JPS61265230A - Parts mounting device - Google Patents

Abstract

PURPOSE:To correctly mount parts further form a parts mounting device also in simplified construction and in light weight, by a carrier moving means, head transfer means, mounting point control device and a parts position correcting means, in the case of the parts mounting device mounting the electronic parts onto a substrate. CONSTITUTION:A mounting device, providing part supply parts 1 and mounting heads 2 in symmetrically right and left two places, is equipped also with a head transfer means 3 and a part position correcting means 4 respectively in two places. The mounting head 2 picks up a part (a) from a taping cassette 16a, coming to a pickup position, to be conveyed to a work position P in a work line 5 and mounted to a predetermined position of a workpiece (b). Here the other one mounting head 2 picks up a part (a) with a half cycle delay. While the mounting device detects position displacement of the part (a) by a camera, not shown in the drawing, to be corrected in a position of the parts position correcting means 4. The mounting device controls the all action by a control unit not shown in the drawing.

Description

Detailed Description of the Invention Industrial Field of Application The present invention was developed for use in an electronic component mounting device that automatically mounts electronic components such as chip resistors and chip multilayer capacitors onto substrates constituting electronic circuits. It is what was done. However, the field of application of the present invention is not limited to the above, but extends to component mounting devices in general.

Conventional technology includes a carrier for transporting a workpiece onto a work line, a bulk amplifier for parts from a parts supply section, transporting the parts to a work position on the work line, and placing the parts at a predetermined position on the workpiece at the work position. As a component mounting device equipped with a mounting head for mounting, US P3,958,74
There is something disclosed in No. 0.

This conventional device moves the carrier in the X direction (one horizontal direction).
At the same time, by moving the mounting head in the Y direction (horizontally perpendicular to the decided,
It is configured such that the component can be correctly mounted at a predetermined value 1 in the X-Y direction of the workpiece.

In addition, the above-mentioned conventional device pinks up a predetermined component to the mounting head for each mounting operation from among a large number of components of different types and sizes arranged in a row in the Y direction in the component supply section. It is configured. Therefore, for each mounting operation, the mounting head moves in the Y direction to a position where a predetermined component is pinked up. By the way, since each component has different dimensions as described above, there is a shift in the center position of each component in the X direction, which needs to be corrected. Therefore, the conventional device described above corrects the pickup position of the component with respect to the mounting head.
Problems to be solved by the invention in which the mounting head is configured to be able to move minutely in the X direction However, in the above conventional device, the mounting head is
Since the mounting head must be moved in the -Y2 direction and the movement must be controlled, there are problems in that the structure of the mounting head becomes complicated and the weight increases. Further, in the conventional device described above, the deviation in the X direction of the component with respect to the reference position in the component supply section is corrected by minute movement of the mounting head in the X direction, but the deviation is set in advance,
If the actual deviation does not match the preset value,
There is also the problem that this error appears when parts are mounted.

The present invention aims to solve the problems of the above-mentioned conventional devices.

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention provides a carrier for transporting workpieces onto a work line, a part picking up part from a parts supply section, and transporting the part to a work position on the work line. At the same time, the component mounting device includes a mounting head for mounting the component at a predetermined position on the workpiece in a working position, and a carrier moving means for controlling the moving position of the carrier while moving the carrier in one horizontal direction. and a head moving means for controlling the moving position of the mounting head while moving it horizontally in the other direction, and driving the carrier moving means and the nozzle moving means in a predetermined order for mounting. The present invention is characterized in that a control device is provided to control the component mounting point of the head relative to the workpiece, and a component position correction means for correcting the position of the component relative to the mounting head is disposed at an intermediate position of the movement line of the mounting head.

According to the present invention, with the above-described configuration, the deviation of the component from the reference position in the component supply section (deviation in the X direction when compared to the conventional device) is corrected by the component position correcting means. I can do two things.

