JPH0569242A - Part mounting device - Google Patents

Abstract

PURPOSE:To provide a parts mounting device having plural mounting means so as to enable mounting of desirable productivity and also with high position accuracy by a recognition system. CONSTITUTION:This parts mounting device is provided with a parts supply part 14, plural mounting means 12a, 12b for holding the parts of the parts supply part 14 so as to mount them respectively to circuit substrates 6a, 6b, a parts recognizing means 9b for recognizing the respective position dislocation of the parts held by the mounting means 12a, 12b, and a circuit substrate positioning means 1 formed of a main table 4 capable of performing positioning in two directions on the plane and plural sub-tables 5a, 5b disposed in correspondence with the respective mounting means 12a, 12b so as to be movable for position correction in two directions on the plane by a two-freedom plane motor or the like.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus for mounting a component such as an electronic component supplied by a component supply unit on a mounting member such as a circuit board.

[0002]

2. Description of the Related Art Conventionally, as an electronic component mounting apparatus used for mounting electronic components on a circuit board, a component supply unit in which a plurality of component supply units containing electronic components are mounted in parallel on a moving table. Provided is means for moving the moving table in the parallel direction so that the components can be taken out at a predetermined position, and also providing means for positioning the circuit board so that the position on the circuit board where the electronic component is to be mounted is at the predetermined position. It is known that a component is held by a component supply unit by means of which the electronic component is mounted on a circuit board.

In this type of electronic component mounting apparatus, mounting with high productivity and high positional accuracy is required. To improve the productivity, it is sufficient to increase the operation speed, but there is a limit to this, so that it is known that a plurality of mounting means for performing the same operation at the same time are arranged side by side in order to realize high productivity.

Further, in order to improve the mounting position accuracy, the recognizing means recognizes the positional deviation of the components held by the mounting means,
It is known that the position of the circuit board is corrected based on this to mount electronic components.

[0005]

However, in the case where the mounting means are arranged side by side in order to improve the productivity as described above, a plurality of circuit boards to be mounted at the same time are simultaneously positioned by the common positioning means. Therefore, even if the recognition means is provided to recognize the positional deviation of the components in order to improve the accuracy of the mounting position as described above, the positional deviation in each mounting means is different and each circuit board is different. Since the position cannot be corrected, the mounting position accuracy cannot be improved by the position shift recognition by the recognition means and the position correction of the circuit board.

Therefore, although the mounting means is provided with a means for mechanically controlling the position of the holding component, the cost is increased and the weight is increased, which makes high-speed mounting difficult.
In addition, if the shape and size of parts are restricted and they change significantly, a complicated mechanism such as a switching mechanism for the restriction means is required, and the accuracy is high due to wear of the restriction jig and mounting error. There were various problems such as mounting failure.

Although it is conceivable to provide a plurality of circuit board positioning means corresponding to the mounting means, there is a problem that the cost becomes high, and the electronic component mounting apparatuses are simply arranged in parallel. Is the same as.

In view of the above-mentioned conventional problems, it is an object of the present invention to provide a component mounting apparatus which is provided with a plurality of mounting means and can be mounted with high productivity and which can be mounted with high position accuracy by a recognition method. And

[0009]

SUMMARY OF THE INVENTION The present invention provides a component supply unit, a mounting member positioning unit that positions a mounting member on which a component is mounted, and a mounting unit that holds a component of the component supply unit and mounts it on the mounting member. And a recognition means for recognizing the positional deviation of the holding component, a plurality of mounting means and recognition means that perform the same operation at the same time are arranged in parallel, and the mounting member positioning means is positioned in two directions on a plane. It is characterized in that it is composed of a possible main table and a plurality of sub-tables which are arranged on the main table so as to correspond to the respective mounting means and which can be position-corrected and moved in two directions on a plane.

Preferably, a two-degree-of-freedom plane motor is used as the sub-table moving means.

