JPS62125694A - Transfer apparatus of electronic parts - 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 Application of the Invention] The present invention relates to an electronic component transport device, and particularly to an electronic component transport device suitable for transporting and positioning a unit containing electronic components at high speed.

[Background of the invention]

As shown in FIG. 10, a conventional electronic component transport device is comprised of a plurality of lanes 5 for mounting various types of electronic components 1 (see FIG. 11) onto a substrate 4 placed on an XY table 18. A fixed stocker 3, a feeder section 12 provided at the front of the stocker 3, a transport unit 6 provided movably along a guide rail 8 in front of the feeder section 12, and a transport unit 6 provided in front of the transport unit 6. The apparatus is comprised of a posture converting unit 17 rotatably provided on the substrate 4, and means for mounting the electronic components on the converting unit 17 onto a substrate 4 provided on an XY table 18.

The electronic component 1 is stored in a stick 2 as shown in FIG. 12, and the stick is stored in the stocker 3. Further, a belt 9 is fastened to the conveyance unit B, and by driving the belt 9 with a motor 11 via a pulley 10, the rollers 7 of the conveyance unit 6 run on the guide rails 8, so that the conveyance unit 6 can freely reciprocate.

Next, the operation of the prior art as described above will be explained by taking the electronic component in lane 5 as an example.

First, when the transport unit 6 is moved to the position of the lane 5 by the drive of the motor 11, the electronic components 1 separated from the feeder section 12 by appropriate means (not shown) are transported in the input direction as shown in FIG. It is then chuteed and stored in the receiving section 6a of the transport unit B.

Furthermore, when the transport unit 6 moves to the B position in FIG. 10 by driving the motor 11, the stopper 13 shown in FIG. 14 is rotated in the ID direction by appropriate means, so that the electronic component 1 It shoots in the C direction and is stored in the attitude changing unit 17.

Next, when the cylinder 14 is driven, the attitude changing unit 17 rotates in the E direction about the pin 15 and is held in a horizontal state. Next, the nozzle 16 descends in the F direction, picks up the electronic component 1, and then rises in the C direction.

Thereafter, the nozzle 16 (see FIG. 10) of the attitude changing unit 17 is indexed in the direction ■ by an appropriate means (not shown), and the electronic component 1 is placed on the board 4 set on the XY table 18 at the H position. Mount.

The two conventional techniques have the following problems.

When the conveyance unit 6 is moved and stopped at each lane position 1, for example, lane 5', the belt 9 is extended by the acceleration/deceleration force acting on the conveyance unit B, so that the conveyance unit 6 is moved as shown in FIG. It vibrates in the J direction shown in FIG. Therefore, as shown in FIG. 15, when the electronic component 1 is shot in the incoming direction from the feeder section 12 and received in the receiving section 6a of the transport unit B, the electronic component 1 is placed in the receiving section 6a. It was difficult for the receiver to carry out the delivery smoothly due to the problem at the entrance.

In order to reliably transfer the electronic components mentioned above, it is necessary to transfer the electronic components 1 to the fee P-4 after the vibrations of the transport unit B have attenuated.
312. However, since it takes time to attenuate the vibration, the time required for transferring and receiving the electronic component 1 becomes longer. Therefore, there is a problem that the overall mounting time becomes longer.

It is also conceivable to increase the widths of the passage 12a provided in the feeder section 12 and the receiving section 6a of the transport unit 6, respectively. However, in this case, since the electronic component 1 is tilted in the passage 12a and the receiving portion 6a, there is a problem in that the electronic component 1 cannot be shot smoothly. A similar problem occurred when transferring the electronic component 1 to and from the posture changing unit 17 after moving the transport unit 6 to the BIQ position in FIG. 10.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to solve the problems of the prior art as described above, and to provide an electronic component transport device that can transport electronic components at high speed and position them quickly.

[Summary of the invention]

In order to achieve the above object, the present invention provides an electronic component 4.

In an electronic component transporting device comprising an attitude changing unit rotatably provided in the front and means for mounting the electronic component on the attitude changing unit onto a board set on an XY table, a temporary magnetic member is attached to the carrying unit. by attaching the temporary magnet member, placing an electromagnet opposite the temporary magnet member at a predetermined distance, and energizing the electromagnet when the transport unit is stopped.
It is characterized by applying a brake to the transport unit.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure is a plan view of this embodiment, FIGS. 2 and 3 are partially cutaway side views of the feeder section, conveyance unit, and attitude changing unit of FIG. 1, and FIG. 4 is a view of the conveyance device of FIG. 1. It is a perspective view of the machine provided. Among the symbols shown in FIGS. 1 to 4, the same symbols as those shown in FIGS. 10 to 15 are as follows.
The same or the relevant part shall be indicated.

