JP7127958B2 - Placement positioning device - Google Patents

Description

The present invention relates to a placement position determination device that determines the placement position of a holder in a holder station.

2. Description of the Related Art Some work machines are provided with a holder station and perform work using a plurality of holders by exchanging the holders at the holder station. Specifically, the holder station has a plurality of mounting portions for mounting the holders, and the holder attached to the holding head is mounted on any one of the plurality of mounting portions. Then, when a holder placed on something other than the arbitrary one is attached to the holding head, the holder is exchanged between the holding head and the holder station. An example of such a work machine is described in the following patent document.

JP 2010-010272 A

By exchanging the holders, it is possible to perform work using a plurality of holders, but if the time required to exchange the holders becomes long, the cycle time cannot be shortened. The present invention has been made in view of such circumstances, and an object of the present invention is to shorten the time required for replacing a holder.

In order to solve the above problems, the present specification has a holding head to which a holder for holding a component is detachably attached, a plurality of mounting portions for mounting the holder, and a plurality of front holders. The holder mounted on the holding head is mounted on any one of the holders, and the holder mounted on anything other than the arbitrary one is mounted on the holding head. Thus, a holder station in which the holder is exchanged with the holding head and an imaging device for imaging the holder attached to the holding head are provided, and the holder in the holder station In the work machine that performs work using a plurality of holders, the shorter the distance between the mounting section and the imaging device for each of the plurality of mounting sections, the shorter the distance between the mounting section and the imaging device. , the order of priority is set so that the order of priority is higher, and in accordance with the order of priority, the mounting portions corresponding to the number of the plurality of the holders used by the work machine are determined as the mounting positions of the plurality of the holders. Then, at a plurality of determined placement positions, the number of exchange times of each of the plurality of holders is specified based on the mounting order of the plurality of holders. Disclosed is a mounting position determination device that determines the mounting position of each of the plurality of holders in the holder station so that the distance between the mounting section and the imaging device is shortened.

According to the present disclosure, holders that have been replaced more frequently are placed closer to the imaging device in the holder station. As a result, it is possible to shorten the moving distance of the holding head from the holder station to the imaging device after the holder is replaced, and it is possible to shorten the time required for holder replacement. .

It is a perspective view which shows an electronic component mounting apparatus. It is a perspective view showing a suction nozzle. FIG. 4 is a conceptual diagram showing the order of priority of accommodation positions of suction nozzles in a nozzle station; FIG. 4 is a conceptual diagram showing the order of priority of accommodation positions of suction nozzles in a nozzle station; 1 is a block diagram showing a job creation device; FIG. FIG. 4 is a conceptual diagram showing accommodation positions of suction nozzles in a nozzle station; FIG. 4 is a conceptual diagram showing accommodation positions of suction nozzles in a nozzle station;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.

(A) Configuration of Electronic Component Mounting Apparatus FIG. 1 shows an electronic component mounting apparatus 10 . The electronic component mounting apparatus 10 has one system base 12 and two electronic component mounting machines (hereinafter sometimes abbreviated as "mounters") 14 adjacent to the system base 12. there is The direction in which the mounters 14 are arranged is called the X-axis direction, and the horizontal direction perpendicular to that direction is called the Y-axis direction.

Each mounting machine 14 mainly includes a mounting machine main body 20, a conveying device 22, a mounting head moving device (hereinafter sometimes abbreviated as "moving device") 24, a mounting head 26, a supply device 28, a parts camera 29, a nozzle A station 30 is provided. The mounting machine main body 20 is composed of a frame portion 32 and a beam portion 34 mounted on the frame portion 32 .

The transport device 22 comprises two conveyor devices 40,42. These two conveyor devices 40 and 42 are arranged on the frame portion 32 so as to extend parallel to each other and in the X-axis direction. Each of the two conveyor devices 40 and 42 conveys the circuit board supported by each conveyor device 40 and 42 in the X-axis direction by an electromagnetic motor (not shown). Further, the circuit board is fixedly held at a predetermined position by a board holding device (not shown).

