JPWO2018127965A1 - Automatic feeder replacement system for parts mounting line - Google Patents

Abstract

The feeder (14) mounted on the feeder mounting table (24) of each component mounting machine is automatically replaced by moving along the arrangement of a plurality of component mounting machines (12) constituting the component mounting line (10). An automatic exchanging device (26), a reference position portion (81) provided in a predetermined portion of the feeder mounting table of each of the component mounting machines facing the automatic exchanging device, and the automatic exchanging device. And a detector (82) provided to detect the reference position portion. The automatic changer is configured to move the automatic changer relative to the feeder mounting table of each component mounter with reference to the position at which the detection unit detects the reference position of the feeder mount of each component mounter during movement. To control.

Description

  This specification describes a feeder automatic exchange system for a component mounting line provided with an automatic replacement device for automatically replacing a feeder mounted on a feeder mounting table of a plurality of component mounting machines arranged along the circuit board transfer direction. Technology is disclosed.

  As described in Patent Document 1 (International Publication WO 2014/010083), the feeder automatic exchange system for this type of component mounting line is in line with the arrangement of a plurality of component mounting machines that constitute the component mounting line. An automatic exchange device (exchange robot) is movably installed in a provided moving lane, and this automatic exchange device is moved to the front of a component mounting machine instructed by a production job (production program) etc. The feeder mounted on the feeder mounting table of is automatically replaced. In this system, when controlling the movement position of the automatic exchange device, the rotation angle of a motor serving as a drive source for moving the automatic exchange device is detected by an encoder or the like, and movement of the automatic exchange device is detected based on the detected value. The distance is measured to control the moving position of the automatic changer.

International Publication WO 2014/010083

  By the way, if each of the plurality of component mounting machines constituting the component mounting line is accurately installed without positional deviation, the correspondence between the moving distance of the automatic exchange device and the position of each of the plurality of component mounting machines Although there is no misalignment, in practice there is a possibility that each of a plurality of component mounting machines is installed with a slight positional offset, so the moving distance of the automatic replacement device and each of the plurality of component mounting machines There may be a deviation in the correspondence relationship with the position of. If this correspondence relationship is deviated, it is not possible to control the moving position of the automatic replacement device with respect to each of a plurality of component mounting machines with high accuracy, and the automatic replacement device is a feeder for the feeder mounting table of each component mounting device. Automatic exchange may fail.

  In order to solve the above problems, a plurality of component mounters are arranged in a transport path for transporting a circuit board, and a feeder mounted on each component mounter with a plurality of component mounters from a feeder mounted table In the feeder automatic exchange system of a component mounting line for mounting components to be supplied onto the circuit board, the feeder system is moved along the arrangement of the plurality of component mounters and mounted on a feeder mounting table of the component mounters. An automatic replacement device for automatically replacing the feeder, a reference position portion respectively provided on a predetermined portion of the feeder mounting table of each of the component mounting machines facing the automatic replacement device, and the automatic replacement device And a detection unit provided to detect the reference position unit, wherein the automatic replacement device is a position where the detection unit detects a reference position unit of the feeder mounting table of each component mounting machine when moving Wherein on the basis it is obtained so as to control the moving position of the automatic changer for feeder table of each component mounting apparatus.

  In this configuration, since the reference position portion is provided for each feeder mounting table of each component mounting machine, when the automatic replacement device moves along the arrangement of a plurality of component mounting machines, the detection portion of the automatic replacement device It is possible to control the moving position of the automatic exchange device with respect to the feeder mounting table of each component mounting machine based on the detected position of the reference position part of the feeder mounting table of each component mounting machine. For this reason, even when each of the plurality of component mounters constituting the component mounting line is installed while being slightly displaced, the component mounter is not affected by the positional displacement of each component mounter. It is possible to control the moving position of the automatic replacement device with respect to the feeder mounting base with high accuracy, and to prevent the automatic replacement device from failing in the automatic replacement of the feeder due to the positional deviation of each component mounting machine.

