JPH11239925A - Part mounting device and its method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make information inexpensively easily obtainable for whether a hold member is provided or not. SOLUTION: A member detector 171 detecting whether a changing hold member 191 is provided or not in a tool change part 121 is provided in a mounting head 117, an X, Y robot 119 is moved, and the tool change part is scanned by the member detector to detect whether the hold member is provided or not. In addition, kind information given to the changing hold member can be also read by the member detector 171. The single member detector 171 thus provided is only required, and information whether the hold member is provided or not can be obtained inexpensively and easily.

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 for mounting, for example, an electronic component on a circuit board, and a component mounting method executed by the component mounting apparatus.

[0002]

2. Description of the Related Art In recent years, there are a wide variety of types of electronic components mounted on a circuit board, and there is a strong demand for an electronic component mounting apparatus capable of handling a variety of electronic components from micro chip components to electronic components such as long connectors. ing. Hereinafter, an example of a conventional electronic component mounting apparatus will be described with reference to FIG. FIG. 10 is an overall view of a conventional component mounting apparatus 20. In FIG. 10, reference numeral 1 denotes a transfer device that carries the electronic circuit board 2 into and out of the component mounting device 20 and positions the circuit board 2 when mounting components. Reference numeral 3 denotes a reel-type component supply device that supplies the electronic components one by one by winding a tape on which the electronic components are temporarily fixed and winding the tape from the reel 4. Reference numeral 5 denotes a tray-type component supply device for arranging electronic components in a grid on the tray 6 and supplying components. 7
Is a mounting head having a component holding unit 8 that holds a holding member 13 that holds electronic components supplied from the reel-type component supply device 3 and the tray-type component supply device 5 by suction. In the component mounting apparatus 20, the holding member 13 is a nozzle capable of sucking an electronic component.
Reference numeral 9 denotes an X, Y robot that moves and positions the mounting head 7 to an arbitrary position in the X, Y directions orthogonal to each other on a plane. Reference numeral 10 denotes a component recognition camera that measures a suction attitude of the electronic component held by the holding member 13.
Reference numeral 11 denotes a tool change unit provided with one or a plurality of replacement holding members 13 to be attached to the component holding unit 8. Reference numeral 12 denotes the above-described transport device 1, reel-type component supply device 3, tray-type component supply device 5, mounting head 7, X, Y
The control device is connected to the robot 9, the component recognition camera 10, and the tool change unit 11, and controls the operation of these components and controls the operation of the entire component mounting device 20. still,
In the component mounting apparatus 20, the holding member 13 holds the electronic component by suction, but can also mechanically hold the electronic component by, for example, a chuck mechanism. Further, FIG. 10 shows only one component holding unit 8 in the mounting head 7, but is actually provided with a plurality of component holding units 8 simply by omitting illustration. Of course, the mounting head 7 can be provided with only one component holder 8.

The operation of the conventional component mounting apparatus 20 configured as described above will be described. After the holding members 13 of the mounting head 7 are arranged in the component supply device 3 or the component supply device 5 by the X and Y robots 9, the respective holding members 13
Are lowered by the component holding unit 8 in the Z direction orthogonal to the X and Y directions, and the electronic components mounted on the circuit board 2 are sucked by the respective holding members 13. After the suction, the respective holding members 13 are lifted by the component holding portions 8 and the X and Y robots 9 are moved.
, The plurality of electronic components held by the respective holding members 13 sequentially move onto the component recognition camera 10. The component recognition camera 10 captures an image of the suction posture of each electronic component on the holding member 13, and sends the recognized image information to the control device 12. Control device 12
Calculates the correction amount from the amount of deviation from the mounting posture on the circuit board 2 after taking in the recognition image information for each electronic component, and moves the holding member 13 around the axis in the Z direction based on the correction amount. Rotate. And the control device 12
The X and Y robots 9 are moved to dispose the mounting head 7 on the circuit board 2, and the respective component holders 8 are operated to accurately mount the electronic components sequentially at predetermined positions on the circuit board 2.

When the holding member 13 corresponding to the electronic component to be mounted on the circuit board 2 is not mounted on the component holding portion 8, the mounting head 7 is moved onto the tool change portion 11 by moving the X, Y robot 9. Is moved, and a holding member 13 not corresponding to the electronic component is cut off and held in a tool holding portion that is vacant in the tool change section 11. Then, the component holding unit 8 is moved to a tool holding position holding the holding member 13 corresponding to the electronic component,
The holding member 13 is mounted. Then, the component holding unit 8 on which the holding member 13 is mounted is moved to the supply position of the next electronic component to be mounted, and the above-described operation from suction to mounting is repeated. In this manner, various kinds of electronic components are mounted on the circuit board 2.
Attach sequentially on top.

