KR100269232B1 - Component adsorption judgment method - Google Patents

Component adsorption judgment method Download PDF

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KR100269232B1
KR100269232B1 KR1019960001036A KR19960001036A KR100269232B1 KR 100269232 B1 KR100269232 B1 KR 100269232B1 KR 1019960001036 A KR1019960001036 A KR 1019960001036A KR 19960001036 A KR19960001036 A KR 19960001036A KR 100269232 B1 KR100269232 B1 KR 100269232B1
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vacuum pressure
vacuum
component
suction nozzle
adsorption
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KR1019960001036A
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KR970061031A (en
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정동구
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이중구
삼성테크윈주식회사
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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/082—Integration of non-optical monitoring devices, i.e. using non-optical inspection means, e.g. electrical means, mechanical means or X-rays
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • H05K13/0409—Sucking devices

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: A method for judging components absorption is provided to reliably judge whether components are attached on an absorption nozzle without increasing any cost in an analogue check way using a vacuum sensor and an A/D converter. CONSTITUTION: It is measured the first vacuum pressure in a state that an absorption nozzle is placed on a vacuum pad(1). It is measured and inputted the second vacuum pressure in a state that the absorption nozzle is placed in a space(2). It is inputted the reference first percent level value to a controller if the first vacuum pressure is 100% and the absorption nozzle absorbs a component(3). It is inputted the second reference percent level value to the controller if the second vacuum pressure is 0% and the component is not absorbed(4). It is inputted the third reference vacuum pressure with respect to a difference value between the first vacuum pressure and the second vacuum pressure(5). It is stopped the work if the second percent level is smaller than a current vacuum pressure(6). The absorption nozzle absorbs the component if the second percent level is the same as the current vacuum pressure or larger than the current vacuum pressure(7). The component is moved to a predetermined place if the third vacuum pressure is smaller than or the same as the difference between the first vacuum pressure and the second vacuum pressure, and the current vacuum pressure is larger than or the same as the first percent level value(9). The work is stopped if the above conditions are not satisfied(8). All the components are moved to the predetermined place based on the above five data and the work is stopped(10). .

Description

부품 흡착 판단방법Component adsorption judgment method

제1도는 본 발명에 따른 부품 흡착 판단방법을 설명하기 위한 로봇헤드, 흡착노즐, 부품 및 흡착패드를 도시한 사시도이다.1 is a perspective view showing a robot head, a suction nozzle, a component, and a suction pad for explaining a method for determining a component suction according to the present invention.

제2도는 본 발명에 따른 부품 흡착 판단방법의 각 판별압력을 도시한 그래프이다.2 is a graph showing the discriminating pressure of the component adsorption determining method according to the present invention.

제3도는 본 발명에 따른 부품 흡착 판단방법에 따라 부품을 흡착하는 과정을 도시한 순서이다.3 is a flowchart illustrating a process of adsorbing parts according to the method for determining component adsorption according to the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 로봇의 헤드 2 : 흡착노즐1: head of robot 2: suction nozzle

3 : 부품 4 : 진공패드3: part 4: vacuum pad

본 발명은 부품을 흡착하기 위한 부품흡착 판단방법에 관한 것으로서, 더 상세하게는 흡착기에 부품이 흡착된 유무를 판별하는 부품 흡착 판단방법에 관한 것이다.The present invention relates to a component adsorption determination method for adsorbing a component, and more particularly, to a component adsorption determination method for determining whether or not a component is adsorbed to an adsorber.

일반적으로 전자부품 실장기는 부품을 흡착하는 흡착노즐과, 이 흡착노즐을 상하 좌우로 이동시키는 로봇과, 흡착노즐에 진공을 공급하는 진공수단과, 부품의 흡착된 유무를 판별하는 판별수단을 포함하여 구성된다.In general, an electronic component mounter includes an adsorption nozzle for adsorbing a component, a robot for moving the adsorption nozzle up, down, left, and right, a vacuum means for supplying vacuum to the adsorption nozzle, and a discrimination means for discriminating whether or not the component is adsorbed. It is composed.

