JPH06216576A - Component transferrer - Google Patents

Abstract

PURPOSE:To improve transfer precision at low cost by correcting the displacement between a component retainer and a component transferrer. CONSTITUTION:Pallet reference marks 132 are put at two points separated in the axial direction of a component supply pallet 16, respectively, and also cartridge reference marks 132 at a plurality of cartridges 130. For component transfer, every cartridge reference mark 132 is read out to calculate a mount position error between the X-axial and Y-axial directions, so that electronic components are taken out accurately by correction of the movement distance of a component sucker. A fixed position error of the component supply pallet 16 to the base is calculated by reading out a pallet reference mark 134; when the component supply pallet 16 retracted once is fixed again at a component supply position, a fixed position error of the component supply pallet 16 is determined by reading out the pallet reference mark 134, so that a mount position error of the cartridge 130 is corrected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component delivery apparatus, and more particularly to improvement of delivery accuracy.

[0002]

2. Description of the Related Art An electronic component delivery device is generally constructed to include an electronic component holder for holding a large number of electronic components and an electronic component delivery device for receiving electronic components from the electronic component holder. Due to the relative movement of the electronic component holder and the electronic component receiving device, a predetermined electronic component of a large number of electronic components is received by the electronic component receiving device.

An example of such an electronic component delivery device is an electronic component mounting device that mounts electronic components on a printed circuit board. In the electronic component mounting apparatus, the electronic component holder is configured, for example, by holding a large number of electronic components respectively and fixing a plurality of component supply cartridges that supply one at a predetermined position to a common pallet. The component suction nozzle provided on the component mounting head suctions the electronic component at the predetermined position, takes it out, and then mounts it on the printed circuit board. In this case, a reference mark is provided on the printed board to correct the positioning error of the printed board. The reference mark is imaged to calculate the positioning error of the printed circuit board, and the electronic component is mounted at a predetermined position on the printed circuit board by correcting the moving distance of the component mounting head or the position of the printed circuit board. .

However, the positional deviation occurs not only in the printed circuit board but also in the pallet. For example, when the pallet is fixed to the base, the fixed position of the pallet with respect to the base may shift, which also shifts the position of the cartridge and shifts the component suction nozzle from the position where the electronic component of the cartridge is supplied. Moved to the
In some cases, the position where the electronic component is sucked becomes worse, or the electronic component cannot be sucked. in this case,
By accurately processing the pallet, the pallet positioning member, the base, and the like, it is possible to eliminate the error in the mounting position of the pallet and improve the suction accuracy of electronic components.

[0005]

However, it is inevitable that the manufacturing cost will be increased if the processing is performed with high accuracy in this manner. It is an object of the inventions of claims 1 and 2 to provide an inexpensive electronic component delivery device with high delivery accuracy of electronic components.

[0006]

In order to solve the above-mentioned problems, an electronic component delivery device according to the invention of claim 1
(A) An electronic component holder that holds a large number of electronic components,
(B) a reference mark provided on the electronic component holder,
(C) An electronic component receiving device that receives an electronic component from the electronic component holder, (d) a reading unit that reads the reference mark, and (e) an electronic component receiving device and an electronic component holder based on the reading result of the reading unit. And a position shift correction means for correcting the shift of the relative position with respect to.
In the electronic component delivery device according to the invention of claim 2,
The electronic component holder holds a large number of electronic components,
A plurality of component supply cartridges for supplying one at a predetermined position are fixed to a common supporting member, and reference marks are provided at a plurality of mutually spaced positions of the supporting member.

[0007]

In the electronic part delivery device according to the first aspect of the present invention, the reference mark of the electronic part holder is read by the reading means to correct the relative position between the electronic part receiver and the electronic part holder. If the electronic component holder is misaligned, the position of the actual reference mark and the position where it should be are misaligned, and the direction and amount of this misalignment are read by the reading means. Therefore, by correcting the relative positional deviation between the electronic component holder and the electronic component receiving device based on the directions and the amounts by the positional deviation correcting means, the electronic component can be received by the component receiving device without any deviation.

The correction of the relative position deviation between the electronic component holder and the component receiving device is performed by, for example, adjusting the movement amount of the component receiving device when the component receiving device moves to receive the electronic component from the electronic component holder. It can be corrected at the time of delivery by correcting it. Further, it is also possible to correct the position of the electronic component holder by correcting the position of the electronic component holder so that the relative position is not displaced prior to the delivery of the electronic component.

In the electronic component delivering / receiving apparatus according to the second aspect of the present invention, the plurality of reference marks provided on the support member are read by the reading means, and the direction and amount of displacement of the support member are determined based on the read result. It is calculated and corrected by the position shift correcting means. A plurality of component supply cartridges are attached to the support member, and when a displacement due to rotation occurs, the displacement amount varies depending on the position of the support member, but since there are multiple reference marks, these reference marks are provided. The position deviation amount and direction of any position of the support member can be known from the individual position deviation amount and direction, and the position deviation amount can be obtained and corrected for each of the plurality of component supply cartridges. Electronic components can be received from each of the component supply cartridges without deviation.

[0010]

As described above, according to the first aspect of the present invention, even if the electronic component holder is displaced, the electronic components can be delivered with high accuracy. If a reference mark is provided on the electronic component holder to correct the positional deviation, all manufacturing errors of the electronic component holder and the device for positioning the electronic component holder will appear in the reference mark. These errors can be corrected all at once, and it is not necessary to process the electronic component holder, positioning member, etc. with high precision, and electronic components can be delivered with high precision and inexpensive electronic component delivery is possible. The device can be obtained.

Also in the second aspect of the present invention, similarly, it is possible to accurately deliver electronic components and obtain an inexpensive electronic component delivery device.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an electronic component mounting apparatus for mounting electronic components on a printed circuit board will be described in detail below with reference to the drawings. In FIG. 1, reference numeral 10 is a base, and a substrate conveyor 12 is provided on the base 10 to convey the printed circuit board 14 in the X-axis direction (left and right direction in the drawing). Also, two component supply pallets 1 are provided on the base 10 at positions adjacent to the board conveyor 12 in the Y-axis direction orthogonal to the X-axis direction.
6 is provided, and constitutes an electronic component delivery device together with an electronic component mounting device 18 as an electronic component receiving device.

The two component supply pallets 16 are respectively
A pair of guide rails 20 provided on the base 10.
Is fitted to. The worker performs the setup change work with the component supply pallet 16 pulled out to the rearward retracted position, and then the electronic component mounting device 18 along the guide rail 20.
It is advanced to the component supply position where it abuts against the stopper on the side, and is fixed on the base 10 by a clamp device (not shown).

The electronic component mounting device 18 is provided on four columns 26 standing on the base 10. A pair of guide rails 28 extending in the Y-axis direction are provided on the column 26.
Are provided at a distance in the X-axis direction, and nuts fixed to the Y-axis slide 32 are screwed onto ball screws 30 respectively attached to the side surfaces of the guide rails 28 so that the two ball screws 30 are respectively Y-shaped. By being rotated by the axis servo motor 34, the Y-axis slide 32 is guided by the guide rail 28 and moved.
These Y-axis servomotors 34 are AC servomotors, have a common drive circuit, and are rotated in synchronization. These ball screw 30, Y-axis slide 32 and Y
The axis servo motor 34 and the like constitute a Y-axis direction moving device 35.

A ball screw 36 is mounted on the Y-axis slide 32 in the X-axis direction, and a fixed nut is screwed onto the X-axis slide 38. The ball screw 36 is rotated by an X-axis servomotor 40. Due to
The X-axis slide 38 is moved. The X-axis servomotor 40 is an AC servomotor, and these ball screws 3
6, the X-axis slide 38, the X-axis servo motor 40, and the like constitute the X-axis direction moving device 42. The X-axis slide 38 has a component mounting head 44 as a component holding head.
The component mounting head 44 is moved to an arbitrary position in the horizontal plane by the moving devices 42 and 35 in the X-axis direction and the Y-axis direction.

