KR0182520B1 - Control device for automatic tray supply - Google Patents

Abstract

The present invention selects the parts required for assembly in the state of loading the trays of various types in a rack with one facility, and then automatically take out and supply them to the robot working area, thereby improving productivity and working efficiency. A tray automatic feed control device, comprising: a tray automatic feed control device for supplying a plurality of trays containing respective parts to a work area of a robot, the overall control operation for automatically supplying a plurality of trays. A main controller for controlling the controller, an up / down position / speed control servo motor controller for controlling the tray rack to move near the determined part supply position by the control of the main controller, and the up / down position / speed control servo motor controller The first servo motor to move the tray rack up and down by receiving a control signal of An up / down position / speed servo motor driver for outputting a drive signal for driving a; and a left / right position / speed control servomotor for controlling the tray to move left / right to a determined part supply position by the control of the main controller. A left / right position / speed servomotor driver for outputting a drive signal to a second servomotor to move the tray left / right according to a controller and a control signal of the left / right position / speed control servomotor controller; M / C photosensor for detecting the movement of the tray rack, the tray and the tray mounted on the tray rack, and the robot interface unit to interface with the main controller to control the operation of the robot to operate the robot.

Description

Tray automatic feeding control device

1 is a schematic block diagram of a control apparatus for automatic tray supply of the present invention.

* Explanation of symbols for main parts of the drawings

1: Main controller 3: M / C photo sensor

5: Servo motor control for up / down position / speed control

7: Up / down position / speed servo motor driver

9: motor for up / down position control

12: Servo motor controller for left / right position / speed control

14: Left / Right Position / Speed Servo Motor Drive

15: left / right position control motor 18: tray rack

20 tray 26 robot interface unit

The present invention selects the parts required for assembly in the state of loading the trays of various types in a rack with one facility, and then automatically take out and supply them to the robot working area, thereby improving productivity and working efficiency. It relates to a control device for automatic tray feed.

In the conventional tray supplying device, only one set of trays are supplied to one type of component, which controls a general motor and a cylinder by a sequence control method so that only one type of component is supplied to the robot. It was to supply sequentially.

However, such a conventional tray supplying device is not suitable for supplying a large variety of trays at one time, so there is an economic problem that a plurality of tray supplying devices must be provided separately, and the required installation area is excessively required. There was a problem.

Accordingly, the present invention has been made in view of the above-described conventional problems, and an object of the present invention is to facilitate speed increase and positioning by a plurality of servo motors, so that different parts are loaded in each tray, and thus trays having necessary parts are provided. It is to provide a control device for automatic tray supply that can be automatically supplied to the robot by exchanging from time to time.

In order to achieve the above object, the automatic tray supply control apparatus according to the present invention is a tray automatic supply control apparatus for supplying a plurality of trays each component is loaded in the vicinity of the work area of the robot, wherein the different A main rack that performs a control operation to move a tray rack having a plurality of trays loaded with parts and a tray loaded with a component corresponding to the component request signal to a component supply position when a component request signal is input from the robot; Receiving a control signal of the up / down position / speed control servo motor controller for controlling the tray rack to move near the determined part supply position by the control of the main controller, and the control signal of the up / down position / speed control servo motor controller Up / down outputting a drive signal for driving the first servo motor to move the tray rack up and down A position / speed servo motor driver, a left / right position / speed control servomotor controller for controlling the tray to move left / right to a determined part supply position by the control of the main controller, and the left / right position / speed control A left / right position / speed servomotor driver for outputting a drive signal for driving a second servomotor to move the tray left / right by receiving a control signal of a servomotor controller, and mounted on the tray rack and the tray rack. M / C photosensor for detecting the movement of the tray and components, and a robot interface unit for interfacing various control signals between the robot and the main controller.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1 is a block diagram of a tray supply control apparatus of the present invention.

In FIG. 1, reference numeral 1 denotes a main controller, in which a programmable logic controller (hereinafter referred to as a PLC) is incorporated, and a tray rack 18 and a tray 20 in which a plurality of trays 20 are placed. ) Is a main controller for controlling a robot (particularly a component insertion device) (not shown) at the same time as moving the parts supply position, (5) is a tray rack 18 by the control signal output from the main controller (1) Is a servo motor controller for up / down position / speed control for controlling to move to the determined part supply position, and (7) receives the control signal of the servo motor controller 5 for up / down position / speed control for the tray rack ( It is an up / down position / speed servomotor drive part which outputs the drive signal which drives the 1st servomotor 9 so that 18) may be moved up / down.

