JP6144765B2 - Component mounter - Google Patents

Description

  The present invention relates to a component mounting machine on which a mounting head holding a suction nozzle for sucking a component is mounted.

  The component mounting machine described in Patent Document 1 (Japanese Patent No. 4546857) can automatically replace the mounting head that holds the suction nozzle according to the type (size, shape, weight, etc.) of the component to be sucked. After mounting the mounting head to the head holding part of the component mounting machine with negative pressure suction force, the component supplied from the feeder is sucked to the mounting head suction nozzle with negative pressure and mounted on the circuit board. The positive pressure source (vacuum breaking pressure) is supplied to the suction nozzle to release the negative pressure suction force, so that the parts sucked by the suction nozzle are released, and then the suction nozzle is placed above the feeder. The component mounting board is produced by repeating the operation of returning to the suction nozzle and sucking the component to the suction nozzle.

Japanese Patent No. 4546857

  By the way, the mounting head to be held by the head holding portion of the component mounting machine is a mounting head that holds a suction nozzle having a nozzle diameter corresponding to the type (size, shape, weight, etc.) of the component to be sucked, Although the number of mounting heads is different, no matter which mounting head is held by the head holding part, when releasing the component sucked by the suction nozzle of the mounting head, the positive pressure source supplies it to the suction nozzle. Since the positive pressure is constant, depending on the part, the positive pressure may be insufficient, and the part cannot be released from the suction nozzle, and the part may be brought back to the suction nozzle due to static electricity or the like. Since the positive pressure is too large, the mounting position of the surrounding components on the circuit board may be shifted by the positive pressure blown from the suction nozzle, which causes a decrease in mounting reliability. There.

  Therefore, the problem to be solved by the present invention is that in a component mounting machine that can automatically replace the mounting head according to the type (size, shape, weight, etc.) of the component to be sucked, the component sucked by the suction nozzle of the mounting head The function of supplying a suitable positive pressure to the suction nozzle to release the component can be mounted at low cost.

In order to solve the above-described problems, the present invention provides a mounting head that holds a suction nozzle that sucks a component, a head holding unit that holds the mounting head in a replaceable manner, and a head mounting that mounts the mounting head to be replaced. And a head moving device that moves the head holding unit, and a component mounting machine that releases the component by supplying positive pressure from a positive pressure source to the suction nozzle that sucks the component with negative pressure, An electropneumatic proportional valve for adjusting a positive pressure supplied from the positive pressure source to the suction nozzle of the mounting head to the head holding unit, and a passage for supplying the positive pressure adjusted by the electropneumatic proportional valve to the mounting head. an electromagnetic valve for opening and closing is provided, comprising a control means for controlling the opening and closing operation of the positive pressure adjusting operation and the solenoid valve of the electro-pneumatic proportional valve, the control means, by means to be described later, the head holding Yoo Tsu is for each of the mounting head to be held in the bets that to adjust the output positive pressure of the electropneumatic proportional valve.

  In this configuration, since the electropneumatic proportional valve for adjusting the positive pressure supplied to the mounting head is provided in the head holding unit, the positive pressure supplied to the mounting head for each mounting head held by the head holding unit is It becomes possible to adjust to a positive pressure suitable for releasing the parts adsorbed by the adsorption nozzle of the mounting head. As a result, the function of adjusting the positive pressure for each mounting head held by the head holding unit can be mounted on the component mounting machine at a low cost, and the type (size) of the component that sucks the positive pressure supplied to the mounting head for each mounting head. By optimizing according to the shape, weight, etc., the conventional problems, such as defective part release due to lack of positive pressure (part take-back) and deviation of the mounting position of parts due to excessive positive pressure, are in advance. Can be prevented.

In the present invention, the mounting head is provided with a head ID recording unit that records or stores identification information (hereinafter referred to as “head ID”) of the mounting head, and the head of the mounting head on the head mounting unit is provided. A head ID reading unit that reads the head ID from an ID recording unit, and a storage unit that stores, for each head ID, a positive pressure command value suitable for releasing a component sucked by the suction nozzle of the mounting head. The control unit is configured to read the head ID read by the head ID reading unit from the head ID recording unit provided on the mounting head when the head holding unit holds the mounting head on the head mounting unit. Is read from the storage means, and the positive pressure command value is output to the electropneumatic proportional valve to adjust the output positive pressure of the electropneumatic proportional valve. It may be. In this way, the positive pressure command value for each mounting head can be managed in association with the head ID, and management of the positive pressure command value is easy.

