role as a control means in the scope of the claims. When this program is started, first, at step 101, it is determined whether or not the moving range of the work head 22 is the cross production that is expanded to the work area of the adjacent mounting machine module 12. This determination is made based on a position command signal (target position) for the first X-axis motor 44 that drives the first X-axis slide 41 of the X-axis slide mechanism 23, or the encoder (rotation) of the first X-axis motor 44. The output pulse of the position detecting means) may be counted to detect and determine the position of the first X-axis slide 41. Of course, a sensor for detecting the position of the first X-axis slide 41 may be provided separately.

  If it is determined in step 101 that the production is straddling, the process proceeds to step 102, and control parameters for the Y-axis motor 31 and the nozzle lifting / lowering motor 52 (Z-axis motor) for driving the work head 22 in the Y-axis direction are used during normal production. The control parameter having a lower rigidity is selected, and the process proceeds to step 105, where the straddling production is executed using the control parameter for the lower rigidity.

  On the other hand, if it is determined in step 101 above that the production is not the cross production but the normal production, the process proceeds to step 103 and the control parameters of the Y-axis motor 31 and the nozzle lifting / lowering motor 52 (Z-axis motor) are used during the cross production. The control parameter having higher rigidity is selected, and the process proceeds to Step 104, and normal production is executed using the control parameter for high rigidity.

  According to the present embodiment described above, during normal production, the control parameters of the Y-axis motor 31 and the nozzle lifting / lowering motor 52 (Z-axis motor) are set based on the high rigidity of the X-axis slide mechanism 23 during normal production. It is possible to switch to the control parameter for high rigidity and switch to the control parameter for low rigidity set on the basis of the low rigidity of the X-axis slide mechanism 23 at the time of production. In addition, while ensuring the positioning accuracy of the work head 22 at the time of straddling production, the mounting cycle time at the normal production can be shortened, and the productivity at the normal production can be improved.

  By the way, as shown in FIGS. 6C and 6D, all of the first X-axis slide 41, the second X-axis slide 42, and the work head 22 project to the work area of the adjacent mounting machine module 12 during the cross production. In some cases, the second X-axis slide 42 and the work head 22 are positioned within the width (AA-AA) of the mounter module 12 only by projecting the first X-axis slide 41 to the work area of the adjacent mounter module 12. In the latter case, the inertia acting on the X-axis slide mechanism 23 is smaller than in the former case.

  In consideration of this point, the case where the second X-axis slide 42 and the work head 22 are positioned within the width (AA-AA) of the mounting machine module 12 and the width of the mounting machine module 12 (AA-AA) at the time of the cross production. The control parameters of the Y-axis motor 31 and the nozzle lifting / lowering motor 52 (Z-axis motor) may be switched to control parameters suitable for the respective inertias when overhanging. Alternatively, the control parameter may be changed according to the position of the work head 22 in the X-axis direction.

  By the way, in the system configured such that the component suction nozzle 21 or the dispenser held by the work head 22 can be replaced with a different type, the weight on the work head 22 side when the component suction nozzle 21 or the dispenser is replaced with a different one. Changes, and the inertia acting on the X-axis slide mechanism 23 also changes.

  In consideration of this point, in a system configured such that the component suction nozzle 21 or dispenser held in the work head 22 can be replaced with a different type, according to the weight of the component suction nozzle 21 or dispenser held in the work head 22 Thus, the control parameters of the motors 31 and 52 may be switched. In this way, when the component suction nozzle 21 or the dispenser is replaced with a different one and the weight on the work head 22 side changes, the control parameters of the motors 31 and 52 are changed to the weight (inertia) on the work head 22 side. Therefore, even if the weight on the work head 22 side changes due to replacement of the component suction nozzle 21 or the dispenser, it is possible to perform normal production while ensuring the positioning accuracy of the work head 22 at the time of straddling production. The productivity of time can be improved.

  In consideration of the fact that the inertia acting on the X-axis slide mechanism 23 increases as the distance between the fulcrum supporting the X-axis slide mechanism 23 and the position of the work head 22 increases, the X-axis slide mechanism 23 is The control parameters of the motors 31 and 52 may be switched according to the distance between the supporting fulcrum and the position of the work head 22. In this way, the control parameters of the motors 31 and 52 can be switched to more appropriate control parameters in response to the change of the inertia due to the movement of the work head 22 at the time of straddling production or normal production.

  The present invention is not limited to the rotary work head 22, and may be configured to use a work head that holds only one component suction nozzle or dispenser, or may be configured to move the work head in the Z-axis direction. .

  In addition, the present invention can be implemented with various changes such as the configuration of the X-axis slide mechanism 23 and the Y-axis slide mechanism 24 may be appropriately changed.

