JP5629426B2 - Mounting machine and head unit drive control method - Google Patents

Description

  The present invention relates to drive control for efficiently moving a head unit in a mounting machine that mounts the component on a substrate after the component is moved above the substrate by the head unit.

  Conventionally, after a head unit that sucks and holds a component such as an IC by a component mounting nozzle member moves above the mounting position of the substrate on which the component is to be mounted, the nozzle member descends to the substrate side to place the component on the substrate. A mounting machine to be mounted on is generally known. In such a mounting machine, there is a certain amount of variation in the position of the component when the component is attracted by the nozzle member, and it is required to correct the mounting position according to the displacement position of the component. Therefore, the suctioned component is recognized to detect a suction position shift with respect to the nozzle member, and if the component is abnormal, for example, a component having a lead, the lead breakage or the like is detected. As an image reading unit for performing such component recognition, for example, a method in which a line sensor is installed on a base of a mounting machine, and a head unit after component adsorption is moved onto the line sensor to capture a component image. Has been proposed (for example, Patent Document 1).

JP-A-8-153996 (FIG. 1)

  In the mounting machine described in Patent Document 1, after the component is sucked and held from the component supply unit by the nozzle member, the head unit moves in the X-axis direction at a predetermined recognition moving speed above the line sensor. The component images of the components attracted to the head unit during the movement are sequentially captured by the line sensor, and the mounting machine performs component recognition based on the captured image data. Then, after the recognition of the component is completed, the head unit is moved in the X-axis direction and the Y-axis direction, and is positioned above the earliest mounting position where the component is to be mounted first. Such a head unit is driven by controlling an X-axis drive unit having an X-axis servo motor and driving in the X-axis direction and a Y-axis drive unit having a Y-axis servo motor and driving in the Y-axis direction. To be executed. This shaft drive control is performed in a uniform drive control mode in a conventional mounting machine.

  In this type of mounting machine, improvement to increase the number of parts that can be processed per unit time is indispensable, and as a part of this, the moving time of the head unit from the recognition completion position to the position above the earliest mounting position is shortened. Technology is desired. Therefore, it is conceivable to simply increase the capabilities of the X-axis drive unit and the Y-axis drive unit, but this leads to an increase in size and cost of the X-axis servo motor and the Y-axis servo motor.

  The present invention has been made in view of the above problems, and in a mounting machine that moves the head unit above the first mounting position of the substrate after component recognition, the head unit is mounted without increasing the size and cost of the device. An object is to improve the processing efficiency by minimizing the time for moving from the recognition completion position to above the earliest mounting position.

The drive control method according to the present invention recognizes a component by the image reading unit while moving the head unit holding the component at the recognition movement speed along the movement path for recognition by the first axis driving unit driven in the first axis direction. After that, the second axis drive unit that drives in the second axis direction different from the first axis direction and the first axis drive unit are driven and controlled to move the head unit away from the recognition movement path in the second axis direction. A drive control method for a head unit in a mounting machine that moves the position above a position where a substrate is first mounted. In order to achieve the above object, the head unit is moved along a recognition movement path at a recognition movement speed. As a drive control mode of the head unit by the first axis drive unit after the completion of component recognition, the head unit is decelerated at the first deceleration after the recognition is completed and stopped. The first drive control that controls the drive toward the uppermost position of the earliest mounting position later, and the recognition movement speed and constant speed, acceleration, and deceleration after the second deceleration that is slower than the first deceleration even after the completion of component recognition And a second drive control that controls the drive upward of the earliest mounting position, and selects a drive control mode according to the positional relationship among the image reading unit, the component recognition completion position, and the earliest mounting position. At the same time, when selecting the drive control mode, the earliest mounting position in the first axis direction is located on the image reading unit side with respect to the recognition completion position, and the coordinates of the recognition completion position and the earliest mounting position in the first axis direction are set. When the coordinate distance is longer than the first distance and the distance between the recognition completion position coordinate and the first mounting position coordinate in the second axis direction is shorter than the second distance, the first drive control is selected as the drive control mode. It is characterized in that

In order to achieve the above object, a mounting machine according to the present invention has a head unit that holds components, a first axis drive unit that drives the head unit in the first axis direction, and a second axis that is different from the first axis direction. A head driving unit having a second axis driving unit that drives the head unit in the direction, an image reading unit that captures an image of a component held by the head unit that moves along the movement path for recognition by the first axis driving unit, After the head unit is moved along the recognition moving path by the first axis driving unit at the recognition moving speed and the part is recognized by the image reading unit, the head unit is driven and controlled in the first axis direction and the second axis direction. And a control means for moving the head unit above the first mounting position of the substrate positioned at a position away from the recognition movement path in the second axis direction. A first drive control for driving and controlling the head unit toward the uppermost position after the head unit is decelerated and stopped at the first deceleration from the completion of the recognition according to the positional relationship between the recognition completion position and the earliest attachment position; The second drive control for controlling the drive toward the uppermost mounting position after decelerating at a second speed that is slower than the first speed, after the recognition of the parts is completed. When the first drive control and the second drive control are selectively executed, the earliest mounting position is positioned on the image reading unit side with respect to the recognition completion position in the first axis direction. The distance between the coordinates of the recognition completion position and the earliest mounting position in the first axis direction is longer than the first distance, and the distance between the coordinates of the recognition completion position and the earliest mounting position in the second axis direction is the second distance. If it is shorter, the first drive system It is characterized by selecting.

