JP4913518B2 - Parts supply device - Google Patents

Description

  According to the present invention, a component storage unit for storing electronic components on a carrier tape is sequentially fed in a state where a storage tape formed with a predetermined interval is wound around a storage tape reel, and intermittently fed by a drive source to a component extraction position. A tape feeder, a suppressor for holding the storage tape from above to guide intermittent feeding by the tape feeder, and a cover tape peeling for peeling the cover tape of the storage tape from the carrier tape in front of the component take-out position The present invention relates to a component supply device including a mechanism.

Generally, when the cover tape is peeled off, the electronic component tends to move upward due to static electricity, and this is prevented by pressing from above with a suppressor (see, for example, Patent Document 1).
JP 2006-186078 A

  However, with the recent increase in the speed of the electronic component feeding operation, vibration occurs in the electronic component, and the position of the electronic component in the component storage unit sent to the component extraction position becomes irregular.

  Accordingly, an object of the present invention is to provide a component supply device that can stably take out an electronic component while preventing vibration of the electronic component as much as possible during the feeding operation of the electronic component.

For this reason, the first aspect of the present invention provides a drive source that sequentially feeds out a storage tape in which a component storage section for storing an electronic component on a carrier tape is wound around a storage tape reel, with a predetermined interval. A tape feeding device that intermittently feeds the tape, a suppressor that guides the intermittent feeding by the tape feeding device by pressing the storage tape from above, and a cover tape for the storage tape that is peeled off from the carrier tape in front of the component extraction position In the component supply apparatus equipped with the cover tape peeling mechanism, the constant acceleration region and the constant deceleration region when intermittently feeding are respectively smooth drive waveforms, and the drive waveform whose absolute value of the constant deceleration is smaller than the constant acceleration And generating means for issuing a control command such that the driving source is controlled based on the control command from the generating means. Characterized in that a control means

According to a second aspect of the present invention, a component storage portion for storing electronic components on a carrier tape is sequentially fed out in a state where a storage tape formed with a predetermined interval is wound around a storage tape reel, and intermittently by a drive source to a component extraction position. A tape feeding device that feeds, a suppressor that guides intermittent feeding by the tape feeding device by pressing the housing tape from above, and a cover for peeling the cover tape of the housing tape from the carrier tape in front of the component extraction position In a component supply apparatus equipped with a tape peeling mechanism, when intermittent feeding is performed, the drive waveform is composed of a constant acceleration region, a subsequent constant velocity region, and a subsequent constant deceleration region, and the start of the constant deceleration emitting a control command such that the drive waveform entire electronic component to send the time does not reach the Created component removal opening in the suppressor That the generating means, characterized in that a control means for controlling driving of the driving source based on the control command from the generation means.

  The present invention can provide a component supply device that can stably take out an electronic component while preventing vibration from occurring as much as possible during the feeding operation of the electronic component.

  Hereinafter, an electronic component mounting apparatus including a component supply apparatus and an electronic component mounting apparatus main body will be described with reference to the accompanying drawings. This electronic component mounting apparatus is a multifunctional chip mounter that is a so-called high-speed gantry mounting apparatus, and various electronic components can be mounted on the printed circuit board P.

  FIG. 1 is a plan view of an electronic component mounting apparatus. An electronic component mounting apparatus main body 1 includes a machine base 2, a conveyor unit 3 extending in the left-right direction at the center of the machine base 2, and a front of the machine base 2. Two sets of component mounting portions 4 and 4 and two sets of component supply portions 5 and 5 are provided respectively at a portion (lower side in the drawing) and a rear portion (upper side in the drawing). Then, a plurality of component supply units 6 that are electronic component supply devices are detachably incorporated in the component supply unit 5 to constitute an electronic component mounting device.

  The conveyor unit 3 includes a center set table 8, a supply conveyor 9 on the left side, and a discharge conveyor 10 on the right side. The printed circuit board P is supplied from the supply conveyor 9 to the set table 8, and is fixedly set at a predetermined height so as to receive the electronic component D mounted on the set table 8. Then, the printed circuit board P on which the mounting of the electronic component D is completed is discharged from the set table 8 to the downstream device via the discharge conveyor 10.

