JPH0923100A - Electronic component automatically installing equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restrain the heat generation of a pulse motor for pivotally moving a taking-out nozzle, by controlling the value of a current fed from a power supply circuit to a pulse motor to be small in the case that the pulse motor does not pivotally move the nozzle, as compared with the case that the pulse motor pivotally moves the nozzle. SOLUTION: From a power supply circuit 73, a current is supplied to a driving circuit 66, which drives a pulse motor 31. The power supply circuit 73 is controlled via an interface 74 by a CPU 68, and the value of the current supplied to the driving circuit 66 is changed. In the case that the pulse motor 31 moves pivotally, a driving force is necessary in order to pivotally move a rotor to which a nozzle is fixed, so that the supplied current which is large to some extent is necessary. After positioning is ended and the movement is stopped, the current which is necessary only for holding the rotor at the constant position is enough. The amount of the current for the static state is satisfied by one-half of the amount of the current necessary for pivotal movement, and therefore set to be one-half.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic device for picking up an electronic part from a supply part by a pick-up nozzle, rotating the nozzle around a vertical axis by a pulse motor to angularly position the part and mounting it on a printed circuit board. The present invention relates to an automatic component mounting device.

[0002]

2. Description of the Related Art Electronic components are taken out by a take-out nozzle provided in a mounting head of this kind, and the head is rotated by a pulse motor (stepping motor) mounted on a rotary table to be positioned at a predetermined angular position. Electronic component automatic mounting device mounted on a printed circuit board
It is disclosed in Japanese Patent No. 34391. In this type of device, a pulse motor issues a rotation command pulse to a drive circuit to which current is supplied from a power supply circuit, and a pulse motor is driven to rotate a nozzle.

Further, after the nozzle is rotated, it is necessary to hold the nozzle so that it does not rotate at that position, and it is necessary to supply a current to the drive circuit.

[0004]

However, in the above-mentioned prior art, the same amount of current is always supplied from the power supply circuit to the drive circuit, so that the pulse motor and the head become hot due to the heat generation of the pulse motor. There was a problem. This problem becomes more remarkable when the component mounting is performed at high speed, and the rotation speed of the pulse motor also increases and the supplied current value increases, and the nozzle penetrates into the pulse motor as in the technique of the above publication. In this case, the heat of the pulse motor is easily transmitted to the nozzle, which is a particular problem.

Therefore, an object of the present invention is to suppress heat generation of a pulse motor for rotating a take-out nozzle.

[0006]

Therefore, according to the present invention, an electronic component is taken out from a supply unit by a take-out nozzle, and the nozzle is rotated around a vertical axis by a pulse motor to perform angular positioning of the component on a printed circuit board. In the automatic electronic component mounting apparatus mounted on the above, when the pulse motor does not rotate the nozzle, the value of the current supplied from the power supply circuit to the pulse motor is reduced as compared with the case where the nozzle is rotated. A control means for controlling the above is provided.

Further, according to the present invention, an electronic component is automatically mounted on a printed circuit board by picking up an electronic component from a supply unit by a take-out nozzle, rotating the nozzle around a vertical axis by a pulse motor to perform angular positioning of the component. In the device,
A drive circuit for driving a pulse motor supplied with current from a power supply circuit, a rotation command means for applying a command signal for rotating the pulse motor to the drive circuit, and a command signal of the rotation command means are transmitted. The time supply means for measuring a non-existing period and the current supplied by the power supply circuit to the drive circuit as compared with the case where the command signal is transmitted when the time measurement means measures that the command signal is not transmitted for a predetermined time. A control means for controlling the value to decrease is provided.

[0008]

According to the structure of the present invention, the control means compares the value of the current supplied from the power supply circuit to the pulse motor when the pulse motor does not rotate the take-out nozzle with the case where the nozzle rotates. And control to decrease.

According to the second aspect of the invention, the control means drives the power supply circuit as compared with the case where the command signal is transmitted when the time measuring means measures that the command signal is not transmitted for a predetermined time. The control means for controlling the current value supplied to the circuit is provided.