The component mounting head 44 has a fixed shaft 48 fixed to the X-axis slide 38, as shown in FIGS. The fixed shaft 48 has a cylindrical shape and is arranged in the up-down direction. A turntable 50 as a rotating body having a circular cross section, a pressing member 51, and a sleeve 52 are attached in this order from the lower end thereof.

The turntable 50 is mounted via two bearings 54 so as to be rotatable about an axis parallel to the Z-axis direction (vertical direction) and immovable in the axial direction. A gear 56 is provided on the outer peripheral surface of the large diameter portion 55 provided at the lower end of the turntable 50, and the table rotation servomotor 57 (see FIG. 9) is provided via the gear 56 and other gears not shown. Is transmitted, and the turntable 50 is rotated by a rotation drive device configured by the gears, the table rotation servomotor 57, and the like.

As shown in FIG. 4, twelve component suction tools 66 for suction-holding the electronic components 64 are attached to the large-diameter portion 55 at equal angular intervals and parallel to the Z-axis direction. These component suction tools 66 are moved to an arbitrary phase position by the rotation of the turntable 50 to suction the electronic components 64,
Alternatively, it is mounted on the printed circuit board 14. The configurations of the twelve component suction tools 66 are the same, and one of them will be described in detail.

The suction tool body 67 of the component suction tool 66 is detachably attached to a chuck 69 fixed to the lower end of the sliding shaft 68. The chuck 69 has a holding mechanism (not shown), and the suction tool body 67 can be replaced by an automatic replacement device. A spline is formed on the outer peripheral surface of the sliding shaft 68, and is fitted to a ball spline 70 provided on the turntable 50 so as to be slidable in the axial direction. A spring 72 is arranged between the large-diameter portion 55 and the head portion 71 of the sliding shaft 68 protruding upward from the turntable 50, and urges the sliding shaft 68 upward. Further, the lower end of the sliding shaft 68 is projected downward from the large diameter portion 55, and the chuck 69 is fixed. By contacting the chuck 69 with the large diameter portion 55, the rising end position of the sliding shaft 68 is increased. Is specified.

A cushion member 65 is fitted in the suction tool body 67 so as to be relatively movable in the axial direction, and a spring 75 disposed between the suction member body 67 and the suction tool body 67 urges the suction tool body 67 in a direction in which the cushion member 65 is pulled out of the suction tool body 67. Has been done. The cushion member 65 is fitted into a pin 77 projecting from the suction tool body 67 in a pair of elongated holes 76 extending in the axial direction, and is prevented from being pulled out from the suction tool body 67 and is prevented from rotating. When the component suction tool 66 descends, the spring 7
The compression of 5 absorbs the excess descent amount.

A suction pipe 74 is fitted to the cushion member 65, and the suction pipe 74 has a passage 78, a joint member 79 and a vacuum hose 8 formed in the suction tool body 67.
The vacuum is supplied via 0 and the sleeve 52, and the supply path will be described later. The cushion member 65 is also provided with a light emitting plate 81. The light emitting plate 81 absorbs ultraviolet rays and emits visible rays.

The suction tubes 74 of the twelve component suction tools 66 have different diameters, and the component suction tool 66 having the suction tubes 74 suitable for the shape and size of the electronic component 64 is selected. Used, the component mounting head 44 can simultaneously hold various types of electronic components 64 having different shapes and sizes. In this case, when the size of the electronic component 64 sucked by the component suction tool 66 is large and interferes with the electronic component 64 sucked by the adjacent component suction tool 66, the adjacent component suction tool 66 holds the electronic component 64. It is prevented from adsorbing. Although illustration is omitted, a component holding chuck is housed in the fixed shaft 48 so as to be able to move up and down, urged by a spring to a raised end position and housed, and holds a large electronic component 64. The component mounting head 44 can hold a maximum of 13 electronic components 64 at one time.

A cylindrical spline member 82 is fixed to the turntable 50, and the push-down member 51 is fitted on the outside of the spline member 82 so as to be slidable in the axial direction and not relatively rotatable. Therefore, the pressing member 51
Is axially movable relative to the turntable 50 and rotates integrally with the turntable 50. An annular groove 84 is formed on the outer peripheral surface of the pressing member 51, and a pair of rollers 86 are engaged with the groove 84. These rollers 86 are held by a yoke 88 so as to be rotatable about an axis perpendicular to the Z-axis direction, and the yoke 88 is moved up and down by a lifting motor 89 (see FIG. 9) via a cam mechanism (not shown). Therefore, the pressing member 51
Can be raised and lowered.

Twelve air cylinders 92 are concentrically and downwardly attached to the pressing member 51 so as to be concentric with the component suction tool 66, and the piston rod 93 is projected downward from the pressing member 51. Although not shown, the fixed shaft 4
Another push-down member, which can be moved up and down together with the push-down member 51, is slidably fitted in the push button 8, and an air cylinder similar to the air cylinder 92 is attached to the push-down member.

The sleeve 52 is, as shown in FIG.
The spline member 82 fixed to the turntable 50 is rotatably fitted to the fixed shaft 48, and is fixed to the upper end of the spline member 82 protruding from the pressing member 51. The turntable 50 and the pressing member 51 rotate together. To do. A radial passage 94 is formed in the sleeve 52,
A vacuum hose 80 for supplying vacuum is connected to the suction pipe 74. The vacuum hose 80 is connected to the radial passage 94 through a through hole 95 (see FIG. 2) formed in the pressing member 51, and the radial passage 9
4 is communicated with an annular passage 96 formed in the fixed shaft 48. The annular passage 96 is connected to a vacuum source by a passage 97 formed in the fixed shaft 48 and a vacuum hose 98, and a vacuum electromagnetic directional control valve 100 (FIG. 9) provided in the middle of the vacuum hose 98.
By switching (see), the vacuum is supplied to the suction pipe 74 to suck or release the electronic component 64. Since the suction pipe 74 is connected to the vacuum source through the annular passage 96, even if the turntable 50, the pressing member 51, and the sleeve 52 rotate while the electronic component 64 is suctioned, the suction pipe 74 is in communication with the vacuum source. To be kept.

Air is also supplied to the air cylinder 92 attached to the pressing member 51 via the sleeve 52. The air cylinder 92 is a single-acting cylinder, and the air chamber is covered by the air hose 102 in the sleeve 52.
Connected to the radial passage 103 formed in the fixed shaft 4
8, a circular passage 104 and an axial passage 106 formed in
And the air is connected to the air source by the hose 108 connected to the axial passage, and the air is supplied to and discharged from the air chamber by switching the electromagnetic electromagnetic directional control valve 118 (see FIG. 9) provided in the middle of the hose. Piston rod 9
3 can be expanded and contracted. Also, the annular passage 104
By being connected to the air source via the pressing member 51
The air supply path to the air chamber is secured even if the above rotate.

Further, on the X-axis slide 38, as shown in FIG. 1, the CCD camera 1 as a reading means for picking up an image of the printed board reference mark provided on the printed board 14.
20 (see FIG. 9) is mounted. CCD camera 12
0 moves to an arbitrary position in the horizontal plane by the movement of the X-axis slide 38 and the Y-axis slide 32, and images the printed circuit board reference mark.

As shown in FIG. 5, a plurality of component supply cartridges 130 (hereinafter abbreviated as cartridges 130) are mounted on the two component supply pallets 16 side by side in the X-axis direction. . The component supply pallet 16 is a supporting member, and constitutes an electronic component holder together with the cartridge 130. Parts supply pallet 1
6 is provided with a positioning pin, and the plurality of cartridges 130 are respectively positioned by the positioning pin and attached to the component supply pallet 16.

In this cartridge 130, the electronic component 64 is held by a tape to be a taping electronic component. An electronic component is accommodated in each of the component accommodating recesses formed at equal intervals in the carrier tape, and the openings of the component accommodating recesses are closed by the cover film attached to the carrier tape, so that the electronic components during carrier tape feeding The parts are prevented from protruding from the part accommodating recesses. By feeding the carrier tape by a predetermined pitch in the Y-axis direction, the cover flume is peeled off and the electronic component is fed to the component feeding position shown by a cross mark in FIG. This cartridge 130 has a cartridge reference mark 13 indicated by a circle near the component supply position.
2 is attached. Other configurations are the same as those of the cartridge described in Japanese Patent Application No. 4-185966 filed by the present applicant, and detailed description thereof will be omitted.