  Each component mounting portion 4 is provided with an XY stage 12 on which a head unit 13 is movably mounted, as well as a component recognition camera 14 and a nozzle stocker 15. The head unit 13 is equipped with two mounting heads 16 and 16 for sucking and mounting the electronic component D, and one substrate recognition camera 17 for recognizing the position of the printed circuit board P. Normally, the XY stages 12 and 12 of both the component mounting parts 4 and 4 are alternately operated.

  In each XY stage 12, the beam 12A is moved in the Y direction by the Y axis drive motor, and the head unit 13 is moved in the X direction by the X axis drive motor 12X. As a result, the head unit 13 is moved in the XY direction. Become.

  As will be described later, each component supply unit 5 includes a number of component supply units 6 on a feeder base 19 that are detachable side by side. Each component supply unit 6 is equipped with a storage tape C, which will be described later, in which a large number of electronic components D are stored in each storage portion Cd of the carrier tape Cc at regular intervals. By intermittently feeding the storage tape C, One electronic component D is supplied from the tip of the component supply unit 6 to the component mounting unit 4 one by one.

  In the operation based on the mounting data stored in the RAM 81 of the electronic component mounting apparatus main body 1, first, the XY stage 12 is driven to bring the head unit 13 to the component supply unit 6, and then the suction nozzle 18 provided on the mounting head 16. The desired electronic component is picked up (taken out) by lowering. Subsequently, after the mounting head 16 is raised, the XY stage 12 is driven to move the electronic component to a position directly above the component recognition camera 14 to recognize the suction posture and the positional deviation with respect to the suction nozzle 18. Next, after the mounting head 16 is moved to the position of the board P on the set table 8 and the position of the board P is recognized by the board recognition camera 17, based on the recognition result by the component recognition camera 14 and the board recognition camera 17, The X-axis drive motor 12X, the Y-axis motor 12Y of the XY stage 12 and the θ-axis motor 18A of the suction nozzle 18 are corrected and moved to mount electronic components on the printed circuit board P.

  Next, the component supply unit 6 will be described with reference to FIGS. The component supply unit 6 is sequentially fed out in a state of being wound around a unit frame 21 formed with a guide surface for guiding the carrier tape Cc while sliding, and a storage tape reel mounted on a cart (not shown). A tape feeding mechanism (tape feeding device) 22 that intermittently feeds the stored storage tape C to the pickup position (suction take-out position) of the electronic component, and the cover tape Ca of the storage tape C is peeled off from the carrier tape Cc before the pickup position. And a cover tape peeling mechanism (not shown).

  The storage tape C fed out from the storage tape reel is fed to the component extraction position so as to lie under the suppressor 23. The suppressor 23 has an opening 24 for pickup by the suction nozzle 18. A slit 25 is formed in the suppressor 23, and the cover tape Ca of the storage tape C is peeled off from the slit 25 and stored in the storage portion 26. That is, the electronic component mounted on the storage tape C is sent to the pickup position (component extraction position) with the cover tape Ca peeled off, and is picked up by the suction nozzle 18 through the pickup opening 24. Become.

  Next, the tape feeding mechanism 22 will be described with reference to FIG. The tape feeding mechanism 22 includes a servomotor 28 that is a drive source capable of forward and reverse rotation having a gear 27 on its output shaft, and a gear 30 in which a timing belt 29 is stretched between the gear 27 at one end. A feed shaft formed on the storage tape C and having a rotating shaft 33 rotatably supported by a support 31 via a bearing 32 and a worm wheel 35 meshing with a worm gear 34 provided at an intermediate portion of the rotating shaft 33. The sprocket 36 is configured to mesh with the hole Cb and send it. The worm wheel 35 and the support shaft 37 of the sprocket 36 pass through the intermediate partition of the unit frame 21.

  Accordingly, when the servo motor 28 is driven to rotate in order to supply the electronic components in the storage tape C in the component supply unit 6, the gear 27 and the gear 30 are rotated via the timing belt 29, so that only the rotation shaft 33 is rotated. The sprocket 36 rotates and rotates intermittently at a predetermined angle in the feed direction via the worm gear 34 and the worm wheel 35, whereby the storage tape C is intermittently fed through the feed hole Cb.