1 to 4, a base 6b made of a material that is difficult to magnetize, such as aluminum, in the transport unit B has several temporary magnetic members, for example, soft iron 22, which are magnetized and become magnetic only when present in a magnetic field. It is said. The 'rjL@stone 23 attached to the frame 21 is provided so as to face the temporary magnet member 22 with a predetermined distance therebetween. The frame 21 and index unit 25
A column 24 supporting the is mounted on the main body 20. The rest of the structure is the same as that of the conventional example shown in FIGS. 10 to 15, so a description thereof will be omitted.

For convenience of explanation, the operation of this embodiment having the above-mentioned structure will be explained based on the case where electronic components are transported on the lane 5' (FIG. 1) and mounted on the board 4 on the XY table 18.

First, the input power to the electromagnet 22 is turned off to put it in a demagnetized state, and the motor 11 is driven to move the conveyance unit 6 via the pulley 10 and belt 9.

Immediately before the transport unit 6 reaches the position of the lane 5', the electromagnet 25 is excited and an electromagnetic force is generated between it and the temporary magnet member 22 provided on the transport unit B, thereby applying a brake to the transport unit B. to rapidly attenuate the vibration amplitude when the unit B is stopped.

When the amplitude becomes small enough to allow transfer of the electronic component 1 from the feeder section 12 to the transport unit 6, the electromagnet 23 is demagnetized and at the same time, the separated electronic component 1 is removed from the feeder section 12 by appropriate means. , and then shoot in the A direction and store it in the receiving section 6a of the transport unit 6 (see FIG. 2).

Next, the motor 11 is driven to move the transport unit 6 to the Bl position in FIG. At this time, since the temporary magnet member 22 has no residual magnetism, there is no fear of interfering with the movement of the transport unit B.

When the transport unit 6 reaches position B, the electromagnet 23 is excited in the same way as in the above case, and the vibration amplitude of the transport unit 7) is rapidly attenuated, and then the electronic component 1 is transferred to the attitude changing unit 17. Give and receive.

That is, in FIG. 3, when the stopper 13 is rotated in the D direction by an appropriate means, the electronic component 1 is shot in the C direction and stored in the attitude changing unit 17. Then, when the cylinder 14 is actuated, the attitude changing unit 17 rotates in the E direction using the bin 15 as a fulcrum and is held in a horizontal state.

Next, the nozzle 16 descends in the F direction, picks up the electronic component 1, and then ascends in the KOC direction. Thereafter, as shown in FIG. 1, the nozzle 16 is indexed in one direction, and the electronic component 1 is mounted on the substrate 4 set on the XY table 18 at Hmffi. The above indexing is performed by driving an indexing unit 25 installed on a column 24 shown in FIG.

Next, a method for rapidly attenuating the vibration amplitude by the electromagnet 25 when the transport unit B is stopped will be described in detail.

FIG. 5 is a diagram showing the configuration of the electronic component transport section, and FIG. 6 is a modeled version of FIG. 5 in order to investigate the behavior of the transport unit B when it is stopped. In the figure, each symbol is indicated as follows.

m: 1 for the sum of the masses of the transport unit and belt. 2: Spring constant of the left and right belts of the conveyance unit・8・r1+r2: Viscosity coefficient of the left and right belts of the conveyance unit It is as follows.

The equation of motion obtained from Fig. 6 is as shown in equation (1) below.

mx”+(r,+r2)x+(k,+2)x=0
−=(1) The equation (1) is transformed as shown in the equation (2) below.

"x" + 2ξω 10ω2 X=0
(2) The initial conditions for the above equation are determined as follows.

Change aX of the transport unit at t-0 (at the time when the transport unit reaches point N). (However, F is represented by the force FidF=mα due to acceleration and deceleration when the speed diagram of the transport unit is as shown in FIG. 7).

The speed of the transport unit when 1=0 is 0.

Under the above initial conditions, X obtained from the above equation (2)
is expressed by the following equation (3).

ζ When the above equation (3) is expressed in a graph, it becomes as shown in FIG. The numerical values in FIG. 8 are, for example, the original amplitude and period under the following conditions.

At position B in FIG. 10, when transferring electronic components from the transport unit 6 to the posture changing unit 17, if the amplitude of the transport unit 6 is required to be 04wR or less,
In the figure, it takes 5 cycles for the vibration to attenuate to the above value (O, 4m), that is, 16.2msecX5=81msθ
It turns out that 0 is necessary.

