JPH11143544A - Parts mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parts mounting device which efficiently moves parts and mounts the parts at high speed while arbitrating two axes. SOLUTION: When an axis A 31 moves position P1 to a target T1 and an axis B 32 moves from a position P2 to a target T2, the priority axis A 31 calculates a correction position (target T1), moving to a target T1' (this side from a target on program only by a correction range) and switches T1' to T1. The axis B 32 moves with a position where it does not collide with the axis A 31 as a dummy target T2' on a path toward the target. When neither of the axes is a priority axis, the axis, which first prepares movement takes priority. (b) The axis A 31 finishes work at T1 and moves to a target T1-1 (in the fleeing direction from the axis B 32). The axis B 32 follows not to collide with the axis A 31 and moves for the target T2 or the dummy target. (c) When a target T1-2 of the priority axis A 31 is located at a position where it approaches or passes the axis B 32, the axis B 32 calculates a safe position where it does not collide with the axis A 31 (temporary target T2") and moves from the first dummy target T2' to the next dummy target T2".

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus having at least two working head moving axes and automatically mounting chip-shaped electronic components on a printed circuit board while individually picking them up from a component supply device.

[0002]

2. Description of the Related Art Conventionally, there is a two-axis type one-by-one component mounting apparatus. As shown schematically in FIG. 11, the component mounting apparatus includes a large number of printed circuit boards (hereinafter simply referred to as boards) 2 which are carried into the center of the base 1 by guide rails and a conveyor belt (not shown). A chip-shaped electronic component (hereinafter, simply referred to as a component) 3 is mounted. The two work towers 4 and 5 that carry out this mounting work are slidably supported by moving shafts 6 and 7 in the left and right directions (X-axis direction), respectively. One moving shaft 6 includes a fixed rail 8 disposed above the base 1.
a, 8b slidably inserted between front and rear (Y-axis direction)
The other moving shaft 7 is slidably inserted between the other fixed rails 9a and 9b also arranged above the base 1 and moves back and forth (Y-axis direction) as described above. . Thereby, the work towers 4 and 5 can move back and forth and right and left in the work area on the base 1. Although not shown, one or a plurality of working heads are disposed at the tips of the working towers 4 and 5. The work head is vertically movable with respect to the work towers 4 and 5, and has a nozzle or a clipper (hereinafter, simply referred to as a nozzle) at a tip thereof. The work head sucks components from component supply devices (not shown) arranged at the front and rear portions of the base 1 and freely moves up and down, front and back, and left and right on the base 1 to transfer the components. It is mounted on the substrate 2. Incidentally, in such a two-axis type one-by-one component mounting apparatus, the movement of the two moving shafts 6 and 7 must be controlled so as not to collide with each other.

FIG. 12 is a diagram showing a typical operation mode (operation pattern) of the two moving shafts 6 and 7, and a control state corresponding to the operation pattern. In each of the patterns A to H shown in FIG.
The current position of the moving axis 6 (own axis) is the current position of the moving axis 6 (own axis).
Hereinafter, the moving start position of the moving shaft 7 (the mating shaft) is indicated by a black square, and the black square is the moving position of the moving shaft 7 (mating shaft). The arrow indicates the direction to move or the direction to move.
Hereinafter, the movement destination position is simply referred to as a destination point.

In the case of a pattern A shown in FIG. 1, the partner shaft has already started moving toward the mounting position after adsorbing the component, and their destination points (mounting positions) are intersected. In such a case, the own axis does not move and stops until the pattern changes (NG). In the case of pattern B,
This is a time when components are attracted to each other and are about to move to the mounting position, and the destinations (mounting positions) do not intersect. In this case, each moves to the destination (OK). In the case of the pattern C, the partner axis has finished mounting the component and has started to move to the suction position of the component, and the destination point (mounting position) of the own axis is higher than the movement start position (mounting position) of the partner axis. In this case, the movement of the own axis is started (OK).

In the case of the pattern D, the movement start position (mounting position) of the partner axis is before the destination point (mounting position) of the own axis, but the current position of the partner axis is the same as the destination point of the own axis. It is moving to the other side after passing through. In such a case, the movement of the own axis is started (OK). On the other hand, in the pattern E, the movement start position of the partner axis is before the destination point of the own axis, and the current position is before the destination point of the own axis. In such a case, the own axis does not move and stops (NG).

In the pattern F, a partner shaft having a plurality of working heads in a working tower is moving from a movement start position (first mounting position) to a destination point (next mounting position), and the destination point is It is before the destination point (mounting position) of the own axis. In such a case, the own axis does not move and stops (NG). Further, the pattern G is a case where the partner axis is stopped (during mounting) and the destination point of the own axis is located in front thereof, and in this case, the movement of the own axis is started (O
K). On the other hand, the pattern H is a case where the partner axis is stopped (during mounting) and the destination point of the own axis is located on the other side. In this case, the own axis is stopped without moving (NG).

Conventionally, it is sequentially verified whether the current pattern is any of the above-mentioned patterns A to H. If the pattern is OK, the movement is started. If the pattern is NG, for example, 4 ms (millisecond) I was waiting and verifying the current pattern again.

[0008]

As described above, in the case of patterns A, E, F, and H, the own axis is stopped until the partner axis passes beyond the destination point of the own axis. As a result, the stop time (non-operation time) is relatively longer than the operation time, and if this accumulates, it becomes a wasteful time that cannot be ignored, which hinders an improvement in the efficiency of component mounting work. In order to recover the time wasted due to this stop, the vehicle moves at a very high acceleration to the destination at a very high acceleration when the movement is started. For this reason, there is also a problem that a large load is applied to the drive system to accelerate the wear of the entire device and reduce the durability.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional circumstances,
An object of the present invention is to provide a component mounting apparatus that moves at a reasonable speed to prevent early wear of a drive system and controls the movement of two axes so that mounting processing is performed at high speed.