The moving device 24 is an XY robot type moving device. The moving device 24 includes an electromagnetic motor (not shown) for sliding the slider 50 in the X-axis direction and an electromagnetic motor (not shown) for sliding in the Y-axis direction. A mounting head 26 is attached to the slider 50, and the mounting head 26 is moved to an arbitrary position on the frame portion 32 by the operation of two electromagnetic motors.

The mounting head 26 mounts electronic components on the circuit board. The mounting head 26 has one mounting unit (not shown), and a suction nozzle 60 is mounted on the tip of the mounting unit. That is, the mounting head 26 is of a type that holds one suction nozzle 60 . The suction nozzle 60 is composed of a body cylinder 62, a flange portion 64, a suction tube 66, and a locking pin 68, as shown in FIG. The body tube 62 has a cylindrical shape, and the flange portion 64 is fixed so as to protrude from the outer peripheral surface of the body tube 62 . The adsorption tube 66 has a thin pipe shape and is held by the body tube 62 so as to be movable in the axial direction while extending downward from the lower end of the body tube 62 . The locking pin 68 is provided at the upper end portion of the body tube 62 so as to extend in the radial direction of the body tube 62 . The suction nozzle 60 is detachably mounted on the mounting unit with one touch using a locking pin 68 . The suction nozzle 60 attached to the attachment unit communicates with a positive/negative pressure supply device (not shown) via negative pressure air and positive pressure air passages. As a result, the suction nozzle 60 sucks and holds the electronic component with the negative pressure, and releases the held electronic component with the positive pressure.

The supply device 28 is a feeder type supply device, and has a plurality of tape feeders 70 as shown in FIG. The tape feeder 70 accommodates taped components in a wound state. A taped component is an electronic component taped. Then, the tape feeder 70 feeds out taped components by a feeding device (not shown). Thereby, the feeder-type supply device 28 supplies the electronic components at the supply position by feeding the taped components.

The parts camera 29 is arranged on the upper surface of the frame portion 32 between the conveying device 22 and the supply device 28 so as to face upward. Thereby, the parts camera 29 images the suction nozzle 60 mounted on the mounting head 26, the component held by the suction nozzle 60, and the like.

The nozzle station 30 has a nozzle tray 76 . A plurality of housing portions 78 for housing the suction nozzles 60 are formed in the nozzle tray 76 . At the nozzle station 30, exchange of the suction nozzles 60 mounted on the mounting head 26 and the suction nozzles 60 housed in the housing portion 78 of the nozzle tray 76, etc., is automatically performed. Further, the nozzle tray 76 is detachable from the nozzle station 30 , and the exchange of the suction nozzles 60 accommodated in the nozzle tray 76 can be performed outside the mounting machine 14 .

(B) Mounting Work by Mounting Machine In the mounting machine 14 , the mounting head 26 can perform the mounting work on the circuit board held by the conveying device 22 with the above-described configuration. Specifically, the circuit board is transported to a working position by a command from a control device (not shown), and at that position, the circuit board is fixedly held by the board holding device. In addition, the tape feeder 70 feeds taped components and supplies electronic components at the supply position according to a command from the control device. Then, the mounting head 26 moves above the supply position of the electronic component according to the command from the control device, and the suction nozzle 60 sucks and holds the electronic component. Subsequently, the mounting head 26 moves above the parts camera 29 , and the electronic component held by the suction nozzle 60 is imaged by the parts camera 29 . As a result, information relating to the holding posture of the part and the like can be obtained. After the mounting head 26 moves above the circuit board and corrects the holding posture of the electronic component, the electronic component is mounted on the circuit board.

In addition, the suction nozzle 60 attached to the attachment head 26 is replaced according to the size, shape, etc. of the electronic component to be attached to the circuit board. Specifically, for example, when mounting small electronic components, a small nozzle diameter, that is, the small-diameter suction nozzle 60 is used. is used. Therefore, the mounting head 26 is equipped with a small-diameter suction nozzle 60 , and when the mounting operation by the small-diameter suction nozzle 60 is completed, the mounting head 26 moves above the nozzle station 30 . In addition, in the nozzle tray 76 of the nozzle station 30 , the large-diameter suction nozzle 60 is accommodated in one accommodation portion 78 of the plurality of accommodation portions 78 , and the other one accommodation portion 78 is empty. In other words, the suction nozzle 60 is not accommodated.