Therefore, the moving direction of the mounting head can be limited to one horizontal direction (corresponding to the conventional apparatus described above, the Y direction).

Furthermore, since the component position correction means can correctly set the mounting position of the component with respect to the workpiece, it is possible to eliminate the influence of errors caused by the placement state of the component in the component supply section. The mounting point can be determined correctly by driving the head moving means and the carrier moving means under the control of the control device, and positioning the mounting head and the workpiece at predetermined positions in two different horizontal directions, respectively. result,
Parts can be placed correctly in the specified position on the workpiece.

EXAMPLE An example of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show the overall shape of an electronic component mounting apparatus that automatically mounts a large number of electronic components a in sequence onto predetermined positions on a substrate (workpiece) b. In this embodiment, the component supply units 1 and 1 are provided at two symmetrical positions, and the mounting head 2.2 is also provided with the component supply units 1 and 1, respectively.
Therefore, one pair of head moving means 3.3 and one pair of component position correction means 4.4 are provided respectively.One mounting head 2 picks up the components from the component supply section l. While picking up the other mounting head 2.a, the other mounting head 2 is mounting components at the work position P on the work line 5.
Basically, the same movements and operations are performed with different half-cycle timings, increasing the efficiency of component mounting operations.

As shown in detail in FIG. 3, the work line 5 extending horizontally in the left-right direction includes a pair of guide rails 6.6 that guide and support the work b, and a supply conveyor 7 that supplies the work b to the work position P. , a discharge side conveyor 8 is disposed to discharge the workpiece b on which the component mounting work has been completed at the work position P. Further, at the work position P of the work line 50, there are disposed a carrier 9 for transporting the work b and a carrier moving means 10 for controlling the movement position while moving the carrier 9 in the work line direction, that is, the X direction.

The carrier 9 includes a pair of retractable pins 11.11, a solenoid F12.12 that retracts and retracts the retractable pins 11.11, and a carrier body 14 that moves in the X direction on a guide rail 13.
It consists of The protruding/retracting pins 11.11 removably engage with a pair of engagement holes C, C provided in the workpiece.

The carrier moving means 10 has a movable part 10a formed on the carrier body 14, a fixed part 10b formed on the guide rail 13, and is constructed of a near-palm smoke. The carrier moving means 10 controls the moving position and moving speed of the carrier 9 in the X direction based on pulse signals from the control device 15 (see FIG. 2). In FIG. 3, reference numeral 78 is a stopper device that waits the workpiece b at a standby position, and the bin 7b is retracted from the stopper device.

The component supply section 1 includes a large number of taping cassette devices 1.
216 are arranged in parallel, each taping cassette 1
A large number of parts a are loaded in one row in 6a. These taping cassettes 16a are intermittently fed in the X direction, and one of the parts a that has reached the pink-up position is selectively picked up by the mounting rod 2 for each mounting operation. The type and size of the parts a loaded into each taping cassette lea are different for each taping force 7H6a. In addition, the parts a located at the pick-up position of each taping recess 6a are horizontally aligned in a direction perpendicular to the X direction, that is, in the Y direction, but they are not exactly in a straight line and are slightly spaced apart from each other. It's deviated.

The mounting head 2 picks up the component a from the component supply section 1 and places the component a at a work position P on the work line 5.
It has a function of transporting the part a to a predetermined position on the workpiece b at a working position Hp. As shown in detail in FIG. 4, the mounting head 2 includes a head body 17 and a suction nozzle 18 that moves in the vertical direction relative to the head body 17, that is, in the Z direction. The suction nozzle 18 has the function of suctioning the component a from the taping cap H6a and picking it up using vacuum pressure.

The head moving means 3 that controls the movement position of the rad 2 while moving it in the Y direction toward the mounting is composed of a movable part 3a provided integrally with the head body 17, and a fixed part 3b that also serves as a guide rail for the movable part 3a. Consists of linear pulse smoke. The head moving means 3 controls the moving position and moving speed of the mounting rod 2 in the Y direction based on pulse signals from the control device 15 (see FIG. 2).

