JPH03280600A - Controlling method for rotation of turntable of component mounting apparatus - Google Patents

Abstract

PURPOSE:To always accurately bring a detecting rotary position into coincidence with an actual rotary position by detecting the rotation of a motor by an encoder, outputting its output pulse to a memory, detecting an error due to its slip by the output of the encoder, and correcting the information of a memory. CONSTITUTION:When a counter C1 for counting an encoder pulse upon rotation of a motor 90 finishes to count, it operates cylinder operating means, and drives a pin 108 through a cylinder 112. The motor 90 rotates at theta1 upon rotation of a turntable by the operation of the pin 108, an encoder outputs a pulse corresponding to the theta1, and recorded information of a memory M1 is altered to pulse counted number P=45 to P=50 through the counter C1. The state that a turntable 38 is stopped at a normal stopping position A1 is sensed, and a component P1 is, for example, mounted by a mounting head according to an end signal of additional counting of a second count signal of the counter C1.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a substrate rotation mechanism in a turret-type mounting machine in which a pick position and an insert position are each fixed.

[Conventional technology]

Conventionally, in a turret mounting machine, a pick position for picking up components to be mounted from a component supply mechanism and an insert position for inserting the components picked up at this pick position into a predetermined position on a circuit board are both fixed. In order to align the predetermined position of the circuit board with the insert position, gears and belts are used in the rotation mechanism of the rotary table.

[Problem that the invention is trying to solve]

However, the conventional substrate positioning mechanism using a gear and a belt as a rotary drive unit has the following drawbacks. That is, (1) Regarding those using gears, it has been pointed out that the pack run is large and the noise is noisy.

(2) It has been pointed out that in the belt system, a soft belt is inserted into the power transmission system, which causes vibrations, and also requires a large amount of space because the rotary table and drive motor are installed separately. has been done.

An object of the present invention is to provide a technique for solving the above-mentioned problems by using friction drive in a rotating mechanism.

However, this frictional drive may cause slippage, and if this slippage is accumulated as the rotation mechanism rotates, there is a risk that the detected angle and the actual angle may deviate.

This invention was made in view of the above-mentioned problems, and an object of the present invention is to employ friction drive in the rotation drive unit, and to ensure that the detected rotation position and the actual rotation position are always accurately matched even if slippage occurs. It is an object of the present invention to provide a substrate rotation mechanism in a turret type mounting machine that is made to match.

Although the above-mentioned slipping problem occurs when the rotary table is smoothly rotated by the rotary friction driving means described above, another object of the present invention is to prevent the rotary table from rotating near a predetermined position and stopping. A means for accurately controlling the operation of a locking means for locking a stop position at a predetermined position is proposed.

Furthermore, another object of the present invention is to record the amount of rotation of the rotary table for each component in advance in a memory when mounting a plurality of components at predetermined positions on a printed board, and to read the amount of rotation of each component from the memory. We propose a mounting machine that can accurately rotate each of a plurality of parts by correcting error information due to slippage caused by the rotational friction drive when reading and controlling the rotation.

[Means and operations for solving the problems] In order to solve the above-mentioned problems, the present invention includes an encoder that detects the rotation angle of a motor that drives a rotary table, a counter that counts pulses of the encoder, and a counter. When the count reaches a predetermined pulse value, the motor is stopped, and a stop signal from the motor is used to activate a locking means for locking the rotary table, so that the rotary table is accurately positioned at a rotational position corresponding to the parts to be mounted. It can be stopped.

Furthermore, the present invention includes a memory for recording the amount of rotation of the printed board or rotary table from the reference position to the mounting position when each component is mounted at a predetermined position on the printed board. The rotation of the rotary table is controlled according to the rotation amount of the rotation table, and when the stop position of the rotary table is corrected by the operation of the locking means, the information in the memory is also corrected, so that even if the number of parts to be mounted increases. Rotation control of the rotary table can be performed accurately.

