KR101677151B1 - Method of minimizing moving time of gantry in surface mounting machine - Google Patents

Method of minimizing moving time of gantry in surface mounting machine Download PDF

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Publication number
KR101677151B1
KR101677151B1 KR1020150083368A KR20150083368A KR101677151B1 KR 101677151 B1 KR101677151 B1 KR 101677151B1 KR 1020150083368 A KR1020150083368 A KR 1020150083368A KR 20150083368 A KR20150083368 A KR 20150083368A KR 101677151 B1 KR101677151 B1 KR 101677151B1
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motion
camera
axis
section
gantry
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KR1020150083368A
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Korean (ko)
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김순호
김치수
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공주대학교 산학협력단
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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
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques

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  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

The present invention relates to a method for minimizing an actuation time of a gantry of a surface mounting machine. The method for minimizing an actuation time of a gantry of a surface mounting machine includes: a step of receiving a sLa-camera-pRc path among moving paths of a head; a step of generating a velocity curve of a motion according to the inputted moving path; a step of generating an orbit of the motion according to the inputted moving path of the head; and a step of moving the head by adjusting a gantry.

Description

METHOD OF MINIMIZING MOVING TIME OF GANTRY IN SURFACE MOUNTING MACHINE BACKGROUND OF THE INVENTION [0001]

The present invention relates to a method for minimizing a gantry driving time of a surface mount apparatus for mounting an electronic component on a PCB (Printed Circuit Board). More particularly, the present invention relates to a method for minimizing a gantry driving time (X > Y) distance (hereinafter referred to as an sLa-camera-pRc path) in which the distance of the X axis from the movement is longer than the distance of the Y axis (X> Y) To a method for minimizing the gantry driving time of a surface yarn.

Generally, a surface mount machine includes a feeder for feeding electronic components to be mounted on a substrate, a head mounted on a gantry for picking up electronic components from the feeder to be mounted on the PCB, and a conveyor for conveying the PCB. The feeder is provided with a plurality of tape feeders for feeding electronic components to be mounted. A nozzle is attached to the head and a head of the head adsorbs the electronic component fed to the tape feeder with vacuum pressure and performs a vision test at the camera position to check the suction position and the deflection, After moving to the PCB side, the adsorbed electronic parts are mounted on the PCB. The operation of the head is controlled by the X-axis and Y-axis movements of the gantry.

In surface mount technology, productivity is expressed as CPH (chip per hour), which is the quantity of electronic components mounted on a PCB for 1 hour. Many researchers are studying how to increase the speed of adsorption, the speed of vision inspection, and the speed of component mounting for each surface layer.

In general, the surface mount component mounting process is as follows.

① Adsorption of electronic parts

② Move to camera position

③ Camera vision inspection

④ Move over PCB to be mounted

⑤ Correction movement of vision result

⑥ Component mounting

⑦ Move to the next suction position

The conventional method for improving the productivity of the conventional surface yarn or yarn shortens the time by using ④ and ⑤ in parallel.

At this time, the vision inspection is performed for accurate mounting. In the past, a stop motion method is used in which the image is captured in front of the camera and moved to the mounting position.

In addition, since the moving distance of the X axis and the Y axis of the head is important in the gantry, the distance between the X and Y directions is compared with each other to determine the four sections of the head suction on the feeder as shown in FIG. 1, , There are 16 moving paths in total, and the following features are available.

There are four kinds of adsorption section comparing the distance from the adsorption to the camera as follows.

sLa: the left side of adsorption (distance comparison: X> Y)

sLb: left side of adsorption (distance comparison: X <Y)

sRc: Right side of adsorption (distance comparison: X <Y)

sRd: right side of adsorption (distance comparison: X> Y)

There are four mounting sections comparing the distance from the camera to the mounting.

pLa: Left side of the mounting (distance comparison: X> Y)

pLb: Left side of the mounting (distance comparison: X <Y)

pRc: Right side of mounting (distance comparison: X <Y)

pRd: Right side of mounting (distance comparison: X> Y)

Here, the moving locus of the sLa-camera -pLa and the moving locus of the sRd-camera-pRd are opposite to each other in the X-axis direction, and the rest are the same, so that the driving time of the gantry is the same. Also, the moving locus of the sLb-camera-pLa and the moving locus of the sRc-camera-pRd are opposite in the X-axis direction and the driving time is the same. That is, the total number of gantry travel paths is 16, but it can be considered that there are eight gantry paths considering the driving time of the left and right symmetric paths.