[0011]

According to the present invention, a plurality of mounting means arranged in parallel hold a component in the component supply section, respectively, and the main table of the positioning means places the components at predetermined positions on the plurality of mounting members collectively positioned. By mounting the component, the component can be mounted with high productivity. Further, by recognizing the positional deviation of the holding component by each mounting means by each recognizing means, and by performing the position correction of each mounting member individually on the sub-table on the main table based on that, it is possible to increase each mounting member. Parts can be mounted with positional accuracy.

Further, since the sub-table only corrects the position after it is positioned on the main table, its moving range may be small. Therefore, if a two-degree-of-freedom plane motor with a small stroke is used as the moving means, the ball can be moved. Compared to the case of using a linear movement mechanism composed of a screw shaft and its rotation driving motor and a nut member screwed to the ball screw shaft, a linear movement mechanism composed of a hollow motor rotating and moving along the ball screw shaft, etc. Simple, compact and inexpensive to construct. Further, the accuracy of the main table moving mechanism in the axial direction has a great influence on the component mounting accuracy, so that extremely high accuracy is required and it is usually time-consuming to adjust the accuracy. If a plane motor is used, the tilt of the moving mechanism of the main table in the axial direction can be corrected when the motor is moved, and assembly adjustment can be greatly simplified.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

In FIG. 1, reference numeral 14 denotes a component supply section in which a plurality of component supply units 13 are mounted in parallel, and the component supply unit 13 is moved in the parallel direction to supply a desired component supply unit 13 with a predetermined component. Position in position. Each component supply unit 13 is equipped with a taping component that holds a number of components in a tape-like body, and sequentially delivers each component to a predetermined component removal position.

Reference numerals 12a and 12b denote swivel type first and second mounting means, and a plurality of sets of mounting heads 10a and 10 are provided on a rotary table rotatably provided around a vertical axis.
b are attached in a ring shape at equal intervals. Each mounting head 1
A suction nozzle that moves up and down is provided at 0a and 10b, and descends at the component supply position to suction-hold the component.

The component mounting means 12a and 12b respectively have component recognition means 9a and 9b (the component recognition means 9a in the mounting means 12a is not shown) and the θ rotation unit 11.
a and 11b are attached. Parts recognition means 9a, 9b
Recognizes the amount of positional deviation from the regular holding position when picking up components, and the θ rotation units 11a, 1a, 1 according to the amount of positional deviation.
The rotational displacement is corrected by 1b, and the positional displacement in two directions on the plane is corrected by the circuit board positioning means 1 described later.

The rotary table has mounting heads 10a and 10b.
The mounting heads 10a, 1 are rotated at intervals of
A component supply position, a component recognition position, a θ rotation position, a component mounting position, etc. are set at the stop position of 0b. Reference numeral 1 is a circuit board positioning means, which comprises a first moving table 2 movable in the X direction on a plane and a second moving table 3 provided thereon and movable in the Y direction perpendicular to the X direction. Main table 4 which can be arbitrarily positioned in two directions, the Y direction and the Y direction, and which are provided on the main table 4 so as to correspond to the mounting means 12a and 12b, respectively, and to fix circuit boards (mounting members) 6a and 6b, respectively. It is composed of supportable sub-tables 5a and 5b. These sub-tables 5a and 5b can be position-corrected and moved independently in the X and Y directions by a two-degree-of-freedom planar motor 15 (see FIG. 2). As a moving means of the first and second moving tables 2 and 3 which form the main table 4, a linear moving mechanism including a ball screw shaft, a drive motor thereof, and a nut member screwed to the ball screw shaft is used. ..

Next, the moving mechanism of the sub-tables 5a and 5b will be described with reference to FIGS. The second moving table 3 of the main table 4 has a two-degree-of-freedom plane motor 15
The plate-shaped fixed portion e is provided, and the sub-tables 5a and 5b are provided with a forcer c that is a movable portion of the two-degree-of-freedom planar motor 15. 2 degree of freedom plane motor 15
It is a known one, an example of which is disclosed in Japanese Patent No. 48271, and is used for a graph plotter or the like.
The two-degree-of-freedom planar motor 15 is constructed based on the Sawyer principle.