〔Example〕

EMBODIMENT OF THE INVENTION Below, the structure of one Example of the board|substrate rotation mechanism in the turret type mounting machine based on this invention is demonstrated in detail with reference to an accompanying drawing.

FIG. 1 shows an electronic component mounting machine (with fixed component supply position and fixed mounting position) equipped with a substrate rotation mechanism according to this embodiment.
Hereinafter, the mounting machine will simply be abbreviated. ) 12 outline structure is shown.

First, the outline of this mounting machine 12 will be explained using FIG. 1.

The mounting machine 12 includes a base 14 placed on a base (not shown), and a slide base 16 supported on the base 14 so as to be movable along the X-axis direction. Here, on this slide stand 16 is a board positioning mechanism 10 on which a board 18 on which electronic components are mounted is mounted so as to be movable along the y-axis direction and rotatable around its own central axis. is placed.

Further, above the substrate positioning mechanism 10, a head turret mechanism 20 is arranged. This head turret mechanism 20 includes a rotatable turret table 22, and this coolet table 22 is rotationally driven by a table rotation motor 24, and a plurality of mounting holes for mounting electronic components are mounted on the periphery of the coolet table 22. In the example, 1
0 mounting heads 26a to 26j are provided at equal intervals.

In this head turret mechanism 20, by rotating the turret table 22 by the table rotation motor 24, the mounting heads 26a to 26j are moved, and the mounting heads brought to the component supply position indicated by the reference numeral B1 are provided with the following information. A component is delivered from the component supply mechanism 28, and the component positioning mechanism 1° is moved by the mounting head brought to the mounting position indicated by the symbol B6, which is defined as a rotational position 180 degrees apart from this component supply position. The components are set to be mounted at predetermined positions on the board 18, which are positioned by.

On the other hand, in a state located behind this head turret mechanism 20', a component supply mechanism 28 is mounted on the base 14 described above.
is installed. In this embodiment, the component supply mechanism 28 includes a plurality of parts, each containing a different component.
Ten component supply units 30a to 30j and a unit mounting table 32 on which these component supply units 30a to 30j are placed and supported movably along the X-axis direction.
It is equipped with

Here, on one side of this unit mounting table 32,
A first nut member 36 that is screwed onto a first ball screw 34 extending along the axial direction is fixed, and by driving this first ball screw 34 with a motor (not shown), the unit can be mounted. The component supply unit 30a moves the placing table 32 along the X-axis direction and stores predetermined components.
~ 30j can be arbitrarily moved to the mounting position B1 on the turret table 22.

Electronic components supplied from the component supply mechanism 28 configured as described above are mounted at predetermined positions on the board 18. Below, the board positioning mechanism 10 for positioning this board 18 will be described. The configuration will be explained using FIG.

This substrate positioning mechanism 10 allows the rotary table 38 on which the substrate 18 is directly placed to be movable relative to the base 14 along the X-axis and the y-axis, and also rotates around its own central axis. I am fully prepared.

That is, this component positioning mechanism 10 includes a pair of parallel frames 40a and 40b fixed on a base 14 and set to extend along the X-axis direction. One mount 40a (the upper mount in the figure) has y
An X-axis frame 4 formed into an elongated frame shape along the axial direction
2 is supported movably along the X-axis direction with its first side (upper side in the figure) 42a being guided by a pair of guide members 44a and 44b.

This X-axis frame 42 is formed in a hollow shape over the entire length of a substantially U-shaped portion except for a third side 42c opposite to the first side 42a. A second ball screw 46 extends along the X-axis direction and is rotatably supported at both ends.A second nut member 48 is screwed onto the second ball screw 46. matches,
This second nut member 48 is connected to one of the mounts 40 mentioned above.
It is fixed on a. One end of the second ball screw 46 is connected to a drive shaft of an X-axis drive motor 50 housed within the first side 42a of the X-axis frame 42.

In this way, by starting the X-axis drive motor 50, the X-axis frame 42 as a whole is
It is driven to move along the axial direction.