  In the invention configured as described above (the mounting machine and the drive control method for the head unit), the head unit that holds the component is controlled at the recognition moving speed along the recognition moving path by the drive control of the first axis driving unit. Moving. Thus, the image reading unit recognizes the component while the head unit is moving. After the recognition of the component is completed, the first mounting of the board in which the head unit is positioned at a position away from the recognition moving path in the second axis direction is driven and controlled by the first axis driving unit and the second axis driving unit. Moved up the position. In a mounting machine in which the movement path for recognition and the substrate have the above-described positional relationship, when the drive control mode of the first axis drive unit is fixed, it depends on the earliest mounting position with respect to the image reading unit and the recognition completion position. Thus, the time for the head unit to move above the earliest mounting position after completion of component recognition is different (this will be described in detail later). Therefore, in the present invention, the first drive control and the second drive control are prepared as the drive control modes of the head unit by the first shaft drive unit after the completion of the component recognition, and the first mounting position from the recognition completed position is prepared. The head unit movement is controlled according to the positional relationship among the image reading unit, the component recognition completion position, and the earliest mounting position, and the time required for the head unit movement is shortened.

  As described above, after the component recognition is completed, the drive control of the head unit by the first axis drive unit is performed according to the first drive control or the first drive control according to the positional relationship between the image reading unit, the component recognition completion position, and the earliest mounting position. Since the two-drive control is selectively executed, the time for moving the head unit from the recognition completion position to the position above the earliest mounting position is always minimized, and the processing efficiency can be improved. In addition, the processing efficiency can be increased without increasing the capacity of the first shaft drive unit, and an increase in the size and cost of the mounting machine can be prevented.

  FIG. 1 is a plan view showing a schematic configuration of a mounting machine to which the head unit drive control method according to the present invention can be applied. FIG. 2 is a block diagram showing an electrical configuration of the mounting machine of FIG. In FIG. 1 and the drawings to be described later, XYZ rectangular coordinate axes are shown in order to clarify the directional relationship between the drawings.

  In the mounting machine 10, the substrate transport mechanism 20 is disposed on the base 11, and the substrate 30 can be transported in a predetermined transport direction X. More specifically, the substrate transport mechanism 20 has a pair of conveyors 21 and 21 that transport the substrate 30 from the right side to the left side of FIG. These conveyors 21 and 21 are controlled by the controller 40 (refer FIG. 2) which controls the mounting machine 10 whole. That is, the conveyors 21 and 21 operate according to a drive command from the controller 40, and stop the board 30 that has been carried in at a predetermined mounting work position (the position of the board 30 shown in FIG. 1). The substrate 30 is fixed and held by a holding device (not shown). Then, electronic components (not shown) supplied from the component housing portion 50 are transferred to the substrate 30 by a plurality of suction nozzles 61 mounted on the head unit 60. In this way, when the head unit 60 reciprocates a plurality of times between above the component housing part 50 and above the substrate 30 to complete the mounting process for all the components to be mounted on the substrate 30, the substrate transport mechanism 20 starts from the controller 40. The substrate 30 is unloaded in response to the drive command.

  On both sides of the substrate transport mechanism 20, the above-described component accommodating portions 50 are disposed. These component housing parts 50 are provided with a number of feeders 51. In the component storage unit 50, reels (not shown) wound with tapes that store and hold electronic components at a constant pitch are arranged corresponding to each feeder 51, and the electronic components are supplied by each feeder 51. It is possible. That is, when the feeder 51 feeds the tape from the reel to the component suction position on the head unit 60 side by the pitch feed amount corresponding to the component, that is, the storage pitch of the electronic component, the electronic component in the tape is intermittently fed, As a result, electronic components can be picked up by the suction nozzle 61 of the head unit 60. In addition, in this embodiment, the component accommodating part 50 is provided in the total of four places of each upstream part and downstream part of the front (-Y) side and the rear (+ Y) side with respect to the conveyors 21 and 21, respectively. A plurality of feeders 51 are mounted in the component housing unit 50.

  Further, in the mounting machine 10, a head drive mechanism 70 is provided in addition to the substrate transport mechanism 20. The head drive mechanism 70 is a mechanism for moving the head unit 60 in the X-axis direction and the Y-axis direction (directions orthogonal to the X-axis and Z-axis directions) over a predetermined range above the base 11. Then, the electronic component sucked by the suction nozzle 61 by the movement of the head unit 60 is transported from the upper position of the component housing portion 50 to the upper position of the substrate 30. That is, the head drive mechanism 70 has a mounting head support member 71 extending in the X-axis direction, and the mounting head support member 71 supports the head unit 60 so as to be movable along the X-axis. The mounting head support member 71 is supported at both ends by a fixed rail 72 in the Y-axis direction positioned above the substrate transport mechanism 20, and is movable along the fixed rail 72 in the Y-axis direction. . Further, the head drive mechanism 70 has an X-axis servo motor 73 that is a drive source for driving the head unit 60 in the X-axis direction, and a Y-axis servo motor 74 that is a drive source for driving the head unit 60 in the Y-axis direction. ing. The motor 73 is connected to a ball screw 75, and the head unit 60 moves in the X-axis direction via the ball screw 75 when the motor 73 is operated in accordance with an operation command from the motor control unit 43 (FIG. 2) of the controller 40. Driven by. On the other hand, the motor 74 is connected to the ball screw 76, and the mounting head support member 71 causes the mounting of the ball screw 76 when the motor 74 is actuated in accordance with an operation command from the motor control unit 43 (FIG. 2) of the controller 40. Driven in the Y-axis direction.