흡착노즐은 부품과 접촉하여 부품을 흡착하는 부분으로, 부품의 종류에 따라 여러 가지를 준비하여 교체하며 사용한다. 그리고 진공수단은 흡착노즐에 진공을 공급하며, 판별수단은 부품이 흡착노즐에 흡착되었는가를 판단하는 역할을 한다. 따라서 판별수단이 부품의 흡착 상태를 판별한 후에 로봇이 부품이 흡착된 흡착노즐을 상하 좌우로 이동시킨다.Adsorption nozzle is a part that adsorbs parts in contact with parts, and prepares and replaces them according to the type of parts. The vacuum means supplies a vacuum to the adsorption nozzle, and the discriminating means determines whether the part is adsorbed to the adsorption nozzle. Therefore, after the discriminating means determines the adsorption state of the parts, the robot moves the adsorption nozzles on which the parts are adsorbed up, down, left and right.

흡착노즐에 부품이 흡착된 상태를 판별하기 위하여 종래에는 A/D 컨버터(converter)를 이용한 아날로그 체크 방식 또는 카메라를 이용한 비전 인식 방식을 이용하였다.In order to determine a state in which components are adsorbed on the suction nozzle, an analog check method using an A / D converter or a vision recognition method using a camera are conventionally used.

A/D 컨버터를 이용한 아날로그 체크방식은 진공센서를 흡착노즐부위에 또는 진공수단에, 설치하고 A/D 컨버터를 이용하여 아날로그량을 디지털량으로 변환하여 특정 부분 이내의 값을 가지면 흡착된 상태로 판별한다. 즉, 참조값을 컴퓨터에 입력하여 참조값 이내이면 흡착상태이고 참조값 이외이면 흡착 상태가 아니라고 판단한다. 따라서 참조값을 입력하는 작업이 복잡하고 번거러우며, 흡착노즐을 변경할 때마다 참조값이 적절하지 못해 판별의 신뢰성이 떨어지는 문제점이 있다.In the analog check method using A / D converter, the vacuum sensor is installed on the suction nozzle or the vacuum means, and the analog amount is converted to the digital amount by using the A / D converter. Determine. In other words, it is determined that the reference value is input to the computer and the adsorption state is within the reference value, and if it is outside the reference value, it is not the adsorption state. Therefore, the input of the reference value is complicated and cumbersome, and the reference value is not proper every time the suction nozzle is changed.

카메라를 이용한 비전인식방식은 카메라를 이용하여 노즐부분을 촬상된 데이터를 컴퓨터로써 처리하여 부품의 흡착 유무를 판별한다. 따라서 신뢰성이 좋으나, 설치 비용이 비싸며 판별 시간이 긴 문제점이 있다.In the vision recognition method using a camera, a nozzle is used to process data captured by a computer to determine whether or not components are adsorbed. Therefore, although the reliability is good, there is a problem that the installation cost is high and the determination time is long.

본 발명의 목적은 상술한 바와 같은 문제점을 감안하여 진공센서와 A/D 컨버터를 이용한 아날로그 체크방식에서 비용이 증가되지 않으면서 흡착노즐에 부품이 부착된 유무를 신뢰할 수 있게 판별할 수 있으며, 비교적 빠른 시간에 판별할 수 있는 부품 흡착 판단방법을 제공하는데 있다.In view of the problems described above, the object of the present invention is to reliably determine the presence or absence of parts attached to the suction nozzle without increasing the cost in the analog check method using the vacuum sensor and the A / D converter. It is to provide a method for determining the adsorption of parts that can be quickly determined.

상기 본 발명이 목적을 달성하기 위한 부품 흡착 판단방법은:Component adsorption determination method for achieving the object of the present invention is:

상기 흡착노즐이 부품을 흡착하기 전에 진공패드에 놓인 상태 및 허공에 놓인 상태의 진공압을 측정한 제1진공압 및 제2진공압을 측정하는 단계와,Measuring the first vacuum pressure and the second vacuum pressure in which the suction nozzle measures the vacuum pressure in a state placed on a vacuum pad and in the air before adsorbing a part;

상기 흡착노즐이 상기 부품을 흡착했을 경우의 참고 제1퍼센트레벨값 및 상기 부품을 흡착하지 않았을 경우의 참고 제2퍼센트레벨값을 입력하는 단계와,Inputting a reference first percentage level value when the suction nozzle adsorbs the component and a reference second percentage level value when the suction nozzle does not adsorb the component;

상기 제1진공압과 제2 진공압의 차이값에 대한 임의의 참고 제2진공압을 입력하는 단계와,Inputting an arbitrary reference second vacuum pressure for a difference value between the first vacuum pressure and the second vacuum pressure;

상기 측정된 값 및 입력된 값을 이용하여 부품이 흡착노즐에 부착된 상태를 판단하는 판단단계를 포함하는 것을 특징으로 한다.And determining a state in which the part is attached to the suction nozzle by using the measured value and the input value.