[0010]

Means for Solving the Problems The following is a description of FIGS. 1 (a) to 1 (c).
The configuration of the component mounting apparatus of the present invention will be described with reference to the operation state principle diagram shown in FIG.
In addition, the white circles shown in FIGS. 6A to 6D indicate the movement start position of the first movement axis, the black circles indicate the temporary target positions where the first movement axis should stop first, And the dotted circle is the first
The movement target position of the movement axis is shown. The white square mark indicates the movement start position of the second movement axis, and the black square mark indicates the second movement axis.
Indicates the current position of the movement axis, and the dashed square indicates the second position.
The movement target position of the movement axis is shown.

According to the present invention, there is provided a work system having a first movement axis and a second movement axis for moving two work heads movable in a three-dimensional X, Y, Z work space in the Y-axis direction, respectively. The present invention is applied to a component mounting apparatus that automatically mounts chip-shaped electronic components on a printed circuit board while individually picking up chip-shaped electronic components from a component supply device.

[0012] The component mounting apparatus of the present invention comprises a first position detecting means for detecting the position of the first moving axis, and a first position per unit time for calculating the position per unit time of the first moving axis. Calculating means; second position detecting means for detecting the position of the second moving axis; second position calculating means for calculating the position of the second moving axis per unit time; The position of the second moving axis detected by the position detecting means, the moving position of the second moving axis calculated by the second position calculating means per unit time, and the position calculated by the first position calculating means per unit time And a first moving means for moving the first moving axis to a moving target position so as not to collide with the second moving axis based on the determined moving position of the first moving axis.

[0013] The first moving means may be arranged so that the current stop position of the second moving axis is equal to the first stop position.
When the movement axis is crossed with the movement target position,
The movement of the moving axis is temporarily started at a position where the moving axis does not collide with the second moving axis (see FIG. 1A).

In addition, for example, when the second movement axis starts moving in the direction of escape from the first movement axis, the first movement axis follows the second movement axis. Is moved toward the movement target position (see FIG. 1 (b)).

Further, for example, when the first moving axis is moving in a direction approaching the stopped second moving axis, the second moving axis is equal to the first moving axis. When the movement is started in the escape direction from the moving axis, the first moving axis follows the second moving axis and moves toward the movement target position (see FIG. 1 (c)).

If the movement target position of the second movement axis intersects with the movement target position of the first movement axis, for example, the first movement axis When the priority is designated, the first movement axis is moved to the movement target position so as not to collide with the second movement axis. On the other hand, when the second movement axis is preferentially designated, the first movement axis is moved. The first moving axis is temporarily moved to a position where it does not collide with the second moving axis. Thus, for example, FIG.
It is possible to avoid a deadlock state in which the members cannot move as shown in (d).

[0017]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a perspective view illustrating a configuration of a main part of the component mounting apparatus according to the embodiment. The component mounting apparatus 10 shown in FIG. 1 is a four-axis type one-by-one component mounting apparatus. As shown in FIG. 1, the component mounting apparatus 10 is covered with a protective cover (not shown) on the upper side and the periphery thereof. A plate device for positioning and supporting a substrate carried in from the device, a drive source for driving each unit, and the like are provided. In addition, an input device including a touch panel and a liquid crystal display from which various instructions can be input from the outside is provided on the front surface of the protective cover.

The base 11 has a pair of fixed and movable parallel substrate guide rails, also not shown, in the center thereof, in the substrate transport direction (X-axis direction, diagonally lower right to diagonally upper left in the figure). ) To extend horizontally. A plurality of loop-shaped conveyor belts are movably arranged in contact with the lower portions of these board guide rails. It is driven by a motor and travels in the board transfer direction,
The substrate is transported while supporting both sides of the back surface of the substrate from below. This mounting apparatus mounts a predetermined component on a substrate at a first substrate fixing position (for example, to the right of the center of the base 11), and then mounts the second component at a second substrate fixing position (the center of the base 11) as necessary. After moving the board (to the left), other components are mounted and the mounting of components on one board is completed.

Above the base 11, two Y-axis support beams 12a and 12 extending in parallel to a direction perpendicular to the substrate loading path.
b is fixedly disposed on the apparatus body frame. Each of the Y-axis support beams 12a and 12b has the same configuration, and only the components of the Y-axis support beam 12a are numbered and described below.
3-1 and 13-2 are arranged in parallel, and two motors 14-1 and 14-2 for rotationally driving these Y-axis ball screws 13-1 and 13-2 are arranged. X-axis rails 15-1 and 15-2 are suspended with their longitudinal directions parallel to the X-axis direction.

The one Y-axis ball screw 13-1 has X
A nut (not shown) of the shaft rail 15-1 is screwed into the other Y.
The nut of the X-axis rail 15-2 is screwed into the shaft ball screw 13-2. When the motor 14-1 or 14-2 rotates in either the forward or reverse direction under the control of the central controller, the motor 14-1 or 14-2 is driven by the motor and drives the Y-axis ball screw 13-1 or 1.
3-2 rotates forward or backward, and the X-axis rail 15-1 or 15-2 advances or retreats in the Y-axis direction according to this rotation.

The X-axis rail 15-1 has:
A work tower 17-1 for mounting components on a substrate is slidably suspended, and a motor 16-1 for moving and driving the work tower 17-1 is provided above. The work tower 17-1 is connected to the motor 16-1 via an X-axis ball screw (not shown) and a toothed belt. When the motor 16-1 rotates in either the forward or reverse direction under the control of the central control device, the motor 16-1 is driven to rotate the X-axis ball screw in either the forward or reverse direction. 1 advances and retreats in the longitudinal direction (X-axis direction) of the X-axis rail 15-1. Thereby, the work tower 17-1 is configured to be freely movable in the Y-axis direction and the X-axis direction.