(II) When the electromagnet 23 is used, that is, the behavior of the transport unit B of this embodiment is as follows.

In FIG. 6, when the electromagnet 25 is used to apply a braking force R (R is the direction opposite to the speed direction) to the transport unit B, the movement method is expressed by the following equation (5).

However, the brake force R is applied when the transport unit 6 reaches a predetermined position.

When equation (5) above is solved under the same initial conditions as in case (1) above, and the vibration behavior is determined for the same case as in condition (4) above, the behavior of vibration is found as shown in Figure 9. Become. In the case of FIG. 9, the amplitude decreases faster by the value of equation (6) below, compared to the case of FIG. 8 where there is no braking force.

Z:=-X2...
・(6) 2 for k, +. 11 The numerical values in FIG. 9 are the amplitudes when R is -500 (S').

In the case of the conventional example (Fig. 8) that does not use the electromagnet 23, it takes 5 cycles (8/mgec) for the amplitude to attenuate to 0.4 min or less.
), but this embodiment using the electromagnet 23 (Fig. 9)
In the case of , the amplitude attenuates to less than 0.4 in two cycles, that is, 32.4 m5ec.

In this case, it is clear that the amplitude attenuates more rapidly as the value of R increases within a range that does not damage the transport unit 6.

Further, it is desirable that the amplitude of the transport unit B is reduced and at the same time the electromagnet 23 is demagnetized to such an extent that electronic parts can be transferred smoothly. The reason for this is that in order for the transport unit 6 to be able to move immediately after transferring and receiving electronic components, it is necessary to eliminate residual magnetism during the transfer and receiving of the electronic components.

According to the ninth embodiment described above, when the transport unit stops,
By energizing the electromagnet at a predetermined timing, it is possible to rapidly attenuate the belt elongation of 1.12° due to acceleration/deceleration force, that is, the vibration amplitude of the conveyance unit. Parts can be delivered and received to and from the attitude changing unit in a short time and reliably.

In addition, since the vibration of the transport unit can be damped without contact using electromagnetic force, the impact force on the transport unit is smaller compared to mechanical positioning means, so damage to the transport unit can be prevented. I can do it.

Furthermore, compared to mechanical means such as moving a pin in and out for U positioning, wL electromagnets allow for faster positioning, making it easier to apply and release braking force to the transport unit. It is possible to do it even faster.

〔Effect of the invention〕

As described above, according to the present invention, by exciting the electromagnet at a predetermined timing when the transport unit is stopped, vibrations of the transport unit caused by acceleration/deceleration forces can be quickly damped.

Therefore, while moving the transport unit at high speed,
Since the positioning can be performed quickly, it is possible to speed up the supply of electronic components and increase the overall mounting speed.

[Brief explanation of drawings]

FIG. 1 is a plan view showing an embodiment of the electronic component transport device of the present invention, and FIGS. 2 and 3 are parts of the feeder section, transport unit, attitude changing unit, and transport unit shown in FIG. 1, respectively. A cutaway side view, FIG. 4 shows the conveying device t in FIG. 1.
Fig. 5 is a configuration diagram of the electronic component transport section shown in Fig. 1, Fig. 6 is an explanatory diagram modeling Fig. 5, Fig. 7 is a speed diagram of the transport unit, Figures 8 and 9
The figures are amplitude waveform diagrams showing the vibrations of the conventional transport unit and the transport unit of this embodiment when they are stopped, respectively. Fig. 10 is a plan view of the conventional electronic component transport device.
2 is a perspective view of the electronic components and stick shown in FIG. 10, FIGS. 13 and 14 are partially cutaway side views of the feeder section, conveyance unit, posture change unit, and conveyance unit shown in FIG. 10, and FIG. 15 10 is a partial plan view of the feeder section and conveyance unit of FIG. 10. FIG. 1...Electronic parts...Stocker 4...Board 6...Transportation unit 12...Feeder section 17... Attitude change head 1 day...XY table 22...Temporary magnet member 25...Electromagnet

Claims (1)

[Claims] A stocker that stores electronic components, a feeder section provided at the front of the stocker, a transport unit provided reciprocably in front of the feeder section, and a posture conversion unit rotatably provided in front of the transport unit. and a means for mounting the electronic component on the attitude changing unit onto a board set on an XY table,
A temporary magnet member is attached to the transport unit, an electromagnet is placed opposite the temporary magnet member at a predetermined distance, and the electromagnet is energized when the transport unit is stopped, thereby applying a brake to the transport unit. Features: Electronic component transport device.