JP6417174B2 - Component mounting head for surface mounter - Google Patents

Description

  The present invention relates to a component holding head including a component holder for holding components in a surface mounter that mounts components (electronic components) such as IC chips on a substrate.

  In general, a surface mounter moves a component holding head above a component supply unit, and causes a nozzle as a component holder provided in the component holding head to perform a lowering / raising operation (elevating operation), and the nozzle The component is vacuum picked up and picked up at the lower end of the substrate, and then the component holding head is moved above the substrate, where the nozzle is lowered and raised again to mount the component at a predetermined coordinate position on the substrate. It is configured as follows.

  As described above, when picking up a component by causing the nozzle to move down and up, if the lowering stroke of the nozzle is too large, the lower end of the nozzle strongly presses the upper surface of the component and destroys the component. If the descending stroke is too small, the nozzle cannot land on the top surface of the part and picks up the part. The same applies to the case where the component is mounted on the substrate. If the lowering stroke of the nozzle is too large, the component adsorbed on the lower end of the nozzle is strongly pressed against the substrate and destroyed. If the descending stroke is too small, the component cannot land on the top surface of the board, and the component is mismounted. Therefore, the lowering stroke of the nozzle must be accurately controlled.

  As a method for accurately controlling the lowering stroke of the nozzle, a method using detection means (landing detection sensor) for detecting the landing of the nozzle is proposed in Patent Document 1. In addition, the applicant of the present application similarly proposed a method using a reflection type optical sensor (optical fiber sensor) as a landing detection sensor in Japanese Patent Application No. 2013-212220 as a method for accurately controlling the downward stroke of the nozzle. . This optical fiber sensor includes a light emitting unit that emits light toward a reflecting surface on the outer periphery of the nozzle, a light receiving unit that receives reflected light reflected by the reflecting surface, and a sensor unit that can continuously measure the amount of received reflected light. And determines that the nozzle has landed when the amount of received light decreases below a threshold value, and issues a landing detection signal. That is, the light emitted from the light emitting part of the optical fiber sensor is focused on the reflection surface when the nozzle is not landed, and when the nozzle is landed and its vertical position changes. The amount of reflected light reflected by the reflecting surface decreases, and the amount of light received by the light receiving portion of the optical fiber sensor decreases. Specifically, as shown in FIG. 6, which will be described later, the threshold A is set as a reference, and it is determined that the landing has occurred when the amount of received light decreases to the threshold A or less, and the descent of the nozzle is stopped based on that point. Thereby, the downward stroke of the nozzle can be accurately controlled.

  However, according to the experience of the present inventors, the reflective surface on the outer periphery of the nozzle may be dirty, or the reflective plate for constituting the reflective surface may not be attached to the nozzle. In such a case, since a sufficient amount of received light cannot be obtained from the pre-landing state, the landing of the nozzle cannot be detected or even if it can be detected, the accuracy is lost.

  For these reasons, in order to accurately detect the landing of the nozzle by a landing detection sensor such as an optical fiber sensor that is a reflection type optical sensor, the present inventors assume that the reflecting surface is dirty or the reflecting surface is dirty. I realized that it is necessary to be able to accurately detect on-line optical anomalies such as the absence of a surface.

Japanese Patent No. 3543044

  The problem to be solved by the present invention is to provide a component holding head of a surface mounter equipped with a landing detection sensor for detecting the landing of a component holder (nozzle), and the component holder itself that becomes an obstacle to landing detection by the landing detection sensor It is to make it possible to accurately detect optical abnormalities on-line.

According to one aspect of the present invention, a component holding head for the following surface mounter is provided.
“A spindle that is rotatable in the T direction around the axis and can be raised and lowered in the Z direction along the axis, a component holder mounted on the lower end of the spindle via an elastic body, and the spindle is raised and lowered in the Z direction. A component holding head of a surface mounting machine, comprising: a lifting tool; and a landing detection sensor that raises and lowers in the Z direction in synchronization with the lifting tool to detect that the component holder has landed and generates a landing detection signal. And
The landing detection sensor continuously generates a light emitting unit that emits light toward a reflecting surface on an outer periphery of the component holder, a light receiving unit that receives reflected light reflected by the reflecting surface, and a received light amount of the reflected light. A sensor unit capable of measuring, and configured to emit the landing detection signal when the amount of received light decreases below a threshold value,
Further, the landing detection sensor is configured such that the amount of light received before the detection of the component holder to be detected and after the rotation operation of the spindle on which the component holder is mounted ends in the T direction deviates from a preset allowable range. If it is, the component holding head of the surface mounter that emits an abnormal signal. "

  In the present invention, when the component holding head is a rotary head type having a rotary head attached to the head body so as to be rotatable in the R direction around the vertical axis, the landing detection sensor is a component holding tool to be detected. If the amount of light received before landing and after the rotation operation of the spindle with the component holder mounted thereon in the T direction and R direction has deviated from a preset allowable range, an abnormal signal is generated.

