JPH0541596A - Component mounting apparatus - Google Patents

Abstract

PURPOSE:To improve a positioning accuracy of an operating head in various type operations for moving the head in a two-dimensional manner. CONSTITUTION:A pair of supporting beams 20 are provided in parallel on a base 11, and beams 24, 25 are supported on the beam 20. The beams 24, 25 are moved longitudinally of the beam 20 by a linear servo motor 21 on the beam 20. The beams 24, 25 respectively have two mounting heads 29, 30 and 35, 36, and individually move them to pick and place a component. Component recognition units 40, 41 are respectively mounted in one-by-one correspondence to the heads at the beams 24, 25.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for imparting movement in a X direction and a Y direction to a mounting head to perform a component mounting operation.

[0002]

2. Description of the Related Art A component mounting apparatus having a mounting head placed at a position corresponding to a hand portion of a rectangular coordinate type robot is often used in an electronic circuit board assembling process. JP 62-23
Japanese Patent Publication No. 9599 has an example of this type of device. In addition, in order to mount the component accurately at the target position, it is often the case that the component recognition device detects the positional deviation of the component with respect to the mounting head and corrects the displacement. The device described in JP-A-62-239599 is also provided with a component recognition device for the same purpose.

[0003]

Problems to be Solved by the Invention JP-A-62-1395
In the device described in Japanese Patent Laid-Open No. 99, the mounting head must be moved once above the component recognition device after picking up the component, and the spring must be moved from there to the mounting position, which requires a long working time. The present invention is intended to solve this point.

[0004]

In the present invention, a mounting head, a beam, and a support for the beam are prepared. The mounting head is attached to the beam so as to be movable in the length direction of the beam. The beam itself is also supported so that it can move in a direction perpendicular to its length direction. Up to this point, there is no difference from the structure of a normal Cartesian robot, but in the present invention, two mounting heads are attached to one beam so that they can be moved independently of each other, and the beam is also used. A component recognition device corresponding to one of the mounting heads is arranged at each end of the.

[0005]

While one of the mounting heads picks up the component, the component recognizing device detects the displacement of the component with respect to the other mounting head that picked up the component first. When the mounting head that picks up the component later takes part in the component recognition, the mounting head that has completed the displacement detection of the component first performs the mounting work while correcting the displacement. In this way, dead time between operations can be reduced.

[0006]

Embodiment An embodiment will be described with reference to the drawings. Working device 1
Reference numeral 0 denotes a work for mounting electronic parts on an electronic circuit board, which has a base 11 and a table portion 1 on the upper surface thereof.
Various components are arranged in 2. That is, 13 is a conveyor passing through the center of the table portion 12, and 14 is a conveyor 1.
The first component supply unit disposed on one side of 3 and the second component supply unit 15 disposed on the opposite side of the conveyor 13. The conveyor 13 sends and receives the electronic circuit board 1 and
It plays a role of positioning the electronic circuit board 1 at the working position. The first component supply unit 14 is formed by arranging a plurality of component supply devices 16 in a horizontal row. The individual component supply device 16 is
It is of a type that supplies parts by means of a part tape that accommodates parts at a fixed pitch, but this kind of supply device is well known in the literature (eg, US Pat. No. 4,735,341). Therefore, detailed description will be omitted. The second component supply unit 15 also has a plurality of component supply devices 17 arranged in a row along the feeding direction of the conveyor 13. The component feeder 17 delivers components from a tilted stick magazine and is also introduced in the literature in various ways (eg:
U.S. Pat. No. 4,731,923), which is well known and will not be described in detail.

At both ends of the table portion 12, support beams 20 that extend horizontally and at a right angle to the conveyor 13 are installed by raising a predetermined height from the table surface. The support beams 20 are parallel to each other, and a linear servo motor 21 is provided on the upper surface of each of them.
To fix. As the linear servo motor, those sold by Nippon Seiko Co., Ltd. under the trade name of "NSK Mega Thrust Motor" can be used. Regarding the control of the linear servo motor, US Pat. No. 4,704,4
It is disclosed in Japanese Patent No. 792, and the present invention follows this. The linear servomotor 21 is capable of independently driving a plurality of sliders. In this embodiment, two sliders 22 and 23 are arranged and a beam 24 is provided on the sliders 22 and 23. , 25 ends are fixed. That is, the beam 24 has both ends supported by the sliders 22 of the pair of linear servomotors 21, and moves with the movement of the sliders 22. Similarly, the beam 25 moves as the slider 23 moves. As a matter of course, the beams 24 and 25 must be moved in parallel while maintaining a constant angle, and the linear servomotors 21 on both sides must be controlled so that such movement occurs. The moving direction is at a right angle to the length direction of the beams 24 and 25 or the substrate feeding direction of the conveyor 13, and in this case, this is the Y direction.