Note that the second and fourth sides of this X-axis frame 42 are connected to the other pedestal 40b of the pair of pedestals 40a and 40b described above.
It is configured to slide on the top surface of the body via a cam follower (not shown).

On the other hand, in a space surrounded by the X-axis frame 42, a y-axis frame 52 formed in a substantially square frame shape is housed so as to be movable along the y-axis direction. From the second side (right side in the figure) 52b of this y-axis frame 52,
A pair of connecting stays 54a, 54b protrudes toward the right in the figure, and a y-axis guide member 56 extending along the y-axis direction is integrally connected to the tips of these connecting stays 54a, 54b. There is.

Further, the above-mentioned y-axis guide member 56 includes a second piece 42.
An engaging member 58 protruding inward from b is integrally attached. On the other hand, it is attached to the X-axis frame 42. On the other hand, there is a third side on the second side 42b of the X-axis frame 42.
With the ball screw 60 extending along the y-axis direction,
It is rotatably supported at both ends. Also, this third
A third nut member 62 is screwed into the ball screw 60, and this third nut member 62 is fixed to the above-mentioned engagement member 58. One end of the third ball screw 60 is connected to the moving shaft of a y-axis drive motor 64 housed within the second side 42b of the X-axis frame 42.

In this way, by starting the y-axis drive motor 64, the y-axis frame 52 as a whole is
It is driven to move along the axial direction.

Note that the fourth side (left side in the figure) 5 of this y-axis frame 52
2d is configured to be slidably supported by the fourth side 42d of the X-axis frame 42 described above via a cam follower (not shown).

Furthermore, within the space surrounded by this y-axis frame 52, the above-mentioned rotary table 38 is supported via a plurality of guide rollers 66 so as to be rotatable about its own central axis.

As shown in the figure, this rotary table 38 is formed into a circular frame shape, and a pair of guide rod attachment stays 68a and 68b are attached to each other in a state extending along the y-axis direction. The rack is passed in a parallel state, and a pair of guide rods 70a, 70b are attached to these guide rod attachment stays 68a, 68b in a state parallel to each other while extending along the X-axis direction. .

In this way, these two guide rods 70a, 7
The above-described substrate 18 is attached to the rotary table 38 while being held between the substrates 0b.

Here, these pair of guide rods 70a.

70b is movable along the y-axis direction,
It is moved according to the size of the substrate 18 to be attached (particularly the length along the y-axis direction), and is set so that the substrate 18 can be reliably held from both sides. Note that these guide rods 70a and 70b are configured to be fixed at set positions by set screws (not shown).

On the y-axis frame 52 located on one side (lower side in the figure) of this rotary table 38, there is a friction drive mechanism 72, which serves as a substrate rotation mechanism that is a feature of the present invention, for rotationally driving the rotary table 38. is installed.

With the above configuration, the substrate 18 is rotated so that the rotary table 38
By moving independently along the axis and y-axis directions and rotating along the θ direction, any point thereon can be
This allows alignment with the electronic component mounting position B in the head turret mechanism 20.

Finally, the configuration of the friction drive mechanism 72 as a substrate rotation mechanism for rotationally driving the rotary table 38 will be described in detail with reference to FIGS. 3 and 4.

The friction drive mechanism 72 includes a leaf spring mechanism 74 fixed on the y-axis frame 52. This leaf spring mechanism 74
has a push lever 74a radially inwardly movable along the radial direction of the rotary table 38;
4a is an adjustment screw 74b mounted radially outward;
It is set to move forward and backward along the radial direction by rotating the . That is, by rotating this adjustment screw 74b, the pressing force can be adjusted. Further, both ends of a flat iron-shaped pressing stayer 6 are integrally attached to this leaf spring mechanism 74, and a clamping roller 78 rotates around a vertical axis inside the pressing stayer 6 in the radial direction. possible to be pivoted.

On the other hand, both ends of a planar trowel-shaped guide stay 80 are integrally attached to the above-mentioned y-axis frame 52.

