JPH04148599A - Component installing device - Google Patents

Abstract

PURPOSE:To see that it does not cause the dislocation of components after recognition of the components by rotating a suction nozzle at the speed being decelerated from the specified revolution in the case where a judging means has judged that the dislocation of parts are to occur. CONSTITUTION:In case that it is judged that the dislocation is to occur, CPU drives a rotary disc servo motor 14, and rotates the rotary disc 11 intermittently at the selected low-speed index speed 'VIL1', and the suction nozzle 12, which was stopping at a recognition station II, rotates and shifts. And the suction nozzle 12, which has sucked the component 4 of kind 'R1', stops at the rotation correcting station III through the next stoppage position. Thereupon, by the driving of a cam, a vertical motion lever 72 falls, and a rocking lever 74 is rocked downward, and the engaging part for nozzle rotation engages with the groove 15 for engagement provided at the top of the suction nozzle 12, while being energized by a spring 70, and then a motor 61 for nozzle rotation rotates at the selected low-speed rotational speed 'VNL1', and the suction nozzle 12 is rotated by the amount of slippage (theta1-DELTAtheta), and the positioning of the component 4 is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention involves sucking a part with a suction nozzle, recognizing the positional deviation of the part with respect to the suction nozzle using a recognition means, and rotating the nozzle based on the recognition result. The present invention relates to a component mounting device for mounting a component on a printed circuit board by rotating a suction nozzle at a predetermined speed using means to correct positional deviation in the nozzle rotation direction.

(b) Prior art The prior art of this type of component mounting device is disclosed in Japanese Patent Application Laid-open No. 1-2655.
It is disclosed in Publication No. 4. Conventionally, in this type of apparatus, after recognition by the recognition means, the suction nozzle is rotated at a predetermined speed to correct positional deviation in the rotational direction of the component.

(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), if the suction nozzle is rotated at a predetermined speed, it may deviate from the current suction position. be.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to rotate a suction nozzle without causing a positional shift of a component after recognition of the component.

(d) Means for Solving the Problems Therefore, the present invention uses a suction nozzle to suction a component, uses a recognition means to recognize the positional deviation of the component with respect to the suction nozzle, and based on the recognition result, the nozzle rotation means moves the component to a predetermined position. In a component mounting device that mounts a component on a printed circuit board by rotating a suction nozzle at a speed of a determining means for determining whether or not a positional deviation of a suctioned component with respect to the nozzle occurs when the suction nozzle rotates at a speed; and a predetermined rotation when the determining means determines that a positional deviation will occur. A control means is provided for controlling the nozzle rotation means so as to rotate the suction nozzle at a speed lower than the speed of the suction nozzle.

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

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

(1) is an XY that can move in the X direction and Y direction by driving the
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)) can be mounted are placed.

(6) is a component supply stand on which a large number of component supply devices (7) are arranged in parallel, and is guided by a guide (10>) by the rotation of a ball screw (9) driven by a component supply section servo motor (8). direction (horizontal direction in Figure 1).

(11) is a rotary machine in which a number of suction heads (13) are installed on the periphery of the suction head section (13), which is provided with a plurality of suction nozzles (12>) for picking up and conveying the chip components (4) from the component supply device (7) on the lower surface. The disc is intermittently rotated by the rotation of the rotary disc servo motor (14) shown in FIG.
3) is provided corresponding to the intermittent rotation pitch.

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

(I[> is a recognition station where the recognition device (16) recognizes the state of the chip component (4>) being sucked by the suction nozzle (12).

(III) is a nozzle rotation correction station that performs rotation correction on the chip component (4);
), 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 the work at the nozzle rotation correction station (I) is completed.

(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) being sucked is different. 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) can be 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) can be supported on the rotary disk (11) in a vertically movable manner. 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 (I).
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) can be regulated.

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

(37) When necessary, adsorption station (I)
This is a suction type suction clutch solenoid that stops the suction work by regulating the descent of the suction head (13) at the position of the suction head (39).
) has an abutting lever (40) that abuts against the lever (39) so that the lever (39) cannot be fully lowered. That is, when the clutch solenoid (37) is demagnetized, the contact lever (40) comes into contact with the vertical lever (39), and the vertical lever (39) is prevented from being lowered. Note that a similar structure is also provided at the mounting station (IV>).