  The head driving mechanism 70 causes the head unit 60 to transport the electronic component to the substrate 30 while being sucked and held by the suction nozzle 61 and to transfer it to a predetermined position. That is, in the head unit 60, for example, four mounting heads (not shown) extending in the vertical direction Z are arranged in a row at equal intervals in the X-axis direction (the direction in which the substrate 30 is transferred by the substrate transfer mechanism 20). ing. A suction nozzle 61 is attached to each tip of the mounting head. The head unit 60 is provided with a Z-axis motor 65 and an R-axis motor 66 described later. The head drive mechanism 70 moves the head unit 60 above the component housing portion 50 so that the suction nozzle 61 is positioned above the component suction position of the feeder on which the suction target component is mounted, and the suction nozzle 61 is moved by the Z-axis motor 65. The tip of the suction nozzle 61 comes into contact with and holds the electronic component that is lowered and supplied from the component housing portion 50, and the suction nozzle 61 is raised. A series of operations from the upward movement of the suction nozzle 61 due to the movement of the head unit 60 to the rise of the suction nozzle 61 by the Z-axis motor 65 is performed for each of the four suction nozzles 61. Implemented sequentially. In this way, the head unit 60 is conveyed above the substrate 30 while the electronic components are attracted and held by the respective suction nozzles 61, and the electronic components are transferred to the substrate 30 in a predetermined direction at predetermined positions by the R-axis motor 66 and the Z-axis motor 65. Included.

  Further, in the mounting machine 10, the image reading unit 80 is disposed between the feeders 51 and 51 on the front (−Y) side and the rear (+ Y) side with respect to the conveyors 21 and 21. Each image reading unit 80 includes an illumination unit composed of a large number of LEDs (Light Emitting Diodes) and a line sensor. Among these components, the line sensor is arranged in the direction (Y-axis direction) orthogonal to the arrangement direction (X-axis direction) of the suction nozzle 61 with the imaging surface of the CCD solid-state image sensor facing upward. It is arranged side by side at the same position as the part suction position of the feeder in the part accommodating part 50, and takes a part image in a one-dimensional manner through a slit part formed in the illumination part.

  At the time of mounting, after the components are sucked by the suction nozzles 61 of the head unit 60, the X-axis servo motor 73 is driven and controlled, and the direction (X-axis) orthogonal to the arrangement direction (Y-axis direction) of each element of the line sensor. The head unit 60 moves in the axial direction) at a predetermined recognition movement speed along the recognition movement path MP passing above the component adsorption position of the feeder, so that the Y axis is adsorbed to each adsorption nozzle 61 by the line sensor. The component images in the direction are sequentially taken in the X-axis direction and output to the image processing unit 44 as a predetermined image signal. The head unit 60 completely passes through the image reading surface of the image reading unit 80 (the image pickup surface of the CCD solid-state image pickup device), and images of all the parts that are sucked are captured.

  The mounting machine 10 is provided with a controller 40 that controls the entire mounting machine. The controller 40 includes an arithmetic processing unit 41, a storage unit 42 such as a hard disk drive, a motor control unit 43, and an image processing unit 44, and functions as a “control unit” of the present invention. The arithmetic processing unit 41 is configured by a CPU or the like, and controls the head driving mechanism 70 according to a program stored in advance in the storage unit 42. The storage unit 42 can store a program for controlling the movement of the head unit 60 by controlling the driving of the head driving mechanism 70. In this embodiment, since the drive control mode of the head unit 60 by the X-axis servomotor 73 is switched to the first drive control or the second drive control after the completion of component recognition by the image reading unit 80 as described later. Is stored.

  In addition to the X-axis servo motor 73 and the Y-axis servo motor 74, the motor control unit 43 includes a Z-axis motor 65 that drives the suction nozzles 61 to move up and down in the head unit 60, and rotates the suction nozzles 61 about the vertical axis. An R-axis motor 66 is electrically connected to drive and control each motor. Each of the motors 65, 66, 73, and 74 is provided with an encoder (not shown) that outputs a pulse signal corresponding to the rotation state of the motor. The pulse signal output from each encoder is configured to be captured by the controller 40, and the arithmetic processing unit 41 that receives these signals acquires information on the rotation amount of each of the shaft motors 65, 66, 73, 74, The suction motor 61 can be moved to any position on the base 11 by controlling the motors 65, 66, 73, and 74 along with the motor controller 43.

  Further, the image processing unit 44 is electrically connected with a front side image reading unit 80 and a rear side image reading unit 80, and an imaging signal output from each image reading unit 80 is supplied to the image processing unit 44. It comes to be taken in. Then, the image processing unit 44 analyzes the component image based on the captured image signal, and can detect a positional shift of the component or the like.

  Reference numeral 47 in FIG. 2 is a display / operation unit for displaying programs, various data, and the like, and for inputting information such as various data and commands to the controller 40 by an operator.

  By the way, in the mounting machine 10 configured as described above, as shown in FIG. 1, the substrate 30 is positioned at a position away from the recognition movement path MP in the Y-axis direction (the “second axis direction” in the present invention). Has been. Then, after the suction of the electronic components to each suction nozzle 61 is completed, the head unit 60 is driven by driving only the X-axis servo motor 73 corresponding to the “first axis drive unit” of the present invention in order to recognize the components. Moves along the recognition movement path MP at a predetermined recognition movement speed. During this movement, the image reading unit 80 recognizes all components held by the head unit 60. Further, after the recognition of the component is completed, the head unit 60 is controlled in a plane including the X-axis direction and the Y-axis direction by controlling the drive of the X-axis servomotor 73 and the Y-axis servomotor (second axis drive unit) 74. The component to be mounted on the board 30 first among the plurality of components moved in dimension and held by the head unit 60 is positioned above the mounting position, that is, the earliest mounting position. Therefore, when the drive control mode of the X-axis servomotor 73 is fixed, the head unit 60 moves from the completion of component recognition to the uppermost mounting position in accordance with the image reading unit 80 and the earliest mounting position with respect to the recognition completion position. The time to do is different. This point will be described with reference to FIGS. Thereafter, the operation of the above embodiment will be described.