On the base end side of this guide stay 80, the middle of an upright support stay 82 is supported so as to be slidable along the radial direction of the rotary table 38. That is, this support stay 82
Guide grooves 82a and 82b into which both the extending portions of the guide stay 80 described above fit are formed in the middle of both side edges, and both extending portions of the guide stay 80 fit into these guide grooves 82a and 82b. By fitting them together, the support stay 82 is supported in a slidable manner and prevented from falling downward.

A mounting stay 84 is attached to the upper end of this support stay 82 in a state extending radially inward, and the upper end of a drive shaft 88 to which a drive roller 86 is coaxially fixed is attached to this mounting stay 84. It is rotatably supported. Note that the height position of the driving roller 86 is set so that it is at the same height as the above-mentioned nipping roller 78. That is,
The drive roller 86 rolls into contact with the outer peripheral surface of the rotary table 38 mentioned above, and the clamping roller 78 rolls into contact with the inner peripheral surface of the rotary table 38, and the rotary table 38 is held between the drive roller 86 and the clamping roller 78. , so that the frictional engagement force between the drive roller 86 and the rotary table 38 is defined.

Further, a rotary drive motor 90 for rotationally driving the drive shaft 88 is attached to the lower end of the support stay 82, and the rotary drive motor 90 and the drive shaft 88 are connected via a coupling mechanism 92. Connected in a consistent manner. Note that this support stay 82 has a back surface (that is, a radially outward surface) that is connected to the push lever 74 of the leaf spring mechanism 74 described above.
It is set to be pressed by a.

In the friction drive mechanism 72 configured as described above,
In the state shown in FIG. 4, by rotating the adjusting screw 74b of the leaf spring mechanism 74, the push lever 74a biases the support stay 82 inward in the radial direction and drives the drive roller 86 attached thereto in the radial direction. Operates to move inward. On the other hand, as a result of this movement of the support stay 80 inward in the radial direction, the leaf spring mechanism 74 itself receives a reaction force directed outward in the radial direction as an opposite effect. The pinching rollers 78 that are held together will move relatively radially outward.

As a result, the rotary table 38 receives a radially inward pressing force from the driving roller 86, and the nipping roller 7
8 receives a radially outward pressing force, both rollers 86
, 78. Here, in this way, this rotary table 38 has both rollers 86 and 78.
Since the rotating table 38 receives a balanced pressing force, the rotational center of the rotary table 38 does not shift, although the rolling contact force (frictional engagement force) by the drive roller 86 increases.

In this way, when the rotary drive motor 90 is started in a state where the rolling contact force of the drive roller 86 to the rotary table 38 is set to a predetermined value, the drive The shaft 88 is rotationally driven,
Therefore, the drive roller 86 that is integrally attached to the drive shaft 88 is similarly driven to rotate, and as a result, the rotary table 38 that is in rolling contact with the drive roller 86 is also rotated.

A rotary encoder 94 is attached to this rotary drive motor 90, and the amount of drive by this rotary drive motor 90, that is, the amount of rotation of the drive roller 86 is always
This is numerically detected, and the rotary table 38 is rotationally driven to a desired rotational position based on the detection result.

As described above in detail, in the substrate positioning mechanism 10 of this embodiment, the
The shaft frame 42 is moved along the y-axis by a y-axis circumferential drive motor 64.
Y-axis frame 5 supported by X-axis frame 42 via
2 along the y-axis and the rotary table 38 supported by the y-axis frame 52 along θ via a friction drive mechanism 72 equipped with a rotational drive motor 90. Any position of the board 18 fixed to the board 38 can be moved to a position that accurately aligns with the mounting position B of the electronic component in the head turret mechanism 20, and the rotational positional relationship between the electronic component and the board 18 can be freely adjusted. It becomes possible to set.

Further, in the substrate positioning mechanism 10 of this embodiment, the rotary table 38 is rotationally driven via the friction drive mechanism 72 without using belts or gears, so that problems that have arisen in the past are avoided. This will definitely eliminate the problems of using gears, which cause large backlash and noise, and using belts, which cannot rotate at high speeds and complicate control.