The same applies to the X-axis rail 15-2. The motor 16-2 and a work tower 17-2 connected to the motor 16-2 via an X-axis ball screw and a toothed belt (not shown). Are arranged. This is also motor 16
-2 rotates in either the forward or reverse direction under the control of the central controller, the X-axis ball screw is driven to rotate in the forward or reverse direction, and the work tower 17-2 is rotated in accordance with the rotation.
Moves in the longitudinal direction (X-axis direction) of the X-axis rail 15-2. Thereby, the work tower 17-2 is configured to be freely movable in the Y-axis direction and the X-axis direction.

The work tower 17-1 (the same applies to the other work towers 17-2 and the two work towers disposed on the support beam 12b) has two work heads 18-1 that can move up and down.
a and 18-1b. Working head 18-1a
And 18-1b, a nozzle for sucking a component is exchangeably mounted on the tip.

The two work towers 17-1 of the support beam 12a
And the work tower 17-2, each work head 18-1a,
The components are mounted on a board behind two boards that are successively carried in front and back by 18-1b and work heads 18-2a and 18-2b. The two working heads of each of the two working towers of the support beam 12b are entirely configured so that components are mounted on a board in front of the two boards that are continuously carried in front and rear.

Further, although not shown in the drawings, parts are respectively attached to the front part (the diagonally left front in the figure) and the rear part (the diagonally right side in the figure) of the base 11 with working heads 18-1a, 18-1b,.
・ A parts cassette table is provided to supply the parts.
On these component cassette tables, component tape cassettes corresponding to a plurality of types of components to be mounted on the board are usually preliminarily detachably mounted up to about 50 pieces.

A component recognition camera, a nozzle changer, and the like are disposed between the component cassette table and the fixed or movable board guide rail. The work head of the work tower selects and mounts a nozzle corresponding to a component to be suctioned from a nozzle exchanger, and suctions a desired component from the component tape cassette and mounts it on a substrate. At this time, the work heads 18-1a, 1
8-1b,... While the suction nozzle of 8-1b,... Sucks the component from the component tape cassette on the component cassette table and moves above the substrate, the component recognition camera is on standby, and the suction nozzle picks up the component that is sucked by the suction nozzle. The holding position deviation is detected by capturing an image from below, and the central control unit corrects the deviation.

FIG. 3 is a block diagram of the central control unit. The central control unit has a CPU (Central Processing Unit) 20 for controlling the entire apparatus, and the CPU 10 has a ROM as a read-only memory via a bus 11.
22, a RAM 23 which is a readable and writable memory, an image processing unit 24 for processing a recognized image, a key input unit 25, an I / O
The control unit 26 and the like are connected. The ROM 22 stores programs for controlling the above-described units.

The RAM is provided by an I / O control unit 2 from an external recording device such as a floppy disk or a compact disk.
6, a plurality of areas for storing reference position data, deviation value data, etc., and a work area for temporarily storing intermediate data of arithmetic processing. I have. The CPU 20 uses the RO
While controlling the above-described units based on the control program read from the M22, the control unit executes the two-axis movement control described below in accordance with the component mounting control program read from the RAM.

The image processing section 24 drives a component recognition camera or a board recognition camera, converts an analog signal of the image pickup into a digital signal, develops it into a built-in memory as a dot image, and transfers it to the CPU 20. I do. This allows
The position of the working head is corrected based on the correct mounting position of the component and the correct mounting position on the board described in the component mounting control program.

The key input section 25 is connected to input operation keys of the input device, and outputs an external operation signal of the input operation keys to the CPU 20. The I / O control unit 26 includes a driver of a belt drive motor that drives the conveyor belt,
Drivers for each motor that drives the X-axis rail and Y-axis ball screw, drivers that drive various sensors, drivers for cylinders that move the plate device up and down, drivers that drive abnormal display lamps (alarm lamps) for input devices, and input devices Various drivers such as a driver for driving a liquid crystal display and a driver for driving an external storage device are connected.

FIGS. 4A, 4B, and 4C show two axes (two moving axes (X-axis rails)) by the central control unit of the component mounting apparatus.
FIG. 3 is a diagram showing the basics of the movement control method. Figures (a), (b),
(c) is a diagram in which only two moving axes A31 and B32 are viewed from the side of the component mounting apparatus. The moving axis A31 shown in FIGS. 4 (a), (b), and (c) corresponds to, for example, the X-axis rail 15-1 in FIG. 2, and is shown in FIGS. 4 (a), (b), and (c). The moving axis B32 shown corresponds to the X-axis rail 15-2 in FIG. FIG.
The positions indicated by broken lines in (a), (b) and (c) are the work tower 1
7-1 (that is, the working heads 18-1a, 18-1b) or the work tower 17-2 (that is, the working heads 18-2a, 18-1).
2b), a component suction position on the component cassette table, a component recognition position by the component recognition camera, a component mounting position on the board, and the like.

First, as shown in FIG.
1 and the moving shaft B32 complete the suction of the components at the positions P1 and P2 on the component cassette table (the suction of the components by the work head of the supporting work tower), and move to mount the sucked components. The axis A31 is about to move to the mounting position (target T1) on the board, and the moving axis B32 is also about to move to the mounting position (target T2) on the board.

The central control unit firstly moves the moving axis A31 or B3.
It is determined whether or not a priority is set in advance in No. 2 and, if the priority is set, the moving axis to which the priority is set (moving axis A31 in the example of FIG. 7A). To the destination. This destination point is not a true target T1, which will be described later. A component mounting position (a position before correction, T1-0) designated by a mounting position parameter of a mounting program near the true target T1 is not particularly shown.
).

