JPH04162499A - Component mounting device - Google Patents

Abstract

PURPOSE:To prevent the deviation and the breakage of a mounted component by providing a judging means which permits a sucking nozzle to judge the presence of the interference with the mounted component and a control means which controls a relative shift driving means so as to shift and mount the component when there is the interference. CONSTITUTION:A sucking nozzle 12 which sucked a component 4 taken out from a component supplying device 7 shifts to an acknowledging station II by a turning board 11 from a sucking station I, and a CPU 81 calculates the alignment deviations X and Y of the sucking nozzle 12 in the X and Y directions from the component center which is acknowledged as the center and angle deviation theta. Then, a sucking nozzle 12 is turned and the alignment of the component 4 is carried out at a turning correcting station III. Then, the component is shifted to a mounting station IV, and the deviations X and Y are corrected for an XY table 1 by the turns of an X-axis and Y-axis servomotors 2 and 3 so as to permit the positions of the X coordinate and the Y coordinate of the NC data of a printed board 5 on the table 1 to be the mounting position of the component 4, and the table 1 is shifted.

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 detecting the positional deviation based on the recognition result. and changing the relative positional relationship in the vertical direction with respect to the table on which the suction nozzle printed substrate is placed by the relative movement driving means.
The present invention relates to a component mounting device for mounting the component at a position on the board.

(b) Prior Art A component mounting device of this type is disclosed in Japanese Patent Laid-Open No. 1-298800. According to this conventional technology, when mounting a component on a printed circuit board, if there is a risk that the suction nozzle that picks up the component will hit and interfere with an adjacent mounted component, if the component is rotated 180 degrees to eliminate the interference, 18
Either the suction nozzle is rotated 0 degrees and installed, or the speed at which the suction nozzle descends is slowed down to reduce the impact when it hits a component.

(c) Problems to be solved by the invention However, with the above-mentioned conventional technology, if the component being attracted has a polarity, it cannot be rotated 180 degrees, and if it is rotated 180 degrees, it will interfere with other mounted components. In addition, even if the speed at which the suction nozzle descends is reduced, it is difficult to eliminate the effect on the parts that have already been installed. If the thickness is smaller than that of the installed parts, it will inevitably interfere with the installed parts, shifting the position of the installed parts, and if the parts are fragile, they may be destroyed by impact, resulting in a defective board. be.

Therefore, it is an object of the present invention to prevent the occurrence of defective boards even in the above-mentioned cases.

(d) Means for Solving the Problems Therefore, the present invention suctions a component with a suction nozzle, recognizes the positional deviation of the part with respect to the suction nozzle using a recognition means, and corrects the positional deviation based on the recognition result. hand,
A component is mounted in a component mounting device that changes the relative positional relationship in a plane direction between a suction nozzle and a table on which a printed circuit board is placed by a relative movement drive means, and mounts the component at a position on the board where the component should be mounted. a judgment means for judging whether or not the suction nozzle will interfere with the installed component; and a judgment means for determining whether the suction nozzle interferes with the installed component; A control means is provided for controlling the relative movement driving means so as to mount the parts.

(E) When mounting the working part, if the judgment means judges that there is interference between the suction nozzle and the mounted part, the control means controls the relative movement drive means to place the suction nozzle and the printed circuit board. Change the relative horizontal position with the table.
The part is mounted at a position shifted within an allowable range from the position where it should be mounted.

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

(1) is an XY that is moved in the X direction and 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)) 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 is guided by a guide (10) and 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 disk is intermittently rotated by the rotating disk servo motor (14) shown in FIG. 5 via an index unit (21), which will be described later.
3) is provided corresponding to the intermittent rotation pitch.

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

(n) is a recognition station which uses a recognition device (16) to recognize 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 the printed circuit board (5) that is attached to the chip component (4) after the work at the nozzle rotation correction station (In) is completed.
This is a mounting station for mounting on top.

(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. This is a discharge station that discharges 4〉.