Then, the suction nozzles 60 mounted on the mounting head 26 moved above the nozzle station 30 are housed in the empty housing portion 78 of the nozzle tray 76 . As a result, the mounting head 26 is brought into a state in which the suction nozzle 60 is not mounted. Subsequently, the large-diameter suction nozzle 60 housed in the housing portion 78 is mounted on the mounting head 26 . This completes the work of replacing the suction nozzle 60 in the nozzle station 30 . When the replacement work of the suction nozzle 60 is completed, the mounting head 26 moves above the parts camera 29 , and the parts camera 29 captures an image of the suction nozzle 60 mounted on the mounting head 26 . As a result, information about the suction nozzles 60 attached to the mounting head 26 is obtained, and whether or not the appropriate suction nozzles 60, that is, the large-diameter suction nozzles 60 are attached to the mounting head 26 is confirmed. At this time, when it is confirmed that an appropriate suction nozzle 60 is mounted on the mounting head 26, the mounting operation using the suction nozzle 60 is performed. In this way, by exchanging the suction nozzle 60 according to the electronic component to be mounted, it is possible to mount electronic components of various sizes and shapes on the circuit board.

(C) Accommodating Position of Suction Nozzle in Nozzle Tray As described above, after the replacement operation of the suction nozzle 60 is completed at the nozzle station 30, the parts camera 29 captures an image of the suction nozzle 60 mounted on the mounting head 26. , whether or not the appropriate suction nozzle 60 is mounted on the mounting head 26 is checked. At this time, by reducing the movement distance of the mounting head 26, that is, the distance between the replacement position of the suction nozzle 60 and the arrangement position of the parts camera 29, it is possible to shorten the cycle time.

More specifically, as shown in FIG. 3, the nozzle tray 76 of the nozzle station 30 is formed with nine accommodating portions 78 arranged in three rows and three columns. Incidentally, when distinguishing between the nine housing portions 78, they are described as housing portions 78a to 78i. In the conventional method, the positions where the suction nozzles are accommodated in the nozzle tray are determined according to the arrangement order of the accommodation units 78 . Specifically, among the nine storage sections 78, priority is given from the storage section 78a located on the left in the lower row to the right, and then to the right from the storage section 78d located on the left in the middle row. The order of priority is set in the order of priority, and furthermore, the order of priority is set in the right direction from the housing portion 78g located on the left side of the upper row. That is, the order of priority is set in the order of the accommodation portion 78a, the accommodation portion 78b, the accommodation portion 78c, the accommodation portion 78d, the accommodation portion 78e, the accommodation portion 78f, the accommodation portion 78g, the accommodation portion 78h, and the accommodation portion 78i. In addition, in FIG. 3 , a priority number is indicated inside each accommodation portion 78 , but a priority number is not indicated in the actual accommodation portion 78 .

Then, the accommodation positions of the plurality of suction nozzles 60 used in the mounting work in the mounting machine 14 are determined according to the order of priority. For example, when four types of suction nozzles 60 are used in the mounting work, the housing positions of the four types of suction nozzles 60 are randomly determined in order from the housing portion 78 having the highest priority. That is, the storage portions 78 having the first to fourth priorities, specifically, storage portions 78a, 78b, 78c, and 78d (storage portions 78 shown in black in the drawing) are divided into four types. It is determined as the accommodation position of the suction nozzle 60 . However, when the storage position of the suction nozzle 60 is determined by this method, the storage portions 78f and 78i relatively close to the parts camera 29 are not determined as storage positions of the suction nozzle 60, and storage positions relatively far from the parts camera 29 are not determined. The portions 78 a and 78 d are determined as accommodation positions of the suction nozzle 60 .

