JP6689120B2 - Rotary head type component mounter component suction position correction system - Google Patents

Description

 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component suction position correction system for a rotary head type component mounter equipped with a function of correcting a position where a component supplied by a tape feeder is sucked by a suction nozzle.

 When a component mounting machine picks up a component supplied by a tape feeder with a suction nozzle, if the component suction position is misaligned, a component suction error will occur easily. It is necessary to correct it according to the position of the part to be used. Therefore, conventionally, the mounting head that holds the suction nozzle is moved in the XY directions (left and right front and rear directions) so that the position of the suction nozzle is corrected according to the position of the next suction component (target component suction position). I have to.

 Further, in the rotary head type component mounter, as described in Patent Document 1 (Japanese Patent Laid-Open No. 9-270595), a component recognition camera takes an image of a component to be adsorbed next, and the component is detected by image processing. There is a method in which the position is recognized, and the position of the suction nozzle is corrected by slightly rotating the rotary head that holds the suction nozzle according to the position of the component.

 Further, as described in Patent Document 2 (JP 2012-164881A), in order to improve productivity, a Z-axis drive mechanism for lowering a plurality of suction nozzles of a rotary head is provided, and a plurality of Z-axis drive mechanisms are provided. There is one in which the suction nozzles are simultaneously lowered to suck a plurality of components at the same time.

JP-A-9-270595 JP 2012-164881 A

 By the way, even when a plurality of suction nozzles are simultaneously lowered to suction a plurality of components as in Patent Document 2, it is necessary to correct the deviation of each component suction position in order to prevent a component suction error or the like. Is desirable. Therefore, the component pick-up position correction technology of Patent Document 1 is applied to the rotary head type component mounter of Patent Document 2, and a plurality of components to be picked up next are picked up by a component recognition camera, and the plurality of components are image-processed. It is conceivable that the positions of the components are recognized, and the rotary head is slightly rotated according to the positions of the plurality of components to correct the positions of the plurality of suction nozzles that suction the plurality of components.

 However, the component suction position shifts at a plurality of locations do not occur uniformly, and the shift direction and the shift amount vary. Therefore, in the component suction position correction method of Patent Document 1, the component suction position shifts at a plurality of locations are detected. It is impossible to correct at the same time. For this reason, when the deviation amount of the component suction positions at a plurality of points exceeds the allowable deviation amount that allows stable suction, it is difficult to simultaneously suck a plurality of components, and the component suction positions are corrected one by one to pick up the parts. There is no choice but to adsorb them one by one, and productivity cannot be improved.

 Therefore, the problem to be solved by the present invention is to enable the rotary head to simultaneously and accurately suck two components sent to two component suction positions.

In order to solve the above-mentioned problems, the present invention provides a plurality of tape feeders that feed a component accommodated in the component supply tape to a component suction position by a feeding operation of the component supply tape, and a plurality of tape feeders at predetermined intervals in the circumferential direction. Of the plurality of tape feeders, a rotary head for holding the suction nozzles, a head rotating mechanism for rotating the plurality of suction nozzles to rotate the plurality of suction nozzles in the rotation direction of the rotary head, Between the Z-axis drive mechanism that lowers the suction nozzle located above the component suction position of the feeder to suck the component to the suction nozzle, the component suction station that performs the component suction operation, and the component mounting station that performs the component mounting operation. And a head moving mechanism for moving the rotary head in XY directions. In the suction position correction system, the Z-axis drive mechanism is provided at two places, and two suction nozzles located above the component suction positions of two tape feeders of the plurality of tape feeders are simultaneously provided. It is configured so that the leading parts of the two tape feeders are simultaneously sucked down by the two suction nozzles, and the component suction position of one tape feeder of the plurality of tape feeders is set. It is configured such that one suction nozzle located above is independently lowered to suck the leading part of the one tape feeder to the one suction nozzle, and the positions of the plurality of suction nozzles are set in advance. Is measured and the position data thereof is stored in the storage means, and the leading parts of the two tape feeders are sucked from the position data stored in the storage means. The position data of the two suction nozzles are searched, and the parts of the two tape feeders are determined based on the positions of the two suction nozzles and the positions of the ideal suction points of the leading parts of the two tape feeders. It is characterized in that it is provided with a calculating means for calculating a movement amount and a rotation angle of the rotary head in the XY directions and a tape feed amount of the two tape feeders, which are required to move to the suction position . Here, the ideal suction point of the component is generally the center or center of gravity of the component, and is the suction point at which the suction nozzle can stably suck the component.