(V[> is a nozzle selection station that selects the suction nozzle (12) corresponding to the chip component (4) to be suctioned at the suction station (I>), and is a gear provided on the outer diameter part of the suction head (13). A drive gear servo motor (17) that is moved by a drive system (not shown) and rotated after being engaged with the gear (see Figure 5).
A desired suction nozzle (12) is selected by the rotation of the drive gear (18) due to the rotation of the suction nozzle (12).

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

(19> is a cylindrical part (
20), a hollow cylindrical rotating body suspended and fixed to the mounting base (22) of the indexing unit (21) that converts the rotation of the motor (14) into intermittent rotation of the rotary disk (11). This is a cylindrical cam member for guiding the board. The cam member (
19) A cam (23) is provided on the lower end circumferential side portion over almost the entire circumference.
is formed, and a roller <
26) rotates while being pressed, and the cam (24)
Each suction head part (13) rotates together with the rotary disk (11) while moving up and down according to the shape. That is, each suction head section <
13), a pair of guide rods 27) are connected to the rotary disk (11).
A mounting member (26) is provided vertically movably through the core body (27), and a roller (26) is rotatably provided at the upper end of the core body (27).
28) is fixed. Therefore, each suction head part (13)
is supported by a rotary disk (11) so as to be movable up and down. By the downward movement of the suction head section (13) mentioned above, the suction station (I) suctions the chip component (4), and the mounting station (IV) places the chip component (4> on the printed circuit board (5).
), use multiple suction nozzles (1
A stopper plate (31) provided on the main body base (30) of the automatic electronic component mounting apparatus restricts the lowering of all but one of the items 2).

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

(37) If necessary, use the suction 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 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 contact lever (40) comes into contact with the vertical lever (39), and the vertical lever (39) is prevented from being lowered. 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) fixed to a mounting plate (45) suspended from the mounting base (22). A nozzle positioning rod having a nozzle positioning fitting part (48) on the part thereof, and a pin (50) protruding outward from a vertical 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 it and 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 bar (54) via a rond end (55) is locked, and the swinging lever (56) swings according to 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).

Reference numeral 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 (60) of the nozzle rotation correction station (I[[) will be explained based on FIG. 3.

(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 part (67) is formed to become narrower toward the lower end so as to fit into the fitting groove (15). )
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 swing bar (74) attached via a rod end (73) to a vertically moving lever (72) that is vertically moved by a cam as a drive source (not shown) is locked to 71), and the vertically moving As the swing lever (74) swings up and down in accordance with the up and down movement of the lever (72), the nozzle rotating rod (66) moves up and down while being biased by the spring (7o). In FIG. 5, (80) is the interface 1. connected to the CPU (81). - a recognition device (16) is connected at the base; (82) is a RAM as a storage device, which stores center position data, NC data, parts library data, nozzle library take, etc. of each suction nozzle (12). (83) is a RAM as a storage device. This is a ROM that stores programs related to the mounting operation.

Each of the data stored in RAM (82) will be explained.

As shown in Fig. 6, the NC take indicates the mounting position (X coordinate data, take and parts types (hereinafter referred to as 1 type).

) is stored. The control command "EJ" indicates the end of a step.

As shown in Figure 7, the parts library data includes, for each part type, part thickness data indicating the thickness of part (4), external dimensions (X direction, X direction), nozzle type, and Each data of the tolerance area (X direction, X direction) indicating the area with which the component (4) can be mounted is stored.

As shown in FIG. 8, the nozzle library take stores data such as the nozzle outer diameter (diameter) for each nozzle type. In addition, the center position data of each suction nozzle (12) is the center position data of the suction nozzle (1
2) are stored in the RAM (82).

Further, the RAM (82) is provided with a step memory that stores the step number of the NC data applied to the component (4) to be mounted.

Further, in a predetermined area of the RAM (82), the foot pattern (85) (first
5 and 16), the electrode (86) of component (4)
) (see Figures 15 and 16) can be electrically conductive, or by shifting the position within an allowable range considering soldering strength, etc., the suction nozzle < 12) can be connected to the adjacent component (4). A distinction flag is provided for determining whether or not it is possible to mount the component (4) on the foot pattern further away from the foot pattern. An X-tolerance range memory for storing the X-direction tolerance range of deviation and an X-tolerance range memory for storing the X-direction tolerance range are provided.