  As described above, according to the present invention, it is possible to detect on-line whether or not there is an optical abnormality in the component holder itself by determining whether or not the received light amount in the pre-landing state is out of the allowable range. Further, in the present invention, the received light amount after the rotation operation in the T direction (T direction and R direction) of the spindle on which the component holder is mounted is used as the received light amount in the pre-landing state used for the above determination. Since this received light amount is in the pre-landing state in the same posture (posture in the rotational direction) as the final posture at the time of landing of the component holder, the optical abnormality of the component holder can be accurately detected. For example, when a part of the reflection surface of the component holder has dirt around the T direction, whether the dirt affects the amount of received light depends on the posture of the component holder in the T direction. By measuring the amount of light received in the pre-landing state in the same posture as the final posture at the time of landing, the optical abnormality of the component holder can be accurately detected.

  In the present invention, when an abnormal signal indicating an optical abnormality of the component holder is issued, the following measures can be taken by the elevation control means for controlling the elevation of the component holder. Here, the raising / lowering control means controls the raising / lowering of the component holder by controlling the raising / lowering of the raising / lowering tool, and controls the lowering of the component holding tool with the descent profile toward the preset landing target position. Then, when receiving the abnormal signal, the elevation control means raises the component holder when the component holder reaches the landing target position regardless of whether or not the landing detection signal is received. Accordingly, even when the component holder has an optical abnormality and an accurate landing detection signal cannot be obtained, the component holder can be prevented from excessively descending beyond the landing target position.

  Further, in the present invention, when the amount of light received in the pre-landing state is within an allowable range, that is, when it is determined that there is no optical abnormality in the component holder itself, the landing detection is performed based on the amount of light received in the state before landing. A threshold value can be set. Thereby, an appropriate threshold value can be set according to the optical properties of the individual component holders, and the robustness of the landing detection function by the landing detection sensor can be improved.

  In the present invention, “landing of the component holder” means that the lower end of the component holder is landed on the upper surface of the component in the component pick-up process, and is held on the lower end of the component holder in the component mounting process. This concept includes both landing on the upper surface of the substrate.

  ADVANTAGE OF THE INVENTION According to this invention, the optical abnormality of the component holder itself which becomes the obstacle of the landing detection by a landing detection sensor can be accurately detected online. As a result, it is possible to quickly and accurately perform a response when there is an optical abnormality in the component holder itself.

It is a perspective view which shows the whole structure of the component holding head by the Example of this invention. It is explanatory drawing which shows the mechanism which raises / lowers a spindle (nozzle) in a Z direction in the component holding head of FIG. It is explanatory drawing which shows the structure around a raising / lowering tool in the mechanism which raises / lowers the spindle (nozzle) of FIG. FIG. 2 shows a state where the spindle (nozzle) is lowered by the lifting tool shown in FIG. 2, (a) shows a state where the spindle (nozzle) is in an initial position, and (b) shows a state where the spindle (nozzle) is lowered. Indicates. It is a perspective view which expands and shows the cross section of the nozzle part with which the lower end of the spindle was mounted | worn. It is a figure which shows typically the change of the light reception amount of an optical fiber sensor when a nozzle lands. It is a figure which shows notionally the detection method of the optical abnormality of the components holder by this invention, and the setting method of a threshold value.

  Hereinafter, embodiments of the present invention will be described based on examples shown in the drawings.

  FIG. 1 is a perspective view showing an overall configuration of a component holding head according to an embodiment of the present invention.

  The component holding head 10 shown in the figure is a rotary head type component holding head, and a rotary head 30 is attached to a head body 20 fixedly arranged so as to be rotatable in the R direction around the vertical axis. A plurality of spindles 31 are arranged at equal intervals along the circumferential direction of the rotary head 30, and nozzles 32 are attached to the lower ends of the spindles 31 as component holders for attracting and holding components.