However, such a stop motion method has a problem that the driving time of the gantry is long because the stop motion must be stopped in front of the camera for vision inspection.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a feeder inspection apparatus and a feeder inspection apparatus, Y) Driving the gantry of the surface mount to minimize the driving time of the gantry on the path (sLa-camera -pRc path) where the Y-axis distance from the camera to the PCB mounting position is longer than the X-axis distance (X <Y) And to provide a method for minimizing time.

In order to achieve the above object, a method of minimizing the gantry driving time of a surface sealer according to an embodiment of the present invention is a method in which the distance from the component adsorption position to the camera for vision inspection is shorter than the distance from the Y axis In order to minimize the gantry driving time of the surface mount in the path from the far (X> Y) camera to the PCB mounting position, the Y-axis distance is longer than the X-axis distance (X <Y) The method includes the steps of: inputting a sLa-camera-pRc path in a moving path of a head by a head moving path input unit; generating a velocity curve of motion according to the inputted moving path of the head by a velocity curve generating unit of motion , Generating a trajectory of motion along the movement path of the input head by the trajectory generation section of the motion, and generating gantry driving based on the velocity curve of the generated motion and the motion trajectory Moving the head by adjusting a gantry by means of a portion; Wherein the velocity curve of the motion consists of an X-axis motion velocity curve and a Y-axis motion velocity curve; The motion speed curve of the X axis includes an equivalent speed section (a) and a constant speed section (b) between the component attraction position and the camera position, and a constant deceleration section c ) And an equivalent speed section (d) exist; The motion velocity curve of the Y axis includes a constant deceleration section (e) and an equivalent velocity section (f) between the component attraction position and the camera position, and a constant velocity section (g) and an equal deceleration section (h) exist; The trajectory of the motion includes a section (i) for increasing the inclination while changing the Y-axis direction between the component attraction position and the camera position (coordinates: 0, 0) And an axial direction changing section (j) exists.

In the method for minimizing the gantry driving time of the surface seal according to the above embodiment, in the camera position, the Y-axis motion velocity and the X-axis motion velocity represent the maximum velocity, Lt; / RTI &gt;

In the method for minimizing the gantry driving time of the surface sealer according to the above embodiment, the constant velocity section (b) and the constant velocity section (g) may have the maximum velocity.

According to the method for minimizing the gantry driving time of the surface sealer according to the embodiment of the present invention, when the distance from the component adsorption position of the feeder to the camera for vision inspection is longer than the distance of the Y axis (X> Y ) When the path from the camera to the mounting position of the PCB is input, the path of the head (sLa-camera -pRc path) where the Y-axis distance is longer than the X-axis distance (X <Y) The motion velocity curve of the X axis in which the constant deceleration section c and the equivalent speed section d are present between the camera position and the PCB mounting position in which the section a and the constant velocity section b exist, (G) and an equal deceleration section (h) exist between the camera position and the mounting position of the PCB in the case where the constant deceleration section (e) and the equivalent speed section Motion velocity curve There exists a section (i) for increasing the inclination while changing the Y-axis direction between the component suction position and the camera position (coordinates: 0, 0), and between the camera position and the component mounting position, It is possible to minimize the gantry driving time of the surface realbody by moving the head by adjusting the driving of the gantry according to the velocity curve and the trajectory of the generated motion after generating the trajectory of the motion in which the variation section j exists It has excellent effect.

FIG. 1 is a view for classifying the suction section of the head in the feeder into four sections, and classifying the component mounting section of the head in the PCB into four sections.
2 is a view showing a head movement path of an sLa-camera -pRc applied to the present invention.
3 is a control block diagram of an apparatus for minimizing the driving time of a gantry in a surface finish according to an embodiment of the present invention.
4 is a flow chart for explaining a method for minimizing a gantry driving time of a surface treatment organ according to an embodiment of the present invention implemented by the apparatus of Fig.
5A is a view showing a speed curve of a conventional stop motion with respect to the head movement path of the sLa-camera -pRc shown in FIG. 2. FIG.
FIG. 5B is a view showing the locus of the conventional stop motion with respect to the head movement path of the sLa-camera -pRc shown in FIG. 2. FIG.
FIG. 6A is a view showing a velocity curve of motion that minimizes the gantry driving time of a surface realtor according to an embodiment of the present invention. FIG.
FIG. 6B is a diagram showing a trajectory of motion that minimizes the gantry driving time of the surface real organs according to the embodiment of the present invention. FIG.