  In this case, the head ID recording unit may use an electronic tag (also referred to as an RF tag, IC tag, radio wave tag, or wireless tag) that stores head ID data. A code label recorded with a code such as a code may be used.

  When the head ID recording unit is a code label or the like, it is obtained by imaging a head ID recording unit with a camera using a camera that images a reference mark of a circuit board on which a component is mounted as the head ID reading unit. The head ID may be read by processing the image. In this way, the camera that captures the reference mark on the circuit board can also be used as the head ID reading means, and it is not necessary to provide a dedicated head ID reading means, resulting in cost reduction.

  Further, according to the present invention, the mounting head is provided with a positive pressure command value recording unit that records or stores a positive pressure command value suitable for releasing a component sucked by the suction nozzle of the mounting head, and the head mounting unit And a positive pressure command value reading means for reading the positive pressure command value from the positive pressure command value recording portion of the mounting head. The control means is provided in the mounting head on the head mounting portion. The positive pressure command value read by the positive pressure command value reading means from the positive pressure command value recording unit may be output to the electropneumatic proportional valve to adjust the output positive pressure of the electropneumatic proportional valve. Here, the positive pressure command value recording unit may use a code label or the like in which the data of the positive pressure command value is recorded with a code such as a barcode or a two-dimensional code, or stores the data of the positive pressure command value. An electronic tag may be used.

  In consideration of the possibility that the positive pressure supply system including the positive pressure source and the electropneumatic proportional valve may deteriorate due to secular change or the like and the positive pressure supplied to the mounting head may shift, the head holding unit includes the A pressure sensor for detecting a positive pressure supplied from the electropneumatic proportional valve to the mounting head when the solenoid valve is opened; and the control means detects the positive pressure detected by the pressure sensor when the positive pressure is supplied to the mounting head. May be compared with the positive pressure command value, and the positive pressure command value may be corrected according to the comparison result. In this way, when the positive pressure supply system deteriorates due to secular change or the like and the positive pressure supplied to the mounting head is shifted, the suction is determined based on the comparison result between the positive pressure detection value of the pressure sensor and the positive pressure command value. Since it can be seen how much the positive pressure supplied to the nozzle deviates from the positive pressure command value, the positive pressure command value is corrected according to the amount of deviation so that the positive pressure supplied to the suction nozzle of the mounting head It is possible to adjust the positive pressure suitable for release, and it is possible to correct the adjustment deviation of the positive pressure due to the secular change or the like of the positive pressure supply system as needed. Note that the process of correcting the positive pressure command value by comparing the positive pressure detection value of the pressure sensor with the positive pressure command value does not need to be performed every time the mounting head is replaced. It may be performed once every time the number of head replacements reaches a predetermined number, or at the start of operation of the component mounting machine.

  The present invention may be configured such that the suction nozzle held in the mounting head can be replaced from among a plurality of types of suction nozzles. In this case, if the suction nozzle held by the mounting head changes, the type (size, shape, weight, etc.) of the part to be picked up changes, and the positive pressure suitable for releasing the part sucked by the suction nozzle may change. There is. In consideration of this point, a plurality of positive pressure command values corresponding to a plurality of types of suction nozzles that can be held by the mounting head are set for each mounting head that is held by the head holding unit, and the control means includes the head For each mounting head held by the holding unit, a positive pressure command value corresponding to the suction nozzle held by the mounting head is output to the electropneumatic proportional valve to adjust the output positive pressure of the electropneumatic proportional valve. Anyway. In this way, even if the suction nozzle held in the mounting head is changed and the type (size, shape, weight, etc.) of the parts to be sucked is changed, the positive pressure supplied to the mounting head is changed to the mounting head. The pressure can be adjusted to a positive pressure suitable for releasing the parts adsorbed by the adsorption nozzle.

FIG. 1 is a perspective view showing a state in which a rotary head is removed from a head holding unit of a component suction device in Embodiment 1 of the present invention. FIG. 2 is a perspective view of the head holding unit of the component suction device as viewed obliquely from below. FIG. 3 is a perspective view of the entire rotary head. FIG. 4 is a perspective view of the upper side of the rotary head. FIGS. 5A to 5I are diagrams showing an example of a replaceable rotary head type and a replaceable suction nozzle type. FIG. 6 is a block diagram showing the configuration of the control system of the component mounter. FIG. 7 is a block diagram showing configurations of a positive pressure supply system and a negative pressure supply system. FIG. 8 is a flowchart showing the flow of processing of the positive pressure adjustment program. FIG. 9 is a flowchart showing the flow of processing of the positive pressure command value correction program. FIG. 10 is a diagram illustrating a data table of positive pressure command values corresponding to the mounting head according to the first embodiment. FIG. 11 is a diagram illustrating a data table of positive pressure command values corresponding to the mounting head and the suction nozzle according to the second embodiment.