[0005]

Here, the tool change section 11 will be described with reference to FIGS. The tool change portion 11 is provided with a holding mechanism (not shown) capable of holding the holding member 13. Each holding member 13 is provided at a predetermined tool holding portion 14 corresponding to the holding member 13. 13 is fitted. The tool holding portion 14 is provided with a sensor 15 for detecting whether or not the holding member 13 is attached. Each sensor 1
5 is electrically connected to the control device 12, and the control device 12 determines which tool holding portion 14
3 can be recognized. In addition, as the sensor 15, a known sensor such as a proximity sensor or a limit switch can be used.

However, the conventional tool change section 1
The configuration 1 has the following problems. That is, before operating the component mounting apparatus 20, the necessary holding member 13 is required.
Is arranged at a predetermined tool holding portion 14 of the tool change section 11, and the control device 12 recognizes information on the presence or absence of the holding member 13 from the sensor 15. Therefore, it is necessary to provide the sensor 15 at each of the tool holding portions 14, and there is a problem that the cost is increased and the wiring and the like are complicated. Further, in order to distinguish the type of the holding member 13 held by the tool holding portion 61, there is a problem that the number of sensors 15 must be increased or a plurality of expensive sensors must be provided. The present invention has been made in order to solve such a problem, and is intended to provide a component mounting apparatus capable of easily and inexpensively obtaining information on the presence or absence of a holding member, and a component mounting method executed by the component mounting apparatus. The purpose is to provide.

[0007]

According to a first aspect of the present invention, there is provided a component mounting apparatus having a detachable holding member which can be replaced corresponding to a component to be held, and a component held by the holding member. A mounting head that mounts the mounting head on a body to be mounted, and a holding member replacement unit that includes a replacement holding member attachable to the mounting head, and the mounting head replaces the holding member and the replacement holding member with the mounting head. Wherein the mounting head includes a member detector that detects the presence or absence of the replacement holding member in the holding member replacement unit.

A component mounting method according to a second aspect of the present invention includes:
A component mounting method for mounting a component held by the holding member to an object to be mounted while exchanging a holding member corresponding to a component to be held with a replacement holding member provided in a holding member replacement unit, wherein the holding member It is characterized in that the presence or absence of the replacement holding member is detected by scanning the holding member replacement section to determine whether or not the replacement with the replacement holding member is possible.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A component mounting apparatus according to an embodiment of the present invention and a component mounting method executed by the component mounting apparatus will be described below with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals. Also, in the present embodiment, an electronic component is taken as an example that fulfills the function of “part” described in the above “Means for Solving the Problem”, and the present embodiment is taken as an example that fulfills the function of “object to be mounted”. In this embodiment, a circuit board is taken as an example, and in the present embodiment, a tool change section is taken as an example that fulfills the function of the “holding member exchange section”.

As shown in FIG. 6, the basic configuration of the component mounting apparatus 101 according to the present embodiment is the same as the configuration of the conventional component mounting apparatus 20 described above. That is, the component mounting device 101 includes a transport device 111 for the circuit board 2, a reel-type component supply device 113, a tray-type component supply device 115, a mounting head 117, an X / Y robot 119, a component recognition camera 120, and a tool change unit. 121 and the control device 13
0 is provided. Here, the transport device 111 corresponds to the conventional transport device 1, the reel-type component supply device 113 corresponds to the conventional reel-type component supply device 3, and the tray-type component supply device 115 corresponds to the conventional tray-type component. The X, Y robot 119 corresponds to the conventional X, Y robot 9, the component recognition camera 120 corresponds to the conventional component recognition camera 10, and corresponds to the conventional devices described above. There is no change in the configuration and function, and the description is omitted here. Therefore, hereinafter, the mounting head 11 which is a characteristic component of the component mounting apparatus 101 of the present embodiment will be described.
7, the tool change unit 121 and the control device 130 will be described.

