JPH0349837A - Turret mounting machine - Google Patents

Abstract

PURPOSE:To shorten an intermittent operation time so as to improve workability by skipping a stop condition of a turret table and stopping it only in a necessary rotational position of the turret table, in the case of no necessity for a head mechanism to execute pickup and insert actions. CONSTITUTION:In a turret table mechanism 24, an electronic part, brought to a pickup position alpha1, is picked up and conveyed to an insert position alpha6, while the electronic part is mounted to an inserted position in a circuit substrate 18 brought to a position just below the electronic part. Following rotation of one pitch turn of a turret table 26, in the case of no pickup and insert action being executed by a head mechanism 28 in the pickup and inset positions alpha1 and alpha6, the turret table 26, which skips these rotational positions without stopping, is stopped in the rotational position where at least one of the pickup and insert actions is executed thereafter.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention is a turret-type mounting system in which a plurality of head mechanisms are arranged around the outer periphery of a turret table, and parts are mounted while the turret table rotates intermittently. It's about machines.

[Prior Art] In a conventional turret type mounting machine, a large number of head mechanisms are arranged on the outer periphery of the turret table at equal intervals on a predetermined circumference, and the turret table is moved at l pitches. It is configured to feed intermittently and pick up and insert parts one by one at the stop position of the turret table. Specifically, when ten head mechanisms are arranged around the outer circumference of the turret table, the rotation angle for the above-mentioned l pitch is 36 degrees, and as a result, the rotation control mechanism of this turret table will control the turret table to stop every time it rotates by 36 degrees.

[Problems to be Solved by the Invention] However, in the conventional example described above, the head mechanism is advanced by one pitch and then stopped, so the following drawbacks are pointed out.

For example, when 10 head mechanisms are used to mount 20 types of parts in 10 shapes, the shapes of the parts to be mounted are usually different for each head mechanism. Therefore, a head mechanism that has already mounted components does not need to stop at the pick position or the insert position.

However, in a turtlet table that feeds intermittently by one pitch, the head mechanism always stops once at the pick position or the insert position, which increases the number of unnecessary stops. In this way, the conventional turret type mounting machine has problems in that the takt time is increased and the workability is poor.

This invention was made in view of the above-mentioned problems, and an object of the invention is to provide a turret-type mounting machine that prevents unnecessary rotation of the turret table, shortens takt time, and improves workability. It is.

[Means for Solving the Problems] In order to solve the above-mentioned problems and achieve the purpose, a turret-type mounting machine according to the present invention includes a turret table mechanism having a rotatable turret table, and a turret table mechanism having a rotatable turret table; In a turret type mounting machine having a plurality of head mechanisms for independently picking up and inserting components, and a driving means for intermittently feeding the turret table, when the coolet table is in a stopped state, , a first step for calculating a rotational distance from the pick position where the predetermined component is placed to a head mechanism for gripping the predetermined component that is closest to the pick position on the upstream side in the rotational direction of the turret table;
a second calculating means for calculating a rotational distance from the insert position to a head mechanism closest to the insert position that grips a component to be inserted into the insert position; a selection means for calculating the calculation result of the calculation means and selecting the smaller value; and a drive control means for causing the driving means to rotate and stop the turret table by the rotational distance selected by the selection means. It is characterized by having the following.

[Function] According to the turret type mounting machine according to the present invention configured as described above, when the turret table stops at a predetermined rotation angle, the pick position and the insert position in this stopped state are If the head mechanism does not need to pick up or insert, this stopping state is skipped, and the turret table will stop only at the rotational position where the head mechanism needs to pick up or insert. By calculating and calculating the rotation angle of the turret table in this way, unnecessary stops can be avoided and components can be mounted efficiently.

[Embodiment] Below, the configuration of an embodiment of a turret-type mounting machine according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows an overall schematic diagram of a turret type mounting machine IO according to an embodiment.

As shown in FIG. 1, the turret-type mounting machine 10 of this embodiment is roughly divided into, for example, a component storage mechanism 14 that stores electronic components 12 of 10 shapes and 20 parts, and The first step is to move the electronic component 12 to the component picking position (pickup position) α1.
a moving mechanism 16, a support base 20 to which a circuit board 18 on which an electronic component 12 is attached is fixed, and a desired insertion point of the circuit board 18 connected to and fixed on this support base 20. position, predetermined insertion position (insert position)
The second moving mechanism 22 moves the electronic component 12 directly below α6, takes out the desired electronic component 12 at the pick-up position α, transports it to the insert position α6, and inserts it into the inserted position of the circuit board 18 on the support stand 20. A turret table mechanism 24 is provided.