FIG. 3 shows the principle of a sawyer, in which a forcer c having one permanent magnet a and two electromagnets b ₁ and b ₂ is a plate made of a tooth-shaped plate material having a high magnetic permeability. It shows a state of moving on the fixed portion d. The electromagnet b ₁ sinusoidal current, cosine wave current flows in the electromagnet b _2.

FIG. 3 (I) shows a state in which a current flows only through the electromagnet b ₂ , but at this time the magnetic force is doubled at the poles and canceled at the poles, so the forcer c ( Stop at position I). At this time, the magnetic force is balanced in the electromagnet b ₁ .

Next, as shown in (II), a current flows only to the electromagnet b _1, a magnetic force is canceled in the pole electromagnet b _1, since the magnetic force in the pole is doubled, half of the tooth width, i.e. 1 Forcer c moves to the right by / 4 pitch.

Next, (III), as shown in (IV), sequentially (I) to the electromagnet b _2, b _1, is likewise forcer c by a reverse current flows from the (II) 1 / Move by 4 pitches.

[0023] Thus, a sinusoidal current to the electromagnet b ₁ as described above, is forcer c by passing a cosine wave current to the electromagnet b ₂ moves.

As shown in FIG. 2A, the sub-tables 5a and 5b are provided with an X-axis forcer c and a Y-axis forcer c that constitute the movable portion of the two-degree-of-freedom planar motor 15. , The second moving table 3 of the main table 4
As shown in FIG. 2B, a plate-shaped fixed portion e made of a lattice-shaped tooth-shaped plate material of the two-degree-of-freedom planar motor 15 is provided to control the cosine wave current and the sine wave current. Thus, it is possible to give the sub-tables 5a and 5b two-degree-of-freedom movements in the X and Y2 directions.

An air ejection port 16 is provided on the lower surface of the sub-tables 5a and 5b.
Main table 1 by blowing out 3 atmospheres of air
Move smoothly over. Further, holding means (not shown) for holding the circuit boards 6a and 6b is provided on the upper surfaces of the sub-tables 5a and 5b. Furthermore, the sub-tables 5a, 5
Substrate recognition means (not shown) for recognizing the marks provided on the circuit boards 6a and 6b held on b and recognizing the deviation amount of the holding position is provided.

The component mounting operation by the component mounting apparatus configured as described above will be described below with reference to FIG.

In advance, the circuit board 6a,
A component supply unit 13 that accommodates various components mounted on 6b is mounted.

Each component supply unit 1 on the component supply unit 14
The components delivered to the component removal position 3 are sequentially suction-held by the suction nozzles of the mounting heads 10a and 10b of the mounting means 12a and 12b. After the suction nozzles that have suction-held the components rise, respectively, the rotary table rotates, and the component recognition means 9a and 9b cause the suction positions of the components in the X-direction,
The shift amount in the Y direction and the θ (rotation) direction is recognized.

On the other hand, in the circuit board positioning means 1,
The circuit boards 6a and 6b are appropriately supplied by the circuit board transfer means and held on the sub-tables 5a and 5b. afterwards,
The board recognizing means recognizes the shift amounts of the holding position of the circuit board in the X direction, the Y direction, and the θ direction.

Next, the mounting heads 10a and 10b are stopped at positions facing the θ rotation units 11a and 11b, and the suction nozzles holding the components are rotated by the θ rotation units 11a and 11b as needed to rotate the components. Match the rotation position of to the mounting posture. Further, at that time, if the holding positions of the circuit boards 6a and 6b have a θ deviation amount or if the holding positions of the components have a θ deviation amount, they are set to the rotational position with addition correction.

