JP7173712B2 - Automatic exchange device and automatic exchange system - Google Patents

Description

The present invention relates to an automatic exchange device and an automatic exchange system for automatically setting and removing feeders to and from feeder setting sections of a plurality of component mounters arranged along the direction of conveyance of circuit boards.

As described in Patent Document 1 (International Publication No. WO2014/010083), this type of component mounting line is a moving lane provided along the arrangement of a plurality of component mounters that constitute the component mounting line. Install an automatic changer (loader) movably in the machine, move this automatic changer to the front of the component mounter specified by the production job (production program), etc., and feed it to the feeder setting section of the component mounter. The feeder is set and removed. In this case, the driving device for moving the automatic changer fixes the rack to the front side of the component mounter so as to extend along the movement lane, and the automatic changer includes a pinion that meshes with the rack and a pinion that engages with the rack. By rotating the pinion with this motor, the automatic changer is moved along the movement lane, and the rotation angle of the motor (the rotation angle of the pinion) is detected by an encoder or the like. , based on the detected value, the movement distance of the automatic exchange device is measured, the position of the automatic exchange device is detected, and the movement of the automatic exchange device is controlled.

International publication WO2014/010083

In Patent Document 1, the automatic changer is moved by the meshing of the teeth of the rack and pinion. If the condition deteriorates, the teeth interfere with each other, hindering smooth rotation, generating loud noises and damaging the teeth.

As a solution to this drawback, the present inventors have considered adopting a configuration in which the automatic changer is moved by driving wheels that are rotationally driven by a motor instead of the rack and pinion. Even if the rotation angle of the motor and the rotation angle of the drive wheels are detected accurately, an error due to the slip of the drive wheels occurs between the detected value and the movement distance of the automatic changer. The position of the automatic changer cannot be detected with high accuracy.

As a countermeasure, it may be possible to provide a distance sensor or a linear scale for measuring the movement distance (position) of the automatic changer, but there are the following problems.

Wire-type distance sensors currently on the market have low durability and cannot ensure stable measurement accuracy. In addition, the laser distance sensor is expensive, its measurement operation is susceptible to atmospheric conditions, and is unstable. In addition, the linear scale has a large sensor head and is expensive. In addition, it is necessary to change the scale or add to the scale each time the number of installed component mounters (line length) is increased or decreased, which is troublesome. In addition, the seams of the scale are also factors that reduce the measurement accuracy.

Therefore, the problem to be solved by the present invention is to be able to stably and accurately detect the position of an automatic changer with a low-cost configuration, and to cope with an increase or decrease in the number of installed component mounters with a simple operation. That is.

In order to solve the above-mentioned problems, an automatic changer of the present invention sets a feeder to a feeder setting section of each component mounter of a component mounting line in which a plurality of component mounters are arranged along the conveying direction of a circuit board. a position detection device for detecting the position of the automatic replacement device; a reference position set in two or more component mounters among the plurality of component mounters; a reference position detection unit for outputting a reference position detection signal when the position of the automatic changer coincides with the reference position; and a control device for moving the automatic changer to the instructed position based on the detected position after correction to set and remove the feeder.

Alternatively, the automatic changer of the present invention comprises a position detection device for detecting the position of the automatic changer , reference positions set in two or more component mounters out of the plurality of component mounters, and A reference portion detected by a reference position detection portion of a component mounter when the position of the automatic exchange device coincides with the reference position, and reference position detection by detecting the reference portion by the reference position detection portion of the component mounter. When the signal is output, the detected position of the position detecting device is corrected so as to correspond to the reference position, and based on the corrected detected position, the automatic changer is moved to the instructed position to set the feeder. and a control device for removal.

Further, an automatic change system of the present invention is an automatic change system including an automatic change device for setting and removing a feeder to and from a feeder setting section of each mounter of a component mounting line, wherein the position of the automatic change device is a position detection device for detecting, two or more component mounters with reference positions set, and a reference position detection unit for outputting a reference position detection signal when the position of the automatic exchange device matches the reference position and correcting the detected position of the position detecting device so as to correspond to the reference position when the reference position detection signal is output, and moving the automatic changer to the instructed position based on the corrected detected position. and a control device for setting and removing the feeder.