  FIG. 3 is a diagram schematically showing the operation of the head unit by the head driving mechanism. FIG. 3 shows the case where the position of the head unit 60 at the time when the component suction is finished is on the left side of the position image reading device 80 and the movement for the component recognition operation is in the right direction. 4 to 7 are graphs showing the drive control mode of the head unit by the head drive mechanism (X-axis servo motor 73 and Y-axis servo motor 74). Hereinafter, the movement of the head unit 60 from the start of the component recognition operation to the positioning above the earliest mounting position will be described in association with the drive control pattern. 3 indicate positions of the head unit 60 at timings tx1 to tx5 related to the operation of the X-axis servomotor 73. Further, reference symbol ap denotes a timing tpy related to the operation of the X-axis servomotor 73 when both the X-axis servomotor 73 and the Y-axis servomotor 74 are stopped, and timings tpy, tpy1 to tpy1 related to the operation of the Y-axis servomotor 74. The position of the head unit 60 at the later timing of tpy3 is shown.

  Of the plural (four in this embodiment) suction nozzles 61 of the head unit 60, the suction nozzle that sucks the last component (in this example, the rightmost suction nozzle n4) is stopped above the desired feeder 51. . The position of the head unit 60 when the component suction is finished is the position a1. Then, the drive of the X-axis servomotor 73 is started at timing tx1.

  By driving the X-axis servomotor 73, the moving speed of the head unit 60 is accelerated to a predetermined recognized moving speed Vx. Then, at timing tx2, the head unit 60 moves to the front of the image reading unit 80, and component imaging by the image reading unit 80 can be started. The position of the head unit 60 at this timing tx2 is a position a2. Thus, in order to accelerate from the position a1 with a predetermined acceleration and obtain the recognized moving speed Vx, a predetermined distance Lx1 is required. Therefore, in the present embodiment, in the component suction program by the suction nozzle 61, the suction nozzle and the suction component for finally suctioning the component are set so that the distance from the position a1 to the position a2 is equal to or greater than the distance Lx1.

  Thus, the head unit 60 moves along the recognition movement path MP parallel to the X-axis direction at the recognition movement speed Vx in the (+ X) direction at a constant speed, and all the parts pass above the image reading unit 80 and pick up the parts. Is completed. The position of the head unit 60 at this timing tx3 is a position a3. Thus, the head unit 60 advances by the distance Lx2 while moving from the position a2 to the position a3.

  When the head unit 60 reaches the position a3 and component recognition is completed, driving of the Y-axis servo motor 74 is started in order to move the head unit 60 above the earliest mounting position (FIGS. 4 to 7). reference). On the other hand, with respect to the X-axis direction, the head unit 60 conventionally does not decelerate immediately after completion of recognition, but moves to the right (+ X) at the recognition movement speed Vx for a predetermined time, and then proceeds to a predetermined deceleration (“No. Equivalent to “1 deceleration”). This movement of the recognized movement speed Vx for a predetermined time is referred to as “end running” in this specification (see FIGS. 4 and 7).

  Here, as shown in FIG. 4, when the head unit 60 moving at the recognition moving speed Vx is decelerated by deceleration to zero, and the head unit 60 is stopped, the head unit 60 is decelerated after the end of a predetermined time. The time required from the start (timing txm) until the speed becomes zero is time (tx5−txm). Further, as shown in FIG. 5, when the head unit 60 is decelerated at a deceleration to zero after the part recognition is completed (timing tx3), the same time (tx4 -Tx3) is required. In any case, the deceleration is the same, time (tx5−txm) = time (tx4−tx3), and the head unit 60 advances by a distance Lx3 in the (+ X) axial direction from the start of deceleration to the deceleration stop. .

  Therefore, when the head unit 60 is decelerated and stopped immediately after the completion of component recognition (timing tx3), the speed of the head unit 60 in the X-axis direction becomes zero at timing tx4 as shown in FIG. The instantaneous position of the head unit 60 is the position a4. Note that at this position a4, the head unit 60 stops acceleration in the Y-axis direction and is in a state of attempting to shift to the constant speed Vy.

  On the other hand, when the vehicle is decelerated and stopped after the final speed as shown in FIG. 4, the position of the head unit 60 at the moment when the speed becomes zero is the distance (Lx3 + Lx4) from the position a3, and the distance Lx4 from the position a4. Only the position a5 advanced in the (+ X) direction. That is, the distance Lx4 is the movement distance in the X-axis direction by the final run. At position a5, since a relatively long time has elapsed since the start of driving of the Y-axis servomotor 74 (timing tx3), the speed of the head unit 60 in the Y-axis direction has shifted to a constant speed Vy. .

  As described above, the head unit 60 is moved from the (−X) side to the (+ X) side along the recognition moving path MP, but the position where the component is first mounted on the board 30 after the recognition is completed, that is, the earliest position. Depending on the coordinate position of the mounting position P in the X-axis direction, the moving direction of the head unit 60 needs to be reversed. That is, if the position ap of the head unit 60 in FIG. 3 is n2a4x, the coordinates of the suction nozzle n2 that sucks the component to be mounted at the earliest mounting position P of the substrate 30 when the head unit 60 is at the position a4. The X coordinate Px of the earliest mounting position P is on the left side (−X side) from the X coordinate n2a4x, and after the recognition is completed, the head unit is positioned ap (at this position, the suction nozzle n2 is above the earliest mounting position P). ), It is necessary to reverse the moving direction of the head unit 60 in the X-axis direction. Therefore, drive control of the head unit shown in FIG. 4 or FIG. 5 is performed. For example, as shown in FIG. 4, the head unit 60 is decelerated from the speed Vx at a predetermined deceleration, the speed becomes zero, and then accelerated at a predetermined acceleration in the reverse direction (−X direction). The predetermined speed = − It is necessary to run at a constant speed at Vx and to decelerate and stop at the X-axis coordinate Px of the earliest mounting position P.

