JP6480463B2 - Component suction position correction system and component suction position correction method for rotary head type component mounting machine - Google Patents

Description

  The present invention relates to a component suction position correction system and a component suction position correction method for a rotary head type component mounting machine equipped with a function of correcting the position at which a component supplied by a tape feeder is sucked by a suction nozzle.

  When the component mounter picks up the component supplied by the tape feeder with the suction nozzle, if the component suction position is misaligned, a component suction error is likely to occur. It is necessary to correct according to the position of the parts to be processed. Therefore, conventionally, the mounting head that holds the suction nozzle is moved in the X and Y directions (left and right and front and rear directions), and the position of the suction nozzle is corrected to match the position of the next component to be suctioned (target component suction position). I have to.

  Further, in the rotary head type component mounting machine, as described in Patent Document 1 (Japanese Patent Laid-Open No. 9-270595), the next attracted component is imaged by a component recognition camera, and the component is processed by image processing. There is one that recognizes the position and corrects the position of the suction nozzle by slightly rotating the rotary head that holds the suction nozzle according to the position of the component.

JP-A-9-270595

  As in the former, the configuration in which the entire mounting head is moved in the X and Y directions to correct the position of the suction nozzle makes it difficult to correct the position in a short time due to insufficient rigidity of the mounting head support structure. As a result, the cycle time becomes longer and the productivity is lowered.

  On the other hand, in Patent Document 1, since the rotary head is rotated to correct the position of the suction nozzle, compared to a configuration in which the entire rotary head is moved in the X and Y directions to correct the position, the structure for supporting the rotary head at the time of position correction is used. The acting inertia force is reduced, and the adverse effect due to insufficient rigidity of the support structure of the rotary head is reduced, and the position can be corrected in a short time. However, the rotation of the rotary head causes the position of the suction nozzle to move in the X direction ( Not only in the direction perpendicular to the tape feeding direction of the tape feeder) but also in the Y direction (tape feeding direction). In Patent Document 1, since the position of the suction nozzle is corrected in the X direction by rotating the rotary head in accordance with the positional deviation in the X direction of the component, the positional deviation in the Y direction caused by the rotation of the rotary head is allowed. When exceeding the range, it is necessary to correct the position of the suction nozzle in the Y direction by moving the rotary head in the Y direction. In this case, too, the position correction is performed in a short time due to insufficient rigidity of the support structure of the rotary head. Is difficult.

  Therefore, the problem to be solved by the present invention is that a component suction position correction system and component suction of a rotary head type component mounting machine that can correct the component suction positions in both XY directions in a short time and can improve productivity. It is to provide a position correction method.

In order to solve the above-described problems, the present invention includes a tape feeder that sends a component housed in a component supply tape to a component suction position by a feeding operation of the component supply tape, and a plurality of suction nozzles at predetermined intervals in the circumferential direction. A rotary head to be held, a head rotation mechanism for rotating the plurality of suction nozzles in the rotation direction of the rotary head by rotating the rotary head, and a suction nozzle located above the component suction position by lowering the rotary head A Z-axis drive mechanism for sucking a component to the suction nozzle; and a head moving mechanism for moving the rotary head in the XY directions between a component suction station for performing a component suction operation and a component mounting station for performing a component mounting operation. in the component suction position correction system and component suction position correcting method of rotary head type mounter, in advance before A plurality of the position of the suction nozzle measured by stores the position data in the storage means, wherein in correcting the part suction position, then feeding the tape of the tape feeder through the ideal adsorption point of the component which adsorbs The intersection of the straight line extending in the direction and the turning locus of the suction point of the suction nozzle that picks up the part is set as the corrected part suction position, and the position of the rotary head in the XY direction is set to the stop position of the part suction station. The position data of the suction nozzle to be fixed and searched from the position data stored in the storage means to the next part suction position is retrieved, and the position of the suction nozzle, the position of the rotation center of the rotary head, and the next The corrected component suction position is calculated based on the position of the ideal suction point of the component to be suctioned, and is necessary for moving to the corrected component suction position. Calculating tape feed amount of Pufida and the rotation angle of the rotary head, the Y direction component suction position is a tape feeding direction of the tape feeders correction, after the correcting said parts by the tape feeding operation of the tape feeder The correction of the component suction position in the X direction, which is a direction perpendicular to the tape feeding direction, is performed by sending the component to the component suction position. The component after the correction is performed by rotating the rotary head by the head rotating mechanism. This is performed by turning to the suction position. Here, the ideal suction point of a component is generally the center or center of gravity of the component, and is a suction point at which the component can be stably suctioned by a suction nozzle.