First, in the present embodiment, the mounting head 117 is a holding member 151 for holding an electronic component by a suction operation.
A component holder 161 for detachably holding the holding member 151 so as to be replaceable, and a member detector 171. The mounting head 11 is similar to the conventional mounting head 7.
7 is also attached to the X, Y robot 119 and is movable in the X and Y directions, and the holding member 151 is movable in the Z direction by the component holder 161. Further, as shown, in this embodiment, the mounting head 117 has four holding members 151 and four component holding portions 161 corresponding thereto.
And However, the number of holding members is not limited to this, and may be one or more arbitrary numbers. Each of these holding members 151 can be independently operated independently by each of the component holding units 161, and the operation is controlled by the control device 130.
In the present embodiment, the holding method of the electronic component by the holding member 151 is based on the above-described suction operation. However, for example, a mechanism that mechanically holds the electronic component may be used. They may be mixed. For the sake of explanation, the holding member mounted on the mounting head 117 is referred to as a holding member 151, and the holding member held by the tool change unit 121 described below is referred to as a replacement holding member 191.

The tool change portion 121 is provided with a tool holding portion 181 to which the replacement holding member 191 is fitted in a grid pattern on a flat plate. The tool holding portion 181 has a holding member 151 mounted on the mounting head 117.
In some cases, the replacement holding member 191 is not provided in order to hold the replacement.

The tool change section 121 is described in detail in FIG.
It has a structure as shown in FIG. That is, the holding member 151 attached to the mounting head 117 is
A holding mechanism 201 is provided for each row of the tool holding portions 181 to be detached from the tool holding portion 181 and stored in the tool holding portions 181. The holding mechanism 201 has a wedge-shaped cam 2.
02 rises and falls in the cylinder 203,
A mechanism for opening and closing a pair of open / close levers 204, and an open / close sensor 209 for notifying the open / close of the open / close lever 204 is provided in the cylinder 203. Also, cylinder 203
Is controlled by the control device 130, and the open / close signal sent from the open / close sensor 209 is also controlled by the control device 130.
Supplied to

The holding mechanism 201 operates as follows. That is, normally, the cam 202 is at the raised position and the opening / closing lever 204 is open as shown in FIG. On the other hand, in order to replace the holding member 151, after the holding member 151 is loaded in the tool holding portion 181 of the tool change portion 121, the cam 202 is lowered by the cylinder 203, and the pair of opening / closing levers 204 is closed. Thus, as shown in FIG. 9, the opening / closing lever 204 engages with the groove 205 formed in the loaded tool holding member 181 to clamp the groove 205. Therefore, by raising the mounting head 117 in the sandwiched state, the engagement between the ball plunger 206 and the groove 207 of the holding member 151 is released, and the mounting head 117 is stored in a state where the holding member 151 is stored in the tool holding portion 181. Only can rise.
The ball plunger 206 includes a mounting head 117.
Is provided in the holding portion 210 provided in the component holding portion 161 for holding the holding member 151.
Is held in the groove 207 of the holding member 151 in the state of holding.

The member detector 171 has X, Y
It is attached to the casing of the mounting head 117 so as to face the plane, and as shown in FIG.
When the mounting head 117 moves above the tool change unit 121 in the X and Y directions due to the
It is detected whether or not there is a replacement holding member 191 to be replaced with the above holding member 151 at each tool holding portion 181 in 21. In the present embodiment, as shown in FIG. The type information attached to the replacement holding member 191 is also detected. still,
The member detector 171 is attached to the installation location of the mounting head 117 such that the moving distance of the mounting head 117 is slightly reduced in relation to the mounting operation of the electronic component on the circuit board 2. In the present embodiment, the member detector 171 uses a reflection type detector that irradiates light to a detected portion and optically recognizes the reflected wave. In the present embodiment, the detection of the presence or absence of the replacement holding member and the detection of the type information are performed by one member detector 171.
It is also possible to carry out each with a separate detector. X,
The position information obtained from the Y robot 119, the presence / absence information of the replacement holding member 191 obtained from the member detector 171 and the type information are supplied to the control device 130.
Therefore, based on the position information, the control device 130 associates the presence / absence information and the type information with each of the tool holding portions 181 of the tool change unit 121 before starting the mounting of the electronic component on the circuit board 2. , Control device 13
0 is stored in the storage unit 131 provided in advance.