  On the other hand, in the Y-axis direction, it is not necessary to execute the above reversing operation, and the head accelerates to the speed Vy at a predetermined acceleration from the point of completion of component recognition (timing tx3), and moves to the (+ Y) direction at a constant speed Vy. After the unit 60 has traveled, the vehicle is decelerated and stopped at a position where the Y-axis coordinate position of the suction nozzle n2 matches the Y-axis coordinate position Py of the earliest mounting position P. However, the Y-axis coordinate position Py differs depending on the earliest mounting position P, and the timing at which the head unit 60 reaches the Y-axis coordinate position Py can be, for example, timings tpy1 to tpy3 as shown in FIG.

  When the head unit 60 reaches the Y-axis coordinate position Py at a relatively early timing tpy1, the Y-axis coordinate position of the suction nozzle n2 is recognized from the recognition completion position R (the position of the head unit 60 is a3) to the earliest mounting position P. The time required to move the head unit 60 above, that is, the tact time, is determined by movement in the X direction in the drive control with the final run (corresponding to “second drive control” of the present invention). The time tpx at which the position ap (the suction nozzle n2 reaches the earliest mounting position P) is also greatly delayed. On the other hand, as shown in FIG. 5, the movement in the X direction is performed by drive control without end running (corresponding to “first drive control” of the present invention). Time can be shortened. That is, in the first drive control, the head unit 60 is immediately decelerated from the timing tx3 when the head unit 60 is at the position a3, further accelerated in the reverse direction from the position a4 where the speed in the X-axis direction becomes 0, and a predetermined speed = This is a control mode in which the vehicle travels constant at −Vx, then decelerates and stops at the X coordinate position Px (stops when the X coordinate of the suction nozzle n2 coincides with the X coordinate position Px, and so on). In this case, the reverse travel distance to the X coordinate position Px is shorter than the case where the head unit 60 is moved by the second drive control (FIG. 4), so the reverse travel time (= tpx−tx4) is short. . In addition, since the deceleration start timing changes from the timing txm to the timing tx3, the time tpx when the head unit 60 reaches the X-axis coordinate position Px of the earliest mounting position P is much larger than when the final run is involved (second drive control). This contributes to the reduction of tact time.

  On the other hand, when the head unit 60 reaches the position ap at timings tpy2 and tpy3 (when the Y coordinate of the suction nozzle n2 reaches the Y axis coordinate position Py), that is, the Y axis coordinate position Py is the recognition completion position R (= head unit 60). Is relatively far from the position of the suction nozzle n2 at the time of a3, and so on), the tact time is determined by movement in the Y direction, and the head unit 60 is determined by either the first drive control or the second drive control. Even if the movement in the X direction is executed, the tact time does not change. However, it is preferable to employ the second drive control from the following viewpoint. That is, as shown in FIG. 4, by executing the final run, after the acceleration period in the Y-axis direction (Y-direction inertial force is applied), the deceleration in the X-axis direction (X-direction inertial force is applied). As a result, the resultant force of both inertial forces is no longer applied, and the risk of component dropout can be reduced. As a case where the movement of the head unit 60 in the X direction does not affect the tact time, there is a case where the X coordinate position Px is close to the X coordinate position Rx of the recognition completion position R in addition to the above. .

  When the X coordinate position Px is located between the X coordinate Rx (= n2a3x) of the recognition completion position R and the X coordinate (n2a4x) of the suction nozzle n2 when the head unit 60 is at the position a4 Even if the vehicle is decelerated from the recognition completion position Rx at a predetermined deceleration, the X coordinate position Px is overrun, so the movement direction of the head unit 60 in the X axis direction must be reversed (see FIG. 6). In this case, when the Y coordinate Py of the earliest mounting position P is small and the time tpy when the head unit 60 reaches the Y-axis coordinate position Py of the earliest mounting position P is early, the first without the end as shown in CS1. Tact time can be shortened by drive control. On the other hand, when the time tpy ′ at which the Y coordinate Py of the earliest mounting position P is large and the head unit 60 reaches the Y-axis coordinate position Py of the earliest mounting position P is late, the tact time does not become longer, as shown in CS2. Thus, the second drive control with the final run becomes possible.

  When the X coordinate position Px is located on the right side of the X coordinate (n2a4x) of the suction nozzle n2 when the head unit 60 is at the position a4, that is, when the head unit 60 is at the position a5, the final run is performed. The accompanying second drive control becomes possible (see FIG. 7). In this case, when both the X coordinate Px and the Y coordinate Py of the earliest mounting position P are small and the time when the head unit 60 reaches above the earliest mounting position P is early, it is the second drive control and the end distance is shortened. However, when the X coordinate Px of the earliest mounting position P is large, the distance of the final run of Vx having the maximum X-direction speed can be increased, so that the tact time can be shortened accordingly.

  In this case, when the Y coordinate Py is larger than the X coordinate Px of the earliest mounting position P, the end from the recognition completion position R is determined by a predetermined deceleration (first deceleration shown in FIG. 5 as shown in CS2. ) The second drive control is performed with a more gradual second deceleration. Furthermore, as shown in CS3, after finishing for a predetermined time at the same speed as the recognized moving speed, the vehicle decelerates at a third deceleration that is more gentle than the first deceleration and stops above the earliest mounting position P. You may make it do. As a result, the possibility of parts falling off at the time of stopping can be further reduced.