Further, the component supply pallet 16 is provided with two pallet reference marks 134 so that the positioning error with respect to the base 10 can be seen. These pallet reference marks 134 are attached to the upper surface of a table 136 fixed to the component supply pallet 16, and when the cartridge 130 is attached to the component supply pallet 16, they have the same height as the cartridge reference mark 132 and in the X-axis direction. It is designed to be located on a straight line at.

As shown in FIG. 1, a high-precision electronic component image pickup device 190 and a medium-precision electronic component image pickup device 192 are provided side by side in the Y-axis direction between the component supply pallet 16 and the board conveyor 12. . These imaging devices 190,
Each of 192 has line sensors 194 and 196 in which light receiving elements are arranged in a line in the X-axis direction, and an ultraviolet irradiation device. Each of the ultraviolet irradiation devices is long in the direction in which the light receiving elements of the line sensors 194 and 196 are arranged, and is provided adjacent to the light receiving elements.
A filter that allows only ultraviolet rays to pass through is provided. Further, the line sensors 194 and 196 are provided with filters that absorb ultraviolet rays and allow visible rays to pass through.

In the high precision electronic component image pickup device 190, the condenser lens has a length which is approximately half the diameter of the turntable 50. In the middle precision electronic component image pickup device 192, the condenser lens has the diameter of the turntable 50. It has a size almost equal to. As shown in FIG. 4, the high-precision electronic component imaging device 190 has a narrower field of view, and accordingly, the resolution is higher and the electronic component 64 can be accurately imaged. For example, a large number of lead wires are provided on the main body. It is suitable for imaging electronic components that are mounted and electronic components 64 in which the distance between the lead wires is extremely narrow.

Further, a component supply box 200 is installed adjacent to the component supply pallet 16 in the X-axis direction. As shown in FIG. 6, the component supply box 200 is composed of a large number of shelves 202 assembled on a frame 204. A plurality of guide rails 206 extending in the Y-axis direction are provided on a pair of inner side surfaces parallel to the Y-axis of each shelf 202, and a component storage tray 208 is accommodated in each of the stages. The component storage tray 208 is also an electronic component holder. The size of the shelf 202 in the Y-axis direction is set to be larger than twice the size of the component storage tray 208 in the Y-axis direction, and the guide rails 206 are attached to the shelf 202 so as to fill the Y-axis direction.

As shown in FIG. 7, the component accommodating tray 208 comprises a flat plate-shaped main body 210 in which plural component accommodating recesses 212 for accommodating the electronic components 64 are formed in a plurality of rows and a plurality of rows. Two tray reference marks 216 (only one shown in the figure) are attached. The electronic component 64 accommodated in the component accommodating recess 212 is the component extracting robot 220 as the electronic component receiving device shown in FIG.
Is taken out from the component housing recess 212.

The component take-out robot 220 has a structure similar to that of the electronic component mounting device 18, and is moved in the Y-axis direction by the two sets of the ball screw 224 and the Y-axis servo motor 226 while being guided by the guide rail 222. The Y-axis slide 228 and the ball screw 232 and the X-axis servomotor 23 while being guided by the guide rail 230.
X-axis slide 236 which is moved in the X-axis direction by 4
It has and. The X-axis slide 236 is provided with a guide portion that hangs down in the Z-axis direction, and the Z-axis slide 238 is fitted to the guide rail provided in this guide portion. The Z-axis slide 238 is moved up and down by a ball screw and a Z-axis servomotor 240.

Therefore, the Z-axis slide 238 is arranged on the front side of the component supply box 200 in three directions of X-axis, Y-axis and Z-axis.
Although movable in the direction, an arm 242 is extended horizontally from the Z-axis slide 238 toward the component supply box 200 side. The arm 242 is the component supply box 2
00 can be inserted into any of the shelves 202, and a component suction head 244 for sucking the electronic component 64 is attached to the tip of this arm 242, and the desired component accommodating recess 2
The electronic component 64 in 14 can be sucked and taken out. The supply of vacuum to the component suction head 244 is controlled by the vacuum electromagnetic directional control valve 246 (see FIG. 9). The arm 242 also has a CC as a reading means for capturing an image of the tray reference mark 216.
A D camera 248 is attached.

A component conveyer 250 is provided at a lower position on the front side of the component supply box 200, and the electronic component 64 taken out by the component take-out robot 220 is placed on the component conveyer 250, and is placed in the electronic component mounting device 18. Supplied. The parts conveyor 250 has one electronic part 64 at a fixed placement position of the parts pick-up robot 220.
The electronic parts 64 are intermittently moved by a constant pitch each time the electronic parts are placed, and various electronic parts 64 are arranged on the parts conveyor 250 in the order of mounting, and are sequentially conveyed to the supply position where they are supplied to the electronic parts mounting device 18. It

Further, between the substrate conveyor 12 and the component supply pallet 16, the image pickup devices 190, 1 are provided.
A component suction tool holding device 252 is provided at a position opposite to the component conveyor 250 with respect to 92. The component suction tool holding device 252 holds many types of component suction tools 66 in a large number of holding parts, and when the type of the electronic component 64 to be mounted changes, the component mounting head 44 causes the component suction tool holding device 252. Of the automatic exchange device 254
(See FIG. 9) automatically exchanges the component suction tool 66 between them.

This electronic component mounting apparatus is controlled by the control device 260 shown in FIG. The control device 260 is mainly composed of a computer, and is supplied with the detection results of the CCD cameras 120 and 248 and the imaging results of the high-precision electronic component imaging device 190 and the medium-precision electronic component imaging device 192. Further, via the drive circuits 262 to 286, the board conveyor 12 and the X-axis servo motor 40, the Y-axis servo motor 34 of the electronic component mounting apparatus 18, the table rotation servo motor 57, the lifting motor 89, the vacuum electromagnetic direction switch. Valve 100 and electromagnetic directional control valve 11 for air
8 and the X-axis servomotor 2 of the parts take-out robot 220
34, Y-axis servo motor 226, Z-axis servo motor 24
0 and the vacuum solenoid directional control valve 246, the parts conveyor 250, and the automatic exchange device 254 are controlled.

Next, the operation will be described. First, the case where the electronic component 64 is supplied by the cartridge 130 will be described. Prior to mounting the electronic component 64 on the printed circuit board 14, the CCD camera 120 is moved to image each cartridge reference mark 132 of all the cartridges 130. The CCD camera 120 is moved to the original position of the cartridge reference mark 132 to take an image, but if the cartridge reference mark 132 is displaced to the position indicated by X as shown in FIG. Mounting position errors ΔX _Cn and ΔY _{Cn in the} X-axis direction and the Y-axis direction are calculated for each and stored in the RAM of the computer. The mounting position errors ΔX _Cn and ΔY _Cn are determined by the cartridge reference mark 1
Depending on which side in the X-axis direction and the Y-axis direction the position of 32 should be, it is stored with positive and negative signs. When picking up an electronic component, the component suction tool 66 is corrected by correcting the moving distance of the component mounting head 44 based on the mounting position errors ΔX _Cn and ΔY _Cn.
Can be accurately moved to the component supply position of the cartridge 130. The X-axis direction moving device 42 and the Y-axis direction moving device 35 compose the positional deviation correcting means.

Further, the two pallet reference marks 134 of the component supply pallet 16 are also imaged by the CCD camera 120, and as in the case of the cartridge reference mark 132, the X reference marks 134 are taken.
Axial and Y-axis fixed position error ΔX _Q1 , ΔY _Q1 ,
ΔX _Q2 and ΔY _Q2 are stored in the RAM. The reason for this will be described later.