Alternatively, the automatic exchange system of the present invention comprises a position detection device for detecting the position of the automatic exchange device, two or more component mounters having reference positions set, and the position of the automatic exchange device being the reference position. and when the reference portion is detected by the reference position detection unit of the component mounter and a reference position detection signal is output, the reference portion is detected by the reference position detection unit of the component mounter when a control device that corrects the detection position of the position detection device so as to correspond to the reference position, moves the automatic changer to the instructed position based on the corrected detection position, and sets and removes the feeder; It is good also as a structure containing.

FIG. 1 is a perspective view showing the configuration of the entire component mounting line in one embodiment of the present invention. FIG. 2 is a perspective view schematically showing the configuration of an automatic changer and a component mounter. FIG. 3 is a block diagram schematically showing the configuration of a control system for a component mounting line with an automatic changer. FIG. 4 is a perspective view showing a cassette type feeder. FIG. 5 is a perspective view showing the configuration of a driving device for moving the automatic changer and its peripheral portion. FIG. 6 is a perspective view showing the configuration of a position detection device for detecting the position of the automatic changer.

An embodiment embodying the mode for carrying out the present invention will be described below.
First, the configuration of the component mounting line 10 will be described based on FIGS. 1 to 3. FIG.

The component mounting line 10 is configured by arranging a plurality of component mounters 12 along the conveying direction (X direction) of the circuit board 11 . and a feeder storage device 19 for storing a cassette-type feeder 14, etc. are installed.

As shown in FIG. 2, each component mounter 12 includes two conveyors 13 for conveying the circuit board 11, and a suction nozzle for sucking components supplied from a cassette-type feeder 14 and mounting them on the circuit board 11. (not shown), a head moving device 16 for moving the mounting head 15 in the XY directions (horizontal and forward/backward directions), and a component imaging device for imaging the component sucked by the suction nozzle from its lower surface side. A camera 17 (see FIG. 3) and the like are provided. A mark imaging camera 18 (see FIG. 3) for imaging a reference mark (not shown) on the circuit board 11 is attached to the head moving device 16 so as to move integrally with the mounting head 15 in the XY directions. .

In addition, as shown in FIG. 3, the controller 20 of the mounter 12 includes an input device 21 such as a keyboard, mouse, touch panel, etc., and a hard disk, RAM, ROM, etc. for storing various control programs and various data. A storage device 22 (storage means) and a display device 23 such as a liquid crystal display or CRT are connected. The control device 20 of each mounter 12 is network-connected to a production control computer 70 that controls the production of the entire component mounting line 10 , and the production of the component mounting line 10 is controlled by the production control computer 70 .

Each component mounter 12 of the component mounting line 10 conveys the circuit board 11 conveyed from the component mounter 12 on the upstream side to a predetermined position by the conveyor 13 and clamps the circuit board 11 with a clamping mechanism (not shown). After clamping and positioning, the position of the reference mark (the reference position of the circuit board 11) is recognized by photographing the reference mark of the circuit board 11 with the mark imaging camera 18, and supplied from the cassette type feeder 14. The component to be mounted is sucked by the suction nozzle of the mounting head 15, moved from the suction position to the imaging position, the component is imaged from the lower surface side by the component imaging camera 17, and the displacement of the suction position of the component is determined. After determining the above, the component-mounted board is produced by correcting the amount of deviation of the suction position and mounting the component on the circuit board 11 on the conveyor 13 .

Next, the configuration of the cassette-type feeder 14 will be described with reference to FIG.
A cassette case 32 of the cassette-type feeder 14 is formed of a transparent or opaque plastic plate, metal plate, or the like, and its side portion (cover) can be opened and closed. A tape loading section 35 is provided in the cassette case 32 to detachably (replaceably) load a tape reel 34 around which the component supply tape 33 is wound. A reel holding shaft 36 that rotatably holds the tape reel 34 is provided at the center of the tape loading section 35 .

Inside the cassette case 32, there is provided a tape feeding mechanism 38 for feeding the component supply tape 33 pulled out from the tape reel 34 to the component pickup position, and a top film 40 (also called a cover tape) from the component supply tape 33 before the component pickup position. A top film peeling mechanism 39 is provided for peeling to expose the components in the component supply tape 33 .