  Further, as shown in FIG. 3, the suppressor 23 has a cross-section generally extending from a vertical piece 23A serving as a support portion and a horizontal piece 23B that holds the storage tape C engaged with the teeth of the sprocket 36 so that the feed hole Cb is engaged. It has an L-shape and is locked to the unit frame 21. When the locking is released, the vertical piece 23A is supported so as to be rotatable about a rear support shaft.

  That is, a swinging piece 42 that can be swung in a clockwise direction by a spring 40 that is a biasing body supported at the lower end of the frame 21 via a support shaft 41 supported by the frame 21 and can be swung. The swing piece 42 is connected to the vertical piece 23A of the suppressor 23 via a pin 43 so as to be swingable. Therefore, as will be described later, when the front portion of the suppressor 23 is unlocked, the oscillating piece 42 oscillates clockwise via the support shaft 41 by the urging force of the spring 40, and the oscillating piece 42 and the suppressor 23 is connected via a pin 43, so that the suppressor 23 is also swung in the clockwise direction by the swinging of the swinging piece 42. The rear portion of the suppressor 23 (right side in FIG. 3) is always supported on the support shaft. It urges | biases below so that it may rock | fluctuate clockwise via 41.

  Further, at the front end portion of the component supply unit 6, the spring 50 whose rear end is supported by the frame 21 is urged and swung clockwise by a support shaft 51 supported by the frame 21. An oscillating piece 52 is provided, and the oscillating piece 52 and an engaging piece 53 having an engaging pin 55 at the upper end are rotatably connected via a pin 54 and wound around the pin 54. One end of the torsion spring (not shown) is engaged with the engagement piece 53 and the other end is engaged with the support shaft 51, and the engagement piece 53 is urged to rotate counterclockwise by the torsion spring. Yes.

Since the spring 50 urges the swinging piece 52 to rotate clockwise, the locking piece 53 is urged downward, and the front end of the vertical piece 23A of the suppressor 23 is applied to the locking pin 55. When the locking portion 56 is locked, the front portion (left portion in FIG. 3) of the suppressor 23 is biased downward, and the entire suppressor 23 is biased downward at both the front and rear portions together with the rear portion described above. As shown in FIG. 4, when the operator presses the swing piece 52 against the urging force of the spring 50, the swing piece 52 swings counterclockwise around the support shaft 51 and is locked. The piece 53 moves obliquely upward to release the locking between the locking pin 55 and the locking portion 56, and the suppressor 23 swings clockwise via the support shaft 41 by the urging force of the spring 40. In this way, by opening the suppressor 23, it becomes easy to load the storage tape C into the component supply unit 6.

Next, a control block diagram of the electronic component mounting apparatus main body 1 and the component supply unit 6 in FIG. 7 will be described. An MH is a microcomputer, which is a CPU (Central Processing Unit) 80 as a control device that performs overall control of operations related to taking out and mounting electronic components of the electronic component mounting device, and a RAM (Random Access Memory) as a storage device. ) 81 and a ROM (Read Only Memory) 82. Then, based on the data stored in the RAM 81, the CPU 80 operates in accordance with the program stored in the ROM 82 with respect to operations related to taking out and mounting the electronic component of the electronic component mounting apparatus via the interface 83 and the drive circuit 84. Oversee and control.

In the RAM 81, for each step number (mounting order), mounting data including an X coordinate, a Y coordinate, a mounting angle, a component arrangement number in the component supply unit 5 and the like, an X size, a Y size, and a use suction for each electronic component are stored. Stored is part library data including nozzle 18 numbers and the like.

A recognition processing device 85 is connected to the CPU 80 via an interface 83, and recognizes an image captured and captured by the component recognition camera 14 and an image captured and captured by the board recognition camera 17. Recognition processing is performed by the recognition processing device 85, and the processing result is sent to the CPU 80. That is, the CPU 80 outputs an instruction to the recognition processing device 85 to perform recognition processing (calculation of misalignment amount, etc.) on the image captured by the component recognition camera 14 or recognition processing of the image captured by the board recognition camera 17. In addition, the recognition processing result is received from the recognition processing device 85.