The movement of the suction nozzle 18 in the Z direction is performed by a driving means (not shown) such as an air cylinder, but this movement in the Z direction is also performed under the control of the control device 15.

A component position correction/correction means 4 for correcting the position of the component a with respect to the mounting throat 2 is disposed at an intermediate position of the movement line of the mounting head 2, that is, at an open position between the component supply section 1 and the working position P. has been done. This component position correction means 4 is the fourth
As shown in FIG. 5, a pair of chuck jaws 20.2
o, and a suction nozzle 1 is attached to these jaws 20 and 20.
It is configured to hold the component a to be sucked by B and correct its position in the Y direction. Further, the component position correcting means 4 moves the pair of chuck claws 20, 20 to the rotary cylinder 21.
The part a held by the chuck jaws 20.20 can be rotated on a horizontal plane by being supported by the chuck jaws 20.
A recognition camera 22 is provided below the chuck jaws 20, 20 to detect and recognize a positional shift of the component a in the X direction.

In addition, in FIGS. 4 and 5, 23 is an air cylinder,
24 is an engagement pawl that transmits the vertical movement of the air cylinder 23 to the rotary disk 25; 26 is a link mechanism that converts the vertical movement of the rotary disk 25 into the opening and closing movement of a pair of chuck pawls 20 and 20; 27 is a return spring; 28 is a guide rod that guides the vertical movement of the rotary disk 25 with respect to the rotary cylinder 21, and 29 is a guide rod that guides the opening and closing movement of the pair of chuck claws 20 and 20. Further, 30 is a fixed outer cylinder that rotatably supports the rotating ff121, and 31 is a pulse motor that rotationally drives the rotary disk 25 via a belt 32. The rotation of the rotary disk 25 is transmitted to the rotary cylinder 21 via the guide rods 28 and 28.

After the mounting hand 2 picks up the component a from the component supply section 1, it moves to the component position correction means 4-H,
Stop here. Suction nozzle 18 of hend 2 attached during that time
descends and holds the part a between the pair of chuck jaws 20.2.
Position it between 0 and 0. Concurrently with this, the air cylinder 23 is operated to move the pair of chuck jaws 20.20 in the closing direction, and the component a is clamped by these chuck jaws 20.20. At this time, the vacuum pressure of the suction nozzle 18 is weakened so that the chuck claws 20, 20 can be held evenly and accurately. Initially, the chuck claws 20.20 are arranged to open and close correctly in the Y direction, so that the center of the part a in the Y direction can be aligned with the center of the suction nozzle 18, and the part aO
The X-axis can be regulated in the correct direction. On the other hand, a displacement of part a in the X direction is detected by the recognition camera 22.

Next, when it is necessary to rotate the component a around its Z axis, the suction nozzle 18 moves slightly upward, while
The pulse motor 31 rotates by a predetermined angle to rotate the component a held by the chuck jaws 20, 20 to a preset rotational force position. Later, part a is mounted on workpiece b at the rotational force position.

As described above, the position in the Y direction and the direction of the X axis of component a are corrected, the positional deviation in the After being attracted and then transported to the working position P, it is attached to a predetermined position on the workpiece b.

The drive of the pulse motor 31 is controlled by the control device 15, and data detected by the recognition camera 22 is sent to the control device t15, where the positional deviation in the X direction is recognized. Furthermore, based on this recognition, a pulse signal outputted from the control device Ris to the carrier moving means 10 is
The movement position of the workpiece b in the X direction is corrected by taking into account the positional deviation of the workpiece b in the X direction.