As described above, the fixed mounting position errors ΔX _Cn and ΔY _{Cn of} each cartridge reference mark 132, and the fixed position error Δ of each pallet reference mark 134.
After the detection of X _Q1 , ΔY _Q1 , ΔX _Q2 , and ΔY _Q2 is performed, the electronic component 64 is mounted on the printed board 14. First, the component mounting head 44 is moved in the X-axis direction and the Y-axis direction, and the electronic component 64 is sucked by the component suction tool 66 moved to the component suction position. Turntable 50
Component supply pallet 1 in the Y-axis direction of the rotational position of
The position closest to 6 is the component suction position, and the rotation of the turntable 50 sequentially moves the 12 component suction tools 66 to the component suction position to take out the electronic component 64 from each cartridge 130. It should be noted that it is not essential to move the component suction tool 66 to the component suction position by rotating the turntable 50, and the cartridge 130 that aims at the component suction tool 66 only by moving in the X-axis direction and the Y-axis direction.
It may be moved to above the component supply position.

The cartridge 130 from which the electronic component 64 of the component suction tool 66 is to be taken out is set by the electronic component mounting data stored in the ROM of the computer, and based on this data, the component mounting head 44 can be moved in both the X-axis and Y-axis directions. The moving distance in is calculated. Then, the calculated moving distance is corrected by the mounting position errors ΔX _Cn and ΔY _{Cn of} each cartridge 130.

When the electronic component 64 is taken out by the component suction tool 66, the air cylinder 92 provided corresponding to the component suction tool 66 for taking out the electronic component 64 is operated,
The piston rod 93 is extended to a position separated from the head 71 of the sliding shaft 68 by a minute gap. When the pressing member 51 is lowered in that state, only the component suction tool 66 positioned at the component suction position is lowered, and the suction pipe 74 of the component suction tool 74 contacts the electronic component 64. At this time, the descending speed of the pressing member 51 is smoothly increased to reach a constant value, and is gradually decelerated just before the component suction tool 66 contacts the electronic component 64, so that the suction pipe 74 is moved to the electronic component 64. Abut slowly. The excessive lowering of the component suction tool 66 after contact with the suction tube 74 is absorbed by the relative movement of the suction tube 74 and the suction tool body 67 due to the compression of the spring 75.

After the electronic component 64 is sucked by supplying vacuum to the suction tube 74, the pressing member 51 is raised. The piston rod 93 of the air cylinder 92 is contracted in parallel with the supply of vacuum after the depression member 51 is lowered, and the depression member 51 is further elevated in parallel with the contraction of the piston rod 93. And contract,
The cycle time is shorter than when it is raised.

The air cylinder 92 has twelve component suction tools 6
6, a selection means for selecting the component suction tool 66 that suctions the electronic component 64, and an elevating device that uses the pressing member 51 and the lifting motor 89 as a drive source performs the suction operation on the selected component suction tool 66. That is, the suction tool drive device is configured.

The component holding chuck disposed in the fixed shaft 48 is also moved up and down in the same manner as the component suction tool 66.
Holds the electronic component 64.

If all of the component suction tools 66 have suctioned the electronic components 64, the component mounting head 44 moves to the printed circuit board 14.
Although the electronic component 64 is moved upward and the electronic component 64 is mounted, the electronic component 64 is imaged by the high-accuracy and medium-accuracy electronic component imaging devices 190 and 192 during the movement. Component mounting head 44
Moves in the Y-axis direction on the electronic component image pickup devices 190 and 192 to pick up an image of the electronic component 64. At this time, the turntable 50 picks up an image of the high-precision electronic component out of the twelve component suction tools 66. The component suction tool 66 having the electronic component 64 imaged by the device 190 is rotated so as to be located within the range of the visual field of the high-precision electronic component imaging device 190.

The electronic component 64 is an electronic component image pickup device 190,
When passing through 192, the ultraviolet irradiation devices of the high-accuracy and medium-accuracy electronic component imaging devices 190 and 192 irradiate the ultraviolet rays, and the light emitting plate 81 of the component adsorption tool 66 absorbs the ultraviolet rays and emits visible rays. , A projection image of the electronic component 64 is formed. High-precision and medium-precision electronic component imaging devices 190, 19
The line sensors 194 and 196 of the second light linearly receive the light forming the projected image, and the image of the electronic component 64 is captured in the image memory of the computer. The control device 260 reads the image signal from the line sensors 194 and 196 and obtains data for one line.

The image of the electronic component 64 is the component mounting head 4
4 is taken in each time the unit distance moves, and when the component mounting head 44 has finished passing over the electronic component imaging devices 190, 192, the data of all the electronic components 64 held by the component mounting head 44 is stored in the image memory. Remembered. A two-dimensional image of all the electronic components 64 can be obtained all at once by the relative movement of the electronic component imaging devices 190, 192 and the component mounting head 44 once, and the control device 260 constitutes an image data acquisition means. .

The data indicating the type of the electronic component 64 currently held by the component mounting head 44, and the rotational position of the component suction tool 66 and the electronic component holding chuck holding the electronic component 64 are shown. Based on the data shown (these data are created from the electronic component mounting data) and the reference data of each electronic component 64 stored in the ROM, each electronic component 64 is located at the regular position on the component suction tool at each position. Normal image data in the case of being held is created, and this normal image data is compared with the image data of all electronic components 64 obtained by imaging, and the rotational position error of each electronic component 64 (the axis of the component suction tool 66 is A rotation angle error) Δθ and a center position error ΔX _E and ΔY _E are calculated.

The data representing the type of the electronic component 64 currently held by the component mounting head 44 and the data indicating the position of the component suction tool 66 holding the electronic component, From the image data of all electronic components 64 obtained by imaging, image data is created when the component suction tool 66 or the like holding each electronic component 64 is rotated to a predetermined fixed rotation position. By comparing this image data with the reference data stored in the ROM, the rotational position error Δθ and the center position errors ΔX _E and ΔY are obtained.
It is also possible that _E is calculated.

In any case, the calculated center position errors ΔX _E and ΔY _E are corrected by correcting the moving distances of the component mounting head 44 in the X-axis direction and the Y-axis direction. Further, the rotational position error Δθ is corrected by the rotation of the turntable 50. In this case, the rotation of the turntable 50 causes deviations Δx and Δy in the positions of the electronic component 64 in the X-axis direction and the Y-axis direction. Therefore, the movement distances of the component mounting head 44 in the X-axis direction and the Y-axis direction are also corrected so as to eliminate the deviations Δx and Δy. The rotation drive device for rotating the turntable 50 and the moving devices 42, 35 in the X-axis direction and the Y-axis direction are electronic components 64.
That is, the rotational position error correction device is constructed.

The movement distance of the component mounting head 44 is further modified to eliminate the positioning error of the printed circuit board 14. The positioning error in the X-axis direction and the Y-axis direction of the printed circuit board 14 can be understood from the printed circuit board reference mark provided on the printed circuit board 14, and is imaged and calculated after positioning the printed circuit board 14 and before mounting the electronic component 64. , Electronic component 64 by such component suction tool 66
By correcting the holding posture of the printed circuit board 14 and the position of the printed circuit board 14, the electronic component 64 is placed in the proper posture.
Is installed in the proper position.

At the time of mounting, as in the case of suction, the electronic component 6
The air cylinder 9 corresponding to the component suction tool 66 for mounting 4
2 is operated to lower the piston rod 93 to a position facing the head 71 of the sliding shaft 68, and in this state, the pressing member 51 is lowered to mount the electronic component 64 on the printed board 14. . After mounting, the vacuum supply to the component suction tool 66 is cut off, and the air cylinder 9
2 is contracted, the pressing member 51 is raised, and the component suction tool 66 is raised. After the mounting, the component suction tool 66 for mounting the electronic component 64 on the printed circuit board 14 is moved to the mounting position with the movement distance corrected, and the electronic component 64 is mounted on the printed circuit board 14. When all the electronic components 64 held by the component mounting head 44 have been mounted on the printed circuit board 12, the component mounting head 44 moves to the component supply pallet 16 to hold a new electronic component 64.

