JPH08125320A - Adhesive application device - Google Patents

Abstract

PURPOSE: To enable rapid application operation while keeping acceleration/ deceleration torque of a driving source of an elevator small by incorporating a driving source which rotates continuously in one direction, a mechanism for converting the rotation to reciprocation and a mechanism for transmitting the reciprocation to an application nozzle in the elevator. CONSTITUTION: An application nozzle 19 applies adhesive driven up and down by an elevator 16 including a rotary driving source 25, a conversion mechanism 28 for converting rotation of the driving source 25 to reciprocation and a transmission mechanism 30 for transmitting reciprocation of the conversion mechanism 28 as vertical movement to the application nozzle 19. Since the rotary driving source 25 is constituted to rotate in one direction continuously, the application can be executed without rapid acceleration from a stop state and stop by rapid deceleration and an acceleration/deceleration torque of the rotary driving source 25 can be kept small.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bonding operation in which an application nozzle provided on a movable body is vertically moved to continuously apply an adhesive to an application position of an object to be applied. The present invention relates to an agent applying device.

[0002]

2. Description of the Related Art In recent years, as a part of a surface mounting system for electric circuit boards, for example, an adhesive application for automatically applying an adhesive for temporarily fixing chip parts etc. to a predetermined application point on a printed circuit board. Equipment has been provided. This adhesive coating device has a transport mechanism for loading and unloading a substrate to and from a working position, a moving body having a coating head, and a moving body having a unique X-axis.
An XY robot that freely moves above the substrate based on the Y coordinate system, a control device including a microcomputer that controls each mechanism based on the coating data and executes the coating operation, and the like.

The coating head has a replaceable syringe containing an adhesive and a coating nozzle for discharging the adhesive at a lower end thereof, and is vertically movable on the movable body. . The syringe is connected to a pressure source via a discharge valve. The coating head is moved up and down by an elevating mechanism provided on the moving body.

In performing the coating operation, first, with the coating head held at the elevated position, the XY robot moves the moving body to position the coating nozzle directly above a predetermined coating point on the substrate. It Further, during this time, the inside of the syringe is kept at a positive pressure for a short time, and the adhesive is discharged from the application nozzle and held in a spherical shape at the tip thereof. Then, in this state, the application head (application nozzle) is lowered by the elevating mechanism, so that the adhesive at the tip of the application nozzle is applied to the substrate so as to be transferred. After that, the coating head (coating nozzle) is raised, and the moving body is repeatedly moved to the next coating point.

[0005]

By the way, although the lifting mechanism is constructed by using a motor as a drive source, conventionally, the drive source is operated only when the coating head is moved up and down. . However, in this case, in order to speed up the coating work, the rotation speed of the motor is accelerated,
It is necessary to perform deceleration rapidly, which leads to deterioration of coating quality due to overshoot, and a large acceleration / deceleration torque is required, which causes a problem that the drive source (motor) becomes large and the cost is high.

In order to minimize the acceleration / deceleration of the drive source,
The rotation of the motor is converted into vertical movement of the coating head by using a cam and a cam follower, and at the same time, in the cam,
An upper stop region for holding the coating head in the raised position and a coating operation region for lowering and raising the coating head are continuously formed in the circumferential direction, and the motor is always continuously rotated at a constant speed to move the moving body. It is also conceivable that the coating head is held in the raised position during the movement, and the coating head is lowered and raised after the moving body is stopped.

However, since the moving time of the moving body changes according to the moving distance, for example, as shown in FIG. 6, when the moving amount is large (application B), the rotation speed of the cam is slowed to change the moving amount. Is small (application C), the rotational speed of the cam must be increased, and therefore the speed at the time of transfer, that is, the vertical movement speed of the application nozzle also changes accordingly. For this reason, it is expected that a trouble that the stable coating work cannot always be performed will occur.

The present invention has been made in view of the above circumstances, and an object thereof is to make it possible to speed up the coating operation while suppressing the acceleration / deceleration torque of the drive source of the elevating mechanism to a small level, and to achieve stable coating. An object is to provide an adhesive application device capable of maintaining quality.