In the following, when representing the contents of the step memory, for example, storing the step "n" is written as '5tep=nyo.' As for the distinction flag, r fg = 0 indicates that the position does not shift within an acceptable range. ,',f'g=1. represents the case where the positional displacement is permissible. Further, when expressing the contents of the X tolerance range memory and the X tolerance range memory, they are respectively written as 'ax=2tXi J' ay=2tYi J, etc.

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 parts supply table (6>) is moved completely by the drive of the parts supply unit servo motor (8), and the NC data step "
A parts supply device (7) for supplying the 1st grade "R1" is placed on standby at the suction station (I). As the rotary disk (11) rotates, the nozzle (12), which is then moved to the component extraction position of the suction station (I), is driven by the drive Kia servo motor (17) at the nozzle selection station (VI). The rotation of the drive gear (18) causes the suction head (
13) Turn and the nozzle type corresponding to the product type "R5" has been selected.
Variety "R5" where U(81) is stored in RAM<82)
Distinguish based on parts library data.

Then, the vertical movement lever (
59) is lowered, the rocking bar (56) is rocked downward, and the nozzle positioning fitting part (48) is moved by the spring (59).
1) and 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 supplying 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). The recognition station (II) stores the step number r1 of the part (4) to be recognized in the step memory as shown in the flowchart of FIG.
p=1), the recognition device (16) recognizes the part (4) attracted to the nozzle (12).

First, check whether the part (4) that has been picked up is in a so-called standing state, where the surface outside of the simple part that should be picked up is being picked up, or whether the part (4) of the wrong type is being picked up. 4) pass/fail judgment is performed. If the CPU (81) determines that the product is defective based on the recognition result of the recognition device (16), the part (4) cannot be completely installed at the installation stage 3 (IV) and is ejected at the ejection station (V). In addition, if the product is determined to be good, the CPU (81) determines the position in the X direction between the center of the suction nozzle (12) and the recognized component center, which is stored in advance for each nozzle (12). The positional deviation ΔY in the X and Y directions and the angular deviation 80 of the component (4) with respect to the suction nozzle (12) are calculated.

Next, the rotary disk (11) rotates intermittently, and the suction nozzle (12), which had been stopped at the recognition station (II), rotates. Then, the suction nozzle (12) that has suctioned the part (4) of the type "R3" passes through the next stop position and stops at the rotation correction station <III).

Then, the vertically moving lever (72>) is lowered by the drive of the cam (not shown), the swinging bar (74) swings downward, and the nozzle rotation fitting part 67) is moved by the spring (72).
After the suction nozzle (12) is fitted into the fitting groove (15) provided on the upper part of the suction nozzle (12) while being biased by The bamboo suction nozzle (12) is rotated to align the parts (4).

Next, the rotary disk (11) is rotated intermittently, and the suction nozzle (12) that has suctioned the part (4) of the type rR1 is moved to the mounting station (IV). Installation station (IV)
, the rotation of the X-axis servo motor (2) and the Y-axis servo motor (3) causes the X coordinate "Xl" and Y coordinate 'YI
The amount of deviation Δ is adjusted so that the position of J becomes the mounting position of component (4).
It moves after being corrected by X and ΔY.

Then, the suction nozzle (12) descends in the same way as in the case of the suction station (I), and the component (4) is placed at the position of the coordinates (x+, y+) of the printed circuit board (5) at a mounting angle of "θ1".
You can install it with just yo. Next, the suction nozzle (12) that has finished mounting the component (4) moves to the exit station (V) and the nozzle selection station (V[).

Next, when the nozzle (12) suctioning the part (4) in step 11 above stops at the force recognition station (n>, the next nozzle (12) stops at the suction station (I), The part (4) of type "R2" shown in step "r2" of the NC data is picked up in the same manner as in the case of step "IJ".