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

FIG. 2 is a view showing a head movement path of an sLa camera pRc according to the present invention, and FIG. 3 is a control block diagram of an apparatus for minimizing a driving time of a gantry in a surface mount body according to an embodiment of the present invention 6A is a view showing a speed curve of a motion for minimizing a gantry driving time of a surface acoustic wave element according to an embodiment of the present invention, and Fig. 6B is a graph showing a gantry driving time of a surface acoustic wave element according to an embodiment of the present invention Fig. 5 is a diagram showing a trajectory of a motion to be minimized.

2, the distance of the X axis is longer than the distance of the Y axis (X> Y) in the movement from the component adsorption position of the feeder to the camera that performs the vision inspection, (X < Y) path (hereinafter referred to as sLa-camera -pRc path) in which the Y-axis distance from the camera to the PCB mounting position is longer than the X-axis distance.

As shown in FIG. 3, the apparatus for minimizing the driving time of a gantry in a surface realtor according to an embodiment of the present invention includes a head movement path input unit 100, a motion speed curve generation unit 200, A locus generating unit 250 and a gantry driving unit 300.

The head movement path input unit 100 is configured to input the movement path of the head (e.g., sLa-camera -pRc path among the eight paths).

The velocity curve generating section 200 of the motion is configured to generate a velocity curve of the motion (for example, the velocity curve shown in FIG. 6A) in accordance with the movement path of the head inputted by the head movement path input section 100.

The motion locator generating unit 250 is configured to generate a locus of motion (e.g., a locus shown in FIG. 6B) in accordance with the movement path of the head input by the head movement path input unit 100. [

The gantry driving unit 300 controls the gantry driving unit 300 to move the head by adjusting the driving of the gantry based on the velocity curve of the motion and the trajectory of the motion generated by the motion curve generating unit 200 and the motion locating unit 250 Consists of.

The head movement path input unit 100, the motion speed curve generation unit 200 and the motion locus generation unit 250 are constituted by terminals such as a PC (Personal Computer), a notebook, a smart phone, and a PDA (Personal Digital Assistants) .

A method for minimizing the gantry driving time of the surface seal material realized by the apparatus for minimizing the driving time of the gantry in the surface sealant according to the embodiment of the present invention will be described.

Fig. 4 is a flowchart for explaining a method for minimizing a gantry driving time of a surface treatment organ, according to an embodiment of the present invention implemented by the apparatus of Fig. 3, where S represents a step.

First, when the sLa-camera -pRc path (path shown in Fig. 2) is inputted by the head movement path input unit 100 (S10)

The velocity curve generating unit 200 of the motion generates a velocity curve of the motion (see FIG. 6A) according to the movement path of the head input in the step S10 (S20), and generates the motion locus generating unit 250 (See Fig. 6B) is generated according to the movement path of the head input by the user (S30)

Subsequently, in step S40, the gantry driving unit 300 moves the head by adjusting the gantry on the basis of the velocity curve of the motion and the trajectory of the motion generated in steps S20 and S30.

A description will now be made of the background of the velocity curve of the motion and the trajectory of the motion generated in steps S20 and S30.

In order to increase the moving speed of the head by gantry driving, it is advantageous that the speed passing through the camera position is high. In order to increase the speed passing through the camera position, distance and time are required. Do.

In the present invention, the moving distance is further secured by moving the short axis of the head moving section (that is, the Y axis between the camera position and the camera position, and the X axis between the component mounting positions of the PCB at the camera position) And thus the velocity curve of the motion as shown in FIG. 6A and the trajectory of the motion as shown in FIG. 6B are generated.

The velocity curve of the motion generated in step S20 is composed of an X-axis motion velocity curve (blue curve) and a Y-axis motion velocity curve (red curve) as shown in FIG. 6A.

The motion speed curve of the X axis has an equivalent speed section (a) and a constant speed section (b) between the component attraction position and the camera position and a constant deceleration section (c) between the camera position and the mounting position of the PCB. And an equivalent speed section (d).

The motion speed curve of the Y axis shows the constant deceleration section e and the equivalent speed section f between the component attraction position and the camera position and the constant velocity section g and the There is a deceleration section h.

At the camera position, the motion speed of the Y axis and the motion speed of the X axis represent the maximum speed (2 m / s), both of which have a positive value.

The constant velocity section (b) and the constant velocity section (g) have a maximum velocity (2 m / s).