In the present embodiment, as shown in FIGS. 3 and 4, the type information 212 is attached to the flange 211 of the holding member 151 and the replacement holding member 191. In the same form. In the type information 212, as shown in FIG. 5, by combining white or black for each of the five eyes, a combination of all five eyes is white to all five eyes is black. 32 types of information can be represented. Note that the replacement holding members 191 held by the tool change unit 121 are the respective replacement holding members 1.
At 91, the arrangement position of the type information does not differ and is the same position,
For example, as shown in FIG. 4, at a position that makes an angle of 30 degrees counterclockwise with respect to the center line 213 extending in the X direction through the center of each replacement holding member 191 arranged along the X direction. It is arranged at the tool holding portion 181 so as to be arranged.

The component mounting apparatus 101 configured as described above.
Will be described. As shown in FIG. 7, when an automatic operation is instructed in step (indicated by “S” in the figure) 1, in step 2, the mounting head 117
The robot 119 moves to a position above the tool change unit 121. In steps 3 to 6, the mounting head 1
17, each tool holding portion 181 in the tool change section 121 is provided.
The mounting head 117 is moved in the X and Y directions to determine whether or not the replacement holding member 191 is equipped with the replacement head 191 and, in the present embodiment, the type information attached to each replacement holding member 191. Recognize while scanning. By the scanning, the control unit 130 is supplied with the movement amount information of the X and Y robots 119 in the X and Y directions, the presence / absence information and the type information, and the control unit 130 performs a tool change unit based on these pieces of information. The position information of each of the tool holding portions 181, the presence / absence information of the replacement holding member 191 at each of the tool holding portions 181, and the type information of each of the replacement holding members 191 are stored in the storage unit 131 in association with each other. .

In this manner, all the tool holding locations 1
Recognition of 81 is performed (step 6). Based on the information thus recognized and stored, the control device 13
0 executes the mounting operation of the electronic component. On the other hand, in accordance with the order of the types of electronic components to be mounted in the mounting operation of the electronic components, the tool holding unit 121
If ones are arranged in advance, the control device 130 checks in step 7 whether the replacement holding members 191 are arranged in accordance with the order of the types of the electronic components. As a result, if there is an error in the arrangement of the replacement holding member 191, the arrangement is corrected and the operation from step 1 is executed again. On the other hand, when the above sequence is correct,
The mounting operation of the electronic component is started. In performing the mounting operation of the electronic component, the control device 130 is supplied with information in advance corresponding to the mounting location on the circuit board 2 and the electronic component to be mounted. The information of the holding member 151 capable of holding is supplied.
Therefore, the control device 130 moves the holding member 151 capable of holding the mounted electronic component to the mounting head 1 according to the mounting order.
Attach to 17 automatically. That is, when it is necessary to replace the holding member 151 mounted on the mounting head 117, the control device 130 moves the mounting head 117 onto the tool change unit 121 and moves the component holding unit 161 in the Z direction. By driving the holding mechanism 201 as described above, the holding member 151 is retracted to the predetermined tool holding portion 181, and the necessary replacement holding member 1 is used instead.
91 is mounted on the component holding unit 161. Thus, the holding member 151 corresponding to the electronic component mounted on the circuit board 2
Then, electronic components are sucked from the component supply device 113 or 115 and mounted on the circuit board 2 in the same manner as in the related art.

As described above, the member detector 171 mounted on the mounting head 117 scans the tool change portion 121 before starting the mounting of the electronic component on the circuit board 2 and determines whether the replacement holding member 191 exists. Recognize. Therefore, it is possible to prevent interference when replacing the holding member 151 and forgetting to attach the holding member 151. Also, the replacement holding member 1
By reading the type information attached to 91 with the member detector, the location and type of the replacement holding member 191 in the tool change unit 121 can be recognized, and the holding member can be automatically replaced. is there.

As described above, in the present embodiment, the type information is also recognized in the replacement holding member 191.
At a minimum, the presence or absence of the replacement holding member 191 may be detected.