[0009]

SUMMARY OF THE INVENTION An adhesive coating apparatus of the present invention comprises a movable body which freely moves above an object to be coated, a coating nozzle which is vertically movable on the movable body, and the movable body. And an elevating mechanism for vertically driving the coating nozzle, which moves the coating nozzle in a raised state right above a predetermined coating position of the coating object, and then lowers the coating nozzle. Thus, the work of applying the adhesive to the application target is performed continuously for a plurality of application positions, and the elevating mechanism is
It includes a rotary drive source that continuously rotates in one direction, a conversion mechanism that converts the rotation of the rotary drive source into a reciprocating motion, and a transmission mechanism that transmits the reciprocating motion of the converting mechanism as vertical motion to the coating nozzle. It is characterized in that it is configured by (invention of claim 1).

Further, the conversion mechanism is constituted by an end face cam rotated by the rotary drive source and a cam follower responsive to the end face cam, and the end face cam holds the coating nozzle at a raised position. An upper stop region and a coating operation region for lowering and raising the coating nozzle may be continuously provided in the circumferential direction (the invention of claim 2). In this case, it is effective if the end surface cam is configured so that the rotation speed in the coating operation region is constant and the rotation speed in the upper stop region is freely changed (the invention of claim 3). Furthermore, the pattern of the rotation speed in the upper stop area of the end face cam can be determined based on the time required to move the coating nozzle to the next coating position (the invention of claim 4). .

[0011]

According to the adhesive application device of claim 1 of the present invention,
The coating nozzle provided on the moving body includes a rotary drive source, a conversion mechanism for converting the rotation of the rotary drive source into reciprocating motion, and a transmission mechanism for transmitting the reciprocating motion of the converting mechanism as vertical motion to the coating nozzle. The elevating mechanism drives the adhesive up and down to apply the adhesive. At this time, since the rotary drive source is configured to continuously rotate in one direction, it is not necessary to perform sudden acceleration from a stopped state or stop due to rapid deceleration. The torque can be kept small.

The conversion mechanism may be composed of an end face cam and a cam follower that responds to the end face cam. At this time, the end face cam has an upper stop region for holding the coating nozzle in the raised position, and Lower the coating nozzle,
When the coating operation region to be raised is continuously provided in the circumferential direction (adhesive coating device according to claim 2), even if the rotary drive source is rotated during the movement of the moving body, the upper stop region is used. The coating nozzle can be held in the raised position, and thus, a structure that enables continuous rotation of the rotary drive source is provided.
It can be realized easily.

In this case, according to the adhesive coating device of the third aspect, since the rotation speed of the end cam is constant in the coating operation area, the descending and ascending speeds of the coating nozzle are always constant. Therefore, it is possible to always perform a stable adhesive coating operation, and since the rotation speed in the upper stop region is freely changed, the rotation speed is such that the acceleration / deceleration becomes small. The drive source can be rotated.

Furthermore, if the rotation speed pattern in the upper stop region of the end face cam is determined based on the time required to move the coating nozzle to the next coating position (the adhesive of claim 4). It is possible to rotate the rotary drive source in a pattern of the optimum rotation speed corresponding to the moving time of the coating device) and the moving body and reducing acceleration / deceleration.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 5 is a partially cutaway view showing the external configuration of the main body 1 of the adhesive coating device according to the present embodiment, in which the substrate 3 to be coated is placed on the base 2 in the X-axis direction (left and right). A substrate transfer mechanism 4 is provided for loading and unloading in the direction.

The board transfer mechanism 4 includes a carry-in conveyor 5 and a conveyor motor 6 for carrying in the board 3 from the right to the illustrated work position, and a carry-out conveyor for carrying out the board 3 to the left from the work position. 7 and a conveyor motor 8 and the like. Although not shown, a positioning pin for holding the substrate 3 in a positioned state, a backup pin for supporting the lower surface of the substrate 3 to prevent warping, etc. are provided at the working position.