  As can be seen from the above, when the X coordinate Px of the earliest mounting position P is on the left side (−X side) of the X coordinate n2a4x, the head unit can be used regardless of which of the first drive control and the second drive control is adopted. 60 must be reversed. That is, when the first drive control is employed, the head unit 60 is reversed from the position a4 where the head unit 60 is decelerated immediately after the completion of component recognition and the speed is zero (see FIG. 6). On the other hand, when the second drive control is adopted, it is necessary to reversely move the head unit 60 from the position a5 where the head unit 60 is decelerated after the end of the distance Lx4 and the speed is zero (FIG. 4). reference). Therefore, the X-direction movement time tx required to move the head unit 60 from the position a3 at the recognition completion time point tx3 to the X coordinate Px of the earliest mounting position P adopts the first drive control that clearly does not involve the final run. Shorter.

  On the other hand, when the coordinate of the suction nozzle n2 that sucks the component to be mounted at the earliest mounting position P of the substrate 30 when the head unit 60 is at the position a5 is n2a5x, the X coordinate Px of the earliest mounting position P is When it is on the right side (+ X side) from the X coordinate n2a5x, the suction nozzle n2 can be moved above the earliest mounting position P without reverse operation of the head unit 60 even with the end of the distance Lx4. Therefore, in this case, the X-direction movement time tx is clearly shorter when the second drive control with the final run is adopted.

  Further, when the X coordinate Px of the earliest mounting position P is in the middle part between the X coordinate n2a4x and the X coordinate n2a5x, as described above, it is moved at the constant speed at the recognition moving speed Vx for the time (txm-tx3) and only the distance Lx4. In the case of finishing (second drive control), the reversing operation of the head unit 60 is required. On the other hand, as shown in FIG. 7, the timing of starting deceleration is set to time txm ′ (> tx3) earlier than time txm, and the end time (= txm′−tx3) is shortened to complete the end distance. Is shorter than Lx4, the reversing operation of the head unit 60 becomes unnecessary. In particular, it is necessary to instantaneously reverse the acceleration in order to reversely reverse the normal travel from the reverse travel to the normal travel again, and a jumping phenomenon occurs and a large impact force acts on the part, allowing the part to drop off. There is sex. In this regard, as shown in FIG. 7, it is preferable that the vehicle is stopped only by the forward running so as to be matched with the X coordinate Px by the final running although it is short, such a problem does not occur.

  The above is based on FIG. 3 in the case where the position of the head unit 60 at the time of finishing the component suction is on the left side of the position image reading device 80 and the movement for the component recognition operation is in the right direction. In the case where the position of the head unit 60 at the time of finishing the position is on the right side of the position image reading device 80 and the movement for the component recognition operation is in the left direction, the same can be considered by reversing the left and right.

  Thus, when the position of the earliest mounting position P is (1) in the area A of FIG. 8, it is preferable to use the first drive control, and (2) in the area B of FIG. It is preferable to use the second drive control, and (3) any drive control may be used in the area C of FIG. 8, and the first drive control with respect to the image reading unit 80 and the recognition completion position R. It is preferable to use different drive control modes in the X-axis direction according to the relative positional relationship of the mounting position P. Therefore, in the present embodiment, the first drive control or the second drive control is selectively executed based on the positional relationship among the image reading unit 80, the recognition completion position R, and the earliest mounting position P to shorten the tact time. ing. Hereinafter, the operation of the mounting machine 10 of FIG. 1 will be described with reference to FIGS. 8 and 9.

  FIG. 8 is a diagram illustrating a positional relationship among the image reading unit, the recognition completion position, and the earliest mounting position, and a drive control switching region in the X-axis direction. FIG. 9 is a flowchart showing an embodiment of a head unit drive control method according to the present invention. In this mounting machine 10, when the component suction by the suction nozzle 61 of the head unit 60 is completed, the component recognition and the positioning of the head unit 60 above the earliest mounting position P are performed. The arithmetic processing unit 41 obtains the recognition completion position R based on the data stored in the storage unit 42 (step S1). That is, among the components held by the head unit 60, a component to be mounted on the substrate 30 first (hereinafter referred to as “first mounted component”) is obtained, and when the imaging of all the components held by the head unit 60 is completed. The coordinate where the earliest mounted component is located (= the coordinate of the position of the suction nozzle that sucks the earliest mounted component) is set as the recognition completion position R. In addition, the arithmetic processing unit 41 determines the position where the earliest part to be mounted, that is, the earliest mounting position P, is obtained based on the data stored in the storage unit 42 (step S2).

  When the earliest mounting position P and the recognition completion position R are obtained, the arithmetic processing unit 41 recognizes the movement path (a part of the recognition movement path MP) of the head unit 60 moving from the image reading unit 80 to the recognition completion position R, and the recognition. An angle θ with the virtual straight line from the completion position R to the earliest mounting position P is obtained (step S3). For example, as shown in FIG. 8, when the earliest attached component is attached to the position P1 in the area A, the position P1 becomes the earliest attachment position corresponding to the earliest attached component. The angle between the path MP and the virtual straight line VL1 is obtained as the angle θ. That is, the positional relationship among the image reading unit 80, the recognition completion position R of the earliest attached component, and the earliest attachment position P is obtained by obtaining the angle θ.

  Thereafter, only the X-axis servomotor 73 is driven to start the component recognition operation (step S4). That is, the head unit 60 moves in the (+ X) direction along the recognition movement path MP by driving the X-axis servomotor 73, but the image reading unit 80 while the head unit 60 passes over the image reading unit 80. The part recognition by is executed. When all the components held by the head unit 60 pass above the image reading unit 80 and the earliest mounted component arrives at the recognition completion position R (“YES” in step S5), the calculation processing of the controller 40 is performed. The unit 41 compares the angle θ obtained in step S3 with a reference angle θth stored in advance in the storage unit 42 (step S6). The “reference angle θth” is an angle between the moving path of the head unit 60 that moves from the image reading unit 80 to the recognition completion position R and the virtual boundary line VLac between the area A and the area C. Therefore, when the angle θ is equal to or smaller than the reference angle θth, the earliest placement position P exists in the area A, for example, as indicated by reference numeral P1, and the earliest placement component is obtained by using the first drive control. Can be shortened from the recognition completion position R to the uppermost mounting position P. On the other hand, in other cases (θ> θth), the earliest mounting position P exists in the area B as indicated by the symbol P2, for example, and the earliest in a shorter time than when the first drive control is used. The mounted component can be moved above the earliest mounting position P. For example, as indicated by reference numerals P3 and P4, the earliest mounting position P exists in the area C and the first drive control is used. At the same time, the earliest placement component can be moved above the earliest placement position P.

