JPH05167297A - Movable body control device - Google Patents

Abstract

PURPOSE:To enable a movable body to be easily and accurately moved by a method wherein the coordinate data of the body groups stored in a first memory are corrected by use of the positional deviation of the body groups stored in a second memory to obtain target coordinate data, and the movable body is moved to a point determined by the target coordinate data. CONSTITUTION:The housing stations of components in pallets A, B, and C are stored in a memory M1 as predetermined reference coordinate data. The reference coordinate data of a component housing station Aij are represented by Aif (xAij, yAif). Reference coordinate data are successively stored in the memory M1 in the order of movement of a movable body 1. The positional deviation of a wiring board 5 on an X-Y plane is stored in another memory M2 when the board 5 gets out of its target reference coordinate data. The target reference coordinates A11 are read out from the memory M1, and then the identification data OF 4 of the positional deviation or the offset of the component housing station A11 are read out. A motor control circuit is activated so as to move the movable body l to a station determined by the obtained target coordinate data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a moving body, and more specifically, it is a working means for grasping electronic parts housed in a pallet and transporting them to a predetermined position on a wiring board for mounting. The present invention relates to a device for controlling a mobile body such as.

[0002]

2. Description of the Related Art In a process of assembling electronic equipment, a so-called pick-and-place device for picking up and carrying one of a plurality of electronic parts stored in a pallet by a working means and mounting it at a desired position on a wiring board. Then, in order to prevent the sensor for detecting the origin position of the moving body, which is the working means, from deviating from the accurate mounting, the prestored set value of the entire mechanical system including the working means is offset. It is configured so that it can be corrected.

[0003]

In such a prior art, even if a reference deviation occurs due to the origin sensor of the coordinate system,
Although it is possible to perform accurate mounting of electronic components, as a new problem, it is said that no measures are taken when the position of only the pallet or wiring board is displaced or the shape of the pallet is changed. There's a problem.

FIG. 6 is a diagram for explaining the prior art. For example, when the pallet in which electronic components are stored is supposed to be the standard coordinate position 21, but is displaced by the displacement amount 23 as indicated by reference numeral 22, each standard coordinate value 24 is changed by this displacement amount 23. It suffices to change all at once, and such correction of the reference coordinate value 24 is easy. However, as shown in FIG. 6B, for example, the reference coordinate value 24 on which the component of the wiring board is to be mounted does not need to change, and the reference coordinate position of the pallet 25 is shown by a virtual line 26 from the position shown by the solid line. When the pallet is displaced, it is necessary to correct the partial displacement amount 27 of the pallet and the reference coordinate value of the pallet. Such a partial correction calculation of the reference coordinate values of only the pallet cannot be achieved by the above-mentioned prior art. When only the pallet 25 is displaced as described above, it becomes a troublesome situation that the reference coordinate values of all the electronic component storage positions 28 of the pallet 25 need to be input again.

An object of the present invention is to provide a control device for a moving body, which can move the moving body accurately and easily.

[0006]

According to the present invention, there are provided a first memory for grouping and storing target reference coordinate values into a plurality of groups, and a second memory for setting and storing a deviation amount for each group. , Using the deviation amount of each group stored in the second memory to calculate and correct the coordinate value stored in the first memory to obtain the target coordinate value, and to respond to the output of the calculating means And a means for moving the moving body to the target coordinate value.

[0007]

According to the present invention, the target reference coordinate values are grouped into a plurality of groups and stored in the first memory, and the deviation amount for each group is set and stored in the second memory. Then, the calculation means corrects the reference coordinate value by adding / subtracting the deviation amount of each group stored in the second memory to / from the reference coordinate value stored in the first memory, for example. Then, the target coordinate value is obtained, and the moving body is moved to the target coordinate value by the moving means to be controlled. In this way, the reference coordinate value of each group is calculated by the shift amount corresponding to that group, so the shift amount stored in the second memory may be set for each group, and all the reference coordinate values are calculated. It is not necessary to reset the deviation amount, and it is easy to set the deviation amount.
Moreover, it is possible to bring the moving body to a desired target coordinate value regardless of this deviation amount.