  Hereinafter, two embodiments 1 and 2 will be described in which a mode for carrying out the invention is applied to a rotary head type component mounting machine.

A first embodiment of the present invention will be described with reference to FIGS.
First, the structure of the component adsorption | suction apparatus 10 of a component mounting machine is demonstrated.

  As shown in FIG. 1, a plurality of nozzle holders 12 are held by a rotary mounting head 11 (rotating head) of the component suction device 10 so as to be lowered at predetermined intervals in the circumferential direction. In the lower part, suction nozzles 13 for sucking parts are engaged and held so that they can be exchanged downward (detachable).

  The mounting head 11 is replaceably (removably) held by an R shaft 22 (see FIG. 2) that extends below a head holding unit 21 that is moved by a head moving device 20 (see FIG. 6) of the component mounter. The head holding unit 21 is assembled with an R-axis drive mechanism 23 (head rotation drive mechanism) that rotates the R-axis 22. The R-axis drive mechanism 23 rotates an R-axis gear 24 (tooth surface not shown) fixed to the upper end of the R-axis 22 by an R-axis motor 25 to rotate the mounting head 11 around the R-axis 22. Thus, the plurality of nozzle holders 12 are configured to rotate integrally with the plurality of suction nozzles 13 in the circumferential direction of the mounting head 11.

  A Q-axis gear 27 (toothed surface not shown) serving as a drive source for the Q-axis drive mechanism 26 (nozzle rotation drive mechanism) is rotatably inserted into the R-axis 22, and the Q-axis gear 27 is rotated by a Q-axis motor 28. Thus, it rotates around the R axis 22.

  As shown in FIG. 2, a plurality of (for example, four) engaging members 31 for detachably engaging and holding the mounting head 11 are provided at the lower end portion of the R shaft 22 so as to be movable in the vertical direction. In the vicinity of each engagement member 31, an air cylinder (not shown) for driving the engagement member 31 in the vertical direction is provided. Each engagement member 31 is formed in an L shape or a J shape, and is arranged at equal intervals in the circumferential direction of the R shaft 22, and the direction of the claw portion of each engagement member 31 is the positive direction of the R shaft 22. They are aligned so as to be in the same direction as the rotation direction (or reverse rotation direction).

  On the other hand, the mounting head 11 is provided with a nozzle rotation gear mechanism 32 (see FIGS. 3 and 4) that transmits the rotational force of the Q-axis gear 27 to each nozzle holder 12. The nozzle rotation gear mechanism 32 bites a cylindrical gear 33 (tooth surface not shown) that is rotatably held concentrically on the upper side of the mounting head 11 and a small gear 34 attached to each nozzle holder 12. In addition, the Q-axis gear 27 of the head holding unit 21 and the cylindrical gear 33 of the nozzle rotation gear mechanism 32 are coupled so as to be able to transmit rotation by engaging the concave and convex portions of the ring-shaped clutch members 61 and 62 (see FIGS. 2 and 3). By rotating the cylindrical gear 33 by the Q-axis gear 27 and rotating the small gear 34 of each nozzle holder 12, each nozzle holder 12 rotates around the axis of each nozzle holder 12, and each nozzle holder 12 rotates. The direction (angle) of each component sucked by each suction nozzle 13 held by the holder 12 is corrected.

  The inner diameter of the cylindrical gear 33 is slightly larger than the outer diameter of the R shaft 22 so that the R shaft 22 of the head holding unit 21 can be inserted into the cylindrical gear 33. As shown in FIG. 4, a plurality of elongated holes for inserting and engaging each engaging member 31 of the R shaft 22 at a position inside the cylindrical gear 33 in the upper surface portion of the mounting head 11. Engagement holes 35 are formed at equal intervals in the circumferential direction.

  A head mounting portion (not shown) for mounting the replacement mounting head 11 is provided at a predetermined position within the moving range of the head holding unit 21 of the component mounting machine. This head mounting portion is configured to mount a plurality of types of mounting heads 11. When the mounting head 11 placed on the head placement portion is attached to the head holding unit 21, the R shaft 22 of the head holding unit 21 is inserted into the cylindrical gear 33, and each engagement member 31 of the R shaft 22 is inserted. Each of the mounting heads 11 is inserted into each of the engagement holes 35 and the R shaft 22 is rotated by the rotation of the R shaft gear 24 so that the engagement members 31 are engaged with the end edges of the engagement holes 35. The engaging member 31 is pulled up and held. The head holding unit 21 can hold various types of rotary mounting heads 11 [see FIGS. 5A and 5B] and also has a single nozzle mounting head 38 [see FIG. 5C]. It can be retained.