  In this case, when the automatic replacement device performs the automatic replacement of the feeder for the component mounting machine, the detection unit detects the reference position of the feeder mounting table for the component mounting machine. The height of the feeder mounting table of each of the component mounting machines may be measured on the basis of the height to determine the height of the feeder on the feeder mounting table, and the automatic replacement of the feeder may be performed. With this configuration, the height and the feeder mounting position of the feeder mounting table of each component mounting machine can be determined based on the height of the position at which the detection unit of the automatic replacement device detects the reference position of the feeder mounting table of each component mounting machine. Since the height of the feeder on the mounting table can be measured, even if the height of the feeder mounting table of each component mounting machine deviates little by little, the automatic replacement device is offset by the deviation of the height of the feeder mounting table of each component mounting machine. It is possible to prevent the automatic replacement of the feeder from failing.

  Furthermore, a plurality of reference position portions may be provided on the feeder mounting table of each component mounting machine. In this way, even if there is positional deviation or height deviation of each slot (set position of each feeder) of each feeder mounting table due to inclination of the feeder mounting table of each component mounting machine, the feeder mounting table By detecting a plurality of reference position parts and using them as reference, the automatic exchange device can cope with positional deviation and height deviation of each slot (set position of each feeder) due to inclination of the feeder mounting table etc. it can.

  Moreover, while providing a reference position part in the end surface by the side of the removal direction among feeders, the automatic exchange apparatus is provided with the feeder position detection part which detects the reference position part of the said feeder, The said automatic exchange apparatus Based on the position at which the feeder position detection unit detects the reference position of the feeder on the feeder mounting table of each component mounting machine, the position of the feeder is measured to detect the positional deviation amount unique to the feeder, and the feeder When changing the position to the other position, the moving position of the automatic changer may be corrected by an amount of positional deviation unique to the feeder. In this way, the automatic exchange device can cope with positional deviation inherent to each feeder on the feeder mounting table.

  The positional deviation amount unique to each feeder detected by the automatic exchange device may be stored in the storage unit of each feeder, or the feeder identification may be made in the storage unit of the automatic exchange device or an external storage device capable of communicating with the automatic exchange device. It may be stored in correspondence with the information.

  Further, the feeder mounting table may be configured to be replaceably attached to the component mounting machine. When the feeder mounting base is replaceable with respect to the component mounting machine, there is a possibility that the position of the feeder mounting base may be shifted every time the feeder mounting base is replaced, but according to the present invention, the positional shift of the feeder mounting base Prevents the automatic exchange device from failing to automatically change the feeder.

FIG. 1 is a perspective view showing the entire configuration of a component mounting line in one embodiment. FIG. 2 is a perspective view schematically showing the configuration of the automatic replacement device and the component mounter. FIG. 3 is a perspective view showing a feeder mounting table. FIG. 4 is a block diagram schematically showing the configuration of a control system of a component mounting line with an automatic replacement device. FIG. 5 is a perspective view showing a cassette type feeder.

An embodiment will be described below.
First, the configuration of the component mounting line 10 will be described based on FIGS. 1 to 4.
The component mounting line 10 is configured by arranging a plurality of component mounters 12 along the transport direction (X direction) of the circuit board 11, and solders to the circuit board 11 on the substrate loading side of the component mounting line 10. A solder printing machine (not shown) for printing and a feeder storage device 19 for storing a cassette-type feeder 14 (see FIG. 5) are provided.

  As shown in FIG. 2, in each of the component mounters 12, two conveyors 13 for transporting the circuit board 11 and a feeder mounting table 24 for mounting a plurality of cassette type feeders 14 in a replaceable manner (FIG. 1, 3) and a mounting head 15 for holding a suction nozzle (not shown) for suctioning the components supplied from the cassette type feeder 14 mounted on the feeder mounting table 24 and mounting the component on the circuit board 11; A head moving device 16 for moving the mounting head 15 in the X and Y directions (left and right, front and back directions), a component imaging camera 17 (see FIG. 4) and the like for imaging components adsorbed by suction nozzles from below are provided. In the head moving device 16, a mark imaging camera 18 (see FIG. 4) for imaging a reference mark (not shown) of the circuit board 11 is attached so as to move integrally with the mounting head 15 in the X and Y directions. .