In the drawing, reference numeral 12 denotes a tray 20 mounted on the tray rack 18 in response to a control signal output from the main controller 1 (36 trays in the tray rack 18 in this embodiment). 20) is installed, the work robot is a servo motor controller for left / right position / speed control that controls to move left / right) 36 types of parts can be mounted on a printed circuit board. Drive to drive the second servo motor 15 to move the tray 20 mounted on the tray rack 18 in response to the control signal of the left / right position / speed control servo motor controller 12. Left / right position / speed servo motor driver for outputting signals.

In the meantime, reference numeral 3 denotes a plurality of M / s respectively disposed in these movement paths so as to detect the tray rack 18, the tray 20 mounted on the tray rack 18, and the movement of parts in the tray 20, respectively. C (machine) photo sensor, 26 is a robot interface unit for interfacing various control signals between the robot and the main controller (1).

Accordingly, when the main controller 1 receives the component request signal from the robot through the robot interface unit 26, the main controller 1 moves the tray rack 18 in which the plurality of trays 20 are placed according to a pre-stored control program. The upper / lower position / speed control servo controller 5 and the left / right position so as to move to the vicinity, and then to move the plurality of trays 20 loaded with components corresponding to the component request signal to the component supply position. / Control the servo controller 12 for speed control.

In addition, the main controller 1 receives the output signals of the plurality of M / C photo sensor 3 when the tray 20 supply to the robot working area is completed, the tray supply completion signal through the robot interface unit 26 Is output to the robot, and the robot picks up the parts from the tray 20 and mounts them on the printed circuit board.

Next, the operation and effect of the tray automatic supply control apparatus according to one embodiment of the present invention configured as described above will be described.

When the operator of the robot operates the robot, various control signals are interfaced between the robot interface unit 26 and the PLC built in the main controller 1, and the component request signal is input from the robot to the main controller 1.

Accordingly, the main controller 1 outputs a control signal to the up / down position / speed control servo motor controller 5, and the up / down position / speed control servo motor controller 5 is the tray rack 18. The servo motor drive signal is output to the up / down position / speed servo motor driver 7 so as to drive the first servo motor 9 so as to move up and down.

At this time, the tray rack 18 is moved upward or downward by forward or reverse rotation driving of the first servo motor 9 to transfer the tray rack 18 near the component supply position.

Then, when the tray rack 18 is transported near the component supply position by the driving of the first servomotor 9, the main controller 1 loads the component corresponding to the component request signal input from the robot. A control signal is output to the left / right position / speed control servo motor controller 12 to move the tray 20 to the parts supply position, and the left / right position / speed control servo motor controller 12 is left / right. Outputs a drive signal to the position / speed servomotor drive unit 14 to drive the second servomotor 15 forward or reverse rotation so that the tray 20 mounted on the tray rack 18 is moved left or right. It moves and supplies the tray 20 to a component supply position.

At this time, the robot picks up the components contained in the tray 20 and inserts the electronic components into the printed circuit board. When the robot needs to be inserted after the operation of the robot is completed, the second servo motor 15 of the It is necessary to take out the tray 20 from the component supply position and discharge it to the tray rack 20 by rotating the drive in the opposite direction to the tray supply, and to insert it among the other trays 20 mounted on the tray rack 18. The tray 20 is moved to the parts supply position by the same method as described above so that the robot inserts the parts into the printed circuit board continuously.

According to such a tray automatic supply control apparatus of the present invention, the tray rack is moved to or taken out from the part supply position in the forward rotation or reverse rotation driving of the first servomotor, and the forward rotation of the second servomotor or Since the tray mounted on the tray rack is moved to the parts supply position by reverse rotation driving, or another tray containing the parts to be inserted is automatically transferred to the parts supply position after the tray is removed from the parts supply position. In addition, since a variety of parts can be continuously supplied to the robot, there is an excellent effect of improving productivity and work efficiency.

Claims (2)

A tray automatic supply control device for supplying a plurality of trays on which each component is loaded to a work area of a robot, comprising: a tray rack on which a plurality of trays on which different parts are loaded, and a component from the robot A main controller which performs a control operation to move a tray loaded with a component corresponding to the component request signal to a component supply position when a request signal is input, and moves the tray rack near the determined component supply position by control of the main controller; A first servo motor to move the tray rack up and down in response to a control signal of the up / down position / speed control servo motor controller to control the controller to be controlled, and the up / down position / speed control servo motor controller The tray is determined by the up / down position / speed servo motor driver which outputs a drive signal, and the control of the main controller. The left / right position / speed control servo motor controller for controlling the left / right movement to the left / right part supply position and the left / right position / speed control servo motor controller to move the tray left / right. A left / right position / speed servomotor driver for outputting a drive signal for driving a second servomotor, an M / C photosensor for detecting movement of the tray rack, a tray mounted on the tray rack, and the robot; And a robot interface unit configured to interface various control signals between the main controller and the main controller. The apparatus of claim 1, wherein a programmable logic controller is built in the main controller.