The tape feeding mechanism 38 is composed of a sprocket 42 provided near the lower part of the component pickup position, a motor 43 for rotating the sprocket 42, and the like. By rotating the sprocket 42 with the teeth of the sprocket 42 engaged with the tape feed holes, the component supply tape 33 is pitch-fed to the component pickup position.

The top film peeling mechanism 39 includes a tape presser 45 for pressing the component supply tape 33 before the component suction position and peeling the top film 40 from the upper surface of the component supply tape 33, and the top film peeled by the tape presser 45. A top film feeding gear mechanism 47 pulls the film 40 in the direction opposite to the tape feeding direction and feeds it into a top film collecting section 46 provided at the top of the cassette case 32, a motor 48 for driving the top film feeding gear mechanism 47, etc. consists of

At the edge of the cassette case 32 in the tape feed direction, a waste tape 33a (in this embodiment, only the carrier tape with the top film 40 peeled off) from which the components have been taken out after passing the component suction position is placed downward. An exit 50a of the waste tape discharge passage 50 is provided below the center of the end face of the cassette case 32 in the tape feeding direction. ing.

A controller 52 for controlling the motor 43 of the tape feeding mechanism 38 and the motor 48 of the top film peeling mechanism 39 is provided in the cassette case 32 . In addition, although not shown, the cassette case 32 is provided with a communication/power connector connected to a communication/power connector on the mounter 12 side.

As shown in FIG. 1, on the front side of the component mounting line 10, an automatic changer 26 for setting and removing the cassette feeder 14 to/from the feeder setting section 24 of each component mounter 12 is installed. Below the feeder set section 24 of each component mounter 12, a stock section 71 is provided for storing a plurality of feeders 14 to be set in the feeder set section 24. As shown in FIG. The automatic exchange device 26 retrieves the feeders 14 to be exchanged from the feeder set units 24 of the plurality of component mounters 12 and collects them in the stock unit 71 . are taken out and set in the feeder setting section 24 of the plurality of component mounters 12 .

On the front side of the component mounting line 10, a guide rail 74 for moving the automatic changer 26 in the horizontal direction (X direction) along the arrangement of the component mounters 12 is provided so as to extend along the entire component mounting line 10 in the X direction. It is The board loading side of the guide rail 74 is extended to the feeder storage device 19, the automatic changer 26 is moved to the front side of the feeder storage device 19, and the automatic changer 26 is designated by the feeder storage device 19 for the production job. The feeder 14 is taken out, and the used feeder 14 is returned into the feeder storage device 19. - 特許庁

As shown in FIG. 5, on the rear side of the automatic changer 26, a plurality of Y-direction regulating guide rollers 54 for regulating movement of the automatic changer 26 in the Y direction (direction perpendicular to the X direction); A plurality of Z-direction regulating guide rollers 55 for regulating the movement of the exchanging device 26 in the Z-direction (vertical direction) are rotatably provided alternately. The guide roller 55 for regulating the Z direction rolls along the plane of the guide rail 74, so that the moving direction of the automatic changer 26 is guided only in the X direction.

A space on the front side of the component mounting line 10 serves as a movement lane along which the automatic changer 26 moves in the X direction. is provided as follows. On the other hand, the automatic changer 26 is provided with a driving device 78 that rotates a driving wheel 76 made of an elastic material such as rubber by a motor (not shown) through a belt transmission mechanism 77. As the wheel 76 rolls along the moving rail 75, the automatic changer 26 is driven in the X direction.

Next, the configuration of the position detection device 81 for detecting the position of the automatic exchange device 26 will be described with reference to FIGS. 5 and 6. FIG.

A timing belt 82 with ends made of an elastic material such as rubber is provided so as to extend linearly in the X direction along the guide rails 74 . The length of the timing belt 82 is equal to or longer than the number of component mounters 12 installed (the length of the component mounting line 10), preferably at least one or more than the length equivalent to the number of component mounters 12 installed. long formed. In this case, it is not necessary to cut the excess portion of the timing belt 82 according to the number of mounters 12 to be installed. It is sufficient that the excess portion of the timing belt 82 does not get in the way.