  In the component mounting machine, in addition to the head mounting portion for mounting the replacement mounting head 11, the nozzle mounting portion for mounting the replacement suction nozzle 13 [see FIGS. 5 (d) to 5 (i)]. (Not shown) is provided so that the suction nozzle 13 held by the nozzle holder 12 of the mounting head 11 can be automatically replaced.

  In addition to the R-axis drive mechanism 23 and the Q-axis drive mechanism 26, a Z-axis drive mechanism (not shown) using a Z-axis motor 37 (see FIG. 6) as a drive source moves integrally with the head holding unit 21. The engagement piece 39 fixed to the upper end of the nozzle holder 12 is pushed down by a push-down member (not shown) of the Z-axis drive mechanism at a predetermined stop position of the orbit of the nozzle holder 12. The nozzle holder 12 is lowered. As shown in FIG. 3, each nozzle holder 12 is urged upward by a spring 40, and the nozzle holder 12 released from the push-down member of the Z-axis drive mechanism is moved to the upper limit position (FIG. 3) by the urging force of the spring 40. In the state shown in FIG.

  The component mounter is equipped with a camera 41 (see FIG. 6) that captures the reference mark on the circuit board, and the camera 41 is moved integrally with the component suction device 10 by the head moving device 20. The camera 41 is also used as a camera for imaging the reference mark 42 (see FIGS. 3 and 4) of the mounting head 11 on the head mounting portion in addition to the reference mark on the circuit board. The reference mark 42 of the mounting head 11 is formed at a predetermined position on the upper end portion of the cylindrical gear 33. The reference mark 42 is imaged by the camera 41, and the image is captured by the control device 43 (see FIG. 6) of the component mounting machine. By processing, the position of the reference mark 42 is detected, and the rotational phase of the cylindrical gear 33 is detected.

  As shown in FIGS. 3 and 4, the identification information (hereinafter referred to as “head ID”) of the mounting head 11 is indicated on the upper surface of the engagement piece 39 at the upper end of the predetermined nozzle holder 12 of the mounting head 11. ) Is recorded by a code such as a bar code or a two-dimensional code. In the first embodiment, the camera 41 of the component mounter is used as a head ID reading unit that reads the head ID from the head ID recording unit 45, and an image obtained by imaging the head ID recording unit 45 with the camera 41 is controlled by the control device. The head ID is read by processing at 43.

  On the head holding unit 21 side, a mounting head detecting optical sensor (not shown) for checking the type of the mounting head 11 held by the head holding unit 21 is provided. Thereby, the control device 43 can detect the mounting head 11 when the mounting head 11 without the head ID recording unit 45 is held by the head holding unit 21 or when the power of the component mounting machine is turned on. The type of the mounting head 11 held in the head holding unit 21 can be confirmed based on the output signal.

  As shown in FIG. 2, the head holding unit 21 of the component mounting machine is supplied from a negative pressure supply system 52 that supplies negative pressure supplied from the negative pressure source 51 to the mounting head 11 and a positive pressure source 53. A positive pressure supply system 54 that supplies positive pressure to the mounting head 11 is provided. The negative pressure supply system 52 is provided with an electromagnetic valve 56 that opens and closes the negative pressure supply path 55. When the component is adsorbed to the adsorption nozzle 13 of the mounting head 11, the electromagnetic valve 56 is opened to adsorb the mounting head 11. Negative pressure is supplied to the nozzle 13. The positive pressure supply system 54 is adjusted by an electropneumatic proportional valve 57 (also referred to as an electropneumatic regulator or a proportional control valve) that adjusts the positive pressure supplied to the suction nozzle 13 of the mounting head 11 and the electropneumatic proportional valve 57. An electromagnetic valve 59 that opens and closes a positive pressure supply path 58 that supplies positive pressure to the mounting head 11 is provided. When releasing the component adsorbed by the suction nozzle 13 of the mounting head 11 with negative pressure, the electromagnetic valve 59 is opened, and the positive pressure adjusted by the electropneumatic proportional valve 57 is supplied to the suction nozzle 13 of the mounting head 11. The positive pressure supply path 58 on the downstream side of the electromagnetic valve 59 is provided with a pressure sensor 60 that detects the positive pressure supplied to the mounting head 11 when the electromagnetic valve 59 is opened (when the parts are released).