Then, it is moved to the recognition station (IF) in the same manner as described above. Then, 'ax=o' and 'ay=OJ according to the flowchart in FIG.

' fg = OJ, 'st ep = 4 J.

When the recognition device (16) recognizes the part (4) and determines that it is a good product, the parts center and the part (4)
The positional deviation ΔX from the center position of the nozzle that is sucking the
ΔY and the angular deviation 80 of component (4) are calculated.

Next, the CPU (81) checks the step "2J part (4) which has been recognized as the part thickness of the installed step "1. part (4)".
) and the part thickness.

That is, the part type rR of step "2." in the step memory is
Compare the component thickness data "t2" obtained from the parts library data of FIG. If the thickness of the part (4) in step ``1yo'' is smaller than the part thickness 1t2, the corresponding product type ``
Since the nozzle (12) that picks up the component (4) of "R9" does not hit or interfere with the mounted component (4), the decision to mount the component (4) on the printed circuit board (5>) is made by the CPU. (81).

After that, at the rotation correction station (Illll[), a rotation with 1 minute correction is made to the mounting angle of θ2., and the mounting station (IV) knee r'△
The part (4) is mounted at the position of coordinates (X2°y x ) after being corrected by "rΔY".

Next, in the same way, step r3. The suction nozzle (12) that suctions the part (4) of step r2J picks up the part (4) of step r2J.
) is the recognition station (I).
After moving further, it moves to the recognition station (II).

Then, as in the case of step 12, 'ax=oyo r ay-0', 'f
g=0'' and '5tep=3'', and if it is determined to be a good product, ΔX, ΔY, and Δθ are calculated. After this, the CPU
(81) is the thickness of the installed step r1 and step r2 parts (4>) and the recognized step
．． Compare the thickness of component (4).

As a result, step “3
If there are parts with a thickness of 1t3" or more obtained from the part library take in Figure 10 for part (4),
It is determined in the XY plane whether the suction nozzle (12) that suctions the part (4) and the part (4) of step "3" protrudes from and hits the part (4>) to be suctioned.

This judgment will be explained in detail.

This judgment is based on the interference discriminant function f(ΔX, Δy, Δθ, d, m
Xi, mYi, Xi, Yi, θi.

X, Y, θ, ax, ay), where d is the nozzle outer diameter obtained from the nozzle library take, mXi and mYi are the outermost size of the attached adjacent parts obtained from the parts library take, X
i, Yi and θi are mounting position data and mounting angle data of the same part obtained from NC data, X, Y and θ are NC
The mounting position take and mounting angle data of the suction component obtained from the data, ax and ay, are the positional deviation tolerance values stored in the X tolerance range memory and Y tolerance range memory, respectively, △
X, Δy, and 80 are the positional deviation amount of the center of the component (4) and the angular deviation amount of the component (4) with respect to the center of the suction nozzle (12>) based on the recognition result of the recognition device (16).

In other words, for example, the part (4
) is larger than t3 and the thickness of component (4) in step "1" is less than "t3", only for component (4) in step "2J", Suction nozzle (12) that sucks the part (4) in step "3"
It is checked as follows whether or not it is correct.

First, the center position of the suction nozzle (12) when the part (4> in step "3" is mounted at the position (x3.Ys) and at the mounting angle 1θ3') is determined by N.
Take 'x8. from C data. .

``Y,'', ``θ3'' and the data from the recognition result of the recognition device (16) ``ΔX J r '△Yyo, ``80, Calculated from the variety r3 shown in Figure 10 with this as the center.''
The existence range of a circular nozzle (12) with a radius D3/2 given by the nozzle outer diameter D3 obtained from the parts library data of and the nozzle library data of FIG. 11 is determined.

Next, the existing range of part (4) in step r2, which has already been installed, is taken from the NC data as "X2".

ry2. , 'θ2' and the external dimension data 'rnX=' and 'rnY2' obtained from the parts library data shown in Figure 7 of the part (4), and if there is a part that overlaps with the existing range of the nozzle (12>), is nozzle <1
2> and part (4) are determined to be a hit, and if the overlapping part is thrown away, it is determined that it is not a hit. In this case ax=O
, ay=o, positional deviation with respect to the foot pattern is not considered. If it is determined that this is not the case, the component (4) of step "3." is mounted on the printed circuit board (5) in the same manner as described above.