그리고, 상기 판단단계는 상기흡착노즐이 상기 제2퍼센트레벨값보다 현 진공압이 같거나 작을 때 상기 부품을 흡착하는 단계와,The determining may include: adsorbing the component when the adsorption nozzle is equal to or less than the second vacuum level value;

제1진공압과 제2진공압의 차이보다 제3진공압이 작거나 같고, 제1퍼센트레벨값보다 현 진공압이 크거나 같으면 부품을 이동하는 단계를 포함하는 것을 특징으로 한다.And moving the part if the third vacuum pressure is less than or equal to the difference between the first vacuum pressure and the second vacuum pressure, and the current vacuum pressure is greater than or equal to the first percent level value.

상술한 바와 같은 단계를 포함하는 본 발명에 따른 부품 흡착 판단방법은 진공센서와 A/D 컨버터를 이용한 아날로그 체크방식에서 비용이 증가되지 않으면서 흡착노즐에 부품이 부착된 유무를 신뢰할 수 있게 판별할 수 있으며, 비교적 빠른 시간에 판별할 수 있다.Component adsorption determination method according to the present invention comprising the steps as described above can be reliably determined whether the component is attached to the suction nozzle without increasing the cost in the analog check method using a vacuum sensor and the A / D converter Can be determined at a relatively quick time.

이하 첨부된 도면을 참조하면서 본 발명에 따른 부품 흡착 판단방법 바람직한 실시예를 상세히 설명한다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, preferred embodiments of a method for determining component adsorption according to the present invention will be described in detail with reference to the accompanying drawings.

제1도는 본 발명에 따른 부품 흡착 판단방법을 설명하기 위한 로봇헤드, 부품 및 흡착패드를 도시한 사시도이다. 도시된 바와 같이, 로봇의 헤드(1)에 설치된 흡착노즐(2)은 부품(3)과 접촉하여 부품(3)을 흡착하는 부분으로, 부품(3)의 종류에 따라 여러 가지를 준비하여 교체하며 사용한다.1 is a perspective view illustrating a robot head, a component, and a suction pad for explaining a component adsorption determining method according to the present invention. As shown in the drawing, the suction nozzle 2 installed in the head 1 of the robot is a part that contacts the part 3 to suck the part 3, and prepares and replaces various parts according to the type of the part 3. And use.

상기 헤드(1)에는 흡착노즐(2)에 진공을 공급하는 진공수단(미도시)이 설치되어 있으며, 부품(3)이 흡착됨을 판별하는 판별수단(미도시)이 설치되어 있다. 그리고, 헤드(1)는 상하 좌우로 이동시키는 로봇과 같은 이동수단(미도시)에 설치되어 있으며, 로봇에는 상기 진공수단, 판별수단, 이동수단이 연결된 도시되지 않은 제어기가 설치되어 있다.The head 1 is provided with a vacuum means (not shown) for supplying a vacuum to the suction nozzle 2, and a discriminating means (not shown) for discriminating that the component 3 is adsorbed. The head 1 is installed in a moving means (not shown) such as a robot for moving up, down, left, and right, and the robot is provided with a controller (not shown) to which the vacuum means, the discriminating means, and the moving means are connected.

상술한 바와 같은 구성 요소를 포함하는 본 발명에 따른 부품 흡착 판단방법은 다음과 같이 흡착노즐이 부품을 흡착한 상태를 판별한다.In the component adsorption determination method according to the present invention including the components described above, the adsorption nozzle determines the state in which the components are adsorbed as follows.

제2도는 본 발명에 따른 부품 흡착 판단방법의 각 판별압력을 도시한 그래프이다. 제1도 및 2도를 참고하여 살펴보면,2 is a graph showing the discriminating pressure of the component adsorption determining method according to the present invention. Looking at the first and second degrees,

제어기는 흡착노즐(2)을 진공패드(4)에 놓인상태에서 제1진공압을 측정하여 기억하며, 흡착노즐(2)을 허공에 놓인 상태에서 제2진공압을 측정하여 입력한다.The controller measures and stores the first vacuum pressure while the suction nozzle 2 is placed on the vacuum pad 4, and measures and inputs the second vacuum pressure while the suction nozzle 2 is placed in the air.