Part number f/1 of configuration 1. The correction means 4 detects the positional deviation of the component a in the X direction using a recognition camera 22, and corrects this by correcting the movement position of the carrier moving means 10 in the X direction under the control of a control device 150. The chuck claw 2 is arranged to open and close in the X direction to correct misalignment in the X direction.
It is also possible to configure it to be performed mechanically by using 0.20. Alternatively, the recognition camera 22 may be configured to detect a positional shift of the component a in the two directions of X and Y.

It is also possible to mechanically correct the position of component a in the X-Y directions using two sets of chuck claws that open and close in the X and Y directions. Further, in determining the rotation angle of the component a, the rotation tube 21 may be rotated to a predetermined position while the rotation angle is detected by the recognition camera 22.

When the mounting head 2 reaches the working position P, it stops at a predetermined position in the Y direction, and at the same time the suction nozzle 18 descends to mount the part a onto the workpiece b. At this time, the carrier 9 is also stopped at a predetermined position in the X direction, so the workpiece b held there
The component a is correctly mounted at a predetermined point in the X-Y direction. The carrier moving means lO and the head moving means 3 operate in a predetermined order according to a program stored in the control device 15, and move the carrier 9 in the X direction and the mounting head 2 in the Y direction. As a result of the respective movements and positioning, the mounting point of the component a on the workpiece b of the mounting head 2 is accurately determined for each mounting operation.

The present invention can be configured in various ways other than those shown in the above embodiments. For example, the mounting pad 2 and carrier 9 are not limited to those shown in the above embodiment. Also, head moving means 3
Also, the carrier moving means 10 is not limited to a linear pulse drive, but may be constructed using a ball feed screw or the like.

Effects of the Invention Since the present invention has the above-described structure and operation, although the position of the component relative to the mounting head can be corrected and the component can be mounted at the correct position on the workpiece, the moving direction of the mounting head cannot be set horizontally. can be limited to one direction. Therefore, it is possible to simplify the structure and reduce the weight of the mounting head.

In addition, since the present invention disposes the component position correction means at an intermediate position of the work line, it is possible to eliminate the influence of errors caused by the arrangement of components in the component supply section, and improve the accuracy of the component mounting position on the workpiece. can be improved.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an embodiment of the present invention, FIG. 2 is a side view,
FIG. 3 is a perspective view showing the work line, FIG. 4 is a partially vertical perspective view showing the mounting throat, component position correcting means, and its surroundings, and FIG. 5 is a partially vertical side view of the recognition camera. １−・−・−・−・−・・−・−−−−１−−−−−
−−−−・・−Parts supply section 2−・−・−Kaoru−1−−−−
−−〜・・・・・・・・・・・・・・・ Mounting head 3−
−−−−−1・−・・−・−−111−Head moving means 4−−・−−−−−−−−−−・・−・・・・−・
−・・・・One part position correction means 5 −−−1・−−
1−−−−−−−−−−−−−−・−・・・・・・・・・・
・・・・・・Work line 9−−−−−−−−−−−・・
・−・・−・・−=−・−・・−Carrier 10−−−1−−−−−−−・−−−−−・・−−−−−11−−−
--------Carrier movement means 1! y---------
−−−−−−−−−1−−−・−・・−・・−・−Control device. Applicant Matsushita Electric Industrial Co., Ltd. Agent Patent attorney Toshio Nakao One idiot Figure 1 2

Claims (1)

[Claims] (1) A carrier that transfers the workpiece onto the work line, picks up the part from the parts supply section, transports the part to a work position on the work line, and attaches the part to a predetermined position on the workpiece at the work position. A component mounting apparatus comprising a mounting head that moves the carrier in one horizontal direction while controlling its movement position; and a carrier moving means that moves the carrier in one horizontal direction while controlling its movement position; a head moving means for controlling the position, and a control device for driving the carrier moving means and the head moving means in a predetermined order to control a component mounting point of the mounting head with respect to the workpiece; A component mounting device characterized in that a component position correction means for correcting the position of the component with respect to the mounting head is disposed at an intermediate position of a movement line of the mounting head.