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

(44) is vertically movably fitted into a nozzle positioning body (47) attached to a holder (46) fixed to a mounting plate (45) that is suspended and fixed from the mounting base (22), and is attached to the lower end. 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 a 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) is moved up and down by a cam mechanism (53). A swinging lever (56) attached to the vertically moving lever (54) via a rod end (55) is locked, and the swinging lever (56) moves in accordance with the vertical movement of the vertically moving 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.
8) A pin (69) is provided that protrudes outward. 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 part (71) for locking the locking part (0) is provided, and the locking part (71) locks the locking part (
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 The nozzle rotating rod (66) is moved up and down while being biased by the spring (70) as the bar (74) is swung up and down according to the vertical movement of the nozzle (72).

In FIG. 5, (80) is an interface connected to a CPU (81), to which a recognition device (16) is connected.

(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, Y coordinate data,
coordinate data), mounting angle data indicating the θ-direction mounting direction, and component types can be stored.

The control command r E indicates the end of a 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 part (4) with respect to the nozzle (12) will not change even if the part (4) is completely suctioned.The low index speed is the speed data of the rotary disk (11), and the position of the part (4) with respect to the nozzle (12) will not change in order to change the mounting angle. Fastest nozzle (1
The maximum nozzle rotation speed, which is the rotation speed data of 2), changes the position of the part (4) relative to the nozzle (12) even if the end of the part (4) is attracted by the nozzle (12). Data such as low-speed nozzle rotation speed and nozzle type, which are data on the rotation speed of the nozzle (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 RAM (8
2) is stored within.

(83) is a ROM that stores programs 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 table (1), the component supply table (6) is moved by the drive of the component supply section servo motor (8), and the step r 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 (
The nozzle (11) moving to the component extraction position in I) is moved to the suction head section (13) by the rotation of the drive gear (18) driven by the drive gear servo motor (17) at the nozzle selection station (Vl). is rotated and nozzle type 1! ”
are selected. The nozzle tie f"RJ is determined based on the parts library data of the type "RIJ" stored in the CPU (81) and the RAM (82).

Then, the vertical movement lever (
59> is lowered, the rocking lever (56) is rocked downward, and the nozzle positioning fitting part (48) is moved by the spring (59).
1), the suction nozzle 12) comes into contact with the tapered portion of the fitting groove (15) provided at the upper part of the suction nozzle 12). Then, while the fitting portion (74) is being fitted into the fitting groove (15), the lower end of the suction nozzle (12) is lowered to the position of the component (4) stored in the component supply device (7). Parts (4) include a hose (32), a connecting hose (33), a switching valve (34), a horizontally long intake passage (35), and a 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 (I) by rotation of the rotary disk (11). At the recognition station (I[), the recognition device (16) recognizes the part (4) attracted to the nozzle (12) as shown in the flow chart of FIG.

First, check whether the part (4) that has been suctioned has been suctioned on a surface other than the surface that should be suctioned, or whether it is in a so-called standing state, or whether the wrong type of part (4) has been suctioned. 4) pass/fail judgment 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). .

Further, when it is determined that the product is good, the CPU (81) selects the suction nozzle (12) stored in advance for each nozzle (12).
) 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 Δθ of component (4) with respect to the angle.

Then, the CPU (81) determines whether or not there is a positional deviation that cannot be stored in the amounts of deviation ΔX and ΔY and the parts library data. If it is determined that no positional deviation occurs, the CPU (81) sets the fastest index speed "v1□". ”.

On the other hand, if it is determined that a positional shift occurs in the above determination, the low index speed 'VILIJ' is selected.

If it is determined that no positional deviation occurs, the fastest nozzle rotation speed "V□," is selected. On the other hand, if it is determined that a positional deviation occurs in this determination, the low speed nozzle rotation speed "vNLl" is selected.

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

Next, the CPU (81) drives the rotary disk servo motor (14) to intermittently rotate the rotary disk (11) at the low speed inch-mex speed VILIJ selected as described above.
The suction nozzle (1) that was stopped at the recognition station (I)
2) rotates and moves. Then, parts of type “R1” (4
) is stopped at the rotation correction station (It) via the next stop position lid.

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. The suction nozzle (12) is rotated by Vmt+u, and the suction nozzle (12) is rotated by the amount of deviation (θ, -80) to align the component (4).