  In addition, as shown in FIG. 4, the control device 20 of the component mounter 12 includes an input device 21 such as a keyboard, a mouse, and a touch panel, a hard disk for storing various programs for control, various data, etc. And a display device 23 such as a liquid crystal display or a CRT. The control device 20 of each component mounter 12 is connected via a network to a production management computer 70 that manages the production of the entire component mounting line 10, and the production management computer 70 manages the production of the entire component mounting line 10.

  Each component mounter 12 of the component mounting line 10 transports the circuit board 11 transported from the upstream component mounter 12 to a predetermined position by the conveyor 13 and clamps the circuit board 11 with a clamp mechanism (not shown). Clamping and positioning is performed, and the reference mark of the circuit board 11 is imaged by the mark imaging camera 18 to recognize the position of the reference mark (reference position of the circuit board 11) and supplied from the cassette type feeder 14 The components to be mounted are adsorbed by the suction nozzle of the mounting head 15 and moved from the suction position to the imaging position, the components are imaged by the component imaging camera 17 from the lower surface side, and the adsorption positional deviation amount of the components , Etc., and the components are mounted on the circuit board 11 on the conveyor 13 so as to correct the amount of suction position deviation to produce a component mounting board.

Next, the configuration of the cassette type feeder 14 will be described with reference to FIG.
The cassette case 32 of the cassette-type feeder 14 is formed of a transparent or opaque plastic plate or metal plate or the like, and its side portion (cover) can be opened and closed. In the cassette case 32, a tape loading unit 35 is provided for loading a tape reel 34 around which the component supply tape 33 is wound in a removable (replaceable) manner. At the center of the tape loading unit 35, a reel holding shaft 36 for holding the tape reel 34 rotatably is provided.

  In the cassette case 32, a tape feeding mechanism 38 for feeding the component supply tape 33 pulled out from the tape reel 34 to the component suction position, and the top film 40 (also called cover tape) from the component supply tape 33 before the component suction position. A top film peeling mechanism 39 is provided which peels and exposes the components in the component supply tape 33.

  The tape feeding mechanism 38 includes a sprocket 42 provided near the lower side of the component suction position, and a motor 43 for driving the sprocket 42 to rotate, and is formed at a predetermined pitch on one side edge of the component supply tape 33. By meshing the teeth of the sprocket 42 with the tape feed hole and rotating the sprocket 42, the component supply tape 33 is pitch-fed to the component suction position.

  The top film peeling mechanism 39 holds the component supply tape 33 in front of the component suction position and peels the top film 40 from the upper surface of the component supply tape 33; The top film feed gear mechanism 47 which pulls 40 in the direction opposite to the tape feed direction and feeds it into the top film recovery unit 46 provided on the top of the cassette case 32, the motor 48 for driving the top film feed gear mechanism 47, etc. It consists of

  At the edge of the cassette case 32 in the tape feed direction, the waste tape 33a (only the carrier tape with the top film 40 peeled off in this embodiment) from which the parts have been taken out after passing through the parts suction position A waste tape discharge passage 50 for guiding and discharging to the bottom, and an outlet 50a of the waste tape discharge passage 50 is provided at a position lower than the center of the end surface of the cassette case 32 in the tape feeding direction. ing.

  In the cassette case 32, a control device 52 for controlling the motor 43 of the tape feeding mechanism 38 and the motor 48 of the top film peeling mechanism 39 is provided. In addition, although not shown, the cassette case 32 is provided with a communication / power connector to be connected to the communication / power connector on the component mounter 12 side.

  As shown in FIG. 1, on the front side of the component mounting line 10, an automatic exchange device 26 for setting and removing the cassette-type feeders 14 to the feeder mounting table 24 of each component mounting machine 12 is installed. Below the feeder mounting table 24 of each component mounter 12, a stocking section 71 for storing a plurality of feeders 14 to be set in the feeder mounting table 24 is provided. The automatic exchange device 26 takes out the feeder 14 to be replaced from the feeder mounting table 24 of the plurality of component mounters 12 and collects it in the stock unit 71, and the feeder 14 specified by the production job (production program) from the stock unit 71. Are taken out and set on the feeder mounting table 24 of the plurality of component mounters 12.