  The rotary head 30 rotates in the R direction by driving an R servo motor 21 installed in the head body 20. Each spindle 31 rotates in the T direction around its axis by driving a T servo motor 22 installed in the head body 20. Further, the head main body 20 is provided with a Z servo motor 23 for raising and lowering the spindle 31a at a specific position in the Z direction along the axial direction. Since a mechanism for rotating the rotary head 30 in the R direction by driving the R servo motor 21 and a mechanism for rotating the respective spindles 31 in the T direction by driving the T servo motor 22 are well known, description thereof will be omitted. A mechanism for lowering the spindle 31a by driving the Z servo motor 23 will be described below.

  FIG. 2 is an explanatory view showing a mechanism for raising and lowering the spindle 31a in the Z direction in the component holding head 10 of FIG. A motor shaft of the Z servo motor 23 arranged in the head body 20 is connected to a screw shaft 24a of a ball screw mechanism 24, and a nut 24b is attached to the screw shaft 24a. And the raising / lowering tool 25 is connected with this nut 24b. Therefore, by driving the Z servo motor 23, the lifting tool 25 moves in the Z direction together with the nut 24b.

  Only one lifting tool 25 is provided on the head body 20 side. When the spindle 31 is lowered, the spindle 31 to be lowered (spindle 31a at the specific position) is selected by moving the spindle 31 relative to the elevator 25, and the spindle is lowered by lowering the elevator 25. 31a and the nozzle 32 at the lower end thereof are lowered. In this embodiment, as shown in FIG. 3, the spindle 31 is moved relative to the lifting tool 25 by rotating the rotary head 30 in the R direction, and the spindle 31a directly below the lifting tool 25 is lowered. However, the configuration in which the spindle 31a at the specific position is selected and lowered is not limited to this, and a spindle to be lowered by moving the lifting tool may be selected. Further, there may be two or more specific positions.

  Returning to FIG. 2, the optical fiber sensor 40 is connected to the nut 24 b to which the lifting tool 25 is connected via a connection bar 26 and a spline nut 28 fixed to a spline shaft 27 fixed to the head body 20. Are connected. That is, the optical fiber sensor 40 is provided integrally with the lifting tool 25. Therefore, when the lifting / lowering tool 25 moves in the Z direction by driving the Z servo motor 23, the optical fiber sensor 40 moves in the Z direction in synchronization with this. This is shown in FIG. 4A shows a state in which the spindle 31a is in the initial position, and FIG. 4B shows a state in which the spindle 31a is lowered by the lifting tool 25 shown in FIG. The spindle 31 is always urged toward the upper initial position by an elastic body 33 (see FIG. 2) composed of two coil springs.

  The optical fiber sensor 40 has a light emitting part and a light receiving part incorporated on the same axis together with an optical fiber and a lens, and its configuration itself is well known. In this embodiment, as shown in FIG. 2, the optical fiber sensor 40 is disposed obliquely above the nozzle 32 mounted on the lower end of the spindle 31 via a coil spring 34 (elastic body). And the light emission part of the optical fiber sensor 40 emits light P diagonally downward toward the reflective surface 32a of the outer peripheral upper surface of the nozzle 32 shown enlarged in FIG. The light P is received as reflected light by the light receiving portion of the optical fiber sensor 40.

  Here, as described above, the nozzle 32 is attached to the lower end of the spindle 31 via the coil spring 34. Therefore, when the nozzle 32 at the lower end of the spindle 31 is lowered due to the lowering of the spindle 31, the coil spring 34 is compressed, and the vertical position of the nozzle 32 with respect to the spindle 31 is changed. Specifically, the nozzle 32 moves relatively toward the lower end side of the spindle 31.

  On the other hand, the light P emitted from the light emitting portion of the optical fiber sensor 40 is focused on the reflection surface 32a in the pre-landing state where the nozzle 32 is not landed by the lens 40a shown in FIG. Therefore, when the nozzle 32 is landed and its vertical position is changed, the amount of reflected light reflected by the reflecting surface 32a is reduced, and the amount of light received by the light receiving portion of the optical fiber sensor 40 is reduced (FIG. 6). reference). In this embodiment, the decrease in the amount of received light is detected by the sensor unit 40b of the optical fiber sensor 40. The sensor unit 40b determines that the nozzle 32 has landed when the amount of received light has decreased by a predetermined amount, specifically, for example, when the amount is equal to or less than the threshold value A shown in FIG. 6, and issues a landing detection signal.

  Next, a method for detecting an optical abnormality of the nozzle 32 and a method for setting the threshold A according to the present invention will be described with reference to FIG. Although FIG. 7 shows a mounting process for mounting the component 60 on the substrate 70, the method for detecting an optical abnormality of the nozzle 32 and the method for setting the threshold A are the same in the component pick-up process.

