JPH04148598A - Component installing device - Google Patents

Abstract

PURPOSE:To rotate a rotary disc intermittently in such a way that it does not cause the dislocation of parts after recognition of components by rotating the rotary disc at the speed being decelerated from the specified revolution in the case where a judging means has judged that the dislocation of components are to occur. CONSTITUTION:CPU calculates the dislocation DELTAX in X direction between the center of a suction nozzle 12, which is stored beforehand separately for each nozzle 12, and the recognized center of a component, the dislocation DELTAY in Y direction, and the angular dislocation DELTAtheta of the component 4 to the suction nozzle 12. And, supporting that the rotary disc 11 rotates intermittently at the fastest index speed 'VIH1', in the case where it is judged, in the above judgment on whether or not it causes the dislocation of the component 4 from the present suctional position, that the dislocation is to occur, the CPU selects low-speed index speed 'VIL1'. Next, supporting that the nozzle is rotated at the fastest revolution speed 'VNH1', in the case where it is judged, in the judgment on whether or not it causes the dislocation of the component 4, that the dislocation is to occur, the CPU selects the low-speed revolution speed 'VNL1'.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Industrial Application Field The present invention attracts parts using a plurality of suction nozzles provided on the periphery of a rotary disk that rotates intermittently at a predetermined speed by the drive of a rotary disk drive motor. The present invention relates to a component mounting apparatus that recognizes the amount of positional deviation of the component with respect to a suction nozzle by a recognition means, corrects the positional deviation based on the recognition result, and mounts the component on a printed circuit board.

(b) Prior Art This type of component mounting device is disclosed in Japanese Patent Laid-Open No. 1-26544. In this type of component mounting equipment,
Conventionally, a rotary disk rotated intermittently at a predetermined speed for each component it was picking up.

(c) Problems to be Solved by the Invention However, in the above-mentioned prior art, when the suction nozzle is in a poor component suction position (XY direction), for example, when the storage frame size of the component storage tape is large compared to the size of the component, Depending on the amount of XY positional deviation between the component center and the suction nozzle center, the weight of the component, and the nozzle diameter (i.e. suction force), there is a drawback that when the rotary disk rotates intermittently at a predetermined speed for each component, the suction position may deviate from the current suction position. .

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to perform intermittent rotation of a rotary disk without causing a positional shift of a component after recognition of the component.

(d) Means for Solving the Problems Therefore, the present invention provides a means for suctioning parts by suction nozzles provided on the periphery of a rotary disk that rotates intermittently at a predetermined speed by the drive of a rotary disk drive motor. In a component mounting apparatus that recognizes the amount of positional deviation of a component with respect to a suction nozzle by a recognition means, corrects the positional deviation based on the recognition result, and mounts the component on a printed circuit board, the positional deviation recognized by the recognition means is determining means for determining whether or not a positional deviation of the component being sucked by the suction nozzle occurs when the rotary disk rotates at the predetermined rotational speed based on the amount; The present invention is further provided with a control means for controlling the rotary disk drive motor so as to rotate the rotary disk at a speed lower than the predetermined rotational speed when it is determined that the rotation speed occurs.

(*) If the action determining means determines that the position of the component relative to the suction nozzle will occur when the rotary disk rotates at a predetermined rotational speed based on the amount of positional deviation recognized by the recognition means, the control means The rotary disk drive motor is controlled to rotate the rotary disk at a speed lower than the rotational speed.

(f) Example Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

(1) is an XY that moves in the X direction and Y direction due to the drive of the X axis servo motor (2) and Y axis servo motor (3).
A child table and a printed circuit board (5) on which a chip-shaped electronic component (4) (hereinafter referred to as a chip component (4)) is mounted are placed.

(6) is a component supply stand on which a large number of component supply devices (7) are arranged in parallel, and the rotation of the ball screw (9) driven by the component supply unit servo motor (8) allows the parts to be guided to the guide (10). direction (11150th left/right direction).

(11) is a rotary unit in which a number of suction heads (13) are installed around the periphery, each of which has a plurality of suction nozzles (12) on its lower surface for picking up and conveying the chip components (4) from the component supply device (7). The disc is intermittently rotated by the rotation of a rotary disc servo motor (14) shown in FIG. 5 via an index unit (21) to be described later. Suction head part (1
3) is provided corresponding to the intermittent rotation pitch.

(1) is a suction station that takes out chip components (4) from a component supply device (7).