As described above, a predetermined amount of electronic parts 64
When the type of the printed circuit board 12 is changed after the mounting of the electronic component 64 on the printed circuit board 12 or the electronic component 64 in any of the cartridges 130 is lost, the electronic component 64 is supplied until then. The component supply pallet 16 is retracted to the retracted position, and the other component supply pallet 16 prepared in advance is advanced to the component supply position and fixed. This parts supply pallet 16
However, when the cartridge 130 is fixed to the component supply position for the first time after the cartridge 130 is attached thereto, as in the case described above,
Cartridge reference mark 132 of all cartridges 130
The operation from the image pickup is repeated, but if it has already been fixed to the component supply position even once, after the mounting position errors ΔX _Cn ′ and ΔY _Cn ′ of this time are obtained as follows. The electronic component 64 is mounted.

The component supply pallet 16 which has been fixed to the component supply position on the base 10 and has supplied the electronic component 64.
When the cartridges 130 are retreated to the retreat position for replenishing the components to the cartridges 130, etc., and are advanced to the component supply position again and fixed, the fixing position of the component supply pallets 16 is that all the cartridges 130 have the component supply pallets 16 After being attached to the component supply pallet 16, the component supply pallet 16 is usually displaced from the fixed position when the component supply pallet 16 is fixed to the component supply position (referred to as an initial fixed position). So first,
The CCD camera 120 is moved to the position where the pallet reference mark 134 should originally be, and the pallet reference mark 1 is moved.
34 is imaged, and the fixed position error of this pallet reference mark 134 (the amount of deviation from the original position) ΔX _P1 ,
ΔY _P1 , ΔX _P2 , and ΔY _P2 are obtained as shown in FIG. 11 (a).

Then, these fixed position errors Δ
The difference between X _P1 , ΔY _P1 , ΔX _P2 and ΔY _P2 and the initial fixed position error ΔX _Q1 , ΔY _Q1 , ΔX _Q2 and ΔY _Q2 is the difference between the initial fixed position of the parts supply pallet 16 and the current fixed position. It will represent the deviation. In this way, the parts supply pallet 16
If the fixed position of the cartridge is displaced, the position of the cartridge 130 supported by the cartridge is displaced with respect to the base 10. However, as long as the cartridge 130 once attached to the component supply pallet 16 is still attached to the component supply pallet 16. Since the positional relationship between the cartridge reference mark 132 and the pallet reference mark 134 does not change,
By correcting the initial fixed position error of each cartridge 130 based on the deviation amount of the fixed position obtained by imaging the two pallet reference marks 134, the current mounting position error of each cartridge 130 (from the originally desired position) Deviation amount) can be obtained.

When the component supply pallet 16 is again fixed to the component supply position on the base 10, if all the cartridge reference marks 132 are imaged again, the position error of the cartridge 130 can be obtained. Takes. On the other hand, the pallet reference mark 134
When the mounting position error of the cartridge 130 is corrected based on the difference of the fixed position errors of the above, it is only necessary to image the two pallet reference marks 134, and the mounting position error of many cartridges 130 can be quickly corrected. Can be done.

Specifically, two pallet reference marks 1
Fixed position error ΔX _P1 , ΔX _P2 in each X-axis direction of 34
From the average value (ΔX _P1 + ΔX _P2 ) / 2 of the initial fixed position errors ΔX _Q1 and ΔX _Q2 (ΔX _Q1 + ΔX _Q2 ) / 2
Is subtracted, and the amount of deviation of the current fixed position of the component supply pallet 16 from the initial fixed position is the correction amount Δ in the X-axis direction.
Calculated as X _D. In the X-axis direction, the correction amount for all the cartridge reference marks 132 is uniform, so that the mounting position error ΔX _{Cn in} the X-axis direction of each cartridge reference mark 132 stored in the RAM is corrected by this correction amount. RAM as the mounting position error ΔX _Cn ′ of each cartridge reference mark 132 in the X-axis direction this time
Stored in. When the component supply pallet 16 is retracted to the retreat position next time, a new mounting position error is calculated in the same manner. Therefore, the initial mounting position error ΔX is calculated.
_Cn is left in RAM.

As described above, the correction amount in the X-axis direction is uniform for all the cartridge reference marks 132, while in the Y-axis direction, each cartridge reference mark 1 is corrected.
The correction amount for 32 is different. These correction amounts are obtained as follows. As shown in FIG. 11 (b), the two pallet reference marks 134 that were originally at the positions marked with a circle are shown.
If this time, the correction amount of each cartridge reference mark 132 in the Y-axis direction is a linear expression y =
It is obtained from {(ΔY _D2 −ΔY _D1 ) / L} · x + ΔY _D1 . However, ΔY _D1 = ΔY _P1 −ΔY _Q1 , ΔY _D2 = ΔY _P2
-ΔY _Q2 , L is two pallet reference marks 134
Is the distance in the X-axis direction. This linear expression is obtained with a position where the pallet reference mark 134 is not displaced in the Y-axis direction as an origin and one pallet reference mark 134 as an origin in the X-axis direction.

The correction amount of each cartridge reference mark 132 in the Y-axis direction should satisfy this linear expression,
The correction amount {(ΔY _D2 −ΔY _D1 ) of each cartridge reference mark 132 in the Y-axis direction is obtained by substituting the distance D _n from one pallet reference mark 134 into this linear expression.
/ L} · D _n + ΔY _D1 is calculated. Then, the initial mounting position error ΔY _{Cn in} the Y-axis direction, which is stored in the RAM for each cartridge reference mark 132, is corrected by the above correction amount, so that the mounting position of each cartridge reference mark 132 in the Y-axis direction at this time is corrected. The error ΔY _Cn ′ is determined and stored in RAM.

After these mounting position errors ΔX _Cn ′ and ΔY _Cn ′ are obtained, the moving distance of the component mounting head 44 in both the X and Y axes is calculated based on the electronic component mounting data stored in the ROM. It Then, the calculated moving distance is corrected by the mounting position errors ΔX _Cn ′ and ΔY _Cn ′, and the electronic component 64 is taken out from each cartridge 130. The other operations are the same as the above operations.

The above description is for the case where the component supply pallet 16 has been retracted to the retracted position but the cartridge 130 has not been replaced.
When a part of 0 is replaced, the mounting position error of the replaced cartridge 130 is detected as follows. When some of the cartridges 130 are replaced, the operator inputs the numbers of the replaced cartridges 130 from an input device (not shown). Then, when the next component supply pallet 16 is advanced to the component supply position and fixed, the image of the pallet reference mark 134 is taken as described above, and then the cartridge of the cartridge 130 to which the above number is input. An image of the reference mark 132 is also taken.

The cartridge 1 which has not been replaced
The mounting position error of this time is calculated for 30 as described above, but the mounting position error of this time is calculated for the replaced cartridge 130 based on the result of imaging the cartridge reference mark 132. Also, based on the difference between the initial fixed position error and the current fixed position error of the pallet reference mark 134, each cartridge 130 that has been replaced.
It is assumed that the respective displacement amounts between the initial position and the current position at the position of the cartridge reference mark 132 are calculated, and the replaced cartridges 130 are originally attached to the component supply pallet 16 based on the displacement amounts. In this case, the mounting position error (original mounting position error) is calculated backward and replaced with the initial mounting position error stored in the RAM until then. This makes it possible to handle each replaced cartridge 130 thereafter in the same manner as the other cartridges 130 originally installed.

As described above, the electronic component 64 is the component supply pallet 1
The case in which the cartridge 130 attached to the No. 6 supplies the cartridge 130 has been described.
May be supplied by. In this case, the component take-out robot 220 takes out the electronic component 64 from the component accommodating recess 212 of the component accommodating tray 208 and places it on the component conveyor 250 in a positioned state, and the component mounting head 4
4 is an electronic component 6 positioned on the component conveyor 250
4 is adsorbed and mounted on the printed circuit board 14.