On the other hand, the automatic changer 26 is provided with a timing pulley 83 that moves together with the automatic changer 26 while maintaining engagement with the teeth of the timing belt 82 . A support mechanism 84 that supports the timing pulley 83 rotates the timing pulley 83 in a direction perpendicular to the timing belt 82 (vertical direction in this embodiment) within a range in which the teeth of the timing pulley 83 and the teeth of the timing belt 82 are not disengaged. An urging means 85 (for example, a spring such as a spring or an elastic member such as rubber) is provided to urge the timing pulley 83 in a direction to press it against the timing belt 82 .

Further, the automatic changer 26 is provided with a magnetic or optical rotary encoder 87 as a rotation angle sensor for detecting the rotation angle of the timing pulley 83 . This rotary encoder 87 is a rotary encoder capable of forward/reverse rotation detection that outputs a pulse each time the timing pulley 83 rotates by a predetermined angle. reference).

The control device 90 of the automatic changer 26 also functions as a detection circuit section for detecting the position of the automatic changer 26 based on the output pulse of the rotary encoder 87 (hereinafter referred to as "encoder pulse"). During movement (while the timing pulley 83 is rotating), encoder pulses are counted, and the up/down of the counting operation is switched according to the rotation direction of the timing pulley 83 (moving direction of the automatic changer 26). and the position of the automatic changer 26 are maintained, and the position of the automatic changer 26 is detected based on the counted value of the encoder pulses. At this time, the encoder pulse counting operation may be performed by an up/down counter constituted by an electronic circuit (hardware), or software installed in the control device 90 may realize the function of the up/down counter.

In this embodiment, the support mechanism 84 that supports the timing pulley 83 moves the timing pulley 83 in a direction perpendicular to the timing belt 82 (the Z direction) within a range in which the teeth of the timing pulley 83 and the teeth of the timing belt 82 are not disengaged. ), and is provided with a biasing means 85 for biasing the timing pulley 83 against the timing belt 82, so that the mounting position of each of the plurality of component mounters 12 is changed. Even if a slight step is formed between the component mounters 12 due to deviation and a slight step is formed in the timing belt 82, the timing pulley 83 is displaced following the step to stabilize the engagement with the timing belt 82.例文帳に追加The position detection accuracy of the automatic changer 26 can be stably maintained even with respect to the level difference between the component mounters 12 .

By the way, when the position of the automatic changer 26 is detected by the position detection device 81, it is necessary to set a reference position in at least one place. is measured from the amount of rotation (rotation angle) of the timing pulley 83 detected in , the position of the automatic changer 26 is detected based on the reference position from the measured value, and the movement of the automatic changer 26 is controlled. . In this case, if each of the plurality of component mounters 12 constituting the component mounting line 10 is installed accurately without misalignment, even if there is only one reference position, the movement distance of the automatic changer 26 from that reference position is Although there is no deviation in the corresponding relationship between (position) and the position of each of the component mounters 12, in reality, each of the component mounters 12 is installed with a slight displacement. Therefore, there is a possibility that the corresponding relationship between the moving distance (position) of the automatic exchange device 12 from the reference position and the position of each of the plurality of component mounters 12 is deviated. If this correspondence relationship is deviated, the position of the automatic changer 26 cannot be accurately controlled for each of the component mounters 12, and feeder 14 setting and removal errors for each component mounter 12 occur. there's a possibility that.

As a countermeasure against this, in this embodiment, a reference position is set for each of two or more (all in this embodiment) component mounters 12 among the plurality of component mounters 12 constituting the component mounting line 10. In addition, a reference position detection sensor 91 (reference position detection means) for outputting a reference position detection signal when the position of the automatic exchange device 26 coincides with the reference position of the component mounter 12 is provided to control the automatic exchange device 26. The device 90 corrects the detection position (encoder pulse count value) of the position detection device 81 so as to correspond to the reference position of the mounter 12 when the reference position detection signal is output from the reference position detection sensor 91 . . In this way, the moving distance (position) of the automatic changer 26 can be detected with reference to the reference positions of two or more component mounters 12 out of the plurality of component mounters 12. It is possible to reduce or eliminate the deviation of the corresponding relationship between the movement distance (position) of the automatic exchange device 26 and the position of each of the plurality of component mounters 26, and the automatic replacement for each of the plurality of component mounters 12 It is possible to control the position of the exchange device 26 with high accuracy, and to prevent erroneous setting and removal of the feeder for each mounter 12 .