(1) is a recognition station which uses a recognition device (16) to recognize the state of the chip component (4) that has been completely suctioned by the suction nozzle (12).

(II) is a nozzle rotation correction station that performs rotation correction on the chip component (4), and the recognition device (16)
Based on the recognition result in step 1, the angle of the component (4) is corrected to match the mounting angle, and the nozzle (12) is rotated.

(IV) is a mounting station for mounting the chip component (4) onto the printed circuit board (5) after completing the work at the nozzle rotation correction station (1).

(V) is a chip component that should not be mounted (V) as a result of recognition by the recognition device (16), for example, the chip component (4) is stuck upright or the chip component (4) that is not fully suctioned is wrong. 4) is a discharge station for discharging.

(Vl) is a nozzle selection station for selecting a suction nozzle (12) corresponding to the chip component (4) to be suctioned by the suction station (I), and a gear ( The drive gear (18) is rotated by the rotation of the drive gear servo motor (17) (see Figure 5), which is moved by a drive system (not shown) to the gear (not shown) and rotated after meshing with the gear. A desired suction nozzle (12) is selected.

Hereinafter, the rotary disk (11) will be explained based on FIG. 4.

(19) is a cylindrical part (
An index unit (21) that surrounds the upper part of 20) and converts the rotation of the motor (14) into intermittent rotation of the rotary plate.
This is a cylindrical cam member for guiding a hollow cylindrical rotary disk that is suspended and fixed to a mounting base (22). A cam (23) is formed on the lower end peripheral side of the cam member (19) over almost the entire circumference, and a spring (25) is attached to the upper surface of the cam (24) to secure the upper end of each suction head part (13). The rollers (26) provided at
1). That is, in each suction head section (13), a pair of guide rods (27) are vertically movably penetrating through the rotary disk (11), and a roller (26) is installed at the upper end of the rod (27). A mounting member (28) rotatably provided is fixed. Therefore, each suction head section (13) is supported by the rotary disk (11) so as to be movable up and down. The suction station (I) is moved by the downward movement of the suction head (13) mentioned above.
Then, pick up the chip component (4) and move it to the mounting station (m
In V), when mounting the chip component (4) on the printed circuit board (5), the main body of the automatic electronic component mounting device is moved so that only the desired one of the plurality of suction nozzles (12) is lowered. Stopper plate (3) provided on the base (30)
1).

(32) is a hose serving as a connecting body communicating with a vacuum pump (not shown). The other end of each hose (33) is connected to a connecting hose (33) that can be buried through the rotary disk (11), and the connecting hose (33) includes a switching valve (34), a horizontally long intake path (35), It communicates with the vacuum pump via a central air intake channel (36).

(37) When necessary, the suction station (I>
This is a suction type suction clutch solenoid that stops the suction operation by regulating the descent of the suction head (13) at
) has an abutment lever (40) that abuts against the lever (39) to prevent it from being lowered. That is, when the clutch solenoid (37) is demagnetized, the abutting lever (40) comes into full contact with the vertical lever (39), and the vertical lever (39) cannot fully descend. Note that a device with the same structure is also provided at the mounting station (IV).

Next, the nozzle positioning device (43) of the suction station (I) will be explained based on FIG. 2.

(44) is vertically movably fitted into a nozzle positioning body (47) attached to a holder (46) that is fixed to a mounting plate (45) that is suspended and fixed from the mounting base (22). The nozzle positioning rod has a nozzle positioning fitting part (48), and is provided with a pin (50) projecting outward from a vertically elongated hole (49) provided in the nozzle positioning body (47). The fitting portion (48) is formed to become narrower toward the lower end so as to fit into the fitting groove (15). Moreover, the positioning rod (44)
is provided with a locking part (52) that locks the spring (51) between the bottom surface of the nozzle positioning body (47), and the locking part (52) has a vertically movable part that can be moved up and down by a cam mechanism (53). A swing lever (56) attached to the swing lever (54) via a rod end (55) is locked, and the swing lever (56) moves up and down according to the vertical movement of the vertical swing lever (54).
) is swung, the nozzle positioning rod (44) is moved up and down while being biased by the spring (51).

(57) is a positioning clutch solenoid that restricts the downward movement of the nozzle positioning device (43) due to the downward movement of the vertical movement lever (54), and is provided with a contact lever (58).

Next, the nozzle rotation positioning device of the nozzle rotation correction station (II)! (60) will be explained based on FIG.