At this time, the working tower of the moving axis A31 slides on the moving axis A31 so that the working head moves in a straight line from the movement start position to the destination point in the XY plane airspace. Performs linear interpolation. Also, the moving axis A3
The first side corrects the mounting position based on the posture obtained by image recognition of the sucked component while moving as described above. Therefore, the movement axis A31 initially has the target T1-
The position before the maximum range that can be corrected by the image recognition than 0 is moved as a tentative target T1 '. During the movement, when the calculation of the position correction is completed, the tentative target T1' is shifted to the true target T1 '. Switch the destination point and move.

Then, the movement axis B32 is the true target T2.
(In this case as well, the component mounting position T on the mounting program is actually
A position on the Y-axis that does not collide with the moving axis A31 in the linear path toward 2-0) is moved as a temporary target T2 'and stopped at the temporary target T2'. If no priority is set to either the moving axis A31 or the moving axis B32 at the beginning of the movement of the two axes, the moving axis that has been prepared for the movement start is prioritized, and the above-described movement is performed. Control.

Next, as shown in FIG.
1 finishes mounting the component on the true target T1, and moves toward the next true target T1-1 (for example, a position where the next component is sucked). That is, it starts moving in the direction of escape with respect to the moving axis B32. Also in this case, the work tower of the movement axis A31 performs linear interpolation by sliding on the movement axis A31 so that the work head moves linearly in the XY plane airspace, but the central control unit determines the movement speed of the movement axis A31. That is, the overall control is performed so that the speed in the Y-axis direction becomes the maximum speed.

As described above, since the moving axis A31 starts moving in the direction of escape with respect to the moving axis B32, on the moving axis B32 side, the moving start position of the moving axis A31, the current moving speed, and the moving axis B32. Based on the moving speed, a movement start time that does not collide with the movement axis A31 is calculated, the movement is started with the calculated movement start time as a base point, and moves toward the true target T2 while following the movement axis A31. . Then, it reaches the true target T2 and mounts the component. On the other hand, when the true target T2 of the moving axis B32 is at a position where the moving axis A31 should stop (the true target T1-1 of the moving axis A31) and collides with the moving axis A31 (in this case, the moving axis A31). The true target T1-1 of A31 is not a component pick-up position, but a position where a second component is mounted.) A position that does not collide with the moving axis A31 is set as a temporary target, and is moved to the next position. It waits for the movement axis A31 to start moving.

On the other hand, the position on the moving axis A31 on which the first component is mounted at the target T1 in FIG. If the direction is not the returning direction like the target T1-1 but the direction approaching or overtaking the moving axis B32 like the true target T1-2 shown in FIG. Calculates a safe position (temporary target T2 ″) at which it does not collide with the moving axis A31. The calculated temporary target T2 ″ is in the direction opposite to the true target T2 for the moving axis B32. Therefore, the moving axis B32 reverses the course from the first temporary target T2 ', which has been temporarily stopped, and moves to the calculated temporary target T2 ".

FIG. 5 is a flowchart of a multitask of a process for arbitrating control of the movement of the two axes of the moving axis A31 and the moving axis B32. The main flowchart (main routine) of the component mounting process is not shown. Further, the processing task of the first XY movement shown in FIG. 3A is a process related to one work tower (for example, the work tower 17-1) of any one of the support beams (for example, the support beam 12a). In this case, the processing task of the second XY movement shown in FIG. 6B is processing related to the other work tower 17-2. As described above, the tasks shown in FIGS. 7A and 7B perform the same processing independently of each other, and therefore, the first XY movement processing task shown in FIG. Take it up and explain.

First, in step S11, the X-axis rail 15-1 is moved in the Y-axis direction and the work tower 1 is moved in response to the two parts sucked by the work heads 18-1a and 18-1b.
A maximum speed and a maximum acceleration of the combined linear movement of the X-axis direction movement of 7-1 and a target position for mounting a component are set. The maximum speed and the maximum acceleration are values that are automatically determined based on the picked-up parts and the speed master table previously stored in the RAM 3 at the time of the initial setting. The target position is an initial position indicated by the program (a mounting position indicated by board design data used as a parameter by the program),
Actually, as described above, the position is set to the position of the maximum correction value before the position on the program.

Next, in step S12, it is determined whether or not the set target position has been changed. In this determination, a correction amount based on component recognition is calculated on the main routine side, and new target position data corrected based on the calculated correction amount is determined. The target position data determined on the main routine side is determined.

If there is a change in the target position (S12)
YES), returning to step S11 to set (change) the maximum speed, the maximum acceleration, and the target position again based on the changed target position, and repeat the above determination.

In this processing, although not particularly shown,
A data table indicating the maximum speed and the maximum acceleration corresponding to the distance to be moved calculated from the current position and the target position is prepared. Step S in the case where it is recognized in step S12 that the target position has been changed
In the process of No. 11, the above data table is referred to.

On the other hand, if there is no change in the position in the above determination (NO in S12), it is determined in step S13 whether or not the set target position has been reached. If not, the determination in step S12 is made. Is repeated. Thus, if the target position is changed before reaching the target position, the determination in step S12 is YES, and the setting of the maximum speed, the maximum acceleration, and the target position is changed in step S11. Then, when the vehicle reaches the target position, the determination in step S13 becomes YES and the process ends. As a result, data indicating the arrival of the first XY movement at the target position is passed to the main routine, and the data of the arrival at the target position is confirmed in a later-described axis management processing task. Steps S21, S22 and S23 in the second XY movement processing task shown in FIG.
This is the same as the processing in steps S11, S12 and S13 in the first XY movement processing task in FIG.