With the configuration of the friction drive mechanism 72 as a rotation drive mechanism as described above, the rotary table 38 and the substrate 18 placed thereon are rotated. If even a small amount of slippage or wear occurs on the mutual frictional contact surface (hereinafter simply referred to as the P surface) with the outer peripheral surface of the rotary table 38, the error will be accumulated each time the rotary table 38 rotates, and the encoder 94 The detected angle differs from the actual angle of the rotary table 38.

Therefore, in this embodiment, an error absorption mechanism 96 for absorbing this error is provided at a position adjacent to the friction drive mechanism 72 described above. On the other hand, on the rotary table 38,
The stop positions of this are set every 90 degrees, and in this embodiment, corresponding to the stop positions, there are a total of four locations (i.e., the rotation angles are 90°, 180°, 270°, 360° (0 There are regulation holes 98a in 4 locations (°).

98b, 98c, and 98d are formed, respectively.

As shown in FIG. 2, this error absorption mechanism 96 is attached to a connecting side 52e that connects the first and fourth sides 52a and 52d of the y-axis frame 52 to each other, as shown in FIGS. B
), the mounting member 100 that is attached in a downward position is attached in a state that extends along the vertical direction.

This mounting member 100 includes a sliding guide member 10.
2, a plunger rod 104 is supported so as to be vertically movable. A plunger 106 is fixed to the upper end of this plunger rod 104. Further, a hemispherical positioning pin 108 is fixed to the upper surface of the plunger 106, and is inserted into one of the aforementioned regulation holes 98 from below.

On the other hand, below the plunger rod 104, a pneumatic cylinder 112 is connected to the mounting member 10 via a mounting stay 114 so that the piston rod 110 can move back and forth in the vertical direction.
Fixed to 0. And this piston rod 11
The upper end of the plunger rod 104 and the lower end of the plunger rod 104 are connected to each other via a connecting rod 116.

Here, the arrangement position of the positioning pin 108 mentioned above is such that the rotation angle of the rotary table 38 is 90° 180°.
2706. When accurately positioned at each of the four locations of 360° (0°), the four regulating holes 98a, 98b, 98
c and 98d from below respectively, and turn the rotary table 38.
It is defined as a position where the rotational position of can be accurately defined.

By configuring the error absorption mechanism 96 in this way, even if slippage or wear occurs on the P surface, the error is eliminated every time the rotary table 38 stops at the target position.
In this way, the encoder 94
The detected angle and the actual angle of the rotary table 38 will accurately match.

Next, the operation of the error absorption mechanism configured as described above will be explained by the error absorption control means in FIG. 6(A), the flowchart in FIG. 6(B), and the operation explanatory diagram of the rotary table in FIG. 6(C). Explain with reference to.

In FIG. 6(A), 120 is a plurality of parts P1, P, .
. . , means for setting the amount of rotation of the printed board from the reference position of the printed board to the mounting position when the printed board is mounted on the printed board.

In this example, in order to mount the component P1, it is rotated by an angle θ1=45° from the reference position. It is determined that the part P is rotated by an angle θ=90° from the reference position in order to be mounted. In order to install the following parts P, , P,...P9, θ8, θ
4... Set the amount of rotation of θ (step Sl).

First, the motor 90 is rotated by the motor drive circuit 90A in order to mount the component P1 at a predetermined position on the printed board (step S2).

In this case, the rotation amount setting means 120 sets the motor to θ1=
A signal to rotate 45° is output, and the motor 90 is θ1=45
A rotation corresponding to ° is performed.

Therefore, the encoder 94 connected to the motor 90 outputs a pulse corresponding to θ1=45° (step S
3).

The pulses of the encoder 94 are inputted to the memory M through the counter C1, and the number of pulses corresponding to θ1=45° is
For example, P=45 is recorded (step S4).

When the rotary table 38 is rotated by the motor 90 according to θ1=45°, the rotary table 38 stops, but since the driving force of the motor 90 is applied via the rotary friction drive means, the above-mentioned slipping occurs. .