On the base 2, a dispensing unit 9 as a moving body and an XY robot as a moving means for freely moving the dispensing unit 9 above the substrate 3 at the working position in the horizontal direction (XY direction). 10
Is provided. Among them, the XY robot 10 is, as is well known, a Y-axis direction moving unit 12 that moves the dispensing unit 9 along a rail 11 extending in the Y-axis direction, and moves the Y-axis direction moving unit 12 in the X-axis direction. It is composed of an X-axis direction moving unit 13 and the like.

The dispense unit 9 is
The frame 14 moved by the Y-axis moving unit 12 is provided with a plurality of, in this case, four coating heads 15 in an L-shape when viewed from above, and these coating heads 15 are selectively moved up and down. And an elevating mechanism 16 to be described later for performing an adhesive coating operation. In addition, this dispense unit 9
A CCD camera 17 constituting a visual recognition means is provided so as to be lined up with the coating head 15.

As shown in FIG. 3, each of the coating heads 15 is provided with a coating nozzle 19 at the lower end of the head main portion 18, and a syringe 20 containing an adhesive can be replaced on the upper portion of the head main portion 18. The head main portion 18 is held by a holder 21 that is configured to be provided and is attached to a frame 14 (shown only in FIG. 5) of the dispense unit 9 so as to be vertically movable via a linear guide (not shown). The unit 9 is provided so as to be vertically movable.

The upper end of the syringe 20 is connected via a tube 22 to a pressure adjusting source such as a compressor (not shown). Then, by opening the discharge valve 23 as a pressure adjusting means provided in the middle of the tube 22, the inside of the syringe 20 is made to have a positive pressure, and a predetermined amount of the adhesive is discharged from the coating nozzle 19. It is like this. A drive plate 24 is fixed to the upper end of the holder 21.

Now, FIG. 3 schematically shows the structure of an elevating mechanism 16 for vertically driving the coating head 15 (coating nozzle 19). Here, the elevating mechanism 16 is roughly divided into an elevating motor 25 which is a rotational drive source such as a servo motor, an end face cam 26 and a cam follower 27 for converting the rotation of the elevating motor 25 into a reciprocating motion, and the like. The conversion mechanism 28 includes a conversion mechanism 28 and a transmission mechanism 30 such as a lever 29 that transmits the reciprocating movement of the conversion mechanism 28 to the coating head 15 as vertical movement.

At this time, a driving gear 31 having a small diameter is attached to the rotary shaft of the lifting motor 25, and the driving gear 3
1, a driven gear 32 having a large diameter meshes with the driven gear 32, and the end surface cam 26 is integrally provided on the driven gear 32.
The lever 29 is configured to include lever pieces 29b and 29c at both ends of a lever shaft 29a that is rotatably supported. The cam follower 27 is attached to the tip of one lever piece 29b, and the other lever 29 is attached. The tip of the piece 29c is connected to the elevating member 31. Further, the vertical movement of the lifting member 31 is transmitted to the drive plate 24 of the holder 21.

As a result, when the end face cam 26 is rotated at a predetermined reduction ratio in accordance with the rotation of the lifting motor 25, the cam follower 27 moves up and down along the upper end face of the end face cam 26, and the lever 29 moves. The lever pieces 29b and 29c swing up and down about the lever shaft 29a, and the elevating member 31 moves up and down, whereby the drive plate 24, and thus the application head 15 (application nozzle 19), moves up and down. . Although illustration and description are omitted, the vertical movement of the elevating member 31 is selectively transmitted to any one of the drive plates 24 of the four coating heads 15 by a selection mechanism including an air cylinder or the like. It has become.