  In the present invention, correction of the component suction position in the Y direction is performed by the tape feeding operation of the tape feeder, and correction of the component suction position in the X direction is performed by the rotary operation of the rotary head. It is not necessary to move the rotary head in the XY directions, and correction of the component suction positions in the XY directions can be performed in a short time without increasing the rigidity of the support structure of the rotary head, thereby improving productivity.

  In the present invention, the positions of the plurality of suction nozzles are measured in advance, the position data is stored in the storage means, and the position of the suction nozzle to be rotated to the next component suction position from the position data stored in the storage means The data is searched, and the corrected component suction position is calculated based on the position of the suction nozzle, the position of the rotation center of the rotary head, and the position of the ideal suction point of the next component to be suctioned. It is preferable to calculate the tape feed amount of the tape feeder and the rotation angle of the rotary head necessary for moving to the subsequent component suction position. In this case, the corrected component suction position and the tape are determined by the geometrical positional relationship between the position of the suction nozzle, the position of the rotation center of the rotary head, and the position of the ideal suction point of the next suctioned component. The tape feed amount of the feeder and the rotation angle of the rotary head can be calculated easily and accurately.

FIG. 1 is a side view of a rotary head type component mounting machine in Embodiment 1 of the present invention. FIG. 2 is a block diagram showing the configuration of the control system of the component mounter. 3A is a plan view showing the positional relationship between the component supply tape component and the suction nozzle before misalignment correction in the first embodiment, and FIG. 3B is the component supply tape component and suction after the misalignment correction. It is a top view which shows the positional relationship with a nozzle. FIG. 4A is a plan view showing the positional relationship between the component supply tape component and the suction nozzle when the left component suction position C1 of the second embodiment is corrected, and FIG. 4B shows the right component suction position C2. It is a top view which shows the positional relationship of the component of a component supply tape at the time of correction | amendment, and a suction nozzle.

  Hereinafter, two Examples 1 and 2 which embody the form for implementing this invention are demonstrated.

A first embodiment of the present invention will be described with reference to FIGS.
First, the configuration of the rotary head type component mounting machine 10 will be described with reference to FIGS. 1 and 2.

  A conveyor 13 for conveying the circuit board 12 is provided on the base 11 of the rotary head type component mounting machine 10 (hereinafter, the conveyance direction of the circuit board 12 by the conveyor 13 is referred to as X direction). Of the two support rails 13a and 13b and the support members 15a and 15b that support the conveyor belts 14a and 14b constituting the conveyor 13, one support member 15a is fixed at a fixed position, and the opposite support member The width of the conveyor 13 (the interval between the conveyor rails 13a and 13b) is adjusted by adjusting the position in the Y direction (position in the direction perpendicular to the X direction) of 15b along the guide rail 16 with a feed screw mechanism (not shown). Can be adjusted according to the width of the circuit board 12.

  Further, a device pallet 22 (feeder setting table) is detachably attached to the side of the conveyor 13 on the base 11, and a plurality of tape feeders 23 are set on the device pallet 22 so as to be detachable in the Y direction. Has been. Each tape feeder 23 is set with a reel 20 around which a component supply tape that accommodates a large number of components in a row at equal pitches is set, and extends along the side edge of the component supply tape drawn from the reel 20 in the Y direction. The sprocket hole formed in this manner is meshed with the teeth of a sprocket (not shown), and the tape feed operation is performed in the Y direction by the rotation of the sprocket. Is arranged to feed the pitch to a position where the suction is picked up. Each tape feeder 23 is configured such that the feed amount of the component supply tape (rotation angle of the sprocket) can be finely adjusted by controlling the rotation angle of the motor 27 that rotationally drives the sprocket by the control unit 28.

  The component mounter 10 is provided with a head moving mechanism 25 that moves the rotary head 24 in the XY direction between a component suction station that performs a component suction operation and a component mounting station that performs a component mounting operation. The rotary head 24 holds a plurality of suction nozzles 26 for sucking the components sent to the component suction position by the tape feeder 23 at a predetermined interval (equal pitch) in the circumferential direction. The rotary head 24 includes a head rotation mechanism 31 that rotates (rotates) the rotary head 24 about its axis (R axis) and turns the plurality of suction nozzles 26 in the circumferential direction of the rotary head 24. The Z-axis drive mechanism 32 that lowers the suction nozzle 26 at a predetermined stop position (above the component suction position) of the orbit of the suction nozzle 26 and sucks the component onto the suction nozzle 26, and the suction nozzle 26 on its axis There is provided a nozzle rotation mechanism 33 that rotates (rotates) around the core wire and corrects the direction of the component sucked by the suction nozzle 26.