Next, the part (4) of "Step 14" is transferred to the next suction nozzle (
12) and moves to the recognition station (I[). Then, the thickness of the part is compared with the installed part (4) in the same way as described above.
If the component thickness 1t4'' from the part library take is smaller than the component thickness rt2'' of component (4) in step 12, but thicker than the other installed component (4), there will be interference due to the hit by the interference discriminant function. At this point, if it is determined as shown in Fig. 15, the parts (4
) is checked, but if the part (4) has no polarity (4>), when the part (4> is rotated 180 degrees in a plane and installed at the mounting position, the same procedure as above is performed. Next, it is checked by the interference discrimination function whether the suction nozzle (12) and the part (4) of step "2" collide in the positional relationship within the plane.

In this case, if the suction nozzle (12) is rotated 180 degrees, it will not hit the part (4) in step "2", and this part (4) is the only part (4) whose thickness is greater than "t4". Since there is no other part (4) to judge whether it hits or not, the nozzle 12〉 that is sucking the part (4) in step r4 is moved to the rotation correction station (III) to
4J and "Δθ yo plus 180 degrees, and then part (4) is mounted in the same manner as described above.

Next, regarding the part (4) in step "5.," the recognition station (n) picks up the mounted part (4) and the part (4) based on the recognition result of the recognition device (16) in the same manner as described above. It is judged whether or not the nozzle (12) will come into contact with the nozzle (12). The component thicknesses rt,'' and 1t4'' are larger, and as a result of determining whether or not the suction nozzle (12) hits the component (4) in step ``2'' and step r4'' using an interference discriminant function, If it does not correspond to part (4) but it corresponds to the part in step "4"(4>, and if it is determined to correspond to part (4) in step "2yo" if it is rotated 180 degrees, then the following Perform a check.

Note that the part (4) in step "5" is a polar part (4).
), it is not possible to rotate 180 degrees, so if the first interference discriminant function is found to be correct, the following check is performed immediately.

Part (4) is not yet installed, and a step for installing part (4) of the same type as "rR6" is searched in the NC data. That is, in the NC data of FIG. 6, steps "8. and 110" are of the same type and no parts are installed, but
CPU (81) first sets '5tep=8J, fg
= 0, the interference discriminant function is used again to determine whether or not the suction nozzle (12) hits the mounted part (4>) at the mounting position in step 18. If it hits, the 180 degree part ( 4) Make a judgment on the case where the rotation is performed.

As a result, if either of the judgment results is negative, the part (4) is transferred to the board (5) to the printer 1 in the same manner as described above.
) can be installed in the installation position of step r8''. and R
In AM (82), it is stored that step "5" is not installed and step "r8" is installed.・In addition, if it is determined that the result is a hit, “5tep =
Assuming 10J, the same check as in the case of '5tep=8J will be performed.

Next, step r6. The nozzle (4) that picks up the parts (4)
12) is in contact with the mounted component (4), is determined in the same manner as described above. In this case, the part thickness is 1t6 according to the parts library data in Figure 14 for the product type "R6".
is larger than the part thickness of the product types “R5” and rR3, but
It is assumed that the thickness of the parts is smaller than that of the product types 1R1, R4, and rR5. Then, step r6 using the interference discriminant function
The nozzle <12) that picks up part (4) of
4) Depending on whether or not it matches, it is determined that it will be a match even if either part (4) and part (4) in step 16 are rotated 180 degrees, and since the same type is in step 111, '5tep' = 11'', it is assumed that the discrimination using the interference discriminant function including 180 degree rotation is correct, and that there are no other steps of the same type.
'fg=OJ' can be checked according to the flowchart -1 in FIG. Since rfg=01, based on the positional deviation tolerance between the mounting position of the board (5) and the component (4) to be mounted, the suction nozzle <12) and the mounted component <4)
A judgment is made as to whether or not it is correct.