Here, the pickup position α1 and the insert position α6 are set to be 180 degrees apart from each other, as shown in FIG. That is, the pickup position α1 is set to the first
When the rotational position is , the insert position a6 is defined as the sixth rotational position.

The above-mentioned component storage mechanism 14 includes 20 electronic components 12 of 10 shapes arranged in a line along the direction indicated by arrow A, and the first moving mechanism 16 is configured to accommodate the component storage. It is configured to reciprocate the t-fold horizontal 14 on a straight line along the above-mentioned direction through the pick-up position α.

That is, in this component storage mechanism 14, the desired electronic component 12 is brought to the pickup position α1 by the first moving mechanism 16.

On the other hand, the insertion position of the circuit board 18 fixed on the support base 20 changes arbitrarily on a plane depending on the components mounted thereon.

Therefore, the second moving mechanism 22 is configured to be moved and driven independently along two axial directions X and Y that are orthogonal to each other. In addition, in order to be able to freely set the attitude of the electronic component 12 at the inserted position (in other words, the rotational position from the attitude of the electronic component 12 at the pick-up position α1), the support base 20 is , a rotation mechanism (not shown) for rotating around its own vertical axis.

) are connected.

The turret table mechanism 24 described above also picks up the electronic component 12 brought to the pick-up position α1 by the first moving mechanism 16, transports it to the insert position α6, and transfers it to the second moving mechanism 22. The electronic component 12 located at the insert position α6 is inserted into the insertion position of the circuit board 18 brought directly below the insert position α6 in synchronization with the above-described removal operation of the electronic component 12. .

Here, the turret table mechanism 24 includes a turret table 26 rotatably supported around a central axis, and a turret table 26 arranged at equal intervals around the outer circumference of the turret table 26.
0 head mechanisms 28. ~281°, and a drive mechanism 30 that rotates the turret table 26 clockwise.
and a drive control device 32 that is connected to this drive mechanism 30 and controls the drive state of this drive mechanism 30, that is, the amount of drive.

In the following description, these plural head mechanisms 28
．． ~28. If each o is a problem, add a subscript as above, and if the entire head mechanism is a problem,
It is assumed that it is simply indicated by the symbol 28 without a subscript.

Moreover, these head mechanisms 281 to 28. . will move in accordance with the rotation of the turret table 26, but in FIG. 2, the stop position of each head mechanism 28 is clockwise from the pickup position α as the starting point to the insert position α6. , α2. α8. α4. α
, are defined sequentially, and in a clockwise direction starting from the insert position α6, α? , Qa , Go + Q+. will be stipulated sequentially. A total of 10 stipulated in this way
stopping positions α, ~α,. is turret table 26
It is defined as a fixed absolute position, regardless of rotation.

Here, each head mechanism 281-28. ．． The turret table mechanism 24 is configured to be able to grip only parts 12 each having a dedicated shape, and as a result, this turret table mechanism 24 can grip ten types of parts with different shapes, that is, pick and insert. It will be possible to do so. Note that two parts with different performances are set for each shape, and in the turret type mounting machine 10 of this embodiment, 20 parts of 10 types are mounted as described above.

The drive mechanism 30 described above includes a drive motor 30a disposed above the turret table 26, and a transmission mechanism (see FIG. (not shown). Furthermore, the drive control device 32 described above
is connected to this drive motor 30a, and is configured to control the amount of drive of this motor, that is, the amount of rotation of the turret table 26, and is connected to an overall control device 34 that controls the entire turret type mounting machine 10. It is connected.

That is, based on the information from the component storage mechanism 14 and the turret table mechanism 24, the overall control device 34 controls the head mechanism 28 at each stop position of the turret table 26 after picking up the component 12 and before inserting the component 12. , the head mechanism 28 to be inserted next
Regarding the head mechanism 28 after inserting the part 12 and before picking up the part 12, the part 12 is located at each stop position of the turret table 26, and then at the pick position. Information indicating where the head mechanism 28 that will pick up the image is located is output to the drive control device 32.

Next, with reference to the flowchart shown in FIG. 3 and FIGS. 2 and 4, the drive control device 32 which is a feature of the present invention will be described.
The procedure for controlling the amount of rotational drive of the turret table 26 will be explained.

This drive control device 32 basically drives and controls the drive mechanism 30 so that the turret table 26 is intermittently fed one pitch at a time, that is, every 36 degrees.