  That is, when the amount of positional deviation is grasped by the recognition processing of the recognition processing device 85, the result is sent to the CPU 80, and based on the result of the component recognition processing and the board recognition processing, the CPU 80 performs the X-axis motor 12X and the Y-axis motor 12Y. The suction nozzle 18 is moved in the X and Y directions by this driving, and is rotated by θ by the θ axis motor 18A, and the rotational angular position about the X and Y directions and the vertical axis is corrected.

MT is a microcomputer provided in the component supply unit 6 that intermittently feeds the storage tape C by the servo motor 28 of the tape feed mechanism 22. The CPU 90 is mounted on a printed circuit board (not shown) built in the component supply unit 6. A RAM 91 and a ROM 92. Reference numeral 93 denotes a drive control circuit of the servo motor 28 connected to the CPU 90 via an interface 94, and 95 denotes an encoder of the servo motor 28. The CPU 90 provided in the component supply unit 6 is connected to the CPU 80 provided in the electronic component mounting apparatus main body 1 via the interfaces 94 and 83.

Next, the drive control circuit 93 will be described in detail with reference to FIG. First, since an electronic component loaded in the storage tape C at the time of feeding is triggered by a speed change point, an S-shaped drive is adopted to reduce this influence. That is, in the change region between the constant acceleration region and the constant velocity region, and in the change region between the constant velocity region and the constant deceleration region, the conventional feed driving waveform shown in FIG. Generation of an S-shaped control command value is generated that generates a speed command value such that the corner of the trapezoidal shape of the speed command value represented by (time, vertical axis is speed) changes smoothly.

First, the drive control circuit 93 mainly includes three control units: a position control unit 100, a speed control unit 101, and a current control unit 102. Each control unit is executed at a cycle of a constant interval, but the lower control loops of the speed control unit 101 and the current control unit 102 are executed at a shorter cycle.

The position detection unit 103 converts the feedback signal from the encoder 95 into position data and outputs it to the speed detection unit 104. The speed detection unit 104 calculates speed data by subtracting the position data. On the other hand, the position control unit 100 performs position control using the position command value from the position command generation unit 105 and the position data output from the position detection unit 103, and outputs a speed command value. The speed control unit 101 calculates a current command value from the speed command value output from the position control unit 100 and the speed data output from the speed detection unit 104. The current control unit 102 controls the current value so that the current command value output from the speed control unit 101 matches the current value flowing through the servo motor 28.

Further, the position command creating unit 105 stores the speed command value for the feeding of the storage tape C so as to be an asymmetric trapezoidal speed command value composed of a constant acceleration region, a constant speed region, and a constant deceleration region. A command value per control cycle is calculated based on the feed pitch amount of the tape C (speed command value generation step). This speed command value generation step includes an S-shaped control command value generation step for performing so-called S-shaped control processing so that the above-described constant acceleration region and constant deceleration region are each in a smooth S shape (see FIG. 9 (b)). Thereafter, this S-shaped control command value is output to the position control unit 100.

In the feed drive waveform shown in FIG. 9A, the feed operation time becomes long, but the electronic component rampage suppression effect is great.

With the above configuration, the mounting operation of the electronic component D of the electronic component mounting apparatus will be described. The CPU 90 of the component supply unit 6 performs an initialization process and outputs a ready signal to the CPU 80 of the electronic component mounting apparatus main body 1. The supply unit 6 notifies the electronic component mounting apparatus body 1 that the storage tape C can be fed.

The CPU 80 outputs a feed signal for controlling the component feed operation of the component supply unit 6 based on the mounting data stored in the RAM 81. The CPU 90 receiving this feed signal stops the output of the ready signal, turns the servo motor 26 in the servo-on state (the servo motor 26 is energized) via the drive circuit 93, and feeds the components of the storage tape C. The operation is carried out, the drive of the servo motor 26 is started, the gear 25 and the gear 28 are rotated, the rotating shaft 31 is rotated, and the sprocket 34 is intermittently rotated by a predetermined angle in the feed direction via the worm gear 32 and the worm wheel 33. By doing so, the storage tape C is intermittently fed through the feed hole Cb.

When this tape feed mechanism 22 is driven, the cover tape peeling mechanism peels (peels) the cover tape Ca for one intermittent feed in synchronism with this. Subsequently, when the tape feeding mechanism 22 and the cover tape peeling mechanism are stopped, the electronic component D sent to the component take-out position is stopped. Then, the electronic component D is picked up through the pickup opening 24 by the suction nozzle 18, and the next intermittent feeding of the storage tape C and the peeling of the cover tape Ca are performed again.