  A guide rail 75 for moving the automatic exchange device 26 in the X direction (left and right direction) along the arrangement of the component mounters 12 is provided on the front side of the component mounting line 10 so as to extend in the entire component mounting line 10 in the X direction. It is done. The board loading side of the guide rail 75 is extended to the feeder storage device 19, the automatic replacement device 26 moves to the front side of the feeder storage device 19, and the automatic replacement device 26 is designated from the feeder storage device 19 in the production job. The feeder 14 is taken out, and the used feeder 14 is returned into the feeder storage device 19.

  The feeder mounting base 24 of each component mounting machine 12 is exchangeably attached, and a worker can exchange the feeder mounting base 24 attached to each component mounting machine 12. Of the feeder mounting table 24 of each component mounting machine 12, a predetermined position on the front end side facing the automatic exchange device 26 (however, a position that does not interfere with the loading and unloading of the feeder 14) One or more reference position portions 81 are provided. When two reference position portions 81 are provided on the front end side of the feeder mounting table 24 as shown in FIGS. 2 and 3, they may be provided on the left and right sides on the front end side of the feeder mounting table 24. In the case where only one reference position portion 81 is provided on the front end side of the feeder mounting base 24, it is preferable to be provided at the center on the front end side of the feeder mounting base 24.

  Corresponding to this, a reference position detection unit 82 (see FIG. 4), which is a detection unit for detecting the reference position unit 81 of the feeder mounting table 24, is provided at a predetermined position of the automatic exchange device 26. The reference position detection unit 82 may use, for example, any of an optical sensor, a proximity sensor, a non-contact sensor such as an ultrasonic sensor, a contact sensor such as a limit switch, and an image sensor (camera). When the reference position detection unit 82 is a non-contact sensor or a contact sensor, the reference position portion 81 is formed in a shape such as a dog or a reference surface so that the sensor can detect the reference position portion 81 of the feeder mounting table 24. Just do it. In addition, when the reference position detection unit 82 is an image sensor (camera), it is possible to capture the reference position unit 81 of the feeder mounting table 24 and process the image so that the position of the reference position unit 81 can be recognized. For example, a reference mark which can be recognized as an image and a specific shape may be formed as the reference position portion 81.

  The reference position detection unit 82 of the automatic replacement device 26 measures the reference position portions 81 of all the feeder mounting bases 24 mounted on all the component mounters 12 and the reference position portions 83 of all the feeders 14 described later, Store that information. The information on the serial number (identification ID) is given to each feeder mounting base 24 and each feeder 14, and when the replacement of the feeder mounting base 24 or the feeder 14 is detected, the automatic exchange device 26 performs the measurement operation. Do.

  The control device 90 of the automatic replacement device 26 is based on the position (X coordinate) at which the reference position detection portion 82 detects the reference position portion 81 of the feeder mounting table 24 of each component mounting machine 12 when the automatic replacement device 26 moves. The movement position (X coordinate) of the automatic replacement device 26 with respect to the feeder mounting table 24 of each component mounting machine 12 is controlled. Furthermore, when the control device 90 of the automatic replacing device 26 performs the automatic replacement of the feeder 14 with respect to the feeder mounting table 24 of each component mounting machine 12, the reference position detection unit 82 functions as the feeder mounting table 24 of each component mounting machine 12. The height of the feeder mounting base 24 of each component mounting machine 12 is measured on the basis of the height of the position where the reference position portion 81 is detected, and the height of the feeder 14 on the feeder mounting base 24 is determined. The feeder 14 is automatically replaced.