[0010]

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

2 and 3, reference numeral 1 is a Y table which moves in the Y direction by the rotation of the Y-axis motor 2, and 3 is an X table.
This is an XY table that moves in the X and Y directions by moving in the X direction on the Y table 1 by the rotation of the shaft motor 4, and a chip-shaped electronic component 5 (hereinafter referred to as a chip component or component) is mounted. The printed circuit board 6 is fixedly mounted on a fixing means (not shown).

Reference numeral 7 denotes a supply table, and a large number of component supply devices 8 for supplying the chip components 5 are arranged. Reference numeral 9 denotes a supply stand drive motor, which rotates the ball screw 10 so that the supply stand 7 is guided by the linear guide 12 through a nut 11 fitted with the ball screw 10 and fixed to the supply stand 7, and X 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 at the outer edge of the table 13 at equal intervals according to the intermittent pitch.

A suction station I is located at a stop position (a position marked with a black circle in the upper part of FIG. 2) due to the intermittent rotation of the rotary table 13 of the mounting head 15 for picking up the component 5 from the supply device 8 by the suction nozzle 14. Yes, when the mounting head 15 descends at the suction station I, the suction nozzle 14 sucks the component 5.

Reference numeral II denotes a recognition station in which the mounting head 15 sucking the component 5 is stopped by the intermittent rotation of the rotary table 13, and an image of the component 5 is picked up by the component recognizing device 16 so that the displacement of the component 5 with respect to the suction nozzle 14 occurs. Be recognized.

Reference numeral III denotes a mounting station (a position marked with a black circle in the lower part of FIG. 2) where the mounting head 15 stops in order to mount the component 5 sucked and held by the suction nozzle 14 onto the printed circuit board 6. When the head 15 descends, X
The component 5 is mounted on the printed circuit board 6 stopped at a predetermined position by the movement of the Y table 3.

Reference numeral 18 is a cable for transmitting a current from a driving circuit 66, which will be described later, for driving a pulse motor 31, which will be described later, and also a transmission path for a signal current, which is connected to each mounting head 15. 19 is a suction nozzle 14
It is a vacuum tube that communicates with a vacuum source (not shown) for further adsorbing the chip component 5.

The mounting head 15 is attached to the linear guide 22 via the head block 21 and is vertically movable with respect to the rotary table 13.

The mounting head 15 will be described below with reference to FIG.

A pulse motor 31 is incorporated and formed in the mounting head 15.

Reference numeral 32 denotes a rotor as a rotating body of the motor 31, which is rotatable in the θ direction inside the stator 30 which serves as a hanging portion. The θ direction is a direction of rotation around an axis extending vertically (vertical axis). Reference numeral 33 is a permanent magnet embedded around the entire circumference of the rotor 32, and iron cores 34 magnetized by the magnet 33 are provided on the upper and lower sides of the permanent magnet 34 in such a manner that irregularities are repeated in the circumferential direction. Reference numeral 35 denotes an iron core attached to the inner wall of the stator 30 over the entire circumference. Plural portions of the iron core 35 in the circumferential direction of the stator 30 are protrusions, and a coil 36 is wound around the protrusions. ing.

The iron core 3 magnetized by the permanent magnet 33 by applying a pulsed current from the cable 18 to the coil 36
The rotor 32 is rotated by a predetermined angle according to the number of pulses due to the repulsive force of the protrusions of No.

Reference numeral 38 is a bearing that rotatably supports the rotor 32 with respect to the stator 30.

Each of the suction nozzles 14 is provided so as to vertically pass through the rotor 32 so as to be movable up and down, and a vacuum suction hole 40 is bored from the tip of the nozzle 14. The vacuum suction hole 40 is formed in the middle of the side surface of the nozzle 14 and the rotor 32.
Communication hole 37 opened to the side and formed in the rotor 32.
Through a vacuum chamber 39 extending in the axial direction of the rotor 32. An engagement body 44 is formed on the upper portion of the nozzle 14 and is urged downward by a pressing spring 45. A lever 46 for engaging with the engaging body 44 of each suction nozzle 14 and holding the suction nozzle 14 in a raised state against the spring 45 swings in the axial direction of the rotor 32 above the rotor 32. The spring 47 is biased and attached. When the lever 46 is swung by a lever rotating device (not shown) so as to open its lower end against the spring 47, the suction nozzle 14 held by the lever 46 as shown on the left side of FIG. As described above, it is put into a use state in which the component 5 is projected and sucked. In the state on the left side of FIG. 4 in which the engaging body 44 is held by the lever 46 and stored without using the nozzle 14, the opening of the body portion of the nozzle 14 does not communicate with the communication hole, and the communication hole 37 defines the side surface of the nozzle 14. It is sealed with and is designed so that the vacuum does not leak.