It is a perspective view which shows the structure of the module type component mounting system in one Example of this invention. It is a perspective view which shows the XY-axis movement apparatus which moves a working head to a XY-axis direction. It is a perspective view which shows the assembly structure of the working head with respect to the 2nd X-axis slide of an X-axis slide mechanism. It is a cross-sectional view showing the configuration of the X-axis slide mechanism. It is a perspective view explaining the structure of a Y-axis slide mechanism and an X-axis slide mechanism. (A), (b) is a figure explaining the relationship between the X-axis slide mechanism at the time of a normal production, the movement range of the working head of the X-axis direction, and the width | variety of a mounting machine module, (c), (d) These are the figures explaining the relationship between the movement range of the X-axis direction of an X-axis slide mechanism and a work head at the time of straddling production, and the width | variety of a mounting machine module. It is a flowchart which shows the flow of a process of a production control program.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11 ... Base stand, 12 ... Mounting machine module, 14 ... Component supply apparatus, 15 ... Circuit board conveying apparatus, 16 ... Component imaging apparatus, 17 ... Component mounting apparatus, 21 ... Component adsorption nozzle, 22 ... Work head, 23 ... X Axis slide mechanism, 24 ... Y axis slide mechanism, 31 ... Y axis motor, 33 ... Y axis slide, 41 ... first X axis slide, 42 ... second X axis slide, 44 ... first X axis motor, 47 ... second X axis motor , 54... Head rotation motor, 55... Nozzle holder, 52.

Claims (6)

A plurality of mounting machine modules having work heads for holding component suction nozzles or dispensers are aligned and arranged adjacent to the circuit board transport direction, and the circuit boards are sequentially transported to each mounting machine module and components are mounted on the circuit boards. In the modular component mounting system for mounting
The X-axis slide mechanism that moves the working head of each mounting machine module in the circuit board conveyance direction (hereinafter, this direction is defined as “X-axis direction”) is a large-sized one that is located across adjacent mounting machine modules. Two X-axis slides so that the work head can be moved to the work area of the adjacent mounter module in order to be able to execute “cross production” in which only one mounter module is operated on the circuit board. Is a two-stage slide mechanism, and is configured such that one X-axis slide that supports the work head during the span production is slid to a working area of the adjacent mounting machine module,
Control means for controlling each motor for driving the working head in the X-axis, Y-axis, and Z-axis directions;
The control means determines whether the production method to be switched according to a production control program is the cross production or the normal production in which the circuit board is within the width of one mounting machine module, and sets a control parameter of at least one motor of each motor. with switching by the straddling and during production the the normal production, during its switching, the straddle during production, the rigidity of the X-axis slide mechanism is set in consideration that it is lower than that during the normal production Switching to a control parameter for low rigidity, and switching to a control parameter for high rigidity set in consideration of the fact that the rigidity of the X-axis slide mechanism is higher than that at the time of straddling production during the normal production. A modular component mounting system. The component suction nozzle or dispenser held in the working head is configured to be exchangeable with a different type,
2. The modular component mounting system according to claim 1, wherein the control unit switches a control parameter of the motor in accordance with a weight of a component suction nozzle or a dispenser held by the work head.   3. The module type according to claim 1, wherein the control unit switches a control parameter of the motor in accordance with a distance between a fulcrum supporting the X-axis slide mechanism and a position of the working head. Component mounting system. A plurality of mounting machine modules having work heads for holding component suction nozzles or dispensers are aligned and arranged adjacent to the circuit board transport direction, and the circuit boards are sequentially transported to each mounting machine module and components are mounted on the circuit boards. In the control method of the modular component mounting system for mounting
The X-axis slide mechanism that moves the working head of each mounting machine module in the circuit board conveyance direction (hereinafter, this direction is defined as “X-axis direction”) is a large-sized one that is located across adjacent mounting machine modules. Two X-axis slides so that the work head can be moved to the work area of the adjacent mounter module in order to be able to execute “cross production” in which only one mounter module is operated on the circuit board. Is a two-stage slide mechanism, and is configured such that one X-axis slide that supports the work head during the span production is slid to a working area of the adjacent mounting machine module,
It is determined whether the production method to be switched according to the production control program is the cross production or the normal production in which the circuit board is within the width of one mounting machine module, and each of the drive heads is driven in the X-axis, Y-axis, and Z-axis directions. The control parameter of at least one of the motors is switched between the straddling production and the normal production, and at the time of the switching , the rigidity of the X-axis slide mechanism is changed during the normal production. Switch to the control parameter for low rigidity set in consideration of lowering, and in the normal production, set in consideration that the rigidity of the X-axis slide mechanism is higher than in the straddling production A control method for a modular component mounting system, wherein the control parameter is switched to a control parameter for high rigidity . The component suction nozzle or dispenser held in the working head is configured to be exchangeable with a different type,
2. The control method for a modular component mounting system according to claim 1, wherein the control parameter of the motor is switched according to the weight of a component suction nozzle or dispenser held in the work head.   6. The control of the modular component mounting system according to claim 4, wherein the control parameter of the motor is switched according to a distance between a fulcrum supporting the X-axis slide mechanism and a position of the work head. Method.

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