JPH07312499A - Automatic device mounter - Google Patents

Abstract

PURPOSE:To reduce trouble in the high speed mounting of device when the lag of cycle time after output of a moving table starting signal before actual start of movement is shortened. CONSTITUTION:A start signal is delivered from a cam positioner 39 according to the angular position thereof for every range of cycle time stored in a RAM 35. The start signal is delivered at an early angular position for a short cycle time so that the starting timing of a motor 9 or the like is not delayed thus ensuring a movable time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component for mounting an electronic component picked up by a mounting head from a component supply unit positioned by the movement of a movable table by rotation of a rotary table having the head and mounting it on a printed circuit board. The present invention relates to an automatic mounting device.

[0002]

2. Description of the Related Art An automatic electronic component mounting apparatus of this type is disclosed in Japanese Patent Laid-Open No.
Japanese Unexamined Patent Publication No. 94500 discloses that a moving table provided with a large number of component supply units moves in the arrangement direction of the units and a plurality of mounting heads provided on the periphery of the rotary table move up and down to obtain a desired position. The technique of picking up parts from the unit, carrying them by intermittent rotation of the rotary table, and mounting them on a printed circuit board is disclosed.

The movable table moves at every intermittent rotation of the rotary table, and the movement can be started after the component is adsorbed by the mounting head from the component supply unit and the head rises to a certain height. At the position, the component or the mounting head hits the component supply unit. The vertical movement of the head is performed during one rotation of the cam rotated by the motor that drives the intermittent rotation of the rotary table.
Since that position is specified by one rotation angular position of this cam, a cam positioner that constantly detects the angular position of this cam is provided, and when the angular position at which this movement should be started is detected, the CPU A technique of outputting a movement command pulse to start rotation of a motor is usually used.

Also, when the mounting head mounts an electronic component on the printed circuit board, the head moves up and down, and this up and down motion also occurs during one rotation of the cam by the cam rotated by the motor driving the intermittent rotation of the rotary table. To be done. In this case as well, the same thing as when picking up electronic components can be said, and the horizontal movement of the printed circuit board must be started and stopped at the predetermined angular position of the cam, and this angular position was detected. XY where the CPU 34 sometimes places the printed circuit board
It outputs the movement command pulse of the motor that drives the table.

[0005]

However, in the above-mentioned prior art, as shown in FIG. 4, the cam positioner detects the angular position at which the movement should start and the movement start signal pulse is output before the actual movement of the motor. It takes time, and the motor starts to rotate with a delay. This delay time is a delay that can be ignored when the cycle time, which is the time required for one intermittent rotation of the rotary table, is long to some extent, but it is attempted to shorten this cycle time in order to increase the component mounting speed. Then, it becomes a non-negligible time, and even if the cycle time is shortened, the movable table on which the component supply unit is mounted or the movable table which is the XY table on which the printed circuit board is mounted can be moved only for the time excluding this time. However, there is a drawback in that the reduction of the cycle time hinders the speeding up of component mounting.

Therefore, an object of the present invention is to reduce obstacles to high-speed component mounting when the cycle time is shortened due to a delay from the time when the movement start signal of the movable table is output to the time when the movement is actually started. .

[0007]

Therefore, according to the present invention, there is provided a rotary table having a plurality of mounting heads on its periphery which are intermittently rotated by an index mechanism driven by a rotary table drive motor, and the rotary table for taking out electronic parts. A vertical movement means for moving the head up and down by rotation of a cam that rotates once for each intermittent rotation of the table by a drive motor, and a plurality of component supply units for supplying electronic components are arranged, and the rotary table is arranged in the arrangement direction. Moving table different from the driving motor A moving table driven by a driving motor to reciprocate to supply a desired component to position the unit at a position where an electronic component can be taken out by the head, and between one rotation of the cam. A detection means for detecting the angular position, and a rotation of the movable table drive motor based on the angular position detected by the detection means. The rotary table is provided with an electronic component taken out from a component supply unit positioned by a moving table that starts moving by the command signal of the command means for each intermittent rotation of the rotary table. Determining means for determining the angular position at which the signal of the command means should be output in accordance with the intermittent rotation speed of the rotary table, in the electronic component automatic mounting device that conveys and mounts on the printed circuit board by the rotation of The control means is provided to control the command means so as to output a rotation start command signal when the detecting means detects the angular position determined by the means.