(61) is a nozzle rotation motor as a drive source for rotating the suction nozzle (12) by θ, and the nozzle rotating body ( A nozzle rotating rod (66), which will be described later, is attached to the nozzle rotating rod (65) so as to be movable up and down.

Incidentally, a ball spline may be used to move it up and down.

The above-mentioned (66) is a nozzle rotation rod that is fitted into the nozzle rotation body (65) and has a nozzle rotation fitting part (67) at the lower end.
A pin (69) is provided that protrudes outward from 8>. The nozzle rotation fitting portion (67) is formed to become narrower toward the lower end so as to fit into the fitting groove (15). Moreover, the nozzle rotating rod (66)
The spring (7) is connected between the bottom of the nozzle rotating body (65) and
A locking portion (71) is provided for locking the locking portion (71).
A swinging lever (74) attached via a rod end (73) to a vertically moving lever (72) that is moved up and down by a cam as a drive source (not shown) is locked to 71), and the vertically moving lever As the swing lever (74) swings up and down in accordance with the vertical movement of the nozzle rotating rod (66), the nozzle rotation rod (66) is moved up and down while being biased by the spring (70).

At No. 5150, (80) is an input interface connected to a CPU (81), and a recognition device (16) is connected thereto.

(82) is a RAM as a storage device, which stores center position data, NC data, parts library data, nozzle library data, etc. of each suction nozzle (12).

The above data will be explained.

As shown in Fig. 6, the NC data includes the mounting position (X coordinate data,
coordinate data), mounting angle data indicating the θ-direction mounting direction, and component type.

The control command "r'E" indicates the end of the step.

As shown in Figure 7, the parts library data includes, for each part type, the part weight, the fastest index speed, which is data on the rotating speed of the fastest rotary plate (11) for the part (4), and the part (4). ) end is the nozzle (
12), the position of the component (4) relative to the nozzle (12) does not change even if the component (4) is attracted by the rotary disk (11). Fastest nozzle (1
2) The fastest nozzle rotation speed, which is the rotation speed data, even if the end of the part (4) in question has been suctioned by the nozzle (12), the position of the part (4> relative to the nozzle (12) can be changed) Data such as low-speed nozzle rotational speed and nozzle type, which is data on the rotational speed of nozzles <12), are stored. The index speed and nozzle rotation speed are the fastest and slowest.
Although there are three types, three or more types may be used.

As shown in FIG. 8, the nozzle library data stores data such as the nozzle diameter for each nozzle type. In addition, the center position data of each suction nozzle (12) is stored in the RAM (82) for each suction nozzle (12) currently attached to each suction/rad section (13).
) is stored in

(83) is a ROM that stores a program related to the mounting operation of the chip component (4).

The operation of the above configuration will be described below.

First, when the printed circuit board (5) is placed on the XY child table 1), the component supply table (6) is moved by the drive of the component supply section servo motor (8), and the step "" of the NC data is moved.
A component supply device (7) for supplying the type "R1" of "1" is placed on standby at the suction station (I).

By the rotation of the rotary disk (11), the suction station (
At the nozzle selection station (VI), the nozzle (11) moving to the component extraction position (1) is moved to the suction head (13) by rotation of the drive gear (18) driven by the drive gear servo motor (17). is rotated and the nozzle type "!"
are selected. The above nozzle type "!"
The CPU (81) makes the determination based on the parts library data of the product type rRIJ stored in the RAM (82).

Then, the vertical movement lever (
59) is lowered, the rocking bar (56) is rocked downward, and the nozzle positioning fitting part (48>
1), the suction nozzle (12) is brought into contact with the tapered part of the fitting groove (15>) provided on the upper part of the suction nozzle (12). ) while the lower end of the suction nozzle (12) is lowered to the position of the component (4) stored in the component supply device (7), the component (4) is connected to the hose (32), the connecting hose (33), The switching valve (34), the horizontally long intake passage (35) and the central intake passage (36)
) communicates with the vacuum pump through the nozzle (12
) is adsorbed by vacuum suction.

Next, the suction nozzle 12) that has suctioned the part (4) is moved to the recognition station (II) by the rotation of the rotary disk (11).At the recognition station (IF), as shown in the flowchart of FIG. The recognition device (16) recognizes the component (4) that has been completely absorbed by the nozzle (12).

First, check whether the picked part (4) has been picked up on a surface other than the one that should be picked up, in a so-called standing state, or whether the wrong type of part (4) has been picked up. 4) is performed. If the CPU (81) determines that the part is defective based on the recognition result of the recognition device (16), the part (4) will not be installed at the installation station (IV) and will be ejected at the ejection station (V). .