That is, first, the positional deviation tolerance value, which is twice the tolerance area of the parts library data for the product type "R6", is set as "ax=
2tX6'', ' set ay=2tY6J, 'fg
= 11, set the first step to be mounted in the step memory, and set '5tep = 6' @ Then, as above, the suction nozzle ( 12) and whether or not the part to be mounted (4>) matches the mounted part (4).In this judgment, the judgment regarding the suction nozzle (12) by the interference discriminant function has already been made. Installed parts with large part thickness being determined (4)
However, the determination as to whether or not the component (4) to be mounted is a hit is made for all mounted components (4), regardless of the thickness of the component.

In this case, when mounted on the device specified by the NC data, as shown in Figure 15, the nozzle (12) that picks up the part to be mounted (4) in the center of the figure will move to the mounted part (4) on the left. ), but from the parts library data in Figure 14, "ax = 2
The existence range of the suction nozzle (12) is changed by shifting the center position of the suction nozzle (12) by shifting the mounting position (that is, the component center position) of the component (4) within the tolerance given by tX6''ray=2tY6J. By checking whether the existing ranges of the adjacent part (4) no longer overlap, it is no longer necessary to judge whether or not it is a hit. the result,
Use the suction nozzle (1
If it is determined that 2) does not hit the adjacent installed part (4) and does not hit another adjacent installed part (4), the position is shifted by the amount of deviation determined. In order to mount the part (4), the XY child table 1) is moved with the corrections of ΔX, ΔY and Δθ, and the part (4) is mounted as shown in FIG. That is, in Fig. 16, the central part to be mounted (4) moves its component center (0. in Fig. 16) in the X direction from the mounting position specified in the NC data (O, in Fig. 16). It is mounted at a position shifted by ΔP. and its actual installed position (
The coordinates of 01) in Figure 16 are RA along with the step number.
M (82) has a false memory.

In this case, if it is determined that even if part (4) is shifted within the above tolerance range, it still falls on part (4) that has already been installed,
When part (4) is rotated 180 degrees, a judgment is made as to whether it hits by shifting part (4) within the same tolerance range, and if it is still determined that it hits, it is determined whether it hits another part (4) of the same type that is not installed. A similar check is made for the step "Step 111", and if it is still determined to be correct, there is no other step to mount the part (4) of the same type, and rf'g=1. Therefore, it cannot be attached to the printed circuit board (5) and is ejected at the ejection station (V).

Thereafter, the component (4) is mounted in the same manner.

The installed part (4) is the recognition station (I).
This includes the part (4) that was attracted to the nozzle (12) immediately before the part (4) recognized in >, the judgment is made by assuming that it has been installed.Alternatively, even if the judgment as to whether or not it will interfere is made after the suction part (4) of the previous nozzle (12) has been installed. good.

Furthermore, as described above, if the part (4) is recognized and determined to be a hit or not, at that point the step stored in the step memory is treated as an installed step and other parts in the RAM (82) are Although it is assumed that the NC data is stored in the RAM (82) area, it is also possible to store data indicating that it has been installed for each step of the NC data stored in the RAM (82).

Furthermore, in the case where the component (4) to be mounted is shifted and mounted within the positional deviation tolerance range to prevent the suction nozzle (12) from hitting the mounted component (4), in this embodiment, Although the position was shifted by parallel movement in the XJJ direction and Y direction using the XY table (1), only the 'aXJ'ayJ data or the allowable position shift angle in the θ direction was also set, and based on these, the suction nozzle was It is also possible to prevent the component (4) and the nozzle (12> from coming into contact with each other by causing an angular deviation within an allowable range by rotating the rotation correction station (III)).