Next, the axis management processing task shown in FIG. First, in the first XY movement, that is, the movement of the work tower 17-1, it is determined whether or not the target position has been reached (step S31). This process is a process of determining whether or not the process in the first XY movement processing task described above has been completed. And the first X
If the target position has been reached in the Y movement (Y in S31), it is determined whether or not the target position has been reached in the second XY movement, that is, the movement of the work tower 17-2 (step S33). . This processing is based on the second X
This is a process for determining whether or not the processing in the Y movement processing task has been completed.

If the target position has been reached in the second XY movement (S33: YES), the flow returns to step S31 to determine whether the target position has been reached in the first XY movement. Repeat that. If the target position reached in the first first XY movement is the component suction position, the target position at which the arrival is determined for the second time is the component mounting position. Also, the first first XY
The target position reached in the movement is the first component (the work tower 17-1 has two work heads 18-1a and 18-1b).
In the case of the mounting position of the first mounted component (the two mounted components), the target position at which the second arrival is determined is the second component mounting position. And the first first X
If the target position reached in the Y movement is the second component mounting position, the target position at which the arrival is determined for the second time is a position where a new component is sucked, that is, a position of a predetermined component tape cassette in the component supply table. It is.

If it is determined in step S31 that the target position has not yet been reached (S31: NO), a first XY movement position determination process, which will be described in detail later, is performed (step S32). Proceed to. If it is determined in step S33 that the target position has not been reached (NO in step S33), a second XY movement position determination process, which will be described in detail later, is performed (step S34). The process returns to step S31. This allows
The first XY movement and the second XY movement are constantly monitored, and the processing always proceeds to the processing task of determining the movement position until the target position is reached, and the movement position is changed as necessary.

FIG. 6 is a flow chart of the above-described step S32 or S34.
10 is a flowchart of a process (the processing contents are the same in each case). In this process, the A axis is defined as the own axis and the B axis is defined as the opposite axis, and the direction of the opposite axis as viewed from the own axis is defined as the plus direction. It is also assumed that the priority can be changed only when the priority axis stops. Also, in this processing, the CP
Registers AF, AT, AP, As, BF, BT, BP, .alpha.1 built in U20 (or set in RAM 23).
And α2 are used.

The register AF stores mounting position data of the A-axis. At this time, the mounting position data AF is set before the mounting position specified by a parameter on the program by the recognition correction range amount (the maximum correction amount that can be generated by image recognition). Therefore, when correction data by image recognition is input, the mounting position data A
F always changes in the direction of increasing value.

The register AT stores data of a temporary stop target position of the A-axis (a position to be temporarily stopped). The register AP stores the current position data of the A axis. The register As stores position data at which the A-axis can be stopped at a specified acceleration. If AP = AT = AF in the respective position data, the A-axis is stopped at the target point.

The register BF stores the same value as the register A F of the A axis on the B axis, and the register BT stores the same value.
The same value as that of the register AT of the A axis on the B axis is stored, and the register BP of the A axis on the B axis is stored in the register BP.
Stores the same value as P.

The register α1 stores safe distance data at which the A-axis and the B-axis do not collide with each other.
2 stores data obtained by adding the above-described recognition correction range amount to the above-mentioned safe distance.

In the flowchart of FIG. 6, first, it is determined whether or not the own axis is set as a priority axis (step S41). For the setting of the priority axis, “set” or “not set” is selected in advance by input. If no priority is set for the own axis (S41)
Is NO), “AF <(BT−α1)” and “AF <
(BF-α1) ”(step S
42). That is, the mounting position AF of the own axis is a position further before the position at a safe distance α1 from the temporary stop target position BT of the partner axis, and the mounting position AF of the own axis is Safety distance α for the mounting position BF
It is determined whether or not it is further before the position where 1 is placed.

If any one of the above cases is not satisfied (NO in S42), further, "AT <(BT-α1
)) And “AT <(BF−α1)” (step S43). That is, the temporary stop target position AT of the own axis is a position further before the temporary stop target position BT of the partner axis than the position at a safe distance α1 and the mounting position AT of the own axis is Then, it is determined whether or not the position is further before the position at a safe distance α1 from the mounting position BF of the partner shaft.

If this determination is negative in either of the above cases (NO in S43), it is determined whether the own axis is moving and its moving direction is in the plus direction (direction toward the partner axis). (Step S44). If the own axis is moving in the plus direction (YES in S44), a position As that can be stopped at the currently specified acceleration is calculated (step S45), and the calculated stop position data As is set in the register AT. (Step S46). As a result, the safety position that does not collide with the partner axis becomes the temporary stop target position A of the own axis.
Set to T.

Subsequently, it is determined whether or not the set temporary stop target position AT of the own axis has changed from the value in the previous processing cycle (step S47). If it has not changed (step S47). (NO), the process is immediately terminated, but if it has changed (S47: YES), then "AT <
(BP-α1) ”(step S
48). That is, it is determined whether or not the temporary stop position AT of the own axis is a position further before the current position BP of the counterpart axis by a safe distance α1.

Then, if it is the position in front (S48 is Y
ES) to create the fastest speed curve (step S4)
9), the process is terminated. On the other hand, if the position is not the near position (NO in S48), a speed curve that moves following the opposing axis (opposite axis) is created (step S50), and the processing ends.

Each of the speed curves in step S49 or S50 is obtained from a table which is set in advance in correspondence with the data of the component being sucked, the current position, and the target position of the temporary stop, from a table stored in the memory. Are read out, operated and created.

If it is determined in step S44 that the own axis is moving and the moving direction is not the plus direction (S4).
Next, "BT <BF" is determined (step S51). That is, the temporary stop target position B of the partner shaft
T is also before the mounting position BF of the mating shaft (own shaft side)
Is determined.