The present invention also provides a rotary table having a plurality of mounting heads on its periphery which are intermittently rotated by an index mechanism driven by a rotary table drive motor, and the rotary table drive motor intermittently drives the table to take out electronic parts. A vertical movement means for moving the head up and down by rotation of a cam that rotates once for each rotation, and a plurality of component supply units for supplying electronic components, and a moving base different from the rotary table drive motor in the arrangement direction. A movable base driven by a drive motor to reciprocate to supply a desired component to position the unit at a position where an electronic component can be taken out by the head, and a detection unit for detecting an angular position during one rotation of the cam. And outputting a rotation start command signal for the movable table drive motor based on the angular position detected by the detection means. The rotary table conveys the electronic components taken out by the head from the component supply unit which is positioned by the moving table which starts to move by the command signal from the command means for each intermittent rotation of the rotary table. In an electronic component automatic mounting apparatus for mounting on a printed circuit board by means of a rotary table, a storage means for storing the angular position to output the signal of the command means for each of a plurality of speed ranges of intermittent rotation of the rotary table A control means is provided for controlling the command means so as to output a rotation start command signal when the detecting means detects the angular position stored in the storage means in accordance with the speed of intermittent rotation.

Further, according to the present invention, the rotary table driving motor drives the rotary table intermittently to rotate intermittently through the index mechanism and has a plurality of mounting heads on the periphery thereof, and the rotary table driving motor for mounting electronic parts on a printed circuit board. Vertical movement means for moving the head up and down by rotation of a cam that rotates once for each intermittent rotation of the table, and a movable base drive motor different from the rotary table drive motor on which a printed circuit board on which electronic components are mounted is placed. When the movable base is driven to move and is positioned at a desired position, detection means for detecting an angular position during one rotation of the cam, and the angular position detected by the detection means is a predetermined angular position. Commanding means for outputting a rotation start command signal for the movable table drive motor, and for each intermittent rotation of the rotary table. In the electronic component automatic mounting apparatus for transporting and mounting the electronic component held by the head by the rotation of the rotary table on the printed circuit board positioned by the moving table started by the command signal of the command means, the rotary table is intermittently mounted. Determining means for determining the angular position at which the signal of the commanding means should be output according to the speed of rotation, and outputting a rotation start command signal when the detecting means detects the angular position determined by the determining means. A control means for controlling the command means is provided.

Further, according to the present invention, the rotary table driving motor drives the rotary table intermittently to rotate through an index mechanism and has a plurality of mounting heads on the periphery, and the rotary table driving motor for mounting electronic parts on a printed circuit board. Vertical movement means for moving the head up and down by rotation of a cam that rotates once for each intermittent rotation of the table, and a movable base drive motor different from the rotary table drive motor on which a printed circuit board on which electronic components are mounted is placed. When the movable base is driven to move and is positioned at a desired position, detection means for detecting an angular position during one rotation of the cam, and the angular position detected by the detection means is a predetermined angular position. Commanding means for outputting a rotation start command signal for the movable table drive motor, and for each intermittent rotation of the rotary table. In the electronic component automatic mounting apparatus for transporting and mounting the electronic component held by the head by the rotation of the rotary table on the printed circuit board positioned by the moving table started by the command signal of the command means, the rotary table is intermittently mounted. Storage means for storing the angular position at which the signal of the command means should be output for each of a plurality of speed ranges of rotation, and the angular position stored in the storage means according to the intermittent rotation speed of the rotary table. The control means is provided to control the command means so as to output the rotation start command signal when the above is detected.

[0011]

According to the structure of the present invention, when the detecting means detects the angular position at which the signal of the instructing means, which corresponds to the intermittent rotation speed of the rotary table determined by the determining means, should be output, the instructing means controls the controlling means. Control is performed to output a rotation start command signal for driving a moving base drive motor that moves the moving base on which the component supply unit is mounted.

According to the second aspect of the present invention, the control means controls the angular position stored in the storage means for each intermittent rotation speed range of the rotary table from the angular position stored according to the intermittent rotation speed of the rotary table. When the detection means detects, the command means controls to output a rotation start command signal for driving a moving base drive motor for moving the moving base on which the component supply unit is mounted.