In this embodiment, as described above, each time the automatic operation is instructed, that is, every time the production of the circuit board is started, the replacement holding member 1 shown in steps 3 to 6 is displayed.
The operation of confirming the presence / absence of 91 and the type thereof is performed. However, if the above confirmation operation is performed every time the production of the circuit board is started, the production efficiency may be reduced. Therefore, it is also possible to perform the operation of confirming the presence or absence of the replacement holding member 191 and confirming the type thereof only when one of the following events (i) to (iv) occurs. As a result, the time required for the above-described checking operation can be saved, and the production efficiency can be improved. (I) When the power of the component mounting apparatus 101 is turned on,
(Ii) When the open / close sensor 209 in the tool change unit 121 sends the open / close signal, (iii)
Regarding the holding member 151 mounted on the mounting head 117, in the present embodiment of the mounting head 117 stored in the storage unit 131 of the control device 130, the holding member 151 of which type is attached to which of four places in the present embodiment. When the information indicating whether or not the holding member 115 is actually attached to the mounting head 117 is different from the location and type information, that is, when the holding member 115 mounted on the mounting head 117 is artificially replaced. , (Iv)
When any operation error occurs in the component mounting apparatus 101,

[0022]

As described above in detail, according to the component mounting apparatus of the first aspect and the component mounting method of the second aspect of the present invention,
A member detector for detecting the presence / absence of the replacement holding member in the holding member replacement unit is provided on the mounting head, and the presence / absence of the replacement holding member is detected by scanning the holding member replacement unit. Therefore, it is not necessary to provide a sensor or the like in the holding member exchange section for holding various types of components, and the configuration can be made simply and inexpensively.

[Brief description of the drawings]

FIG. 1 is a perspective view of a mounting head and a tool change unit in a component mounting apparatus according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining a state in which a replacement holding member of a tool change unit is detected by a member detector provided in the mounting head shown in FIG.

FIG. 3 is a view for explaining a state in which a member detector provided in the mounting head shown in FIG. 1 detects type information in a replacement holding member of a tool change unit.

FIG. 4 is a plan view of the replacement holding member shown in FIG. 3;

5 is a diagram showing types of type information attached to the replacement holding member shown in FIG. 3;

FIG. 6 is a perspective view showing the entire component mounting apparatus according to the embodiment of the present invention.

7 is a flowchart illustrating an operation of detecting a replacement holding member in a tool change unit in the component mounting apparatus illustrated in FIG. 6;

8 is a perspective view showing a detailed structure of a tool change unit in the component mounting device shown in FIG.

FIG. 9 is a side view of the tool change unit shown in FIG.

FIG. 10 is a perspective view of a conventional component mounting apparatus.

FIG. 11 is a perspective view of a tool change section shown in FIG.

FIG. 12 is a sectional view taken along the line II shown in FIG. 11;

[Explanation of symbols]

2. Circuit board, 101: Component mounting device, 117: Mounting head, 121: Tool change unit, 130: Control device,
151: holding member, 171: member detector, 191: replacement holding member.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Akira Kamonoshita 1006 Kazuma Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd.

Claims (7)

[Claims] 1. A mounting head (117) which has a detachable holding member (151) so as to be exchangeable corresponding to a part to be held, and mounts the part held by the holding member on a member to be mounted (2). ), And a holding member exchange unit (121), comprising: a replacement holding member attachable to the mounting head, wherein the mounting head exchanges the holding member with the replacement holding member. The component mounting apparatus, wherein the mounting head includes a member detector (171) for detecting the presence or absence of the replacement holding member in the holding member replacement unit. 2. The member detector according to claim 1, further comprising, in addition to the detection of the presence or absence, detecting whether or not the replacement holding member corresponding to the component to be mounted on the mounted body is in the holding member replacement portion. The component mounting apparatus according to claim 1, wherein the determination is made based on type information of the replacement holding member corresponding to a holdable component. 3. The component mounting apparatus according to claim 2, wherein the type information is attached to the replacement holding member, and the member detector optically reads the type information. 4. The apparatus according to claim 3, further comprising a control unit (130) for associating a location and a type of the replacement holding member in the holding member replacement unit based on information sent from the member detector. Component mounting device. 5. A holding member (15) corresponding to a part to be held.
A component mounting method for mounting a component held by the holding member to a mounted body (2) while exchanging 1) with a replacement holding member provided in a holding member replacement unit, wherein the holding member and the replacement A component mounting method, wherein the presence / absence of the replacement holding member is detected by scanning the holding member replacement section to determine whether or not the replacement holding member can be replaced. 6. The component according to claim 5, wherein the scanning on the holding member replacement unit is performed before starting the mounting of the component, and the arrangement position of the replacement holding member in the holding member replacement unit is recognized in advance. Mounting method. 7. When scanning on the holding member exchange unit,
7. The component mounting method according to claim 5, wherein type information attached to the exchangeable holding member corresponding to the component that can be held is also detected.