JPS61272997A - Part position regulater for part mounting machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an electronic component mounting machine that automatically mounts electronic components such as chip resistors and chip multilayer capacitors onto a substrate constituting an electronic circuit. - It is mainly used in a component position regulating device that regulates the position and rotational angle position in the Y direction.

2. Description of the Related Art In an electronic component mounting machine, a device shown in FIG. 6 has been conventionally used as a device for regulating the position of a component in the X-Y direction. This conventional example is equipped with a total of four chuck jaws: a pair of chuck jaws 50.51 positioned in the X direction and a pair of chuck jaws 52.53 positioned in the Y direction. The position is adjusted to a predetermined position.

Also, as a device that determines the rotation angle position of electronic components, US
As exemplified in No. P3,958.740, there is a device in which a component suction nozzle of a mounting head is rotated by a predetermined angle, and the component being suctioned by the nozzle is regulated to a predetermined rotation angle.

Problems to be Solved by the Invention However, in the conventional example shown in FIG. 6, the sizes of electronic components vary as seen recently. (i
wXQ, 7.0fiX6.0 m from 8tm rectangular part
When used in an electronic component mounting machine that must mount electronic components a up to a rectangular component, it becomes difficult to perform high-precision positioning.For example, 1.6 m negative
．． The chuck jaw 5 is adapted to accommodate an 8 m rectangular part.
When the dimensions of 0.51, 52, and 53 are determined, the width of at least one pair of chuck jaws 50.51 must be shortened to less than 1.6W in order to avoid interference between these chuck jaws. When adjusting the position of the shaped electronic component a in the X-Y direction, there is a problem in that the support becomes unstable, making it difficult to perform highly accurate position adjustment.

In addition, in the case where the component suction nozzle is rotated in order to adjust the component to a predetermined rotation angle, the rotation mechanism must be incorporated into the mounting head side that is equipped with the component suction nozzle, and the mounting head, which is a movable member, must be installed. In addition to making it difficult to reduce the weight and size of the electronic component a, when positioning a large electronic component a to a predetermined rotation angle, the inertia of the electronic component a may cause a positional shift.

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

Means for Solving the Problems In order to achieve the above object, the present invention includes a pair of chuck jaws for clamping the parts to be transferred between the mounting and the parts, and a chuck by rotating the chuck jaws. The component positioning machine is equipped with a rotating means that determines the angle of rotation of the component held between the chuck jaws, and a recognition sensor that detects a positional deviation of the component held between the chuck jaws from a reference position. It is characterized by comprising a regulating device.

Effect: With the above-described configuration, the present invention can detect the positional deviation of the component held between the pair of chuck jaws in the X-Y direction using a recognition sensor, and can adjust the mounting position of the component based on this detection data. The rotation angle of the component held by the chuck jaws can be regulated by the rotation means.

Therefore, in the present invention, the parts transferred to and from the mounting head only need to be held between a pair of chuck claws.
There is no fear of interference between the chuck jaws, and even when it is necessary to mount many types of parts with large differences in size, the chuck jaws can be made to have appropriate dimensions. Therefore, the support of the component by the pair of chuck jaws is stable, and the displacement of the component is detected with high precision by the recognition sensor, so that the position of the component in the X-Y direction can be adjusted with high precision. can.

Further, in the sixth aspect of the present invention, the rotation angle of the component is determined by rotating the rotating means while the component is held between the chuck jaws, so that the problem of positional misalignment due to inertia of the component can be solved. , the mounting head can be made lighter and more compact.

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

FIGS. 3 and 4 show the overall shape of an electronic component mounting machine that automatically mounts a large number of electronic components a one after another at predetermined positions on a board (workpiece) b. In this embodiment, the component supply sections 1 and (2) are provided at two symmetrical positions, and two mounting rads 2.2 are also provided corresponding to the respective component supply sections 1.1. Therefore, a pair of head moving means 3.3 and a pair of component position adjusting means A, A are also provided. When one mounting head 2 is picking up the component a from the component supply section 1, the other mounting head 2 is mounting the component at the work position P of the work line 5. The mounting rods 2.2 basically perform the same movements and operations with different half-cycle timings, thereby increasing the efficiency of component mounting work.

As shown in detail in FIG. 5, the work line 5 extending horizontally in the left-right direction includes a pair of guide rails 6.6 for guiding and supporting the work b, and a supply conveyor 7 for supplying 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 5, 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, are disposed.