According to the third aspect of the invention, the control means is arranged so that when the detection means detects the angular position at which the signal of the command means corresponding to the intermittent rotation speed of the rotary table decided by the decision means is detected by the detection means. Control is performed so as to output a rotation start command signal for driving a moving base drive motor that moves the moving base on which the printed circuit board is placed. According to the structure of claim 4, the control means detects the angular position matched with the intermittent rotation speed of the rotary table from the angular position stored for each intermittent rotation speed range stored in the storage means. When it is detected, the command means controls to output a rotation start command signal for driving a moving base drive motor for moving the moving base on which the printed circuit board is placed.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. In FIG. 2 and FIG. 3, reference numeral 1 denotes a Y table which moves in the Y direction by rotation of the Y axis motor 2, and 3 indicates movement in the X direction on the Y table 1 by rotation of the X axis motor 4. As a result, an XY table that moves in the XY directions, and a printed circuit board 6 on which a chip-shaped electronic component 5 (hereinafter, referred to as a chip component or a component) is mounted is fixedly mounted on a fixing unit (not shown).

Reference numeral 7 is a supply table as a moving table, and a large number of component supply devices 8 for supplying the chip components 5 are arranged. Reference numeral 9 denotes a supply base drive motor, and by rotating the ball screw 10, the supply base 7 is guided by the linear guide 12 via a nut 11 fitted to the ball screw 10 and fixed to the supply base 7. Move in the direction. Reference numeral 13 denotes a rotary table that rotates intermittently, and mounting heads 15 having a plurality of suction nozzles 14 as take-out nozzles are arranged on the outer edge of the table 13 at equal intervals according to the intermittent pitch.

Reference numeral I denotes a suction station where the suction nozzle 14 stops the mounting head 15 for picking up and picking up the component 5 from the supply device 8 by intermittent rotation of the rotary table 13. Adsorb 5 16 is a component 5 that the suction nozzle 14 sucks
This is a component recognition device for recognizing the positional shift of the component 5 by imaging the lower surface of the component 5 with a camera in a predetermined visual field range and recognizing the imaged screen, and is provided in the recognition station II.

Next mounting head 1 of recognition station II
The position where 5 is stopped is the angle correction station III, and the angle amount for correcting the angular position deviation of the chip component 5 due to the recognition result of the recognition device 16 is added to the predetermined angle amount shown in the mounting data (not shown). The head rotating device 17 rotates the mounting head 15 in the θ direction by an amount. The θ direction is the direction of rotation around the axis of the nozzle 14.

The next stop position after the angle correction station III is the mounting station IV, and the component 5 to be picked up by the suction nozzle 14 of the station IV on the board 6.
Are mounted by lowering the mounting head 15. Reference numeral 20 denotes an up-and-down rod that moves up and down, and a swing lever 21 of the component supply device 8
The component storage tape (not shown) in which the chip component 5 is enclosed at a predetermined interval is engaged with and swung, and the chip component 5 is supplied to the component suction position of the suction nozzle 14 by intermittently feeding in accordance with the space. 22 is a tape reel around which the component storage tape (not shown) is wound.

The mounting head 15 is attached to a lower end portion of a shaft 24 which penetrates the rotary table 13 in a vertically movable manner, and a roller attachment body 25 is attached to an upper portion of the shaft 24. The rotary table 13 is rotatably suspended below the base 26, and a cylindrical cam 27 is formed around the base 26 so as to project in the circumferential direction. The mounting body 2
A pair of rollers 28 attached to the upper and lower sides of 5 are sandwiched by the biasing means (not shown), and the mounting head 15 moves vertically along the cam 27 as the rotary table 13 rotates.

In the suction station I and the mounting station IV, the cylindrical cam 27 is cut out, and in this portion, the position where the roller 28 can be transferred from the cam 27 is the upper limit and the vertical position. A vertically movable body 29 that is movable is provided. By lowering the vertical moving body 29, the mounting head 15, that is, the suction nozzle 14 is lowered, and in the suction station I, the chip component 5 supplied by the component supply device 8 can be taken out by vacuum suction, and it is raised and transferred to the cam 27. It is made possible to move to the station. In the mounting station IV, the chip component 5 is lowered to mount the chip component 5 on the printed circuit board 6 and is raised to be moved to another station.