조작자는 제1진공압을 100%로 하고 흡착노즐(2)이 부품(3)을 흡착했을 경우의 참고 제1퍼센트레벨값을 제어기에 입력하고, 제2진공압을 0%로 하고 부품(3)을 흡착하지 않았을 경우의 참고 제2퍼센트레벨값을 상기 제어기에 입력한다. 그리고, 상기 제1진공압과 제2진공압의 차이값에 대한 임의의 참고 제3진공압을 입력한다.The operator inputs the reference first percentage level value when the first vacuum pressure is 100% and the suction nozzle 2 sucks the part 3 into the controller, and the second vacuum pressure is 0% and the part (3 ) Is inputted to the controller. Then, an arbitrary reference third vacuum pressure is input for a difference value between the first vacuum pressure and the second vacuum pressure.

제1,2퍼센트레벨값은 부품(3)이 흡착된 상태와, 부품(3)이 흡착되지 않은 상태를 손쉽게 판단할 수 있도록 하며, 제3진공압은 진공수단의 진공상태 변화에 대응할 수 있도록 하기 위함이다.The first and second percent level values make it easy to determine the state in which the part 3 is adsorbed and the state in which the part 3 is not adsorbed, and the third vacuum pressure corresponds to the change in the vacuum state of the vacuum means. To do this.

상기 5개의 데이터를 이용하여 제어기는 부품, 흡착노즐 등의 상태 변화에 따라 흡착노즐과 부품에 작용하는 진공 상태를 안정되고 신뢰성 있게 판단하여 부품의 흡착 유무를 다음과 같이 판단할 수 있다.Using the five data, the controller can stably and reliably determine the vacuum state acting on the adsorption nozzle and the component according to the change of the state of the component, the adsorption nozzle, and the like to determine whether the component is adsorbed as follows.

A. 흡착노즐의 부품을 흡착한 상태A. Adsorption of parts of suction nozzle

1. (제1진공압-제2진공압) ≥ 제3진공압1. (first vacuum pressure-second vacuum pressure) ≥ third vacuum pressure

2. 현 진공압 ≥ 제1퍼센트레벨값2. Current vacuum pressure ≥ first percent level value

B. 흡착노즐이 부품을 흡착하지 않은 상태B. Absorption nozzle does not adsorb parts

1. 현 진공압 ≥ 제2퍼센트레벨값1.Present vacuum pressure ≥ 2nd percent level value

C. 흡착노즐에 작용하는 진공이 에러(error)인 상태C. The vacuum acting on the suction nozzle is an error

1. (제1진공압 - 제2진공압) < 제3진공압1. (1st vacuum pressure-2nd vacuum pressure) <3rd vacuum pressure

제3도는 본 발명에 따른 부품 흡착 판단방법에 따라 부품을 흡착하는 과정을 도시한 순서도이다. 도시된 바와 같이, 제어기는 흡착노즐을 진공패드에 놓인 상태에서 제1진공압을 측정하여 기억하며[1], 흡착노즐(2)을 허공에 놓인 상태에서 제2진공압을 측정하여 입력한다[2].3 is a flowchart illustrating a process of adsorbing components according to the component adsorption determining method according to the present invention. As shown, the controller measures and stores the first vacuum pressure while the suction nozzle is placed on the vacuum pad [1], and measures and inputs the second vacuum pressure while the suction nozzle 2 is placed in the air [ 2].

조작자는 제1진공압을 100%로 하고 흡착노즐이 부품을 흡착했을 경우의 참고 제1퍼센트레벨값을 제어기에 입력하고[3], 제2진공압을 0%로 하고 부품을 흡착하지 않았을 경우의 참고 제2퍼센트레벨값을 상기 제어기에 입력한다[4]. 그리고, 상기 제1진공압과 제2진공압의 차이값에 대한 임의의 참고 제3진공압[5]을 입력한다.The operator inputs the reference 1% level value when the first vacuum pressure is 100% and the suction nozzle adsorbs the parts [3]. If the second vacuum pressure is 0% and no parts are adsorbed. Input a reference second percentage level of the input to the controller [4]. Then, an arbitrary reference third vacuum pressure [5] for the difference value between the first vacuum pressure and the second vacuum pressure is input.

제어기는 제2퍼센트레벨값보다 현 진공압이 크면 현 진공압에 에러가 발생된 상태로 보고 작업을 중지한다[6]. 그리고 제어기는 제2퍼센트레벨값보다 현 진공압이 같거나 작을 때에는 흡착노즐을 이용하여 부품을 흡착한다[7].If the present vacuum pressure is greater than the second percentage level value, the controller reports that the present vacuum error has occurred and stops the operation [6]. The controller sucks the part using the suction nozzle when the current vacuum pressure is equal to or lower than the second percentage level [7].

