JPH05206691A - Electronic part mounting apparatus - Google Patents

Abstract

PURPOSE:To detect, at a high speed, the original position of the rotating direction of a loading head. CONSTITUTION:A plurality of slits 13a to 13d are formed on a rotating plate 13, while an angle theta between slits is changed, nozzles 5a to 5d of a loading head 4 are provided corresponding to the positions of these slits 13a to 13d and a controller for which an angle theta between slits is registered previously is also provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component mounting apparatus, and more particularly to a means for detecting the origin position in the rotational direction of a transfer head at high speed.

[0002]

2. Description of the Related Art As an electronic component mounting apparatus for automatically mounting an electronic component (hereinafter referred to as a chip) on a substrate at a high speed, there is a rotary head type electronic component mounting apparatus as disclosed in, for example, Japanese Patent Laid-Open No. 2-99000. Are known. In this mounting device, a plurality of transfer heads are arranged in parallel on the rotary head along the circumferential direction, and a plurality of nozzles having different shapes and dimensions are mounted on each transfer head. When picking up the chip, the transfer head is horizontally rotated by the motor to select the optimum nozzle for the chip. As described above, the mounting apparatus provided with the multi-nozzle type transfer head having a plurality of nozzles has an origin position in the rotation direction of each transfer head by the encoder before the operation is started, that is, before the chip is mounted on the substrate. Is detected to align the positions of all the transfer heads in the rotational direction (generally referred to as initialization). Next, from FIG.
A conventional initialization method will be described with reference to FIG.

In FIGS. 6 and 7, 101 is a transfer head, and four nozzles 102a to 102d having different shapes and dimensions are mounted on the lower part thereof. Transfer head 10
1, a motor M for horizontally rotating the transfer head 101 to select the nozzles 102a to 102d is provided on the rotary shaft 10.
It is connected through 3. 104 is a transfer head 101
Is an encoder for detecting the rotational position of the slit, and the encoder 104 includes five slits 105a to
It is composed of a rotary plate 105 on which 105e is formed, and a sensor 106 which detects these slits 105a to 105e. The rotary plate 105 is attached to the rotary shaft 103 and horizontally rotates integrally with the transfer head 101. The sensor 106 is composed of a light emitting unit 106a and a light receiving unit 106b. 107 is the sensor 106
Is a control unit such as a computer connected to.

In FIG. 7, a slit 105a is an origin position detecting slit, and a mark slit 105e for the slit 105a is formed at a position apart from the slit 105a by a small angle θt. When the motor M is driven to rotate the rotary plate 105 horizontally and any slit is detected, and if a slit is detected again at a position further rotated by a small angle θt from this slit, this slit is for origin position detection. The slit 105a is determined, and the initialization is completed.

This conventional apparatus has the above-mentioned structure, and the initialization operation will be described below. Now, now
The sensor 106 is assumed to be located between the slit 105b and the slit 105c as shown in FIG. When the motor M is driven to rotate the rotary plate 105 in the direction of the broken line arrow, the slit 105c is first detected. Next, the rotating plate 105
Is rotated by a small angle θt to detect the presence or absence of a slit. Therefore, if a slit is detected, it is determined that this slit is the origin position detecting slit 105a, and the initialization work is completed. However, if the slit 105a is not detected even if the slit 105a is rotated by the small angle θt, the rotary plate 105 is further rotated to move to the next slit 10a.
5d is detected and similarly rotated by a small angle θt,
The presence or absence of the slit 105a is detected. Slit 105a
By repeating such operation until it detects
Initialization is done. If such an initialization operation is sequentially performed for all the transfer heads and all the transfer heads 101 have been initialized,
The mounting of the chip P on the substrate is started.

[0006]

According to the above conventional means, when the sensor 106 is located near the slit 105e as shown in FIG.
e is immediately detected, and the slit 105a is detected at a position horizontally rotated by a small angle .theta.t thereafter, and the initialization is completed promptly. However, as shown in FIG. 9, when the sensor 106 is in the vicinity of the slit 105a, the slits 105e and 105a cannot be detected unless the rotary plate 105 is rotated by about 360 °, which causes a problem that it takes a long time to initialize. It was Furthermore, when the small angle θt is rotated at a high speed, the rotary plate 105 cannot be immediately stopped when the slit 105a is detected by the sensor 106, and the rotary inertia of the rotary plate 105 causes
Since the slit 105a passes through the origin position, the rotary plate 105 has to be rotated slowly at a low speed, which requires a long time for initialization.

Therefore, an object of the present invention is to provide an electronic component mounting apparatus capable of detecting the origin position in the rotating direction of the transfer head at high speed.