  The control device 43 of the component mounter is configured mainly by a computer, and controls the head moving device 20, the R-axis motor 25, the Q-axis motor 28, and the Z-axis motor 37 of the head holding unit 21 according to the production program, While controlling the operation | movement which adsorb | sucks the components supplied from the feeder 44 set to the mounting machine to the suction nozzle 13 of the mounting head 11, and mounts it on a circuit board, the mounting head 11 on a head mounting part is used for the head holding | maintenance unit 21. And the operation of exchanging the suction nozzle 13 held in the nozzle holder 12 of the mounting head 11 are controlled.

  Further, the control device 43 of the component mounting machine controls the opening / closing operation of the electromagnetic valve 56 of the negative pressure supply system 52, the positive pressure adjusting operation of the electropneumatic proportional valve 57 of the positive pressure supply system 54, and the opening / closing of the electromagnetic valve 59. It also functions as a control means for controlling the operation. Further, the control device 43 reads the output signal of the pressure sensor 60 when the electromagnetic valve 59 is opened (when the part is released), and detects the positive pressure supplied to the mounting head 11.

  Incidentally, the mounting head 11 to be held by the head holding unit 21 of the component mounting machine is a mounting head 11 that holds the suction nozzle 13 having a nozzle diameter corresponding to the type (size, shape, weight, etc.) of the component to be sucked. Although the mounting heads 11 have different numbers of suction nozzles 13, when the mounting head 11 is held by the head holding unit 21, when the component sucked by the suction nozzle 13 of the mounting head 11 is released. If the positive pressure (vacuum breaking pressure) supplied from the positive pressure source 53 to the suction nozzle 13 of the mounting head 11 is constant, the positive pressure may be insufficient depending on the part, and the part cannot be released from the suction nozzle 13. Some parts may be brought home while being attached to the suction nozzle 13 due to static electricity or the like. On the other hand, depending on the part, the positive pressure is too large and the positive pressure blown out from the suction nozzle 13 is increased. Mounting position of the component around on the circuit board it may possibly be shifted.

  Therefore, the control device 43 of the component mounting machine is suitable for releasing the component in which the output positive pressure of the electropneumatic proportional valve 57 is attracted to the suction nozzle 13 of the mounting head 11 for each mounting head 11 held by the head holding unit 21. The pressure is adjusted to positive pressure. In the first embodiment, as shown in FIG. 10, for each head ID (H1, H2,..., HN) of the mounting head 11, positive pressure command values (P1, P2,. ) Is stored in the storage device 46 (storage means) of the control device 43, and the control device 43 causes the head holding unit 21 to hold the mounting head 11 on the head mounting portion. In addition, the positive pressure command value corresponding to the head ID read by the camera 41 from the head ID recording unit 45 provided in the mounting head 11 on the head placement unit is read from the positive pressure command value table stored in the storage device 46. The positive pressure command value is output to the electropneumatic proportional valve 57 to adjust the output positive pressure of the electropneumatic proportional valve 57.

  Further, in the first embodiment, in consideration of the possibility that the positive pressure supply system 54 may deteriorate due to secular change or the like and the positive pressure supplied to the suction nozzle 13 of the mounting head 11 may shift, The positive pressure detected by the pressure sensor 60 when the positive pressure is supplied to the mounting head 11 is compared with a positive pressure command value (target positive pressure), and the positive pressure command value is corrected according to the comparison result. . In this manner, when the positive pressure supply system 54 is deteriorated due to secular change or the like and the positive pressure supplied to the mounting head 11 is shifted, the positive pressure detected value of the pressure sensor 13 is compared with the positive pressure command value. Since the result shows how much the positive pressure supplied to the mounting head 11 deviates from the positive pressure command value, the positive pressure supplied to the mounting head 11 is corrected by correcting the positive pressure command value according to the deviation amount. The pressure can be adjusted to a positive pressure suitable for releasing the parts, and the adjustment deviation of the positive pressure due to the secular change of the positive pressure supply system 54 can be corrected at any time. The process of correcting the positive pressure command value by comparing the positive pressure detection value of the pressure sensor 60 with the positive pressure command value does not need to be performed every time the mounting head 11 is replaced, or every time a predetermined period elapses, or The mounting head 11 may be replaced once every time the replacement number reaches a predetermined number or at the start of operation of the component mounting machine.