6B, the locus of the motion generated in the step S30 is changed in the Y-axis direction from the component attraction position to the camera position (coordinates: 0, 0) while the section i for increasing the tilt And an X-axis direction change section j exists between the camera position and the component mounting position. The section (i) that increases the tilt while changing the Y axis direction is a section that moves the Y axis further in the opposite direction to the moving direction and increases the tilt. The X-axis direction changing section (j) is a section that moves the X-axis further than the mounting position and then moves to the mounting position while moving in the opposite direction to the moving direction. By increasing the moving distance of the head by the section (i) and the X-axis direction changing section (j) for increasing the tilt while changing the Y-axis direction, the speed of the head at the camera position can be increased.

Hereinafter, the operation and effect of the method of minimizing the gantry driving time of the surface seal organ according to the embodiment of the present invention will be described in comparison with the conventional stop motion.

As shown in Fig. 2, the movement path of the head is such that the distance from the feeder position of the feeder to the camera for vision inspection is longer than the distance of the Y axis (X> Y) from the camera to the mounting position of the PCB (X < Y) path (hereinafter referred to as an sLa-camera -pRc path) whose distance from the Y axis is longer than the distance of the X axis.

Driving conditions satisfying the movement path of the head are shown in Table 1 below.

No Item X axis Y axis unit One Maximum speed 2.0 2.0

Figure 112015056875292-pat00001
2 G acceleration 3.0 3.0
Figure 112015056875292-pat00002
 3 Gravitational acceleration 9.81 9.81
Figure 112015056875292-pat00003
 4 Maximum acceleration 29.43 29.43
Figure 112015056875292-pat00004
 5 Adsorption position -300 -150
Figure 112015056875292-pat00005
 6 Camera location 0 0
Figure 112015056875292-pat00006
 7 Location 40 200
Figure 112015056875292-pat00007

[Conventional stop motion method]

FIG. 5A shows a velocity curve in the case of a stop-motion system, which is a driving system in which the camera stops at a camera position.

Since it stops at the camera position, the velocity of the X and Y axes is O, and the velocity directions of both the X and Y axes are the same direction.

The drive time to the camera position by adsorbing the component is 0.218 sec (the time the X axis is longer than the Y axis)

The driving time from the camera position to the component mounting position is 0.168 seconds (the time when the Y axis is longer than the X axis)

The total driving time of the gantry is 0.386 seconds.

[Driving method according to the embodiment of the present invention]

In order to minimize the gantry driving time, it is advantageous that the head speed passing through the camera position is high.

To increase the speed of the head through the camera position, distance and time are needed. Since the time is determined by the other axis, it is necessary to change the distance.

In the driving method according to the embodiment of the present invention, the distance is further secured by moving the short axis (that is, the Y axis between the camera position and the camera position at the component sucking position and the X axis between the component mounting positions of the PCB at the camera position) Speed mode is maximized, and a speed curve and a trajectory as shown in FIGS. 6A and 6B are shown.

At the camera position, the X-axis has a velocity of 2 m / sec at this time, and the Y-axis has a velocity curve as shown in FIG. 6A due to the driving time and the driving distance .

Then, the time is determined by the Y axis from the camera position to the component mounting position, and the overall gantry driving time is short because the X and Y axis speeds have the maximum value at the camera position.

Table 2 below shows the results of the conventional stop motion method and the drive method according to the embodiment of the present invention under the same conditions as in Table 1.

No Driving method Adsorption - Camera Time
(msec) Camera - Mounting time
(msec) Total time
(msec) Difference ratio Camera Position Speed X axis Y axis One Stop motion 218 168 386 0.00 0.00 2 Invention 184 134 318 68 18% 2.00 2.00

As a result, in the driving method according to the embodiment of the present invention, the Y axis moves from -150 mm to -153 mm slightly, and then moves to the camera position. At the camera position, the X and Y axes move at a maximum speed of 2 m / sec 0.034 seconds from the suction to the camera position and 0.034 seconds from the camera position to the mounting position compared to the conventional stop motion method.