The carrier 9 includes a pair of retractable pins 11.11, a solenoid 12.12 for retracting and retracting 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 retractable 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. This carrier moving means IO controls the moving position and moving speed of the carrier 9 in the X direction based on pulse signals from the control device W15 (see 8 in FIG. 4). In FIG. 5, 78 is a workpiece b. This is a stopper device that waits at a standby position, and its pin 7b retracts and appears.

The component supply section 1 includes a large number of taping cassette units W1.
6 are arranged in parallel, each taping cassette 16a
A large number of parts a are loaded in one row. These taping cassettes 16a are intermittently fed in the X direction, and one of the parts a that have arrived at the pickup position is selectively picked up by the mounting head 2 for each mounting operation. The type and size of the parts a loaded into each taping cassette 16a are different for each taping cassette 16a. In addition, the parts a at the pick-up position of each taping cassette 16a are horizontally aligned in a direction perpendicular to the X direction, that is, in the Y direction, but they are not exactly on a straight line and are slightly offset from each other. are doing.

The mounting rad 2 picks up the part a from the parts supply section 1 and transfers this part a to the work position ff on the work line 5.
At the same time, the workpiece b is transported to the workpiece b at the working position Hp.
It has a function of mounting the part a at a predetermined position.

As shown in detail in FIG.
That is, it consists of a suction nozzle 18 that moves in two directions. The suction nozzle 18 has the function of suctioning and picking up the component a from the taping cassette lea using vacuum pressure.

The head moving means 3 that controls the movement position of the mounting head 2 while moving it in the Y direction includes a movable part 3a that is integrally provided with the main body 17, and a fixed part 3b that also serves as a guide rail. It is composed of linear pulse smoke. The head moving means 3 controls the moving position and moving speed of the mounting head 2 in the Y direction based on pulse signals from the control device Wt 15 (see FIG. 4).

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

A component position regulating device A of the present invention is disposed at an intermediate position on the movement line of the mounting head 2, that is, at an intermediate position between the component supply section 1 and the working position WtP.

As shown in FIGS. 1 and 2, this component position adjustment device A has a 1.
It is provided with a pair of chuck jaws 20.20. Further, the component position adjustment device A supports the pair of chuck jaws 20.20 on the rotary cylinder 21, thereby making it possible to rotate the component a held by the chuck jaws 20.20 on a horizontal plane. At the same time, a recognition sensor 22 is placed below the chuck jaws 20.20.
It is configured to be able to detect and recognize the positional deviation of the component a from the reference position.

In addition, in FIG. 1 and FIG. 2, 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/closing movement of a pair of chuck pawls 20.20; 27 is a return spring; 28 . 28 is a guide rod that guides the vertical movement of the rotating cylinder 21, and 29 is a guide rod that guides the opening/closing movement of the pair of chuck claws 20, 20. Further, 30 is a fixed outer cylinder that rotatably supports the rotary cylinder 21, and 31 is connected to the rotary disk 2 via a belt 32.
5 is a pulse motor that rotates the motor. and turntable 2
5 is transmitted to the rotary cylinder 21 via the guide rods 28, 28.

After the mounting head 2 picks up the component a from the component supply section 1, it moves to the component position adjustment device Ahi and stops there. During this time, the suction nozzle 18 of the mounting head 2 descends, and the part a is held between the pair of chuck claws 20 and 20.
position it in the middle. Concurrently with this, the air cylinder 23 operates to move the pair of chuck jaws 20.20 in the closing direction, and the part a is clamped by these chuck jaws 20.20. As shown in , the chuck claws 20.20 are initially arranged to open and close in the Y direction correctly, 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 The X axis of a can be regulated in the correct direction. On the other hand,
The deviation in the X direction of part a, that is, the deviation in the X direction from the center line (reference position?i) of the recognition sensor 22 is
Detected by 2.

Next, when it is necessary to rotate the component a around the Z axis, for example, there is a difference between the rotation angle value of the component a in the component supply section l and the rotation angle value of the component a when it is mounted on the workpiece b. 9
If there is a difference of 0° or 45°, the pulse motor 31 rotates by a predetermined angle to rotate the component a held by the chuck jaws 20, 20 to a preset rotation angle value. Part a is mounted on workpiece b at the rotation angle value.