  In FIG. 7, the lowering operation (Z-axis lowering) of the nozzle 32 in the Z direction starts from time A. In the initial stage of the lowering of the Z axis, the nozzle 32 is lowered with the rotation operation in the T direction (T axis rotation) and the rotation operation in the R direction (R axis rotation) described in FIG. Thereafter, the sensor unit 40b of the optical fiber sensor 40 has a measured amount of received light before landing of the nozzle 32 to be detected and after the T-axis rotation and the R-axis rotation are finished (time B in FIG. 7), It is determined whether or not it is within a preset allowable range. If the amount of light received at the time B is within an allowable range, the optical fiber sensor 40 automatically sets the threshold A instantly based on the amount of light received at the time B, and whether the nozzle 32 has landed based on the threshold A. Judge whether or not. In the example of FIG. 7, since the amount of received light is equal to or less than the threshold value A at time C, it is determined that the nozzle 32 has landed at this time. Such threshold setting is repeated for each mounting (pickup) operation of the component by the nozzle 32, and the threshold A is updated each time.

  On the other hand, if the amount of light received at time B is outside the allowable range, the optical fiber sensor 40 determines that the nozzle 32 has an optical abnormality and issues an abnormality signal. When the control unit 50 (elevation control means, see FIG. 2) that controls the Z servo motor 23 receives this abnormal signal, the control unit 50 controls the Z servo motor 23 to determine whether or not the landing detection signal is received. First, when the nozzle 32 reaches the landing target position, the nozzle 32 is raised.

  Here, the landing target position is set based on the device configuration data of the surface mounter, the height data of the board and components, and the like, and is given to the control unit 50 in advance. The control unit 50 controls the Z servo motor 23 to control the lowering of the nozzle 32 with a lowering profile (for example, a Z-axis speed profile as shown in FIG. 7) toward the landing target position. In the case of the present embodiment, the control unit 50 (Z servo motor 23) normally stops receiving the landing detection signal as a trigger and stops the lowering of the nozzle 32 in consideration of the necessary pushing amount as shown in FIG. . However, when an abnormal signal indicating an optical abnormality of the optical fiber sensor 40 is received, an accurate landing detection signal cannot be obtained. Therefore, the control unit 50 (Z servo motor 23) can determine whether or not the landing detection signal is received. First, when the nozzle 32 reaches the landing target position, the nozzle 32 is raised. Thereby, it is possible to prevent the nozzle 32 from being lowered excessively.

  Note that the determination of whether or not there is an optical abnormality in the nozzle 32 and the time point when the T-axis rotation and the R-axis rotation that are the timing of setting the threshold A are completed can be grasped by the control program of the component holding head, and actually For example, the time point B in FIG. 7 can be determined based on the encoder value of the Z servo motor 23 that moves the nozzle 32 up and down.

  Thus, by determining whether or not there is an optical abnormality in the nozzle 32 based on the actually received light amount after the completion of the T-axis rotation and the R-axis rotation, the optical abnormality of the nozzle 32 is accurately determined. Can be detected. That is, for example, when a part of the reflective surface 32a of the nozzle 32 around the T direction is contaminated, whether the dirt affects the amount of received light depends on the attitude of the nozzle 32 in the T direction. By measuring the amount of received light in the pre-landing state in the same posture as the final posture at the time of landing, the optical abnormality of the nozzle 32 can be accurately detected.

  Similarly, an optimum threshold A can be set for each nozzle 32 to be detected by setting the threshold A based on the actually received light amount after the T-axis rotation and the R-axis rotation are completed. That is, the threshold A set based on the amount of received light in the pre-landing state that is the same as the final posture at the time of landing of the nozzle 32 is optimal as a determination reference value for landing detection due to a decrease in the amount of received light. Then, by determining whether or not the nozzle 32 has landed using the threshold value A set for each nozzle 32 in this way, the amount of received light in the pre-landing state at each nozzle 32 depends on the difference in the properties of the nozzle 32 or the like. Even if it fluctuates, the threshold A corresponding to this is set, so that the robustness of the landing detection function by the optical fiber sensor 32 is improved.