Here, as shown in FIG. 4, the end surface cam 26 has an upper stop region 26a for holding the coating nozzle 19 in a raised position and a coating operation region 26b for lowering and raising the coating nozzle 19. It is configured to have a continuous shape in the circumferential direction. In this case, 0 ° to 170 ° in the rotation phase of the end face cam 26 is the upper stop region 26a, and
70 degrees-360 degrees (0 degree) is set as the coating operation area 26b. In the coating operation area 26b, the coating nozzle 19 is gradually lowered (170 degrees to 250 degrees), held in the lowered position for a while (250 degrees to 280 degrees), and further raised (280 degrees to 360 degrees). ing.
Further, the end surface cam 26 is rotated once in one coating operation (the coating nozzle 19 is moved to a position directly above a predetermined coating point, and the coating operation of the adhesive is performed by descending and ascending). It is configured.

Further, the main body 1 is provided with a control device (not shown) mainly composed of a microcomputer. This control device controls the substrate transport mechanism 4 to bring the substrate 3 into the working position based on the control program and the adhesive application point data regarding the substrate 3 inputted in advance, and the XY robot 10 and the lifting mechanism 16 are provided. By controlling the (rotation speed of the lifting motor) and the opening / closing of the discharge valve 23, the adhesive is applied to a predetermined plurality of application points on the substrate 3 and then carried out, and the adhesive application operation is repeated automatically. It is supposed to run.

At this time, the control device uses the software configuration of the board 3 as described later in the description of the operation.
In performing the adhesive application work for each application point of, the cycle time for each application work (application nozzle 19
The positioning time and the coating operation time) are determined, and the rotation speed of the lifting motor 25 (and thus the end surface cam 26) during that time is determined.

In this case, the elevating motor 25 is configured to continuously rotate even while the dispensing unit 9 (coating head 19) is moving. And
The end surface cam 26 is always rotated at a constant speed in the coating operation area 26b, and the rotation speed is freely changed in the upper stop area 26a. Further, the pattern of the rotation speed in the upper stop region 26a of the end surface cam 26 is configured to be appropriately accelerated / decelerated based on the time required to move the coating nozzle 19 to the next coating position.

Next, the operation of the above configuration will be described with reference to FIGS. In performing the adhesive coating operation on the substrate 3, the control device determines the cycle time T (the sum of the positioning time of the coating nozzle 19 and the coating operation time) as described below, and further, the end surface cam 26 and, therefore, the lifting cam. The rotation speed pattern of the motor 25 is determined. Here, in the present embodiment, as shown in FIG. 1, during the coating operation, that is, in the coating operation area 26b of the end surface cam 26, the rotation speed of the end surface cam 26 is the optimum constant speed Vp (de) in advance.
g / s). Therefore, the cycle time T
Of (s), the coating work time is always a constant time Tp (s)
It is supposed to be.

First, the cycle time T is determined by the procedure shown in the flowchart of FIG. That is, step S
In No. 1, the coating head 15 is based on the distance from the current position to the next coating point and the moving speed of the XY robot 10.
The time (positioning time) required for the (application nozzle 19) to move to the next application point is determined. And step S2
Then, the sum of the positioning time and the coating work time Tp is provisionally determined as the cycle time T.

In the next step S3, whether or not the discharge of the adhesive (the opening time of the discharge valve 23 necessary for discharging the required amount of the adhesive) is in time for the coating work at the cycle time T is calculated, If it is determined that it is not in time (No in step S4), in step S5, the discharge valve 2 required for discharging a required amount of adhesive agent.
The cycle time T is extended so that the opening time of 3 can be secured.

Further, in step S6, the cycle time T is compared with the minimum time required for the end cam 26 to make one revolution, and the cycle time T is the minimum necessary for the end cam 26 to make one revolution. If it is equal to or longer than the time (Yes in step S7), the cycle time T is determined as it is. When the cycle time T is less than the minimum time required for the end face cam 26 to make one rotation (No in step S7), the end face cam 2 is set in step S8.
The cycle time T is extended so that 6 can rotate once.

Now that the cycle time T is determined in this way, the rotational speed of the end cam 26 (and thus the rotational speed of the lifting motor 25) is then determined. As described above, this rotation speed is set during the coating operation (coating operation area 2
6b), the speed is fixed at a constant speed Vp (deg / s), and the remaining coating nozzle 19 moves (end face cam 2).
In the upper stop region 26a of 6, the speed is variable.