The vertical movement of the vertical moving body 29 is performed once for each intermittent rotation of the rotary table 13. The rod 30 to which the vertical moving body 29 is attached is attached to the suction stage.
The cams (not shown) provided in each of the section I and the mounting station IV move up and down once by one rotation. The cam is formed so that the head 15 can be moved up and down at respective timings in the adsorption station I and the mounting station IV, but the rotation thereof causes the rotary table 13 to rotate intermittently, which will be described later.
It is driven by two rotations. Rotary table 13
The intermittent rotation is realized by an index unit (not shown), and the rotary table 13 is connected to the output shaft of the index unit. The cam for moving the head 15 up and down makes one revolution during one revolution of the input shaft of the index unit, and one revolution thereof is completely synchronized with one revolution of the intermittent rotation of the rotary table 13. One cycle of this intermittent rotation, that is, a period in which the mounting head 15 moves up and down is called one cycle, and the time of this one cycle is called a cycle time.

The up-and-down movement of the elevating rod 20 is also performed during one cycle, and a cam (not shown) is driven by the index motor 32 and is rotated once during one rotation of the input shaft of the index unit. . Next, a control block of the electronic component automatic mounting apparatus of the present embodiment will be described with reference to FIG.

Reference numeral 34 is a CP as command means and control means.
U, which controls various operations relating to mounting of the chip component 5 in accordance with programs stored in the ROM 36 based on various data stored in the RAM 35. An interface 37 connects the CPU 34 and various control elements. A drive circuit 38 drives the index motor 32. Reference numeral 39 denotes a cam positioner as a detecting means for detecting the rotation angle of the input shaft of the index unit (not shown). The origin of the rotation is 0 degree, the rotation angle position between one rotation and 360 degrees is detected, and the CPU 34 is detected. The detected angle is output at predetermined angular intervals. Therefore, the mounting position 15 of the mounting head 15 or the mounting station is moved by the cam positioner 39.
The rotation angle position of the cam that moves up and down in Option IV will be detected.

Reference numeral 40 is a supply base drive circuit for driving the supply base drive motor 9, 41 is an X drive circuit for driving the X axis motor 4, and 42 is a Y drive circuit for driving the Y axis motor 2. Although the motor 9 is a servomotor, it rotates according to the command waveform output from the drive circuit 9. The command waveform output from the drive circuit 9 is trapezoidal as shown in FIG. 4, but in FIG. 4, the horizontal axis represents time and the vertical axis represents the rotation speed of the motor. The motors 2 and 4 are also driving circuits 42 and 4 thereof.
1 drives with a similar waveform.

When the CPU 34 receives a signal of the angular position in one predetermined cycle output from the cam positioner 39 (a pulse described as a start signal shown in the upper graph of FIG. 4), the lower graph of FIG. A movement command as a rotation start command signal is output to the drive circuit 40 or the like so as to output the command waveform of. That is, in the RAM 35, the supply table movement command memory 43 and the XY movement command memory 4 are provided.
4 is provided and the angular position set in the memories 43 and 44 causes the CPU 34 to drive the supply table drive motor 9 and the supply table drive circuit 40 or the X-axis motors 4 and Y.
Y drive circuit 42 and X drive circuit 4 for driving the shaft motor 2
The CPU 34 always compares the angular position of the memory 43 with the angular position detected by the cam positioner 39, and outputs a movement command signal when the angular position is 1 for outputting the movement command. The start signal is a signal output from the cam positioner 39 indicating the angular position set in the memories 43 and 44. From the output of the start signal to the output of the command waveform from each drive circuit, an unavoidable delay time such as calculation time in the CPU 34 (t1 in FIG. 4).
Occurs, and there is an unavoidable delay time (t2 in FIG. 4) from the output of the command waveform to the actual start of the motor 9 and the like. Therefore, the motor 9 and the like rotate with the waveform shown in FIG. 4 which is delayed from the trapezoidal waveform, and the actual stop time is also delayed after the command waveform ends.