 Even if the positions of the leading parts of the component supply tapes set in the two tape feeders are deviated or the positions of the two suction nozzles for adsorbing those components are deviated, as in the present invention, Of the rotary head in the XY directions so that the suction points of the two suction nozzles are located on the two straight lines extending in the tape feed direction of each tape feeder through the ideal suction points of the first parts of the tape feeder. If the head component is moved to the component suction position, which is the suction point of the suction nozzles on the two straight lines, by moving and rotating the two tape feeders, the tape feeding operation of the two tape feeders is performed. It is possible to lower the suction nozzles at the same time to suck the components at the two component suction positions at the same time, thereby improving the productivity.

 According to the present invention, the positions of the plurality of suction nozzles are measured in advance, the position data is stored in a storage unit, and the head parts of the two tape feeders are selected from the position data stored in the storage unit. The position data of the two suction nozzles to be suctioned is searched, and the two tapes are detected based on the positions of the two suction nozzles and the position of the ideal suction point of the first component of the two tape feeders. It is preferable to calculate the movement amount and the rotation angle of the rotary head in the XY directions and the tape feed amount of the two tape feeders, which are required to move the feeder to the component suction position. By doing so, two geometrical positional relationships between the positions of the two suction nozzles for sucking the two components and the positions of the ideal suction points of the leading components of the two tape feeders cause the two nozzles to pick up the two components. The position of the suction point of the suction nozzle (two component suction positions) on the straight line can be calculated easily and accurately, and the amount of movement in the XY directions of the rotary head required to move to the two component suction positions and The rotation angle and the tape feed amount of the two tape feeders can be calculated easily and accurately.

 In this case, the two tape feeders may have the same tape feed pitch (component size), but may have different tape feed pitches and may feed components of different sizes to the component suction position. . In the case of parts of different sizes, the position of the ideal suction point (center, center of gravity, etc.) shifts in the tape feed direction, so conventionally two parts of different sizes could not be picked up at the same time. It becomes possible to adsorb components at the same time.

FIG. 1 is a side view of a rotary head type component mounter according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of the control system of the component mounter. FIG. 3 is a perspective view of the entire rotary head. FIG. 4 is a perspective view showing the positional relationship between the Z-axis drive mechanism and the nozzle holder (suction nozzle) of the rotary head. FIG. 5 is a plan view showing the positional relationship between the Z-axis drive mechanism and the nozzle holder of the rotary head. FIG. 6 is a plan view showing the positional relationship between the component suction positions of the two tape feeders and the suction nozzles of the rotary head. FIG. 7 is a plan view for explaining the positional deviation of the first component of the component supply tape set in the two tape feeders.

 Hereinafter, an embodiment that embodies a mode for carrying out the present invention will be described. First, the configuration of the rotary head type component mounter 10 will be described with reference to FIGS. 1 and 2.

 A conveyor 13 that conveys the circuit board 12 is provided on the base 11 of the rotary head type component mounter 10 (hereinafter, the conveyance direction of the circuit board 12 by the conveyor 13 is the X direction). Of the supporting members 15a and 15b that support the two conveyor rails 13a and 13b and the conveyor belts 14a and 14b that form the conveyor 13, one supporting member 15a is fixed at a fixed position, and the supporting member on the opposite side is fixed. The width of the conveyor 13 (the distance between the conveyor rails 13a and 13b) is adjusted by adjusting the position of the 15b in the Y direction (the position perpendicular to the X direction) along the guide rail 16 by a feed screw mechanism (not shown) or the like. Can be adjusted according to the width of the circuit board 12.

 A device pallet 22 (feeder set table) is removably attached to the side of the conveyor 13 on the base 11, and a plurality of tape feeders 23 can be removably mounted on the device pallet 22 in the Y direction. It is set. 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 line at a regular pitch is wound, and along the side edge of the component supply tape pulled out from the reel 20 in the Y direction. The formed sprocket hole is engaged with the teeth of a sprocket (not shown), and the rotation of the sprocket causes the tape to be fed in the Y direction to move the parts of the parts supply tape to the parts suction position (the parts are sucked by the suction nozzle 26). To a position for adsorbing). Each tape feeder 23 is configured to finely adjust the feed amount of the component supply tape (sprocket rotation angle) 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 directions 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 predetermined intervals (equal pitch) in the circumferential direction. The rotary head 24 has a head rotating mechanism 31 for rotating (rotating) the rotary head 24 about its axis (R axis) to rotate a plurality of suction nozzles 26 in the circumferential direction of the rotary head 24. The Z-axis drive mechanism 32 for lowering the suction nozzle 26 at a predetermined stop position (above the component suction position) of the suction orbit of the suction nozzle 26 to suck the component onto the suction nozzle 26, and the suction nozzle 26. A nozzle rotation mechanism 33 is provided for rotating (spinning) around the axis to correct the orientation of the component sucked by the suction nozzle 26.