As a result, the actual stop position of the rotary table 38 is not the normal stop position A1, but A as shown in FIG. 6(C).
a (step S5).

That is, the rotation table 38 is rotated by θ1≠θ1 due to the sliding caused by the rotational friction driving means.

The stop position A2 of the rotary table 38 is shifted by Δθ1 from the normal stop position.

Further, when the counter C3 that counts the encoder pulses accompanying the rotation of the motor 90 finishes counting (step S6), the servo drive of the motor drive system is canceled by the count end signal (step S7), and at the same time, the error absorption mechanism is activated (step S7). Step S8).

That is, the cylinder actuating means 11 is activated by the count end signal.
2A to drive pin 108 through cylinder 112.

When the rotary table 38 is at the stop position A, the center of the regulating hole 98a of the rotary table 38 and the axial center of the pin 108 are offset. When the pin 108 is driven, the rotary table 38 is in a rotatable state, so it rotates in the direction of the regular stop position A1, and the rotary table 38 returns to the regular stop position when the pin 108 is completely engaged with the regulation hole. It stops at A (step S9).

As the rotary table rotates due to the operation of the pin 108, the motor 90 rotates by Δθ, and a pulse corresponding to Δθ is output from the encoder 90A (step 510), and the pulse is sent to the memory M1 via the counter C3.
6 information is that the pulse count number P=45 mentioned above is P=5.
It is changed to 0 (step Sl'l).

Detecting the state in which the above-mentioned rotary table 38 has stopped at the regular stop position A, for example, an additional count of the second count signal of the counter C1 (additional count of 5 pulses from 45 pulses to △θ0 rotation of the rotary table) ), the mounting head performs the mounting operation of the component P1 (step 512).

The operation of mounting the component P1 at a predetermined position on the printed board is completed by the operation of the mounting head from step S1 to step S12, but in the present invention, the rotation caused by the slippage caused by the rotational friction drive means Error △θ
1 to the next parts P2, P, etc. on the rotary table 38
It has a function to prevent the accumulation of errors when rotating.

That is, the rotary table 3 for mounting the second part P.
8 is a further rotation of θ=90° with the stop position of the rotary table for mounting the first component P1 as the origin.

Therefore, when repeating steps 81 to S12 in order to mount the second part P, the recorded information in the memory M1 is changed to M in the step Sll, and the information of =50 is changed to the pulse corresponding to the regular stop position A1. Information M,=
It is necessary to rewrite it to 45.

Therefore, in this embodiment, the rotary table 38 rotates slightly in accordance with the engagement operation of the pin 108 in step S9 described above, and accordingly, the information in the memory M, changes from M,=45 to M,=50. This information is used to output an activation signal for the mounting head in order to mount the first component P1, and this signal rewrites the information M, = 50, in the memory M1 to M = 45 (step 513).
).

Next, when mounting the second part P2, the rotation amount setting means outputs information of 62=90', but the actual rotation amount of the rotary table 38 is θ.

θ1=90°−45°=45°. For this purpose, the memory M is corrected in step S13.

The information is fed back to the rotation amount setting means, and the corrected information in the memory M is the second part P.

This is the rotation origin position of the rotary table 38 for mounting.

After that, the motor rotates to install the second part P...
Encoder pulse output: Counting starts and steps 82~ are performed, and the second component P is output by the mounting head.
, the printed board is mounted at a predetermined position.

In step S12 of the explanation of the above-mentioned embodiment, it was stated that the insertion operation is performed by the start of the insertion operation of the mounting head and the second count end signal of the counter C1. It's okay.

That is, a sensor dog 110a is attached to a rod 110 that moves forward and backward by a cylinder 112 in FIG. 5(A), and a pin operation confirmation means and 12 proximity switches SW2 that are operated by the sensor dog 110a are provided. cylinder 11
2, the pin 108 fits into the regulation hole of the rotary table, and the operation of absorbing the error in the rotation stop position of the rotary table is completed. The switch SW2 detects that the pin 108 fits into the regulation hole of the rotary table, and the mounting head is inserted by the signal from the switch SW. This is used as an operation start command signal.