At this time, the tray reference mark 216 attached to the component accommodating tray 208 is imaged by the CCD camera 248 to detect the position error of the component accommodating tray 208, and the component take-out robot 220 moves in the X-axis and Y-axis directions. The electronic component 64 can be reliably taken out by correcting the distance. Ball screws 224, 232, Y-axis servomotor 226, X-axis servomotor 234, Y-axis slide 22 for moving the component pickup robot 220 in the X-axis and Y-axis directions.
8 and the X-axis slide 236 and the like constitute the positional deviation correcting means. Further, if a conveyor reference mark is also provided on the component conveyor 250 so that the stop position error of the component conveyor 250 can be recognized, the component mounting head 44 can reliably suck the electronic component 64.

When all the electronic components 64 accommodated in the component accommodating tray 208 have been taken out, the component accommodating tray 208 is in the arm 2 of the component ejecting robot 220.
The electronic component 64 is pushed backward by 42 so that the electronic component 64 can be taken out from the component storage tray 208 of the next stage. The guide rail 206 provided on the shelf 202 of the component supply box 200 is a component storage tray 2 in the Y-axis direction.
Since the size is longer than twice the size of 08, the component storage tray 208 without the electronic components 64 can be retracted rearward. Further, in the above description, the supply of the electronic component 64 from the component supply pallet 16 and the supply from the component supply box 200 have been described separately, but the electronic component 64 supplied from these components is mixed to mount the component mounting head. Of course, it is also possible to hold the printed circuit board 12 by 44 and mount the printed circuit board 12.

As described above, according to the present embodiment, the electronic component mounting device 18 picks up the electronic component 64 from the component supply pallet 16 and mounts it on the printed circuit board 14 by the component take-out robot 220 from the component supply box 200. Since the suction is also accompanied by the position correction based on the image pickup of the reference mark, the processing accuracy and the assembly accuracy of the constituent members of the device can be lowered, and the manufacturing cost of the device can be remarkably reduced. Cartridge 130 and component suction tool 66
The relative position error between the component accommodating tray 208 and the component suction head 244 is an accumulation of machining errors and assembly errors of an extremely large number of components. Therefore,
In order to improve the relative position accuracy, it is necessary to improve the processing accuracy and the assembly accuracy of all of the many constituent members, and it is inevitable that the manufacturing cost becomes very high. If the cumulative errors are corrected by imaging the reference marks as in (3), it is not necessary to improve the processing accuracy and the assembly accuracy of these constituent members, and the manufacturing cost can be significantly reduced.

In the present embodiment, the electronic component 64
Are supplied from both the component supply pallet 16 and the component supply box 200, which are suitable for supplying electronic components 64 having largely different properties. Further, the component supply box 200 is formed by assembling a large number of shelves 202 to the frame 204, and by changing the combination of the shelves 202, the type and number of electronic components that can be supplied by the component supply box 200 can be changed. You can
In addition, the component mounting head 44 also has various types of component suction tools 66.
Can be automatically exchanged and used, and a component holding chuck for holding a large-sized component is also provided, so that an extremely wide range of electronic components 64 can be mounted.

Furthermore, the image data of the electronic components 64 sucked and held by all the component suction tools 66 and the component holding chucks of the component mounting head 44 can be acquired all at once, and the images of the electronic components 64 can be acquired one by one. The electronic component 64 can be quickly mounted, and the electronic component 64 can be quickly mounted on the printed circuit board as compared with the case where the electronic component 64 is acquired.

Further, in this embodiment, two types of electronic component image pickup devices are provided, one for high precision and the other for medium precision, and images can be picked up with high precision according to the type of electronic component 64.

Further, in this embodiment, the component suction tool 66 itself does not rotate, and the rotation position error Δθ of the electronic component 64 is corrected by the rotation of the turntable 50. It is possible to reduce the apparatus cost because a dedicated nozzle rotating device is not required unlike the case where the rotational position error Δθ is corrected by rotating the nozzle about its own axis.

Of the twelve component suction tools 66, only the component suction tool 66 that suctions and mounts the electronic component 64 can be lowered, but the air cylinder 92 for this purpose is the entire component suction tool. 66, the air cylinder 92, the pressing member 51, and an elevating device for the pressing member 51 are provided on the component mounting head 44 so as to move together with the component suction tool 66. Whether the position 66 is in the X-axis direction or the Y-axis direction, the suction and mounting operations can be performed by the operation of the air cylinder 92 and the pressing member 51.

Furthermore, in the present embodiment, the Y-axis slide 32 of the electronic component mounting apparatus 18 and the component take-out robot 220.
The Y-axis slide 228 and the Y-axis slide 228 can be moved by two Y-axis servomotors 34 and 226, respectively, so that the Y-axis slides 228 can be moved quickly without prying or vibrating. Longitudinal Y-axis slide 32, 2
28 is moved by driving only one end in the direction perpendicular to the longitudinal direction, the Y-axis slide 3
2, 228 and the X-axis slide 38 supported by them,
Twisting or vibration based on the inertia of 236 or the like is apt to occur, and it is impossible to move at high speed. However, if both ends are driven as in this embodiment, no twisting or vibration occurs even if moved at high speed. Of.

In the above embodiment, the reference marks 1 are provided on both the component supply pallet 16 and the cartridge 130.
34 and 132 are provided, but a large number of cartridges 13 attached to one component supply pallet 16
Two typical (for example, two at both ends) cartridge reference marks 132 of 0 are replaced with pallet reference marks 134.
It can also be used as a substitute for. Unless these representative cartridges 130 are replaced, these cartridge reference marks 132 will be attached to the parts supply pallet 13.
4, the cartridge reference marks 132 can be regarded as pallet reference marks 134 fixedly provided on the component supply pallet 16. When any one of these two typical cartridges 130 is replaced, all the cartridge reference marks 132 may be imaged again.

Since it is relatively easy to attach the cartridge 130 to the component supply pallet 16 with high precision, a reference mark is provided only on the component supply pallet 16.
The mounting position error of the cartridge 130 may be obtained based on only the fixed position error of the component supply pallet 16 with respect to the base 10, and the movement distance of the component suction tool 66 may be corrected.

On the contrary, the reference mark may be provided only on the cartridge 130. In this case, the parts supply pallet 1
The cartridge reference mark 132 is read every time 6 is fixed to the component supply position on the base 10 to calculate the positional deviation amount and direction. In this case, the cartridge 130 is an electronic component holder.

FIG. 18 shows an example in which the reference mark is provided only on the cartridge. In the present embodiment, a plurality of component supply cartridges 360 (hereinafter abbreviated as cartridges 360) are mounted on the moving table 362 side by side in the X-axis direction. FIG. 24 is displayed on the moving table 362.
As shown in FIG. 3, two positioning pins 364 are erected at a distance in the Y-axis direction for each cartridge 360.
And is attached to the moving table 362.

The electronic parts in the cartridge 360 are
Like the cartridge 130, it is held on a tape to be a taping electronic component. The taping electronic component is fed on the upper surface of the cartridge body 368 shown in FIG. 20 by a predetermined pitch, and is fed to the lower side of the cover 370 rotatably attached to the tip of the cartridge body 368.

The cover film attached to the carrier tape and covering the component accommodating recess is drawn out through the slit 372 provided in the cover 370 and wound by a reel (not shown). Further, the carrier tape from which the cover film has been peeled off is sent between the cover 370 and the cartridge main body 368, and the slit 372 of the cover 370.
The electronic component in the component accommodating recess reaching the opening 374 provided on the more distal side is taken out by the component mounting head 376 shown in FIG. The position where the opening 374 is provided is the component supply position of each cartridge 360. A cartridge reference mark 378 is provided on the upper surface of the cover 370 at a position adjacent to the opening 374 in the Y-axis direction.

The moving table 362 is moved in the X-axis direction by being guided by a pair of guide rails 386 when a ball screw 384 provided on a base 382 shown in FIG. 19 is rotated by a servo motor (not shown). . As a result, one of the plurality of cartridges 360 is moved to the component take-out position whose component supply position coincides with the component suction position of the component mounting head 376.