FIG. 5 shows the cam positioner 39 during one cycle.
The state of various operations relating to component mounting at the angular position detected by the so-called cam curve is shown. As shown in "index rotation", the rotary table 1
The rotation of 3 is performed between 0 degrees and 180 degrees, and the rotary table 13 is stopped between 180 degrees and 360 degrees. The operation of the "chip pick-up" shows the vertical movement of the mounting head 15 in the adsorption station I. The mounting head 15 moves between 180 degrees and 360 degrees.
Shows that the graph descends to maintain the descending state and rises as the graph descends from the top to the bottom, and when this descends, the chip component 5 is adsorbed. "Chip mount"
Is the mounting head 15 in the mounting station IV.
It shows the state of vertical movement of the chip component, and the chip component 5 is mounted on the printed circuit board 6 when the line descends. The operation of "move parts supply section" indicates the movement of the supply table 7, and
This indicates that the movement can be started from the angular position of the point and the movement must be completed at the angular position of the tip of the arrow. As described above, since this operation is not linked to the rotation of the index motor 32 by the cam, the predetermined angular position is detected by the cam positioner 39, and the CPU
34 must issue a move order. The CPU 34 issues a command to the drive circuit 40 by determining a command waveform in accordance with the cycle time at that time so that the motor 9 stops at the position where it should stop. However, this decision must be made in advance for the next cycle before the point A is reached. This is because if the time required for such a determination is required, it will take more time until the command waveform is output.

The operation of "X / Y table movement" shows the movement of the X-axis motor 4 and the Y-axis motor 2, but it is the same operation as the movement of the component supply unit, and the angular position of the point B (the present embodiment). In the example, it is possible to move from 0 degree) and the movement must be completed within 180 degrees. The cam positioner 39 sends a movement command from the CPU 34
When detecting the angular position of the point or the B point, that is, when the cam positioner 39 detects the angular position of the A point or the B point stored in the memory 43 or the memory 44, the CPU 34 issues a movement command. In this case, the above-mentioned delay times t1 and t2 are 5 to 6 milliseconds, respectively, and when the cycle time is long, there is no problem because the time that can be used for movement can be long even if there is a delay time, but when the cycle time becomes short, The ratio of this delay time to the time available for movement in the cycle time increases and the cycle time cannot be shortened in many cases. Therefore, when the angular position in which the delay time is expected is detected, the start signal shown in FIG. 4 is output so that the actual movement of the motor 9 or the like is started without delaying as much as possible from the movable angular position such as point A. Will be required.
Therefore, as shown in FIGS. 6 and 7, the RAM 35 stores the angular position of the start signal to be output by the cam positioner 39 according to the cycle time, and the angular position is selected according to the cycle time. The memory 43, 4
When the cycle time is short, the start signal is output at an angular position that is earlier than the angular position at which the movement should actually be started.

The RAM 35 stores the mounting data shown in FIG. 8 and the component library data shown in FIG. In the mounting data, the step number indicates the component mounting order, the reel number indicates the position on the supply base 7 where the component supply device 8 for supplying the component 5 of the component type to be taken out is arranged,
In addition, the component type and mounting position data are stored.
When the component type is specified, the cycle time determined for each component type is read from the component library data, and the cycle corresponding to each mounting head 15 that attempts to pick up the component 5 and the head 15 that picks up the component 5 is read. The longest cycle time is selected, and the operation of the next one cycle is controlled by this cycle time.

The operation will be described below with the above configuration. First, an operation unit (not shown) is operated to start automatic operation of mounting operation of the chip component 5 of the electronic component automatic mounting apparatus. That is, step number 1 in the mounting data of FIG.
Data of the CPU 34 is read out from the data of the component type.
Determines that the cycle time is 0.4 seconds and rotates the index motor 32 at a speed corresponding to the cycle time.

Next, during the cycle before the start of 0 degree of the cycle of step number 1, the movement command memory 43 is set to 357 degrees (angle position of point A in FIG. 5) shown in FIG. When the cam positioner 39 detects 357 degrees, C
Since the PU 34 is compared with the memory 43 and coincides with each other, a movement command is output to the drive circuit 40 and the drive circuit 40 outputs a drive waveform. In this way, the rotation of the motor 9 causes the supply base 7 to move and stop before the angular position at which it should be stopped.
The component supply device 8 stops at the take-out position of the component 5.