[0008]

According to the present invention, a plurality of slits are formed on a rotary plate by changing the angle between the slits, and the nozzles of the transfer head are placed at the positions of these slits. By arranging in correspondence with each other and providing a control unit in which the angle between the slits is registered in advance,
If any slit can be specified, the angle from this slit to the slit corresponding to the origin position is immediately known.

[0009]

In the above structure, when the transfer head is initialized, the motor is driven to rotate the rotary plate, and the sensor detects the slit of the rotary plate. Then, the rotating plate is further rotated, the next slit is detected by the sensor, the angle between these slits is calculated in the control unit, and this is compared with the angle between the slits registered in advance in the computer, Identify these slits. If the detected slit can be identified in this way, the angle from this slit to the slit corresponding to the origin position is known. Therefore, the motor is driven at high speed by that angle to initialize the rotary plate. .. In this way, the present means can immediately identify which slit these slits are, by detecting the two slits and obtaining the angle between them, and also obtain the angle from this to the slit corresponding to the origin position, The rotating plate can be rotated at a high speed to complete the initialization.

[0010]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a perspective view of a rotary head type electronic component mounting apparatus. Reference numeral 1 denotes a rotary head, which is arranged below a drive box 3 provided on the table 2. A plurality of transfer heads 4 are provided on the lower surface of the rotary head 1 along the circumferential direction thereof. Each of the transfer heads 4 is equipped with four nozzles 5 (5a to 5d) (see FIGS. 3 and 4) having different shapes and dimensions for attracting the chip P. In FIG. 2, each transfer head 4
While indexing in the direction of arrow N, the nozzle 5 is moved up and down at the pickup position a to pick up the chip P. Reference numeral 6 is a recognition unit for the chip P provided on the table 2, and detects the displacement of the chip P adsorbed by the nozzle 5 by observing it with a camera.

In FIG. 2, reference numeral 7 denotes an electronic component supply section disposed behind the rotary head 1, which is a moving table 8.
And a ball screw 18 for reciprocating the part feeder 9 placed on the moving table 8 in the lateral direction (X direction). The part feeder 9 is reciprocally moved in the lateral direction along the ball screw 18. Then, the parts feeder 9 having the desired chip P is sent to the pickup position a. Reference numeral 10 denotes an XY table for positioning the substrate S and moving it in the XY directions, which is arranged in the front part of the rotary head 1 (see also FIG. 1). This XY table 1
0 is composed of an X table 10a and a Y table 10b. The XY table 10 is driven, the substrate S is moved in the XY directions, and the chip P is landed at a desired position.
Reference numeral 11 denotes a conveyer, which carries the substrate S into and out of the XY table 10. Q is a nozzle selection stage.

3 and 4, the transfer head 4 is horizontally rotated above the transfer bed 4 so that the nozzles 5a to 5 are provided.
A motor M for selecting d is connected via a rotary shaft 15. The selection of the nozzle 5 is performed by the nozzle selection stage Q (see also FIG. 2). Reference numeral 12 is an encoder for detecting the rotational position of the transfer head 4, and this encoder 12 is installed on a rotary plate 13 having four slits 13a to 13d formed in the circumferential direction and a nozzle selection stage Q. The transfer head 4 is initialized by the nozzle selection stage Q, as will be described later.
Done in. As shown in FIG. 4, the nozzles 5a to 5d are provided.
Are arranged corresponding to the positions of the slits 13a to 13d, respectively. The rotary plate 13 is attached to the rotary shaft 15 and horizontally rotates integrally with the transfer head 4. In FIG. 3, the sensor 14 has a light emitting portion 14a and a light receiving portion 14b. Reference numeral 21 denotes a control unit such as a computer connected to the sensor 14, and the slits 13a to 1 are provided in advance.
The angle between 3d is registered.

In FIG. 4, the slit 13a is an origin position detecting slit, and the angles between the slits are θ1 (105 °) between the slits 13a and 13b and θ2 (95 °) between the slits 13b and 13c. , Between the slits 13c and 13d is θ3 (85 °), and between the slits 13d and 13a is θ4 (75 °). In this way, the angles θ1 to θ4 between all the slits are made different from each other, and as described above, the nozzles 5a to 5d are formed.
When the angle between any of the slits is detected by the sensor 14 by arranging the slits at positions corresponding to the slits 13a to 13d, the angle is registered in the control unit 21. By comparing with the angle, it is possible to immediately identify which slit these slits are.