 In this embodiment, as shown in FIGS. 3 to 5, two Z-axis drive mechanisms 32 are provided around the rotary head 24, and two suction nozzles 26 are provided by these two Z-axis drive mechanisms 32. Is configured so that the two heads of the two tape feeders 23 can be simultaneously sucked by the two suction nozzles 26 at the same time, and only one suction nozzle 26 can be independent by any Z-axis drive mechanism 32. Then, it is configured to be lowered and to be able to suck the leading part of one tape feeder 23 to one suction nozzle 26.

 Each Z-axis drive mechanism 32 uses a Z-axis motor 37 as an actuator, and the feed screw 38 is rotated by this Z-axis motor 37 to move the Z-axis slide 39 in the up-down direction. By engaging the Z-axis slide 39 with the engaging piece 46 provided at the upper end of the nozzle 40 to move the nozzle holder 40 up and down, the suction nozzle 26 held below the nozzle holder 40 is moved up and down. It is like this. A linear motor may be used as the Z-axis motor 37 to move the Z-axis slide 39 in the vertical direction. Alternatively, a linear solenoid, an air cylinder or the like may be used instead of the linear motor.

 On the other hand, in the component mounter 10, a mark camera 35 (camera for picking up a mark) that moves integrally with the rotary head 24 and picks up the reference position mark of the circuit board 12 from above is sucked by the suction nozzle 26. A parts camera 36 (a camera for picking up an image of a part) for picking up an image of the part from below is provided.

 The control device 41 of the 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, a RAM and a ROM for storing various programs and data, and a liquid crystal display. , A display device 44 such as a CRT, or the like is connected.

 While the component mounter 10 is in operation, the head moving mechanism 25 moves the rotary head 24 to the component picking station to perform the component picking operation, and then moves the rotary head 24 to the component mounting station to put the component on the circuit board 12. The component mounting operation for mounting is repeated. The component suction station sends the components accommodated in the component supply tape to the component suction position by the feeding operation of the component supply tapes of the two tape feeders 23, and the two suction nozzles 26 located above the component suction position. Are simultaneously lowered to suck the components onto the two suction nozzles 26 at the same time, and then the two suction nozzles 26 are raised to the original height position. The parts are sucked in order by the plurality of suction nozzles 26 held by. At this time, the two tape feeders 23 may have the same tape feed pitch (component size), but in the present embodiment, the two tape feeders 23 that are simultaneously sucked have a tape feed pitch of mutually. Differently, parts of different sizes are sent to the parts suction position.

 If the component pick-up position is displaced during the component pick-up operation, a component pick-up error or the like is likely to occur. In particular, when the tape feed pitches of the two tape feeders 23 are different and parts of different sizes are fed to the component pick-up position, the ideal pick-up point (stable pick-up point) of the leading part of the two tape feeders 23 is set. The position shifts in the Y direction, which is the tape feeding direction. As shown in FIG. 7, even if the component feeding tapes sent by the two tape feeders 23 have different sizes and the tape feeding pitches are different, the two tape feeders 23 are not covered by the cover tape on the upper surface of the component feeding tape. Since the peeling positions (Y coordinates) of the (top tape) are the same, the positions of the ideal suction points of the two components having different sizes are displaced in the Y direction which is the tape feeding direction. In order to simultaneously pick up two components that have been displaced in this way, it is necessary to correct the component suction position.

 Therefore, in this embodiment, the control device 41 of the component mounter 10 controls the movement and rotation of the rotary head 24 in the XY directions and the tape feeding operation of the two tape feeders 23 before performing the component suction operation. Then, the two component suction positions for simultaneous suction are corrected as follows. Here, the ideal suction point (stable suction point) of the component is generally the center or center of gravity of the component, and is the suction point at which the suction nozzle 26 can stably suck the component.

 As a preliminary preparation, the positions of the plurality of suction nozzles 26 held by the rotary head 24 are measured in advance by image recognition technology or the like, and the measurement data of the positions of the suction nozzles 26 are stored in the storage device 43. Then, as shown in FIG. 6, first, the tapes extend in the tape feeding direction (Y direction) of each tape feeder 23 through the ideal suction points (stable suction points) of the leading parts of the two tape feeders 23. The head moving mechanism 25 moves the rotary head 24 in the XY directions so that the suction points of the two suction nozzles 26 are located on the straight lines A1 and A2, and the head rotating mechanism 31 rotates the rotary head 24. Then, by the tape feeding operation of the two tape feeders 23, the leading component is fed to the component suction positions C1 and C2 which are the suction points of the suction nozzles 26 on the two straight lines A1 and A2.