  The positive pressure adjustment process of the first embodiment described above and the correction process of the positive pressure command value based on the detected positive pressure value of the pressure sensor 60 are performed by the control device 43 by the positive pressure adjustment program of FIG. 8 and the positive pressure of FIG. It is executed according to the command value correction program. Hereinafter, the processing contents of these programs will be described.

[Part release operation control program]
When the positive pressure adjustment program of FIG. 8 is started, first, at step 101, it is determined whether it is the replacement timing of the mounting head 11 (that is, the timing at which the head holding unit 21 holds the mounting head 11 on the head mounting portion). If it is not the replacement timing, the system waits until the replacement timing is reached. Thereafter, when the replacement timing is reached, the process proceeds to step 102 where the camera 41 of the component mounter images the head ID recording unit 45 provided on the mounting head 11 on the head mounting unit and processes the image. Thus, the head ID of the mounting head 11 is read.

  Thereafter, the process proceeds to step 103, and the positive pressure command value corresponding to the head ID read in step 102 is read with reference to the positive pressure command value table of FIG. Then, the positive pressure command value is output to the electropneumatic proportional valve 57 to adjust the output positive pressure of the electropneumatic proportional valve 57. Thus, each time the mounting head 11 held by the head holding unit 21 is replaced, the positive pressure supplied to the mounting head 11 is changed to a positive pressure suitable for releasing the components adsorbed by the suction nozzle 13 of the mounting head 11. adjust.

  Since the mounting head 11 held by the head holding unit 21 may be manually replaced while the power of the component mounting machine is turned off, the control device 43 holds the head when the power of the component mounting machine is turned on. The type of the mounting head 11 held in the head holding unit 21 is confirmed based on the output signal of the mounting head detection optical sensor (not shown) on the unit 21 side, and a positive pressure command value corresponding to the mounting head 11 is confirmed. Is read from the positive pressure command value table, the positive pressure command value is output to the electropneumatic proportional valve 57, and the output positive pressure of the electropneumatic proportional valve 57 is adjusted.

  Even when the mounting head 11 not provided with the head ID recording unit 45 is held by the head holding unit 21, the control device 43 is based on the output signal of the optical sensor for detecting the mounting head on the head holding unit 21 side. After confirming the type of the mounting head 11 held by the head holding unit 21 and reading the positive pressure command value corresponding to the mounting head 11 from the positive pressure command value table, the positive pressure command value is converted into the electropneumatic proportional valve. The output positive pressure of the electropneumatic proportional valve 57 is adjusted.

[Positive pressure command value correction program]
When the positive pressure command value correction program shown in FIG. If the predetermined period has not elapsed, the process waits until the predetermined period elapses. Thereafter, when a predetermined period has elapsed, the routine proceeds to step 202, where it is determined whether or not the solenoid valve 59 of the positive pressure supply system 54 has been opened. If the solenoid valve 59 has not been opened, Wait until 59 is opened.

Thereafter, when the electromagnetic valve 59 is opened, the process proceeds to step 203, where the positive pressure detection value of the pressure sensor 60 is read, and in the next step 204, the positive pressure detection value and the positive pressure command value of the pressure sensor 60 are obtained. In comparison, the amount of misalignment of the positive pressure is calculated by the following equation.
Adjustment amount of positive pressure = positive pressure detection value−positive pressure command value Here, the positive pressure command value is a value converted into pressure, and a value obtained by combining the positive pressure detection value and the unit is used.

  Thereafter, the process proceeds to step 205, where it is determined whether or not the absolute value of the positive pressure adjustment deviation amount is larger than a predetermined value. As a result, if it is determined that the absolute value of the positive pressure adjustment deviation amount is larger than the predetermined value, it is determined that the deviation of the positive pressure command value needs to be corrected, and the process proceeds to step 206 to adjust the positive pressure. Correct the positive pressure command value according to the amount of deviation. Thereafter, the process returns to step 201 and the above-described processing is repeated.

  On the other hand, if it is determined in step 205 that the absolute value of the positive pressure adjustment deviation amount is equal to or less than the predetermined value, the positive pressure adjustment deviation amount is small, and there is no need to correct the deviation of the positive pressure command value. Determination is made, the process returns to step 201, and the above-described processing is repeated.

  According to the first embodiment described above, since the electropneumatic proportional valve 57 for adjusting the positive pressure supplied to the suction nozzle 13 of the mounting head 11 is provided in the head holding unit 21, the head holding unit 21 holds it. For each mounting head 11, it is possible to adjust the positive pressure supplied to the mounting head 11 to a positive pressure suitable for releasing the components sucked by the suction nozzle 13 of the mounting head 11. Accordingly, the function of adjusting the positive pressure for each mounting head 11 held by the head holding unit 21 can be mounted on the component mounting machine at a low cost, and the positive pressure supplied to the mounting head 11 is sucked for each mounting head 11. By optimizing according to the type (size, shape, weight, etc.), the conventional problem, part release failure due to lack of positive pressure (removal of parts) and mounting position of parts due to excessive positive pressure It is possible to prevent deviation.