Then, if it is this side (S51 is YE
S), the target temporary stop position AT of the own axis is shifted from the target temporary stop position BT of the partner axis by a safety distance α1 that does not collide with each other.
Then, the position data is changed to the position data obtained by subtracting the safe distance α2 obtained by further adding the recognition correction range amount (step S52), and the process proceeds to the aforementioned step S47. If not (S5
1 is NO), the position data is changed to the position data obtained by subtracting the safety distance α2 from the mounting target position BF of the partner axis (step S5
3) The process proceeds to step S47 described above.

Also, if the determination is YES in step S43, the process proceeds to step S51. If the determination is YES in step S42, the temporary stop target position AT of the own axis is changed to the mounting target position AF of the own axis (step S54), and the process proceeds to step S47 described above. If the determination is YES in step S41, the mounting target position AF of the own axis is further before the position obtained by subtracting the safe distance α1 at which collision does not occur from the temporary stop target position BT of the partner axis. It is determined whether or not this is the case (step S55). If it is before (YES in S55), the process proceeds to step S54. If not (S55 is NO), the process proceeds to step S52.

As described above, first, it is determined whether or not the own axis has priority, and based on the determination and the state of the partner axis, the temporary stop target position of the own axis is changed. The target position converges to the mounting target position. As a result, in the processing of the main flowchart (not shown), the own axis stops at the corrected actual mounting position, and component mounting is performed.

FIGS. 7 (a), (b), (c) and (d) show the temporary target of the own axis corresponding to the moving or stopped current position of the partner axis which changes sequentially in the above processing. It is a figure showing the state where (temporary stop target position) is changed. In FIG. 9A, the follow-up movement starts from the point k0 toward the temporary target k1 at the time t0, and during this time, the partner axis stops (or reverses in the approaching direction). This shows a state in which the safe point k2 not to be set is changed to a tentative target and moved to that point k2.

FIG. 9B also shows that, at time t0, a follow-up movement is started from a point k0 toward a tentative target k3, and during this time, the other axis moves further away.
At time t2, the temporary target is extended to a safe point k4 where no further collision occurs, the setting is changed, and the temporary target is moved to that point k4.

FIG. 9 (c) shows that, at time t0, a follow-up movement is started from the point k0 toward the provisional target k5, and the vehicle approaches the provisional target k5 and starts decelerating at time t3. Since the partner axis has moved further away, at time t4, the temporary target is extended to a safe point k6 at which no further collision occurs, the setting is changed, the movement is continued at the decelerated speed at time t4, and the movement to the point k6 is continued. The state which moved is shown.

FIG. 9D also shows that, at time t0, the vehicle starts following movement from the point k0 toward the temporary target k7, approaches the temporary target k7 and starts decelerating at time t5. Since the safe distance from the stopped partner axis is shorter than the provisional target k7, at time t6, the vehicle suddenly stops at a point k8 before the provisionally set target k7.

In such a movement, when the follow-up transfer is started in step S8 of the flowchart of FIG. 4, the current position and the movement speed (including acceleration) of the partner axis are referred to in advance.
This is performed by determining the speed at which the own axis should move. In general, assuming that the self-axis (moving axis A31) is started after a time T from the start of the partner axis (moving axis B32), the safety distance α is always required at time t. -A
[T−T]> α ”. In step S8, the time T is calculated, and the movement of the own axis (moving axis A31) is started.

FIG. 8 (a) shows the above-mentioned partner axis B32 and its own axis A.
31 illustrates a function indicating a moving distance y at a time t of 31. FIG. 7A shows the axis A (t-
T]) is the moving speed of the partner axis (function B [t] indicated by a solid line).
It shows a case where the moving speed is higher than the moving speed. As described above, when the moving speed of the own axis is higher, the function A shown by the solid line in FIG.
As shown by [t], the vehicle overtakes the partner axis B in the middle and collides.

FIG. 8 (b) shows the moving speed of the own axis (function A [t] shown by a broken line) and the moving speed of the other axis (function B [solid line] shown by a solid line).
(T)) shows the case where the moving speed is the same. When the two moving speeds are the same, the distance equal to or greater than the safety distance α is initially maintained, and the axis is immediately moved without a waiting period of time T as shown in FIG. The movement of A can be started.

FIG. 9 is a table showing the results of a simulation of the component mounting process performed by the component mounting apparatus that operates as described above. The figure shows, in the operation column 31, six mounting examples from the top to the bottom, showing examples of mounting positions assumed when two axes are simultaneously sucked by two working heads and mounted on a substrate by two working heads. ing. In all the figures shown in the operation column 31, the black circles indicate the current position of the first movement axis, the white circles indicate the component mounting positions of the first movement axis, the black squares indicate the current position of the second movement axis, and , White square marks indicate the component mounting position of the second moving axis. Arrows indicate the moving direction and order.

The next column 32 shows the processing time and tact by the conventional NC control. The numerical value (for example, 810 ms (millisecond)) shown below “F:” is the total processing time of the first moving axis, and the numerical value (for example, 980 ms) shown below “R:”.
Is the total processing time of the second moving axis. Then, 245 ms below it indicates a tact in the processing time.