Next, since the cam (not shown) is rotated by the rotation of the index motor 32, the rod 30 descends, the chip component 5 is adsorbed, and the mounting head 15 rises. During this period, the CPU 34 reads the next step number, and if the cycle time is also 0.4 seconds, it is read in the memory 43 as well.
When the cam positioner 39 outputs 357 degrees, the CPU 34 determines that it matches the memory 43 and issues a movement command for moving the component supply device 8 of reel number 2 to the component suction position. 357 of the cam positioner 39 which is a start signal as shown in FIG.
Output of the command waveform from the drive circuit 40 is started t1 seconds after the frequency signal is issued, and the motor 9 actually starts rotating and the supply base 7 starts moving t2 seconds after that.
Stop by the time it should be stopped.

During this time, the mounting head 15 which has adsorbed the component 5 of step number 1 is raised and the roller 28 is moved by the cylindrical cam 2.
7 becomes possible, and when 0 degree of the next cycle is passed, the rotary table 13 starts rotating and the mounting head 1
5 moves to the next station. Next, the chip component 5 of step number 2 is adsorbed.

Next, when the component 5 is sucked in this way and the cycle time of the next step number is 0.25 seconds, 345 degrees is set in the memory 43 and the cam positioner 39 outputs 345 degrees. Then, the CPU 34 determines that it matches the memory 34 and outputs a movement command. Three
The output of the command waveform is started from the drive circuit 40 t1 seconds after the output of 45 degrees, which is point A in FIG.
The supply table 7 can start moving with a delay less than the angular position of 7 degrees.

Next, when the current cycle time is 0.15 seconds and the next cycle time is 0.15 seconds, 339 degrees is set in the memory 43, and when the cam positioner 39 detects 339 degrees, the CPU 34 When it is determined that it matches the memory 43, a movement command is output, and the drive circuit 40 starts outputting the command waveform. Thus, the supply table 7 can be moved with less delay than the angular position of the point A. When the start signal is output at 357 degrees when the cycle time is 0.15 seconds, the ratio of the movable time to the cycle time decreases, and the acceleration must be greatly increased accordingly. Although the vibration and the like of 7 become too large, such a problem does not occur.

In this way, when the component 5 is sucked by the suction station I and moved to the mounting station IV by the rotation of the rotary table 13, for example, in the case of step number 1, the cycle time is 0. Since it is 4 seconds, it is 0 during the cycle time before the data of FIG.
Degree is set in the XY movement command memory 44, and when the cam positioner 39 detects 0 degree, the CPU 34 sets the memory 4
4, the CPU 34 determines that the drive circuits 41, 42
To the X-axis motor 4 and the Y-axis after a delay as shown in FIG. 4 is issued from the drive circuits 41 and 42.
The shaft motor 2 rotates with a delay. Since the cycle time is long, the delay has little effect. Moreover, since the cycle time is long, the components of the substrate 6 on the XY table 3 are temporarily fixed to the adhesive and do not receive much inertial force.
The table 3 is moved.

Next, in the cycle having a cycle time of 0.25 seconds, the detection of 348 degrees of this cycle is set in the memory 44 from the data of FIG. 7 and when the cam positioner 39 detects 348 degrees of the previous cycle. When the CPU 34 determines that the angular position of the memory 44 coincides, a movement command for the next cycle is issued and the XY table 3 can move. Four
Is started and the XY table 3 is moved. In this way, the time during which the XY table 3 can move in the next cycle is sufficiently long, and after the cam positioner 39 detects 0 degree, C
This enables movement in a state in which the ratio of the movable time is large as compared with the case where the PU 34 judges the coincidence with the memory 44 and outputs the movement command.

For example, in an extreme case, when the delay time (t1 + t2) shown in FIG. 4 becomes 1/2 of the maximum movable time, if the delay time is taken into account and a start signal is output early, it will be doubled. If time is taken and movement is performed with the same acceleration, the movable distance is doubled, and the effect is increased. By doing so, in the high speed region of the index motor 32, the acceleration, that is, the vibration due to the drivable time UP of the supply base drive motor 9 or the like can be reduced, and in the low speed region of the motor 32, the high speed region is adapted. With the above timing, it is possible to solve the problem that the operation becomes unstable due to the timing deviation and the operation becomes stable.