 The specific correction method of the component suction positions C1 and C2 is as follows. The controller 41 (calculation unit) stores the heads of the two tape feeders 23 in the measurement data of the positions of the plurality of suction nozzles 26 stored in the storage device 43. The measurement data of the positions of the two suction nozzles 26 that suction the above-mentioned components, and based on the positions of the two suction nozzles 26 and the positions of the ideal suction points of the first components of the two tape feeders 23. Then, the moving amount and the rotation angle of the rotary head 24 in the XY directions required to move the two tape feeders 23 to the component suction position and the tape feed amount of the two tape feeders 24 are calculated.

 That is, if the position of each suction nozzle 26 is known, the distance between the two suction nozzles 26 used for simultaneous suction is known, and therefore the tape feed is performed through the ideal suction point of the head component of the two tape feeders 23. From the geometrical relationship between the distance between the two straight lines A1 and A2 extending in the direction (Y direction) and the distance between the suction points of the two suction nozzles 26, the two suction lines on the two straight lines A1 and A2 are adsorbed. The component suction positions C1 and C2 that are suction points of the nozzle 26 are determined. When the component suction positions C1 and C2 are determined, the position of the rotation locus circle of the suction nozzle 26 of the rotary head 24 is uniquely determined, and thus the position of the rotation center of the rotary head 24 is uniquely determined. Accordingly, it is possible to calculate the amount of movement in the XY directions of the rotary head 24 required for the simultaneous suction of the components at the component suction positions C1 and C2, and the position of the rotation center of the rotary head 24 and the current positions of the two suction nozzles 26 can be linearly aligned. From the component suction positions C1 and C2 on A1 and A2, the rotation angle of the rotary head 24 required for simultaneous suction of the components at the component suction positions C1 and C2 can be calculated. Then, based on the current positions of the leading parts of the two tape feeders 23 and the component pick-up positions C1 and C2 on the straight lines A1 and A2, the two tape feeders required to pick up the parts at the component pick-up positions C1 and C2 at the same time. The tape feed amount of 24 can be calculated. Incidentally, the rotation center of the rotary head 24 (the turning radius of the suction nozzle 26) and the position information of the ideal suction point of the component may be stored in the storage device 43 in advance.

 In the configuration example of FIG. 6, a total of 16 suction nozzles 26 (N1 to N16) are arranged on the rotary head 24 at a pitch of 22.5 ° in the circumferential direction and held, and the component suction positions of the two tape feeders 23 are held. The three suction nozzles 26 are arranged between C1 and C2. That is, the interval between the two tape feeders 23 that adsorb components 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 tape feeding direction (Y direction) of each tape feeder 23 is passed through the ideal suction points of the head components of the two tape feeders 23. ), The head moving mechanism 25 moves the rotary head 24 in the XY directions so that the suction points of the two suction nozzles 26 (N1 and N13) are located on the two straight lines A1 and A2, and the head is rotated. The rotary head 24 is rotated by the mechanism 31, and further the tape feed operation of the two tape feeders 23 causes the head component of the component supply tape to be the adsorption point C1 of the adsorption nozzle 26 on the straight lines A1 and A2. , Send to C2.

 After performing such a position correction operation, the two suction nozzles 26 (N1 and N13) located above the component suction positions C1 and C2 of the two tape feeders 23 are simultaneously lowered to simultaneously move the two components. After the suction, the rotary head 24 is rotated by one angle pitch (22.5 °) to position the next two suction nozzles 26 (N2 and N14) above the component suction positions C1 and C2. The two suction nozzles 26 (N2 and N14) simultaneously suck two components. At this time, if the positions of the two suction nozzles 26 (N2 and N14) and the component suction positions C1 and C2 need to be corrected again, the amount of movement and the rotation angle of the rotary head 24 in the XY directions necessary for the correction. The tape feed amount of the two tape feeders 24 is calculated by the above-described method, and the movement and rotation operation of the rotary head 24 in the XY directions and the tape feed operation of the tape feeder 24 are performed to correct the component suction positions C1 and C2 again. Just do it.

 After that, similarly, the rotary head 24 is rotated by one angle pitch (22.5 °) (the above-described position correction operation is performed if necessary), and the next two suction nozzles 26 (N3 and N15) are moved to two positions. After picking up one component at the same time, the rotary head 24 is rotated by one angle pitch (22.5 °) (the above-described position correcting operation is performed if necessary), and the next two suction nozzles 26 (N4 and N16) are rotated. ) Adsorb two parts at the same time.