In addition, when it is determined that the product is good, the CPU (81) selects the suction nozzle (1) stored in advance for each nozzle (12).
2) positional deviation ΔX in the X direction and the recognized component center, positional deviation ΔY in the Y direction, and the suction nozzle (12
) Calculate the angular deviation of part (4) by 80 degrees.

Then, the CPU (81) determines whether or not the position of the component (4) will shift from the current suction position, assuming these deviation amounts ΔX and ΔY and the parts library data. If it is determined that no deviation occurs, the fastest index speed 'VIMIJ' is selected.

On the other hand, if the above determination indicates that a positional deviation will occur, the low index speed 'VIL□' is selected.

Next, the CPU (81) determines whether these deviation amounts ΔX and A ΔY and the component weight "Wl and nozzle diameter r" do not occur, and if it is determined that no positional deviation occurs, Select the fastest nozzle rotation speed 'VNMIJ. On the other hand, if it is determined that a positional deviation occurs in this determination, the low nozzle rotation speed 'VNL□ is selected.

The following description will be made assuming that the low index speed 'VILIJ' and the low nozzle rotation speed 'VNLIJ have been selected.

Next, the CPU (81) is connected to the rotary disk servo motor (14).
and rotate the rotary disk (11) intermittently at the low index speed 'VILIJ' selected as described above.
The suction nozzle (
12) rotates. Then, the suction nozzle (12) that has suctioned the part (4) of type 'RI J' stops at the rotation correction station (III) via the next stop position.

Then, the vertical lever (72) is lowered by the drive of the cam (not shown), the swing lever (74) is swinged downward, and the nozzle rotation fitting part (67) is moved by the spring (70).
), the suction nozzle (12) is fitted into the fitting groove (15) provided on the upper part of the suction nozzle (12), and then the nozzle rotation motor (61) operates at the low nozzle rotation speed selected as described above. ■N□'', the suction nozzle (12>) is rotated by the amount of deviation (θ, -Δθ), and the component (4) is aligned.

Next, the rotary disk (11> is set to low index speed 'V'
Parts of the type "RIJ" (4) are rotated intermittently at ILIJ.
The suction nozzle (12) that has absorbed the
Move to V). At the mounting station (IV), the X-axis servo motor (2) and the Y-axis servo motor (3)
As a result of the rotation of the
The displacement amounts ΔX and ΔY are corrected and moved to the mounting position 4).

Then, the suction nozzle (12) descends in the same manner as in the case of the suction station (I), and the zero-order suction nozzle (12) is attached to the position of the coordinates (Xi, Yl) of the printed circuit board (5) at an attachment angle of "θ,". , the suction nozzle (1
2) moves to the ejection station (V) and the nozzle selection station (VI).

Next, when the nozzle (12> that is picking up the part (4) in step 1 above stops at the recognition station (I), the next nozzle (12) stops at the pick-up station (I) and the NC Variety 'Rfi shown in step 2 of data
Part J (4) is picked up in the same way as in step 1.

Then, the nozzle (12) is moved to the recognition station (II) by the rotation of the rotary disk (11).
'' is faster than the slow index speed of the types ``R and J'', so the rotary disk (11
) rotates at the low index speed ``VILIJ'' of the type rR, , as described above.

Step 10 Suction nozzle (12) that sucks the part (4)
The parts (
4) Recognition device! Since the index speed applied based on the amount of deviation, component weight, and nozzle diameter recognized in (16) is faster than the low index speed ry1□, the rotation is performed at the low index speed 'VILIJ' as described above. Ru. Therefore, step 1
By the time the suction nozzle (12) that suctions the component (4) arrives at the mounting station (IV), the component (4) (component type R*, R- As a result of recognizing the part (4) (part type R,,R.

......) is lower than the low index speed corresponding to part (4) (part type R,) in step 1, then Turntable at speed (11)
is rotated.

The suction nozzle (1
As for the index speed after the part 2) has mounted the part (4), the slowest one among the index speeds selected for each nozzle (12) that picks up the other parts (4) can be applied.

In this case, the parts (4) that were determined to be defective, such as standing chips, were replaced by the parts (4) that were determined to be good without considering speed.
), the slowest speed selected for each speed is applied.