  In this case, if the feeder mounting table 24 of each component mounting machine 12 is provided with a plurality of reference position portions 81 (two each in the example of FIGS. 2 and 3), the feeder of each component mounting machine 12 Even if there is positional deviation or height deviation of each slot (the set position of each feeder 14) of each feeder mounting table 24 due to the inclination of the mounting table 24, the plurality of reference position portions 81 of the feeder mounting table 24 By detecting them and using them as a reference, the control device 90 of the automatic exchange device 26 can also correct positional deviation and height deviation of each slot (set position of each feeder 14) due to inclination of the feeder mounting table 24 or the like. It is possible to prevent the automatic replacement of the feeder 14 from failing.

  Furthermore, in the present embodiment, as shown in FIG. 5, one reference position portion 83 is provided on the end surface of the feeder 14 on the take-out direction side. Corresponding to this, at a predetermined position of the automatic exchange device 26, a feeder position detection unit 84 for detecting the reference position portion 83 of the feeder 14 is provided. The feeder position detection unit 84 may use, for example, any of an optical sensor, a proximity sensor, a non-contact sensor such as an ultrasonic sensor, a contact sensor such as a limit switch, and an image sensor (camera). If the feeder position detection unit 84 is a non-contact sensor or a contact sensor, the reference position portion 83 may be formed into a shape such as a dog or reference surface so that the sensor can detect the reference position portion 83 of the feeder 14 good. When the feeder position detection unit 84 is an image sensor (camera), the reference position unit 83 of the feeder 14 may be imaged, and the image thereof may be processed to recognize the position of the reference position unit 83. For example, a reference mark which can be recognized as an image and a specific shape may be formed as the reference position portion 83.

  The control device 90 of the automatic replacement device 26 is based on the position at which the feeder position detection unit 84 detects the reference position portion 83 of the feeder 14 on the feeder mounting table 24 of each mounter 12 when the automatic replacement device 26 moves. The position of the feeder 14 is measured to detect the positional deviation amount unique to the feeder 14, and when the feeder 14 is transferred to another position on the feeder mounting table 24 or another feeder mounting table 24, the specific to the feeder 14 The movement position of the automatic exchange device 26 is corrected by the amount of positional deviation of In this way, the control device 90 of the automatic exchange device 26 can correct the positional deviation unique to each feeder 14 on the feeder mounting table 24 and prevent the automatic replacement of the feeder 14 from failing.

  The positional deviation amount unique to each feeder 14 detected by the control device 90 of the automatic replacement device 26 may be stored in the rewritable non-volatile storage unit (not shown) of each feeder 14 or the automatic replacement device 26. The identification information of the feeder 14 may be stored in an external storage device (not shown) that can communicate with the rewritable non-volatile storage device 92 or the automatic exchange device 26. The point is that the amount of positional deviation unique to each feeder 14 may be stored and used for correction of the positional deviation.

  According to the present embodiment described above, since the reference position portion 81 is provided for each feeder mounting table 24 of each component mounting machine 12, the automatic exchange device 26 is arranged along the arrangement of a plurality of component mounting machines 12. When moving, the reference position detection unit 82 of the automatic replacing device 26 detects the reference position portion 81 of the feeder mounting table 24 of each component mounting machine 12 with respect to the feeder mounting table 24 of each component mounting machine 12 The moving position of the automatic exchange device 26 can be controlled. Therefore, even when each of the plurality of component mounters 12 constituting the component mounting line 10 is installed with a slight positional displacement, each component is not affected by the positional displacement of each component mounter 12. The moving position of the automatic exchange device 26 can be accurately controlled with respect to the feeder mounting table 24 of the mounting machine 12, and the automatic exchange device 26 fails in the automatic exchange of the feeder 14 due to the positional deviation of each component mounting machine 12. Can be prevented.

  Moreover, when the control device 90 of the automatic replacement device 26 performs the automatic replacement of the feeder 14 with respect to the feeder mounting table 24 of each component mounting machine 12, the reference position detection unit 82 functions as the feeder mounting table 24 of each component mounting device 12. The height of the feeder mounting base 24 of each component mounting machine 12 is measured on the basis of the height of the position where the reference position portion 81 is detected, and the height of the feeder 14 on the feeder mounting base 24 is determined. Since the feeder 14 is automatically replaced, even if the height of the feeder mounting table 24 of each component mounting machine 12 is slightly shifted, the height deviation of the feeder mounting table 24 of each component mounting machine 12 Can prevent the automatic replacement device 26 from failing in the automatic replacement of the feeder 14.