In the present embodiment, the angular position to which the start signal is to be output is stored in the memories 43 and 4 in three stages for each cycle time range, that is, for each of the high speed region, the medium speed region and the low speed region.
Although it is set to 4 and stored in the RAM 35, the relational expression between the cycle time and the angular position of the start signal is set so that the supply base 7 or the XY table 3 can be started without loss from the timing at which the movable angular position is reached. The angular position may be stored in the RAM 35 or the ROM 36, calculated to determine the angular position, and set in the memories 43 and 44.

For example, the delay Δθ (see FIG. 5) of the angular position corresponding to the time (t1 + t2) in FIG. 4 at the cycle time T is calculated according to the following formula.

[0040]

[Equation 1]

In the memory 43, (35
7-Δθ) degrees are stored, and the memory 44 stores (360−Δθ).
θ) degree is stored and the movement command is output in the same manner as described above.
Further, when the cycle time is long (for example, 0.3 seconds or more), Δθ = 0 may be controlled without depending on this equation. Further, in this embodiment, the timing of moving the supply table 7 and the XY table 3 which are not driven by the index motor 32 is controlled, but it is not driven by the index motor 32 but is synchronized with the intermittent rotation of the index motor 32. This delay time is converted to a timing angle for each cycle time in consideration of the delay from the output of the drive command of the device whose drive must be controlled to the start of the actual operation of the device. You may control so that a drive command may be given to an eye. For example, it can be applied to the case of controlling the drive motor of the head rotation device 17, and the angular position of the cam positioner 39 that issues a command to start driving of the motor is set to be greater than the angular position at which the head 15 must actually start rotation. The control may be performed in consideration of the delay in the start of rotation of the head 15 as the earlier timing.

[0042]

As described above, according to the present invention, since the rotation start command signal of the command means is output in accordance with the intermittent rotation speed of the rotary table, that is, the cycle time, when the cycle time becomes short, Since the rotation start command signal can be output at an early angular position according to the delay of the movement start of the moving table, the actual movement start timing is not delayed, the cycle time is not wasted, and the electronic component suction operation and The mounting operation can be speeded up.

[Brief description of drawings]

FIG. 1 is a control block diagram of an electronic component automatic mounting apparatus to which the present invention is applied.

FIG. 2 is a plan view of the electronic component automatic mounting device.

FIG. 3 is a side view of the electronic component automatic mounting device.

FIG. 4 is a diagram showing a start signal, a command waveform, and a waveform in which a motor actually rotates.

FIG. 5 is a diagram showing various operations for each angular position detected by the cam positioner.

FIG. 6 is a diagram showing a relationship between a cycle time and an angular position of a start signal.

FIG. 7 is a diagram showing a relationship between a cycle time and an angular position of a start signal.

FIG. 8 is a diagram showing mounting data.

FIG. 9 is a diagram showing component library data.

[Explanation of symbols]

2 Y-axis motor (moving table driving motor) 3 XY table (moving table) 4 X-axis motor (moving table driving motor) 5 Chip-shaped electronic parts (electronic parts) 6 Printed circuit board 7 Supply stand (moving stand) 8 parts Supply device (component supply unit) 9 Supply table drive motor (movement table drive motor) 15 Mounting head 32 Index motor (rotary table drive motor) 34 CPU (command means, control means, determination means) 35 RAM (storage means) 39 cam Positioner (detection means) 40 Supply platform drive circuit 41 X drive circuit 42 Y drive circuit

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Haruhiko Yamaguchi 2-5-5 Keihan Hondori, Moriguchi City, Osaka Sanyo Electric Co., Ltd.