The component mounting head 376 has a turntable 388 which can be rotated about an axis parallel to the Z-axis direction by a rotation driving device (not shown). This turntable 388 does not move in the X-axis direction and the Y-axis direction, but is rotated in the direction shown by the arrow in FIG. 18, so that the twelve component suction tools 390 attached at equal angular intervals are marked with black circles. It is sequentially stopped at 12 positions shown by. Of these 12 stop positions, the position above the cartridge 360 closest to the moving table 362 is the component suction position, the position 90 degrees apart from the component suction position is the component holding posture detection position, and further 90 degrees apart. The position is the component mounting position, and the component holding posture correction position is provided between the component holding posture detection position and the component mounting position.

Each of the twelve component suction tools 390 is supported on the turntable 388 so as to be rotatable about its own axis and vertically movable. A component suction tool elevating device is provided at each of the component suction position and the component mounting position, and the component suction tool 390 is moved up and down to suck and mount an electronic component. Further, a component suction tool rotating device is provided at the component holding posture correction position, and the component suction tool 390 is rotated around its own axis to correct the rotational position error Δθ of the component holding posture.

The cartridge reference mark 378 is read by the CCD camera 392. CCD camera 392
Is fixedly provided at a position where the center O (see FIG. 21) of the image pickup surface 394 coincides with the center of the cartridge reference mark 378 of the cartridge 360 moved to the component taking-out position.

The reading of the cartridge reference mark 378 is performed before the mounting of the electronic component on the printed circuit board is started. The plurality of cartridges 360 are sequentially moved to the component taking-out position by the movement of the moving table 362, and the respective cartridge reference marks 378 are read by the CCD camera 392. As shown in FIG. The center of the cartridge reference mark 378 may be misaligned. The cartridge reference mark 378 is provided adjacent to the component supply position, and the deviation of the cartridge reference mark 378 can be regarded as the deviation of the component supply position.

The parts supply position of the cartridge 360 (see FIG.
3, shown by black circles in FIG. 24) (for example, as shown in FIG. 22) occurs when the cartridge 360 is attached to the upper surface of the table 362 while being inclined, or as shown in FIG. Cartridge body 36
8 warpage, or as shown in FIG. 24, due to a mounting error of the positioning pin 364. 22-
As shown in FIG. 24, the positional deviation of the component supply position of the cartridge 360 is largely generated in the X-axis direction, and the positional deviation in the Y-axis direction is extremely small. If the deviation in the X-axis direction is corrected, the electronic component is surely sucked. However, there is no problem even if the Y-axis direction is not corrected.

Therefore, each positional deviation amount Δx of the cartridge reference mark 378 in the X-axis direction is calculated based on the image pickup by the CCD camera 392, and the cartridge 3
Every 60 is stored in the RAM of the computer. It should be noted that this displacement amount is backed up and not erased even when the power is turned off.

Then, when the cartridge 360 is moved to the component take-out position by the movement of the moving table 362, the positional deviation amount Δx in the X-axis direction is read, the moving distance of the moving table 362 is corrected, and the component supply position is changed. It is made to coincide with the component suction position. Therefore, even if the mounting position of the cartridge 360 is deviated, the component suction tool 390 can suction the electronic component.

After the electronic component is picked up, the holding posture of the electronic component by the component suction tool 390 is imaged at the component holding posture detection position, and the center position errors ΔX _E and ΔY in the horizontal plane.
_E and the rotational position error Δθ are calculated. The rotational position error Δθ is corrected by the rotation of the component suction tool 390, the center position errors ΔX _E , ΔY _E are corrected by the correction of the movement distance of the printed circuit board, and the electronic component is mounted at a proper position on the printed circuit board in a proper posture. To be done.

As described above, according to the electronic component delivering / receiving apparatus of the present embodiment, the cartridge reference mark 378 provided on the cartridge 360 is read in advance and the moving distance of the table 362 is corrected, so that the component supplying position of the cartridge 360 is set. Even if there is a deviation, the component suction tool 390 can suck the electronic component, and the electronic component can be reliably sucked from the beginning of the operation of the component mounting head 376.

As described above, the holding posture of the electronic component by the component suction tool 390 is imaged at the component holding posture detection position, and the center position errors ΔX _E and ΔY _E are calculated, and the cartridge reference mark 378 is calculated. If the moving distance of the moving table 362 is not corrected based on the image pickup of No. 3, the center position errors ΔX _E and ΔY _E include a positional deviation in the component supply position.
It is also possible to allow the component suction tool 390 to suck the electronic component by correcting the moving distance of 2. However, in this case, the movement table 362 is calculated by calculating the positional deviation amount from the beginning of the operation of the component mounting head 376.
While the component supply position and the component suction position remain misaligned until the movement distance of the component is corrected, and the component suction tool 390 may fail to suck the electronic component, in the present electronic component delivery device, Since the movement distance of the moving table 362 is corrected from the beginning of the mounting operation of the component mounting head 376, the component suction tool 390 does not fail to suck the electronic component.

The reading of the cartridge reference mark 378 and the calculation of the position shift amount are performed every time the cartridge 360 is replaced due to a program change accompanying the setup change or the loss of electronic parts. In this case, the position displacement amount before replacement stored in the RAM of the computer is cleared and a new position displacement amount is stored.

Further, since the positional deviation amount Δx of the cartridge reference mark 378 is not cleared even when the power supply of the apparatus is turned off, when the next electronic component is mounted from the previous continuation, It is not necessary to take an image of the cartridge reference mark 378 to calculate the positional deviation amount, and the mounting of electronic components can be started quickly.

As is clear from the above description, in this embodiment, the cartridge 360 constitutes an electronic component holder, the component mounting head 376 constitutes an electronic component receiving device, and the CCD camera 392 constitutes a reading means. However, the moving table 362, the ball screw 384, a servo motor (not shown), and the like constitute the positional deviation correcting means.

The reference mark is the cartridge 13
Not only the 0, 360 and the component supply pallet 16, but also the component suction tool holding device 252 is provided with a reference mark, and the component suction tool 6 is provided.
The positioning accuracy at the time of replacement of 6 may be improved.

Although the component mounting head 44 is moved in the above embodiment, the electronic component image pickup device may be moved to image the electronic component 64.

Further, in the above embodiment, all the data picked up by the line sensor is stored in the image memory, and the data of the parts other than the electronic parts 64 are also stored. Also, it is possible to store only the data in a certain area centered on the component holding chuck in the image memory, thereby reducing the required storage capacity of the image memory.

Further, in the above embodiment, two types of electronic component image pickup devices having different image pickup accuracy were provided.
It is not essential to provide a type, and only one type may be provided.

Further, in the above embodiment, the component suction tool 6
6 is provided on the component mounting head 44 on one circumference centered on the rotation axis of the turntable 50.
A component provided with an arbitrary arrangement of component suction tools, such as a case where the components are arranged in a row only in the X-axis direction or the Y-axis direction, or a case where a plurality of columns are arranged in the X-axis direction and the Y-axis direction. The present invention can also be applied to a device that images an electronic component held by a mounting head.

Furthermore, in the above embodiment, the Y-axis servo motor 34 and the X-axis servo motor 40 constituting the moving devices 35 and 42 are both AC servo motors, but pulse motors may be used.

Although the electronic component 64 is imaged by the image pickup device having the line sensor in the above embodiment, it may be picked up by the image pickup device 302 having the CCD camera 300 as shown in FIG. This imaging device 302
Like the high-precision electronic component image pickup device 190 and the medium-precision electronic component image pickup device 192, it has an ultraviolet ray irradiation device for irradiating ultraviolet rays and two types of filters, and the light emitting plate of the component suction tool absorbs ultraviolet rays. The projected image of the electronic component is formed by irradiating visible light with the light. The CCD camera 300 has an imaging surface sufficient to image all the electronic components 64 held by the component mounting head 44, and the component mounting head 44 captures the electronic components 64 and then the camera 300.
When the electronic components 64 are stopped while moving upward, all the electronic components 64 are imaged at once, and the rotational position error and the central position error are calculated based on the imaging result.