  In the present embodiment, since the feeder mounting table 24 is configured to be replaceably attached to each component mounting machine 12, the position of the feeder mounting table 24 may be shifted each time the feeder mounting table 24 is replaced. However, if it is configured as in the present embodiment, it is possible to prevent the automatic replacement device 26 from failing in the automatic replacement of the feeder 14 due to the positional displacement of the feeder mounting table 24.

However, according to the present invention, the feeder mounting table 24 mounted on the component mounter 12 may not be replaced.
In addition, the present invention is not limited to the above embodiment, and the configuration of the component mounter 12 and the configuration of the automatic replacement device 26 may be changed as appropriate, and the configuration of the feeder 14 may be changed as appropriate. It goes without saying that various modifications can be made within the scope.

  DESCRIPTION OF SYMBOLS 10 ... Component mounting line, 11 ... Circuit board, 12 ... Component mounting machine, 13 ... Conveyor, 14 ... Cassette-type feeder, 15 ... Mounting head, 16 ... Head moving apparatus, 20 ... Control apparatus of component mounting machine, 24 ... Feeder mounting table 26: Automatic exchange device 81: Reference position portion 82: Reference position detection portion (detection portion) 83: Reference position portion 84: Feeder position detection portion 90: Control device of automatic exchange device 92 …Storage device

Claims (6)

A plurality of component mounters are arranged in a transport path for transporting a circuit board, and the components are supplied from a feeder mounted on a feeder mounting table of each component mounter by the plurality of component mounters as the circuit board Automatic feeder replacement system for component mounting lines to be mounted on
An automatic exchange apparatus which moves along the arrangement of the plurality of component mounters and automatically replaces the feeders placed on the feeder mounting table of each of the component mounters;
A reference position portion provided on a predetermined portion of the feeder mounting table of each of the component mounting machines on the side facing the automatic exchange device;
The automatic exchange apparatus includes a detection unit provided to detect the reference position unit;
The automatic replacement device is a moving position of the automatic replacement device with respect to the feeder mounting base of each component mounting machine based on a position at which the detection unit detects a reference position portion of the feeder mounting base of each component mounting machine at the time of movement. Feeder automatic replacement system for component mounting line to control.   The automatic exchange apparatus is configured to detect the reference position of the feeder mounting table of each component mounting machine when the feeder automatically changes the feeder to the feeder mounting table of the component mounting machine. The height of the feeder mounting base of each said component mounting machine is measured on the basis of height, the height of the said feeder on the said feeder mounting base is judged, and automatic replacement of the said feeder is performed. Automatic feeder replacement system for parts mounting lines.   The feeder automatic exchange system for a component mounting line according to claim 1 or 2, wherein a plurality of the reference position portions are provided on a feeder mounting table of each of the component mounting machines. A reference position portion is provided on the end surface of the feeder in the removal direction side,
The automatic exchange apparatus is provided with a feeder position detection unit that detects a reference position of the feeder.
The automatic replacement device measures the position of the feeder based on the position at which the feeder position detection unit detects the reference position portion of the feeder on the feeder mounting table of each component mounting machine at the time of movement, and is specific to the feeder The part according to any one of claims 1 to 3, wherein a positional displacement amount is detected, and the moving position of the automatic exchange device is corrected by the positional displacement amount specific to the feeder when replacing the feeder to another position. Feeder automatic exchange system for mounting line.   The feeder automatic exchange system for a component mounting line according to claim 4, wherein the automatic exchange device stores the detected positional deviation amount unique to the feeder in a storage unit of the feeder.   The feeder automatic exchange system for a component mounting line according to any one of claims 1 to 5, wherein the feeder mounting table is exchangeably attached to the component mounter.

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