As shown below, the position in the Y direction and the direction of the X axis of part a are corrected, and the positional deviation in the X direction is detected.
The part a, which has been set to a predetermined rotation angle value, is moved again to the suction nozzle 1 as the pair of chuck claws 20 and 20 move in the opening direction.
8 and then transported to the working position P,
Then, it is attached to a predetermined position on work b.

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

The component position regulating bag WtA having the above configuration mechanically regulates the position of the component a in the Y direction using a pair of chuck claws 20, 20, and detects the positional deviation of the component a in the X direction using the recognition sensor 22. , this can be regulated by correcting the moving position of the carrier moving means lO in the X direction under the control of the control device 15, so the recognition sensor 22 detects the position of the part a in one direction. It is sufficient to use a line sensor that can be used, and a line sensor that has a fast recognition speed and is inexpensive can be used.

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 head 18 descends to mount the part a onto the workpiece b.

At this time, since the carrier 9 is also stopped at a predetermined position in the X direction, the part a is correctly mounted on the workpiece b held by the carrier 9 at a predetermined point in the XY direction. The carrier moving means 10 and the head moving means 3 operate according to a predetermined order in a program stored in the control device ff15, so that the carrier 9 is moved in the X direction and the mounting head 2 is moved in the Y direction.
As a result of the respective movement and positioning in the directions, 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 embodiments described below. For example, the recognition sensor 22 may be configured as a flat sensor capable of recognizing images in two directions of X-Y, and the chuck jaws 20. It may also be possible to detect the displacement of the clamped component a in the X-92 direction. In this case, even if the clamping surfaces of the chuck jaws -20.20 are worn out and the mechanical accuracy has deteriorated, this can be corrected, and especially when one of the chuck jaws 20.20 It is effective in dealing with unevenness when it is worn out. Further, in determining the rotational angular position of part a, the rotational cylinder 21 may be configured to be rotated to a predetermined position while the rotational angular position is detected by the recognition sensor 22.
Furthermore, in the above embodiment, the rotating means 39 is connected to the rotary cylinder 21. Although it is configured with a rotary disk 25, a pulse motor 31, etc., it can be configured in other ways.

Further, as shown by the imaginary lines in FIG. 2, the pair of chuck claws 20 and 20 may be used to measure the capacitance and electrical resistance of component a, and to check out defective components. You can also do it. 40 is a measuring device for this purpose.

In the above embodiment, the mounting head 2 is in the Y direction, and the workpiece b is in the
The present invention is applied to a component mounting machine that moves in each direction to determine the component mounting position, but it is also applicable to a component mounting machine in which the mounting head 2 is supported by a rotary table and rotates, and a workpiece b is moved in the X-Y direction. It is also possible to apply the present invention to other types of component mounting machines, such as component mounting machines that move in the direction to determine the component mounting position.

Effects of the Invention Since the present invention has the above-described structure and operation, the position of each component can be adjusted with high precision in a component mounting machine that must mount many types of components with large differences in size. Further, according to the present invention, the rotation angle of the component can be accurately regulated, and the mounting head can be made lighter and more compact.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of an embodiment of the present invention, Fig. 2 is a partially vertical side view thereof, Fig. 3 is a perspective view showing the entire component mounting machine, Fig. 4 is a side view thereof, and Fig. 5 is a perspective view of an embodiment of the present invention. A perspective view showing the work line,
FIG. 6 is a schematic plan view showing the principle of a conventional example. 2・−−−−−−−−−−−・−・・−・・−−−−
−−・−・−1−−−−−Mounting head 20−−−−−
−−−−−−−−・−・−・−−−１−−−−・−・・
-Chuck jaw 22--------------1----
・-------・・−・−・−−−−−One recognition sensor 39
・−・−−−−−−−・−・−・−・−・−・・・・−
・--Rotating means A--
−−・・−・−−−−−・−・−・・One part position adjustment device a−・−−−1・−・−・・−1−−−−・−−−
−1−・−・−・−Parts. Applicant Matsushita Electric Industrial Co., Ltd. Agent Patent Attorney Toshio Nakao (1 person) Figure 1 Figure 2 Figure 13

Claims (1)

[Claims] (1) 1 to hold the parts transferred to and from the mounting head
a pair of chuck jaws, and a rotating means for rotating the chuck jaws to determine the rotation angle position of the component held by the chuck jaws;
A component position regulating device in a component mounting machine, comprising a recognition sensor that detects a positional deviation of the component held between the chuck jaws from a reference position.