 After that, the rotary head 24 is rotated by 5 angular pitches (22.5 ° × 5 = 112.5 °) (the above-described position correction operation is performed if necessary), and the two suction nozzles 26 (N9 and N5) are rotated. ), The rotary head 24 is rotated by one angle pitch (22.5 °) (the above-described position correction operation is performed if necessary), and the next two suction nozzles 26 ( N10 and N6) are positioned above the component suction positions C1 and C2, and the two suction nozzles 26 (N10 and N6) simultaneously suck two components. After that, similarly, the rotary head 24 is rotated by one angle pitch (22.5 °) (the above-described position correction operation is performed as necessary), and the next two suction nozzles 26 (N11 and N7) are rotated by two. After picking up one component at the same time, the rotary head 24 is rotated by one angle pitch (22.5 °) (the above-described position correcting operation is performed if necessary), and the next two suction nozzles 26 (N12 and N8) are rotated. ) Adsorb two parts at the same time. As a result, the component suction operation of a total of 16 suction nozzles 26 (N1 to N16) held by the rotary head 24 is completed.

 According to the present embodiment described above, two suctions are made on the two straight lines A1 and A2 extending in the tape feeding direction of each tape feeder 23 through the ideal suction points of the leading parts of the two tape feeders 24. The rotary head 24 is moved and rotated in the XY directions so that the suction point of the nozzle 26 is positioned, and the leading part is placed on the two straight lines A1 and A2 by the tape feeding operation of the two tape feeders 23. Since the position correction operation for sending to the component suction positions C1 and C2, which are the suction points of the suction nozzle 26, is performed, the position of the first component of the component supply tape set in the two tape feeders 23 is displaced, Even if the positions of the two suction nozzles 26 for sucking those components are deviated, after performing the above position correction operation, the two suction nozzles 26 are simultaneously lowered and two parts are attached. Can adsorb component suction position C1, C2 at the same time, it is possible to improve the productivity.

 By performing the position correction operation described above, even if the tape feed pitches (component sizes) of the two tape feeders 23 are different, two components can be attracted to the two suction nozzles 26 at the same time. Even if the positions of the suction nozzles 26 are irregularly displaced, the two suction nozzles 26 can simultaneously suck two components.

 The present invention is not limited to the configuration of the above-described embodiment, and various changes may be made without departing from the scope, such as changing the number of suction nozzles 26 or changing the configuration of the component mounter 10. It goes without saying that it can be carried out.

 10 ... Rotary head type component mounter, 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 rotating mechanism, 27 ... Z-axis motor, 39 ... Z-axis slide, 40 ... Nozzle holder, 41 ... Control device (calculating means), 43 ... Storage device (storage means), 46 ... Engaging piece

Claims (2)

A plurality of tape feeders for feeding the components accommodated in the component supply tape to the component suction position by the 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 rotating mechanism that rotates the rotary head to rotate the plurality of suction nozzles in a rotation direction of the rotary head;
A Z-axis drive mechanism that lowers a suction nozzle located above a component suction position of one of the tape feeders of the plurality of tape feeders to suck the component to the suction nozzle;
A component suction position correction system for a rotary head type component mounter, comprising a component moving station for performing component suction operation and a component moving station for performing component mounting operation, the head moving mechanism moving the rotary head in XY directions. ,
The Z-axis drive mechanism is provided at two locations, and simultaneously lowers two suction nozzles located above the component suction positions of the two tape feeders of the plurality of tape feeders to lower the two suction nozzles. One of the plurality of tape feeders is configured to simultaneously suck the leading parts of the two tape feeders to the suction nozzle of the above, and is located above the component suction position of one tape feeder of the plurality of tape feeders. The suction nozzle is independently lowered to suck the leading part of the one tape feeder to the one suction nozzle.
The positions of the plurality of suction nozzles are measured in advance and the position data is stored in the storage means,
The position data of the two suction nozzles for sucking the first component of the two tape feeders is searched from the position data stored in the storage means, and the positions of the two suction nozzles and the two suction nozzles are searched. The amount of movement and the rotation angle in the XY directions of the rotary head necessary to move the two tape feeders to the component suction position based on the position of the ideal suction point of the first component of the tape feeder of A component pick-up position correction system for a rotary head type component mounter, comprising a calculating means for calculating the tape feed amount of each tape feeder . The component pick-up position correction system for a rotary head type component mounter according to claim 1 , wherein the two tape feeders have different tape feed pitches and feed different size components to the component pick-up position.

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