That is, when the coating nozzle 19 moves, the rotation speed of the end cam 26 becomes Vp at the start and end of the period. Then, basically, during the period, the rotation speed is determined so that the period is decelerated at a constant acceleration from the start point to the intermediate point and the acceleration is performed at the constant acceleration from the intermediate point to the end point. In this case, T
-Tp (sec), 170 (deg) the end face cam 26
In order to rotate, the rotation speed Vm (deg / deg) at the intermediate point
s) is calculated by the following equation. Vm = 340 / (T-Tp) -Vp (1)

As a result, as shown in "application A" in FIG. 1, the cycle time T determines the pattern of the rotational speed of the end surface cam 26 and, by extension, the lifting motor 25. As a result, the adhesive application work is executed at a rotation speed that does not require rapid acceleration / deceleration while continuously rotating the elevating motor 25 in one direction.

Here, the rotational speed Vm of the above-mentioned intermediate point
Must be greater than or equal to 0 (not negative), and
The maximum rotation speed Vlim of the end face cam 26 must not be exceeded. However, if the above formula (1) is simply applied as it is, Vm <0 if the movement amount (movement time) to the next application point is extremely large, and the movement to the next application point is made. When the amount (moving time) is extremely small, Vm> Vlim.

Therefore, in this embodiment, when Vm <0 in the above equation (1), Vm = 0 and Vm = 0 in the intermediate region as shown in "Coating B" in FIG. We try to deal with this by providing the minimum necessary period. In this case, Vm can be set to a small value close to 0 instead of Vm = 0. When Vm> Vlim, as shown in “Coating C” in FIG. 1, Vm =
Vlim is set, and a minimum period of Vm = Vlim is provided in the intermediate region to cope with the situation. Also in this case, the value may be close to Vlim instead of Vm = Vlim.

As described above, according to the present embodiment, since the lifting motor 25 (end face cam 26) is configured to continuously rotate in one direction, it is possible to perform rapid acceleration from a conventional stop and sudden acceleration. Therefore, the acceleration / deceleration torque of the lifting / lowering motor 25 can be suppressed to be small. As a result, it is possible to prevent the deterioration of the coating quality due to overshoot and to maintain the stable coating quality while enabling the coating operation to be speeded up. Further, since the acceleration / deceleration torque of the lifting motor 25 can be suppressed to a small value, the size of the drive source and the cost are not increased.

In this embodiment, the upper stop area 26
Since the conversion mechanism 28 is configured by the end face cam 26 that continuously has a and the coating operation area 26b in the circumferential direction, a configuration that enables continuous rotation of the lifting motor 25 is easily realized. Is what you can do.

In this case, the coating operation area 2 of the end face cam 26
Since the rotation speed Vp in 6b is made constant, the descending and ascending speeds of the coating nozzle 19 can be kept constant, and a stable adhesive coating operation can be performed. Further, since the rotation speed in the upper stop area 26a is variable and the pattern of the rotation speed is determined based on the time required to move the coating nozzle 19 to the next coating position, the dispensing unit 9 ( It is possible to rotate the lifting motor 25 in a pattern of an optimum rotation speed corresponding to the movement time of the coating nozzle 19) and reducing acceleration / deceleration.

The present invention is not limited to the above-described embodiment, and for example, the discharge amount of the adhesive or the vertical movement speed may be changed depending on the type of the coating nozzle 19. The invention can be appropriately modified and implemented within a range not departing from the gist.

[0041]

As is apparent from the above description, the present invention has the following excellent effects. That is, according to the adhesive application device of claim 1, the lifting mechanism is a rotary drive source that continuously rotates in one direction, a conversion mechanism that converts the rotation of the rotary drive source into a reciprocating motion, and the conversion mechanism. Since it is configured to include a transmission mechanism that transmits the reciprocating motion of the rotary nozzle to the coating nozzle as vertical movement, it is not necessary to perform sudden acceleration from a stopped state of the rotary drive source or stop due to rapid deceleration. The acceleration / deceleration can be suppressed to a small value, the acceleration / deceleration torque of the drive source of the elevating mechanism can be suppressed to a small value, the coating operation can be speeded up, and the stable coating quality can be maintained.