  Therefore, in this embodiment, if “YES” is determined in step S6 (θ ≦ θth), the controller 40 controls the X-axis servomotor 73 for the first drive to place the earliest attached component at the earliest attached position. (Step S7). On the other hand, if “NO” is determined in step S6 (θ> θth), the controller 40 controls the X-axis servo motor 73 to perform the second drive so that the earliest part is moved above the earliest attachment position P. (Step S8).

  Thus, when the positioning of the earliest mounting component above the earliest mounting position P is completed, the motor control unit 43 of the controller 40 controls the Z-axis motor 65 and the R-axis motor 66 to control the earliest mounting component. It is made to mount | wear to the mounting position P (step S9). Thereafter, each of the other components held by the head unit 60 is moved above the desired mounting position, and then mounted on the mounting position to perform component mounting. When the mounting of all the components held by the head unit 60 to the substrate 30 is completed, the head unit 60 returns to the component storage unit 50 and sucks and holds the next component, and then repeats the above series of operations.

  As described above, according to this embodiment, the drive control mode of the head unit 60 by the X-axis servomotor (first-axis drive unit) 73 after the completion of component recognition is first drive control and second drive control. One has been prepared. The earliest attached component belongs to the area A by comparing the angle θ indicating the positional relationship between the image reading unit 80, the recognition completion position R of the earliest attached component and the earliest attached position P with the reference angle θth. The first drive control and the second drive control are selectively executed based on the determination result. Therefore, the time for moving the head unit 60 to move the earliest attached component from the recognition completion position R to a position above the earliest attachment position P is always minimized, and the processing efficiency can be improved. Further, since the processing efficiency is improved by devising the drive control, the processing efficiency can be increased without increasing the capacity of the X-axis servo motor 73, and the mounting machine 10 can be increased in size and cost. Can be reliably prevented.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. For example, in the above embodiment, the positional relationship among the image reading unit 80, the recognition completion position R of the earliest mounted component and the earliest mounting position P is obtained by the angle θ, but the method of deriving the positional relationship is limited to this. It is not a thing. For example, as shown in FIG. 10, even if the positional relationship is obtained based on the distance from the recognition completion position R and the drive control mode is switched, the same effect as the above embodiment can be obtained.

  In the X-axis direction, the earliest mounting position P1 is located on the image reading unit side (-X side in the figure) with respect to the recognition completion position R, and the X coordinate of the recognition completion position R and the X coordinate of the earliest mounting position P1. When the distance LxPR is longer than the first distance Lxth and the distance LyPR between the Y coordinate of the recognition completion position R and the Y coordinate of the earliest mounting position P1 is shorter than the second distance Lyth, that is, within the rectangular area RR in FIG. When there is the first mounting position P1, it can be seen that the first mounting position P1 belongs to the area A or the area C. The same applies to the earliest mounting position P4 in FIG. In such a case, by using the first drive control, it is possible to minimize the movement time of the earliest mounted component from the recognition completion position R to the uppermost position P, or the second drive control is used. The above movement can be performed in the same time as the case.

  On the contrary, when the earliest wearing position P is out of the rectangular area RR, for example, when the earliest wearing position P is the positions P2 and P3, the earliest wearing positions P2 and P3 belong to the area B or the area C. I understand that. In such a case, by using the second drive control, it is possible to minimize the movement time of the earliest mounted component from the recognition completion position R to the uppermost earliest position P, or using the first drive control. The above movement can be performed in the same time as the case.

  Thus, based on the rectangular area RR indicating the positional relationship between the image reading unit 80, the recognition completion position R of the earliest attachment component and the earliest attachment position P, the earliest attachment component belongs to the area A or C, or It is determined whether it belongs to the area B or C, and the first drive control and the second drive control are selectively executed based on the determination result. Therefore, the time for moving the head unit 60 to move the earliest attached component from the recognition completion position R to a position above the earliest attachment position P is always minimized, and the processing efficiency can be improved. Further, since the processing efficiency is improved by devising the drive control, the processing efficiency can be increased without increasing the capacity of the X-axis servo motor 73, and the mounting machine 10 can be increased in size and cost. Can be reliably prevented.

  Further, as shown in FIG. 11, when the earliest mounting position P is located on the image reading unit side (−X side) with respect to the recognition completion position R in the X-axis direction, the first drive control is used while the anti-image reading is performed. Even when the second drive control is used in the case of being located on the part side (+ X side), the same effect as the above embodiment can be obtained. For example, it is understood that the earliest mounting positions P1 and P4 are located on the image reading unit side (−X side) with respect to the recognition completion position R and belong to the area A or the area C. In such a case, by using the first drive control, it is possible to minimize the movement time of the earliest mounted component from the recognition completion position R to the uppermost position P, or the second drive control is used. The above movement can be performed in the same time as the case. Conversely, the earliest mounting positions P2 and P3 are located on the image reading unit side (+ X side) with respect to the recognition completion position R, and it can be seen that they belong to area B or area C. In such a case, by using the second drive control, it is possible to minimize the movement time of the earliest mounted component from the recognition completion position R to the uppermost earliest position P, or using the first drive control. The above movement can be performed in the same time as the case.