However, if such intermittent feeding of one pitch at a time is always performed, as already pointed out in the description of the prior art, an unnecessary stop state will occur and work efficiency will decrease. Therefore, in this embodiment, the drive control device 32 is configured so that skip drive control of the turret table 26 is executed.

Here, this drive control procedure is executed every time the stopped turret table 26 starts rotating. For this reason, an example of the state of picking up parts in the turret table mechanism 24 and the state of supplying parts to the pick-up position when this control procedure is executed will be explained using FIG. 2.

That is, this turret table 26 is stopped in the state shown in FIG. 2, and the ninth part 12. is set to be supplied and then picked up. This ninth part 129 is specifically picked up by the ninth head mechanism 28°. As shown in FIG. 2, in this stopped state, the ninth head mechanism 28. is the ninth rotational position α
As a result, upstream in the rotational direction by 2 pitches up to the pickup position α1, in other words, 72
This means that the pickup position α1 is located counterclockwise from the pickup position α1.

On the other hand, after passing through the pickup position a1, the head mechanisms 281-28. In the head mechanism that grips the part to be inserted next at insert position α6,
Assume that the vehicle is located at a third rotational position α, as indicated by the reference numeral 283. As a result, this third head mechanism 2
8 degrees is 3 pitches upstream in the rotational direction from insert position α6, in other words, 108 degrees from insert position α
It is located counterclockwise from 6. That is, equivalent parts are not gripped by the fourth and fifth head mechanisms 28□28 located at the fourth and fifth rotational positions a4°α.

The control procedure in the drive control device 32 in such a stopped state will be explained with reference to FIGS. 3 and 4.

First, in step SIO, the pickup position α,
When the component pick-up operation is completed at the insert position a6, and/or when it is detected that the component insertion operation is completed at the insert position a6, the turret table 26 is A rotation type arithmetic operation is performed.

That is, in step S12, the type of the predetermined part brought to the pick-up position a is detected based on the information from the overall control device 34 mentioned above. Therefore, in this step S12, it is detected that the ninth component 129 has been brought to the pickup position a1 based on the state shown in FIG. 2 described above.

Then, in step S14, a head mechanism 289 for picking up a predetermined component brought to the pickup position, that is, in this case, the ninth component 129.
In other words, the separation angle when measured along the counterclockwise direction from the pickup position α1 is detected. Therefore, in this step S14, based on the state shown in FIG.
89 is 2 pitches from pickup position a (P
I = 2) That is, it is detected that the position is 72 degrees upstream in the rotational direction.

On the other hand, in step S16, the insert position α
At step 6, the head mechanism 28 gripping the component to be inserted into the circuit board 18 is detected. Therefore, in this step S16, based on the state shown in FIG. 2, the fourth and fifth head mechanisms 28. ．． 28. No component is gripped by the third head mechanism 28. is then detected as a head mechanism for inserting a component at the insert position Xaa.

Then, in step S18, insert position α6
along the counterclockwise direction from the second rotational pitch number P2 to the head mechanism that will then insert the component at the insert position α6, i.e., in this case, the third head mechanism 283, in other words. , the separation angle is detected when measured along the counterclockwise direction from the insert position α6.

Therefore, in this step S18, based on the state shown in FIG.
It is detected that the position is 8 degrees upstream in the rotational direction.

After that, in step S20, the first and second rotation pitch numbers P+ detected in steps S14 and 18, respectively, are determined.
, Pg are compared, and it is determined whether P is larger than P2. If it is determined YES in this step S20, that is, if it is determined that P is larger than P2, then in step S22, the turret table 2
As the rotational movement angle R of 6, an angle based on the second rotational pitch number P2 is defined.

On the other hand, if it is determined No in step S20, that is, if it is determined that P2 is larger than P, then in step S24, the first rotational pitch number is set as the rotational movement angle R of the turret table 26. An angle based on P1 is defined.

Specifically, in the state shown in FIG. 2, P is "2" and P2 is "3", so the determination in step S20 is NO, and the rotational movement angle of the turret table 26 is set to 2. The pitch is defined as 72 degrees. Then, in step 826, for a time corresponding to 72 degrees, which is the rotational movement angle R defined in this way,
The drive mechanism 30 is driven, and the turntable 26 is rotated clockwise by 72 degrees. In other words, in steps S20 to S24,
The smaller value of the first and second rotational pitch numbers P, , P2 is selected, and based on this, the turret table 2
6 rotational movement angles R are defined.

In this way, in this embodiment, the tenth head mechanism 28.0, which will next be brought to the pickup position a1 by the rotation of the turret table 26 by the next pitch from the stop position, Without picking up any parts at pickup position a1,
The fifth
The head mechanism 285 is such that no parts are inserted at this insert position α6.