FIGS. 10A, 10B, and 10C show various conditions for performing the above-described simulation. Figure (a)
Indicates conditions of the size of the substrate and the mounting position. Substrate 4
0 is 150 mm (mm) in the width direction
It is assumed that it is carried into the apparatus via the transport path 43 and fixed in position as shown in FIG. From the F pick point 41, which is a position where components are picked (adsorbed and picked up) from the component tape cassette on the component cassette table in front of the apparatus base (below the figure), to the front side surface of the board 40 (the inner surface of the fixed guide rail). Is 98 mm. An R pick point 42, which is a position for picking a component from a component tape cassette on a component cassette table on the other side (upper side in the figure) of the apparatus base.
Is 198 mm from the other side of the substrate 40 (the inner surface of the moving guide rail which is shifted in width). Here, it is assumed that components are mounted at positions on four lines from the front side surface of the substrate 40 to a position of 120 mm in steps of 30 mm.

FIG. 10B shows various processing times common to the two axes. “PikTime” is a processing time for sucking a component from the component tape cassette, and is 100 ms.
(Milliseconds). “PlaceTime” is a processing time for mounting the component on the substrate 40, and is 90 ms.
"Y movement" is a processing time for moving from the first mounting position to the next mounting position on the substrate 40. In consideration of acceleration and deceleration times, 100 ms and 60 mm when moving 30 mm.
It takes 140 ms to move and 170 ms to move 90 mm.

FIG. 10 (c) shows the above-mentioned F pick point 41 or R pick point.
The initial mounting position of the substrate 40 from the pick point 42 is 30 mm.
This is the processing time when going straight on the line, 60 mm line, 90 mm line, or 120 mm line, or when returning to the F pick point 41 or the R pick point 42 from the last mounting position. 3 above
On the 0 mm line, 60 mm line, 90 mm line, and 120 mm line, 200 ms, 230 m from F pick point 41
s, 260 ms, and 280 ms, R pick point 4
From 2, 350 ms, 330 ms, 310 ms, and 2
90 ms.

Under these conditions, the "operation" of FIG.
The result of simulating the processing shown in the column 31 is the “conventional NC control” column 32 and the “control of the present invention” column 3 in FIG.
The processing time and tact shown in FIG. The first line in the figure shows that the first moving axis (own axis, front axis, F axis) mounts the first part on the 60 mm line, the next part on the 30 mm line, and the other second axis. Moving axis (partner axis, opposite axis, R
(Axis) shows a case where the first part is mounted on a 90 mm line and the next part is mounted on a 120 mm line. In this simulation, in order to avoid the deadlock shown in FIG. 1 (d), it is assumed that mounting is performed first on a mounting line far from the pick point. In addition, it is assumed that the F-axis precedes the start of the movement.

In the first row of the figure, “Conventional NC control” column 3
"F: 810 ms" shown in FIG. 2 indicates that the F axis is at the F pick point 4
100 ms for picking up components in 1 and 6 which is the first mounting position
230ms for moving on 0mm line, 90 for parts mounting processing
ms, 10 to move to the next mounting position, 30mm line
0 ms, 90 ms for the component mounting process, and 200 ms to return to the F pick point from the 30 mm line, indicating that the total of these is 810 ms. In the example of the “operation” column 31 shown in the first line, since the mounting positions of the two axes do not intersect, the processing is also started for the R axis at the same time. If the time is "R:
980 ms ". The processing time of the entire apparatus is “F: 810 ms” and “R: 98
0 ms "is the longer time, and in this case," 980 ms "is the entire processing time. Since four parts were mounted in this time, the tact was "2
45 ms ". In the example shown in the first line, since the mounting positions of the two axes do not intersect as described above, the control of the present invention operates in the same manner, and accordingly, the “control of the present invention”
As shown in the column 33, the processing time of the F-axis, the processing time of the R-axis, and the tact are the same as in the case of “conventional NC control”, respectively.

Next, the second line of FIG.
As shown in the figure, the F axis mounts the first part on the 90 mm line and the next part mounts on the 30 mm line, and the R axis mounts the first part on the 60 mm line and mounts the next part on the 120 mm line. Is shown. In this case, the mounting positions of the two axes intersect.

Therefore, in the “conventional NC control”, F
Axis picks parts at 100ms, 90m at 260ms
Move on the m-line, mount the first part in 90 ms, and move on the 30-mm line in 230 ms to mount the next part until it passes the 60-mm line, the first mounting point of the R-axis. Is stopped only by picking the parts. In other words, only the pick processing time of 100 ms is consumed, and no other processing is performed. F axis processing is 1
00 + 260 + 230/2 + α ≒ 520 (ms). Thereafter, the R axis starts the remaining processing. That is, it moves on the 60 mm line from the R pick point 42 in 330 ms, mounts the first part in 90 ms, and
Move on the 20mm line, mount the next part in 90ms,
330 + 90 + 140 + 90 + 290 = 940 from the 120 mm line until returning to the R pick point 42 in 290 ms.
(Ms) of processing time is required. The processing time of the entire apparatus is 520 + 940 = 1460 (ms). Therefore, the tact is 365 ms.

On the other hand, in the "control of the present invention", while the above-mentioned F-axis moves ahead by 520 ms, the R-axis moves once to the vicinity of the 120 mm line and waits, and then starts moving following the retreating F-axis. To the 60 mm line, which is the first mounting position. Therefore, the remaining processing time is as follows: the first part is mounted on the 60 mm line in 90 ms, and the
Move 90 ms, mount the next part in 90 ms, and return to R pick point 42 in 290 ms, totaling 90 + 140 +
90 + 290 = 610 (ms). That is, the processing time of the entire apparatus is 520 + 610 = 1130 (ms).
, Which is 283 ms. Therefore, the tact difference from the “conventional NC control” is “−82”.
ms ”.

Similarly, simulation is performed for the third and subsequent rows. The examples in the third and subsequent rows also show the case where the mounting positions of all the two axes intersect, as in the example in the second row. Similarly in the third and subsequent rows, the tact difference is "-88 ms" in the example of the third row, the tact difference is "-88 ms" in the examples of the fourth to sixth rows, respectively. "-88m
s "and" -83 ms ". That is, when the mounting positions of the two axes intersect, a tact reduction of at least “−82 ms” is realized.