The vacuum chamber 39 communicates with the vacuum tube 19 via a rotary joint 49 rotatable above the rotor 32. The rotary joint 49 includes a rotary end 51 having a hollow portion (not shown) and a fixed end 52 having a hollow portion (not shown) rotatably provided on the rotary end 51 by a ball bearing (not shown).

In FIG. 3, reference numeral 26 is an elevating lever that moves up and down to swing the swing lever 27 of the component supply device 8. The lift lever swings the lever 27 and is wound in the tape reel 28 (not shown). The tape is fed so that the chip component 5 stored in the tape is supplied to the suction position of the nozzle 14.

The rotary table 13 is rotatably attached to the base 29, and the supply table 7
The XY table 3 also moves with respect to the base 29.

Next, the control block of the electronic component automatic mounting apparatus of this embodiment will be described with reference to FIG.

Reference numeral 54 denotes a host CPU which controls various operations relating to mounting of the chip component 5 in accordance with programs stored in the ROM 56 based on various data stored in the RAM 55. 57 is a CPU 54 and a RAM 55
It is a bus line for connecting the like.

In the RAM 55, mounting data (not shown) is stored for each type of the printed circuit board 6, and the components are supplied from the component supply device 8 at the position on the supply base 7 indicated by the reel number in the order of the step number of the data. 5 is taken out and mounted on the coordinate position of the printed circuit board 6 at the angular position indicated by the mounting angle data. When the suction nozzle 14 is rotated by the mounting angle data by the rotation of the rotor 32, the chip component 5 taken out from the component supply device 8 is at the angular position to be mounted if the sucked posture is correct.

Based on the mounting data, the host CPU 54 commands the motors 2 and 4 in each of the X and Y directions to represent data indicating the distance to be moved by the XY table 3 and also sets the mounting angle data to the microcomputer 62 which will be described later. Based on this, a signal of this control data is sent.

Further, the pulse motor 3 is connected to the bus line 57.
Although the serial interface 63 for controlling 1 is connected, the pulse motor 31 is mounted on the rotary table 13 that rotates with respect to the base 29, and the host CPU 54 is mounted inside the base 29. The wiring between the pulse motor 31 and the CPU 54 cannot be connected by soldering a lead wire in this portion. Therefore, the microcomputer 6 as a control means for driving each pulse motor 31 via the slip ring 64
2 are connected. A serial interface 65 is incorporated in the microcomputer 62,
The wiring from the slip ring 64 is the pulse motor 3
The number corresponding to 1 is connected to the interface 65 in the current loop multi-drop communication mode. Each microcomputer 62 has a pulse motor 31
A drive circuit 66 for driving the drive circuit with a current is connected via a D / A converter 67. Microcomputer 62
Is a CPU 68, R as rotation command means and control means.
AM69, ROM70 and parallel interface 7
1 is built in by being connected to the bus line 72.

In the microcomputer 62, the motor 31
When the angle amount to be rotated is given from the host CPU 54, it functions to calculate and generate a speed waveform corresponding to it, and data based on the waveform is input to the D / A converter 67 via the parallel interface 71. .

The drive circuit 66 is supplied with a current from the power supply circuit 73 to drive the pulse motor 31.
Is controlled by the CPU 68 via the interface 74, and the magnitude of the current supplied to the drive circuit 66 is changed. When the pulse motor 31 is rotating, a certain amount of electric current is required because a certain amount of driving force is required to rotate the rotor 32 to which the nozzle 14 is attached ( This amount is hereinafter referred to as the rotational current amount.) After positioning and stopping, a sufficient amount of current is sufficient to hold the rotor 32 at that position (this amount is hereinafter referred to as the static current amount). That is, the static current amount is about half that of the turning current amount, and thus is set to half. The quiescent current is the rotor 32
If it is enough to hold
The size may be 3 or less. If the half size is insufficient for holding, the value may be larger than 1/2.