  In addition, the component mounting machine 10 is moved integrally with the rotary head 24 to be picked up by a mark camera 35 (a camera for picking up a mark) that picks up the reference position mark of the circuit board 12 from above and a suction nozzle 26. A parts camera 36 (camera for parts imaging) that images the parts from below is provided.

  The control device 41 of the component mounter 10 includes an input device 42 such as a keyboard, a mouse, and a touch panel, a storage device 43 (storage means) such as a hard disk, RAM, and ROM for storing various programs and data, and a liquid crystal display. A display device 44 such as a CRT is connected.

  While the component mounter 10 is in operation, the head moving mechanism 25 moves the rotary head 24 to the component suction station to perform the component suction operation, and then moves the rotary head 24 to the component suction station to perform the component mounting operation. Repeat the operation. At the parts suction station, the parts housed in the parts supply tape are sent to the parts suction position by the feeding operation of the parts supply tape of the tape feeder 23, and the suction nozzle 26 located above the parts suction position is lowered to perform the suction. After the parts are sucked by the nozzle 26, the operation of raising the suction nozzle 26 to the original height position is repeated, and the parts are sucked in order by the plurality of suction nozzles 26 held by the rotary head 24.

  If the component suction position is shifted during the component suction operation, a component suction error or the like is likely to occur. Therefore, the control device 41 of the component mounter 10 rotates the rotary head 24 for each suction nozzle 26 that performs the component suction operation. By controlling the operation and the tape feeding operation of the tape feeder 23, the component suction position is corrected as follows.

  As advance preparation, the positions of the plurality of suction nozzles 26 held by the rotary head 24 are measured in advance by an image recognition technique or the like, and the measurement data of the positions of the suction nozzles 26 is stored in the storage device 43. Then, first, as shown in FIG. 3, the Y direction, which is the tape feeding direction of the tape feeder 23, passes through the ideal suction point (stable suction point) of the next component to be sucked (the first component of the component supply tape). The intersection C between the straight line A extending to the point and the turning locus B of the suction point of the suction nozzle 26 that sucks the component is set as the corrected component suction position. Here, the ideal adsorption point (stable adsorption point) of a component is generally the center or the center of gravity of the component, and is an adsorption point at which the component can be stably adsorbed by the adsorption nozzle 26.

  A specific method for correcting the component suction position is as follows. The controller 41 measures the position of the suction nozzle 26 that is rotated to the next component suction position from the measurement data of the positions of the plurality of suction nozzles 26 stored in the storage device 43. Data is searched, and the corrected component suction position is calculated based on the position of the suction nozzle 26, the position of the rotation center of the rotary head 24, and the position of the ideal suction point of the next component to be suctioned. In other words, if the position of the suction nozzle 26 and the position of the rotation center of the rotary head 24 are known, the swivel trajectory B of the suction point of the suction nozzle 26 can be specified, and the position of the ideal suction point of the next part to be sucked is known. If there is, it is possible to specify the straight line A extending in the Y direction from the ideal suction point of the component, and therefore it is possible to easily calculate the corrected component suction position which is the intersection C between the two. The position information of the rotation center of the rotary head 24 and the ideal suction point of the component may be stored in the storage device 43 in advance.

  Thereafter, the control device 41 calculates the tape feed amount of the tape feeder 23 required to move from the current position of the next component to be suctioned and the corrected component suction position C to the corrected component suction position C. At the same time, the turning angle of the suction nozzle 26 that sucks the component (the rotation angle of the rotary head 24) is calculated. Thereafter, the control device 41 fixes the position of the rotary head 24 in the XY direction at the stop position of the component suction station, and corrects the component suction position in the Y direction that is the tape feeding direction of the tape feeder 23. By the tape feed operation, the next part to be picked up (the first part of the part supply tape) is sent to the corrected part pick-up position C in the Y direction, and the part picked up in the X direction, which is perpendicular to the tape feed direction The position is corrected by rotating the suction nozzle 26 for sucking the component to the corrected component suction position C by the rotation operation of the rotary head 24 by the head rotating mechanism 31.

  After completing the correction of the component suction position as described above, the suction nozzle 26 positioned above the corrected component suction position C is lowered to suck the component onto the suction nozzle 26, and then the suction nozzle 26 Is raised to its original height. As a result, the component suction operation of one suction nozzle 26 is completed, and thereafter, for all the remaining suction nozzles 26, the component suction position correction and the component suction operation are performed one by one in order, and the rotary head 24 is operated. The parts are sucked in order by all the suction nozzles 26 held in the head.