  In the first embodiment, the head ID is recorded in the head ID recording unit 45 with a code such as a bar code or a two-dimensional code. However, an electronic tag (RF tag, IC tag, radio wave tag) storing the data of the head ID is used. (Also referred to as a wireless tag) is provided in the mounting head 11 as a head ID recording unit, and a reader that reads the head ID through wireless communication with the head ID recording unit is provided in the head holding unit 21 as a head ID reading unit. You may do it.

  In the first embodiment, the positive pressure command value corresponding to the head ID read from the head ID recording unit 45 of the mounting head 11 is read from the positive pressure command value table stored in the storage device 46. The mounting head 11 is provided with a positive pressure command value recording unit (code label or electronic tag) that records or stores a positive pressure command value suitable for releasing a component sucked by the suction nozzle 13 of the mounting head 11, and mounted on the head. A positive pressure command value reading means (camera or reader) for reading the positive pressure command value from the positive pressure command value recording portion of the mounting head 11 on the mounting portion is provided in the head holding unit 21, and the control device 43 The positive pressure command value read by the positive pressure command value reading means from the positive pressure command value recording portion provided in the mounting head 11 on the portion is output to the electropneumatic proportional valve 57 to output the electropneumatic proportional valve 57. It may be adjusted to output positive pressure.

  In the first embodiment, the suction nozzle 13 held in the mounting head 11 is configured to be exchangeable from among a plurality of types of suction nozzles 13. In this case, if the suction nozzle 13 held by the mounting head 11 is changed, the type (size, shape, weight, etc.) of the part to be sucked is changed, and the positive pressure suitable for releasing the part sucked by the suction nozzle 13 is changed. there's a possibility that.

  Considering this point, in the second embodiment of the present invention, as shown in FIG. 11, each mounting head 11 (H1, H2,..., HN) held by the head holding unit 21 is held by the mounting head 11. A positive pressure command value table in which a plurality of positive pressure command values (Pa1, Pb1,..., PxN) corresponding to a plurality of types of suction nozzles 13 (a, b,. Stored in the storage device 46 (storage means), the control device 43 stores a positive pressure command value corresponding to the suction nozzle 13 held by the mounting head 11 for each mounting head 11 held by the head holding unit 21. It reads out from the positive pressure command value table stored in the device 46, and outputs the positive pressure command value to the electropneumatic proportional valve 57 to adjust the output positive pressure of the electropneumatic proportional valve 57. Other configurations are the same as those of the first embodiment.

  According to the second embodiment described above, even if the suction nozzle 13 held in the mounting head 11 is replaced and the type (size, shape, weight, etc.) of the sucked component is changed, the supply to the mounting head 11 is performed. The positive pressure to be adjusted can be adjusted to a positive pressure suitable for releasing the component sucked by the suction nozzle 13 of the mounting head 11.

  The present invention is not limited to the first and second embodiments. For example, the configuration in which the mounting head 11 is engaged and held by the head holding unit 21 and the configuration in which the suction nozzle 13 is engaged and held by the nozzle holder 12 are appropriately changed. Needless to say, various modifications can be made without departing from the gist of the invention, such as a configuration in which the non-rotating mounting head is interchangeably held by the head holding unit.

  DESCRIPTION OF SYMBOLS 10 ... Component adsorption apparatus, 11 ... Mounting head, 12 ... Nozzle holder, 13 ... Adsorption nozzle, 20 ... Head moving mechanism, 21 ... Head holding unit, 22 ... R axis, 23 ... R axis drive mechanism (head rotation drive mechanism) , 24 ... R-axis gear, 25 ... R-axis motor, 26 ... Q-axis drive mechanism (nozzle rotation drive mechanism), 27 ... Q-axis gear, 28 ... Q-axis motor, 31 ... engaging member, 32 ... nozzle rotation gear mechanism , 33 ... cylindrical gear, 34 ... small gear, 35 ... engagement hole, 37 ... Z-axis motor, 41 ... camera (head ID reading means), 42 ... reference mark, 43 ... control device (control means), 44 ... feeder 45 ... head ID recording unit 46 ... storage device (storage means) 51 ... negative pressure source 52 ... negative pressure supply system 53 ... positive pressure source 54 ... positive pressure supply system 55 ... negative pressure supply path 56 ... Solenoid valve, 57 ... Electro-pneumatic proportional valve, 58 ... Positive Supply path 59 ... solenoid valve, 60 ... pressure sensor