[0008]

FIG. 1 is a simplified plan view of an embodiment of the present invention. The moving body 1 can be moved within the XY plane, which is a horizontal plane, by the X-direction moving means 2 and the Y-direction moving means 3, and the electronic components 1 can be transferred from a plurality of pallets A, B, C.
They are taken out one by one, and are mounted on the mounting positions a, b, and c of the substrate 5 which are conveyed by the conveyor 4 and stopped by the stopper 12. Mobile 1
Includes a working means for grasping the electronic components housed in the pallets A to C and mounting them on the wiring board 5.

FIG. 2 is a block diagram showing the electrical construction of the embodiment shown in FIG. The motor 6 included in the X-direction moving means 2 drives the Y-direction moving means 3 in the X-direction, and the motor 7 included in the Y-direction moving means 3 is
The moving body 1 is driven in the Y direction. These motors 6,7
Are controlled by motor control circuits 9 and 10 responsive to the output from the processing circuit 8 realized by a microcomputer or the like. The processing circuit 8 is provided with input means 11 for manual input, and is also connected to the first memory M1 and the second memory M2.

FIG. 3 (1) is a diagram showing a memory map of the memory M1, and FIG. 3 (2) is a diagram showing a memory map of the memory M2. In the memory M1, a position A11 where each electronic component of the pallet A shown in FIG. 1 is stored,
A21, ..., A22, ..., Aij, ... are stored, and electronic components are grasped and taken out by the moving body 1 from each position, and mounted on the mounting position a of the substrate 5 stopped by the stopper 12.

Next, the moving body 1 takes out components from the position of the pallet B, for example, B11, and mounts it on the wiring board 5 b.
Mounted on the pallet C, for example, C11.
From the component and mount it at the mounting position c on the wiring board 5,
After the components have been mounted at the respective positions a, b, c of the wiring board 5 in this manner, the wiring board 5 is moved in the direction of the arrow 13 and conveyed to the subsequent process, and the new wiring board 5 is stopped as a stopper. 12 to be stopped. afterwards,
The component is taken out from the position A12 next to the position A11 on the pallet A and mounted on the mounting position a of the new wiring board 5 by the moving body 1, and then the respective components of the pallets B and C are mounted at the mounting positions b and c in the same manner. To implement.

As described above, the pallet A,
The storage positions of the parts in B and C are stored as predetermined target reference coordinate values. This reference coordinate value is, for example, with respect to the positions A11 and A12 of the pallet A,
(XA11, yA11) and A12 (xA12, yA
12), ..., and for pallet B, position B1
1 is B11 (xB11, yB11), and similarly, the component storage position C11 of the pallet C is C11.
(XC11, yC11). The reference coordinate value of the component storage position Aij of the pallet A is Aij (xAij, yAi
j). The reference coordinate values of the respective mounting positions a, b, c on the wiring board 5 are a (xa, ya), b (xb, yb), c (x
c, yc). Such reference coordinate values are sequentially stored in the memory M1 according to the moving order of the moving body 1 as shown in FIG.

The pallets A, B, C and the wiring board 5 are
When the pallets A, B, C and the wiring board 5 are deviated from the reference coordinate values, the pallets A, B, C and the wiring board 5 constituting each group are grouped. Each reference coordinate value will be similarly displaced. For example, when the pallet A deviates from the target reference coordinate value, each component storage position A11, A12, ..., A
21, A22, ..., Aij ,.

FIG. 3B shows the contents stored in the other memory M2. When the wiring board 5 deviates from the target reference coordinate value, the deviation amount in the X and Y planes is Δ.
xp1 and Δyp1 are set, and these shift amounts are collectively referred to as a shift amount represented by reference numeral OF1. Similarly, the deviation amounts of pallets A and B are calculated as OF4 (ΔxA, ΔyA) and OF5.
(ΔxB, ΔyB), and the shift amount of the pallet C is OF6 (ΔxC, ΔyC). Each of these deviation amounts may be detected by the detection means and stored in the memory M2, or may be input by the operation of the input means 11.