  According to the present embodiment described above, correction of the component suction position in the Y direction is performed by the tape feeding operation of the tape feeder 23, and correction of the component suction position in the X direction is performed by the rotation operation of the rotary head 24. Therefore, it is not necessary to move the rotary head 24 in the X and Y directions by the head moving mechanism 25 when correcting the component suction position, and correction of the component suction position in the XY directions can be shortened without increasing the rigidity of the support structure of the rotary head 24. It can be done in time and productivity can be improved.

  In the first embodiment, the rotary head 24 picks up only one part. However, in the second embodiment of the present invention shown in FIG. 4, two Z-axis drive mechanisms 32 are provided at two positions of the rotary head 24. The suction nozzle 26 is lowered at two locations on the rotary head 24 so that the parts can be sucked to the suction nozzle 26. A rotary head at a predetermined position of the component suction station so that the two suction nozzles 26 are positioned above the component suction positions C1 and C2 of the two tape feeders 23 of the plurality of tape feeders 23 set in the component mounter 10. 24, the movement in the XY direction is stopped, the component suction position C1 is corrected for one tape feeder 23 and the component suction operation is performed in the same manner as in the first embodiment, and then the other tape feeder 23 is moved. A series of operations of performing the component suction operation by correcting the component suction position C <b> 2 is repeated, and the components are sequentially sucked by all the suction nozzles 26 held by the rotary head 24. The calculation method of the component suction positions C1 and C2 after correction is the same as that of the first embodiment, and the tape feeder 23 feeds the tape through the ideal suction point of the next component to be sucked (the first component of the component supply tape). The intersection points C1 and C2 between the straight lines A1 and A2 extending in the Y direction, which is the direction, and the turning locus B of the suction point of the suction nozzle 26 that sucks the part are set as the corrected part suction position.

  In the configuration example of FIG. 4, a total of 16 suction nozzles 26 (N1 to N16) are arranged and held on the rotary head 24 at a pitch of 22.5 ° in the circumferential direction, and the component suction positions C1 of the two tape feeders 23 are retained. , C2 so that three suction nozzles 26 are positioned. That is, the interval between the two tape feeders 23 that adsorb the parts is set to the interval of the four-angle pitch (22.5 ° × 4 = 90 °) of the rotary head 24.

  The order of sucking the components to the 16 suction nozzles 26 (N1 to N16) is as follows. First, the two suction nozzles 26 (N1 and N13) positioned above the component suction positions C1 and C2 of the two tape feeders 23 are used. After the positions are corrected in order and the respective components are sucked, the rotary head 24 is rotated by one angle pitch (22.5 °) ± the position shift correction amount, and the next two suction nozzles 26 (N2 and N14) Are sequentially positioned above the corrected component suction positions C1 and C2, and the two suction nozzles 26 (N2 and N14) respectively suck the components. Thereafter, similarly, the rotary head 24 is rotated by one angle pitch (22.5 °) ± the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N3 and N15), and then the rotary head 24 is rotated by one angle pitch (22.5 °) ± position shift correction amount, and the components are sucked to the next two suction nozzles 26 (N4 and N16), respectively.

  Thereafter, the rotary head 24 is rotated by 5 angular pitches (22.5 ° × 5 = 112.5 °) ± the positional deviation correction amount, and the components are sucked to the two suction nozzles 26 (N9 and N5), respectively. Thereafter, the rotary head 24 is rotated by one angle pitch (22.5 °) ± the positional deviation correction amount, and the next two suction nozzles 26 (N10 and N6) are sequentially corrected to the component suction positions C1 and C2. The components are sucked by the two suction nozzles 26 (N10 and N6). Thereafter, similarly, the rotary head 24 is rotated by one angular pitch (22.5 °) ± the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N11 and N7), and then the rotary head 24 is rotated by one angle pitch (22.5 °) ± the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N12 and N8), respectively. Thereby, the component suction operation of a total of 16 suction nozzles 26 (N1 to N16) held in the rotary head 24 is completed. Other configurations are the same as those of the first embodiment.

  In the second embodiment described above, since two Z-axis drive mechanisms 32 are provided at two locations on the rotary head 24, the rotary head 24 is displaced by one angular pitch (22.5 °) ± position by the head rotating mechanism 31. By rotating by the correction amount, two parts can be sucked and productivity can be improved.