흡착노즐이 부품을 흡착한 상태에서 제어기는 제1진공압과 제2진공압의 차이보다 제3진공압이 작거나 같고, 제1퍼센트레벨값보다 현 진공압이 크거나 같으면 부품을 소정의 장소로 이동한다[9]. 그러나 상기 조건을 만족하지 않을 경우는 진공압 또는 흡착노즐에 에러가 있는 것을 보고 작업을 중지한다[8].When the suction nozzle sucks the part, the controller moves the part to a predetermined place if the third vacuum pressure is less than or equal to the difference between the first vacuum pressure and the second vacuum pressure, and the current vacuum pressure is greater than or equal to the first percentage level value. Go to [9]. However, if the above conditions are not met, the operation is stopped due to an error in the vacuum pressure or the adsorption nozzle [8].

제어기는 상기 5개의 데이터를 이용하여 노즐이 부품을 흡착 상태를 판단하면서, 마지막 부품까지 소정의 장소로 이동시키고 작업을 중지한다[10].The controller uses the five data to determine the suction state of the part, moving the part to a predetermined place and stops the work [10].

상술한 바와 같이 본 발명에 따른 부품 흡착 판단방법은 헤드, 흡착노즐 및 부품에 따라 변화하는 진공압을 절대값이 아닌 진공패드를 이용하여 측정한 진공압 및 허공 상태에서 측정한 진공압에 대한 상대값을 퍼센트로 계산하기 때문에 절대값이 변해도 부품의 흡착 상태를 신뢰성 있게 판별할 수 있다. 따라서 진공압 및 흡착노즐에 문제가 발생되면 신속한 조치가 이루어져 불량한 이동을 방지할 수 있으며, 조작이 간단하여 편리하게 사용할 수 있다.As described above, the component adsorption determination method according to the present invention is relative to the vacuum pressure measured in the air and the vacuum pressure measured by using a vacuum pad, not the absolute value, which varies according to the head, the adsorption nozzle, and the component. Since the value is calculated as a percentage, even if the absolute value changes, the adsorption state of the part can be reliably determined. Therefore, if a problem occurs in the vacuum pressure and the adsorption nozzle can be quickly made to prevent the bad movement, the operation is simple and convenient to use.

Claims (2)

상기 흡착노즐이 부품을 흡착하기 전에 진공패드에 놓인 상태 및 허공에 놓인 상태의 진공압을 측정한 제1진압 및 제2진공압을 측정하는 단계와,Measuring the first vacuum pressure and the second vacuum pressure of the vacuum nozzles in the vacuum pads and the vacuum pads before the suction nozzles adsorb the parts; 상기 흡착노즐이 상기 부품을 흡착했을 경우의 참고 제1퍼센트레벨값 및 상기 부품을 흡착하지 않았을 경우의 참고 제2퍼센트레벨값을 입력하는 단계와,Inputting a reference first percentage level value when the suction nozzle adsorbs the component and a reference second percentage level value when the suction nozzle does not adsorb the component; 상기 제1진공압과 제2진공압의 차이값에 대한 임의의 참고 제3진공압을 입력하는 단계와,Inputting an arbitrary reference third vacuum pressure for a difference value between the first vacuum pressure and the second vacuum pressure; 상기 측정된 값 및 입력된 값을 이용하여 부품이 흡착노즐에 부차된 상태를 판단하는 판단단계를 포함하는 것을 특징으로 하는 부품 흡착 판단방법.And determining a state in which the part is attached to the suction nozzle by using the measured value and the input value. 제 1 항에 있어서,The method of claim 1, 상기 판단단계는 상기 흡착노즐이 상기 제2퍼센트레벨값보다 현진공압이 같거나 작을 때 상기 부품을 흡착하는 단계와,The determining step includes the step of adsorbing the component when the suction nozzle is equal to or less than the second pneumatic level value, 제1진공압과 제2진공압의 차이보다 제3진공압이 작거나 같고, 제1퍼센트레벨값보다 현 진공압이 크거나 같으면 부품을 이동하는 단계를 포함하는 것을 특징으로 하는 부품 흡착 판단방법.Moving the part if the third vacuum pressure is less than or equal to the difference between the first vacuum pressure and the second vacuum pressure, and the current vacuum pressure is greater than or equal to the first percent level value. .
KR1019960001036A 1996-01-18 1996-01-18 Component adsorption judgment method KR100269232B1 (en)

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