In this case, when the automatic changer 26 is moved by the driving device 78 during installation of the component mounter 12 or calibration operation before starting production, the position of the automatic changer 26 coincides with the reference position of the component mounter 12. The correspondence between the detected position (encoder pulse count value) of the automatic exchange device 26 and the reference position of the mounter 12 is stored in the non-volatile storage means 92 (for example, hard disk, ROM, EEPROM, etc.) of the controller 90 of the automatic exchange device 26. flash memory, etc.), and the control device 90 of the automatic exchange device 26 transmits the detected position (encoder pulse count value) of the position detection device 81 to the component mounting machine based on the stored data of the storage means 92 during production. Interpolation correction is performed by linear interpolation or the like between the 12 reference positions. By doing so, the detection accuracy of the position of the automatic changer 26 between the reference positions of the component mounter 12 can also be improved.

By the way, in the reference position detection processing (initial processing) at the start of production, the automatic changer 26 is moved to the reference position of the component mounter 12, and the detected position (encoder pulse count value) of the position detector 81 is detected by the component mounter. 12, but if the stop position of the automatic changer 26 before the start of production is far from the reference position of the component mounting machine 12, the reference position detection process at the start of production will be required. will take time, which will delay the start of production.

Therefore, in the present embodiment, the control device 90 of the automatic exchange device 26 moves the automatic exchange device 26 to the reference position of the nearest mounter 12 by the driving device 78 in the reference position detection process at the start of production, and the position is detected. The detected position (encoder pulse count value) of the device 81 is corrected so as to correspond to the reference position of the component mounter. By doing so, it is possible to shorten the distance required for moving the automatic changer 26 to the reference position of the component mounting machine 12 in the reference position detection process at the start of production. can save time.

Here, the reference position detection sensor 91 may be, for example, a non-contact type sensor such as an optical sensor or a proximity sensor, or a contact type switch such as a limit switch. Further, the reference position detection sensor 91 may be provided in the automatic changer 26 or may be provided in the component mounter 12 .

For example, when the reference position detection sensor 91 is provided in the automatic exchange device 26, each of two or more (all in this embodiment) component mounters 12 out of the plurality of component mounters 26 is automatically exchanged. A reference portion (not shown) that is detected by the reference position detection sensor 91 of the automatic exchange device 26 when the position of the device 26 coincides with the reference position of the component mounting machine 12 may be provided.

On the other hand, when the reference position detection sensor 91 is provided in each of two or more component mounters 12 out of the plurality of component mounters 12, the automatic changer 26 detects the position of the automatic changer 26 for component mounting. A reference portion (not shown) that is detected by the reference position detection sensor 91 of the component mounter 12 when it coincides with the reference position of the mounter 12 may be provided.

As shown in FIG. 3, the control device 90 of the automatic changer 26 is connected to the production control computer 70 of the component mounting line 10 via a network, and the production job information transmitted from the production control computer 70 of the component mounting line 10 is displayed. Accordingly, while the position detection device 81 detects the position of the automatic changer 26, the drive device 78 moves the automatic changer 26 to the position of the component mounter 12 designated by the production job, and the component mounter 12 is operated. It controls the operation of setting and removing the feeder 14 in the feeder setting section 24 .

In the present embodiment described above, a configuration in which the automatic changer 26 is moved by the drive wheels 76 is adopted to realize smooth movement, noise reduction, durability improvement, etc., while allowing multiple component mounters 12 to operate. A rotary encoder 87 detects the rotation angle of a timing pulley 83 that meshes with a timing belt 82 that extends over the drive wheel 76, so that the rotation angle of the drive wheel 76 caused by the slip of the drive wheel 76 and the movement distance of the automatic changer 26 can be calculated. The position of the automatic changer 26 can be detected with high accuracy by canceling the error between them. Moreover, the timing belt 82, the timing pulley 83, and the rotary encoder 87 that constitute the position detection device 81 can be mass-produced products that are commercially available at low cost. In addition, when installing the component mounters 12, it is only necessary to attach one timing belt 82 across a plurality of the component mounters 12, so that the work load of the operator can be reduced. In addition, the length of the timing belt may be equal to or longer than the number of component mounters installed, and there is no need to cut the excess portion of the timing belt 82 according to the number of component mounters 12 installed. The excess part of the timing belt 82 can be attached to a place where it does not interfere, or it can be bundled, and the number (line length) of the component mounters 12 can be increased or decreased with simple work.