In this way, when the housing portions 78a and 78d far from the parts camera 29 are determined as the housing positions of the suction nozzles 60, the suction nozzles 60 housed in the housing portions 78a and 78d are attached to the mounting head 26. Later, when the mounting head 26 moves above the parts camera 29, the movement distance of the mounting head 26 becomes longer, and the cycle time becomes longer. In view of this, the order of priority is set such that the shorter the distance between the storage unit 78 and the parts camera 29, the higher the order of priority. That is, as shown in FIG. 4, among the nine storage sections 78, the storage section 78f located on the right in the middle row is given the first priority, and the storage sections 78c located on the right of the lower and upper stages, 78i is given the second priority. Next, the storage portion 78e located in the center of the middle row is set to the 3rd priority, and the storage portions 78b and 78h located in the middle of the lower and upper rows are set to the 4th priority. Then, the storage portion 78d located on the left in the middle row is set to the fifth priority, and the storage portions 78a and 78g located on the left of the lower and upper rows are set to the fifth priority. In addition, in FIG. 4 , a priority number is written inside each housing portion 78 , but a priority number is not written in the actual housing portion 78 .

When the order of priority is set in this way, when the four types of suction nozzles 60 are used in the mounting work, the first to third accommodation portions 78, specifically, the accommodation portions 78c, The accommodating portion 78e, the accommodating portion 78f, and the accommodating portion 78i (accommodating portion 78 shown in black in the drawing) are determined as accommodation positions of the four types of suction nozzles 60. FIG. That is, the housing portions 78c, 78f, and 78i relatively close to the parts camera 29 are determined as housing positions for the suction nozzle 60, and the housing portions 78a, 78d, and 78g relatively far from the parts camera 29 are determined as housing positions for the suction nozzle 60. not determined as As a result, when the mounting head 26 moves above the parts camera 29 after the suction nozzles 60 housed in the housing portions 78c, 78f, and 78i are mounted on the mounting head 26, the moving distance of the mounting head 26 is reduced. can be shortened, and the cycle time is shortened.

Then, according to the order of priority set in this way, the accommodation position of each of the plurality of suction nozzles 60 used in the mounting work is determined. It is possible to shorten the time. Specifically, after the suction nozzle 60 is newly attached to the mounting head 26, the mounting head 26 moves from above the nozzle station 30 to above the parts camera 29. The number of times the mounting head 26 moves from the nozzle station 30 to the parts camera 29 also increases. For this reason, the storage position of each of the plurality of suction nozzles 60 is determined so that the distance between the storage portion 78 and the parts camera 29 is shorter for the suction nozzle 60 that is replaced more frequently. It is possible to further shorten the moving distance and shorten the cycle time. In other words, by determining the storage position of each of the plurality of suction nozzles 60 to the storage portion 78 with higher priority as the number of exchanges increases, the moving distance of the mounting head 26 can be further shortened, further shortening the cycle time. It becomes possible to plan The accommodation position of the suction nozzle 60 is determined by the job creation device 100 (see FIG. 5).

The job creating apparatus 100 is an apparatus for creating a program for executing the mounting work in the mounting machine 14, and as shown in FIG. there is The input device 110 is a device for inputting various information, and the display device 112 is a device for displaying various information. The controller 114 includes a CPU, ROM, RAM, etc., and is mainly composed of a computer. Thereby, the controller 114 performs arithmetic processing based on the information input by the input device 110 and displays the processing result on the display device 112 . Note that the controller 114 has a storage area 118 in which information necessary for arithmetic processing is stored.

In the job creation apparatus 100, the input device 110 inputs information about the mounting work, such as the number, type, mounting position, and type of the circuit board of electronic components to be mounted on the circuit board. The storage area 118 also stores information about the mounting machine 14 , such as the types of suction nozzles 60 that can be mounted on the mounting head 26 . Then, based on the information input by the input device 110 and the information stored in the storage area 118, a program for executing the mounting work is created. This program includes the types of suction nozzles 60 used when mounting electronic components, the order of mounting, and the like. Therefore, the type of suction nozzle 60 used in the mounting work, the number of times the suction nozzle 60 is replaced, and the order in which the suction nozzle 60 is used are specified along with the creation of the program.