Further, in the memory M1, as shown in FIG. 3A, the deviation amounts OF1 to OF6 of the pallets A, B, C and the substrate 5 are stored together with the reference coordinate value for each group. For example, the component storage position A of pallet A
In order to represent the deviation amount of 11, the deviation amount O in FIG.
F4 is displayed, and the specific shift amount (ΔxA, ΔyA) is stored in the memory M2 as shown in FIG. 3 (2). Therefore, when the pallet A is displaced, the stored contents of the memory M2 shown in FIG.
.., A21, A22, ..., Aij, .. .. can be corrected as described below.

FIG. 4 is a flow chart for explaining the operation of the processing circuit 8. Step r1 to step r
2, when calculating the position to which the moving body 1 should move, in order to move the moving body 1 to the first component storage position A11 of the pallet A, for example, the target reference coordinate value A11 (xA11, yA11) ) Is read out, and then, in step r3, the identification data OF4 of the shift amount which is the offset of the component storage position A11 is read out. Corresponding to this deviation amount identification data OF4, the data is read from the memory M2 as shown in FIG.
Specific data OF4 (Δx) of the shift amount shown in (2)
A, ΔyA) is read. At step r4, the target coordinate value regarding the component storage position A11 is set to (xA
11 + ΔxA), and in the Y direction (yA11 +
ΔyA) is calculated. A positive or negative sign is set for each of the deviation amounts OF1 to OF6, as shown in FIG.
(2) shows the case of positive, and when negative, the symbol "-" is added and subtraction is performed.

In step r5, the motor control circuits 9 and 10 are activated in order to move the moving body 1 to the target coordinate values obtained as described above. Thus, even if the pallet A is displaced, the parts can be easily taken out by the moving body 1.

FIG. 5 is a diagram for explaining the principle of another embodiment of the present invention. The pallet A is set at the target reference coordinate position as shown by the reference numeral 14,
It is assumed that the X and Y reference coordinate values in (1) are set. At this time, it is assumed that the pallet A is actually displaced by + ΔxA in the X direction as indicated by reference numeral 15, is displaced by + ΔyA in the Y direction, and is inclined by the angle θ.

Even in such a case, in order to obtain an accurate target coordinate value according to the present invention, an arithmetic expression relating to the angle θ is stored in the memory M2 in advance, and the component storage position depending on the angle θ is stored. An equation for calculating the target coordinate value is stored for each pallet A, B, C and the wiring board 5, and the target coordinate value is calculated and calculated based on the shift amount and the mathematical expression. ..

The present invention can be widely implemented not only for mounting electronic components but also for controlling movement of other moving bodies.

[0021]

As described above, according to the present invention, target reference coordinate values are grouped and stored in the first memory, and the deviation amount for each group is set in the second memory. In advance, the reference coordinate value is calculated by adding / subtracting the deviation amount of each group by the calculating means to correct it to obtain the target coordinate value, and the moving body is moved to the target coordinate value by the moving means. Therefore, it is not necessary to input all the reference coordinate values and store them in the first memory again, and the correction setting of the reference coordinate values can be easily performed. Even if there is a deviation, it is possible to accurately achieve the movement of the moving body to the target coordinate values.

[Brief description of drawings]

FIG. 1 is a simplified plan view of an embodiment of the present invention.

FIG. 2 is a block diagram showing an electrical configuration of the embodiment shown in FIG.

FIG. 3 is a diagram showing a memory map of memories M1 and M2.

FIG. 4 is a flowchart for explaining the operation of a processing circuit 8.

FIG. 5 is a simplified diagram of a portion of another embodiment of the present invention.

FIG. 6 is a diagram for explaining the prior art.

[Explanation of symbols]

 1 moving body 2 X-direction moving means 3 Y-direction moving means 4 belt conveyor 5 wiring board 6, 7 motor 8 processing circuit 9, 10 motor control circuit 11 input means M1 first memory M2 second memory

Claims (1)

[Claims] 1. A first memory for grouping and storing target reference coordinate values into a plurality of groups, a second memory for setting and storing a deviation amount for each group, and a second memory for storing. Using the deviation amount of each group, the calculation means for calculating and correcting the coordinate value stored in the first memory to obtain the target coordinate value and the target coordinate value in response to the output of the calculating means A moving body control device comprising: a means for moving the moving body.