The CPU 68, RAM 69 and ROM
Reference numeral 70 has a function of a timer as a time measuring means, and when the input of data as a movement command signal from the parallel interface 65 to the drive circuit 66 through the D / A converter 67 is completed, a predetermined time (0.1 mm (About a second) and the power supply circuit 73 is controlled according to the flowchart of FIG. The function of the timer may be configured by software as described above, but a hardware timer circuit may be provided. However, the software configuration makes it easier to change the setting of the time to be clocked and is more convenient. Further, if the end of the command signal is indicated by data or the like, the value of the current from the power supply circuit 73 to the drive circuit 66 can be reduced to the quiescent current amount at the same time as the end of the command signal without controlling the current with a timer. Although it is possible, residual vibration is generated for a while after the motor 31 is stopped, that is, the rotor 32 is stopped. In order to damp this vibration and stop it at an accurate position, Since the braking force cannot be secured unless a current is applied, it is necessary to reduce the current value after a predetermined time (period) (about 0.1 milliseconds) during which residual vibration is damped.

The operation of the above configuration will be described below.

First, an operation section (not shown) is operated to start automatic operation of the electronic component automatic mounting apparatus.

That is, according to the mounting data stored in the RAM 69, the CPU 68 reads the step number from the mounting data (not shown), and the rotor 32 first mounts the mounting head 15 (clockwise direction in FIG. 2) after the mounting station III. (For those located), the host CPU 54 commands the CPU 68 corresponding to the mounting head 15 to perform an origin return operation for detecting the origin position of the rotor 32 and rotate the rotor 32. D / A from the parallel interface 71
A pulse that is a command signal is output to the drive circuit 66 via the converter 67, and the rotor 32 is driven and rotated by the drive circuit 66 during the output of this pulse. During this rotation, the magnitude of the current supplied by the power supply circuit 73 is the amount of rotation current.

Next, the origin position of the motor 31 is detected,
When the pulse of the command signal to the drive circuit 66 is stopped (the output signal is not being output), the CPU 68, the RAM 69, and the ROM 70 function as timers to count a predetermined time set according to the flowchart of FIG. ) Do.

Next, when the predetermined time is counted, C
Under the control of the PU 68, the current value supplied from the power supply circuit 73 to the drive circuit 66 is reduced to a static current amount that is half the rotational current amount. In this way, the amount of current flowing through the coil 36 of the motor 31 is reduced while the amount of static current is being reached, so that the amount of heat generated is suppressed.

Next, in order to select the nozzle 14 to be used from the plurality of nozzles 14, the nozzle 1 is placed at a predetermined position.
The rotor 32 is rotated so that 4 is positioned. When a pulse which is a command signal for this is output to the drive circuit 66, the drive circuit 66 is controlled by the power supply circuit 73 by the control of the CPU 68 according to the flowchart of FIG. The current supplied to is increased to the amount of rotation current.

Next, when the rotation for selecting the nozzle 14 is stopped, the current value is reduced to the static current amount in the same manner.

Next, when the mounting head 15 stops at the suction station I by intermittent rotation of the rotary table 13 via an index mechanism (not shown), the supply table 7 is moved by the drive of the supply table drive motor 9. The component supply device 8 for accommodating the chip components 5 to be supplied has a suction stage.
The chip component 5 is taken out by stopping at the suction position of the suction nozzle 14 of the mounting head 15 of section I and descending the nozzle 14.

Next, the rotary table 13 intermittently rotates through an index mechanism (not shown), the head 15 holding the chip component 5 moves to the next station and stops, and further rotates to go recognition step. -Move to Section II.

Next, the component recognizing device 16 picks up an image of the chip component 5 sucked by the suction nozzle 14 and the image is subjected to a recognition process to recognize the displacement of the component 5 with respect to the suction nozzle 14.

Next, when the recognition is completed, the CPU 68 calculates an angle amount by adding the amount to be corrected according to the recognition result to the mounting angle data θ1 of the mounting data.