Specifically, as the suction nozzles 60 used in the mounting work, a suction nozzle with a nozzle diameter of 1 mm (hereinafter, sometimes referred to as "suction nozzle (1 mm)") and a suction nozzle with a nozzle diameter of 2 mm (hereinafter, referred to as "suction nozzle (1 mm)") Sometimes referred to as "adsorption nozzle (2 mm)"), an adsorption nozzle with a nozzle diameter of 3 mm (hereinafter sometimes referred to as "adsorption nozzle (3 mm)"), and an adsorption nozzle with a nozzle diameter of 5 mm ( Hereinafter, a case where four types of suction nozzles 60 are identified (which may be described as "suction nozzle (5 mm)") will be described. The suction nozzle (1 mm) was replaced 5 times, the suction nozzle (2 mm) was replaced 4 times, the suction nozzle (3 mm) was replaced 5 times, and the suction nozzle (5 mm) was replaced 5 times. The number of exchanges is two. The order in which the suction nozzles 60 are used is the order of the suction nozzle (1 mm), the suction nozzle (2 mm), the suction nozzle (5 mm), and the suction nozzle (3 mm).

Under the conditions specified in this way, the suction nozzle (1 mm) and the suction nozzle (3 mm) are the suction nozzles with the largest exchange frequency, and the suction nozzle (2 mm) is the suction nozzle with the second largest exchange frequency. Yes, and the suction nozzle (5 mm) is the suction nozzle with the least number of replacements. For this reason, if the storage position of each of the four types of suction nozzles 60 is determined to the storage portion 78 having a higher priority as the number of times of exchange increases, two types of storage patterns of the suction nozzles 60 are determined. Note that the priority order shown in FIG. 4 is stored in the storage area 118 .

Specifically, in one accommodation pattern, as shown in FIG. 6, the accommodation position of the suction nozzle (1 mm) that has been replaced 5 times is in the accommodation portion 78f on the right side of the middle row, and the adsorption nozzle that has been replaced 5 times (3 mm) is stored in the lower right storage portion 78c, the storage position of the suction nozzle (2 mm) with the number of exchanges of 4 is stored in the upper right storage portion 78i, and the suction nozzle with the number of replacements (5 mm) is stored in the upper right storage portion 78i. ) is determined to be the center storage portion 78e of the middle row. In another housing pattern, as shown in FIG. 7, the suction nozzle (3 mm) that has been replaced 5 times is housed in the right housing portion 78f of the middle stage, and the suction nozzle (1 mm ) is stored in the lower right storage portion 78c, the suction nozzle (2 mm) with 4 replacement times is stored in the upper right storage portion 78i, and the suction nozzle (5 mm) with 2 replacement times is stored in the upper right storage portion 78i. The accommodation position is determined to be the central accommodation portion 78e of the middle stage. This is because the number of exchanges of the suction nozzle (1 mm) and the number of exchanges of the suction nozzle (3 mm) are the same. 6 and 7 show the nozzle diameter inside each housing portion 78, but the actual housing portion 78 does not have the nozzle diameter.