  In the above configuration, the surface mounter having the component holding head 10 sucks and picks up a component from the component supply unit by the nozzle 32 attached to the lower end of the spindle 31 and transfers it onto the printed circuit board. Mount in place. At the time of this component suction and mounting, the sensor unit 40b of the optical fiber sensor 40 determines the presence or absence of an optical abnormality of the nozzle 32 in the manner described above. If there is no abnormality, the threshold A set for each nozzle 32 is set. It is determined whether or not the nozzle 32 has landed as a reference, and if a landing is detected, a landing detection signal is issued. This landing detection signal is transmitted to the control unit 50 shown in FIG. When receiving the landing detection signal, the control unit 50 stops the Z servo motor 23 that lowers the lifting tool 25 in consideration of a predetermined pushing amount. Thereby, the descending stroke of the nozzle 32 is accurately controlled, and the nozzle 32 is accurately landed.

  On the other hand, when an optical abnormality of the nozzle 32 is detected, the optical fiber sensor 40 generates an abnormality signal as described above, and the control unit 50 that has received this abnormality signal controls the Z servo motor 23 to receive the landing detection signal. Regardless of whether or not there is, the nozzle 32 is raised when the nozzle 32 reaches the landing target position.

  In the above embodiment, the sensor unit 40 b of the optical fiber sensor 40 is provided separately from the control unit 50, but the function of the sensor unit 40 b can be incorporated into the control unit 50. Further, the control unit 50 can be incorporated into the Z servo motor 23. Furthermore, a reflection type optical sensor other than the optical fiber sensor 40 can be used as the landing detection sensor. Furthermore, the present invention is also applicable to a component holding head other than the rotary head type, that is, a component holding head that does not involve a rotation operation in the R direction. In this case, the detection of the optical abnormality of the nozzle 32 and the setting of the threshold A are performed after the end of the T-axis rotation.

DESCRIPTION OF SYMBOLS 10 Component holding head 20 Head main body 21 R servo motor 22 T servo motor 23 Z servo motor 24 Ball screw mechanism 24a Screw shaft 24b Nut 25 Lifting tool 26 Connecting bar 27 Spline shaft 28 Spline nut 30 Rotary head 31, 31a Spindle 32 Nozzle 32a Reflective surface 33 Elastic body 34 Coil spring (elastic body)
40 Optical fiber sensor (landing detection sensor)
40a lens 40b sensor unit 50 control unit (elevation control means)
60 parts 70 substrate

Claims (5)

A spindle that can rotate in the T direction around the axis and that can be raised and lowered in the Z direction along the axis, a component holder that is attached to the lower end of the spindle via an elastic body, and a lift that raises and lowers the spindle in the Z direction. A component holding head of a surface mounter comprising: a tool, and a landing detection sensor that raises and lowers in the Z direction in synchronization with the lift and detects that the component holder has landed and generates a landing detection signal. ,
The landing detection sensor continuously generates a light emitting unit that emits light toward a reflecting surface on an outer periphery of the component holder, a light receiving unit that receives reflected light reflected by the reflecting surface, and a received light amount of the reflected light. A sensor unit capable of measuring, and configured to emit the landing detection signal when the amount of received light decreases below a threshold value,
Further, the landing detection sensor is configured such that the amount of light received before the detection of the component holder to be detected and after the rotation operation of the spindle on which the component holder is mounted ends in the T direction deviates from a preset allowable range. If it is, the component holding head of the surface mounter that emits an abnormal signal. A plurality of the spindles are arranged along the circumferential direction of the rotary head attached to the head body so as to be rotatable in the R direction around the vertical axis.
In the landing detection sensor, the amount of received light before the landing of the component holder to be detected and after the rotation operation of the spindle on which the component holder is mounted ends in the T direction and the R direction is within a preset allowable range. The component holding head of the surface mounter according to claim 1, wherein when it deviates, an abnormal signal is generated.   Elevating control means for controlling elevating of the component holder by controlling elevating of the elevating tool, wherein the elevating control means controls the lowering of the component holder with a descending profile toward a preset landing target position. The lift control means, when receiving the abnormal signal, raises the component holder when the component holder reaches the landing target position regardless of whether the landing detection signal is received or not. Item 3. The component holding head of the surface mounter according to Item 1 or 2.   The landing detection sensor is configured so that the amount of received light before the landing of the component holder to be detected and after the rotation operation in the T direction of the spindle on which the component holder is mounted is within the allowable range, The component holding head of the surface mounter according to claim 1, wherein the threshold value is set based on a received light amount.   In the landing detection sensor, the amount of received light before the landing of the component holder to be detected and after the rotation operation in the T direction and R direction of the spindle on which the component holder is mounted is within the allowable range. 3. The component holding head of the surface mounter according to claim 2, wherein the threshold value is set based on the amount of received light.