In the above embodiment, the rotary encoder 87 is used as the rotation angle sensor for detecting the rotation angle of the timing pulley 83, but other rotation angle sensors such as a resolver may be used.
In addition, the present invention is not limited to the above embodiments, and the configuration of the component mounter 12 and the configuration of the automatic changer 26 may be changed as appropriate, and the configuration of the feeder 14 may be changed as appropriate without departing from the scope of the invention. Needless to say, various modifications can be made within the scope.

DESCRIPTION OF SYMBOLS 10... Component mounting line 11... Circuit board 12... Component mounter 13... Conveyor 14... Cassette-type feeder 15... Mounting head 16... Head moving device 20... Control device for component mounter 24... Feeder setting section 26 Automatic changer 54 Y-direction regulating guide roller 55 Z-direction regulating guide roller 70 Production control computer 71 Stock section 74 Guide rail 75 Movement Rail 76 Drive wheel 77 Belt transmission mechanism 78 Drive device 81 Position detector 82 Timing belt 83 Timing pulley 84 Support mechanism 85 Biasing means 87 Rotary encoder ( Rotation angle sensor), 90... Control device (detection circuit section) for automatic changer, 91... Reference position detection sensor (reference position detection means), 92... Storage means

Claims (4)

An automatic changer for setting and removing a feeder to and from a feeder setting section of each component mounter in a component mounting line in which a plurality of component mounters are arranged along the conveying direction of a circuit board,
a position detection device for detecting the position of the automatic changer;
a reference position set for two or more component mounters among the plurality of component mounters;
a reference position detection unit that outputs a reference position detection signal when the position of the automatic changer coincides with the reference position;
When the reference position detection signal is output, the detection position of the position detection device is corrected so as to correspond to the reference position, and the automatic exchange device is moved to the indicated position based on the corrected detection position. a control device for setting and removing the feeder by
An automatic exchange device comprising: An automatic changer for setting and removing a feeder to and from a feeder setting section of each component mounter in a component mounting line in which a plurality of component mounters are arranged along the conveying direction of a circuit board,
a position detection device for detecting the position of the automatic changer;
a reference position set for two or more component mounters among the plurality of component mounters;
a reference portion detected by a reference position detection portion of the mounter when the position of the automatic exchange device coincides with the reference position;
When the reference portion is detected by the reference position detection portion of the component mounter and a reference position detection signal is output, the detection position of the position detection device is corrected so as to correspond to the reference position, and detection after correction is performed. a control device for setting and removing the feeder by moving the automatic changer to an indicated position based on the position;
An automatic exchange device comprising: An automatic exchange system including an automatic exchange device for setting and removing a feeder to and from a feeder setting section of each component mounter in a component mounting line in which a plurality of component mounters are arranged along the conveying direction of a circuit board,
a position detection device for detecting the position of the automatic changer;
two or more component mounters with reference positions set;
a reference position detection unit that outputs a reference position detection signal when the position of the automatic changer coincides with the reference position;
When the reference position detection signal is output, the detection position of the position detection device is corrected so as to correspond to the reference position, and the automatic exchange device is moved to the indicated position based on the corrected detection position. a control device for setting and removing the feeder by
An automatic exchange system comprising: An automatic exchange system including an automatic exchange device for setting and removing a feeder to and from a feeder setting section of each component mounter in a component mounting line in which a plurality of component mounters are arranged along the conveying direction of a circuit board,
a position detection device for detecting the position of the automatic changer;
two or more component mounters with reference positions set;
a reference portion detected by a reference position detection portion of the mounter when the position of the automatic exchange device coincides with the reference position;
When the reference portion is detected by the reference position detection portion of the component mounter and a reference position detection signal is output, the detection position of the position detection device is corrected so as to correspond to the reference position, and detection after correction is performed. a control device for setting and removing the feeder by moving the automatic changer to an indicated position based on the position;
An automatic exchange system comprising:

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