Even in the servo-off state (the servo motor 26 is de-energized, that is, the servo motor 26 is de-energized), the position of the servo motor 26 is monitored under the monitoring by the encoder 95, and after the servo is turned on. Positional control of the servo motor 26 is maintained until the completion of component suction by establishing a normal position feed by adding a shift amount at the servo-off time to the predetermined amount of rotation.

  When the servo motor 26 is moved to a predetermined position by the encoder 95, the CPU 90 outputs a ready signal to the CPU 80 of the electronic component mounting apparatus main body 1 based on the signal from the encoder 95, and the component supply unit 6 stores it. When the electronic component mounting apparatus main body 1 is informed that the tape C can be fed and the CPU 80 inputs a ready signal in the electronic component mounting apparatus main body 1, the CPU 80 drives the XY stage 12 to move the head unit 13 to the component. After facing the supply unit 6, the mounting head 16 is lowered and a desired electronic component is picked up by the suction nozzle 18.

The electronic component D sucked and held by the suction nozzle 18 is mounted on the printed circuit board P, but the details are omitted here.

Note that the ramp of the electronic components loaded in the storage tape C during feeding is triggered by the speed change point. To reduce this influence, the servo motor 28 is controlled by the drive control circuit 93 to be S-shaped. Drive is done. That is, in the change region between the constant acceleration region and the constant velocity region, and the change region between the constant velocity region and the constant deceleration region, a conventional isosceles trapezoidal feed driving waveform ((a) in FIG. 9). Is generated as a drive waveform in which the constant acceleration region and the constant deceleration region are asymmetric, and the asymmetric trapezoidal corners change smoothly (see (a) of FIG. 9). The S-shaped control command value is generated.

  More specifically, the position control unit 100 performs position control using the position command value from the position command creation unit 105 and the position data output from the position detection unit 103, and outputs the speed command value to the speed control unit 101. Further, since the position detection unit 103 converts the feedback signal from the encoder 95 into position data and outputs the position data to the speed detection unit 104, the speed detection unit 104 calculates the speed data by subtracting the position data, and the speed control unit 101. Since the speed control unit 101 calculates a current command value from the speed command value output from the position control unit 100 and the speed data output from the speed detection unit 104 and outputs the current command value to the current control unit 102, the current control unit 102 The current value is controlled so that the current command value output from the speed control unit 101 matches the current value flowing through the servo motor 28.

At this time, in the position command creation unit 105, the speed command value for the feeding of the storage tape C is a speed command value in which the asymmetric trapezoidal corners composed of the constant acceleration region, the constant velocity region, and the constant deceleration region are smooth. Based on the feed pitch amount of the storage tape C, an S-shaped control command value per control cycle is calculated, and this S-shaped control command value is output to the position control unit 100.

Therefore, the servo motor 28 is controlled so that the absolute value of the constant deceleration is smaller than the constant acceleration shown in FIG. Therefore, it is possible to provide a component supply device that can stably take out an electronic component by preventing vibration of the electronic component as much as possible during the feeding operation of the electronic component.

  In addition, as described above, the speed command value for the feeding of the storage tape C is such that the asymmetric trapezoidal corner portion including the constant acceleration region, the constant speed region, and the constant deceleration region becomes a smooth speed command value. In this case, as shown in FIG. 9A, the feeding operation time may be longer, the same, or shorter than the conventional one.

The servo motor 28 is controlled so that it has an asymmetric trapezoidal shape composed of a constant acceleration region, a constant velocity region, and a constant deceleration region, and a feed drive waveform having a smaller absolute value of the constant deceleration than the constant acceleration. In this case, as shown in FIG. 9C, the conventional feeding operation time may be the same or longer.