Claims (5)

A mounting head that holds a suction nozzle that picks up components, a head holding unit that holds the mounting head in a replaceable manner, a head placement portion that places the mounting head to be replaced, and a head movement that moves the head holding unit In a component mounting machine that supplies a positive pressure from a positive pressure source to the suction nozzle that sucks the component with a negative pressure, and releases the component.
An electropneumatic proportional valve that is provided in the head holding unit and adjusts a positive pressure supplied from the positive pressure source to the suction nozzle of the mounting head;
An electromagnetic valve provided in the head holding unit, for opening and closing a passage for supplying positive pressure adjusted by the electropneumatic proportional valve to the mounting head;
A positive pressure command value recording unit which is provided in the mounting head and records or stores a positive pressure command value suitable for releasing a component sucked by the suction nozzle of the mounting head;
A positive pressure command value reading means for reading the positive pressure command value from the positive pressure command value recording unit of the mounting head on the head mounting unit;
Control means for controlling the positive pressure adjusting operation of the electropneumatic proportional valve and the opening / closing operation of the electromagnetic valve and adjusting the output positive pressure of the electropneumatic proportional valve for each of the mounting heads held by the head holding unit. ,
The control unit outputs the positive pressure command value read by the positive pressure command value reading unit from the positive pressure command value recording unit provided in the mounting head on the head mounting unit to the electropneumatic proportional valve. And adjusting the positive output pressure of the electropneumatic proportional valve . A mounting head that holds a suction nozzle that sucks a component, a head holding unit that holds the mounting heads having different numbers of suction nozzles in a replaceable manner, a head placement unit that places a replacement mounting head, and the head A head moving device for automatically exchanging the mounting head with the head mounting portion by moving a holding unit, and supplying positive pressure from a positive pressure source to the suction nozzle that sucks the component with negative pressure In the component mounter that releases the component,
An electropneumatic proportional valve that is provided in the head holding unit and adjusts a positive pressure supplied from the positive pressure source to the suction nozzle of the mounting head;
An electromagnetic valve provided in the head holding unit, for opening and closing a passage for supplying positive pressure adjusted by the electropneumatic proportional valve to the mounting head;
A head ID recording unit that is provided in the mounting head and records or stores identification information (hereinafter referred to as “head ID”) of the mounting head;
Head ID reading means for reading the head ID from the head ID recording unit of the mounting head on the head mounting unit;
Storage means for storing a positive pressure command value suitable for releasing a component sucked by the suction nozzle of the mounting head for each head ID ;
Control means for controlling the positive pressure adjusting operation of the electropneumatic proportional valve and the opening / closing operation of the electromagnetic valve and adjusting the output positive pressure of the electropneumatic proportional valve for each of the mounting heads held by the head holding unit. ,
The control unit is configured to read the head ID read by the head ID reading unit from the head ID recording unit provided on the mounting head when the head holding unit holds the mounting head on the head mounting unit. corresponding to the positive pressure command value read out from said memory means, said positive pressure command value said electropneumatic output to the proportional valve electric proportional valve output positive pressure you and adjusting the part products of Mounting machine. The head holding unit holds a camera that images a reference mark of a circuit board on which a component is mounted,
In the head ID recording unit, a code indicating the head ID is recorded,
The component mounting machine according to claim 2, wherein the head ID reading unit reads the head ID by processing an image obtained by imaging the head ID recording unit with the camera. The head holding unit is provided with a pressure sensor for detecting a positive pressure supplied from the electropneumatic proportional valve to the mounting head when the electromagnetic valve is opened.
The control means compares the positive pressure detected by the pressure sensor when the positive pressure is supplied to the mounting head with the positive pressure command value, and corrects the positive pressure command value according to the comparison result. The component mounting machine according to any one of claims 1 to 3 . The suction nozzle held in the mounting head is configured to be exchangeable from a plurality of types of suction nozzles,
For each mounting head, a plurality of positive pressure command values corresponding to a plurality of types of suction nozzles that can be held by the mounting head are set,
The control means outputs, to the electropneumatic proportional valve, a positive pressure command value corresponding to the suction nozzle held by the mounting head for each of the mounting heads held by the head holding unit. The component mounting machine according to any one of claims 1 to 4 , wherein the output positive pressure is adjusted.

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