  As described above, based on the positional relationship between the image reading unit 80 in the X-axis direction, the recognition completion position R of the earliest attachment component, and the earliest attachment position P, whether the earliest attachment component belongs to the area A or C, or It is determined whether it belongs to the area B or C, and the first drive control and the second drive control are selectively executed based on the determination result. Therefore, the time for moving the head unit 60 to move the earliest attached component from the recognition completion position R to a position above the earliest attachment position P is always minimized, and the processing efficiency can be improved. Further, since the processing efficiency is improved by devising the drive control, the processing efficiency can be increased without increasing the capacity of the X-axis servo motor 73, and the mounting machine 10 can be increased in size and cost. Can be reliably prevented.

  In the above embodiment, the head unit 60 moves from the (−X) direction side to the (+ X) direction side along the recognition movement path MP to perform component recognition. In the case of recognition, the same operation and effect can be obtained by selecting the drive control mode in accordance with the positional relationship between the image reading unit 80, the recognition completion position R of the earliest attached component, and the earliest attachment position P in the same manner as described above. It is done.

  Furthermore, in the above-described embodiment, the moving speed of the head unit 60 at the end of the run is set to the same speed as the recognized moving speed Vx, or is decelerated at a second deceleration that is slower than the first deceleration. Even if the vehicle is accelerated during the final run, the same effect as the above embodiment can be obtained.

It is a top view which shows schematic structure of the mounting machine which can apply the drive control method of the head unit concerning this invention. It is a block diagram which shows the electric constitution of the mounting machine of FIG. It is a figure which shows typically operation | movement of the head unit by a head drive mechanism. It is a graph which shows the drive control mode of the head unit by a head drive mechanism. It is a graph which shows the drive control mode of the head unit by a head drive mechanism. It is a graph which shows the drive control mode of the head unit by a head drive mechanism. It is a graph which shows the drive control mode of the head unit by a head drive mechanism. It is a figure which shows the positional relationship of an image reading part, a recognition completion position, and the earliest mounting position, and the drive control switching area | region in an X-axis direction. 5 is a flowchart showing an embodiment of a head unit drive control method according to the present invention. It is a flowchart which shows other embodiment of the drive control method of the head unit concerning this invention. It is a flowchart which shows another embodiment of the drive control method of the head unit concerning this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Mounting machine 30 ... Board | substrate 40 ... Controller (control means)
41. Arithmetic processing part (control means)
43 ... Motor control section (control means)
60 ... head unit 70 ... head drive mechanism 73 ... X-axis servo motor (first axis drive unit)
74 ... Y-axis servo motor (second-axis drive unit)
80: Image reading section MP: Movement path for recognition P, P1 to P4: First mounting position R: Recognition completion position Vx: Recognition movement speed VL1: Virtual straight line θth: Reference angle θ: Angle

Claims (2)

After recognizing the component by the image reading unit while moving the head unit holding the component by the first axis driving unit driven in the first axis direction at a recognition moving speed along the movement path for recognition, the first axis direction The head unit is positioned at a position away from the recognition movement path in the second axis direction by driving and controlling the second axis driving unit that drives in the second axis direction different from the first axis driving unit. A drive control method of a head unit in a mounting machine that moves above the first mounting position of a substrate,
As a driving control mode of the head unit by the first axis driving unit after completion of the recognition of the component performed while moving the head unit at the recognition movement speed along the recognition movement path,
A first drive control for driving the head unit to decelerate at a first deceleration from the time when the recognition is completed and then stop the head unit toward the uppermost mounting position;
Even after the recognition of the component is completed, a drive control is performed so that the recognition moving speed is equal to the recognition speed, accelerated, and decelerated at a second deceleration that is gentler than the first deceleration, and then moved upward above the first mounting position. 2 drive control,
The drive control mode is selected according to the positional relationship among the image reading unit, the recognition completion position of the component, and the earliest mounting position. In selecting the drive control mode, the earliest in the first axis direction. The mounting position is located on the image reading unit side with respect to the recognition completion position, and the distance between the coordinates of the recognition completion position and the coordinates of the earliest mounting position in the first axis direction is longer than a first distance, and The first drive control is selected as the drive control mode when the distance between the coordinates of the recognition completion position and the coordinates of the earliest mounting position in the second axis direction is shorter than the second distance. Unit drive control method. A head unit for holding parts;
Head driving means having a first axis driving unit that drives the head unit in a first axis direction, and a second axis driving unit that drives the head unit in a second axis direction different from the first axis direction;
An image reading unit that captures an image of a component held by the head unit that moves along a movement path for recognition by the first axis driving unit;
After recognizing the component by the image reading unit while moving the head unit at a recognition movement speed along a movement path for recognition by the first axis driving unit, the first axis direction and the second axis direction Control means for driving the head unit to move the head unit above the earliest mounting position of the substrate positioned at a position away from the recognition movement path in the second axis direction;
According to the positional relationship among the image reading unit, the recognition completion position of the component, and the first mounting position, the control means decelerates and stops the head unit at a first deceleration from the completion of the recognition. A first drive control that controls the drive upward of the earliest mounting position, and a second deceleration that is slower than the first deceleration with the recognition movement speed equal to the recognition moving speed after completion of the recognition of the component. In performing selectively the second drive control for driving control above the earliest mounting position after decelerating, and selectively executing the first drive control and the second drive control, In the first axis direction, the earliest mounting position is located on the image reading unit side with respect to the recognition completion position, and the distance between the coordinates of the recognition completion position and the coordinates of the earliest mounting position in the first axis direction is Longer than 1st distance , Moreover the distance of the recognition completion coordinates and the earliest mounting position coordinates in the second axial direction in a case shorter than the second distance, mounter and selects the first drive control.

Images