In the case of the embodiment in which the insertion operation of the mounting head is started by a signal from the pin operation confirmation means SW described above, the insertion operation is performed after detecting that error absorption of the rotary table by the pin 108 has actually been performed. Therefore, components can be accurately loaded into predetermined positions on the printed board.

〔Effect of the invention〕

According to the present invention, the error in the rotation stop position of the rotary table caused by the rotary friction driving means is corrected by the error absorbing means consisting of a cylinder pin or the like, and the memory M of the information of the encoder output pulse generated by the motor rotation during the correction operation is provided. , by correcting the information to the pulse information P=45 corresponding to the regular stop position A1, the memory information can be used as the origin position information of the rotary table when multiple parts are mounted. Rotation control can be performed accurately.

In addition, by repeatedly correcting the memory information each time a plurality of parts are mounted on a printed board, even if rotation table rotation errors for each part occur irregularly, errors will not accumulate. do not have.

[Brief explanation of drawings]

FIG. 1 is a perspective view schematically showing the structure of an embodiment of a substrate rotation mechanism in a turret-type mounting machine according to the present invention, and FIG. 2 is a plan view showing in detail the structure of the substrate rotation mechanism shown in FIG. 1. , FIG. 3 is an enlarged plan view showing the configuration of the rotating friction drive section of the substrate rotation mechanism shown in FIG. 2, FIG. 4 is a side view showing the rotation friction drive section in an enlarged state, and FIG. Figures (A) and 5 (B) are a side sectional view and a front view showing the configuration of the error absorption mechanism, respectively; Figure 6 (A) is a block diagram for controlling the rotation of the rotary table 38; FIG. 6(B) is a flowchart showing the operating means of the error absorption mechanism, and FIG. 6(C) is an explanatory diagram of the rotational state of the rotary table. 10... Board positioning mechanism 12... Electronic component mounting machine 14... Base 16... Slide stand 18... Board 20... Head turret mechanism 22... Turret table 24... Table Rotation motors 26a to 26j...Mounting head 28...Component supply mechanisms 30a to 30j...Component supply unit 32...Unit mounting table 34...First pole screw 36...First Nut member 38...Rotary table 40a, 40b=-Base 42...X-axis frame 42a-42d...First to fourth sides 44a, 44b
...Guide member 46...Second ball screw 48...Second nut member 50...X-axis circumferential drive motor 52...Y-axis frames 52a to 52d...First to fourth side 54 a, 5
4b...Connection stay 56...Y-axis guide member 58...Engagement member 60...Third ball screw 62...Third nut member 64...Y-axis drive motor 66... ...Guide rollers 68a, 68b...Guide rod mounting stayer 0a,
70b... Guide rod 72... Friction drive mechanism 74... Leaf spring mechanism 74a... Push lever 74b... Adjustment screw 76... Press stayer 8... Holding roller 80... Guide stay 82...Support stays 82a, 82b...Guide groove 84...Mounting stay 86...Drive roller 88...Drive shaft 90...Rotary drive motor 92...Coupling mechanism 94... Rotary encoder 96...Error absorption mechanism 98a, 98b, 98c, 98
d--Restriction hole 100... Mounting member 102... Sliding guide member 104... Plunger rod 106... Plunger 108... Positioning pin 110... Piston rod 112... Pneumatic cylinder 114...Mounting stay 120...Rotation amount setting means C,...Counter Ml...Memory y-axis frame L-2θ/2

Claims (1)

[Claims] (1) A rotary table on which a printed board on which parts are mounted is connected to a motor via a rotary friction drive means, the rotation of the motor is detected by an encoder, the output pulses of the encoder are input to a memory, and the rotary friction A method for controlling the rotation of a rotary table of a component mounting apparatus, characterized in that an error caused by slippage of a driving means is detected by an output of the encoder and information in the memory is corrected.