Claims (4)

[Claims] 1. A rotary table having a plurality of mounting heads on its periphery that intermittently rotates through an indexing mechanism driven by a rotary table drive motor, and the rotary table drive motor for taking out electronic components at each intermittent rotation of the table. A moving table drive motor different from the rotary table drive motor in the arrangement direction is provided with a plurality of vertical movement means for moving the head up and down by one rotation of the cam and a plurality of component supply units for supplying electronic components. A moving base for positioning the unit, which is driven and reciprocally moved to supply a desired component, at a position where the electronic component can be taken out by the head; detection means for detecting an angular position during one rotation of the cam; Command means for outputting a rotation start command signal for the movable table drive motor based on the angular position detected by the detection means; Each time the rotary table is intermittently rotated, the electronic component picked up by the head from the component supply unit positioned by the moving table started by the command signal of the command means is conveyed by the rotation of the rotary table to the printed circuit board. In the electronic component automatic mounting apparatus to be mounted, a determination unit that determines the angular position at which the signal of the command unit should be output according to the intermittent rotation speed of the rotary table, and the angular position determined by the determination unit are detected. An electronic component automatic mounting apparatus comprising: a control means for controlling the command means so as to output a rotation start command signal when detected by the means. 2. A rotary table having a plurality of mounting heads on its periphery, which is intermittently rotated by an operation of a rotary table drive motor through an index mechanism; and a rotary table drive motor for taking out electronic parts for each intermittent rotation of the table. A moving table drive motor different from the rotary table drive motor in the arrangement direction is provided with a plurality of vertical movement means for moving the head up and down by one rotation of the cam and a plurality of component supply units for supplying electronic components. A moving base for positioning the unit, which is driven and reciprocally moved to supply a desired component, at a position where the electronic component can be taken out by the head; detection means for detecting an angular position during one rotation of the cam; Command means for outputting a rotation start command signal for the movable table drive motor based on the angular position detected by the detection means; Each time the rotary table is intermittently rotated, the electronic component picked up by the head from the component supply unit positioned by the moving table started by the command signal of the command means is conveyed by the rotation of the rotary table to the printed circuit board. In an electronic component automatic mounting device to be mounted, a storage means for storing the angular position to output the signal of the command means for each of a plurality of speed ranges of intermittent rotation of the rotary table, and a rotary table for adjusting the intermittent rotation speed. An automatic electronic component mounting apparatus comprising: a control unit that controls the command unit to output a rotation start command signal when the detection unit detects the angular position stored in the storage unit. 3. A rotary table having a plurality of mounting heads on its periphery, which is intermittently rotated by an index mechanism driven by a rotary table drive motor, and a rotary table drive motor for mounting an electronic component on the printed circuit board. Vertical movement means for moving the head up and down by rotation of a cam that rotates once for each intermittent rotation, and a printed circuit board on which electronic components are mounted are mounted and driven by a movable table drive motor different from the rotary table drive motor. A movable table that moves and positions it at a desired position, a detection unit that detects an angular position during one rotation of the cam, and the movable table when the angular position detected by the detection unit is a predetermined angular position. And a command means for outputting a rotation start command signal for the drive motor. In an electronic component automatic mounting device that conveys and mounts electronic components held by the head by rotation of the rotary table on a printed circuit board positioned by a moving table that has started to move according to a command signal, at a speed of intermittent rotation of the rotary table. The determining means for determining the angular position to output the signal of the commanding means together, and the commanding means for outputting the rotation start command signal when the detecting means detects the angular position determined by the determining means. An electronic component automatic mounting apparatus, characterized in that a control means for controlling is provided. 4. A rotary table having a plurality of mounting heads on its periphery which intermittently rotates through an indexing mechanism driven by a rotary table driving motor, and a rotary table driving motor for mounting electronic parts on a printed circuit board. Vertical movement means for moving the head up and down by rotation of a cam that rotates once for each intermittent rotation, and a printed circuit board on which electronic components are mounted are mounted and driven by a movable table drive motor different from the rotary table drive motor. A movable table that moves and positions it at a desired position, a detection unit that detects an angular position during one rotation of the cam, and the movable table when the angular position detected by the detection unit is a predetermined angular position. And a command means for outputting a rotation start command signal for the drive motor. In an electronic component automatic mounting apparatus that conveys and mounts electronic components held by the head by rotation of the rotary table on a printed circuit board positioned by a moving table that has started to move according to a command signal, a plurality of intermittent rotations of the rotary table. When the detection means detects the angular position stored in the storage means according to the speed of intermittent rotation of the rotary table, the storage means that stores the angular position to output the signal of the command means for each speed range. An electronic component automatic mounting apparatus comprising a control means for controlling the command means so as to output a rotation start command signal.