The present apparatus has the above-mentioned structure. Next, the initialization method will be described. In FIG. 2, each transfer head 4 is index-rotated and stopped at the nozzle selection stage Q. Now, it is assumed that the rotary plate 13 is stopped in FIG. As shown, the sensor 14 is located between the slits 13b and 13c. Of course,
The current position of the rotary plate 13 is unknown. Therefore, the motor M
Is driven at a low speed to rotate the rotary plate 13 at a low speed in the direction of the broken line arrow in FIG. 4, and the sensor 14 detects the slit 13c. Further, the motor M is further driven to rotate the rotary plate 13 at a low speed, the sensor 13 detects the slit 13d next to the slit 13c, and the controller 21 calculates the angle (85 °) between the slits 13c and 13d. This is the angle θ1 between the slits registered in the control unit 21 in advance.
By comparing with the data of θ4, the slit detected now is found to be the slit 13d, and the current position of the rotary plate 13 is also found. Therefore, the angle (75 ° as described above) from this slit 13d to the slit 13a corresponding to the origin position is obtained, and the motor M is driven at high speed by this angle (75 °) to move the slit 13a to the position of the sensor 14 ( Initialization is completed by stopping at the origin position).

Similarly, when the rotary plate 13 stops between the slits 13a and 13b as shown in FIG. 5, the rotary plate 13 is rotated and the slits 13b and 13c are detected by the sensor 14. , The angle between the slits 13b and 13c (95 °) is obtained, and the angle 9
By comparing 5 ° with the angle registered in the control unit 21, these slits 13b and 13c are specified, and the angle from this to the slit 13a (85 ° + 75 ° = 160).
°) is obtained, and the rotating plate 13 is rotated at a high speed by this angle of 160 ° to complete the initialization.

As described above, in the present means, when the rotary plate 13 is rotated and the angle between any of the slits is known, this angle is collated with the angle registered in the control section 21, so that these slits are checked. And the angle to the slit 13a at the origin position is immediately known, and the rotating plate 13 can be rotated at high speed to the position of the sensor 14 (origin position) to complete the initialization. Moreover, in the conventional means, as the number of nozzles increases, the number of small angles θt at which the rotary plate must be rotated at a low speed also increases, and it takes a long time to initialize, whereas in this means, the number of nozzles increases. Can be quickly initialized.

When the above operations are repeated and the initialization of all the transfer heads 4 is completed, the mounting operation of the chips P on the substrate 9 is started. In the above-described embodiment, the case where the number of nozzles 5 is 4 and the number of slits corresponding thereto is 4 has been described as an example, but it goes without saying that the number may be any number. Further, as in the above embodiment, if the angles between the slits are all different, there is an advantage that the slits can be immediately specified when the angle between the slits is detected. On the other hand, if the angle between any of the slits is the same, even if the angle is detected by the sensor, the slit cannot be immediately identified, and the slit cannot be identified unless other slits are detected. However, it is prohibited to make the angle between any two slits the same among a large number of slits if it is permissible to take some trouble and extra time. Not something to do.

[0018]

As described above, according to the present invention, a plurality of slits are formed on the rotary plate by changing the angle between the slits, and the respective nozzles are made to correspond to the positions of these slits. Since the controller is provided with a control unit in which the angle between the slits is registered in advance, it is detected by rotating the rotating plate to detect the slit by the sensor and detecting the angle between the slits. The slit can be immediately specified, and the angle from this slit to the slit corresponding to the origin position can be immediately known. Therefore, the rotating plate can be rotated at a high speed and the initialization can be quickly completed.

[Brief description of drawings]

FIG. 1 is a perspective view of an electronic component mounting apparatus according to the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a side view of the same main part.

FIG. 4 is a plan view of the rotary plate.

FIG. 5 is a plan view of the rotary plate.

FIG. 6 is a side view of a transfer head according to conventional means.

FIG. 7 is a plan view of the rotary plate.

FIG. 8 is a plan view of the rotary plate.

FIG. 9 is a plan view of the rotary plate.

[Explanation of symbols]

 1 Rotary Head 4 Transfer Head 5 Nozzle 7 Electronic Component Supply Unit 10 XY Table 12 Encoder 13 Rotating Plate 13a Slit 13b Slit 13c Slit 13d Slit 14 Sensor 21 Control Unit M Motor P Electronic Component S Substrate

Claims (1)

[Claims] 1. A rotary head in which a plurality of transfer heads having a plurality of nozzles for adsorbing electronic components are arranged in parallel along a circumferential direction, and an electronic component supply disposed behind the rotary head. Section, an XY table arranged in front of the rotary head for positioning the substrate, a motor for horizontally rotating the transfer head to select the nozzle, and a rotational position of the transfer head. An encoder is provided, which comprises a rotary plate having a plurality of slits formed in the circumferential direction and a sensor for detecting the slits. The electronic head is supplied by the index rotation of the transfer head. Electronic parts of the above X
In an electronic component mounting apparatus configured to be transferred and mounted on a substrate on a Y table, the plurality of slits are formed on the rotary plate by changing the angle between the slits, and the nozzles are respectively provided with these slits. An electronic component mounting apparatus comprising: a control unit arranged corresponding to each position of the slits and provided with a pre-registered angle between the slits.