On the other hand, in the circuit board positioning means 1, the main table 4 is moved to move the respective circuit boards 6a, 6b.
The positions where the components of b are to be mounted are mounting heads 10a and 10b.
And the displacement amounts in the X and Y directions of the circuit boards 6a and 6b held on the sub-tables 5a and 5b, respectively.
The sub-tables 5a and 5b are individually corrected and moved with respect to the displacement amount obtained by adding the displacement amounts of the component holding positions of the mounting heads 10a and 10b in the X and Y directions.

Next, the mounting heads 10a and 10b are stopped at the component mounting position, the suction nozzle is lowered, and the component is mounted at a predetermined position on the circuit boards 6a and 6b with high positional accuracy.

By sequentially repeating the above operation for each mounting head 10a, 10b around the rotary table, components are sequentially mounted.

In the above embodiment, the sub-tables 5a and 5b are used.
Although the two-degree-of-freedom planar motor 15 is used as the moving means of the above, a screw feed mechanism including a ball screw shaft, a rotation driving motor thereof, and a nut member screwed to the ball screw shaft,
A screw feed mechanism or the like having a hollow motor having a rotor screwed on a ball screw shaft may be adopted. When the two-degree-of-freedom flat motor 15 is used, the structure can be simple, compact and inexpensive, and even if the accuracy of the moving mechanism of the main table 4 in the axial direction is poor, when the sub-tables 5a and 5b are moved, their axes can be reduced. It can be moved so as to correct the inclination of the direction, and the assembly adjustment work of the component mounting apparatus can be greatly simplified.

Further, in the above embodiment, the device for mounting the components on the circuit board has been described, but the same applies to the device for inserting the components on the circuit board. Further, in the above embodiment, the case where there are two mounting means 12a and 12b has been described as an example, but it is also applicable to the case where there are three or more mounting means.

[0036]

According to the component mounting apparatus of the present invention, a plurality of mounting means arranged in parallel hold a component in the component supply section, and a plurality of mounting means collectively positioned by the main table of the positioning means. By mounting the component at a predetermined position on the member, the component can be mounted with high productivity, and the positional deviation of the holding component by each mounting means is recognized by each recognizing means, and based on that, on the main table By individually correcting the position of each mounting member on the sub-table, the component can be mounted on each mounting member with high positional accuracy, and high-accuracy component mounting can be performed with high productivity.

If a two-degree-of-freedom plane motor is used as the moving means for the sub-table, the construction is simple, compact and inexpensive, and the axial tilt of the moving mechanism of the main table is corrected when the sub-table is moved. By doing so, the assembly and adjustment work of the entire apparatus can be greatly simplified.

[Brief description of drawings]

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

FIG. 2 shows a two-degree-of-freedom plane motor in the same embodiment,
(A) is a movable part, (b) is a perspective view of a plate-shaped fixed part.

FIG. 3 is an explanatory diagram of an operating principle of the two-free and same-plane motor in the same embodiment.

FIG. 4 is a flowchart of component mounting operation in the same embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 circuit board positioning means 4 main table 5a sub table 5b sub table 6a circuit board 6b circuit board 9a component recognition means 9b component recognition means 12a mounting means 12b mounting means 14 component supply section 15 two-degree-of-freedom planar motor

Claims (2)

[Claims] 1. A component supply unit, a mounting member positioning unit that positions a mounting member on which the component is mounted, a mounting unit that holds a component of the component supply unit and mounts the component on the mounting member, and a positional deviation of a holding component. In a component mounting apparatus provided with a recognition unit for recognizing, a plurality of mounting units and a recognition unit that perform the same operation at the same time are arranged in parallel, and a mounting member positioning unit is arranged on a plane.
And a plurality of sub-tables arranged on the main table corresponding to the respective mounting means and capable of position-correcting movement in two directions on a plane. Mounting device. 2. The component mounting apparatus according to claim 1, wherein the moving means of the sub-table comprises a two-degree-of-freedom plane motor.