In this way, when the number of replacement times of a plurality of suction nozzles is the same and a plurality of accommodation patterns are determined, one accommodation pattern, that is, four types of accommodation patterns, is determined in consideration of the order in which the suction nozzles 60 are used. An accommodation position of each of the suction nozzles 60 is determined. Specifically, when the suction nozzle 60 is replaced, after the suction nozzle 60 attached to the mounting head 26 is returned to the housing portion 78 , the suction nozzle 60 housed in another housing portion 78 is mounted to the mounting head 26 . be done. Therefore, if the order in which the suction nozzles 60 are used is the suction nozzle (1 mm), the suction nozzle (2 mm), the suction nozzle (5 mm), and the suction nozzle (3 mm), the suction nozzle (1 mm) Move from the accommodation position to the accommodation position of the adsorption nozzle (2 mm), move from the accommodation position of the adsorption nozzle (2 mm) to the accommodation position of the adsorption nozzle (5 mm), and move from the accommodation position of the adsorption nozzle (5 mm) to the accommodation position of the adsorption nozzle (3 mm). to its containment position. Taking this into account, in the storage pattern shown in FIG. 6, the two storage positions to which the replacement is performed are all adjacent to each other, and the movement distance between the two storage positions is short. On the other hand, in the accommodation pattern shown in FIG. 7, the accommodation position of the adsorption nozzle (1 mm) and the accommodation position of the adsorption nozzle (2 mm) are not adjacent, and the accommodation position of the adsorption nozzle (1 mm) is separated from the accommodation position of the adsorption nozzle (2 mm). Longer travel distance when moving to stowed position. Therefore, by considering the order in which the suction nozzles 60 are used, the housing pattern shown in FIG. 6 is determined as the housing positions of the four types of suction nozzles 60 . This makes it possible to further shorten the moving distance of the mounting head 26 and further shorten the cycle time.

The placement position of the suction nozzle 60 determined according to the above method is displayed on the display device 112 . The operator takes out the nozzle tray 76 to the outside of the mounting machine 14 and accommodates the above four types of suction nozzles 60 in the nozzle tray 76 at the placement positions displayed on the display device 112 . After the operator returns the nozzle tray 76 to the nozzle station 30 , the mounting work is performed by the mounting machine 14 according to the program created by the job creating device 100 .

Incidentally, in the above embodiments, the mounting machine 14 is an example of a work machine. The mounting head 26 is an example of a holding head. The parts camera 29 is an example of an imaging device. Nozzle station 30 is an example of a retainer station. The suction nozzle 60 is an example of a holder. The accommodation portion 78 is an example of a placement portion. Job creation device 100 is an example of a placement position determination device.

It should be noted that the present invention is not limited to the above embodiments, and can be implemented in various modes with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the accommodation position of the suction nozzle 60 is determined in the job creation apparatus 100, but the accommodation position of the suction nozzle 60 is determined in a device different from the job creation apparatus 100. good too.

Further, although the mounting head 26 of the type that holds one suction nozzle 60 is employed in the above embodiment, a mounting head of the type that holds a plurality of suction nozzles 60 can be employed.

Also, in the above embodiment, the priority order is stored in the controller 114 , but the controller 114 may determine the priority order based on the distance between the housing section 78 and the parts camera 29 . At this time, the distance between the housing portion 78 and the parts camera 29 may be stored in the storage area 118 or input by the input device 110 .

14: Mounting machine (working machine) 26: Mounting head (holding head) 29: Parts camera (imaging device) 30: Nozzle station (holding fixture station) 60: Suction nozzle (holding fixture) 78: Storage section (placement section) 100: Job creation device (placement position determination device)

Claims (2)

a holding head to which a holder for holding a part is detachably attached;
a plurality of mounting portions for mounting the holder, wherein the holder attached to the holding head is mounted on any one of the plurality of mounting portions; a holding fixture station in which the holding fixture is exchanged with the holding head by attaching the holding fixture placed on something other than the holding head to the holding head;
and an imaging device that captures an image of the holder mounted on the holding head, wherein a work using a plurality of the holders is performed by exchanging the holders at the holder station. For each of the plurality of mounting portions, a priority order is set such that the shorter the distance between the mounting portion and the imaging device, the higher the priority order, and the work machine is operated according to the priority order. is determined as the mounting position of the plurality of holders, and in the determined plurality of mounting positions, based on the mounting order of the plurality of holders The number of exchange times of each of the plurality of holders is specified, and the holder station is configured such that the distance between the mounting section and the imaging device becomes shorter as the number of exchange times of the holders in the holder station increases. placement position determination device for determining the placement position of each of the plurality of holders. When two or more holders out of the plurality of holders have the same number of replacement times at the holder station, considering the order in which the plurality of holders are used in the work machine, 2. The placement position determination device according to claim 1, which determines the placement position of each of said two or more holders.

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