Therefore, in this embodiment, the drive control device 32 rotates the coolet table 26 one pitch from the stop position shown in FIG. 2, and the tenth and fifth head mechanisms 28. . , 28S are respectively picked up Hα1
．． At the time when the insert position Zaa is reached, the rotational drive is continued without stopping there, and the rotational drive for the next one pitch is successively executed.

In this way, the turret table 26 is rotated by two pitches from the stopped state shown in FIG. 2, so that the ninth head mechanism 289, as shown in FIG.
It will be brought to the pick-up position a and stopped there. Then, at this pickup position α, the ninth head mechanism 28. is the corresponding ninth part 12
．． You will need to pick it up and hold it.

In this way, in this embodiment, following the rotation of one pitch, the head mechanisms 28 respectively brought to the pickup position aI and the insert position α6 perform the same pickup operation and insert operation. If not, the turret table 26 will not stop during this one-pitch rotation (this rotation position will be skipped and the rotation position where at least one of the pick-up operation and the insert operation will be performed at the subsequent rotation position) Then, it will actually be stopped.As a result,
Unnecessary rotation stopping operations of the turret table 26 are avoided, takt time is shortened, and work efficiency is greatly improved.

In addition, in the above-mentioned embodiment, as shown in FIG.
When the third head mechanism 283 stops after performing the skip operation, the third head mechanism 283 that will insert the component at the insert position a6 next inserts the component at the insert position α6.
Therefore, no matter which rotational position the head mechanism 28 that picks up the next part brought to the pickup position α1 is, the next The pitch number for the rotation of the turret table 26 is "1", that is, the next rotation angle of the turret table 26 is defined as 36 degrees.

It goes without saying that this invention is not limited to the configuration of the one embodiment described above, and can be modified in various ways without departing from the gist of the invention.

In the embodiment described above, the number of head mechanisms 28 disposed is ten, but the present invention is not limited to such a number, and the number of head mechanisms 28 disposed is not limited to ten; Any number of good is good.

[Effects of the Invention] As detailed above, the turret type mounting machine according to the present invention includes a turret table mechanism having a rotatable turret table, and a plurality of turrets arranged around the outer periphery of the turret table, each of which has a turret-like structure. In a turret-type mounting machine equipped with a head mechanism for independently picking up and inserting components and a drive means for intermittently feeding the turret table, a predetermined component is placed while the turret table is in a stopped state. a first calculation means for calculating a rotational distance from the pick position to a head mechanism for gripping the predetermined part closest to the pick position on the upstream side in the rotational direction of the turret table; a second calculation means for calculating the rotational distance from the head mechanism that grips the component to be inserted into the insert position, which is closest to the head mechanism, and calculates the calculation results of the first and second calculation means. and a selection means for selecting the smaller value, and a drive control means for causing the drive means to rotate and stop the turret table by the rotation distance selected by the selection means. There is.

Therefore, according to the present invention, there is provided a turret-type mounting machine that prohibits unnecessary rotation of the turret table, shortens the takt time, and improves workability.

[Brief explanation of drawings]

Fig. 1 is a perspective view schematically showing the configuration of an embodiment of a turret-type mounting machine according to the present invention; Fig. 2 is a top view showing the stopping position of the turret table; Fig. 3 is a control procedure in the drive control device. FIG. 4 is a top view showing the stopped state of the turret table after being skip-controlled. In the figure, 10... Turret type mounting machine, 12... Components, 14... Component storage mechanism, 16... First moving mechanism, 18... Circuit board, 20... Support stand, 22...
Second moving mechanism, 24... turret table mechanism,
26...Turret table, 28□~28. .・・・
-Head mechanism, 30... Drive mechanism, 32... Drive control device, 34... Overall control device.

Claims (1)

[Scope of Claims] A rotatable turret table; a plurality of head mechanisms disposed around the outer periphery of the turret table, each of which independently picks up and inserts a component; In a turret type mounting machine equipped with a feeding drive means, when the turret table is in a stopped state, from the pick position where a predetermined component is placed, a position closest to the pick position on the upstream side in the rotational direction of the turret table is provided. a first calculating means for calculating a rotational distance to a head mechanism for gripping the predetermined part at a position to grip the part to be inserted into the insert position closest to the insert position; a second calculation means for calculating the rotational distance to the head mechanism, a selection means for calculating the calculation results of the first and second calculation means and selecting the smaller value; 1. A turret type mounting machine, comprising drive control means for rotating and stopping said turret table by said driving means by a rotational distance of said turret table.