Next, the rotary disk (11) has a low index speed rV
I
). At the installation station (IV),
Due to the rotation of the X-axis servo motor (2) and the X-axis servo motor (3), the XY child table 1) moves to the ” and Y coordinate 'YIJ position is part (4
), the displacement amount ΔX and ΔY are corrected and moved.

Then, the suction nozzle (12) descends in the same manner as in the case of the suction station (I), and is attached to the position of the coordinates (X,, Y,) of the printed circuit board (5) at an attachment angle of "θ," 0 Next, the suction nozzle (1
2) moves to the discharge station (V) and the nozzle selection station (Vl).

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 The variety “R, J” shown in step 2 of the data
Part (4) is picked up in the same manner as in step 1.

Then, the nozzle (12) is moved to the recognition station (I) by the rotation of the rotary disk (11).
Since the fastest index speed of ``R8'' is faster than the slow index speed of the type ``R8'', the rotary disk (11)
As mentioned above, it rotates at the low index speed 'VILIJ' of the type "R8".

Suction nozzle (12) that sucks the part (4) in step 1
The parts (4) sucked by the suction nozzle (12) that rotates after that until the parts (4) arrive at the mounting station (IV).
) the amount of deviation recognized by the recognition device (16);
Since the index speed applied depending on the weight of the part and the nozzle diameter is faster than the low index speed 'VILIJ, it is rotated at the low index speed 'VILIJ' as described above. Therefore, step 1
By the time the suction nozzle (12) that suctions the part (4) arrives at the mounting station (■), the part (4) (component type R
,,R,...), the corresponding part (4
) (Parts type R,,R.

The low index speed selected corresponding to step 1 is the component (4) (component type RI
), the rotary disk (11) is rotated at that speed.

The suction nozzle (1
After the part 2) has attached the part (4), the slowest index speed selected for each nozzle (12) that picks up the other part (4) is 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 misalignment of the component (4) with respect to the nozzle (12) may occur, but in such a case, select an even slower index speed or nozzle rotation speed. Alternatively, in such a case, the part (4>) may be treated as a defective part and may be discharged at the discharge station (V) without being mounted at the mounting station (IV).

In addition, if it is determined that the positional deviation will occur at the fastest index speed or the fastest nozzle rotation speed of each component (4) based on the recognition result by the recognition device (4), the rotation speed of the suction nozzle is set to V N and the index speed of the rotary plate is set to V N . After recognition by the recognition device (16), the recognized deviation amounts in the X and Y directions are expressed as 1ΔX" and "ΔY" as vl.
and the part weight is "W.

Assuming that the nozzle diameter is "D", using the function to calculate each speed, V, -f, (ΔX, ΔY, W.

D ), V, = f, (ΔX, ΔY, W, D), each speed may be calculated, and this function is
Different parts may be used for each part (4) due to differences in 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 component recognition. 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 possible to determine a predetermined range and a predetermined amount by experiment by changing the parts weight, nozzle diameter, and the values of ΔX and ΔY.Also, regarding the function, changing the parts weight, nozzle diameter, and the values of ΔX and ΔY is possible. You can experiment and find the best 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). °C may 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, but 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 stop the rotary disk servo motor (14) while the nozzle (12) is stopped at each station, or make the intermittent rotation stop period sufficiently long. Yo motor (14
) can be decelerated.

(G) Effects of the Invention As described above, the present invention reduces the rotational speed of the suction nozzle only when it is determined that positional deviation will occur, so the time for deceleration is minimized to prevent positional deviation from occurring. It can be done.

[Brief explanation of drawings]

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), (5)...
・Printed circuit board, (12)...Suction nozzle, (1
6)... Recognition device (recognition means), (61)... Nozzle rotation motor (nozzle rotation means), (81)...
-CPU (judgment means, control means).

Claims (1)

[Claims] (1) A suction nozzle suctions a part, a recognition means recognizes the positional deviation of the part with respect to the suction nozzle, and based on the recognition result, the nozzle rotation means rotates the suction nozzle at a predetermined speed in the nozzle rotation direction. In a component mounting device that corrects positional deviation and mounts a component on a printed circuit board, when the suction nozzle rotates at the predetermined rotational speed based on the amount of positional deviation recognized by the recognition means, a determining means for determining whether or not a positional shift occurs with respect to the nozzle of a component; A component mounting device comprising a control means for controlling the nozzle rotation means.