According to the method of minimizing the gantry driving time of the surface sealer according to the embodiment of the present invention, the distance of the X axis is longer than the distance of the Y axis (X> Y) in the movement from the component adsorption position of the feeder to the camera, When the path from the camera to the mounting position of the PCB is input, the path of the head (sLa-camera -pRc path) where the distance of the Y axis is longer than the distance of the X axis (X <Y) the motion speed curve of the X axis in which the constant deceleration section c and the equivalent speed section d exist between the camera position and the PCB mounting position in which the constant speed section b and the constant speed section b exist, The motion of the Y axis in which the constant deceleration section e and the equivalent speed section f exist between the camera positions and the constant velocity section g and the constant deceleration section h exist between the camera position and the PCB mounting position Velocity curve There is a section (i) for increasing the inclination while changing the Y-axis direction between the component-adsorption position and the camera position (coordinates: 0, 0), and the X-axis direction is changed between the camera position and the component mounting position It is possible to minimize the driving time of the gantry of the surface body by moving the head by adjusting the driving of the gantry according to the velocity curve and the trajectory of the motion generated after generating the trajectory of the motion in which the section j exists. It is effective.

In other words, according to the method of minimizing the gantry driving time of the surface acoustic wave device according to the embodiment of the present invention, the short axis (i.e., Y between the camera position and the camera position, X Axis can be moved in the opposite direction to increase the speed of the head position by maximizing the speed of the camera position, thereby minimizing the gantry driving time of the surface mount machine.

Although the best mode has been shown and described in the drawings and specification, certain terminology has been used for the purpose of describing the embodiments of the invention and is not intended to be limiting or to limit the scope of the invention described in the claims. It is not. Therefore, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: head movement path input unit 200: speed curve generation unit of motion
250: locus of motion generation unit 300: gantry drive unit

Claims (3)

Wherein the surface mount unit is a path for sequentially moving the component adsorption position of the feeder, the position of the camera performing the vision inspection, and the mounting position of the PCB, wherein the distance from the component adsorption position of the feeder to the camera performing the vision inspection is (X-Y) path (sLa-camera-pRc path) where the distance of the Y axis from the position of the camera to the mounting position of the PCB is longer than the distance of the Y axis (X> Y) CLAIMS 1. A method for minimizing gantry drive time of an actual machine, comprising:
A step of inputting the sLa-camera -pRc path among the movement paths of the head by the head movement path input unit,
Generating a velocity curve of the motion according to the movement path of the input head by the velocity curve generating unit of the motion,
Generating a trajectory of motion along the movement path of the input head by a trajectory generation section of the motion, and
Moving the head by adjusting the gantry by the gantry drive unit based on the velocity curve of the generated motion and the trajectory of the motion;
Wherein the velocity curve of the motion consists of an X-axis motion velocity curve and a Y-axis motion velocity curve;
The motion velocity curve of the X-
There are an equivalent speed section (a) and a constant speed section (b) between the component attraction position and the camera position,
There is an equal deceleration section (c) and an equivalent speed section (d) between the mounting position of the PCB from the camera position;
The motion velocity curve of the Y-
An equal deceleration section e and an equivalent speed section f exist between the component attraction position and the camera position,
A constant velocity section g and an equal deceleration section h exist between the camera position and the mounting position of the PCB;
The trajectory of the motion,
There is a section (i) for increasing the tilt while changing the Y-axis direction from the component attraction position to the camera position (coordinates: 0, 0)
Wherein the X-axis direction change section (j) exists between the camera position and the component mounting position. The method according to claim 1,
Wherein the motion speed of the Y axis and the motion speed of the X axis have the same speed and represent the highest one of the X and Y axis motion velocities at the camera position, A method for minimizing gantry drive time of an organ. The method according to claim 1,
Wherein the constant velocity section (b) and the constant velocity section (g) have the same velocity and the highest velocity among the X and Y axis motion velocities.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10303598A (en) * 1997-04-28 1998-11-13 Sony Corp Component mounting apparatus
JP2007201284A (en) * 2006-01-27 2007-08-09 Juki Corp Electronic component mounting machine
JP2014098016A (en) * 2008-07-24 2014-05-29 Lunan Pharmaceutical Group Corp Pharmaceutical composition for treating hypertension and metabolic syndrome and application thereof
JP2014168103A (en) * 2014-06-16 2014-09-11 Yamaha Motor Co Ltd Mounting device and drive control method of head unit

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10303598A (en) * 1997-04-28 1998-11-13 Sony Corp Component mounting apparatus
JP2007201284A (en) * 2006-01-27 2007-08-09 Juki Corp Electronic component mounting machine
JP2014098016A (en) * 2008-07-24 2014-05-29 Lunan Pharmaceutical Group Corp Pharmaceutical composition for treating hypertension and metabolic syndrome and application thereof
JP2014168103A (en) * 2014-06-16 2014-09-11 Yamaha Motor Co Ltd Mounting device and drive control method of head unit

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