Although not shown, a computer simulation is performed based on the control method of the component mounting apparatus according to the present embodiment. The condition is that the initial values are axis A = 0 and axis B = 1000. Speed is a constant speed exercise to simplify calculations. The priority is given to axis A first, and when axis A reaches the target, it is transferred to axis B. When the axis B reaches the target, the axis A returns to the axis A again. Repeat this. The target is set at random using a random number (assuming that the component mounting position in the actual machine is constant if the type of substrate is the same, it is assumed that the type corresponds to all types of substrates). As a result of performing a simulation under this condition, no collision or deadlock has occurred in up to 200 million trials.

[0082]

As described above in detail, according to the present invention, the current position of the partner axis and the moving speed including the acceleration are monitored and the direction of the moving target point is always kept within the range where the own axis does not collide with the partner axis. Therefore, even when the mounting positions of the two axes intersect, the standby time can be reduced, and the component mounting process can be performed at higher speed.

[Brief description of the drawings]

1 (a), 1 (b) and 1 (c) are diagrams showing the principle of operation of the present invention, and FIG. 1 (d)
Is a conventional defect diagram shown for reference.

FIG. 2 is a perspective view showing a configuration of a main part of the component mounting apparatus according to one embodiment.

FIG. 3 is a block diagram of a central control unit of the component mounting apparatus according to the embodiment.

FIGS. 4A, 4B, and 4C are diagrams showing the basics of a method of controlling the movement of two moving axes by a central control unit of the component mounting apparatus.

FIGS. 5A, 5B, and 5C are multitask flowcharts of processing for arbitrating control of movement of two moving axes.

FIG. 6 is a subroutine for determining a movement position in the axis management processing of multitasking.

FIG. 7 (a), (b), (c), (d) show the temporary position of the own axis corresponding to the current position of the moving or stopped state of the partner axis, which sequentially changes during the follow-up movement to the partner axis. It is a figure showing a state where a goal is changed.

8A is a diagram showing a moving distance y of the partner axis B and the own axis A at time t, and FIG. 8B is a diagram showing a moving state when the moving speed of the own axis is equal to the moving speed of the other axis. It is.

FIG. 9 is a table illustrating a result of a simulation of a component mounting process performed by the component mounting apparatus according to the embodiment;

FIGS. 10 (a), (b), and (c) are diagrams and tables showing various conditions for performing a simulation.

FIG. 11 is a view schematically showing a conventional two-axis type one-by-one component mounting apparatus.

FIG. 12 is a diagram showing a typical two-axis typical operation pattern and a state of control corresponding to the operation pattern.

[Explanation of symbols]

Reference Signs List 1 base 2 printed circuit board (board) 3 chip-shaped electronic component (component) 4, 5 work tower 6, 7 moving axis 8a, 8b, 9a, 9b fixed rail 10 component mounting device 11 base 12a, 12b support beam 13 -1, 13-2 Y axis ball screw 14-1, 14-2 Motor 15-1, 15-2 X axis rail 16-1, 16-2 Motor 17-1, 17-2 Work tower 18-1a, 18 -1b, 18-2a, 18-2b Work head 20 CPU (central processing unit) 21 Bus 22 ROM 23 RAM 24 Image processing unit 25 Key input unit 26 I / O control unit 31 Moving axis A 32 Moving axis B 40 Substrate 41 F pick point 42 R pick point 43 Transport path

Claims (5)

[Claims] An X, Y, and Z three-dimensional work space has a first movement axis and a second movement axis for moving two work heads movable in a Y-axis direction, respectively. In a component mounting apparatus that individually picks up chip-shaped electronic components from a component supply device and automatically mounts the chip-shaped electronic components on a printed circuit board, a first position detection unit that detects a position of the first movement axis; The first to calculate the position per unit time
Position calculating means per unit time; second position detecting means for detecting the position of the second moving axis; and second position calculating means for calculating the position per unit time of the second moving axis.
A position calculating unit per unit time; a position of the second moving axis detected by the second position detecting unit; and a moving position of the second moving axis calculated by the second unit position calculating unit. Moving the first movement axis to a movement target position so as not to collide with the second movement axis based on the movement position of the first movement axis calculated by the position calculation means per first unit time; 1
A component mounting device, comprising: moving means. 2. The method according to claim 1, wherein the first moving unit moves the first moving axis to the second moving axis when a current stop position of the second moving axis intersects a moving target position of the first moving axis. 2. The component mounting apparatus according to claim 1, wherein the movement is started by temporarily targeting a position that does not collide with the moving axis. 3. The first movement means follows the second movement axis when the second movement axis starts moving in a clearance direction from the first movement axis. 2. The apparatus according to claim 1, wherein the shaft is moved toward the movement target position.
Or the component mounting apparatus according to 2. 4. The apparatus according to claim 1, wherein the first moving unit is configured to stop the second moving unit.
When the first moving axis is moving in a direction approaching the moving axis of the first moving axis, the first moving axis is moved when the second moving axis starts moving away from the first moving axis. Second
4. The component mounting apparatus according to claim 1, wherein the component mounting apparatus is configured to follow a moving axis of the component and move toward a movement target position. 5. The first moving means, when the movement target position of the second movement axis and the movement target position of the first movement axis cross each other, gives priority to the first movement axis. When designated, the first movement axis is moved to the movement target position so as not to collide with the second movement axis. On the other hand, when the second movement axis is preferentially designated, the first movement axis is moved to the first movement axis. 5. The component mounting apparatus according to claim 1, wherein the moving axis is temporarily moved to a position where the moving axis does not collide with the second moving axis.