The conversion mechanism can be composed of an end face cam and a cam follower that responds to the end face cam. At this time, the end face cam is provided with an upper stop region for holding the coating nozzle in the raised position and the coating. When the coating operation region for lowering and raising the nozzle is continuously provided in the circumferential direction (adhesive coating device of claim 2), even if the rotary drive source is rotated while the moving body is moving. The application nozzle can be held in the raised position by the upper stop region, and thus a configuration that allows continuous rotation of the rotary drive source can be easily realized.

In this case, according to the adhesive application device of the third aspect, since the rotation speed of the end cam is constant in the application operation area, the descending and ascending speeds of the application nozzle are always constant. Therefore, it is possible to always perform a stable adhesive coating operation, and since the rotation speed in the upper stop region is freely changed, the rotation speed is such that the acceleration / deceleration becomes small. The drive source can be rotated.

Further, when the pattern of the rotation speed in the upper stop area of the end face cam is determined based on the time required to move the coating nozzle to the next coating position (the adhesive of claim 4). It is possible to rotate the rotary drive source in a pattern of an optimum rotation speed corresponding to the moving time of the coating device) and the moving body and reducing acceleration / deceleration.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, and is a diagram showing the relationship between the height of a coating nozzle, the rotational speed of an end face cam, the moving speed of an XY robot, and the opening / closing of a discharge valve.

FIG. 2 is a flowchart showing a procedure for determining a cycle time.

FIG. 3 is a diagram schematically showing a lifting mechanism and a coating head portion.

FIG. 4 is a diagram showing an appearance (a) of an end face cam and a height (b) with respect to a rotation phase.

FIG. 5 is a perspective view showing the appearance of an adhesive application device.

FIG. 6 is a view corresponding to FIG. 1 showing a conventional example.

[Explanation of symbols]

In the drawing, 1 is a main body, 3 is a substrate (application target), 9 is a dispensing unit (moving body), 10 is an XY robot, 1
5 is a coating head and 16 is a lifting mechanism. 19 is a coating nozzle,
20 is a syringe, 23 is a discharge valve, 25 is a lifting motor (rotational drive source), 26 is an end face cam, 26a is an upper stop region, 26b is a coating operation region, 27 is a cam follower, 2
8 is a conversion mechanism, 30 is a transmission mechanism, and 31 is an elevating member.

Claims (4)

[Claims] 1. A moving body that freely moves above an object to be coated, a coating nozzle that is vertically movable on the moving body, and a lift for vertically driving the coating nozzle that is provided on the moving body. And a mechanism for moving the coating nozzle in a raised state right above a predetermined coating position of the coating target, and then lowering the coating nozzle to apply an adhesive to the coating target. In which a plurality of coating positions are continuously executed, the elevating mechanism converts a rotation drive source that continuously rotates in one direction and a rotation of the rotation drive source into a reciprocating motion. An adhesive application device comprising a conversion mechanism and a transmission mechanism for transmitting the reciprocating motion of the conversion mechanism to the application nozzle as vertical movement. 2. The conversion mechanism includes an end face cam rotated by the rotary drive source and a cam follower responsive to the end face cam, and the end face cam moves the coating nozzle to a raised position. 2. The adhesive application device according to claim 1, further comprising: an upper stop region for holding and an application operation region for lowering and raising the application nozzle, which are continuous in a circumferential direction. 3. The adhesive application device according to claim 2, wherein the end surface cam has a constant rotation speed in the application operation region, and the rotation speed in the upper stop region is freely changed. apparatus. 4. The adhesion according to claim 3, wherein the pattern of the rotation speed in the upper stop region of the end face cam is determined based on the time required to move the coating nozzle to the next coating position. Agent coating device.