Further, in each of the above-mentioned embodiments, the parts supply pallet 16 is only capable of advancing and retreating, but it is also possible to change the mode of movement. For example, as shown in FIG. 13, two or three component supply pallets 306
Two component supply pallet groups each including (including two component supply pallets for each group in the component supply pallet group shown in FIG. 13), and each component supply pallet 306 in each group is moved. It moves in a circular direction in one direction as indicated by the arrow. By doing so, it is possible to perform the setup change work for the other component supply pallets 306 while supplying the electronic components from the total of two component supply pallets 306, one for each group.

Further, as shown in FIG. 14, two component supply pallets 310 are provided on one side of the board conveyor 12.
While allowing the component supply pallets 310 to move in the X-axis direction, the component supply pallets 312 may be provided on the other side of the substrate conveyor 12 in a fixed position. In this case, the high precision electronic component image pickup device 314 and the medium precision electronic component image pickup device 316 are also provided between the component supply pallet 312 and the board conveyor 12. In this way, the board conveyor 12
If the component supply pallets are provided on both sides of the above, the types of electronic components 64 that can be supplied can be increased.

Further, when the component supply pallets are provided on both sides of the board conveyor, two board conveyors 320 may be provided in parallel as shown in FIG. In this way, the printed circuit board 1 is moved by the one substrate conveyor 320.
It is possible to mount the electronic components on the printed circuit board 14 positioned and supported by the other substrate conveyor 320 while the 4 is being conveyed, or it is possible to mount the electronic components on the two printed circuit boards 14 at the same time. Can be improved. Further, in this case, the component supply pallet 322 that moves in the X-axis direction on the side of the one board conveyor 320.
A circulating component supply pallet 324 is provided, and a component supply pallet 326 that moves in the X-axis direction is provided on the other substrate conveyor 320 side.

In this case, two component mounting heads are provided, and each component mounting head has a component supply pallet 322, 3 respectively.
It is also possible to receive the electronic components from 24 and 326 and mount the electronic components 64 in parallel on the two printed boards that are respectively conveyed by the two board conveyors 320.

Furthermore, as shown in FIG. 16, two board conveyors 330 are provided, two groups of circulation type component supply pallets 332 are provided adjacent to one board conveyor 330, and adjacent to the other board conveyor 330. A pair of component supply pallets 334 that move only in the X-axis direction may be provided.

Further, as shown in FIG. 17, a component supply pallet 342 fixed to one side of the board conveyor 340,
A circulating component supply pallet 344 may be provided, a fixed component supply pallet 346 may be provided on the other side, and a component supply box 348 may be provided adjacent to the component supply pallets 342 and 344 in the Y-axis direction.

In addition to these, the number and arrangement of the board conveyer, the fixed position component supply pallet, the circulation type component supply pallet, the component supply pallet which moves only in one direction, and the component supply box are various according to the purpose. Can be combined with. A large number of types of electronic component delivery devices, including the electronic component delivery devices of FIGS. 13 to 17, can be produced by mass-producing a plurality of types of unit blocks and appropriately combining them.
It is possible to obtain a series of electronic component delivery devices with a high degree of freedom that can meet various requests.

Further, in each of the above-mentioned embodiments, the illumination at the time of picking up an image of the electronic component is performed by the light emitting plate provided in the component suction tool absorbing the ultraviolet ray and emitting the visible ray.
Illumination may be performed in other modes. For example, a component adsorbing tool is provided with a light emitting plate that has a light emitting diode and emits light and a diffuser plate that diffuses the light to illuminate the electronic components.

In addition, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art without departing from the scope of the claims.

[Brief description of drawings]

FIG. 1 is a plan view showing an electronic component mounting apparatus provided with an electronic component delivery device according to an embodiment of the present invention.

FIG. 2 is a front cross-sectional view showing a component mounting head of an electronic component mounting device that constitutes the electronic component delivery device.

FIG. 3 is a view showing a hose pipe for supplying a vacuum to a component suction tool of the component mounting head.

FIG. 4 is a plan view showing the arrangement of component suction tools in the component mounting head.

FIG. 5 is a plan view showing a component supply pallet that constitutes the electronic component delivery device.

FIG. 6 is a perspective view showing a component supply box of the electronic component mounting apparatus.

FIG. 7 is a perspective view showing a part of a component supply tray accommodated in a shelf that constitutes the component supply box.

FIG. 8 is a front view showing a part of the shelf.

FIG. 9 is a block diagram showing a control device that controls the electronic component mounting apparatus.

FIG. 10 is a diagram for explaining detection of a fixed position error of the component supply pallet itself and a mounting position error of the cartridge on the component supply pallet.

FIG. 11 is a diagram illustrating calculation of a correction amount of a mounting position error of a cartridge according to a change in a fixed position error of the component supply pallet.

FIG. 12 is a plan view showing an electronic component mounting device in which the electronic component imaging device is composed of a CCD camera.

FIG. 13 is a diagram showing another aspect of the electronic component delivery device.

FIG. 14 is a diagram showing another aspect of the electronic component delivery device.

FIG. 15 is a diagram showing another aspect of the electronic component delivery device.

FIG. 16 is a diagram showing another aspect of the electronic component delivery device.

FIG. 17 is a diagram showing another aspect of the electronic component delivery device.

FIG. 18 is a plan view schematically showing an electronic component delivery device according to another embodiment of the invention of claim 1.

FIG. 19 is a side sectional view of the electronic component delivery device shown in FIG. 18.

20 is a perspective view showing a front end portion of a component supply cartridge of the electronic component delivery device shown in FIG. 18 together with a CCD camera.

21 is a diagram showing a state in which a cartridge reference mark of a component supply cartridge of the electronic component delivery device shown in FIG. 18 is imaged by a CCD camera.

22 is a diagram for explaining the cause of the deviation of the component supply position of the component supply cartridge of the electronic component delivery device shown in FIG.

23 is a diagram for explaining another cause of the displacement of the component supply position of the component supply cartridge of the electronic component delivery device shown in FIG.

FIG. 24 is a diagram for explaining still another cause of the displacement of the component supply position of the component supply cartridge of the electronic component delivery device shown in FIG. 18.

[Explanation of symbols]

16 Component Supply Pallet 18 Electronic Component Mounting Device 35 Y-axis Direction Moving Device 42 X-axis Direction Moving Device 44 Component Mounting Head 64 Electronic Component 66 Component Adsorption Tool 120 CCD Camera 130 Component Supply Cartridge 132 Cartridge Reference Mark 134 Pallet Reference Mark 200 Component Supply Box 208 Component storage tray 216 Tray reference mark 220 Component removal robot 224 Ball screw 226 Y-axis servo motor 228 Y-axis slide 232 Ball screw 234 X-axis servo motor 236 X-axis slide 248 CCD camera 260 Controller 306, 310, 312, 322 , 324, 326, 3
32,334,342,344,346 Component supply pallet 348 Component supply box 360 Cartridge 362 Moving table 376 Component mounting head 378 Cartridge reference mark 384 Ball screw 392 CCD camera

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuo Muto 19 Chasuyama, Yamamachi, Chiryu-shi, Aichi Fuji Machinery Manufacturing Co., Ltd. Machine Manufacturing Co., Ltd.

Claims (2)

[Claims] 1. An electronic component holder for holding a large number of electronic components, a reference mark provided on the electronic component holder, an electronic component receiving device for receiving the electronic component from the electronic component holder, and the reference. An electronic component comprising: a reading unit that reads the mark; and a position shift correcting unit that corrects a shift in the relative position between the electronic component receiving device and the electronic component holder based on the reading result of the reading unit. Delivery device. 2. The electronic component holder holds a large number of electronic components, and a plurality of component supply cartridges for supplying one electronic component to a predetermined position are fixed to a common support member, The electronic component delivering / receiving apparatus according to claim 1, wherein the reference marks are provided at a plurality of locations separated from each other on the support member.