'Furthermore, in this embodiment, it is assumed that the center position of the suction nozzle (12) and the rotation center position match, but if the deviation between the two cannot be ignored, in the interference discriminant function, the part (4) The amount of deviation from the suction nozzle (12) ``Δx, VΔy'' is the amount of positional deviation from the rotation center of the nozzle (12), and the recognized deviation amount of the center of the nozzle (12) from the rotation center in the XY length direction is 1△Xo, r
ΔYo'', the mounting position data 'X,,ry', the mounting angle data 'θ', and 'Δx, rΔyJ'80', find the position of the rotation center, and calculate the position of the rotation center, '
ΔX o J "ΔYo", mounting angle data 1θyo, "Δ
The center position of the suction nozzle (<12) when installed can be calculated from θ, and the existing range of the nozzle (12) can be determined from the nozzle outer diameter data.

Furthermore, in this embodiment, in determining whether or not the nozzle (12) that has picked up the component (4) to be mounted hits the mounted component (4), the thickness of the component is compared and the thickness of the component is The interference discriminant function was used to judge only the attached part (4) that is thicker than the intended part (4), but first, the interference discriminant function was used to judge whether it matches all the attached parts (4). After that, the component thicknesses may be compared for the component (4) determined to be a hit.

In addition, in determining whether or not the nozzle (12) hits the mounted component (4) by comparing the component thickness, in this embodiment, the suctioned component (4) and the mounted component (4) are compared.
I judged that it would hit if the thickness of the part is the same or the thickness of the mounted part is larger, but even if the mounted part (4) is slightly thinner, there is a possibility that it will hit. It is also conceivable to subtract a predetermined thickness from the component thickness of the mounted component (4) and compare the component thickness of the mounted component (4).

In addition, the adsorbed parts (4) and the installed parts (4)
If the thickness of each part is approximately the same (the difference between the two is within a predetermined range), the descending speed of the nozzle (12) for mounting part (4) is set to a low speed to remove the part (4) that has already been mounted. It is also possible to prevent positional deviation from occurring.

Furthermore, in this embodiment, the mounting station (IV>
The suction nozzle (12) is fixed and the printed circuit board (5)
The mounting position is determined by moving the XY table <1) on which the control.

In addition, in this embodiment, when determining whether or not there is interference with adjacent parts, interference is determined based on NC data for all installed parts based on either the part thickness condition or the positional relationship within the plane. However, if there are places in the printed circuit board where parts are crowded and places where they are not, the judgment may be made only for the steps where parts are crowded. Therefore, it is sufficient to set only the step number to be determined in the NC data and store it in the RAM. Alternatively, it is also possible to set a take that only requires checking at each step of the NC data.

(G) Effects of the Invention As described above, the present invention is capable of preventing misalignment of the suction nozzle when it is installed.If it is determined that the suction nozzle will interfere with the installed component, the position of the suction nozzle is shifted within an allowable range from the position where the suction nozzle should be installed and does not interfere. Since the board is mounted on the board, it is possible to prevent the occurrence of defective boards.

[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,
5 is a control block diagram of the present invention, FIG. 6 is a diagram showing NC data, FIGS. 7, 10, and 12 to 14 are diagrams showing parts library data, and FIGS. 8 and 11 are diagrams showing parts library data.
Figure (1)...XY child table), (2>・
・・X-axis servo motor (relative movement drive means), (3)
...X-axis servo motor (relative movement drive means), (4
)...Chip-shaped electronic components (components), (5)...Printed circuit board, (12)...Suction nozzle, (16)...
)... Recognition device (recognition means). Figure 2 Figure 3 Figure 8 I Figure 10, Figure 11 Figure 12 Figure 13 Figure 14

Claims (1)

[Claims] (1) A component is suctioned by a suction nozzle, a positional deviation of the part with respect to the suction nozzle is recognized by a recognition means, the positional deviation is corrected based on the recognition result, and the suction nozzle and a printed circuit board are mounted by a relative movement drive means. In a component mounting device that changes the relative positional relationship in the plane direction with the table on which the component is placed and mounts the component at the position where the component should be mounted on the board, the suction nozzle interferes with the mounted component when mounting the component. determining means for determining whether there is interference with the component; and when the determining means determines whether there is interference with the component, controlling the relative movement drive means to mount the component at a position shifted within an allowable range from the position where the component should be mounted. A component mounting device characterized in that it is provided with a control means for controlling the components.