  In the present invention, the Z-axis drive mechanism 32 may be provided at three or more locations of the rotary head 24, and the suction nozzle 26 may be lowered at three or more locations of the rotary head 24 to perform the component suction operation. .

  In addition, the present invention is not limited to the configuration of each of the first and second embodiments, and it is needless to say that various modifications can be made without departing from the gist, such as the configuration of the component mounter 10 may be changed. .

  DESCRIPTION OF SYMBOLS 10 ... Rotary head type component mounting machine, 12 ... Circuit board, 13 ... Conveyor, 23 ... Tape feeder, 24 ... Rotary head, 25 ... Head moving mechanism, 26 ... Suction nozzle, 31 ... Head rotating mechanism, 32 ... Z-axis drive Mechanism 33 ... Nozzle rotation mechanism 41 ... Control device 43 ... Storage device (storage means)

Claims (2)

A tape feeder that sends a component housed in the component supply tape to a component suction position by a feeding operation of the component supply tape;
A rotary head that holds a plurality of suction nozzles at predetermined intervals in the circumferential direction;
A head rotation mechanism for rotating the plurality of suction nozzles in the rotation direction of the rotary head by rotating the rotary head;
A Z-axis drive mechanism for lowering the suction nozzle located above the component suction position and sucking the component to the suction nozzle;
In a component suction position correction system for a rotary head type component mounting machine, comprising: a head moving mechanism that moves the rotary head in the X and Y directions between a component suction station that performs a component suction operation and a component mounting station that performs a component mounting operation ,
When correcting the component suction position, the intersection of the straight line extending in the tape feeding direction of the tape feeder through the ideal suction point of the next component to be suctioned and the turning locus of the suction point of the suction nozzle that sucks the component is While setting the corrected component suction position, the position of the rotary head in the XY direction is fixed at the stop position of the component suction station, and the correction of the component suction position in the Y direction, which is the tape feeding direction of the tape feeder, The tape feeder performs the tape feeding operation to send the component to the corrected component suction position, and the correction of the component suction position in the X direction, which is a direction perpendicular to the tape feeding direction, is performed by the head rotation mechanism. The suction nozzle is configured to rotate to the corrected component suction position by a rotary operation of the rotary head ,
Storage means for measuring the positions of the plurality of suction nozzles in advance and storing the position data;
The position data of the suction nozzle to be rotated to the next component suction position is retrieved from the position data stored in the storage means, and the position of the suction nozzle, the position of the rotation center of the rotary head, and the next component to be suctioned And calculating the corrected component suction position based on the position of the ideal suction point, and the tape feed amount of the tape feeder and the rotation angle of the rotary head required to move to the corrected component suction position component suction position correction system of the rotary head type mounter, characterized in that it comprises a calculating means for calculating a. A tape feeder that sends a component housed in the component supply tape to a component suction position by a feeding operation of the component supply tape;
A rotary head that holds a plurality of suction nozzles at predetermined intervals in the circumferential direction;
A head rotation mechanism for rotating the plurality of suction nozzles in the rotation direction of the rotary head by rotating the rotary head;
A Z-axis drive mechanism for lowering the suction nozzle located above the component suction position and sucking the component to the suction nozzle;
In a component suction position correction method for a rotary head type component mounting machine, comprising: a head moving mechanism that moves the rotary head in the XY direction between a component suction station that performs a component suction operation and a component mounting station that performs a component mounting operation ,
Measuring the positions of the plurality of suction nozzles in advance and storing the position data in a storage means;
When correcting the component suction position, the intersection of the straight line extending in the tape feeding direction of the tape feeder through the ideal suction point of the next component to be suctioned and the turning locus of the suction point of the suction nozzle that sucks the component is Set the component suction position after correction, and fix the position of the rotary head in the XY direction at the stop position of the component suction station,
The position data of the suction nozzle to be rotated to the next component suction position is retrieved from the position data stored in the storage means, and the position of the suction nozzle, the position of the rotation center of the rotary head, and the next component to be suctioned The corrected component suction position is calculated based on the position of the ideal suction point, and the tape feed amount of the tape feeder and the rotation angle of the rotary head required to move to the corrected component suction position And
Correction of the component suction position in the Y direction, which is the tape feeding direction of the tape feeder, is performed by feeding the component to the corrected component suction position by the tape feeding operation of the tape feeder, and is perpendicular to the tape feeding direction. The component suction position in the X direction that is the direction is corrected by rotating the suction nozzle to the corrected component suction position by the rotary operation of the rotary head by the head rotating mechanism. A component suction position correction method for a component mounter.

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