A linear servo motor 26 is fixed to the lower surface of the beam 24, and two sliders 27 and 28 are also arranged on the linear servo motor 26. The sliders 27, 28 support the mounting heads 29, 30. The mounting heads 29 and 30 are hung from the linear servo motor 26, but the sliders 27 and 28
Has a structure that can withstand the load in this direction,
There is no problem. When the sliders 27 and 28 move, the mounting heads 29 and 30 move in the length direction of the beam 24.
This is the X direction. Each of the mounting heads 29 and 30 has a vacuum suction nozzle 31, and a height displacement (Z direction displacement) is applied to the mounting heads 29 and 30 by an internal air cylinder or a linear servo motor (not shown), and a pulse motor also incorporated therein.
An angular displacement (θ displacement) about the Z direction is given by a controller (not shown).

Similarly, the beam 25 also has a linear servo motor 32, and the mounting head 3 is attached to the sliders 33 and 34 of the linear servo motor 32.
5 and 36 are supported. The vacuum suction nozzles 37 of the mounting heads 35 and 36 are also given the Z direction displacement and the θ displacement similarly to the vacuum suction nozzles.

Reference numerals 40 and 41 are component recognition devices fixed to both ends of the beam 24, and 42 and 43 are component recognition devices fixed to both ends of the beam 25. These component recognition devices correspond to the mounting heads one by one, and detect the positional deviation of the components sucked by the mounting heads. The components shown in FIG. 5 are arranged in the housing. .. That is, 44 is an illumination unit, 45 is a mirror system, and 46 is a CCD camera. A large number of light emitting diodes 47 are arranged in the illumination section 44. The light emitting diode 47 is a combination of various types of colors, and it is possible to change the spectrum of the illumination light depending on the situation. The video signal from the CCD camera is sent to the control unit 50 shown in FIG. 1 and is processed by an image processing device which is a part of the control unit 50 to measure the amount of component displacement.

The operation of the work device 10 is as follows. First, the conveyor 13 carries the electronic circuit board 1 from one side and positions it at a predetermined position. An adhesive has already been applied to the parts of the board 1 where the parts are to be mounted. For the substrate 1, the mounting heads 29 and 30 are the first component supply unit 1
No. 4 component is mounted, and the mounting heads 35, 36 mount the component of the second component supply unit 15. The operation of the mounting heads 29 and 30 will be described. First, the linear servomotors 21 and 26 will be described.
However, the beam 24 is given a movement in the Y direction and the slider 27 is given a movement in the X direction so that the mounting head 29 is positioned above a predetermined component supply device 16. Mounting head 29
Lowers the vacuum suction nozzle 31 to the component supply device 16 and picks up the component. If possible, the mounting head 30 picks up components at the same time as the mounting head 29. However, if the mounting head 30 interferes with the mounting head 29, the mounting head 30 moves aside and waits so as not to interfere with the mounting head 29. After the mounting head 29 picks up the component and moves toward the component recognition device 40, the mounting head 30 moves onto the target component supply device 16. And the component recognition device 4
While 0 recognizes the component held by the mounting head 29, the mounting head 30 picks up the component. After the mounting head 30 picks up the component, the beam 24 immediately moves onto the substrate 1, and the slider 27 also cooperates to position the component-recognized mounting head 29 at the target position.
Of course, in the positioning, the component positional deviation amount detected by the component recognition device 40 is corrected. Then, the components are unloaded and mounted on the board 1. During this period, the component recognition device 4
No. 1 recognizes the components held by the mounting head 30, and when the mounting head 29 is finished, the mounting head 30 immediately starts mounting.

As described above, the mounting heads 29, 30
Inserts the components of the first component supply unit 14 one after another while overlapping the movement time and the component recognition time. The mounting heads 35 and 36 also perform the same work on the components of the second component supply unit 15. Naturally, the beams 24, 2
5 are controlled so as not to interfere with each other.

[0013]

According to the present invention, since the mounting head and the component recognizing device are attached to the beam and the recognizing work is performed while the beam is moving, the component is moved to the component recognizing device in the stationary position. The processing can be completed earlier than that which is carried and recognized. Also, since two mounting heads are attached to one beam and a component recognition device is individually provided for each of them, while one mounting head is performing component pickup, the other is capable of component recognition. It is possible to efficiently perform the work such that the play time is not generated.

[Brief description of drawings]

FIG. 1 is a perspective view of a component mounting device.

FIG. 2 is a plan view of a component mounting device.

FIG. 3 is a front view of a beam section (two pieces) of the component mounting apparatus.

FIG. 4 is a sectional view of a beam portion of the component mounting device.

FIG. 5 is an exploded perspective view of components of the component recognition device.

[Explanation of symbols]

 1 Electronic Circuit Board 10 Component Mounting Device 29 Mounting Head 30 Mounting Head 35 Mounting Head 36 Mounting Head 24 Beam 25 Beam 20 Support Beam (Beam Support) 40 Component Recognition Device 41 Component Recognition Device 42 Component Recognition Device 43 Component recognition device

Claims (1)

[Claims] 1. A mounting head, a beam, and a support for the beam, the mounting head being moved in a longitudinal direction of the beam.
Also, in the case of picking and placing parts by moving the beam itself in a direction perpendicular to its length direction, two mounting heads for one beam are independent of each other. A component mounting device which is mounted so as to be movable, and has a component recognition device corresponding to one of the mounting heads at both ends of the beam.