Next, the calculated angle amount is applied to the microcomputer 62 of the mounting head 15 and the slip ring 64.
And the like.

Next, the computer 6 which has read the angle amount
2 outputs a command signal pulse to the drive circuit 66, the CPU 68 follows the flowchart of FIG.
Returns the current supplied from the power supply circuit 73 to the drive circuit 66 to the rotation current amount, the rotor 32 is rotated, and when the rotation is completed and the positioning is performed, a timer configured in the CPU 68 or the like is set to a predetermined value. As time is counted, the current from the power supply circuit 73 is reduced to the amount of quiescent current.

The rotary table 13 is intermittently rotated in parallel with the rotation of the motor 31 so that the mounting station II
XY of the chip component 5 that has reached I and whose angular positioning has been completed
The table 3 is moved and mounted on the printed circuit board 6 positioned at the coordinate position indicated by the mounting data.

Next, when the mounting head 15 passes the mounting station III, the CPU 54 commands the above-mentioned origin detection operation, and the same operation as described above is continued thereafter. Such an operation is sequentially performed in parallel in each station in each head 15, and the mounting operation of the component 5 is performed. However, while the motor 31 is rotating, the rotation current amount is from the power supply circuit 73. When each driving rotation 66 is supplied and the rotation is stopped, if the timer counts a predetermined time before the next command signal is output to the drive circuit 66, the quiescent current amount is supplied from the power supply circuit 73 to the drive circuit 66. Supplied. When the pulse of the next command signal is output before the timer counts, the amount of current remains the amount of rotation current. In this way, the motor 3
Even if the motor 31 is heated during the rotation of 1, the heating is suppressed while the motor 31 is stationary, so that the temperature of the motor 31 does not rise excessively. In addition, the current value is set to a sufficient amount of quiescent current to hold the positioned rotor 32 and prevent misalignment even when stationary.

[0050]

As described above, according to the present invention, the current value supplied to the drive circuit while the extraction nozzle is not rotating is reduced as compared with the case where the current value is rotating. The heat generation amount of the pulse motor can be reduced as compared with the case where the current value is kept the same as when the current value is rotated.

Further, since the current value is reduced after the time period during which the command signal is not transmitted by the time measuring means is measured, it is possible to suppress the displacement of the nozzle due to the residual vibration.

[Brief description of drawings]

FIG. 1 is a diagram showing a flowchart of supply current amount control.

FIG. 2 is a plan view of an electronic component automatic mounting apparatus to which the present invention is applied.

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

FIG. 4 is a side view in which the mounting head is partially broken.

FIG. 5 is a control block diagram of the electronic component automatic mounting device.

[Explanation of symbols]

5 Chip-shaped Electronic Components (Electronic Components) 6 Printed Circuit Board 14 Adsorption Nozzle (Ejection Nozzle) 15 Mounting Head 31 Pulse Motor 32 Rotor (Rotating Body) 66 Drive Circuit 68 CPU (Rotation Command Means, Control Means, Clock Means) 73 Power Supply circuit

Claims (2)

[Claims] 1. An electronic component automatic mounting apparatus for mounting an electronic component on a printed circuit board by picking up an electronic component from a supply unit by a take-out nozzle, rotating the nozzle around a vertical axis by a pulse motor, and angularly positioning the component. When the pulse motor does not rotate the nozzle, a control means is provided to control so that the value of the current supplied from the power supply circuit to the pulse motor is reduced as compared with the case where the nozzle is rotated. A featured electronic component automatic mounting device. 2. An electronic component automatic mounting apparatus for mounting an electronic component on a printed circuit board by taking out an electronic component from a supply section with a take-out nozzle, rotating the nozzle around a vertical axis by a pulse motor, and angularly positioning the component. A drive circuit for driving a pulse motor supplied with current from a power supply circuit, a rotation command means for applying a command signal for rotating the pulse motor to the drive circuit, and a command signal of the rotation command means are transmitted. And a current supply means for supplying a drive circuit to the drive circuit in comparison with the case where the command signal is transmitted when the time measuring means measures that the command signal is not transmitted for a predetermined period. An electronic component automatic mounting apparatus comprising a control means for controlling to reduce the value.