Further, when the electronic component is not moved as much as possible during the feeding operation of the electronic component and the feeding operation time is shortened, the absolute value of the equal deceleration from the uniform acceleration shown in FIG. The servo motor 28 can also be controlled so that the constant driving time T1 at the maximum speed becomes longer than the time T2 in the conventional driving waveform. That is, the position command creating unit 105 stores the speed command value for the feeding of the storage tape C so that it becomes an asymmetric trapezoidal speed command value composed of a constant acceleration region, a constant speed region, and a constant deceleration region. A command value per control cycle is calculated based on the feed pitch amount of the tape C, and this control command value is output to the position control unit 100, so that the drive waveform shown in FIG. The servo motor 28 can also be controlled. In this case, control is performed so that the acceleration is steep and the deceleration is slow and the feed operation time is shortened, but the positional relationship between the drive waveform and the electronic component D to be sent is as shown in FIG.

  That is, the inclination angle at the time of deceleration is made slow, and at the point B that is the constant velocity start point that is reached from the point A that is the constant acceleration start point, the suppressor 23 passes through the pickup opening 24 of the electronic component D. The electronic component D is in a position where the electronic component D cannot be seen, and at the point C, which is the constant velocity end point and the constant deceleration start point, it is in a position where only a part can be seen from the pickup opening 24 of the electronic component D. However, the suppressor 23 suppresses the ramp of the electronic component D and moves slowly from this position toward the position where the deceleration is stopped (the position where the ramp of the electronic component D cannot be suppressed), and the electronic component is vibrated as much as possible. You can prevent it from happening.

  9 (a), (c), and (d), the maximum speed is assumed to be the same as that of the prior art. However, the present invention is not limited to this, and the maximum speed may be made larger than that of the prior art. The absolute value of deceleration can be further reduced.

  Further, as the electronic component mounting apparatus, a so-called multi-function chip mounter has been described as an example. However, the electronic component mounting apparatus is not limited to this and may be applied to a high-speed chip mounter such as a rotary table type.

  Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations can be made by those skilled in the art based on the above description, and the present invention is not limited to the various embodiments described above without departing from the spirit of the present invention. It encompasses alternatives, modifications or variations.

It is a top view of an electronic component mounting apparatus. It is a side view of a component supply unit. It is a principal part side view of a component supply unit. It is a principal part side view of the components supply unit at the time of opening a suppressor. It is a principal part top view of the components supply unit which shows cover tape peeling. It is a principal part vertical side view of the components supply unit which shows cover tape peeling. It is a control block diagram. It is a figure which shows a detailed drive control circuit. It is a drive waveform diagram of a servo motor. It is a figure which shows the positional relationship of a drive waveform and the electronic component sent.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electronic component mounting apparatus main body 6 Component supply unit 21 Frame 22 Tape feed mechanism 23 Suppressor 24 Opening 25 Slit 28 Servo motor 90 CPU
93 Drive Control Circuit C Storage Tape Ca Cover Tape Cc Carrier Tape Cd Storage Unit

Claims (2)

  A tape feeder that sequentially feeds out a storage tape in which a component storage section for storing electronic components on a carrier tape is wound around a storage tape reel, with a predetermined interval, and intermittently feeds it to a component extraction position by a drive source; A suppressor that presses the storage tape from above and guides intermittent feeding by the tape feeder, and a cover tape peeling mechanism for peeling the cover tape of the storage tape from the carrier tape before the component take-out position. In the component supply apparatus, a control command is issued so that the constant acceleration region and the constant deceleration region when intermittent feeding is a smooth drive waveform and a drive waveform having an absolute value of the constant deceleration smaller than the constant acceleration. Generating means and control means for controlling the driving of the drive source based on the control command from the generating means. Component supply device according to claim. A tape feeder that sequentially feeds out a storage tape in which a component storage section for storing electronic components on a carrier tape is wound around a storage tape reel, with a predetermined interval, and intermittently feeds it to a component extraction position by a drive source; A suppressor that presses the storage tape from above and guides intermittent feeding by the tape feeder, and a cover tape peeling mechanism for peeling the cover tape of the storage tape from the carrier tape before the component take-out position. In the component supply apparatus, when intermittent feeding is performed, the driving waveform is composed of a constant acceleration region, a subsequent constant velocity region, and a subsequent constant deceleration region, and the electronic component to be sent at the start of the constant deceleration Generating means for issuing a control command that results in a drive waveform that does not reach the part extraction opening established in the suppressor. Component supplying apparatus characterized in that a control means for controlling driving of the driving source based on the control command from the generation means.

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