Note that depending on the amount of deviation in the recognition result of the recognition device (16),
Even with the selectable low index speed or low nozzle rotation speed, it is possible that component (4) may be misaligned with respect to the nozzle (12). Alternatively, in such a case, the component (4) may be treated as a defective component and may be discharged at the discharge station (V) without being mounted at the mounting station (IV).

In addition, if the recognition result by the recognition device (4) determines that the fastest index speed or the fastest nozzle rotation speed of each part (4) will cause a positional shift, the rotation speed of the suction nozzle is changed to the index speed of the vN2 rotary disk. After recognition by the recognition device (16), each speed is calculated by assuming that the recognized deviation amount in the XY length direction is ``ΔX'' and 1ΔY'', the weight of the part is 1w'', and the nozzle diameter is ``D''. Using the function, V y = f N (
△X, △Y, W.

D), V+=f+(ΔX, ΔY, W, D), and each speed may be calculated as
Different parts (4) may be used depending on the vertical and horizontal sizes of parts (4).

In addition, the larger the positional deviation of the suctioned component (4) with respect to the suction nozzle (12), the heavier the component weight, and the smaller the suction nozzle diameter, the more the rotary disk (11) and suction nozzle (12)
The rotation speed of the must be reduced.

Therefore, these factors are included in determining whether or not to reduce the rotational speed of the rotary disk (11) or the suction nozzle (12) after the component recognition described above. For example, the above-mentioned judgment on whether or not to reduce the rotational speed is made when the positional deviation amounts ΔX and ΔY exceed predetermined amounts for each predetermined range of component weight and nozzle diameter. It is conceivable to determine a predetermined range and a predetermined amount by experiment by changing the part weight, nozzle diameter, and the values of ΔX and ΔY.As for the function, the parts weight, nozzle diameter, and the values of ΔX2ΔY can be determined by experiment. Allow for changes and experiment to find the optimal one.

Furthermore, the center position of the suction nozzle (12) in this embodiment refers to the center position of the component suction end surface recognized by the recognition device (16) of the suction nozzle (12), and the positional deviation amounts ΔX and ΔY are Although it was the amount of deviation from the center position, the amount of deviation from the center of rotation of the suction nozzle (12) was also calculated and used as a factor in determining the deceleration of the rotational speed of the rotary disk (11) and the suction nozzle (12). It may also be used as a variable in the function.

In addition, the suction nozzle (12) must be rotated during the period when the intermittent rotation of the rotary disk (11) is stopped; however, if the rotation speed of the suction nozzle (12) is reduced, the suction cannot be performed during this period of stop. If it is determined that the rotation of the nozzle (11) is not completed, either the rotary disk servo motor (14) is stopped while the nozzle (12) is stopped at each station, or the period during which the intermittent rotation is stopped is sufficiently long. Yo motor (14
) can be decelerated.

(g) Effects of the invention As described above, the present invention reduces the intermittent rotational speed of the rotary plate only when it is determined that positional deviation will occur, so the deceleration time is minimized to prevent positional deviation from occurring. You can do it like this.

[Brief explanation of the drawing]

Fig. 1 is a plan view of a component mounting device to which the present invention is applied;
The figure is a side view of the suction station, Figure 3 is a side view of the nozzle rotation correction station, Figure 4 is a side sectional view of the rotary disk,
FIG. 5 is a control block diagram of the present invention, FIG. 6 is a diagram showing NC data, FIG. 7 is a diagram showing parts library data,
FIG. 8 is a diagram showing nozzle library data, and FIG. 9 is a diagram showing a flowchart. (4)...Chip-shaped electronic components (components), (11)...
...Rotary disk, (12>...Suction nozzle, (14)
...Rotary disk servo motor (rotary disk drive motor), (
16)... Recognition device (recognition means), (81)...
CPU (judgment means, control means).

Claims (1)

[Claims] (1) A plurality of suction nozzles installed on the periphery of a rotary disk, which is driven by a rotary disk drive motor, rotates intermittently at a predetermined speed, sucks the component, and a recognition means recognizes the amount of positional deviation of the component with respect to the suction nozzle. In a component mounting device that corrects the positional deviation based on the recognition result and mounts the component on the printed circuit board, the rotary disk rotates at the predetermined rotational speed based on the amount of positional deviation recognized by the recognition means. Judgment means for determining whether or not the component being sucked by the suction nozzle will be misaligned with respect to the suction nozzle when rotated;
A control means is provided for controlling the rotary disk drive motor so that the rotary disk is rotated at a speed lower than the predetermined rotation speed when the determining means determines that a positional shift of the component occurs. A component mounting device for